I have trained my model using NVIDIA TAO Toolkit (got a pth), then converted this pth using tao toolkit to onnx.
After converting the onnx to engine (model.plan) following getting started guide for isaac_sim_centerpose, I get no visualization and only see the rgb image (when selecting the visualized item) in rviz.
I have change name of my object to “custom” in the attached logs.
here’s part of the log and full log also attached here.
Could you please guide me for fixing this error?
inference_custom_isaac_ros_centerpose.txt (131.7 KB)
admin@DOS:/workspaces/isaac_ros-dev$ ros2 launch isaac_ros_examples isaac_ros_examples.launch.py launch_fragments:=realsense_mono_rect,centerpose,centerpose_visualizer model_name:=centerpose_custom model_repository_paths:=[${ISAAC_ROS_WS}/isaac_ros_assets/models]
[INFO] [launch]: All log files can be found below /home/admin/.ros/log/2025-02-10-11-30-12-186176-DOS-635
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container_mt-1]: process started with pid [648]
[component_container_mt-1] [INFO] [1739205012.508180821] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libresize_node.so
[component_container_mt-1] [INFO] [1739205012.523764136] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::ResizeNode>
[component_container_mt-1] [INFO] [1739205012.523795167] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::ResizeNode>
[component_container_mt-1] [INFO] [1739205014.697976948] [centerpose_encoder.resize_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1739205014.698246744] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/std/libgxf_std.so
[component_container_mt-1] [INFO] [1739205014.699187788] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_gxf_helpers.so
[component_container_mt-1] [INFO] [1739205014.701777955] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_sight.so
[component_container_mt-1] [INFO] [1739205014.703846490] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_atlas.so
[component_container_mt-1] 2025-02-10 11:30:14.709 WARN gxf/std/program.cpp@538: No GXF scheduler specified.
[component_container_mt-1] [INFO] [1739205014.709575459] [centerpose_encoder.resize_node]: [ResizeNode] Set output data format to: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1739205014.709637079] [centerpose_encoder.resize_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1739205014.716310384] [centerpose_encoder.resize_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1739205014.716366605] [centerpose_encoder.resize_node]: [NitrosContext] Loading extension: gxf/lib/multimedia/libgxf_multimedia.so
[component_container_mt-1] [INFO] [1739205014.717863514] [centerpose_encoder.resize_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_message_compositor.so
[component_container_mt-1] [INFO] [1739205014.718160450] [centerpose_encoder.resize_node]: [NitrosContext] Loading extension: gxf/lib/cuda/libgxf_cuda.so
[component_container_mt-1] [INFO] [1739205014.719805088] [centerpose_encoder.resize_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_tensorops.so
[component_container_mt-1] [INFO] [1739205014.722575861] [centerpose_encoder.resize_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1739205014.724823550] [centerpose_encoder.resize_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1739205014.831280424] [centerpose_encoder.resize_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1739205014.833315662] [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] [1739205014.837982726] [centerpose_encoder.resize_node]: [NitrosNode] Starting negotiation...
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/centerpose_encoder/resize_node' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1739205014.838538596] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/librealsense2_camera.so
[component_container_mt-1] [INFO] [1739205014.915324999] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<realsense2_camera::RealSenseNodeFactory>
[component_container_mt-1] [INFO] [1739205014.915945348] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<realsense2_camera::RealSenseNodeFactory>
[component_container_mt-1] [INFO] [1739205014.931719293] [realsense2_camera]: RealSense ROS v4.51.1
[component_container_mt-1] [INFO] [1739205014.932135828] [realsense2_camera]: Built with LibRealSense v2.55.1
[component_container_mt-1] [INFO] [1739205014.932396004] [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] [1739205014.937083535] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libimage_format_converter_node.so
[component_container_mt-1] [INFO] [1739205014.940434520] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::ImageFormatConverterNode>
[component_container_mt-1] [INFO] [1739205014.941822971] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::ImageFormatConverterNode>
[component_container_mt-1] [INFO] [1739205014.952277111] [centerpose_encoder.image_format_converter_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1739205014.952679943] [centerpose_encoder.image_format_converter_node]: [ImageFormatConverterNode] Set output data format to: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1739205014.952752215] [centerpose_encoder.image_format_converter_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1739205014.985141999] [centerpose_encoder.image_format_converter_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1739205014.988197883] [centerpose_encoder.image_format_converter_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1739205014.992056805] [centerpose_encoder.image_format_converter_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1739205015.017204471] [realsense2_camera]: Device with serial number 819112070232 was found.
