i am trying to save the map from nvblox but i am getting this error:
i gave the absolute path for saving the map but its still showing this error
i gave the absolute path for saving the map but its still showing this error
Welcome to the Isaac ROS forum.
We just released a few hours ago, the new Isaac ROS 3.0 release that have major improvements on:
Multi-camera support, NITROS integration and performance improvements.
Regarding the error, please ensure that your Jetson has enough space to store the camera. To better assist you, kindly share the console log of the Isaac ROS nvblox.
i got enough storage in my jetson and i also tried in my system its showing the same error, i need to store the map suggest any solution.
[component_container_mt-1] avg=66.711409, min=32.867856, max=96.662173, std_dev=8.604824, count=292
[component_container_mt-1] [INFO] [1717169186.491851365] [nvblox_node]: Timing statistics:
[component_container_mt-1]
[component_container_mt-1] NVBlox Timings (in seconds)
[component_container_mt-1] namespace/tag - NumSamples - TotalTime - (Mean ± StdDev) - [Min,Max]
[component_container_mt-1] -----------
[component_container_mt-1] /esdf_slicer/get_aabb 299 00.003609 (00.000012 ± 00.000013) [00.000000,00.000073]
[component_container_mt-1] /esdf_slicer/slice_layer 193 00.085152 (00.000441 ± 00.003621) [00.000080,00.025654]
[component_container_mt-1] color/integrate 94 00.427777 (00.004551 ± 00.002681) [00.001755,00.019421]
[component_container_mt-1] color/integrate/allocate_blocks 94 00.052035 (00.000554 ± 00.000392) [00.000160,00.013136]
[component_container_mt-1] color/integrate/get_blocks_in_view 94 00.028191 (00.000300 ± 00.000093) [00.000214,00.000633]
[component_container_mt-1] color/integrate/reduce_to_blocks_in_band 94 00.140349 (00.001493 ± 00.001241) [00.000508,00.006311]
[component_container_mt-1] color/integrate/sphere_trace 94 00.112306 (00.001195 ± 00.001867) [00.000288,00.011072]
[component_container_mt-1] color/integrate/sphere_trace/hash_transfer 94 00.059483 (00.000633 ± 00.001792) [00.000002,00.010762]
[component_container_mt-1] color/integrate/transfer_blocks 94 00.051448 (00.000547 ± 00.001080) [00.000133,00.005812]
[component_container_mt-1] color/integrate/update_blocks 94 00.034990 (00.000372 ± 00.000179) [00.000171,00.001622]
[component_container_mt-1] esdf/integrate/clear 192 00.204421 (00.001065 ± 00.003801) [00.000164,00.026311]
[component_container_mt-1] esdf/integrate/clear/get_blocks 192 00.026859 (00.000140 ± 00.000252) [00.000034,00.001673]
[component_container_mt-1] esdf/integrate/compute/neighbor_bands 621 00.300675 (00.000484 ± 00.000686) [00.000089,00.008532]
[component_container_mt-1] esdf/integrate/compute/neighbor_bands/copy_out 331 00.081694 (00.000247 ± 00.000283) [00.000052,00.004840]
[component_container_mt-1] esdf/integrate/compute/neighbor_bands/gpu_view 621 00.000648 (00.000001 ± 00.000000) [00.000000,00.000293]
[component_container_mt-1] esdf/integrate/compute/swap 621 00.000514 (00.000001 ± 00.000000) [00.000000,00.000005]
[component_container_mt-1] esdf/integrate/compute/sweep 621 00.137649 (00.000222 ± 00.000302) [00.000039,00.024139]
[component_container_mt-1] esdf/integrate/mark_sites/pack_out 192 00.289510 (00.001508 ± 00.004225) [00.000041,00.025740]
[component_container_mt-1] esdf/integrate_slice 299 01.525548 (00.005102 ± 00.012685) [00.000000,00.062222]
[component_container_mt-1] esdf/integrate_slice/compute 192 00.460059 (00.002396 ± 00.006079) [00.000202,00.040680]
[component_container_mt-1] esdf/integrate_slice/mark_sites 192 00.859070 (00.004474 ± 00.008034) [00.000189,00.049682]
[component_container_mt-1] gpu_hash/transfer 104 00.516810 (00.004969 ± 00.006868) [00.000596,00.048439]
[component_container_mt-1] gpu_hash/transfer/reallocation 3 00.006762 (00.002254 ± 00.002193) [00.000563,00.005350]
