Hi,
I am trying to follow the Quick Start
and successes, but while running rviz2 to show the data, no data was shown, as in the photo, the left-hand side part is the rviz2 command,
and its result with Frame [map] does not exist, and the right-hand side is the result of running
*ros2 launch isaac_ros_examples isaac_ros_examples.launch.py launch_fragments:=realsense_stereo_rect,visual_slam *
*interface_specs_file:=${ISAAC_ROS_WS}/isaac_ros_assets/isaac_ros_visual_slam/quickstart_interface_specs.json *
base_frame:=camera_link camera_optical_frames:=“[‘camera_infra1_optical_frame’, ‘camera_infra2_optical_frame’]”
for Realsense, and it has shown no error as logged below.
Could you please advise me on what I should do in this situation?
This is the RS node log:
admin@ubuntuPC:/workspaces/isaac_ros-dev$ ros2 launch isaac_ros_examples isaac_ros_examples.launch.py launch_fragments:=realsense_stereo_rect,visual_slam interface_specs_file:=${ISAAC_ROS_WS}/isaac_ros_assets/isaac_ros_visual_slam/quickstart_interface_specs.json base_frame:=camera_link camera_optical_frames:=“[‘camera_infra1_optical_frame’, ‘camera_infra2_optical_frame’]”
[INFO] [launch]: All log files can be found below /home/admin/.ros/log/2024-06-20-15-48-35-487313-ubuntuPC-26027
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [1718866115.526626574] [isaac_ros_examples]: Info: Interface spec “camera_resolution” is overridden. The value from the overriding file will be used
[INFO] [component_container_mt-1]: process started with pid [26037]
[component_container_mt-1] [INFO] [1718866115.825803945] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/librealsense2_camera.so
[component_container_mt-1] [INFO] [1718866115.878101107] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<realsense2_camera::RealSenseNodeFactory>
[component_container_mt-1] [INFO] [1718866115.878141793] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<realsense2_camera::RealSenseNodeFactory>
[component_container_mt-1] [INFO] [1718866116.266117986] [realsense2_camera]: RealSense ROS v4.55.1
[component_container_mt-1] [INFO] [1718866116.266246755] [realsense2_camera]: Built with LibRealSense v2.55.1
[component_container_mt-1] [INFO] [1718866116.266279200] [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] [1718866116.270395379] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libimage_format_converter_node.so
[component_container_mt-1] [INFO] [1718866116.288545398] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::image_proc::ImageFormatConverterNode
[component_container_mt-1] [INFO] [1718866116.288589727] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::image_proc::ImageFormatConverterNode
[component_container_mt-1] [INFO] [1718866116.291389161] [image_format_left]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1718866116.291602961] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/std/libgxf_std.so
[component_container_mt-1] [INFO] [1718866116.293976550] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_gxf_helpers.so
[component_container_mt-1] [INFO] [1718866116.296526493] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_sight.so
[component_container_mt-1] [INFO] [1718866116.299102656] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_atlas.so
[component_container_mt-1] 2024-06-20 15:48:36.306 WARN gxf/std/program.cpp@532: No GXF scheduler specified.
[component_container_mt-1] [INFO] [1718866116.306833298] [image_format_left]: [ImageFormatConverterNode] Set output data format to: “nitros_image_rgb8”
[component_container_mt-1] [INFO] [1718866116.306878035] [image_format_left]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1718866116.306963634] [realsense2_camera]: Device with serial number 238222072418 was found.
[component_container_mt-1]
[component_container_mt-1] [INFO] [1718866116.306986650] [realsense2_camera]: Device with physical ID /sys/devices/pci0000:00/0000:00:14.0/usb2/2-1/2-1.4/2-1.4.2/2-1.4.2:1.3/video4linux/video2 was found.
[component_container_mt-1] [INFO] [1718866116.306992545] [realsense2_camera]: Device with name Intel RealSense D435I was found.
[component_container_mt-1] [INFO] [1718866116.307141593] [realsense2_camera]: Device with port number 2-1.4.2 was found.
