Hi everyone again,
Again with my jetson orin nano (8gb) with jp 6.2 and milestone to run foundationpose to gather an object position with an intel realsense 435. So I installed isaac ros succesfully but when I reached the point of foundation pose where i had to convert to onnx (Run launch file title from isaac_ros_foundationpose — isaac_ros_docs documentation ) i had the following message:
admin@JetsonProto-desktop:/workspaces/isaac_ros-dev$ /usr/src/tensorrt/bin/trtexec --onnx=${ISAAC_ROS_WS}/isaac_ros_assets/models/foundationpose/refine_model.onnx --saveEngine=${ISAAC_ROS_WS}/isaac_ros_assets/models/foundationpose/refine_trt_engine.plan --minShapes=input1:1x160x160x6,input2:1x160x160x6 --optShapes=input1:1x160x160x6,input2:1x160x160x6 --maxShapes=input1:42x160x160x6,input2:42x160x160x6
&&&& RUNNING TensorRT.trtexec [TensorRT v100300] # /usr/src/tensorrt/bin/trtexec --onnx=/workspaces/isaac_ros-dev/isaac_ros_assets/models/foundationpose/refine_model.onnx --saveEngine=/workspaces/isaac_ros-dev/isaac_ros_assets/models/foundationpose/refine_trt_engine.plan --minShapes=input1:1x160x160x6,input2:1x160x160x6 --optShapes=input1:1x160x160x6,input2:1x160x160x6 --maxShapes=input1:42x160x160x6,input2:42x160x160x6
[01/22/2026-18:12:46] [I] === Model Options ===
[01/22/2026-18:12:46] [I] Format: ONNX
[01/22/2026-18:12:46] [I] Model: /workspaces/isaac_ros-dev/isaac_ros_assets/models/foundationpose/refine_model.onnx
[01/22/2026-18:12:46] [I] Output:
[01/22/2026-18:12:46] [I] === Build Options ===
[01/22/2026-18:12:46] [I] Memory Pools: workspace: default, dlaSRAM: default, dlaLocalDRAM: default, dlaGlobalDRAM: default, tacticSharedMem: default
[01/22/2026-18:12:46] [I] avgTiming: 8
[01/22/2026-18:12:46] [I] Precision: FP32
[01/22/2026-18:12:46] [I] LayerPrecisions:
[01/22/2026-18:12:46] [I] Layer Device Types:
[01/22/2026-18:12:46] [I] Calibration:
[01/22/2026-18:12:46] [I] Refit: Disabled
[01/22/2026-18:12:46] [I] Strip weights: Disabled
[01/22/2026-18:12:46] [I] Version Compatible: Disabled
[01/22/2026-18:12:46] [I] ONNX Plugin InstanceNorm: Disabled
[01/22/2026-18:12:46] [I] TensorRT runtime: full
[01/22/2026-18:12:46] [I] Lean DLL Path:
[01/22/2026-18:12:46] [I] Tempfile Controls: { in_memory: allow, temporary: allow }
[01/22/2026-18:12:46] [I] Exclude Lean Runtime: Disabled
[01/22/2026-18:12:46] [I] Sparsity: Disabled
[01/22/2026-18:12:46] [I] Safe mode: Disabled
[01/22/2026-18:12:46] [I] Build DLA standalone loadable: Disabled
[01/22/2026-18:12:46] [I] Allow GPU fallback for DLA: Disabled
[01/22/2026-18:12:46] [I] DirectIO mode: Disabled
[01/22/2026-18:12:46] [I] Restricted mode: Disabled
[01/22/2026-18:12:46] [I] Skip inference: Disabled
[01/22/2026-18:12:46] [I] Save engine: /workspaces/isaac_ros-dev/isaac_ros_assets/models/foundationpose/refine_trt_engine.plan
[01/22/2026-18:12:46] [I] Load engine:
[01/22/2026-18:12:46] [I] Profiling verbosity: 0
[01/22/2026-18:12:46] [I] Tactic sources: Using default tactic sources
[01/22/2026-18:12:46] [I] timingCacheMode: local
[01/22/2026-18:12:46] [I] timingCacheFile:
[01/22/2026-18:12:46] [I] Enable Compilation Cache: Enabled
[01/22/2026-18:12:46] [I] errorOnTimingCacheMiss: Disabled
[01/22/2026-18:12:46] [I] Preview Features: Use default preview flags.