[component_container_mt-1] mesh/gpu/get_meshable 100 00.155619 (00.001556 ± 00.004214) [00.000219,00.025130]
[component_container_mt-1] mesh/gpu/integrate 153 01.088293 (00.007113 ± 00.005817) [00.000002,00.037760]
[component_container_mt-1] mesh/gpu/mesh_blocks 100 00.900553 (00.009006 ± 00.002814) [00.004698,00.035233]
[component_container_mt-1] mesh/gpu/mesh_blocks/block_allocation 100 00.054341 (00.000543 ± 00.000802) [00.000059,00.005701]
[component_container_mt-1] mesh/gpu/mesh_blocks/copy_out 100 00.045911 (00.000459 ± 00.000724) [00.000028,00.005420]
[component_container_mt-1] mesh/gpu/mesh_blocks/kernel_table 100 00.443876 (00.004439 ± 00.001247) [00.002414,00.010546]
[component_container_mt-1] mesh/gpu/mesh_blocks/kernel_vertices 100 00.061539 (00.000615 ± 00.000621) [00.000173,00.003455]
[component_container_mt-1] mesh/gpu/mesh_blocks/prep 100 00.102541 (00.001025 ± 00.001182) [00.000298,00.013674]
[component_container_mt-1] mesh/gpu/mesh_blocks/welding 100 00.190030 (00.001900 ± 00.001170) [00.000776,00.006122]
[component_container_mt-1] ros/clear_outside_radius 30 00.000022 (00.000001 ± 00.000001) [00.000000,00.000004]
[component_container_mt-1] ros/color 293 00.626025 (00.002137 ± 00.003966) [00.000001,00.033850]
[component_container_mt-1] ros/color/conversion 94 00.192863 (00.002052 ± 00.003417) [00.000483,00.023580]
[component_container_mt-1] ros/color/integrate 94 00.429585 (00.004570 ± 00.002681) [00.001773,00.019536]
[component_container_mt-1] ros/color/transform 293 00.001562 (00.000005 ± 00.000005) [00.000000,00.000024]
[component_container_mt-1] ros/depth 601 02.012041 (00.003348 ± 00.001761) [00.000002,00.044372]
[component_container_mt-1] ros/depth/conversions 563 00.820011 (00.001457 ± 00.000709) [00.000506,00.033755]
[component_container_mt-1] ros/depth/integrate 563 01.164252 (00.002068 ± 00.001196) [00.000444,00.028154]
[component_container_mt-1] ros/depth/output/back_projected_depth 563 00.003193 (00.000006 ± 00.000002) [00.000002,00.000015]
[component_container_mt-1] ros/depth/transform 601 00.013881 (00.000023 ± 00.000024) [00.000001,00.000136]
[component_container_mt-1] ros/esdf 299 01.906461 (00.006376 ± 00.013236) [00.000192,00.063164]
[component_container_mt-1] ros/esdf/integrate 299 01.560730 (00.005220 ± 00.012708) [00.000017,00.062440]
[component_container_mt-1] ros/esdf/output 299 00.344619 (00.001153 ± 00.004407) [00.000171,00.030252]
[component_container_mt-1] ros/mesh 153 06.732214 (00.044001 ± 00.040468) [00.000021,00.262666]
[component_container_mt-1] ros/mesh/integrate_and_color 153 01.279011 (00.008360 ± 00.005953) [00.000013,00.042610]
[component_container_mt-1] ros/mesh/output 153 05.451001 (00.035627 ± 00.039844) [00.000005,00.245183]
[component_container_mt-1] ros/static/esdf/output/compute 299 00.090988 (00.000304 ± 00.003622) [00.000004,00.025681]
[component_container_mt-1] ros/static/esdf/output/pointcloud 299 00.237171 (00.000793 ± 00.001393) [00.000150,00.006976]
[component_container_mt-1] ros/total 10664 11.638862 (00.001091 ± 00.010472) [00.000000,00.262667]
[component_container_mt-1] tsdf/integrate 563 00.967832 (00.001719 ± 00.000956) [00.000356,00.027747]
[component_container_mt-1] tsdf/integrate/allocate_blocks 563 00.127077 (00.000226 ± 00.000099) [00.000046,00.003770]
[component_container_mt-1] tsdf/integrate/get_blocks_in_view 563 00.436271 (00.000775 ± 00.000740) [00.000136,00.026513]
[component_container_mt-1] tsdf/integrate/transfer_blocks 563 00.184434 (00.000328 ± 00.000222) [00.000066,00.025983]
[component_container_mt-1] tsdf/integrate/update_blocks 563 00.211887 (00.000376 ± 00.000271) [00.000100,00.006921]
[component_container_mt-1] view_calculator/get_blocks_in_view_planes 94 00.000033 (00.000000 ± 00.000000) [00.000000,00.000001]
[component_container_mt-1] view_calculator/raycast 563 00.434049 (00.000771 ± 00.000739) [00.000135,00.026507]
