Hey all,
I'm wondering if anyone else has successfully run depthai-ros on latest Jetpack 6? I'm running an OakD PRO W on Jetson Orin Nano.
I have successfully built the depthai/Dockerfile by modifying the base image, and can run the majority of depthai-python/examples. The OpenCV version installed is 4.8.1, required for Cuda 12.
FROM dustynv/ros:humble-desktop-l4t-r36.2.0
When I try to build the depthai-ros/Dockerfile, it tries to install ffmpeg-image-transport which has a hard dependency on OpenCV 4.5.4, which fails to install.
...
37.07 dpkg: error processing archive /tmp/apt-dpkg-install-Lta81I/093-opencv-data_4.5.4+dfsg-9ubuntu4_all.deb (--unpack):
37.07 trying to overwrite '/usr/share/opencv4/haarcascades/haarcascade_eye.xml', which is also in package opencv-libs 4.8.1-d
irty
...
49.11 /tmp/apt-dpkg-install-Lta81I/089-libopencv-dev_4.5.4+dfsg-9ubuntu4_arm64.deb
49.11 /tmp/apt-dpkg-install-Lta81I/093-opencv-data_4.5.4+dfsg-9ubuntu4_all.deb
49.20 E: Sub-process /usr/bin/dpkg returned an error code (1)
------
Dockerfile:12
--------------------
11 |
12 | >>> RUN apt-get update \
13 | >>> && apt-get -y install ros-${ROS_DISTRO}-ffmpeg-image-transport
14 |
--------------------
ERROR: failed to solve: process "/bin/bash -c apt-get update && apt-get -y install ros-${ROS_DISTRO}-ffmpeg-image-transport" did not complete successfully: exit code: 100
...49.11 /tmp/apt-dpkg-install-Lta81I/089-libopencv-dev_4.5.4+dfsg-9ubuntu4_arm64.deb
49.11 /tmp/apt-dpkg-install-Lta81I/093-opencv-data_4.5.4+dfsg-9ubuntu4_all.deb
49.20 E: Sub-process /usr/bin/dpkg returned an error code (1)
------
Dockerfile:12
--------------------
11 |
12 | >>> RUN apt-get update \
13 | >>> && apt-get -y install ros-${ROS_DISTRO}-ffmpeg-image-transport
14 |
--------------------
ERROR: failed to solve: process "/bin/bash -c apt-get update && apt-get -y install ros-${ROS_DISTRO}-ffmpeg-image-transport" did not complete successfully: exit code: 100
Recompiling Opencv 4.5.4 failed as well, because it relies on textureReference that was deprecated in Cuda 12:
https://stackoverflow.com/questions/74830272/build-opencv-with-cuda-12-undefined-identifiers-cudaunbindtexture-texturerefer
TLDR; cannot run depthai-ros on Jetson Orin Nano, with Jetpack 6, Cuda 12, OpenCV 4.8.1 because of ffmpeg-image-transport dependency on OpenCV 4.5.4, which requires Cuda 11.8. I would like to avoid downgrading Cuda to make this work... any ideas?
Thanks,
Mike