[01/22/2026-18:12:46] [I] MaxAuxStreams: -1
[01/22/2026-18:12:46] [I] BuilderOptimizationLevel: -1
[01/22/2026-18:12:46] [I] Calibration Profile Index: 0
[01/22/2026-18:12:46] [I] Weight Streaming: Disabled
[01/22/2026-18:12:46] [I] Runtime Platform: Same As Build
[01/22/2026-18:12:46] [I] Debug Tensors:
[01/22/2026-18:12:46] [I] Input(s)s format: fp32:CHW
[01/22/2026-18:12:46] [I] Output(s)s format: fp32:CHW
[01/22/2026-18:12:46] [I] Input build shape (profile 0): input1=1x160x160x6+1x160x160x6+42x160x160x6
[01/22/2026-18:12:46] [I] Input build shape (profile 0): input2=1x160x160x6+1x160x160x6+42x160x160x6
[01/22/2026-18:12:46] [I] Input calibration shapes: model
[01/22/2026-18:12:46] [I] === System Options ===
[01/22/2026-18:12:46] [I] Device: 0
[01/22/2026-18:12:46] [I] DLACore:
[01/22/2026-18:12:46] [I] Plugins:
[01/22/2026-18:12:46] [I] setPluginsToSerialize:
[01/22/2026-18:12:46] [I] dynamicPlugins:
[01/22/2026-18:12:46] [I] ignoreParsedPluginLibs: 0
[01/22/2026-18:12:46] [I]
[01/22/2026-18:12:46] [I] === Inference Options ===
[01/22/2026-18:12:46] [I] Batch: Explicit
[01/22/2026-18:12:46] [I] Input inference shape : input2=1x160x160x6
[01/22/2026-18:12:46] [I] Input inference shape : input1=1x160x160x6
[01/22/2026-18:12:46] [I] Iterations: 10
[01/22/2026-18:12:46] [I] Duration: 3s (+ 200ms warm up)
[01/22/2026-18:12:46] [I] Sleep time: 0ms
[01/22/2026-18:12:46] [I] Idle time: 0ms
[01/22/2026-18:12:46] [I] Inference Streams: 1
[01/22/2026-18:12:46] [I] ExposeDMA: Disabled
[01/22/2026-18:12:46] [I] Data transfers: Enabled
[01/22/2026-18:12:46] [I] Spin-wait: Disabled
[01/22/2026-18:12:46] [I] Multithreading: Disabled
[01/22/2026-18:12:46] [I] CUDA Graph: Disabled
[01/22/2026-18:12:46] [I] Separate profiling: Disabled
[01/22/2026-18:12:46] [I] Time Deserialize: Disabled
[01/22/2026-18:12:46] [I] Time Refit: Disabled
[01/22/2026-18:12:46] [I] NVTX verbosity: 0
[01/22/2026-18:12:46] [I] Persistent Cache Ratio: 0
[01/22/2026-18:12:46] [I] Optimization Profile Index: 0
[01/22/2026-18:12:46] [I] Weight Streaming Budget: 100.000000%
[01/22/2026-18:12:46] [I] Inputs:
[01/22/2026-18:12:46] [I] Debug Tensor Save Destinations:
[01/22/2026-18:12:46] [I] === Reporting Options ===
[01/22/2026-18:12:46] [I] Verbose: Disabled
[01/22/2026-18:12:46] [I] Averages: 10 inferences
[01/22/2026-18:12:46] [I] Percentiles: 90,95,99
[01/22/2026-18:12:46] [I] Dump refittable layers:Disabled
[01/22/2026-18:12:46] [I] Dump output: Disabled
[01/22/2026-18:12:46] [I] Profile: Disabled
[01/22/2026-18:12:46] [I] Export timing to JSON file:
[01/22/2026-18:12:46] [I] Export output to JSON file:
[01/22/2026-18:12:46] [I] Export profile to JSON file:
[01/22/2026-18:12:46] [I]
[01/22/2026-18:12:46] [I] === Device Information ===
[01/22/2026-18:12:46] [I] Available Devices:
[01/22/2026-18:12:46] [I] Device 0: “Orin” UUID: GPU-dc129584-94ee-5433-bc26-cc14322e046f
[01/22/2026-18:12:46] [I] Selected Device: Orin
[01/22/2026-18:12:46] [I] Selected Device ID: 0
[01/22/2026-18:12:46] [I] Selected Device UUID: GPU-dc129584-94ee-5433-bc26-cc14322e046f
[01/22/2026-18:12:46] [I] Compute Capability: 8.7
[01/22/2026-18:12:46] [I] SMs: 8
[01/22/2026-18:12:46] [I] Device Global Memory: 7619 MiB
[01/22/2026-18:12:46] [I] Shared Memory per SM: 164 KiB
[01/22/2026-18:12:46] [I] Memory Bus Width: 128 bits (ECC disabled)
[01/22/2026-18:12:46] [I] Application Compute Clock Rate: 1.02 GHz
[01/22/2026-18:12:46] [I] Application Memory Clock Rate: 1.02 GHz
[01/22/2026-18:12:46] [I]
[01/22/2026-18:12:46] [I] Note: The application clock rates do not reflect the actual clock rates that the GPU is currently running at.
