Dear author, I have recently been using isacc_ros_centerpose for object pose estimation. I utilized the Tao tool to synthesize my own dataset and trained an ONNX model. However, when I perform inference, the pose accuracy is incorrect. After multiple checks, I discovered that the actual distance is half of the detected distance. Additionally, the frame rate of the topic is very low, averaging around 6 frames. Could you please advise on how to address these two issues? Thank you
Hi @1781113105
Thank you for your post.
Please ensure you are passing the correct topic size to the Isaac ROS centerpose node, and that the configuration meets your requirements: isaac_ros_centerpose — isaac_ros_docs documentation
In your screenshot, I see: “System throttled due to Over-current.” Please check if your Jetson has enough power and is using the MAXN NVP model.
I hope it helps you.
Best,
Raffaello
I deployed centerpose according to the steps in the document. When I used the official shoe model for detection, the actual distance and the detected distance did not match. May I ask if I need to modify the parameters if I replace the model I trained using the tao tool? The command I used is------ros2 launch isaac_ros_examples isaac_ros_examples.launch.py launch_fragments:=realsense_mono_rect,centerpose,centerpose_visualizer model_name:=centerpose_shoe model_repository_paths:=[${ISAAC_ROS_WS}/isaac_ros_assets/models]-------Regarding the current issue you mentioned, I have noticed that I am using an AGX 64G device. Before I flashed the device, the frame rate of my center/detectors reached around 12 frames per second. However, after flashing, there were issues with the current and frame rate. Excuse me, is it hardware damage? Or is it another configuration issue? I hope to receive your answer! Wishing you a happy life!
You can see that when I set the clock to maximum, an error message will appear with a red exclamation mark in the upper right corner
Hi @1781113105
The parameter you need to fix is cuboid_scaling_factor isaac_ros_centerpose — isaac_ros_docs documentation
| ROS Parameter | Type | Default | Description |
|---|---|---|---|
cuboid_scaling_factor |
float |
1.0 |
This parameter is used to scale the cuboid used for calculating the size of the objects detected. |
The Isaac ROS centerpose does not measure the distance, and you manually need to adapt it to calculate the size of the objects detected.
Best,
Raffaello
Hello, following your instructions, I am preparing to modify the ROS Parameter. Below is the content of my modified isaac_ros_centerpose _tensor_rt. launch. py file.
SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
Copyright (c) 2021-2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
Licensed under the Apache License, Version 2.0 (the “License”);
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
Apache License, Version 2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an “AS IS” BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
SPDX-License-Identifier: Apache-2.0
import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import ComposableNodeContainer
from launch_ros.descriptions import ComposableNode
def generate_launch_description():
“”“Generate launch description for Centerpose.”“”
tensor_names = [
‘bboxes’,
‘scores’,
‘kps’,
‘clses’,
‘obj_scale’,
‘kps_displacement_mean’,
‘kps_heatmap_mean’,
]
tensor_names_str = ‘[’
for tensor_name in tensor_names:
tensor_names_str += f’“{tensor_name}”’
if tensor_name != tensor_names[-1]:
tensor_names_str += ‘,’
tensor_names_str += ‘]’
launch_args = [
DeclareLaunchArgument(
'input_image_width',
default_value='640',
description='The input image width'),
DeclareLaunchArgument(
'input_image_height',
default_value='480',
description='The input image height'),
DeclareLaunchArgument(
'network_image_width',
default_value='512',
description='The input image width that the network expects'),
DeclareLaunchArgument(
'network_image_height',
default_value='512',
description='The input image height that the network expects'),
DeclareLaunchArgument(
'encoder_image_mean',
default_value='[0.408, 0.447, 0.47]',
description='The mean for image normalization'),
DeclareLaunchArgument(
'encoder_image_stddev',
default_value='[0.289, 0.274, 0.278]',
description='The standard deviation for image normalization'),
DeclareLaunchArgument(
'model_file_path',
default_value='/home/rx/workspaces/isaac_ros-dev/isaac_ros_assets/models/centerpose_shoe/1/model.onnx',
description='The absolute file path to the ONNX file'),
DeclareLaunchArgument(
'engine_file_path',
default_value='/home/rx/workspaces/isaac_ros-dev/isaac_ros_assets/models/centerpose_shoe/1/model.plan',
description='The absolute file path to the TensorRT engine file'),
DeclareLaunchArgument(
'input_tensor_names',
default_value='["input"]',
description='A list of tensor names to bound to the specified input binding names'),
DeclareLaunchArgument(
'input_binding_names',
default_value='["input"]',
description='A list of input tensor binding names (specified by model)'),
DeclareLaunchArgument(
'input_tensor_formats',
default_value='["nitros_tensor_list_nchw_rgb_f32"]',
description='The nitros format of the input tensors'),
DeclareLaunchArgument(
'output_tensor_names',
default_value=tensor_names_str,
description='A list of tensor names to bound to the specified output binding names'),
DeclareLaunchArgument(
'output_binding_names',
default_value=tensor_names_str,
description='A list of output tensor binding names (specified by model)'),
DeclareLaunchArgument(
'output_tensor_formats',
default_value='["nitros_tensor_list_nhwc_rgb_f32"]',
description='The nitros format of the output tensors'),
DeclareLaunchArgument(
'tensorrt_verbose',
default_value='False',
description='Whether TensorRT should verbosely log or not'),
DeclareLaunchArgument(
'force_engine_update',
default_value='False',
description='Whether TensorRT should update the TensorRT engine file or not'),
DeclareLaunchArgument(
'output_field_size',
default_value='[128, 128]',
description='Represents the size of the 2D keypoint decoding from the network output'),
DeclareLaunchArgument(
'cuboid_scaling_factor',
