Isaac_ros_foundationpose tracking takes approximately 20 seconds to show pose detection results upon starting rviz

Robotics & Edge Computing Robotics - Isaac Isaac ROS
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@Ahung , @Raffaello

Thanks a lot for your help. I was able to run the foundationpose track on pallet class which is one of non-grasp objects in Synthetica DETR (AMR).

I followed all of the instructions and get results but there is three main problems:

  1. First frame detection takes approximately > 20 seconds to show up in rviz (before running the script I had my camera correctly pointed at object and verified by realsense-viewer).

  2. the detection overall is very slow. I have no other docker running besides isaac ros docker, killed Teams, all browsers, and no other tasks, and it is still very slow.

  3. Why do I see 15 FPS for my Intel RealSense D435 camera? [component_container_mt-1] [INFO] [1739914090.548623698] [realsense2_camera]: Open profile: stream_type: Color(0), Format: RGB8, Width: 640, Height: 480, FPS: 15

Could you please have a look and this screencast and guide me how to fix this problem?

I followed @Ahung guidance to create the 3D textured mesh using Apple iPhone 14 Pro max AR Code app and used the same Website suggested to convert usdz to obj and also then centered the xyz in Meshlab accordingly.

Screenshot from 2025-02-18 16-47-45
Screenshot from 2025-02-18 16-47-451920Ă—1080 116 KB

I ran this command:

admin@DOS:/workspaces/isaac_ros-dev$ ros2 launch isaac_ros_examples isaac_ros_examples.launch.py launch_fragments:=realsense_mono_rect_depth,foundationpose_tracking mesh_file_path:=${ISAAC_ROS_WS}/isaac_ros_assets/isaac_ros_foundationpose/pallet/pallet.obj texture_path:=${ISAAC_ROS_WS}/isaac_ros_assets/isaac_ros_foundationpose/pallet/baked_mesh_6f78b75e_tex0.png score_engine_file_path:=${ISAAC_ROS_WS}/isaac_ros_assets/models/foundationpose/score_trt_engine.plan refine_engine_file_path:=${ISAAC_ROS_WS}/isaac_ros_assets/models/foundationpose/refine_trt_engine.plan rt_detr_engine_file_path:=${ISAAC_ROS_WS}/isaac_ros_assets/models/synthetica_detr/sdetr_amr.plan

Here’s part of log:

admin@DOS:/workspaces/isaac_ros-dev$ realsense-viewer
 18/02 16:27:28,189 INFO [138366426845184] (context.cpp:116) ... 2-1.4.4.2-10
 18/02 16:27:28,189 INFO [138366426845184] (context.cpp:116) ... 3-4-3
 18/02 16:27:28,189 INFO [138366426845184] (context.cpp:128) Found 2 RealSense devices (0xff requested & 0xff from device-mask in settings)
admin@DOS:/workspaces/isaac_ros-dev$ ros2 launch isaac_ros_examples isaac_ros_examples.launch.py launch_fragments:=realsense_mono_rect_depth,foundationpose_tracking mesh_file_path:=${ISAAC_ROS_WS}/isaac_ros_assets/isaac_ros_foundationpose/pallet/pallet.obj texture_path:=${ISAAC_ROS_WS}/isaac_ros_assets/isaac_ros_foundationpose/pallet/baked_mesh_6f78b75e_tex0.png score_engine_file_path:=${ISAAC_ROS_WS}/isaac_ros_assets/models/foundationpose/score_trt_engine.plan refine_engine_file_path:=${ISAAC_ROS_WS}/isaac_ros_assets/models/foundationpose/refine_trt_engine.plan rt_detr_engine_file_path:=${ISAAC_ROS_WS}/isaac_ros_assets/models/synthetica_detr/sdetr_amr.plan
[INFO] [launch]: All log files can be found below /home/admin/.ros/log/2025-02-18-16-28-09-278075-DOS-83471
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container_mt-1]: process started with pid [83483]
[component_container_mt-1] [INFO] [1739914089.595507208] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/librealsense2_camera.so
[component_container_mt-1] [INFO] [1739914089.686886636] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<realsense2_camera::RealSenseNodeFactory>
[component_container_mt-1] [INFO] [1739914089.686940900] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<realsense2_camera::RealSenseNodeFactory>
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/realsense2_camera' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1739914089.718007763] [realsense2_camera]: RealSense ROS v4.51.1
[component_container_mt-1] [INFO] [1739914089.718044571] [realsense2_camera]: Built with LibRealSense v2.55.1
[component_container_mt-1] [INFO] [1739914089.718052843] [realsense2_camera]: Running with LibRealSense v2.55.1
[component_container_mt-1] [INFO] [1739914089.720722021] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libconvert_metric_node.so
[component_container_mt-1] [INFO] [1739914089.799891376] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::depth_image_proc::ConvertMetricNode>
[component_container_mt-1] [INFO] [1739914089.799948332] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::depth_image_proc::ConvertMetricNode>
[component_container_mt-1] [INFO] [1739914089.828393544] [realsense2_camera]: Device with serial number 250122070375 was found.
[component_container_mt-1] 
[component_container_mt-1] [INFO] [1739914089.828467499] [realsense2_camera]: Device with physical ID 2-1.4.4.2-10 was found.
[component_container_mt-1] [INFO] [1739914089.828476271] [realsense2_camera]: Device with name Intel RealSense D435 was found.
[component_container_mt-1] [INFO] [1739914089.828741070] [realsense2_camera]: Device with port number 2-1.4.4.2 was found.
[component_container_mt-1] [INFO] [1739914089.828763449] [realsense2_camera]: Device USB type: 3.2
[component_container_mt-1] [INFO] [1739914089.829973777] [realsense2_camera]: getParameters...
[component_container_mt-1] [INFO] [1739914089.830158144] [realsense2_camera]: JSON file is not provided
[component_container_mt-1] [INFO] [1739914089.830174724] [realsense2_camera]: Device Name: Intel RealSense D435
[component_container_mt-1] [INFO] [1739914089.830180527] [realsense2_camera]: Device Serial No: 250122070375
[component_container_mt-1] [INFO] [1739914089.830186768] [realsense2_camera]: Device physical port: 2-1.4.4.2-10
[component_container_mt-1] [INFO] [1739914089.830192688] [realsense2_camera]: Device FW version: 5.13.0.55
[component_container_mt-1] [INFO] [1739914089.830198813] [realsense2_camera]: Device Product ID: 0x0B07
[component_container_mt-1] [INFO] [1739914089.830202967] [realsense2_camera]: Sync Mode: Off
[component_container_mt-1] [INFO] [1739914089.984237029] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/std/libgxf_std.so
[component_container_mt-1] [INFO] [1739914089.985084549] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_gxf_helpers.so
[component_container_mt-1] [INFO] [1739914089.986939331] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_sight.so
[component_container_mt-1] [INFO] [1739914089.989036204] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_atlas.so
[component_container_mt-1] 2025-02-18 16:28:09.994 WARN  external/com_nvidia_gxf/gxf/std/program.cpp@538: No GXF scheduler specified.
[component_container_mt-1] [INFO] [1739914089.994633043] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/multimedia/libgxf_multimedia.so
[component_container_mt-1] [INFO] [1739914089.997805334] [convert_metric.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1739914089.998313183] [convert_metric.ManagedNitrosPublisher]: Starting Managed Nitros Publisher
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/convert_metric' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1739914090.124123878] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libresize_node.so
[component_container_mt-1] [INFO] [1739914090.125559770] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::ResizeNode>
[component_container_mt-1] [INFO] [1739914090.125580999] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::ResizeNode>
[component_container_mt-1] [INFO] [1739914090.127664507] [resize_left_rt_detr_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1739914090.127909430] [resize_left_rt_detr_node]: [ResizeNode] Set output data format to: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1739914090.127964965] [resize_left_rt_detr_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1739914090.135243340] [resize_left_rt_detr_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1739914090.135330336] [resize_left_rt_detr_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_message_compositor.so
[component_container_mt-1] [INFO] [1739914090.135723891] [resize_left_rt_detr_node]: [NitrosContext] Loading extension: gxf/lib/cuda/libgxf_cuda.so
[component_container_mt-1] [INFO] [1739914090.137493714] [resize_left_rt_detr_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_tensorops.so
[component_container_mt-1] [INFO] [1739914090.139753945] [resize_left_rt_detr_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1739914090.142110303] [resize_left_rt_detr_node]: [NitrosNode] Running optimization
[component_container_mt-1] [WARN] [1739914090.290510577] [realsense2_camera]: re-enable the stream for the change to take effect.
[component_container_mt-1] [WARN] [1739914090.290867173] [realsense2_camera]: re-enable the stream for the change to take effect.
[component_container_mt-1] [INFO] [1739914090.294350272] [resize_left_rt_detr_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1739914090.298701116] [resize_left_rt_detr_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] [1739914090.305182763] [resize_left_rt_detr_node]: [NitrosNode] Starting negotiation...
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/resize_left_rt_detr_node' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1739914090.307101928] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libpad_node.so
[component_container_mt-1] [INFO] [1739914090.308703185] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::PadNode>
[component_container_mt-1] [INFO] [1739914090.308729585] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::PadNode>
[component_container_mt-1] [INFO] [1739914090.312640481] [pad_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1739914090.312747270] [resize_left_rt_detr_node]: Negotiating
[component_container_mt-1] [INFO] [1739914090.313333168] [pad_node.ManagedNitrosPublisher]: Starting Managed Nitros Publisher
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/pad_node' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1739914090.314723740] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libimage_to_tensor_node.so
[component_container_mt-1] [INFO] [1739914090.321551853] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::ImageToTensorNode>
[component_container_mt-1] [INFO] [1739914090.321594994] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::ImageToTensorNode>
[component_container_mt-1] [INFO] [1739914090.326282887] [image_to_tensor_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1739914090.326326212] [pad_node]: Negotiating