[01/22/2026-18:12:46] [I]
[01/22/2026-18:12:46] [I] TensorRT version: 10.3.0
[01/22/2026-18:12:46] [I] Loading standard plugins
[01/22/2026-18:12:48] [I] [TRT] [MemUsageChange] Init CUDA: CPU +2, GPU +0, now: CPU 31, GPU 2752 (MiB)
NvMapMemAllocInternalTagged: 1075072515 error 12
NvMapMemHandleAlloc: error 0
NvMapMemAllocInternalTagged: 1075072515 error 12
NvMapMemHandleAlloc: error 0
NvMapMemAllocInternalTagged: 1075072515 error 12
NvMapMemHandleAlloc: error 0
[01/22/2026-18:12:55] [I] [TRT] [MemUsageChange] Init builder kernel library: CPU +928, GPU +1056, now: CPU 1002, GPU 3843 (MiB)
[01/22/2026-18:12:55] [I] Start parsing network model.
[01/22/2026-18:12:56] [I] [TRT] ----------------------------------------------------------------
[01/22/2026-18:12:56] [I] [TRT] Input filename: /workspaces/isaac_ros-dev/isaac_ros_assets/models/foundationpose/refine_model.onnx
[01/22/2026-18:12:56] [I] [TRT] ONNX IR version: 0.0.8
[01/22/2026-18:12:56] [I] [TRT] Opset version: 17
[01/22/2026-18:12:56] [I] [TRT] Producer name: pytorch
[01/22/2026-18:12:56] [I] [TRT] Producer version: 2.2.0
[01/22/2026-18:12:56] [I] [TRT] Domain:
[01/22/2026-18:12:56] [I] [TRT] Model version: 0
[01/22/2026-18:12:56] [I] [TRT] Doc string:
[01/22/2026-18:12:56] [I] [TRT] ----------------------------------------------------------------
[01/22/2026-18:12:56] [I] Finished parsing network model. Parse time: 1.02339
[01/22/2026-18:12:56] [I] Set shape of input tensor input1 for optimization profile 0 to: MIN=1x160x160x6 OPT=1x160x160x6 MAX=42x160x160x6
[01/22/2026-18:12:56] [I] Set shape of input tensor input2 for optimization profile 0 to: MIN=1x160x160x6 OPT=1x160x160x6 MAX=42x160x160x6
[01/22/2026-18:12:56] [W] [TRT] DLA requests all profiles have same min, max, and opt value. All dla layers are falling back to GPU
[01/22/2026-18:12:56] [I] [TRT] Local timing cache in use. Profiling results in this builder pass will not be stored.
NvMapMemAllocInternalTagged: 1075072515 error 12
NvMapMemHandleAlloc: error 0
NvMapMemAllocInternalTagged: 1075072515 error 12
NvMapMemHandleAlloc: error 0
[01/22/2026-18:12:56] [E] Error[1]: [resizingAllocator.cpp::allocate::75] Error Code 1: Cuda Runtime (out of memory)
[01/22/2026-18:12:56] [W] [TRT] Requested amount of GPU memory (77414400 bytes) could not be allocated. There may not be enough free memory for allocation to succeed.
