ROS2 error while loading libraries

PlantagoLabs

Hello,

I was wondering if someone knows how to solve this issue I have:

When I run ros2 run depthai_ros_driver_v3 driver_node I get the following error

/opt/ros/humble/lib/depthai_ros_driver_v3/driver_node: error while loading shared libraries: libdiagnostic_updater.so: cannot open shared object file: No such file or directory

[ros2run]: Process exited with failure 127

I run ROS2 humble, on a raspberry pi 3b+ with Ubuntu 22. I installed depthai using

sudo apt install ros2-testing-apt-source sudo apt update sudo apt install ros-$ROS_DISTRO-depthai-ros-v3

Thank you in advance for your help 🙂

Oskar-Luxonis

Hey PlantagoLabs - this looks like a missing ROS runtime dependency, not a DepthAI/OAK device issue. libdiagnostic_updater.so is provided by the ROS package ros-humble-diagnostic-updater, which the DepthAI ROS v3 driver depends on.

Please try:

sudo apt update
sudo apt install --reinstall ros-humble-diagnostic-updater ros-humble-depthai-ros-driver-v3
sudo apt -f install
source /opt/ros/humble/setup.bash
ros2 run depthai_ros_driver_v3 driver_node

If it still fails, please share the output of:

dpkg --print-architecture
apt-cache policy ros-humble-diagnostic-updater ros-humble-depthai-ros-driver-v3
find /opt/ros/humble -name 'libdiagnostic_updater.so*'
ldd /opt/ros/humble/lib/depthai_ros_driver_v3/driver_node | grep diagnostic

Also please confirm your Raspberry Pi OS is 64-bit Ubuntu 22.04 (arm64), since ROS 2 Humble binary packages are expected for arm64/amd64.

Useful links:

Best,
Oskar

PlantagoLabs

Oskar-Luxonis Hello.

I tried your first solution of reinstalling ros-humble-diagnostic-updater and it solved my issue. The node now starts correctly and I can see the oak-d lite topics. Thank you very much for your help 🙂

Oskar-Luxonis

PlantagoLabs - glad you figured it out!
Happy to help,
Oskar