I am startingros2 launch isaac_ros_centerpose isaac_ros_centerpose sensor_rt.launch. py to run my trained model for center pose estimation. I am starting realsense camera and mapping image information using the commandsros2 run topic_tools relay/camera/camera/color/image_raw/image and ros2 run topic_tools relay/camera/depth/camera_info/camera_info/camera_info, but there is no display of/centerpose/image_isualized. Below, I will provide the isaac_ros_centerpose _tensor_rt. launch. py information and the output information after the startup command. May I ask what this is? I really need to solve this problem.
The following is the content of isaac_ros_centerpose _tensor_rt. launch. py
import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import ComposableNodeContainer
from launch_ros.descriptions import ComposableNode
def generate_launch_description():
"""Generate launch description for Centerpose."""
tensor_names = [
'bboxes',
'scores',
'kps',
'clses',
'obj_scale',
'kps_displacement_mean',
'kps_heatmap_mean',
]
tensor_names_str = '['
for tensor_name in tensor_names:
tensor_names_str += f'"{tensor_name}"'
if tensor_name != tensor_names[-1]:
tensor_names_str += ','
tensor_names_str += ']'
launch_args = [
DeclareLaunchArgument(
'input_image_width',
default_value='640',
description='The input image width'),
DeclareLaunchArgument(
'input_image_height',
default_value='480',
description='The input image height'),
DeclareLaunchArgument(
'network_image_width',
default_value='512',
description='The input image width that the network expects'),
DeclareLaunchArgument(
'network_image_height',
default_value='512',
description='The input image height that the network expects'),
DeclareLaunchArgument(
'encoder_image_mean',
default_value='[0.408, 0.447, 0.47]',
description='The mean for image normalization'),
DeclareLaunchArgument(
'encoder_image_stddev',
default_value='[0.289, 0.274, 0.278]',
description='The standard deviation for image normalization'),
DeclareLaunchArgument(
'model_file_path',
default_value='/home/rx/workspaces/isaac_ros-dev/isaac_ros_assets/models/centerpose_shoe/1/model.onnx',
description='The absolute file path to the ONNX file'),
DeclareLaunchArgument(
'engine_file_path',
default_value='/home/rx/workspaces/isaac_ros-dev/isaac_ros_assets/models/centerpose_shoe/1/model.plan',
description='The absolute file path to the TensorRT engine file'),
DeclareLaunchArgument(
'input_tensor_names',
default_value='["input_tensor"]',
description='A list of tensor names to bound to the specified input binding names'),
DeclareLaunchArgument(
'input_binding_names',
default_value='["input"]',
description='A list of input tensor binding names (specified by model)'),
DeclareLaunchArgument(
'input_tensor_formats',
default_value='["nitros_tensor_list_nchw_rgb_f32"]',
description='The nitros format of the input tensors'),
DeclareLaunchArgument(
'output_tensor_names',
default_value=tensor_names_str,
description='A list of tensor names to bound to the specified output binding names'),
DeclareLaunchArgument(
'output_binding_names',
default_value=tensor_names_str,
description='A list of output tensor binding names (specified by model)'),
DeclareLaunchArgument(
'output_tensor_formats',
default_value='["nitros_tensor_list_nhwc_rgb_f32"]',
description='The nitros format of the output tensors'),
DeclareLaunchArgument(
'tensorrt_verbose',
default_value='False',
description='Whether TensorRT should verbosely log or not'),
DeclareLaunchArgument(
'force_engine_update',
default_value='False',
description='Whether TensorRT should update the TensorRT engine file or not'),
DeclareLaunchArgument(
'output_field_size',
default_value='[128, 128]',
description='Represents the size of the 2D keypoint decoding from the network output'),
DeclareLaunchArgument(
'cuboid_scaling_factor',
default_value='1.0',
description='Scales the cuboid used for calculating the size of the objects detected'),
DeclareLaunchArgument(
'score_threshold',
default_value='0.3',
description='The threshold for scores values to discard.'),
DeclareLaunchArgument(
'object_name',
default_value='shoe',
description='The name of the category instance that is being detected',
),
DeclareLaunchArgument(
'show_axes',
default_value='True',
description='Whether to show axes or not for visualization',
),
DeclareLaunchArgument(
'bounding_box_color',
default_value='0x000000ff',
description='The color of the bounding box for visualization',
),
]
# DNN Image Encoder parameters
input_image_width = LaunchConfiguration('input_image_width')
input_image_height = LaunchConfiguration('input_image_height')
network_image_width = LaunchConfiguration('network_image_width')
network_image_height = LaunchConfiguration('network_image_height')
encoder_image_mean = LaunchConfiguration('encoder_image_mean')
encoder_image_stddev = LaunchConfiguration('encoder_image_stddev')
# Tensor RT parameters
model_file_path = LaunchConfiguration('model_file_path')
