Difference between revisions of "Raspbian Buster ROS RealSense"

Revision as of 01:59, 12 September 2019

This page documents problems encountered while trying to install ROS and Intel RealSense onto Raspbian Buster.

I am doing this just a few months after the release of the Raspberry Pi 4. The Raspbian release is Buster. The ROS version I am installing is Kinetic Kame Desktop.

Before You Start

I am using a 64GB microSD card, UHS-I U3. Raspbian Buster Desktop image was flashed to it. SSH was enabled before first boot. I went through the steps to expand the filesystem to fill the whole card, and the other "usual" rasp-config stuff.

I added 1GB of swap space, this is required to build OpenCV and some other packages, otherwise there's a really mysterious crash that happens when compiling those source files.

This will take HOURS, make sure your power supply and SSH connection will not be interrupted. Read a book or watch a movie, or in my case, remotely access your home network so you can work while you do this installation.

Installing ROS

I followed instructions from http://wiki.ros.org/ROSberryPi/Installing%20ROS%20Kinetic%20on%20the%20Raspberry%20Pi

Different people will encounter different problems, most likely due to the rapid pace of version changes. I did not encounter some of the problems mentioned on that page, and I did encounter some ones that were not mentioned on that page.

Problem: "CMake may have trouble finding FindEigen3.cmake"

I did not encounter this problem

Problem: error: invalid conversion from 'const char*' to 'char*'

Full error text is

/home/pi/ros_catkin_ws/src/opencv3/modules/python/src2/cv2.cpp: In function ‘bool pyopencv_to(PyObject*, T&, const char*) [with T = cv::String; PyObject = _object]’:
/home/pi/ros_catkin_ws/src/opencv3/modules/python/src2/cv2.cpp:885:34: error: invalid conversion from ‘const char*’ to ‘char*’ [-fpermissive]
     char* str = PyString_AsString(obj);

Apparently this is due to some changes in Python 3.7, and the fix is to find the file cv2.cpp and edit the offending line from

     char* str = PyString_AsString(obj);

to

     const char* str = PyString_AsString(obj);

Citation: https://github.com/opencv/opencv/issues/14856#issuecomment-504416696

Problem: fatal error: boost/tr1/unordered_set.hpp: No such file or directory

Full error text is

In file included from /home/pi/ros_catkin_ws/src/rospack/src/rospack.cpp:28:
/home/pi/ros_catkin_ws/src/rospack/include/rospack/rospack.h:108:10: fatal error: boost/tr1/unordered_set.hpp: No such file or directory
 #include <boost/tr1/unordered_set.hpp>
          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [CMakeFiles/rospack.dir/build.make:63: CMakeFiles/rospack.dir/src/rospack.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
In file included from /home/pi/ros_catkin_ws/src/rospack/src/rospack_backcompat.cpp:29:
/home/pi/ros_catkin_ws/src/rospack/include/rospack/rospack.h:108:10: fatal error: boost/tr1/unordered_set.hpp: No such file or directory
 #include <boost/tr1/unordered_set.hpp>
          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [CMakeFiles/rospack.dir/build.make:76: CMakeFiles/rospack.dir/src/rospack_backcompat.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:371: CMakeFiles/rospack.dir/all] Error 2
make: *** [Makefile:141: all] Error 2

This was mentioned on the install instruction page. "On Raspbian Buster the compilation may fail with "'boost/tr1/unordered_set.hpp' file not found". This is because rospack version used in Kinetic is dependent on boost 1.58. To fix this error try installing boost 1.58 manually."

