first converted onnx for amr to plan file successfully:
admin@DOS:/workspaces/isaac_ros-dev$ /usr/src/tensorrt/bin/trtexec --onnx=${ISAAC_ROS_WS}/isaac_ros_assets/models/synthetica_detr/sdetr_amr.onnx --saveEngine=${ISAAC_ROS_WS}/isaac_ros_assets/models/synthetica_detr/sdetr_amr.plan
&&&& RUNNING TensorRT.trtexec [TensorRT v100300] # /usr/src/tensorrt/bin/trtexec --onnx=/workspaces/isaac_ros-dev/isaac_ros_assets/models/synthetica_detr/sdetr_amr.onnx --saveEngine=/workspaces/isaac_ros-dev/isaac_ros_assets/models/synthetica_detr/sdetr_amr.plan
[03/25/2025-10:56:40] [I] === Model Options ===
[03/25/2025-10:56:40] [I] Format: ONNX
[03/25/2025-10:56:40] [I] Model: /workspaces/isaac_ros-dev/isaac_ros_assets/models/synthetica_detr/sdetr_amr.onnx
[03/25/2025-10:56:40] [I] Output:
[03/25/2025-10:56:40] [I] === Build Options ===
[03/25/2025-10:56:40] [I] Memory Pools: workspace: default, dlaSRAM: default, dlaLocalDRAM: default, dlaGlobalDRAM: default, tacticSharedMem: default
[03/25/2025-10:56:40] [I] avgTiming: 8
[03/25/2025-10:56:40] [I] Precision: FP32
[03/25/2025-10:56:40] [I] LayerPrecisions:
[03/25/2025-10:56:40] [I] Layer Device Types:
[03/25/2025-10:56:40] [I] Calibration:
[03/25/2025-10:56:40] [I] Refit: Disabled
[03/25/2025-10:56:40] [I] Strip weights: Disabled
[03/25/2025-10:56:40] [I] Version Compatible: Disabled
[03/25/2025-10:56:40] [I] ONNX Plugin InstanceNorm: Disabled
[03/25/2025-10:56:40] [I] TensorRT runtime: full
[03/25/2025-10:56:40] [I] Lean DLL Path:
[03/25/2025-10:56:40] [I] Tempfile Controls: { in_memory: allow, temporary: allow }
[03/25/2025-10:56:40] [I] Exclude Lean Runtime: Disabled
[03/25/2025-10:56:40] [I] Sparsity: Disabled
[03/25/2025-10:56:40] [I] Safe mode: Disabled
[03/25/2025-10:56:40] [I] Build DLA standalone loadable: Disabled
[03/25/2025-10:56:40] [I] Allow GPU fallback for DLA: Disabled
[03/25/2025-10:56:40] [I] DirectIO mode: Disabled
[03/25/2025-10:56:40] [I] Restricted mode: Disabled
[03/25/2025-10:56:40] [I] Skip inference: Disabled
[03/25/2025-10:56:40] [I] Save engine: /workspaces/isaac_ros-dev/isaac_ros_assets/models/synthetica_detr/sdetr_amr.plan
[03/25/2025-10:56:40] [I] Load engine:
[03/25/2025-10:56:40] [I] Profiling verbosity: 0
[03/25/2025-10:56:40] [I] Tactic sources: Using default tactic sources
[03/25/2025-10:56:40] [I] timingCacheMode: local
[03/25/2025-10:56:40] [I] timingCacheFile:
[03/25/2025-10:56:40] [I] Enable Compilation Cache: Enabled
[03/25/2025-10:56:40] [I] errorOnTimingCacheMiss: Disabled
[03/25/2025-10:56:40] [I] Preview Features: Use default preview flags.
