Isaac_ros_foundation slow

user109294 · November 25, 2024, 4:09am

test.launch.py

from ament_index_python.packages import get_package_share_directory
import launch
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.conditions import IfCondition, UnlessCondition
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import ComposableNodeContainer, Node
from launch_ros.descriptions import ComposableNode

REFINE_MODEL_NAME = '/tmp/refine_model.onnx'
SCORE_MODEL_NAME = '/tmp/score_model.onnx'
MESH_FILE_NAME = '/home/rykj/workspaces/isaac_ros-dev/isaac_ros_assets/isaac_ros_foundationpose/oldyouqiang_iphoneCAD_coorWoDian/AR-Code-Object-Capture-app-1730803003.obj'
TEXTURE_MAP_NAME = '/home/rykj/workspaces/isaac_ros-dev/isaac_ros_assets/isaac_ros_foundationpose/oldyouqiang_iphoneCAD_coorWoDian/baked_mesh_34b42ceb_tex0.png'
REFINE_ENGINE_NAME = '/home/rykj/workspaces/isaac_ros-dev/isaac_ros_assets/models/foundationpose/refine_trt_engine.plan'
SCORE_ENGINE_NAME = '/home/rykj/workspaces/isaac_ros-dev/isaac_ros_assets/models/foundationpose/score_trt_engine.plan'


def generate_launch_description():
    '''Generate launch description for testing relevant nodes.'''

    launch_args = [
        DeclareLaunchArgument(
            'mesh_file_path',
            default_value=MESH_FILE_NAME,
            description='The absolute file path to the mesh file'),

        DeclareLaunchArgument(
            'texture_path',
            default_value=TEXTURE_MAP_NAME,
            description='The absolute file path to the texture map'),

        DeclareLaunchArgument(
            'refine_model_file_path',
            default_value=REFINE_MODEL_NAME,
            description='The absolute file path to the refine model'),

        DeclareLaunchArgument(
            'refine_engine_file_path',
            default_value=REFINE_ENGINE_NAME,
            description='The absolute file path to the refine trt engine'),

        DeclareLaunchArgument(
            'score_model_file_path',
            default_value=SCORE_MODEL_NAME,
            description='The absolute file path to the score model'),

        DeclareLaunchArgument(
            'score_engine_file_path',
            default_value=SCORE_ENGINE_NAME,
            description='The absolute file path to the score trt engine'),
    ]

    mesh_file_path = LaunchConfiguration('mesh_file_path')
    texture_path = LaunchConfiguration('texture_path')
    refine_model_file_path = LaunchConfiguration('refine_model_file_path')
    refine_engine_file_path = LaunchConfiguration('refine_engine_file_path')
    score_model_file_path = LaunchConfiguration('score_model_file_path')
    score_engine_file_path = LaunchConfiguration('score_engine_file_path')


    # Realsense depth is in uint16 and millimeters. Convert to float32 and meters
    convert_metric_node = ComposableNode(
        package='isaac_ros_depth_image_proc',
        plugin='nvidia::isaac_ros::depth_image_proc::ConvertMetricNode',
        # remappings=[
        #     ('image_raw', 'camera/aligned_depth_to_color/image_raw'),
        #     ('image', 'depth_fp32')
        # ]
        remappings=[
            ('image_raw', 'weng_camera/depth/image_raw'),
            ('image', 'depth_fp32')
        ]
    )


    foundationpose_node = ComposableNode(
        name='foundationpose',
        package='isaac_ros_foundationpose',
        plugin='nvidia::isaac_ros::foundationpose::FoundationPoseNode',
        parameters=[{
            'mesh_file_path': mesh_file_path,
            'texture_path': texture_path,

            'refine_model_file_path': refine_model_file_path,
            'refine_engine_file_path': refine_engine_file_path,
            'refine_input_tensor_names': ['input_tensor1', 'input_tensor2'],
            'refine_input_binding_names': ['input1', 'input2'],
            'refine_output_tensor_names': ['output_tensor1', 'output_tensor2'],
            'refine_output_binding_names': ['output1', 'output2'],

            'score_model_file_path': score_model_file_path,
            'score_engine_file_path': score_engine_file_path,
            'score_input_tensor_names': ['input_tensor1', 'input_tensor2'],
            'score_input_binding_names': ['input1', 'input2'],
            'score_output_tensor_names': ['output_tensor'],
            'score_output_binding_names': ['output1'],
            'refine_iterations': 1,
        }],
        remappings=[
            ('pose_estimation/depth_image', 'depth_fp32'),
            ('pose_estimation/image', 'weng_camera/color/image_raw'),
            ('pose_estimation/camera_info', 'weng_camera/color/camera_info'),
            ('pose_estimation/segmentation', 'weng_mask'),
            ('pose_estimation/output', 'pose_output')]
        )
        # remappings=[
        #     ('pose_estimation/depth_image', 'weng_camera/depth/image_raw'),
        #     ('pose_estimation/image', 'weng_camera/color/image_raw'),
        #     ('pose_estimation/camera_info', 'weng_camera/color/camera_info'),
        #     ('pose_estimation/segmentation', 'weng_mask'),
        #     ('pose_estimation/output', 'pose_estimation/pose_output')
        #     ])



    foundationpose_container = ComposableNodeContainer(
        name='foundationpose_container',
        namespace='foundationpose_container',
        package='rclcpp_components',
        executable='component_container_mt',
        composable_node_descriptions=[convert_metric_node, foundationpose_node],
        output='screen'
    )

    return launch.LaunchDescription(launch_args + [foundationpose_container])

log:

[component_container_mt-1] [WARN] [1732507326.122525684] [foundationpose.NitrosSubscriber]: 10.0s passed while waiting to push a message entity (eid=42541) to the receiver camera_model_receiver
[component_container_mt-1] [WARN] [1732507326.224459360] [foundationpose.NitrosSubscriber]: 10.0s passed while waiting to push a message entity (eid=42547) to the receiver mask_receiver
[component_container_mt-1] [WARN] [1732507326.243960398] [foundationpose.NitrosSubscriber]: 10.0s passed while waiting to push a message entity (eid=42536) to the receiver rgb_image_receiver
[component_container_mt-1] [WARN] [1732507326.306076127] [foundationpose.NitrosSubscriber]: 10.0s passed while waiting to push a message entity (eid=42079) to the receiver depth_receiver


