Hello, thank you for the quick reply.
In summary, all the errors I had previously were resolved thanks to your advice. Iām currently facing a problem where no output comes out when running FoundationPose, so Iād like to ask for additional help.
First, I found out that the abnormal output of RT-DETR and the dimension error that occurred in FoundationPose were problems with RealSense settings. Previously, I confirmed that the issue occurred by running the Realsense node directly. After reconfiguring following the guidelines in the Isaac ROS documentation, RTDETR worked normally, and the error in FoundationPose also disappeared.
Also, the ERROR: setuptools_scm._file_finders.git listing git files failed - pretending there arenāt any error was resolved by changing the version of setuptools_scm.
pip install setuptools_scm==5.0.0
As a result, all previously encountered errors have been resolved, and Foundation pose is now running, but there is no response to the /output topic. As you can see in the video above, rtdetr masking seems to be working.
I have attached related logs and ROS 2 topic list below. I would appreciate your advice.
(For .obj files and .png files, I created them by referring to [Try More Examples] - [Tutorial to create your own 3D object mesh in .obj].)
> ros2 topic list
/accel/imu_info
/accel/metadata
/accel/sample
/aligned_depth_to_color/camera_info
/aligned_depth_to_color/image_raw
/aligned_depth_to_color/image_raw/compressed
/aligned_depth_to_color/image_raw/compressedDepth
/aligned_depth_to_color/image_raw/nitros
/aligned_depth_to_color/image_raw/theora
/camera_info_rect
/camera_info_resized
/camera_info_resized/nitros
/camera_info_segmentation
/camera_info_segmentation/nitros
/clicked_point
/color/image_raw/compressed
/color/image_raw/compressedDepth
/color/image_raw/theora
/color/metadata
/color_image_resized
/color_image_resized/nitros
/depth
/depth/camera_info
/depth/image_rect_raw
/depth/image_rect_raw/compressed
/depth/image_rect_raw/compressedDepth
/depth/image_rect_raw/theora
/depth/metadata
/depth/nitros
/depth_image
/depth_image/nitros
/detection2_d
/detections_output
/extrinsics/depth_to_accel
/extrinsics/depth_to_color
/extrinsics/depth_to_gyro
/goal_pose
/gyro/imu_info
/gyro/metadata
/gyro/sample
/image_rect
/image_rect/nitros
/imu
/initialpose
/normalized_tensor
/normalized_tensor/nitros
/output
/output/nitros
/padded_image
/padded_image/nitros
/parameter_events
/planar_tensor
/planar_tensor/nitros
/pose_estimation/pose_matrix_output
/pose_estimation/pose_matrix_output/nitros
/reshaped_tensor
/reshaped_tensor/nitros
/rgb/camera_info
/rgb/camera_info/nitros
/rgb/camera_info_viz
/rgb/camera_info_viz/nitros
/rgb/image_rect_color
/rgb/image_rect_color/nitros
/rgb/image_rect_color_viz
/rgb/image_rect_color_viz/nitros
/rosout
/rt_detr_segmentation
/rt_detr_segmentation/nitros
/segmentation
/segmentation/nitros
/segmentation/nitros/nitros_image_mono8
/tensor_pub
/tensor_pub/nitros
/tensor_sub
/tensor_sub/nitros
/tf
/tf_static
> FoundationPose Terminal Log
admin@minipin-MS-7E01:/workspaces/isaac_ros-dev$ ros2 launch isaac_ros_examples isaac_ros_examples.launch.py launch_fragments:=realsense_mono_rect_depth,foundationpose mesh_file_path:=${ISAAC_ROS_WS}/isaac_ros_assets/isaac_ros_foundationpose/banana/banana.obj texture_path:=${ISAAC_ROS_WS}/isaac_ros_assets/isaac_ros_foundationpose/banana/materials/textures/baked_mesh_tex0.png score_engine_file_path:=${ISAAC_ROS_WS}/isaac_ros_assets/models/foundationpose/score_trt_engine.plan refine_engine_file_path:=${ISAAC_ROS_WS}/isaac_ros_assets/models/foundationpose/refine_trt_engine.plan rt_detr_engine_file_path:=${ISAAC_ROS_WS}/isaac_ros_assets/models/synthetica_detr/sdetr_grasp.plan
[INFO] [launch]: All log files can be found below /home/admin/.ros/log/2024-08-19-22-33-54-656144-minipin-MS-7E01-60259
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container_mt-1]: process started with pid [60269]
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/realsense2_camera' in container '/isaac_ros_examples/container'
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/convert_metric' in container '/isaac_ros_examples/container'
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/drop_node' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1724074434.723876986] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libresize_node.so
[component_container_mt-1] [INFO] [1724074434.735921496] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::ResizeNode>
[component_container_mt-1] [INFO] [1724074434.735940736] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::ResizeNode>
[component_container_mt-1] [INFO] [1724074434.737744137] [resize_left_rt_detr_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1724074434.737939676] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/std/libgxf_std.so
[component_container_mt-1] [INFO] [1724074434.742347044] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_gxf_helpers.so
[component_container_mt-1] [INFO] [1724074434.744390109] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_sight.so
[component_container_mt-1] [INFO] [1724074434.746048054] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_atlas.so
[component_container_mt-1] 2024-08-19 22:33:54.751 WARN gxf/std/program.cpp@532: No GXF scheduler specified.
