Hi, I’m one of the reviewers of the Jetson Orin Nano Developer Kit.
I would like to try launching isaac_ros_freespace_segmentation.
Though I’ve followed the instruction, the std::out_of_range error occurred.
$ ros2 launch isaac_ros_bi3d_freespace isaac_ros_bi3d_freespace_realsense.launch.py featnet_engine_file_path:=/tmp/models/bi3d/bi3dnet_featnet.plan segnet_engine_file_path:=/tmp/models/bi3d/bi3dnet_segnet.plan max_disparity_values:=16
[INFO] [launch]: All log files can be found below /home/admin/.ros/log/2023-04-16-21-09-29-763977-youtalk-jetson-66123
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container_mt-1]: process started with pid [66134]
[component_container_mt-1] [INFO] [1681646970.300794225] [bi3d.bi3d_container]: Load Library: /workspaces/isaac_ros-dev/install/isaac_ros_bi3d/lib/libbi3d_node.so
[component_container_mt-1] [INFO] [1681646970.404352767] [bi3d.bi3d_container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::bi3d::Bi3DNode>
[component_container_mt-1] [INFO] [1681646970.404484193] [bi3d.bi3d_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::bi3d::Bi3DNode>
[component_container_mt-1] [INFO] [1681646970.411552278] [NitrosContext]: [NitrosContext] Creating a new shared context
[component_container_mt-1] [INFO] [1681646970.411791993] [bi3d_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1681646970.412964941] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/std/libgxf_std.so
[component_container_mt-1] [INFO] [1681646970.418392614] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_gxf_helpers.so
[component_container_mt-1] [INFO] [1681646970.422018274] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_sight.so
[component_container_mt-1] [INFO] [1681646970.425836993] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_atlas.so
[component_container_mt-1] [INFO] [1681646970.431047447] [NitrosContext]: [NitrosContext] Loading application: '/workspaces/isaac_ros-dev/install/isaac_ros_nitros/share/isaac_ros_nitros/config/type_adapter_nitros_context_graph.yaml'
[component_container_mt-1] [INFO] [1681646970.432409134] [NitrosContext]: [NitrosContext] Initializing application...
[component_container_mt-1] [INFO] [1681646970.434657875] [NitrosContext]: [NitrosContext] Running application...
[component_container_mt-1] 2023-04-16 21:09:30.434 WARN gxf/std/program.cpp@456: No system specified. Nothing to do
[component_container_mt-1] [INFO] [1681646970.436600723] [bi3d_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1681646970.436663764] [bi3d_node]: [NitrosNode] Loading built-in preset extension specs
[component_container_mt-1] [INFO] [1681646970.440285040] [bi3d_node]: [NitrosNode] Loading built-in extension specs
[component_container_mt-1] [INFO] [1681646970.440370225] [bi3d_node]: [NitrosNode] Loading preset extension specs
[component_container_mt-1] [INFO] [1681646970.441753480] [bi3d_node]: [NitrosNode] Loading extension specs
[component_container_mt-1] [INFO] [1681646970.441818377] [bi3d_node]: [NitrosNode] Loading generator rules
[component_container_mt-1] [INFO] [1681646970.441840521] [bi3d_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1681646970.442815610] [bi3d_node]: [NitrosContext] Loading extension: gxf/lib/cuda/libgxf_cuda.so
[component_container_mt-1] [INFO] [1681646970.446021262] [bi3d_node]: [NitrosContext] Loading extension: gxf/lib/multimedia/libgxf_multimedia.so
[component_container_mt-1] [INFO] [1681646970.446954942] [bi3d_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_synchronization.so
[component_container_mt-1] [INFO] [1681646970.448279828] [bi3d_node]: [NitrosContext] Loading extension: gxf/lib/bi3d/libgxf_cvcore_bi3d.so
[component_container_mt-1] [INFO] [1681646970.484790830] [bi3d_node]: [NitrosContext] Loading extension: gxf/lib/bi3d/libgxf_bi3d_postprocessor.so
[component_container_mt-1] [INFO] [1681646970.487466939] [bi3d_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1681646970.498953976] [bi3d_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1681646970.702065041] [bi3d_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1681646970.705522730] [bi3d_node]: [NitrosNode] Creating negotiated publishers/subscribers
[component_container_mt-1] [INFO] [1681646970.731712922] [bi3d_node]: [NitrosPublisherSubscriberGroup] Expanding "any" data formats to all registered data formats
[component_container_mt-1] [INFO] [1681646970.731855645] [bi3d_node]: [NitrosNode] Starting negotiation...