default_value='1.0',
description='Scales the cuboid used for calculating the size of the objects detected'),
DeclareLaunchArgument(
'score_threshold',
default_value='0.3',
description='The threshold for scores values to discard.'),
DeclareLaunchArgument(
'object_name',
default_value='shoe',
description='The name of the category instance that is being detected',
),
DeclareLaunchArgument(
'show_axes',
default_value='True',
description='Whether to show axes or not for visualization',
),
DeclareLaunchArgument(
'bounding_box_color',
default_value='0x000000ff',
description='The color of the bounding box for visualization',
),
]
# DNN Image Encoder parameters
input_image_width = LaunchConfiguration('input_image_width')
input_image_height = LaunchConfiguration('input_image_height')
network_image_width = LaunchConfiguration('network_image_width')
network_image_height = LaunchConfiguration('network_image_height')
encoder_image_mean = LaunchConfiguration('encoder_image_mean')
encoder_image_stddev = LaunchConfiguration('encoder_image_stddev')
# Tensor RT parameters
model_file_path = LaunchConfiguration('model_file_path')
engine_file_path = LaunchConfiguration('engine_file_path')
input_tensor_names = LaunchConfiguration('input_tensor_names')
input_binding_names = LaunchConfiguration('input_binding_names')
input_tensor_formats = LaunchConfiguration('input_tensor_formats')
output_tensor_names = LaunchConfiguration('output_tensor_names')
output_binding_names = LaunchConfiguration('output_binding_names')
output_tensor_formats = LaunchConfiguration('output_tensor_formats')
tensorrt_verbose = LaunchConfiguration('tensorrt_verbose')
force_engine_update = LaunchConfiguration('force_engine_update')
# Centerpose Decoder parameters
output_field_size = LaunchConfiguration('output_field_size')
cuboid_scaling_factor = LaunchConfiguration('cuboid_scaling_factor')
score_threshold = LaunchConfiguration('score_threshold')
object_name = LaunchConfiguration('object_name')
# Centerpose visualization parameters
show_axes = LaunchConfiguration('show_axes')
bounding_box_color = LaunchConfiguration('bounding_box_color')
centerpose_inference_node = ComposableNode(
name='centerpose_inference',
package='isaac_ros_tensor_rt',
plugin='nvidia::isaac_ros::dnn_inference::TensorRTNode',
parameters=[{
'model_file_path': model_file_path,
'engine_file_path': engine_file_path,
'input_tensor_names': input_tensor_names,
'input_binding_names': input_binding_names,
'input_tensor_formats': input_tensor_formats,
'output_tensor_names': output_tensor_names,
'output_binding_names': output_binding_names,
'output_tensor_formats': output_tensor_formats,
'verbose': tensorrt_verbose,
'force_engine_update': force_engine_update
}])
centerpose_decoder_node = ComposableNode(
name='centerpose_decoder_node',
package='isaac_ros_centerpose',
plugin='nvidia::isaac_ros::centerpose::CenterPoseDecoderNode',
parameters=[{
'output_field_size': output_field_size,
'cuboid_scaling_factor': cuboid_scaling_factor,
'score_threshold': score_threshold,
'object_name': object_name,
}],
)
centerpose_visualizer_node = ComposableNode(
name='centerpose_visualizer_node',
package='isaac_ros_centerpose',
plugin='nvidia::isaac_ros::centerpose::CenterPoseVisualizerNode',
parameters=[{
'show_axes': show_axes,
'bounding_box_color': bounding_box_color,
}],
)
rclcpp_container = ComposableNodeContainer(
name='centerpose_container',
namespace='',
package='rclcpp_components',
executable='component_container_mt',
composable_node_descriptions=[
centerpose_inference_node, centerpose_decoder_node, centerpose_visualizer_node],
output='screen',
)
encoder_dir = get_package_share_directory('isaac_ros_dnn_image_encoder')
centerpose_encoder_launch = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
[os.path.join(encoder_dir, 'launch', 'dnn_image_encoder.launch.py')]
),
launch_arguments={
'input_image_width': input_image_width,
'input_image_height': input_image_height,
'network_image_width': network_image_width,
'network_image_height': network_image_height,
'image_mean': encoder_image_mean,
'image_stddev': encoder_image_stddev,
'attach_to_shared_component_container': 'True',
'component_container_name': 'centerpose_container',
'dnn_image_encoder_namespace': 'centerpose_encoder',
'image_input_topic': '/image',
'camera_info_input_topic': '/camera_info',
'tensor_output_topic': '/tensor_pub',
}.items(),
)
final_launch_container = launch_args + [rclcpp_container, centerpose_encoder_launch]
return LaunchDescription(final_launch_container)
However, when I run the command ros2 launch isaac_ros_centerpose isaac_ros_centerpose _tensor_rt.launch. py, I encounter the following error:
rx@ubuntu:~/workspaces/isaac_ros-dev$ ros2 launch isaac_ros_centerpose isaac_ros_centerpose_tensor_rt.launch.py
[INFO] [launch]: All log files can be found below /home/rx/.ros/log/2025-01-09-19-41-33-448834-ubuntu-39687
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container_mt-1]: process started with pid [39700]
[component_container_mt-1] [INFO] [1736422893.878084000] [centerpose_container]: Load Library: /home/rx/workspaces/isaac_ros-dev/install/isaac_ros_tensor_rt/lib/libtensor_rt_node.so
[component_container_mt-1] [INFO] [1736422893.984920695] [centerpose_container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::dnn_inference::TensorRTNode
[component_container_mt-1] [INFO] [1736422893.985029557] [centerpose_container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::dnn_inference::TensorRTNode
[component_container_mt-1] [INFO] [1736422894.004222880] [centerpose_inference]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1736422894.005095985] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/std/libgxf_std.so
[component_container_mt-1] [INFO] [1736422894.007460551] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_gxf_helpers.so
[component_container_mt-1] [INFO] [1736422894.014279950] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_sight.so
[component_container_mt-1] [INFO] [1736422894.021934374] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_atlas.so
[component_container_mt-1] 2025-01-09 19:41:34.038 WARN gxf/std/program.cpp@538: No GXF scheduler specified.