[component_container_mt-1] [INFO] [1739914090.327702006] [image_to_tensor_node.ManagedNitrosPublisher]: Starting Managed Nitros Publisher
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/image_to_tensor_node' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1739914090.330641672] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libinterleaved_to_planar_node.so
[component_container_mt-1] [INFO] [1739914090.331648833] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::InterleavedToPlanarNode>
[component_container_mt-1] [INFO] [1739914090.331673604] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::InterleavedToPlanarNode>
[component_container_mt-1] [INFO] [1739914090.336517925] [interleaved_to_planar_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1739914090.336899845] [interleaved_to_planar_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1739914090.345568588] [interleaved_to_planar_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1739914090.345704602] [interleaved_to_planar_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1739914090.348259590] [interleaved_to_planar_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1739914090.358796385] [interleaved_to_planar_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1739914090.362062182] [interleaved_to_planar_node]: [NitrosNode] Starting negotiation...
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/interleaved_to_planar_node' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1739914090.367597007] [image_to_tensor_node]: Negotiating
[component_container_mt-1] [INFO] [1739914090.367646633] [image_to_tensor_node]: Could not negotiate
[component_container_mt-1] [INFO] [1739914090.369022151] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libreshape_node.so
[component_container_mt-1] [INFO] [1739914090.370054966] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::ReshapeNode>
[component_container_mt-1] [INFO] [1739914090.370074454] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::ReshapeNode>
[component_container_mt-1] [INFO] [1739914090.378355486] [reshape_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1739914090.378853266] [reshape_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1739914090.385694382] [reshape_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1739914090.385818993] [reshape_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1739914090.387292627] [reshape_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1739914090.391606529] [reshape_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1739914090.393957659] [reshape_node]: [NitrosNode] Starting negotiation...
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/reshape_node' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1739914090.394907885] [interleaved_to_planar_node]: Negotiating
[component_container_mt-1] [INFO] [1739914090.395093600] [image_to_tensor_node]: Negotiating
[component_container_mt-1] [INFO] [1739914090.395121505] [image_to_tensor_node]: Could not negotiate
[component_container_mt-1] [INFO] [1739914090.395676312] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/librtdetr_preprocessor_node.so
[component_container_mt-1] [INFO] [1739914090.396925858] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::rtdetr::RtDetrPreprocessorNode>
[component_container_mt-1] [INFO] [1739914090.396952321] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::rtdetr::RtDetrPreprocessorNode>
[component_container_mt-1] [INFO] [1739914090.406707724] [rtdetr_preprocessor.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1739914090.407312375] [reshape_node]: Negotiating
[component_container_mt-1] [INFO] [1739914090.407503851] [interleaved_to_planar_node]: Negotiating
[component_container_mt-1] [INFO] [1739914090.407622664] [image_to_tensor_node]: Negotiating
[component_container_mt-1] [INFO] [1739914090.407633172] [image_to_tensor_node]: Could not negotiate
[component_container_mt-1] [INFO] [1739914090.409454528] [rtdetr_preprocessor.ManagedNitrosPublisher]: Starting Managed Nitros Publisher
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/rtdetr_preprocessor' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1739914090.414336127] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libtensor_rt_node.so
[component_container_mt-1] [INFO] [1739914090.435185651] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::TensorRTNode>
[component_container_mt-1] [INFO] [1739914090.435243060] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::TensorRTNode>
[component_container_mt-1] [WARN] [1739914090.441233035] [realsense2_camera]: re-enable the stream for the change to take effect.
[component_container_mt-1] [INFO] [1739914090.441967571] [tensor_rt]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1739914090.443098544] [tensor_rt]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1739914090.449782485] [tensor_rt]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1739914090.449871323] [tensor_rt]: [NitrosContext] Loading extension: gxf/lib/serialization/libgxf_serialization.so
[component_container_mt-1] [INFO] [1739914090.450865788] [realsense2_camera]: Stopping Sensor: Stereo Module
[component_container_mt-1] [INFO] [1739914090.456028694] [tensor_rt]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_tensor_rt.so
[component_container_mt-1] [INFO] [1739914090.458781653] [tensor_rt]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1739914090.460724386] [tensor_rt]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1739914090.483814667] [tensor_rt]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1739914090.484790850] [tensor_rt]: [NitrosPublisherSubscriberGroup] Pinning the component "inference/rx" (type="nvidia::gxf::DoubleBufferReceiver") to use its compatible format only: "nitros_tensor_list_nchw_rgb_f32"
[component_container_mt-1] [INFO] [1739914090.484813369] [tensor_rt]: [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] [1739914090.486510707] [tensor_rt]: [NitrosNode] Starting negotiation...
[component_container_mt-1] [INFO] [1739914090.486831857] [rtdetr_preprocessor]: Negotiating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/tensor_rt' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1739914090.488235782] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/librtdetr_decoder_node.so
[component_container_mt-1] [INFO] [1739914090.489523803] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::rtdetr::RtDetrDecoderNode>
[component_container_mt-1] [INFO] [1739914090.489553388] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::rtdetr::RtDetrDecoderNode>
[component_container_mt-1] [INFO] [1739914090.489960961] [realsense2_camera]: Starting Sensor: Stereo Module
[component_container_mt-1] [INFO] [1739914090.495330623] [rtdetr_decoder.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1739914090.495401915] [tensor_rt]: Negotiating
[component_container_mt-1] [INFO] [1739914090.495432728] [tensor_rt]: Could not negotiate
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/rtdetr_decoder' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1739914090.499864008] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libdetection2_d_array_filter.so
[component_container_mt-1] [INFO] [1739914090.500625096] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::foundationpose::Detection2DArrayFilter>
[component_container_mt-1] [INFO] [1739914090.500655579] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::foundationpose::Detection2DArrayFilter>
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/detection2_d_array_filter' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1739914090.521626303] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libdetection2_d_to_mask.so
[component_container_mt-1] [INFO] [1739914090.522471976] [realsense2_camera]: Open profile: stream_type: Depth(0), Format: Z16, Width: 640, Height: 480, FPS: 15
[component_container_mt-1] [INFO] [1739914090.522826686] [realsense2_camera]: Stopping Sensor: RGB Camera
[component_container_mt-1] [INFO] [1739914090.523264365] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::foundationpose::Detection2DToMask>
[component_container_mt-1] [INFO] [1739914090.523286601] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::foundationpose::Detection2DToMask>