[03/25/2025-10:56:40] [I] MaxAuxStreams: -1
[03/25/2025-10:56:40] [I] BuilderOptimizationLevel: -1
[03/25/2025-10:56:40] [I] Calibration Profile Index: 0
[03/25/2025-10:56:40] [I] Weight Streaming: Disabled
[03/25/2025-10:56:40] [I] Runtime Platform: Same As Build
[03/25/2025-10:56:40] [I] Debug Tensors:
[03/25/2025-10:56:40] [I] Input(s)s format: fp32:CHW
[03/25/2025-10:56:40] [I] Output(s)s format: fp32:CHW
[03/25/2025-10:56:40] [I] Input build shapes: model
[03/25/2025-10:56:40] [I] Input calibration shapes: model
[03/25/2025-10:56:40] [I] === System Options ===
[03/25/2025-10:56:40] [I] Device: 0
[03/25/2025-10:56:40] [I] DLACore:
[03/25/2025-10:56:40] [I] Plugins:
[03/25/2025-10:56:40] [I] setPluginsToSerialize:
[03/25/2025-10:56:40] [I] dynamicPlugins:
[03/25/2025-10:56:40] [I] ignoreParsedPluginLibs: 0
[03/25/2025-10:56:40] [I]
[03/25/2025-10:56:40] [I] === Inference Options ===
[03/25/2025-10:56:40] [I] Batch: Explicit
[03/25/2025-10:56:40] [I] Input inference shapes: model
[03/25/2025-10:56:40] [I] Iterations: 10
[03/25/2025-10:56:40] [I] Duration: 3s (+ 200ms warm up)
[03/25/2025-10:56:40] [I] Sleep time: 0ms
[03/25/2025-10:56:40] [I] Idle time: 0ms
[03/25/2025-10:56:40] [I] Inference Streams: 1
[03/25/2025-10:56:40] [I] ExposeDMA: Disabled
[03/25/2025-10:56:40] [I] Data transfers: Enabled
[03/25/2025-10:56:40] [I] Spin-wait: Disabled
[03/25/2025-10:56:40] [I] Multithreading: Disabled
[03/25/2025-10:56:40] [I] CUDA Graph: Disabled
[03/25/2025-10:56:40] [I] Separate profiling: Disabled
[03/25/2025-10:56:40] [I] Time Deserialize: Disabled
[03/25/2025-10:56:40] [I] Time Refit: Disabled
[03/25/2025-10:56:40] [I] NVTX verbosity: 0
[03/25/2025-10:56:40] [I] Persistent Cache Ratio: 0
[03/25/2025-10:56:40] [I] Optimization Profile Index: 0
[03/25/2025-10:56:40] [I] Weight Streaming Budget: 100.000000%
[03/25/2025-10:56:40] [I] Inputs:
[03/25/2025-10:56:40] [I] Debug Tensor Save Destinations:
[03/25/2025-10:56:40] [I] === Reporting Options ===
[03/25/2025-10:56:40] [I] Verbose: Disabled
[03/25/2025-10:56:40] [I] Averages: 10 inferences
[03/25/2025-10:56:40] [I] Percentiles: 90,95,99
[03/25/2025-10:56:40] [I] Dump refittable layers:Disabled
[03/25/2025-10:56:40] [I] Dump output: Disabled
[03/25/2025-10:56:40] [I] Profile: Disabled
[03/25/2025-10:56:40] [I] Export timing to JSON file:
[03/25/2025-10:56:40] [I] Export output to JSON file:
[03/25/2025-10:56:40] [I] Export profile to JSON file:
[03/25/2025-10:56:40] [I]
[03/25/2025-10:56:40] [I] === Device Information ===
[03/25/2025-10:56:40] [I] Available Devices:
[03/25/2025-10:56:40] [I] Device 0: "NVIDIA GeForce RTX 3080 Laptop GPU" UUID: GPU-cb327cd8-5020-a249-1481-529a9a4dd379
[03/25/2025-10:56:40] [I] Selected Device: NVIDIA GeForce RTX 3080 Laptop GPU
[03/25/2025-10:56:40] [I] Selected Device ID: 0
[03/25/2025-10:56:40] [I] Selected Device UUID: GPU-cb327cd8-5020-a249-1481-529a9a4dd379
[03/25/2025-10:56:40] [I] Compute Capability: 8.6
[03/25/2025-10:56:40] [I] SMs: 48
[03/25/2025-10:56:40] [I] Device Global Memory: 15984 MiB
[03/25/2025-10:56:40] [I] Shared Memory per SM: 100 KiB
[03/25/2025-10:56:40] [I] Memory Bus Width: 256 bits (ECC disabled)
[03/25/2025-10:56:40] [I] Application Compute Clock Rate: 1.365 GHz
[03/25/2025-10:56:40] [I] Application Memory Clock Rate: 6.001 GHz
[03/25/2025-10:56:40] [I]
[03/25/2025-10:56:40] [I] Note: The application clock rates do not reflect the actual clock rates that the GPU is currently running at.
[03/25/2025-10:56:40] [I]
[03/25/2025-10:56:40] [I] TensorRT version: 10.3.0
[03/25/2025-10:56:40] [I] Loading standard plugins
[03/25/2025-10:56:40] [I] [TRT] [MemUsageChange] Init CUDA: CPU +2, GPU +0, now: CPU 20, GPU 1224 (MiB)
[03/25/2025-10:56:42] [I] [TRT] [MemUsageChange] Init builder kernel library: CPU +2087, GPU +386, now: CPU 2263, GPU 1610 (MiB)
[03/25/2025-10:56:42] [I] Start parsing network model.