[component_container_mt-1]
[component_container_mt-1] [INFO] [1739205015.017270000] [realsense2_camera]: Device with physical ID 3-6.1-21 was found.
[component_container_mt-1] [INFO] [1739205015.017277229] [realsense2_camera]: Device with name Intel RealSense D435 was found.
[component_container_mt-1] [INFO] [1739205015.017443170] [realsense2_camera]: Device with port number 3-6.1 was found.
[component_container_mt-1] [INFO] [1739205015.017453140] [realsense2_camera]: Device USB type: 2.1
[component_container_mt-1] [WARN] [1739205015.017461166] [realsense2_camera]: Device 819112070232 is connected using a 2.1 port. Reduced performance is expected.
[component_container_mt-1] [INFO] [1739205015.018701924] [realsense2_camera]: getParameters...
[component_container_mt-1] [INFO] [1739205015.018982335] [realsense2_camera]: JSON file is not provided
[component_container_mt-1] [INFO] [1739205015.018997441] [realsense2_camera]: Device Name: Intel RealSense D435
[component_container_mt-1] [INFO] [1739205015.019005735] [realsense2_camera]: Device Serial No: 819112070232
[component_container_mt-1] [INFO] [1739205015.019013166] [realsense2_camera]: Device physical port: 3-6.1-21
[component_container_mt-1] [INFO] [1739205015.019018585] [realsense2_camera]: Device FW version: 5.16.0.1
[component_container_mt-1] [INFO] [1739205015.019023858] [realsense2_camera]: Device Product ID: 0x0B07
[component_container_mt-1] [INFO] [1739205015.019028754] [realsense2_camera]: Sync Mode: Off
[component_container_mt-1] [INFO] [1739205015.051544709] [centerpose_encoder.image_format_converter_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1739205015.057645241] [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] [1739205015.059487979] [centerpose_encoder.image_format_converter_node]: [NitrosNode] Starting negotiation...
[component_container_mt-1] [INFO] [1739205015.059935750] [centerpose_encoder.resize_node]: Negotiating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/centerpose_encoder/image_format_converter_node' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1739205015.060210034] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libtriton_node.so
[component_container_mt-1] [INFO] [1739205015.064459336] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::TritonNode>
[component_container_mt-1] [INFO] [1739205015.064489773] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::TritonNode>
[component_container_mt-1] [INFO] [1739205015.067242489] [centerpose_inference]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1739205015.067628906] [centerpose_inference]: [TritonNode] Set input data format to: "nitros_tensor_list_nchw_rgb_f32"
[component_container_mt-1] [INFO] [1739205015.067648916] [centerpose_inference]: [TritonNode] Set output data format to: "nitros_tensor_list_nhwc_rgb_f32"
[component_container_mt-1] [INFO] [1739205015.067689167] [centerpose_inference]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1739205015.072931947] [centerpose_inference]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1739205015.073124943] [centerpose_inference]: [NitrosContext] Loading extension: gxf/lib/serialization/libgxf_serialization.so
[component_container_mt-1] [INFO] [1739205015.073877897] [centerpose_inference]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_triton.so
[component_container_mt-1] [INFO] [1739205015.098960721] [centerpose_inference]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1739205015.101271413] [centerpose_inference]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1739205015.196508737] [centerpose_inference]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1739205015.206832578] [centerpose_inference]: [NitrosPublisherSubscriberGroup] Pinning the component "triton_request/input" (type="nvidia::gxf::DoubleBufferReceiver") to use its compatible format only: "nitros_tensor_list_nchw_rgb_f32"
[component_container_mt-1] [INFO] [1739205015.211048571] [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] [1739205015.211530866] [centerpose_inference]: [NitrosNode] Starting negotiation...
