Log:
admin@jetson-isaac:/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/2024-07-09-16-17-03-412959-jetson-isaac-4615
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [1720522023.517809804] [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 [4625]
[component_container_mt-1] [INFO] [1720522023.898149690] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/librealsense2_camera.so
[component_container_mt-1] [INFO] [1720522024.198633793] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<realsense2_camera::RealSenseNodeFactory>
[component_container_mt-1] [INFO] [1720522024.200183753] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<realsense2_camera::RealSenseNodeFactory>
[component_container_mt-1] [INFO] [1720522024.434035520] [realsense2_camera]: RealSense ROS v4.55.1
[component_container_mt-1] [INFO] [1720522024.434208108] [realsense2_camera]: Built with LibRealSense v2.55.1
[component_container_mt-1] [INFO] [1720522024.434243470] [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] [1720522024.440053651] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libimage_format_converter_node.so
[component_container_mt-1] [WARN] [1720522024.536943504] [realsense2_camera]: No RealSense devices were found!
[component_container_mt-1] [INFO] [1720522024.550453177] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::image_proc::ImageFormatConverterNode
[component_container_mt-1] [INFO] [1720522024.550554912] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::image_proc::ImageFormatConverterNode
[component_container_mt-1] [INFO] [1720522024.559287017] [image_format_left]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1720522024.560150339] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/std/libgxf_std.so
[component_container_mt-1] [INFO] [1720522024.566216346] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_gxf_helpers.so
[component_container_mt-1] [INFO] [1720522024.574290007] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_sight.so
[component_container_mt-1] [INFO] [1720522024.582823635] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_atlas.so
[component_container_mt-1] 2024-07-09 16:17:04.602 WARN gxf/std/program.cpp@532: No GXF scheduler specified.
[component_container_mt-1] [INFO] [1720522024.603541535] [image_format_left]: [ImageFormatConverterNode] Set output data format to: “nitros_image_rgb8”
[component_container_mt-1] [INFO] [1720522024.603708106] [image_format_left]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1720522024.615387033] [image_format_left]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1720522024.615588390] [image_format_left]: [NitrosContext] Loading extension: gxf/lib/multimedia/libgxf_multimedia.so
[component_container_mt-1] [INFO] [1720522024.620670651] [image_format_left]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_message_compositor.so
[component_container_mt-1] [INFO] [1720522024.622472308] [image_format_left]: [NitrosContext] Loading extension: gxf/lib/cuda/libgxf_cuda.so
[component_container_mt-1] [INFO] [1720522024.627487908] [image_format_left]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_tensorops.so
[component_container_mt-1] [INFO] [1720522024.662194553] [image_format_left]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1720522024.665360590] [image_format_left]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1720522024.757913192] [image_format_left]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1720522024.767837793] [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] [1720522024.780190652] [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] [1720522024.784000060] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::image_proc::ImageFormatConverterNode
[component_container_mt-1] [INFO] [1720522024.784075585] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::image_proc::ImageFormatConverterNode
[component_container_mt-1] [INFO] [1720522024.789599027] [image_format_right]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1720522024.790122710] [image_format_right]: [ImageFormatConverterNode] Set output data format to: “nitros_image_rgb8”
[component_container_mt-1] [INFO] [1720522024.790210140] [image_format_right]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1720522024.801829223] [image_format_right]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1720522024.802095736] [image_format_right]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1720522024.803797066] [image_format_right]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1720522024.894616048] [image_format_right]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1720522024.910015064] [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] [1720522024.912901242] [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] [1720522024.917253245] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::image_proc::ImageFormatConverterNode
[component_container_mt-1] [INFO] [1720522024.917340771] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::image_proc::ImageFormatConverterNode
[component_container_mt-1] [INFO] [1720522024.923836278] [image_format_node_left]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1720522024.924459808] [image_format_node_left]: [ImageFormatConverterNode] Set output data format to: “nitros_image_mono8”