[01/22/2026-18:12:56] [W] [TRT] UNSUPPORTED_STATE: Skipping tactic 0 due to insufficient memory on requested size of 77414400 detected for tactic 0x0000000000000000.
NvMapMemAllocInternalTagged: 1075072515 error 12
NvMapMemHandleAlloc: error 0
NvMapMemAllocInternalTagged: 1075072515 error 12
NvMapMemHandleAlloc: error 0
NvMapMemAllocInternalTagged: 1075072515 error 12
NvMapMemHandleAlloc: error 0
[01/22/2026-18:12:57] [E] Error[1]: [resizingAllocator.cpp::allocate::75] Error Code 1: Cuda Runtime (out of memory)
[01/22/2026-18:12:57] [W] [TRT] Requested amount of GPU memory (301056000 bytes) could not be allocated. There may not be enough free memory for allocation to succeed.
[01/22/2026-18:12:57] [W] [TRT] UNSUPPORTED_STATE: Skipping tactic 0 due to insufficient memory on requested size of 301056000 detected for tactic 0x0000000000000000.
NvMapMemAllocInternalTagged: 1075072515 error 12
NvMapMemHandleAlloc: error 0
NvMapMemAllocInternalTagged: 1075072515 error 12
NvMapMemHandleAlloc: error 0
[01/22/2026-18:12:57] [E] Error[1]: [resizingAllocator.cpp::allocate::75] Error Code 1: Cuda Runtime (out of memory)
[01/22/2026-18:12:57] [W] [TRT] Requested amount of GPU memory (301056000 bytes) could not be allocated. There may not be enough free memory for allocation to succeed.
[01/22/2026-18:12:57] [W] [TRT] UNSUPPORTED_STATE: Skipping tactic 1 due to insufficient memory on requested size of 301056000 detected for tactic 0x0000000000000001.
NvMapMemAllocInternalTagged: 1075072515 error 12
NvMapMemHandleAlloc: error 0
[01/22/2026-18:14:01] [W] [TRT] Tactic Device request: 1000MB Available: 470MB. Device memory is insufficient to use tactic.
[01/22/2026-18:14:01] [W] [TRT] UNSUPPORTED_STATE: Skipping tactic 0 due to insufficient memory on requested size of 1049396224 detected for tactic 0x0000000000000000.
[01/22/2026-18:14:01] [E] Error[10]: IBuilder::buildSerializedNetwork: Error Code 10: Internal Error (Could not find any implementation for node {ForeignNode[/rot_head/rot_head.0/self_attn/Slice_2_output_0[Constant]…/ReduceMean]}.)
[01/22/2026-18:14:01] [E] Engine could not be created from network
[01/22/2026-18:14:01] [E] Building engine failed
[01/22/2026-18:14:01] [E] Failed to create engine from model or file.
[01/22/2026-18:14:01] [E] Engine set up failed
&&&& FAILED TensorRT.trtexec [TensorRT v100300] # /usr/src/tensorrt/bin/trtexec --onnx=/workspaces/isaac_ros-dev/isaac_ros_assets/models/foundationpose/refine_model.onnx --saveEngine=/workspaces/isaac_ros-dev/isaac_ros_assets/models/foundationpose/refine_trt_engine.plan --minShapes=input1:1x160x160x6,input2:1x160x160x6 --optShapes=input1:1x160x160x6,input2:1x160x160x6 --maxShapes=input1:42x160x160x6,input2:42x160x160x6