[component_container_mt-1] [INFO] [1739205015.212149667] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libcrop_node.so
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/centerpose_inference' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1739205015.214284239] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::CropNode>
[component_container_mt-1] [INFO] [1739205015.214330742] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::CropNode>
[component_container_mt-1] [INFO] [1739205015.217472646] [centerpose_encoder.crop_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1739205015.217798153] [centerpose_encoder.crop_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1739205015.226018637] [centerpose_encoder.crop_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1739205015.226205400] [centerpose_encoder.crop_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1739205015.228837689] [centerpose_encoder.crop_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1739205015.264317530] [centerpose_encoder.crop_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1739205015.269048792] [centerpose_encoder.crop_node]: [NitrosNode] Starting negotiation...
[component_container_mt-1] [INFO] [1739205015.269640094] [centerpose_encoder.resize_node]: Negotiating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/centerpose_encoder/crop_node' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1739205015.269677227] [centerpose_encoder.image_format_converter_node]: Negotiating
[component_container_mt-1] [INFO] [1739205015.269834905] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libcenterpose_decoder_node.so
[component_container_mt-1] [INFO] [1739205015.269934783] [centerpose_encoder.resize_node]: Negotiating
[component_container_mt-1] [INFO] [1739205015.270031850] [centerpose_encoder.crop_node]: Negotiating
[component_container_mt-1] [INFO] [1739205015.270048830] [centerpose_encoder.crop_node]: Could not negotiate
[component_container_mt-1] [INFO] [1739205015.270057812] [centerpose_encoder.crop_node]: Negotiating
[component_container_mt-1] [INFO] [1739205015.270062092] [centerpose_encoder.crop_node]: Could not negotiate
[component_container_mt-1] [INFO] [1739205015.276859375] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::centerpose::CenterPoseDecoderNode>
[component_container_mt-1] [INFO] [1739205015.276903838] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::centerpose::CenterPoseDecoderNode>
[component_container_mt-1] [INFO] [1739205015.280333776] [centerpose_decoder_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1739205015.280593265] [centerpose_decoder_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1739205015.283202127] [centerpose_decoder_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1739205015.283293989] [centerpose_decoder_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_centerpose.so
[component_container_mt-1] [INFO] [1739205015.284926463] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_messages.so
[component_container_mt-1] [INFO] [1739205015.285444110] [centerpose_decoder_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1739205015.286896359] [centerpose_decoder_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1739205015.293184890] [centerpose_decoder_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1739205015.296775576] [centerpose_decoder_node]: [NitrosNode] Starting negotiation...
[component_container_mt-1] [INFO] [1739205015.297046581] [centerpose_inference]: Negotiating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/centerpose_decoder_node' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1739205015.297079944] [centerpose_inference]: Could not negotiate
[component_container_mt-1] [INFO] [1739205015.297222117] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libimage_to_tensor_node.so
[component_container_mt-1] [INFO] [1739205015.335261287] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::ImageToTensorNode>
[component_container_mt-1] [INFO] [1739205015.335307951] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::ImageToTensorNode>
[component_container_mt-1] [INFO] [1739205015.339272993] [centerpose_encoder.image_to_tensor.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1739205015.339427850] [centerpose_encoder.crop_node]: Negotiating
[component_container_mt-1] [INFO] [1739205015.339485224] [centerpose_encoder.resize_node]: Negotiating
[component_container_mt-1] [INFO] [1739205015.339496085] [centerpose_encoder.image_format_converter_node]: Negotiating
[component_container_mt-1] [INFO] [1739205015.340025491] [centerpose_encoder.image_to_tensor.ManagedNitrosPublisher]: Starting Managed Nitros Publisher
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/centerpose_encoder/image_to_tensor' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1739205015.438441215] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libcenterpose_visualizer_node.so
[component_container_mt-1] [INFO] [1739205015.440546783] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::centerpose::CenterPoseVisualizerNode>
[component_container_mt-1] [INFO] [1739205015.440579803] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::centerpose::CenterPoseVisualizerNode>
[component_container_mt-1] [INFO] [1739205015.444062382] [centerpose_visualizer]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1739205015.444300941] [centerpose_visualizer]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1739205015.446659300] [centerpose_visualizer]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1739205015.446785912] [centerpose_visualizer]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1739205015.447619109] [centerpose_visualizer]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1739205015.450304515] [centerpose_visualizer]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1739205015.452641224] [centerpose_visualizer]: [NitrosNode] Starting negotiation...