engine_file_path = LaunchConfiguration('engine_file_path')
input_tensor_names = LaunchConfiguration('input_tensor_names')
input_binding_names = LaunchConfiguration('input_binding_names')
input_tensor_formats = LaunchConfiguration('input_tensor_formats')
output_tensor_names = LaunchConfiguration('output_tensor_names')
output_binding_names = LaunchConfiguration('output_binding_names')
output_tensor_formats = LaunchConfiguration('output_tensor_formats')
tensorrt_verbose = LaunchConfiguration('tensorrt_verbose')
force_engine_update = LaunchConfiguration('force_engine_update')
# Centerpose Decoder parameters
output_field_size = LaunchConfiguration('output_field_size')
cuboid_scaling_factor = LaunchConfiguration('cuboid_scaling_factor')
score_threshold = LaunchConfiguration('score_threshold')
object_name = LaunchConfiguration('object_name')
# Centerpose visualization parameters
show_axes = LaunchConfiguration('show_axes')
bounding_box_color = LaunchConfiguration('bounding_box_color')
centerpose_inference_node = ComposableNode(
name='centerpose_inference',
package='isaac_ros_tensor_rt',
plugin='nvidia::isaac_ros::dnn_inference::TensorRTNode',
parameters=[{
'model_file_path': model_file_path,
'engine_file_path': engine_file_path,
'input_tensor_names': input_tensor_names,
'input_binding_names': input_binding_names,
'input_tensor_formats': input_tensor_formats,
'output_tensor_names': output_tensor_names,
'output_binding_names': output_binding_names,
'output_tensor_formats': output_tensor_formats,
'verbose': tensorrt_verbose,
'force_engine_update': force_engine_update
}])
centerpose_decoder_node = ComposableNode(
name='centerpose_decoder_node',
package='isaac_ros_centerpose',
plugin='nvidia::isaac_ros::centerpose::CenterPoseDecoderNode',
parameters=[{
'output_field_size': output_field_size,
'cuboid_scaling_factor': cuboid_scaling_factor,
'score_threshold': score_threshold,
'object_name': object_name,
}],
)
centerpose_visualizer_node = ComposableNode(
name='centerpose_visualizer_node',
package='isaac_ros_centerpose',
plugin='nvidia::isaac_ros::centerpose::CenterPoseVisualizerNode',
parameters=[{
'show_axes': show_axes,
'bounding_box_color': bounding_box_color,
}],
)
rclcpp_container = ComposableNodeContainer(
name='centerpose_container',
namespace='',
package='rclcpp_components',
executable='component_container_mt',
composable_node_descriptions=[
centerpose_inference_node, centerpose_decoder_node, centerpose_visualizer_node],
output='screen',
)
encoder_dir = get_package_share_directory('isaac_ros_dnn_image_encoder')
centerpose_encoder_launch = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
[os.path.join(encoder_dir, 'launch', 'dnn_image_encoder.launch.py')]
),
launch_arguments={
'input_image_width': input_image_width,
'input_image_height': input_image_height,
'network_image_width': network_image_width,
'network_image_height': network_image_height,
'image_mean': encoder_image_mean,
'image_stddev': encoder_image_stddev,
'attach_to_shared_component_container': 'True',
'component_container_name': 'centerpose_container',
'dnn_image_encoder_namespace': 'centerpose_encoder',
'image_input_topic': '/image',
'camera_info_input_topic': '/camera_info',
'tensor_output_topic': '/tensor_pub',
}.items(),
)
final_launch_container = launch_args + [rclcpp_container, centerpose_encoder_launch]
return LaunchDescription(final_launch_container)
The following is the output information of the startup command
rx@ubuntu:~/workspaces/isaac_ros-dev$ ros2 launch isaac_ros_centerpose isaac_ros_centerpose_tensor_rt.launch.py
[INFO] [launch]: All log files can be found below /home/rx/.ros/log/2025-02-07-16-39-29-717276-ubuntu-24246
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container_mt-1]: process started with pid [24259]
[component_container_mt-1] [INFO] [1738917570.123376985] [centerpose_container]: Load Library: /opt/ros/humble/lib/libtensor_rt_node.so
[component_container_mt-1] [INFO] [1738917570.204840422] [centerpose_container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::TensorRTNode>
[component_container_mt-1] [INFO] [1738917570.204939717] [centerpose_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::TensorRTNode>
[component_container_mt-1] [INFO] [1738917570.222410549] [centerpose_inference]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1738917570.222868529] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/std/libgxf_std.so
[component_container_mt-1] [INFO] [1738917570.224569279] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_gxf_helpers.so
[component_container_mt-1] [INFO] [1738917570.229306192] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_sight.so
[component_container_mt-1] [INFO] [1738917570.234581403] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_atlas.so
[component_container_mt-1] 2025-02-07 16:39:30.248 WARN gxf/std/program.cpp@538: No GXF scheduler specified.