[component_container_mt-1] [INFO] [1724074434.751393799] [resize_left_rt_detr_node]: [ResizeNode] Set output data format to: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1724074434.751428508] [resize_left_rt_detr_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1724074434.756309687] [resize_left_rt_detr_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1724074434.756393898] [resize_left_rt_detr_node]: [NitrosContext] Loading extension: gxf/lib/multimedia/libgxf_multimedia.so
[component_container_mt-1] [INFO] [1724074434.757822359] [resize_left_rt_detr_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_message_compositor.so
[component_container_mt-1] [INFO] [1724074434.758449076] [resize_left_rt_detr_node]: [NitrosContext] Loading extension: gxf/lib/cuda/libgxf_cuda.so
[component_container_mt-1] [INFO] [1724074434.759872337] [resize_left_rt_detr_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_tensorops.so
[component_container_mt-1] [INFO] [1724074434.761995393] [resize_left_rt_detr_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1724074434.763635506] [resize_left_rt_detr_node]: [NitrosNode] Running optimization
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/resize_left_rt_detr_node' in container '/isaac_ros_examples/container'
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/pad_node' in container '/isaac_ros_examples/container'
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/image_to_tensor_node' in container '/isaac_ros_examples/container'
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/interleaved_to_planar_node' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1724074434.835957476] [resize_left_rt_detr_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1724074434.837468392] [resize_left_rt_detr_node]: [NitrosPublisherSubscriberGroup] Pinning the component "image_sink/sink" (type="nvidia::isaac_ros::MessageRelay") to use its compatible format only: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1724074434.841862978] [resize_left_rt_detr_node]: [NitrosNode] Starting negotiation...
[component_container_mt-1] [INFO] [1724074434.842272840] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libpad_node.so
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/reshape_node' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1724074434.852325724] [resize_left_rt_detr_node]: Negotiating
[component_container_mt-1] [INFO] [1724074434.852364045] [resize_left_rt_detr_node]: Could not negotiate
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/rtdetr_preprocessor' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1724074434.868580946] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::PadNode>
[component_container_mt-1] [INFO] [1724074434.868620345] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::PadNode>
[component_container_mt-1] [INFO] [1724074434.875099654] [pad_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1724074434.875184597] [resize_left_rt_detr_node]: Negotiating
[component_container_mt-1] [INFO] [1724074434.875237601] [resize_left_rt_detr_node]: Could not negotiate
[component_container_mt-1] [INFO] [1724074434.877100146] [pad_node.ManagedNitrosPublisher]: Starting Managed Nitros Publisher
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/tensor_rt' in container '/isaac_ros_examples/container'
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/rtdetr_decoder' in container '/isaac_ros_examples/container'
[ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node 'detection2_d_to_mask' of type 'nvidia::isaac_ros::foundationpose::Detection2DToMask' in container '/isaac_ros_examples/container': Could not find requested resource in ament index
[component_container_mt-1] [INFO] [1724074434.922535310] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libimage_to_tensor_node.so
[component_container_mt-1] [INFO] [1724074434.922654786] [pad_node]: Negotiating
[component_container_mt-1] [INFO] [1724074434.923232641] [pad_node]: Negotiating
[component_container_mt-1] [INFO] [1724074434.923452087] [pad_node]: Negotiating
[component_container_mt-1] [INFO] [1724074434.924144860] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::ImageToTensorNode>
[component_container_mt-1] [INFO] [1724074434.924157381] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::ImageToTensorNode>
[component_container_mt-1] [INFO] [1724074434.927400375] [image_to_tensor_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1724074434.927421746] [pad_node]: Negotiating
[component_container_mt-1] [INFO] [1724074434.928040785] [image_to_tensor_node.ManagedNitrosPublisher]: Starting Managed Nitros Publisher
[component_container_mt-1] [INFO] [1724074434.928249100] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libinterleaved_to_planar_node.so
[component_container_mt-1] [INFO] [1724074434.928803481] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::InterleavedToPlanarNode>
[component_container_mt-1] [INFO] [1724074434.928811379] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::InterleavedToPlanarNode>
