depthai-ros installation failure on Noetic ROS + Xavier

vikabotlabs

System details: Jetson Agx xavier with Ubuntu 20.04, Noetic ROS

Linux xavieruhdc-desktop 5.10.192-tegra #1 SMP PREEMPT Mon Feb 19 20:19:53 PST 2024 aarch64 aarch64 aarch64 GNU/Linux

1.) Install noetic ros full installed. Then

2.) depthai-core installed.

cd /tmp

git clone --recursive luxonis/depthai-core.git \

&& sudo cmake -Hdepthai-core -Bdepthai-core/build -DBUILD_SHARED_LIBS=ON -D CMAKE_CXX_FLAGS=-fPIC -DCMAKE_INSTALL_PREFIX=/usr/local \

&& sudo cmake --build depthai-core/build --target install --parallel 8 \

&& cd /tmp \

&& sudo rm -r depthai-core

Above was successfully installed.

Then followed by depthai-ros installation.

mkdir -p dai_ws/src

cd dai_ws/src

git clone --branch noetic luxonis/depthai-ros.git

cd ..

rosdep install --from-paths src --ignore-src -r -y

source /opt/ros/<ros-distro>/setup.bash

catkin_make_isolated

[ 12%] Linking CXX shared library /media/xavieruhdc/dai_ws/devel_isolated/depthai_bridge/lib/libdepthai_bridge.so

/usr/bin/ld: /opt/ros/noetic/lib/aarch64-linux-gnu/libdepthai-core.a(CalibrationHandler.cpp.o): relocation R_AARCH64_ADR_PREL_PG_HI21 against symbol `_ZGVZN3dai7Logging11getInstanceEvE7logging' which may bind externally can not be used when making a shared object; recompile with -fPIC

/opt/ros/noetic/lib/aarch64-linux-gnu/libdepthai-core.a(CalibrationHandler.cpp.o): in function `dai::CalibrationHandler::setBoardInfo(std::cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, unsigned long, unsigned int, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)':

(.text+0x498): dangerous relocation: unsupported relocation

/usr/bin/ld: /opt/ros/noetic/lib/aarch64-linux-gnu/cmake/depthai/dependencies/lib/libspdlog.a(color_sinks.cpp.o): relocation R_AARCH64_ADR_PREL_PG_HI21 against symbol `_ZTSSt19_Sp_make_shared_tag' which may bind externally can not be used when making a shared object; recompile with -fPIC

(.text.ZNSt23_Sp_counted_ptr_inplaceIN6spdlog5sinks21ansicolor_stderr_sinkINS0_7details17console_nullmutexEEESaIS5_ELN9gnu_cxx12_Lock_policyE2EE14_M_get_deleterERKSt9type_info[ZNSt23_Sp_counted_ptr_inplaceIN6spdlog5sinks21ansicolor_stderr_sinkINS0_7details17console_nullmutexEEESaIS5_ELN9gnu_cxx12_Lock_policyE2EE14_M_get_deleterERKSt9type_info]+0x24): dangerous relocation: unsupported relocation

/usr/bin/ld: /opt/ros/noetic/lib/aarch64-linux-gnu/cmake/depthai/dependencies/lib/libspdlog.a(color_sinks.cpp.o): relocation R_AARCH64_ADR_PREL_PG_HI21 against symbol `_ZZNSt19_Sp_make_shared_tag5_S_tiEvE5__tag' which may bind externally can not be used when making a shared object; recompile with -fPIC

/opt/ros/noetic/lib/aarch64-linux-gnu/cmake/depthai/dependencies/lib/libspdlog.a(color_sinks.cpp.o): in function `std::Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<spdlog::async_logger>, (__gnu_cxx::Lock_policy)2>::_M_get_deleter(std::type_info const&)':

