Isaac_ros_argus_camera error

Robotics & Edge Computing Robotics - Isaac Isaac ROS
1

Hello,

Im trying to start the argus camera package on issac ros (Docker container) and im met with errors, Im running a Zedx mini camera. I first start the zed_wrapper inside the container and in another terminal i run ros2 launch isaac_ros_argus_camera isaac_ros_argus_camera_stereo.launch.py here is the output:

admin@airbud-desktop:/workspaces/isaac_ros-dev$ ros2 launch isaac_ros_argus_camera isaac_ros_argus_camera_stereo.launch.py
[INFO] [launch]: All log files can be found below /home/admin/.ros/log/2024-03-05-12-07-42-338266-airbud-desktop-34971
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container_mt-1]: process started with pid [34982]
[component_container_mt-1] [INFO] [1709658462.912735992] [argus_stereo_container]: Load Library: /workspaces/isaac_ros-dev/install/isaac_ros_argus_camera/lib/libstereo_node.so
[component_container_mt-1] [INFO] [1709658462.981518580] [argus_stereo_container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::argus::ArgusStereoNode>
[component_container_mt-1] [INFO] [1709658462.981647161] [argus_stereo_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::argus::ArgusStereoNode>
[component_container_mt-1] [INFO] [1709658463.014639202] [NitrosContext]: [NitrosContext] Creating a new shared context
[component_container_mt-1] [INFO] [1709658463.015842319] [argus_stereo]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1709658463.017546286] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/std/libgxf_std.so
[component_container_mt-1] [INFO] [1709658463.025411090] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_gxf_helpers.so
[component_container_mt-1] [INFO] [1709658463.029295075] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_sight.so
[component_container_mt-1] [INFO] [1709658463.049072225] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_atlas.so
[component_container_mt-1] [INFO] [1709658463.055526001] [NitrosContext]: [NitrosContext] Loading application: '/opt/ros/humble/share/isaac_ros_nitros/config/type_adapter_nitros_context_graph.yaml'
[component_container_mt-1] [INFO] [1709658463.056851266] [NitrosContext]: [NitrosContext] Initializing application...
[component_container_mt-1] [INFO] [1709658463.069443382] [NitrosContext]: [NitrosContext] Running application...
[component_container_mt-1] 2024-03-05 12:07:43.069 WARN  gxf/std/program.cpp@514: No system specified. Nothing to do
[component_container_mt-1] [INFO] [1709658463.084623817] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_argus.so
[component_container_mt-1] [INFO] [1709658463.356994349] [NitrosContext]: [NitrosContext] Loading application: '/workspaces/isaac_ros-dev/install/isaac_ros_argus_camera/share/isaac_ros_argus_camera/config/argus_nitros_context_graph.yaml'
[component_container_mt-1] [INFO] [1709658463.358634090] [NitrosContext]: [NitrosContext] Initializing application...
[component_container_mt-1] [INFO] [1709658463.360496431] [NitrosContext]: [NitrosContext] Running application...
[component_container_mt-1] 2024-03-05 12:07:43.362 WARN  gxf/std/program.cpp@514: No system specified. Nothing to do
[component_container_mt-1] [INFO] [1709658463.367384111] [argus_stereo]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1709658463.371064856] [argus_stereo]: [NitrosNode] Loading built-in preset extension specs
[component_container_mt-1] [INFO] [1709658463.374603131] [argus_stereo]: [NitrosNode] Loading built-in extension specs
[component_container_mt-1] [INFO] [1709658463.374688575] [argus_stereo]: [NitrosNode] Loading preset extension specs
[component_container_mt-1] [INFO] [1709658463.376799501] [argus_stereo]: [NitrosNode] Loading extension specs
[component_container_mt-1] [INFO] [1709658463.380557753] [argus_stereo]: [NitrosNode] Loading generator rules
[component_container_mt-1] [INFO] [1709658463.382813996] [argus_stereo]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1709658463.384615375] [argus_stereo]: [NitrosContext] Loading extension: gxf/lib/libgxf_message_compositor.so
[component_container_mt-1] [INFO] [1709658463.389912788] [argus_stereo]: [NitrosContext] Loading extension: gxf/lib/cuda/libgxf_cuda.so
[component_container_mt-1] [INFO] [1709658463.393066537] [argus_stereo]: [NitrosContext] Loading extension: gxf/lib/serialization/libgxf_serialization.so
[component_container_mt-1] [INFO] [1709658463.401102292] [argus_stereo]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_messages.so
[component_container_mt-1] [INFO] [1709658463.410429006] [argus_stereo]: [NitrosContext] Loading extension: gxf/lib/multimedia/libgxf_multimedia.so
[component_container_mt-1] [INFO] [1709658463.413364731] [argus_stereo]: [NitrosContext] Loading extension: gxf/lib/image_proc/libgxf_tensorops.so
[component_container_mt-1] [INFO] [1709658463.425612002] [argus_stereo]: [NitrosContext] Loading extension: gxf/lib/image_proc/libgxf_rectify_params_generator.so
[component_container_mt-1] [INFO] [1709658463.433827923] [argus_stereo]: [NitrosContext] Loading extension: gxf/lib/libgxf_timestamp_correlator.so
[component_container_mt-1] [INFO] [1709658463.441178820] [argus_stereo]: [NitrosContext] Loading extension: gxf/lib/utils/libgxf_utils.so
[component_container_mt-1] [INFO] [1709658463.443255185] [argus_stereo]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1709658463.450425531] [argus_stereo]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1709658463.621259204] [argus_stereo]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1709658463.625320123] [argus_stereo]: [NitrosNode] Creating negotiated publishers/subscribers
[component_container_mt-1] [INFO] [1709658463.650198103] [argus_stereo]: [NitrosNode] Starting negotiation...
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/argus_stereo' in container '/argus_stereo_container'
[component_container_mt-1] [INFO] [1709658464.656352774] [argus_stereo]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1709658464.656549901] [argus_stereo]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1709658464.656586670] [argus_stereo]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1709658464.656603919] [argus_stereo]: [NitrosPublisher] Use only the compatible publisher: topic_name="/left/image_raw", data_format="nitros_image_rgb8"
