I created an environmanet in Isaac Sİm and i ran the run_dev.sh file on isaac_ros_common package to use issac ros on docker. I also downloaded isaac other isac ros packages and launched my custom visual slam launch file. Visual slam works fine I can see the pointcloud data on rviz2. Then I added nvblox node to my launch file. Nvblox started without any error but in /nvblox_node/color_layer topic blocks and block_İndices arrays are empty though i have a data in camera topic. I don’t get any error but I can’t get any data şn any nvblox topic.
That’s my launch file log
[INFO] [launch]: All log files can be found below /home/admin/.ros/log/2026-03-26-17-45-22-601159-ahmet-Katana-A17-AI-B8VF-6167
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container_mt-1]: process started with pid [6180]
[component_container_mt-1] [INFO] [1774536322.912846518] [visual_slam_container]: Load Library: /workspaces/isaac_ros-dev/install/isaac_ros_visual_slam/lib/libvisual_slam_node.so
[component_container_mt-1] [INFO] [1774536322.980149088] [visual_slam_container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::visual_slam::VisualSlamNode
[component_container_mt-1] [INFO] [1774536322.980199648] [visual_slam_container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::visual_slam::VisualSlamNode
[component_container_mt-1] [INFO] [1774536322.997244548] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/std/libgxf_std.so
[component_container_mt-1] [INFO] [1774536322.998550472] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_gxf_helpers.so
[component_container_mt-1] [INFO] [1774536323.001707255] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_sight.so
[component_container_mt-1] [INFO] [1774536323.004884218] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_atlas.so
[component_container_mt-1] e[33m2026-03-26 17:45:23.011 WARN external/com_nvidia_gxf/gxf/std/program.cpp@538: No GXF scheduler specified.e[0m
[component_container_mt-1] [INFO] [1774536323.011545930] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/multimedia/libgxf_multimedia.so
[component_container_mt-1] [INFO] [1774536323.015353286] [visual_slam_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1774536323.016317967] [visual_slam_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1774536323.027826755] [visual_slam_node]: cuVSLAM version: 12.6
[component_container_mt-1] [INFO] [1774536323.174081914] [visual_slam_node]: Time taken by CUVSLAM_WarmUpGPU(): 0.146225
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ‘/visual_slam_node’ in container ‘/visual_slam_container’
[component_container_mt-1] [INFO] [1774536323.176202444] [visual_slam_container]: Load Library: /workspaces/isaac_ros-dev/install/nvblox_ros/lib/libnvblox_ros_lib.so
[component_container_mt-1] [INFO] [1774536323.178930392] [visual_slam_node]: Initializing cuVSLAM.
[component_container_mt-1] [INFO] [1774536323.179085467] [visual_slam_node]: Use use_gpu: true
[component_container_mt-1] [INFO] [1774536323.179100036] [visual_slam_node]: Enable IMU Fusion: false
[component_container_mt-1] [INFO] [1774536323.186025138] [visual_slam_container]: Found class: rclcpp_components::NodeFactoryTemplatenvblox::NvbloxNode
[component_container_mt-1] [INFO] [1774536323.186068063] [visual_slam_container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvblox::NvbloxNode
[component_container_mt-1] [INFO] [1774536323.196176640] [nvblox_node]: Create nvblox cuda stream with type: kBlocking
[component_container_mt-1] WARNING: Logging before InitGoogleLogging() is written to STDERR
[component_container_mt-1] I0326 17:45:23.213091 6199 block_memory_pool_impl.h:65] Expanding the memory pool with 2048 blocks. Number of allocated blocks: 2048
[component_container_mt-1] I0326 17:45:23.238929 6199 gpu_hash_interface_impl.cuh:83] Creating a GPUHashImpl with requested capacity of 4096 blocks. Real capacity: 4096
[component_container_mt-1] I0326 17:45:23.240135 6199 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_9TsdfVoxelEEE, voxel_size: 0.05, and memory_type: kDevice to LayerCake.
[component_container_mt-1] I0326 17:45:23.248502 6199 block_memory_pool_impl.h:65] Expanding the memory pool with 2048 blocks. Number of allocated blocks: 2048
[component_container_mt-1] I0326 17:45:23.289904 6199 gpu_hash_interface_impl.cuh:83] Creating a GPUHashImpl with requested capacity of 4096 blocks. Real capacity: 4096
[component_container_mt-1] I0326 17:45:23.299906 6199 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_10ColorVoxelEEE, voxel_size: 0.05, and memory_type: kDevice to LayerCake.
[component_container_mt-1] I0326 17:45:23.307777 6199 block_memory_pool_impl.h:65] Expanding the memory pool with 2048 blocks. Number of allocated blocks: 2048
[component_container_mt-1] I0326 17:45:23.339190 6199 gpu_hash_interface_impl.cuh:83] Creating a GPUHashImpl with requested capacity of 4096 blocks. Real capacity: 4096
[component_container_mt-1] I0326 17:45:23.345854 6199 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_14FreespaceVoxelEEE, voxel_size: 0.05, and memory_type: kDevice to LayerCake.
[component_container_mt-1] I0326 17:45:23.352187 6199 block_memory_pool_impl.h:65] Expanding the memory pool with 2048 blocks. Number of allocated blocks: 2048
[component_container_mt-1] I0326 17:45:23.387128 6199 gpu_hash_interface_impl.cuh:83] Creating a GPUHashImpl with requested capacity of 4096 blocks. Real capacity: 4096
[component_container_mt-1] I0326 17:45:23.393723 6199 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_14OccupancyVoxelEEE, voxel_size: 0.05, and memory_type: kDevice to LayerCake.
[component_container_mt-1] I0326 17:45:23.399660 6199 block_memory_pool_impl.h:65] Expanding the memory pool with 2048 blocks. Number of allocated blocks: 2048
[component_container_mt-1] I0326 17:45:23.441541 6199 gpu_hash_interface_impl.cuh:83] Creating a GPUHashImpl with requested capacity of 4096 blocks. Real capacity: 4096
[component_container_mt-1] I0326 17:45:23.444805 6199 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_9EsdfVoxelEEE, voxel_size: 0.05, and memory_type: kDevice to LayerCake.
[component_container_mt-1] I0326 17:45:23.445139 6199 block_memory_pool_impl.h:65] Expanding the memory pool with 2048 blocks. Number of allocated blocks: 2048
[component_container_mt-1] I0326 17:45:23.477854 6199 gpu_hash_interface_impl.cuh:83] Creating a GPUHashImpl with requested capacity of 4096 blocks. Real capacity: 4096
[component_container_mt-1] I0326 17:45:23.481140 6199 layer_cake_impl.h:32] Adding Layer with type: N6nvblox10BlockLayerINS_9MeshBlockEEE, voxel_size: 0.05, and memory_type: kDevice to LayerCake.
[component_container_mt-1] I0326 17:45:23.481189 6199 layer_cake_streamer_impl.h:79] Adding Streamer with type: N6nvblox25LayerStreamerOldestBlocksINS_15VoxelBlockLayerINS_9TsdfVoxelEEEEE to LayerCake.
