[car_node-1] ModuleNotFoundError: No module named 'car_dynamics.models_jax

[vinnnyr]

When running XLA_PYTHON_CLIENT_MEM_FRACTION=0.3 ros2 launch car_ros2 car_sim.launch.py
I get this traceback. I have ensured both ROS is installed and sourced, as well as the colcon ws.

[ERROR] [car_simulator_node-2]: process has died [pid 8146, exit code 1, cmd '/home/vinny/code/github.com/LeCAR-Lab/anycar/install/car_ros2/lib/car_ros2/car_simulator_node --ros-args -r __node:=car_simulator_node --params-file /tmp/launch_params_4uzyrqw2'].
[car_node-1] Traceback (most recent call last):
[car_node-1]   File "/home/vinny/code/github.com/LeCAR-Lab/anycar/install/car_ros2/lib/car_ros2/car_node", line 33, in <module>
[car_node-1]     sys.exit(load_entry_point('car-ros2==0.0.0', 'console_scripts', 'car_node')())
[car_node-1]   File "/home/vinny/code/github.com/LeCAR-Lab/anycar/install/car_ros2/lib/car_ros2/car_node", line 25, in importlib_load_entry_point
[car_node-1]     return next(matches).load()
[car_node-1]   File "/usr/lib/python3.10/importlib/metadata/__init__.py", line 171, in load
[car_node-1]     module = import_module(match.group('module'))
[car_node-1]   File "/usr/lib/python3.10/importlib/__init__.py", line 126, in import_module
[car_node-1]     return _bootstrap._gcd_import(name[level:], package, level)
[car_node-1]   File "<frozen importlib._bootstrap>", line 1050, in _gcd_import
[car_node-1]   File "<frozen importlib._bootstrap>", line 1027, in _find_and_load
[car_node-1]   File "<frozen importlib._bootstrap>", line 1006, in _find_and_load_unlocked
[car_node-1]   File "<frozen importlib._bootstrap>", line 688, in _load_unlocked
[car_node-1]   File "<frozen importlib._bootstrap_external>", line 883, in exec_module
[car_node-1]   File "<frozen importlib._bootstrap>", line 241, in _call_with_frames_removed
[car_node-1]   File "/home/vinny/code/github.com/LeCAR-Lab/anycar/install/car_ros2/lib/python3.10/site-packages/car_ros2/car_node.py", line 21, in <module>
[car_node-1]     from car_dynamics.models_jax import DynamicBicycleModel
[car_node-1] ModuleNotFoundError: No module named 'car_dynamics.models_jax'
[ERROR] [car_node-1]: process has died [pid 8144, exit code 1, cmd '/home/vinny/code/github.com/LeCAR-Lab/anycar/install/car_ros2/lib/car_ros2/car_node --ros-args -r __node:=car_node --params-file /tmp/launch_params__vnkp8kd --params-file /tmp/launch_params_o21neeja'].

I am in the process of troubleshooting this, but it seems like the car_dynamics module has not been installed in my environment. I have followed the instructions in README.md

I have verified it shows up in pip list

➜  anycar git:(main) ✗ pip list | grep car_dynamics
car-dynamics                         0.0.0            /home/vinny/code/github.com/LeCAR-Lab/anycar/install/car_dynamics/lib/python3.10/site-packages
``

[WENLIXIAO-CS]

Hi,

It seems the issue arises because ROS2 is not recognizing the Python interpreter path, which prevents it from locating the necessary car_dynamics module. Here’s a solution to explicitly add the Python interpreter path for ROS2:

1. Identify the Python executable path:

   which python

2. Get the path to Python packages:

   python -c "import site; print(site.getsitepackages()[0])"

3. Set the environment variables:

   Replace PATH-OF-PYTHON and PATH-OF-PYTHON-SITE-PACKAGES with the paths obtained in the steps above:

   export PYTHON_EXECUTABLE=PATH-OF-PYTHON
   export PYTHONPATH=PATH-OF-PYTHON-SITE-PACKAGES:$PYTHONPATH

These steps will help ROS2 locate the necessary Python modules. We’ve also updated our README to reflect these setup instructions.

[vinnnyr]

I tried the above, but it didn't help on my environment. It seems like colcon / ros / setup.py is not installing the car_dynamics library internally properly.