[03/25/2025-10:56:43] [I] [TRT] ----------------------------------------------------------------
[03/25/2025-10:56:43] [I] [TRT] Input filename: /workspaces/isaac_ros-dev/isaac_ros_assets/models/synthetica_detr/sdetr_amr.onnx
[03/25/2025-10:56:43] [I] [TRT] ONNX IR version: 0.0.8
[03/25/2025-10:56:43] [I] [TRT] Opset version: 16
[03/25/2025-10:56:43] [I] [TRT] Producer name: pytorch
[03/25/2025-10:56:43] [I] [TRT] Producer version: 2.0.1
[03/25/2025-10:56:43] [I] [TRT] Domain:
[03/25/2025-10:56:43] [I] [TRT] Model version: 0
[03/25/2025-10:56:43] [I] [TRT] Doc string:
[03/25/2025-10:56:43] [I] [TRT] ----------------------------------------------------------------
[03/25/2025-10:56:43] [W] [TRT] ModelImporter.cpp:420: Make sure input orig_target_sizes has Int64 binding.
[03/25/2025-10:56:43] [W] [TRT] ModelImporter.cpp:797: Make sure output labels has Int64 binding.
[03/25/2025-10:56:43] [I] Finished parsing network model. Parse time: 0.290597
[03/25/2025-10:56:43] [W] Dynamic dimensions required for input: images, but no shapes were provided. Automatically overriding shape to: 1x3x640x640
[03/25/2025-10:56:43] [I] Set shape of input tensor images for optimization profile 0 to: MIN=1x3x640x640 OPT=1x3x640x640 MAX=1x3x640x640
[03/25/2025-10:56:43] [W] Dynamic dimensions required for input: orig_target_sizes, but no shapes were provided. Automatically overriding shape to: 1x2
[03/25/2025-10:56:43] [I] Set shape of input tensor orig_target_sizes for optimization profile 0 to: MIN=1x2 OPT=1x2 MAX=1x2
[03/25/2025-10:56:43] [I] [TRT] Local timing cache in use. Profiling results in this builder pass will not be stored.
[03/25/2025-10:57:37] [I] [TRT] Detected 2 inputs and 3 output network tensors.
[03/25/2025-10:57:37] [I] [TRT] Total Host Persistent Memory: 497616
[03/25/2025-10:57:37] [I] [TRT] Total Device Persistent Memory: 2560
[03/25/2025-10:57:37] [I] [TRT] Total Scratch Memory: 191918592
[03/25/2025-10:57:37] [I] [TRT] [BlockAssignment] Started assigning block shifts. This will take 184 steps to complete.
[03/25/2025-10:57:37] [I] [TRT] [BlockAssignment] Algorithm ShiftNTopDown took 6.3594ms to assign 7 blocks to 184 nodes requiring 236155904 bytes.
[03/25/2025-10:57:37] [I] [TRT] Total Activation Memory: 236155392
[03/25/2025-10:57:38] [I] [TRT] Total Weights Memory: 215659520
[03/25/2025-10:57:38] [I] [TRT] Engine generation completed in 54.7528 seconds.
[03/25/2025-10:57:38] [I] [TRT] [MemUsageStats] Peak memory usage of TRT CPU/GPU memory allocators: CPU 16 MiB, GPU 219 MiB
[03/25/2025-10:57:38] [I] [TRT] [MemUsageStats] Peak memory usage during Engine building and serialization: CPU: 3502 MiB
[03/25/2025-10:57:38] [I] Engine built in 54.9665 sec.
[03/25/2025-10:57:38] [I] Created engine with size: 211.506 MiB
[03/25/2025-10:57:38] [I] [TRT] Loaded engine size: 211 MiB
[03/25/2025-10:57:38] [I] Engine deserialized in 0.128871 sec.
[03/25/2025-10:57:38] [I] [TRT] [MS] Running engine with multi stream info
[03/25/2025-10:57:38] [I] [TRT] [MS] Number of aux streams is 7
[03/25/2025-10:57:38] [I] [TRT] [MS] Number of total worker streams is 8
[03/25/2025-10:57:38] [I] [TRT] [MS] The main stream provided by execute/enqueue calls is the first worker stream
[03/25/2025-10:57:38] [I] [TRT] [MemUsageChange] TensorRT-managed allocation in IExecutionContext creation: CPU +0, GPU +225, now: CPU 0, GPU 430 (MiB)
[03/25/2025-10:57:38] [I] Setting persistentCacheLimit to 0 bytes.
[03/25/2025-10:57:38] [I] Created execution context with device memory size: 225.215 MiB
[03/25/2025-10:57:38] [I] Using random values for input images
[03/25/2025-10:57:38] [I] Input binding for images with dimensions 1x3x640x640 is created.
[03/25/2025-10:57:38] [I] Using random values for input orig_target_sizes
[03/25/2025-10:57:38] [I] Input binding for orig_target_sizes with dimensions 1x2 is created.