[component_container_mt-1] [INFO] [1709658464.656618959] [argus_stereo]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1709658464.656632848] [argus_stereo]: [NitrosPublisher] Use only the compatible publisher: topic_name="/right/image_raw", data_format="nitros_image_rgb8"
[component_container_mt-1] [INFO] [1709658464.656642256] [argus_stereo]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1709658464.656649809] [argus_stereo]: [NitrosPublisher] Use only the compatible publisher: topic_name="/left/camerainfo", data_format="nitros_camera_info"
[component_container_mt-1] [INFO] [1709658464.656658641] [argus_stereo]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1709658464.656666737] [argus_stereo]: [NitrosPublisher] Use only the compatible publisher: topic_name="/right/camerainfo", data_format="nitros_camera_info"
[component_container_mt-1] [INFO] [1709658464.656974045] [argus_stereo]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1709658464.670669977] [argus_stereo]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/VKSQBZVGFG/VKSQBZVGFG.yaml"
[component_container_mt-1] [INFO] [1709658464.670769277] [argus_stereo]: [NitrosNode] Calling user's pre-load-graph callback
[component_container_mt-1] [INFO] [1709658464.670785277] [argus_stereo]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1709658464.670804254] [argus_stereo]: [NitrosContext] Loading application: '/tmp/isaac_ros_nitros/graphs/VKSQBZVGFG/VKSQBZVGFG.yaml'
[component_container_mt-1] 2024-03-05 12:07:44.678 WARN  gxf/std/yaml_file_loader.cpp@1058: Using unregistered parameter 'left_camera_frame' in component ''.
[component_container_mt-1] 2024-03-05 12:07:44.678 WARN  gxf/std/yaml_file_loader.cpp@1058: Using unregistered parameter 'right_camera_frame' in component ''.
[component_container_mt-1] 2024-03-05 12:07:44.679 WARN  gxf/std/yaml_file_loader.cpp@1058: Using unregistered parameter 'allocator' in component ''.
[component_container_mt-1] [INFO] [1709658464.680416899] [argus_stereo]: [NitrosNode] Linking Nitros pub/sub to the loaded application
[component_container_mt-1] [INFO] [1709658464.680697485] [argus_stereo]: [NitrosNode] Calling user's post-load-graph callback
[component_container_mt-1] [INFO] [1709658464.680726094] [argus_stereo]: [ArgusCameraNode] postLoadGraphCallback().
[component_container_mt-1] [INFO] [1709658464.680795185] [argus_stereo]: [NitrosContext] Initializing application...
[component_container_mt-1] [INFO] [1709658465.087028569] [argus_stereo]: [NitrosContext] Running application...
[component_container_mt-1] [INFO] [1709658465.087519851] [argus_stereo]: [NitrosNode] Starting a heartbeat timer (eid=93)
[component_container_mt-1] 2024-03-05 12:07:45.089 ERROR extensions/hawk/components/argus_camera.cpp@354: Failed to get CaptureSession interface
[component_container_mt-1] 2024-03-05 12:07:45.089 ERROR extensions/hawk/components/argus_camera.cpp@705: Error setting up output streams
[component_container_mt-1] 2024-03-05 12:07:45.089 WARN  gxf/std/multi_thread_scheduler.cpp@325: Error while executing entity E32 named 'VKSQBZVGFG_argus_camera': GXF_FAILURE
[component_container_mt-1] 2024-03-05 12:07:45.090 ERROR gxf/std/entity_executor.cpp@563: Entity [VKSQBZVGFG_argus_camera] must be in Started, Tick Pending, Ticking or Idle stage before stopping. Current state is StartPending
[component_container_mt-1] 2024-03-05 12:07:46.087 ERROR gxf/std/entity_executor.cpp@210: Entity with eid 93 not found!
[component_container_mt-1] [WARN] [1709658466.087949615] [argus_stereo]: [NitrosNode] The heartbeat entity (eid=93) was stopped. The graph may have been terminated.
[component_container_mt-1] [INFO] [1709658466.094404062] [argus_stereo]: [NitrosNode] Terminating the running application
[component_container_mt-1] [INFO] [1709658466.094464000] [argus_stereo]: [NitrosContext] Interrupting GXF...
[component_container_mt-1] 2024-03-05 12:07:46.094 ERROR gxf/core/runtime.cpp@1400: Graph interrupt failed with error: GXF_FAILURE
[component_container_mt-1] [ERROR] [1709658466.094595557] [argus_stereo]: [NitrosContext] GxfGraphInterrupt Error: GXF_FAILURE
[component_container_mt-1] [INFO] [1709658466.094602981] [argus_stereo]: [NitrosContext] Waiting on GXF...
[component_container_mt-1] 2024-03-05 12:07:46.094 ERROR gxf/std/program.cpp@556: wait failed. Deactivating...
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] |                                           Job Statistics Report (regular)                                                                                        |
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] | Name                                               |   Count | Time (Median - 90% - Max) [ms] | Load (%) | Exec(ms) | Variation (Median - 90% - Max) [ns]        |
[component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] |                                           Entity Statistics Report (regular)                                                                                     |
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] | Entity Name             | Entity State             |   Count | Time (Median - 90% - Max) [ms]                                                                    |
[component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] 2024-03-05 12:07:46.126 WARN  gxf/std/entity_warden.cpp@433: Component of type nvidia::gxf::MultiThreadScheduler, cid 124 failed to deinitialize with code GXF_FAILURE
[component_container_mt-1] 2024-03-05 12:07:46.126 ERROR gxf/core/runtime.cpp@731: Could not deinitialize entity 'VKSQBZVGFG_UEBLGUEHXG' (E122): GXF_FAILURE
[component_container_mt-1] 2024-03-05 12:07:46.127 ERROR gxf/std/program.cpp@558: Deactivation failed.
[component_container_mt-1] 2024-03-05 12:07:46.127 ERROR gxf/core/runtime.cpp@1408: Graph wait failed with error: GXF_FAILURE
[component_container_mt-1] [ERROR] [1709658466.127022040] [argus_stereo]: [NitrosContext] GxfGraphWait Error: GXF_FAILURE
[component_container_mt-1] [INFO] [1709658466.127039353] [argus_stereo]: [NitrosNode] Application termination done
[INFO] [component_container_mt-1]: process has finished cleanly [pid 34982]
admin@airbud-desktop:/workspaces/isaac_ros-dev$