On my machine

➜  anycar git:(main) ✗ tree /home/vinny/code/github.com/LeCAR-Lab/anycar/install/car_dynamics 
/home/vinny/code/github.com/LeCAR-Lab/anycar/install/car_dynamics
├── lib
│   └── python3.10
│       └── site-packages
└── share
    ├── car_dynamics
    │   ├── hook
    │   │   ├── pythonpath.dsv
    │   │   ├── pythonpath.ps1
    │   │   └── pythonpath.sh
    │   ├── package.bash
    │   ├── package.dsv
    │   ├── package.ps1
    │   ├── package.sh
    │   └── package.zsh
    └── colcon-core
        └── packages
            └── car_dynamics

Notice how site-packages is empty.

However, I was able to go past the error by doing this.

export PYTHONPATH=$PYTHONPATH:/home/vinny/code/github.com/LeCAR-Lab/anycar/car_dynamics

[sjtu-cjj]

I encountered the same issue, and neither of the above methods could resolve it. My Install folder is also empty.
'''
lxlab-pc:~/anycar/install/car_dynamics$ tree
├── lib
│   └── python3.10
│   └── site-packages
│   ├── car_dynamics
│   │   ├── init.py
│   │   └── pycache
│   │   └── init.cpython-310.pyc
│   └── car_dynamics-0.0.0-py3.10.egg-info
│   ├── dependency_links.txt
│   ├── PKG-INFO
│   ├── requires.txt
│   ├── SOURCES.txt
│   └── top_level.txt
└── share
├── car_dynamics
│   ├── hook
│   │   ├── pythonpath.dsv
│   │   ├── pythonpath.ps1
│   │   └── pythonpath.sh
│   ├── package.bash
│   ├── package.dsv
│   ├── package.ps1
│   ├── package.sh
│   └── package.zsh
└── colcon-core
└── packages
└── car_dynamics
'''

[WENLIXIAO-CS]

Could you try installing colcon in the anycar mamba environment

pip install -U colcon-common-extensions

[sjtu-cjj]

I tried this command, but it seems it didn't solve the problem.

[endiok]

A solution please

[alexbuyval]

To solve this issue I have added in the car_dynamics/setup.py the following sub-directories in packages list:

    packages=['car_dynamics', 'car_dynamics/controllers_jax', 'car_dynamics/controllers_torch', 'car_dynamics/analysis', 
              'car_dynamics/envs', 'car_dynamics/models_jax', 'car_dynamics/models_torch', 'car_dynamics/modules'],

And then run colcon build again

However, I have another error now:

[car_simulator_node-2] Traceback (most recent call last):
[car_simulator_node-2]   File "/home/alex/workspace/anycar/install/car_ros2/lib/car_ros2/car_simulator_node", line 33, in <module>
[car_simulator_node-2]     sys.exit(load_entry_point('car-ros2==0.0.0', 'console_scripts', 'car_simulator_node')())
[car_simulator_node-2]   File "/home/alex/workspace/anycar/install/car_ros2/lib/car_ros2/car_simulator_node", line 25, in importlib_load_entry_point
[car_simulator_node-2]     return next(matches).load()
[car_simulator_node-2]   File "/usr/lib/python3.10/importlib/metadata/__init__.py", line 171, in load
[car_simulator_node-2]     module = import_module(match.group('module'))
[car_simulator_node-2]   File "/usr/lib/python3.10/importlib/__init__.py", line 126, in import_module
[car_simulator_node-2]     return _bootstrap._gcd_import(name[level:], package, level)
[car_simulator_node-2]   File "<frozen importlib._bootstrap>", line 1050, in _gcd_import
[car_simulator_node-2]   File "<frozen importlib._bootstrap>", line 1027, in _find_and_load
[car_simulator_node-2]   File "<frozen importlib._bootstrap>", line 1006, in _find_and_load_unlocked
[car_simulator_node-2]   File "<frozen importlib._bootstrap>", line 688, in _load_unlocked
[car_simulator_node-2]   File "<frozen importlib._bootstrap_external>", line 883, in exec_module
[car_simulator_node-2]   File "<frozen importlib._bootstrap>", line 241, in _call_with_frames_removed
[car_simulator_node-2]   File "/home/alex/workspace/anycar/install/car_ros2/lib/python3.10/site-packages/car_ros2/car_simulator_node.py", line 11, in <module>
[car_simulator_node-2]     from car_ros2.utils import load_env_params_mujoco, load_env_params_numeric, load_env_params_isaacsim, load_env_params_unity
[car_simulator_node-2]   File "/home/alex/workspace/anycar/install/car_ros2/lib/python3.10/site-packages/car_ros2/utils.py", line 3, in <module>
[car_simulator_node-2]     from car_dynamics.models_jax import DynamicParams
[car_simulator_node-2]   File "/home/alex/workspace/anycar/install/car_dynamics/lib/python3.10/site-packages/car_dynamics/models_jax/__init__.py", line 3, in <module>
[car_simulator_node-2]     from .nn_dynamics import DynamicsJax
[car_simulator_node-2]   File "/home/alex/workspace/anycar/install/car_dynamics/lib/python3.10/site-packages/car_dynamics/models_jax/nn_dynamics.py", line 9, in <module>
[car_simulator_node-2]     from car_foundation.jax_models import JaxTransformerDecoder
[car_simulator_node-2]   File "/home/alex/workspace/anycar/install/car_foundation/lib/python3.10/site-packages/car_foundation/jax_models.py", line 14, in <module>
[car_simulator_node-2]     import transformer_engine.jax as te
[car_simulator_node-2]   File "/home/alex/miniconda3/envs/anycar/lib/python3.10/site-packages/transformer_engine/__init__.py", line 10, in <module>
[car_simulator_node-2]     import transformer_engine.common
[car_simulator_node-2]   File "/home/alex/miniconda3/envs/anycar/lib/python3.10/site-packages/transformer_engine/common/__init__.py", line 120, in <module>
[car_simulator_node-2]     _CUDNN_LIB_CTYPES = _load_cudnn()
[car_simulator_node-2]   File "/home/alex/miniconda3/envs/anycar/lib/python3.10/site-packages/transformer_engine/common/__init__.py", line 79, in _load_cudnn
[car_simulator_node-2]     return ctypes.CDLL(f"libcudnn.{_get_sys_extension()}", mode=ctypes.RTLD_GLOBAL)
[car_simulator_node-2]   File "/usr/lib/python3.10/ctypes/__init__.py", line 374, in __init__
[car_simulator_node-2]     self._handle = _dlopen(self._name, mode)
[car_simulator_node-2] OSError: libcudnn.so: cannot open shared object file: No such file or directory

