Unable to build ZED image using dustynv/ros:humble-ros-base-l4t-r36.3.0

[leo-bonacini]

Preliminary Checks

• This issue is not a duplicate. Before opening a new issue, please search existing issues.
• This issue is not a question, feature request, or anything other than a bug report directly related to this project.

Description

While attempting to build the Docker image for NVIDIA Jetson Orin Nano (L4T version 36.3.0) with ROS 2 Humble, the build fails when using the base image dustynv/ros:humble-ros-base-l4t-r36.3.0, specified in the following Dockerfile line:

Dockerfile Line 2

The error occurs at this line in the Dockerfile:
Dockerfile Line 82

Steps to Reproduce

1. git clone https://github.com/stereolabs/zed-ros2-wrapper.git
2. cd zed-ros2-wrapper/docker
3. ./jetson_build_dockerfile_from_sdk_and_l4T_version.sh l4t-r36.3.0 zedsdk4.2.3

Expected Result

The image should build without any issues

Actual Result

309.9 apt: Failed to detect successful installation of [ros-humble-image-transport-plugins]
309.9 apt: Failed to detect successful installation of [ros-humble-compressed-image-transport]
309.9 apt: Failed to detect successful installation of [ros-humble-compressed-depth-image-transport]
309.9 apt: Failed to detect successful installation of [ros-humble-theora-image-transport]
309.9 apt: Failed to detect successful installation of [ros-humble-ffmpeg-image-transport]
309.9 apt: Failed to detect successful installation of [ros-humble-ffmpeg-encoder-decoder]
309.9 apt: Failed to detect successful installation of [ros-humble-point-cloud-transport-plugins]
309.9 apt: Failed to detect successful installation of [ros-humble-draco-point-cloud-transport]
309.9 apt: Failed to detect successful installation of [ros-humble-zlib-point-cloud-transport]
309.9 apt: Failed to detect successful installation of [ros-humble-zstd-point-cloud-transport]
309.9 apt: Failed to detect successful installation of [ros-humble-zed-msgs]
309.9 apt: Failed to detect successful installation of [ros-humble-diagnostic-msgs]
309.9 apt: Failed to detect successful installation of [ros-humble-uncrustify-vendor]
309.9 apt: Failed to detect successful installation of [ros-humble-rclcpp-lifecycle]
309.9 apt: Failed to detect successful installation of [ros-humble-stereo-msgs]
309.9 apt: Failed to detect successful installation of [ros-humble-sensor-msgs]
309.9 apt: Failed to detect successful installation of [ros-humble-geometry-msgs]
309.9 apt: Failed to detect successful installation of [ros-humble-nav-msgs]
309.9 apt: Failed to detect successful installation of [ros-humble-tf2]
309.9 apt: Failed to detect successful installation of [ros-humble-tf2-ros]
309.9 apt: Failed to detect successful installation of [ros-humble-tf2-geometry-msgs]
309.9 apt: Failed to detect successful installation of [ros-humble-image-transport]
309.9 apt: Failed to detect successful installation of [ros-humble-point-cloud-transport]
309.9 apt: Failed to detect successful installation of [ros-humble-std-srvs]
309.9 apt: Failed to detect successful installation of [ros-humble-visualization-msgs]
309.9 apt: Failed to detect successful installation of [clang-tidy]
309.9 apt: Failed to detect successful installation of [pyflakes3]
309.9 apt: Failed to detect successful installation of [ros-humble-launch-testing-ament-cmake]
309.9 apt: Failed to detect successful installation of [ros-humble-launch-testing-ros]
309.9 apt: Failed to detect successful installation of [ros-humble-pluginlib]
309.9 apt: Failed to detect successful installation of [ros-humble-rosidl-default-generators]
309.9 apt: Failed to detect successful installation of [libgeographic-dev]
309.9 apt: Failed to detect successful installation of [ros-humble-message-filters]
309.9 apt: Failed to detect successful installation of [ros-humble-tf2-eigen]
309.9 apt: Failed to detect successful installation of [ros-humble-yaml-cpp-vendor]

ZED Camera model

ZED2i

Environment

Unrelated to the specific issue

Anything else?

No response

[Myzhar]

@leo-bonacini can you please test the new scripts in the update_docker branch?

[leo-bonacini]

System Information

NVIDIA NVIDIA Jetson Orin Nano Developer Kit
L4T 36.3.0 [ JetPack UNKNOWN ]
Ubuntu 22.04.4 LTS
Kernel Version: 5.15.136-tegra
CUDA 12.2.140
CUDA Architecture: 8.7
OpenCV version: 4.8.0
OpenCV Cuda: NO
CUDNN: 8.9.4.25
TensorRT: 8.6.2.3
Vision Works: NOT_INSTALLED
VPI: 3.1.5
Vulcan: 1.3.204

Steps Followed

1. Clone the zed-ros2-wrapper:

git clone https://github.com/stereolabs/zed-ros2-wrapper.git

2. Switch to the Required Branch:

cd zed-ros2-wrapper && git checkout update_docker

3. Build the Docker Image:

./jetson_build_dockerfile_from_sdk_and_l4T_version.sh l4t-r36.3.0 zedsdk-4.2.3

4. Run the Docker Container:

docker run --runtime nvidia -it --privileged --network=host --ipc=host --pid=host   -e NVIDIA_DRIVER_CAPABILITIES=all -e DISPLAY=$DISPLAY   -v /tmp:/tmp   -v /dev:/dev   -v /var/nvidia/nvcam/settings/:/var/nvidia/nvcam/settings/   -v /etc/systemd/system/zed_x_daemon.service:/etc/systemd/system/zed_x_daemon.service   -v /usr/local/zed/resources/:/usr/local/zed/resources/   -v /usr/local/zed/settings/:/usr/local/zed/settings/   zed_ros2_l4t_36.3.0_sdk_4.2.3

5. Run the ROS 2 Code:

ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zed2i

Observations

• The image was successfully created, and the ROS 2 code runs as expected, even after installing and switching the middleware.
• ROS_DOMAIN_ID is set to 5 in ros_entrypoint_jetson.sh. The default value in ROS 2 is 0, I am just highlighting this detail might help other users.

Thank you for the update, @Myzhar. Let me know if further details are needed.

[Myzhar]

Thank you for the feedback. We will merge this dev branch into the master branch as soon as we complete the QA tests.

We set ROS_DOMAIN_ID to 5 to be sure that this setup does not interfere with other robotics systems on the same local network.
I will update the README to highlight this behavior.

[github-actions]

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