not sure where to proceed to fix the error. Im not sure if you are supposed to start the zed wrapper before running the argus package here is the output of the argus package test without starting the zed wapper:

admin@airbud-desktop:/workspaces/isaac_ros-dev$ launch_test src/isaac_ros_argus_camera/isaac_ros_argus_camera/test/isaac_ros_argus_camera_stereo_test.py
Warning: A NumPy version >=1.19.5 and <1.27.0 is required for this version of SciPy (detected version 1.17.4)
[INFO] [launch]: All log files can be found below /home/admin/.ros/log/2024-03-05-14-21-38-800410-airbud-desktop-38796
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container_mt-1]: process started with pid [38830]
[component_container_mt-1] [INFO] [1709666499.238213385] [isaac_ros_test.argus_stereo_container]: Load Library: /workspaces/isaac_ros-dev/install/isaac_ros_argus_camera/lib/libstereo_node.so
[component_container_mt-1] [INFO] [1709666499.278762555] [isaac_ros_test.argus_stereo_container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::argus::ArgusStereoNode>
[component_container_mt-1] [INFO] [1709666499.278897439] [isaac_ros_test.argus_stereo_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::argus::ArgusStereoNode>
[component_container_mt-1] [INFO] [1709666499.285158743] [NitrosContext]: [NitrosContext] Creating a new shared context
[component_container_mt-1] [INFO] [1709666499.285370878] [isaac_ros_test.argus_stereo]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1709666499.286361536] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/std/libgxf_std.so
[component_container_mt-1] [INFO] [1709666499.294063913] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_gxf_helpers.so
[component_container_mt-1] [INFO] [1709666499.298504513] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_sight.so
[component_container_mt-1] [INFO] [1709666499.303501805] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_atlas.so
[component_container_mt-1] [INFO] [1709666499.309137167] [NitrosContext]: [NitrosContext] Loading application: '/opt/ros/humble/share/isaac_ros_nitros/config/type_adapter_nitros_context_graph.yaml'
[component_container_mt-1] [INFO] [1709666499.310553024] [NitrosContext]: [NitrosContext] Initializing application...
[component_container_mt-1] [INFO] [1709666499.314565130] [NitrosContext]: [NitrosContext] Running application...
[component_container_mt-1] 2024-03-05 14:21:39.314 WARN  gxf/std/program.cpp@514: No system specified. Nothing to do
[component_container_mt-1] [DEBUG] [1709666499.314956823] [isaac_ros_test.argus_stereo]: [NitrosNode] Type negotiation duration (seconds) = 1
[component_container_mt-1] [DEBUG] [1709666499.315012953] [isaac_ros_test.argus_stereo]: [NitrosNode] Namespace = TKCAPKZSBL
[component_container_mt-1] [DEBUG] [1709666499.315235873] [isaac_ros_test.argus_stereo]: [NitrosNode] Package's directory: /workspaces/isaac_ros-dev/install/isaac_ros_argus_camera/share/isaac_ros_argus_camera
[component_container_mt-1] [DEBUG] [1709666499.315565996] [isaac_ros_test.argus_stereo]: [NitrosNode] Nitros's directory: /opt/ros/humble/share/isaac_ros_nitros
[component_container_mt-1] [INFO] [1709666499.319320141] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_argus.so
[component_container_mt-1] [INFO] [1709666499.475446341] [NitrosContext]: [NitrosContext] Loading application: '/workspaces/isaac_ros-dev/install/isaac_ros_argus_camera/share/isaac_ros_argus_camera/config/argus_nitros_context_graph.yaml'
[component_container_mt-1] [INFO] [1709666499.476039386] [NitrosContext]: [NitrosContext] Initializing application...
[component_container_mt-1] [INFO] [1709666499.477537069] [NitrosContext]: [NitrosContext] Running application...
[component_container_mt-1] 2024-03-05 14:21:39.477 WARN  gxf/std/program.cpp@514: No system specified. Nothing to do
[component_container_mt-1] [INFO] [1709666499.478178243] [isaac_ros_test.argus_stereo]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1709666499.478230661] [isaac_ros_test.argus_stereo]: [NitrosNode] Loading built-in preset extension specs
[component_container_mt-1] [INFO] [1709666499.480958051] [isaac_ros_test.argus_stereo]: [NitrosNode] Loading built-in extension specs
[component_container_mt-1] [INFO] [1709666499.481029733] [isaac_ros_test.argus_stereo]: [NitrosNode] Loading preset extension specs
[component_container_mt-1] [INFO] [1709666499.482399412] [isaac_ros_test.argus_stereo]: [NitrosNode] Loading extension specs
[component_container_mt-1] [INFO] [1709666499.482450326] [isaac_ros_test.argus_stereo]: [NitrosNode] Loading generator rules
[component_container_mt-1] [INFO] [1709666499.482796034] [isaac_ros_test.argus_stereo]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1709666499.483220721] [isaac_ros_test.argus_stereo]: [NitrosContext] Loading extension: gxf/lib/libgxf_message_compositor.so
[component_container_mt-1] [INFO] [1709666499.485277975] [isaac_ros_test.argus_stereo]: [NitrosContext] Loading extension: gxf/lib/cuda/libgxf_cuda.so
[component_container_mt-1] [INFO] [1709666499.486979986] [isaac_ros_test.argus_stereo]: [NitrosContext] Loading extension: gxf/lib/serialization/libgxf_serialization.so
[component_container_mt-1] [INFO] [1709666499.492600339] [isaac_ros_test.argus_stereo]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_messages.so
[component_container_mt-1] [INFO] [1709666499.499010639] [isaac_ros_test.argus_stereo]: [NitrosContext] Loading extension: gxf/lib/multimedia/libgxf_multimedia.so
[component_container_mt-1] [INFO] [1709666499.500446337] [isaac_ros_test.argus_stereo]: [NitrosContext] Loading extension: gxf/lib/image_proc/libgxf_tensorops.so
[component_container_mt-1] [INFO] [1709666499.508470101] [isaac_ros_test.argus_stereo]: [NitrosContext] Loading extension: gxf/lib/image_proc/libgxf_rectify_params_generator.so
[component_container_mt-1] [INFO] [1709666499.515715438] [isaac_ros_test.argus_stereo]: [NitrosContext] Loading extension: gxf/lib/libgxf_timestamp_correlator.so
[component_container_mt-1] [INFO] [1709666499.521809855] [isaac_ros_test.argus_stereo]: [NitrosContext] Loading extension: gxf/lib/utils/libgxf_utils.so
[component_container_mt-1] [INFO] [1709666499.523786211] [isaac_ros_test.argus_stereo]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1709666499.531075934] [isaac_ros_test.argus_stereo]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1709666499.652551438] [isaac_ros_test.argus_stereo]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [DEBUG] [1709666499.655274988] [isaac_ros_test.argus_stereo.NitrosNode]: Supported data format combinations:
[component_container_mt-1] [DEBUG] [1709666499.655310445] [isaac_ros_test.argus_stereo.NitrosNode]: #1 I/O group:
[component_container_mt-1] [DEBUG] [1709666499.655318670] [isaac_ros_test.argus_stereo.NitrosNode]: 	#1 format combination:
[component_container_mt-1] [DEBUG] [1709666499.655325870] [isaac_ros_test.argus_stereo.NitrosNode]: 		[out]	sink_left_image/sink: nitros_image_rgb8