[component_container_mt-1] [INFO] [1736422894.039177844] [centerpose_inference]: [TensorRTNode] Set input data format to: “nitros_tensor_list_nchw_rgb_f32”
[component_container_mt-1] [INFO] [1736422894.039237746] [centerpose_inference]: [TensorRTNode] Set output data format to: “nitros_tensor_list_nhwc_rgb_f32”
[component_container_mt-1] [INFO] [1736422894.039351504] [centerpose_inference]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1736422894.045692416] [centerpose_inference]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1736422894.046052281] [centerpose_inference]: [NitrosContext] Loading extension: gxf/lib/multimedia/libgxf_multimedia.so
[component_container_mt-1] [INFO] [1736422894.049973716] [centerpose_inference]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_message_compositor.so
[component_container_mt-1] [INFO] [1736422894.050802277] [centerpose_inference]: [NitrosContext] Loading extension: gxf/lib/cuda/libgxf_cuda.so
[component_container_mt-1] [INFO] [1736422894.054700608] [centerpose_inference]: [NitrosContext] Loading extension: gxf/lib/serialization/libgxf_serialization.so
[component_container_mt-1] [INFO] [1736422894.059408204] [centerpose_inference]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_tensor_rt.so
[component_container_mt-1] [INFO] [1736422894.060862930] [centerpose_inference]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1736422894.063302567] [centerpose_inference]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1736422894.085365183] [centerpose_inference]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1736422894.087277245] [centerpose_inference]: [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] [1736422894.087375836] [centerpose_inference]: [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] [1736422894.092650462] [centerpose_inference]: [NitrosNode] Starting negotiation…
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ‘/centerpose_inference’ in container ‘/centerpose_container’
[component_container_mt-1] [INFO] [1736422894.094161667] [centerpose_container]: Load Library: /opt/ros/humble/lib/libresize_node.so
[component_container_mt-1] [INFO] [1736422894.113143730] [centerpose_container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::image_proc::ResizeNode
[component_container_mt-1] [INFO] [1736422894.113262224] [centerpose_container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::image_proc::ResizeNode
[component_container_mt-1] [INFO] [1736422894.123774837] [centerpose_encoder.resize_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1736422894.125874928] [centerpose_encoder.resize_node]: [ResizeNode] Set output data format to: “nitros_image_rgb8”
[component_container_mt-1] [INFO] [1736422894.126137227] [centerpose_encoder.resize_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1736422894.153730145] [centerpose_encoder.resize_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1736422894.155013866] [centerpose_encoder.resize_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_tensorops.so
[component_container_mt-1] [INFO] [1736422894.164547425] [centerpose_encoder.resize_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1736422894.172467893] [centerpose_encoder.resize_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1736422894.455556849] [centerpose_encoder.resize_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1736422894.460275870] [centerpose_encoder.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] [1736422894.467099652] [centerpose_encoder.resize_node]: [NitrosNode] Starting negotiation…
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ‘/centerpose_encoder/resize_node’ in container ‘centerpose_container’
[component_container_mt-1] [INFO] [1736422894.469078721] [centerpose_container]: Load Library: /home/rx/workspaces/isaac_ros-dev/install/isaac_ros_centerpose/lib/libcenterpose_decoder_node.so
[component_container_mt-1] [INFO] [1736422894.500921260] [centerpose_container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::centerpose::CenterPoseDecoderNode
[component_container_mt-1] [INFO] [1736422894.501044330] [centerpose_container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::centerpose::CenterPoseDecoderNode
[component_container_mt-1] [INFO] [1736422894.510648127] [centerpose_decoder_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1736422894.512097701] [centerpose_decoder_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1736422894.521915735] [centerpose_decoder_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1736422894.523916723] [centerpose_decoder_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_centerpose.so
[component_container_mt-1] [INFO] [1736422894.536165722] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_messages.so
[component_container_mt-1] [INFO] [1736422894.537641312] [centerpose_decoder_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1736422894.541868373] [centerpose_decoder_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1736422894.555525122] [centerpose_decoder_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1736422894.563542644] [centerpose_decoder_node]: [NitrosNode] Starting negotiation…
[component_container_mt-1] [INFO] [1736422894.564783070] [centerpose_inference]: Negotiating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ‘/centerpose_decoder_node’ in container ‘/centerpose_container’
[component_container_mt-1] [INFO] [1736422894.564943771] [centerpose_inference]: Could not negotiate
[component_container_mt-1] [INFO] [1736422894.565637198] [centerpose_container]: Load Library: /opt/ros/humble/lib/libimage_format_converter_node.so
[component_container_mt-1] [INFO] [1736422894.568994483] [centerpose_container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::image_proc::ImageFormatConverterNode
[component_container_mt-1] [INFO] [1736422894.569101169] [centerpose_container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::image_proc::ImageFormatConverterNode
[component_container_mt-1] [INFO] [1736422894.581246713] [centerpose_encoder.image_format_converter_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1736422894.583002362] [centerpose_encoder.image_format_converter_node]: [ImageFormatConverterNode] Set output data format to: “nitros_image_rgb8”
[component_container_mt-1] [INFO] [1736422894.583204471] [centerpose_encoder.image_format_converter_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1736422894.613658810] [centerpose_encoder.image_format_converter_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1736422894.615216382] [centerpose_encoder.image_format_converter_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1736422894.618824158] [centerpose_encoder.image_format_converter_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1736422894.716820978] [centerpose_encoder.image_format_converter_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1736422894.730355585] [centerpose_encoder.image_format_converter_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] [1736422894.733222030] [centerpose_encoder.image_format_converter_node]: [NitrosNode] Starting negotiation…
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ‘/centerpose_encoder/image_format_converter_node’ in container ‘centerpose_container’
[component_container_mt-1] [INFO] [1736422894.734013760] [centerpose_encoder.resize_node]: Negotiating
[component_container_mt-1] [INFO] [1736422894.735567365] [centerpose_container]: Load Library: /home/rx/workspaces/isaac_ros-dev/install/isaac_ros_centerpose/lib/libcenterpose_visualizer_node.so
[component_container_mt-1] [INFO] [1736422894.748658972] [centerpose_container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::centerpose::CenterPoseVisualizerNode
[component_container_mt-1] [INFO] [1736422894.748877592] [centerpose_container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::centerpose::CenterPoseVisualizerNode
[component_container_mt-1] [INFO] [1736422894.759531099] [centerpose_visualizer_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1736422894.760757029] [centerpose_visualizer_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1736422894.769678055] [centerpose_visualizer_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1736422894.772721649] [centerpose_visualizer_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1736422894.776607852] [centerpose_visualizer_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1736422894.787891396] [centerpose_visualizer_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1736422894.797820243] [centerpose_visualizer_node]: [NitrosNode] Starting negotiation…
[component_container_mt-1] [INFO] [1736422894.798973631] [centerpose_decoder_node]: Negotiating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ‘/centerpose_visualizer_node’ in container ‘/centerpose_container’
