Isaac_ros_imu_bmi088 cmake error

543773044 · May 17, 2024, 7:08am

hi
here i try to compile the ros bmi088, the source code coming from this branch:
isaac_ros_nova-main/isaac_ros_imu_bmi088
could you help me check why this error happen?
thanks
/ros/test/isaac_ros_nova-main/isaac_ros_imu_bmi088$ cmake .
– CMAKE_BUILD_TYPE: Release
– Architecture: aarch64
– Found ament_cmake_auto: 1.3.6 (/opt/ros/humble/share/ament_cmake_auto/cmake)
– Found rosidl_generator_c: 3.1.5 (/opt/ros/humble/share/rosidl_generator_c/cmake)
– Found rosidl_adapter: 3.1.5 (/opt/ros/humble/share/rosidl_adapter/cmake)
– Found rosidl_generator_cpp: 3.1.5 (/opt/ros/humble/share/rosidl_generator_cpp/cmake)
– Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c
– Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp
– Found rmw_implementation_cmake: 6.1.1 (/opt/ros/humble/share/rmw_implementation_cmake/cmake)
– Found rmw_fastrtps_cpp: 6.2.5 (/opt/ros/humble/share/rmw_fastrtps_cpp/cmake)
– Using RMW implementation ‘rmw_fastrtps_cpp’ as default
CMake Error at gxf/bmi088_imu/CMakeLists.txt:27 (find_package):

No “FindGXF.cmake” found in CMAKE_MODULE_PATH.*

CMake Warning (dev) at gxf/bmi088_imu/CMakeLists.txt:27 (find_package):
FindGXF.cmake must either be part of this project itself, in this case
adjust CMAKE_MODULE_PATH so that it points to the correct location inside
its source tree.

Or it must be installed by a package which has already been found via
find_package(). In this case make sure that package has indeed been found
and adjust CMAKE_MODULE_PATH to contain the location where that package has
installed FindGXF.cmake. This must be a location provided by that package.
This error in general means that the buildsystem of this project is relying
on a Find-module without ensuring that it is actually available.

This warning is for project developers. Use -Wno-dev to suppress it.

Raffaello · May 17, 2024, 5:31pm

Hi @543773044

Welcome to the Isaac ROS forum

Where are you compiling the Isaac ROS nova package?
Please build from our docker Isaac ROS Common — isaac_ros_docs documentation

Best,
Raffaello

543773044 · May 20, 2024, 11:53am

hi raffaello

thanks very much.
here i download the isaac_ros_common    and  run  ./scripts/run_dev.sh
could  you tell me what to do next? 
put the isaac_ros_imu_bmi088 in  isaac_ros_common and run cmake .?

thanks

Raffaello · May 21, 2024, 12:01pm

Hi @543773044

Setup your developer environment follow the documentation: Developer Environment Setup — isaac_ros_docs documentation

In:

cd ${ISAAC_ROS_WS}/src

Clone:

git clone https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_common.git

git clone https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_nova.git

Launch the Docker container using the run_dev.sh script:

cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \ 
./scripts/run_dev.sh

Inside the container, install all dependencies with

rosdep install --from-paths src --ignore-src -r -y

Now build, and source the workspace:

cd /workspaces/isaac_ros-dev && \
  colcon build --symlink-install && \
  source install/setup.bash

Now all packages are built, but let me know if you have issues.

Best,
Raffaello

543773044 · May 22, 2024, 1:14am

hi Raffaello

 thanks a lot for your great help.
 Right now it can compile successfully.
 these step are very usefully.
 **Finished <<< isaac_ros_imu_bmi088 [53.3s]**

[Processing: custom_nitros_image, custom_nitros_string, isaac_ros_argus_camera]
Finished <<< isaac_ros_argus_camera [2min 24s]
Starting >>> isaac_ros_hawk
Starting >>> isaac_ros_owl
Finished <<< custom_nitros_string [1min 29s]
Finished <<< custom_nitros_image [1min 39s]
[Processing: isaac_ros_hawk, isaac_ros_owl]
Finished <<< isaac_ros_owl [41.6s]
Finished <<< isaac_ros_hawk [55.9s]

Summary: 40 packages finished [6min 14s]

could you share that next how to run the
isaac_ros_imu_bmi088

Raffaello · May 22, 2024, 2:48pm

You can run the script:

ros2 launch isaac_ros_imu_bmi088 isaac_ros_bmi088.launch.py

Let me know if this post is helpful

Best,
Raffaello

543773044 · May 23, 2024, 2:41am

hi Raffaello
thanks for your great help.
here i just try to run ros2 launch isaac_ros_imu_bmi088 isaac_ros_bmi088.launch.py
but found some issue ;
1 extensions/timestamp_correlator/correlated_timestamp_driver.cpp@75: failed to open the device /dev/nvpps0 errno = 2
2 Error opening /sys/bus/iio/devices/iio:device0/in_accel_sampling_frequency
i checked in the kernel side have this node.
admin@Orin-AGX-A11:/sys/bus/iio/devices/iio:device0$ ls -l
total 0
drwxr-xr-x 2 root root 0 May 21 23:59 buffer
-rw-r–r-- 1 root root 4096 May 22 00:19 current_timestamp_clock
-r–r–r-- 1 root root 4096 May 22 00:19 dev
-r–r–r-- 1 root root 4096 May 22 00:19 dev_err
-r–r–r-- 1 root root 4096 May 22 00:19 dev_state
-r–r–r-- 1 root root 4096 May 22 00:19 dump_regs
-rw------- 1 root root 4096 May 21 23:59 in_accel_sampling_frequency

