I am using my own dataset to train according to the RT-DETR project and convert it into .plan format model, but I cannot predict the results,There were no errors reported either. The specific situation is as follows
1、According to Nvidia’s instructions, the project address is: GitHub - lyuwenyu/RT-DETR: [CVPR 2024] Official RT-DETR (RTDETR paddle pytorch), Real-Time DEtection TRansformer, DETRs Beat YOLOs on Real-time Object Detection. 🔥 🔥 🔥
2、The data training was conducted using rtdetr_pytorch, with a total of two types of items and 100+images trained
3、After training, it was converted to onnx for prediction validation
4、The model.onnx is converted to the sdetr_grasp.plan model using the following command:
/usr/src/tensorrt/bin/trtexec --onnx=${ISAAC_ROS_WS}/isaac_ros_assets/models/synthetica_detr/model.onnx --saveEngine=${ISAAC_ROS_WS}/isaac_ros_assets/models/synthetica_detr/sdetr_grasp.plan
The model.onxx model can detect apples, with an image format of 640 * 480, Model Google Cloud Address:model.zip - Google Drive
[INFO] [launch]: All log files can be found below /home/admin/.ros/log/2025-03-25-16-30-49-010351-leadtek-desktop-514403
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container_mt-1]: process started with pid [514415]
[component_container_mt-1] [INFO] [1742891449.417015530] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/librealsense2_camera.so
[component_container_mt-1] [INFO] [1742891449.560770646] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<realsense2_camera::RealSenseNodeFactory>
[component_container_mt-1] [INFO] [1742891449.561861593] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<realsense2_camera::RealSenseNodeFactory>
[component_container_mt-1] [INFO] [1742891449.593669866] [realsense2_camera]: RealSense ROS v4.51.1
[component_container_mt-1] [INFO] [1742891449.594733359] [realsense2_camera]: Built with LibRealSense v2.55.1
[component_container_mt-1] [INFO] [1742891449.595375019] [realsense2_camera]: Running with LibRealSense v2.55.1
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ‘/realsense2_camera’ in container ‘/isaac_ros_examples/container’
[component_container_mt-1] [INFO] [1742891449.601501749] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libresize_node.so
[component_container_mt-1] [INFO] [1742891449.641397667] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::image_proc::ResizeNode
[component_container_mt-1] [INFO] [1742891449.641488414] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::image_proc::ResizeNode
[component_container_mt-1] [INFO] [1742891449.663382201] [resize_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1742891449.664436574] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/std/libgxf_std.so
[component_container_mt-1] [INFO] [1742891449.665992295] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_gxf_helpers.so
[component_container_mt-1] [INFO] [1742891449.670375475] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_sight.so
[component_container_mt-1] [INFO] [1742891449.675480438] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_atlas.so
[component_container_mt-1] 2025-03-25 16:30:49.687 WARN gxf/std/program.cpp@538: No GXF scheduler specified.
[component_container_mt-1] [INFO] [1742891449.689346032] [resize_node]: [ResizeNode] Set output data format to: “nitros_image_rgb8”
[component_container_mt-1] [INFO] [1742891449.689478921] [resize_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1742891449.700707190] [resize_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1742891449.701415983] [resize_node]: [NitrosContext] Loading extension: gxf/lib/multimedia/libgxf_multimedia.so
[component_container_mt-1] [INFO] [1742891449.705006598] [resize_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_message_compositor.so
[component_container_mt-1] [INFO] [1742891449.706234882] [resize_node]: [NitrosContext] Loading extension: gxf/lib/cuda/libgxf_cuda.so
[component_container_mt-1] [INFO] [1742891449.709921556] [resize_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_tensorops.so
[component_container_mt-1] [INFO] [1742891449.717238364] [resize_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1742891449.721801278] [resize_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1742891449.997110622] [resize_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1742891450.002559726] [resize_node]: [NitrosPublisherSubscriberGroup] Pinning the component “image_sink/sink” (type=“nvidia::isaac_ros::MessageRelay”) to use its compatible format only: “nitros_image_rgb8”
[component_container_mt-1] [INFO] [1742891450.017109954] [resize_node]: [NitrosNode] Starting negotiation…
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ‘/resize_node’ in container ‘/isaac_ros_examples/container’
[component_container_mt-1] [INFO] [1742891450.020869745] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libpad_node.so
[component_container_mt-1] [INFO] [1742891450.065450524] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::image_proc::PadNode
[component_container_mt-1] [INFO] [1742891450.065555734] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::image_proc::PadNode
[component_container_mt-1] [INFO] [1742891450.073017334] [realsense2_camera]: Device with serial number 241122303389 was found.
