Hi everyone, so I have lately been trying to evaluate the usability of isaac ros in my projects. I have a Time of Flight depth camera that sends depth images of 16UC1 encoding to /cam1/depth_image topic. I have been trying to use the rectify plugin from isaac_ros_image_proc to create rectified image outputs. But I am receiving a GXF error related to invalid video format. I tried feeding my depth_images to the ImageFormatConverterNode to re-encode it to img_encodings::MONO16 it still has the same issue, but in ImageFormatConverterNode rather than RectifyNode.
TLDR on the error logs:
I noticed compatible publisher: topic_name="/cam1/image_rect", data_format="nitros_image_bgr8" in the logs and I am sure this is not right as my image stream is in 16UC1/mono16. How do I fix this? There isn’t a paramter mentioned in the API docs of isaac_ros_image_proc that could set the nitros data format. What am I missing? Any help pointing me to the right direction would be helpful.
Following were the error messages spit out by the RectifyNode when I don’t use ImageFormatConverterNode:
[INFO] [launch]: All log files can be found below /home/admin/.ros/log/2024-11-12-12-34-00-076411-RSJJOHNE-L01-3061
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container_mt-1]: process started with pid [3071]
[component_container_mt-1] [INFO] [1731395040.403208489] [adi.container]: Load Library: /workspaces/isaac_ros-dev/install/isaac_ros_image_proc/lib/librectify_node.so
[component_container_mt-1] [INFO] [1731395040.422901844] [adi.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::RectifyNode>
[component_container_mt-1] [INFO] [1731395040.422969979] [adi.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::RectifyNode>
[component_container_mt-1] [INFO] [1731395040.426422115] [cam1.rectifier]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1731395040.426741261] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/std/libgxf_std.so
[component_container_mt-1] [INFO] [1731395040.429176129] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_gxf_helpers.so
[component_container_mt-1] [INFO] [1731395040.431040034] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_sight.so
[component_container_mt-1] [INFO] [1731395040.433008220] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_atlas.so
[component_container_mt-1] [INFO] [1731395040.439054083] [cam1.rectifier]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1731395040.443312492] [cam1.rectifier]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1731395040.443440128] [cam1.rectifier]: [NitrosContext] Loading extension: gxf/lib/multimedia/libgxf_multimedia.so
[component_container_mt-1] [INFO] [1731395040.444953704] [cam1.rectifier]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_message_compositor.so
[component_container_mt-1] [INFO] [1731395040.445623413] [cam1.rectifier]: [NitrosContext] Loading extension: gxf/lib/cuda/libgxf_cuda.so
[component_container_mt-1] [INFO] [1731395040.447433805] [cam1.rectifier]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_tensorops.so
[component_container_mt-1] [INFO] [1731395040.449742461] [cam1.rectifier]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1731395040.451486363] [cam1.rectifier]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1731395040.480286326] [cam1.rectifier]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1731395040.486404873] [cam1.rectifier]: [NitrosNode] Starting negotiation...
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/cam1/rectifier' in container '/adi/container'
[component_container_mt-1] [INFO] [1731395041.487031529] [cam1.rectifier]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1731395041.487136326] [cam1.rectifier]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1731395041.487155930] [cam1.rectifier]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1731395041.487166211] [cam1.rectifier]: [NitrosPublisher] Use only the compatible publisher: topic_name="/cam1/image_rect", data_format="nitros_image_bgr8"
[component_container_mt-1] [INFO] [1731395041.487175434] [cam1.rectifier]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1731395041.487182489] [cam1.rectifier]: [NitrosPublisher] Use only the compatible publisher: topic_name="/cam1/camera_info_rect", data_format="nitros_camera_info"
[component_container_mt-1] [INFO] [1731395041.487194501] [cam1.rectifier]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1731395041.487202337] [cam1.rectifier]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/cam1/depth_image", data_format="nitros_image_bgr8"
[component_container_mt-1] [INFO] [1731395041.487209780] [cam1.rectifier]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1731395041.487215618] [cam1.rectifier]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/cam1/camera_info", data_format="nitros_camera_info"
[component_container_mt-1] [INFO] [1731395041.488223573] [cam1.rectifier]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1731395041.495819865] [cam1.rectifier]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/XHQCVVEPEF/XHQCVVEPEF.yaml"
[component_container_mt-1] [INFO] [1731395041.495872836] [cam1.rectifier]: [RectifyNode] preLoadGraphCallback().