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/bi3d_node' in container '/bi3d/bi3d_container'
[component_container_mt-1] [INFO] [1681646970.736960817] [bi3d.bi3d_container]: Load Library: /workspaces/isaac_ros-dev/install/isaac_ros_image_proc/lib/libimage_format_converter_node.so
[component_container_mt-1] [INFO] [1681646970.741516348] [bi3d.bi3d_container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::ImageFormatConverterNode>
[component_container_mt-1] [INFO] [1681646970.741595293] [bi3d.bi3d_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::ImageFormatConverterNode>
[component_container_mt-1] [INFO] [1681646970.748736627] [image_format_node_left]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1681646970.749963399] [image_format_node_left]: [ImageFormatConverterNode] Set output data format to: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1681646970.750133450] [image_format_node_left]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1681646970.750161035] [image_format_node_left]: [NitrosNode] Loading built-in preset extension specs
[component_container_mt-1] [INFO] [1681646970.753237981] [image_format_node_left]: [NitrosNode] Loading built-in extension specs
[component_container_mt-1] [INFO] [1681646970.753396256] [image_format_node_left]: [NitrosNode] Loading preset extension specs
[component_container_mt-1] [INFO] [1681646970.759139615] [image_format_node_left]: [NitrosNode] Loading extension specs
[component_container_mt-1] [INFO] [1681646970.759294497] [image_format_node_left]: [NitrosNode] Loading generator rules
[component_container_mt-1] [INFO] [1681646970.760350899] [image_format_node_left]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1681646970.761684201] [image_format_node_left]: [NitrosContext] Loading extension: gxf/lib/image_proc/libgxf_tensorops.so
[component_container_mt-1] [INFO] [1681646970.766038897] [image_format_node_left]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1681646970.768141651] [image_format_node_left]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1681646970.808110151] [image_format_node_left]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1681646970.813250108] [image_format_node_left]: [NitrosNode] Creating negotiated publishers/subscribers
[component_container_mt-1] [INFO] [1681646970.813503232] [image_format_node_left]: [NitrosPublisherSubscriberGroup] Pinning the component "vault/vault" (type="nvidia::gxf::Vault") to use its compatible format only: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1681646970.817807079] [image_format_node_left]: [NitrosNode] Starting negotiation...
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/image_format_node_left' in container '/bi3d/bi3d_container'
[component_container_mt-1] [INFO] [1681646970.822777657] [bi3d.bi3d_container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::ImageFormatConverterNode>
[component_container_mt-1] [INFO] [1681646970.822861467] [bi3d.bi3d_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::ImageFormatConverterNode>
[component_container_mt-1] [INFO] [1681646970.829804653] [image_format_node_right]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1681646970.830998241] [image_format_node_right]: [ImageFormatConverterNode] Set output data format to: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1681646970.831096003] [image_format_node_right]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1681646970.831122051] [image_format_node_right]: [NitrosNode] Loading built-in preset extension specs
[component_container_mt-1] [INFO] [1681646970.833895473] [image_format_node_right]: [NitrosNode] Loading built-in extension specs
[component_container_mt-1] [INFO] [1681646970.833968914] [image_format_node_right]: [NitrosNode] Loading preset extension specs
[component_container_mt-1] [INFO] [1681646970.838850211] [image_format_node_right]: [NitrosNode] Loading extension specs
[component_container_mt-1] [INFO] [1681646970.838941156] [image_format_node_right]: [NitrosNode] Loading generator rules
[component_container_mt-1] [INFO] [1681646970.839752594] [image_format_node_right]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1681646970.841218602] [image_format_node_right]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1681646970.842864037] [image_format_node_right]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1681646970.881345472] [image_format_node_right]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1681646970.886196080] [image_format_node_right]: [NitrosNode] Creating negotiated publishers/subscribers
[component_container_mt-1] [INFO] [1681646970.886404212] [image_format_node_right]: [NitrosPublisherSubscriberGroup] Pinning the component "vault/vault" (type="nvidia::gxf::Vault") to use its compatible format only: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1681646970.889034815] [image_format_node_left]: Negotiating
[component_container_mt-1] [INFO] [1681646970.890709915] [image_format_node_right]: [NitrosNode] Starting negotiation...