[component_container_mt-1] view_calculator/raycast/output 563 00.137995 (00.000245 ± 00.000343) [00.000040,00.005099]
[component_container_mt-1] view_calculator/raycast/raycast_pixels_kernel 563 00.250953 (00.000446 ± 00.000386) [00.000075,00.023717]
[component_container_mt-1] view_calculator/raycast/setup 563 00.042085 (00.000075 ± 00.000357) [00.000015,00.002389]
[component_container_mt-1] -----------
[component_container_mt-1]
Have you tried the new Isaac ROS 3.0 nvblox? It should fix your issue.
Let me know
Best,
Raffaello
for the newer isaac ros should i go with jetpack 6 or 5.1.2
The new Isaac ROS 3.0 works on Jetpack 6.0
The new requirements are available on this page: Getting Started — isaac_ros_docs documentation
Starting >>> isaac_ros_nitros_bridge_interfaces
— stderr: isaac_ros_nitros
CMake Error at /opt/ros/humble/share/ament_cmake_auto/cmake/ament_auto_add_library.cmake:66 (add_library):
Target “isaac_ros_nitros” links to target “magic_enum::magic_enum” but the
target was not found. Perhaps a find_package() call is missing for an
IMPORTED target, or an ALIAS target is missing?
Call Stack (most recent call first):
CMakeLists.txt:76 (ament_auto_add_library)
CMake Error at /opt/ros/humble/share/ament_cmake_auto/cmake/ament_auto_add_library.cmake:66 (add_library):
Target “nitros_empty_forward_node” links to target “magic_enum::magic_enum”
but the target was not found. Perhaps a find_package() call is missing for
an IMPORTED target, or an ALIAS target is missing?
Call Stack (most recent call first):
CMakeLists.txt:102 (ament_auto_add_library)
–the above c make error is coming after cloning the nitros package
–without nitros package the below colcon error is coming:
CMake Error at /opt/ros/humble/share/ament_cmake_core/cmake/index/ament_index_get_resource.cmake:62 (message):
ament_index_get_resource() called with not existing resource (‘cuvslam’
‘isaac_ros_nitros’)
Call Stack (most recent call first):
CMakeLists.txt:37 (ament_index_get_resource)
i solved the colcon build error but this no realsense device error persist i don’t know what to do:
—admin@jetson:/workspaces/isaac_ros-dev$ ros2 launch isaac_ros_examples isaac_ros_examples.launch.py launch_fragments:=realsense_stereo_rect,visual_slam
interface_specs_file:=${ISAAC_ROS_WS}/isaac_ros_assets/isaac_ros_visual_slam/quickstart_interface_specs.json
base_frame:=camera_link camera_optical_frames:=“[‘camera_infra1_optical_frame’, ‘camera_infra2_optical_frame’]”
[INFO] [launch]: All log files can be found below /home/admin/.ros/log/2024-06-06-20-31-10-949570-jetson-15608
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [1717686071.044632968] [isaac_ros_examples]: Info: Interface spec “camera_resolution” is overridden. The value from the overriding file will be used
[INFO] [component_container_mt-1]: process started with pid [15618]
[component_container_mt-1] [INFO] [1717686071.420246885] [isaac_ros_examples.container]: Load Library: /workspaces/isaac_ros-dev/install/realsense2_camera/lib/librealsense2_camera.so
[component_container_mt-1] [INFO] [1717686071.611297442] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<realsense2_camera::RealSenseNodeFactory>
[component_container_mt-1] [INFO] [1717686071.612875016] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<realsense2_camera::RealSenseNodeFactory>
[component_container_mt-1] [INFO] [1717686071.970514698] [realsense2_camera]: RealSense ROS v4.51.1
[component_container_mt-1] [INFO] [1717686071.970629103] [realsense2_camera]: Built with LibRealSense v2.55.1
[component_container_mt-1] [INFO] [1717686071.970647024] [realsense2_camera]: Running with LibRealSense v2.55.1
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ‘/realsense2_camera’ in container ‘/isaac_ros_examples/container’
[component_container_mt-1] [WARN] [1717686071.980597960] [realsense2_camera]: No RealSense devices were found!
