Hi,
I am trying to make setup on jet-son agx orin board for capturing camera data and publish over ROS publisher. I was successfully able to make docker setup by following steps provided in the below github.
GitHub - econsystems/STEEReoCAM_ISAAC_ROS_Package.
The above repository uses different BSP package. but I’m using BSP packages provided by the manufacturer to support camera model. i was able to capture video and display using v4l2 drivers. But when ran from argus camera application
ros2 launch isaac_ros_argus_camera isaac_ros_argus_camera_mono.launch.py
I’m facing below issue no camera detected, please let me know if anything I’m missing. Thanks in advance :
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/2024-05-03-15-27-20-702598-ubuntu-194275
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container_mt-1]: process started with pid [194309]
[component_container_mt-1] [INFO] [1714717641.358431659] [argus_mono_container]: Load Library: /workspaces/isaac_ros-dev/install/isaac_ros_argus_camera/lib/libmono_node.so
[component_container_mt-1] [INFO] [1714717641.430137427] [argus_mono_container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::argus::ArgusMonoNode
[component_container_mt-1] [INFO] [1714717641.430383413] [argus_mono_container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::argus::ArgusMonoNode
[component_container_mt-1] [INFO] [1714717641.440793277] [NitrosContext]: [NitrosContext] Creating a new shared context
[component_container_mt-1] [INFO] [1714717641.441220161] [argus_mono]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1714717641.443266485] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/std/libgxf_std.so
[component_container_mt-1] [INFO] [1714717641.455974355] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_gxf_helpers.so
[component_container_mt-1] [INFO] [1714717641.463777921] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_sight.so
[component_container_mt-1] [INFO] [1714717641.472931036] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_atlas.so
[component_container_mt-1] [INFO] [1714717641.482345273] [NitrosContext]: [NitrosContext] Loading application: ‘/workspaces/isaac_ros-dev/install/isaac_ros_nitros/share/isaac_ros_nitros/config/type_adapter_nitros_context_graph.yaml’
[component_container_mt-1] [INFO] [1714717641.484936467] [NitrosContext]: [NitrosContext] Initializing application…
[component_container_mt-1] [INFO] [1714717641.492754721] [NitrosContext]: [NitrosContext] Running application…
[component_container_mt-1] 2024-05-03 15:27:21.492 WARN gxf/std/program.cpp@514: No system specified. Nothing to do
[component_container_mt-1] [INFO] [1714717641.503936528] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_argus.so
[component_container_mt-1] [INFO] [1714717641.781766391] [NitrosContext]: [NitrosContext] Loading application: ‘/workspaces/isaac_ros-dev/install/isaac_ros_argus_camera/share/isaac_ros_argus_camera/config/argus_nitros_context_graph.yaml’
[component_container_mt-1] [INFO] [1714717641.782739905] [NitrosContext]: [NitrosContext] Initializing application…
[component_container_mt-1] [INFO] [1714717641.785144089] [NitrosContext]: [NitrosContext] Running application…
[component_container_mt-1] 2024-05-03 15:27:21.785 WARN gxf/std/program.cpp@514: No system specified. Nothing to do
[component_container_mt-1] [INFO] [1714717641.786684936] [argus_mono]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1714717641.786779913] [argus_mono]: [NitrosNode] Loading built-in preset extension specs
[component_container_mt-1] [INFO] [1714717641.790999283] [argus_mono]: [NitrosNode] Loading built-in extension specs
[component_container_mt-1] [INFO] [1714717641.791113812] [argus_mono]: [NitrosNode] Loading preset extension specs
[component_container_mt-1] [INFO] [1714717641.792261375] [argus_mono]: [NitrosNode] Loading extension specs
[component_container_mt-1] [INFO] [1714717641.792315296] [argus_mono]: [NitrosNode] Loading generator rules
[component_container_mt-1] [INFO] [1714717641.792813413] [argus_mono]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1714717641.793875535] [argus_mono]: [NitrosContext] Loading extension: gxf/lib/libgxf_message_compositor.so
[component_container_mt-1] [INFO] [1714717641.798217563] [argus_mono]: [NitrosContext] Loading extension: gxf/lib/cuda/libgxf_cuda.so
[component_container_mt-1] [INFO] [1714717641.801379610] [argus_mono]: [NitrosContext] Loading extension: gxf/lib/serialization/libgxf_serialization.so
[component_container_mt-1] [INFO] [1714717641.811099387] [argus_mono]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_messages.so
[component_container_mt-1] [INFO] [1714717641.822266729] [argus_mono]: [NitrosContext] Loading extension: gxf/lib/multimedia/libgxf_multimedia.so
[component_container_mt-1] [INFO] [1714717641.825477417] [argus_mono]: [NitrosContext] Loading extension: gxf/lib/image_proc/libgxf_tensorops.so
[component_container_mt-1] [INFO] [1714717641.841987053] [argus_mono]: [NitrosContext] Loading extension: gxf/lib/image_proc/libgxf_rectify_params_generator.so
[component_container_mt-1] [INFO] [1714717641.855471923] [argus_mono]: [NitrosContext] Loading extension: gxf/lib/libgxf_timestamp_correlator.so
[component_container_mt-1] [INFO] [1714717641.868106001] [argus_mono]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1714717641.874595249] [argus_mono]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1714717641.907710618] [argus_mono]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1714717641.911101340] [argus_mono]: [NitrosNode] Creating negotiated publishers/subscribers
[component_container_mt-1] [INFO] [1714717641.928495305] [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] [1714717642.931097197] [argus_mono]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1714717642.931370224] [argus_mono]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1714717642.931660947] [argus_mono]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1714717642.931752436] [argus_mono]: [NitrosPublisher] Use only the compatible publisher: topic_name=“/left/image_raw”, data_format=“nitros_image_rgb8”
[component_container_mt-1] [INFO] [1714717642.931794388] [argus_mono]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1714717642.931822932] [argus_mono]: [NitrosPublisher] Use only the compatible publisher: topic_name=“/left/camerainfo”, data_format=“nitros_camera_info”
[component_container_mt-1] [INFO] [1714717642.932592668] [argus_mono]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1714717642.949387427] [argus_mono]: [NitrosNode] Wrote the final top level YAML graph to “/tmp/isaac_ros_nitros/graphs/VUCIBJDSCA/VUCIBJDSCA.yaml”
[component_container_mt-1] [INFO] [1714717642.949601669] [argus_mono]: [NitrosNode] Calling user’s pre-load-graph callback
[component_container_mt-1] [INFO] [1714717642.949638213] [argus_mono]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1714717642.949679622] [argus_mono]: [NitrosContext] Loading application: ‘/tmp/isaac_ros_nitros/graphs/VUCIBJDSCA/VUCIBJDSCA.yaml’
[component_container_mt-1] 2024-05-03 15:27:22.959 WARN gxf/std/yaml_file_loader.cpp@1058: Using unregistered parameter ‘left_camera_frame’ in component ‘’.
