I am trying to run the Issac ros visual slam along with the nav2 in a robot where the Jetson Orin Nano is used as the brain.
Everything was working fine till yesterday when I start getting this error when I run the visual slam node and the navigation launch file:
[component_container_mt-2] [ERROR] [1732201056.959010475] [NitrosContext]: cudaErrorNotSupported (operation not supported)
[component_container_mt-2] [ERROR] [1732201056.959101123] [occupancy_grid_localizer]: [NitrosContext] setCUDAMemoryPoolSize Error: GXF_FAILURE
[component_container_mt-2] [ERROR] [1732201056.959199738] [occupancy_grid_localizer]: [NitrosNode] Failed to get the pointer of nvidia::gxf::DoubleBufferReceiver (flatscan_beams_tensor_copier/rx_flatscan) for linking a NitrosSubscriber: GXF_FAILURE
[component_container_mt-2] terminate called after throwing an instance of ‘std::runtime_error’
[component_container_mt-2] what(): [NitrosNode] Failed to get the pointer of nvidia::gxf::DoubleBufferReceiver (flatscan_beams_tensor_copier/rx_flatscan) for linking a NitrosSubscriber: GXF_FAILURE
Sensors used:
LIDAR and Camera
Camera Details:
Camera used : Intel Realsense D455
Firmware Version: 5.13.0.50
Jetpack Version: Jetpack 6
Isaac ROS version : 3.0
I am also adding the visual slam launch file.
# Copyright (c) 2021-2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
#
# SPDX-License-Identifier: Apache-2.0
import launch
from launch_ros.actions import ComposableNodeContainer, Node
from launch_ros.descriptions import ComposableNode
def generate_launch_description():
"""Launch file which brings up visual slam node configured for RealSense."""
realsense_camera_node = Node(
name='camera',
namespace='camera',
package='realsense2_camera',
executable='realsense2_camera_node',
parameters=[{
'enable_infra1': True,
'enable_infra2': True,
'enable_color': False,
'enable_depth': False,
'depth_module.emitter_enabled': 0,
'depth_module.profile': '640x360x90',
'enable_gyro': True,
'enable_accel': True,
'gyro_fps': 200,
'accel_fps': 200,
'unite_imu_method': 2
}]
)
visual_slam_node = ComposableNode(
name='visual_slam_node',
package='isaac_ros_visual_slam',
plugin='nvidia::isaac_ros::visual_slam::VisualSlamNode',
parameters=[{
'enable_image_denoising': False,
'rectified_images': True,
'enable_imu_fusion': True,
'enable_localization_n_mapping': True,
'enable_ground_constraint_in_odometry': True,
'enable_ground_constraint_in_slam': True,
'publish_map_to_odom_tf': False, # this will be published by AMCL
'gyro_noise_density': 0.000244,
'gyro_random_walk': 0.000019393,
'accel_noise_density': 0.001862,
'accel_random_walk': 0.003,
'calibration_frequency': 200.0,
'image_jitter_threshold_ms': 22.00,
'base_frame': 'base_footprint',
'imu_frame': 'camera_gyro_optical_frame',
'enable_slam_visualization': True,
'enable_landmarks_view': True,
'enable_observations_view': True,
'camera_optical_frames': [
'camera_infra1_optical_frame',
'camera_infra2_optical_frame',
],
}],
remappings=[('visual_slam/image_0', 'camera/infra1/image_rect_raw'),
('visual_slam/camera_info_0', 'camera/infra1/camera_info'),
('visual_slam/image_1', 'camera/infra2/image_rect_raw'),
('visual_slam/camera_info_1', 'camera/infra2/camera_info'),
('visual_slam/imu', 'camera/imu')]
)
visual_slam_launch_container = ComposableNodeContainer(
name='visual_slam_launch_container',
namespace='',
package='rclcpp_components',
executable='component_container',
composable_node_descriptions=[visual_slam_node],
output='screen'
)
return launch.LaunchDescription([visual_slam_launch_container, realsense_camera_node])
Thanks a lot in advance