[component_container_mt-1] [INFO] [1731395041.495888843] [cam1.rectifier]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1731395041.498602111] [cam1.rectifier]: [RectifyNode] postLoadGraphCallback().
[component_container_mt-1] [INFO] [1731395041.498645651] [cam1.rectifier]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1731395041.517880547] [cam1.rectifier]: [NitrosNode] Node was started
[component_container_mt-1] 2024-11-12 12:34:01.553 ERROR /workspaces/isaac_ros-dev/src/isaac_ros_image_pipeline/isaac_ros_gxf_extensions/gxf_isaac_tensorops/gxf/extensions/tensorops/components/detail/ImageAdapterVideoBufferImpl.cpp@72: invalid video format.
[component_container_mt-1] 2024-11-12 12:34:01.554 ERROR gxf/std/entity_executor.cpp@552: Failed to tick codelet undistort_algo in entity: XHQCVVEPEF_rectifier code: GXF_FAILURE
[component_container_mt-1] 2024-11-12 12:34:01.687 ERROR gxf/std/entity_executor.cpp@210: Entity with eid 343 not found!
[component_container_mt-1] [ERROR] [1731395041.687870940] [cam1.rectifier]: [NitrosSubscriber] Failed to get the receiver entity (eid=343) status: GXF_ENTITY_NOT_FOUND
[component_container_mt-1] 2024-11-12 12:34:01.716 ERROR gxf/std/entity_executor.cpp@210: Entity with eid 343 not found!
[component_container_mt-1] [ERROR] [1731395041.716851852] [cam1.rectifier]: [NitrosSubscriber] Failed to get the receiver entity (eid=343) status: GXF_ENTITY_NOT_FOUND
[component_container_mt-1] 2024-11-12 12:34:01.721 ERROR gxf/std/entity_executor.cpp@210: Entity with eid 343 not found!
[component_container_mt-1] [ERROR] [1731395041.721389833] [cam1.rectifier]: [NitrosSubscriber] Failed to get the receiver entity (eid=343) status: GXF_ENTITY_NOT_FOUND
[component_container_mt-1] 2024-11-12 12:34:01.748 ERROR gxf/std/entity_executor.cpp@210: Entity with eid 343 not found!
[component_container_mt-1] 2024-11-12 12:34:01.748 ERROR gxf/std/entity_executor.cpp@210: Entity with eid 343 not found!
[component_container_mt-1] [ERROR] [1731395041.748902417] [cam1.rectifier]: [NitrosSubscriber] Failed to get the receiver entity (eid=343) status: GXF_ENTITY_NOT_FOUND
[component_container_mt-1] [ERROR] [1731395041.748963828] [cam1.rectifier]: [NitrosSubscriber] Failed to get the receiver entity (eid=343) status: GXF_ENTITY_NOT_FOUND
[component_container_mt-1] 2024-11-12 12:34:01.768 ERROR gxf/std/entity_executor.cpp@210: Entity with eid 343 not found!
[component_container_mt-1] [ERROR] [1731395041.768484868] [cam1.rectifier]: [NitrosSubscriber] Failed to get the receiver entity (eid=343) status: GXF_ENTITY_NOT_FOUND
[component_container_mt-1] 2024-11-12 12:34:01.780 ERROR gxf/std/entity_executor.cpp@210: Entity with eid 343 not found!
[component_container_mt-1] [ERROR] [1731395041.780439539] [cam1.rectifier]: [NitrosSubscriber] Failed to get the receiver entity (eid=343) status: GXF_ENTITY_NOT_FOUND
[component_container_mt-1] 2024-11-12 12:34:01.807 ERROR gxf/std/entity_executor.cpp@210: Entity with eid 343 not found!
[component_container_mt-1] [ERROR] [1731395041.807353795] [cam1.rectifier]: [NitrosSubscriber] Failed to get the receiver entity (eid=343) status: GXF_ENTITY_NOT_FOUND
[component_container_mt-1] 2024-11-12 12:34:01.812 ERROR gxf/std/entity_executor.cpp@210: Entity with eid 343 not found!
[component_container_mt-1] [ERROR] [1731395041.812072710] [cam1.rectifier]: [NitrosSubscriber] Failed to get the receiver entity (eid=343) status: GXF_ENTITY_NOT_FOUND
[component_container_mt-1] 2024-11-12 12:34:01.847 ERROR gxf/std/entity_executor.cpp@210: Entity with eid 343 not found!