here is the full log, could you help us check？ thanks a lot
admin@Orin-AGX-A11:/workspaces/isaac_ros-dev/install/isaac_ros_imu_bmi088/share/isaac_ros_imu_bmi088/launch$ ros2 launch isaac_ros_imu_bmi088 isaac_ros_bmi088.launch.py
[INFO] [launch]: All log files can be found below /home/admin/.ros/log/2024-05-22-01-19-06-592261-Orin-AGX-A11-18588
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container_mt-1]: process started with pid [18599]
[component_container_mt-1] [INFO] [1716311947.099423560] [bmi088_container]: Load Library: /workspaces/isaac_ros-dev/install/isaac_ros_correlated_timestamp_driver/lib/libcorrelated_timestamp_driver_node.so
[component_container_mt-1] [INFO] [1716311947.146545544] [bmi088_container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::correlated_timestamp_driver::CorrelatedTimestampDriverNode
[component_container_mt-1] [INFO] [1716311947.146665992] [bmi088_container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::correlated_timestamp_driver::CorrelatedTimestampDriverNode
[component_container_mt-1] [INFO] [1716311947.153817992] [NitrosContext]: [NitrosContext] Creating a new shared context
[component_container_mt-1] [INFO] [1716311947.154063144] [correlated_timestamp_driver]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1716311947.155614632] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/std/libgxf_std.so
[component_container_mt-1] [INFO] [1716311947.165184136] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_gxf_helpers.so
[component_container_mt-1] [INFO] [1716311947.170074792] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_sight.so
[component_container_mt-1] [INFO] [1716311947.175005416] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_atlas.so
[component_container_mt-1] [INFO] [1716311947.179954248] [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] [1716311947.181188872] [NitrosContext]: [NitrosContext] Initializing application…
[component_container_mt-1] [INFO] [1716311947.184903976] [NitrosContext]: [NitrosContext] Running application…
[component_container_mt-1] 2024-05-22 01:19:07.184 WARN gxf/std/program.cpp@514: No system specified. Nothing to do
[component_container_mt-1] [INFO] [1716311947.186166536] [correlated_timestamp_driver]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1716311947.186208136] [correlated_timestamp_driver]: [NitrosNode] Loading built-in preset extension specs
[component_container_mt-1] [INFO] [1716311947.188632776] [correlated_timestamp_driver]: [NitrosNode] Loading built-in extension specs
[component_container_mt-1] [INFO] [1716311947.188678280] [correlated_timestamp_driver]: [NitrosNode] Loading preset extension specs
[component_container_mt-1] [INFO] [1716311947.188981064] [correlated_timestamp_driver]: [NitrosNode] Loading extension specs
[component_container_mt-1] [INFO] [1716311947.189001160] [correlated_timestamp_driver]: [NitrosNode] Loading generator rules
[component_container_mt-1] [INFO] [1716311947.189012456] [correlated_timestamp_driver]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1716311947.189452616] [correlated_timestamp_driver]: [NitrosContext] Loading extension: gxf/lib/libgxf_message_compositor.so
[component_container_mt-1] [INFO] [1716311947.191226088] [correlated_timestamp_driver]: [NitrosContext] Loading extension: gxf/lib/libgxf_timestamp_correlator.so
[component_container_mt-1] [INFO] [1716311947.196700008] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/serialization/libgxf_serialization.so
[component_container_mt-1] [INFO] [1716311947.201586248] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_messages.so
[component_container_mt-1] [INFO] [1716311947.203055080] [correlated_timestamp_driver]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1716311947.204422760] [correlated_timestamp_driver]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1716311947.205665928] [correlated_timestamp_driver]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1716311947.205987144] [correlated_timestamp_driver]: [NitrosNode] Creating negotiated publishers/subscribers
[component_container_mt-1] [INFO] [1716311947.209556648] [correlated_timestamp_driver]: [NitrosNode] Starting negotiation…
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ‘/correlated_timestamp_driver’ in container ‘/bmi088_container’
[component_container_mt-1] [INFO] [1716311947.213559432] [bmi088_container]: Load Library: /workspaces/isaac_ros-dev/install/isaac_ros_imu_bmi088/lib/libimu_bmi088_node.so
[component_container_mt-1] [INFO] [1716311947.217382408] [bmi088_container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::imu_bmi088::Bmi088Node
[component_container_mt-1] [INFO] [1716311947.217437608] [bmi088_container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::imu_bmi088::Bmi088Node
[component_container_mt-1] [INFO] [1716311947.222133576] [bmi088]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1716311947.223148648] [bmi088]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1716311947.223186120] [bmi088]: [NitrosNode] Loading built-in preset extension specs
[component_container_mt-1] [INFO] [1716311947.225371496] [bmi088]: [NitrosNode] Loading built-in extension specs
[component_container_mt-1] [INFO] [1716311947.225438952] [bmi088]: [NitrosNode] Loading preset extension specs
[component_container_mt-1] [INFO] [1716311947.226365864] [bmi088]: [NitrosNode] Loading extension specs
[component_container_mt-1] [INFO] [1716311947.226392872] [bmi088]: [NitrosNode] Loading generator rules
[component_container_mt-1] [INFO] [1716311947.226632744] [bmi088]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1716311947.227642216] [bmi088]: [NitrosContext] Loading extension: gxf/lib/bmi088_imu/libgxf_bmi088_imu.so
[component_container_mt-1] [INFO] [1716311947.231927016] [bmi088]: [NitrosContext] Loading extension: gxf/lib/imu_utils/libgxf_imu_utils.so
[component_container_mt-1] [INFO] [1716311947.236876872] [bmi088]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1716311947.241168616] [bmi088]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1716311947.272903208] [bmi088]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1716311947.274232104] [bmi088]: [NitrosNode] Creating negotiated publishers/subscribers
[component_container_mt-1] [INFO] [1716311947.281464200] [bmi088]: [NitrosNode] Starting negotiation…
[component_container_mt-1] [INFO] [1716311947.282294024] [correlated_timestamp_driver]: Negotiating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ‘/bmi088’ in container ‘/bmi088_container’
[component_container_mt-1] [INFO] [1716311948.210344648] [correlated_timestamp_driver]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1716311948.210445736] [correlated_timestamp_driver]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1716311948.210476072] [correlated_timestamp_driver]: [NitrosPublisher] Use the negotiated data format: “nitros_correlated_timestamp”
[component_container_mt-1] [INFO] [1716311948.211041736] [correlated_timestamp_driver]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1716311948.215676456] [correlated_timestamp_driver]: [NitrosNode] Wrote the final top level YAML graph to “/tmp/isaac_ros_nitros/graphs/ZKKXFGQWXA/ZKKXFGQWXA.yaml”
[component_container_mt-1] [INFO] [1716311948.215796168] [correlated_timestamp_driver]: [NitrosNode] Calling user’s pre-load-graph callback
[component_container_mt-1] [INFO] [1716311948.215832840] [correlated_timestamp_driver]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1716311948.215864904] [correlated_timestamp_driver]: [NitrosContext] Loading application: ‘/tmp/isaac_ros_nitros/graphs/ZKKXFGQWXA/ZKKXFGQWXA.yaml’
[component_container_mt-1] [INFO] [1716311948.219755784] [correlated_timestamp_driver]: [NitrosNode] Linking Nitros pub/sub to the loaded application
[component_container_mt-1] [INFO] [1716311948.220086408] [correlated_timestamp_driver]: [NitrosNode] Calling user’s post-load-graph callback
[component_container_mt-1] [INFO] [1716311948.220254120] [correlated_timestamp_driver]: [NitrosContext] Initializing application…
[component_container_mt-1] [INFO] [1716311948.225740456] [correlated_timestamp_driver]: [NitrosContext] Running application…
[component_container_mt-1] [INFO] [1716311948.226093160] [correlated_timestamp_driver]: [NitrosNode] Starting a heartbeat timer (eid=22)
[component_container_mt-1] 2024-05-22 01:19:08.226 ERROR extensions/timestamp_correlator/correlated_timestamp_driver.cpp@75: failed to open the device /dev/nvpps0 errno = 2
[component_container_mt-1] 2024-05-22 01:19:08.226 ERROR gxf/std/entity_executor.cpp@563: Entity [ZKKXFGQWXA_correlator] must be in Started, Tick Pending, Ticking or Idle stage before stopping. Current state is StartPending
[component_container_mt-1] 2024-05-22 01:19:08.226 WARN gxf/std/greedy_scheduler.cpp@250: Error while executing entity 17 named ‘ZKKXFGQWXA_correlator’: GXF_FAILURE
[component_container_mt-1] [INFO] [1716311948.282211112] [bmi088]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1716311948.282285096] [bmi088]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1716311948.282313192] [bmi088]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1716311948.282336520] [bmi088]: [NitrosPublisher] Use only the compatible publisher: topic_name=“/imu”, data_format=“nitros_imu”
[component_container_mt-1] [INFO] [1716311948.282361000] [bmi088]: [NitrosSubscriber] Use the negotiated data format: “nitros_correlated_timestamp”
[component_container_mt-1] [INFO] [1716311948.282639880] [bmi088]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1716311948.299052200] [bmi088]: [NitrosNode] Wrote the final top level YAML graph to “/tmp/isaac_ros_nitros/graphs/OHYGACIKEM/OHYGACIKEM.yaml”
[component_container_mt-1] [INFO] [1716311948.299152424] [bmi088]: [NitrosNode] Calling user’s pre-load-graph callback
[component_container_mt-1] [INFO] [1716311948.299187848] [bmi088]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1716311948.299220904] [bmi088]: [NitrosContext] Loading application: ‘/tmp/isaac_ros_nitros/graphs/OHYGACIKEM/OHYGACIKEM.yaml’
[component_container_mt-1] [INFO] [1716311948.310230088] [bmi088]: [NitrosNode] Linking Nitros pub/sub to the loaded application
[component_container_mt-1] [INFO] [1716311948.310483240] [bmi088]: [NitrosNode] Calling user’s post-load-graph callback
[component_container_mt-1] [INFO] [1716311948.310620936] [bmi088]: [NitrosContext] Initializing application…
[component_container_mt-1] [INFO] [1716311948.322099528] [bmi088]: [NitrosContext] Running application…
[component_container_mt-1] [INFO] [1716311948.322459560] [bmi088]: [NitrosNode] Starting a heartbeat timer (eid=65)
[component_container_mt-1] 2024-05-22 01:19:08.322 ERROR /workspaces/isaac_ros-dev/src/isaac_ros_nova/isaac_ros_imu_bmi088/gxf/bmi088_imu/extensions/bmi088_imu/bmi088_driver.cpp@491: Error opening /sys/bus/iio/devices/iio:device0/in_accel_sampling_frequency
[component_container_mt-1] 2024-05-22 01:19:08.322 ERROR /workspaces/isaac_ros-dev/src/isaac_ros_nova/isaac_ros_imu_bmi088/gxf/bmi088_imu/extensions/bmi088_imu/bmi088_driver.cpp@89: Expression ‘writeAndVerifyInt(accel_freq_path + “/in_accel_sampling_frequency”, accel_frequency_.get())’ failed with error ‘GXF_FAILURE’. Failed to set accelerometer frequency, available frequencies are: 25, 50, 100, 200, 400, 800, 1600
[component_container_mt-1] 2024-05-22 01:19:08.323 WARN gxf/std/multi_thread_scheduler.cpp@325: Error while executing entity E46 named ‘OHYGACIKEM_bmi088_driver’: GXF_FAILURE
[component_container_mt-1] 2024-05-22 01:19:08.323 ERROR gxf/std/entity_executor.cpp@563: Entity [OHYGACIKEM_bmi088_driver] must be in Started, Tick Pending, Ticking or Idle stage before stopping. Current state is StartPending
[component_container_mt-1] 2024-05-22 01:19:09.226 ERROR gxf/std/entity_executor.cpp@210: Entity with eid 22 not found!
[component_container_mt-1] [WARN] [1716311949.226425320] [correlated_timestamp_driver]: [NitrosNode] The heartbeat entity (eid=22) was stopped. The graph may have been terminated.
[component_container_mt-1] [INFO] [1716311949.233014088] [bmi088]: [NitrosNode] Terminating the running application
[component_container_mt-1] [INFO] [1716311949.233078376] [bmi088]: [NitrosContext] Interrupting GXF…
[component_container_mt-1] 2024-05-22 01:19:09.233 ERROR gxf/core/runtime.cpp@1400: Graph interrupt failed with error: GXF_FAILURE
[component_container_mt-1] [ERROR] [1716311949.233248584] [bmi088]: [NitrosContext] GxfGraphInterrupt Error: GXF_FAILURE
[component_container_mt-1] [INFO] [1716311949.233261128] [bmi088]: [NitrosContext] Waiting on GXF…
[component_container_mt-1] 2024-05-22 01:19:09.233 ERROR gxf/std/program.cpp@556: wait failed. Deactivating…
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] | Job Statistics Report (regular) |
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] | Name | Count | Time (Median - 90% - Max) [ms] | Load (%) | Exec(ms) | Variation (Median - 90% - Max) [ns] |
[component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] | Entity Statistics Report (regular) |
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] | Entity Name | Entity State | Count | Time (Median - 90% - Max) [ms] |
[component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] 2024-05-22 01:19:09.235 WARN gxf/std/entity_warden.cpp@433: Component of type nvidia::gxf::MultiThreadScheduler, cid 97 failed to deinitialize with code GXF_FAILURE
[component_container_mt-1] 2024-05-22 01:19:09.235 ERROR gxf/core/runtime.cpp@731: Could not deinitialize entity ‘OHYGACIKEM_XZILHTNEVM’ (E95): GXF_FAILURE
[component_container_mt-1] 2024-05-22 01:19:09.235 ERROR gxf/std/program.cpp@558: Deactivation failed.
[component_container_mt-1] 2024-05-22 01:19:09.235 ERROR gxf/core/runtime.cpp@1408: Graph wait failed with error: GXF_FAILURE
[component_container_mt-1] [ERROR] [1716311949.235550952] [bmi088]: [NitrosContext] GxfGraphWait Error: GXF_FAILURE
[component_container_mt-1] [INFO] [1716311949.235569864] [bmi088]: [NitrosNode] Application termination done
[component_container_mt-1] [INFO] [1716311949.248555976] [correlated_timestamp_driver]: [NitrosNode] Terminating the running application
[component_container_mt-1] [INFO] [1716311949.248613672] [correlated_timestamp_driver]: [NitrosContext] Interrupting GXF…
[component_container_mt-1] [INFO] [1716311949.248652488] [correlated_timestamp_driver]: [NitrosContext] Waiting on GXF…
[component_container_mt-1] 2024-05-22 01:19:09.248 ERROR gxf/std/program.cpp@556: wait failed. Deactivating…
[component_container_mt-1] 2024-05-22 01:19:09.249 ERROR gxf/core/runtime.cpp@1408: Graph wait failed with error: GXF_FAILURE
[component_container_mt-1] [ERROR] [1716311949.249454120] [correlated_timestamp_driver]: [NitrosContext] GxfGraphWait Error: GXF_FAILURE
[component_container_mt-1] [INFO] [1716311949.249472168] [correlated_timestamp_driver]: [NitrosNode] Application termination done
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] | Job Statistics Report (regular) |
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] | Name | Count | Time (Median - 90% - Max) [ms] | Load (%) | Exec(ms) | Variation (Median - 90% - Max) [ns] |
[component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] | Entity Statistics Report (regular) |
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] | Entity Name | Entity State | Count | Time (Median - 90% - Max) [ms] |
[component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-1] |==================================================================================================================================================================|
[INFO] [component_container_mt-1]: process has finished cleanly [pid 18599]
admin@Orin-AGX-A11:/workspaces/isaac_ros-dev/install/isaac_ros_imu_bmi088/share/isaac_ros_imu_bmi088/launch$