[component_container_mt-1]
[component_container_mt-1] [INFO] [1742891450.073114576] [realsense2_camera]: Device with physical ID 2-3.2-5 was found.
[component_container_mt-1] [INFO] [1742891450.073130479] [realsense2_camera]: Device with name Intel RealSense D455 was found.
[component_container_mt-1] [INFO] [1742891450.073451005] [realsense2_camera]: Device with port number 2-3.2 was found.
[component_container_mt-1] [INFO] [1742891450.073479772] [realsense2_camera]: Device USB type: 3.2
[component_container_mt-1] [INFO] [1742891450.076396377] [realsense2_camera]: getParameters…
[component_container_mt-1] [INFO] [1742891450.077498876] [realsense2_camera]: JSON file is not provided
[component_container_mt-1] [INFO] [1742891450.077548249] [realsense2_camera]: Device Name: Intel RealSense D455
[component_container_mt-1] [INFO] [1742891450.077561368] [realsense2_camera]: Device Serial No: 241122303389
[component_container_mt-1] [INFO] [1742891450.077681650] [realsense2_camera]: Device physical port: 2-3.2-5
[component_container_mt-1] [INFO] [1742891450.077701745] [realsense2_camera]: Device FW version: 5.13.0.50
[component_container_mt-1] [INFO] [1742891450.077714352] [realsense2_camera]: Device Product ID: 0x0B5C
[component_container_mt-1] [INFO] [1742891450.077723087] [realsense2_camera]: Sync Mode: Off
[component_container_mt-1] [INFO] [1742891450.079003144] [resize_node]: Negotiating
[component_container_mt-1] [INFO] [1742891450.079154336] [pad_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1742891450.081264778] [pad_node.ManagedNitrosPublisher]: Starting Managed Nitros Publisher
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ‘/pad_node’ in container ‘/isaac_ros_examples/container’
[component_container_mt-1] [INFO] [1742891450.179399499] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libimage_format_converter_node.so
[component_container_mt-1] [INFO] [1742891450.185116396] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::image_proc::ImageFormatConverterNode
[component_container_mt-1] [INFO] [1742891450.185217031] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::image_proc::ImageFormatConverterNode
[component_container_mt-1] [INFO] [1742891450.193319235] [image_format_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1742891450.195692063] [image_format_node]: [ImageFormatConverterNode] Set output data format to: “nitros_image_rgb8”
[component_container_mt-1] [INFO] [1742891450.196669352] [image_format_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1742891450.211394547] [image_format_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1742891450.213856618] [image_format_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1742891450.215960277] [image_format_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1742891450.302952867] [image_format_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1742891450.323214873] [image_format_node]: [NitrosPublisherSubscriberGroup] Pinning the component “sink/sink” (type=“nvidia::isaac_ros::MessageRelay”) to use its compatible format only: “nitros_image_rgb8”
[component_container_mt-1] [INFO] [1742891450.328477748] [image_format_node]: [NitrosNode] Starting negotiation…
[component_container_mt-1] [INFO] [1742891450.329510458] [pad_node]: Negotiating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ‘/image_format_node’ in container ‘/isaac_ros_examples/container’
[component_container_mt-1] [INFO] [1742891450.333419680] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libimage_to_tensor_node.so
[component_container_mt-1] [INFO] [1742891450.347228863] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::dnn_inference::ImageToTensorNode
[component_container_mt-1] [INFO] [1742891450.347325337] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::dnn_inference::ImageToTensorNode
[component_container_mt-1] [INFO] [1742891450.355122374] [image_to_tensor_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1742891450.355289597] [image_format_node]: Negotiating
[component_container_mt-1] [INFO] [1742891450.355333275] [pad_node]: Negotiating
[component_container_mt-1] [INFO] [1742891450.357424102] [image_to_tensor_node.ManagedNitrosPublisher]: Starting Managed Nitros Publisher
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ‘/image_to_tensor_node’ in container ‘/isaac_ros_examples/container’
[component_container_mt-1] [INFO] [1742891450.363412120] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libinterleaved_to_planar_node.so
[component_container_mt-1] [INFO] [1742891450.365727607] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::dnn_inference::InterleavedToPlanarNode