[03/25/2025-10:57:38] [I] Output binding for labels with dimensions 1x300 is created.
[03/25/2025-10:57:38] [I] Output binding for boxes with dimensions 1x300x4 is created.
[03/25/2025-10:57:38] [I] Output binding for scores with dimensions 1x300 is created.
[03/25/2025-10:57:38] [I] Starting inference
[03/25/2025-10:57:41] [I] Warmup completed 12 queries over 200 ms
[03/25/2025-10:57:41] [I] Timing trace has 173 queries over 3.04947 s
[03/25/2025-10:57:41] [I]
[03/25/2025-10:57:41] [I] === Trace details ===
[03/25/2025-10:57:41] [I] Trace averages of 10 runs:
[03/25/2025-10:57:41] [I] Average on 10 runs - GPU latency: 17.4286 ms - Host latency: 32.4108 ms (enqueue 3.17859 ms)
[03/25/2025-10:57:41] [I] Average on 10 runs - GPU latency: 17.2676 ms - Host latency: 22.2755 ms (enqueue 1.37459 ms)
[03/25/2025-10:57:41] [I] Average on 10 runs - GPU latency: 17.1752 ms - Host latency: 20.7224 ms (enqueue 1.75955 ms)
[03/25/2025-10:57:41] [I] Average on 10 runs - GPU latency: 18.2716 ms - Host latency: 31.0088 ms (enqueue 1.7018 ms)
[03/25/2025-10:57:41] [I] Average on 10 runs - GPU latency: 17.7075 ms - Host latency: 27.6672 ms (enqueue 1.99567 ms)
[03/25/2025-10:57:41] [I] Average on 10 runs - GPU latency: 17.352 ms - Host latency: 29.5311 ms (enqueue 2.60193 ms)
[03/25/2025-10:57:41] [I] Average on 10 runs - GPU latency: 17.3868 ms - Host latency: 32.2736 ms (enqueue 3.64718 ms)
[03/25/2025-10:57:41] [I] Average on 10 runs - GPU latency: 17.4041 ms - Host latency: 32.3901 ms (enqueue 3.60404 ms)
[03/25/2025-10:57:41] [I] Average on 10 runs - GPU latency: 17.3311 ms - Host latency: 32.1291 ms (enqueue 3.57183 ms)
[03/25/2025-10:57:41] [I] Average on 10 runs - GPU latency: 17.9977 ms - Host latency: 33.435 ms (enqueue 3.61594 ms)
[03/25/2025-10:57:41] [I] Average on 10 runs - GPU latency: 17.4697 ms - Host latency: 32.4991 ms (enqueue 3.52762 ms)
[03/25/2025-10:57:41] [I] Average on 10 runs - GPU latency: 17.5568 ms - Host latency: 31.2386 ms (enqueue 3.29441 ms)
[03/25/2025-10:57:41] [I] Average on 10 runs - GPU latency: 17.3654 ms - Host latency: 32.3875 ms (enqueue 2.55977 ms)
[03/25/2025-10:57:41] [I] Average on 10 runs - GPU latency: 17.3352 ms - Host latency: 32.2007 ms (enqueue 3.73484 ms)
[03/25/2025-10:57:41] [I] Average on 10 runs - GPU latency: 17.7497 ms - Host latency: 32.9673 ms (enqueue 3.42144 ms)
[03/25/2025-10:57:41] [I] Average on 10 runs - GPU latency: 17.7128 ms - Host latency: 33.0854 ms (enqueue 1.65415 ms)
[03/25/2025-10:57:41] [I] Average on 10 runs - GPU latency: 17.4739 ms - Host latency: 31.1013 ms (enqueue 3.33604 ms)
[03/25/2025-10:57:41] [I]
[03/25/2025-10:57:41] [I] === Performance summary ===
[03/25/2025-10:57:41] [I] Throughput: 56.7313 qps
[03/25/2025-10:57:41] [I] Latency: min = 17.8138 ms, max = 37.4709 ms, mean = 30.5805 ms, median = 32.298 ms, percentile(90%) = 33.5327 ms, percentile(95%) = 33.7963 ms, percentile(99%) = 37.4614 ms
[03/25/2025-10:57:41] [I] Enqueue Time: min = 0.739349 ms, max = 4.74213 ms, mean = 2.87204 ms, median = 3.49524 ms, percentile(90%) = 3.76318 ms, percentile(95%) = 3.78784 ms, percentile(99%) = 4.26892 ms
[03/25/2025-10:57:41] [I] H2D Latency: min = 0.726929 ms, max = 17.8096 ms, mean = 13.0451 ms, median = 14.9226 ms, percentile(90%) = 15.5312 ms, percentile(95%) = 15.879 ms, percentile(99%) = 16.9916 ms
[03/25/2025-10:57:41] [I] GPU Compute Time: min = 16.9585 ms, max = 20.4984 ms, mean = 17.526 ms, median = 17.363 ms, percentile(90%) = 18.0244 ms, percentile(95%) = 18.4822 ms, percentile(99%) = 19.753 ms
[03/25/2025-10:57:41] [I] D2H Latency: min = 0.00610352 ms, max = 0.0202637 ms, mean = 0.00935187 ms, median = 0.00946045 ms, percentile(90%) = 0.0107422 ms, percentile(95%) = 0.0109863 ms, percentile(99%) = 0.0119629 ms
[03/25/2025-10:57:41] [I] Total Host Walltime: 3.04947 s
[03/25/2025-10:57:41] [I] Total GPU Compute Time: 3.032 s
[03/25/2025-10:57:41] [W] * GPU compute time is unstable, with coefficient of variance = 2.77704%.