[component_container_mt-1] [ERROR] [1717686071.981451885] [isaac_ros_examples.container]: Could not find requested resource in ament index
[ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node ‘image_format_left’ of type ‘nvidia::isaac_ros::image_proc::ImageFormatConverterNode’ in container ‘/isaac_ros_examples/container’: Could not find requested resource in ament index
[component_container_mt-1] [ERROR] [1717686071.986641875] [isaac_ros_examples.container]: Could not find requested resource in ament index
[ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node ‘image_format_right’ of type ‘nvidia::isaac_ros::image_proc::ImageFormatConverterNode’ in container ‘/isaac_ros_examples/container’: Could not find requested resource in ament index
[component_container_mt-1] [ERROR] [1717686071.991252383] [isaac_ros_examples.container]: Could not find requested resource in ament index
[ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node ‘image_format_node_left’ of type ‘nvidia::isaac_ros::image_proc::ImageFormatConverterNode’ in container ‘/isaac_ros_examples/container’: Could not find requested resource in ament index
[component_container_mt-1] [ERROR] [1717686071.995674370] [isaac_ros_examples.container]: Could not find requested resource in ament index
[ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node ‘image_format_node_right’ of type ‘nvidia::isaac_ros::image_proc::ImageFormatConverterNode’ in container ‘/isaac_ros_examples/container’: Could not find requested resource in ament index
[component_container_mt-1] [INFO] [1717686072.000355057] [isaac_ros_examples.container]: Load Library: /workspaces/isaac_ros-dev/install/isaac_ros_visual_slam/lib/libvisual_slam_node.so
[component_container_mt-1] [INFO] [1717686072.112207555] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::visual_slam::VisualSlamNode
[component_container_mt-1] [INFO] [1717686072.112352426] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::visual_slam::VisualSlamNode
[component_container_mt-1] [INFO] [1717686072.122048791] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/std/libgxf_std.so
[component_container_mt-1] [INFO] [1717686072.128191846] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_gxf_helpers.so
[component_container_mt-1] [INFO] [1717686072.135607214] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_sight.so
[component_container_mt-1] [INFO] [1717686072.144460886] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_atlas.so
[component_container_mt-1] 2024-06-06 20:31:12.163 WARN external/com_nvidia_gxf/gxf/std/program.cpp@532: No GXF scheduler specified.
[component_container_mt-1] [INFO] [1717686072.164772760] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/multimedia/libgxf_multimedia.so
[component_container_mt-1] [INFO] [1717686072.173007588] [visual_slam_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1717686072.175512531] [visual_slam_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1717686072.197350201] [visual_slam_node]: cuVSLAM version: 12.2
[component_container_mt-1] [INFO] [1717686072.280961546] [visual_slam_node]: Time taken by CUVSLAM_WarmUpGPU(): 0.083527
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ‘/visual_slam_node’ in container ‘/isaac_ros_examples/container’
[component_container_mt-1] [WARN] [1717686078.226741458] [realsense2_camera]: No RealSense devices were found!
[component_container_mt-1] [WARN] [1717686084.443336020] [realsense2_camera]: No RealSense devices were found!
Hi, which RealSense camera are you using? Please confirm compatibility of driver version, firmware version and more from the Isaac ROS RealSense Setup guide.
Could you also please verify the camera is connected as expected using realsense-viewer?