TLDR: [centerpose_inference]: [NitrosPublisher] Negotiation ended with no results despite being able to get inference on images of same data using my trained pth model.
keypoints:
-my (new) intel realsense D435 camera is connected to USB 3.2
-I trained TAO centerpose model card end-to-end on custom model (for which I created the synthetic data in isaac sim) using TAO toolkit (trained using TAO 5.2)
The machine I trained the TAO centerpose:
$ tao info
Configuration of the TAO Toolkit Instance
task_group: ['model', 'dataset', 'deploy']
format_version: 3.0
toolkit_version: 5.2.0.1
published_date: 01/16/2024
-I converted the pth to onnx using TAO toolkit (using TAO 5.3)
-I converted the onnx to plan (trt engine) using isaac_ros_centerpose docker
/usr/src/tensorrt/bin/trtexec --onnx=${ISAAC_ROS_WS}/isaac_ros_assets/models/centerpose_mycustomclass/1/model.onnx --saveEngine=${ISAAC_ROS_WS}/isaac_ros_assets/models/centerpose_mycustomclass/1/model.plan
The machine where I am running ros2 docker and converted pth to onnx:
2025-02-10 15:56:02 [mona@DOS Downloads]$ tao info
Configuration of the TAO Toolkit Instance
task_group: ['model', 'dataset', 'deploy']
format_version: 3.0
toolkit_version: 5.3.0
published_date: 03/14/2024
Intel RealSense inside docker works:
However, rather weird it states detected two RealSense devices while I only have connected one RealSense camera.
Below, I change my class name in logs to mycustomclass:
admin@DOS:/workspaces/isaac_ros-dev$ ros2 launch isaac_ros_examples isaac_ros_examples.launch.py launch_fragments:=realsense_mono_rect,centerpose,centerpose_visualizer model_name:=centerpose_mycustomclass model_repository_paths:=[${ISAAC_ROS_WS}/isaac_ros_assets/models]
[INFO] [launch]: All log files can be found below /home/admin/.ros/log/2025-02-10-16-01-28-573240-DOS-73931
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container_mt-1]: process started with pid [73944]
[component_container_mt-1] [INFO] [1739221288.889006896] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libresize_node.so
[component_container_mt-1] [INFO] [1739221288.917187504] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::ResizeNode>
[component_container_mt-1] [INFO] [1739221288.917209447] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::ResizeNode>
[component_container_mt-1] [INFO] [1739221289.102824386] [centerpose_encoder.resize_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1739221289.102987192] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/std/libgxf_std.so
[component_container_mt-1] [INFO] [1739221289.103771713] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_gxf_helpers.so
[component_container_mt-1] [INFO] [1739221289.105553353] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_sight.so
[component_container_mt-1] [INFO] [1739221289.107412112] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_atlas.so
[component_container_mt-1] 2025-02-10 16:01:29.112 WARN gxf/std/program.cpp@538: No GXF scheduler specified.
[component_container_mt-1] [INFO] [1739221289.112726848] [centerpose_encoder.resize_node]: [ResizeNode] Set output data format to: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1739221289.112775604] [centerpose_encoder.resize_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1739221289.118345575] [centerpose_encoder.resize_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1739221289.118377460] [centerpose_encoder.resize_node]: [NitrosContext] Loading extension: gxf/lib/multimedia/libgxf_multimedia.so
[component_container_mt-1] [INFO] [1739221289.119828498] [centerpose_encoder.resize_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_message_compositor.so
[component_container_mt-1] [INFO] [1739221289.120132933] [centerpose_encoder.resize_node]: [NitrosContext] Loading extension: gxf/lib/cuda/libgxf_cuda.so
[component_container_mt-1] [INFO] [1739221289.121667254] [centerpose_encoder.resize_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_tensorops.so
[component_container_mt-1] [INFO] [1739221289.123733525] [centerpose_encoder.resize_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1739221289.125829272] [centerpose_encoder.resize_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1739221289.225382067] [centerpose_encoder.resize_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1739221289.227152497] [centerpose_encoder.resize_node]: [NitrosPublisherSubscriberGroup] Pinning the component "image_sink/sink" (type="nvidia::isaac_ros::MessageRelay") to use its compatible format only: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1739221289.231218321] [centerpose_encoder.resize_node]: [NitrosNode] Starting negotiation...
[component_container_mt-1] [INFO] [1739221289.231705752] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/librealsense2_camera.so
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/centerpose_encoder/resize_node' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1739221289.300577299] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<realsense2_camera::RealSenseNodeFactory>
[component_container_mt-1] [INFO] [1739221289.300635682] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<realsense2_camera::RealSenseNodeFactory>
[component_container_mt-1] [INFO] [1739221289.325556783] [realsense2_camera]: RealSense ROS v4.51.1
[component_container_mt-1] [INFO] [1739221289.326010263] [realsense2_camera]: Built with LibRealSense v2.55.1
[component_container_mt-1] [INFO] [1739221289.326033832] [realsense2_camera]: Running with LibRealSense v2.55.1
[component_container_mt-1] [INFO] [1739221289.326805470] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libimage_format_converter_node.so
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/realsense2_camera' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1739221289.328084661] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::ImageFormatConverterNode>
[component_container_mt-1] [INFO] [1739221289.328110784] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::ImageFormatConverterNode>
[component_container_mt-1] [INFO] [1739221289.339894998] [centerpose_encoder.image_format_converter_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1739221289.340907143] [centerpose_encoder.image_format_converter_node]: [ImageFormatConverterNode] Set output data format to: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1739221289.341006715] [centerpose_encoder.image_format_converter_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1739221289.377184915] [centerpose_encoder.image_format_converter_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1739221289.377547615] [centerpose_encoder.image_format_converter_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1739221289.379463843] [centerpose_encoder.image_format_converter_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1739221289.429707895] [realsense2_camera]: Device with serial number 250122070375 was found.
[component_container_mt-1]
[component_container_mt-1] [INFO] [1739221289.429884015] [realsense2_camera]: Device with physical ID 2-1.4.4.2-11 was found.
[component_container_mt-1] [INFO] [1739221289.429891746] [realsense2_camera]: Device with name Intel RealSense D435 was found.
[component_container_mt-1] [INFO] [1739221289.430020197] [realsense2_camera]: Device with port number 2-1.4.4.2 was found.
[component_container_mt-1] [INFO] [1739221289.430026930] [realsense2_camera]: Device USB type: 3.2
[component_container_mt-1] [INFO] [1739221289.431061509] [realsense2_camera]: getParameters...
[component_container_mt-1] [INFO] [1739221289.431346742] [realsense2_camera]: JSON file is not provided
[component_container_mt-1] [INFO] [1739221289.431364976] [realsense2_camera]: Device Name: Intel RealSense D435
[component_container_mt-1] [INFO] [1739221289.431373940] [realsense2_camera]: Device Serial No: 250122070375
[component_container_mt-1] [INFO] [1739221289.431381357] [realsense2_camera]: Device physical port: 2-1.4.4.2-11
[component_container_mt-1] [INFO] [1739221289.431389619] [realsense2_camera]: Device FW version: 5.13.0.55
[component_container_mt-1] [INFO] [1739221289.431396820] [realsense2_camera]: Device Product ID: 0x0B07
[component_container_mt-1] [INFO] [1739221289.431403451] [realsense2_camera]: Sync Mode: Off
[component_container_mt-1] [INFO] [1739221289.434962253] [centerpose_encoder.image_format_converter_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1739221289.441849146] [centerpose_encoder.image_format_converter_node]: [NitrosPublisherSubscriberGroup] Pinning the component "sink/sink" (type="nvidia::isaac_ros::MessageRelay") to use its compatible format only: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1739221289.442922915] [centerpose_encoder.image_format_converter_node]: [NitrosNode] Starting negotiation...