[component_container_mt-1] [INFO] [1738917570.249879265] [centerpose_inference]: [TensorRTNode] Set input data format to: "nitros_tensor_list_nchw_rgb_f32"
[component_container_mt-1] [INFO] [1738917570.249939008] [centerpose_inference]: [TensorRTNode] Set output data format to: "nitros_tensor_list_nhwc_rgb_f32"
[component_container_mt-1] [INFO] [1738917570.250004608] [centerpose_inference]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1738917570.254845775] [centerpose_inference]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1738917570.255030413] [centerpose_inference]: [NitrosContext] Loading extension: gxf/lib/multimedia/libgxf_multimedia.so
[component_container_mt-1] [INFO] [1738917570.258569258] [centerpose_inference]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_message_compositor.so
[component_container_mt-1] [INFO] [1738917570.259244067] [centerpose_inference]: [NitrosContext] Loading extension: gxf/lib/cuda/libgxf_cuda.so
[component_container_mt-1] [INFO] [1738917570.262701504] [centerpose_inference]: [NitrosContext] Loading extension: gxf/lib/serialization/libgxf_serialization.so
[component_container_mt-1] [INFO] [1738917570.263341242] [centerpose_inference]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_tensor_rt.so
[component_container_mt-1] [INFO] [1738917570.264312848] [centerpose_inference]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1738917570.266494938] [centerpose_inference]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1738917570.286475921] [centerpose_inference]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1738917570.288023361] [centerpose_inference]: [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] [1738917570.288113568] [centerpose_inference]: [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] [1738917570.293019951] [centerpose_inference]: [NitrosNode] Starting negotiation...
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/centerpose_inference' in container '/centerpose_container'
[component_container_mt-1] [INFO] [1738917570.294622783] [centerpose_container]: Load Library: /opt/ros/humble/lib/libresize_node.so
[component_container_mt-1] [INFO] [1738917570.318423152] [centerpose_container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::ResizeNode>
[component_container_mt-1] [INFO] [1738917570.318542382] [centerpose_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::ResizeNode>
[component_container_mt-1] [INFO] [1738917570.331838409] [centerpose_encoder.resize_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1738917570.333595767] [centerpose_encoder.resize_node]: [ResizeNode] Set output data format to: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1738917570.334265104] [centerpose_encoder.resize_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1738917570.363543082] [centerpose_encoder.resize_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1738917570.364220611] [centerpose_encoder.resize_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_tensorops.so
[component_container_mt-1] [INFO] [1738917570.372958603] [centerpose_encoder.resize_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1738917570.380811260] [centerpose_encoder.resize_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1738917570.640247659] [centerpose_encoder.resize_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1738917570.646032400] [centerpose_encoder.resize_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] [1738917570.671737486] [centerpose_encoder.resize_node]: [NitrosNode] Starting negotiation...