[component_container_mt-1] [INFO] [1724074434.930988621] [interleaved_to_planar_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1724074434.931591788] [interleaved_to_planar_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1724074434.935368365] [interleaved_to_planar_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1724074434.935684486] [interleaved_to_planar_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1724074434.936617340] [interleaved_to_planar_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1724074434.938357751] [image_to_tensor_node]: Negotiating
[component_container_mt-1] [INFO] [1724074434.938404384] [image_to_tensor_node]: Could not negotiate
[component_container_mt-1] [INFO] [1724074434.938550644] [image_to_tensor_node]: Negotiating
[component_container_mt-1] [INFO] [1724074434.938575826] [image_to_tensor_node]: Could not negotiate
[component_container_mt-1] [INFO] [1724074434.938752934] [image_to_tensor_node]: Negotiating
[component_container_mt-1] [INFO] [1724074434.938782428] [image_to_tensor_node]: Could not negotiate
[component_container_mt-1] [INFO] [1724074434.938918407] [image_to_tensor_node]: Negotiating
[component_container_mt-1] [INFO] [1724074434.938944905] [image_to_tensor_node]: Could not negotiate
[component_container_mt-1] [INFO] [1724074434.939126893] [image_to_tensor_node]: Negotiating
[component_container_mt-1] [INFO] [1724074434.939160677] [image_to_tensor_node]: Could not negotiate
[component_container_mt-1] [INFO] [1724074434.939292928] [interleaved_to_planar_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1724074434.939340638] [image_to_tensor_node]: Negotiating
[component_container_mt-1] [INFO] [1724074434.939372203] [image_to_tensor_node]: Could not negotiate
[component_container_mt-1] [INFO] [1724074434.939536293] [image_to_tensor_node]: Negotiating
[component_container_mt-1] [INFO] [1724074434.939549969] [image_to_tensor_node]: Could not negotiate
[component_container_mt-1] [INFO] [1724074434.939667852] [image_to_tensor_node]: Negotiating
[component_container_mt-1] [INFO] [1724074434.939697399] [image_to_tensor_node]: Could not negotiate
[component_container_mt-1] [INFO] [1724074434.939844608] [image_to_tensor_node]: Negotiating
[component_container_mt-1] [INFO] [1724074434.939996976] [image_to_tensor_node]: Could not negotiate
[component_container_mt-1] [INFO] [1724074434.940134524] [image_to_tensor_node]: Negotiating
[component_container_mt-1] [INFO] [1724074434.940158967] [image_to_tensor_node]: Could not negotiate
[component_container_mt-1] [INFO] [1724074434.940882531] [interleaved_to_planar_node]: [NitrosNode] Starting negotiation...
[component_container_mt-1] [INFO] [1724074434.941054747] [image_to_tensor_node]: Negotiating
[component_container_mt-1] [INFO] [1724074434.941070475] [image_to_tensor_node]: Could not negotiate
[component_container_mt-1] [INFO] [1724074434.941579298] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libreshape_node.so
[component_container_mt-1] [INFO] [1724074434.942277321] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::ReshapeNode>
[component_container_mt-1] [INFO] [1724074434.942287010] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::ReshapeNode>
[component_container_mt-1] [INFO] [1724074434.944584015] [reshape_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1724074434.944849864] [reshape_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1724074434.947188474] [reshape_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1724074434.947332469] [reshape_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1724074434.947945333] [reshape_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1724074434.950812109] [reshape_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1724074434.951774140] [interleaved_to_planar_node]: Negotiating
[component_container_mt-1] [INFO] [1724074434.951778656] [image_to_tensor_node]: Negotiating
[component_container_mt-1] [INFO] [1724074434.951810637] [image_to_tensor_node]: Could not negotiate
[component_container_mt-1] [INFO] [1724074434.951953273] [interleaved_to_planar_node]: Negotiating
[component_container_mt-1] [INFO] [1724074434.952023802] [image_to_tensor_node]: Negotiating
[component_container_mt-1] [INFO] [1724074434.952040456] [image_to_tensor_node]: Could not negotiate
[component_container_mt-1] [INFO] [1724074434.952270342] [image_to_tensor_node]: Negotiating
[component_container_mt-1] [INFO] [1724074434.952284061] [image_to_tensor_node]: Could not negotiate
[component_container_mt-1] [INFO] [1724074434.952275855] [interleaved_to_planar_node]: Negotiating
[component_container_mt-1] [INFO] [1724074434.952597421] [interleaved_to_planar_node]: Negotiating
[component_container_mt-1] [INFO] [1724074434.952602820] [image_to_tensor_node]: Negotiating
[component_container_mt-1] [INFO] [1724074434.952628015] [image_to_tensor_node]: Could not negotiate
[component_container_mt-1] [INFO] [1724074434.953190204] [reshape_node]: [NitrosNode] Starting negotiation...
