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NVlabs
Docker Build issue on Jetson Orin AGX
Unable to setup curobo on Jetson orin AGX, while building with Docker. I see below error:
nvblox_torch# python3 -m pip install -e .
Obtaining file:///pkgs/nvblox_torch
Installing build dependencies ... done
Getting requirements to build wheel ... error
ERROR: Command errored out with exit status 1:
command: /usr/bin/python3 /tmp/tmpa7amxe9n get_requires_for_build_wheel /tmp/tmpxwxtkr88
cwd: /pkgs/nvblox_torch
Complete output (81 lines):
running egg_info
creating src/nvblox_torch.egg-info
writing src/nvblox_torch.egg-info/PKG-INFO
writing dependency_links to src/nvblox_torch.egg-info/dependency_links.txt
writing requirements to src/nvblox_torch.egg-info/requires.txt
writing top-level names to src/nvblox_torch.egg-info/top_level.txt
writing manifest file 'src/nvblox_torch.egg-info/SOURCES.txt'
reading manifest template 'MANIFEST.in'
/tmp/pip-build-env-a8op_3tb/overlay/lib/python3.8/site-packages/setuptools/dist.py:452: SetuptoolsDeprecationWarning: Invalid dash-separated options
!!
********************************************************************************
Usage of dash-separated 'long-description-content-type' will not be supported in future
versions. Please use the underscore name 'long_description_content_type' instead.
This deprecation is overdue, please update your project and remove deprecated
calls to avoid build errors in the future.
See https://setuptools.pypa.io/en/latest/userguide/declarative_config.html for details.
********************************************************************************
!!
opt = self.warn_dash_deprecation(opt, section)
/tmp/pip-build-env-a8op_3tb/overlay/lib/python3.8/site-packages/setuptools/dist.py:452: SetuptoolsDeprecationWarning: Invalid dash-separated options
!!
********************************************************************************
Usage of dash-separated 'long-description-content-type' will not be supported in future
versions. Please use the underscore name 'long_description_content_type' instead.
This deprecation is overdue, please update your project and remove deprecated
calls to avoid build errors in the future.
See https://setuptools.pypa.io/en/latest/userguide/declarative_config.html for details.
********************************************************************************
!!
opt = self.warn_dash_deprecation(opt, section)
warning: no directories found matching 'src/nvblox_torch/bin/*.so'
adding license file 'LICENSE'
Traceback (most recent call last):
File "/tmp/tmpa7amxe9n", line 280, in <module>
main()
File "/tmp/tmpa7amxe9n", line 263, in main
json_out['return_val'] = hook(**hook_input['kwargs'])
File "/tmp/tmpa7amxe9n", line 114, in get_requires_for_build_wheel
return hook(config_settings)
File "/tmp/pip-build-env-a8op_3tb/overlay/lib/python3.8/site-packages/setuptools/build_meta.py", line 332, in get_requires_for_build_wheel
return self._get_build_requires(config_settings, requirements=[])
File "/tmp/pip-build-env-a8op_3tb/overlay/lib/python3.8/site-packages/setuptools/build_meta.py", line 302, in _get_build_requires
self.run_setup()
File "/tmp/pip-build-env-a8op_3tb/overlay/lib/python3.8/site-packages/setuptools/build_meta.py", line 318, in run_setup
exec(code, locals())
File "<string>", line 13, in <module>
File "/tmp/pip-build-env-a8op_3tb/overlay/lib/python3.8/site-packages/setuptools/__init__.py", line 117, in setup
return distutils.core.setup(**attrs)
File "/tmp/pip-build-env-a8op_3tb/overlay/lib/python3.8/site-packages/setuptools/_distutils/core.py", line 183, in setup
return run_commands(dist)
File "/tmp/pip-build-env-a8op_3tb/overlay/lib/python3.8/site-packages/setuptools/_distutils/core.py", line 199, in run_commands
dist.run_commands()
File "/tmp/pip-build-env-a8op_3tb/overlay/lib/python3.8/site-packages/setuptools/_distutils/dist.py", line 954, in run_commands
self.run_command(cmd)
File "/tmp/pip-build-env-a8op_3tb/overlay/lib/python3.8/site-packages/setuptools/dist.py", line 950, in run_command
super().run_command(command)
File "/tmp/pip-build-env-a8op_3tb/overlay/lib/python3.8/site-packages/setuptools/_distutils/dist.py", line 973, in run_command
cmd_obj.run()
File "/tmp/pip-build-env-a8op_3tb/overlay/lib/python3.8/site-packages/setuptools/command/egg_info.py", line 311, in run
self.find_sources()
File "/tmp/pip-build-env-a8op_3tb/overlay/lib/python3.8/site-packages/setuptools/command/egg_info.py", line 319, in find_sources
mm.run()
File "/tmp/pip-build-env-a8op_3tb/overlay/lib/python3.8/site-packages/setuptools/command/egg_info.py", line 545, in run
self.prune_file_list()
File "/tmp/pip-build-env-a8op_3tb/overlay/lib/python3.8/site-packages/setuptools/command/sdist.py", line 161, in prune_file_list
super().prune_file_list()
File "/tmp/pip-build-env-a8op_3tb/overlay/lib/python3.8/site-packages/setuptools/_distutils/command/sdist.py", line 380, in prune_file_list
base_dir = self.distribution.get_fullname()
File "/tmp/pip-build-env-a8op_3tb/overlay/lib/python3.8/site-packages/setuptools/_core_metadata.py", line 267, in get_fullname
return _distribution_fullname(self.get_name(), self.get_version())
File "/tmp/pip-build-env-a8op_3tb/overlay/lib/python3.8/site-packages/setuptools/_core_metadata.py", line 285, in _distribution_fullname
canonicalize_version(version, strip_trailing_zero=False),
TypeError: canonicalize_version() got an unexpected keyword argument 'strip_trailing_zero'
----------------------------------------
ERROR: Command errored out with exit status 1: /usr/bin/python3 /tmp/tmpa7amxe9n get_requires_for_build_wheel /tmp/tmpxwxtkr88 Check the logs for full command output.