admin@Orin-AGX-A11:/sys/bus/iio/devices$ ls -l
total 0
lrwxrwxrwx 1 root root 0 May 21 23:59 iio:device0 → …/…/…/devices/platform/31e0000.i2c/i2c-8/i2c-9/9-0069/iio:device0
lrwxrwxrwx 1 root root 0 May 21 23:59 iio:device1 → …/…/…/devices/platform/31e0000.i2c/i2c-8/i2c-9/9-0069/iio:device1
admin@Orin-AGX-A11:/sys/bus/iio/devices$ cd iio:device0
admin@Orin-AGX-A11:/sys/bus/iio/devices/iio:device0$ ls -l
total 0
drwxr-xr-x 2 root root 0 May 21 23:59 buffer
-rw-r–r-- 1 root root 4096 May 22 00:19 current_timestamp_clock
-r–r–r-- 1 root root 4096 May 22 00:19 dev
-r–r–r-- 1 root root 4096 May 22 00:19 dev_err
-r–r–r-- 1 root root 4096 May 22 00:19 dev_state
-r–r–r-- 1 root root 4096 May 22 00:19 dump_regs
-rw------- 1 root root 4096 May 21 23:59 in_accel_sampling_frequency
-r–r–r-- 1 root root 4096 May 22 00:19 in_accel_sampling_frequency_available
-rw------- 1 root root 4096 May 21 23:59 in_accel_scale
-r–r–r-- 1 root root 4096 May 22 00:19 in_accel_scale_available
-rw------- 1 root root 4096 Mar 15 2023 in_accel_x_raw
-rw------- 1 root root 4096 Mar 15 2023 in_accel_y_raw
-rw------- 1 root root 4096 Mar 15 2023 in_accel_z_raw
-r–r–r-- 1 root root 4096 May 21 23:59 mount_matrix
-r–r–r-- 1 root root 4096 May 21 23:59 name
lrwxrwxrwx 1 root root 0 May 22 00:17 of_node → …/…/…/…/…/…/…/firmware/devicetree/base/i2c@31e0000/virtual_i2c_mux@50/i2c@0/bmi088_a@69
-r–r–r-- 1 root root 4096 May 22 00:17 part
drwxr-xr-x 2 root root 0 May 22 00:19 power
drwxr-xr-x 2 root root 0 Mar 15 2023 scan_elements
lrwxrwxrwx 1 root root 0 May 21 23:59 subsystem → …/…/…/…/…/…/…/bus/iio
-rw-r–r-- 1 root root 4096 Mar 15 2023 uevent
admin@Orin-AGX-A11:/sys/bus/iio/devices/iio:device0$

Raffaello · May 23, 2024, 10:25am

Looking at the errors seems there is no access to the devices.

Have you executed Nova Orin Init to properly configure the Nova Orin sensor suite?

543773044 · May 23, 2024, 3:31pm

hi
thanks for your great help.
right now the open issue gone. but have one new doubt.
here what i do

1 cnfig the sensor like this
sensors:
front_stereo_camera:
sudo cp nova-orin.yaml /etc/nova/setup.yaml

2 try to install the ./nova-orin-init_*_arm64.deb
it have some error
ERROR: backup /etc/logrotate.d/rsyslog.nova.disabled already exist
ERROR: /opt/nvidia/nova/logrotate/…/utils.sh:151 (‘return 2’ exited with code 2)
Traceback (most recent call last):
File “/opt/nvidia/nova/setup_nova.py”, line 237, in
main()
File “/opt/nvidia/nova/setup_nova.py”, line 233, in main
setup_manager.run()
File “/opt/nvidia/nova/setup_nova.py”, line 181, in run
raise ValueError(
ValueError: Failed at calling /opt/nvidia/nova/logrotate/setup.sh in step logrotate with response 2.
ERROR: /var/lib/dpkg/info/nova-orin-init.postinst:27 (‘$NOVA_BASE_DIR/python/venv/bin/python3 $NOVA_BASE_DIR/setup_nova.py -p $processed_setup setup’ exited with code 1)
dpkg: error processing package nova-orin-init (–configure):
installed nova-orin-init package post-installation script subprocess returned error exit status 1
Errors were encountered while processing:

3 try to run the ros2 launch isaac_ros_imu_bmi088 isaac_ros_bmi088.launch.py
it always print this log

[component_container_mt-1] [33m2024-05-23 22:39:25.106 WARN extensions/timestamp_correlator/correlated_timestamp_driver.cpp@159: ioctl failed for NVPPS_GETEVENT/GETTIMESTAMP err Invalid argument[0m

here i add the full log of run the isaac_ros_bmi088 and install nova-orin-init_*_arm64.deb