[03/25/2025-10:57:41] [W] If not already in use, locking GPU clock frequency or adding --useSpinWait may improve the stability.
[03/25/2025-10:57:41] [I] Explanations of the performance metrics are printed in the verbose logs.
[03/25/2025-10:57:41] [I]
&&&& PASSED TensorRT.trtexec [TensorRT v100300] # /usr/src/tensorrt/bin/trtexec --onnx=/workspaces/isaac_ros-dev/isaac_ros_assets/models/synthetica_detr/sdetr_amr.onnx --saveEngine=/workspaces/isaac_ros-dev/isaac_ros_assets/models/synthetica_detr/sdetr_amr.plan
admin@DOS:/workspaces/isaac_ros-dev$ ros2 launch isaac_ros_examples isaac_ros_examples.launch.py launch_fragments:=realsense_mono_rect,rtdetr engine_file_path:=${ISAAC_ROS_WS}/isaac_ros_assets/models/synthetica_detr/sdetr_amr.plan
[INFO] [launch]: All log files can be found below /home/admin/.ros/log/2025-03-25-10-58-02-544092-DOS-61748
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container_mt-1]: process started with pid [61760]
[component_container_mt-1] [INFO] [1742914682.867481872] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/librealsense2_camera.so
[component_container_mt-1] [INFO] [1742914682.933754913] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<realsense2_camera::RealSenseNodeFactory>
[component_container_mt-1] [INFO] [1742914682.933807514] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<realsense2_camera::RealSenseNodeFactory>
[component_container_mt-1] [INFO] [1742914682.948028246] [realsense2_camera]: RealSense ROS v4.51.1
[component_container_mt-1] [INFO] [1742914682.948060891] [realsense2_camera]: Built with LibRealSense v2.55.1
[component_container_mt-1] [INFO] [1742914682.948070293] [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] [1742914682.951182427] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libresize_node.so
[component_container_mt-1] [INFO] [1742914682.975202028] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::ResizeNode>
[component_container_mt-1] [INFO] [1742914682.975236202] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::ResizeNode>
[component_container_mt-1] [INFO] [1742914683.051037629] [realsense2_camera]: Device with serial number 250122070375 was found.
[component_container_mt-1]
[component_container_mt-1] [INFO] [1742914683.051093032] [realsense2_camera]: Device with physical ID 4-2-3 was found.
[component_container_mt-1] [INFO] [1742914683.051098144] [realsense2_camera]: Device with name Intel RealSense D435 was found.
[component_container_mt-1] [INFO] [1742914683.051234549] [realsense2_camera]: Device with port number 4-2 was found.
[component_container_mt-1] [INFO] [1742914683.051240712] [realsense2_camera]: Device USB type: 3.2
[component_container_mt-1] [INFO] [1742914683.052522506] [realsense2_camera]: getParameters...
[component_container_mt-1] [INFO] [1742914683.052680234] [realsense2_camera]: JSON file is not provided
[component_container_mt-1] [INFO] [1742914683.052689224] [realsense2_camera]: Device Name: Intel RealSense D435
[component_container_mt-1] [INFO] [1742914683.052696556] [realsense2_camera]: Device Serial No: 250122070375
[component_container_mt-1] [INFO] [1742914683.052703054] [realsense2_camera]: Device physical port: 4-2-3
[component_container_mt-1] [INFO] [1742914683.052709474] [realsense2_camera]: Device FW version: 5.16.0.1
[component_container_mt-1] [INFO] [1742914683.052713967] [realsense2_camera]: Device Product ID: 0x0B07
[component_container_mt-1] [INFO] [1742914683.052717910] [realsense2_camera]: Sync Mode: Off
[component_container_mt-1] [INFO] [1742914683.143209139] [resize_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1742914683.143394136] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/std/libgxf_std.so
[component_container_mt-1] [INFO] [1742914683.144216715] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_gxf_helpers.so
[component_container_mt-1] [INFO] [1742914683.146091381] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_sight.so
[component_container_mt-1] [INFO] [1742914683.148057335] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_atlas.so
[component_container_mt-1] 2025-03-25 10:58:03.153 WARN gxf/std/program.cpp@538: No GXF scheduler specified.
