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Kinfuを実行しようとするとFailed to load nodelet [/kinfu]になる #2828

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Kanazawanaoaki opened this issue Apr 21, 2024 · 11 comments
Open

Kinfuを実行しようとするとFailed to load nodelet [/kinfu]になる #2828

Kanazawanaoaki opened this issue Apr 21, 2024 · 11 comments

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@Kanazawanaoaki
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Kanazawanaoaki commented Apr 21, 2024 •
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#2827 に示すようにInstall PCL from source with CUDAの手順を行い，jsk_recognitionをbuildした後，

roslaunch jsk_pcl_ros sample_kinfu.launch

のサンプルを実行すると以下のエラーが発生してkinfuのプロセスが死んでしまいました．

process[kinfu-24]: started with pid [1121253]
type is jsk_pcl/Kinfu
[ERROR] [1713681488.335802289]: Skipped loading plugin with error: XML Document '/opt/ros/noetic/share/prosilica_camera/plugins/nodelet_plugins.xml' has no Root Element. This likely means the XML is malformed or missing..
[ERROR] [1713681488.398246717]: Skipped loading plugin with error: XML Document '/opt/ros/noetic/share/prosilica_camera/plugins/nodelet_plugins.xml' has no Root Element. This likely means the XML is malformed or missing..
[ERROR] [1713681488.712618028, 1498131092.821610080]: Skipped loading plugin with error: XML Document '/opt/ros/noetic/share/prosilica_camera/plugins/nodelet_plugins.xml' has no Root Element. This likely means the XML is malformed or missing..
[ERROR] [1713681488.714973268, 1498131092.821610080]: Failed to load nodelet [/kinfu] of type [jsk_pcl/Kinfu] even after refreshing the cache: MultiLibraryClassLoader: Could not create object of class type jsk_pcl_ros::Kinfu as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary()
[ERROR] [1713681488.714992792, 1498131092.821610080]: The error before refreshing the cache was: MultiLibraryClassLoader: Could not create object of class type jsk_pcl_ros::Kinfu as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary()
[kinfu-24] process has died [pid 1121253, exit code 255, cmd /opt/ros/noetic/lib/nodelet/nodelet standalone jsk_pcl/Kinfu ~input/camera_info:=/camera/depth_registered/camera_info ~input/depth:=/camera/depth_registered/hw_registered/image_rect_raw ~input/color:=/camera/rgb/image_rect_color __name:=kinfu __log:=/home/kanazawa/.ros/log/b66322fc-ffa9-11ee-a86a-79b99c0bb4cb/kinfu-24.log].
log file: /home/kanazawa/.ros/log/b66322fc-ffa9-11ee-a86a-79b99c0bb4cb/kinfu-24*.log

エラーメッセージ的には#1482 や https://sourceforge.net/p/jsk-ros-pkg/tickets/119/ が近そうですがよくわかりません．

https://answers.ros.org/question/110316/pluginception-build-factory/
を見るとライブラリのリンクが関係しそうなので，build周りを確認していると，
build時にPCL_GPU_KINFU_LARGE_SCALE_FOUNDの変数がtrue?になっておらず

jsk_recognition/jsk_pcl_ros/CMakeLists.txt

Lines 422 to 426 in 9087486

if (PCL_GPU_KINFU_LARGE_SCALE_FOUND)
target_link_libraries(jsk_pcl_ros
${PCL_GPU_KINFU_LARGE_SCALE_LIBRARY} ${PCL_GPU_CONTAINERS_LIBRARY}
${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES} yaml-cpp
jsk_pcl_ros_base)

辺りの処理が行われていないのが原因のように思います．　　
この変数やPCL_GPU_KINFU_LARGE_SCALE_LIBRARYやPCL_GPU_CONTAINERS_LIBRAR辺りの変数はbuild時に手動で指定する必要があるのでしょうか？　　
あるいはインストールの手順が間違っているor不足しているのでしょうか？
@mqcmd196
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mqcmd196 commented Apr 21, 2024 •
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PCL_GPU_KINFU_LARGE_SCALE_LIBRARY は少なくとも

https://github.com/jsk-ros-pkg/jsk_recognition/blob/908748677833a22832c1934e367ef32e4b79912e/jsk_pcl_ros/CMakeLists.txt#L66C35-L66C56

ここでセットされるはずです．QUIET を消して，CMakeの出力を教えてもらえますか？

@Kanazawanaoaki
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ありがとう，とりあえず実行したlogを貼っておきます．
https://gist.github.com/Kanazawanaoaki/2bd923abbd818b9470805bde0b8df12e#file-kinfu_debug_catkin_log_20240421-log

その部分の後ろに

# Function to check if a variable is defined and print its value if defined
function(print_if_defined variable_name)
    if(DEFINED ${variable_name})
        message("${variable_name} is defined and its value is ${${variable_name}}.")
    else()
        message("${variable_name} is not defined.")
    endif()
endfunction()

print_if_defined(PCL_GPU_KINFU_LARGE_SCALE_FOUND)
print_if_defined(PCL_GPU_KINFU_LARGE_SCALE_LIBRARY)
print_if_defined(PCL_GPU_CONTAINERS_LIBRARY)

を追加したら

PCL_GPU_KINFU_LARGE_SCALE_FOUND is defined and its value is FALSE.
PCL_GPU_KINFU_LARGE_SCALE_LIBRARY is defined and its value is PCL_GPU_KINFU_LARGE_SCALE_LIBRARY-NOTFOUND.
PCL_GPU_CONTAINERS_LIBRARY is not defined.