[component_container_mt-1] [INFO] [1739221289.443199157] [centerpose_encoder.resize_node]: Negotiating
[component_container_mt-1] [INFO] [1739221289.443272665] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libtriton_node.so
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/centerpose_encoder/image_format_converter_node' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1739221289.447409333] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::TritonNode>
[component_container_mt-1] [INFO] [1739221289.447444323] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::TritonNode>
[component_container_mt-1] [INFO] [1739221289.450153655] [centerpose_inference]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1739221289.450410812] [centerpose_inference]: [TritonNode] Set input data format to: "nitros_tensor_list_nchw_rgb_f32"
[component_container_mt-1] [INFO] [1739221289.450428969] [centerpose_inference]: [TritonNode] Set output data format to: "nitros_tensor_list_nhwc_rgb_f32"
[component_container_mt-1] [INFO] [1739221289.450462233] [centerpose_inference]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1739221289.453970151] [centerpose_inference]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1739221289.454058784] [centerpose_inference]: [NitrosContext] Loading extension: gxf/lib/serialization/libgxf_serialization.so
[component_container_mt-1] [INFO] [1739221289.454723241] [centerpose_inference]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_triton.so
[component_container_mt-1] [INFO] [1739221289.479194882] [centerpose_inference]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1739221289.481233699] [centerpose_inference]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1739221289.573398875] [centerpose_inference]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1739221289.582775973] [centerpose_inference]: [NitrosPublisherSubscriberGroup] Pinning the component "triton_request/input" (type="nvidia::gxf::DoubleBufferReceiver") to use its compatible format only: "nitros_tensor_list_nchw_rgb_f32"
[component_container_mt-1] [INFO] [1739221289.585963143] [centerpose_inference]: [NitrosPublisherSubscriberGroup] Pinning the component "sink/sink" (type="nvidia::isaac_ros::MessageRelay") to use its compatible format only: "nitros_tensor_list_nhwc_rgb_f32"
[component_container_mt-1] [INFO] [1739221289.586270324] [centerpose_inference]: [NitrosNode] Starting negotiation...
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/centerpose_inference' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1739221289.586663632] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libcrop_node.so
[component_container_mt-1] [INFO] [1739221289.588163973] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::CropNode>
[component_container_mt-1] [INFO] [1739221289.588182309] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::CropNode>
[component_container_mt-1] [INFO] [1739221289.590424827] [centerpose_encoder.crop_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1739221289.590716813] [centerpose_encoder.crop_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1739221289.598196334] [centerpose_encoder.crop_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1739221289.598303507] [centerpose_encoder.crop_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1739221289.600783361] [centerpose_encoder.crop_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1739221289.636305854] [centerpose_encoder.crop_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1739221289.641983510] [centerpose_encoder.crop_node]: [NitrosNode] Starting negotiation...
[component_container_mt-1] [INFO] [1739221289.642705347] [centerpose_encoder.resize_node]: Negotiating
[component_container_mt-1] [INFO] [1739221289.642736099] [centerpose_encoder.image_format_converter_node]: Negotiating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/centerpose_encoder/crop_node' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1739221289.642972713] [centerpose_encoder.resize_node]: Negotiating
[component_container_mt-1] [INFO] [1739221289.643120004] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libcenterpose_decoder_node.so
[component_container_mt-1] [INFO] [1739221289.643224078] [centerpose_encoder.crop_node]: Negotiating
[component_container_mt-1] [INFO] [1739221289.643243477] [centerpose_encoder.crop_node]: Could not negotiate
[component_container_mt-1] [INFO] [1739221289.643255194] [centerpose_encoder.crop_node]: Negotiating
[component_container_mt-1] [INFO] [1739221289.643261354] [centerpose_encoder.crop_node]: Could not negotiate
[component_container_mt-1] [INFO] [1739221289.650746363] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::centerpose::CenterPoseDecoderNode>
[component_container_mt-1] [INFO] [1739221289.650779151] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::centerpose::CenterPoseDecoderNode>
[component_container_mt-1] [INFO] [1739221289.654331568] [centerpose_decoder_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1739221289.654680637] [centerpose_decoder_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1739221289.657318941] [centerpose_decoder_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1739221289.657422662] [centerpose_decoder_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_centerpose.so
[component_container_mt-1] [INFO] [1739221289.659157118] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_messages.so
[component_container_mt-1] [INFO] [1739221289.659638367] [centerpose_decoder_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1739221289.660708847] [centerpose_decoder_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1739221289.665662714] [centerpose_decoder_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1739221289.669474532] [centerpose_decoder_node]: [NitrosNode] Starting negotiation...
[component_container_mt-1] [INFO] [1739221289.669870887] [centerpose_inference]: Negotiating
[component_container_mt-1] [INFO] [1739221289.669908489] [centerpose_inference]: Could not negotiate
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/centerpose_decoder_node' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1739221289.670151444] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libimage_to_tensor_node.so
[component_container_mt-1] [INFO] [1739221289.708028450] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::ImageToTensorNode>
[component_container_mt-1] [INFO] [1739221289.708086598] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::ImageToTensorNode>
[component_container_mt-1] [INFO] [1739221289.712385650] [centerpose_encoder.image_to_tensor.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1739221289.712451708] [centerpose_encoder.crop_node]: Negotiating
[component_container_mt-1] [INFO] [1739221289.712534030] [centerpose_encoder.resize_node]: Negotiating
[component_container_mt-1] [INFO] [1739221289.712537365] [centerpose_encoder.image_format_converter_node]: Negotiating
[component_container_mt-1] [INFO] [1739221289.713221963] [centerpose_encoder.image_to_tensor.ManagedNitrosPublisher]: Starting Managed Nitros Publisher
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/centerpose_encoder/image_to_tensor' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1739221289.821173606] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libcenterpose_visualizer_node.so
[component_container_mt-1] [INFO] [1739221289.822944458] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::centerpose::CenterPoseVisualizerNode>
[component_container_mt-1] [INFO] [1739221289.822968729] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::centerpose::CenterPoseVisualizerNode>
[component_container_mt-1] [INFO] [1739221289.825851917] [centerpose_visualizer]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1739221289.826073905] [centerpose_visualizer]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1739221289.829074333] [centerpose_visualizer]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1739221289.829243181] [centerpose_visualizer]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1739221289.830074419] [centerpose_visualizer]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1739221289.833259576] [centerpose_visualizer]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1739221289.835950820] [centerpose_visualizer]: [NitrosNode] Starting negotiation...