[component_container_mt-1] [WARN] [1732507343.890402056] [foundationpose.NitrosSubscriber]: 20.0s passed while waiting to push a message entity (eid=42541) to the receiver camera_model_receiver
[component_container_mt-1] [WARN] [1732507343.923873879] [foundationpose.NitrosSubscriber]: 20.0s passed while waiting to push a message entity (eid=42547) to the receiver mask_receiver
[component_container_mt-1] [WARN] [1732507343.998192132] [foundationpose.NitrosSubscriber]: 20.0s passed while waiting to push a message entity (eid=42536) to the receiver rgb_image_receiver
[component_container_mt-1] [WARN] [1732507344.044737427] [foundationpose.NitrosSubscriber]: 20.0s passed while waiting to push a message entity (eid=42079) to the receiver depth_receiver
[component_container_mt-1] [WARN] [1732507361.668813725] [foundationpose.NitrosSubscriber]: 30.0s passed while waiting to push a message entity (eid=42536) to the receiver rgb_image_receiver
[component_container_mt-1] [WARN] [1732507361.715297607] [foundationpose.NitrosSubscriber]: 30.0s passed while waiting to push a message entity (eid=42547) to the receiver mask_receiver
[component_container_mt-1] [WARN] [1732507361.728535853] [foundationpose.NitrosSubscriber]: 30.0s passed while waiting to push a message entity (eid=42541) to the receiver camera_model_receiver
[component_container_mt-1] [WARN] [1732507361.818401999] [foundationpose.NitrosSubscriber]: 30.0s passed while waiting to push a message entity (eid=42079) to the receiver depth_receiver
[component_container_mt-1] [WARN] [1732507379.370805292] [foundationpose.NitrosSubscriber]: 40.0s passed while waiting to push a message entity (eid=42536) to the receiver rgb_image_receiver
[component_container_mt-1] [WARN] [1732507379.424199920] [foundationpose.NitrosSubscriber]: 40.0s passed while waiting to push a message entity (eid=42547) to the receiver mask_receiver
[component_container_mt-1] [WARN] [1732507379.492463957] [foundationpose.NitrosSubscriber]: 40.0s passed while waiting to push a message entity (eid=42541) to the receiver camera_model_receiver
[component_container_mt-1] [WARN] [1732507379.562394486] [foundationpose.NitrosSubscriber]: 40.0s passed while waiting to push a message entity (eid=42079) to the receiver depth_receiver
[component_container_mt-1] [WARN] [1732507397.082216372] [foundationpose.NitrosSubscriber]: 50.0s passed while waiting to push a message entity (eid=42536) to the receiver rgb_image_receiver
[component_container_mt-1] [WARN] [1732507397.111238233] [foundationpose.NitrosSubscriber]: 50.0s passed while waiting to push a message entity (eid=42541) to the receiver camera_model_receiver
[component_container_mt-1] [WARN] [1732507397.137425335] [foundationpose.NitrosSubscriber]: 50.0s passed while waiting to push a message entity (eid=42547) to the receiver mask_receiver
[component_container_mt-1] [WARN] [1732507397.298665374] [foundationpose.NitrosSubscriber]: 50.0s passed while waiting to push a message entity (eid=42079) to the receiver depth_receiver
[component_container_mt-1] [WARN] [1732507414.718116991] [foundationpose.NitrosSubscriber]: 60.0s passed while waiting to push a message entity (eid=42541) to the receiver camera_model_receiver
[component_container_mt-1] [WARN] [1732507414.771513628] [foundationpose.NitrosSubscriber]: 60.0s passed while waiting to push a message entity (eid=42536) to the receiver rgb_image_receiver
[component_container_mt-1] [WARN] [1732507414.828119886] [foundationpose.NitrosSubscriber]: 60.0s passed while waiting to push a message entity (eid=42547) to the receiver mask_receiver
[component_container_mt-1] [WARN] [1732507414.897877408] [foundationpose.NitrosSubscriber]: 60.0s passed while waiting to push a message entity (eid=42079) to the receiver depth_receiver
[component_container_mt-1] [WARN] [1732507432.432018493] [foundationpose.NitrosSubscriber]: 70.0s passed while waiting to push a message entity (eid=42541) to the receiver camera_model_receiver
[component_container_mt-1] [WARN] [1732507432.591204453] [foundationpose.NitrosSubscriber]: 70.0s passed while waiting to push a message entity (eid=42536) to the receiver rgb_image_receiver
[component_container_mt-1] [WARN] [1732507432.661070998] [foundationpose.NitrosSubscriber]: 70.0s passed while waiting to push a message entity (eid=42547) to the receiver mask_receiver
[component_container_mt-1] [WARN] [1732507432.720597295] [foundationpose.NitrosSubscriber]: 70.0s passed while waiting to push a message entity (eid=42079) to the receiver depth_receiver
[component_container_mt-1] [WARN] [1732507450.378287701] [foundationpose.NitrosSubscriber]: 80.0s passed while waiting to push a message entity (eid=42541) to the receiver camera_model_receiver
[component_container_mt-1] [WARN] [1732507450.465670303] [foundationpose.NitrosSubscriber]: 80.0s passed while waiting to push a message entity (eid=42547) to the receiver mask_receiver
[component_container_mt-1] [WARN] [1732507450.591621029] [foundationpose.NitrosSubscriber]: 80.0s passed while waiting to push a message entity (eid=42536) to the receiver rgb_image_receiver
[component_container_mt-1] [WARN] [1732507450.675975649] [foundationpose.NitrosSubscriber]: 80.0s passed while waiting to push a message entity (eid=42079) to the receiver depth_receiver
[component_container_mt-1] [WARN] [1732507468.104982631] [foundationpose.NitrosSubscriber]: 90.0s passed while waiting to push a message entity (eid=42547) to the receiver mask_receiver
[component_container_mt-1] [WARN] [1732507468.270714410] [foundationpose.NitrosSubscriber]: 90.0s passed while waiting to push a message entity (eid=42541) to the receiver camera_model_receiver
[component_container_mt-1] [WARN] [1732507468.373252053] [foundationpose.NitrosSubscriber]: 90.0s passed while waiting to push a message entity (eid=42536) to the receiver rgb_image_receiver
[component_container_mt-1] [WARN] [1732507468.381895279] [foundationpose.NitrosSubscriber]: 90.0s passed while waiting to push a message entity (eid=42079) to the receiver depth_receiver
[component_container_mt-1] [WARN] [1732507485.836229021] [foundationpose.NitrosSubscriber]: 100.0s passed while waiting to push a message entity (eid=42547) to the receiver mask_receiver
[component_container_mt-1] [WARN] [1732507485.988435116] [foundationpose.NitrosSubscriber]: 100.0s passed while waiting to push a message entity (eid=42541) to the receiver camera_model_receiver
[component_container_mt-1] [WARN] [1732507486.030525730] [foundationpose.NitrosSubscriber]: 100.0s passed while waiting to push a message entity (eid=42536) to the receiver rgb_image_receiver
[component_container_mt-1] [WARN] [1732507486.228366343] [foundationpose.NitrosSubscriber]: 100.0s passed while waiting to push a message entity (eid=42079) to the receiver depth_receiver
[component_container_mt-1] [WARN] [1732507503.363124717] [foundationpose.NitrosSubscriber]: 110.0s passed while waiting to push a message entity (eid=42547) to the receiver mask_receiver
[component_container_mt-1] [WARN] [1732507503.687853497] [foundationpose.NitrosSubscriber]: 110.0s passed while waiting to push a message entity (eid=42536) to the receiver rgb_image_receiver