[component_container_mt-1] [INFO] [1720522024.924558919] [image_format_node_left]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1720522024.936585741] [image_format_node_left]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1720522024.936865183] [image_format_node_left]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1720522024.938741213] [image_format_node_left]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1720522025.034006049] [image_format_node_left]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1720522025.048995191] [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] [1720522025.051988988] [image_format_node_left]: [NitrosNode] Starting negotiation…
[component_container_mt-1] [INFO] [1720522025.052829363] [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] [1720522025.058517256] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::image_proc::ImageFormatConverterNode
[component_container_mt-1] [INFO] [1720522025.058657265] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::image_proc::ImageFormatConverterNode
[component_container_mt-1] [INFO] [1720522025.071490010] [image_format_node_right]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1720522025.072290254] [image_format_node_right]: [ImageFormatConverterNode] Set output data format to: “nitros_image_mono8”
[component_container_mt-1] [INFO] [1720522025.072388757] [image_format_node_right]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1720522025.089846925] [image_format_node_right]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1720522025.090109022] [image_format_node_right]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1720522025.092726506] [image_format_node_right]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1720522025.200275348] [image_format_node_right]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1720522025.214248200] [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] [1720522025.217586690] [image_format_node_right]: [NitrosNode] Starting negotiation…
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ‘/image_format_node_right’ in container ‘/isaac_ros_examples/container’
[component_container_mt-1] [INFO] [1720522025.218566851] [image_format_right]: Negotiating
[component_container_mt-1] [INFO] [1720522025.224619599] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libvisual_slam_node.so
[component_container_mt-1] [INFO] [1720522025.368510503] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::visual_slam::VisualSlamNode
[component_container_mt-1] [INFO] [1720522025.368647600] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::visual_slam::VisualSlamNode
[component_container_mt-1] [INFO] [1720522025.381189702] [visual_slam_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1720522025.381342192] [image_format_node_left]: Negotiating
[component_container_mt-1] [INFO] [1720522025.381434390] [image_format_node_left]: Could not negotiate
[component_container_mt-1] [INFO] [1720522025.383196170] [visual_slam_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1720522025.383334355] [image_format_node_right]: Negotiating
[component_container_mt-1] [INFO] [1720522025.383468092] [image_format_node_right]: Could not negotiate
[component_container_mt-1] [INFO] [1720522025.417256866] [visual_slam_node]: cuVSLAM version: 12.2
[component_container_mt-1] [INFO] [1720522025.562873675] [visual_slam_node]: Time taken by CUVSLAM_WarmUpGPU(): 0.145510
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ‘/visual_slam_node’ in container ‘/isaac_ros_examples/container’
[component_container_mt-1] [INFO] [1720522025.781310746] [image_format_left]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1720522025.781461027] [image_format_left]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1720522025.781509543] [image_format_left]: [NitrosPublisher] Use the negotiated data format: “nitros_image_rgb8”
[component_container_mt-1] [INFO] [1720522025.781544233] [image_format_left]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1720522025.781566154] [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] [1720522025.782251735] [image_format_left]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1720522025.812107452] [image_format_left]: [NitrosNode] Wrote the final top level YAML graph to “/tmp/isaac_ros_nitros/graphs/NLCMHGRZBF/NLCMHGRZBF.yaml”
[component_container_mt-1] [INFO] [1720522025.812310698] [image_format_left]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1720522025.818867607] [image_format_left]: [ImageFormatConverterNode] postLoadGraphCallback().
[component_container_mt-1] [INFO] [1720522025.819086278] [image_format_left]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1720522025.913832648] [image_format_right]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1720522025.913961905] [image_format_right]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1720522025.913990643] [image_format_right]: [NitrosPublisher] Use the negotiated data format: “nitros_image_rgb8”
[component_container_mt-1] [INFO] [1720522025.914015028] [image_format_right]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1720522025.914029557] [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] [1720522025.914357771] [image_format_right]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1720522025.936136478] [image_format_right]: [NitrosNode] Wrote the final top level YAML graph to “/tmp/isaac_ros_nitros/graphs/LPFLSQTEIA/LPFLSQTEIA.yaml”
[component_container_mt-1] [INFO] [1720522025.936276295] [image_format_right]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1720522025.967340700] [image_format_left]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1720522025.970334624] [image_format_right]: [ImageFormatConverterNode] postLoadGraphCallback().