[INFO] [launch]: All log files can be found below /home/admin/.ros/log/2024-05-23-22-39-23-536307-Orin-AGX-A11-14823
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container_mt-1]: process started with pid [14834]
[component_container_mt-1] [INFO] [1716475164.027313216] [bmi088_container]: Load Library: /workspaces/isaac_ros-dev/install/isaac_ros_correlated_timestamp_driver/lib/libcorrelated_timestamp_driver_node.so
[component_container_mt-1] [INFO] [1716475164.048847104] [bmi088_container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::correlated_timestamp_driver::CorrelatedTimestampDriverNode
[component_container_mt-1] [INFO] [1716475164.048925248] [bmi088_container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::correlated_timestamp_driver::CorrelatedTimestampDriverNode
[component_container_mt-1] [INFO] [1716475164.053635616] [NitrosContext]: [NitrosContext] Creating a new shared context
[component_container_mt-1] [INFO] [1716475164.053798144] [correlated_timestamp_driver]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1716475164.054785024] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/std/libgxf_std.so
[component_container_mt-1] [INFO] [1716475164.060860768] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_gxf_helpers.so
[component_container_mt-1] [INFO] [1716475164.064552512] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_sight.so
[component_container_mt-1] [INFO] [1716475164.068254016] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_atlas.so
[component_container_mt-1] [INFO] [1716475164.072295328] [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] [1716475164.073326496] [NitrosContext]: [NitrosContext] Initializing application…
[component_container_mt-1] [INFO] [1716475164.076550592] [NitrosContext]: [NitrosContext] Running application…
[component_container_mt-1] [33m2024-05-23 22:39:24.076 WARN gxf/std/program.cpp@514: No system specified. Nothing to do[0m
[component_container_mt-1] [INFO] [1716475164.077647424] [correlated_timestamp_driver]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1716475164.077683808] [correlated_timestamp_driver]: [NitrosNode] Loading built-in preset extension specs
[component_container_mt-1] [INFO] [1716475164.080011264] [correlated_timestamp_driver]: [NitrosNode] Loading built-in extension specs
[component_container_mt-1] [INFO] [1716475164.080049024] [correlated_timestamp_driver]: [NitrosNode] Loading preset extension specs
[component_container_mt-1] [INFO] [1716475164.080350656] [correlated_timestamp_driver]: [NitrosNode] Loading extension specs
[component_container_mt-1] [INFO] [1716475164.080370848] [correlated_timestamp_driver]: [NitrosNode] Loading generator rules
[component_container_mt-1] [INFO] [1716475164.080380576] [correlated_timestamp_driver]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1716475164.080758880] [correlated_timestamp_driver]: [NitrosContext] Loading extension: gxf/lib/libgxf_message_compositor.so
[component_container_mt-1] [INFO] [1716475164.082252608] [correlated_timestamp_driver]: [NitrosContext] Loading extension: gxf/lib/libgxf_timestamp_correlator.so
[component_container_mt-1] [INFO] [1716475164.086796512] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/serialization/libgxf_serialization.so
[component_container_mt-1] [INFO] [1716475164.091137152] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_messages.so
[component_container_mt-1] [INFO] [1716475164.092395232] [correlated_timestamp_driver]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1716475164.093695264] [correlated_timestamp_driver]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1716475164.094920512] [correlated_timestamp_driver]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1716475164.095237056] [correlated_timestamp_driver]: [NitrosNode] Creating negotiated publishers/subscribers
[component_container_mt-1] [INFO] [1716475164.098241088] [correlated_timestamp_driver]: [NitrosNode] Starting negotiation…
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ‘/correlated_timestamp_driver’ in container ‘/bmi088_container’
[component_container_mt-1] [INFO] [1716475164.101426048] [bmi088_container]: Load Library: /workspaces/isaac_ros-dev/install/isaac_ros_imu_bmi088/lib/libimu_bmi088_node.so
[component_container_mt-1] [INFO] [1716475164.104836992] [bmi088_container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::imu_bmi088::Bmi088Node
[component_container_mt-1] [INFO] [1716475164.104881088] [bmi088_container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::imu_bmi088::Bmi088Node
[component_container_mt-1] [INFO] [1716475164.109039680] [bmi088]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1716475164.109923840] [bmi088]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1716475164.109951904] [bmi088]: [NitrosNode] Loading built-in preset extension specs
[component_container_mt-1] [INFO] [1716475164.111994080] [bmi088]: [NitrosNode] Loading built-in extension specs
[component_container_mt-1] [INFO] [1716475164.112073920] [bmi088]: [NitrosNode] Loading preset extension specs
[component_container_mt-1] [INFO] [1716475164.112911840] [bmi088]: [NitrosNode] Loading extension specs
[component_container_mt-1] [INFO] [1716475164.112939040] [bmi088]: [NitrosNode] Loading generator rules
[component_container_mt-1] [INFO] [1716475164.113134720] [bmi088]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1716475164.113978496] [bmi088]: [NitrosContext] Loading extension: gxf/lib/bmi088_imu/libgxf_bmi088_imu.so
[component_container_mt-1] [INFO] [1716475164.117562336] [bmi088]: [NitrosContext] Loading extension: gxf/lib/imu_utils/libgxf_imu_utils.so
[component_container_mt-1] [INFO] [1716475164.121782336] [bmi088]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1716475164.125440704] [bmi088]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1716475164.154214432] [bmi088]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1716475164.155307328] [bmi088]: [NitrosNode] Creating negotiated publishers/subscribers
[component_container_mt-1] [INFO] [1716475164.161140736] [bmi088]: [NitrosNode] Starting negotiation…
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ‘/bmi088’ in container ‘/bmi088_container’
[component_container_mt-1] [INFO] [1716475164.161662400] [correlated_timestamp_driver]: Negotiating
[component_container_mt-1] [INFO] [1716475165.098917472] [correlated_timestamp_driver]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1716475165.099011904] [correlated_timestamp_driver]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1716475165.099036992] [correlated_timestamp_driver]: [NitrosPublisher] Use the negotiated data format: “nitros_correlated_timestamp”
[component_container_mt-1] [INFO] [1716475165.099341312] [correlated_timestamp_driver]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1716475165.101255488] [correlated_timestamp_driver]: [NitrosNode] Wrote the final top level YAML graph to “/tmp/isaac_ros_nitros/graphs/DLATYMEKCZ/DLATYMEKCZ.yaml”
[component_container_mt-1] [INFO] [1716475165.101319552] [correlated_timestamp_driver]: [NitrosNode] Calling user’s pre-load-graph callback
[component_container_mt-1] [INFO] [1716475165.101333568] [correlated_timestamp_driver]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1716475165.101346272] [correlated_timestamp_driver]: [NitrosContext] Loading application: ‘/tmp/isaac_ros_nitros/graphs/DLATYMEKCZ/DLATYMEKCZ.yaml’
[component_container_mt-1] [INFO] [1716475165.102973536] [correlated_timestamp_driver]: [NitrosNode] Linking Nitros pub/sub to the loaded application
[component_container_mt-1] [INFO] [1716475165.103132064] [correlated_timestamp_driver]: [NitrosNode] Calling user’s post-load-graph callback
[component_container_mt-1] [INFO] [1716475165.103191200] [correlated_timestamp_driver]: [NitrosContext] Initializing application…
[component_container_mt-1] [INFO] [1716475165.105397568] [correlated_timestamp_driver]: [NitrosContext] Running application…
[component_container_mt-1] [INFO] [1716475165.105568096] [correlated_timestamp_driver]: [NitrosNode] Starting a heartbeat timer (eid=22)
[component_container_mt-1] [1;31m2024-05-23 22:39:25.105 ERROR extensions/timestamp_correlator/correlated_timestamp_driver.cpp@61: ioctl failed for NVPPS_GETTIMESTAMP err Invalid argument
[component_container_mt-1] [0m
[component_container_mt-1] [33m2024-05-23 22:39:25.106 WARN extensions/timestamp_correlator/correlated_timestamp_driver.cpp@159: ioctl failed for NVPPS_GETEVENT/GETTIMESTAMP err Invalid argument[0m
[component_container_mt-1] [33m2024-05-23 22:39:25.106 WARN extensions/timestamp_correlator/correlated_timestamp_driver.cpp@159: ioctl failed for NVPPS_GETEVENT/GETTIMESTAMP err Invalid argument[0m
[component_container_mt-1] [33m2024-05-23 22:39:25.106 WARN extensions/timestamp_correlator/correlated_timestamp_driver.cpp@159: ioctl failed for NVPPS_GETEVENT/GETTIMESTAMP err Invalid argument[0m
[component_container_mt-1] [33m2024-05-23 22:39:25.106 WARN extensions/timestamp_correlator/correlated_timestamp_driver.cpp@159: ioctl failed for NVPPS_GETEVENT/GETTIMESTAMP err Invalid argument[0m
[component_container_mt-1] [33m2024-05-23 22:39:25.106 WARN extensions/timestamp_correlator/correlated_timestamp_driver.cpp@159: ioctl failed for NVPPS_GETEVENT/GETTIMESTAMP err Invalid argument[0m
[component_container_mt-1] [33m2024-05-23 22:39:25.106 WARN extensions/timestamp_correlator/correlated_timestamp_driver.cpp@159: ioctl failed for NVPPS_GETEVENT/GETTIMESTAMP err Invalid argument[0m
[component_container_mt-1] [33m2024-05-23 22:39:25.106 WARN extensions/timestamp_correlator/correlated_timestamp_driver.cpp@159: ioctl failed for NVPPS_GETEVENT/GETTIMESTAMP err Invalid argument[0m
[component_container_mt-1] [33m2024-05-23 22:39:25.106 WARN extensions/timestamp_correlator/correlated_timestamp_driver.cpp@159: ioctl failed for NVPPS_GETEVENT/GETTIMESTAMP err Invalid argument[0m
[component_container_mt-1] [33m2024-05-23 22:39:25.106 WARN extensions/timestamp_correlator/correlated_timestamp_driver.cpp@159: ioctl failed for NVPPS_GETEVENT/GETTIMESTAMP err Invalid argument[0m
[component_container_mt-1] [33m2024-05-23 22:39:25.106 WARN extensions/timestamp_correlator/correlated_timestamp_driver.cpp@159: ioctl failed for NVPPS_GETEVENT/GETTIMESTAMP err Invalid argument[0m
[component_container_mt-1] [33m2024-05-23 22:39:25.106 WARN extensions/timestamp_correlator/correlated_timestamp_driver.cpp@159: ioctl failed for NVPPS_GETEVENT/GETTIMESTAMP err Invalid argument[0m
[component_container_mt-1] [33m2024-05-23 22:39:25.106 WARN extensions/timestamp_correlator/correlated_timestamp_driver.cpp@159: ioctl failed for NVPPS_GETEVENT/GETTIMESTAMP err Invalid argument[0m