[component_container_mt-1] [INFO] [1724074434.953680823] [interleaved_to_planar_node]: Negotiating
[component_container_mt-1] [INFO] [1724074434.953691843] [image_to_tensor_node]: Negotiating
[component_container_mt-1] [INFO] [1724074434.953714826] [image_to_tensor_node]: Could not negotiate
[component_container_mt-1] [INFO] [1724074434.953995283] [isaac_ros_examples.container]: Load Library: /workspaces/isaac_ros-dev/install/isaac_ros_rtdetr/lib/librtdetr_preprocessor_node.so
[component_container_mt-1] [INFO] [1724074434.954023023] [image_to_tensor_node]: Negotiating
[component_container_mt-1] [INFO] [1724074434.954031162] [image_to_tensor_node]: Could not negotiate
[component_container_mt-1] [INFO] [1724074434.954261403] [image_to_tensor_node]: Negotiating
[component_container_mt-1] [INFO] [1724074434.954275049] [image_to_tensor_node]: Could not negotiate
[component_container_mt-1] [INFO] [1724074434.955475135] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::rtdetr::RtDetrPreprocessorNode>
[component_container_mt-1] [INFO] [1724074434.955493309] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::rtdetr::RtDetrPreprocessorNode>
[component_container_mt-1] [INFO] [1724074434.961372186] [rtdetr_preprocessor.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1724074434.961454335] [reshape_node]: Negotiating
[component_container_mt-1] [INFO] [1724074434.961517867] [interleaved_to_planar_node]: Negotiating
[component_container_mt-1] [INFO] [1724074434.961539008] [image_to_tensor_node]: Negotiating
[component_container_mt-1] [INFO] [1724074434.961561089] [image_to_tensor_node]: Could not negotiate
[component_container_mt-1] [INFO] [1724074434.962005703] [image_to_tensor_node]: Negotiating
[component_container_mt-1] [INFO] [1724074434.962029040] [image_to_tensor_node]: Could not negotiate
[component_container_mt-1] [INFO] [1724074434.962168778] [image_to_tensor_node]: Negotiating
[component_container_mt-1] [INFO] [1724074434.962187420] [image_to_tensor_node]: Could not negotiate
[component_container_mt-1] [INFO] [1724074434.962414910] [rtdetr_preprocessor.ManagedNitrosPublisher]: Starting Managed Nitros Publisher
[component_container_mt-1] [INFO] [1724074434.963478402] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libtensor_rt_node.so
[component_container_mt-1] [INFO] [1724074434.963925552] [reshape_node]: Negotiating
[component_container_mt-1] [INFO] [1724074434.964241255] [reshape_node]: Negotiating
[component_container_mt-1] [INFO] [1724074434.977245536] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::TensorRTNode>
[component_container_mt-1] [INFO] [1724074434.977272192] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::TensorRTNode>
[component_container_mt-1] [INFO] [1724074434.979307798] [rtdetr_preprocessor]: Negotiating
[component_container_mt-1] [INFO] [1724074434.981858464] [tensor_rt]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1724074434.983116029] [tensor_rt]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1724074434.985449607] [tensor_rt]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1724074434.985576109] [tensor_rt]: [NitrosContext] Loading extension: gxf/lib/serialization/libgxf_serialization.so
[component_container_mt-1] [INFO] [1724074434.987176083] [tensor_rt]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_tensor_rt.so
[component_container_mt-1] [INFO] [1724074434.987797231] [tensor_rt]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1724074434.988676634] [tensor_rt]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1724074434.996407311] [tensor_rt]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1724074434.996987103] [tensor_rt]: [NitrosPublisherSubscriberGroup] Pinning the component "inference/rx" (type="nvidia::gxf::DoubleBufferReceiver") to use its compatible format only: "nitros_tensor_list_nchw_rgb_f32"
[component_container_mt-1] [INFO] [1724074434.996999283] [tensor_rt]: [NitrosPublisherSubscriberGroup] Pinning the component "sink/sink" (type="nvidia::isaac_ros::MessageRelay") to use its compatible format only: "nitros_tensor_list_nhwc_rgb_f32"
[component_container_mt-1] [INFO] [1724074434.998261322] [tensor_rt]: [NitrosNode] Starting negotiation...
