Raspbian Buster ROS RealSense
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. Also, make sure your Raspberry Pi is sufficiently cooled, it will become very hot, even with heatsinks attached, it can hurt a finger.
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)
