unable to launch ros2 launch autoware_tensorrt_yolox yolox.launch.xml from docker container

[MarcFacerias]

Hello, I've been trying to launch the yolox node from the autoware docker container and I get the following error:
Could not load library dlopen error: libautoware_tensorrt_yolox_gpu_preprocess.so: cannot open shared object file: No such file or directory, at ./src/shared_library.c:99

There's an answer suggesting to manually copy the missing .so file, https://github.com/orgs/autowarefoundation/discussions/4203. Is there a cleaner way to update the docker container so that this behavior is prevented ? Thanks!

[mitsudome-r]

Could you provide more details about the following?

• CPU and GPU information
• Docker image that you used
• list of commands to replicate your issue

[MarcFacerias]

The issue was related with how the CMake file of the package autoware_tensorrt_yolox was done. As it is right now it did not install "autoware_tensorrt_yolox_gpu_preprocess" when building the package.

I changed it adding this piece of code to Cmake in the if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL) section
install(TARGETS ${PROJECT_NAME}_gpu_preprocess LIBRARY DESTINATION lib )

After rebuilding the package the node worked fine.

[liuXinGangChina]

Hi Marc @MarcFacerias

I try to reproduce your issue，but yolox works fine for me， I attach my manual here for your reference

1. git clone autoware and vcs import ......
2. pull latest universe docker ， e.g. docker pull ghcr.io/autowarefoundation/autoware:universe-devel-cuda
3. docker run ......
4. download yolox onnx file to folder inside docker -- /root/autoware_data/tensorrt_yolox
5. colcon build sym.. ..release --packages-up-to tensorrt_yolox
6. source install/setup.bash
7. ros2 launch yolox_tiny.launch.xml and wait for 10 minutes or less, cause tensorrt is build the local engine file for inference
8. ctrl+c
9. ros2 launch yolox_tiny.launch.xml and remember change the input topic to your camera topic
10. opencv rviz2 and subscribe /yolox/out/image

if everything goes well , you will see bbox on the rviz window

pedestrain is surrounded by a red box

BTW , the preprocess_on_gpu is set to true by default

Happy hacking

心刚

[liuXinGangChina]

hi marc， @MarcFacerias

If you fail follow my manual， please feel free to contact me
If it works ， please leave a message here， and i will close this disscussion

Best regards

心刚