[component_container_mt-1] [INFO] [1718866116.307152305] [realsense2_camera]: Device USB type: 3.2
[component_container_mt-1] [INFO] [1718866116.307194507] [realsense2_camera]: getParameters…
[component_container_mt-1] [INFO] [1718866116.307541948] [realsense2_camera]: JSON file is not provided
[component_container_mt-1] [INFO] [1718866116.307553342] [realsense2_camera]: Device Name: Intel RealSense D435I
[component_container_mt-1] [INFO] [1718866116.307558907] [realsense2_camera]: Device Serial No: 238222072418
[component_container_mt-1] [INFO] [1718866116.307563500] [realsense2_camera]: Device physical port: /sys/devices/pci0000:00/0000:00:14.0/usb2/2-1/2-1.4/2-1.4.2/2-1.4.2:1.3/video4linux/video2
[component_container_mt-1] [INFO] [1718866116.307567963] [realsense2_camera]: Device FW version: 5.15.1
[component_container_mt-1] [INFO] [1718866116.307572166] [realsense2_camera]: Device Product ID: 0x0B3A
[component_container_mt-1] [INFO] [1718866116.307576100] [realsense2_camera]: Sync Mode: Off
[component_container_mt-1] [INFO] [1718866116.312370543] [image_format_left]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1718866116.312405634] [image_format_left]: [NitrosContext] Loading extension: gxf/lib/multimedia/libgxf_multimedia.so
[component_container_mt-1] [INFO] [1718866116.314384452] [image_format_left]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_message_compositor.so
[component_container_mt-1] [INFO] [1718866116.315073661] [image_format_left]: [NitrosContext] Loading extension: gxf/lib/cuda/libgxf_cuda.so
[component_container_mt-1] [INFO] [1718866116.317391394] [image_format_left]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_tensorops.so
[component_container_mt-1] [INFO] [1718866116.320762009] [image_format_left]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1718866116.321903883] [image_format_left]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1718866116.362478756] [image_format_left]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1718866116.366878340] [image_format_left]: [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] [1718866116.368920581] [image_format_left]: [NitrosNode] Starting negotiation…
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ‘/image_format_left’ in container ‘/isaac_ros_examples/container’
[component_container_mt-1] [INFO] [1718866116.369908958] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::image_proc::ImageFormatConverterNode
[component_container_mt-1] [INFO] [1718866116.369927710] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::image_proc::ImageFormatConverterNode
[component_container_mt-1] [INFO] [1718866116.372328919] [image_format_right]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1718866116.372581659] [image_format_right]: [ImageFormatConverterNode] Set output data format to: “nitros_image_rgb8”
[component_container_mt-1] [INFO] [1718866116.372618745] [image_format_right]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1718866116.379130614] [image_format_right]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1718866116.379199925] [image_format_right]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1718866116.380152714] [image_format_right]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1718866116.413588856] [realsense2_camera]: Stopping Sensor: Depth Module
[component_container_mt-1] [INFO] [1718866116.433577216] [image_format_right]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1718866116.437639987] [realsense2_camera]: Starting Sensor: Depth Module
[component_container_mt-1] [INFO] [1718866116.437973593] [image_format_right]: [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] [1718866116.438858080] [image_format_right]: [NitrosNode] Starting negotiation…
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ‘/image_format_right’ in container ‘/isaac_ros_examples/container’
[component_container_mt-1] [INFO] [1718866116.439569089] [realsense2_camera]: Open profile: stream_type: Infra(1), Format: Y8, Width: 848, Height: 480, FPS: 30
[component_container_mt-1] [INFO] [1718866116.439586109] [realsense2_camera]: Open profile: stream_type: Infra(2), Format: Y8, Width: 848, Height: 480, FPS: 30
[component_container_mt-1] [INFO] [1718866116.440136084] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::image_proc::ImageFormatConverterNode
[component_container_mt-1] [INFO] [1718866116.440155290] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::image_proc::ImageFormatConverterNode
[component_container_mt-1] [INFO] [1718866116.440765643] [realsense2_camera]: RealSense Node Is Up!
