FoundationPose examples not reproducible

Robotics & Edge Computing Robotics - Isaac Isaac ROS
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I was not able to complete these two examples related to Isaac ROS Pose Estimation:

  1. FoundationPose Tracking. I was not able to find the foundationpose_tracking.tar.gz file and use the foundationpose_tracking.bag file specified in step 5. AFAIK, this should be found in the NGC catalog here.
  2. Tutorial for FoundationPose with Isaac Sim. After launching ros2 launch isaac_ros_foundationpose isaac_ros_foundationpose_isaac_sim.launch.py and running the simulation, I got this error (here is the complete log
    isaac_sim_foundationpose_log.txt):
[component_container_mt-1] 2024-11-04 15:56:23.461 ERROR gxf/cuda/cuda_stream.cpp@88: Failure syncing cuda event on stream, cuda_error: cudaErrorIllegalAddress, error_str: an illegal memory access was encountered
[component_container_mt-1] 2024-11-04 15:56:23.461 ERROR gxf/cuda/cuda_stream.cpp@88: Failure syncing cuda event on stream, cuda_error: cudaErrorIllegalAddress, error_str: an illegal memory access was encountered
[component_container_mt-1] 2024-11-04 15:56:23.461 ERROR gxf/cuda/cuda_stream.cpp@176: Failure syncing on cudastream
[component_container_mt-1] 2024-11-04 15:56:23.461 ERROR gxf/cuda/cuda_stream_sync.cpp@62: CudaStreamSync tick and sync stream: CudaStream failed.
[component_container_mt-1] 2024-11-04 15:56:23.461 ERROR gxf/std/entity_executor.cpp@552: Failed to tick codelet  in entity: AQUYDASKAY_cuda_stream_sync code: GXF_FAILURE

I’ve been able to reproduce this both using Isaac Sim 4.0 (as the screenshot of the tutorial shows) and Isaac Sim 4.2. I am using ROS2 Humble on Ubuntu 22.04 with a RTX 3060.

2

Hey,

you need to download the NGC assets to get the bagfile and foundationpose_tracking.tar.gz file with the help of the script provided in FoundationPose Tracking — isaac_ros_docs documentation.
This will download all the files for you. It is DIFFERENT to the other one provided for FoundationPose itself. You probably did not execute it as you thought it is the same.

The error provided in the log seems to be indicating that your GPU is not powerful enough and runs out of VRAM. Try to stop all applications like USD Composer etc that you do not need at the moment.

1 Like
3

@xyzuzyasidoado thanks for the reply!

This will download all the files for you. It is DIFFERENT to the other one provided for FoundationPose itself. You probably did not execute it as you thought it is the same.

I actually was using zsh to run those commands and thought they had some bug because it was not working. Using bash works fine.

The error provided in the log seems to be indicating that your GPU is not powerful enough and runs out of VRAM. Try to stop all applications like USD Composer etc that you do not need at the moment.

Already done that, but the error persists. Perhaps the proposed USD is too heavy for the RTX 3060.

4

Ok nice! It is working now?

Yes, unfortunately RTX 3070 is the minimum requirement for Isaac Sim, see Isaac Sim Requirements — Omniverse IsaacSim latest documentation

Give the compatibility checker at Isaac Sim Requirements — Omniverse IsaacSim latest documentation a try and see if only your GPU is the issue