[component_container_mt-1] [INFO] [1742914683.154140390] [resize_node]: [ResizeNode] Set output data format to: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1742914683.154218433] [resize_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1742914683.161803022] [resize_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1742914683.161868560] [resize_node]: [NitrosContext] Loading extension: gxf/lib/multimedia/libgxf_multimedia.so
[component_container_mt-1] [INFO] [1742914683.163524216] [resize_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_message_compositor.so
[component_container_mt-1] [INFO] [1742914683.163873415] [resize_node]: [NitrosContext] Loading extension: gxf/lib/cuda/libgxf_cuda.so
[component_container_mt-1] [INFO] [1742914683.165816928] [resize_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_tensorops.so
[component_container_mt-1] [INFO] [1742914683.168671447] [resize_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1742914683.171153166] [resize_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1742914683.332271096] [resize_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1742914683.335033805] [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] [1742914683.341352183] [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] [1742914683.343280069] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libpad_node.so
[component_container_mt-1] [INFO] [1742914683.378650646] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::PadNode>
[component_container_mt-1] [INFO] [1742914683.378712086] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::PadNode>
[component_container_mt-1] [INFO] [1742914683.381917730] [pad_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1742914683.381995806] [resize_node]: Negotiating
[component_container_mt-1] [INFO] [1742914683.382467467] [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] [1742914683.497683910] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libimage_format_converter_node.so
[component_container_mt-1] [INFO] [1742914683.499113037] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::ImageFormatConverterNode>
[component_container_mt-1] [INFO] [1742914683.499144220] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::ImageFormatConverterNode>
[component_container_mt-1] [INFO] [1742914683.502287021] [image_format_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1742914683.502603707] [image_format_node]: [ImageFormatConverterNode] Set output data format to: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1742914683.502657063] [image_format_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1742914683.514945396] [image_format_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1742914683.515087441] [image_format_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1742914683.516469502] [image_format_node]: [NitrosNode] Running optimization
[component_container_mt-1] [WARN] [1742914683.561649043] [realsense2_camera]: re-enable the stream for the change to take effect.
[component_container_mt-1] [INFO] [1742914683.565733517] [realsense2_camera]: Stopping Sensor: RGB Camera
[component_container_mt-1] [INFO] [1742914683.578840815] [image_format_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1742914683.586022394] [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] [1742914683.587366597] [image_format_node]: [NitrosNode] Starting negotiation...
[component_container_mt-1] [INFO] [1742914683.587702177] [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] [1742914683.589518306] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libimage_to_tensor_node.so
[component_container_mt-1] [INFO] [1742914683.594573033] [realsense2_camera]: Starting Sensor: RGB Camera
[component_container_mt-1] [INFO] [1742914683.597770660] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::ImageToTensorNode>
[component_container_mt-1] [INFO] [1742914683.597814819] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::ImageToTensorNode>
[component_container_mt-1] [INFO] [1742914683.602303982] [image_to_tensor_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1742914683.602424690] [image_format_node]: Negotiating
[component_container_mt-1] [INFO] [1742914683.602466834] [pad_node]: Negotiating
[component_container_mt-1] [INFO] [1742914683.603626080] [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] [1742914683.604624900] [realsense2_camera]: Open profile: stream_type: Color(0), Format: RGB8, Width: 640, Height: 480, FPS: 15
[component_container_mt-1] [INFO] [1742914683.605063733] [realsense2_camera]: RealSense Node Is Up!
[component_container_mt-1] [INFO] [1742914683.606249258] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libinterleaved_to_planar_node.so
[component_container_mt-1] [INFO] [1742914683.607315233] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::InterleavedToPlanarNode>
[component_container_mt-1] [INFO] [1742914683.607336206] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::InterleavedToPlanarNode>
[component_container_mt-1] [INFO] [1742914683.610660230] [interleaved_to_planar_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1742914683.611061344] [interleaved_to_planar_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1742914683.615306027] [interleaved_to_planar_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1742914683.615440971] [interleaved_to_planar_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1742914683.616721133] [interleaved_to_planar_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1742914683.621126312] [interleaved_to_planar_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1742914683.623314405] [interleaved_to_planar_node]: [NitrosNode] Starting negotiation...