I followed these instructions to install boost 1.58: http://osdevlab.blogspot.com/2016/02/how-to-install-latest-boost-library-on.html , but note: the page here says 1.60, but I changed that to 1.58

Problem: /usr/bin/ld: cannot find -l-lpthread

Full error text:

[ 94%] Compiling generated code for qt_gui_cpp_sip Python bindings...
make[3]: warning: jobserver unavailable: using -j1.  Add '+' to parent make rule.
/usr/bin/ld: cannot find -l-lpthread
collect2: error: ld returned 1 exit status
make[3]: *** [Makefile:38: "/home/pi/ros_catkin_ws/devel_isolated/qt_gui_cpp/lib/python2.7/dist-packages/qt_gui_cpp/libqt_gui_cpp_sip".so] Error 1
make[2]: *** [src/qt_gui_cpp_sip/CMakeFiles/libqt_gui_cpp_sip.dir/build.make:61: /home/pi/ros_catkin_ws/devel_isolated/qt_gui_cpp/lib/python2.7/dist-packages/qt_gui_cpp/libqt_gui_cpp_sip.so] Error 2
make[1]: *** [CMakeFiles/Makefile2:380: src/qt_gui_cpp_sip/CMakeFiles/libqt_gui_cpp_sip.dir/all] Error 2
make: *** [Makefile:141: all] Error 2

This one was nasty... I can't actually explain it, but I found a working fix

Citation: https://aur.archlinux.org/packages/ros-melodic-qt-gui-cpp/ , user hansbonini commented on 2019-05-31 02:34 "Run the package install for the first time, restart the compilation, add this line before cmake"

sed -i -e 's/\-l\-lpthread//g' sip/qt_gui_cpp_sip/Makefile

Note: depending on what directory you are in, you may need to change the path to the correct Makefile in the command above

Note: I did not put that line before cmake, instead I simply ran that command from the terminal

Problem: logWarn or logError not declared in scope

Full error text, is very similar to:

/home/pi/ros_catkin_ws/src/geometry2/tf2/src/buffer_core.cpp: In member function ‘bool tf2::BufferCore::setTransform(const TransformStamped&, const string&, bool)’:
/home/pi/ros_catkin_ws/src/geometry2/tf2/src/buffer_core.cpp:221:5: error: ‘logError’ was not declared in this scope
     logError("TF_SELF_TRANSFORM: Ignoring transform from authority \"%s\" with frame_id and child_frame_id  \"%s\" because they are the same",  authority.c_str(), stripped.child_frame_id.c_str());
     ^~~~~~~~
/home/pi/ros_catkin_ws/src/geometry2/tf2/src/buffer_core.cpp:221:5: note: suggested alternative: ‘strerror’
     logError("TF_SELF_TRANSFORM: Ignoring transform from authority \"%s\" with frame_id and child_frame_id  \"%s\" because they are the same",  authority.c_str(), stripped.child_frame_id.c_str());
     ^~~~~~~~
     strerror

or

/home/pi/ros_catkin_ws/src/geometry2/tf2/src/buffer_core.cpp: In member function ‘bool tf2::BufferCore::warnFrameId(const char*, const string&) const’:
/home/pi/ros_catkin_ws/src/geometry2/tf2/src/buffer_core.cpp:126:5: error: ‘logWarn’ was not declared in this scope
     logWarn("%s",ss.str().c_str());
     ^~~~~~~
/home/pi/ros_catkin_ws/src/geometry2/tf2/src/buffer_core.cpp:134:5: error: ‘logWarn’ was not declared in this scope
     logWarn("%s",ss.str().c_str());
     ^~~~~~~

This is another code revision incompatibility, the internet says that logError became CONSOLE_BRIDGE_logError. The fix is going into the source file buffer_core.cpp and add in a macro to redefine logWarn and logError:

#include "tf2/buffer_core.h"
#include "tf2/time_cache.h"
#include "tf2/exceptions.h"
#include "tf2_msgs/TF2Error.h"

#include <assert.h>
#include <console_bridge/console.h>
#include "tf2/LinearMath/Transform.h"
#include <boost/foreach.hpp>

#ifndef logError // added by frank26080115
#define logError CONSOLE_BRIDGE_logError
#endif

#ifndef logWarn // added by frank26080115
#define logWarn CONSOLE_BRIDGE_logWarn
#endif


namespace tf2
{

...

rest of the code

Citation: https://github.com/ros/console_bridge/issues/56 and https://github.com/ros/ros-overlay/issues/509

I am unsure if my method is the best but it worked.