になっていたので，セットはされているけど無しでセットされているみたいですね．

@mqcmd196
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mqcmd196 commented Apr 21, 2024 via email

@Kanazawanaoaki
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Kanazawanaoaki commented Apr 21, 2024 •
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すみません，なるほどです．

シェルを立ち上げ直して，実行しました．
長すぎて途中からのログと，実行し直した際の途中のログのみですが，
https://gist.github.com/Kanazawanaoaki/84c04b128b68c8c45616b795a2457702#file-kinfu_debug_catkin_verbose_log_v2_20240421-log-L19

CMake Deprecation Warning at /usr/local/share/pcl-1.9/PCLConfig.cmake:42 (cmake_policy):

で1.9の方を見ていそうなのと，
https://gist.github.com/Kanazawanaoaki/84c04b128b68c8c45616b795a2457702#file-kinfu_debug_catkin_verbose_log_v2_20240421-log-L31-L48
の辺りで，

-- Could NOT find PCL_GPU_KINFU_LARGE_SCALE (missing: PCL_GPU_KINFU_LARGE_SCALE_LIBRARY PCL_GPU_KINFU_LARGE_SCALE_INCLUDE_DIR)

でPCL_GPU_KINFU_LARGE_SCALEは見つけられてなさそうです．

Kinfuのノードも最初と同じエラーで落ちました．

@mqcmd196
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mqcmd196 commented Apr 21, 2024 via email

@mqcmd196
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mqcmd196 commented Apr 21, 2024 via email

@Kanazawanaoaki
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#2827 (comment)
を参考に，1.10.0のものでbuildし直して実行したログです．
https://gist.github.com/Kanazawanaoaki/d2ef0974827c5bbde843f52d4a1276c6#file-20240421_1947_cmake_log-log

-- Could NOT find PCL_GPU_KINFU_LARGE_SCALE (missing: PCL_GPU_KINFU_LARGE_SCALE_LIBRARY PCL_GPU_KINFU_LARGE_SCALE_INCLUDE_DIR)

でやはり見つかっていなさそうです．．．

@mqcmd196
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mqcmd196 commented Apr 21, 2024 •
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PCLのビルドのときにCUDAアリでビルドされているか見てほしいのですが，-DCUDA=ON とかすると https://github.com/PointCloudLibrary/pcl/blob/pcl-1.10.0/CMakeLists.txt#L366 が呼ばれることになっていて，
https://github.com/PointCloudLibrary/pcl/blob/pcl-1.10.0/cmake/pcl_find_cuda.cmake を見ると，-DCUDA=ON だが，CUDAが見つからないときも，特にエラーでコケることなく，そのままビルドが続行されていそうですね．

なのでPCLをビルドするときのCMakeコマンドのログをください

@Kanazawanaoaki
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遅くなりすみません．
これは今実行したログですが，
https://gist.github.com/Kanazawanaoaki/6d2237067d5986516c8317407c78514a#file-pcl_cmake_log_20240422-log
最初に1.10.0のPCLをbuildしたときも以下のようなログが出ていたのでCUDAは見つかっているとは思います．

-- Found CUDA Toolkit v10.1

@Kanazawanaoaki
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Kanazawanaoaki commented Apr 22, 2024 •
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PointCloudLibrary/pcl#466 (comment)
などのログと比較すると，
https://gist.github.com/Kanazawanaoaki/6d2237067d5986516c8317407c78514a#file-pcl_cmake_log_20240422-log-L181-L208
ここに

--   gpu_kinfu
--   gpu_kinfu_large_scale

とかが無いのが問題のようで，やはりPCLのBuildでうまくいっていないみたいです．

(追記)このgpu_kinfu_large_scaleが生成されない問題の原因は
https://github.com/PointCloudLibrary/pcl/blob/pcl-1.10.0/gpu/CMakeLists.txt#L5-L7
のBUILD_GPU がONである必要があり，自分の場合は

cmake .. -DCMAKE_BUILD_TYPE=Release -DWITH_CUDA:BOOL=ON -DBUILD_GPU=ON

PCLのcmake時にこのように-DBUILD_GPU=ONオプションを付けて実行するとgpu_kinfu_large_scaleもgpu_kinfuもThe following subsystems will be builtのリストの中に入りました．

@Kanazawanaoaki
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その後

cd
wget https://github.com/PointCloudLibrary/pcl/archive/pcl-1.10.0.tar.gz
tar xvzf pcl-1.10.0.tar.gz
cd pcl-pcl-1.10.0
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release -DWITH_CUDA:BOOL=ON -DBUILD_GPU=ON
make -j 4
sudo make install

のmake -j 4の手順で

#error -- unsupported GNU version! gcc versions later than 8 are not supported!

のエラーが出たので，https://qiita.com/PinappleHunter/items/d07ee6f96cf60959b635 , https://linuxize.com/post/how-to-install-gcc-on-ubuntu-20-04/#installing-multiple-gcc-versions
を参考にgcc 8を使ってcmakeとmakeを実行．

In file included from /home/kanazawa/pcl-pcl-1.10.0/gpu/kinfu/tools/evaluation.cpp:37:
/home/kanazawa/pcl-pcl-1.10.0/gpu/kinfu/tools/evaluation.h:53:15: error: ‘shared_ptr’ does not name a type; did you mean ‘char16_t’?
   using Ptr = shared_ptr<Evaluation>;
               ^~~~~~~~~~
               char16_t

のエラーが出てmakeできなくなりました．
PointCloudLibrary/pcl#5836 によると，sudo apt remove libpcl*で解決するらしいが，そうすると大量のpcl依存のパッケージがアンインストールされるので他の回避策を模索中です．

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@mqcmd196 @Kanazawanaoaki