[component_container_mt-1] [INFO] [1739221289.836385978] [centerpose_decoder_node]: Negotiating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/centerpose_visualizer' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1739221289.836559949] [centerpose_inference]: Negotiating
[component_container_mt-1] [INFO] [1739221289.836583965] [centerpose_inference]: Could not negotiate
[component_container_mt-1] [INFO] [1739221289.836698677] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libimage_tensor_normalize_node.so
[component_container_mt-1] [INFO] [1739221289.837916310] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::ImageTensorNormalizeNode>
[component_container_mt-1] [INFO] [1739221289.837936562] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::ImageTensorNormalizeNode>
[component_container_mt-1] [INFO] [1739221289.841657352] [centerpose_encoder.normalize_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1739221289.841786100] [centerpose_encoder.image_to_tensor]: Negotiating
[component_container_mt-1] [INFO] [1739221289.841811297] [centerpose_encoder.image_to_tensor]: Could not negotiate
[component_container_mt-1] [INFO] [1739221289.842269256] [centerpose_encoder.normalize_node.ManagedNitrosPublisher]: Starting Managed Nitros Publisher
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/centerpose_encoder/normalize_node' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1739221289.846000783] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libinterleaved_to_planar_node.so
[component_container_mt-1] [INFO] [1739221289.847089931] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::InterleavedToPlanarNode>
[component_container_mt-1] [INFO] [1739221289.847123206] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::InterleavedToPlanarNode>
[component_container_mt-1] [INFO] [1739221289.851060364] [centerpose_encoder.interleaved_to_planar_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1739221289.851479733] [centerpose_encoder.interleaved_to_planar_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1739221289.855179298] [centerpose_encoder.interleaved_to_planar_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1739221289.855261955] [centerpose_encoder.interleaved_to_planar_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1739221289.856249428] [centerpose_encoder.interleaved_to_planar_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1739221289.859277249] [centerpose_encoder.interleaved_to_planar_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1739221289.861631196] [centerpose_encoder.interleaved_to_planar_node]: [NitrosNode] Starting negotiation...
[component_container_mt-1] [INFO] [1739221289.862040196] [centerpose_encoder.normalize_node]: Negotiating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/centerpose_encoder/interleaved_to_planar_node' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1739221289.863774464] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libreshape_node.so
[component_container_mt-1] [INFO] [1739221289.865720396] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::ReshapeNode>
[component_container_mt-1] [INFO] [1739221289.865745424] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::ReshapeNode>
[component_container_mt-1] [INFO] [1739221289.870185565] [centerpose_encoder.reshape_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1739221289.870674823] [centerpose_encoder.reshape_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1739221289.875351073] [centerpose_encoder.reshape_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1739221289.875455910] [centerpose_encoder.reshape_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1739221289.877007451] [centerpose_encoder.reshape_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1739221289.882280805] [centerpose_encoder.reshape_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1739221289.884822231] [centerpose_encoder.reshape_node]: [NitrosNode] Starting negotiation...
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/centerpose_encoder/reshape_node' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1739221289.885323107] [centerpose_encoder.interleaved_to_planar_node]: Negotiating
[component_container_mt-1] [INFO] [1739221289.885552421] [centerpose_encoder.normalize_node]: Negotiating
[component_container_mt-1] [WARN] [1739221289.937140868] [realsense2_camera]: re-enable the stream for the change to take effect.
[component_container_mt-1] [INFO] [1739221289.941092436] [realsense2_camera]: Stopping Sensor: RGB Camera
[component_container_mt-1] [INFO] [1739221289.955260635] [centerpose_encoder.reshape_node]: Negotiating
[component_container_mt-1] [INFO] [1739221289.955448464] [centerpose_encoder.interleaved_to_planar_node]: Negotiating
[component_container_mt-1] [INFO] [1739221289.955561947] [centerpose_encoder.normalize_node]: Negotiating
[component_container_mt-1] [INFO] [1739221289.964882365] [realsense2_camera]: Starting Sensor: RGB Camera
[component_container_mt-1] [INFO] [1739221289.972767153] [realsense2_camera]: Open profile: stream_type: Color(0), Format: RGB8, Width: 640, Height: 480, FPS: 15
[component_container_mt-1] [INFO] [1739221289.973582995] [realsense2_camera]: RealSense Node Is Up!
[component_container_mt-1] [INFO] [1739221290.232037496] [centerpose_encoder.resize_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1739221290.232087742] [centerpose_encoder.resize_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1739221290.232098925] [centerpose_encoder.resize_node]: [NitrosPublisher] Use the negotiated data format: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1739221290.232105322] [centerpose_encoder.resize_node]: [NitrosPublisher] Use the negotiated data format: "nitros_camera_info"
[component_container_mt-1] [INFO] [1739221290.232109999] [centerpose_encoder.resize_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1739221290.232114928] [centerpose_encoder.resize_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/image_rect", data_format="nitros_image_rgb8"
[component_container_mt-1] [INFO] [1739221290.232119899] [centerpose_encoder.resize_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1739221290.232123325] [centerpose_encoder.resize_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/camera_info_rect", data_format="nitros_camera_info"
[component_container_mt-1] [INFO] [1739221290.232228137] [centerpose_encoder.resize_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1739221290.239085472] [centerpose_encoder.resize_node]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/ZMGQEKGXMU/ZMGQEKGXMU.yaml"
[component_container_mt-1] [INFO] [1739221290.239141681] [centerpose_encoder.resize_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1739221290.241150432] [centerpose_encoder.resize_node]: [ResizeNode] postLoadGraphCallback().
[component_container_mt-1] [INFO] [1739221290.241218140] [centerpose_encoder.resize_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1739221290.250852321] [centerpose_encoder.resize_node]: [NitrosNode] Node was started
[component_container_mt-1] 10/02 16:01:30,299 WARNING [127680408192576] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-1] [INFO] [1739221290.443590883] [centerpose_encoder.image_format_converter_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1739221290.443653657] [centerpose_encoder.image_format_converter_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1739221290.443663275] [centerpose_encoder.image_format_converter_node]: [NitrosPublisher] Use the negotiated data format: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1739221290.443674500] [centerpose_encoder.image_format_converter_node]: [NitrosSubscriber] Use the negotiated data format: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1739221290.443808898] [centerpose_encoder.image_format_converter_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1739221290.453604815] [centerpose_encoder.image_format_converter_node]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/JFVAAKNIDM/JFVAAKNIDM.yaml"
[component_container_mt-1] [INFO] [1739221290.453655214] [centerpose_encoder.image_format_converter_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1739221290.454446036] [centerpose_encoder.image_format_converter_node]: [ImageFormatConverterNode] postLoadGraphCallback().
[component_container_mt-1] [INFO] [1739221290.454509370] [centerpose_encoder.image_format_converter_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1739221290.455471478] [centerpose_encoder.image_format_converter_node]: [NitrosNode] Node was started
[component_container_mt-1] [WARN] [1739221290.552465916] [realsense2_camera]:
[component_container_mt-1] [INFO] [1739221290.587036480] [centerpose_inference]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1739221290.587097155] [centerpose_inference]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1739221290.587105788] [centerpose_inference]: [NitrosSubscriber] Use the negotiated data format: "nitros_tensor_list_nchw_rgb_f32"
[component_container_mt-1] [INFO] [1739221290.587119820] [centerpose_inference]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1739221290.587124548] [centerpose_inference]: [NitrosPublisher] Use only the compatible publisher: topic_name="/tensor_sub", data_format="nitros_tensor_list_nhwc_rgb_f32"
[component_container_mt-1] [INFO] [1739221290.587214488] [centerpose_inference]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1739221290.601568237] [centerpose_inference]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/JSIABNGZDE/JSIABNGZDE.yaml"
[component_container_mt-1] [INFO] [1739221290.601624996] [centerpose_inference]: [NitrosNode] Loading application
[component_container_mt-1] 2025-02-10 16:01:30.602 WARN gxf/std/yaml_file_loader.cpp@1076: Using unregistered parameter 'dummy_rx' in component 'requester'.