Installing librealsense

Follow instructions from https://github.com/IntelRealSense/librealsense/blob/master/doc/installation_raspbian.md

DO NOT follow instructions from https://github.com/IntelRealSense/librealsense/blob/master/doc/RaspberryPi3.md or https://github.com/IntelRealSense/librealsense/blob/development/doc/installation.md , these instructions are missing the -DFORCE_LIBUVC=true option during cmake, which is actually quite important

Problem: undefined reference to __atomic_store_8

Full error text is

/usr/bin/ld: ../../librealsense2.so.2.25.0: undefined reference to '__atomic_load_8'
/usr/bin/ld: ../../librealsense2.so.2.25.0: undefined reference to '__atomic_store_8'
/usr/bin/ld: ../../librealsense2.so.2.25.0: undefined reference to '__atomic_fetch_add_8'
collect2: error: ld returned 1 exit status
make[2]: *** [examples/hello-realsense/CMakeFiles/rs-hello-realsense.dir/build.make:91: examples/hello-realsense/rs-hello-realsense] Error 1
make[1]: *** [CMakeFiles/Makefile2:455: examples/hello-realsense/CMakeFiles/rs-hello-realsense.dir/all] Error 2
/usr/bin/ld: ../../librealsense2.so.2.25.0: undefined reference to '__atomic_load_8'
/usr/bin/ld: ../../librealsense2.so.2.25.0: undefined reference to '__atomic_store_8'
/usr/bin/ld: ../../librealsense2.so.2.25.0: undefined reference to '__atomic_fetch_add_8'
collect2: error: ld returned 1 exit status
make[2]: *** [examples/software-device/CMakeFiles/rs-software-device.dir/build.make:91: examples/software-device/rs-software-device] Error 1
make[1]: *** [CMakeFiles/Makefile2:511: examples/software-device/CMakeFiles/rs-software-device.dir/all] Error 2
make: *** [Makefile:130: all] Error 2

I don't fully understand the problem, but the internet offers a solution

Citation: https://github.com/IntelRealSense/librealsense/issues/4565#issuecomment-518359584

Find the file librealsense/CMakeList.txt and put this line near the top

set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -latomic")

Problem: error: ‘PyThreadState’ {aka ‘struct _ts’} has no member named ...

Full error text is

src/wrapper.c: In function ‘__Pyx_ExceptionSave’:
src/wrapper.c:11474:21: error: ‘PyThreadState’ {aka ‘struct _ts’} has no member named ‘exc_type’; did you mean ‘curexc_type’?
     *type = tstate->exc_type;
                     ^~~~~~~~
                     curexc_type
src/wrapper.c:11475:22: error: ‘PyThreadState’ {aka ‘struct _ts’} has no member named ‘exc_value’; did you mean ‘curexc_value’?
     *value = tstate->exc_value;
                      ^~~~~~~~~
                      curexc_value
src/wrapper.c:11476:19: error: ‘PyThreadState’ {aka ‘struct _ts’} has no member named ‘exc_traceback’; did you mean ‘curexc_traceback’?
     *tb = tstate->exc_traceback;
                   ^~~~~~~~~~~~~
                   curexc_traceback
src/wrapper.c: In function ‘__Pyx_ExceptionReset’:
src/wrapper.c:11488:24: error: ‘PyThreadState’ {aka ‘struct _ts’} has no member named ‘exc_type’; did you mean ‘curexc_type’?
     tmp_type = tstate->exc_type;
                        ^~~~~~~~
                        curexc_type
...
...
error: command 'gcc' failed with exit status 1

Another Python 3.7 incompatibility problem.

Citation: https://github.com/mcfletch/pyopengl/issues/11

What I did was: git clone the pyopengl repo, go into pyopengl/accelerate/src and find those files mentioned (wrapper.c, vbo.c, formathandler.c and numpy_formathandler.c), and perform the replacements (exc_type, exc_value, exc_traceback to curexc_type, curexc_value, curexc_traceback respectively)