admin@JetsonProto-desktop:/workspaces/isaac_ros-dev$ /usr/src/tensorrt/bin/trtexec --onnx=${ISAAC_ROS_WS}/isaac_ros_assets/models/foundationpose/refine_model.onnx --saveEngine=${ISAAC_ROS_WS}/isaac_ros_assets/models/foundationpose/refine_trt_engine.plan --minShapes=input1:1x160x160x6,input2:1x160x160x6 --optShapes=input1:1x160x160x6,input2:1x160x160x6 --maxShapes=input1:42x160x160x6,input2:42x160x160x6
&&&& RUNNING TensorRT.trtexec [TensorRT v100300] # /usr/src/tensorrt/bin/trtexec --onnx=/workspaces/isaac_ros-dev/isaac_ros_assets/models/foundationpose/refine_model.onnx --saveEngine=/workspaces/isaac_ros-dev/isaac_ros_assets/models/foundationpose/refine_trt_engine.plan --minShapes=input1:1x160x160x6,input2:1x160x160x6 --optShapes=input1:1x160x160x6,input2:1x160x160x6 --maxShapes=input1:42x160x160x6,input2:42x160x160x6
[01/22/2026-18:17:21] [I] === Model Options ===
[01/22/2026-18:17:21] [I] Format: ONNX
[01/22/2026-18:17:21] [I] Model: /workspaces/isaac_ros-dev/isaac_ros_assets/models/foundationpose/refine_model.onnx
[01/22/2026-18:17:21] [I] Output:
[01/22/2026-18:17:21] [I] === Build Options ===
[01/22/2026-18:17:21] [I] Memory Pools: workspace: default, dlaSRAM: default, dlaLocalDRAM: default, dlaGlobalDRAM: default, tacticSharedMem: default
[01/22/2026-18:17:21] [I] avgTiming: 8
[01/22/2026-18:17:21] [I] Precision: FP32
[01/22/2026-18:17:21] [I] LayerPrecisions:
[01/22/2026-18:17:21] [I] Layer Device Types:
[01/22/2026-18:17:21] [I] Calibration:
[01/22/2026-18:17:21] [I] Refit: Disabled
[01/22/2026-18:17:21] [I] Strip weights: Disabled
[01/22/2026-18:17:21] [I] Version Compatible: Disabled
[01/22/2026-18:17:21] [I] ONNX Plugin InstanceNorm: Disabled
[01/22/2026-18:17:21] [I] TensorRT runtime: full
[01/22/2026-18:17:21] [I] Lean DLL Path:
[01/22/2026-18:17:21] [I] Tempfile Controls: { in_memory: allow, temporary: allow }
[01/22/2026-18:17:21] [I] Exclude Lean Runtime: Disabled
[01/22/2026-18:17:21] [I] Sparsity: Disabled
[01/22/2026-18:17:21] [I] Safe mode: Disabled
[01/22/2026-18:17:21] [I] Build DLA standalone loadable: Disabled
[01/22/2026-18:17:21] [I] Allow GPU fallback for DLA: Disabled
[01/22/2026-18:17:21] [I] DirectIO mode: Disabled
[01/22/2026-18:17:21] [I] Restricted mode: Disabled
[01/22/2026-18:17:21] [I] Skip inference: Disabled
[01/22/2026-18:17:21] [I] Save engine: /workspaces/isaac_ros-dev/isaac_ros_assets/models/foundationpose/refine_trt_engine.plan
[01/22/2026-18:17:21] [I] Load engine:
[01/22/2026-18:17:21] [I] Profiling verbosity: 0
[01/22/2026-18:17:21] [I] Tactic sources: Using default tactic sources
[01/22/2026-18:17:21] [I] timingCacheMode: local
[01/22/2026-18:17:21] [I] timingCacheFile:
[01/22/2026-18:17:21] [I] Enable Compilation Cache: Enabled
[01/22/2026-18:17:21] [I] errorOnTimingCacheMiss: Disabled
[01/22/2026-18:17:21] [I] Preview Features: Use default preview flags.