[component_container_mt-1] [WARN] [1732507503.770784276] [foundationpose.NitrosSubscriber]: 110.0s passed while waiting to push a message entity (eid=42541) to the receiver camera_model_receiver
[component_container_mt-1] [WARN] [1732507503.909129476] [foundationpose.NitrosSubscriber]: 110.0s passed while waiting to push a message entity (eid=42079) to the receiver depth_receiver
[component_container_mt-1] [WARN] [1732507521.217134727] [foundationpose.NitrosSubscriber]: 120.0s passed while waiting to push a message entity (eid=42547) to the receiver mask_receiver
[component_container_mt-1] [WARN] [1732507521.679624854] [foundationpose.NitrosSubscriber]: 120.0s passed while waiting to push a message entity (eid=42536) to the receiver rgb_image_receiver
[component_container_mt-1] [WARN] [1732507521.715721711] [foundationpose.NitrosSubscriber]: 120.0s passed while waiting to push a message entity (eid=42541) to the receiver camera_model_receiver
[component_container_mt-1] [WARN] [1732507521.933443661] [foundationpose.NitrosSubscriber]: 120.0s passed while waiting to push a message entity (eid=42079) to the receiver depth_receiver
[component_container_mt-1] [WARN] [1732507539.011098367] [foundationpose.NitrosSubscriber]: 130.0s passed while waiting to push a message entity (eid=42547) to the receiver mask_receiver
[component_container_mt-1] [WARN] [1732507539.408926776] [foundationpose.NitrosSubscriber]: 130.0s passed while waiting to push a message entity (eid=42536) to the receiver rgb_image_receiver
[component_container_mt-1] [WARN] [1732507539.450650618] [foundationpose.NitrosSubscriber]: 130.0s passed while waiting to push a message entity (eid=42541) to the receiver camera_model_receiver
[component_container_mt-1] [WARN] [1732507539.569838249] [foundationpose.NitrosSubscriber]: 130.0s passed while waiting to push a message entity (eid=42079) to the receiver depth_receiver
[component_container_mt-1] [WARN] [1732507556.691866883] [foundationpose.NitrosSubscriber]: 140.0s passed while waiting to push a message entity (eid=42547) to the receiver mask_receiver
[component_container_mt-1] [WARN] [1732507557.212771645] [foundationpose.NitrosSubscriber]: 140.0s passed while waiting to push a message entity (eid=42536) to the receiver rgb_image_receiver
[component_container_mt-1] [WARN] [1732507557.223988818] [foundationpose.NitrosSubscriber]: 140.0s passed while waiting to push a message entity (eid=42079) to the receiver depth_receiver
[component_container_mt-1] [WARN] [1732507557.237861350] [foundationpose.NitrosSubscriber]: 140.0s passed while waiting to push a message entity (eid=42541) to the receiver camera_model_receiver
[component_container_mt-1] [WARN] [1732507574.333529229] [foundationpose.NitrosSubscriber]: 150.0s passed while waiting to push a message entity (eid=42547) to the receiver mask_receiver
[component_container_mt-1] [WARN] [1732507574.783067173] [foundationpose.NitrosSubscriber]: 150.0s passed while waiting to push a message entity (eid=42541) to the receiver camera_model_receiver
[component_container_mt-1] [WARN] [1732507574.854899839] [foundationpose.NitrosSubscriber]: 150.0s passed while waiting to push a message entity (eid=42079) to the receiver depth_receiver
[component_container_mt-1] [WARN] [1732507575.017750726] [foundationpose.NitrosSubscriber]: 150.0s passed while waiting to push a message entity (eid=42536) to the receiver rgb_image_receiver
[component_container_mt-1] [WARN] [1732507592.035931622] [foundationpose.NitrosSubscriber]: 160.0s passed while waiting to push a message entity (eid=42547) to the receiver mask_receiver
[component_container_mt-1] [WARN] [1732507592.472886085] [foundationpose.NitrosSubscriber]: 160.0s passed while waiting to push a message entity (eid=42541) to the receiver camera_model_receiver
[component_container_mt-1] [WARN] [1732507592.675891336] [foundationpose.NitrosSubscriber]: 160.0s passed while waiting to push a message entity (eid=42079) to the receiver depth_receiver
[component_container_mt-1] [WARN] [1732507592.868200010] [foundationpose.NitrosSubscriber]: 160.0s passed while waiting to push a message entity (eid=42536) to the receiver rgb_image_receiver
[component_container_mt-1] [WARN] [1732507609.810180240] [foundationpose.NitrosSubscriber]: 170.0s passed while waiting to push a message entity (eid=42547) to the receiver mask_receiver
[component_container_mt-1] [WARN] [1732507610.407263249] [foundationpose.NitrosSubscriber]: 170.0s passed while waiting to push a message entity (eid=42541) to the receiver camera_model_receiver
[component_container_mt-1] [WARN] [1732507610.493177439] [foundationpose.NitrosSubscriber]: 170.0s passed while waiting to push a message entity (eid=42079) to the receiver depth_receiver
[component_container_mt-1] [WARN] [1732507610.589478529] [foundationpose.NitrosSubscriber]: 170.0s passed while waiting to push a message entity (eid=42536) to the receiver rgb_image_receiver
[component_container_mt-1] [WARN] [1732507627.402847227] [foundationpose.NitrosSubscriber]: 180.0s passed while waiting to push a message entity (eid=42547) to the receiver mask_receiver
[component_container_mt-1] [WARN] [1732507627.989828377] [foundationpose.NitrosSubscriber]: 180.0s passed while waiting to push a message entity (eid=42079) to the receiver depth_receiver
[component_container_mt-1] [WARN] [1732507628.151890894] [foundationpose.NitrosSubscriber]: 180.0s passed while waiting to push a message entity (eid=42541) to the receiver camera_model_receiver
[component_container_mt-1] [WARN] [1732507628.265317842] [foundationpose.NitrosSubscriber]: 180.0s passed while waiting to push a message entity (eid=42536) to the receiver rgb_image_receiver
[component_container_mt-1] [WARN] [1732507645.051176653] [foundationpose.NitrosSubscriber]: 190.0s passed while waiting to push a message entity (eid=42547) to the receiver mask_receiver
[component_container_mt-1] [WARN] [1732507645.688555168] [foundationpose.NitrosSubscriber]: 190.0s passed while waiting to push a message entity (eid=42079) to the receiver depth_receiver
[component_container_mt-1] [WARN] [1732507645.907304125] [foundationpose.NitrosSubscriber]: 190.0s passed while waiting to push a message entity (eid=42541) to the receiver camera_model_receiver
[component_container_mt-1] [WARN] [1732507645.920766431] [foundationpose.NitrosSubscriber]: 190.0s passed while waiting to push a message entity (eid=42536) to the receiver rgb_image_receiver
[component_container_mt-1] [WARN] [1732507662.820821381] [foundationpose.NitrosSubscriber]: 200.0s passed while waiting to push a message entity (eid=42547) to the receiver mask_receiver
[component_container_mt-1] [WARN] [1732507663.304736394] [foundationpose.NitrosSubscriber]: 200.0s passed while waiting to push a message entity (eid=42079) to the receiver depth_receiver
[component_container_mt-1] [WARN] [1732507663.629557682] [foundationpose.NitrosSubscriber]: 200.0s passed while waiting to push a message entity (eid=42541) to the receiver camera_model_receiver
[component_container_mt-1] [WARN] [1732507663.725470682] [foundationpose.NitrosSubscriber]: 200.0s passed while waiting to push a message entity (eid=42536) to the receiver rgb_image_receiver

