ISAAC/NOVA : Failed to get the Rectified Camera Model Object

[DalekCuda]

OS: Ubuntu 22.04 jammy
Jetpack: 6.2.1+b38
Nova Config: nova-devkit
Nova Version: 1.3.2+b4
ISAAC Version = 3.2

I am using the NOVA devkit and launching the following:

ros2 launch isaac_ros_nova_recorder nova_recorder.launch.py

However, I unfortunately get this error message:

[component_container_mt-1] [WARN] [1762788954.644298361] [NitrosCameraInfo]: [convert_to_ros_message] Failed to get the Rectified CameraModel object: Falling back to raw camera model
[component_container_mt-1] [WARN] [1762788954.644377625] [NitrosCameraInfo]: [convert_to_ros_message] Failed to get the target extrinsics delta Pose3D object: GXF_ENTITY_COMPONENT_NOT_FOUNDFalling back to extrinsics Pose3D object

• Nova pre-flight checker works perfectly, including the EEPROM checks.
• All topics (compressed images/camera info/lidar packets) seemed to be recorded correctly and are received at correct frame rate. (although rectified topics are not published of course)

Any help would be greatly appreciated.

Thanks.

[vchuang]

Hello @DalekCuda,

The messages you are seeing are warnings, not errors. Since you are using nova_recorder.launch.py, its default job is to capture this raw sensor data, which you confirmed is working perfectly.

If you require rectified topics, these are the result of a separate, computationally intensive processing step. You would typically need to integrate an additional node into your pipeline such as isaac_ros_image_proc after the raw data has been captured, which will then publish the rectified topics you need.

[DalekCuda]

Thanks very much!