[component_container_mt-1] [INFO] [1718866116.443400967] [image_format_node_left]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1718866116.443697940] [image_format_node_left]: [ImageFormatConverterNode] Set output data format to: “nitros_image_mono8”
[component_container_mt-1] [INFO] [1718866116.443735258] [image_format_node_left]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1718866116.450679894] [image_format_node_left]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1718866116.450762347] [image_format_node_left]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1718866116.451560519] [image_format_node_left]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1718866116.491586094] [image_format_node_left]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1718866116.496166064] [image_format_node_left]: [NitrosPublisherSubscriberGroup] Pinning the component “sink/sink” (type=“nvidia::isaac_ros::MessageRelay”) to use its compatible format only: “nitros_image_mono8”
[component_container_mt-1] [INFO] [1718866116.497101750] [image_format_node_left]: [NitrosNode] Starting negotiation…
[component_container_mt-1] [INFO] [1718866116.497412722] [image_format_left]: Negotiating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ‘/image_format_node_left’ in container ‘/isaac_ros_examples/container’
[component_container_mt-1] [INFO] [1718866116.498324305] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::image_proc::ImageFormatConverterNode
[component_container_mt-1] [INFO] [1718866116.498342525] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::image_proc::ImageFormatConverterNode
[component_container_mt-1] [INFO] [1718866116.501594927] [image_format_node_right]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1718866116.501948409] [image_format_node_right]: [ImageFormatConverterNode] Set output data format to: “nitros_image_mono8”
[component_container_mt-1] [INFO] [1718866116.501992890] [image_format_node_right]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1718866116.509514769] [image_format_node_right]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1718866116.509652783] [image_format_node_right]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1718866116.510625550] [image_format_node_right]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1718866116.553474676] [image_format_node_right]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1718866116.557801199] [image_format_node_right]: [NitrosPublisherSubscriberGroup] Pinning the component “sink/sink” (type=“nvidia::isaac_ros::MessageRelay”) to use its compatible format only: “nitros_image_mono8”
[component_container_mt-1] [INFO] [1718866116.558807654] [image_format_node_right]: [NitrosNode] Starting negotiation…
[component_container_mt-1] [INFO] [1718866116.559076430] [image_format_right]: Negotiating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ‘/image_format_node_right’ in container ‘/isaac_ros_examples/container’
[component_container_mt-1] [INFO] [1718866116.560200260] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libvisual_slam_node.so
[component_container_mt-1] [INFO] [1718866116.586893553] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::visual_slam::VisualSlamNode
[component_container_mt-1] [INFO] [1718866116.586930967] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::visual_slam::VisualSlamNode
[component_container_mt-1] [INFO] [1718866116.591739229] [visual_slam_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1718866116.591837042] [image_format_node_left]: Negotiating
[component_container_mt-1] [INFO] [1718866116.591864480] [image_format_node_left]: Could not negotiate
[component_container_mt-1] [INFO] [1718866116.592410268] [visual_slam_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1718866116.592443788] [image_format_node_right]: Negotiating
[component_container_mt-1] [INFO] [1718866116.592463556] [image_format_node_right]: Could not negotiate
[component_container_mt-1] [INFO] [1718866116.600684048] [visual_slam_node]: cuVSLAM version: 12.2
[component_container_mt-1] [INFO] [1718866116.680429760] [visual_slam_node]: Time taken by CUVSLAM_WarmUpGPU(): 0.079726
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ‘/visual_slam_node’ in container ‘/isaac_ros_examples/container’
[component_container_mt-1] [INFO] [1718866117.369345571] [image_format_left]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1718866117.369391623] [image_format_left]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1718866117.369405522] [image_format_left]: [NitrosPublisher] Use the negotiated data format: “nitros_image_rgb8”
[component_container_mt-1] [INFO] [1718866117.369414576] [image_format_left]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1718866117.369420145] [image_format_left]: [NitrosSubscriber] Use the compatible subscriber: topic_name=“/infra1/image_rect_raw_mono”, data_format=“nitros_image_rgb8”
[component_container_mt-1] [INFO] [1718866117.369561193] [image_format_left]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1718866117.377630471] [image_format_left]: [NitrosNode] Wrote the final top level YAML graph to “/tmp/isaac_ros_nitros/graphs/BNOWTZMQTH/BNOWTZMQTH.yaml”
[component_container_mt-1] [INFO] [1718866117.377666992] [image_format_left]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1718866117.379305670] [image_format_left]: [ImageFormatConverterNode] postLoadGraphCallback().
