Argus_camera does not start without a display isaac_ros_argus_camera — isaac_ros_docs documentation
For example, if you remove the environment variable $DISPLAY, then there will be such an error:
Error log
admin@ubuntu:/workspaces/isaac_ros-dev$ echo $DISPLAY
admin@ubuntu:/workspaces/isaac_ros-dev$ ros2 launch isaac_ros_argus_camera isaac_ros_argus_camera_mono.launch.py
[INFO] [launch]: All log files can be found below /home/admin/.ros/log/2023-12-08-10-31-57-870025-ubuntu-14759
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container_mt-1]: process started with pid [14803]
[component_container_mt-1] [INFO] [1702017118.471347090] [argus_mono_container]: Load Library: /opt/ros/humble/lib/libmono_node.so
[component_container_mt-1] [INFO] [1702017118.511876530] [argus_mono_container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::argus::ArgusMonoNode>
[component_container_mt-1] [INFO] [1702017118.512026389] [argus_mono_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::argus::ArgusMonoNode>
[component_container_mt-1] [INFO] [1702017118.518757295] [NitrosContext]: [NitrosContext] Creating a new shared context
[component_container_mt-1] [INFO] [1702017118.518984403] [argus_mono]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1702017118.519446556] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/std/libgxf_std.so
[component_container_mt-1] [INFO] [1702017118.527848628] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_gxf_helpers.so
[component_container_mt-1] [INFO] [1702017118.532455880] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_sight.so
[component_container_mt-1] [INFO] [1702017118.537460547] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_atlas.so
[component_container_mt-1] [INFO] [1702017118.543373966] [NitrosContext]: [NitrosContext] Loading application: '/opt/ros/humble/share/isaac_ros_nitros/config/type_adapter_nitros_context_graph.yaml'
[component_container_mt-1] [INFO] [1702017118.544919466] [NitrosContext]: [NitrosContext] Initializing application...
[component_container_mt-1] [INFO] [1702017118.549293018] [NitrosContext]: [NitrosContext] Running application...
[component_container_mt-1] 2023-12-08 10:31:58.549 WARN gxf/std/program.cpp@514: No system specified. Nothing to do
[component_container_mt-1] [INFO] [1702017118.553180801] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_argus.so
[component_container_mt-1] [INFO] [1702017118.711978150] [NitrosContext]: [NitrosContext] Loading application: '/opt/ros/humble/share/isaac_ros_argus_camera/config/argus_nitros_context_graph.yaml'
[component_container_mt-1] [INFO] [1702017118.712661362] [NitrosContext]: [NitrosContext] Initializing application...
[component_container_mt-1] [INFO] [1702017118.714298320] [NitrosContext]: [NitrosContext] Running application...
[component_container_mt-1] No EGL Display
[component_container_mt-1] nvbufsurftransform: Could not get EGL display connection
[component_container_mt-1] 2023-12-08 10:31:58.714 WARN gxf/std/program.cpp@514: No system specified. Nothing to do
[component_container_mt-1] [INFO] [1702017118.714884219] [argus_mono]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1702017118.714938620] [argus_mono]: [NitrosNode] Loading built-in preset extension specs
[component_container_mt-1] [INFO] [1702017118.718327513] [argus_mono]: [NitrosNode] Loading built-in extension specs
[component_container_mt-1] [INFO] [1702017118.718389786] [argus_mono]: [NitrosNode] Loading preset extension specs
[component_container_mt-1] [INFO] [1702017118.719463214] [argus_mono]: [NitrosNode] Loading extension specs
[component_container_mt-1] [INFO] [1702017118.719513679] [argus_mono]: [NitrosNode] Loading generator rules
[component_container_mt-1] [INFO] [1702017118.719905686] [argus_mono]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1702017118.720027736] [argus_mono]: [NitrosContext] Loading extension: gxf/lib/libgxf_message_compositor.so
[component_container_mt-1] [INFO] [1702017118.721859321] [argus_mono]: [NitrosContext] Loading extension: gxf/lib/cuda/libgxf_cuda.so
[component_container_mt-1] [INFO] [1702017118.723363413] [argus_mono]: [NitrosContext] Loading extension: gxf/lib/serialization/libgxf_serialization.so
[component_container_mt-1] [INFO] [1702017118.728893625] [argus_mono]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_messages.so
[component_container_mt-1] [INFO] [1702017118.736051451] [argus_mono]: [NitrosContext] Loading extension: gxf/lib/multimedia/libgxf_multimedia.so
[component_container_mt-1] [INFO] [1702017118.737412884] [argus_mono]: [NitrosContext] Loading extension: gxf/lib/image_proc/libgxf_tensorops.so
[component_container_mt-1] [INFO] [1702017118.745529767] [argus_mono]: [NitrosContext] Loading extension: gxf/lib/image_proc/libgxf_rectify_params_generator.so
[component_container_mt-1] [INFO] [1702017118.752937710] [argus_mono]: [NitrosContext] Loading extension: gxf/lib/libgxf_timestamp_correlator.so
[component_container_mt-1] [INFO] [1702017118.759250241] [argus_mono]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1702017118.763893141] [argus_mono]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1702017118.785468605] [argus_mono]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1702017118.786658291] [argus_mono]: [NitrosNode] Creating negotiated publishers/subscribers
[component_container_mt-1] [INFO] [1702017118.794013368] [argus_mono]: [NitrosNode] Starting negotiation...