[component_container_mt-1] [DEBUG] [1709666499.655331790] [isaac_ros_test.argus_stereo.NitrosNode]: 		[out]	sink_right_image/sink: nitros_image_rgb8
[component_container_mt-1] [DEBUG] [1709666499.655336750] [isaac_ros_test.argus_stereo.NitrosNode]: 		[out]	sink_left_camerainfo/sink: nitros_camera_info
[component_container_mt-1] [DEBUG] [1709666499.655341582] [isaac_ros_test.argus_stereo.NitrosNode]: 		[out]	sink_right_camerainfo/sink: nitros_camera_info
[component_container_mt-1] [INFO] [1709666499.655365519] [isaac_ros_test.argus_stereo]: [NitrosNode] Creating negotiated publishers/subscribers
[component_container_mt-1] [DEBUG] [1709666499.668032259] [isaac_ros_test.argus_stereo.NitrosFormatAgent.nitros_image_rgb8]: Created a compatible publisher (topic_name=/isaac_ros_test/left/image_raw)
[component_container_mt-1] [DEBUG] [1709666499.669877218] [isaac_ros_test.argus_stereo.NitrosFormatAgent.nitros_image_rgb8]: Added a compatible publisher (topic_name=/isaac_ros_test/left/image_raw) to a negotiated publisher
[component_container_mt-1] [DEBUG] [1709666499.669909667] [isaac_ros_test.argus_stereo]: [NitrosPublisher] Added a compatible publisher: topic_name="/isaac_ros_test/left/image_raw", data_format="nitros_image_rgb8"
[component_container_mt-1] [DEBUG] [1709666499.670452438] [isaac_ros_test.argus_stereo.NitrosFormatAgent.nitros_image_rgb8]: Created a compatible publisher (topic_name=/isaac_ros_test/right/image_raw)
[component_container_mt-1] [DEBUG] [1709666499.670934983] [isaac_ros_test.argus_stereo.NitrosFormatAgent.nitros_image_rgb8]: Added a compatible publisher (topic_name=/isaac_ros_test/right/image_raw) to a negotiated publisher
[component_container_mt-1] [DEBUG] [1709666499.670959047] [isaac_ros_test.argus_stereo]: [NitrosPublisher] Added a compatible publisher: topic_name="/isaac_ros_test/right/image_raw", data_format="nitros_image_rgb8"
[component_container_mt-1] [DEBUG] [1709666499.671789060] [isaac_ros_test.argus_stereo.NitrosFormatAgent.nitros_camera_info]: Created a compatible publisher (topic_name=/isaac_ros_test/left/camerainfo)
[component_container_mt-1] [DEBUG] [1709666499.672150640] [isaac_ros_test.argus_stereo.NitrosFormatAgent.nitros_camera_info]: Added a compatible publisher (topic_name=/isaac_ros_test/left/camerainfo) to a negotiated publisher
[component_container_mt-1] [DEBUG] [1709666499.672170001] [isaac_ros_test.argus_stereo]: [NitrosPublisher] Added a compatible publisher: topic_name="/isaac_ros_test/left/camerainfo", data_format="nitros_camera_info"
[component_container_mt-1] [DEBUG] [1709666499.672633345] [isaac_ros_test.argus_stereo.NitrosFormatAgent.nitros_camera_info]: Created a compatible publisher (topic_name=/isaac_ros_test/right/camerainfo)
[component_container_mt-1] [DEBUG] [1709666499.673119826] [isaac_ros_test.argus_stereo.NitrosFormatAgent.nitros_camera_info]: Added a compatible publisher (topic_name=/isaac_ros_test/right/camerainfo) to a negotiated publisher
[component_container_mt-1] [DEBUG] [1709666499.673143923] [isaac_ros_test.argus_stereo]: [NitrosPublisher] Added a compatible publisher: topic_name="/isaac_ros_test/right/camerainfo", data_format="nitros_camera_info"
[component_container_mt-1] [INFO] [1709666499.673183732] [isaac_ros_test.argus_stereo]: [NitrosNode] Starting negotiation...
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/isaac_ros_test/argus_stereo' in container '/isaac_ros_test/argus_stereo_container'
[component_container_mt-1] [INFO] [1709666500.675424292] [isaac_ros_test.argus_stereo]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1709666500.675613995] [isaac_ros_test.argus_stereo]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1709666500.675669101] [isaac_ros_test.argus_stereo]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1709666500.675712110] [isaac_ros_test.argus_stereo]: [NitrosPublisher] Use only the compatible publisher: topic_name="/isaac_ros_test/left/image_raw", data_format="nitros_image_rgb8"
[component_container_mt-1] [INFO] [1709666500.675744175] [isaac_ros_test.argus_stereo]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1709666500.675765520] [isaac_ros_test.argus_stereo]: [NitrosPublisher] Use only the compatible publisher: topic_name="/isaac_ros_test/right/image_raw", data_format="nitros_image_rgb8"
[component_container_mt-1] [INFO] [1709666500.675796305] [isaac_ros_test.argus_stereo]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1709666500.675818546] [isaac_ros_test.argus_stereo]: [NitrosPublisher] Use only the compatible publisher: topic_name="/isaac_ros_test/left/camerainfo", data_format="nitros_camera_info"
[component_container_mt-1] [INFO] [1709666500.675839058] [isaac_ros_test.argus_stereo]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1709666500.675858163] [isaac_ros_test.argus_stereo]: [NitrosPublisher] Use only the compatible publisher: topic_name="/isaac_ros_test/right/camerainfo", data_format="nitros_camera_info"
[component_container_mt-1] [INFO] [1709666500.676465480] [isaac_ros_test.argus_stereo]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1709666500.708717756] [isaac_ros_test.argus_stereo]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/TKCAPKZSBL/TKCAPKZSBL.yaml"
[component_container_mt-1] [INFO] [1709666500.708872418] [isaac_ros_test.argus_stereo]: [NitrosNode] Calling user's pre-load-graph callback
[component_container_mt-1] [INFO] [1709666500.708903715] [isaac_ros_test.argus_stereo]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1709666500.708933924] [isaac_ros_test.argus_stereo]: [NitrosContext] Loading application: '/tmp/isaac_ros_nitros/graphs/TKCAPKZSBL/TKCAPKZSBL.yaml'
[component_container_mt-1] 2024-03-05 14:21:40.720 WARN  gxf/std/yaml_file_loader.cpp@1058: Using unregistered parameter 'left_camera_frame' in component ''.
[component_container_mt-1] 2024-03-05 14:21:40.721 WARN  gxf/std/yaml_file_loader.cpp@1058: Using unregistered parameter 'right_camera_frame' in component ''.
[component_container_mt-1] 2024-03-05 14:21:40.721 WARN  gxf/std/yaml_file_loader.cpp@1058: Using unregistered parameter 'allocator' in component ''.
[component_container_mt-1] [INFO] [1709666500.723311666] [isaac_ros_test.argus_stereo]: [NitrosNode] Linking Nitros pub/sub to the loaded application
[component_container_mt-1] [DEBUG] [1709666500.723607996] [isaac_ros_test.argus_stereo]: [NitrosNode] Set a publisher's callback pointer: 0xaaaae2d49658
[component_container_mt-1] [DEBUG] [1709666500.723677310] [isaac_ros_test.argus_stereo]: [NitrosNode] Set a publisher's callback pointer: 0xaaaae2e7d4f8
[component_container_mt-1] [DEBUG] [1709666500.723734016] [isaac_ros_test.argus_stereo]: [NitrosNode] Set a publisher's callback pointer: 0xaaaae307e678
[component_container_mt-1] [DEBUG] [1709666500.723781410] [isaac_ros_test.argus_stereo]: [NitrosNode] Set a publisher's callback pointer: 0xaaaae2d218f8