[component_container_mt-1] [INFO] [1739221290.602840079] [centerpose_inference]: In TritonNode postLoadGraphCallback().
[component_container_mt-1] [INFO] [1739221290.602921589] [centerpose_inference]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1739221290.642691135] [centerpose_encoder.crop_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1739221290.642740070] [centerpose_encoder.crop_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1739221290.642746891] [centerpose_encoder.crop_node]: [NitrosPublisher] Use the negotiated data format: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1739221290.642752331] [centerpose_encoder.crop_node]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1739221290.642756428] [centerpose_encoder.crop_node]: [NitrosPublisher] Use only the compatible publisher: topic_name="/centerpose_encoder/crop/camera_info", data_format="nitros_camera_info"
[component_container_mt-1] [INFO] [1739221290.642762051] [centerpose_encoder.crop_node]: [NitrosSubscriber] Use the negotiated data format: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1739221290.642785373] [centerpose_encoder.crop_node]: [NitrosSubscriber] Use the negotiated data format: "nitros_camera_info"
[component_container_mt-1] [INFO] [1739221290.642868755] [centerpose_encoder.crop_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1739221290.670213470] [centerpose_decoder_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1739221290.670278216] [centerpose_decoder_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1739221290.670288925] [centerpose_decoder_node]: [NitrosPublisher] Use the negotiated data format: "nitros_detection3_d_array"
[component_container_mt-1] [INFO] [1739221290.670296941] [centerpose_decoder_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1739221290.670301441] [centerpose_decoder_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/tensor_sub", data_format="nitros_tensor_list_nchw_rgb_f32"
[component_container_mt-1] [INFO] [1739221290.670306532] [centerpose_decoder_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1739221290.670310087] [centerpose_decoder_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/camera_info_rect", data_format="nitros_camera_info"
[component_container_mt-1] [INFO] [1739221290.670419258] [centerpose_decoder_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1739221290.672924154] [centerpose_decoder_node]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/OQNCSVHVOG/OQNCSVHVOG.yaml"
[component_container_mt-1] [INFO] [1739221290.672982023] [centerpose_decoder_node]: [NitrosNode] Loading application
[component_container_mt-1] WARNING: infer_trtis_server.cpp:1217 NvDsTritonServerInit suggest to set model_control_mode:none. otherwise may cause unknow issues.
[component_container_mt-1] I0210 21:01:30.683645 73944 pinned_memory_manager.cc:277] "Pinned memory pool is created at '0x741e06000000' with size 268435456"
[component_container_mt-1] I0210 21:01:30.687045 73944 cuda_memory_manager.cc:107] "CUDA memory pool is created on device 0 with size 67108864"
[component_container_mt-1] I0210 21:01:30.690507 73944 server.cc:604]
[component_container_mt-1] +------------------+------+
[component_container_mt-1] | Repository Agent | Path |
[component_container_mt-1] +------------------+------+
[component_container_mt-1] +------------------+------+
[component_container_mt-1]
[component_container_mt-1] I0210 21:01:30.690530 73944 server.cc:631]
[component_container_mt-1] +---------+------+--------+
[component_container_mt-1] | Backend | Path | Config |
[component_container_mt-1] +---------+------+--------+
[component_container_mt-1] +---------+------+--------+
[component_container_mt-1]
[component_container_mt-1] I0210 21:01:30.690537 73944 server.cc:674]
[component_container_mt-1] +-------+---------+--------+
[component_container_mt-1] | Model | Version | Status |
[component_container_mt-1] +-------+---------+--------+
[component_container_mt-1] +-------+---------+--------+
[component_container_mt-1]
[component_container_mt-1] [INFO] [1739221290.699457587] [centerpose_encoder.crop_node]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/DKKDTEZERQ/DKKDTEZERQ.yaml"
[component_container_mt-1] [INFO] [1739221290.699505779] [centerpose_encoder.crop_node]: [NitrosNode] Loading application
[component_container_mt-1] I0210 21:01:30.717149 73944 metrics.cc:877] "Collecting metrics for GPU 0: NVIDIA GeForce RTX 3080 Laptop GPU"
[component_container_mt-1] I0210 21:01:30.720576 73944 metrics.cc:770] "Collecting CPU metrics"
[component_container_mt-1] I0210 21:01:30.720647 73944 tritonserver.cc:2598]
[component_container_mt-1] +----------------------------------+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
[component_container_mt-1] | Option | Value |
[component_container_mt-1] +----------------------------------+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
[component_container_mt-1] | server_id | triton |
[component_container_mt-1] | server_version | 2.49.0 |
[component_container_mt-1] | server_extensions | classification sequence model_repository model_repository(unload_dependents) schedule_policy model_configuration system_shared_memory cuda_shared_memory binary_tensor_data parameters statistics trace logging |
[component_container_mt-1] | model_repository_path[0] | /workspaces/isaac_ros-dev/isaac_ros_assets/models |
[component_container_mt-1] | model_control_mode | MODE_EXPLICIT |
[component_container_mt-1] | strict_model_config | 1 |
[component_container_mt-1] | model_config_name | |
[component_container_mt-1] | rate_limit | OFF |
[component_container_mt-1] | pinned_memory_pool_byte_size | 268435456 |
[component_container_mt-1] | cuda_memory_pool_byte_size{0} | 67108864 |
[component_container_mt-1] | min_supported_compute_capability | 6.0 |
[component_container_mt-1] | strict_readiness | 1 |
[component_container_mt-1] | exit_timeout | 30 |
[component_container_mt-1] | cache_enabled | 0 |
[component_container_mt-1] +----------------------------------+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
[component_container_mt-1]
[component_container_mt-1] [INFO] [1739221290.720934525] [centerpose_inference]: [NitrosNode] Node was started
[component_container_mt-1] I0210 21:01:30.722859 73944 model_lifecycle.cc:472] "loading: centerpose_mycustomclass:1"
[component_container_mt-1] [INFO] [1739221290.723621864] [centerpose_encoder.crop_node]: [CropNode] postLoadGraphCallback().