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/argus_mono' in container '/argus_mono_container'
[component_container_mt-1] [INFO] [1702017119.795766220] [argus_mono]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1702017119.795942127] [argus_mono]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1702017119.795997232] [argus_mono]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1702017119.796047217] [argus_mono]: [NitrosPublisher] Use only the compatible publisher: topic_name="/left/image_raw", data_format="nitros_image_rgb8"
[component_container_mt-1] [INFO] [1702017119.796223733] [argus_mono]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1702017119.796289590] [argus_mono]: [NitrosPublisher] Use only the compatible publisher: topic_name="/left/camerainfo", data_format="nitros_camera_info"
[component_container_mt-1] [INFO] [1702017119.796892097] [argus_mono]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1702017119.813167400] [argus_mono]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/TALTVMRRJJ/TALTVMRRJJ.yaml"
[component_container_mt-1] [INFO] [1702017119.813323883] [argus_mono]: [NitrosNode] Calling user's pre-load-graph callback
[component_container_mt-1] [INFO] [1702017119.813361260] [argus_mono]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1702017119.813397612] [argus_mono]: [NitrosContext] Loading application: '/tmp/isaac_ros_nitros/graphs/TALTVMRRJJ/TALTVMRRJJ.yaml'
[component_container_mt-1] 2023-12-08 10:31:59.822 WARN gxf/std/yaml_file_loader.cpp@1058: Using unregistered parameter 'left_camera_frame' in component ''.
[component_container_mt-1] 2023-12-08 10:31:59.822 WARN gxf/std/yaml_file_loader.cpp@1058: Using unregistered parameter 'right_camera_frame' in component ''.
[component_container_mt-1] [INFO] [1702017119.824666393] [argus_mono]: [NitrosNode] Linking Nitros pub/sub to the loaded application
[component_container_mt-1] [INFO] [1702017119.825085921] [argus_mono]: [NitrosNode] Calling user's post-load-graph callback
[component_container_mt-1] [INFO] [1702017119.825143938] [argus_mono]: [ArgusCameraNode] postLoadGraphCallback().
[component_container_mt-1] [INFO] [1702017119.825263812] [argus_mono]: [NitrosContext] Initializing application...
[component_container_mt-1] 2023-12-08 10:32:00.149 ERROR /data/jenkins/ros/workspace/ly_debian-compatible-release-2.1/isaac_ros-dev/ros_ws/src/isaac_ros_image_pipeline/isaac_ros_image_proc/gxf/tensorops/extensions/tensorops/components/TensorStream.cpp@104: tensor stream creation failed.
[component_container_mt-1] 2023-12-08 10:32:00.149 ERROR gxf/std/entity_warden.cpp@406: Failed to initialize component 00054 (stream)
[component_container_mt-1] 2023-12-08 10:32:00.149 ERROR gxf/core/runtime.cpp@685: Could not initialize entity 'TALTVMRRJJ_global' (E52): GXF_FAILURE
[component_container_mt-1] 2023-12-08 10:32:00.149 ERROR gxf/std/program.cpp@236: Failed to activate entity 00052 named TALTVMRRJJ_global: GXF_FAILURE
[component_container_mt-1] 2023-12-08 10:32:00.149 ERROR gxf/std/program.cpp@238: Deactivating...