[component_container_mt-1] [INFO] [1720522025.970470537] [image_format_right]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1720522026.008229166] [image_format_right]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1720522026.053225043] [image_format_node_left]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1720522026.053351707] [image_format_node_left]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1720522026.053373725] [image_format_node_left]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1720522026.053389150] [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] [1720522026.053401598] [image_format_node_left]: [NitrosSubscriber] Use the negotiated data format: “nitros_image_rgb8”
[component_container_mt-1] [INFO] [1720522026.053698386] [image_format_node_left]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1720522026.076027690] [image_format_node_left]: [NitrosNode] Wrote the final top level YAML graph to “/tmp/isaac_ros_nitros/graphs/GTXNVKJMJB/GTXNVKJMJB.yaml”
[component_container_mt-1] [INFO] [1720522026.076209045] [image_format_node_left]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1720522026.079420995] [image_format_node_left]: [ImageFormatConverterNode] postLoadGraphCallback().
[component_container_mt-1] [INFO] [1720522026.079591022] [image_format_node_left]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1720522026.117679481] [image_format_node_left]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1720522026.219074655] [image_format_node_right]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1720522026.219237514] [image_format_node_right]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1720522026.219278636] [image_format_node_right]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1720522026.219310862] [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] [1720522026.219348977] [image_format_node_right]: [NitrosSubscriber] Use the negotiated data format: “nitros_image_rgb8”
[component_container_mt-1] [INFO] [1720522026.219732809] [image_format_node_right]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1720522026.248398264] [image_format_node_right]: [NitrosNode] Wrote the final top level YAML graph to “/tmp/isaac_ros_nitros/graphs/OOXUNPIPCZ/OOXUNPIPCZ.yaml”
[component_container_mt-1] [INFO] [1720522026.248577219] [image_format_node_right]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1720522026.254268304] [image_format_node_right]: [ImageFormatConverterNode] postLoadGraphCallback().
[component_container_mt-1] [INFO] [1720522026.254487870] [image_format_node_right]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1720522026.295531335] [image_format_node_right]: [NitrosNode] Node was started
[component_container_mt-1] [WARN] [1720522030.765043774] [realsense2_camera]: No RealSense devices were found!
[component_container_mt-1] [WARN] [1720522036.996313957] [realsense2_camera]: No RealSense devices were found!
[component_container_mt-1] [WARN] [1720522043.219767777] [realsense2_camera]: No RealSense devices were found!
[component_container_mt-1] [WARN] [1720522049.440296335] [realsense2_camera]: No RealSense devices were found!
[component_container_mt-1] [WARN] [1720522055.660220682] [realsense2_camera]: No RealSense devices were found!
[component_container_mt-1] [WARN] [1720522061.879033182] [realsense2_camera]: No RealSense devices were found!
Hi @muthukumar1
Thank you for your detailed post. We are working to fix the issue with the Realsense camera and make a fix soon.
I keep you posted when it will be released.
The issue with the realsense camera is currently related to a new ROS 2 package that exposes new types of topics and services, which do not match with the demo.
Reference to another similar post:
Best,
Raffaello
Hi @Raffaello
Please help to check for D455 realsense camera as well, as it’s facing same issue as per D435i. While D435 can be detected, just D435i and D455 can’t.
Best,
Samuel
Hi @HappySamuel and @muthukumar1
About the RealSense, we’ve released a fix. Now you can rerun our demo. Simply run sudo apt-get update and reinstall the package to make it work.
Let me know if it’s fixed now.
Raffaello
Hi @Raffaello
I have tried to reinstall ros-humble-realsense-camera2, ros-humble-isaac-ros-visual-slam, but none of them solve the issue. Neither D435i nor D455 cameras can be detected by the realsense_camera2 and realsense-viewer. Or perhaps am i reinstalling the wrong package(s) ?
Best,
Samuel
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