[component_container_mt-1] [INFO] [1709666500.723798467] [isaac_ros_test.argus_stereo]: [NitrosNode] Calling user's post-load-graph callback
[component_container_mt-1] [INFO] [1709666500.723816387] [isaac_ros_test.argus_stereo]: [ArgusCameraNode] postLoadGraphCallback().
[component_container_mt-1] [INFO] [1709666500.723900006] [isaac_ros_test.argus_stereo]: [NitrosContext] Initializing application...
test_image_capture (isaac_ros_argus_camera_stereo_test.IsaacArgusStereoNodeTest)
Test image capture from argus stereo camera. ... [component_container_mt-1] [INFO] [1709666501.045161094] [isaac_ros_test.argus_stereo]: [NitrosContext] Running application...
[component_container_mt-1] [INFO] [1709666501.045584532] [isaac_ros_test.argus_stereo]: [NitrosNode] Starting a heartbeat timer (eid=93)
[component_container_mt-1] 2024-03-05 14:21:45.311 WARN  extensions/hawk/components/argus_camera.cpp@972: Out of sync frames detected
[component_container_mt-1] 2024-03-05 14:21:45.311 WARN  extensions/hawk/components/argus_camera.cpp@973: Left TSC Timestamp(ns) = 4838502860000, Right TSC Timestamp(ns) = 4838202882000
[component_container_mt-1] Absolute difference between timestamps = 299978000(ns)
[component_container_mt-1] 2024-03-05 14:21:45.374 WARN  extensions/hawk/components/argus_camera.cpp@972: Out of sync frames detected
[component_container_mt-1] 2024-03-05 14:21:45.374 WARN  extensions/hawk/components/argus_camera.cpp@973: Left TSC Timestamp(ns) = 4838502860000, Right TSC Timestamp(ns) = 4838469553000
[component_container_mt-1] Absolute difference between timestamps = 33307000(ns)
[component_container_mt-1] 2024-03-05 14:21:45.442 WARN  extensions/hawk/components/argus_camera.cpp@972: Out of sync frames detected
[component_container_mt-1] 2024-03-05 14:21:45.442 WARN  extensions/hawk/components/argus_camera.cpp@973: Left TSC Timestamp(ns) = 4838502860000, Right TSC Timestamp(ns) = 4838602862000
[component_container_mt-1] Absolute difference between timestamps = 100002000(ns)
[component_container_mt-1] 2024-03-05 14:21:45.444 WARN  extensions/hawk/components/argus_camera.cpp@972: Out of sync frames detected
[component_container_mt-1] 2024-03-05 14:21:45.444 WARN  extensions/hawk/components/argus_camera.cpp@973: Left TSC Timestamp(ns) = 4838569542000, Right TSC Timestamp(ns) = 4838602862000
[component_container_mt-1] Absolute difference between timestamps = 33320000(ns)
[component_container_mt-1] 2024-03-05 14:21:45.446 WARN  extensions/hawk/components/argus_camera.cpp@972: Out of sync frames detected
[component_container_mt-1] 2024-03-05 14:21:45.446 WARN  extensions/hawk/components/argus_camera.cpp@973: Left TSC Timestamp(ns) = 4838636196000, Right TSC Timestamp(ns) = 4838602862000
[component_container_mt-1] Absolute difference between timestamps = 33334000(ns)
[component_container_mt-1] 2024-03-05 14:21:45.507 WARN  extensions/hawk/components/argus_camera.cpp@972: Out of sync frames detected
[component_container_mt-1] 2024-03-05 14:21:45.507 WARN  extensions/hawk/components/argus_camera.cpp@973: Left TSC Timestamp(ns) = 4838636196000, Right TSC Timestamp(ns) = 4838669517000
[component_container_mt-1] Absolute difference between timestamps = 33321000(ns)
[component_container_mt-1] 2024-03-05 14:21:45.509 WARN  extensions/hawk/components/argus_camera.cpp@972: Out of sync frames detected
[component_container_mt-1] 2024-03-05 14:21:45.509 WARN  extensions/hawk/components/argus_camera.cpp@973: Left TSC Timestamp(ns) = 4838702851000, Right TSC Timestamp(ns) = 4838669517000
[component_container_mt-1] Absolute difference between timestamps = 33334000(ns)
[component_container_mt-1] 2024-03-05 14:21:45.575 WARN  extensions/hawk/components/argus_camera.cpp@972: Out of sync frames detected
[component_container_mt-1] 2024-03-05 14:21:45.575 WARN  extensions/hawk/components/argus_camera.cpp@973: Left TSC Timestamp(ns) = 4838702851000, Right TSC Timestamp(ns) = 4838736198000
[component_container_mt-1] Absolute difference between timestamps = 33347000(ns)
[component_container_mt-1] 2024-03-05 14:21:45.578 WARN  extensions/hawk/components/argus_camera.cpp@972: Out of sync frames detected
[component_container_mt-1] 2024-03-05 14:21:45.578 WARN  extensions/hawk/components/argus_camera.cpp@973: Left TSC Timestamp(ns) = 4838769532000, Right TSC Timestamp(ns) = 4838736198000
[component_container_mt-1] Absolute difference between timestamps = 33334000(ns)
[component_container_mt-1] 2024-03-05 14:21:45.642 WARN  extensions/hawk/components/argus_camera.cpp@972: Out of sync frames detected
[component_container_mt-1] 2024-03-05 14:21:45.642 WARN  extensions/hawk/components/argus_camera.cpp@973: Left TSC Timestamp(ns) = 4838769532000, Right TSC Timestamp(ns) = 4838802853000
[component_container_mt-1] Absolute difference between timestamps = 33321000(ns)
[component_container_mt-1] 2024-03-05 14:21:45.644 WARN  extensions/hawk/components/argus_camera.cpp@972: Out of sync frames detected
[component_container_mt-1] 2024-03-05 14:21:45.644 WARN  extensions/hawk/components/argus_camera.cpp@973: Left TSC Timestamp(ns) = 4838836187000, Right TSC Timestamp(ns) = 4838802853000
[component_container_mt-1] Absolute difference between timestamps = 33334000(ns)
[component_container_mt-1] 2024-03-05 14:21:45.677 WARN  extensions/hawk/components/argus_camera.cpp@972: Out of sync frames detected
[component_container_mt-1] 2024-03-05 14:21:45.677 WARN  extensions/hawk/components/argus_camera.cpp@973: Left TSC Timestamp(ns) = 4838836187000, Right TSC Timestamp(ns) = 4838836315000
[component_container_mt-1] Absolute difference between timestamps = 128000(ns)
[component_container_mt-1] 2024-03-05 14:21:45.680 WARN  extensions/hawk/components/argus_camera.cpp@972: Out of sync frames detected
[component_container_mt-1] 2024-03-05 14:21:45.680 WARN  extensions/hawk/components/argus_camera.cpp@973: Left TSC Timestamp(ns) = 4838869649000, Right TSC Timestamp(ns) = 4838836315000
[component_container_mt-1] Absolute difference between timestamps = 33334000(ns)
[component_container_mt-1] terminate called after throwing an instance of 'cv::Exception'
[component_container_mt-1]   what():  OpenCV(4.2.0) ../modules/calib3d/src/calibration.cpp:2531: error: (-215:Assertion failed) nt > 0.0 in function 'cvStereoRectify'
[component_container_mt-1] 
[ERROR] [component_container_mt-1]: process has died [pid 38830, exit code -6, cmd '/opt/ros/humble/lib/rclcpp_components/component_container_mt --ros-args --log-level info --log-level isaac_ros_test.argus_stereo:=debug --log-level NitrosImage:=debug --log-level NitrosCameraInfo:=debug --ros-args -r __node:=argus_stereo_container -r __ns:=/isaac_ros_test'].
Processes under test stopped before tests completed
Process 'component_container_mt-1' exited with -6
##### 'component_container_mt-1' output #####
[INFO] [1709666499.238213385] [isaac_ros_test.argus_stereo_container]: Load Library: /workspaces/isaac_ros-dev/install/isaac_ros_argus_camera/lib/libstereo_node.so