I have checked that nvidia-cudnn-cu12 is installed in anycar env.
Any ideas?

[alexbuyval]

I tried to install all packages by conda, but I encontered with another error

AttributeError: module 'jax.interpreters.pxla' has no attribute 'ShardedDeviceArray'

Looks like ShardedDeviceArray attribute is deprecated and it is needed downgrade jax version.

@WENLIXIAO-CS could you, please, output the list of all python packages and its versions from your environment?

Full output:

(anycar) alex@alex-ROG-Strix:~/workspace/anycar$ XLA_PYTHON_CLIENT_MEM_FRACTION=0.3 ros2 launch car_ros2 car_sim.launch.py
[INFO] [launch]: All log files can be found below /home/alex/.ros/log/2024-11-14-11-04-07-233690-alex-ROG-Strix-197660
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [car_node-1]: process started with pid [197668]
[INFO] [car_simulator_node-2]: process started with pid [197670]
[car_simulator_node-2] Traceback (most recent call last):
[car_simulator_node-2]   File "/home/alex/workspace/anycar/install/car_ros2/lib/car_ros2/car_simulator_node", line 33, in <module>
[car_simulator_node-2]     sys.exit(load_entry_point('car-ros2==0.0.0', 'console_scripts', 'car_simulator_node')())
[car_simulator_node-2]   File "/home/alex/workspace/anycar/install/car_ros2/lib/car_ros2/car_simulator_node", line 25, in importlib_load_entry_point
[car_simulator_node-2]     return next(matches).load()
[car_simulator_node-2]   File "/usr/lib/python3.10/importlib/metadata/__init__.py", line 171, in load
[car_simulator_node-2]     module = import_module(match.group('module'))
[car_simulator_node-2]   File "/usr/lib/python3.10/importlib/__init__.py", line 126, in import_module
[car_simulator_node-2]     return _bootstrap._gcd_import(name[level:], package, level)
[car_simulator_node-2]   File "<frozen importlib._bootstrap>", line 1050, in _gcd_import
[car_simulator_node-2]   File "<frozen importlib._bootstrap>", line 1027, in _find_and_load
[car_simulator_node-2]   File "<frozen importlib._bootstrap>", line 1006, in _find_and_load_unlocked
[car_simulator_node-2]   File "<frozen importlib._bootstrap>", line 688, in _load_unlocked
[car_simulator_node-2]   File "<frozen importlib._bootstrap_external>", line 883, in exec_module
[car_simulator_node-2]   File "<frozen importlib._bootstrap>", line 241, in _call_with_frames_removed
[car_simulator_node-2]   File "/home/alex/workspace/anycar/install/car_ros2/lib/python3.10/site-packages/car_ros2/car_simulator_node.py", line 11, in <module>
[car_simulator_node-2]     from car_ros2.utils import load_env_params_mujoco, load_env_params_numeric, load_env_params_isaacsim, load_env_params_unity
[car_simulator_node-2]   File "/home/alex/workspace/anycar/install/car_ros2/lib/python3.10/site-packages/car_ros2/utils.py", line 3, in <module>
[car_simulator_node-2]     from car_dynamics.models_jax import DynamicParams
[car_simulator_node-2]   File "/home/alex/workspace/anycar/install/car_dynamics/lib/python3.10/site-packages/car_dynamics/models_jax/__init__.py", line 2, in <module>
[car_simulator_node-2]     from .models import AdaptDataset, ParamAdaptModel
[car_simulator_node-2]   File "/home/alex/workspace/anycar/install/car_dynamics/lib/python3.10/site-packages/car_dynamics/models_jax/models.py", line 5, in <module>
[car_simulator_node-2]     import optax
[car_simulator_node-2]   File "/home/alex/miniconda3/envs/anycar/lib/python3.10/site-packages/optax/__init__.py", line 17, in <module>
[car_simulator_node-2]     from optax import experimental
[car_simulator_node-2]   File "/home/alex/miniconda3/envs/anycar/lib/python3.10/site-packages/optax/experimental/__init__.py", line 20, in <module>
[car_simulator_node-2]     from optax._src.experimental.complex_valued import split_real_and_imaginary
[car_simulator_node-2]   File "/home/alex/miniconda3/envs/anycar/lib/python3.10/site-packages/optax/_src/experimental/complex_valued.py", line 32, in <module>
[car_simulator_node-2]     import chex
[car_simulator_node-2]   File "/home/alex/miniconda3/envs/anycar/lib/python3.10/site-packages/chex/__init__.py", line 17, in <module>