here is the install log

bst@Orin-AGX-A11:~/ros/nova_orin_v1.2.0-5$ sudo apt install ./nova-orin-init_*_arm64.deb
Reading package lists… Done
Building dependency tree
Reading state information… Done
Note, selecting ‘nova-orin-init’ instead of ‘./nova-orin-init_1.2.0-1_arm64.deb’
nova-orin-init is already the newest version (1.2.0).
The following packages were automatically installed and are no longer required:
apt-clone archdetect-deb bogl-bterm cryptsetup-bin dctrl-tools dpkg-repack gir1.2-goa-1.0 gir1.2-timezonemap-1.0 gir1.2-xkl-1.0 grub-common libavresample-dev libavresample4 libdc1394-22-dev
libdebian-installer4 libexif-dev libgdcm-dev libgphoto2-dev libilmbase-dev libopencv4.2-java libopencv4.2-jni libopenexr-dev libpaps0 libraw1394-dev libtimezonemap-data libtimezonemap1 os-prober
paps python3-icu python3-pam rdate tasksel tasksel-data
Use ‘sudo apt autoremove’ to remove them.
0 upgraded, 0 newly installed, 0 to remove and 226 not upgraded.
1 not fully installed or removed.
After this operation, 0 B of additional disk space will be used.
Do you want to continue? [Y/n] Y
Setting up nova-orin-init (1.2.0) …
Finishing up nova-orin-init setup…
Setting up nova-orin-init python venv…
Obtaining file:///opt/nvidia/nova/python/nova-init-py
Installing build dependencies … done
Getting requirements to build wheel … done
Preparing wheel metadata … done
Requirement already satisfied: pytest-timeout in /opt/nvidia/nova/python/venv/lib/python3.8/site-packages (from nova_init==0.0.1) (2.3.1)
Requirement already satisfied: pystemd in /opt/nvidia/nova/python/venv/lib/python3.8/site-packages (from nova_init==0.0.1) (0.13.2)
Requirement already satisfied: numpy in /opt/nvidia/nova/python/venv/lib/python3.8/site-packages (from nova_init==0.0.1) (1.24.4)
Requirement already satisfied: pytest in /opt/nvidia/nova/python/venv/lib/python3.8/site-packages (from nova_init==0.0.1) (8.2.1)
Requirement already satisfied: requests in /opt/nvidia/nova/python/venv/lib/python3.8/site-packages (from nova_init==0.0.1) (2.32.2)
Requirement already satisfied: pandas in /opt/nvidia/nova/python/venv/lib/python3.8/site-packages (from nova_init==0.0.1) (2.0.3)
Requirement already satisfied: pyyaml in /opt/nvidia/nova/python/venv/lib/python3.8/site-packages (from nova_init==0.0.1) (6.0.1)
Requirement already satisfied: lxml in /opt/nvidia/nova/python/venv/lib/python3.8/site-packages (from pystemd->nova_init==0.0.1) (5.2.2)
Requirement already satisfied: psutil in /opt/nvidia/nova/python/venv/lib/python3.8/site-packages (from pystemd->nova_init==0.0.1) (5.9.8)
Requirement already satisfied: tomli>=1; python_version < “3.11” in /opt/nvidia/nova/python/venv/lib/python3.8/site-packages (from pytest->nova_init==0.0.1) (2.0.1)
Requirement already satisfied: packaging in /opt/nvidia/nova/python/venv/lib/python3.8/site-packages (from pytest->nova_init==0.0.1) (24.0)
Requirement already satisfied: iniconfig in /opt/nvidia/nova/python/venv/lib/python3.8/site-packages (from pytest->nova_init==0.0.1) (2.0.0)
Requirement already satisfied: pluggy<2.0,>=1.5 in /opt/nvidia/nova/python/venv/lib/python3.8/site-packages (from pytest->nova_init==0.0.1) (1.5.0)
Requirement already satisfied: exceptiongroup>=1.0.0rc8; python_version < “3.11” in /opt/nvidia/nova/python/venv/lib/python3.8/site-packages (from pytest->nova_init==0.0.1) (1.2.1)
Requirement already satisfied: certifi>=2017.4.17 in /opt/nvidia/nova/python/venv/lib/python3.8/site-packages (from requests->nova_init==0.0.1) (2024.2.2)
Requirement already satisfied: charset-normalizer<4,>=2 in /opt/nvidia/nova/python/venv/lib/python3.8/site-packages (from requests->nova_init==0.0.1) (3.3.2)
Requirement already satisfied: urllib3<3,>=1.21.1 in /opt/nvidia/nova/python/venv/lib/python3.8/site-packages (from requests->nova_init==0.0.1) (2.2.1)
Requirement already satisfied: idna<4,>=2.5 in /opt/nvidia/nova/python/venv/lib/python3.8/site-packages (from requests->nova_init==0.0.1) (3.7)
Requirement already satisfied: tzdata>=2022.1 in /opt/nvidia/nova/python/venv/lib/python3.8/site-packages (from pandas->nova_init==0.0.1) (2024.1)
Requirement already satisfied: pytz>=2020.1 in /opt/nvidia/nova/python/venv/lib/python3.8/site-packages (from pandas->nova_init==0.0.1) (2024.1)
Requirement already satisfied: python-dateutil>=2.8.2 in /opt/nvidia/nova/python/venv/lib/python3.8/site-packages (from pandas->nova_init==0.0.1) (2.9.0.post0)
Requirement already satisfied: six>=1.5 in /opt/nvidia/nova/python/venv/lib/python3.8/site-packages (from python-dateutil>=2.8.2->pandas->nova_init==0.0.1) (1.16.0)
Installing collected packages: nova-init
Attempting uninstall: nova-init
Found existing installation: nova-init 0.0.1
Uninstalling nova-init-0.0.1:
Successfully uninstalled nova-init-0.0.1
Running setup.py develop for nova-init
Successfully installed nova-init
Requirement already satisfied: pandas in /opt/nvidia/nova/python/venv/lib/python3.8/site-packages (from -r /opt/nvidia/nova/python/nova-init-py/requirements.txt (line 1)) (2.0.3)
Requirement already satisfied: requests in /opt/nvidia/nova/python/venv/lib/python3.8/site-packages (from -r /opt/nvidia/nova/python/nova-init-py/requirements.txt (line 2)) (2.32.2)
Requirement already satisfied: numpy in /opt/nvidia/nova/python/venv/lib/python3.8/site-packages (from -r /opt/nvidia/nova/python/nova-init-py/requirements.txt (line 3)) (1.24.4)
Requirement already satisfied: pytest in /opt/nvidia/nova/python/venv/lib/python3.8/site-packages (from -r /opt/nvidia/nova/python/nova-init-py/requirements.txt (line 4)) (8.2.1)
Requirement already satisfied: pystemd in /opt/nvidia/nova/python/venv/lib/python3.8/site-packages (from -r /opt/nvidia/nova/python/nova-init-py/requirements.txt (line 5)) (0.13.2)
Requirement already satisfied: pyyaml in /opt/nvidia/nova/python/venv/lib/python3.8/site-packages (from -r /opt/nvidia/nova/python/nova-init-py/requirements.txt (line 6)) (6.0.1)
Requirement already satisfied: pytest-timeout in /opt/nvidia/nova/python/venv/lib/python3.8/site-packages (from -r /opt/nvidia/nova/python/nova-init-py/requirements.txt (line 7)) (2.3.1)
Requirement already satisfied: python-dateutil>=2.8.2 in /opt/nvidia/nova/python/venv/lib/python3.8/site-packages (from pandas->-r /opt/nvidia/nova/python/nova-init-py/requirements.txt (line 1)) (2.9
.0.post0)
Requirement already satisfied: pytz>=2020.1 in /opt/nvidia/nova/python/venv/lib/python3.8/site-packages (from pandas->-r /opt/nvidia/nova/python/nova-init-py/requirements.txt (line 1)) (2024.1)
Requirement already satisfied: tzdata>=2022.1 in /opt/nvidia/nova/python/venv/lib/python3.8/site-packages (from pandas->-r /opt/nvidia/nova/python/nova-init-py/requirements.txt (line 1)) (2024.1)
Requirement already satisfied: urllib3<3,>=1.21.1 in /opt/nvidia/nova/python/venv/lib/python3.8/site-packages (from requests->-r /opt/nvidia/nova/python/nova-init-py/requirements.txt (line 2)) (2.2.1
)
Requirement already satisfied: certifi>=2017.4.17 in /opt/nvidia/nova/python/venv/lib/python3.8/site-packages (from requests->-r /opt/nvidia/nova/python/nova-init-py/requirements.txt (line 2)) (2024.
2.2)
Requirement already satisfied: idna<4,>=2.5 in /opt/nvidia/nova/python/venv/lib/python3.8/site-packages (from requests->-r /opt/nvidia/nova/python/nova-init-py/requirements.txt (line 2)) (3.7)
Requirement already satisfied: charset-normalizer<4,>=2 in /opt/nvidia/nova/python/venv/lib/python3.8/site-packages (from requests->-r /opt/nvidia/nova/python/nova-init-py/requirements.txt (line 2))
(3.3.2)
Requirement already satisfied: tomli>=1; python_version < “3.11” in /opt/nvidia/nova/python/venv/lib/python3.8/site-packages (from pytest->-r /opt/nvidia/nova/python/nova-init-py/requirements.txt (li
ne 4)) (2.0.1)
Requirement already satisfied: exceptiongroup>=1.0.0rc8; python_version < “3.11” in /opt/nvidia/nova/python/venv/lib/python3.8/site-packages (from pytest->-r /opt/nvidia/nova/python/nova-init-py/requ
irements.txt (line 4)) (1.2.1)
Requirement already satisfied: packaging in /opt/nvidia/nova/python/venv/lib/python3.8/site-packages (from pytest->-r /opt/nvidia/nova/python/nova-init-py/requirements.txt (line 4)) (24.0)
Requirement already satisfied: iniconfig in /opt/nvidia/nova/python/venv/lib/python3.8/site-packages (from pytest->-r /opt/nvidia/nova/python/nova-init-py/requirements.txt (line 4)) (2.0.0)
Requirement already satisfied: pluggy<2.0,>=1.5 in /opt/nvidia/nova/python/venv/lib/python3.8/site-packages (from pytest->-r /opt/nvidia/nova/python/nova-init-py/requirements.txt (line 4)) (1.5.0)
Requirement already satisfied: lxml in /opt/nvidia/nova/python/venv/lib/python3.8/site-packages (from pystemd->-r /opt/nvidia/nova/python/nova-init-py/requirements.txt (line 5)) (5.2.2)
Requirement already satisfied: psutil in /opt/nvidia/nova/python/venv/lib/python3.8/site-packages (from pystemd->-r /opt/nvidia/nova/python/nova-init-py/requirements.txt (line 5)) (5.9.8)
Requirement already satisfied: six>=1.5 in /opt/nvidia/nova/python/venv/lib/python3.8/site-packages (from python-dateutil>=2.8.2->pandas->-r /opt/nvidia/nova/python/nova-init-py/requirements.txt (lin
e 1)) (1.16.0)
Attempting to setup compute…
Attempting to setup logrotate…
ERROR: backup /etc/logrotate.d/rsyslog.nova.disabled already exist
ERROR: /opt/nvidia/nova/logrotate/…/utils.sh:151 (‘return 2’ exited with code 2)
Traceback (most recent call last):
File “/opt/nvidia/nova/setup_nova.py”, line 237, in
main()
File “/opt/nvidia/nova/setup_nova.py”, line 233, in main
setup_manager.run()
File “/opt/nvidia/nova/setup_nova.py”, line 181, in run
raise ValueError(
ValueError: Failed at calling /opt/nvidia/nova/logrotate/setup.sh in step logrotate with response 2.
ERROR: /var/lib/dpkg/info/nova-orin-init.postinst:27 (‘$NOVA_BASE_DIR/python/venv/bin/python3 $NOVA_BASE_DIR/setup_nova.py -p $processed_setup setup’ exited with code 1)
dpkg: error processing package nova-orin-init (–configure):
installed nova-orin-init package post-installation script subprocess returned error exit status 1
Errors were encountered while processing:
nova-orin-init
E: Sub-process /usr/bin/dpkg returned an error code (1)
bst@Orin-AGX-A11:~/ros/nova_orin_v1.2.0-5$