[component_container_mt-1] [INFO] [1742891450.365799315] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::dnn_inference::InterleavedToPlanarNode
[component_container_mt-1] [INFO] [1742891450.374896504] [interleaved_to_planar_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1742891450.377464073] [interleaved_to_planar_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1742891450.383563125] [interleaved_to_planar_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1742891450.385517640] [interleaved_to_planar_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1742891450.387149933] [interleaved_to_planar_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1742891450.392350795] [interleaved_to_planar_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1742891450.396185717] [interleaved_to_planar_node]: [NitrosNode] Starting negotiation…
[component_container_mt-1] [INFO] [1742891450.396902029] [image_to_tensor_node]: Negotiating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ‘/interleaved_to_planar_node’ in container ‘/isaac_ros_examples/container’
[component_container_mt-1] [INFO] [1742891450.397048101] [image_to_tensor_node]: Could not negotiate
[component_container_mt-1] [INFO] [1742891450.400748119] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libreshape_node.so
[component_container_mt-1] [INFO] [1742891450.403989154] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::dnn_inference::ReshapeNode
[component_container_mt-1] [INFO] [1742891450.404082493] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::dnn_inference::ReshapeNode
[component_container_mt-1] [INFO] [1742891450.413360856] [reshape_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1742891450.418875812] [reshape_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1742891450.425807714] [reshape_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1742891450.429020143] [reshape_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1742891450.439188024] [reshape_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1742891450.445464314] [reshape_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1742891450.450832623] [reshape_node]: [NitrosNode] Starting negotiation…
[component_container_mt-1] [INFO] [1742891450.452672648] [interleaved_to_planar_node]: Negotiating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ‘/reshape_node’ in container ‘/isaac_ros_examples/container’
[component_container_mt-1] [INFO] [1742891450.452875101] [image_to_tensor_node]: Negotiating
[component_container_mt-1] [INFO] [1742891450.452902715] [image_to_tensor_node]: Could not negotiate
[component_container_mt-1] [INFO] [1742891450.456075466] [isaac_ros_examples.container]: Load Library: /workspaces/isaac_ros-dev/install/isaac_ros_rtdetr/lib/librtdetr_preprocessor_node.so
[component_container_mt-1] [INFO] [1742891450.459096290] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::rtdetr::RtDetrPreprocessorNode
[component_container_mt-1] [INFO] [1742891450.459189821] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::rtdetr::RtDetrPreprocessorNode
[component_container_mt-1] [INFO] [1742891450.472240293] [rtdetr_preprocessor.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1742891450.472537397] [reshape_node]: Negotiating
[component_container_mt-1] [INFO] [1742891450.472911328] [interleaved_to_planar_node]: Negotiating
[component_container_mt-1] [INFO] [1742891450.473172209] [image_to_tensor_node]: Negotiating
[component_container_mt-1] [INFO] [1742891450.473220463] [image_to_tensor_node]: Could not negotiate
[component_container_mt-1] [INFO] [1742891450.474989836] [rtdetr_preprocessor.ManagedNitrosPublisher]: Starting Managed Nitros Publisher
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ‘/rtdetr_preprocessor’ in container ‘/isaac_ros_examples/container’
[component_container_mt-1] [INFO] [1742891450.479135173] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libtensor_rt_node.so
[component_container_mt-1] [INFO] [1742891450.508691381] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::dnn_inference::TensorRTNode
[component_container_mt-1] [INFO] [1742891450.508798671] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::dnn_inference::TensorRTNode
[component_container_mt-1] [INFO] [1742891450.522867423] [tensor_rt]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1742891450.526802979] [tensor_rt]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1742891450.531480831] [tensor_rt]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1742891450.533404307] [tensor_rt]: [NitrosContext] Loading extension: gxf/lib/serialization/libgxf_serialization.so
[component_container_mt-1] [INFO] [1742891450.535013274] [tensor_rt]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_tensor_rt.so