[car_simulator_node-2]     from chex._src.asserts import assert_axis_dimension
[car_simulator_node-2]   File "/home/alex/miniconda3/envs/anycar/lib/python3.10/site-packages/chex/_src/asserts.py", line 26, in <module>
[car_simulator_node-2]     from chex._src import asserts_internal as _ai
[car_simulator_node-2]   File "/home/alex/miniconda3/envs/anycar/lib/python3.10/site-packages/chex/_src/asserts_internal.py", line 34, in <module>
[car_simulator_node-2]     from chex._src import pytypes
[car_simulator_node-2]   File "/home/alex/miniconda3/envs/anycar/lib/python3.10/site-packages/chex/_src/pytypes.py", line 25, in <module>
[car_simulator_node-2]     ArraySharded = jax.interpreters.pxla.ShardedDeviceArray
[car_simulator_node-2] AttributeError: module 'jax.interpreters.pxla' has no attribute 'ShardedDeviceArray'
[ERROR] [car_simulator_node-2]: process has died [pid 197670, exit code 1, cmd '/home/alex/workspace/anycar/install/car_ros2/lib/car_ros2/car_simulator_node --ros-args -r __node:=car_simulator_node --params-file /tmp/launch_params_rajaj92h'].
[car_node-1] Traceback (most recent call last):
[car_node-1]   File "/home/alex/workspace/anycar/install/car_ros2/lib/car_ros2/car_node", line 33, in <module>
[car_node-1]     sys.exit(load_entry_point('car-ros2==0.0.0', 'console_scripts', 'car_node')())
[car_node-1]   File "/home/alex/workspace/anycar/install/car_ros2/lib/car_ros2/car_node", line 25, in importlib_load_entry_point
[car_node-1]     return next(matches).load()
[car_node-1]   File "/usr/lib/python3.10/importlib/metadata/__init__.py", line 171, in load
[car_node-1]     module = import_module(match.group('module'))
[car_node-1]   File "/usr/lib/python3.10/importlib/__init__.py", line 126, in import_module
[car_node-1]     return _bootstrap._gcd_import(name[level:], package, level)
[car_node-1]   File "<frozen importlib._bootstrap>", line 1050, in _gcd_import
[car_node-1]   File "<frozen importlib._bootstrap>", line 1027, in _find_and_load
[car_node-1]   File "<frozen importlib._bootstrap>", line 1006, in _find_and_load_unlocked
[car_node-1]   File "<frozen importlib._bootstrap>", line 688, in _load_unlocked
[car_node-1]   File "<frozen importlib._bootstrap_external>", line 883, in exec_module
[car_node-1]   File "<frozen importlib._bootstrap>", line 241, in _call_with_frames_removed
[car_node-1]   File "/home/alex/workspace/anycar/install/car_ros2/lib/python3.10/site-packages/car_ros2/car_node.py", line 18, in <module>
[car_node-1]     from tf_transformations import quaternion_from_euler, euler_matrix, euler_from_quaternion
[car_node-1]   File "/opt/ros/humble/lib/python3.10/site-packages/tf_transformations/__init__.py", line 46, in <module>
[car_node-1]     import transforms3d
[car_node-1]   File "/usr/lib/python3/dist-packages/transforms3d/__init__.py", line 10, in <module>
[car_node-1]     from . import quaternions
[car_node-1]   File "/usr/lib/python3/dist-packages/transforms3d/quaternions.py", line 26, in <module>
[car_node-1]     _MAX_FLOAT = np.maximum_sctype(np.float)
[car_node-1]   File "/home/alex/miniconda3/envs/anycar/lib/python3.10/site-packages/numpy/__init__.py", line 324, in __getattr__
[car_node-1]     raise AttributeError(__former_attrs__[attr])
[car_node-1] AttributeError: module 'numpy' has no attribute 'float'.
[car_node-1] `np.float` was a deprecated alias for the builtin `float`. To avoid this error in existing code, use `float` by itself. Doing this will not modify any behavior and is safe. If you specifically wanted the numpy scalar type, use `np.float64` here.
[car_node-1] The aliases was originally deprecated in NumPy 1.20; for more details and guidance see the original release note at:
[car_node-1]     https://numpy.org/devdocs/release/1.20.0-notes.html#deprecations. Did you mean: 'cfloat'?
[ERROR] [car_node-1]: process has died [pid 197668, exit code 1, cmd '/home/alex/workspace/anycar/install/car_ros2/lib/car_ros2/car_node --ros-args -r __node:=car_node --params-file /tmp/launch_params_uk7zvv5z --params-file /tmp/launch_params_4y1zjzfw'].