[component_container_mt-1] [ERROR] [1731395041.847387269] [cam1.rectifier]: [NitrosSubscriber] Failed to get the receiver entity (eid=343) status: GXF_ENTITY_NOT_FOUND
[component_container_mt-1] 2024-11-12 12:34:01.852 ERROR gxf/std/entity_executor.cpp@210: Entity with eid 343 not found!
[component_container_mt-1] [ERROR] [1731395041.852701830] [cam1.rectifier]: [NitrosSubscriber] Failed to get the receiver entity (eid=343) status: GXF_ENTITY_NOT_FOUND
[component_container_mt-1] 2024-11-12 12:34:01.886 ERROR gxf/std/entity_executor.cpp@210: Entity with eid 343 not found!
[component_container_mt-1] [ERROR] [1731395041.886668816] [cam1.rectifier]: [NitrosSubscriber] Failed to get the receiver entity (eid=343) status: GXF_ENTITY_NOT_FOUND
[component_container_mt-1] 2024-11-12 12:34:01.919 ERROR gxf/std/entity_executor.cpp@210: Entity with eid 343 not found!
[component_container_mt-1] [ERROR] [1731395041.919179107] [cam1.rectifier]: [NitrosSubscriber] Failed to get the receiver entity (eid=343) status: GXF_ENTITY_NOT_FOUND
[component_container_mt-1] 2024-11-12 12:34:01.950 ERROR gxf/std/entity_executor.cpp@210: Entity with eid 343 not found!
[component_container_mt-1] [ERROR] [1731395041.950918481] [cam1.rectifier]: [NitrosSubscriber] Failed to get the receiver entity (eid=343) status: GXF_ENTITY_NOT_FOUND
[component_container_mt-1] 2024-11-12 12:34:01.961 ERROR gxf/std/entity_executor.cpp@210: Entity with eid 343 not found!
[component_container_mt-1] [ERROR] [1731395041.961967092] [cam1.rectifier]: [NitrosSubscriber] Failed to get the receiver entity (eid=343) status: GXF_ENTITY_NOT_FOUND
[component_container_mt-1] 2024-11-12 12:34:01.962 ERROR gxf/std/entity_executor.cpp@210: Entity with eid 343 not found!
[component_container_mt-1] [ERROR] [1731395041.962614143] [cam1.rectifier]: [NitrosSubscriber] Failed to get the receiver entity (eid=343) status: GXF_ENTITY_NOT_FOUND
[component_container_mt-1] 2024-11-12 12:34:01.963 ERROR gxf/std/entity_executor.cpp@210: Entity with eid 343 not found!
[component_container_mt-1] [ERROR] [1731395041.963223245] [cam1.rectifier]: [NitrosSubscriber] Failed to get the receiver entity (eid=343) status: GXF_ENTITY_NOT_FOUND
[component_container_mt-1] 2024-11-12 12:34:01.982 ERROR gxf/std/entity_executor.cpp@210: Entity with eid 343 not found!
[component_container_mt-1] [ERROR] [1731395041.983001788] [cam1.rectifier]: [NitrosSubscriber] Failed to get the receiver entity (eid=343) status: GXF_ENTITY_NOT_FOUND
[component_container_mt-1] 2024-11-12 12:34:01.983 ERROR gxf/std/entity_executor.cpp@210: Entity with eid 343 not found!
[component_container_mt-1] [ERROR] [1731395041.983402946] [cam1.rectifier]: [NitrosSubscriber] Failed to get the receiver entity (eid=343) status: GXF_ENTITY_NOT_FOUND
[component_container_mt-1] 2024-11-12 12:34:01.996 ERROR gxf/std/entity_executor.cpp@210: Entity with eid 343 not found!
[component_container_mt-1] [ERROR] [1731395041.996742421] [cam1.rectifier]: [NitrosSubscriber] Failed to get the receiver entity (eid=343) status: GXF_ENTITY_NOT_FOUND
[component_container_mt-1] 2024-11-12 12:34:02.010 ERROR gxf/std/entity_executor.cpp@210: Entity with eid 343 not found!
[component_container_mt-1] [ERROR] [1731395042.010634278] [cam1.rectifier]: [NitrosSubscriber] Failed to get the receiver entity (eid=343) status: GXF_ENTITY_NOT_FOUND
[component_container_mt-1] 2024-11-12 12:34:02.037 ERROR gxf/std/entity_executor.cpp@210: Entity with eid 343 not found!