[component_container_mt-1] [INFO] [1742891450.536267412] [tensor_rt]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1742891450.538330433] [tensor_rt]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1742891450.557104874] [tensor_rt]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1742891450.559014208] [tensor_rt]: [NitrosPublisherSubscriberGroup] Pinning the component “inference/rx” (type=“nvidia::gxf::DoubleBufferReceiver”) to use its compatible format only: “nitros_tensor_list_nchw_rgb_f32”
[component_container_mt-1] [INFO] [1742891450.559106810] [tensor_rt]: [NitrosPublisherSubscriberGroup] Pinning the component “sink/sink” (type=“nvidia::isaac_ros::MessageRelay”) to use its compatible format only: “nitros_tensor_list_nhwc_rgb_f32”
[component_container_mt-1] [INFO] [1742891450.562832203] [tensor_rt]: [NitrosNode] Starting negotiation…
[component_container_mt-1] [INFO] [1742891450.563610303] [rtdetr_preprocessor]: Negotiating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ‘/tensor_rt’ in container ‘/isaac_ros_examples/container’
[component_container_mt-1] [INFO] [1742891450.568065991] [isaac_ros_examples.container]: Load Library: /workspaces/isaac_ros-dev/install/isaac_ros_rtdetr/lib/librtdetr_decoder_node.so
[component_container_mt-1] [INFO] [1742891450.572023818] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::rtdetr::RtDetrDecoderNode
[component_container_mt-1] [INFO] [1742891450.572092007] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::rtdetr::RtDetrDecoderNode
[component_container_mt-1] [INFO] [1742891450.581099312] [rtdetr_decoder.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1742891450.581269511] [tensor_rt]: Negotiating
[component_container_mt-1] [INFO] [1742891450.581326372] [tensor_rt]: Could not negotiate
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ‘/rtdetr_decoder’ in container ‘/isaac_ros_examples/container’
[component_container_mt-1] [INFO] [1742891451.018971542] [resize_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1742891451.019131629] [resize_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1742891451.019187274] [resize_node]: [NitrosPublisher] Use the negotiated data format: “nitros_image_rgb8”
[component_container_mt-1] [INFO] [1742891451.019221768] [resize_node]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1742891451.019243591] [resize_node]: [NitrosPublisher] Use only the compatible publisher: topic_name=“/resize/camera_info”, data_format=“nitros_camera_info”
[component_container_mt-1] [INFO] [1742891451.019266501] [resize_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1742891451.019286084] [resize_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name=“/image_rect”, data_format=“nitros_image_rgb8”
[component_container_mt-1] [INFO] [1742891451.019307363] [resize_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1742891451.019323874] [resize_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name=“/camera_info_rect”, data_format=“nitros_camera_info”
[component_container_mt-1] [INFO] [1742891451.019793064] [resize_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1742891451.039281002] [resize_node]: [NitrosNode] Wrote the final top level YAML graph to “/tmp/isaac_ros_nitros/graphs/PORFNSHIKC/PORFNSHIKC.yaml”
[component_container_mt-1] [INFO] [1742891451.039396580] [resize_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1742891451.044323154] [resize_node]: [ResizeNode] postLoadGraphCallback().
[component_container_mt-1] [INFO] [1742891451.044502312] [resize_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1742891451.082484772] [resize_node]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1742891451.329813873] [image_format_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1742891451.329909516] [image_format_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1742891451.329928299] [image_format_node]: [NitrosPublisher] Use the negotiated data format: “nitros_image_rgb8”
[component_container_mt-1] [INFO] [1742891451.329944330] [image_format_node]: [NitrosSubscriber] Use the negotiated data format: “nitros_image_rgb8”
[component_container_mt-1] [INFO] [1742891451.330175133] [image_format_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1742891451.348349929] [image_format_node]: [NitrosNode] Wrote the final top level YAML graph to “/tmp/isaac_ros_nitros/graphs/XDMEOVBSKR/XDMEOVBSKR.yaml”
[component_container_mt-1] [INFO] [1742891451.348482337] [image_format_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1742891451.350599307] [image_format_node]: [ImageFormatConverterNode] postLoadGraphCallback().
