Issue to run the node on Jetson Orin Nano (Jetpack 6) #89
Description
Bug report
The PoseStamped messages of the nav_msgs/msg/Path published by the planner_server have empty headers (no timestamp and frame_id indicated). It causes issue for the visualization on FoxGlove Studio for example.
The header is filled for the Path but not each PoseStamped.
Required Info:
- Operating System:
- Ubuntu 22.04 (Jetpack 6)
- Computer:
- Jetson Orin Nano
- ROS2 Version:
- Humble
- Version or commit hash:
- branch ros2 and commit 79b60bf
- DDS implementation:
- Cyclone DDS
Actual behavior
On desktop, the node is working with the apt package and from source.
On Jetson Orin Nano, the node is working using the apt package but not when compiled from source. The package build from source without issue but throw a segmentation fault when the node is run and receive data.
I have added bellow the the log from backward_ros:
ros2_ws/src/depthimage_to_laserscan/src/DepthImageToLaserScan.cpp", line 115, in convert_msg
115: cv::Point2d rect_pixel_left = cam_model_.rectifyPoint(raw_pixel_left);
116: cv::Point3d left_ray = cam_model_.projectPixelTo3dRay(rect_pixel_left);
117:
118: cv::Point2d raw_pixel_right(depth_msg->width - 1, cam_model_.cy());
#1 Object "/opt/ros/humble/lib/libimage_geometry.so", at 0xffff9bce4b4f, in image_geometry::PinholeCameraModel::rectifyPoint(cv::Point_ const&) const
#0 Object "/opt/ros/humble/lib/libimage_geometry.so", at 0xffff9bce4828, in image_geometry::PinholeCameraModel::rectifyPoint(cv::Point_ const&, cv::Matx<double, 3, 3> const&, cv::Matx<double, 3, 4> const&) const