[component_container_mt-1] [INFO] [1739205015.453381679] [centerpose_decoder_node]: Negotiating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/centerpose_visualizer' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1739205015.453509411] [centerpose_inference]: Negotiating
[component_container_mt-1] [INFO] [1739205015.453525627] [centerpose_inference]: Could not negotiate
[component_container_mt-1] [INFO] [1739205015.453594817] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libimage_tensor_normalize_node.so
[component_container_mt-1] [INFO] [1739205015.455059365] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::ImageTensorNormalizeNode>
[component_container_mt-1] [INFO] [1739205015.455082847] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::ImageTensorNormalizeNode>
[component_container_mt-1] [INFO] [1739205015.459207381] [centerpose_encoder.normalize_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1739205015.459394609] [centerpose_encoder.image_to_tensor]: Negotiating
[component_container_mt-1] [INFO] [1739205015.459419905] [centerpose_encoder.image_to_tensor]: Could not negotiate
[component_container_mt-1] [INFO] [1739205015.459974363] [centerpose_encoder.normalize_node.ManagedNitrosPublisher]: Starting Managed Nitros Publisher
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/centerpose_encoder/normalize_node' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1739205015.464526243] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libinterleaved_to_planar_node.so
[component_container_mt-1] [INFO] [1739205015.465461407] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::InterleavedToPlanarNode>
[component_container_mt-1] [INFO] [1739205015.465480523] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::InterleavedToPlanarNode>
[component_container_mt-1] [INFO] [1739205015.469291713] [centerpose_encoder.interleaved_to_planar_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1739205015.469864395] [centerpose_encoder.interleaved_to_planar_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1739205015.474245253] [centerpose_encoder.interleaved_to_planar_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1739205015.474382048] [centerpose_encoder.interleaved_to_planar_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1739205015.475689501] [centerpose_encoder.interleaved_to_planar_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1739205015.479046899] [centerpose_encoder.interleaved_to_planar_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1739205015.481216508] [centerpose_encoder.interleaved_to_planar_node]: [NitrosNode] Starting negotiation...
[component_container_mt-1] [INFO] [1739205015.481780721] [centerpose_encoder.normalize_node]: Negotiating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/centerpose_encoder/interleaved_to_planar_node' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1739205015.483189265] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libreshape_node.so
[component_container_mt-1] [INFO] [1739205015.484148862] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::ReshapeNode>
[component_container_mt-1] [INFO] [1739205015.484168857] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::ReshapeNode>
[component_container_mt-1] [INFO] [1739205015.487806701] [centerpose_encoder.reshape_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1739205015.488228714] [centerpose_encoder.reshape_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1739205015.492315438] [centerpose_encoder.reshape_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1739205015.492391777] [centerpose_encoder.reshape_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1739205015.493502686] [centerpose_encoder.reshape_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1739205015.497749106] [centerpose_encoder.reshape_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1739205015.500184867] [centerpose_encoder.reshape_node]: [NitrosNode] Starting negotiation...
