isaac_ros_common fails to colcon build due to VPI

[joycej8]

Hello,

I am following this tutorial: https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_argus_camera/isaac_ros_argus_camera/index.html#stereo-camera

I am having a problem with isaac_ros_common using:

• A Jetson Orin Nano 8GB developer kit,
• Jetpack 5.1.2
• The Isaac ROS docker image, launched by run_dev.sh in isaac_ros_common

Running colcon build in my isaac_ros-ws leads to this error:

colcon build

Starting >>> isaac_ros_common
Starting >>> isaac_ros_test
--- stderr: isaac_ros_common                                                             
CMake Error at CMakeLists.txt:31 (find_package):
  By not providing "Findvpi.cmake" in CMAKE_MODULE_PATH this project has
  asked CMake to find a package configuration file provided by "vpi", but
  CMake did not find one.

  Could not find a package configuration file provided by "vpi" with any of
  the following names:

    vpiConfig.cmake
    vpi-config.cmake

  Add the installation prefix of "vpi" to CMAKE_PREFIX_PATH or set "vpi_DIR"
  to a directory containing one of the above files.  If "vpi" provides a
  separate development package or SDK, be sure it has been installed.

---
Failed   <<< isaac_ros_common [1.76s, exited with code 1]
Aborted  <<< isaac_ros_test [2.59s]     

---

Here is some debugging:

apt show cache nvidia-vpi

Package: nvidia-vpi
Version: 5.1.2-b104
Priority: standard
Section: metapackages
Maintainer: NVIDIA Corporation
Installed-Size: 199 kB
Depends: python3.8-vpi2 (= 2.3.9), python3.9-vpi2 (= 2.3.9), libnvvpi2 (= 2.3.9)
Homepage: http://developer.nvidia.com/jetson
Download-Size: 29.3 kB
APT-Manual-Installed: yes
APT-Sources: https://repo.download.nvidia.com/jetson/common r35.4/main arm64 Packages
Description: NVIDIA Vpi Meta Package

N: Unable to locate package cache
N: Unable to locate package cache

apt-cache search vpi

makexvpics - updates .xvpics thumbnails from the command line
python3-devpi-common - PyPI server and packaging/testing/release tool - Common modules
libnvvpi2 - NVIDIA Vision Programming Interface library
nvidia-vpi - NVIDIA Vpi Meta Package
nvidia-vpi-dev - NVIDIA Vpi dev Meta Package
python3.8-vpi2 - NVIDIA VPI python 3.8 bindings
python3.9-vpi2 - NVIDIA VPI python 3.9 bindings
vpi2-demos - NVIDIA VPI GUI demo applications
vpi2-dev - NVIDIA VPI C/C++ development library and headers
vpi2-samples - NVIDIA VPI command-line sample applications

There are some broken Symlinks as well

sudo find / -name vpi
/usr/include/vpi

ls -l /usr/include/vpi
lrwxrwxrwx 1 root root 25 Jan 10 23:03 /usr/include/vpi -> /etc/alternatives/vpi-dev

ls -l /etc/alternatives/vpi-dev
lrwxrwxrwx 1 root root 28 Jan 10 23:03 /etc/alternatives/vpi-dev -> /opt/nvidia/vpi2/include/vpi

ls -l /opt/nvidia/vpi2/include/vpi
ls: cannot access '/opt/nvidia/vpi2/include/vpi': No such file or directory

I've tried solutions like:
https://forums.developer.nvidia.com/t/cmake-cannot-find-vpi-after-isaac-ros-2-1-upgrade/273692
rm -R build install log

Thanks for your help!

[jaiveersinghNV]

Unfortunately we haven't been able to replicate this issue on our side, though we have heard similar reports from other users. Could you take a look at this thread and see if the workaround helps you as well?
https://forums.developer.nvidia.com/t/cmake-cannot-find-vpi-after-isaac-ros-2-1-upgrade/273692/7

Do you know if this Jetson was upgraded from 5.1.1 or an older version of JetPack using the OTA method, or was it reflashed using the SDK Manager? As a more extreme option, you may want to reflash your Jetson via SDK Manager to get a "clean slate".