[component_container_mt-1] [INFO] [1739221290.723648473] [centerpose_decoder_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1739221290.723688783] [centerpose_encoder.crop_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1739221290.724334618] [centerpose_decoder_node]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1739221290.726513328] [centerpose_encoder.crop_node]: [NitrosNode] Node was started
[component_container_mt-1] I0210 21:01:30.727396 73944 tensorrt.cc:65] "TRITONBACKEND_Initialize: tensorrt"
[component_container_mt-1] I0210 21:01:30.727407 73944 tensorrt.cc:75] "Triton TRITONBACKEND API version: 1.19"
[component_container_mt-1] I0210 21:01:30.727412 73944 tensorrt.cc:81] "'tensorrt' TRITONBACKEND API version: 1.19"
[component_container_mt-1] I0210 21:01:30.727416 73944 tensorrt.cc:105] "backend configuration:\n{\"cmdline\":{\"auto-complete-config\":\"false\",\"backend-directory\":\"/opt/tritonserver/backends\",\"min-compute-capability\":\"6.000000\",\"default-max-batch-size\":\"4\"}}"
[component_container_mt-1] I0210 21:01:30.730561 73944 tensorrt.cc:231] "TRITONBACKEND_ModelInitialize: centerpose_mycustomclass (version 1)"
[component_container_mt-1] I0210 21:01:30.739744 73944 tensorrt.cc:297] "TRITONBACKEND_ModelInstanceInitialize: centerpose_mycustomclass_0 (GPU device 0)"
[component_container_mt-1] [INFO] [1739221290.836590685] [centerpose_visualizer]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1739221290.836645633] [centerpose_visualizer]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1739221290.836653176] [centerpose_visualizer]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1739221290.836658958] [centerpose_visualizer]: [NitrosPublisher] Use only the compatible publisher: topic_name="/centerpose/image_visualized", data_format="nitros_image_bgr8"
[component_container_mt-1] [INFO] [1739221290.836665358] [centerpose_visualizer]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1739221290.836669786] [centerpose_visualizer]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/image_rect", data_format="nitros_image_bgr8"
[component_container_mt-1] [INFO] [1739221290.836675229] [centerpose_visualizer]: [NitrosSubscriber] Use the negotiated data format: "nitros_detection3_d_array"
[component_container_mt-1] [INFO] [1739221290.836680394] [centerpose_visualizer]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1739221290.836683670] [centerpose_visualizer]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/camera_info_rect", data_format="nitros_camera_info"
[component_container_mt-1] [INFO] [1739221290.836777419] [centerpose_visualizer]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1739221290.838091549] [centerpose_visualizer]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/WREAGHWGPJ/WREAGHWGPJ.yaml"
[component_container_mt-1] [INFO] [1739221290.838113968] [centerpose_visualizer]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1739221290.838906143] [centerpose_visualizer]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1739221290.839260682] [centerpose_visualizer]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1739221290.862204669] [centerpose_encoder.interleaved_to_planar_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1739221290.862241982] [centerpose_encoder.interleaved_to_planar_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1739221290.862249653] [centerpose_encoder.interleaved_to_planar_node]: [NitrosPublisher] Use the negotiated data format: "nitros_tensor_list_nchw_rgb_f32"
[component_container_mt-1] [INFO] [1739221290.862256936] [centerpose_encoder.interleaved_to_planar_node]: [NitrosSubscriber] Use the negotiated data format: "nitros_tensor_list_nhwc_rgb_f32"
[component_container_mt-1] [INFO] [1739221290.862335758] [centerpose_encoder.interleaved_to_planar_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1739221290.864140446] [centerpose_encoder.interleaved_to_planar_node]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/CJIUZBWUGI/CJIUZBWUGI.yaml"
[component_container_mt-1] [INFO] [1739221290.864168168] [centerpose_encoder.interleaved_to_planar_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1739221290.865014555] [centerpose_encoder.interleaved_to_planar_node]: In InterleavedToPlanarNode postLoadGraphCallback().
[component_container_mt-1] [INFO] [1739221290.865060078] [centerpose_encoder.interleaved_to_planar_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1739221290.876896226] [centerpose_encoder.interleaved_to_planar_node]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1739221290.885692678] [centerpose_encoder.reshape_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1739221290.885750325] [centerpose_encoder.reshape_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1739221290.885757205] [centerpose_encoder.reshape_node]: [NitrosPublisher] Use the negotiated data format: "nitros_tensor_list_nchw_rgb_f32"
[component_container_mt-1] [INFO] [1739221290.885766238] [centerpose_encoder.reshape_node]: [NitrosSubscriber] Use the negotiated data format: "nitros_tensor_list_nchw_rgb_f32"
[component_container_mt-1] [INFO] [1739221290.885859814] [centerpose_encoder.reshape_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1739221290.888165873] [centerpose_encoder.reshape_node]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/CRYHDQLOEC/CRYHDQLOEC.yaml"
[component_container_mt-1] [INFO] [1739221290.888194915] [centerpose_encoder.reshape_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1739221290.889167397] [centerpose_encoder.reshape_node]: In ReshapeNode postLoadGraphCallback().
[component_container_mt-1] [INFO] [1739221290.889212549] [centerpose_encoder.reshape_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1739221290.890614759] [centerpose_encoder.reshape_node]: [NitrosNode] Node was started
[component_container_mt-1] I0210 21:01:30.947937 73944 logging.cc:46] "Loaded engine size: 152 MiB"
[component_container_mt-1] I0210 21:01:31.023285 73944 logging.cc:46] "[MS] Running engine with multi stream info"
[component_container_mt-1] I0210 21:01:31.023305 73944 logging.cc:46] "[MS] Number of aux streams is 6"
[component_container_mt-1] I0210 21:01:31.023309 73944 logging.cc:46] "[MS] Number of total worker streams is 7"
[component_container_mt-1] I0210 21:01:31.023312 73944 logging.cc:46] "[MS] The main stream provided by execute/enqueue calls is the first worker stream"
[component_container_mt-1] I0210 21:01:31.124269 73944 logging.cc:46] "[MemUsageChange] TensorRT-managed allocation in IExecutionContext creation: CPU +0, GPU +301, now: CPU 0, GPU 442 (MiB)"
[component_container_mt-1] I0210 21:01:31.124598 73944 instance_state.cc:186] "Created instance centerpose_mycustomclass_0 on GPU 0 with stream priority 0 and optimization profile default[0];"
[component_container_mt-1] I0210 21:01:31.124753 73944 model_lifecycle.cc:839] "successfully loaded 'centerpose_mycustomclass'"
[component_container_mt-1] INFO: infer_simple_runtime.cpp:71 TrtISBackend id:208 initialized model: centerpose_mycustomclass
[component_container_mt-1] 2025-02-10 16:01:31.306 WARN extensions/triton/inferencers/triton_inferencer_impl.cpp@508: Incomplete inference; response appeared out of order; invalid: index = 2
[component_container_mt-1] 2025-02-10 16:01:31.306 WARN extensions/triton/inferencers/triton_inferencer_impl.cpp@510: Inference appeared out of order
[component_container_mt-1] 2025-02-10 16:01:31.411 WARN extensions/triton/inferencers/triton_inferencer_impl.cpp@508: Incomplete inference; response appeared out of order; invalid: index = 5
[component_container_mt-1] 2025-02-10 16:01:31.411 WARN extensions/triton/inferencers/triton_inferencer_impl.cpp@510: Inference appeared out of order
[component_container_mt-1] 2025-02-10 16:01:31.458 WARN extensions/triton/inferencers/triton_inferencer_impl.cpp@508: Incomplete inference; response appeared out of order; invalid: index = 6
[component_container_mt-1] 2025-02-10 16:01:31.458 WARN extensions/triton/inferencers/triton_inferencer_impl.cpp@510: Inference appeared out of order
[component_container_mt-1] 2025-02-10 16:01:31.633 WARN extensions/triton/inferencers/triton_inferencer_impl.cpp@508: Incomplete inference; response appeared out of order; invalid: index = 1
[component_container_mt-1] 2025-02-10 16:01:31.633 WARN extensions/triton/inferencers/triton_inferencer_impl.cpp@510: Inference appeared out of order
[component_container_mt-1] W0210 21:01:31.722382 73944 metrics.cc:631] "Unable to get power limit for GPU 0. Status:Success, value:0.000000"
[component_container_mt-1] W0210 21:01:32.726401 73944 metrics.cc:631] "Unable to get power limit for GPU 0. Status:Success, value:0.000000"
[component_container_mt-1] W0210 21:01:33.726751 73944 metrics.cc:631] "Unable to get power limit for GPU 0. Status:Success, value:0.000000"
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[component_container_mt-1] [INFO] [1739221330.254495409] [rclcpp]: signal_handler(signum=2)
[component_container_mt-1] [INFO] [1739221330.257616623] [centerpose_encoder.reshape_node]: [NitrosNode] Terminating the running application
[component_container_mt-1] [INFO] [1739221330.257625294] [centerpose_encoder.reshape_node]: [NitrosContext] Interrupting GXF...