[component_container_mt-1] I0326 17:45:23.481197 6199 layer_cake_streamer_impl.h:79] Adding Streamer with type: N6nvblox25LayerStreamerOldestBlocksINS_15VoxelBlockLayerINS_10ColorVoxelEEEEE to LayerCake.
[component_container_mt-1] I0326 17:45:23.481204 6199 layer_cake_streamer_impl.h:79] Adding Streamer with type: N6nvblox25LayerStreamerOldestBlocksINS_15VoxelBlockLayerINS_14FreespaceVoxelEEEEE to LayerCake.
[component_container_mt-1] I0326 17:45:23.481209 6199 layer_cake_streamer_impl.h:79] Adding Streamer with type: N6nvblox25LayerStreamerOldestBlocksINS_15VoxelBlockLayerINS_14OccupancyVoxelEEEEE to LayerCake.
[component_container_mt-1] I0326 17:45:23.481215 6199 layer_cake_streamer_impl.h:79] Adding Streamer with type: N6nvblox25LayerStreamerOldestBlocksINS_15VoxelBlockLayerINS_9EsdfVoxelEEEEE to LayerCake.
[component_container_mt-1] I0326 17:45:23.481225 6199 layer_cake_streamer_impl.h:79] Adding Streamer with type: N6nvblox25LayerStreamerOldestBlocksINS_10BlockLayerINS_9MeshBlockEEEEE to LayerCake.
[component_container_mt-1] I0326 17:45:23.489553 6199 block_memory_pool_impl.h:65] Expanding the memory pool with 2048 blocks. Number of allocated blocks: 2048
[component_container_mt-1] I0326 17:45:23.511950 6199 gpu_hash_interface_impl.cuh:83] Creating a GPUHashImpl with requested capacity of 4096 blocks. Real capacity: 4096
[component_container_mt-1] I0326 17:45:23.512075 6199 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_9TsdfVoxelEEE, voxel_size: 0.05, and memory_type: kDevice to LayerCake.
[component_container_mt-1] I0326 17:45:23.520100 6199 block_memory_pool_impl.h:65] Expanding the memory pool with 2048 blocks. Number of allocated blocks: 2048
[component_container_mt-1] I0326 17:45:23.520282 6199 gpu_hash_interface_impl.cuh:83] Creating a GPUHashImpl with requested capacity of 4096 blocks. Real capacity: 4096
[component_container_mt-1] I0326 17:45:23.520316 6199 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_10ColorVoxelEEE, voxel_size: 0.05, and memory_type: kDevice to LayerCake.
[component_container_mt-1] I0326 17:45:23.527098 6199 block_memory_pool_impl.h:65] Expanding the memory pool with 2048 blocks. Number of allocated blocks: 2048
[component_container_mt-1] I0326 17:45:23.527475 6199 gpu_hash_interface_impl.cuh:83] Creating a GPUHashImpl with requested capacity of 4096 blocks. Real capacity: 4096
[component_container_mt-1] I0326 17:45:23.527930 6199 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_14FreespaceVoxelEEE, voxel_size: 0.05, and memory_type: kDevice to LayerCake.
[component_container_mt-1] I0326 17:45:23.532799 6199 block_memory_pool_impl.h:65] Expanding the memory pool with 2048 blocks. Number of allocated blocks: 2048
[component_container_mt-1] I0326 17:45:23.532970 6199 gpu_hash_interface_impl.cuh:83] Creating a GPUHashImpl with requested capacity of 4096 blocks. Real capacity: 4096
[component_container_mt-1] I0326 17:45:23.533011 6199 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_14OccupancyVoxelEEE, voxel_size: 0.05, and memory_type: kDevice to LayerCake.
[component_container_mt-1] I0326 17:45:23.539285 6199 block_memory_pool_impl.h:65] Expanding the memory pool with 2048 blocks. Number of allocated blocks: 2048
[component_container_mt-1] I0326 17:45:23.553090 6199 gpu_hash_interface_impl.cuh:83] Creating a GPUHashImpl with requested capacity of 4096 blocks. Real capacity: 4096
[component_container_mt-1] I0326 17:45:23.554374 6199 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_9EsdfVoxelEEE, voxel_size: 0.05, and memory_type: kDevice to LayerCake.
[component_container_mt-1] I0326 17:45:23.554858 6199 block_memory_pool_impl.h:65] Expanding the memory pool with 2048 blocks. Number of allocated blocks: 2048
[component_container_mt-1] I0326 17:45:23.567134 6199 gpu_hash_interface_impl.cuh:83] Creating a GPUHashImpl with requested capacity of 4096 blocks. Real capacity: 4096
[component_container_mt-1] I0326 17:45:23.568322 6199 layer_cake_impl.h:32] Adding Layer with type: N6nvblox10BlockLayerINS_9MeshBlockEEE, voxel_size: 0.05, and memory_type: kDevice to LayerCake.
[component_container_mt-1] I0326 17:45:23.568337 6199 layer_cake_streamer_impl.h:79] Adding Streamer with type: N6nvblox25LayerStreamerOldestBlocksINS_15VoxelBlockLayerINS_9TsdfVoxelEEEEE to LayerCake.
[component_container_mt-1] I0326 17:45:23.568341 6199 layer_cake_streamer_impl.h:79] Adding Streamer with type: N6nvblox25LayerStreamerOldestBlocksINS_15VoxelBlockLayerINS_10ColorVoxelEEEEE to LayerCake.
[component_container_mt-1] I0326 17:45:23.568342 6199 layer_cake_streamer_impl.h:79] Adding Streamer with type: N6nvblox25LayerStreamerOldestBlocksINS_15VoxelBlockLayerINS_14FreespaceVoxelEEEEE to LayerCake.
[component_container_mt-1] I0326 17:45:23.568344 6199 layer_cake_streamer_impl.h:79] Adding Streamer with type: N6nvblox25LayerStreamerOldestBlocksINS_15VoxelBlockLayerINS_14OccupancyVoxelEEEEE to LayerCake.
[component_container_mt-1] I0326 17:45:23.568346 6199 layer_cake_streamer_impl.h:79] Adding Streamer with type: N6nvblox25LayerStreamerOldestBlocksINS_15VoxelBlockLayerINS_9EsdfVoxelEEEEE to LayerCake.
[component_container_mt-1] I0326 17:45:23.568348 6199 layer_cake_streamer_impl.h:79] Adding Streamer with type: N6nvblox25LayerStreamerOldestBlocksINS_10BlockLayerINS_9MeshBlockEEEEE to LayerCake.