[component_container_mt-1] [ERROR] [1731395042.037800383] [cam1.rectifier]: [NitrosSubscriber] Failed to get the receiver entity (eid=343) status: GXF_ENTITY_NOT_FOUND
[component_container_mt-1] 2024-11-12 12:34:02.047 ERROR gxf/std/entity_executor.cpp@210: Entity with eid 343 not found!
[component_container_mt-1] [ERROR] [1731395042.047137998] [cam1.rectifier]: [NitrosSubscriber] Failed to get the receiver entity (eid=343) status: GXF_ENTITY_NOT_FOUND
[component_container_mt-1] 2024-11-12 12:34:02.075 ERROR gxf/std/entity_executor.cpp@210: Entity with eid 343 not found!
[component_container_mt-1] [ERROR] [1731395042.075601624] [cam1.rectifier]: [NitrosSubscriber] Failed to get the receiver entity (eid=343) status: GXF_ENTITY_NOT_FOUND
[component_container_mt-1] 2024-11-12 12:34:02.087 ERROR gxf/std/entity_executor.cpp@210: Entity with eid 343 not found!
[component_container_mt-1] [ERROR] [1731395042.087891732] [cam1.rectifier]: [NitrosSubscriber] Failed to get the receiver entity (eid=343) status: GXF_ENTITY_NOT_FOUND
[component_container_mt-1] 2024-11-12 12:34:02.102 ERROR gxf/std/entity_executor.cpp@210: Entity with eid 343 not found!
[component_container_mt-1] [ERROR] [1731395042.102440298] [cam1.rectifier]: [NitrosSubscriber] Failed to get the receiver entity (eid=343) status: GXF_ENTITY_NOT_FOUND
[component_container_mt-1] 2024-11-12 12:34:02.109 ERROR gxf/std/entity_executor.cpp@210: Entity with eid 343 not found!
[component_container_mt-1] [ERROR] [1731395042.109594635] [cam1.rectifier]: [NitrosSubscriber] Failed to get the receiver entity (eid=343) status: GXF_ENTITY_NOT_FOUND
[component_container_mt-1] 2024-11-12 12:34:02.133 ERROR gxf/std/entity_executor.cpp@210: Entity with eid 343 not found!
[component_container_mt-1] [ERROR] [1731395042.133815137] [cam1.rectifier]: [NitrosSubscriber] Failed to get the receiver entity (eid=343) status: GXF_ENTITY_NOT_FOUND
[component_container_mt-1] 2024-11-12 12:34:02.139 ERROR gxf/std/entity_executor.cpp@210: Entity with eid 343 not found!
[component_container_mt-1] [ERROR] [1731395042.139230932] [cam1.rectifier]: [NitrosSubscriber] Failed to get the receiver entity (eid=343) status: GXF_ENTITY_NOT_FOUND
[component_container_mt-1] 2024-11-12 12:34:02.155 ERROR gxf/std/entity_executor.cpp@210: Entity with eid 343 not found!
[component_container_mt-1] [ERROR] [1731395042.155632970] [cam1.rectifier]: [NitrosSubscriber] Failed to get the receiver entity (eid=343) status: GXF_ENTITY_NOT_FOUND
[component_container_mt-1] 2024-11-12 12:34:02.171 ERROR gxf/std/entity_executor.cpp@210: Entity with eid 343 not found!
[component_container_mt-1] [ERROR] [1731395042.171970849] [cam1.rectifier]: [NitrosSubscriber] Failed to get the receiver entity (eid=343) status: GXF_ENTITY_NOT_FOUND
[component_container_mt-1] 2024-11-12 12:34:02.198 ERROR gxf/std/entity_executor.cpp@210: Entity with eid 343 not found!
[component_container_mt-1] [ERROR] [1731395042.198142927] [cam1.rectifier]: [NitrosSubscriber] Failed to get the receiver entity (eid=343) status: GXF_ENTITY_NOT_FOUND
[component_container_mt-1] 2024-11-12 12:34:02.205 ERROR gxf/std/entity_executor.cpp@210: Entity with eid 343 not found!
[component_container_mt-1] [ERROR] [1731395042.205535477] [cam1.rectifier]: [NitrosSubscriber] Failed to get the receiver entity (eid=343) status: GXF_ENTITY_NOT_FOUND
[component_container_mt-1] 2024-11-12 12:34:02.229 ERROR gxf/std/entity_executor.cpp@210: Entity with eid 343 not found!