[component_container_mt-1] 2024-05-03 15:27:22.960 WARN gxf/std/yaml_file_loader.cpp@1058: Using unregistered parameter ‘right_camera_frame’ in component ‘’.
[component_container_mt-1] [INFO] [1714717642.962137921] [argus_mono]: [NitrosNode] Linking Nitros pub/sub to the loaded application
[component_container_mt-1] [INFO] [1714717642.962668263] [argus_mono]: [NitrosNode] Calling user’s post-load-graph callback
[component_container_mt-1] [INFO] [1714717642.962723239] [argus_mono]: [ArgusCameraNode] postLoadGraphCallback().
[component_container_mt-1] [INFO] [1714717642.962852808] [argus_mono]: [NitrosContext] Initializing application…
[component_container_mt-1] [INFO] [1714717643.426855944] [argus_mono]: [NitrosContext] Running application…
[component_container_mt-1] [INFO] [1714717643.427493838] [argus_mono]: [NitrosNode] Starting a heartbeat timer (eid=55)
[component_container_mt-1] 2024-05-03 15:27:23.546 ERROR extensions/hawk/components/argus_camera.cpp@283: No cameras available
[component_container_mt-1] 2024-05-03 15:27:23.546 WARN gxf/std/multi_thread_scheduler.cpp@325: Error while executing entity E32 named ‘VUCIBJDSCA_argus_camera’: GXF_FAILURE
[component_container_mt-1] 2024-05-03 15:27:23.547 ERROR gxf/std/entity_executor.cpp@563: Entity [VUCIBJDSCA_argus_camera] must be in Started, Tick Pending, Ticking or Idle stage before stopping. Current state is StartPending
[component_container_mt-1] 2024-05-03 15:27:24.427 ERROR gxf/std/entity_executor.cpp@210: Entity with eid 55 not found!
[component_container_mt-1] [WARN] [1714717644.427895739] [argus_mono]: [NitrosNode] The heartbeat entity (eid=55) was stopped. The graph may have been terminated.
[component_container_mt-1] [INFO] [1714717644.434454108] [argus_mono]: [NitrosNode] Terminating the running application
[component_container_mt-1] [INFO] [1714717644.434510908] [argus_mono]: [NitrosContext] Interrupting GXF…
[component_container_mt-1] 2024-05-03 15:27:24.434 ERROR gxf/core/runtime.cpp@1400: Graph interrupt failed with error: GXF_FAILURE
[component_container_mt-1] [ERROR] [1714717644.434690974] [argus_mono]: [NitrosContext] GxfGraphInterrupt Error: GXF_FAILURE
[component_container_mt-1] [INFO] [1714717644.434705054] [argus_mono]: [NitrosContext] Waiting on GXF…
[component_container_mt-1] 2024-05-03 15:27:24.434 ERROR gxf/std/program.cpp@556: wait failed. Deactivating…
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] | Job Statistics Report (regular) |
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] | Name | Count | Time (Median - 90% - Max) [ms] | Load (%) | Exec(ms) | Variation (Median - 90% - Max) [ns] |
[component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] | Entity Statistics Report (regular) |
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] | Entity Name | Entity State | Count | Time (Median - 90% - Max) [ms] |
[component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] 2024-05-03 15:27:24.436 WARN gxf/std/entity_warden.cpp@433: Component of type nvidia::gxf::MultiThreadScheduler, cid 70 failed to deinitialize with code GXF_FAILURE
[component_container_mt-1] 2024-05-03 15:27:24.436 ERROR gxf/core/runtime.cpp@731: Could not deinitialize entity ‘VUCIBJDSCA_TNDLEQLSVD’ (E68): GXF_FAILURE
[component_container_mt-1] 2024-05-03 15:27:24.436 ERROR gxf/std/program.cpp@558: Deactivation failed.
[component_container_mt-1] 2024-05-03 15:27:24.436 ERROR gxf/core/runtime.cpp@1408: Graph wait failed with error: GXF_FAILURE
[component_container_mt-1] [ERROR] [1714717644.436621553] [argus_mono]: [NitrosContext] GxfGraphWait Error: GXF_FAILURE
[component_container_mt-1] [INFO] [1714717644.436633106] [argus_mono]: [NitrosNode] Application termination done
[INFO] [component_container_mt-1]: process has finished cleanly [pid 194309]