Issue with nvblox realsense_dynamics_example

I can successfully run the static realsense example, but when I run the dynamic example, I get the following before it crashes:

[component_container_mt-1] /workspaces/isaac_ros-dev/src/isaac_ros_nvblox/nvblox/nvblox/src/integrators/freespace_integrator.cu:192: void nvblox::PaddedBlock::populateVoxel(const Eigen::Matrix<int, 3, 1, 0, 3, 1> &, const Eigen::Matrix<int, 3, 1, 0, 3, 1> &, const nvblox::BlockNeighborhood &) [with VoxelType = nvblox::FreespaceVoxel]: block: [7,0,0], thread: [2,9,9] Assertion !isWithinBlockBounds(source_voxel_index) failed.
[component_container_mt-1] /workspaces/isaac_ros-dev/src/isaac_ros_nvblox/nvblox/nvblox/src/integrators/freespace_integrator.cu:192: void nvblox::PaddedBlock::populateVoxel(const Eigen::Matrix<int, 3, 1, 0, 3, 1> &, const Eigen::Matrix<int, 3, 1, 0, 3, 1> &, const nvblox::BlockNeighborhood &) [with VoxelType = nvblox::FreespaceVoxel]: block: [7,0,0], thread: [3,9,9] Assertion !isWithinBlockBounds(source_voxel_index) failed.
[component_container_mt-1] /workspaces/isaac_ros-dev/src/isaac_ros_nvblox/nvblox/nvblox/src/integrators/freespace_integrator.cu:192: void nvblox::PaddedBlock::populateVoxel(const Eigen::Matrix<int, 3, 1, 0, 3, 1> &, const Eigen::Matrix<int, 3, 1, 0, 3, 1> &, const nvblox::BlockNeighborhood &) [with VoxelType = nvblox::FreespaceVoxel]: block: [7,0,0], thread: [4,9,9] Assertion !isWithinBlockBounds(source_voxel_index) failed.
[component_container_mt-1] /workspaces/isaac_ros-dev/src/isaac_ros_nvblox/nvblox/nvblox/src/integrators/freespace_integrator.cu:192: void nvblox::PaddedBlock::populateVoxel(const Eigen::Matrix<int, 3, 1, 0, 3, 1> &, const Eigen::Matrix<int, 3, 1, 0, 3, 1> &, const nvblox::BlockNeighborhood &) [with VoxelType = nvblox::FreespaceVoxel]: block: [7,0,0], thread: [5,9,9] Assertion !isWithinBlockBounds(source_voxel_index) failed.
[component_container_mt-1] /workspaces/isaac_ros-dev/src/isaac_ros_nvblox/nvblox/nvblox/src/integrators/freespace_integrator.cu:192: void nvblox::PaddedBlock::populateVoxel(const Eigen::Matrix<int, 3, 1, 0, 3, 1> &, const Eigen::Matrix<int, 3, 1, 0, 3, 1> &, const nvblox::BlockNeighborhood &) [with VoxelType = nvblox::FreespaceVoxel]: block: [7,0,0], thread: [6,9,9] Assertion !isWithinBlockBounds(source_voxel_index) failed.
[component_container_mt-1] /workspaces/isaac_ros-dev/src/isaac_ros_nvblox/nvblox/nvblox/src/integrators/freespace_integrator.cu:192: void nvblox::PaddedBlock::populateVoxel(const Eigen::Matrix<int, 3, 1, 0, 3, 1> &, const Eigen::Matrix<int, 3, 1, 0, 3, 1> &, const nvblox::BlockNeighborhood &) [with VoxelType = nvblox::FreespaceVoxel]: block: [7,0,0], thread: [7,9,9] Assertion !isWithinBlockBounds(source_voxel_index) failed.
[component_container_mt-1] /workspaces/isaac_ros-dev/src/isaac_ros_nvblox/nvblox/nvblox/src/integrators/freespace_integrator.cu:192: void nvblox::PaddedBlock::populateVoxel(const Eigen::Matrix<int, 3, 1, 0, 3, 1> &, const Eigen::Matrix<int, 3, 1, 0, 3, 1> &, const nvblox::BlockNeighborhood &) [with VoxelType = nvblox::FreespaceVoxel]: block: [7,0,0], thread: [8,9,9] Assertion !isWithinBlockBounds(source_voxel_index) failed.
[component_container_mt-1] /workspaces/isaac_ros-dev/src/isaac_ros_nvblox/nvblox/nvblox/src/integrators/freespace_integrator.cu:192: void nvblox::PaddedBlock::populateVoxel(const Eigen::Matrix<int, 3, 1, 0, 3, 1> &, const Eigen::Matrix<int, 3, 1, 0, 3, 1> &, const nvblox::BlockNeighborhood &) [with VoxelType = nvblox::FreespaceVoxel]: block: [7,0,0], thread: [9,9,9] Assertion !isWithinBlockBounds(source_voxel_index) failed.