Raffaello · May 23, 2024, 3:48pm

Which Jetpack are you using?
Isaac ROS 2.0 works with Jetpack 5.1.2

Please ensure all requirements are verified: Getting Started — isaac_ros_docs documentation

543773044 · May 23, 2024, 3:58pm

Hi Raff

Thanks for your comment

Here I used the jet pack 5.12.

Raffaello · May 24, 2024, 2:16pm

To fix your issue you can execute this code:

sudo apt remove nova-orin-init
# check that rsyslog is not empty
cat /etc/logrotate.d/rsyslog.nova.disabled
# recover the backed up file manually
mv /etc/logrotate.d/rsyslog.nova.disabled /etc/logrotate.d/rsyslog

And after reinstall again Nova Orin Init

Should be fix your issue, otherwise let me know.

Best,
Raffaello

543773044 · May 27, 2024, 3:03am

hi Raffaello

thanks very much for your comment
here i reinstall the Nova Orin Init again, and make sure it install successfully.
it still have the error message,
/correlated_timestamp_driver.cpp@159: ioctl failed for NVPPS_GETEVENT/GETTIMESTAMP err Invalid argument[0m
[component_container_mt-1] [33m2024-05-23 22:39:25.106 WARN extensions/timestamp_correlator
i found the iio devices have four bmi088
iio:device0 iio:device1 iio:device2 iio:device3
and I reconfig the DTS for P3762_A03,
it show two device of bmi088
iio:device0 iio:device1
this error message gone
/correlated_timestamp_driver.cpp@159: ioctl failed for NVPPS_GETEVENT/GETTIMESTAMP err Invalid argument[0m
[component_container_mt-1] [33m2024-05-23 22:39:25.106 WARN extensions/timestamp_correlator

but i met new issue, this test can get the raw data from the bmi088, but only run a few ms, it show this message.

[component_container_mt-1] [INFO] [0000002497.932525826] [bmi088]: [NitrosNode] Terminating the running application
[component_container_mt-1] [INFO] [0000002497.932553634] [bmi088]: [NitrosContext] Interrupting GXF…
[component_container_mt-1] 1970-01-01 08:41:37.953 ERROR /workspaces/isaac_ros-dev/src/isaac_ros_nova/isaac_ros_imu_bmi088/gxf/bmi088_imu/extensions/bmi088_imu/bmi088_driver.cpp@387: Failed to disable channels
[component_container_mt-1] 1970-01-01 08:41:37.973 ERROR /workspaces/isaac_ros-dev/src/isaac_ros_nova/isaac_ros_imu_bmi088/gxf/bmi088_imu/extensions/bmi088_imu/bmi088_driver.cpp@387: Failed to disable channels
[component_container_mt-1] [INFO] [0000002497.974427715] [bmi088]: [NitrosContext] Waiting on GXF…
[component_container_mt-1] [INFO] [0000002497.974461187] [bmi088]: [NitrosContext] Deinitializing…