[component_container_mt-1] [INFO] [1736422894.799382168] [centerpose_inference]: Negotiating
[component_container_mt-1] [INFO] [1736422894.799478006] [centerpose_inference]: Could not negotiate
[component_container_mt-1] [INFO] [1736422894.800046956] [centerpose_container]: Load Library: /opt/ros/humble/lib/libcrop_node.so
[component_container_mt-1] [INFO] [1736422894.805666120] [centerpose_container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::image_proc::CropNode
[component_container_mt-1] [INFO] [1736422894.805789606] [centerpose_container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::image_proc::CropNode
[component_container_mt-1] [INFO] [1736422894.822076549] [centerpose_encoder.crop_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1736422894.823377293] [centerpose_encoder.crop_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1736422894.851325373] [centerpose_encoder.crop_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1736422894.853763794] [centerpose_encoder.crop_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1736422894.859923812] [centerpose_encoder.crop_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1736422894.927573235] [centerpose_encoder.crop_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1736422894.936691057] [centerpose_encoder.crop_node]: [NitrosNode] Starting negotiation…
[component_container_mt-1] [INFO] [1736422894.938300693] [centerpose_encoder.resize_node]: Negotiating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ‘/centerpose_encoder/crop_node’ in container ‘centerpose_container’
[component_container_mt-1] [INFO] [1736422894.938348148] [centerpose_encoder.image_format_converter_node]: Negotiating
[component_container_mt-1] [INFO] [1736422894.938967817] [centerpose_encoder.resize_node]: Negotiating
[component_container_mt-1] [INFO] [1736422894.940724266] [centerpose_encoder.crop_node]: Negotiating
[component_container_mt-1] [INFO] [1736422894.940783625] [centerpose_encoder.crop_node]: Could not negotiate
[component_container_mt-1] [INFO] [1736422894.940809832] [centerpose_encoder.crop_node]: Negotiating
[component_container_mt-1] [INFO] [1736422894.940822568] [centerpose_encoder.crop_node]: Could not negotiate
[component_container_mt-1] [INFO] [1736422894.944269323] [centerpose_container]: Load Library: /home/rx/workspaces/isaac_ros-dev/install/isaac_ros_tensor_proc/lib/libimage_to_tensor_node.so
[component_container_mt-1] [INFO] [1736422895.010486963] [centerpose_container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::dnn_inference::ImageToTensorNode
[component_container_mt-1] [INFO] [1736422895.010637712] [centerpose_container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::dnn_inference::ImageToTensorNode
[component_container_mt-1] [INFO] [1736422895.023691336] [centerpose_encoder.image_to_tensor.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1736422895.024386300] [centerpose_encoder.crop_node]: Negotiating
[component_container_mt-1] [INFO] [1736422895.024887923] [centerpose_encoder.image_format_converter_node]: Negotiating
[component_container_mt-1] [INFO] [1736422895.024919282] [centerpose_encoder.resize_node]: Negotiating
[component_container_mt-1] [INFO] [1736422895.028147673] [centerpose_encoder.image_to_tensor.ManagedNitrosPublisher]: Starting Managed Nitros Publisher
[component_container_mt-1] [INFO] [1736422895.093798667] [centerpose_inference]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1736422895.093913705] [centerpose_inference]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1736422895.093950152] [centerpose_inference]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1736422895.093970600] [centerpose_inference]: [NitrosPublisher] Use only the compatible publisher: topic_name=“/tensor_sub”, data_format=“nitros_tensor_list_nhwc_rgb_f32”
[component_container_mt-1] [INFO] [1736422895.094077254] [centerpose_inference]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1736422895.094101318] [centerpose_inference]: [NitrosSubscriber] Use the compatible subscriber: topic_name=“/tensor_pub”, data_format=“nitros_tensor_list_nchw_rgb_f32”
[component_container_mt-1] [INFO] [1736422895.094466495] [centerpose_inference]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1736422895.138549392] [centerpose_inference]: [NitrosNode] Wrote the final top level YAML graph to “/tmp/isaac_ros_nitros/graphs/AYWKATIOCJ/AYWKATIOCJ.yaml”
[component_container_mt-1] [INFO] [1736422895.138663694] [centerpose_inference]: [NitrosNode] Loading application
[component_container_mt-1] 2025-01-09 19:41:35.142 WARN gxf/std/yaml_file_loader.cpp@1076: Using unregistered parameter ‘dev_id’ in component ‘stream’.
[component_container_mt-1] [INFO] [1736422895.142459627] [centerpose_inference]: In TensorRTNode postLoadGraphCallback().
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ‘/centerpose_encoder/image_to_tensor’ in container ‘centerpose_container’
[component_container_mt-1] [INFO] [1736422895.153412744] [centerpose_container]: Load Library: /home/rx/workspaces/isaac_ros-dev/install/isaac_ros_tensor_proc/lib/libimage_tensor_normalize_node.so
[component_container_mt-1] [INFO] [1736422895.160843876] [centerpose_container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::dnn_inference::ImageTensorNormalizeNode
[component_container_mt-1] [INFO] [1736422895.160967554] [centerpose_container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::dnn_inference::ImageTensorNormalizeNode
[component_container_mt-1] [INFO] [1736422895.186321568] [centerpose_encoder.normalize_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1736422895.186716985] [centerpose_encoder.image_to_tensor]: Negotiating
[component_container_mt-1] [INFO] [1736422895.186867990] [centerpose_encoder.image_to_tensor]: Could not negotiate
[component_container_mt-1] [INFO] [1736422895.189542503] [centerpose_encoder.normalize_node.ManagedNitrosPublisher]: Starting Managed Nitros Publisher
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ‘/centerpose_encoder/normalize_node’ in container ‘centerpose_container’
[component_container_mt-1] [INFO] [1736422895.199660595] [centerpose_container]: Load Library: /home/rx/workspaces/isaac_ros-dev/install/isaac_ros_tensor_proc/lib/libinterleaved_to_planar_node.so
[component_container_mt-1] [INFO] [1736422895.205968643] [centerpose_container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::dnn_inference::InterleavedToPlanarNode
[component_container_mt-1] [INFO] [1736422895.206074881] [centerpose_container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::dnn_inference::InterleavedToPlanarNode
[component_container_mt-1] [INFO] [1736422895.220726621] [centerpose_encoder.interleaved_to_planar_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1736422895.223084147] [centerpose_encoder.interleaved_to_planar_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1736422895.239235188] [centerpose_encoder.interleaved_to_planar_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1736422895.240852695] [centerpose_encoder.interleaved_to_planar_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [ERROR] [1736422895.242329277] [TRT]: TRT ERROR: 1: [stdArchiveReader.cpp::stdArchiveReaderInitCommon::47] Error Code 1: Serialization (Serialization assertion stdVersionRead == kSERIALIZATION_VERSION failed.Version tag does not match. Note: Current Version: 237, Serialized Engine Version: 236)
[ERROR] [component_container_mt-1]: process has died [pid 39700, exit code -11, cmd ‘/opt/ros/humble/lib/rclcpp_components/component_container_mt --ros-args -r __node:=centerpose_container -r __ns:=/’].
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[WARNING] [launch_ros.actions.load_composable_nodes]: Abandoning wait for the ‘centerpose_container/_container/load_node’ service response, due to shutdown.
[ERROR] [launch]: Caught exception in launch (see debug for traceback): cannot use Destroyable because destruction was requested.
I found that the data formats nitros_tensor_stist_nchw_rgc_f32 and nitros_tensor_stist_nhwc_rgc_f32 may not match correctly.
I don’t know how to solve this problem. Do you have any suggestions
I solved the problem of system throttled due to over current by customizing the power mode, but my model’s inference frame rate did not improve significantly. How can I set the maximum performance of orin to avoid the issue of system throttled due to over current
Have you tried turning off the display and remotely connecting to your Jetson? Based on your previous screenshot, it seems you are working directly on your board.
Working remotely (example you can work with Foxglove) you can save other resources from your board.