(.text.ZNSt23_Sp_counted_ptr_inplaceIN6spdlog12async_loggerESaIS1_ELN9gnu_cxx12_Lock_policyE2EE14_M_get_deleterERKSt9type_info[ZNSt23_Sp_counted_ptr_inplaceIN6spdlog12async_loggerESaIS1_ELN9gnu_cxx12_Lock_policyE2EE14_M_get_deleterERKSt9type_info]+0x4): dangerous relocation: unsupported relocation

collect2: error: ld returned 1 exit status

make[2]: *** [CMakeFiles/depthai_bridge.dir/build.make:284: /media/xavieruhdc/dai_ws/devel_isolated/depthai_bridge/lib/libdepthai_bridge.so] Error 1

make[1]: *** [CMakeFiles/Makefile2:249: CMakeFiles/depthai_bridge.dir/all] Error 2

make: *** [Makefile:141: all] Error 2

<== Failed to process package 'depthai_bridge':

Command '['/media/xavieruhdc/dai_ws/devel_isolated/depthai_ros_msgs/env.sh', 'make', '-j4', '-l4']' returned non-zero exit status 2.

Reproduce this error by running:

==> cd /media/xavieruhdc/dai_ws/build_isolated/depthai_bridge && /media/xavieruhdc/dai_ws/devel_isolated/depthai_ros_msgs/env.sh make -j4 -l4

Command failed, exiting.

jakaskerl

Hi @vikabotlabs
The root cause of the problem is related to the fact that some libraries were not compiled with the -fPIC (Position Independent Code) flag, which is required for shared libraries on the ARM64 architecture.

1. Recompile `depthai-core` with `-fPIC`

You have already installed depthai-core with the -fPIC flag, but to be thorough, let's ensure this was done correctly.

# Clean up any existing depthai-core installations
sudo rm -r /usr/local/lib/libdepthai-core*

# Clone the depthai-core repository
cd /tmp
git clone --recursive https://github.com/luxonis/depthai-core.git

# Build and install depthai-core with -fPIC flag
cd depthai-core
mkdir build && cd build
cmake -DBUILD_SHARED_LIBS=ON -DCMAKE_CXX_FLAGS=-fPIC -DCMAKE_INSTALL_PREFIX=/usr/local ..
make -j$(nproc)
sudo make install

# Clean up
cd /tmp
rm -r depthai-core

2. Recompile `spdlog` with `-fPIC`

Next, we need to ensure spdlog is compiled with the -fPIC flag as well.

# Clone the spdlog repository
cd /tmp
git clone https://github.com/gabime/spdlog.git

# Build and install spdlog with -fPIC flag
cd spdlog
mkdir build && cd build
cmake -DCMAKE_CXX_FLAGS=-fPIC -DCMAKE_INSTALL_PREFIX=/usr/local ..
make -j$(nproc)
sudo make install

# Clean up
cd /tmp
rm -r spdlog

3. Recompile `depthai-ros`

Now that both depthai-core and spdlog are correctly compiled with -fPIC, let's proceed with the depthai-ros installation.

# Create the workspace and clone the depthai-ros repository
mkdir -p ~/dai_ws/src
cd ~/dai_ws/src
git clone --branch noetic https://github.com/luxonis/depthai-ros.git

# Install ROS dependencies
cd ~/dai_ws
rosdep install --from-paths src --ignore-src -r -y

# Source ROS environment
source /opt/ros/noetic/setup.bash

# Build the workspace
catkin_make_isolated

Hope it works.

vikabotlabs

Unfortunately, I'm hitting again the same problem. I invoked (hacked around) linking shared objects (.so) rather than static libraries under /opt/ros/noetic/lib/aarch64-linux-gnu/cmake/depathai/libdepth*.cmake files? then it unblocked. But I'm compelled to move on docker version (yet to try).

make[2]: *** No rule to make target '/opt/ros/noetic/lib/aarch64-linux-gnu/libdepthai-core.a', needed by '/media/xavieruhdc/bike-drivetest/dai_ws/devel_isolated/depthai_bridge/lib/libdepthai_bridge.so'. Stop.

make[1]: *** [CMakeFiles/Makefile2:249: CMakeFiles/depthai_bridge.dir/all] Error 2

make: *** [Makefile:141: all] Error 2

<== Failed to process package 'depthai_bridge':

jakaskerl

cc @Luxonis-Adam

Luxonis-Adam

Hi, there was a bug in the new depthai-core release which resulted in building static instead of shared library, you can try building depthai-core's ros-release branch until fix is released.