[component_container_mt-1] [INFO] [1774536323.569319982] [nvblox_node]: Initialize Mapper:
[component_container_mt-1] [INFO] [1774536323.569362556] [nvblox_node]: static_mapper.do_depth_preprocessing: 0
[component_container_mt-1] [INFO] [1774536323.569372435] [nvblox_node]: static_mapper.depth_preprocessing_num_dilations: 4
[component_container_mt-1] [INFO] [1774536323.569385561] [nvblox_node]: static_mapper.esdf_slice_min_height: 0
[component_container_mt-1] [INFO] [1774536323.569390481] [nvblox_node]: static_mapper.esdf_slice_max_height: 1
[component_container_mt-1] [INFO] [1774536323.569394358] [nvblox_node]: static_mapper.esdf_slice_height: 1
[component_container_mt-1] [INFO] [1774536323.569398066] [nvblox_node]: static_mapper.exclude_last_view_from_decay: 0
[component_container_mt-1] [INFO] [1774536323.569401993] [nvblox_node]: static_mapper.projective_integrator_max_integration_distance_m: 7
[component_container_mt-1] [INFO] [1774536323.569406612] [nvblox_node]: static_mapper.lidar_projective_integrator_max_integration_distance_m: 10
[component_container_mt-1] [INFO] [1774536323.569410600] [nvblox_node]: static_mapper.projective_integrator_truncation_distance_vox: 4
[component_container_mt-1] [INFO] [1774536323.569417724] [nvblox_node]: static_mapper.projective_integrator_weighting_mode: kInverseSquareWeight
[component_container_mt-1] [WARN] [1774536323.569423075] [nvblox_node]: Requested weighting function: “kInverseSquareWeight” not recognized. Defaulting to: kInverseSquareWeight
[component_container_mt-1] [INFO] [1774536323.569427965] [nvblox_node]: static_mapper.projective_integrator_max_weight: 5
[component_container_mt-1] [INFO] [1774536323.569431752] [nvblox_node]: static_mapper.projective_tsdf_integrator_invalid_depth_decay_factor: -1
[component_container_mt-1] [INFO] [1774536323.569436051] [nvblox_node]: static_mapper.free_region_occupancy_probability: 0.3
[component_container_mt-1] [INFO] [1774536323.569439708] [nvblox_node]: static_mapper.occupied_region_occupancy_probability: 0.7
[component_container_mt-1] [INFO] [1774536323.569443545] [nvblox_node]: static_mapper.unobserved_region_occupancy_probability: 0.5
[component_container_mt-1] [INFO] [1774536323.569448515] [nvblox_node]: static_mapper.occupied_region_half_width_m: 0.1
[component_container_mt-1] [INFO] [1774536323.569452303] [nvblox_node]: static_mapper.raycast_subsampling_factor: 4
[component_container_mt-1] [INFO] [1774536323.569455809] [nvblox_node]: static_mapper.workspace_bounds_type: kUnbounded
[component_container_mt-1] [WARN] [1774536323.569497401] [nvblox_node]: Requested workspace bounds type: “kUnbounded” not recognized. Defaulting to: kUnbounded
[component_container_mt-1] [INFO] [1774536323.569503503] [nvblox_node]: static_mapper.workspace_bounds_min_height_m: 0
[component_container_mt-1] [INFO] [1774536323.569507421] [nvblox_node]: static_mapper.workspace_bounds_max_height_m: 1
[component_container_mt-1] [INFO] [1774536323.569510808] [nvblox_node]: static_mapper.workspace_bounds_min_corner_x_m: 0
[component_container_mt-1] [INFO] [1774536323.569514455] [nvblox_node]: static_mapper.workspace_bounds_max_corner_x_m: 0
[component_container_mt-1] [INFO] [1774536323.569517872] [nvblox_node]: static_mapper.workspace_bounds_min_corner_y_m: 2
[component_container_mt-1] [INFO] [1774536323.569521349] [nvblox_node]: static_mapper.workspace_bounds_max_corner_y_m: 2
[component_container_mt-1] [INFO] [1774536323.569525617] [nvblox_node]: static_mapper.esdf_integrator_min_weight: 0.0001
[component_container_mt-1] [INFO] [1774536323.569529415] [nvblox_node]: static_mapper.esdf_integrator_max_site_distance_vox: 1
[component_container_mt-1] [INFO] [1774536323.569533102] [nvblox_node]: static_mapper.esdf_integrator_max_distance_m: 2
[component_container_mt-1] [INFO] [1774536323.569536859] [nvblox_node]: static_mapper.mesh_integrator_min_weight: 0.0001
[component_container_mt-1] [INFO] [1774536323.569541879] [nvblox_node]: static_mapper.mesh_integrator_weld_vertices: 1
[component_container_mt-1] [INFO] [1774536323.569547180] [nvblox_node]: static_mapper.decay_integrator_deallocate_decayed_blocks: 1
[component_container_mt-1] [INFO] [1774536323.569552690] [nvblox_node]: static_mapper.tsdf_decay_factor: 0.95
[component_container_mt-1] [INFO] [1774536323.569558392] [nvblox_node]: static_mapper.tsdf_decayed_weight_threshold: 0.001
[component_container_mt-1] [INFO] [1774536323.569563371] [nvblox_node]: static_mapper.tsdf_set_free_distance_on_decayed: 0
[component_container_mt-1] [INFO] [1774536323.569574574] [nvblox_node]: static_mapper.tsdf_decayed_free_distance_vox: 4
[component_container_mt-1] [INFO] [1774536323.569579884] [nvblox_node]: static_mapper.free_region_decay_probability: 0.55
[component_container_mt-1] [INFO] [1774536323.569584593] [nvblox_node]: static_mapper.occupied_region_decay_probability: 0.4
[component_container_mt-1] [INFO] [1774536323.569590064] [nvblox_node]: static_mapper.occupancy_decay_to_free: 0
[component_container_mt-1] [INFO] [1774536323.569595545] [nvblox_node]: static_mapper.max_tsdf_distance_for_occupancy_m: 0.15
[component_container_mt-1] [INFO] [1774536323.569605705] [nvblox_node]: static_mapper.max_unobserved_to_keep_consecutive_occupancy_ms: 200
[component_container_mt-1] [INFO] [1774536323.569609222] [nvblox_node]: static_mapper.min_duration_since_occupied_for_freespace_ms: 1000
[component_container_mt-1] [INFO] [1774536323.569612619] [nvblox_node]: static_mapper.min_consecutive_occupancy_duration_for_reset_ms: 2000
[component_container_mt-1] [INFO] [1774536323.569616406] [nvblox_node]: static_mapper.check_neighborhood: 1
[component_container_mt-1] [INFO] [1774536323.569619652] [nvblox_node]: Initialize Mapper:
[component_container_mt-1] [INFO] [1774536323.569623991] [nvblox_node]: dynamic_mapper.do_depth_preprocessing: 0
[component_container_mt-1] [INFO] [1774536323.569627839] [nvblox_node]: dynamic_mapper.depth_preprocessing_num_dilations: 4
[component_container_mt-1] [INFO] [1774536323.569631486] [nvblox_node]: dynamic_mapper.esdf_slice_min_height: 0
[component_container_mt-1] [INFO] [1774536323.569634782] [nvblox_node]: dynamic_mapper.esdf_slice_max_height: 1
[component_container_mt-1] [INFO] [1774536323.569638179] [nvblox_node]: dynamic_mapper.esdf_slice_height: 1
