ElbrusVisualSLAM don't start

Autonomous Machines Robotics - Isaac Isaac SDK
#1

I try to run my test app with v42l camera and visual slam on PC UBUNTU 18.04. I use elbrus_visual_slam_zed.app.json as pattern. My code is

{
  "name": "slam_v4l2",
  "modules": [
    "sensors:v4l2_camera",
    "message_generators",
    "visual_slam",
    "sight"
  ],
  "graph": {
    "nodes": [
      {
        "name": "svo",
        "subgraph": "packages/visual_slam/apps/elbrus_visual_slam_rgb.subgraph.json"
      },
      {
        "name": "camera",
        "components": [
          {
            "name": "MessageLedger",
            "type": "isaac::alice::MessageLedger"
          },
          {
            "name": "V4L2Camera",
            "type": "isaac::V4L2Camera"
          }
        ]
      },
      {
        "name": "intrinsics",
        "components": [
          {
            "name": "MessageLedger",
            "type": "isaac::alice::MessageLedger"
          },
          {
            "name": "CameraIntrinsicsGenerator",
            "type": "isaac::message_generators::CameraIntrinsicsGenerator"
          }
        ]
      }
    ],
    "edges": [
      {
        "source": "camera/V4L2Camera/frame",
        "target": "intrinsics/CameraIntrinsicsGenerator/image"
      },

      {
        "source": "camera/V4L2Camera/frame",
        "target": "svo.subgraph/interface/left_image"
      },
      {
        "source": "intrinsics/CameraIntrinsicsGenerator/intrinsics",
        "target": "svo.subgraph/interface/left_intrinsics"
      },
      {
        "source": "camera/V4L2Camera/frame",
        "target": "svo.subgraph/interface/right_image"
      },
      {
        "source": "intrinsics/CameraIntrinsicsGenerator/intrinsics",
        "target": "svo.subgraph/interface/right_intrinsics"
      }
    ]
  },
  "config": {
    "camera": {
      "V4L2Camera": {
        "device_id": 0,
        "rows": 720,
        "cols": 1280,
        "rate_hz": 10
      }
    },
    "intrinsics": {
      "CameraIntrinsicsGenerator": {
        "focal_length": [1.1457752257790760e+03, 1.5318594933077491e+03],
        "optical_center": [3.1614587655417233e+02, 6.5917832786233669e+02],
        "distortion_coefficients": [6.3095453672864246e-02, 1.1092076796490181e-01,
            -1.7519424014469689e+00, 7.9980152696699797e-04, -1.9309734213037914e-03]
      }
    },
    "svo.svo_grayscale.tracker": {
      "ElbrusVisualSLAM": {
        "horizontal_stereo_camera": true,
        "process_imu_readings": false,
        "denoise_input_images": true,
        "lhs_camera_frame": "v4l2_left_camera",
        "rhs_camera_frame": "v4l2_right_camera"
      }
    }
  }
}

Files elbrus_visual_slam_grayscale.subgraph.json and elbrus_visual_slam_rgb.subgraph.json are originals.
But I got message “WARN external/com_nvidia_isaac_engine/engine/alice/backend/node_canister.cpp@173: Can not start node ‘svo.svo_grayscale.tracker’ because it is not in the stage ‘constructed’ or ‘stopped’”
On Jetson Xavier I got same message.

#2

The svo subgraph needs to have edges from two different cameras in a stereo camera pair. Otherwise, there is no disparity for Isaac Visual SLAM to work with and Tracker will not able to initialize.

#3

Can I get additional information about errors? I use simple stereo camera (not ZED). After calibration put Intrinsics with CameraIntrinsicsGenerator for left and right cameras, but get same result.
Other thing. I observe that version Elbrus slam is 7.6 and there isn’t CUDA support where. How can I use v10.0 from isaac_ros_visual_slam or other with CUDA? Any compatible version of Elbrus for isaac sdk 2021