[component_container_mt-1] [INFO] [1739221330.257748407] [centerpose_encoder.reshape_node]: [NitrosContext] Waiting on GXF...
[component_container_mt-1] [INFO] [1739221330.257752832] [centerpose_encoder.reshape_node]: [NitrosContext] Deinitializing...
[component_container_mt-1] [INFO] [1739221330.258027108] [centerpose_encoder.reshape_node]: [NitrosContext] Destroying context
[component_container_mt-1] [INFO] [1739221330.258083766] [centerpose_encoder.reshape_node]: [NitrosNode] Application termination done
======================================================================================|------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-1] |==================================================================================================================================================================|
[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] | WREAGHWGPJ_sink | 590 | 0.02 | 0.03 | 0.11 | 0.0 % | 14.0 | 21395 | 90060 | 158855 |
[component_container_mt-1] | WREAGHWGPJ_centerpose_visualizer | 591 | 0.25 | 0.28 | 35.93 | 0.9 % | 365.1 | 18120 | 69008 | 9696552 |
[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] | WREAGHWGPJ_sink | StopPending | 1 | 0.00276 | 0.00276 | 0.00276 |
[component_container_mt-1] | WREAGHWGPJ_sink | Idle | 590 | 66.73193 | 67.48820 | 100.45667 |
[component_container_mt-1] | WREAGHWGPJ_sink | Ticking | 590 | 0.01044 | 0.01427 | 0.08840 |
[component_container_mt-1] | WREAGHWGPJ_sink | TickPending | 590 | 0.00497 | 0.00771 | 0.03538 |
[component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-1] | WREAGHWGPJ_centerpose_v | StopPending | 1 | 0.00484 | 0.00484 | 0.00484 |
[component_container_mt-1] | WREAGHWGPJ_centerpose_v | Idle | 591 | 66.53276 | 66.72739 | 100.00126 |
[component_container_mt-1] | WREAGHWGPJ_centerpose_v | Ticking | 591 | 0.23070 | 0.25760 | 35.90164 |
[component_container_mt-1] | WREAGHWGPJ_centerpose_v | TickPending | 591 | 0.01146 | 0.01322 | 0.07395 |
[component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-1] |==================================================================================================================================================================|
[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] | OQNCSVHVOG_sink | 591 | 0.03 | 0.04 | 0.09 | 0.0 % | 15.1 | 28710 | 112335 | 308013 |
[component_container_mt-1] | OQNCSVHVOG_centerpose_decoder_to_isaac | 591 | 0.07 | 0.08 | 0.37 | 0.1 % | 44.7 | 40509 | 110362 | 147809 |
[component_container_mt-1] | OQNCSVHVOG_centerpose_decoder | 591 | 0.18 | 0.21 | 24.61 | 0.5 % | 175.0 | 29482 | 87362 | 2492984 |
[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] | OQNCSVHVOG_sink | StopPending | 1 | 0.00243 | 0.00243 | 0.00243 |
[component_container_mt-1] | OQNCSVHVOG_sink | Idle | 591 | 66.77549 | 67.85348 | 100.76833 |
[component_container_mt-1] | OQNCSVHVOG_sink | Ticking | 591 | 0.01356 | 0.01575 | 0.04733 |
[component_container_mt-1] | OQNCSVHVOG_sink | TickPending | 591 | 0.00797 | 0.01367 | 0.04579 |
[component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-1] | OQNCSVHVOG_centerpose_d | StopPending | 1 | 0.00356 | 0.00356 | 0.00356 |
[component_container_mt-1] | OQNCSVHVOG_centerpose_d | Idle | 591 | 66.72070 | 67.78604 | 100.63837 |
[component_container_mt-1] | OQNCSVHVOG_centerpose_d | Ticking | 591 | 0.05572 | 0.06314 | 0.34985 |
[component_container_mt-1] | OQNCSVHVOG_centerpose_d | TickPending | 591 | 0.00876 | 0.00996 | 0.02812 |
[component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-1] | OQNCSVHVOG_centerpose_d | StopPending | 1 | 0.00490 | 0.00490 | 0.00490 |
[component_container_mt-1] | OQNCSVHVOG_centerpose_d | Idle | 591 | 66.59292 | 67.67614 | 98.37463 |
[component_container_mt-1] | OQNCSVHVOG_centerpose_d | Ticking | 591 | 0.16108 | 0.17554 | 24.57759 |
[component_container_mt-1] | OQNCSVHVOG_centerpose_d | TickPending | 591 | 0.01022 | 0.01936 | 0.05962 |
[component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] 2025-02-10 16:02:10.281 WARN gxf/std/double_buffer_receiver.cpp@40: Unprocessed num of message 11 in queue: DKKDTEZERQ_crop_and_resizer:bbox_receiver
[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] | DKKDTEZERQ_camera_info_sink | 592 | 0.02 | 0.03 | 0.07 | 0.0 % | 15.3 | 12805 | 40896 | 144203 |
[component_container_mt-1] | DKKDTEZERQ_image_sink | 592 | 0.02 | 0.04 | 0.15 | 0.0 % | 14.6 | 20797 | 38894 | 154958 |
[component_container_mt-1] | DKKDTEZERQ_splitter | 592 | 0.06 | 0.08 | 0.17 | 0.1 % | 40.8 | 16623 | 62712 | 127204 |
[component_container_mt-1] | DKKDTEZERQ_crop_and_resizer | 592 | 0.04 | 0.05 | 0.09 | 0.1 % | 25.1 | 29849 | 96838 | 150778 |
[component_container_mt-1] | DKKDTEZERQ_input_compositor | 592 | 0.06 | 0.07 | 0.14 | 0.1 % | 37.8 | 15845 | 33309 | 146838 |
[component_container_mt-1] | DKKDTEZERQ_bbox | 604 | 0.05 | 0.07 | 0.17 | 0.1 % | 33.4 | 13937 | 25786 | 2826219 |
[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] | DKKDTEZERQ_camera_info_ | StopPending | 1 | 0.00241 | 0.00241 | 0.00241 |
[component_container_mt-1] | DKKDTEZERQ_camera_info_ | Idle | 592 | 66.70375 | 67.67208 | 108.88422 |
[component_container_mt-1] | DKKDTEZERQ_camera_info_ | Ticking | 592 | 0.01145 | 0.01783 | 0.04607 |
[component_container_mt-1] | DKKDTEZERQ_camera_info_ | TickPending | 592 | 0.00669 | 0.01047 | 0.02865 |
[component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-1] | DKKDTEZERQ_image_sink | StopPending | 1 | 0.00194 | 0.00194 | 0.00194 |
[component_container_mt-1] | DKKDTEZERQ_image_sink | Idle | 592 | 66.70643 | 67.66310 | 108.90712 |
[component_container_mt-1] | DKKDTEZERQ_image_sink | Ticking | 592 | 0.01008 | 0.02371 | 0.13559 |
[component_container_mt-1] | DKKDTEZERQ_image_sink | TickPending | 592 | 0.00409 | 0.01073 | 0.02929 |
[component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-1] | DKKDTEZERQ_splitter | StopPending | 1 | 0.00305 | 0.00305 | 0.00305 |