[component_container_mt-1] [INFO] [1738917570.673782329] [centerpose_container]: Load Library: /home/rx/workspaces/isaac_ros-dev/install/isaac_ros_centerpose/lib/libcenterpose_decoder_node.so
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/centerpose_encoder/resize_node' in container 'centerpose_container'
[component_container_mt-1] [INFO] [1738917570.705092734] [centerpose_container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::centerpose::CenterPoseDecoderNode>
[component_container_mt-1] [INFO] [1738917570.705227421] [centerpose_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::centerpose::CenterPoseDecoderNode>
[component_container_mt-1] [INFO] [1738917570.726680741] [centerpose_decoder_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1738917570.728112887] [centerpose_decoder_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1738917570.737815285] [centerpose_decoder_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1738917570.782683570] [centerpose_decoder_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_centerpose.so
[component_container_mt-1] [INFO] [1738917570.794016256] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_messages.so
[component_container_mt-1] [INFO] [1738917570.795716399] [centerpose_decoder_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1738917570.800633534] [centerpose_decoder_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1738917570.819801437] [centerpose_decoder_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/centerpose_decoder_node' in container '/centerpose_container'
[component_container_mt-1] [INFO] [1738917570.836560020] [centerpose_decoder_node]: [NitrosNode] Starting negotiation...
[component_container_mt-1] [INFO] [1738917570.837812040] [centerpose_inference]: Negotiating
[component_container_mt-1] [INFO] [1738917570.837906311] [centerpose_inference]: Could not negotiate
[component_container_mt-1] [INFO] [1738917570.838248259] [centerpose_container]: Load Library: /opt/ros/humble/lib/libimage_format_converter_node.so
[component_container_mt-1] [INFO] [1738917570.842711062] [centerpose_container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::ImageFormatConverterNode>
[component_container_mt-1] [INFO] [1738917570.842806197] [centerpose_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::ImageFormatConverterNode>
[component_container_mt-1] [INFO] [1738917570.862656110] [centerpose_encoder.image_format_converter_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1738917570.865495729] [centerpose_encoder.image_format_converter_node]: [ImageFormatConverterNode] Set output data format to: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1738917570.865723311] [centerpose_encoder.image_format_converter_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1738917570.890876338] [centerpose_encoder.image_format_converter_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1738917570.891777897] [centerpose_encoder.image_format_converter_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1738917570.894794474] [centerpose_encoder.image_format_converter_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1738917571.006489287] [centerpose_encoder.image_format_converter_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1738917571.023412445] [centerpose_encoder.image_format_converter_node]: [NitrosPublisherSubscriberGroup] Pinning the component "sink/sink" (type="nvidia::isaac_ros::MessageRelay") to use its compatible format only: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1738917571.026469310] [centerpose_encoder.image_format_converter_node]: [NitrosNode] Starting negotiation...
[component_container_mt-1] [INFO] [1738917571.027313398] [centerpose_encoder.resize_node]: Negotiating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/centerpose_encoder/image_format_converter_node' in container 'centerpose_container'
[component_container_mt-1] [INFO] [1738917571.027671698] [centerpose_container]: Load Library: /home/rx/workspaces/isaac_ros-dev/install/isaac_ros_centerpose/lib/libcenterpose_visualizer_node.so
[component_container_mt-1] [INFO] [1738917571.033648566] [centerpose_container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::centerpose::CenterPoseVisualizerNode>
[component_container_mt-1] [INFO] [1738917571.033716501] [centerpose_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::centerpose::CenterPoseVisualizerNode>
[component_container_mt-1] [INFO] [1738917571.042577244] [centerpose_visualizer_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1738917571.044204172] [centerpose_visualizer_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1738917571.049944818] [centerpose_visualizer_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1738917571.050990599] [centerpose_visualizer_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1738917571.052681302] [centerpose_visualizer_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1738917571.059990381] [centerpose_visualizer_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1738917571.083556800] [centerpose_visualizer_node]: [NitrosNode] Starting negotiation...
[component_container_mt-1] [INFO] [1738917571.084691156] [centerpose_decoder_node]: Negotiating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/centerpose_visualizer_node' in container '/centerpose_container'
[component_container_mt-1] [INFO] [1738917571.085018769] [centerpose_inference]: Negotiating
[component_container_mt-1] [INFO] [1738917571.085075088] [centerpose_inference]: Could not negotiate
[component_container_mt-1] [INFO] [1738917571.085671914] [centerpose_container]: Load Library: /opt/ros/humble/lib/libcrop_node.so
[component_container_mt-1] [INFO] [1738917571.090185661] [centerpose_container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::CropNode>
[component_container_mt-1] [INFO] [1738917571.090275644] [centerpose_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::CropNode>
[component_container_mt-1] [INFO] [1738917571.101857543] [centerpose_encoder.crop_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1738917571.103233594] [centerpose_encoder.crop_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1738917571.120490252] [centerpose_encoder.crop_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1738917571.121202917] [centerpose_encoder.crop_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1738917571.127063370] [centerpose_encoder.crop_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1738917571.188428128] [centerpose_encoder.crop_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1738917571.198063455] [centerpose_encoder.crop_node]: [NitrosNode] Starting negotiation...