[INFO] [1709666499.278762555] [isaac_ros_test.argus_stereo_container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::argus::ArgusStereoNode>
[INFO] [1709666499.278897439] [isaac_ros_test.argus_stereo_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::argus::ArgusStereoNode>

[INFO] [1709666499.285158743] [NitrosContext]: [NitrosContext] Creating a new shared context

[INFO] [1709666499.285370878] [isaac_ros_test.argus_stereo]: [NitrosNode] Initializing NitrosNode

[INFO] [1709666499.286361536] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/std/libgxf_std.so

[INFO] [1709666499.294063913] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_gxf_helpers.so

[INFO] [1709666499.298504513] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_sight.so

[INFO] [1709666499.303501805] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_atlas.so

[INFO] [1709666499.309137167] [NitrosContext]: [NitrosContext] Loading application: '/opt/ros/humble/share/isaac_ros_nitros/config/type_adapter_nitros_context_graph.yaml'

[INFO] [1709666499.310553024] [NitrosContext]: [NitrosContext] Initializing application...

[INFO] [1709666499.314565130] [NitrosContext]: [NitrosContext] Running application...

2024-03-05 14:21:39.314 WARN  gxf/std/program.cpp@514: No system specified. Nothing to do

[DEBUG] [1709666499.314956823] [isaac_ros_test.argus_stereo]: [NitrosNode] Type negotiation duration (seconds) = 1
[DEBUG] [1709666499.315012953] [isaac_ros_test.argus_stereo]: [NitrosNode] Namespace = TKCAPKZSBL

[DEBUG] [1709666499.315235873] [isaac_ros_test.argus_stereo]: [NitrosNode] Package's directory: /workspaces/isaac_ros-dev/install/isaac_ros_argus_camera/share/isaac_ros_argus_camera

[DEBUG] [1709666499.315565996] [isaac_ros_test.argus_stereo]: [NitrosNode] Nitros's directory: /opt/ros/humble/share/isaac_ros_nitros

[INFO] [1709666499.319320141] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_argus.so

[INFO] [1709666499.475446341] [NitrosContext]: [NitrosContext] Loading application: '/workspaces/isaac_ros-dev/install/isaac_ros_argus_camera/share/isaac_ros_argus_camera/config/argus_nitros_context_graph.yaml'

[INFO] [1709666499.476039386] [NitrosContext]: [NitrosContext] Initializing application...

[INFO] [1709666499.477537069] [NitrosContext]: [NitrosContext] Running application...

2024-03-05 14:21:39.477 WARN  gxf/std/program.cpp@514: No system specified. Nothing to do

[INFO] [1709666499.478178243] [isaac_ros_test.argus_stereo]: [NitrosNode] Starting NitrosNode
[INFO] [1709666499.478230661] [isaac_ros_test.argus_stereo]: [NitrosNode] Loading built-in preset extension specs

[INFO] [1709666499.480958051] [isaac_ros_test.argus_stereo]: [NitrosNode] Loading built-in extension specs

[INFO] [1709666499.481029733] [isaac_ros_test.argus_stereo]: [NitrosNode] Loading preset extension specs

[INFO] [1709666499.482399412] [isaac_ros_test.argus_stereo]: [NitrosNode] Loading extension specs

[INFO] [1709666499.482450326] [isaac_ros_test.argus_stereo]: [NitrosNode] Loading generator rules

[INFO] [1709666499.482796034] [isaac_ros_test.argus_stereo]: [NitrosNode] Loading extensions

[INFO] [1709666499.483220721] [isaac_ros_test.argus_stereo]: [NitrosContext] Loading extension: gxf/lib/libgxf_message_compositor.so

[INFO] [1709666499.485277975] [isaac_ros_test.argus_stereo]: [NitrosContext] Loading extension: gxf/lib/cuda/libgxf_cuda.so

[INFO] [1709666499.486979986] [isaac_ros_test.argus_stereo]: [NitrosContext] Loading extension: gxf/lib/serialization/libgxf_serialization.so

[INFO] [1709666499.492600339] [isaac_ros_test.argus_stereo]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_messages.so

[INFO] [1709666499.499010639] [isaac_ros_test.argus_stereo]: [NitrosContext] Loading extension: gxf/lib/multimedia/libgxf_multimedia.so

[INFO] [1709666499.500446337] [isaac_ros_test.argus_stereo]: [NitrosContext] Loading extension: gxf/lib/image_proc/libgxf_tensorops.so

[INFO] [1709666499.508470101] [isaac_ros_test.argus_stereo]: [NitrosContext] Loading extension: gxf/lib/image_proc/libgxf_rectify_params_generator.so

[INFO] [1709666499.515715438] [isaac_ros_test.argus_stereo]: [NitrosContext] Loading extension: gxf/lib/libgxf_timestamp_correlator.so

[INFO] [1709666499.521809855] [isaac_ros_test.argus_stereo]: [NitrosContext] Loading extension: gxf/lib/utils/libgxf_utils.so

[INFO] [1709666499.523786211] [isaac_ros_test.argus_stereo]: [NitrosNode] Loading graph to the optimizer

[INFO] [1709666499.531075934] [isaac_ros_test.argus_stereo]: [NitrosNode] Running optimization

[INFO] [1709666499.652551438] [isaac_ros_test.argus_stereo]: [NitrosNode] Obtaining graph IO group info from the optimizer

[DEBUG] [1709666499.655274988] [isaac_ros_test.argus_stereo.NitrosNode]: Supported data format combinations:
[DEBUG] [1709666499.655310445] [isaac_ros_test.argus_stereo.NitrosNode]: #1 I/O group:
[DEBUG] [1709666499.655318670] [isaac_ros_test.argus_stereo.NitrosNode]: 	#1 format combination:
[DEBUG] [1709666499.655325870] [isaac_ros_test.argus_stereo.NitrosNode]: 	[out]	sink_left_image/sink: nitros_image_rgb8
[DEBUG] [1709666499.655331790] [isaac_ros_test.argus_stereo.NitrosNode]: 	[out]	sink_right_image/sink: nitros_image_rgb8
[DEBUG] [1709666499.655336750] [isaac_ros_test.argus_stereo.NitrosNode]: 	[out]	sink_left_camerainfo/sink: nitros_camera_info