Meanwhile, you can run our benchmark to check if the algorithm works at the right speed: isaac_ros_benchmark — isaac_ros_docs documentation
Best,
Raffaello
Can you help me take a look at the error issue and how I can solve it
rx@ubuntu:~/workspaces/isaac_ros-dev$ ros2 launch isaac_ros_centerpose isaac_ros_centerpose_tensor_rt.launch.py
[INFO] [launch]: All log files can be found below /home/rx/.ros/log/2025-01-10-14-45-51-740774-ubuntu-5090
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container_mt-1]: process started with pid [5103]
[component_container_mt-1] [INFO] [1736491552.167591414] [centerpose_container]: Load Library: /home/rx/workspaces/isaac_ros-dev/install/isaac_ros_tensor_rt/lib/libtensor_rt_node.so
[component_container_mt-1] [INFO] [1736491552.274659204] [centerpose_container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::dnn_inference::TensorRTNode
[component_container_mt-1] [INFO] [1736491552.274945850] [centerpose_container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::dnn_inference::TensorRTNode
[component_container_mt-1] [INFO] [1736491552.294821012] [centerpose_inference]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1736491552.295765714] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/std/libgxf_std.so
[component_container_mt-1] [INFO] [1736491552.297521908] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_gxf_helpers.so
[component_container_mt-1] [INFO] [1736491552.305356284] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_sight.so
[component_container_mt-1] [INFO] [1736491552.314199488] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_atlas.so
[component_container_mt-1] 2025-01-10 14:45:52.331 WARN gxf/std/program.cpp@538: No GXF scheduler specified.
[component_container_mt-1] [INFO] [1736491552.332914499] [centerpose_inference]: [TensorRTNode] Set input data format to: “nitros_tensor_list_nchw_rgb_f32”
[component_container_mt-1] [INFO] [1736491552.332983265] [centerpose_inference]: [TensorRTNode] Set output data format to: “nitros_tensor_list_nhwc_rgb_f32”
[component_container_mt-1] [INFO] [1736491552.333087293] [centerpose_inference]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1736491552.339805101] [centerpose_inference]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1736491552.340158592] [centerpose_inference]: [NitrosContext] Loading extension: gxf/lib/multimedia/libgxf_multimedia.so
[component_container_mt-1] [INFO] [1736491552.343990679] [centerpose_inference]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_message_compositor.so
[component_container_mt-1] [INFO] [1736491552.344803322] [centerpose_inference]: [NitrosContext] Loading extension: gxf/lib/cuda/libgxf_cuda.so
[component_container_mt-1] [INFO] [1736491552.348913224] [centerpose_inference]: [NitrosContext] Loading extension: gxf/lib/serialization/libgxf_serialization.so
[component_container_mt-1] [INFO] [1736491552.354519903] [centerpose_inference]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_tensor_rt.so
[component_container_mt-1] [INFO] [1736491552.356089639] [centerpose_inference]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1736491552.358447123] [centerpose_inference]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1736491552.379807640] [centerpose_inference]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1736491552.381540762] [centerpose_inference]: [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] [1736491552.381631703] [centerpose_inference]: [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] [1736491552.386531751] [centerpose_inference]: [NitrosNode] Starting negotiation…
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ‘/centerpose_inference’ in container ‘/centerpose_container’
[component_container_mt-1] [INFO] [1736491552.388249098] [centerpose_container]: Load Library: /opt/ros/humble/lib/libresize_node.so
[component_container_mt-1] [INFO] [1736491552.411833376] [centerpose_container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::image_proc::ResizeNode
[component_container_mt-1] [INFO] [1736491552.411966203] [centerpose_container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::image_proc::ResizeNode
[component_container_mt-1] [INFO] [1736491552.422704571] [centerpose_encoder.resize_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1736491552.424699892] [centerpose_encoder.resize_node]: [ResizeNode] Set output data format to: “nitros_image_rgb8”
[component_container_mt-1] [INFO] [1736491552.424934699] [centerpose_encoder.resize_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1736491552.457002098] [centerpose_encoder.resize_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1736491552.458591289] [centerpose_encoder.resize_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_tensorops.so
[component_container_mt-1] [INFO] [1736491552.468827147] [centerpose_encoder.resize_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1736491552.477677231] [centerpose_encoder.resize_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1736491552.750935116] [centerpose_encoder.resize_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1736491552.756217711] [centerpose_encoder.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] [1736491552.768510264] [centerpose_encoder.resize_node]: [NitrosNode] Starting negotiation…
[component_container_mt-1] [INFO] [1736491552.769986147] [centerpose_container]: Load Library: /home/rx/workspaces/isaac_ros-dev/install/isaac_ros_centerpose/lib/libcenterpose_decoder_node.so
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ‘/centerpose_encoder/resize_node’ in container ‘centerpose_container’
[component_container_mt-1] [INFO] [1736491552.801124395] [centerpose_container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::centerpose::CenterPoseDecoderNode
[component_container_mt-1] [INFO] [1736491552.801262246] [centerpose_container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::centerpose::CenterPoseDecoderNode
[component_container_mt-1] [INFO] [1736491552.811950248] [centerpose_decoder_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1736491552.813464402] [centerpose_decoder_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1736491552.823686565] [centerpose_decoder_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1736491552.825667486] [centerpose_decoder_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_centerpose.so
[component_container_mt-1] [INFO] [1736491552.837531766] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_messages.so
[component_container_mt-1] [INFO] [1736491552.839152860] [centerpose_decoder_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1736491552.843556127] [centerpose_decoder_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1736491552.857011326] [centerpose_decoder_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1736491552.865391283] [centerpose_decoder_node]: [NitrosNode] Starting negotiation…
[component_container_mt-1] [INFO] [1736491552.866232949] [centerpose_inference]: Negotiating
[component_container_mt-1] [INFO] [1736491552.866326353] [centerpose_inference]: Could not negotiate
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ‘/centerpose_decoder_node’ in container ‘/centerpose_container’
[component_container_mt-1] [INFO] [1736491552.867452713] [centerpose_container]: Load Library: /opt/ros/humble/lib/libimage_format_converter_node.so
[component_container_mt-1] [INFO] [1736491552.871714321] [centerpose_container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::image_proc::ImageFormatConverterNode
[component_container_mt-1] [INFO] [1736491552.871782286] [centerpose_container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::image_proc::ImageFormatConverterNode