[component_container_mt-1] [INFO] [1724074434.998493802] [rtdetr_preprocessor]: Negotiating
[component_container_mt-1] [INFO] [1724074434.998664797] [isaac_ros_examples.container]: Load Library: /workspaces/isaac_ros-dev/install/isaac_ros_rtdetr/lib/librtdetr_decoder_node.so
[component_container_mt-1] [INFO] [1724074434.999607931] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::rtdetr::RtDetrDecoderNode>
[component_container_mt-1] [INFO] [1724074434.999624075] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::rtdetr::RtDetrDecoderNode>
[component_container_mt-1] [INFO] [1724074435.002820487] [rtdetr_decoder.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1724074435.002867424] [tensor_rt]: Negotiating
[component_container_mt-1] [INFO] [1724074435.002893561] [tensor_rt]: Could not negotiate
[component_container_mt-1] [INFO] [1724074435.005000477] [isaac_ros_examples.container]: Load Library: /workspaces/isaac_ros-dev/install/isaac_ros_foundationpose/lib/libdetection2_d_to_mask.so
[component_container_mt-1] [INFO] [1724074435.011735106] [tensor_rt]: Negotiating
[component_container_mt-1] [INFO] [1724074435.011765347] [tensor_rt]: Could not negotiate
[component_container_mt-1] [INFO] [1724074435.013899295] [tensor_rt]: Negotiating
[component_container_mt-1] [INFO] [1724074435.013929952] [tensor_rt]: Could not negotiate
[component_container_mt-1] [INFO] [1724074435.025334413] [resize_left_rt_detr_node]: Negotiating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/resize_mask_node' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1724074435.025361766] [resize_left_rt_detr_node]: Could not negotiate
[component_container_mt-1] [INFO] [1724074435.040282543] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::foundationpose::Detection2DToMask>
[component_container_mt-1] [INFO] [1724074435.040319133] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::foundationpose::Detection2DToMask>
[component_container_mt-1] [INFO] [1724074435.050981611] [detection2_d_to_mask]: Mask Height: 480, Mask Width: 640
[component_container_mt-1] [INFO] [1724074435.051233056] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::ResizeNode>
[component_container_mt-1] [INFO] [1724074435.051250860] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::ResizeNode>
[component_container_mt-1] [INFO] [1724074435.054461128] [resize_mask_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1724074435.055016226] [resize_mask_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1724074435.060334801] [resize_mask_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1724074435.060516157] [resize_mask_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1724074435.062027107] [resize_mask_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1724074435.140433773] [resize_mask_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1724074435.145576915] [resize_mask_node]: [NitrosNode] Starting negotiation...
[component_container_mt-1] [INFO] [1724074435.146027950] [resize_left_rt_detr_node]: Negotiating
[component_container_mt-1] [INFO] [1724074435.146058552] [resize_left_rt_detr_node]: Could not negotiate
[component_container_mt-1] [INFO] [1724074435.146684199] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::ResizeNode>
[component_container_mt-1] [INFO] [1724074435.146697643] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::ResizeNode>
[component_container_mt-1] [INFO] [1724074435.148718631] [resize_left_viz]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1724074435.149070451] [resize_left_viz]: [ResizeNode] Set output data format to: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1724074435.149093337] [resize_left_viz]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1724074435.152981971] [resize_left_viz]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1724074435.153257210] [resize_left_viz]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1724074435.155040942] [resize_left_viz]: [NitrosNode] Running optimization
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/resize_left_viz' in container '/isaac_ros_examples/container'
[ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node 'foundationpose_node' of type 'nvidia::isaac_ros::foundationpose::FoundationPoseNode' in container '/isaac_ros_examples/container': Could not find requested resource in ament index
[component_container_mt-1] [INFO] [1724074435.237695281] [resize_left_viz]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1724074435.239809340] [resize_left_viz]: [NitrosPublisherSubscriberGroup] Pinning the component "image_sink/sink" (type="nvidia::isaac_ros::MessageRelay") to use its compatible format only: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1724074435.253632753] [resize_left_viz]: [NitrosNode] Starting negotiation...
[component_container_mt-1] [INFO] [1724074435.254643597] [isaac_ros_examples.container]: Load Library: /workspaces/isaac_ros-dev/install/isaac_ros_foundationpose/lib/libfoundationpose_node.so
[component_container_mt-1] [INFO] [1724074435.257298529] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::foundationpose::FoundationPoseNode>
[component_container_mt-1] [INFO] [1724074435.257317182] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::foundationpose::FoundationPoseNode>
[component_container_mt-1] [INFO] [1724074435.264095064] [foundationpose_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1724074435.265027429] [foundationpose_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1724074435.267388587] [foundationpose_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1724074435.267565098] [foundationpose_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_depth_image_proc.so
[component_container_mt-1] [INFO] [1724074435.268097009] [foundationpose_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_sgm.so
[component_container_mt-1] [INFO] [1724074435.268476359] [foundationpose_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_messages.so
[component_container_mt-1] [INFO] [1724074435.268885789] [foundationpose_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_ros_messages.so
[component_container_mt-1] [INFO] [1724074435.269240682] [foundationpose_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_foundationpose.so
[component_container_mt-1] [INFO] [1724074435.271908305] [foundationpose_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1724074435.280106788] [foundationpose_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1724074435.597716255] [foundationpose_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1724074435.603804321] [foundationpose_node]: [NitrosNode] Starting negotiation...
