ROS2 - Isaac SIM 충돌

ROS2 - Isaac SIM 충돌

• Isaac SIM - Quick Start 진행 시, docker를 실행하게 되면, ROS 2와 충돌하는 경우가 발생
  • ros2 topic list를 검색 시, 다음과 같은 에러 발생

`Traceback (most recent call last): File "/opt/ros/humble/bin/ros2", line 33, in <module> sys.exit(load_entry_point('ros2cli==0.18.11', 'console_scripts', 'ros2')()) File "/opt/ros/humble/bin/ros2", line 25, in importlib_load_entry_point return next(matches).load() File "/usr/lib/python3.10/importlib/metadata/__init__.py", line 171, in load module = import_module(match.group('module')) File "/usr/lib/python3.10/importlib/__init__.py", line 126, in import_module return _bootstrap._gcd_import(name[level:], package, level) File "<frozen importlib._bootstrap>", line 1050, in _gcd_import File "<frozen importlib._bootstrap>", line 1027, in _find_and_load File "<frozen importlib._bootstrap>", line 1006, in _find_and_load_unlocked File "<frozen importlib._bootstrap>", line 688, in _load_unlocked File "<frozen importlib._bootstrap_external>", line 883, in exec_module File "<frozen importlib._bootstrap>", line 241, in _call_with_frames_removed File "/opt/ros/humble/lib/python3.10/site-packages/ros2cli/cli.py", line 22, in <module> from rclpy.executors import ExternalShutdownException File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 49, in <module> from rclpy.signals import install_signal_handlers File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/signals.py", line 15, in <module> from rclpy.exceptions import InvalidHandle File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/exceptions.py", line 15, in <module> from rclpy.impl.implementation_singleton import rclpy_implementation as _rclpy File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/impl/implementation_singleton.py", line 32, in <module> rclpy_implementation = import_c_library('._rclpy_pybind11', package) File "/opt/ros/humble/lib/python3.10/site-packages/rpyutils/import_c_library.py", line 39, in import_c_library return importlib.import_module(name, package=package) File "/usr/lib/python3.10/importlib/__init__.py", line 126, in import_module return _bootstrap._gcd_import(name[level:], package, level) ImportError: /opt/ros/humble/lib/librcl_logging_spdlog.so: undefined symbol: _ZN6spdlog7details7log_msgC1ENS_10source_locEN3fmt2v817basic_string_viewIcEENS_5level10level_enumES6_ The C extension '/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/_rclpy_pybind11.cpython-310-x86_64-linux-gnu.so' failed to be imported while being present on the system. Please refer to 'https://docs.ros.org/en/{distro}/Guides/Installation-Troubleshooting.html#import-failing-even-with-library-present-on-the-system' for possible solutions`

-   해결 방안
    - Nvidia Isaac Sim 경로를 LD_LIBRARY_PATH 에서 제거 (자동으로 설정되는 것 같음) 

export LD_LIBRARY_PATH=$(echo $LD_LIBRARY_PATH | tr ':' '\n' | grep -v "/home/yeonsoo/.local/share/ov/pkg/isaac-sim-4.2.0" | tr '\n' ':' | sed 's/:$//')`

• LD_LIBRARY_PATH 수정 -> ~/.bashrc 수정

## 수정 전

export LD\_LIBRARY\_PATH=/usr/local/cuda/lib64:/home/yeonsoo/.local/share/ov/pkg/isaac-sim-4.2.0/exts/omni.isaac.ros2\_bridge/humble/lib:/opt/ros/humble/lib

## 수정 후

export LD\_LIBRARY\_PATH=/usr/local/cuda/lib64:/opt/ros/humble/lib

## 저장

source ~/.bashrc

# 수정 후 확인

source /opt/ros/humble/setup.bash  
ros2 topic list