[component_container_mt-1] [INFO] [1736491552.882519055] [centerpose_encoder.image_format_converter_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1736491552.883624199] [centerpose_encoder.image_format_converter_node]: [ImageFormatConverterNode] Set output data format to: “nitros_image_rgb8”
[component_container_mt-1] [INFO] [1736491552.883809985] [centerpose_encoder.image_format_converter_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1736491552.914133797] [centerpose_encoder.image_format_converter_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1736491552.915708941] [centerpose_encoder.image_format_converter_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1736491552.919257998] [centerpose_encoder.image_format_converter_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1736491553.015524100] [centerpose_encoder.image_format_converter_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1736491553.029328700] [centerpose_encoder.image_format_converter_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] [1736491553.031972607] [centerpose_encoder.image_format_converter_node]: [NitrosNode] Starting negotiation…
[component_container_mt-1] [INFO] [1736491553.032798850] [centerpose_encoder.resize_node]: Negotiating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ‘/centerpose_encoder/image_format_converter_node’ in container ‘centerpose_container’
[component_container_mt-1] [INFO] [1736491553.033380525] [centerpose_container]: Load Library: /home/rx/workspaces/isaac_ros-dev/install/isaac_ros_centerpose/lib/libcenterpose_visualizer_node.so
[component_container_mt-1] [INFO] [1736491553.046652057] [centerpose_container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::centerpose::CenterPoseVisualizerNode
[component_container_mt-1] [INFO] [1736491553.046862417] [centerpose_container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::centerpose::CenterPoseVisualizerNode
[component_container_mt-1] [INFO] [1736491553.056787507] [centerpose_visualizer_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1736491553.058289277] [centerpose_visualizer_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1736491553.068043045] [centerpose_visualizer_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1736491553.071110745] [centerpose_visualizer_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1736491553.074714041] [centerpose_visualizer_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1736491553.086697650] [centerpose_visualizer_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1736491553.096258592] [centerpose_visualizer_node]: [NitrosNode] Starting negotiation…
[component_container_mt-1] [INFO] [1736491553.097359194] [centerpose_decoder_node]: Negotiating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ‘/centerpose_visualizer_node’ in container ‘/centerpose_container’
[component_container_mt-1] [INFO] [1736491553.097691310] [centerpose_inference]: Negotiating
[component_container_mt-1] [INFO] [1736491553.097811850] [centerpose_inference]: Could not negotiate
[component_container_mt-1] [INFO] [1736491553.098264986] [centerpose_container]: Load Library: /opt/ros/humble/lib/libcrop_node.so
[component_container_mt-1] [INFO] [1736491553.105976617] [centerpose_container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::image_proc::CropNode
[component_container_mt-1] [INFO] [1736491553.106093477] [centerpose_container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::image_proc::CropNode
[component_container_mt-1] [INFO] [1736491553.118195770] [centerpose_encoder.crop_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1736491553.120608516] [centerpose_encoder.crop_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1736491553.151282665] [centerpose_encoder.crop_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1736491553.153293282] [centerpose_encoder.crop_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1736491553.160827384] [centerpose_encoder.crop_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1736491553.226959320] [centerpose_encoder.crop_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1736491553.236068438] [centerpose_encoder.crop_node]: [NitrosNode] Starting negotiation…
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ‘/centerpose_encoder/crop_node’ in container ‘centerpose_container’
[component_container_mt-1] [INFO] [1736491553.237714172] [centerpose_encoder.resize_node]: Negotiating
[component_container_mt-1] [INFO] [1736491553.237841560] [centerpose_encoder.image_format_converter_node]: Negotiating
[component_container_mt-1] [INFO] [1736491553.238289640] [centerpose_encoder.resize_node]: Negotiating
[component_container_mt-1] [INFO] [1736491553.239861616] [centerpose_encoder.crop_node]: Negotiating
[component_container_mt-1] [INFO] [1736491553.239966572] [centerpose_encoder.crop_node]: Could not negotiate
[component_container_mt-1] [INFO] [1736491553.240015819] [centerpose_encoder.crop_node]: Negotiating
[component_container_mt-1] [INFO] [1736491553.240042250] [centerpose_encoder.crop_node]: Could not negotiate
[component_container_mt-1] [INFO] [1736491553.242686444] [centerpose_container]: Load Library: /home/rx/workspaces/isaac_ros-dev/install/isaac_ros_tensor_proc/lib/libimage_to_tensor_node.so
[component_container_mt-1] [INFO] [1736491553.301257080] [centerpose_container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::dnn_inference::ImageToTensorNode
[component_container_mt-1] [INFO] [1736491553.301389075] [centerpose_container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::dnn_inference::ImageToTensorNode
[component_container_mt-1] [INFO] [1736491553.312792224] [centerpose_encoder.image_to_tensor.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1736491553.313705856] [centerpose_encoder.crop_node]: Negotiating
[component_container_mt-1] [INFO] [1736491553.314352425] [centerpose_encoder.image_format_converter_node]: Negotiating
[component_container_mt-1] [INFO] [1736491553.314406663] [centerpose_encoder.resize_node]: Negotiating
[component_container_mt-1] [INFO] [1736491553.315694266] [centerpose_encoder.image_to_tensor.ManagedNitrosPublisher]: Starting Managed Nitros Publisher
[component_container_mt-1] [INFO] [1736491553.387694923] [centerpose_inference]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1736491553.387820774] [centerpose_inference]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1736491553.387866564] [centerpose_inference]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1736491553.387928866] [centerpose_inference]: [NitrosPublisher] Use only the compatible publisher: topic_name=“/tensor_sub”, data_format=“nitros_tensor_list_nhwc_rgb_f32”
[component_container_mt-1] [INFO] [1736491553.388041470] [centerpose_inference]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1736491553.388066653] [centerpose_inference]: [NitrosSubscriber] Use the compatible subscriber: topic_name=“/tensor_pub”, data_format=“nitros_tensor_list_nchw_rgb_f32”
[component_container_mt-1] [INFO] [1736491553.388440016] [centerpose_inference]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1736491553.422257030] [centerpose_inference]: [NitrosNode] Wrote the final top level YAML graph to “/tmp/isaac_ros_nitros/graphs/ZQKWZDHQIH/ZQKWZDHQIH.yaml”
[component_container_mt-1] [INFO] [1736491553.422413984] [centerpose_inference]: [NitrosNode] Loading application
[component_container_mt-1] 2025-01-10 14:45:53.426 WARN gxf/std/yaml_file_loader.cpp@1076: Using unregistered parameter ‘dev_id’ in component ‘stream’.
[component_container_mt-1] [INFO] [1736491553.426861731] [centerpose_inference]: In TensorRTNode postLoadGraphCallback().
