I am launching the ESS disparity node but it is not publishing anything in /disparity
full_log.txt (30.7 KB)
The node is correctly attaching to the /disparity topic as I can see it in the rqt graph.
ros2 topic hz /disparity and ros2 topic echo /disparity yield nothing
The launchfile is:
import launch
from launch_ros.actions import ComposableNodeContainer
from launch_ros.descriptions import ComposableNode
def generate_launch_description():
output_width = 480
output_height = 288
argus_left_node = ComposableNode(
name='argus_mono_left',
package='isaac_ros_argus_camera',
plugin='nvidia::isaac_ros::argus::ArgusMonoNode',
parameters=[{
'mode': 4,
'camera_id': 1,
'camera_info_url': 'file:///workspaces/isaac_ros-dev/left_camera.ini',
'camera_link_frame_name': 'camera_link',
'optical_frame_name': 'camera_left_link_optical'
}],
remappings=[
('/left/image_raw', '/left/image_raw'),
('/left/camera_info', '/left/camera_info'),
],
)
argus_right_node = ComposableNode(
name='argus_mono_right',
package='isaac_ros_argus_camera',
plugin='nvidia::isaac_ros::argus::ArgusMonoNode',
parameters=[{
'mode': 4,
'camera_id': 0,
'camera_info_url': 'file:///workspaces/isaac_ros-dev/right_camera.ini',
'camera_link_frame_name': 'camera_link',
'optical_frame_name': 'camera_right_link_optical'
}],
remappings=[
('/left/image_raw', '/right/image_raw'),
('/left/camera_info', '/right/camera_info'),
],
)
left_resize_node = ComposableNode(
name='left_resize_node',
package='isaac_ros_image_proc',
plugin='nvidia::isaac_ros::image_proc::ResizeNode',
parameters=[{
'output_width': output_width,
'output_height': output_height,
'keep_aspect_ratio': True
}],
remappings=[
('camera_info', 'left/camera_info'),
('image', 'left/image_raw'),
('resize/camera_info', 'left/camera_info_resize'),
('resize/image', 'left/image_resize')]
)
right_resize_node = ComposableNode(
name='right_resize_node',
package='isaac_ros_image_proc',
plugin='nvidia::isaac_ros::image_proc::ResizeNode',
parameters=[{
'output_width': output_width,
'output_height': output_height,
'keep_aspect_ratio': True
}],
remappings=[
('camera_info', 'right/camera_info'),
('image', 'right/image_raw'),
('resize/camera_info', 'right/camera_info_resize'),
('resize/image', 'right/image_resize')]
)
left_rectify_node = ComposableNode(
name='left_rectify_node',
package='isaac_ros_image_proc',
plugin='nvidia::isaac_ros::image_proc::RectifyNode',
parameters=[{
'output_width': output_width,
'output_height': output_height,
}],
remappings=[
('image_raw', 'left/image_resize'),
('camera_info', 'left/camera_info_resize'),
('image_rect', 'left/image_rect'),
('camera_info_rect', 'left/camera_info_rect')
]
)
right_rectify_node = ComposableNode(
name='right_rectify_node',
package='isaac_ros_image_proc',
plugin='nvidia::isaac_ros::image_proc::RectifyNode',
parameters=[{
'output_width': output_width,
'output_height': output_height,
}],
remappings=[
('image_raw', 'right/image_resize'),
('camera_info', 'right/camera_info_resize'),
('image_rect', 'right/image_rect'),
('camera_info_rect', 'right/camera_info_rect')
]
)
disparity_node = ComposableNode(
name='disparity',
package='isaac_ros_ess',
plugin='nvidia::isaac_ros::dnn_stereo_depth::ESSDisparityNode',
parameters=[{'engine_file_path': '/workspaces/isaac_ros-dev/isaac_ros_assets/models/dnn_stereo_disparity/dnn_stereo_disparity_v4.0.0/light_ess.engine',
'threshold': 0.1,
'input_layer_width': output_width,
'input_layer_height': output_height}],
remappings=[
('left/camera_info', 'left/camera_info_resize'),
('right/camera_info', 'right/camera_info_resize'),
('left/image_rect', 'left/image_resize'),
('right/image_rect', 'right/image_resize'),
]
)
argus_mono_container = ComposableNodeContainer(
name='argus_mono_container',
package='rclcpp_components',
executable='component_container_mt',
composable_node_descriptions=[argus_left_node, argus_right_node, left_resize_node, right_resize_node, left_rectify_node, right_rectify_node, disparity_node],
namespace='',
output='screen',
arguments=['--ros-args', '--log-level', 'info'],
)
return launch.LaunchDescription([argus_mono_container])
These are the logs I am getting from the ESS node
[component_container_mt-1] [INFO] [1721038692.579305604] [argus_mono_container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_stereo_depth::ESSDisparityNode>
[component_container_mt-1] [INFO] [1721038692.579368838] [argus_mono_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_stereo_depth::ESSDisparityNode>
[component_container_mt-1] [INFO] [1721038694.869944536] [disparity]: [ESSDisparityNode] preLoadGraphCallback().
[component_container_mt-1] [INFO] [1721038694.870098939] [disparity]: [ESSDisparityNode] Setting tensorrt_plugin: /workspaces/isaac_ros-dev/isaac_ros_assets/models/dnn_stereo_disparity/dnn_stereo_disparity_v4.0.0/plugins/aarch64/ess_plugins.so.
[component_container_mt-1] [INFO] [1721038694.880274911] [disparity]: [ESSDisparityNode] Setting engine_file_path: /workspaces/isaac_ros-dev/isaac_ros_assets/models/dnn_stereo_disparity/dnn_stereo_disparity_v4.0.0/light_ess.engine.
[component_container_mt-1] [INFO] [1721038694.880361313] [disparity]: [ESSDisparityNode] postLoadGraphCallback() with image [288 x 480]
[component_container_mt-1] [INFO] [1721038694.880377025] [disparity]: [ESSDisparityNode] postLoadGraphCallback() block_size = 552960.
The following topics display correct information:
left/camera_info_resize
right/camera_info_resize
left/image_resize
right/image_resize
Subscriptions are ok in rqt graph.
How do I make it work?
Thank you