In case I proceeded docker without this nvblox_torch and trying the kinematics scripts, it is giving me this error!
python3 forward_kinematics.py
Traceback (most recent call last):
File "forward_kinematics.py", line 25, in <module>
robot_cfg = RobotConfig.from_basic(urdf_file, base_link, ee_link, tensor_args)
File "/usr/local/lib/python3.8/dist-packages/curobo/types/robot.py", line 58, in from_basic
cuda_robot_model_config = CudaRobotModelConfig.from_basic_urdf(
File "/usr/local/lib/python3.8/dist-packages/curobo/cuda_robot_model/cuda_robot_model.py", line 125, in from_basic_urdf
return CudaRobotModelConfig.from_config(config)
File "/usr/local/lib/python3.8/dist-packages/curobo/cuda_robot_model/cuda_robot_model.py", line 248, in from_config
generator = CudaRobotGenerator(config)
File "/usr/local/lib/python3.8/dist-packages/curobo/cuda_robot_model/cuda_robot_generator.py", line 260, in __init__
self.initialize_tensors()
File "/usr/lib/python3.8/contextlib.py", line 75, in inner
return func(*args, **kwds)
File "/usr/local/lib/python3.8/dist-packages/curobo/cuda_robot_model/cuda_robot_generator.py", line 285, in initialize_tensors
self._link_spheres_tensor = torch.empty(
File "/usr/local/lib/python3.8/dist-packages/torch/cuda/__init__.py", line 217, in _lazy_init
torch._C._cuda_init()
RuntimeError: Found no NVIDIA driver on your system. Please check that you have an NVIDIA GPU and installed a driver from http://www.nvidia.com/Download/index.aspx
Adding this line to aarch64.dockerfile seems to fix the issue:
RUN python3 -m pip install packaging==22
Hi @benoit-robotics after this installation, the first error is solved but the second error still persists. Using this script to run inside docker, producing this error
root@ros1-docker:/pkgs# python3 forward_kinematics.py
Traceback (most recent call last):
File "forward_kinematics.py", line 25, in <module>
robot_cfg = RobotConfig.from_basic(urdf_file, base_link, ee_link, tensor_args)
File "/usr/local/lib/python3.8/dist-packages/curobo/types/robot.py", line 58, in from_basic
cuda_robot_model_config = CudaRobotModelConfig.from_basic_urdf(
File "/usr/local/lib/python3.8/dist-packages/curobo/cuda_robot_model/cuda_robot_model.py", line 125, in from_basic_urdf
return CudaRobotModelConfig.from_config(config)
File "/usr/local/lib/python3.8/dist-packages/curobo/cuda_robot_model/cuda_robot_model.py", line 248, in from_config
generator = CudaRobotGenerator(config)
File "/usr/local/lib/python3.8/dist-packages/curobo/cuda_robot_model/cuda_robot_generator.py", line 260, in __init__
self.initialize_tensors()
File "/usr/lib/python3.8/contextlib.py", line 75, in inner
return func(*args, **kwds)
File "/usr/local/lib/python3.8/dist-packages/curobo/cuda_robot_model/cuda_robot_generator.py", line 285, in initialize_tensors
self._link_spheres_tensor = torch.empty(
File "/usr/local/lib/python3.8/dist-packages/torch/cuda/__init__.py", line 217, in _lazy_init
torch._C._cuda_init()
RuntimeError: Found no NVIDIA driver on your system. Please check that you have an NVIDIA GPU and installed a driver from http://www.nvidia.com/Download/index.aspx
Would it be possible to start from either a pytorch docker or follow these steps to setup the isaac ros container on jetson: https://nvidia-isaac-ros.github.io/getting_started/hardware_setup/compute/index.html#jetson-platforms
I’m experiencing the same problem where the driver can’t be found when using the aarch64 Dockerfile provided by cuRubo. I built the image with:
bash build_docker.sh aarch64
and started it using:
bash start_docker_aarch64.sh
I’m running JetPack 6.2.1 and have followed all the instructions mentioned above.
For reference, the Docker isaac_ros_dev environment works perfectly on my system, so it seems like the issue is specific to the Docker setup here.
I was able to use this dockerfile to get curobo on the jetson orin nano with no ROS, but note that you have to create a large swapfile. https://gist.github.com/moorage/d2f20e88dc1ca08c920336c807bb29f5
The aarch64 dockerfile in this repo is pretty outdated as of now.