[component_container_mt-1] [INFO] [1738917571.199479665] [centerpose_encoder.resize_node]: Negotiating
[component_container_mt-1] [INFO] [1738917571.199526065] [centerpose_encoder.image_format_converter_node]: Negotiating
[component_container_mt-1] [INFO] [1738917571.199984844] [centerpose_encoder.resize_node]: Negotiating
[component_container_mt-1] [INFO] [1738917571.200681221] [centerpose_encoder.crop_node]: Negotiating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/centerpose_encoder/crop_node' in container 'centerpose_container'
[component_container_mt-1] [INFO] [1738917571.200717637] [centerpose_encoder.crop_node]: Could not negotiate
[component_container_mt-1] [INFO] [1738917571.200736740] [centerpose_encoder.crop_node]: Negotiating
[component_container_mt-1] [INFO] [1738917571.200745924] [centerpose_encoder.crop_node]: Could not negotiate
[component_container_mt-1] [INFO] [1738917571.204410911] [centerpose_container]: Load Library: /opt/ros/humble/lib/libimage_to_tensor_node.so
[component_container_mt-1] [INFO] [1738917571.238633223] [centerpose_container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::ImageToTensorNode>
[component_container_mt-1] [INFO] [1738917571.238740390] [centerpose_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::ImageToTensorNode>
[component_container_mt-1] [INFO] [1738917571.249885110] [centerpose_encoder.image_to_tensor.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1738917571.250181267] [centerpose_encoder.crop_node]: Negotiating
[component_container_mt-1] [INFO] [1738917571.250390801] [centerpose_encoder.image_format_converter_node]: Negotiating
[component_container_mt-1] [INFO] [1738917571.250508527] [centerpose_encoder.resize_node]: Negotiating
[component_container_mt-1] [INFO] [1738917571.253242708] [centerpose_encoder.image_to_tensor.ManagedNitrosPublisher]: Starting Managed Nitros Publisher
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/centerpose_encoder/image_to_tensor' in container 'centerpose_container'
[component_container_mt-1] [INFO] [1738917571.258834748] [centerpose_container]: Load Library: /opt/ros/humble/lib/libimage_tensor_normalize_node.so
[component_container_mt-1] [INFO] [1738917571.260836904] [centerpose_container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::ImageTensorNormalizeNode>
[component_container_mt-1] [INFO] [1738917571.260879623] [centerpose_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::ImageTensorNormalizeNode>
[component_container_mt-1] [INFO] [1738917571.270543014] [centerpose_encoder.normalize_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1738917571.270910978] [centerpose_encoder.image_to_tensor]: Negotiating
[component_container_mt-1] [INFO] [1738917571.270961954] [centerpose_encoder.image_to_tensor]: Could not negotiate
[component_container_mt-1] [INFO] [1738917571.272113686] [centerpose_encoder.normalize_node.ManagedNitrosPublisher]: Starting Managed Nitros Publisher
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/centerpose_encoder/normalize_node' in container 'centerpose_container'
[component_container_mt-1] [INFO] [1738917571.279310126] [centerpose_container]: Load Library: /opt/ros/humble/lib/libinterleaved_to_planar_node.so
[component_container_mt-1] [INFO] [1738917571.283693218] [centerpose_container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::InterleavedToPlanarNode>
[component_container_mt-1] [INFO] [1738917571.283785345] [centerpose_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::InterleavedToPlanarNode>
[component_container_mt-1] [INFO] [1738917571.294219448] [centerpose_inference]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1738917571.294314871] [centerpose_inference]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1738917571.294340406] [centerpose_inference]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1738917571.294354646] [centerpose_inference]: [NitrosPublisher] Use only the compatible publisher: topic_name="/tensor_sub", data_format="nitros_tensor_list_nhwc_rgb_f32"
[component_container_mt-1] [INFO] [1738917571.294368086] [centerpose_inference]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1738917571.294377590] [centerpose_inference]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/tensor_pub", data_format="nitros_tensor_list_nchw_rgb_f32"
[component_container_mt-1] [INFO] [1738917571.294671379] [centerpose_inference]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1738917571.301640109] [centerpose_inference]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/IQRWOCZOOR/IQRWOCZOOR.yaml"
[component_container_mt-1] [INFO] [1738917571.301736364] [centerpose_inference]: [NitrosNode] Loading application
[component_container_mt-1] 2025-02-07 16:39:31.304 WARN gxf/std/yaml_file_loader.cpp@1076: Using unregistered parameter 'dev_id' in component 'stream'.