[INFO] [component_container_mt-1]: process started with pid [10973]
[component_container_mt-1] [INFO] [0000002495.769744025] [bmi088_container]: Load Library: /workspaces/isaac_ros-dev/install/isaac_ros_correlated_timestamp_driver/lib/libcorrelated_timestamp_driver_node.so
[component_container_mt-1] [INFO] [0000002495.827935802] [bmi088_container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::correlated_timestamp_driver::CorrelatedTimestampDriverNode
[component_container_mt-1] [INFO] [0000002495.828011642] [bmi088_container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::correlated_timestamp_driver::CorrelatedTimestampDriverNode
[component_container_mt-1] [INFO] [0000002495.833360154] [NitrosContext]: [NitrosContext] Creating a new shared context
[component_container_mt-1] [INFO] [0000002495.833521306] [correlated_timestamp_driver]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [0000002495.834727450] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/std/libgxf_std.so
[component_container_mt-1] [INFO] [0000002495.846760955] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_gxf_helpers.so
[component_container_mt-1] [INFO] [0000002495.854684667] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_sight.so
[component_container_mt-1] [INFO] [0000002495.863646875] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_atlas.so
[component_container_mt-1] [INFO] [0000002495.873226203] [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] [0000002495.875108667] [NitrosContext]: [NitrosContext] Initializing application…
[component_container_mt-1] [INFO] [0000002495.878644443] [NitrosContext]: [NitrosContext] Running application…
[component_container_mt-1] 1970-01-01 08:41:35.878 WARN gxf/std/program.cpp@514: No system specified. Nothing to do
[component_container_mt-1] [INFO] [0000002495.879773435] [correlated_timestamp_driver]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [0000002495.879809755] [correlated_timestamp_driver]: [NitrosNode] Loading built-in preset extension specs
[component_container_mt-1] [INFO] [0000002495.882317243] [correlated_timestamp_driver]: [NitrosNode] Loading built-in extension specs
[component_container_mt-1] [INFO] [0000002495.882359803] [correlated_timestamp_driver]: [NitrosNode] Loading preset extension specs
[component_container_mt-1] [INFO] [0000002495.882653435] [correlated_timestamp_driver]: [NitrosNode] Loading extension specs
[component_container_mt-1] [INFO] [0000002495.882672219] [correlated_timestamp_driver]: [NitrosNode] Loading generator rules
[component_container_mt-1] [INFO] [0000002495.882682811] [correlated_timestamp_driver]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [0000002495.883074171] [correlated_timestamp_driver]: [NitrosContext] Loading extension: gxf/lib/libgxf_message_compositor.so
[component_container_mt-1] [INFO] [0000002495.884584571] [correlated_timestamp_driver]: [NitrosContext] Loading extension: gxf/lib/libgxf_timestamp_correlator.so
[component_container_mt-1] [INFO] [0000002495.893949307] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/serialization/libgxf_serialization.so
[component_container_mt-1] [INFO] [0000002495.902999420] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_messages.so
[component_container_mt-1] [INFO] [0000002495.905389532] [correlated_timestamp_driver]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [0000002495.906858780] [correlated_timestamp_driver]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [0000002495.908045340] [correlated_timestamp_driver]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [0000002495.908603676] [correlated_timestamp_driver]: [NitrosNode] Creating negotiated publishers/subscribers
[component_container_mt-1] [INFO] [0000002495.921360348] [correlated_timestamp_driver]: [NitrosNode] Starting negotiation…
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ‘/correlated_timestamp_driver’ in container ‘/bmi088_container’
[component_container_mt-1] [INFO] [0000002495.924703932] [bmi088_container]: Load Library: /workspaces/isaac_ros-dev/install/isaac_ros_imu_bmi088/lib/libimu_bmi088_node.so
[component_container_mt-1] [INFO] [0000002495.934244828] [bmi088_container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::imu_bmi088::Bmi088Node
[component_container_mt-1] [INFO] [0000002495.934300732] [bmi088_container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::imu_bmi088::Bmi088Node
[component_container_mt-1] [INFO] [0000002495.939082268] [bmi088]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [0000002495.940002716] [bmi088]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [0000002495.940038172] [bmi088]: [NitrosNode] Loading built-in preset extension specs
[component_container_mt-1] [INFO] [0000002495.942083548] [bmi088]: [NitrosNode] Loading built-in extension specs
[component_container_mt-1] [INFO] [0000002495.942139324] [bmi088]: [NitrosNode] Loading preset extension specs
[component_container_mt-1] [INFO] [0000002495.943022012] [bmi088]: [NitrosNode] Loading extension specs
[component_container_mt-1] [INFO] [0000002495.943066268] [bmi088]: [NitrosNode] Loading generator rules
[component_container_mt-1] [INFO] [0000002495.943498908] [bmi088]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [0000002495.944408092] [bmi088]: [NitrosContext] Loading extension: gxf/lib/bmi088_imu/libgxf_bmi088_imu.so
[component_container_mt-1] [INFO] [0000002495.953714237] [bmi088]: [NitrosContext] Loading extension: gxf/lib/imu_utils/libgxf_imu_utils.so
[component_container_mt-1] [INFO] [0000002495.959186205] [bmi088]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [0000002495.962997085] [bmi088]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [0000002495.991672221] [bmi088]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [0000002495.992853373] [bmi088]: [NitrosNode] Creating negotiated publishers/subscribers
[component_container_mt-1] [INFO] [0000002496.008988221] [bmi088]: [NitrosNode] Starting negotiation…
[component_container_mt-1] [INFO] [0000002496.009668702] [correlated_timestamp_driver]: Negotiating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ‘/bmi088’ in container ‘/bmi088_container’
[component_container_mt-1] [INFO] [0000002496.922079363] [correlated_timestamp_driver]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [0000002496.922154659] [correlated_timestamp_driver]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [0000002496.922177539] [correlated_timestamp_driver]: [NitrosPublisher] Use the negotiated data format: “nitros_correlated_timestamp”
[component_container_mt-1] [INFO] [0000002496.922706179] [correlated_timestamp_driver]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [0000002496.924727491] [correlated_timestamp_driver]: [NitrosNode] Wrote the final top level YAML graph to “/tmp/isaac_ros_nitros/graphs/OUBRJHCCCX/OUBRJHCCCX.yaml”
[component_container_mt-1] [INFO] [0000002496.924776195] [correlated_timestamp_driver]: [NitrosNode] Calling user’s pre-load-graph callback
[component_container_mt-1] [INFO] [0000002496.924790339] [correlated_timestamp_driver]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [0000002496.924803811] [correlated_timestamp_driver]: [NitrosContext] Loading application: ‘/tmp/isaac_ros_nitros/graphs/OUBRJHCCCX/OUBRJHCCCX.yaml’
[component_container_mt-1] [INFO] [0000002496.926576227] [correlated_timestamp_driver]: [NitrosNode] Linking Nitros pub/sub to the loaded application
[component_container_mt-1] [INFO] [0000002496.926775139] [correlated_timestamp_driver]: [NitrosNode] Calling user’s post-load-graph callback
[component_container_mt-1] [INFO] [0000002496.926839491] [correlated_timestamp_driver]: [NitrosContext] Initializing application…
[component_container_mt-1] [INFO] [0000002496.929166339] [correlated_timestamp_driver]: [NitrosContext] Running application…
[component_container_mt-1] [INFO] [0000002496.929429411] [correlated_timestamp_driver]: [NitrosNode] Starting a heartbeat timer (eid=22)
[component_container_mt-1] 1970-01-01 08:41:36.929 ERROR extensions/timestamp_correlator/correlated_timestamp_driver.cpp@75: failed to open the device /dev/nvpps0 errno = 2
[component_container_mt-1] 1970-01-01 08:41:36.929 ERROR gxf/std/entity_executor.cpp@563: Entity [OUBRJHCCCX_correlator] must be in Started, Tick Pending, Ticking or Idle stage before stopping. Current state is StartPending
[component_container_mt-1] 1970-01-01 08:41:36.929 WARN gxf/std/greedy_scheduler.cpp@250: Error while executing entity 17 named ‘OUBRJHCCCX_correlator’: GXF_FAILURE
[component_container_mt-1] [INFO] [0000002497.009603716] [bmi088]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [0000002497.009665092] [bmi088]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [0000002497.009680068] [bmi088]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [0000002497.009693892] [bmi088]: [NitrosPublisher] Use only the compatible publisher: topic_name=“/imu”, data_format=“nitros_imu”
[component_container_mt-1] [INFO] [0000002497.009712132] [bmi088]: [NitrosSubscriber] Use the negotiated data format: “nitros_correlated_timestamp”
[component_container_mt-1] [INFO] [0000002497.009915300] [bmi088]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [0000002497.015946916] [bmi088]: [NitrosNode] Wrote the final top level YAML graph to “/tmp/isaac_ros_nitros/graphs/XLTYNSNZSF/XLTYNSNZSF.yaml”
[component_container_mt-1] [INFO] [0000002497.015998436] [bmi088]: [NitrosNode] Calling user’s pre-load-graph callback
[component_container_mt-1] [INFO] [0000002497.016011748] [bmi088]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [0000002497.016025380] [bmi088]: [NitrosContext] Loading application: ‘/tmp/isaac_ros_nitros/graphs/XLTYNSNZSF/XLTYNSNZSF.yaml’
[component_container_mt-1] [INFO] [0000002497.020283908] [bmi088]: [NitrosNode] Linking Nitros pub/sub to the loaded application
[component_container_mt-1] [INFO] [0000002497.020416356] [bmi088]: [NitrosNode] Calling user’s post-load-graph callback
[component_container_mt-1] [INFO] [0000002497.020476004] [bmi088]: [NitrosContext] Initializing application…
[component_container_mt-1] [INFO] [0000002497.026359460] [bmi088]: [NitrosContext] Running application…
[component_container_mt-1] [INFO] [0000002497.026648228] [bmi088]: [NitrosNode] Starting a heartbeat timer (eid=65)
[component_container_mt-1] 1970-01-01 08:41:37.079 ERROR /workspaces/isaac_ros-dev/src/isaac_ros_nova/isaac_ros_imu_bmi088/gxf/bmi088_imu/extensions/bmi088_imu/bmi088_driver.cpp@441: gyro data 671091648 -2147483648 0
[component_container_mt-1] 1970-01-01 08:41:37.088 ERROR /workspaces/isaac_ros-dev/src/isaac_ros_nova/isaac_ros_imu_bmi088/gxf/bmi088_imu/extensions/bmi088_imu/bmi088_driver.cpp@441: gyro data 536911120 -2147483648 -2147483648
[component_container_mt-1] 1970-01-01 08:41:37.098 ERROR /workspaces/isaac_ros-dev/src/isaac_ros_nova/isaac_ros_imu_bmi088/gxf/bmi088_imu/extensions/bmi088_imu/bmi088_driver.cpp@441: gyro data 671509184 -2147483648 0
[component_container_mt-1] 1970-01-01 08:41:37.108 ERROR /workspaces/isaac_ros-dev/src/isaac_ros_nova/isaac_ros_imu_bmi088/gxf/bmi088_imu/extensions/bmi088_imu/bmi088_driver.cpp@441: gyro data 536912544 -2147483648 0
[component_container_mt-1] 1970-01-01 08:41:37.110 ERROR /workspaces/isaac_ros-dev/src/isaac_ros_nova/isaac_ros_imu_bmi088/gxf/bmi088_imu/extensions/bmi088_imu/bmi088_driver.cpp@412: acc data 1048553736 -2147483648 -2147483648
[component_container_mt-1] 1970-01-01 08:41:37.118 ERROR /workspaces/isaac_ros-dev/src/isaac_ros_nova/isaac_ros_imu_bmi088/gxf/bmi088_imu/extensions/bmi088_imu/bmi088_driver.cpp@441: gyro data 536911120 -2147483648 0
[component_container_mt-1] 1970-01-01 08:41:37.120 ERROR /workspaces/isaac_ros-dev/src/isaac_ros_nova/isaac_ros_imu_bmi088/gxf/bmi088_imu/extensions/bmi088_imu/bmi088_driver.cpp@412: acc data 1048553736 -2147483648 0
[component_container_mt-1] 1970-01-01 08:41:37.128 ERROR /workspaces/isaac_ros-dev/src/isaac_ros_nova/isaac_ros_imu_bmi088/gxf/bmi088_imu/extensions/bmi088_imu/bmi088_driver.cpp@441: gyro data 671091648 0 0
[component_container_mt-1] 1970-01-01 08:41:37.130 ERROR /workspaces/isaac_ros-dev/src/isaac_ros_nova/isaac_ros_imu_bmi088/gxf/bmi088_imu/extensions/bmi088_imu/bmi088_driver.cpp@412: acc data 1040161032 1073741824 -2147483648
[component_container_mt-1] 1970-01-01 08:41:37.138 ERROR /workspaces/isaac_ros-dev/src/isaac_ros_nova/isaac_ros_imu_bmi088/gxf/bmi088_imu/extensions/bmi088_imu/bmi088_driver.cpp@441: gyro data 671108800 0 0
[component_container_mt-1] 1970-01-01 08:41:37.140 ERROR /workspaces/isaac_ros-dev/src/isaac_ros_nova/isaac_ros_imu_bmi088/gxf/bmi088_imu/extensions/bmi088_imu/bmi088_driver.cpp@412: acc data 1040161032 536870912 1610612736
[component_container_mt-1] 1970-01-01 08:41:37.148 ERROR /workspaces/isaac_ros-dev/src/isaac_ros_nova/isaac_ros_imu_bmi088/gxf/bmi088_imu/extensions/bmi088_imu/bmi088_driver.cpp@441: gyro data 671111632 -2147483648 0
[component_container_mt-1] 1970-01-01 08:41:37.150 ERROR /workspaces/isaac_ros-dev/src/isaac_ros_nova/isaac_ros_imu_bmi088/gxf/bmi088_imu/extensions/bmi088_imu/bmi088_driver.cpp@412: acc data 1040161032 -1073741824 -2147483648
[component_container_mt-1] 1970-01-01 08:41:37.158 ERROR /workspaces/isaac_ros-dev/src/isaac_ros_nova/isaac_ros_imu_bmi088/gxf/bmi088_imu/extensions/bmi088_imu/bmi088_driver.cpp@441: gyro data 536877712 -2147483648 -2147483648
[component_container_mt-1] 1970-01-01 08:41:37.780 WARN /workspaces/isaac_ros-dev/src/isaac_ros_nova/isaac_ros_imu_bmi088/gxf/bmi088_imu/extensions/bmi088_imu/bmi088_driver.hpp@87: RingBufferQueue overflowed! Dropped 1 values
[component_container_mt-1] 1970-01-01 08:41:37.799 WARN /workspaces/isaac_ros-dev/src/isaac_ros_nova/isaac_ros_imu_bmi088/gxf/bmi088_imu/extensions/bmi088_imu/bmi088_driver.hpp@87: RingBufferQueue overflowed! Dropped 1 values
[component_container_mt-1] 1970-01-01 08:41:37.929 ERROR gxf/std/entity_executor.cpp@210: Entity with eid 22 not found!
[component_container_mt-1] [WARN] [0000002497.929661762] [correlated_timestamp_driver]: [NitrosNode] The heartbeat entity (eid=22) was stopped. The graph may have been terminated.
[component_container_mt-1] [INFO] [0000002497.932525826] [bmi088]: [NitrosNode] Terminating the running application
[component_container_mt-1] [INFO] [0000002497.932553634] [bmi088]: [NitrosContext] Interrupting GXF…
[component_container_mt-1] 1970-01-01 08:41:37.953 ERROR /workspaces/isaac_ros-dev/src/isaac_ros_nova/isaac_ros_imu_bmi088/gxf/bmi088_imu/extensions/bmi088_imu/bmi088_driver.cpp@387: Failed to disable channels
[component_container_mt-1] 1970-01-01 08:41:37.973 ERROR /workspaces/isaac_ros-dev/src/isaac_ros_nova/isaac_ros_imu_bmi088/gxf/bmi088_imu/extensions/bmi088_imu/bmi088_driver.cpp@387: Failed to disable channels
[component_container_mt-1] [INFO] [0000002497.974427715] [bmi088]: [NitrosContext] Waiting on GXF…
[component_container_mt-1] [INFO] [0000002497.974461187] [bmi088]: [NitrosContext] Deinitializing…
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] | Job Statistics Report (regular) |
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] | Name | Count | Time (Median - 90% - Max) [ms] | Load (%) | Exec(ms) | Variation (Median - 90% - Max) [ns] |
[component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-1] | XLTYNSNZSF_accel_translator | 18752 | 0.03 | 0.04 | 0.17 | 62.9 % | 491.3 | 360482989 | 638026680 | 781068861 |
[component_container_mt-1] | XLTYNSNZSF_gyro_translator | 19872 | 0.02 | 0.03 | 0.38 | 62.0 % | 504.4 | 350904173 | 621598999 | 813193182 |
[component_container_mt-1] | XLTYNSNZSF_bmi088_driver | 14 | 0.17 | 0.28 | 0.49 | 3.9 % | 3.1 | 0 | 0 | 0 |
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] | Entity Statistics Report (regular) |
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] | Entity Name | Entity State | Count | Time (Median - 90% - Max) [ms] |
[component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-1] | XLTYNSNZSF_accel_transl | StopPending | 1 | 0.00355 | 0.00355 | 0.00355 |
[component_container_mt-1] | XLTYNSNZSF_accel_transl | Idle | 18752 | 0.02106 | 0.02506 | 41.17350 |
[component_container_mt-1] | XLTYNSNZSF_accel_transl | Ticking | 18752 | 0.00864 | 0.01232 | 0.14410 |
[component_container_mt-1] | XLTYNSNZSF_accel_transl | Pending | 18752 | 0.00723 | 0.01370 | 0.04269 |
[component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-1] | XLTYNSNZSF_gyro_transla | StopPending | 1 | 0.00314 | 0.00314 | 0.00314 |
[component_container_mt-1] | XLTYNSNZSF_gyro_transla | Idle | 19872 | 0.02259 | 0.02512 | 41.19232 |
[component_container_mt-1] | XLTYNSNZSF_gyro_transla | Ticking | 19872 | 0.00886 | 0.01306 | 0.33818 |
[component_container_mt-1] | XLTYNSNZSF_gyro_transla | Pending | 19872 | 0.00659 | 0.01475 | 0.17222 |
[component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-1] [INFO] [0000002497.975454340] [bmi088]: [NitrosContext] Destroying context
[component_container_mt-1] [INFO] [0000002497.976114436] [bmi088]: [NitrosNode] Application termination done
[component_container_mt-1] [INFO] [0000002497.981089028] [correlated_timestamp_driver]: [NitrosNode] Terminating the running application
[component_container_mt-1] [INFO] [0000002497.981114308] [correlated_timestamp_driver]: [NitrosContext] Interrupting GXF…
[component_container_mt-1] [INFO] [0000002497.981133220] [correlated_timestamp_driver]: [NitrosContext] Waiting on GXF…
[component_container_mt-1] 1970-01-01 08:41:37.981 ERROR gxf/std/program.cpp@556: wait failed. Deactivating…
[component_container_mt-1] 1970-01-01 08:41:37.981 ERROR gxf/core/runtime.cpp@1408: Graph wait failed with error: GXF_FAILURE
[component_container_mt-1] [ERROR] [0000002497.981384932] [correlated_timestamp_driver]: [NitrosContext] GxfGraphWait Error: GXF_FAILURE
[component_container_mt-1] [INFO] [0000002497.981391140] [correlated_timestamp_driver]: [NitrosNode] Application termination done
[component_container_mt-1] | XLTYNSNZSF_bmi088_drive | StopPending | 1 | 41.05994 | 41.05994 | 41.05994 |
[component_container_mt-1] | XLTYNSNZSF_bmi088_drive | Idle | 14 | 8.07664 | 9.74806 | 773.66217 |
[component_container_mt-1] | XLTYNSNZSF_bmi088_drive | Ticking | 14 | 0.15760 | 0.25389 | 0.43446 |
[component_container_mt-1] | XLTYNSNZSF_bmi088_drive | Pending | 14 | 0.00934 | 0.01146 | 0.02362 |
[component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] | Job Statistics Report (regular) |
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] | Name | Count | Time (Median - 90% - Max) [ms] | Load (%) | Exec(ms) | Variation (Median - 90% - Max) [ns] |
[component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] | Entity Statistics Report (regular) |
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] | Entity Name | Entity State | Count | Time (Median - 90% - Max) [ms] |
[component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-1] |==================================================================================================================================================================|
[INFO] [component_container_mt-1]: process has finished cleanly [pid 10973]
admin@Orin-AGX-A11:/workspaces/isaac_ros-dev$