[component_container_mt-1] [INFO] [1724074435.604305325] [resize_mask_node]: Negotiating
[component_container_mt-1] [INFO] [1724074435.604562126] [resize_left_rt_detr_node]: Negotiating
[component_container_mt-1] [INFO] [1724074435.604586637] [resize_left_rt_detr_node]: Could not negotiate
[component_container_mt-1] [INFO] [1724074435.604994092] [resize_left_rt_detr_node]: Negotiating
[component_container_mt-1] [INFO] [1724074435.605004201] [foundationpose_node]: Negotiating
[component_container_mt-1] [INFO] [1724074435.605017117] [foundationpose_node]: Could not negotiate
[component_container_mt-1] [INFO] [1724074435.605006285] [resize_left_rt_detr_node]: Could not negotiate
[component_container_mt-1] [INFO] [1724074435.605022477] [foundationpose_node]: Negotiating
[component_container_mt-1] [INFO] [1724074435.605028773] [foundationpose_node]: Could not negotiate
[component_container_mt-1] [INFO] [1724074435.843138374] [resize_left_rt_detr_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1724074435.843220966] [resize_left_rt_detr_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1724074435.843247668] [resize_left_rt_detr_node]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1724074435.843260777] [resize_left_rt_detr_node]: [NitrosPublisher] Use only the compatible publisher: topic_name="/color_image_resized", data_format="nitros_image_rgb8"
[component_container_mt-1] [INFO] [1724074435.843270188] [resize_left_rt_detr_node]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1724074435.843277726] [resize_left_rt_detr_node]: [NitrosPublisher] Use only the compatible publisher: topic_name="/camera_info_resized", data_format="nitros_camera_info"
[component_container_mt-1] [INFO] [1724074435.843286669] [resize_left_rt_detr_node]: [NitrosSubscriber] Use the negotiated data format: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1724074435.843295235] [resize_left_rt_detr_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1724074435.843302206] [resize_left_rt_detr_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/rgb/camera_info", data_format="nitros_camera_info"
[component_container_mt-1] [INFO] [1724074435.843639744] [resize_left_rt_detr_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1724074435.848904448] [resize_left_rt_detr_node]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/PHIICFDJLX/PHIICFDJLX.yaml"
[component_container_mt-1] [INFO] [1724074435.848945577] [resize_left_rt_detr_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1724074435.851855972] [resize_left_rt_detr_node]: [ResizeNode] postLoadGraphCallback().
[component_container_mt-1] [INFO] [1724074435.851959164] [resize_left_rt_detr_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1724074435.882670043] [resize_left_rt_detr_node]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1724074435.942234124] [interleaved_to_planar_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1724074435.942280748] [interleaved_to_planar_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1724074435.942290861] [interleaved_to_planar_node]: [NitrosPublisher] Use the negotiated data format: "nitros_tensor_list_nchw_rgb_f32"
[component_container_mt-1] [INFO] [1724074435.942301249] [interleaved_to_planar_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1724074435.942308676] [interleaved_to_planar_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/normalized_tensor", data_format="nitros_tensor_list_nhwc_rgb_f32"
[component_container_mt-1] [INFO] [1724074435.942415836] [interleaved_to_planar_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1724074435.944756427] [interleaved_to_planar_node]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/FCPSEZHHSX/FCPSEZHHSX.yaml"
[component_container_mt-1] [INFO] [1724074435.944777132] [interleaved_to_planar_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1724074435.946447071] [interleaved_to_planar_node]: In InterleavedToPlanarNode postLoadGraphCallback().
[component_container_mt-1] [INFO] [1724074435.946507471] [interleaved_to_planar_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1724074435.950387955] [interleaved_to_planar_node]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1724074435.953876737] [reshape_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1724074435.953925930] [reshape_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1724074435.953938616] [reshape_node]: [NitrosPublisher] Use the negotiated data format: "nitros_tensor_list_nchw_rgb_f32"
[component_container_mt-1] [INFO] [1724074435.953952517] [reshape_node]: [NitrosSubscriber] Use the negotiated data format: "nitros_tensor_list_nchw_rgb_f32"
[component_container_mt-1] [INFO] [1724074435.954075844] [reshape_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1724074435.956198946] [reshape_node]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/APDVQIGPEM/APDVQIGPEM.yaml"
[component_container_mt-1] [INFO] [1724074435.956237038] [reshape_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1724074435.957891401] [reshape_node]: In ReshapeNode postLoadGraphCallback().