[component_container_mt-1]  18/02 16:28:10,525 WARNING [126785314358848] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-1] [INFO] [1739914090.532153403] [detection2_d_to_mask]: Mask Height: 480, Mask Width: 640
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/detection2_d_to_mask' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1739914090.533946630] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::ResizeNode>
[component_container_mt-1] [INFO] [1739914090.533968911] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::ResizeNode>
[component_container_mt-1] [INFO] [1739914090.536462237] [realsense2_camera]: Starting Sensor: RGB Camera
[component_container_mt-1] [INFO] [1739914090.537523880] [resize_mask_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1739914090.538162554] [resize_mask_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1739914090.548623698] [realsense2_camera]: Open profile: stream_type: Color(0), Format: RGB8, Width: 640, Height: 480, FPS: 15
[component_container_mt-1] [INFO] [1739914090.549440737] [realsense2_camera]: RealSense Node Is Up!
[component_container_mt-1] [INFO] [1739914090.550381927] [resize_mask_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1739914090.550506408] [resize_mask_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1739914090.553886363] [resize_mask_node]: [NitrosNode] Running optimization
[component_container_mt-1] [WARN] [1739914090.698169229] [realsense2_camera]: 
[component_container_mt-1] [INFO] [1739914090.738647616] [resize_mask_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1739914090.749157796] [resize_mask_node]: [NitrosNode] Starting negotiation...
[component_container_mt-1] [INFO] [1739914090.749953948] [resize_left_rt_detr_node]: Negotiating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/resize_mask_node' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1739914090.759750978] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libfoundationpose_selector_node.so
[component_container_mt-1] [INFO] [1739914090.762688907] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::foundationpose::Selector>
[component_container_mt-1] [INFO] [1739914090.762722757] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::foundationpose::Selector>
[component_container_mt-1] [INFO] [1739914090.771876269] [selector_node.ManagedNitrosPublisher]: Starting Managed Nitros Publisher
[component_container_mt-1] [INFO] [1739914090.773688105] [selector_node.ManagedNitrosPublisher]: Starting Managed Nitros Publisher
[component_container_mt-1] [INFO] [1739914090.776697270] [selector_node.ManagedNitrosPublisher]: Starting Managed Nitros Publisher
[component_container_mt-1] [INFO] [1739914090.778836161] [selector_node.ManagedNitrosPublisher]: Starting Managed Nitros Publisher
[component_container_mt-1] [INFO] [1739914090.780425273] [selector_node.ManagedNitrosPublisher]: Starting Managed Nitros Publisher
[component_container_mt-1] [INFO] [1739914090.783552131] [selector_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1739914090.784246684] [resize_mask_node]: Negotiating
[component_container_mt-1] [INFO] [1739914090.784276840] [resize_mask_node]: Could not negotiate
[component_container_mt-1] [INFO] [1739914090.784525178] [resize_left_rt_detr_node]: Negotiating
[component_container_mt-1] [INFO] [1739914090.784246708] [selector_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1739914090.786688064] [selector_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/selector_node' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1739914090.789297358] [convert_metric]: Negotiating
[component_container_mt-1] [INFO] [1739914090.789322799] [convert_metric]: Could not negotiate
[component_container_mt-1] [INFO] [1739914090.790598212] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libfoundationpose_node.so
[component_container_mt-1] [INFO] [1739914090.793386931] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::foundationpose::FoundationPoseNode>
[component_container_mt-1] [INFO] [1739914090.793431909] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::foundationpose::FoundationPoseNode>
[component_container_mt-1] [INFO] [1739914090.798621769] [foundationpose_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1739914090.800062911] [foundationpose_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1739914090.805041959] [foundationpose_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1739914090.805137686] [foundationpose_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_depth_image_proc.so
[component_container_mt-1] [INFO] [1739914090.810965221] [foundationpose_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_sgm.so
[component_container_mt-1] [INFO] [1739914090.811545943] [foundationpose_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_messages.so
[component_container_mt-1] [INFO] [1739914090.812058055] [foundationpose_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_ros_messages.so
[component_container_mt-1] [INFO] [1739914090.812280431] [foundationpose_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_foundationpose.so
[component_container_mt-1] [INFO] [1739914090.816740279] [foundationpose_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1739914090.833499539] [foundationpose_node]: [NitrosNode] Running optimization
[component_container_mt-1]  18/02 16:28:10,839 WARNING [126785314358848] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-1]  18/02 16:28:10,850 WARNING [126785314358848] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-1]  18/02 16:28:10,860 WARNING [126785314358848] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-1]  18/02 16:28:10,871 WARNING [126785314358848] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-1]  18/02 16:28:10,882 WARNING [126785314358848] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-1]  18/02 16:28:10,992 WARNING [126785314358848] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-1] [INFO] [1739914091.306391718] [resize_left_rt_detr_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1739914091.306447687] [resize_left_rt_detr_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1739914091.306466063] [resize_left_rt_detr_node]: [NitrosPublisher] Use the negotiated data format: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1739914091.306486165] [resize_left_rt_detr_node]: [NitrosPublisher] Use the negotiated data format: "nitros_camera_info"
[component_container_mt-1] [INFO] [1739914091.306496676] [resize_left_rt_detr_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1739914091.306501424] [resize_left_rt_detr_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/image_rect", data_format="nitros_image_rgb8"
[component_container_mt-1] [INFO] [1739914091.306508279] [resize_left_rt_detr_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1739914091.306512624] [resize_left_rt_detr_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/camera_info_rect", data_format="nitros_camera_info"
[component_container_mt-1] [INFO] [1739914091.306646251] [resize_left_rt_detr_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1739914091.314292696] [resize_left_rt_detr_node]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/WKQPMKMVZF/WKQPMKMVZF.yaml"
[component_container_mt-1] [INFO] [1739914091.314348510] [resize_left_rt_detr_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1739914091.316370436] [resize_left_rt_detr_node]: [ResizeNode] postLoadGraphCallback().
[component_container_mt-1] [INFO] [1739914091.316440732] [resize_left_rt_detr_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1739914091.331380072] [resize_left_rt_detr_node]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1739914091.363315195] [interleaved_to_planar_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1739914091.363365103] [interleaved_to_planar_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1739914091.363372670] [interleaved_to_planar_node]: [NitrosPublisher] Use the negotiated data format: "nitros_tensor_list_nchw_rgb_f32"
[component_container_mt-1] [INFO] [1739914091.363403825] [interleaved_to_planar_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1739914091.363411169] [interleaved_to_planar_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/normalized_tensor", data_format="nitros_tensor_list_nhwc_rgb_f32"