[component_container_mt-1] 2023-12-08 10:32:00.150 ERROR gxf/core/runtime.cpp@1384: Graph activation failed with error: GXF_FAILURE
[component_container_mt-1] [ERROR] [1702017120.150639257] [argus_mono]: [NitrosContext] GxfGraphActivate Error: GXF_FAILURE
[component_container_mt-1] [ERROR] [1702017120.150809372] [argus_mono]: [NitrosNode] runGraphAsync Error: GXF_FAILURE
[component_container_mt-1] terminate called after throwing an instance of 'std::runtime_error'
[component_container_mt-1] what(): [NitrosNode] runGraphAsync Error: GXF_FAILURE
[ERROR] [component_container_mt-1]: process has died [pid 14803, exit code -6, cmd '/opt/ros/humble/lib/rclcpp_components/component_container_mt --ros-args --log-level info --ros-args -r __node:=argus_mono_container -r __ns:=/'].
But if you create a display :0 (and export DISPLAY=:0) by logging in to the board, then it starts working
Succesful run
admin@ubuntu:/workspaces/isaac_ros-dev$ export DISPLAY=:0
admin@ubuntu:/workspaces/isaac_ros-dev$ ros2 launch isaac_ros_argus_camera isaac_ros_argus_camera_mono.launch.py
[INFO] [launch]: All log files can be found below /home/admin/.ros/log/2023-12-08-10-32-55-231444-ubuntu-15385
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container_mt-1]: process started with pid [15416]
[component_container_mt-1] [INFO] [1702017175.825443985] [argus_mono_container]: Load Library: /opt/ros/humble/lib/libmono_node.so
[component_container_mt-1] [INFO] [1702017175.865229584] [argus_mono_container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::argus::ArgusMonoNode>
[component_container_mt-1] [INFO] [1702017175.865369335] [argus_mono_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::argus::ArgusMonoNode>
[component_container_mt-1] [INFO] [1702017175.872228316] [NitrosContext]: [NitrosContext] Creating a new shared context
[component_container_mt-1] [INFO] [1702017175.872495049] [argus_mono]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1702017175.872960383] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/std/libgxf_std.so
[component_container_mt-1] [INFO] [1702017175.881314635] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_gxf_helpers.so
[component_container_mt-1] [INFO] [1702017175.885807328] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_sight.so
[component_container_mt-1] [INFO] [1702017175.890833678] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_atlas.so
[component_container_mt-1] [INFO] [1702017175.896753607] [NitrosContext]: [NitrosContext] Loading application: '/opt/ros/humble/share/isaac_ros_nitros/config/type_adapter_nitros_context_graph.yaml'
[component_container_mt-1] [INFO] [1702017175.898273455] [NitrosContext]: [NitrosContext] Initializing application...
[component_container_mt-1] [INFO] [1702017175.902740579] [NitrosContext]: [NitrosContext] Running application...
[component_container_mt-1] 2023-12-08 10:32:55.902 WARN gxf/std/program.cpp@514: No system specified. Nothing to do
[component_container_mt-1] [INFO] [1702017175.906547736] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_argus.so
[component_container_mt-1] [INFO] [1702017176.087735136] [NitrosContext]: [NitrosContext] Loading application: '/opt/ros/humble/share/isaac_ros_argus_camera/config/argus_nitros_context_graph.yaml'
[component_container_mt-1] [INFO] [1702017176.088417216] [NitrosContext]: [NitrosContext] Initializing application...
[component_container_mt-1] [INFO] [1702017176.090121137] [NitrosContext]: [NitrosContext] Running application...