Why is foundationpose processing so slow

Raffaello · November 25, 2024, 3:22pm

Hi @user109294

Thank you for starting this topic, but I need more details to understand the reason. Which hardware are you using?

Have you checked the performance using our benchmark?

https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_benchmark/isaac_ros_benchmark/index.html#quickstart

Best,
Raffaello

user109294 · November 26, 2024, 2:00am

jetson orin NX

user109294 · November 26, 2024, 2:07am

I used other semantic segmentation networks instead of the official ones, so the isaac_ros_foundationpose.launch.py file is:

# SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
# Copyright (c) 2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
#
# SPDX-License-Identifier: Apache-2.0

import os

from ament_index_python.packages import get_package_share_directory
import launch
from launch.actions import DeclareLaunchArgument
from launch.conditions import IfCondition, UnlessCondition
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import ComposableNodeContainer, Node
from launch_ros.descriptions import ComposableNode



REFINE_MODEL_NAME = '/tmp/refine_model.onnx'
SCORE_MODEL_NAME = '/tmp/score_model.onnx'
MESH_FILE_NAME = '/data/AR-Code-Object-Capture-app-1730803003.obj'
TEXTURE_MAP_NAME = '/data/baked_mesh_34b42ceb_tex0.png'
REFINE_ENGINE_NAME = '/data/isaac_ros-dev/isaac_ros_assets/models/foundationpose/refine_trt_engine.plan'
SCORE_ENGINE_NAME = '/data/isaac_ros-dev/isaac_ros_assets/models/foundationpose/score_trt_engine.plan'

def generate_launch_description():
    """Generate launch description for testing relevant nodes."""
    rviz_config_path = os.path.join(
        get_package_share_directory('isaac_ros_foundationpose'),
        'rviz', 'foundationpose.rviz')

    launch_args = [
        DeclareLaunchArgument(
            'mesh_file_path',
            default_value=MESH_FILE_NAME,
            description='The absolute file path to the mesh file'),

        DeclareLaunchArgument(
            'texture_path',
            default_value=TEXTURE_MAP_NAME,
            description='The absolute file path to the texture map'),

        DeclareLaunchArgument(
            'refine_model_file_path',
            default_value=REFINE_MODEL_NAME,
            description='The absolute file path to the refine model'),

        DeclareLaunchArgument(
            'refine_engine_file_path',
            default_value=REFINE_ENGINE_NAME,
            description='The absolute file path to the refine trt engine'),

        DeclareLaunchArgument(
            'score_model_file_path',
            default_value=SCORE_MODEL_NAME,
            description='The absolute file path to the score model'),

        DeclareLaunchArgument(
            'score_engine_file_path',
            default_value=SCORE_ENGINE_NAME,
            description='The absolute file path to the score trt engine'),

        DeclareLaunchArgument(
            'mask_height',
            default_value='480',
            description='The height of the mask generated from the bounding box'),

        DeclareLaunchArgument(
            'mask_width',
            default_value='640',
            description='The width of the mask generated from the bounding box'),

        DeclareLaunchArgument(
            'launch_bbox_to_mask',
            default_value='False',
            description='Flag to enable bounding box to mask converter'),

        DeclareLaunchArgument(
            'launch_rviz',
            default_value='False',
            description='Flag to enable Rviz2 launch'),