[DEBUG] [1709666499.655341582] [isaac_ros_test.argus_stereo.NitrosNode]: 	[out]	sink_right_camerainfo/sink: nitros_camera_info
[INFO] [1709666499.655365519] [isaac_ros_test.argus_stereo]: [NitrosNode] Creating negotiated publishers/subscribers

[DEBUG] [1709666499.668032259] [isaac_ros_test.argus_stereo.NitrosFormatAgent.nitros_image_rgb8]: Created a compatible publisher (topic_name=/isaac_ros_test/left/image_raw)

[DEBUG] [1709666499.669877218] [isaac_ros_test.argus_stereo.NitrosFormatAgent.nitros_image_rgb8]: Added a compatible publisher (topic_name=/isaac_ros_test/left/image_raw) to a negotiated publisher
[DEBUG] [1709666499.669909667] [isaac_ros_test.argus_stereo]: [NitrosPublisher] Added a compatible publisher: topic_name="/isaac_ros_test/left/image_raw", data_format="nitros_image_rgb8"

[DEBUG] [1709666499.670452438] [isaac_ros_test.argus_stereo.NitrosFormatAgent.nitros_image_rgb8]: Created a compatible publisher (topic_name=/isaac_ros_test/right/image_raw)

[DEBUG] [1709666499.670934983] [isaac_ros_test.argus_stereo.NitrosFormatAgent.nitros_image_rgb8]: Added a compatible publisher (topic_name=/isaac_ros_test/right/image_raw) to a negotiated publisher
[DEBUG] [1709666499.670959047] [isaac_ros_test.argus_stereo]: [NitrosPublisher] Added a compatible publisher: topic_name="/isaac_ros_test/right/image_raw", data_format="nitros_image_rgb8"

[DEBUG] [1709666499.671789060] [isaac_ros_test.argus_stereo.NitrosFormatAgent.nitros_camera_info]: Created a compatible publisher (topic_name=/isaac_ros_test/left/camerainfo)

[DEBUG] [1709666499.672150640] [isaac_ros_test.argus_stereo.NitrosFormatAgent.nitros_camera_info]: Added a compatible publisher (topic_name=/isaac_ros_test/left/camerainfo) to a negotiated publisher
[DEBUG] [1709666499.672170001] [isaac_ros_test.argus_stereo]: [NitrosPublisher] Added a compatible publisher: topic_name="/isaac_ros_test/left/camerainfo", data_format="nitros_camera_info"

[DEBUG] [1709666499.672633345] [isaac_ros_test.argus_stereo.NitrosFormatAgent.nitros_camera_info]: Created a compatible publisher (topic_name=/isaac_ros_test/right/camerainfo)

[DEBUG] [1709666499.673119826] [isaac_ros_test.argus_stereo.NitrosFormatAgent.nitros_camera_info]: Added a compatible publisher (topic_name=/isaac_ros_test/right/camerainfo) to a negotiated publisher
[DEBUG] [1709666499.673143923] [isaac_ros_test.argus_stereo]: [NitrosPublisher] Added a compatible publisher: topic_name="/isaac_ros_test/right/camerainfo", data_format="nitros_camera_info"

[INFO] [1709666499.673183732] [isaac_ros_test.argus_stereo]: [NitrosNode] Starting negotiation...

[INFO] [1709666500.675424292] [isaac_ros_test.argus_stereo]: [NitrosNode] Starting post negotiation setup
[INFO] [1709666500.675613995] [isaac_ros_test.argus_stereo]: [NitrosNode] Getting data format negotiation results
[INFO] [1709666500.675669101] [isaac_ros_test.argus_stereo]: [NitrosPublisher] Negotiation ended with no results
[INFO] [1709666500.675712110] [isaac_ros_test.argus_stereo]: [NitrosPublisher] Use only the compatible publisher: topic_name="/isaac_ros_test/left/image_raw", data_format="nitros_image_rgb8"
[INFO] [1709666500.675744175] [isaac_ros_test.argus_stereo]: [NitrosPublisher] Negotiation ended with no results
[INFO] [1709666500.675765520] [isaac_ros_test.argus_stereo]: [NitrosPublisher] Use only the compatible publisher: topic_name="/isaac_ros_test/right/image_raw", data_format="nitros_image_rgb8"
[INFO] [1709666500.675796305] [isaac_ros_test.argus_stereo]: [NitrosPublisher] Negotiation ended with no results
[INFO] [1709666500.675818546] [isaac_ros_test.argus_stereo]: [NitrosPublisher] Use only the compatible publisher: topic_name="/isaac_ros_test/left/camerainfo", data_format="nitros_camera_info"
[INFO] [1709666500.675839058] [isaac_ros_test.argus_stereo]: [NitrosPublisher] Negotiation ended with no results
[INFO] [1709666500.675858163] [isaac_ros_test.argus_stereo]: [NitrosPublisher] Use only the compatible publisher: topic_name="/isaac_ros_test/right/camerainfo", data_format="nitros_camera_info"

[INFO] [1709666500.676465480] [isaac_ros_test.argus_stereo]: [NitrosNode] Exporting the final graph based on the negotiation results

[INFO] [1709666500.708717756] [isaac_ros_test.argus_stereo]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/TKCAPKZSBL/TKCAPKZSBL.yaml"
[INFO] [1709666500.708872418] [isaac_ros_test.argus_stereo]: [NitrosNode] Calling user's pre-load-graph callback
[INFO] [1709666500.708903715] [isaac_ros_test.argus_stereo]: [NitrosNode] Loading application

[INFO] [1709666500.708933924] [isaac_ros_test.argus_stereo]: [NitrosContext] Loading application: '/tmp/isaac_ros_nitros/graphs/TKCAPKZSBL/TKCAPKZSBL.yaml'

2024-03-05 14:21:40.720 WARN  gxf/std/yaml_file_loader.cpp@1058: Using unregistered parameter 'left_camera_frame' in component ''.

2024-03-05 14:21:40.721 WARN  gxf/std/yaml_file_loader.cpp@1058: Using unregistered parameter 'right_camera_frame' in component ''.

2024-03-05 14:21:40.721 WARN  gxf/std/yaml_file_loader.cpp@1058: Using unregistered parameter 'allocator' in component ''.

[INFO] [1709666500.723311666] [isaac_ros_test.argus_stereo]: [NitrosNode] Linking Nitros pub/sub to the loaded application

[DEBUG] [1709666500.723607996] [isaac_ros_test.argus_stereo]: [NitrosNode] Set a publisher's callback pointer: 0xaaaae2d49658
[DEBUG] [1709666500.723677310] [isaac_ros_test.argus_stereo]: [NitrosNode] Set a publisher's callback pointer: 0xaaaae2e7d4f8

[DEBUG] [1709666500.723734016] [isaac_ros_test.argus_stereo]: [NitrosNode] Set a publisher's callback pointer: 0xaaaae307e678
[DEBUG] [1709666500.723781410] [isaac_ros_test.argus_stereo]: [NitrosNode] Set a publisher's callback pointer: 0xaaaae2d218f8
[INFO] [1709666500.723798467] [isaac_ros_test.argus_stereo]: [NitrosNode] Calling user's post-load-graph callback
[INFO] [1709666500.723816387] [isaac_ros_test.argus_stereo]: [ArgusCameraNode] postLoadGraphCallback().
[INFO] [1709666500.723900006] [isaac_ros_test.argus_stereo]: [NitrosContext] Initializing application...