[component_container_mt-1] /workspaces/isaac_ros-dev/src/isaac_ros_nvblox/nvblox/nvblox/src/integrators/freespace_integrator.cu:192: void nvblox::PaddedBlock::populateVoxel(const Eigen::Matrix<int, 3, 1, 0, 3, 1> &, const Eigen::Matrix<int, 3, 1, 0, 3, 1> &, const nvblox::BlockNeighborhood &) [with VoxelType = nvblox::FreespaceVoxel]: block: [1,0,0], thread: [2,9,9] Assertion !isWithinBlockBounds(source_voxel_index) failed.
[component_container_mt-1] /workspaces/isaac_ros-dev/src/isaac_ros_nvblox/nvblox/nvblox/src/integrators/freespace_integrator.cu:192: void nvblox::PaddedBlock::populateVoxel(const Eigen::Matrix<int, 3, 1, 0, 3, 1> &, const Eigen::Matrix<int, 3, 1, 0, 3, 1> &, const nvblox::BlockNeighborhood &) [with VoxelType = nvblox::FreespaceVoxel]: block: [1,0,0], thread: [3,9,9] Assertion !isWithinBlockBounds(source_voxel_index) failed.
[component_container_mt-1] /workspaces/isaac_ros-dev/src/isaac_ros_nvblox/nvblox/nvblox/src/integrators/freespace_integrator.cu:192: void nvblox::PaddedBlock::populateVoxel(const Eigen::Matrix<int, 3, 1, 0, 3, 1> &, const Eigen::Matrix<int, 3, 1, 0, 3, 1> &, const nvblox::BlockNeighborhood &) [with VoxelType = nvblox::FreespaceVoxel]: block: [1,0,0], thread: [4,9,9] Assertion !isWithinBlockBounds(source_voxel_index) failed.
[component_container_mt-1] /workspaces/isaac_ros-dev/src/isaac_ros_nvblox/nvblox/nvblox/src/integrators/freespace_integrator.cu:192: void nvblox::PaddedBlock::populateVoxel(const Eigen::Matrix<int, 3, 1, 0, 3, 1> &, const Eigen::Matrix<int, 3, 1, 0, 3, 1> &, const nvblox::BlockNeighborhood &) [with VoxelType = nvblox::FreespaceVoxel]: block: [1,0,0], thread: [5,9,9] Assertion !isWithinBlockBounds(source_voxel_index) failed.
[component_container_mt-1] /workspaces/isaac_ros-dev/src/isaac_ros_nvblox/nvblox/nvblox/src/integrators/freespace_integrator.cu:192: void nvblox::PaddedBlock::populateVoxel(const Eigen::Matrix<int, 3, 1, 0, 3, 1> &, const Eigen::Matrix<int, 3, 1, 0, 3, 1> &, const nvblox::BlockNeighborhood &) [with VoxelType = nvblox::FreespaceVoxel]: block: [1,0,0], thread: [6,9,9] Assertion !isWithinBlockBounds(source_voxel_index) failed.
[component_container_mt-1] /workspaces/isaac_ros-dev/src/isaac_ros_nvblox/nvblox/nvblox/src/integrators/freespace_integrator.cu:192: void nvblox::PaddedBlock::populateVoxel(const Eigen::Matrix<int, 3, 1, 0, 3, 1> &, const Eigen::Matrix<int, 3, 1, 0, 3, 1> &, const nvblox::BlockNeighborhood &) [with VoxelType = nvblox::FreespaceVoxel]: block: [1,0,0], thread: [7,9,9] Assertion !isWithinBlockBounds(source_voxel_index) failed.
[component_container_mt-1] /workspaces/isaac_ros-dev/src/isaac_ros_nvblox/nvblox/nvblox/src/integrators/freespace_integrator.cu:192: void nvblox::PaddedBlock::populateVoxel(const Eigen::Matrix<int, 3, 1, 0, 3, 1> &, const Eigen::Matrix<int, 3, 1, 0, 3, 1> &, const nvblox::BlockNeighborhood &) [with VoxelType = nvblox::FreespaceVoxel]: block: [1,0,0], thread: [8,9,9] Assertion !isWithinBlockBounds(source_voxel_index) failed.
[component_container_mt-1] /workspaces/isaac_ros-dev/src/isaac_ros_nvblox/nvblox/nvblox/src/integrators/freespace_integrator.cu:192: void nvblox::PaddedBlock::populateVoxel(const Eigen::Matrix<int, 3, 1, 0, 3, 1> &, const Eigen::Matrix<int, 3, 1, 0, 3, 1> &, const nvblox::BlockNeighborhood &) [with VoxelType = nvblox::FreespaceVoxel]: block: [1,0,0], thread: [9,9,9] Assertion !isWithinBlockBounds(source_voxel_index) failed.
[component_container_mt-1] CUDA error = 710 at /workspaces/isaac_ros-dev/src/isaac_ros_nvblox/nvblox/nvblox/src/core/cuda_stream.cpp:26 ‘cudaStreamSynchronize(*stream_ptr_)’. Error string: device-side assert triggered.
[ERROR] [component_container_mt-1]: process has died [pid 114156, exit code -6, cmd ‘/opt/ros/humble/lib/rclcpp_components/component_container_mt --ros-args -r __node:=shared_nvblox_container’].

Hi @r.jameson

I tested the demo again but didn’t experience any crashes. To better understand the root cause, have you tried rerunning the docker container and loading the ROS workspace?