    ]

    mesh_file_path = LaunchConfiguration('mesh_file_path')
    texture_path = LaunchConfiguration('texture_path')
    refine_model_file_path = LaunchConfiguration('refine_model_file_path')
    refine_engine_file_path = LaunchConfiguration('refine_engine_file_path')
    score_model_file_path = LaunchConfiguration('score_model_file_path')
    score_engine_file_path = LaunchConfiguration('score_engine_file_path')
    mask_height = LaunchConfiguration('mask_height')
    mask_width = LaunchConfiguration('mask_width')
    launch_rviz = LaunchConfiguration('launch_rviz')
    launch_bbox_to_mask = LaunchConfiguration('launch_bbox_to_mask')

    convert_metric_node = ComposableNode(
        package='isaac_ros_depth_image_proc',
        plugin='nvidia::isaac_ros::depth_image_proc::ConvertMetricNode',
        remappings=[
            ('image_raw', 'weng_camera/depth/image_raw'),
            ('image', 'depth_image_fp32')
        ]
    )
    
    foundationpose_node = ComposableNode(
        name='foundationpose',
        package='isaac_ros_foundationpose',
        plugin='nvidia::isaac_ros::foundationpose::FoundationPoseNode',
        parameters=[{
            'mesh_file_path': mesh_file_path,
            'texture_path': texture_path,

            'refine_model_file_path': refine_model_file_path,
            'refine_engine_file_path': refine_engine_file_path,
            'refine_input_tensor_names': ['input_tensor1', 'input_tensor2'],
            'refine_input_binding_names': ['input1', 'input2'],
            'refine_output_tensor_names': ['output_tensor1', 'output_tensor2'],
            'refine_output_binding_names': ['output1', 'output2'],

            'score_model_file_path': score_model_file_path,
            'score_engine_file_path': score_engine_file_path,
            'score_input_tensor_names': ['input_tensor1', 'input_tensor2'],
            'score_input_binding_names': ['input1', 'input2'],
            'score_output_tensor_names': ['output_tensor'],
            'score_output_binding_names': ['output1'],
        }],
        remappings=[ #new maping
            ('pose_estimation/depth_image', 'depth_image_fp32'),
            ('pose_estimation/image', 'weng_camera/color/image_raw'),
            ('pose_estimation/camera_info', 'weng_camera/color/camera_info'),
            ('pose_estimation/segmentation', 'weng_mask'),
            ('pose_estimation/output', 'pose_output')
            ]
        )

    # rviz_node = Node(
    #     package='rviz2',
    #     executable='rviz2',
    #     name='rviz2',
    #     arguments=['-d', rviz_config_path],
    #     condition=IfCondition(launch_rviz))

    # detection2_d_to_mask_node = ComposableNode(
    #     name='detection2_d_to_mask',
    #     package='isaac_ros_foundationpose',
    #     plugin='nvidia::isaac_ros::foundationpose::Detection2DToMask',
    #     parameters=[{
    #         'mask_width': mask_width,
    #         'mask_height': mask_height
    #     }])

    # foundationpose_bbox_container = ComposableNodeContainer(
    #     name='foundationpose_container',
    #     namespace='foundationpose_container',
    #     package='rclcpp_components',
    #     executable='component_container_mt',
    #     composable_node_descriptions=[
    #         foundationpose_node,
    #         detection2_d_to_mask_node],
    #     output='screen',
    #     condition=IfCondition(launch_bbox_to_mask)
    # )
    

    foundationpose_container = ComposableNodeContainer(
        name='foundationpose_container',
        namespace='foundationpose_container',
        package='rclcpp_components',
        executable='component_container_mt',
        composable_node_descriptions=[foundationpose_node, convert_metric_node],
        output='screen',
        # condition=UnlessCondition(launch_bbox_to_mask)
    )

    return launch.LaunchDescription(launch_args + [foundationpose_container])#,foundationpose_bbox_container,rviz_node])

This file can run successfully. I use orbbec camera. Sending data at the speed of 30fps, the image size is 640*480, but I found that /pose_output is only 0.2hz.

average rate: 0.203
min: 2.927s max: 7.417s std dev: 0.90777s window: 13

I found that the speed was faster only after everyone used tracking, so I used the isaac_ros_foundationpose_tracking.launch.py file, but the operation failed. Can you help me analyze it?
my tracking.launch.py code is :

import os

from ament_index_python.packages import get_package_share_directory
import launch
from launch.actions import DeclareLaunchArgument
from launch.conditions import IfCondition
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import ComposableNodeContainer, Node
from launch_ros.descriptions import ComposableNode



REFINE_MODEL_NAME = '/tmp/refine_model.onnx'
SCORE_MODEL_NAME = '/tmp/score_model.onnx'
MESH_FILE_NAME = '/data/AR-Code-Object-Capture-app-1730803003.obj'
TEXTURE_MAP_NAME = '/data/baked_mesh_34b42ceb_tex0.png'
REFINE_ENGINE_NAME = '/data/isaac_ros-dev/isaac_ros_assets/models/foundationpose/refine_trt_engine.plan'
SCORE_ENGINE_NAME = '/data/isaac_ros-dev/isaac_ros_assets/models/foundationpose/score_trt_engine.plan'



def generate_launch_description():
    """Generate launch description for testing relevant nodes."""
    rviz_config_path = os.path.join(
        get_package_share_directory('isaac_ros_foundationpose'),
        'rviz', 'foundationpose_tracking.rviz')

    launch_args = [
        DeclareLaunchArgument(
            'mesh_file_path',
            default_value=MESH_FILE_NAME,
            description='The absolute file path to the mesh file'),

        DeclareLaunchArgument(
            'texture_path',
            default_value=TEXTURE_MAP_NAME,
            description='The absolute file path to the texture map'),

        DeclareLaunchArgument(
            'refine_model_file_path',
            default_value=REFINE_MODEL_NAME,
            description='The absolute file path to the refine model'),

        DeclareLaunchArgument(
            'refine_engine_file_path',
            default_value=REFINE_ENGINE_NAME,
            description='The absolute file path to the refine trt engine'),

        DeclareLaunchArgument(
            'score_model_file_path',
            default_value=SCORE_MODEL_NAME,
            description='The absolute file path to the score model'),

        DeclareLaunchArgument(
            'score_engine_file_path',
            default_value=SCORE_ENGINE_NAME,
            description='The absolute file path to the score trt engine'),

        DeclareLaunchArgument(
            'launch_rviz',
            default_value='False',
            description='Flag to enable Rviz2 launch'),

