Isaac ros foxglove bridge only sends /tf message

[darren57]

I am trying to visualize the NVblox demo using

ros2 launch nvblox_examples_bringup realsense_example.launch.py mode:=dynamic run_foxglove:=True run_rviz:=False

so that I can use the foxglove_bridge however when I run the example_bringup the /tf topic is the only one received over the network and I can see the other topics but there is nothing no messages received.

I have attempted to increase send_buffer_limit to 50MB in the foxglove_bridge.launch.py file and reduced the topics to just include the /nvblox_node/mesh and /tf. I’ve also added 'min_qos_depth': 10 parameter but it is still giving the same result.

The only log messages I receive are:

[INFO] [foxglove_bridge-1]: process started with pid [1679793]
...
...
...
[foxglove_bridge-1] [ERROR] [1740114526.253052874] [foxglove_bridge]: [WS] handle_accept error: Operation aborted.
[foxglove_bridge-1] [ERROR] [1740114526.258654140] [foxglove_bridge]: [WS] Exception caught when closing connection: Couldn't initialize rcl timer handle: the given context is not valid, either rcl_init() was not called or rcl_shutdown() was called., at ./src/rcl/guard_condition.c:67
[foxglove_bridge-1] [ERROR] [1740114526.259071365] [foxglove_bridge]: [WS] Exception caught when closing connection: Couldn't initialize rcl timer handle: the given context is not valid, either rcl_init() was not called or rcl_shutdown() was called., at ./src/rcl/guard_condition.c:67
[foxglove_bridge-1] [ERROR] [1740114526.259520526] [foxglove_bridge]: [WS] Exception caught when closing connection: Couldn't initialize rcl timer handle: the given context is not valid, either rcl_init() was not called or rcl_shutdown() was called., at ./src/rcl/guard_condition.c:67
[INFO] [foxglove_bridge-1]: process has finished cleanly [pid 1679793]

Is there some parameter or initialization I am missing?

Edit: If I change parameter: use_foxglove_whitelist:=False, I only receive /camera0/color/image_raw at about 6-10Hz and /camera0/color/camera_info at 10-90 Hz. No other data besides /tf

[darren57]

This was purely an issue with foxglove and I was not visualizing the data so the topics showed no messaged received. I have now learnt how to display it correctly.

For anyone else who comes across this and is unaware of how to set up foxglove correctly. After connecting to the ws.

1. Select the 3D panel or create a new 3D panel if one isn’t there.
2. Click the Transforms section arrow and then the three dots to Hide all. Select the closed eye to show odom coordinate system. Close the Transforms section.
3. Click the Topics section arrow and select all topics to visualize. For NVblox you can show /nvblox_node/color_layer to visualize the colorized voxels.