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/image_format_node_right' in container '/bi3d/bi3d_container'
[component_container_mt-1] [INFO] [1681646970.895603851] [bi3d.bi3d_container]: Load Library: /workspaces/isaac_ros-dev/install/isaac_ros_bi3d_freespace/lib/libfreespace_segmentation_node.so
[component_container_mt-1] [INFO] [1681646970.904534943] [bi3d.bi3d_container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::bi3d_freespace::FreespaceSegmentationNode>
[component_container_mt-1] [INFO] [1681646970.904630464] [bi3d.bi3d_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::bi3d_freespace::FreespaceSegmentationNode>
[component_container_mt-1] [INFO] [1681646970.911859000] [freespace_segmentation_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1681646970.918616135] [freespace_segmentation_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1681646970.918685128] [freespace_segmentation_node]: [NitrosNode] Loading built-in preset extension specs
[component_container_mt-1] [INFO] [1681646970.921568088] [freespace_segmentation_node]: [NitrosNode] Loading built-in extension specs
[component_container_mt-1] [INFO] [1681646970.921638393] [freespace_segmentation_node]: [NitrosNode] Loading preset extension specs
[component_container_mt-1] [INFO] [1681646970.922086145] [freespace_segmentation_node]: [NitrosNode] Loading extension specs
[component_container_mt-1] [INFO] [1681646970.922116225] [freespace_segmentation_node]: [NitrosNode] Loading generator rules
[component_container_mt-1] [INFO] [1681646970.922133377] [freespace_segmentation_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1681646970.923832317] [freespace_segmentation_node]: [NitrosContext] Loading extension: gxf/lib/bi3d_freespace/libgxf_occupancy_grid_projector.so
[component_container_mt-1] [INFO] [1681646970.926048642] [freespace_segmentation_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1681646970.927466873] [freespace_segmentation_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1681646970.930500395] [freespace_segmentation_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1681646970.930858737] [freespace_segmentation_node]: [NitrosNode] Creating negotiated publishers/subscribers
[component_container_mt-1] [INFO] [1681646970.935769314] [freespace_segmentation_node]: [NitrosNode] Starting negotiation...
[component_container_mt-1] [INFO] [1681646970.936717490] [bi3d_node]: Negotiating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/freespace_segmentation_node' in container '/bi3d/bi3d_container'
[component_container_mt-1] [INFO] [1681646970.936830932] [bi3d_node]: Could not negotiate
[component_container_mt-1] [INFO] [1681646970.936923605] [image_format_node_left]: Negotiating
[component_container_mt-1] [INFO] [1681646970.941299230] [bi3d.bi3d_container]: Load Library: /opt/ros/humble/install/lib/libstatic_transform_broadcaster_node.so
[component_container_mt-1] [INFO] [1681646970.942401488] [bi3d.bi3d_container]: Found class: rclcpp_components::NodeFactoryTemplate<tf2_ros::StaticTransformBroadcasterNode>
[component_container_mt-1] [INFO] [1681646970.942458065] [bi3d.bi3d_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<tf2_ros::StaticTransformBroadcasterNode>
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/static_transform_publisher' in container '/bi3d/bi3d_container'
[component_container_mt-1] [INFO] [1681646970.955692171] [bi3d.bi3d_container]: Load Library: /workspaces/isaac_ros-dev/install/realsense2_camera/lib/librealsense2_camera.so
[component_container_mt-1] [INFO] [1681646970.961505451] [image_format_node_right]: Negotiating
[component_container_mt-1] [INFO] [1681646970.962028436] [image_format_node_right]: Negotiating
[component_container_mt-1] [INFO] [1681646971.136576213] [bi3d.bi3d_container]: Found class: rclcpp_components::NodeFactoryTemplate<realsense2_camera::RealSenseNodeFactory>
[component_container_mt-1] [INFO] [1681646971.136703255] [bi3d.bi3d_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<realsense2_camera::RealSenseNodeFactory>
[component_container_mt-1] [INFO] [1681646971.165895065] [camera]: RealSense ROS v4.51.1
[component_container_mt-1] [INFO] [1681646971.166028923] [camera]: Built with LibRealSense v2.53.1
[component_container_mt-1] [INFO] [1681646971.166053020] [camera]: Running with LibRealSense v2.53.1
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/camera' in container '/bi3d/bi3d_container'
[component_container_mt-1] [INFO] [1681646971.204261586] [camera]: Device with serial number 841512070590 was found.
[component_container_mt-1]
[component_container_mt-1] [INFO] [1681646971.204385076] [camera]: Device with physical ID /sys/devices/platform/3610000.xhci/usb2/2-1/2-1.1/2-1.1:1.0/video4linux/video0 was found.