[01/22/2026-18:17:21] [I] MaxAuxStreams: -1
[01/22/2026-18:17:21] [I] BuilderOptimizationLevel: -1
[01/22/2026-18:17:21] [I] Calibration Profile Index: 0
[01/22/2026-18:17:21] [I] Weight Streaming: Disabled
[01/22/2026-18:17:21] [I] Runtime Platform: Same As Build
[01/22/2026-18:17:21] [I] Debug Tensors:
[01/22/2026-18:17:21] [I] Input(s)s format: fp32:CHW
[01/22/2026-18:17:21] [I] Output(s)s format: fp32:CHW
[01/22/2026-18:17:21] [I] Input build shape (profile 0): input1=1x160x160x6+1x160x160x6+42x160x160x6
[01/22/2026-18:17:21] [I] Input build shape (profile 0): input2=1x160x160x6+1x160x160x6+42x160x160x6
[01/22/2026-18:17:21] [I] Input calibration shapes: model
[01/22/2026-18:17:21] [I] === System Options ===
[01/22/2026-18:17:21] [I] Device: 0
[01/22/2026-18:17:21] [I] DLACore:
[01/22/2026-18:17:21] [I] Plugins:
[01/22/2026-18:17:21] [I] setPluginsToSerialize:
[01/22/2026-18:17:21] [I] dynamicPlugins:
[01/22/2026-18:17:21] [I] ignoreParsedPluginLibs: 0
[01/22/2026-18:17:21] [I]
[01/22/2026-18:17:21] [I] === Inference Options ===
[01/22/2026-18:17:21] [I] Batch: Explicit
[01/22/2026-18:17:21] [I] Input inference shape : input2=1x160x160x6
[01/22/2026-18:17:21] [I] Input inference shape : input1=1x160x160x6
[01/22/2026-18:17:21] [I] Iterations: 10
[01/22/2026-18:17:21] [I] Duration: 3s (+ 200ms warm up)
[01/22/2026-18:17:21] [I] Sleep time: 0ms
[01/22/2026-18:17:21] [I] Idle time: 0ms
[01/22/2026-18:17:21] [I] Inference Streams: 1
[01/22/2026-18:17:21] [I] ExposeDMA: Disabled
[01/22/2026-18:17:21] [I] Data transfers: Enabled
[01/22/2026-18:17:21] [I] Spin-wait: Disabled
[01/22/2026-18:17:21] [I] Multithreading: Disabled
[01/22/2026-18:17:21] [I] CUDA Graph: Disabled
[01/22/2026-18:17:21] [I] Separate profiling: Disabled
[01/22/2026-18:17:21] [I] Time Deserialize: Disabled
[01/22/2026-18:17:21] [I] Time Refit: Disabled
[01/22/2026-18:17:21] [I] NVTX verbosity: 0
[01/22/2026-18:17:21] [I] Persistent Cache Ratio: 0
[01/22/2026-18:17:21] [I] Optimization Profile Index: 0
[01/22/2026-18:17:21] [I] Weight Streaming Budget: 100.000000%
[01/22/2026-18:17:21] [I] Inputs:
[01/22/2026-18:17:21] [I] Debug Tensor Save Destinations:
[01/22/2026-18:17:21] [I] === Reporting Options ===
[01/22/2026-18:17:21] [I] Verbose: Disabled
[01/22/2026-18:17:21] [I] Averages: 10 inferences
[01/22/2026-18:17:21] [I] Percentiles: 90,95,99
[01/22/2026-18:17:21] [I] Dump refittable layers:Disabled
[01/22/2026-18:17:21] [I] Dump output: Disabled
[01/22/2026-18:17:21] [I] Profile: Disabled
[01/22/2026-18:17:21] [I] Export timing to JSON file:
[01/22/2026-18:17:21] [I] Export output to JSON file:
[01/22/2026-18:17:21] [I] Export profile to JSON file:
[01/22/2026-18:17:21] [I]
[01/22/2026-18:17:21] [I] === Device Information ===
[01/22/2026-18:17:21] [I] Available Devices:
[01/22/2026-18:17:21] [I] Device 0: “Orin” UUID: GPU-dc129584-94ee-5433-bc26-cc14322e046f
[01/22/2026-18:17:22] [I] Selected Device: Orin
[01/22/2026-18:17:22] [I] Selected Device ID: 0
[01/22/2026-18:17:22] [I] Selected Device UUID: GPU-dc129584-94ee-5433-bc26-cc14322e046f
[01/22/2026-18:17:22] [I] Compute Capability: 8.7
[01/22/2026-18:17:22] [I] SMs: 8
[01/22/2026-18:17:22] [I] Device Global Memory: 7619 MiB
[01/22/2026-18:17:22] [I] Shared Memory per SM: 164 KiB
[01/22/2026-18:17:22] [I] Memory Bus Width: 128 bits (ECC disabled)
[01/22/2026-18:17:22] [I] Application Compute Clock Rate: 1.02 GHz
[01/22/2026-18:17:22] [I] Application Memory Clock Rate: 1.02 GHz
[01/22/2026-18:17:22] [I]
[01/22/2026-18:17:22] [I] Note: The application clock rates do not reflect the actual clock rates that the GPU is currently running at.