[endiok]

I installed all packages but it still did not work,I even could not find out what is wrong
Full output:

(anycar) ros2@ros2:~/anycar-main$ XLA_PYTHON_CLIENT_MEM_FRACTION=0.3 ros2 launch car_ros2 car_sim.launch.py

[INFO] [launch]: All log files can be found below /home/ros2/.ros/log/2024-11-16-11-13-31-370579-ros2-35028

[INFO] [launch]: Default logging verbosity is set to INFO

[INFO] [car_node-1]: process started with pid [35029]

[INFO] [car_simulator_node-2]: process started with pid [35031]

[car_node-1] Traceback (most recent call last):

[car_node-1] File "/home/ros2/anaconda3/envs/anycar/lib/python3.10/site-packages/transformer_engine/jax/init.py", line 48, in _load_library

[car_node-1] so_path = next(so_dir.glob(f"{module_name}.*.{extension}"))

[car_node-1] StopIteration

[car_node-1]

[car_node-1] During handling of the above exception, another exception occurred:

[car_node-1]

[car_node-1] Traceback (most recent call last):

[car_node-1] File "/home/ros2/anycar-main/install/car_ros2/lib/car_ros2/car_node", line 33, in

[car_node-1] sys.exit(load_entry_point('car-ros2==0.0.0', 'console_scripts', 'car_node')())

[car_node-1] File "/home/ros2/anycar-main/install/car_ros2/lib/car_ros2/car_node", line 25, in importlib_load_entry_point

[car_node-1] return next(matches).load()

[car_node-1] File "/usr/lib/python3.10/importlib/metadata/init.py", line 171, in load

[car_node-1] module = import_module(match.group('module'))

[car_node-1] File "/usr/lib/python3.10/importlib/init.py", line 126, in import_module

[car_node-1] return _bootstrap._gcd_import(name[level:], package, level)

[car_node-1] File "", line 1050, in _gcd_import

[car_node-1] File "", line 1027, in _find_and_load

[car_node-1] File "", line 1006, in _find_and_load_unlocked

[car_node-1] File "", line 688, in _load_unlocked

[car_node-1] File "", line 883, in exec_module

[car_node-1] File "", line 241, in _call_with_frames_removed

[car_node-1] File "/home/ros2/anycar-main/install/car_ros2/lib/python3.10/site-packages/car_ros2/car_node.py", line 21, in

[car_node-1] from car_dynamics.models_jax import DynamicBicycleModel

[car_node-1] File "/home/ros2/anycar-main/install/car_dynamics/lib/python3.10/site-packages/car_dynamics/models_jax/init.py", line 3, in