        DeclareLaunchArgument(
            'container_name',
            default_value='foundationpose_container',
            description='Name for ComposableNodeContainer'),
    ]

    mesh_file_path = LaunchConfiguration('mesh_file_path')
    texture_path = LaunchConfiguration('texture_path')
    refine_model_file_path = LaunchConfiguration('refine_model_file_path')
    refine_engine_file_path = LaunchConfiguration('refine_engine_file_path')
    score_model_file_path = LaunchConfiguration('score_model_file_path')
    score_engine_file_path = LaunchConfiguration('score_engine_file_path')
    launch_rviz = LaunchConfiguration('launch_rviz')
    container_name = LaunchConfiguration('container_name')

    selector_node = ComposableNode(
        name='selector_node',
        package='isaac_ros_foundationpose',
        plugin='nvidia::isaac_ros::foundationpose::Selector',
        parameters=[{
             # Expect to reset after the rosbag play complete
            'reset_period': 65000
        }])

    convert_metric_node = ComposableNode(
        package='isaac_ros_depth_image_proc',
        plugin='nvidia::isaac_ros::depth_image_proc::ConvertMetricNode',
        remappings=[
            ('image_raw', 'weng_camera/depth/image_raw'),
            ('image', 'depth_image_fp32')
        ]
    )
    
    foundationpose_node = ComposableNode(
        name='foundationpose_node',
        package='isaac_ros_foundationpose',
        plugin='nvidia::isaac_ros::foundationpose::FoundationPoseNode',
        parameters=[{
            'mesh_file_path': mesh_file_path,
            'texture_path': texture_path,

            'refine_model_file_path': refine_model_file_path,
            'refine_engine_file_path': refine_engine_file_path,
            'refine_input_tensor_names': ['input_tensor1', 'input_tensor2'],
            'refine_input_binding_names': ['input1', 'input2'],
            'refine_output_tensor_names': ['output_tensor1', 'output_tensor2'],
            'refine_output_binding_names': ['output1', 'output2'],

            'score_model_file_path': score_model_file_path,
            'score_engine_file_path': score_engine_file_path,
            'score_input_tensor_names': ['input_tensor1', 'input_tensor2'],
            'score_input_binding_names': ['input1', 'input2'],
            'score_output_tensor_names': ['output_tensor'],
            'score_output_binding_names': ['output1'],
        }],
        remappings=[ #new maping
            ('pose_estimation/depth_image', 'depth_image_fp32'),
            ('pose_estimation/image', 'weng_camera/color/image_raw'),
            ('pose_estimation/camera_info', 'weng_camera/color/camera_info'),
            ('pose_estimation/segmentation', 'weng_mask'),
            ('pose_estimation/output', 'pose_output')
            ]
        )

    foundationpose_tracking_node = ComposableNode(
        name='foundationpose_tracking_node',
        package='isaac_ros_foundationpose',
        plugin='nvidia::isaac_ros::foundationpose::FoundationPoseTrackingNode',
        parameters=[{
            'mesh_file_path': mesh_file_path,
            'texture_path': texture_path,

            'refine_model_file_path': REFINE_MODEL_NAME,
            'refine_engine_file_path': REFINE_ENGINE_NAME,
            'refine_input_tensor_names': ['input_tensor1', 'input_tensor2'],
            'refine_input_binding_names': ['input1', 'input2'],
            'refine_output_tensor_names': ['output_tensor1', 'output_tensor2'],
            'refine_output_binding_names': ['output1', 'output2'],
        }],
        remappings=[ #new maping
            ('tracking/depth_image', 'depth_image_fp32'),
            ('tracking/pose_input', 'pose_estimation/pose_matrix_output'),
            ('pose_estimation/camera_info', 'weng_camera/color/camera_info'),
            ('tracking/image', 'weng_camera/color/image_raw')
            ]
        )

    # rviz_node = Node(
    #     package='rviz2',
    #     executable='rviz2',
    #     name='rviz2',
    #     arguments=['-d', rviz_config_path],
    #     condition=IfCondition(launch_rviz))

    foundationpose_container = ComposableNodeContainer(
        name=container_name,
        namespace='',
        package='rclcpp_components',
        executable='component_container_mt',
        composable_node_descriptions=[selector_node, convert_metric_node, foundationpose_node,
                                      foundationpose_tracking_node],
        output='screen'
    )

    return launch.LaunchDescription(launch_args + [foundationpose_container])

user109294 · November 26, 2024, 7:03am

my new foundaitonpose tracking is :

import os

from ament_index_python.packages import get_package_share_directory
import launch
from launch.actions import DeclareLaunchArgument
from launch.conditions import IfCondition
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import ComposableNodeContainer, Node
from launch_ros.descriptions import ComposableNode


REFINE_MODEL_NAME = '/tmp/refine_model.onnx'
SCORE_MODEL_NAME = '/tmp/score_model.onnx'
MESH_FILE_NAME = '/data/AR-Code-Object-Capture-app-1730803003.obj'
TEXTURE_MAP_NAME = '/data/baked_mesh_34b42ceb_tex0.png'
REFINE_ENGINE_NAME = '/data/isaac_ros-dev/isaac_ros_assets/models/foundationpose/refine_trt_engine.plan'
SCORE_ENGINE_NAME = '/data/isaac_ros-dev/isaac_ros_assets/models/foundationpose/score_trt_engine.plan'

def generate_launch_description():
    """Generate launch description for testing relevant nodes."""
    rviz_config_path = os.path.join(
        get_package_share_directory('isaac_ros_foundationpose'),
        'rviz', 'foundationpose_tracking.rviz')

    launch_args = [
        DeclareLaunchArgument(
            'mesh_file_path',
            default_value=MESH_FILE_NAME,
            description='The absolute file path to the mesh file'),

        DeclareLaunchArgument(
            'texture_path',
            default_value=TEXTURE_MAP_NAME,
            description='The absolute file path to the texture map'),

        DeclareLaunchArgument(
            'refine_model_file_path',
            default_value=REFINE_MODEL_NAME,
            description='The absolute file path to the refine model'),

        DeclareLaunchArgument(
            'refine_engine_file_path',
            default_value=REFINE_ENGINE_NAME,
            description='The absolute file path to the refine trt engine'),

        DeclareLaunchArgument(
            'score_model_file_path',
            default_value=SCORE_MODEL_NAME,
            description='The absolute file path to the score model'),

        DeclareLaunchArgument(
            'score_engine_file_path',
            default_value=SCORE_ENGINE_NAME,
            description='The absolute file path to the score trt engine'),

        DeclareLaunchArgument(
            'launch_rviz',
            default_value='False',
            description='Flag to enable Rviz2 launch'),