Raffaello · May 29, 2024, 6:29pm

From the error message, it seems like NVPPS is failing. I’d recommend them to run the PFC with

nova_preflight_checker -v

If there are any errors, please reply with the PFC log/output in a file.
NVPPS typically fails when PTP4L is not running since it requires a PTP server to synchronize time. PTP4L is checked by the PFC. You can manually check it by running:

systemctl status ptp4l

If it has failed or is not running, try to restart it with:

sudo systemctl restart ptp4l

To further debug please provide the journalctl log as a file:

journalctl > journalctl.log

543773044 · May 30, 2024, 12:47am

hi Raffaello

thanks for your comment
here in my Orin , the bmi088 address is the 0x69.
after i install the nova-orin-init
it have the bmi088 i2c address 0x68,
lrwxrwxrwx 1 root root 0 Nov 22 2023 iio:device0 → …/…/…/devices/platform/31e0000.i2c/i2c-8/i2c-9/9-0069/iio:device0
lrwxrwxrwx 1 root root 0 Nov 22 2023 iio:device1 → …/…/…/devices/platform/31e0000.i2c/i2c-8/i2c-9/9-0069/iio:device1

but always print the log,
/correlated_timestamp_driver.cpp@159: ioctl failed for NVPPS_GETEVENT/GETTIMESTAMP err Invalid argument[0m
[component_container_mt-1] [33m2024-05-23 22:39:25.106 WARN extensions/timestamp_correlator
after i reconfig the P3762, the wrong message gone.
here i attache the log of systemctl status ptp4l.txt nova_preflight_checker -v.txt journalctl.log
journalctl.log (717.5 KB)
systemctl status ptp4l.txt (1.2 KB)
nova_preflight_checker -v.txt (9.8 KB)

Raffaello · May 31, 2024, 2:30pm

Thank you @543773044

We released few hours ago the new Isaac ROS 3.0 release with major fixes on Isaac ROS Nova,

There is now a new quickstart that better can help you to work with this package:
https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nova/isaac_ros_imu_bmi088/index.html#quickstart

543773044 · June 3, 2024, 1:19pm

hi Raffaello

thanks for your comment.
two doubts from my side,
1 Does the Isaac3.0 only support the Jetpack6.0 not support 5.1.2?
2 Does the Jetpack6 support P3762?

thanks
martin

Raffaello · June 3, 2024, 4:09pm

Hi @543773044

Isaac ROS 3.0 only supports Jetpack 6.0. The new requirements are available on this page. Getting Started — isaac_ros_docs documentation

Platform	Hardware	Software	Notes
Jetson	Jetson Orin	JetPack 6.0	For best performance, ensure that power settings are configured appropriately.
x86_64	`Ampere` or higher NVIDIA GPU Architecture with 8 GB RAM or higher	Ubuntu 22.04+ CUDA 12.2+

Yes, support the HAWK P3762, follow the new documentation at this page: Isaac ROS Hawk Setup — isaac_ros_docs documentation

543773044 · June 4, 2024, 2:01am

hi Raffaello

thanks very much for your great help.
we can close this ticket.

system · June 18, 2024, 2:01am

This topic was automatically closed 14 days after the last reply. New replies are no longer allowed.

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