[component_container_mt-1] [ERROR] [1731395042.229801178] [cam1.rectifier]: [NitrosSubscriber] Failed to get the receiver entity (eid=343) status: GXF_ENTITY_NOT_FOUND
[component_container_mt-1] 2024-11-12 12:34:02.233 ERROR gxf/std/entity_executor.cpp@210: Entity with eid 343 not found!
[component_container_mt-1] [ERROR] [1731395042.233326710] [cam1.rectifier]: [NitrosSubscriber] Failed to get the receiver entity (eid=343) status: GXF_ENTITY_NOT_FOUND
[component_container_mt-1] 2024-11-12 12:34:02.261 ERROR gxf/std/entity_executor.cpp@210: Entity with eid 343 not found!
[component_container_mt-1] [ERROR] [1731395042.261161658] [cam1.rectifier]: [NitrosSubscriber] Failed to get the receiver entity (eid=343) status: GXF_ENTITY_NOT_FOUND
[component_container_mt-1] 2024-11-12 12:34:02.266 ERROR gxf/std/entity_executor.cpp@210: Entity with eid 343 not found!
[component_container_mt-1] [ERROR] [1731395042.266116433] [cam1.rectifier]: [NitrosSubscriber] Failed to get the receiver entity (eid=343) status: GXF_ENTITY_NOT_FOUND
[component_container_mt-1] 2024-11-12 12:34:02.288 ERROR gxf/std/entity_executor.cpp@210: Entity with eid 343 not found!
[component_container_mt-1] [ERROR] [1731395042.288321029] [cam1.rectifier]: [NitrosSubscriber] Failed to get the receiver entity (eid=343) status: GXF_ENTITY_NOT_FOUND
[component_container_mt-1] 2024-11-12 12:34:02.299 ERROR gxf/std/entity_executor.cpp@210: Entity with eid 343 not found!
[component_container_mt-1] [ERROR] [1731395042.299091723] [cam1.rectifier]: [NitrosSubscriber] Failed to get the receiver entity (eid=343) status: GXF_ENTITY_NOT_FOUND
[component_container_mt-1] 2024-11-12 12:34:02.322 ERROR gxf/std/entity_executor.cpp@210: Entity with eid 343 not found!
[component_container_mt-1] [ERROR] [1731395042.322079214] [cam1.rectifier]: [NitrosSubscriber] Failed to get the receiver entity (eid=343) status: GXF_ENTITY_NOT_FOUND
[component_container_mt-1] 2024-11-12 12:34:02.323 ERROR gxf/std/entity_executor.cpp@210: Entity with eid 343 not found!
[component_container_mt-1] [ERROR] [1731395042.323504489] [cam1.rectifier]: [NitrosSubscriber] Failed to get the receiver entity (eid=343) status: GXF_ENTITY_NOT_FOUND
[component_container_mt-1] 2024-11-12 12:34:02.351 ERROR gxf/std/entity_executor.cpp@210: Entity with eid 343 not found!
[component_container_mt-1] [ERROR] [1731395042.351230590] [cam1.rectifier]: [NitrosSubscriber] Failed to get the receiver entity (eid=343) status: GXF_ENTITY_NOT_FOUND
[component_container_mt-1] 2024-11-12 12:34:02.354 ERROR gxf/std/entity_executor.cpp@210: Entity with eid 343 not found!
[component_container_mt-1] [ERROR] [1731395042.354137880] [cam1.rectifier]: [NitrosSubscriber] Failed to get the receiver entity (eid=343) status: GXF_ENTITY_NOT_FOUND
[component_container_mt-1] 2024-11-12 12:34:02.384 ERROR gxf/std/entity_executor.cpp@210: Entity with eid 343 not found!
[component_container_mt-1] [ERROR] [1731395042.384348417] [cam1.rectifier]: [NitrosSubscriber] Failed to get the receiver entity (eid=343) status: GXF_ENTITY_NOT_FOUND
[component_container_mt-1] 2024-11-12 12:34:02.465 ERROR gxf/std/entity_executor.cpp@210: Entity with eid 343 not found!
[component_container_mt-1] [ERROR] [1731395042.465460743] [cam1.rectifier]: [NitrosSubscriber] Failed to get the receiver entity (eid=343) status: GXF_ENTITY_NOT_FOUND
[component_container_mt-1] 2024-11-12 12:34:02.469 ERROR gxf/std/entity_executor.cpp@210: Entity with eid 343 not found!
