Error building on Jetson TX2

[sriharis123]

Hello,
I'm trying to get this package running on the TX2 with an Intel Realsense d435i and have been running into some issues. First, I tried apt install ros-melodic-rtabmap-ros and followed this tutorial. Running the rtabmapviz command gave me the following error:

[rtabmap/rtabmapviz-3] process has died [pid 4164, exit code 127, cmd /opt/ros/melodic/lib/rtabmap_ros/rtabmapviz -d ~/.ros/rtabmap_gui.ini rgb/image:=/camera/color/image_raw depth/image:=/camera/aligned_depth_to_color/image_raw rgb/camera_info:=/camera/color/camera_info rgbd_image:=rgbd_image_relay left/image_rect:=/stereo_camera/left/image_rect_color right/image_rect:=/stereo_camera/right/image_rect left/camera_info:=/stereo_camera/left/camera_info right/camera_info:=/stereo_camera/right/camera_info scan:=/scan scan_cloud:=/scan_cloud scan_descriptor:=/scan_descriptor odom:=odom __name:=rtabmapviz __log:=/home/nvidia/.ros/log/e8cd147e-c531-11eb-88ef-00044bc6f69a/rtabmap-rtabmapviz-3.log].
log file: /home/nvidia/.ros/log/e8cd147e-c531-11eb-88ef-00044bc6f69a/rtabmap-rtabmapviz-3*.log

I was able to pull up the pointcloud in RViz, but the visualization wasn't as good as the rtabmapviz (I've previously run this on an Intel NUC, which worked fine). Next, I tried installing from source using the guide at the bottom of the readme. During the make, I got this error:

/usr/bin/ld: cannot find -lQt4::Widgets
collect2: error: ld returned 1 exit status
corelib/src/CMakeFiles/rtabmap_core.dir/build.make:3415: recipe for target '../bin/librtabmap_core.so.0.20.11' failed
make[2]: *** [../bin/librtabmap_core.so.0.20.11] Error 1
CMakeFiles/Makefile2:267: recipe for target 'corelib/src/CMakeFiles/rtabmap_core.dir/all' failed
make[1]: *** [corelib/src/CMakeFiles/rtabmap_core.dir/all] Error 2
Makefile:151: recipe for target 'all' failed
make: *** [all] Error 2

I also tried following the steps in this post, but I got cc: error: ARGS: No such file or directory.

Any help would be appreciated. Thank you!

[matlabbe]

What is the jetpack version you are using? Can you try with the same version than in the post you linked?

For jetpack 4.3:

ROS
The ros binaries are still working out of the box with the original issue (rtabmapviz blank 3D View). Recommendation is still to use rviz for visualization.