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ‘/centerpose_encoder/image_to_tensor’ in container ‘centerpose_container’
[component_container_mt-1] [INFO] [1736491553.436356212] [centerpose_container]: Load Library: /home/rx/workspaces/isaac_ros-dev/install/isaac_ros_tensor_proc/lib/libimage_tensor_normalize_node.so
[component_container_mt-1] [INFO] [1736491553.443475256] [centerpose_container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::dnn_inference::ImageTensorNormalizeNode
[component_container_mt-1] [INFO] [1736491553.443628467] [centerpose_container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::dnn_inference::ImageTensorNormalizeNode
[component_container_mt-1] [INFO] [1736491553.472396923] [centerpose_encoder.normalize_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1736491553.473249629] [centerpose_encoder.image_to_tensor]: Negotiating
[component_container_mt-1] [INFO] [1736491553.473399543] [centerpose_encoder.image_to_tensor]: Could not negotiate
[component_container_mt-1] [INFO] [1736491553.476007995] [centerpose_encoder.normalize_node.ManagedNitrosPublisher]: Starting Managed Nitros Publisher
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ‘/centerpose_encoder/normalize_node’ in container ‘centerpose_container’
[component_container_mt-1] [INFO] [1736491553.485277748] [centerpose_container]: Load Library: /home/rx/workspaces/isaac_ros-dev/install/isaac_ros_tensor_proc/lib/libinterleaved_to_planar_node.so
[component_container_mt-1] [INFO] [1736491553.491259681] [centerpose_container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::dnn_inference::InterleavedToPlanarNode
[component_container_mt-1] [INFO] [1736491553.491368285] [centerpose_container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::dnn_inference::InterleavedToPlanarNode
[component_container_mt-1] [INFO] [1736491553.506930263] [centerpose_encoder.interleaved_to_planar_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1736491553.509516732] [centerpose_encoder.interleaved_to_planar_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1736491553.526710012] [centerpose_encoder.interleaved_to_planar_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1736491553.528531484] [centerpose_encoder.interleaved_to_planar_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1736491553.533025661] [centerpose_encoder.interleaved_to_planar_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1736491553.548046699] [centerpose_encoder.interleaved_to_planar_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1736491553.555584289] [centerpose_encoder.interleaved_to_planar_node]: [NitrosNode] Starting negotiation…
[component_container_mt-1] [INFO] [1736491553.556920977] [centerpose_encoder.normalize_node]: Negotiating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ‘/centerpose_encoder/interleaved_to_planar_node’ in container ‘centerpose_container’
[component_container_mt-1] [INFO] [1736491553.562349266] [centerpose_container]: Load Library: /home/rx/workspaces/isaac_ros-dev/install/isaac_ros_tensor_proc/lib/libreshape_node.so
[component_container_mt-1] [INFO] [1736491553.567851151] [centerpose_container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::dnn_inference::ReshapeNode
[component_container_mt-1] [INFO] [1736491553.567954892] [centerpose_container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::dnn_inference::ReshapeNode
[component_container_mt-1] [INFO] [1736491553.583327885] [centerpose_encoder.reshape_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1736491553.585877875] [centerpose_encoder.reshape_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1736491553.602549030] [centerpose_encoder.reshape_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1736491553.604420388] [centerpose_encoder.reshape_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1736491553.609050528] [centerpose_encoder.reshape_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1736491553.625199654] [centerpose_encoder.reshape_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1736491553.633432099] [centerpose_encoder.reshape_node]: [NitrosNode] Starting negotiation…
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ‘/centerpose_encoder/reshape_node’ in container ‘centerpose_container’
[component_container_mt-1] [INFO] [1736491553.634908815] [centerpose_encoder.interleaved_to_planar_node]: Negotiating
[component_container_mt-1] [INFO] [1736491553.636211329] [centerpose_encoder.normalize_node]: Negotiating
[component_container_mt-1] [INFO] [1736491553.650624036] [centerpose_inference]: Read tensor shape information from TRT Model Engine: /home/rx/workspaces/isaac_ros-dev/isaac_ros_assets/models/centerpose_shoe/1/model.plan
[component_container_mt-1] [INFO] [1736491553.650945432] [centerpose_inference]: Tensors 6400 bytes, num outputs 40 x tensors per output 7 = 280 blocks
[component_container_mt-1] [INFO] [1736491553.651231246] [centerpose_inference]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1736491553.653094124] [centerpose_inference]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1736491553.705169885] [centerpose_encoder.reshape_node]: Negotiating
[component_container_mt-1] [INFO] [1736491553.706080477] [centerpose_encoder.interleaved_to_planar_node]: Negotiating
[component_container_mt-1] [INFO] [1736491553.706581515] [centerpose_encoder.normalize_node]: Negotiating
[component_container_mt-1] [INFO] [1736491553.769538395] [centerpose_encoder.resize_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1736491553.769642264] [centerpose_encoder.resize_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1736491553.769665271] [centerpose_encoder.resize_node]: [NitrosPublisher] Use the negotiated data format: “nitros_image_rgb8”
[component_container_mt-1] [INFO] [1736491553.769685974] [centerpose_encoder.resize_node]: [NitrosPublisher] Use the negotiated data format: “nitros_camera_info”
[component_container_mt-1] [INFO] [1736491553.769704182] [centerpose_encoder.resize_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1736491553.769717685] [centerpose_encoder.resize_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name=“/image”, data_format=“nitros_image_rgb8”
[component_container_mt-1] [INFO] [1736491553.769730869] [centerpose_encoder.resize_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1736491553.769740980] [centerpose_encoder.resize_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name=“/camera_info”, data_format=“nitros_camera_info”
[component_container_mt-1] [INFO] [1736491553.769995787] [centerpose_encoder.resize_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1736491553.784615911] [centerpose_encoder.resize_node]: [NitrosNode] Wrote the final top level YAML graph to “/tmp/isaac_ros_nitros/graphs/UKJJWYKVVS/UKJJWYKVVS.yaml”
[component_container_mt-1] [INFO] [1736491553.784714435] [centerpose_encoder.resize_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1736491553.789354528] [centerpose_encoder.resize_node]: [ResizeNode] postLoadGraphCallback().
[component_container_mt-1] [INFO] [1736491553.789570648] [centerpose_encoder.resize_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1736491553.831969502] [centerpose_encoder.resize_node]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1736491553.866711091] [centerpose_decoder_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1736491553.866829327] [centerpose_decoder_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1736491553.866857166] [centerpose_decoder_node]: [NitrosPublisher] Use the negotiated data format: “nitros_detection3_d_array”
[component_container_mt-1] [INFO] [1736491553.866878285] [centerpose_decoder_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1736491553.866892077] [centerpose_decoder_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name=“/tensor_sub”, data_format=“nitros_tensor_list_nchw_rgb_f32”
[component_container_mt-1] [INFO] [1736491553.866907468] [centerpose_decoder_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1736491553.866918828] [centerpose_decoder_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name=“/camera_info”, data_format=“nitros_camera_info”
[component_container_mt-1] [INFO] [1736491553.867183970] [centerpose_decoder_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1736491553.872542341] [centerpose_decoder_node]: [NitrosNode] Wrote the final top level YAML graph to “/tmp/isaac_ros_nitros/graphs/QRKFBHKKAJ/QRKFBHKKAJ.yaml”
[component_container_mt-1] [INFO] [1736491553.872621026] [centerpose_decoder_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1736491553.875589882] [centerpose_decoder_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1736491553.877016967] [centerpose_decoder_node]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1736491554.033195015] [centerpose_encoder.image_format_converter_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1736491554.033307043] [centerpose_encoder.image_format_converter_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1736491554.033331170] [centerpose_encoder.image_format_converter_node]: [NitrosPublisher] Use the negotiated data format: “nitros_image_rgb8”
[component_container_mt-1] [INFO] [1736491554.033350977] [centerpose_encoder.image_format_converter_node]: [NitrosSubscriber] Use the negotiated data format: “nitros_image_rgb8”
[component_container_mt-1] [INFO] [1736491554.033590137] [centerpose_encoder.image_format_converter_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1736491554.049260790] [centerpose_encoder.image_format_converter_node]: [NitrosNode] Wrote the final top level YAML graph to “/tmp/isaac_ros_nitros/graphs/PJBEIQPECS/PJBEIQPECS.yaml”
[component_container_mt-1] [INFO] [1736491554.049359538] [centerpose_encoder.image_format_converter_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1736491554.050930491] [centerpose_encoder.image_format_converter_node]: [ImageFormatConverterNode] postLoadGraphCallback().