[component_container_mt-1] [INFO] [1681646971.204416533] [camera]: Device with name Intel RealSense D435I was found.
[component_container_mt-1] [INFO] [1681646971.205003486] [camera]: Device with port number 2-1.1 was found.
[component_container_mt-1] [INFO] [1681646971.205079008] [camera]: Device USB type: 3.2
[component_container_mt-1] [INFO] [1681646971.209305925] [camera]: getParameters...
[component_container_mt-1] [INFO] [1681646971.210168308] [camera]: JSON file is not provided
[component_container_mt-1] [INFO] [1681646971.210222005] [camera]: Device Name: Intel RealSense D435I
[component_container_mt-1] [INFO] [1681646971.210242933] [camera]: Device Serial No: 841512070590
[component_container_mt-1] [INFO] [1681646971.210259893] [camera]: Device physical port: /sys/devices/platform/3610000.xhci/usb2/2-1/2-1.1/2-1.1:1.0/video4linux/video0
[component_container_mt-1] [INFO] [1681646971.210274229] [camera]: Device FW version: 05.11.01.100
[component_container_mt-1] [INFO] [1681646971.210286934] [camera]: Device Product ID: 0x0B3A
[component_container_mt-1] [INFO] [1681646971.210299350] [camera]: Sync Mode: Off
[component_container_mt-1] [WARN] [1681646971.277523435] [camera]: Could not set param: depth_module.emitter_enabled with 1 Range: [0, 1]: parameter 'depth_module.emitter_enabled' has invalid type: expected [bool] got [integer]
[component_container_mt-1] [WARN] [1681646971.320385455] [camera]: re-enable the stream for the change to take effect.
[component_container_mt-1] [WARN] [1681646971.329331203] [camera]: re-enable the stream for the change to take effect.
[component_container_mt-1] [WARN] [1681646971.337609387] [camera]: re-enable the stream for the change to take effect.
[component_container_mt-1] [WARN] [1681646971.375924100] [camera]: Could not set param: rgb_camera.power_line_frequency with 3 Range: [0, 2]: parameter 'rgb_camera.power_line_frequency' could not be set: Parameter {rgb_camera.power_line_frequency} doesn't comply with integer range.
[component_container_mt-1] [WARN] [1681646971.392585591] [camera]: re-enable the stream for the change to take effect.
[component_container_mt-1] [WARN] [1681646971.398691003] [camera]: re-enable the stream for the change to take effect.
[component_container_mt-1] [INFO] [1681646971.541431312] [camera]: Stopping Sensor: Stereo Module
[component_container_mt-1] [INFO] [1681646971.618717259] [camera]: Starting Sensor: Stereo Module
[component_container_mt-1] [INFO] [1681646971.635549025] [camera]: Open profile: stream_type: Infra(1), Format: Y8, Width: 640, Height: 480, FPS: 60
[component_container_mt-1] [INFO] [1681646971.637202044] [camera]: Open profile: stream_type: Infra(2), Format: Y8, Width: 640, Height: 480, FPS: 60
[component_container_mt-1] [INFO] [1681646971.640384881] [camera]: RealSense Node Is Up!
[component_container_mt-1] [INFO] [1681646971.732757798] [bi3d_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1681646971.732999242] [bi3d_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1681646971.733045674] [bi3d_node]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1681646971.733068907] [bi3d_node]: [NitrosPublisher] Use only the compatible publisher: topic_name="/bi3d_mask", data_format="nitros_disparity_image_32FC1"
[component_container_mt-1] [INFO] [1681646971.733089227] [bi3d_node]: [NitrosSubscriber] Use the negotiated data format: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1681646971.733106763] [bi3d_node]: [NitrosSubscriber] Use the negotiated data format: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1681646971.733225837] [bi3d_node]: [NitrosPublisherSubscriberGroup] Adjusted the compatible format of the component "disparity_roundrobin/data_receiver" (type="nvidia::gxf::DoubleBufferReceiver") from "" to "nitros_bi3d_inference_param_array"
[component_container_mt-1] [INFO] [1681646971.733261582] [bi3d_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1681646971.818586094] [image_format_node_left]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1681646971.818713328] [image_format_node_left]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1681646971.818740145] [image_format_node_left]: [NitrosPublisher] Use the negotiated data format: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1681646971.818763665] [image_format_node_left]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1681646971.818777202] [image_format_node_left]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/infra1/image_rect_raw_mono", data_format="nitros_image_rgb8"
[component_container_mt-1] [INFO] [1681646971.818837139] [image_format_node_left]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1681646971.839167906] [image_format_node_left]: [NitrosNode] Wrote the final top level YAML graph to "/workspaces/isaac_ros-dev/install/isaac_ros_image_proc/share/isaac_ros_image_proc/HLCDTJZGIN.yaml"
[component_container_mt-1] [INFO] [1681646971.839308548] [image_format_node_left]: [NitrosNode] Calling user's pre-load-graph callback
[component_container_mt-1] [INFO] [1681646971.839331429] [image_format_node_left]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1681646971.839352005] [image_format_node_left]: [NitrosContext] Loading application: '/workspaces/isaac_ros-dev/install/isaac_ros_image_proc/share/isaac_ros_image_proc/HLCDTJZGIN.yaml'
[component_container_mt-1] [INFO] [1681646971.841428231] [image_format_node_left]: [NitrosNode] Linking Nitros pub/sub to the loaded application
[component_container_mt-1] [INFO] [1681646971.841952976] [image_format_node_left]: [NitrosNode] Calling user's post-load-graph callback
[component_container_mt-1] [INFO] [1681646971.841999089] [image_format_node_left]: [ImageFormatConverterNode] postLoadGraphCallback().