[car_node-1] from .nn_dynamics import DynamicsJax

[car_node-1] File "/home/ros2/anycar-main/install/car_dynamics/lib/python3.10/site-packages/car_dynamics/models_jax/nn_dynamics.py", line 9, in

[car_node-1] from car_foundation.jax_models import JaxTransformerDecoder

[car_node-1] File "/home/ros2/anycar-main/install/car_foundation/lib/python3.10/site-packages/car_foundation/jax_models.py", line 14, in

[car_node-1] import transformer_engine.jax as te

[car_node-1] File "/home/ros2/anaconda3/envs/anycar/lib/python3.10/site-packages/transformer_engine/jax/init.py", line 56, in

[car_node-1] _TE_JAX_LIB_CTYPES = _load_library()

[car_node-1] File "/home/ros2/anaconda3/envs/anycar/lib/python3.10/site-packages/transformer_engine/jax/init.py", line 51, in _load_library

[car_node-1] so_path = next(so_dir.glob(f"{module_name}.*.{extension}"))

[car_node-1] StopIteration

[ERROR] [car_node-1]: process has died [pid 35029, exit code 1, cmd '/home/ros2/anycar-main/install/car_ros2/lib/car_ros2/car_node --ros-args -r __node:=car_node --params-file /tmp/launch_params_5u_o2rgb --params-file /tmp/launch_params_zxfsebpf'].

[car_simulator_node-2] Traceback (most recent call last):

[car_simulator_node-2] File "/home/ros2/anaconda3/envs/anycar/lib/python3.10/site-packages/transformer_engine/jax/init.py", line 48, in _load_library

[car_simulator_node-2] so_path = next(so_dir.glob(f"{module_name}.*.{extension}"))

[car_simulator_node-2] StopIteration

[car_simulator_node-2]

[car_simulator_node-2] During handling of the above exception, another exception occurred:

[car_simulator_node-2]

[car_simulator_node-2] Traceback (most recent call last):

[car_simulator_node-2] File "/home/ros2/anycar-main/install/car_ros2/lib/car_ros2/car_simulator_node", line 33, in

[car_simulator_node-2] sys.exit(load_entry_point('car-ros2==0.0.0', 'console_scripts', 'car_simulator_node')())

[car_simulator_node-2] File "/home/ros2/anycar-main/install/car_ros2/lib/car_ros2/car_simulator_node", line 25, in importlib_load_entry_point

[car_simulator_node-2] return next(matches).load()

[car_simulator_node-2] File "/usr/lib/python3.10/importlib/metadata/init.py", line 171, in load

[car_simulator_node-2] module = import_module(match.group('module'))

[car_simulator_node-2] File "/usr/lib/python3.10/importlib/init.py", line 126, in import_module

[car_simulator_node-2] return _bootstrap._gcd_import(name[level:], package, level)

[car_simulator_node-2] File "", line 1050, in _gcd_import

[car_simulator_node-2] File "", line 1027, in _find_and_load

[car_simulator_node-2] File "", line 1006, in _find_and_load_unlocked

[car_simulator_node-2] File "", line 688, in _load_unlocked

[car_simulator_node-2] File "", line 883, in exec_module

[car_simulator_node-2] File "", line 241, in _call_with_frames_removed

[car_simulator_node-2] File "/home/ros2/anycar-main/install/car_ros2/lib/python3.10/site-packages/car_ros2/car_simulator_node.py", line 11, in

[car_simulator_node-2] from car_ros2.utils import load_env_params_mujoco, load_env_params_numeric, load_env_params_isaacsim, load_env_params_unity

[car_simulator_node-2] File "/home/ros2/anycar-main/install/car_ros2/lib/python3.10/site-packages/car_ros2/utils.py", line 3, in

[car_simulator_node-2] from car_dynamics.models_jax import DynamicParams

[car_simulator_node-2] File "/home/ros2/anycar-main/install/car_dynamics/lib/python3.10/site-packages/car_dynamics/models_jax/init.py", line 3, in

[car_simulator_node-2] from .nn_dynamics import DynamicsJax

[car_simulator_node-2] File "/home/ros2/anycar-main/install/car_dynamics/lib/python3.10/site-packages/car_dynamics/models_jax/nn_dynamics.py", line 9, in

[car_simulator_node-2] from car_foundation.jax_models import JaxTransformerDecoder

[car_simulator_node-2] File "/home/ros2/anycar-main/install/car_foundation/lib/python3.10/site-packages/car_foundation/jax_models.py", line 14, in