[component_container_mt-1] [INFO] [1724074435.957993743] [reshape_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1724074435.961656501] [reshape_node]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1724074435.999003208] [tensor_rt]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1724074435.999046219] [tensor_rt]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1724074435.999050667] [tensor_rt]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1724074435.999056357] [tensor_rt]: [NitrosPublisher] Use only the compatible publisher: topic_name="/tensor_sub", data_format="nitros_tensor_list_nhwc_rgb_f32"
[component_container_mt-1] [INFO] [1724074435.999062266] [tensor_rt]: [NitrosSubscriber] Use the negotiated data format: "nitros_tensor_list_nchw_rgb_f32"
[component_container_mt-1] [INFO] [1724074435.999145734] [tensor_rt]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1724074436.002282026] [tensor_rt]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/WCCGVDZRHN/WCCGVDZRHN.yaml"
[component_container_mt-1] [INFO] [1724074436.002328368] [tensor_rt]: [NitrosNode] Loading application
[component_container_mt-1] 2024-08-19 22:33:56.003 WARN gxf/std/yaml_file_loader.cpp@1077: Using unregistered parameter 'dev_id' in component 'stream'.
[component_container_mt-1] [INFO] [1724074436.003725244] [tensor_rt]: In TensorRTNode postLoadGraphCallback().
[component_container_mt-1] [INFO] [1724074436.112704521] [tensor_rt]: Read tensor shape information from TRT Model Engine: /workspaces/isaac_ros-dev/isaac_ros_assets/models/synthetica_detr/sdetr_grasp.plan
[component_container_mt-1] [INFO] [1724074436.112896601] [tensor_rt]: Tensors 4800 bytes, num outputs 40 x tensors per output 3 = 120 blocks
[component_container_mt-1] [INFO] [1724074436.113082778] [tensor_rt]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1724074436.116970976] [tensor_rt]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1724074436.146017112] [resize_mask_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1724074436.146069176] [resize_mask_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1724074436.146076015] [resize_mask_node]: [NitrosPublisher] Use the negotiated data format: "nitros_image_mono8"
[component_container_mt-1] [INFO] [1724074436.146083682] [resize_mask_node]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1724074436.146088530] [resize_mask_node]: [NitrosPublisher] Use only the compatible publisher: topic_name="/camera_info_segmentation", data_format="nitros_camera_info"
[component_container_mt-1] [INFO] [1724074436.146094420] [resize_mask_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1724074436.146099126] [resize_mask_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/rt_detr_segmentation", data_format="nitros_image_bgr8"
[component_container_mt-1] [INFO] [1724074436.146104490] [resize_mask_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1724074436.146108515] [resize_mask_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/camera_info_resized", data_format="nitros_camera_info"
[component_container_mt-1] [INFO] [1724074436.146125826] [resize_mask_node]: [NitrosPublisherSubscriberGroup] Adjusted the compatible format of the component "sync/image_in" (type="nvidia::gxf::DoubleBufferReceiver") from "nitros_image_bgr8" to "nitros_image_mono8"
[component_container_mt-1] [INFO] [1724074436.146277225] [resize_mask_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1724074436.155690276] [resize_mask_node]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/ZLUFXDMGUE/ZLUFXDMGUE.yaml"
[component_container_mt-1] [INFO] [1724074436.155743619] [resize_mask_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1724074436.159175601] [resize_mask_node]: [ResizeNode] postLoadGraphCallback().
[component_container_mt-1] [INFO] [1724074436.159273494] [resize_mask_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1724074436.174677041] [resize_mask_node]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1724074436.254498218] [resize_left_viz]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1724074436.254532772] [resize_left_viz]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1724074436.254536857] [resize_left_viz]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1724074436.254540590] [resize_left_viz]: [NitrosPublisher] Use only the compatible publisher: topic_name="/rgb/image_rect_color_viz", data_format="nitros_image_rgb8"
[component_container_mt-1] [INFO] [1724074436.254544516] [resize_left_viz]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1724074436.254546820] [resize_left_viz]: [NitrosPublisher] Use only the compatible publisher: topic_name="/rgb/camera_info_viz", data_format="nitros_camera_info"
[component_container_mt-1] [INFO] [1724074436.254550715] [resize_left_viz]: [NitrosSubscriber] Use the negotiated data format: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1724074436.254553903] [resize_left_viz]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1724074436.254556077] [resize_left_viz]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/rgb/camera_info", data_format="nitros_camera_info"
[component_container_mt-1] [INFO] [1724074436.254635257] [resize_left_viz]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1724074436.259355701] [resize_left_viz]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/KTTIXXVMIN/KTTIXXVMIN.yaml"
[component_container_mt-1] [INFO] [1724074436.259385651] [resize_left_viz]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1724074436.262261801] [resize_left_viz]: [ResizeNode] postLoadGraphCallback().