[component_container_mt-1] [INFO] [1681646971.842019537] [image_format_node_left]: [NitrosContext] Initializing application...
[component_container_mt-1] [INFO] [1681646971.891483234] [image_format_node_right]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1681646971.891640740] [image_format_node_right]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1681646971.891668453] [image_format_node_right]: [NitrosPublisher] Use the negotiated data format: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1681646971.891780615] [image_format_node_right]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1681646971.891799687] [image_format_node_right]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/infra2/image_rect_raw_mono", data_format="nitros_image_rgb8"
[component_container_mt-1] [INFO] [1681646971.891867144] [image_format_node_right]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1681646971.902848477] [image_format_node_right]: [NitrosNode] Wrote the final top level YAML graph to "/workspaces/isaac_ros-dev/install/isaac_ros_image_proc/share/isaac_ros_image_proc/CBASOSPVKF.yaml"
[component_container_mt-1] [INFO] [1681646971.903016640] [image_format_node_right]: [NitrosNode] Calling user's pre-load-graph callback
[component_container_mt-1] [INFO] [1681646971.903039456] [image_format_node_right]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1681646971.936506249] [freespace_segmentation_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1681646971.936656235] [freespace_segmentation_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1681646971.936723372] [freespace_segmentation_node]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1681646971.936745357] [freespace_segmentation_node]: [NitrosPublisher] Use only the compatible publisher: topic_name="/freespace_segmentation/occupancy_grid", data_format="nitros_occupancy_grid"
[component_container_mt-1] [INFO] [1681646971.936766061] [freespace_segmentation_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1681646971.936780973] [freespace_segmentation_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/bi3d_mask", data_format="nitros_disparity_image_32FC1"
[component_container_mt-1] [INFO] [1681646971.936824718] [freespace_segmentation_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1681646971.939784639] [freespace_segmentation_node]: [NitrosNode] Wrote the final top level YAML graph to "/workspaces/isaac_ros-dev/install/isaac_ros_bi3d_freespace/share/isaac_ros_bi3d_freespace/NGKCWWVQBF.yaml"
[component_container_mt-1] [INFO] [1681646971.939880032] [freespace_segmentation_node]: [NitrosNode] Calling user's pre-load-graph callback
[component_container_mt-1] [INFO] [1681646971.939902113] [freespace_segmentation_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1681646972.132241960] [bi3d_node]: [NitrosNode] Wrote the final top level YAML graph to "/workspaces/isaac_ros-dev/install/isaac_ros_bi3d/share/isaac_ros_bi3d/UFPIOLKSQQ.yaml"
[component_container_mt-1] [INFO] [1681646972.132428811] [bi3d_node]: [NitrosNode] Calling user's pre-load-graph callback
[component_container_mt-1] [INFO] [1681646972.132452491] [bi3d_node]: [NitrosNode] Loading application
[component_container_mt-1] [WARN] [1681646972.398727030] [camera]:
[component_container_mt-1] [INFO] [1681646972.716144718] [image_format_node_left]: [NitrosContext] Running application...