[component_container_mt-1] [INFO] [1739205015.500680034] [centerpose_encoder.interleaved_to_planar_node]: Negotiating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/centerpose_encoder/reshape_node' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1739205015.500850763] [centerpose_encoder.normalize_node]: Negotiating
[component_container_mt-1] [INFO] [1739205015.570597656] [centerpose_encoder.reshape_node]: Negotiating
[component_container_mt-1] [INFO] [1739205015.570874599] [centerpose_encoder.interleaved_to_planar_node]: Negotiating
[component_container_mt-1] [INFO] [1739205015.570959713] [centerpose_encoder.normalize_node]: Negotiating
[component_container_mt-1] [INFO] [1739205015.611181001] [realsense2_camera]: Stopping Sensor: RGB Camera
[component_container_mt-1] [INFO] [1739205015.639545888] [realsense2_camera]: Starting Sensor: RGB Camera
[component_container_mt-1] [INFO] [1739205015.648205458] [realsense2_camera]: Open profile: stream_type: Color(0), Format: RGB8, Width: 640, Height: 480, FPS: 15
[component_container_mt-1] [INFO] [1739205015.649107652] [realsense2_camera]: RealSense Node Is Up!
[component_container_mt-1] [INFO] [1739205015.839607743] [centerpose_encoder.resize_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1739205015.839665827] [centerpose_encoder.resize_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1739205015.839682960] [centerpose_encoder.resize_node]: [NitrosPublisher] Use the negotiated data format: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1739205015.839694482] [centerpose_encoder.resize_node]: [NitrosPublisher] Use the negotiated data format: "nitros_camera_info"
[component_container_mt-1] [INFO] [1739205015.839702701] [centerpose_encoder.resize_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1739205015.839710009] [centerpose_encoder.resize_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/image_rect", data_format="nitros_image_rgb8"
[component_container_mt-1] [INFO] [1739205015.839718408] [centerpose_encoder.resize_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1739205015.839724757] [centerpose_encoder.resize_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/camera_info_rect", data_format="nitros_camera_info"
[component_container_mt-1] [INFO] [1739205015.840403838] [centerpose_encoder.resize_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1739205015.850778319] [centerpose_encoder.resize_node]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/LHVMMEPHHB/LHVMMEPHHB.yaml"
[component_container_mt-1] [INFO] [1739205015.850833377] [centerpose_encoder.resize_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1739205015.853193093] [centerpose_encoder.resize_node]: [ResizeNode] postLoadGraphCallback().
[component_container_mt-1] [INFO] [1739205015.853375059] [centerpose_encoder.resize_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1739205015.865673955] [centerpose_encoder.resize_node]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1739205016.060276701] [centerpose_encoder.image_format_converter_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1739205016.060331472] [centerpose_encoder.image_format_converter_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1739205016.060348503] [centerpose_encoder.image_format_converter_node]: [NitrosPublisher] Use the negotiated data format: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1739205016.060356013] [centerpose_encoder.image_format_converter_node]: [NitrosSubscriber] Use the negotiated data format: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1739205016.060456012] [centerpose_encoder.image_format_converter_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1739205016.068308606] [centerpose_encoder.image_format_converter_node]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/FNFCZHSCBI/FNFCZHSCBI.yaml"
[component_container_mt-1] [INFO] [1739205016.068362141] [centerpose_encoder.image_format_converter_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1739205016.069101332] [centerpose_encoder.image_format_converter_node]: [ImageFormatConverterNode] postLoadGraphCallback().
[component_container_mt-1] [INFO] [1739205016.069148326] [centerpose_encoder.image_format_converter_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1739205016.070159923] [centerpose_encoder.image_format_converter_node]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1739205016.212367011] [centerpose_inference]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1739205016.212411223] [centerpose_inference]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1739205016.212418454] [centerpose_inference]: [NitrosSubscriber] Use the negotiated data format: "nitros_tensor_list_nchw_rgb_f32"
[component_container_mt-1] [INFO] [1739205016.212430714] [centerpose_inference]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1739205016.212435342] [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] [1739205016.212498954] [centerpose_inference]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1739205016.224262875] [centerpose_inference]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/HGYXTKVWDM/HGYXTKVWDM.yaml"
[component_container_mt-1] [INFO] [1739205016.224318617] [centerpose_inference]: [NitrosNode] Loading application
[component_container_mt-1] 2025-02-10 11:30:16.225 WARN gxf/std/yaml_file_loader.cpp@1076: Using unregistered parameter 'dummy_rx' in component 'requester'.