[component_container_mt-1] [INFO] [1739914091.363490054] [interleaved_to_planar_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1739914091.365341925] [interleaved_to_planar_node]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/GZJFHURGXC/GZJFHURGXC.yaml"
[component_container_mt-1] [INFO] [1739914091.365379334] [interleaved_to_planar_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1739914091.366597924] [interleaved_to_planar_node]: In InterleavedToPlanarNode postLoadGraphCallback().
[component_container_mt-1] [INFO] [1739914091.366680543] [interleaved_to_planar_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1739914091.374413069] [interleaved_to_planar_node]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1739914091.394622840] [reshape_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1739914091.394898957] [reshape_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1739914091.394915533] [reshape_node]: [NitrosPublisher] Use the negotiated data format: "nitros_tensor_list_nchw_rgb_f32"
[component_container_mt-1] [INFO] [1739914091.394925340] [reshape_node]: [NitrosSubscriber] Use the negotiated data format: "nitros_tensor_list_nchw_rgb_f32"
[component_container_mt-1] [INFO] [1739914091.395053640] [reshape_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1739914091.397824299] [reshape_node]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/HBMKCQWBSJ/HBMKCQWBSJ.yaml"
[component_container_mt-1] [INFO] [1739914091.397863498] [reshape_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1739914091.399278900] [reshape_node]: In ReshapeNode postLoadGraphCallback().
[component_container_mt-1] [INFO] [1739914091.399351945] [reshape_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1739914091.400067391] [reshape_node]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1739914091.412037265] [foundationpose_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1739914091.420421481] [foundationpose_node]: [NitrosNode] Starting negotiation...
[component_container_mt-1] [INFO] [1739914091.420967078] [selector_node]: Negotiating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/foundationpose_node' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1739914091.421345817] [selector_node]: Negotiating
[component_container_mt-1] [INFO] [1739914091.421735916] [selector_node]: Negotiating
[component_container_mt-1] [INFO] [1739914091.422315745] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libfoundationpose_tracking_node.so
[component_container_mt-1] [INFO] [1739914091.424430889] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::foundationpose::FoundationPoseTrackingNode>
[component_container_mt-1] [INFO] [1739914091.424448807] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::foundationpose::FoundationPoseTrackingNode>
[component_container_mt-1] [INFO] [1739914091.427510356] [foundationpose_tracking_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1739914091.428079810] [foundationpose_tracking_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1739914091.431214854] [foundationpose_tracking_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1739914091.431337293] [foundationpose_tracking_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1739914091.436205711] [foundationpose_tracking_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1739914091.487191594] [tensor_rt]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1739914091.487401858] [tensor_rt]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1739914091.487411719] [tensor_rt]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1739914091.487418182] [tensor_rt]: [NitrosPublisher] Use only the compatible publisher: topic_name="/tensor_sub", data_format="nitros_tensor_list_nhwc_rgb_f32"
[component_container_mt-1] [INFO] [1739914091.487426294] [tensor_rt]: [NitrosSubscriber] Use the negotiated data format: "nitros_tensor_list_nchw_rgb_f32"
[component_container_mt-1] [INFO] [1739914091.487525844] [tensor_rt]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1739914091.493971678] [tensor_rt]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/OWAUCGBEVL/OWAUCGBEVL.yaml"
[component_container_mt-1] [INFO] [1739914091.494074818] [tensor_rt]: [NitrosNode] Loading application
[component_container_mt-1] 2025-02-18 16:28:11.495 WARN  external/com_nvidia_gxf/gxf/std/yaml_file_loader.cpp@1076: Using unregistered parameter 'dev_id' in component 'stream'.
[component_container_mt-1] [INFO] [1739914091.495850591] [tensor_rt]: In TensorRTNode postLoadGraphCallback().
[component_container_mt-1]  18/02 16:28:11,507 WARNING [126785314358848] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-1]  18/02 16:28:11,518 WARNING [126785314358848] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-1]  18/02 16:28:11,528 WARNING [126785314358848] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-1]  18/02 16:28:11,538 WARNING [126785314358848] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-1]  18/02 16:28:11,549 WARNING [126785314358848] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-1] [INFO] [1739914091.553647621] [foundationpose_tracking_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1]  18/02 16:28:11,559 WARNING [126785314358848] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-1]  18/02 16:28:11,569 WARNING [126785314358848] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-1] [INFO] [1739914091.570327443] [foundationpose_tracking_node]: [NitrosNode] Starting negotiation...
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/foundationpose_tracking_node' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1739914091.570937619] [selector_node]: Negotiating
[component_container_mt-1] [INFO] [1739914091.571424573] [selector_node]: Negotiating
[component_container_mt-1] [INFO] [1739914091.660808078] [tensor_rt]: Read tensor shape information from TRT Model Engine: /workspaces/isaac_ros-dev/isaac_ros_assets/models/synthetica_detr/sdetr_amr.plan
[component_container_mt-1] [INFO] [1739914091.660912945] [tensor_rt]: Tensors 4800 bytes, num outputs 40 x tensors per output 3 = 120 blocks
[component_container_mt-1] [INFO] [1739914091.660980917] [tensor_rt]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1739914091.661677165] [tensor_rt]: [NitrosNode] Node was started
[component_container_mt-1]  18/02 16:28:11,680 WARNING [126785314358848] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-1]  18/02 16:28:11,690 WARNING [126785314358848] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-1]  18/02 16:28:11,700 WARNING [126785314358848] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-1]  18/02 16:28:11,710 WARNING [126785314358848] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-1]  18/02 16:28:11,721 WARNING [126785314358848] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-1]  18/02 16:28:11,731 WARNING [126785314358848] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-1]  18/02 16:28:11,741 WARNING [126785314358848] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-1] [INFO] [1739914091.750251242] [resize_mask_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1739914091.750303136] [resize_mask_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1739914091.750308709] [resize_mask_node]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1739914091.750314334] [resize_mask_node]: [NitrosPublisher] Use only the compatible publisher: topic_name="/segmentation", data_format="nitros_image_bgr8"
[component_container_mt-1] [INFO] [1739914091.750319296] [resize_mask_node]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1739914091.750323028] [resize_mask_node]: [NitrosPublisher] Use only the compatible publisher: topic_name="/camera_info_segmentation", data_format="nitros_camera_info"
[component_container_mt-1] [INFO] [1739914091.750328230] [resize_mask_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1739914091.750339202] [resize_mask_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/rt_detr_segmentation", data_format="nitros_image_bgr8"
[component_container_mt-1] [INFO] [1739914091.750345600] [resize_mask_node]: [NitrosSubscriber] Use the negotiated data format: "nitros_camera_info"
[component_container_mt-1] [INFO] [1739914091.750441960] [resize_mask_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1]  18/02 16:28:11,752 WARNING [126785314358848] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-1] [INFO] [1739914091.758206908] [resize_mask_node]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/BCHYIKEWWI/BCHYIKEWWI.yaml"