[component_container_mt-1] [INFO] [1774536323.569641766] [nvblox_node]: dynamic_mapper.exclude_last_view_from_decay: 0
[component_container_mt-1] [INFO] [1774536323.569649211] [nvblox_node]: dynamic_mapper.projective_integrator_max_integration_distance_m: 7
[component_container_mt-1] [INFO] [1774536323.569653689] [nvblox_node]: dynamic_mapper.lidar_projective_integrator_max_integration_distance_m: 10
[component_container_mt-1] [INFO] [1774536323.569657537] [nvblox_node]: dynamic_mapper.projective_integrator_truncation_distance_vox: 4
[component_container_mt-1] [INFO] [1774536323.569661184] [nvblox_node]: dynamic_mapper.projective_integrator_weighting_mode: kInverseSquareWeight
[component_container_mt-1] [WARN] [1774536323.569664310] [nvblox_node]: Requested weighting function: “kInverseSquareWeight” not recognized. Defaulting to: kInverseSquareWeight
[component_container_mt-1] [INFO] [1774536323.569668308] [nvblox_node]: dynamic_mapper.projective_integrator_max_weight: 5
[component_container_mt-1] [INFO] [1774536323.569671885] [nvblox_node]: dynamic_mapper.projective_tsdf_integrator_invalid_depth_decay_factor: -1
[component_container_mt-1] [INFO] [1774536323.569675512] [nvblox_node]: dynamic_mapper.free_region_occupancy_probability: 0.3
[component_container_mt-1] [INFO] [1774536323.569678989] [nvblox_node]: dynamic_mapper.occupied_region_occupancy_probability: 0.7
[component_container_mt-1] [INFO] [1774536323.569682376] [nvblox_node]: dynamic_mapper.unobserved_region_occupancy_probability: 0.5
[component_container_mt-1] [INFO] [1774536323.569692937] [nvblox_node]: dynamic_mapper.occupied_region_half_width_m: 0.1
[component_container_mt-1] [INFO] [1774536323.569696223] [nvblox_node]: dynamic_mapper.raycast_subsampling_factor: 4
[component_container_mt-1] [INFO] [1774536323.569699720] [nvblox_node]: dynamic_mapper.workspace_bounds_type: kUnbounded
[component_container_mt-1] [WARN] [1774536323.569703147] [nvblox_node]: Requested workspace bounds type: “kUnbounded” not recognized. Defaulting to: kUnbounded
[component_container_mt-1] [INFO] [1774536323.569710852] [nvblox_node]: dynamic_mapper.workspace_bounds_min_height_m: 0
[component_container_mt-1] [INFO] [1774536323.569714499] [nvblox_node]: dynamic_mapper.workspace_bounds_max_height_m: 1
[component_container_mt-1] [INFO] [1774536323.569718136] [nvblox_node]: dynamic_mapper.workspace_bounds_min_corner_x_m: 0
[component_container_mt-1] [INFO] [1774536323.569723517] [nvblox_node]: dynamic_mapper.workspace_bounds_max_corner_x_m: 0
[component_container_mt-1] [INFO] [1774536323.569729138] [nvblox_node]: dynamic_mapper.workspace_bounds_min_corner_y_m: 2
[component_container_mt-1] [INFO] [1774536323.569734699] [nvblox_node]: dynamic_mapper.workspace_bounds_max_corner_y_m: 2
[component_container_mt-1] [INFO] [1774536323.569740210] [nvblox_node]: dynamic_mapper.esdf_integrator_min_weight: 0.0001
[component_container_mt-1] [INFO] [1774536323.569745651] [nvblox_node]: dynamic_mapper.esdf_integrator_max_site_distance_vox: 1
[component_container_mt-1] [INFO] [1774536323.569750771] [nvblox_node]: dynamic_mapper.esdf_integrator_max_distance_m: 2
[component_container_mt-1] [INFO] [1774536323.569756442] [nvblox_node]: dynamic_mapper.mesh_integrator_min_weight: 0.0001
[component_container_mt-1] [INFO] [1774536323.569761833] [nvblox_node]: dynamic_mapper.mesh_integrator_weld_vertices: 1
[component_container_mt-1] [INFO] [1774536323.569767444] [nvblox_node]: dynamic_mapper.decay_integrator_deallocate_decayed_blocks: 1
[component_container_mt-1] [INFO] [1774536323.569773045] [nvblox_node]: dynamic_mapper.tsdf_decay_factor: 0.95
[component_container_mt-1] [INFO] [1774536323.569778015] [nvblox_node]: dynamic_mapper.tsdf_decayed_weight_threshold: 0.001
[component_container_mt-1] [INFO] [1774536323.569781451] [nvblox_node]: dynamic_mapper.tsdf_set_free_distance_on_decayed: 0
[component_container_mt-1] [INFO] [1774536323.569785810] [nvblox_node]: dynamic_mapper.tsdf_decayed_free_distance_vox: 4
[component_container_mt-1] [INFO] [1774536323.569796561] [nvblox_node]: dynamic_mapper.free_region_decay_probability: 0.55
[component_container_mt-1] [INFO] [1774536323.569802132] [nvblox_node]: dynamic_mapper.occupied_region_decay_probability: 0.4
[component_container_mt-1] [INFO] [1774536323.569805960] [nvblox_node]: dynamic_mapper.occupancy_decay_to_free: 0
[component_container_mt-1] [INFO] [1774536323.569811891] [nvblox_node]: dynamic_mapper.max_tsdf_distance_for_occupancy_m: 0.15
[component_container_mt-1] [INFO] [1774536323.569816110] [nvblox_node]: dynamic_mapper.max_unobserved_to_keep_consecutive_occupancy_ms: 200
[component_container_mt-1] [INFO] [1774536323.569819937] [nvblox_node]: dynamic_mapper.min_duration_since_occupied_for_freespace_ms: 1000
[component_container_mt-1] [INFO] [1774536323.569825107] [nvblox_node]: dynamic_mapper.min_consecutive_occupancy_duration_for_reset_ms: 2000
[component_container_mt-1] [INFO] [1774536323.569830177] [nvblox_node]: dynamic_mapper.check_neighborhood: 1
[component_container_mt-1] [INFO] [1774536323.569837181] [nvblox_node]: Initialize MultiMapper:
[component_container_mt-1] [INFO] [1774536323.569843834] [nvblox_node]: multi_mapper.connected_mask_component_size_threshold: 2000
[component_container_mt-1] [INFO] [1774536323.569848784] [nvblox_node]: multi_mapper.remove_small_connected_components: 1
[component_container_mt-1] [INFO] [1774536323.569929934] [nvblox_node]: NvbloxNode::subscribeToTopics()
[component_container_mt-1] [INFO] [1774536323.570006866] [nvblox_node]: Subscribing input topics with QoS: SYSTEM_DEFAULT
[component_container_mt-1] [INFO] [1774536323.572553947] [nvblox_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1774536323.574454353] [nvblox_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1774536323.575420157] [nvblox_node]: NvbloxNode::setupTimers()
[component_container_mt-1] [INFO] [1774536323.575469033] [nvblox_node]: NvbloxNode::advertiseTopics()
[component_container_mt-1] [INFO] [1774536323.578727086] [nvblox_node]: NvbloxNode::advertiseServices()
[component_container_mt-1] [INFO] [1774536323.581028764] [nvblox_node]: Started up nvblox node in frame odom and voxel size 0.05
[component_container_mt-1] [INFO] [1774536323.581052400] [nvblox_node]: Mapping type: kStaticTsdf
[component_container_mt-1] [INFO] [1774536323.581577445] [nvblox_node]: nvblox parameters:
[component_container_mt-1] nvblox_node
[component_container_mt-1] cuda_stream_type: kBlocking
[component_container_mt-1] global_frame: odom
[component_container_mt-1] voxel_size: 0.050000
[component_container_mt-1] max_back_projection_distance: 5.000000
[component_container_mt-1] layer_visualization_min_tsdf_weight: 0.100000
[component_container_mt-1] layer_visualization_exclusion_height_m: 2.000000
[component_container_mt-1] layer_visualization_exclusion_radius_m: 5.000000
[component_container_mt-1] layer_streamer_bandwidth_limit_mbps: 30.000000
[component_container_mt-1] distance_map_unknown_value_optimistic: 1000.000000
[component_container_mt-1] distance_map_unknown_value_pessimistic: -1000.000000
[component_container_mt-1] esdf_mode: 2d
[component_container_mt-1] mapping_type: static_tsdf
[component_container_mt-1] pose_frame: base_link
[component_container_mt-1] map_clearing_frame_id: base_link
[component_container_mt-1] after_shutdown_map_save_path:
[component_container_mt-1] esdf_slice_bounds_visualization_attachment_frame_id: base_link
[component_container_mt-1] workspace_height_bounds_visualization_attachment_frame_id: base_link
[component_container_mt-1] publish_esdf_distance_slice: 1
[component_container_mt-1] use_color: 1
[component_container_mt-1] use_depth: 1
[component_container_mt-1] use_segmentation: 0
[component_container_mt-1] use_lidar: 1
[component_container_mt-1] use_non_equal_vertical_fov_lidar_params: 0
[component_container_mt-1] print_timings_to_console: 0
[component_container_mt-1] print_rates_to_console: 0
[component_container_mt-1] print_queue_drops_to_console: 0
[component_container_mt-1] print_delays_to_console: 0
[component_container_mt-1] layer_visualization_undo_gamma_correction: 0
[component_container_mt-1] output_pessimistic_distance_map: 1
[component_container_mt-1] num_cameras: 1
[component_container_mt-1] lidar_width: 1800
[component_container_mt-1] lidar_height: 16
[component_container_mt-1] tick_period_ms: 10
[component_container_mt-1] print_statistics_on_console_period_ms: 10000
[component_container_mt-1] maximum_input_queue_length: 10
[component_container_mt-1] back_projection_subsampling: 1
[component_container_mt-1] lidar_vertical_fov_rad: 0.523599
[component_container_mt-1] lidar_min_valid_range_m: 0.100000
[component_container_mt-1] lidar_max_valid_range_m: 50.000000
[component_container_mt-1] min_angle_below_zero_elevation_rad: 0.349066
[component_container_mt-1] max_angle_above_zero_elevation_rad: 0.261799
[component_container_mt-1] esdf_slice_bounds_visualization_side_length: 10.000000
[component_container_mt-1] workspace_height_bounds_visualization_side_length: 10.000000
[component_container_mt-1] integrate_depth_rate_hz: 40.000000
[component_container_mt-1] integrate_color_rate_hz: 5.000000
[component_container_mt-1] integrate_lidar_rate_hz: 40.000000
[component_container_mt-1] update_mesh_rate_hz: 5.000000
[component_container_mt-1] update_esdf_rate_hz: 5.000000
[component_container_mt-1] publish_layer_rate_hz: 10.000000
[component_container_mt-1] publish_debug_vis_rate_hz: 2.000000
[component_container_mt-1] decay_tsdf_rate_hz: 5.000000
[component_container_mt-1] decay_dynamic_occupancy_rate_hz: 10.000000
[component_container_mt-1] clear_map_outside_radius_rate_hz: 1.000000
[component_container_mt-1] map_clearing_radius_m: 5.000000
[component_container_mt-1] esdf_and_gradients_unobserved_value: -1000.000000
[component_container_mt-1] multi_mapper
[component_container_mt-1] connected_mask_component_size_threshold: 2000
[component_container_mt-1] background_mapper
[component_container_mt-1] voxel_size_m: 0.050000
[component_container_mt-1] memory_type: kDevice
[component_container_mt-1] projective_layer_type: kTsdf
[component_container_mt-1] esdf_mode: kUnset
[component_container_mt-1] do_depth_preprocessing: 0
[component_container_mt-1] depth_preprocessing_num_dilations: 4
[component_container_mt-1] exclude_last_view_from_decay: 0
[component_container_mt-1] camera_tsdf_integrator
[component_container_mt-1] max_weight:: 5.000000
[component_container_mt-1] marked_unobserved_voxels_distance_m:: -1.000000
[component_container_mt-1] marked_unobserved_voxels_weight:: 0.100000
[component_container_mt-1] weighting_function_type:: kInverseSquareWeight
[component_container_mt-1] invalid_depth_decay_factor:: -1.000000
[component_container_mt-1] projective_integrator
[component_container_mt-1] lidar_linear_interpolation_max_allowable_difference_vox:: 2.000000
[component_container_mt-1] lidar_nearest_interpolation_max_allowable_dist_to_ray_vox:: 0.500000
[component_container_mt-1] truncation_distance_vox:: 4.000000
[component_container_mt-1] max_integration_distance_m:: 7.000000
[component_container_mt-1] view_calculator
[component_container_mt-1] raycast_subsampling_factor: 4
[component_container_mt-1] workspace_bounds_type: kUnbounded
[component_container_mt-1] workspace_bounds_min_height_m: 0.000000
[component_container_mt-1] workspace_bounds_max_height_m: 1.000000
[component_container_mt-1] workspace_bounds_min_corner_x_m: 0.000000
[component_container_mt-1] workspace_bounds_max_corner_x_m: 0.000000
[component_container_mt-1] workspace_bounds_min_corner_y_m: 2.000000
[component_container_mt-1] workspace_bounds_max_corner_y_m: 2.000000
[component_container_mt-1] lidar_tsdf_integrator
[component_container_mt-1] max_weight:: 5.000000
[component_container_mt-1] marked_unobserved_voxels_distance_m:: -1.000000
[component_container_mt-1] marked_unobserved_voxels_weight:: 0.100000
[component_container_mt-1] weighting_function_type:: kInverseSquareWeight
[component_container_mt-1] invalid_depth_decay_factor:: -1.000000
[component_container_mt-1] projective_integrator
[component_container_mt-1] lidar_linear_interpolation_max_allowable_difference_vox:: 2.000000
[component_container_mt-1] lidar_nearest_interpolation_max_allowable_dist_to_ray_vox:: 0.500000
[component_container_mt-1] truncation_distance_vox:: 4.000000
[component_container_mt-1] max_integration_distance_m:: 10.000000
[component_container_mt-1] view_calculator
[component_container_mt-1] raycast_subsampling_factor: 4
[component_container_mt-1] workspace_bounds_type: kUnbounded
[component_container_mt-1] workspace_bounds_min_height_m: 0.000000