[component_container_mt-1] [ERROR] [1731395042.469946158] [cam1.rectifier]: [NitrosSubscriber] Failed to get the receiver entity (eid=343) status: GXF_ENTITY_NOT_FOUND
[component_container_mt-1] 2024-11-12 12:34:02.489 ERROR gxf/std/entity_executor.cpp@210: Entity with eid 343 not found!
[component_container_mt-1] [ERROR] [1731395042.489843204] [cam1.rectifier]: [NitrosSubscriber] Failed to get the receiver entity (eid=343) status: GXF_ENTITY_NOT_FOUND
[component_container_mt-1] 2024-11-12 12:34:02.517 ERROR gxf/std/entity_executor.cpp@210: Entity with eid 343 not found!
[component_container_mt-1] [ERROR] [1731395042.517767522] [cam1.rectifier]: [NitrosSubscriber] Failed to get the receiver entity (eid=343) status: GXF_ENTITY_NOT_FOUND
[component_container_mt-1] 2024-11-12 12:34:02.518 ERROR gxf/std/entity_executor.cpp@210: Entity with eid 343 not found!
[component_container_mt-1] [WARN] [1731395042.518084253] [cam1.rectifier]: [NitrosNode] The heartbeat entity (eid=343) was stopped. The graph may have been terminated.
[component_container_mt-1] [INFO] [1731395042.524267464] [cam1.rectifier]: [NitrosNode] Terminating the running application
[component_container_mt-1] [INFO] [1731395042.524299184] [cam1.rectifier]: [NitrosContext] Interrupting GXF...
[component_container_mt-1] 2024-11-12 12:34:02.524 ERROR gxf/core/runtime.cpp@1468: Graph interrupt failed with error: GXF_FAILURE
[component_container_mt-1] [ERROR] [1731395042.524346694] [cam1.rectifier]: [NitrosContext] GxfGraphInterrupt Error: GXF_FAILURE
[component_container_mt-1] [INFO] [1731395042.524349490] [cam1.rectifier]: [NitrosContext] Waiting on GXF...
[component_container_mt-1] 2024-11-12 12:34:02.524 ERROR gxf/std/program.cpp@574: wait failed. Deactivating...
[component_container_mt-1] 2024-11-12 12:34:02.527 ERROR gxf/core/runtime.cpp@751: Could not deinitialize entity 'XHQCVVEPEF_utils' (E398): GXF_FAILURE
[component_container_mt-1] 2024-11-12 12:34:02.527 ERROR gxf/std/program.cpp@576: Deactivation failed.
[component_container_mt-1] 2024-11-12 12:34:02.527 ERROR gxf/core/runtime.cpp@1476: Graph wait failed with error: GXF_FAILURE
[component_container_mt-1] [ERROR] [1731395042.527297599] [cam1.rectifier]: [NitrosContext] GxfGraphWait Error: GXF_FAILURE
[component_container_mt-1] [INFO] [1731395042.527302195] [cam1.rectifier]: [NitrosNode] Application termination done
[INFO] [component_container_mt-1]: process has finished cleanly [pid 3071]
This is my launch file:
<launch>
<node_container pkg="rclcpp_components" exec="component_container_mt" name="container" namespace="adi">
<composable_node pkg="isaac_ros_image_proc" plugin="nvidia::isaac_ros::image_proc::ImageFormatConverterNode" name="ImageFormatConverterNode" namespace="cam1">
<param name="image_width" type="int" value="512"/>
<param name="image_height" type="int" value="512"/>
<param name="desired_encoding" type="str" value="img_encodings::MONO16"/>
<remap from="image_raw" to="/cam1/depth_image"/>
</composable_node>
<composable_node pkg="isaac_ros_image_proc" plugin="nvidia::isaac_ros::image_proc::RectifyNode" name="rectifier" namespace="cam1">
<remap from="image_raw" to="/cam1/image"/>
<remap from="camera_info" to="/cam1/camera_info"/>
</composable_node>
<!-- <composable_node pkg="isaac_ros_depth_image_proc" plugin="nvidia::isaac_ros::depth_image_proc::PointCloudXyzNode" name="d2p" namespace="adi">
<remap from="camera_info" to="/cam1/camera_info"/>
<remap from="image_rect" to="/cam1/image_rect"/>
</composable_node> -->
</node_container>
</launch>