[component_container_mt-1] [INFO] [1718866117.379360532] [image_format_left]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1718866117.396310236] [image_format_left]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1718866117.439553476] [image_format_right]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1718866117.439614703] [image_format_right]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1718866117.439627886] [image_format_right]: [NitrosPublisher] Use the negotiated data format: “nitros_image_rgb8”
[component_container_mt-1] [INFO] [1718866117.439639273] [image_format_right]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1718866117.439648090] [image_format_right]: [NitrosSubscriber] Use the compatible subscriber: topic_name=“/infra2/image_rect_raw_mono”, data_format=“nitros_image_rgb8”
[component_container_mt-1] [INFO] [1718866117.439804363] [image_format_right]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1718866117.447618804] [image_format_right]: [NitrosNode] Wrote the final top level YAML graph to “/tmp/isaac_ros_nitros/graphs/EUQHTVVFCR/EUQHTVVFCR.yaml”
[component_container_mt-1] [INFO] [1718866117.447647580] [image_format_right]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1718866117.449053587] [image_format_right]: [ImageFormatConverterNode] postLoadGraphCallback().
[component_container_mt-1] [INFO] [1718866117.449087659] [image_format_right]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1718866117.453102240] [image_format_right]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1718866117.497580083] [image_format_node_left]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1718866117.497621121] [image_format_node_left]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1718866117.497627606] [image_format_node_left]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1718866117.497635969] [image_format_node_left]: [NitrosPublisher] Use only the compatible publisher: topic_name=“/left/image_rect_mono”, data_format=“nitros_image_mono8”
[component_container_mt-1] [INFO] [1718866117.497642163] [image_format_node_left]: [NitrosSubscriber] Use the negotiated data format: “nitros_image_rgb8”
[component_container_mt-1] [INFO] [1718866117.497741223] [image_format_node_left]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1718866117.506756197] [image_format_node_left]: [NitrosNode] Wrote the final top level YAML graph to “/tmp/isaac_ros_nitros/graphs/KEPMUQPBNJ/KEPMUQPBNJ.yaml”
[component_container_mt-1] [INFO] [1718866117.506796266] [image_format_node_left]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1718866117.507754292] [image_format_node_left]: [ImageFormatConverterNode] postLoadGraphCallback().
[component_container_mt-1] [INFO] [1718866117.507783681] [image_format_node_left]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1718866117.512288322] [image_format_node_left]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1718866117.559215220] [image_format_node_right]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1718866117.559261358] [image_format_node_right]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1718866117.559270210] [image_format_node_right]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1718866117.559278845] [image_format_node_right]: [NitrosPublisher] Use only the compatible publisher: topic_name=“/right/image_rect_mono”, data_format=“nitros_image_mono8”
[component_container_mt-1] [INFO] [1718866117.559287880] [image_format_node_right]: [NitrosSubscriber] Use the negotiated data format: “nitros_image_rgb8”
[component_container_mt-1] [INFO] [1718866117.559390861] [image_format_node_right]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1718866117.568844506] [image_format_node_right]: [NitrosNode] Wrote the final top level YAML graph to “/tmp/isaac_ros_nitros/graphs/CHYFPPUUDE/CHYFPPUUDE.yaml”
[component_container_mt-1] [INFO] [1718866117.568887546] [image_format_node_right]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1718866117.570070110] [image_format_node_right]: [ImageFormatConverterNode] postLoadGraphCallback().
[component_container_mt-1] [INFO] [1718866117.570108863] [image_format_node_right]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1718866117.574173501] [image_format_node_right]: [NitrosNode] Node was started
And this is the log for rviz2
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to ‘/tmp/runtime-admin’
[INFO] [1718866563.528391860] [rviz2]: Stereo is NOT SUPPORTED
[INFO] [1718866563.528451594] [rviz2]: OpenGl version: 4.5 (GLSL 4.5)
[INFO] [1718866563.565126967] [rviz2]: Stereo is NOT SUPPORTED
[INFO] [1718866563.770607413] [rviz2]: Stereo is NOT SUPPORTED
[INFO] [1718866563.879954682] [rviz2]: Stereo is NOT SUPPORTED
[INFO] [1718866578.872159825] [rviz2]: Stereo is NOT SUPPORTED