[component_container_mt-1] workspace_bounds_max_height_m: 1.000000
[component_container_mt-1] workspace_bounds_min_corner_x_m: 0.000000
[component_container_mt-1] workspace_bounds_max_corner_x_m: 0.000000
[component_container_mt-1] workspace_bounds_min_corner_y_m: 2.000000
[component_container_mt-1] workspace_bounds_max_corner_y_m: 2.000000
[component_container_mt-1] projective_color_integrator
[component_container_mt-1] sphere_tracing_ray_subsampling_factor:: 4
[component_container_mt-1] max_weight:: 5.000000
[component_container_mt-1] weighting_function_type:: kInverseSquareWeight
[component_container_mt-1] projective_integrator
[component_container_mt-1] lidar_linear_interpolation_max_allowable_difference_vox:: 2.000000
[component_container_mt-1] lidar_nearest_interpolation_max_allowable_dist_to_ray_vox:: 0.500000
[component_container_mt-1] truncation_distance_vox:: 4.000000
[component_container_mt-1] max_integration_distance_m:: 7.000000
[component_container_mt-1] view_calculator
[component_container_mt-1] raycast_subsampling_factor: 4
[component_container_mt-1] workspace_bounds_type: kUnbounded
[component_container_mt-1] workspace_bounds_min_height_m: 0.000000
[component_container_mt-1] workspace_bounds_max_height_m: 1.000000
[component_container_mt-1] workspace_bounds_min_corner_x_m: 0.000000
[component_container_mt-1] workspace_bounds_max_corner_x_m: 0.000000
[component_container_mt-1] workspace_bounds_min_corner_y_m: 2.000000
[component_container_mt-1] workspace_bounds_max_corner_y_m: 2.000000
[component_container_mt-1] view_calculator
[component_container_mt-1] raycast_subsampling_factor: 4
[component_container_mt-1] workspace_bounds_type: kUnbounded
[component_container_mt-1] workspace_bounds_min_height_m: 0.000000
[component_container_mt-1] workspace_bounds_max_height_m: 1.000000
[component_container_mt-1] workspace_bounds_min_corner_x_m: 0.000000
[component_container_mt-1] workspace_bounds_max_corner_x_m: 0.000000
[component_container_mt-1] workspace_bounds_min_corner_y_m: 2.000000
[component_container_mt-1] workspace_bounds_max_corner_y_m: 2.000000
[component_container_mt-1] camera_occupancy_integrator
[component_container_mt-1] free_region_log_odds:: -0.847298
[component_container_mt-1] occupied_region_log_odds:: 0.847298
[component_container_mt-1] unobserved_region_log_odds:: 0.000000
[component_container_mt-1] occupied_region_half_width_m:: 0.100000
[component_container_mt-1] projective_integrator
[component_container_mt-1] lidar_linear_interpolation_max_allowable_difference_vox:: 2.000000
[component_container_mt-1] lidar_nearest_interpolation_max_allowable_dist_to_ray_vox:: 0.500000
[component_container_mt-1] truncation_distance_vox:: 4.000000
[component_container_mt-1] max_integration_distance_m:: 7.000000
[component_container_mt-1] view_calculator
[component_container_mt-1] raycast_subsampling_factor: 4
[component_container_mt-1] workspace_bounds_type: kUnbounded
[component_container_mt-1] workspace_bounds_min_height_m: 0.000000
[component_container_mt-1] workspace_bounds_max_height_m: 1.000000
[component_container_mt-1] workspace_bounds_min_corner_x_m: 0.000000
[component_container_mt-1] workspace_bounds_max_corner_x_m: 0.000000
[component_container_mt-1] workspace_bounds_min_corner_y_m: 2.000000
[component_container_mt-1] workspace_bounds_max_corner_y_m: 2.000000
[component_container_mt-1] lidar_occupancy_integrator
[component_container_mt-1] free_region_log_odds:: -0.847298
[component_container_mt-1] occupied_region_log_odds:: 0.847298
[component_container_mt-1] unobserved_region_log_odds:: 0.000000
[component_container_mt-1] occupied_region_half_width_m:: 0.100000
[component_container_mt-1] projective_integrator
[component_container_mt-1] lidar_linear_interpolation_max_allowable_difference_vox:: 2.000000
[component_container_mt-1] lidar_nearest_interpolation_max_allowable_dist_to_ray_vox:: 0.500000
[component_container_mt-1] truncation_distance_vox:: 4.000000
[component_container_mt-1] max_integration_distance_m:: 10.000000
[component_container_mt-1] view_calculator
[component_container_mt-1] raycast_subsampling_factor: 4
[component_container_mt-1] workspace_bounds_type: kUnbounded
[component_container_mt-1] workspace_bounds_min_height_m: 0.000000
[component_container_mt-1] workspace_bounds_max_height_m: 1.000000
[component_container_mt-1] workspace_bounds_min_corner_x_m: 0.000000
[component_container_mt-1] workspace_bounds_max_corner_x_m: 0.000000
[component_container_mt-1] workspace_bounds_min_corner_y_m: 2.000000
[component_container_mt-1] workspace_bounds_max_corner_y_m: 2.000000
[component_container_mt-1] esdf_integrator
[component_container_mt-1] max_esdf_distance_m:: 2.000000
[component_container_mt-1] max_tsdf_site_distance_vox:: 1.000000
[component_container_mt-1] tsdf_min_weight:: 0.000100
[component_container_mt-1] occupied_threshold_log_odds:: 0.000000
[component_container_mt-1] esdf_slice_min_height:: 0.000000
[component_container_mt-1] esdf_slice_max_height:: 1.000000
[component_container_mt-1] esdf_slice_height:: 1.000000
[component_container_mt-1] slice_height_above_plane_m:: 0.000000
[component_container_mt-1] slice_height_thickness_m:: 0.100000
[component_container_mt-1] mesh_integrator
[component_container_mt-1] min_weight:: 0.000100
[component_container_mt-1] cutoff_distance_vox:: 5.000000
[component_container_mt-1] weld_vertices:: 1
[component_container_mt-1] occupancy_decay_integrator
[component_container_mt-1] free_space_decay_log_odds:: 0.200671
[component_container_mt-1] occupied_space_decay_log_odds:: -0.405465
[component_container_mt-1] decay_to_log_odds_:: 0.000000
[component_container_mt-1] decay_integrator
[component_container_mt-1] deallocate_decayed_blocks:: 1
[component_container_mt-1] tsdf_decay_integrator
[component_container_mt-1] decay_factor:: 0.950000
[component_container_mt-1] decayed_weight_theshold:: 0.001000
[component_container_mt-1] set_free_distance_on_decayed:: 0
[component_container_mt-1] free_distance_vox:: 4.000000
[component_container_mt-1] decay_integrator
[component_container_mt-1] deallocate_decayed_blocks:: 1
[component_container_mt-1] freespace_integrator
[component_container_mt-1] max_tsdf_distance_for_occupancy_m:: 0.150000
[component_container_mt-1] max_unobserved_to_keep_consecutive_occupancy_ms:: 200