[component_container_mt-1] [INFO] [1739914091.758270629] [resize_mask_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1739914091.760346011] [resize_mask_node]: [ResizeNode] postLoadGraphCallback().
[component_container_mt-1] [INFO] [1739914091.760400285] [resize_mask_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1]  18/02 16:28:11,762 WARNING [126785314358848] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-1]  18/02 16:28:11,772 WARNING [126785314358848] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-1] [INFO] [1739914091.787766824] [resize_mask_node]: [NitrosNode] Node was started
[component_container_mt-1]  18/02 16:28:11,883 WARNING [126785314358848] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-1]  18/02 16:28:11,893 WARNING [126785314358848] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-1]  18/02 16:28:11,904 WARNING [126785314358848] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-1]  18/02 16:28:11,914 WARNING [126785314358848] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-1]  18/02 16:28:11,924 WARNING [126785314358848] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-1]  18/02 16:28:11,934 WARNING [126785314358848] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-1]  18/02 16:28:11,945 WARNING [126785314358848] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-1]  18/02 16:28:11,955 WARNING [126785314358848] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-1]  18/02 16:28:11,965 WARNING [126785314358848] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-1]  18/02 16:28:12,077 WARNING [126785314358848] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-1]  18/02 16:28:12,088 WARNING [126785314358848] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-1]  18/02 16:28:12,098 WARNING [126785314358848] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-1]  18/02 16:28:12,108 WARNING [126785314358848] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-1]  18/02 16:28:12,118 WARNING [126785314358848] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-1]  18/02 16:28:12,129 WARNING [126785314358848] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-1]  18/02 16:28:12,139 WARNING [126785314358848] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-1]  18/02 16:28:12,149 WARNING [126785314358848] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-1]  18/02 16:28:12,159 WARNING [126785314358848] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-1]  18/02 16:28:12,170 WARNING [126785314358848] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-1]  18/02 16:28:12,280 WARNING [126785314358848] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-1]  18/02 16:28:12,290 WARNING [126785314358848] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-1]  18/02 16:28:12,301 WARNING [126785314358848] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-1]  18/02 16:28:12,311 WARNING [126785314358848] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-1]  18/02 16:28:12,321 WARNING [126785314358848] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-1]  18/02 16:28:12,331 WARNING [126785314358848] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-1]  18/02 16:28:12,342 WARNING [126785314358848] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-1]  18/02 16:28:12,352 WARNING [126785314358848] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-1]  18/02 16:28:12,362 WARNING [126785314358848] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-1]  18/02 16:28:12,372 WARNING [126785314358848] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-1] [INFO] [1739914092.421422664] [foundationpose_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1739914092.421476776] [foundationpose_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1739914092.421483255] [foundationpose_node]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1739914092.421488165] [foundationpose_node]: [NitrosPublisher] Use only the compatible publisher: topic_name="/pose_estimation/output", data_format="nitros_detection3_d_array"
[component_container_mt-1] [INFO] [1739914092.421493406] [foundationpose_node]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1739914092.421497043] [foundationpose_node]: [NitrosPublisher] Use only the compatible publisher: topic_name="/pose_estimation/pose_matrix_output", data_format="nitros_tensor_list_nchw"
[component_container_mt-1] [INFO] [1739914092.421502149] [foundationpose_node]: [NitrosSubscriber] Use the negotiated data format: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1739914092.421507907] [foundationpose_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1739914092.421511530] [foundationpose_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/pose_estimation/camera_info", data_format="nitros_camera_info"
[component_container_mt-1] [INFO] [1739914092.421529444] [foundationpose_node]: [NitrosSubscriber] Use the negotiated data format: "nitros_image_mono8"
[component_container_mt-1] [INFO] [1739914092.421533950] [foundationpose_node]: [NitrosSubscriber] Use the negotiated data format: "nitros_image_32FC1"
[component_container_mt-1] [INFO] [1739914092.421612305] [foundationpose_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1739914092.576555518] [foundationpose_tracking_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1739914092.576605757] [foundationpose_tracking_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1739914092.576614266] [foundationpose_tracking_node]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1739914092.576621862] [foundationpose_tracking_node]: [NitrosPublisher] Use only the compatible publisher: topic_name="/tracking/output", data_format="nitros_detection3_d_array"
[component_container_mt-1] [INFO] [1739914092.576628793] [foundationpose_tracking_node]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1739914092.576634021] [foundationpose_tracking_node]: [NitrosPublisher] Use only the compatible publisher: topic_name="/tracking/pose_matrix_output", data_format="nitros_tensor_list_nchw"
[component_container_mt-1] [INFO] [1739914092.576641508] [foundationpose_tracking_node]: [NitrosSubscriber] Use the negotiated data format: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1739914092.576648299] [foundationpose_tracking_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1739914092.576653346] [foundationpose_tracking_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/tracking/camera_info", data_format="nitros_camera_info"
[component_container_mt-1] [INFO] [1739914092.576660451] [foundationpose_tracking_node]: [NitrosSubscriber] Use the negotiated data format: "nitros_image_32FC1"
[component_container_mt-1] [INFO] [1739914092.576666262] [foundationpose_tracking_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1739914092.576673862] [foundationpose_tracking_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/tracking/pose_input", data_format="nitros_tensor_list_nchw"
[component_container_mt-1] [INFO] [1739914092.576793835] [foundationpose_tracking_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1739914092.592649314] [foundationpose_tracking_node]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/SYCWOYNGEE/SYCWOYNGEE.yaml"
[component_container_mt-1] [INFO] [1739914092.592775912] [foundationpose_tracking_node]: [NitrosNode] Loading application
[component_container_mt-1] 2025-02-18 16:28:12.596 WARN  external/com_nvidia_gxf/gxf/std/yaml_file_loader.cpp@1076: Using unregistered parameter 'dummy_rx' in component ''.
[component_container_mt-1] 2025-02-18 16:28:12.596 WARN  external/com_nvidia_gxf/gxf/std/yaml_file_loader.cpp@1076: Using unregistered parameter 'dev_id' in component 'stream'.
[component_container_mt-1] [INFO] [1739914092.597112722] [foundationpose_tracking_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1739914092.598644709] [foundationpose_tracking_node]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1739914095.382564136] [foundationpose_node]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/ZYOWCJGHIS/ZYOWCJGHIS.yaml"
[component_container_mt-1] [INFO] [1739914095.382638783] [foundationpose_node]: [NitrosNode] Loading application
[component_container_mt-1] 2025-02-18 16:28:15.389 WARN  external/com_nvidia_gxf/gxf/std/yaml_file_loader.cpp@1076: Using unregistered parameter 'dummy_rx' in component ''.