[component_container_mt-1] | DKKDTEZERQ_splitter | Idle | 592 | 66.71454 | 67.67368 | 108.84765 |
[component_container_mt-1] | DKKDTEZERQ_splitter | Ticking | 592 | 0.05037 | 0.06334 | 0.15516 |
[component_container_mt-1] | DKKDTEZERQ_splitter | TickPending | 592 | 0.00546 | 0.01018 | 0.02820 |
[component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-1] | DKKDTEZERQ_crop_and_res | StopPending | 1 | 0.00278 | 0.00278 | 0.00278 |
[component_container_mt-1] | DKKDTEZERQ_crop_and_res | Idle | 592 | 66.69544 | 67.68563 | 108.91395 |
[component_container_mt-1] | DKKDTEZERQ_crop_and_res | Ticking | 592 | 0.02224 | 0.02949 | 0.05876 |
[component_container_mt-1] | DKKDTEZERQ_crop_and_res | TickPending | 592 | 0.01103 | 0.01336 | 0.04376 |
[component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-1] | DKKDTEZERQ_input_compos | StopPending | 1 | 0.00454 | 0.00454 | 0.00454 |
[component_container_mt-1] | DKKDTEZERQ_input_compos | Idle | 592 | 66.74619 | 67.79883 | 108.91213 |
[component_container_mt-1] | DKKDTEZERQ_input_compos | Ticking | 592 | 0.04407 | 0.05632 | 0.10428 |
[component_container_mt-1] | DKKDTEZERQ_input_compos | TickPending | 592 | 0.00846 | 0.01095 | 0.04924 |
[component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-1] | DKKDTEZERQ_bbox | StopPending | 1 | 0.00270 | 0.00270 | 0.00270 |
[component_container_mt-1] | DKKDTEZERQ_bbox | Idle | 604 | 66.74247 | 67.66487 | 108.88184 |
[component_container_mt-1] | DKKDTEZERQ_bbox | Ticking | 604 | 0.04068 | 0.06114 | 0.14403 |
[component_container_mt-1] | DKKDTEZERQ_bbox | TickPending | 604 | 0.00392 | 0.00645 | 0.03225 |
[component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-1] |==================================================================================================================================================================|
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) again, ignoring...
[component_container_mt-1] [INFO] [1739221330.990006718] [rclcpp]: signal_handler(signum=2)
[component_container_mt-1] I0210 21:02:11.289728 73944 server.cc:345] "Timeout 29: Found 0 live models and 0 in-flight non-inference requests"
[component_container_mt-1] [INFO] [1739221331.312994617] [centerpose_inference]: [NitrosNode] Application termination done
[component_container_mt-1] [INFO] [1739221331.320007648] [centerpose_encoder.image_format_converter_node]: [NitrosNode] Terminating the running application
[component_container_mt-1] [INFO] [1739221331.320019381] [centerpose_encoder.image_format_converter_node]: [NitrosContext] Interrupting GXF...
[component_container_mt-1] [INFO] [1739221331.320192371] [centerpose_encoder.image_format_converter_node]: [NitrosContext] Waiting on GXF...
[component_container_mt-1] [INFO] [1739221331.320195157] [centerpose_encoder.image_format_converter_node]: [NitrosContext] Deinitializing...
[component_container_mt-1] [INFO] [1739221331.320686418] [centerpose_encoder.image_format_converter_node]: [NitrosContext] Destroying context
[component_container_mt-1] [INFO] [1739221331.320754173] [centerpose_encoder.image_format_converter_node]: [NitrosNode] Application termination done
[component_container_mt-1] [INFO] [1739221331.325118794] [realsense2_camera]: Stop Sensor: RGB Camera
[component_container_mt-1] [INFO] [1739221331.325130494] [realsense2_camera]: Close Sensor.
[component_container_mt-1] [INFO] [1739221332.001993877] [realsense2_camera]: Close Sensor - Done.
[component_container_mt-1] [INFO] [1739221333.564996914] [centerpose_encoder.resize_node]: [NitrosNode] Terminating the running application
[component_container_mt-1] [INFO] [1739221333.565008207] [centerpose_encoder.resize_node]: [NitrosContext] Interrupting GXF...
[component_container_mt-1] [INFO] [1739221333.565281745] [centerpose_encoder.resize_node]: [NitrosContext] Waiting on GXF...
[component_container_mt-1] [INFO] [1739221333.565285278] [centerpose_encoder.resize_node]: [NitrosContext] Deinitializing...
[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] | JFVAAKNIDM_sink | 596 | 0.02 | 0.03 | 0.08 | 0.0 % | 13.5 | 8224 | 77824 | 147252 |
[component_container_mt-1] | JFVAAKNIDM_imageConverter | 596 | 0.03 | 0.04 | 0.12 | 0.0 % | 18.2 | 22447 | 52278 | 142550 |
[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] | JFVAAKNIDM_sink | StopPending | 1 | 0.00435 | 0.00435 | 0.00435 |
[component_container_mt-1] | JFVAAKNIDM_sink | Idle | 596 | 66.62061 | 67.06029 | 1102.34630 |
[component_container_mt-1] | JFVAAKNIDM_sink | Ticking | 596 | 0.01145 | 0.01615 | 0.04482 |
[component_container_mt-1] | JFVAAKNIDM_sink | TickPending | 596 | 0.00460 | 0.00841 | 0.03740 |
[component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-1] | JFVAAKNIDM_imageConvert | StopPending | 1 | 0.01104 | 0.01104 | 0.01104 |
[component_container_mt-1] | JFVAAKNIDM_imageConvert | Idle | 596 | 66.62416 | 67.04506 | 1102.47108 |
[component_container_mt-1] | JFVAAKNIDM_imageConvert | Ticking | 596 | 0.01359 | 0.01828 | 0.11120 |
[component_container_mt-1] | JFVAAKNIDM_imageConvert | TickPending | 596 | 0.00805 | 0.01039 | 0.03589 |
[component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-1] |==================================================================================================================================================================|
[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] | ZMGQEKGXMU_camera_info_sink | 596 | 0.02 | 0.03 | 0.19 | 0.0 % | 13.0 | 7460 | 25108 | 198994 |
[component_container_mt-1] | ZMGQEKGXMU_image_sink | 596 | 0.02 | 0.02 | 0.18 | 0.0 % | 14.4 | 5797 | 7389 | 103247 |
[component_container_mt-1] | ZMGQEKGXMU_splitter | 596 | 0.05 | 0.06 | 0.21 | 0.1 % | 37.9 | 6796 | 10536 | 147822 |
[component_container_mt-1] | ZMGQEKGXMU_streamsync | 596 | 0.07 | 0.08 | 12.52 | 0.2 % | 68.0 | 6212 | 14046 | 174328 |
[component_container_mt-1] | ZMGQEKGXMU_imageResizer | 596 | 0.12 | 0.14 | 7.85 | 0.2 % | 92.0 | 9187 | 20901 | 126711 |