[component_container_mt-1] 2023-12-08 10:32:56.090 WARN gxf/std/program.cpp@514: No system specified. Nothing to do
[component_container_mt-1] [INFO] [1702017176.090759631] [argus_mono]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1702017176.090811985] [argus_mono]: [NitrosNode] Loading built-in preset extension specs
[component_container_mt-1] [INFO] [1702017176.094363129] [argus_mono]: [NitrosNode] Loading built-in extension specs
[component_container_mt-1] [INFO] [1702017176.094434493] [argus_mono]: [NitrosNode] Loading preset extension specs
[component_container_mt-1] [INFO] [1702017176.095527601] [argus_mono]: [NitrosNode] Loading extension specs
[component_container_mt-1] [INFO] [1702017176.095576755] [argus_mono]: [NitrosNode] Loading generator rules
[component_container_mt-1] [INFO] [1702017176.095965797] [argus_mono]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1702017176.096097388] [argus_mono]: [NitrosContext] Loading extension: gxf/lib/libgxf_message_compositor.so
[component_container_mt-1] [INFO] [1702017176.098001478] [argus_mono]: [NitrosContext] Loading extension: gxf/lib/cuda/libgxf_cuda.so
[component_container_mt-1] [INFO] [1702017176.099598417] [argus_mono]: [NitrosContext] Loading extension: gxf/lib/serialization/libgxf_serialization.so
[component_container_mt-1] [INFO] [1702017176.105025042] [argus_mono]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_messages.so
[component_container_mt-1] [INFO] [1702017176.112339628] [argus_mono]: [NitrosContext] Loading extension: gxf/lib/multimedia/libgxf_multimedia.so
[component_container_mt-1] [INFO] [1702017176.113712493] [argus_mono]: [NitrosContext] Loading extension: gxf/lib/image_proc/libgxf_tensorops.so
[component_container_mt-1] [INFO] [1702017176.121984213] [argus_mono]: [NitrosContext] Loading extension: gxf/lib/image_proc/libgxf_rectify_params_generator.so
[component_container_mt-1] [INFO] [1702017176.129466839] [argus_mono]: [NitrosContext] Loading extension: gxf/lib/libgxf_timestamp_correlator.so
[component_container_mt-1] [INFO] [1702017176.136181556] [argus_mono]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1702017176.141002553] [argus_mono]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1702017176.162741309] [argus_mono]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1702017176.163920085] [argus_mono]: [NitrosNode] Creating negotiated publishers/subscribers
[component_container_mt-1] [INFO] [1702017176.171469850] [argus_mono]: [NitrosNode] Starting negotiation...
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/argus_mono' in container '/argus_mono_container'
[component_container_mt-1] [INFO] [1702017177.173304601] [argus_mono]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1702017177.173481954] [argus_mono]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1702017177.173540900] [argus_mono]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1702017177.173576678] [argus_mono]: [NitrosPublisher] Use only the compatible publisher: topic_name="/left/image_raw", data_format="nitros_image_rgb8"
[component_container_mt-1] [INFO] [1702017177.173765263] [argus_mono]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1702017177.173811665] [argus_mono]: [NitrosPublisher] Use only the compatible publisher: topic_name="/left/camerainfo", data_format="nitros_camera_info"
[component_container_mt-1] [INFO] [1702017177.174366059] [argus_mono]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1702017177.189513111] [argus_mono]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/YJWRWWQNHL/YJWRWWQNHL.yaml"
[component_container_mt-1] [INFO] [1702017177.189756642] [argus_mono]: [NitrosNode] Calling user's pre-load-graph callback
[component_container_mt-1] [INFO] [1702017177.189796964] [argus_mono]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1702017177.189832102] [argus_mono]: [NitrosContext] Loading application: '/tmp/isaac_ros_nitros/graphs/YJWRWWQNHL/YJWRWWQNHL.yaml'
[component_container_mt-1] 2023-12-08 10:32:57.198 WARN gxf/std/yaml_file_loader.cpp@1058: Using unregistered parameter 'left_camera_frame' in component ''.
[component_container_mt-1] 2023-12-08 10:32:57.199 WARN gxf/std/yaml_file_loader.cpp@1058: Using unregistered parameter 'right_camera_frame' in component ''.
[component_container_mt-1] [INFO] [1702017177.200989556] [argus_mono]: [NitrosNode] Linking Nitros pub/sub to the loaded application
[component_container_mt-1] [INFO] [1702017177.201434057] [argus_mono]: [NitrosNode] Calling user's post-load-graph callback
[component_container_mt-1] [INFO] [1702017177.201497452] [argus_mono]: [ArgusCameraNode] postLoadGraphCallback().
[component_container_mt-1] [INFO] [1702017177.201629011] [argus_mono]: [NitrosContext] Initializing application...
[component_container_mt-1] [INFO] [1702017177.532599135] [argus_mono]: [NitrosContext] Running application...
[component_container_mt-1] [INFO] [1702017177.533156665] [argus_mono]: [NitrosNode] Starting a heartbeat timer (eid=55)
[component_container_mt-1] 2023-12-08 10:32:57.983 WARN extensions/hawk/components/argus_camera.cpp@617: Failed to get calibration data from Argus!
And when I log out of the jetson user on the board itself and the DISPLAY:0 will cease to exist argus will also cease to run
What could be the problem and how to fix it?