[component_container_mt-1] [INFO] [1742914683.623712309] [image_to_tensor_node]: Negotiating
[component_container_mt-1] [INFO] [1742914683.623748254] [image_to_tensor_node]: Could not negotiate
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/interleaved_to_planar_node' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1742914683.625465167] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libreshape_node.so
[component_container_mt-1] [INFO] [1742914683.626674378] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::ReshapeNode>
[component_container_mt-1] [INFO] [1742914683.626709799] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::ReshapeNode>
[component_container_mt-1] [INFO] [1742914683.630291128] [reshape_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1742914683.630736936] [reshape_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1742914683.634801074] [reshape_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1742914683.634879530] [reshape_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1742914683.636010361] [reshape_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1742914683.639811126] [reshape_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1742914683.641777068] [reshape_node]: [NitrosNode] Starting negotiation...
[component_container_mt-1] [INFO] [1742914683.642103406] [interleaved_to_planar_node]: Negotiating
[component_container_mt-1] [INFO] [1742914683.642222156] [image_to_tensor_node]: Negotiating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/reshape_node' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1742914683.642246610] [image_to_tensor_node]: Could not negotiate
[component_container_mt-1] [INFO] [1742914683.643826515] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/librtdetr_preprocessor_node.so
[component_container_mt-1] [INFO] [1742914683.644886788] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::rtdetr::RtDetrPreprocessorNode>
[component_container_mt-1] [INFO] [1742914683.644909191] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::rtdetr::RtDetrPreprocessorNode>
[component_container_mt-1] [INFO] [1742914683.649055223] [rtdetr_preprocessor.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1742914683.649126154] [reshape_node]: Negotiating
[component_container_mt-1] [INFO] [1742914683.649232223] [interleaved_to_planar_node]: Negotiating
[component_container_mt-1] [INFO] [1742914683.649267477] [image_to_tensor_node]: Negotiating
[component_container_mt-1] [INFO] [1742914683.649282950] [image_to_tensor_node]: Could not negotiate
[component_container_mt-1] [INFO] [1742914683.649728874] [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] [1742914683.651027026] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libtensor_rt_node.so
[component_container_mt-1] [INFO] [1742914683.671005614] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::TensorRTNode>
[component_container_mt-1] [INFO] [1742914683.671055839] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::TensorRTNode>
[component_container_mt-1] [INFO] [1742914683.674859098] [tensor_rt]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1742914683.675641466] [tensor_rt]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1742914683.678971354] [tensor_rt]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1742914683.679069864] [tensor_rt]: [NitrosContext] Loading extension: gxf/lib/serialization/libgxf_serialization.so
[component_container_mt-1] [INFO] [1742914683.679684123] [tensor_rt]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_tensor_rt.so
[component_container_mt-1] [INFO] [1742914683.680314105] [tensor_rt]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1742914683.681460351] [tensor_rt]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1742914683.695210821] [tensor_rt]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1742914683.696380416] [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] [1742914683.696440701] [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] [1742914683.698524688] [tensor_rt]: [NitrosNode] Starting negotiation...
[component_container_mt-1] [INFO] [1742914683.698948523] [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] [1742914683.700495391] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/librtdetr_decoder_node.so
[component_container_mt-1] [INFO] [1742914683.701816049] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::rtdetr::RtDetrDecoderNode>
[component_container_mt-1] [INFO] [1742914683.701842112] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::rtdetr::RtDetrDecoderNode>
[component_container_mt-1] [INFO] [1742914683.706225516] [rtdetr_decoder.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1742914683.706300513] [tensor_rt]: Negotiating
[component_container_mt-1] [INFO] [1742914683.706321788] [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] [WARN] [1742914684.188493793] [realsense2_camera]:
[component_container_mt-1] [INFO] [1742914684.342179872] [resize_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1742914684.342245096] [resize_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1742914684.342263195] [resize_node]: [NitrosPublisher] Use the negotiated data format: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1742914684.342272661] [resize_node]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1742914684.342279783] [resize_node]: [NitrosPublisher] Use only the compatible publisher: topic_name="/resize/camera_info", data_format="nitros_camera_info"
[component_container_mt-1] [INFO] [1742914684.342288225] [resize_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1742914684.342294845] [resize_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/image_rect", data_format="nitros_image_rgb8"
[component_container_mt-1] [INFO] [1742914684.342305238] [resize_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1742914684.342311485] [resize_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/camera_info_rect", data_format="nitros_camera_info"
[component_container_mt-1] [INFO] [1742914684.342469810] [resize_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1742914684.351890693] [resize_node]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/QDFBWGJKPC/QDFBWGJKPC.yaml"
[component_container_mt-1] [INFO] [1742914684.351959372] [resize_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1742914684.355000914] [resize_node]: [ResizeNode] postLoadGraphCallback().