[component_container_mt-1] [INFO] [1739205016.225496836] [centerpose_inference]: In TritonNode postLoadGraphCallback().
[component_container_mt-1] [INFO] [1739205016.225570478] [centerpose_inference]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1739205016.269693336] [centerpose_encoder.crop_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1739205016.269754907] [centerpose_encoder.crop_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1739205016.269764671] [centerpose_encoder.crop_node]: [NitrosPublisher] Use the negotiated data format: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1739205016.269774743] [centerpose_encoder.crop_node]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1739205016.269780556] [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] [1739205016.269789440] [centerpose_encoder.crop_node]: [NitrosSubscriber] Use the negotiated data format: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1739205016.269821364] [centerpose_encoder.crop_node]: [NitrosSubscriber] Use the negotiated data format: "nitros_camera_info"
[component_container_mt-1] [INFO] [1739205016.269938287] [centerpose_encoder.crop_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1739205016.297786970] [centerpose_decoder_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1739205016.297855409] [centerpose_decoder_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1739205016.297865893] [centerpose_decoder_node]: [NitrosPublisher] Use the negotiated data format: "nitros_detection3_d_array"
[component_container_mt-1] [INFO] [1739205016.297877865] [centerpose_decoder_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1739205016.297886066] [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] [1739205016.297896075] [centerpose_decoder_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1739205016.297902847] [centerpose_decoder_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/camera_info_rect", data_format="nitros_camera_info"
[component_container_mt-1] [INFO] [1739205016.298026662] [centerpose_decoder_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1739205016.301473122] [centerpose_decoder_node]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/UCMFAHODAS/UCMFAHODAS.yaml"
[component_container_mt-1] [INFO] [1739205016.301527230] [centerpose_decoder_node]: [NitrosNode] Loading application
[component_container_mt-1] WARNING: infer_trtis_server.cpp:1217 NvDsTritonServerInit suggest to set model_control_mode:none. otherwise may cause unknow issues.
[component_container_mt-1] I0210 16:30:16.317818 648 pinned_memory_manager.cc:277] "Pinned memory pool is created at '0x732412000000' with size 268435456"
[component_container_mt-1] [WARN] [1739205016.318543964] [realsense2_camera]:
[component_container_mt-1] I0210 16:30:16.320764 648 cuda_memory_manager.cc:107] "CUDA memory pool is created on device 0 with size 67108864"
[component_container_mt-1] I0210 16:30:16.327736 648 server.cc:604]
[component_container_mt-1] +------------------+------+
[component_container_mt-1] | Repository Agent | Path |
[component_container_mt-1] +------------------+------+
[component_container_mt-1] +------------------+------+
[component_container_mt-1]
[component_container_mt-1] I0210 16:30:16.327770 648 server.cc:631]
[component_container_mt-1] +---------+------+--------+
[component_container_mt-1] | Backend | Path | Config |
[component_container_mt-1] +---------+------+--------+
[component_container_mt-1] +---------+------+--------+
[component_container_mt-1]
[component_container_mt-1] I0210 16:30:16.327782 648 server.cc:674]
[component_container_mt-1] +-------+---------+--------+
[component_container_mt-1] | Model | Version | Status |
[component_container_mt-1] +-------+---------+--------+
[component_container_mt-1] +-------+---------+--------+
[component_container_mt-1]
[component_container_mt-1] [INFO] [1739205016.341803832] [centerpose_encoder.crop_node]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/ACEXSQRJOM/ACEXSQRJOM.yaml"