        DeclareLaunchArgument(
            'container_name',
            default_value='foundationpose_container',
            description='Name for ComposableNodeContainer'),
    ]

    mesh_file_path = LaunchConfiguration('mesh_file_path')
    texture_path = LaunchConfiguration('texture_path')
    refine_model_file_path = LaunchConfiguration('refine_model_file_path')
    refine_engine_file_path = LaunchConfiguration('refine_engine_file_path')
    score_model_file_path = LaunchConfiguration('score_model_file_path')
    score_engine_file_path = LaunchConfiguration('score_engine_file_path')
    launch_rviz = LaunchConfiguration('launch_rviz')
    container_name = LaunchConfiguration('container_name')


    convert_metric_node = ComposableNode(
        package='isaac_ros_depth_image_proc',
        plugin='nvidia::isaac_ros::depth_image_proc::ConvertMetricNode',
        remappings=[
            ('image_raw', 'weng_camera/depth/image_raw'),
            ('image', 'depth_image_fp32')
        ]
    )
    
    # Launch isaac_ros_foundationpose
    selector_node = ComposableNode(
        name='selector_node',
        package='isaac_ros_foundationpose',
        plugin='nvidia::isaac_ros::foundationpose::Selector',
        parameters=[{
            'reset_period': 10000
        }],
        remappings=[
            ('depth_image', 'depth_image_fp32'),
            ('image', 'weng_camera/color/image_raw'),
            ('camera_info', 'weng_camera/color/camera_info'),
            ('segmentation', 'weng_mask')])
    
    foundationpose_node = ComposableNode(
        name='foundationpose',
        package='isaac_ros_foundationpose',
        plugin='nvidia::isaac_ros::foundationpose::FoundationPoseNode',
        parameters=[{
            'mesh_file_path': mesh_file_path,
            'texture_path': texture_path,

            'refine_model_file_path': refine_model_file_path,
            'refine_engine_file_path': refine_engine_file_path,
            'refine_input_tensor_names': ['input_tensor1', 'input_tensor2'],
            'refine_input_binding_names': ['input1', 'input2'],
            'refine_output_tensor_names': ['output_tensor1', 'output_tensor2'],
            'refine_output_binding_names': ['output1', 'output2'],

            'score_model_file_path': score_model_file_path,
            'score_engine_file_path': score_engine_file_path,
            'score_input_tensor_names': ['input_tensor1', 'input_tensor2'],
            'score_input_binding_names': ['input1', 'input2'],
            'score_output_tensor_names': ['output_tensor'],
            'score_output_binding_names': ['output1'],
        }])
   

    foundationpose_tracking_node = ComposableNode(
        name='foundationpose_tracking_node',
        package='isaac_ros_foundationpose',
        plugin='nvidia::isaac_ros::foundationpose::FoundationPoseTrackingNode',
        parameters=[{
            'mesh_file_path': mesh_file_path,
            'texture_path': texture_path,

            'refine_model_file_path': REFINE_MODEL_NAME,
            'refine_engine_file_path': REFINE_ENGINE_NAME,
            'refine_input_tensor_names': ['input_tensor1', 'input_tensor2'],
            'refine_input_binding_names': ['input1', 'input2'],
            'refine_output_tensor_names': ['output_tensor1', 'output_tensor2'],
            'refine_output_binding_names': ['output1', 'output2'],
        }])

    foundationpose_container = ComposableNodeContainer(
        name=container_name,
        namespace='',
        package='rclcpp_components',
        executable='component_container_mt',
        composable_node_descriptions=[convert_metric_node, selector_node, foundationpose_node, foundationpose_tracking_node],
        output='screen'
    )

    return launch.LaunchDescription(launch_args + [foundationpose_container])

The above code can run successfully, and using ros2 topic list:

/parameter_events
/pose_estimation/camera_info
/pose_estimation/camera_info/nitros
/pose_estimation/depth_image
/pose_estimation/depth_image/nitros
/pose_estimation/image
/pose_estimation/image/nitros
/pose_estimation/output
/pose_estimation/output/nitros
/pose_estimation/pose_matrix_output
/pose_estimation/pose_matrix_output/nitros
/pose_estimation/segmentation
/pose_estimation/segmentation/nitros
/rosout
/tf
/tf_static
/tracking/camera_info
/tracking/camera_info/nitros
/tracking/depth_image
/tracking/depth_image/nitros
/tracking/image
/tracking/image/nitros
/tracking/output
/tracking/output/nitros
/tracking/pose_input
/tracking/pose_input/nitros
/tracking/pose_matrix_output
/tracking/pose_matrix_output/nitros
/weng_camera/color/camera_info
/weng_camera/color/image_raw
/weng_camera/color/image_raw/compressed
/weng_camera/color/image_raw/compressedDepth
/weng_camera/color/image_raw/nitros
/weng_camera/color/image_raw/theora
/weng_camera/color/metadata
/weng_camera/depth/camera_info
/weng_camera/depth/image_raw
/weng_camera/depth/image_raw/compressed
/weng_camera/depth/image_raw/compressedDepth
/weng_camera/depth/image_raw/nitros
/weng_camera/depth/image_raw/theora
/weng_camera/depth/metadata
/weng_camera/depth_filter_status
/weng_camera/depth_to_color
/weng_mask
/weng_mask/nitros

and runing ros2 topic hz /tracking/output

average rate: 17.967
        min: 0.008s max: 0.125s std dev: 0.03397s window: 19
average rate: 4.037
        min: 0.001s max: 7.711s std dev: 1.21095s window: 39
average rate: 1.793
        min: 0.001s max: 18.758s std dev: 2.75723s window: 52
average rate: 2.171
        min: 0.001s max: 18.758s std dev: 2.41149s window: 69

The speed of foundation pose tracking is also slow. Why? I tested it on the Jetson Orin NX 16g. What kind of hardware is needed to achieve 30fps or more

user109294 · November 26, 2024, 7:06am

and log:

[component_container_mt-1] [INFO] [1732604409.375950212] [foundationpose]: [NitrosNode] Node was started
[component_container_mt-1] [WARN] [1732604616.713523229] [foundationpose_tracking_node.NitrosSubscriber]: 10.0s passed while waiting to push a message entity (eid=82961) to the receiver rgb_image_receiver
[component_container_mt-1] [WARN] [1732604616.795505050] [foundationpose_tracking_node.NitrosSubscriber]: 10.0s passed while waiting to push a message entity (eid=83211) to the receiver poses_input
[component_container_mt-1] [WARN] [1732604616.863788497] [foundationpose_tracking_node.NitrosSubscriber]: 10.0s passed while waiting to push a message entity (eid=83063) to the receiver depth_receiver
[component_container_mt-1] [WARN] [1732604616.926559940] [foundationpose_tracking_node.NitrosSubscriber]: 10.0s passed while waiting to push a message entity (eid=83231) to the receiver camera_model_receiver
[component_container_mt-1] [WARN] [1732604638.236587954] [foundationpose_tracking_node.NitrosSubscriber]: 20.0s passed while waiting to push a message entity (eid=83063) to the receiver depth_receiver
[component_container_mt-1] [WARN] [1732604638.253879159] [foundationpose_tracking_node.NitrosSubscriber]: 20.0s passed while waiting to push a message entity (eid=83231) to the receiver camera_model_receiver
[component_container_mt-1] [WARN] [1732604638.409521321] [foundationpose_tracking_node.NitrosSubscriber]: 20.0s passed while waiting to push a message entity (eid=82961) to the receiver rgb_image_receiver
[component_container_mt-1] [WARN] [1732604638.424314581] [foundationpose_tracking_node.NitrosSubscriber]: 20.0s passed while waiting to push a message entity (eid=83211) to the receiver poses_input
[component_container_mt-1] [WARN] [1732604659.439431303] [foundationpose_tracking_node.NitrosSubscriber]: 30.0s passed while waiting to push a message entity (eid=83231) to the receiver camera_model_receiver
[component_container_mt-1] [WARN] [1732604659.572235629] [foundationpose_tracking_node.NitrosSubscriber]: 30.0s passed while waiting to push a message entity (eid=83063) to the receiver depth_receiver
[component_container_mt-1] [WARN] [1732604659.876503925] [foundationpose_tracking_node.NitrosSubscriber]: 30.0s passed while waiting to push a message entity (eid=83211) to the receiver poses_input
[component_container_mt-1] [WARN] [1732604660.276530882] [foundationpose_tracking_node.NitrosSubscriber]: 30.0s passed while waiting to push a message entity (eid=82961) to the receiver rgb_image_receiver
[component_container_mt-1] [WARN] [1732604681.031467886] [foundationpose_tracking_node.NitrosSubscriber]: 40.0s passed while waiting to push a message entity (eid=83063) to the receiver depth_receiver
[component_container_mt-1] [WARN] [1732604681.104556750] [foundationpose_tracking_node.NitrosSubscriber]: 40.0s passed while waiting to push a message entity (eid=83231) to the receiver camera_model_receiver
[component_container_mt-1] [WARN] [1732604681.290741817] [foundationpose_tracking_node.NitrosSubscriber]: 40.0s passed while waiting to push a message entity (eid=83211) to the receiver poses_input
[component_container_mt-1] [WARN] [1732604681.939250351] [foundationpose_tracking_node.NitrosSubscriber]: 40.0s passed while waiting to push a message entity (eid=82961) to the receiver rgb_image_receiver
[component_container_mt-1] [WARN] [1732604701.970937082] [foundationpose_tracking_node.NitrosSubscriber]: 50.0s passed while waiting to push a message entity (eid=83231) to the receiver camera_model_receiver
[component_container_mt-1] [WARN] [1732604702.062565419] [foundationpose_tracking_node.NitrosSubscriber]: 50.0s passed while waiting to push a message entity (eid=83063) to the receiver depth_receiver
[component_container_mt-1] [WARN] [1732604702.209528358] [foundationpose_tracking_node.NitrosSubscriber]: 50.0s passed while waiting to push a message entity (eid=83211) to the receiver poses_input
[component_container_mt-1] [WARN] [1732604702.736886002] [foundationpose_tracking_node.NitrosSubscriber]: 50.0s passed while waiting to push a message entity (eid=82961) to the receiver rgb_image_receiver
[component_container_mt-1] [WARN] [1732604723.323612308] [foundationpose_tracking_node.NitrosSubscriber]: 60.0s passed while waiting to push a message entity (eid=83231) to the receiver camera_model_receiver
[component_container_mt-1] [WARN] [1732604723.438583264] [foundationpose_tracking_node.NitrosSubscriber]: 60.0s passed while waiting to push a message entity (eid=83063) to the receiver depth_receiver
[component_container_mt-1] [WARN] [1732604723.480585138] [foundationpose_tracking_node.NitrosSubscriber]: 60.0s passed while waiting to push a message entity (eid=83211) to the receiver poses_input
[component_container_mt-1] [WARN] [1732604723.744682053] [foundationpose_tracking_node.NitrosSubscriber]: 60.0s passed while waiting to push a message entity (eid=82961) to the receiver rgb_image_receiver
[component_container_mt-1] [WARN] [1732604744.407552365] [foundationpose_tracking_node.NitrosSubscriber]: 70.0s passed while waiting to push a message entity (eid=83231) to the receiver camera_model_receiver
[component_container_mt-1] [WARN] [1732604744.556682547] [foundationpose_tracking_node.NitrosSubscriber]: 70.0s passed while waiting to push a message entity (eid=83211) to the receiver poses_input
[component_container_mt-1] [WARN] [1732604744.618059443] [foundationpose_tracking_node.NitrosSubscriber]: 70.0s passed while waiting to push a message entity (eid=83063) to the receiver depth_receiver
[component_container_mt-1] [WARN] [1732604745.078981094] [foundationpose_tracking_node.NitrosSubscriber]: 70.0s passed while waiting to push a message entity (eid=82961) to the receiver rgb_image_receiver
[component_container_mt-1] [WARN] [1732604765.818419556] [foundationpose_tracking_node.NitrosSubscriber]: 80.0s passed while waiting to push a message entity (eid=83231) to the receiver camera_model_receiver
[component_container_mt-1] [WARN] [1732604765.960204549] [foundationpose_tracking_node.NitrosSubscriber]: 80.0s passed while waiting to push a message entity (eid=83063) to the receiver depth_receiver
[component_container_mt-1] [WARN] [1732604765.960563218] [foundationpose_tracking_node.NitrosSubscriber]: 80.0s passed while waiting to push a message entity (eid=83211) to the receiver poses_input
[component_container_mt-1] [WARN] [1732604766.456251731] [foundationpose_tracking_node.NitrosSubscriber]: 80.0s passed while waiting to push a message entity (eid=82961) to the receiver rgb_image_receiver

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Isaac_ros_foundation slow

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