[component_container_mt-1] 2025-02-18 16:28:15.389 WARN  external/com_nvidia_gxf/gxf/std/yaml_file_loader.cpp@1076: Using unregistered parameter 'dummy_rx' in component ''.
[component_container_mt-1] 2025-02-18 16:28:15.389 WARN  external/com_nvidia_gxf/gxf/std/yaml_file_loader.cpp@1076: Using unregistered parameter 'dev_id' in component 'stream'.
[component_container_mt-1] [INFO] [1739914095.390123348] [foundationpose_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] 2025-02-18 16:28:15.391 WARN  external/com_nvidia_gxf/gxf/std/scheduling_terms.cpp@333: 'min_size' parameter in MultiMessageAvailableSchedulingTerm is deprecated. Use 'min_sum' with SumOfAll sampling mode instead
[component_container_mt-1] 2025-02-18 16:28:15.391 WARN  external/com_nvidia_gxf/gxf/std/scheduling_terms.cpp@333: 'min_size' parameter in MultiMessageAvailableSchedulingTerm is deprecated. Use 'min_sum' with SumOfAll sampling mode instead
[component_container_mt-1] 2025-02-18 16:28:15.391 WARN  external/com_nvidia_gxf/gxf/std/scheduling_terms.cpp@333: 'min_size' parameter in MultiMessageAvailableSchedulingTerm is deprecated. Use 'min_sum' with SumOfAll sampling mode instead
[component_container_mt-1] 2025-02-18 16:28:15.391 WARN  external/com_nvidia_gxf/gxf/std/scheduling_terms.cpp@333: 'min_size' parameter in MultiMessageAvailableSchedulingTerm is deprecated. Use 'min_sum' with SumOfAll sampling mode instead
[component_container_mt-1] 2025-02-18 16:28:15.391 WARN  external/com_nvidia_gxf/gxf/std/scheduling_terms.cpp@333: 'min_size' parameter in MultiMessageAvailableSchedulingTerm is deprecated. Use 'min_sum' with SumOfAll sampling mode instead
[component_container_mt-1] [INFO] [1739914095.392362182] [foundationpose_node]: [NitrosNode] Node was started
[component_container_mt-1]  18/02 16:28:56,503 WARNING [126785314358848] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-1]  18/02 16:28:56,514 WARNING [126785314358848] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-1]  18/02 16:28:56,524 WARNING [126785314358848] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-1]  18/02 16:28:56,534 WARNING [126785314358848] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-1]  18/02 16:28:56,545 WARNING [126785314358848] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-1]  18/02 16:28:56,555 WARNING [126785314358848] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-1]  18/02 16:28:56,565 WARNING [126785314358848] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-1]  18/02 16:28:56,576 WARNING [126785314358848] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-1]  18/02 16:28:56,586 WARNING [126785314358848] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-1]  18/02 16:28:56,596 WARNING [126785314358848] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-1]  18/02 16:29:05,611 WARNING [126785314358848] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-1]  18/02 16:29:19,155 ERROR [126782365763136] (uvc-streamer.cpp:105) uvc streamer watchdog triggered on endpoint: 132
[component_container_mt-1]  18/02 16:30:24,437 ERROR [126782365763136] (uvc-streamer.cpp:105) uvc streamer watchdog triggered on endpoint: 132
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[component_container_mt-1] [INFO] [1739914298.257430384] [rclcpp]: signal_handler(signum=2)
[component_container_mt-1] [INFO] [1739914298.263805058] [foundationpose_tracking_node]: [NitrosNode] Terminating the running application
[component_container_mt-1] [INFO] [1739914298.263814089] [foundationpose_tracking_node]: [NitrosContext] Interrupting GXF...
[component_container_mt-1] [INFO] [1739914298.271887530] [foundationpose_tracking_node]: [NitrosContext] Waiting on GXF...
[component_container_mt-1] [INFO] [1739914298.271895206] [foundationpose_tracking_node]: [NitrosContext] Deinitializing...
[component_container_mt-1] [INFO] [1739914298.273151178] [foundationpose_tracking_node]: [NitrosContext] Destroying context
[component_container_mt-1] [INFO] [1739914298.273941640] [foundationpose_tracking_node]: [NitrosNode] Application termination done
[component_container_mt-1] [INFO] [1739914298.290465510] [foundationpose_node]: [NitrosNode] Terminating the running application
[component_container_mt-1] [INFO] [1739914298.290472593] [foundationpose_node]: [NitrosContext] Interrupting GXF...
[component_container_mt-1] [INFO] [1739914298.363242157] [foundationpose_node]: [NitrosContext] Waiting on GXF...
[component_container_mt-1] [INFO] [1739914298.363253634] [foundationpose_node]: [NitrosContext] Deinitializing...
[component_container_mt-1] [INFO] [1739914298.370766673] [foundationpose_node]: [NitrosContext] Destroying context
[component_container_mt-1] [INFO] [1739914298.379895898] [foundationpose_node]: [NitrosNode] Application termination done
[component_container_mt-1] [INFO] [1739914298.416144528] [resize_mask_node]: [NitrosNode] Terminating the running application
[component_container_mt-1] [INFO] [1739914298.416152124] [resize_mask_node]: [NitrosContext] Interrupting GXF...
[component_container_mt-1] [INFO] [1739914298.416331291] [resize_mask_node]: [NitrosContext] Waiting on GXF...
[component_container_mt-1] [INFO] [1739914298.416336223] [resize_mask_node]: [NitrosContext] Deinitializing...
[component_container_mt-1] [INFO] [1739914298.417887046] [resize_mask_node]: [NitrosContext] Destroying context
[component_container_mt-1] [INFO] [1739914298.418019129] [resize_mask_node]: [NitrosNode] Application termination done
[component_container_mt-1] [INFO] [1739914298.447049938] [tensor_rt]: [NitrosNode] Terminating the running application
[component_container_mt-1] [INFO] [1739914298.447057853] [tensor_rt]: [NitrosContext] Interrupting GXF...
[component_container_mt-1] [INFO] [1739914298.456918638] [tensor_rt]: [NitrosContext] Waiting on GXF...
[component_container_mt-1] [INFO] [1739914298.456926137] [tensor_rt]: [NitrosContext] Deinitializing...
[component_container_mt-1] [INFO] [1739914298.458120937] [tensor_rt]: [NitrosContext] Destroying context
[component_container_mt-1] [INFO] [1739914298.458188920] [tensor_rt]: [NitrosNode] Application termination done
[component_container_mt-1] [INFO] [1739914298.471586706] [reshape_node]: [NitrosNode] Terminating the running application
[component_container_mt-1] [INFO] [1739914298.471592507] [reshape_node]: [NitrosContext] Interrupting GXF...
[component_container_mt-1] [INFO] [1739914298.471754189] [reshape_node]: [NitrosContext] Waiting on GXF...
[component_container_mt-1] [INFO] [1739914298.471756640] [reshape_node]: [NitrosContext] Deinitializing...
[component_container_mt-1] [INFO] [1739914298.473667088] [reshape_node]: [NitrosContext] Destroying context
[component_container_mt-1] [INFO] [1739914298.473731236] [reshape_node]: [NitrosNode] Application termination done
[component_container_mt-1] [INFO] [1739914298.480562438] [interleaved_to_planar_node]: [NitrosNode] Terminating the running application
[component_container_mt-1] [INFO] [1739914298.480567507] [interleaved_to_planar_node]: [NitrosContext] Interrupting GXF...
[component_container_mt-1] [INFO] [1739914298.481498497] [interleaved_to_planar_node]: [NitrosContext] Waiting on GXF...
[component_container_mt-1] [INFO] [1739914298.481501510] [interleaved_to_planar_node]: [NitrosContext] Deinitializing...
[component_container_mt-1] [INFO] [1739914298.482077519] [interleaved_to_planar_node]: [NitrosContext] Destroying context
[component_container_mt-1] [INFO] [1739914298.482125302] [interleaved_to_planar_node]: [NitrosNode] Application termination done
[component_container_mt-1] [INFO] [1739914298.499718569] [resize_left_rt_detr_node]: [NitrosNode] Terminating the running application
[component_container_mt-1] [INFO] [1739914298.499724332] [resize_left_rt_detr_node]: [NitrosContext] Interrupting GXF...
[component_container_mt-1] [INFO] [1739914298.500213758] [resize_left_rt_detr_node]: [NitrosContext] Waiting on GXF...
[component_container_mt-1] [INFO] [1739914298.500218435] [resize_left_rt_detr_node]: [NitrosContext] Deinitializing...
[component_container_mt-1] [INFO] [1739914298.500730796] [resize_left_rt_detr_node]: [NitrosContext] Destroying context
[component_container_mt-1] [INFO] [1739914298.500835105] [resize_left_rt_detr_node]: [NitrosNode] Application termination done
[component_container_mt-1] [INFO] [1739914298.515513946] [realsense2_camera]: Stop Sensor: Stereo Module
[component_container_mt-1] [INFO] [1739914298.515522479] [realsense2_camera]: Close Sensor.