[component_container_mt-1] min_duration_since_occupied_for_freespace_ms:: 1000
[component_container_mt-1] min_consecutive_occupancy_duration_for_reset_ms:: 2000
[component_container_mt-1] check_neighborhood:: 1
[component_container_mt-1] foreground_mapper
[component_container_mt-1] voxel_size_m: 0.050000
[component_container_mt-1] memory_type: kDevice
[component_container_mt-1] projective_layer_type: kNone
[component_container_mt-1] esdf_mode: kUnset
[component_container_mt-1] do_depth_preprocessing: 0
[component_container_mt-1] depth_preprocessing_num_dilations: 4
[component_container_mt-1] exclude_last_view_from_decay: 0
[component_container_mt-1] camera_tsdf_integrator
[component_container_mt-1] max_weight:: 5.000000
[component_container_mt-1] marked_unobserved_voxels_distance_m:: -1.000000
[component_container_mt-1] marked_unobserved_voxels_weight:: 0.100000
[component_container_mt-1] weighting_function_type:: kInverseSquareWeight
[component_container_mt-1] invalid_depth_decay_factor:: -1.000000
[component_container_mt-1] projective_integrator
[component_container_mt-1] lidar_linear_interpolation_max_allowable_difference_vox:: 2.000000
[component_container_mt-1] lidar_nearest_interpolation_max_allowable_dist_to_ray_vox:: 0.500000
[component_container_mt-1] truncation_distance_vox:: 4.000000
[component_container_mt-1] max_integration_distance_m:: 7.000000
[component_container_mt-1] view_calculator
[component_container_mt-1] raycast_subsampling_factor: 4
[component_container_mt-1] workspace_bounds_type: kUnbounded
[component_container_mt-1] workspace_bounds_min_height_m: 0.000000
[component_container_mt-1] workspace_bounds_max_height_m: 1.000000
[component_container_mt-1] workspace_bounds_min_corner_x_m: 0.000000
[component_container_mt-1] workspace_bounds_max_corner_x_m: 0.000000
[component_container_mt-1] workspace_bounds_min_corner_y_m: 2.000000
[component_container_mt-1] workspace_bounds_max_corner_y_m: 2.000000
[component_container_mt-1] lidar_tsdf_integrator
[component_container_mt-1] max_weight:: 5.000000
[component_container_mt-1] marked_unobserved_voxels_distance_m:: -1.000000
[component_container_mt-1] marked_unobserved_voxels_weight:: 0.100000
[component_container_mt-1] weighting_function_type:: kInverseSquareWeight
[component_container_mt-1] invalid_depth_decay_factor:: -1.000000
[component_container_mt-1] projective_integrator
[component_container_mt-1] lidar_linear_interpolation_max_allowable_difference_vox:: 2.000000
[component_container_mt-1] lidar_nearest_interpolation_max_allowable_dist_to_ray_vox:: 0.500000
[component_container_mt-1] truncation_distance_vox:: 4.000000
[component_container_mt-1] max_integration_distance_m:: 10.000000
[component_container_mt-1] view_calculator
[component_container_mt-1] raycast_subsampling_factor: 4
[component_container_mt-1] workspace_bounds_type: kUnbounded
[component_container_mt-1] workspace_bounds_min_height_m: 0.000000
[component_container_mt-1] workspace_bounds_max_height_m: 1.000000
[component_container_mt-1] workspace_bounds_min_corner_x_m: 0.000000
[component_container_mt-1] workspace_bounds_max_corner_x_m: 0.000000
[component_container_mt-1] workspace_bounds_min_corner_y_m: 2.000000
[component_container_mt-1] workspace_bounds_max_corner_y_m: 2.000000
[component_container_mt-1] projective_color_integrator
[component_container_mt-1] sphere_tracing_ray_subsampling_factor:: 4
[component_container_mt-1] max_weight:: 5.000000
[component_container_mt-1] weighting_function_type:: kInverseSquareWeight
[component_container_mt-1] projective_integrator
[component_container_mt-1] lidar_linear_interpolation_max_allowable_difference_vox:: 2.000000
[component_container_mt-1] lidar_nearest_interpolation_max_allowable_dist_to_ray_vox:: 0.500000
[component_container_mt-1] truncation_distance_vox:: 4.000000
[component_container_mt-1] max_integration_distance_m:: 7.000000
[component_container_mt-1] view_calculator
[component_container_mt-1] raycast_subsampling_factor: 4
[component_container_mt-1] workspace_bounds_type: kUnbounded
[component_container_mt-1] workspace_bounds_min_height_m: 0.000000
[component_container_mt-1] workspace_bounds_max_height_m: 1.000000
[component_container_mt-1] workspace_bounds_min_corner_x_m: 0.000000
[component_container_mt-1] workspace_bounds_max_corner_x_m: 0.000000
[component_container_mt-1] workspace_bounds_min_corner_y_m: 2.000000
[component_container_mt-1] workspace_bounds_max_corner_y_m: 2.000000
[component_container_mt-1] view_calculator
[component_container_mt-1] raycast_subsampling_factor: 4
[component_container_mt-1] workspace_bounds_type: kUnbounded
[component_container_mt-1] workspace_bounds_min_height_m: 0.000000
[component_container_mt-1] workspace_bounds_max_height_m: 1.000000
[component_container_mt-1] workspace_bounds_min_corner_x_m: 0.000000
[component_container_mt-1] workspace_bounds_max_corner_x_m: 0.000000
[component_container_mt-1] workspace_bounds_min_corner_y_m: 2.000000
[component_container_mt-1] workspace_bounds_max_corner_y_m: 2.000000
[component_container_mt-1] camera_occupancy_integrator
[component_container_mt-1] free_region_log_odds:: -0.847298
[component_container_mt-1] occupied_region_log_odds:: 0.847298
[component_container_mt-1] unobserved_region_log_odds:: 0.000000
[component_container_mt-1] occupied_region_half_width_m:: 0.100000
[component_container_mt-1] projective_integrator
[component_container_mt-1] lidar_linear_interpolation_max_allowable_difference_vox:: 2.000000
[component_container_mt-1] lidar_nearest_interpolation_max_allowable_dist_to_ray_vox:: 0.500000
[component_container_mt-1] truncation_distance_vox:: 4.000000
[component_container_mt-1] max_integration_distance_m:: 7.000000
[component_container_mt-1] view_calculator
[component_container_mt-1] raycast_subsampling_factor: 4
[component_container_mt-1] workspace_bounds_type: kUnbounded
[component_container_mt-1] workspace_bounds_min_height_m: 0.000000
[component_container_mt-1] workspace_bounds_max_height_m: 1.000000
[component_container_mt-1] workspace_bounds_min_corner_x_m: 0.000000
[component_container_mt-1] workspace_bounds_max_corner_x_m: 0.000000
[component_container_mt-1] workspace_bounds_min_corner_y_m: 2.000000
[component_container_mt-1] workspace_bounds_max_corner_y_m: 2.000000
[component_container_mt-1] lidar_occupancy_integrator