[car_simulator_node-2] import transformer_engine.jax as te

[car_simulator_node-2] File "/home/ros2/anaconda3/envs/anycar/lib/python3.10/site-packages/transformer_engine/jax/init.py", line 56, in

[car_simulator_node-2] _TE_JAX_LIB_CTYPES = _load_library()

[car_simulator_node-2] File "/home/ros2/anaconda3/envs/anycar/lib/python3.10/site-packages/transformer_engine/jax/init.py", line 51, in _load_library

[car_simulator_node-2] so_path = next(so_dir.glob(f"{module_name}.*.{extension}"))

[car_simulator_node-2] StopIteration

[ERROR] [car_simulator_node-2]: process has died [pid 35031, exit code 1, cmd '/home/ros2/anycar-main/install/car_ros2/lib/car_ros2/car_simulator_node --ros-args -r __node:=car_simulator_node --params-file /tmp/launch_params_ffncig44'].

[da-qq]

I installed all packages but it still did not work,I even could not find out what is wrong Full output:

(anycar) ros2@ros2:~/anycar-main$ XLA_PYTHON_CLIENT_MEM_FRACTION=0.3 ros2 launch car_ros2 car_sim.launch.py

[INFO] [launch]: All log files can be found below /home/ros2/.ros/log/2024-11-16-11-13-31-370579-ros2-35028

[INFO] [launch]: Default logging verbosity is set to INFO

[INFO] [car_node-1]: process started with pid [35029]

[INFO] [car_simulator_node-2]: process started with pid [35031]

[car_node-1] Traceback (most recent call last):

[car_node-1] File "/home/ros2/anaconda3/envs/anycar/lib/python3.10/site-packages/transformer_engine/jax/init.py", line 48, in _load_library

[car_node-1] so_path = next(so_dir.glob(f"{module_name}.*.{extension}"))

[car_node-1] StopIteration

[car_node-1]

[car_node-1] During handling of the above exception, another exception occurred:

[car_node-1]

[car_node-1] Traceback (most recent call last):

[car_node-1] File "/home/ros2/anycar-main/install/car_ros2/lib/car_ros2/car_node", line 33, in

[car_node-1] sys.exit(load_entry_point('car-ros2==0.0.0', 'console_scripts', 'car_node')())

[car_node-1] File "/home/ros2/anycar-main/install/car_ros2/lib/car_ros2/car_node", line 25, in importlib_load_entry_point

[car_node-1] return next(matches).load()

[car_node-1] File "/usr/lib/python3.10/importlib/metadata/init.py", line 171, in load

[car_node-1] module = import_module(match.group('module'))

[car_node-1] File "/usr/lib/python3.10/importlib/init.py", line 126, in import_module

[car_node-1] return _bootstrap._gcd_import(name[level:], package, level)

[car_node-1] File "", line 1050, in _gcd_import

[car_node-1] File "", line 1027, in _find_and_load

[car_node-1] File "", line 1006, in _find_and_load_unlocked

[car_node-1] File "", line 688, in _load_unlocked

[car_node-1] File "", line 883, in exec_module

[car_node-1] File "", line 241, in _call_with_frames_removed

[car_node-1] File "/home/ros2/anycar-main/install/car_ros2/lib/python3.10/site-packages/car_ros2/car_node.py", line 21, in

[car_node-1] from car_dynamics.models_jax import DynamicBicycleModel

[car_node-1] File "/home/ros2/anycar-main/install/car_dynamics/lib/python3.10/site-packages/car_dynamics/models_jax/init.py", line 3, in

[car_node-1] from .nn_dynamics import DynamicsJax

[car_node-1] File "/home/ros2/anycar-main/install/car_dynamics/lib/python3.10/site-packages/car_dynamics/models_jax/nn_dynamics.py", line 9, in

[car_node-1] from car_foundation.jax_models import JaxTransformerDecoder

[car_node-1] File "/home/ros2/anycar-main/install/car_foundation/lib/python3.10/site-packages/car_foundation/jax_models.py", line 14, in

[car_node-1] import transformer_engine.jax as te

[car_node-1] File "/home/ros2/anaconda3/envs/anycar/lib/python3.10/site-packages/transformer_engine/jax/init.py", line 56, in

[car_node-1] _TE_JAX_LIB_CTYPES = _load_library()

[car_node-1] File "/home/ros2/anaconda3/envs/anycar/lib/python3.10/site-packages/transformer_engine/jax/init.py", line 51, in _load_library

[car_node-1] so_path = next(so_dir.glob(f"{module_name}.*.{extension}"))

[car_node-1] StopIteration

[ERROR] [car_node-1]: process has died [pid 35029, exit code 1, cmd '/home/ros2/anycar-main/install/car_ros2/lib/car_ros2/car_node --ros-args -r __node:=car_node --params-file /tmp/launch_params_5u_o2rgb --params-file /tmp/launch_params_zxfsebpf'].