I also have attached the full log of execution here:
isaac_ros_foundationposetrack.txt (136.9 KB)

2

Hi @mona.jalal

Thank you for your post!
We are forwarded your issue to the engineering, we will keep you posted.

Raffaello

1 Like
3

@Raffaello

Hi Raffaello, just checking to see if there may have been any update on this you could please share?

4

Hi @mona.jalal

No, I don’t have updates, I ping again the engineering.
May there are are extra delays in the next days related to the NVIDIA GTC that is going in these days.

Best,
Raffaello

5

It seems that the issue is primarily related to the start time, which involves pose estimation rather than tracking and takes approximately 20 seconds. This duration is significantly slower than our record time, which should be around 1 second.

  • Have you simplified the mesh like our tutorial?
  • Can you please provide the mesh file and a rosbag so we can investigate the issue?

Related to the 15fps tracking output, it may be bounded by the RealSense D435 output frequency.

Best,
Raffaello

6

Thanks a lot for your response looking into this. I tried the URL in both firefox and chrome and didn’t work.

image
image1304Ă—607 22.3 KB

I will proceed to providing you with the bag file once I get the link.

7

Apologies, this is the right link: Tutorial to Simplify 3D Mesh using Meshlab — isaac_ros_docs documentation

1 Like
8

@Raffaello thanks a lot for sharing this link. I didn’t know about this tutorial (I knew about mesh simplification in Computer Graphics).

So I am not able to get to step 3.

I shared the screencast that shows after step 3, I am not seeing the same exact pop-up window.

Do you know what could be the cause? I only see “default”, “help”, “apply”, and “close” in pop-up window.

step4_mesh_simplification
step4_mesh_simplification1920Ă—1212 125 KB

And I also agree with you. From what I see, it looks like I should be simplifying the mesh as my mesh and the starter mesh in beginning of mesh simplification tutorial have roughly same number of vertices.

9

Also, as a side question, as you see the carpet was also captured. Do you think I should clean that up or is it fine in case of a pallet? If I need to clean that up, would you please be able to point me to a tutorial?

10

Hi @mona.jalal

Apologize, but I don’t understand. From your video, you follow all the steps. What is missing?

If you can clean, it can be better. We don’t have a tutorial on how to clean a point close, but you can browse online; there are many YouTube videos and tutorials.

Best,
Raffaello

1 Like
11

I figured what the culprit was. I had MeshLab 2021. After switching to MeshLab 2023.12 I can see exactly what shown in the tutorial.

image
image1925Ă—1089 360 KB

1 Like