[component_container_mt-1] [INFO] [1681646972.716468627] [image_format_node_right]: [NitrosContext] Loading application: '/workspaces/isaac_ros-dev/install/isaac_ros_image_proc/share/isaac_ros_image_proc/CBASOSPVKF.yaml'
[component_container_mt-1] [INFO] [1681646972.720185328] [image_format_node_right]: [NitrosNode] Linking Nitros pub/sub to the loaded application
[component_container_mt-1] [INFO] [1681646972.720320499] [image_format_node_right]: [NitrosNode] Calling user's post-load-graph callback
[component_container_mt-1] [INFO] [1681646972.720347987] [image_format_node_right]: [ImageFormatConverterNode] postLoadGraphCallback().
[component_container_mt-1] [INFO] [1681646972.720364787] [image_format_node_right]: [NitrosContext] Initializing application...
[component_container_mt-1] [INFO] [1681646972.931944792] [image_format_node_right]: [NitrosContext] Running application...
[component_container_mt-1] [INFO] [1681646972.933089515] [bi3d_node]: [NitrosContext] Loading application: '/workspaces/isaac_ros-dev/install/isaac_ros_bi3d/share/isaac_ros_bi3d/UFPIOLKSQQ.yaml'
[component_container_mt-1] 2023-04-16 21:09:32.946 WARN gxf/std/yaml_file_loader.cpp@952: Using unregistered parameter 'left_input_placeholder' in component ''.
[component_container_mt-1] 2023-04-16 21:09:32.946 WARN gxf/std/yaml_file_loader.cpp@952: Using unregistered parameter 'left_output_placeholder' in component ''.
[component_container_mt-1] 2023-04-16 21:09:32.946 WARN gxf/std/yaml_file_loader.cpp@952: Using unregistered parameter 'right_input_placeholder' in component ''.
[component_container_mt-1] 2023-04-16 21:09:32.946 WARN gxf/std/yaml_file_loader.cpp@952: Using unregistered parameter 'right_output_placeholder' in component ''.
[component_container_mt-1] 2023-04-16 21:09:32.947 WARN gxf/std/yaml_file_loader.cpp@952: Using unregistered parameter 'forward_pool' in component ''.
[component_container_mt-1] 2023-04-16 21:09:32.947 WARN gxf/std/yaml_file_loader.cpp@952: Using unregistered parameter 'forward_pool' in component ''.
[component_container_mt-1] [INFO] [1681646972.950160260] [freespace_segmentation_node]: [NitrosContext] Loading application: '/workspaces/isaac_ros-dev/install/isaac_ros_bi3d_freespace/share/isaac_ros_bi3d_freespace/NGKCWWVQBF.yaml'
[component_container_mt-1] [INFO] [1681646972.952106628] [freespace_segmentation_node]: [NitrosNode] Linking Nitros pub/sub to the loaded application
[component_container_mt-1] [INFO] [1681646972.952281127] [freespace_segmentation_node]: [NitrosNode] Calling user's post-load-graph callback
[component_container_mt-1] [INFO] [1681646972.952384009] [freespace_segmentation_node]: Waiting for tf2 transform...
[component_container_mt-1] [INFO] [1681646972.952987603] [bi3d_node]: [NitrosNode] Linking Nitros pub/sub to the loaded application
[component_container_mt-1] [INFO] [1681646972.953124565] [bi3d_node]: [NitrosNode] Calling user's post-load-graph callback
[component_container_mt-1] [INFO] [1681646972.953504475] [bi3d_node]: [Bi3DNode] Setting featnet_engine_file_path: /tmp/models/bi3d/bi3dnet_featnet.plan.
[component_container_mt-1] [INFO] [1681646972.953847649] [bi3d_node]: [Bi3DNode] Setting segnet_engine_file_path: /tmp/models/bi3d/bi3dnet_segnet.plan.
[component_container_mt-1] [INFO] [1681646972.953869186] [bi3d_node]: [NitrosContext] Initializing application...
[component_container_mt-1] [INFO] [1681646973.596114538] [bi3d_node]: [NitrosContext] Running application...
[component_container_mt-1] terminate called after throwing an instance of 'std::out_of_range'
[component_container_mt-1] what(): _Map_base::at
[ERROR] [component_container_mt-1]: process has died [pid 66134, exit code -6, cmd '/opt/ros/humble/install/lib/rclcpp_components/component_container_mt --ros-args -r __node:=bi3d_container -r __ns:=/bi3d -r left_image_bi3d:=infra1/image_rect_raw -r right_image_bi3d:=infra2/image_rect_raw'].
Do you know the problem?
In addition, I would like to know how to debug the Isaac_ros_common containers easily.
Do you have already debug tools?