[component_container_mt-1] [INFO] [1742891451.350724708] [image_format_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1742891451.354641930] [image_format_node]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1742891451.397330976] [interleaved_to_planar_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1742891451.397426235] [interleaved_to_planar_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1742891451.397441850] [interleaved_to_planar_node]: [NitrosPublisher] Use the negotiated data format: “nitros_tensor_list_nchw_rgb_f32”
[component_container_mt-1] [INFO] [1742891451.397453369] [interleaved_to_planar_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1742891451.397461593] [interleaved_to_planar_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name=“/normalized_tensor”, data_format=“nitros_tensor_list_nhwc_rgb_f32”
[component_container_mt-1] [INFO] [1742891451.397725162] [interleaved_to_planar_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1742891451.401799559] [interleaved_to_planar_node]: [NitrosNode] Wrote the final top level YAML graph to “/tmp/isaac_ros_nitros/graphs/DNULKFTDAP/DNULKFTDAP.yaml”
[component_container_mt-1] [INFO] [1742891451.401886690] [interleaved_to_planar_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1742891451.406027228] [interleaved_to_planar_node]: In InterleavedToPlanarNode postLoadGraphCallback().
[component_container_mt-1] [INFO] [1742891451.407110527] [interleaved_to_planar_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1742891451.453114557] [reshape_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1742891451.453211959] [reshape_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1742891451.453229078] [reshape_node]: [NitrosPublisher] Use the negotiated data format: “nitros_tensor_list_nchw_rgb_f32”
[component_container_mt-1] [INFO] [1742891451.453241845] [reshape_node]: [NitrosSubscriber] Use the negotiated data format: “nitros_tensor_list_nchw_rgb_f32”
[component_container_mt-1] [INFO] [1742891451.453456458] [reshape_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1742891451.454597738] [interleaved_to_planar_node]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1742891451.457582884] [reshape_node]: [NitrosNode] Wrote the final top level YAML graph to “/tmp/isaac_ros_nitros/graphs/MMCECTIUUI/MMCECTIUUI.yaml”
[component_container_mt-1] [INFO] [1742891451.457824758] [reshape_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1742891451.459477402] [reshape_node]: In ReshapeNode postLoadGraphCallback().
[component_container_mt-1] [INFO] [1742891451.459598643] [reshape_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1742891451.505314721] [reshape_node]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1742891451.563679853] [tensor_rt]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1742891451.563772360] [tensor_rt]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1742891451.563787367] [tensor_rt]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1742891451.563799846] [tensor_rt]: [NitrosPublisher] Use only the compatible publisher: topic_name=“/tensor_sub”, data_format=“nitros_tensor_list_nhwc_rgb_f32”
[component_container_mt-1] [INFO] [1742891451.563812038] [tensor_rt]: [NitrosSubscriber] Use the negotiated data format: “nitros_tensor_list_nchw_rgb_f32”
[component_container_mt-1] [INFO] [1742891451.564020602] [tensor_rt]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1742891451.569447020] [tensor_rt]: [NitrosNode] Wrote the final top level YAML graph to “/tmp/isaac_ros_nitros/graphs/HZMSLLDMHH/HZMSLLDMHH.yaml”
[component_container_mt-1] [INFO] [1742891451.569550150] [tensor_rt]: [NitrosNode] Loading application
[component_container_mt-1] 2025-03-25 16:30:51.571 WARN gxf/std/yaml_file_loader.cpp@1076: Using unregistered parameter ‘dev_id’ in component ‘stream’.
[component_container_mt-1] [INFO] [1742891451.573045987] [tensor_rt]: In TensorRTNode postLoadGraphCallback().
[component_container_mt-1] [INFO] [1742891451.744881951] [tensor_rt]: Read tensor shape information from TRT Model Engine: /workspaces/isaac_ros-dev/isaac_ros_assets/models/synthetica_detr/sdetr_grasp_zi.plan
[component_container_mt-1] [INFO] [1742891451.745121873] [tensor_rt]: Tensors 4800 bytes, num outputs 40 x tensors per output 3 = 120 blocks
[component_container_mt-1] [INFO] [1742891451.745285288] [tensor_rt]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1742891451.747596008] [tensor_rt]: [NitrosNode] Node was started
[component_container_mt-1] [WARN] [1742891454.897488479] [realsense2_camera]: re-enable the stream for the change to take effect.
[component_container_mt-1] [INFO] [1742891454.907808481] [realsense2_camera]: Stopping Sensor: RGB Camera
[component_container_mt-1] [INFO] [1742891455.056931747] [realsense2_camera]: Starting Sensor: RGB Camera
[component_container_mt-1] [INFO] [1742891455.075287303] [realsense2_camera]: Open profile: stream_type: Color(0), Format: RGB8, Width: 640, Height: 480, FPS: 15
[component_container_mt-1] [INFO] [1742891455.077539562] [realsense2_camera]: RealSense Node Is Up!