[car_simulator_node-2] Traceback (most recent call last):

[car_simulator_node-2] File "/home/ros2/anaconda3/envs/anycar/lib/python3.10/site-packages/transformer_engine/jax/init.py", line 48, in _load_library

[car_simulator_node-2] so_path = next(so_dir.glob(f"{module_name}.*.{extension}"))

[car_simulator_node-2] StopIteration

[car_simulator_node-2]

[car_simulator_node-2] During handling of the above exception, another exception occurred:

[car_simulator_node-2]

[car_simulator_node-2] Traceback (most recent call last):

[car_simulator_node-2] File "/home/ros2/anycar-main/install/car_ros2/lib/car_ros2/car_simulator_node", line 33, in

[car_simulator_node-2] sys.exit(load_entry_point('car-ros2==0.0.0', 'console_scripts', 'car_simulator_node')())

[car_simulator_node-2] File "/home/ros2/anycar-main/install/car_ros2/lib/car_ros2/car_simulator_node", line 25, in importlib_load_entry_point

[car_simulator_node-2] return next(matches).load()

[car_simulator_node-2] File "/usr/lib/python3.10/importlib/metadata/init.py", line 171, in load

[car_simulator_node-2] module = import_module(match.group('module'))

[car_simulator_node-2] File "/usr/lib/python3.10/importlib/init.py", line 126, in import_module

[car_simulator_node-2] return _bootstrap._gcd_import(name[level:], package, level)

[car_simulator_node-2] File "", line 1050, in _gcd_import

[car_simulator_node-2] File "", line 1027, in _find_and_load

[car_simulator_node-2] File "", line 1006, in _find_and_load_unlocked

[car_simulator_node-2] File "", line 688, in _load_unlocked

[car_simulator_node-2] File "", line 883, in exec_module

[car_simulator_node-2] File "", line 241, in _call_with_frames_removed

[car_simulator_node-2] File "/home/ros2/anycar-main/install/car_ros2/lib/python3.10/site-packages/car_ros2/car_simulator_node.py", line 11, in

[car_simulator_node-2] from car_ros2.utils import load_env_params_mujoco, load_env_params_numeric, load_env_params_isaacsim, load_env_params_unity

[car_simulator_node-2] File "/home/ros2/anycar-main/install/car_ros2/lib/python3.10/site-packages/car_ros2/utils.py", line 3, in

[car_simulator_node-2] from car_dynamics.models_jax import DynamicParams

[car_simulator_node-2] File "/home/ros2/anycar-main/install/car_dynamics/lib/python3.10/site-packages/car_dynamics/models_jax/init.py", line 3, in

[car_simulator_node-2] from .nn_dynamics import DynamicsJax

[car_simulator_node-2] File "/home/ros2/anycar-main/install/car_dynamics/lib/python3.10/site-packages/car_dynamics/models_jax/nn_dynamics.py", line 9, in

[car_simulator_node-2] from car_foundation.jax_models import JaxTransformerDecoder

[car_simulator_node-2] File "/home/ros2/anycar-main/install/car_foundation/lib/python3.10/site-packages/car_foundation/jax_models.py", line 14, in

[car_simulator_node-2] import transformer_engine.jax as te

[car_simulator_node-2] File "/home/ros2/anaconda3/envs/anycar/lib/python3.10/site-packages/transformer_engine/jax/init.py", line 56, in

[car_simulator_node-2] _TE_JAX_LIB_CTYPES = _load_library()

[car_simulator_node-2] File "/home/ros2/anaconda3/envs/anycar/lib/python3.10/site-packages/transformer_engine/jax/init.py", line 51, in _load_library

[car_simulator_node-2] so_path = next(so_dir.glob(f"{module_name}.*.{extension}"))

[car_simulator_node-2] StopIteration

[ERROR] [car_simulator_node-2]: process has died [pid 35031, exit code 1, cmd '/home/ros2/anycar-main/install/car_ros2/lib/car_ros2/car_simulator_node --ros-args -r __node:=car_simulator_node --params-file /tmp/launch_params_ffncig44'].

hi，I have solved this by reinstall the Transformer Engine from branch 4e7caa1 and build it from source. You can refer to the colsed issue of the author, he outlist the version of Cuda/Transformer