[INFO] [1709666501.045161094] [isaac_ros_test.argus_stereo]: [NitrosContext] Running application...

[INFO] [1709666501.045584532] [isaac_ros_test.argus_stereo]: [NitrosNode] Starting a heartbeat timer (eid=93)

2024-03-05 14:21:45.311 WARN  extensions/hawk/components/argus_camera.cpp@972: Out of sync frames detected
2024-03-05 14:21:45.311 WARN  extensions/hawk/components/argus_camera.cpp@973: Left TSC Timestamp(ns) = 4838502860000, Right TSC Timestamp(ns) = 4838202882000
Absolute difference between timestamps = 299978000(ns)

2024-03-05 14:21:45.374 WARN  extensions/hawk/components/argus_camera.cpp@972: Out of sync frames detected
2024-03-05 14:21:45.374 WARN  extensions/hawk/components/argus_camera.cpp@973: Left TSC Timestamp(ns) = 4838502860000, Right TSC Timestamp(ns) = 4838469553000
Absolute difference between timestamps = 33307000(ns)

2024-03-05 14:21:45.442 WARN  extensions/hawk/components/argus_camera.cpp@972: Out of sync frames detected
2024-03-05 14:21:45.442 WARN  extensions/hawk/components/argus_camera.cpp@973: Left TSC Timestamp(ns) = 4838502860000, Right TSC Timestamp(ns) = 4838602862000
Absolute difference between timestamps = 100002000(ns)

2024-03-05 14:21:45.444 WARN  extensions/hawk/components/argus_camera.cpp@972: Out of sync frames detected
2024-03-05 14:21:45.444 WARN  extensions/hawk/components/argus_camera.cpp@973: Left TSC Timestamp(ns) = 4838569542000, Right TSC Timestamp(ns) = 4838602862000
Absolute difference between timestamps = 33320000(ns)

2024-03-05 14:21:45.446 WARN  extensions/hawk/components/argus_camera.cpp@972: Out of sync frames detected
2024-03-05 14:21:45.446 WARN  extensions/hawk/components/argus_camera.cpp@973: Left TSC Timestamp(ns) = 4838636196000, Right TSC Timestamp(ns) = 4838602862000
Absolute difference between timestamps = 33334000(ns)

2024-03-05 14:21:45.507 WARN  extensions/hawk/components/argus_camera.cpp@972: Out of sync frames detected
2024-03-05 14:21:45.507 WARN  extensions/hawk/components/argus_camera.cpp@973: Left TSC Timestamp(ns) = 4838636196000, Right TSC Timestamp(ns) = 4838669517000
Absolute difference between timestamps = 33321000(ns)

2024-03-05 14:21:45.509 WARN  extensions/hawk/components/argus_camera.cpp@972: Out of sync frames detected
2024-03-05 14:21:45.509 WARN  extensions/hawk/components/argus_camera.cpp@973: Left TSC Timestamp(ns) = 4838702851000, Right TSC Timestamp(ns) = 4838669517000
Absolute difference between timestamps = 33334000(ns)

2024-03-05 14:21:45.575 WARN  extensions/hawk/components/argus_camera.cpp@972: Out of sync frames detected
2024-03-05 14:21:45.575 WARN  extensions/hawk/components/argus_camera.cpp@973: Left TSC Timestamp(ns) = 4838702851000, Right TSC Timestamp(ns) = 4838736198000
Absolute difference between timestamps = 33347000(ns)

2024-03-05 14:21:45.578 WARN  extensions/hawk/components/argus_camera.cpp@972: Out of sync frames detected
2024-03-05 14:21:45.578 WARN  extensions/hawk/components/argus_camera.cpp@973: Left TSC Timestamp(ns) = 4838769532000, Right TSC Timestamp(ns) = 4838736198000
Absolute difference between timestamps = 33334000(ns)

2024-03-05 14:21:45.642 WARN  extensions/hawk/components/argus_camera.cpp@972: Out of sync frames detected
2024-03-05 14:21:45.642 WARN  extensions/hawk/components/argus_camera.cpp@973: Left TSC Timestamp(ns) = 4838769532000, Right TSC Timestamp(ns) = 4838802853000
Absolute difference between timestamps = 33321000(ns)

2024-03-05 14:21:45.644 WARN  extensions/hawk/components/argus_camera.cpp@972: Out of sync frames detected
2024-03-05 14:21:45.644 WARN  extensions/hawk/components/argus_camera.cpp@973: Left TSC Timestamp(ns) = 4838836187000, Right TSC Timestamp(ns) = 4838802853000
Absolute difference between timestamps = 33334000(ns)

2024-03-05 14:21:45.677 WARN  extensions/hawk/components/argus_camera.cpp@972: Out of sync frames detected
2024-03-05 14:21:45.677 WARN  extensions/hawk/components/argus_camera.cpp@973: Left TSC Timestamp(ns) = 4838836187000, Right TSC Timestamp(ns) = 4838836315000
Absolute difference between timestamps = 128000(ns)

2024-03-05 14:21:45.680 WARN  extensions/hawk/components/argus_camera.cpp@972: Out of sync frames detected
2024-03-05 14:21:45.680 WARN  extensions/hawk/components/argus_camera.cpp@973: Left TSC Timestamp(ns) = 4838869649000, Right TSC Timestamp(ns) = 4838836315000
Absolute difference between timestamps = 33334000(ns)

terminate called after throwing an instance of 'cv::Exception'
  what():  OpenCV(4.2.0) ../modules/calib3d/src/calibration.cpp:2531: error: (-215:Assertion failed) nt > 0.0 in function 'cvStereoRectify'


#############################################
terminate called without an active exception
Aborted (core dumped)
2

Hi @castej10 ,

Looking at your errors, seems the argus camera daemon is in a weird state.
Try to restart the daemon with the command below:

sudo systemctl restart nvargus-daemon.service

Another reason can be the camera you are testing, which is not supported, and this can be the reason for your error. You can find a list of all supported cameras: Sensors Setup — isaac_ros_docs documentation

3

According to stereolabs, The ZED SDK uses Argus to retrieve ZED X data and it allows to directly retrieve the information in GPU memory, without passing from GPU memory.
This is allowed by calling the retrieveImage and retrieveMeasure functions with sl::MEM::GPU as type parameter. so i believe it should be supported.

4

Hi @castej10

The ZED X camera should be used with the Stereolabs SDK; otherwise, every frame’s output is a single shot from both cameras.

I suggest that instead of using the Isaac ROS argus camera package directly, you read the input from the zed-ros2-wrapper and then read these topics from the Isaac ROS packages.

Let me know if fix this issue.