[component_container_mt-1] [INFO] [1738917571.304665710] [centerpose_encoder.interleaved_to_planar_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1738917571.304792301] [centerpose_inference]: In TensorRTNode postLoadGraphCallback().
[component_container_mt-1] [INFO] [1738917571.308019149] [centerpose_encoder.interleaved_to_planar_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1738917571.340295528] [centerpose_encoder.interleaved_to_planar_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1738917571.341054112] [centerpose_encoder.interleaved_to_planar_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1738917571.345192823] [centerpose_encoder.interleaved_to_planar_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1738917571.359080619] [centerpose_encoder.interleaved_to_planar_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1738917571.366778685] [centerpose_encoder.interleaved_to_planar_node]: [NitrosNode] Starting negotiation...
[component_container_mt-1] [INFO] [1738917571.368385965] [centerpose_encoder.normalize_node]: Negotiating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/centerpose_encoder/interleaved_to_planar_node' in container 'centerpose_container'
[component_container_mt-1] [INFO] [1738917571.372616227] [centerpose_container]: Load Library: /opt/ros/humble/lib/libreshape_node.so
[component_container_mt-1] [INFO] [1738917571.374763341] [centerpose_container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::ReshapeNode>
[component_container_mt-1] [INFO] [1738917571.374826988] [centerpose_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::ReshapeNode>
[component_container_mt-1] [INFO] [1738917571.388498979] [centerpose_encoder.reshape_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1738917571.393272723] [centerpose_encoder.reshape_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1738917571.400849287] [centerpose_encoder.reshape_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1738917571.401247875] [centerpose_encoder.reshape_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1738917571.403282702] [centerpose_encoder.reshape_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1738917571.410154953] [centerpose_encoder.reshape_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1738917571.415806384] [centerpose_encoder.reshape_node]: [NitrosNode] Starting negotiation...
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/centerpose_encoder/reshape_node' in container 'centerpose_container'
[component_container_mt-1] [INFO] [1738917571.417345601] [centerpose_encoder.interleaved_to_planar_node]: Negotiating
[component_container_mt-1] [INFO] [1738917571.418073913] [centerpose_encoder.normalize_node]: Negotiating
[component_container_mt-1] [INFO] [1738917571.484708251] [centerpose_inference]: Read tensor shape information from TRT Model Engine: /home/rx/workspaces/isaac_ros-dev/isaac_ros_assets/models/centerpose_shoe/1/model.plan
[component_container_mt-1] [INFO] [1738917571.484949112] [centerpose_inference]: Tensors 6400 bytes, num outputs 40 x tensors per output 7 = 280 blocks
[component_container_mt-1] [INFO] [1738917571.485337876] [centerpose_inference]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1738917571.486886245] [centerpose_encoder.reshape_node]: Negotiating
[component_container_mt-1] [INFO] [1738917571.487367648] [centerpose_encoder.interleaved_to_planar_node]: Negotiating
[component_container_mt-1] [INFO] [1738917571.487442847] [centerpose_inference]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1738917571.487956762] [centerpose_encoder.normalize_node]: Negotiating
[component_container_mt-1] 2025-02-07 16:39:31.538 WARN ./gxf/extensions/tensor_rt/tensor_rt_inference.cpp@158: TRT WARNING: Using an engine plan file across different models of devices is not recommended and is likely to affect performance or even cause errors.