[component_container_mt-1] [INFO] [1736491554.051045847] [centerpose_encoder.image_format_converter_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1736491554.056187876] [centerpose_encoder.image_format_converter_node]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1736491554.097152493] [centerpose_visualizer_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1736491554.097245290] [centerpose_visualizer_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1736491554.097268649] [centerpose_visualizer_node]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1736491554.097285384] [centerpose_visualizer_node]: [NitrosPublisher] Use only the compatible publisher: topic_name=“/centerpose/image_visualized”, data_format=“nitros_image_bgr8”
[component_container_mt-1] [INFO] [1736491554.097304200] [centerpose_visualizer_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1736491554.097317415] [centerpose_visualizer_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name=“/image”, data_format=“nitros_image_bgr8”
[component_container_mt-1] [INFO] [1736491554.097332999] [centerpose_visualizer_node]: [NitrosSubscriber] Use the negotiated data format: “nitros_detection3_d_array”
[component_container_mt-1] [INFO] [1736491554.097348230] [centerpose_visualizer_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1736491554.097359334] [centerpose_visualizer_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name=“/camera_info”, data_format=“nitros_camera_info”
[component_container_mt-1] [INFO] [1736491554.097612349] [centerpose_visualizer_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1736491554.100498968] [centerpose_visualizer_node]: [NitrosNode] Wrote the final top level YAML graph to “/tmp/isaac_ros_nitros/graphs/USAYPBJLHN/USAYPBJLHN.yaml”
[component_container_mt-1] [INFO] [1736491554.100561398] [centerpose_visualizer_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1736491554.102713515] [centerpose_visualizer_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1736491554.104056892] [centerpose_visualizer_node]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1736491554.237713632] [centerpose_encoder.crop_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1736491554.237832827] [centerpose_encoder.crop_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1736491554.237875514] [centerpose_encoder.crop_node]: [NitrosPublisher] Use the negotiated data format: “nitros_image_rgb8”
[component_container_mt-1] [INFO] [1736491554.237912537] [centerpose_encoder.crop_node]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1736491554.238037044] [centerpose_encoder.crop_node]: [NitrosPublisher] Use only the compatible publisher: topic_name=“/centerpose_encoder/crop/camera_info”, data_format=“nitros_camera_info”
[component_container_mt-1] [INFO] [1736491554.238074323] [centerpose_encoder.crop_node]: [NitrosSubscriber] Use the negotiated data format: “nitros_image_rgb8”
[component_container_mt-1] [INFO] [1736491554.238153552] [centerpose_encoder.crop_node]: [NitrosSubscriber] Use the negotiated data format: “nitros_camera_info”
[component_container_mt-1] [INFO] [1736491554.238500580] [centerpose_encoder.crop_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1736491554.319870538] [centerpose_encoder.crop_node]: [NitrosNode] Wrote the final top level YAML graph to “/tmp/isaac_ros_nitros/graphs/OQNEDQGLIM/OQNEDQGLIM.yaml”
[component_container_mt-1] [INFO] [1736491554.320001126] [centerpose_encoder.crop_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1736491554.323823776] [centerpose_encoder.crop_node]: [CropNode] postLoadGraphCallback().
[component_container_mt-1] [INFO] [1736491554.324008730] [centerpose_encoder.crop_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1736491554.327223721] [centerpose_encoder.crop_node]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1736491554.556762808] [centerpose_encoder.interleaved_to_planar_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1736491554.556911475] [centerpose_encoder.interleaved_to_planar_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1736491554.556953330] [centerpose_encoder.interleaved_to_planar_node]: [NitrosPublisher] Use the negotiated data format: “nitros_tensor_list_nchw_rgb_f32”
[component_container_mt-1] [INFO] [1736491554.556985681] [centerpose_encoder.interleaved_to_planar_node]: [NitrosSubscriber] Use the negotiated data format: “nitros_tensor_list_nhwc_rgb_f32”
[component_container_mt-1] [INFO] [1736491554.557324389] [centerpose_encoder.interleaved_to_planar_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1736491554.566021845] [centerpose_encoder.interleaved_to_planar_node]: [NitrosNode] Wrote the final top level YAML graph to “/tmp/isaac_ros_nitros/graphs/HZDEPSIVOA/HZDEPSIVOA.yaml”
[component_container_mt-1] [INFO] [1736491554.566122737] [centerpose_encoder.interleaved_to_planar_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1736491554.570043816] [centerpose_encoder.interleaved_to_planar_node]: In InterleavedToPlanarNode postLoadGraphCallback().
[component_container_mt-1] [INFO] [1736491554.570233666] [centerpose_encoder.interleaved_to_planar_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1736491554.579410049] [centerpose_encoder.interleaved_to_planar_node]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1736491554.635438108] [centerpose_encoder.reshape_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1736491554.635575384] [centerpose_encoder.reshape_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1736491554.635614198] [centerpose_encoder.reshape_node]: [NitrosPublisher] Use the negotiated data format: “nitros_tensor_list_nchw_rgb_f32”
[component_container_mt-1] [INFO] [1736491554.635647701] [centerpose_encoder.reshape_node]: [NitrosSubscriber] Use the negotiated data format: “nitros_tensor_list_nchw_rgb_f32”
[component_container_mt-1] [INFO] [1736491554.636014600] [centerpose_encoder.reshape_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1736491554.645172264] [centerpose_encoder.reshape_node]: [NitrosNode] Wrote the final top level YAML graph to “/tmp/isaac_ros_nitros/graphs/WEEPCVHRXQ/WEEPCVHRXQ.yaml”
[component_container_mt-1] [INFO] [1736491554.645274757] [centerpose_encoder.reshape_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1736491554.649538384] [centerpose_encoder.reshape_node]: In ReshapeNode postLoadGraphCallback().
[component_container_mt-1] [INFO] [1736491554.649760328] [centerpose_encoder.reshape_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1736491554.661803012] [centerpose_encoder.reshape_node]: [NitrosNode] Node was started
The above is the output information I adjusted the parameters and ran. You can see that there were no obvious errors, but when I ran ros2, rqt_image_view, rqt_image_view/centerpose/image_isualized, no images were displayed,
And/centerpose_encoder/converted/image/ centerpose_encoder/crop/image、/centerpose_encoder/crop/image/nitros/nitros_image_rgb8、/centerpose_encoder/resize/image
The/ image， There is no display screen, and I echo these topics without any output. May I ask what the problem is and which step went wrong.