[component_container_mt-1] free_region_log_odds:: -0.847298
[component_container_mt-1] occupied_region_log_odds:: 0.847298
[component_container_mt-1] unobserved_region_log_odds:: 0.000000
[component_container_mt-1] occupied_region_half_width_m:: 0.100000
[component_container_mt-1] projective_integrator
[component_container_mt-1] lidar_linear_interpolation_max_allowable_difference_vox:: 2.000000
[component_container_mt-1] lidar_nearest_interpolation_max_allowable_dist_to_ray_vox:: 0.500000
[component_container_mt-1] truncation_distance_vox:: 4.000000
[component_container_mt-1] max_integration_distance_m:: 10.000000
[component_container_mt-1] view_calculator
[component_container_mt-1] raycast_subsampling_factor: 4
[component_container_mt-1] workspace_bounds_type: kUnbounded
[component_container_mt-1] workspace_bounds_min_height_m: 0.000000
[component_container_mt-1] workspace_bounds_max_height_m: 1.000000
[component_container_mt-1] workspace_bounds_min_corner_x_m: 0.000000
[component_container_mt-1] workspace_bounds_max_corner_x_m: 0.000000
[component_container_mt-1] workspace_bounds_min_corner_y_m: 2.000000
[component_container_mt-1] workspace_bounds_max_corner_y_m: 2.000000
[component_container_mt-1] esdf_integrator
[component_container_mt-1] max_esdf_distance_m:: 2.000000
[component_container_mt-1] max_tsdf_site_distance_vox:: 1.000000
[component_container_mt-1] tsdf_min_weight:: 0.000100
[component_container_mt-1] occupied_threshold_log_odds:: 0.000000
[component_container_mt-1] esdf_slice_min_height:: 0.000000
[component_container_mt-1] esdf_slice_max_height:: 1.000000
[component_container_mt-1] esdf_slice_height:: 1.000000
[component_container_mt-1] slice_height_above_plane_m:: 0.000000
[component_container_mt-1] slice_height_thickness_m:: 0.100000
[component_container_mt-1] mesh_integrator
[component_container_mt-1] min_weight:: 0.000100
[component_container_mt-1] cutoff_distance_vox:: 5.000000
[component_container_mt-1] weld_vertices:: 1
[component_container_mt-1] occupancy_decay_integrator
[component_container_mt-1] free_space_decay_log_odds:: 0.200671
[component_container_mt-1] occupied_space_decay_log_odds:: -0.405465
[component_container_mt-1] decay_to_log_odds_:: 0.000000
[component_container_mt-1] decay_integrator
[component_container_mt-1] deallocate_decayed_blocks:: 1
[component_container_mt-1] tsdf_decay_integrator
[component_container_mt-1] decay_factor:: 0.950000
[component_container_mt-1] decayed_weight_theshold:: 0.001000
[component_container_mt-1] set_free_distance_on_decayed:: 0
[component_container_mt-1] free_distance_vox:: 4.000000
[component_container_mt-1] decay_integrator
[component_container_mt-1] deallocate_decayed_blocks:: 1
[component_container_mt-1] freespace_integrator
[component_container_mt-1] max_tsdf_distance_for_occupancy_m:: 0.150000
[component_container_mt-1] max_unobserved_to_keep_consecutive_occupancy_ms:: 200
[component_container_mt-1] min_duration_since_occupied_for_freespace_ms:: 1000
[component_container_mt-1] min_consecutive_occupancy_duration_for_reset_ms:: 2000
[component_container_mt-1] check_neighborhood:: 1
[component_container_mt-1] image_masker
[component_container_mt-1] occlusion_threshold_m:: 0.250000
[component_container_mt-1] ground_plane_estimator
[component_container_mt-1] ground_points_candidates_min_z_m:: -0.100000
[component_container_mt-1] ground_points_candidates_max_z_m:: 0.150000
[component_container_mt-1] ransac_plane_fitter
[component_container_mt-1] num_ransac_iterations:: 1000
[component_container_mt-1] ransac_distance_threshold_m:: 0.200000
[component_container_mt-1] tsdf_zero_crossings_extractor
[component_container_mt-1] min_tsdf_weight:: 0.100000
[component_container_mt-1] max_crossings:: 360000
[component_container_mt-1]
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ‘/nvblox_node’ in container ‘/visual_slam_container’
[component_container_mt-1] [INFO] [1774536324.906087446] [visual_slam_node]: Time taken by CUVSLAM_CreateTracker(): 1.726977
[component_container_mt-1] [INFO] [1774536324.906360975] [visual_slam_node]: cuVSLAM tracker was successfully initialized.
[component_container_mt-1] [WARN] [1774536325.063473645] [visual_slam_node]: Delta between current and previous frame [66.666670 ms] is above threshold [34.000000 ms]
[component_container_mt-1] [WARN] [1774536351.598623087] [visual_slam_node]: Delta between current and previous frame [50.000002 ms] is above threshold [34.000000 ms]
[component_container_mt-1] [WARN] [1774536380.968919736] [visual_slam_node]: Delta between current and previous frame [50.000002 ms] is above threshold [34.000000 ms]
[component_container_mt-1] [WARN] [1774536402.198960401] [visual_slam_node]: Delta between current and previous frame [50.000003 ms] is above threshold [34.000000 ms]
[component_container_mt-1] [WARN] [1774536411.124392474] [visual_slam_node]: Delta between current and previous frame [50.000002 ms] is above threshold [34.000000 ms]
Thats my topic echo
ros2 topic echo /nvblox_node/color_layer
header:
stamp:
sec: 1825
nanosec: 250095194
frame_id: odom
block_size_m: 0.4000000059604645
voxel_size_m: 0.05000000074505806
block_indices:
blocks:
clear: false
layer_type: 0
header:
stamp:
sec: 1825
nanosec: 250095194
frame_id: odom
block_size_m: 0.4000000059604645
voxel_size_m: 0.05000000074505806
block_indices:
blocks:
clear: false
layer_type: 2
And that’s my camera echo
admin@ahmet-Katana-A17-AI-B8VF:/workspaces/isaac_ros-dev$ ros2 topic echo --once /camera/depth/image_rect_raw
header:
stamp:
sec: 1842
nanosec: 666762769
frame_id: camera_link
height: 480
width: 640
encoding: 32FC1
is_bigendian: 0
step: 2560
data:
- 136
- 163
- 9
- 65
- 41
- 18
- 10
- 65
- 125
- 129
- 10
- 65
- 131
- 241
- 10
- 65
- 67
- 98
- 11
- 65
- 184
- 211
- 11
- 65
- 230
- 69
- 12
- 65
- 208
- 184
- 12
- 65
- 119
- 44
- 13
- 65
- 219
- 160
- 13
- 65
- 255
- 21
- 14
- 65
- 232
- 139
- 14
- 65
- 149
- 2
- 15
- 65
- 7
- 122
- 15
- 65
- 66
- 242
- 15
- 65
- 78
- 15
- 16
- 65
- 77
- 15
- 16
- 65
- 76
- 15
- 16
- 65
- 76
- 15
- 16
- 65
- 75
- 15
- 16
- 65
- 75
- 15
- 16
- 65
- 75
- 15
- 16
- 65
- 76
- 15
- 16
- 65
- 76
- 15
- 16
- 65
- 76
- 15
- 16
- 65
- 76
- 15
- 16
- 65
- 76
- 15
- 16
- 65
- 76
- 15
- 16
- 65
- 75
- 15
- 16
- 65
- 76
- 15
- 16
- 65
- 76
- 15
- 16
- 65
- 76
- 15
- 16
- 65
- ‘…’