[component_container_mt-1] [INFO] [1724074436.262347668] [resize_left_viz]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1724074436.270146819] [resize_left_viz]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1724074436.604512200] [foundationpose_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1724074436.604595437] [foundationpose_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1724074436.604606728] [foundationpose_node]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1724074436.604616799] [foundationpose_node]: [NitrosPublisher] Use only the compatible publisher: topic_name="/output", data_format="nitros_detection3_d_array"
[component_container_mt-1] [INFO] [1724074436.604626008] [foundationpose_node]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1724074436.604632930] [foundationpose_node]: [NitrosPublisher] Use only the compatible publisher: topic_name="/pose_estimation/pose_matrix_output", data_format="nitros_tensor_list_nchw"
[component_container_mt-1] [INFO] [1724074436.604644338] [foundationpose_node]: [NitrosSubscriber] Use the negotiated data format: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1724074436.604653170] [foundationpose_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1724074436.604659852] [foundationpose_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/rgb/camera_info", data_format="nitros_camera_info"
[component_container_mt-1] [INFO] [1724074436.604668175] [foundationpose_node]: [NitrosSubscriber] Use the negotiated data format: "nitros_image_mono8"
[component_container_mt-1] [INFO] [1724074436.604675093] [foundationpose_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1724074436.604681659] [foundationpose_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/depth_image", data_format="nitros_image_32FC1"
[component_container_mt-1] [INFO] [1724074436.604828398] [foundationpose_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1724074438.703970659] [foundationpose_node]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/SUFHNGHDPY/SUFHNGHDPY.yaml"
[component_container_mt-1] [INFO] [1724074438.704023870] [foundationpose_node]: [NitrosNode] Loading application
[component_container_mt-1] 2024-08-19 22:33:58.715 WARN gxf/std/yaml_file_loader.cpp@1077: Using unregistered parameter 'dummy_rx' in component ''.
[component_container_mt-1] 2024-08-19 22:33:58.715 WARN gxf/std/yaml_file_loader.cpp@1077: Using unregistered parameter 'dummy_rx' in component ''.
[component_container_mt-1] 2024-08-19 22:33:58.716 WARN gxf/std/yaml_file_loader.cpp@1077: Using unregistered parameter 'dev_id' in component 'stream'.
[component_container_mt-1] [INFO] [1724074438.717427789] [foundationpose_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] 2024-08-19 22:33:58.721 WARN gxf/std/scheduling_terms.cpp@333: 'min_size' parameter in MultiMessageAvailableSchedulingTerm is deprecated. Use 'min_sum' with SumOfAll sampling mode instead
[component_container_mt-1] 2024-08-19 22:33:58.721 WARN gxf/std/scheduling_terms.cpp@333: 'min_size' parameter in MultiMessageAvailableSchedulingTerm is deprecated. Use 'min_sum' with SumOfAll sampling mode instead
[component_container_mt-1] 2024-08-19 22:33:58.721 WARN gxf/std/scheduling_terms.cpp@333: 'min_size' parameter in MultiMessageAvailableSchedulingTerm is deprecated. Use 'min_sum' with SumOfAll sampling mode instead
[component_container_mt-1] 2024-08-19 22:33:58.721 WARN gxf/std/scheduling_terms.cpp@333: 'min_size' parameter in MultiMessageAvailableSchedulingTerm is deprecated. Use 'min_sum' with SumOfAll sampling mode instead
[component_container_mt-1] 2024-08-19 22:33:58.721 WARN gxf/std/scheduling_terms.cpp@333: 'min_size' parameter in MultiMessageAvailableSchedulingTerm is deprecated. Use 'min_sum' with SumOfAll sampling mode instead
[component_container_mt-1] [INFO] [1724074438.723003345] [foundationpose_node]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1724074446.891331961] [rtdetr_preprocessor]: Negotiating
[component_container_mt-1] [WARN] [1724074451.516996823] [resize_mask_node.NitrosSubscriber]: 10.0s passed while waiting to push a message entity (eid=1901) to the receiver image_in
[component_container_mt-1] [WARN] [1724074466.822987938] [resize_mask_node.NitrosSubscriber]: 20.0s passed while waiting to push a message entity (eid=1901) to the receiver image_in
[component_container_mt-1] [WARN] [1724074482.119674235] [resize_mask_node.NitrosSubscriber]: 30.0s passed while waiting to push a message entity (eid=1901) to the receiver image_in
[component_container_mt-1] [WARN] [1724074497.403901845] [resize_mask_node.NitrosSubscriber]: 40.0s passed while waiting to push a message entity (eid=1901) to the receiver image_in
[component_container_mt-1] [WARN] [1724074512.678219366] [resize_mask_node.NitrosSubscriber]: 50.0s passed while waiting to push a message entity (eid=1901) to the receiver image_in
[component_container_mt-1] [WARN] [1724074527.973691996] [resize_mask_node.NitrosSubscriber]: 60.0s passed while waiting to push a message entity (eid=1901) to the receiver image_in
[component_container_mt-1] [WARN] [1724074543.280735195] [resize_mask_node.NitrosSubscriber]: 70.0s passed while waiting to push a message entity (eid=1901) to the receiver image_in
[component_container_mt-1] [WARN] [1724074558.545521391] [resize_mask_node.NitrosSubscriber]: 80.0s passed while waiting to push a message entity (eid=1901) to the receiver image_in