[01/22/2026-18:17:22] [I]
[01/22/2026-18:17:22] [I] TensorRT version: 10.3.0
[01/22/2026-18:17:22] [I] Loading standard plugins
[01/22/2026-18:17:22] [I] [TRT] [MemUsageChange] Init CUDA: CPU +2, GPU +0, now: CPU 31, GPU 2823 (MiB)
[01/22/2026-18:17:24] [I] [TRT] [MemUsageChange] Init builder kernel library: CPU +928, GPU +750, now: CPU 1002, GPU 3618 (MiB)
[01/22/2026-18:17:24] [I] Start parsing network model.
[01/22/2026-18:17:24] [I] [TRT] ----------------------------------------------------------------
[01/22/2026-18:17:24] [I] [TRT] Input filename: /workspaces/isaac_ros-dev/isaac_ros_assets/models/foundationpose/refine_model.onnx
[01/22/2026-18:17:24] [I] [TRT] ONNX IR version: 0.0.8
[01/22/2026-18:17:24] [I] [TRT] Opset version: 17
[01/22/2026-18:17:24] [I] [TRT] Producer name: pytorch
[01/22/2026-18:17:24] [I] [TRT] Producer version: 2.2.0
[01/22/2026-18:17:24] [I] [TRT] Domain:
[01/22/2026-18:17:24] [I] [TRT] Model version: 0
[01/22/2026-18:17:24] [I] [TRT] Doc string:
[01/22/2026-18:17:24] [I] [TRT] ----------------------------------------------------------------
[01/22/2026-18:17:24] [I] Finished parsing network model. Parse time: 0.115656
[01/22/2026-18:17:24] [I] Set shape of input tensor input1 for optimization profile 0 to: MIN=1x160x160x6 OPT=1x160x160x6 MAX=42x160x160x6
[01/22/2026-18:17:24] [I] Set shape of input tensor input2 for optimization profile 0 to: MIN=1x160x160x6 OPT=1x160x160x6 MAX=42x160x160x6
[01/22/2026-18:17:24] [W] [TRT] DLA requests all profiles have same min, max, and opt value. All dla layers are falling back to GPU
[01/22/2026-18:17:24] [I] [TRT] Local timing cache in use. Profiling results in this builder pass will not be stored.
[01/22/2026-18:18:25] [W] [TRT] Tactic Device request: 1000MB Available: 837MB. Device memory is insufficient to use tactic.
[01/22/2026-18:18:25] [W] [TRT] UNSUPPORTED_STATE: Skipping tactic 0 due to insufficient memory on requested size of 1049396224 detected for tactic 0x0000000000000000.
[01/22/2026-18:18:25] [E] Error[10]: IBuilder::buildSerializedNetwork: Error Code 10: Internal Error (Could not find any implementation for node {ForeignNode[/rot_head/rot_head.0/self_attn/Slice_2_output_0[Constant]…/ReduceMean]}.)
[01/22/2026-18:18:25] [E] Engine could not be created from network
[01/22/2026-18:18:25] [E] Building engine failed
[01/22/2026-18:18:25] [E] Failed to create engine from model or file.
[01/22/2026-18:18:25] [E] Engine set up failed
&&&& FAILED TensorRT.trtexec [TensorRT v100300] # /usr/src/tensorrt/bin/trtexec --onnx=/workspaces/isaac_ros-dev/isaac_ros_assets/models/foundationpose/refine_model.onnx --saveEngine=/workspaces/isaac_ros-dev/isaac_ros_assets/models/foundationpose/refine_trt_engine.plan --minShapes=input1:1x160x160x6,input2:1x160x160x6 --optShapes=input1:1x160x160x6,input2:1x160x160x6 --maxShapes=input1:42x160x160x6,input2:42x160x160x6
From a non-expert pov guy like me, it seems like 8gb of gpu are not enough. Thus, my doubts are:
- Based on release 3.2 (pre thor era), what’s a suitable gpu for these models?
- Nevertheless, if I want anyway to run foundation pose on my orin nano with 8gb, what parameters can I tune such that I could manage to make it work even with low quality?
Thanks!