[component_container_mt-1] [INFO] [1738917571.672846869] [centerpose_encoder.resize_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1738917571.672978580] [centerpose_encoder.resize_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1738917571.673014740] [centerpose_encoder.resize_node]: [NitrosPublisher] Use the negotiated data format: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1738917571.673118643] [centerpose_encoder.resize_node]: [NitrosPublisher] Use the negotiated data format: "nitros_camera_info"
[component_container_mt-1] [INFO] [1738917571.673155474] [centerpose_encoder.resize_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1738917571.673183378] [centerpose_encoder.resize_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/image", data_format="nitros_image_rgb8"
[component_container_mt-1] [INFO] [1738917571.673210994] [centerpose_encoder.resize_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1738917571.673230802] [centerpose_encoder.resize_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/camera_info", data_format="nitros_camera_info"
[component_container_mt-1] [INFO] [1738917571.673571822] [centerpose_encoder.resize_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1738917571.701592244] [centerpose_encoder.resize_node]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/YWZLVBWIXJ/YWZLVBWIXJ.yaml"
[component_container_mt-1] [INFO] [1738917571.701757042] [centerpose_encoder.resize_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1738917571.711325650] [centerpose_encoder.resize_node]: [ResizeNode] postLoadGraphCallback().
[component_container_mt-1] [INFO] [1738917571.711630447] [centerpose_encoder.resize_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1738917571.757159141] [centerpose_encoder.resize_node]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1738917571.837723194] [centerpose_decoder_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1738917571.837808217] [centerpose_decoder_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1738917571.837825913] [centerpose_decoder_node]: [NitrosPublisher] Use the negotiated data format: "nitros_detection3_d_array"
[component_container_mt-1] [INFO] [1738917571.837840953] [centerpose_decoder_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1738917571.837849497] [centerpose_decoder_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/tensor_sub", data_format="nitros_tensor_list_nchw_rgb_f32"
[component_container_mt-1] [INFO] [1738917571.837859737] [centerpose_decoder_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1738917571.837866201] [centerpose_decoder_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/camera_info", data_format="nitros_camera_info"
[component_container_mt-1] [INFO] [1738917571.838088919] [centerpose_decoder_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1738917571.840975450] [centerpose_decoder_node]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/OMUTOBPNRH/OMUTOBPNRH.yaml"
[component_container_mt-1] [INFO] [1738917571.841046233] [centerpose_decoder_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1738917571.843045029] [centerpose_decoder_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1738917571.844263736] [centerpose_decoder_node]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1738917572.028395707] [centerpose_encoder.image_format_converter_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1738917572.028553082] [centerpose_encoder.image_format_converter_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1738917572.028598457] [centerpose_encoder.image_format_converter_node]: [NitrosPublisher] Use the negotiated data format: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1738917572.028635545] [centerpose_encoder.image_format_converter_node]: [NitrosSubscriber] Use the negotiated data format: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1738917572.029048533] [centerpose_encoder.image_format_converter_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1738917572.059754976] [centerpose_encoder.image_format_converter_node]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/PNNWEJAZAO/PNNWEJAZAO.yaml"
[component_container_mt-1] [INFO] [1738917572.059901886] [centerpose_encoder.image_format_converter_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1738917572.063813271] [centerpose_encoder.image_format_converter_node]: [ImageFormatConverterNode] postLoadGraphCallback().
