Hi. Dear Nvidia team.
I am trying to run Isaac_ros_image_pipeline (GitHub - NVIDIA-ISAAC-ROS/isaac_ros_image_pipeline: Hardware-accelerated ROS2 packages for camera image processing.) on my AGX Xavier. But I hit some issue. I don’t know what’s those issue related.
Background description:
The camera which I use is LI-AR0234CS-STEREO-GMSL2 (HAWK camera) + E3653-a03 (MAX96712 adapter board).
Procedure and document which I follow:
- I installed R32.6.1 OS on AGX Xavier. Using SDK manager to install all libraries.
- I follow this post to attach NVMe drive to my Xavier and make NVMe to be the boot drive (GitHub - jetsonhacks/rootOnNVMe: Switch the rootfs to a NVMe SSD on the Jetson Xavier NX and Jetson AGX Xavier).
- I can find video device from my AGX Xavier. Stream video.
Then I move to work on docker installation.
4. I follow the isaac_ros_common (GitHub - NVIDIA-ISAAC-ROS/isaac_ros_common: Common utilities, packages, scripts, Dockerfiles, and testing infrastructure for Isaac ROS packages.) to install docker and other setting. No issue happened. I can still see video device and bring video up like normal (argus tool or GStreamer).
5. I follow Isaac_ros_image_pipeline to set up everything.
6. I run “colcon test” to test the installation. Post log below.
Reading package lists... Done
Building dependency tree
Reading state information... Done
git-lfs is already the newest version (2.3.4-1).
0 upgraded, 0 newly installed, 0 to remove and 86 not upgraded.
admin@nvidia-desktop:/workspaces/isaac_ros-dev/leopard_ros_ws$ cd src/
admin@nvidia-desktop:/workspaces/isaac_ros-dev/leopard_ros_ws/src$ git clone https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_image_pipeline && git clone https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_common
fatal: destination path 'isaac_ros_image_pipeline' already exists and is not an empty directory.
admin@nvidia-desktop:/workspaces/isaac_ros-dev/leopard_ros_ws/src$ cd ..
admin@nvidia-desktop:/workspaces/isaac_ros-dev/leopard_ros_ws$ colcon build --symlink-install && source install/setup.bash
Starting >>> isaac_ros_common
Starting >>> isaac_ros_test
Starting >>> isaac_ros_nvengine_interfaces
Finished <<< isaac_ros_common [1.50s]
Finished <<< isaac_ros_test [2.43s]
Starting >>> isaac_ros_image_proc
Starting >>> isaac_ros_stereo_image_proc
Starting >>> isaac_ros_argus_camera_mono
Starting >>> isaac_ros_argus_camera_stereo
Finished <<< isaac_ros_nvengine_interfaces [3.08s]
Starting >>> isaac_ros_nvengine
Finished <<< isaac_ros_argus_camera_mono [1.36s]
Finished <<< isaac_ros_argus_camera_stereo [1.39s]
Finished <<< isaac_ros_stereo_image_proc [1.81s]
Finished <<< isaac_ros_image_proc [1.94s]
Starting >>> isaac_ros_image_pipeline
Finished <<< isaac_ros_nvengine [1.35s]
Finished <<< isaac_ros_image_pipeline [0.63s]
Summary: 9 packages finished [5.58s]
admin@nvidia-desktop:/workspaces/isaac_ros-dev/leopard_ros_ws$ colcon test
Starting >>> isaac_ros_common
Starting >>> isaac_ros_test
Starting >>> isaac_ros_nvengine_interfaces
Finished <<< isaac_ros_nvengine_interfaces [3.11s]
Finished <<< isaac_ros_common [3.84s]
--- stderr: isaac_ros_test
=============================== warnings summary ===============================
test/test_flake8.py::test_flake8
test/test_flake8.py::test_flake8
Warning: SelectableGroups dict interface is deprecated. Use select.
-- Docs: https://docs.pytest.org/en/stable/warnings.html
---
Finished <<< isaac_ros_test [18.8s]
Starting >>> isaac_ros_image_proc
Starting >>> isaac_ros_stereo_image_proc
Starting >>> isaac_ros_argus_camera_mono
Starting >>> isaac_ros_argus_camera_stereo
Starting >>> isaac_ros_nvengine
Finished <<< isaac_ros_argus_camera_stereo [4.63s]
Finished <<< isaac_ros_argus_camera_mono [6.41s]
Finished <<< isaac_ros_nvengine [17.3s]
--- stderr: isaac_ros_stereo_image_proc
Errors while running CTest
---
Finished <<< isaac_ros_stereo_image_proc [43.1s] [ with test failures ]
--- stderr: isaac_ros_image_proc
Errors while running CTest
---
Finished <<< isaac_ros_image_proc [54.4s] [ with test failures ]
Starting >>> isaac_ros_image_pipeline
Finished <<< isaac_ros_image_pipeline [2.16s]
Summary: 9 packages finished [1min 16s]
3 packages had stderr output: isaac_ros_image_proc isaac_ros_stereo_image_proc isaac_ros_test
2 packages had test failures: isaac_ros_image_proc isaac_ros_stereo_image_proc
admin@nvidia-desktop:/workspaces/isaac_ros-dev/leopard_ros_ws$
- When I run “ros2 run isaac_ros_image_proc isaac_ros_image_proc” and use another terminal to run “ros2 run v4l2_camera v4l2_camera_node”. I hit some issue which I can’t solve. I post the screenshot below.
FYI. I confirmed a few questions:
A. I can confirm the camera works with ARGUS and Gstreamer.
B. The camera is stereo camera (HAWK). We calibrated and program the EEPROM inside the camera. I can bring up live video and depth output through VPI (1.1.12) successfully out the docker. So we believe this issue should not related to the calibration data.
C. I also tried the “isaac_ros_argus_camera” as well. We hit similar error log.
Please kindly help us about this. Let me know if you need any other information.