[component_container_mt-1] | ZMGQEKGXMU_input_compositor | 596 | 0.09 | 0.10 | 0.21 | 0.1 % | 55.5 | 19591 | 45694 | 146006 |
[component_container_mt-1] | ZMGQEKGXMU_sync | 596 | 0.04 | 0.06 | 0.09 | 0.1 % | 29.5 | 24213 | 48347 | 147398 |
[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] | ZMGQEKGXMU_camera_info_ | StopPending | 1 | 0.00222 | 0.00222 | 0.00222 |
[component_container_mt-1] | ZMGQEKGXMU_camera_info_ | Idle | 596 | 66.65619 | 67.02170 | 3348.02535 |
[component_container_mt-1] | ZMGQEKGXMU_camera_info_ | Ticking | 596 | 0.01097 | 0.01559 | 0.12040 |
[component_container_mt-1] | ZMGQEKGXMU_camera_info_ | TickPending | 596 | 0.00316 | 0.00369 | 0.02647 |
[component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-1] | ZMGQEKGXMU_image_sink | StopPending | 1 | 0.00283 | 0.00283 | 0.00283 |
[component_container_mt-1] | ZMGQEKGXMU_image_sink | Idle | 596 | 66.66217 | 67.01967 | 3348.02047 |
[component_container_mt-1] | ZMGQEKGXMU_image_sink | Ticking | 596 | 0.01141 | 0.01398 | 0.15463 |
[component_container_mt-1] | ZMGQEKGXMU_image_sink | TickPending | 596 | 0.00438 | 0.00792 | 0.02958 |
[component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-1] | ZMGQEKGXMU_splitter | StopPending | 1 | 0.00304 | 0.00304 | 0.00304 |
[component_container_mt-1] | ZMGQEKGXMU_splitter | Idle | 596 | 66.62930 | 66.98543 | 3348.04329 |
[component_container_mt-1] | ZMGQEKGXMU_splitter | Ticking | 596 | 0.04487 | 0.05740 | 0.19876 |
[component_container_mt-1] | ZMGQEKGXMU_splitter | TickPending | 596 | 0.00471 | 0.00544 | 0.03981 |
[component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-1] | ZMGQEKGXMU_streamsync | StopPending | 1 | 0.00290 | 0.00290 | 0.00290 |
[component_container_mt-1] | ZMGQEKGXMU_streamsync | Idle | 596 | 66.67115 | 66.97693 | 3348.10540 |
[component_container_mt-1] | ZMGQEKGXMU_streamsync | Ticking | 596 | 0.04848 | 0.07114 | 12.50004 |
[component_container_mt-1] | ZMGQEKGXMU_streamsync | TickPending | 596 | 0.00417 | 0.00843 | 0.03318 |
[component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-1] | ZMGQEKGXMU_imageResizer | StopPending | 1 | 0.00318 | 0.00318 | 0.00318 |
[component_container_mt-1] | ZMGQEKGXMU_imageResizer | Idle | 596 | 66.61174 | 66.85692 | 3348.24979 |
[component_container_mt-1] | ZMGQEKGXMU_imageResizer | Ticking | 596 | 0.10641 | 0.12662 | 7.81051 |
[component_container_mt-1] | ZMGQEKGXMU_imageResizer | TickPending | 596 | 0.00798 | 0.01626 | 0.03747 |
[component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-1] | ZMGQEKGXMU_input_compos | StopPending | 1 | 0.00381 | 0.00381 | 0.00381 |
[component_container_mt-1] | ZMGQEKGXMU_input_compos | Idle | 596 | 66.64301 | 66.82423 | 3348.37176 |
[component_container_mt-1] | ZMGQEKGXMU_input_compos | Ticking | 596 | 0.06857 | 0.08226 | 0.20369 |
[component_container_mt-1] | ZMGQEKGXMU_input_compos | TickPending | 596 | 0.00763 | 0.01306 | 0.04108 |
[component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-1] | ZMGQEKGXMU_sync | StopPending | 1 | 0.00859 | 0.00859 | 0.00859 |
[component_container_mt-1] | ZMGQEKGXMU_sync | Idle | 596 | 66.68090 | 66.83311 | 3348.45048 |
[component_container_mt-1] [INFO] [1739221333.565971220] [centerpose_encoder.resize_node]: [NitrosContext] Destroying context
[component_container_mt-1] [INFO] [1739221333.566100322] [centerpose_encoder.resize_node]: [NitrosNode] Application termination done
[component_container_mt-1] | ZMGQEKGXMU_sync | Ticking | 596 | 0.02683 | 0.03372 | 0.05393 |
[component_container_mt-1] | ZMGQEKGXMU_sync | TickPending | 596 | 0.01194 | 0.01629 | 0.04534 |
[component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-1] |==================================================================================================================================================================|
[INFO] [component_container_mt-1]: process has finished cleanly [pid 73944]
[2]+ Killed ros2 launch isaac_ros_examples isaac_ros_examples.launch.py launch_fragments:=realsense_mono_rect,centerpose,centerpose_visualizer model_name:=centerpose_shoe model_repository_paths:=[${ISAAC_ROS_WS}/isaac_ros_assets/models]
admin@DOS:/workspaces/isaac_ros-dev$
When running the admin@DOS:/workspaces/isaac_ros-dev$ ros2 launch isaac_ros_examples isaac_ros_examples.launch.py launch_fragments:=realsense_mono_rect,centerpose,centerpose_visualizer model_name:=centerpose_mycustomclass model_repository_paths:=[${ISAAC_ROS_WS}/isaac_ros_assets/models] command, I open another terminal following instructions:
2025-02-10 15:41:40 [mona@DOS isaac_ros_common]$ ./scripts/run_dev.sh
Attaching to running container: isaac_ros_dev-x86_64-container
Docker workspace: /workspaces/isaac_ros-dev
admin@DOS:/workspaces/isaac_ros-dev$ ros2 run rqt_image_view rqt_image_view /centerpose/image_visualized
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-admin'
However, in rviz in visualized section, I don’t see 6D pose but I only see the RGB feed. When I do the same process for centerpose_shoes I do see the 6D pose visualization.
Could you please guide how to troubleshoot this further and fix it?
My model is structured as below:
admin@DOS:/workspaces/isaac_ros-dev/isaac_ros_assets/models/centerpose_mycustomclass$ tree .
.
├── 1
│ ├── model.onnx
│ └── model.plan
└── config.pbtxt
1 directory, 3 files
Also, the only thing different in my config.pbtxt is the name of model: name: "centerpose_mycustomclass"
compared to centerpose_shoe.
admin@DOS:/workspaces/isaac_ros-dev/isaac_ros_assets/models/centerpose_mycustomclass/1$ ls
model.onnx model.plan
admin@DOS:/workspaces/isaac_ros-dev/isaac_ros_assets/models/centerpose_mycustomclass/1$ python
Python 3.10.12 (main, Jan 17 2025, 14:35:34) [GCC 11.4.0] on linux
Type "help", "copyright", "credits" or "license" for more information.
>>> import onnx
>>> model = onnx.load("model.onnx")
>>> onnx.checker.check_model(model)
>>>
