Launch isaac-ros-foundationpose node failed

Robotics & Edge Computing Robotics - Isaac Isaac ROS
1

Meet Error in " `isaac_ros_foundationpose"

I follow the instructions in “isaac_ros_foundationpose — isaac_ros_docs documentation”.

But I meet the error in “ros2 launch isaac_ros_examples isaac_ros_examples.launch.py launch_fragments:=rtdetr interface_specs_file:=${ISAAC_ROS_WS}/isaac_ros_assets/isaac_ros_rtdetr/quickstart_interface_specs.json engine_file_path:=${ISAAC_ROS_WS}/isaac_ros_assets/models/synthetica_detr/sdetr_grasp.plan”

[INFO] [launch]: All log files can be found below /home/admin/.ros/log/2024-12-12-20-26-42-589801-xml-3462
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container_mt-1]: process started with pid [3472]
[component_container_mt-1] [INFO] [1734006402.909550801] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libresize_node.so
[component_container_mt-1] [INFO] [1734006402.922127646] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::ResizeNode>
[component_container_mt-1] [INFO] [1734006402.922169847] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::ResizeNode>
[component_container_mt-1] [INFO] [1734006402.924605358] [resize_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1734006402.924847168] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/std/libgxf_std.so
[component_container_mt-1] [INFO] [1734006402.926832904] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_gxf_helpers.so
[component_container_mt-1] [INFO] [1734006402.929101198] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_sight.so
[component_container_mt-1] [INFO] [1734006402.931635968] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_atlas.so
[component_container_mt-1] 2024-12-12 20:26:42.938 WARN  gxf/std/program.cpp@532: No GXF scheduler specified.
[component_container_mt-1] /opt/ros/humble/lib/rclcpp_components/component_container_mt: symbol lookup error: /opt/ros/humble/lib/libresize_node.so: undefined symbol: _ZN9isaac_ros6common15AddQosParameterERN6rclcpp4NodeENSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES9_i
[ERROR] [component_container_mt-1]: process has died [pid 3472, exit code 127, cmd '/opt/ros/humble/lib/rclcpp_components/component_container_mt --ros-args -r __node:=container -r __ns:=/isaac_ros_examples'].

It seems like some wrong settings are in environment? I don’t known which bag is not installed correctly.

2

I also failed to bring up foundation pose, but had a different error.

RtDetr quickstart came up fine, BTW.

Here were the errors bringing up FoundationPose…

Failed to load node ‘foundationpose_node’ of type ‘nvidia::isaac_ros::foundationpose::FoundationPoseNode’ in container ‘/isaac_ros_examples/container’: Failed to load library: Could not load library dlopen error: libisaac_ros_nitros_detection3_d_array_type.so: cannot open shared object file: No such file or directory, at ./src/shared_library.c:99

Earlier in the logs:
[component_container_mt-1] [INFO] [1734021769.653188232] [resize_left_viz]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1734021769.669100200] [resize_left_viz]: [ResizeNode] Set output data format to: “nitros_image_rgb8”
[component_container_mt-1] [INFO] [1734021769.669391688] [resize_left_viz]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1734021769.685734184] [resize_left_viz]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1734021769.686206920] [resize_left_viz]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1734021769.690640808] [resize_left_viz]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1734021769.717443592] [image_to_tensor_node]: Negotiating
[component_container_mt-1] [INFO] [1734021769.717577000] [image_to_tensor_node]: Could not negotiate
[component_container_mt-1] [INFO] [1734021769.733376520] [image_to_tensor_node]: Negotiating
[component_container_mt-1] [INFO] [1734021769.733544552] [image_to_tensor_node]: Could not negotiate
[component_container_mt-1] [INFO] [1734021769.754876680] [reshape_node]: Negotiating
[component_container_mt-1] 2024-12-12 11:42:50.147 ERROR ./gxf/extensions/tensor_rt/tensor_rt_inference.cpp@556: Mismatching tensor element type required 7 vs provided 5
[component_container_mt-1] 2024-12-12 11:42:50.147 ERROR gxf/std/entity_executor.cpp@596: Failed to tick codelet in entity: JYZRTWVSXA_inference code: GXF_FAILURE
[component_container_mt-1] [INFO] [1734021770.147910824] [resize_left_viz]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1734021770.153506632] [rtdetr_preprocessor]: Negotiating
[component_container_mt-1] [INFO] [1734021770.157950792] [resize_left_viz]: [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] 2024-12-12 11:42:50.188 WARN gxf/std/multi_thread_scheduler.cpp@343: Error while executing entity E618 named ‘JYZRTWVSXA_inference’: GXF_FAILURE
[component_container_mt-1] [INFO] [1734021770.236915784] [resize_left_viz]: [NitrosNode] Starting negotiation…
[component_container_mt-1] 2024-12-12 11:42:50.254 ERROR gxf/std/entity_executor.cpp@212: Entity with eid 618 not found!
[component_container_mt-1] [WARN] [1734021770.254053736] [tensor_rt]: [NitrosNode] The heartbeat entity (eid=618) was stopped. The graph may have been terminated.
[component_container_mt-1] [INFO] [1734021770.264156872] [resize_left_viz]: [NitrosNode] Terminating the running application
[component_container_mt-1] [INFO] [1734021770.264207560] [resize_left_viz]: [NitrosContext] Interrupting GXF…
[component_container_mt-1] 2024-12-12 11:42:50.264 ERROR gxf/std/program.cpp@557: Attempted interrupting when not running (state=0).
[component_container_mt-1] 2024-12-12 11:42:50.264 ERROR gxf/core/runtime.cpp@1641: Graph interrupt failed with error: GXF_INVALID_EXECUTION_SEQUENCE
[component_container_mt-1] [ERROR] [1734021770.264253576] [resize_left_viz]: [NitrosContext] GxfGraphInterrupt Error: GXF_INVALID_EXECUTION_SEQUENCE

3

Hmmm… I redid the steps and had no problems, so maybe I missed a step?

4

I found the problem, which is that the official docs were updated to 3.2 and I downloaded the latest repository version of foundationpose, which doesn’t work in the docker container I built earlier. To run the newest project, I need to build a new container …

5

This topic was automatically closed 14 days after the last reply. New replies are no longer allowed.