Error "double free or corruption" when starting glim_rosnode on Jetson Orin AGX in docker

[JeremyLebon]

Describe the bug The error "double free or corruption" when starting glim_rosnode is received.

Expected behavior Normally the glim_rosnode should be starting. It already works on my laptop with a nvidia gpu.

Screenshots

I added the debug parameter and get the following

I can see with jtop everthing is available inside the docker container.

I already tried version 1.0.6 and the latest version. I already changed the config from gpu to cpu. But still the same error.

Environment (please complete the following information):

• CPU/GPU: Jetson Orin AGX
• OS: 22.04
• ROS: ROS 2 Humble
• CUDA: 12.2
• Build with CUDA: ON
• Docker is used
• Jetpack 6.1

Any suggestion where I should look? Is there a example of docker file for a Jetson with GLIM and ROS2?

[koide3]

I suppose the issue is caused by mismatch of CUDA arch. Can you run cuobjdump /usr/local/lib/libgtsam_points_cuda.so to see what architectures are supported. If something like sm_87 is missing, please try adding "-DCMAKE_CUDA_ARCHITECTURES=87" when building gtsam_points.

[JeremyLebon]

Sorry, i made a mistake with the Jetpack version. I was using the r36.3 available at the Jetson Interference repo. But this version is outdated and doesn't match with glim.

I now have build a image with the help of the script at the jetson container repo. And it know works like charm. :) (after struggling with realsense camera)