[component_container_mt-1] [INFO] [1738917572.064031061] [centerpose_encoder.image_format_converter_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1738917572.069809626] [centerpose_encoder.image_format_converter_node]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1738917572.084962914] [centerpose_visualizer_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1738917572.085062273] [centerpose_visualizer_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1738917572.085085505] [centerpose_visualizer_node]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1738917572.085102048] [centerpose_visualizer_node]: [NitrosPublisher] Use only the compatible publisher: topic_name="/centerpose/image_visualized", data_format="nitros_image_bgr8"
[component_container_mt-1] [INFO] [1738917572.085117440] [centerpose_visualizer_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1738917572.085128928] [centerpose_visualizer_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/image", data_format="nitros_image_bgr8"
[component_container_mt-1] [INFO] [1738917572.085143456] [centerpose_visualizer_node]: [NitrosSubscriber] Use the negotiated data format: "nitros_detection3_d_array"
[component_container_mt-1] [INFO] [1738917572.085157824] [centerpose_visualizer_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1738917572.085168288] [centerpose_visualizer_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/camera_info", data_format="nitros_camera_info"
[component_container_mt-1] [INFO] [1738917572.085468573] [centerpose_visualizer_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1738917572.089523924] [centerpose_visualizer_node]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/FICZIBJPIG/FICZIBJPIG.yaml"
[component_container_mt-1] [INFO] [1738917572.089605587] [centerpose_visualizer_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1738917572.092307768] [centerpose_visualizer_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1738917572.093494604] [centerpose_visualizer_node]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1738917572.199824029] [centerpose_encoder.crop_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1738917572.199954492] [centerpose_encoder.crop_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1738917572.200001852] [centerpose_encoder.crop_node]: [NitrosPublisher] Use the negotiated data format: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1738917572.200042715] [centerpose_encoder.crop_node]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1738917572.200083963] [centerpose_encoder.crop_node]: [NitrosPublisher] Use only the compatible publisher: topic_name="/centerpose_encoder/crop/camera_info", data_format="nitros_camera_info"
[component_container_mt-1] [INFO] [1738917572.200112282] [centerpose_encoder.crop_node]: [NitrosSubscriber] Use the negotiated data format: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1738917572.200288825] [centerpose_encoder.crop_node]: [NitrosSubscriber] Use the negotiated data format: "nitros_camera_info"
[component_container_mt-1] [INFO] [1738917572.200685717] [centerpose_encoder.crop_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1738917572.290941064] [centerpose_encoder.crop_node]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/ZPOWNOHBBK/ZPOWNOHBBK.yaml"
[component_container_mt-1] [INFO] [1738917572.291055911] [centerpose_encoder.crop_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1738917572.295376059] [centerpose_encoder.crop_node]: [CropNode] postLoadGraphCallback().
[component_container_mt-1] [INFO] [1738917572.295575033] [centerpose_encoder.crop_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1738917572.300449704] [centerpose_encoder.crop_node]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1738917572.368180222] [centerpose_encoder.interleaved_to_planar_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1738917572.368271549] [centerpose_encoder.interleaved_to_planar_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1738917572.368289053] [centerpose_encoder.interleaved_to_planar_node]: [NitrosPublisher] Use the negotiated data format: "nitros_tensor_list_nchw_rgb_f32"
[component_container_mt-1] [INFO] [1738917572.368302813] [centerpose_encoder.interleaved_to_planar_node]: [NitrosSubscriber] Use the negotiated data format: "nitros_tensor_list_nhwc_rgb_f32"
[component_container_mt-1] [INFO] [1738917572.368670777] [centerpose_encoder.interleaved_to_planar_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1738917572.377577280] [centerpose_encoder.interleaved_to_planar_node]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/AQMJZNXHIW/AQMJZNXHIW.yaml"
[component_container_mt-1] [INFO] [1738917572.377730750] [centerpose_encoder.interleaved_to_planar_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1738917572.381908308] [centerpose_encoder.interleaved_to_planar_node]: In InterleavedToPlanarNode postLoadGraphCallback().
[component_container_mt-1] [INFO] [1738917572.382090994] [centerpose_encoder.interleaved_to_planar_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1738917572.391254166] [centerpose_encoder.interleaved_to_planar_node]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1738917572.417621612] [centerpose_encoder.reshape_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1738917572.417753067] [centerpose_encoder.reshape_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1738917572.417788299] [centerpose_encoder.reshape_node]: [NitrosPublisher] Use the negotiated data format: "nitros_tensor_list_nchw_rgb_f32"
[component_container_mt-1] [INFO] [1738917572.417817002] [centerpose_encoder.reshape_node]: [NitrosSubscriber] Use the negotiated data format: "nitros_tensor_list_nchw_rgb_f32"
[component_container_mt-1] [INFO] [1738917572.418172327] [centerpose_encoder.reshape_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1738917572.424454536] [centerpose_encoder.reshape_node]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/HJVZGYEZGF/HJVZGYEZGF.yaml"
[component_container_mt-1] [INFO] [1738917572.424587718] [centerpose_encoder.reshape_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1738917572.427729287] [centerpose_encoder.reshape_node]: In ReshapeNode postLoadGraphCallback().
[component_container_mt-1] [INFO] [1738917572.427926341] [centerpose_encoder.reshape_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1738917572.442375155] [centerpose_encoder.reshape_node]: [NitrosNode] Node was started