[component_container_mt-1] [INFO] [1742914684.355068672] [resize_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1742914684.366817851] [resize_node]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1742914684.588031591] [image_format_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1742914684.588098994] [image_format_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1742914684.588109428] [image_format_node]: [NitrosPublisher] Use the negotiated data format: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1742914684.588126555] [image_format_node]: [NitrosSubscriber] Use the negotiated data format: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1742914684.588256458] [image_format_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1742914684.599423949] [image_format_node]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/TDRYNWHWSO/TDRYNWHWSO.yaml"
[component_container_mt-1] [INFO] [1742914684.599483787] [image_format_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1742914684.600743476] [image_format_node]: [ImageFormatConverterNode] postLoadGraphCallback().
[component_container_mt-1] [INFO] [1742914684.600837232] [image_format_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1742914684.602010411] [image_format_node]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1742914684.623738790] [interleaved_to_planar_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1742914684.623800115] [interleaved_to_planar_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1742914684.623827447] [interleaved_to_planar_node]: [NitrosPublisher] Use the negotiated data format: "nitros_tensor_list_nchw_rgb_f32"
[component_container_mt-1] [INFO] [1742914684.623839674] [interleaved_to_planar_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1742914684.623848168] [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] [1742914684.623933077] [interleaved_to_planar_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1742914684.626872980] [interleaved_to_planar_node]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/ZVJKOCDKJS/ZVJKOCDKJS.yaml"
[component_container_mt-1] [INFO] [1742914684.626920576] [interleaved_to_planar_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1742914684.628319437] [interleaved_to_planar_node]: In InterleavedToPlanarNode postLoadGraphCallback().
[component_container_mt-1] [INFO] [1742914684.628379388] [interleaved_to_planar_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1742914684.629389122] [interleaved_to_planar_node]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1742914684.642107394] [reshape_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1742914684.642157077] [reshape_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1742914684.642164659] [reshape_node]: [NitrosPublisher] Use the negotiated data format: "nitros_tensor_list_nchw_rgb_f32"
[component_container_mt-1] [INFO] [1742914684.642172489] [reshape_node]: [NitrosSubscriber] Use the negotiated data format: "nitros_tensor_list_nchw_rgb_f32"
[component_container_mt-1] [INFO] [1742914684.642265160] [reshape_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1742914684.645488636] [reshape_node]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/OHHYAAYESY/OHHYAAYESY.yaml"
[component_container_mt-1] [INFO] [1742914684.645547661] [reshape_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1742914684.647178445] [reshape_node]: In ReshapeNode postLoadGraphCallback().
[component_container_mt-1] [INFO] [1742914684.647259407] [reshape_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1742914684.648833351] [reshape_node]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1742914684.698956284] [tensor_rt]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1742914684.699006916] [tensor_rt]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1742914684.699018665] [tensor_rt]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1742914684.699024622] [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] [1742914684.699030929] [tensor_rt]: [NitrosSubscriber] Use the negotiated data format: "nitros_tensor_list_nchw_rgb_f32"
[component_container_mt-1] [INFO] [1742914684.699143371] [tensor_rt]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1742914684.702520097] [tensor_rt]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/XPAFDRFYQO/XPAFDRFYQO.yaml"
[component_container_mt-1] [INFO] [1742914684.702549659] [tensor_rt]: [NitrosNode] Loading application
[component_container_mt-1] 2025-03-25 10:58:04.703 WARN gxf/std/yaml_file_loader.cpp@1076: Using unregistered parameter 'dev_id' in component 'stream'.
[component_container_mt-1] [INFO] [1742914684.703641943] [tensor_rt]: In TensorRTNode postLoadGraphCallback().
[component_container_mt-1] [INFO] [1742914684.888658550] [tensor_rt]: Read tensor shape information from TRT Model Engine: /workspaces/isaac_ros-dev/isaac_ros_assets/models/synthetica_detr/sdetr_amr.plan
[component_container_mt-1] [INFO] [1742914684.888765803] [tensor_rt]: Tensors 4800 bytes, num outputs 40 x tensors per output 3 = 120 blocks
[component_container_mt-1] [INFO] [1742914684.888884198] [tensor_rt]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1742914684.889722231] [tensor_rt]: [NitrosNode] Node was started
tab2:
2025-03-25 10:58:10 [mona@DOS isaac_ros_common]$ ./scripts/run_dev.sh
Attaching to running container: isaac_ros_dev-x86_64-container
Docker workspace: /workspaces/isaac_ros-dev
admin@DOS:/workspaces/isaac_ros-dev$ ros2 run isaac_ros_rtdetr isaac_ros_rtdetr_visualizer.py
tab3:
admin@DOS:/workspaces/isaac_ros-dev$ ros2 run rqt_image_view rqt_image_view /rtdetr_processed_image
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-admin'
I am using Intel RealSense D435 camera, my laptop runs Ubuntu 22.04 OS. I have a 3080 mobile GPU.