[component_container_mt-1] [INFO] [1739205016.341848529] [centerpose_encoder.crop_node]: [NitrosNode] Loading application
[component_container_mt-1] I0210 16:30:16.357280 648 metrics.cc:877] "Collecting metrics for GPU 0: NVIDIA GeForce RTX 3080 Laptop GPU"
[component_container_mt-1] I0210 16:30:16.360602 648 metrics.cc:770] "Collecting CPU metrics"
[component_container_mt-1] I0210 16:30:16.360713 648 tritonserver.cc:2598]
[component_container_mt-1] +----------------------------------+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
[component_container_mt-1] | Option | Value |
[component_container_mt-1] +----------------------------------+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
[component_container_mt-1] | server_id | triton |
[component_container_mt-1] | server_version | 2.49.0 |
[component_container_mt-1] | server_extensions | classification sequence model_repository model_repository(unload_dependents) schedule_policy model_configuration system_shared_memory cuda_shared_memory binary_tensor_data parameters statistics trace logging |
[component_container_mt-1] | model_repository_path[0] | /workspaces/isaac_ros-dev/isaac_ros_assets/models |
[component_container_mt-1] | model_control_mode | MODE_EXPLICIT |
[component_container_mt-1] | strict_model_config | 1 |
[component_container_mt-1] | model_config_name | |
[component_container_mt-1] | rate_limit | OFF |
[component_container_mt-1] | pinned_memory_pool_byte_size | 268435456 |
[component_container_mt-1] | cuda_memory_pool_byte_size{0} | 67108864 |
[component_container_mt-1] | min_supported_compute_capability | 6.0 |
[component_container_mt-1] | strict_readiness | 1 |
[component_container_mt-1] | exit_timeout | 30 |
[component_container_mt-1] | cache_enabled | 0 |
[component_container_mt-1] +----------------------------------+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
[component_container_mt-1]
[component_container_mt-1] [INFO] [1739205016.361136413] [centerpose_inference]: [NitrosNode] Node was started
[component_container_mt-1] I0210 16:30:16.362838 648 model_lifecycle.cc:472] "loading: centerpose_custom:1"
[component_container_mt-1] [INFO] [1739205016.364608376] [centerpose_encoder.crop_node]: [CropNode] postLoadGraphCallback().
[component_container_mt-1] [INFO] [1739205016.364626798] [centerpose_decoder_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1739205016.366180292] [centerpose_decoder_node]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1739205016.366224132] [centerpose_encoder.crop_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] I0210 16:30:16.367670 648 tensorrt.cc:65] "TRITONBACKEND_Initialize: tensorrt"
[component_container_mt-1] I0210 16:30:16.367684 648 tensorrt.cc:75] "Triton TRITONBACKEND API version: 1.19"
[component_container_mt-1] I0210 16:30:16.367688 648 tensorrt.cc:81] "'tensorrt' TRITONBACKEND API version: 1.19"
[component_container_mt-1] I0210 16:30:16.367692 648 tensorrt.cc:105] "backend configuration:\n{\"cmdline\":{\"auto-complete-config\":\"false\",\"backend-directory\":\"/opt/tritonserver/backends\",\"min-compute-capability\":\"6.000000\",\"default-max-batch-size\":\"4\"}}"
[component_container_mt-1] [INFO] [1739205016.369154330] [centerpose_encoder.crop_node]: [NitrosNode] Node was started
[component_container_mt-1] I0210 16:30:16.370713 648 tensorrt.cc:231] "TRITONBACKEND_ModelInitialize: centerpose_custom (version 1)"
[component_container_mt-1] I0210 16:30:16.379793 648 tensorrt.cc:297] "TRITONBACKEND_ModelInstanceInitialize: centerpose_custom_0 (GPU device 0)"
[component_container_mt-1] [INFO] [1739205016.453718046] [centerpose_visualizer]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1739205016.453818285] [centerpose_visualizer]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1739205016.453855241] [centerpose_visualizer]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1739205016.453891905] [centerpose_visualizer]: [NitrosPublisher] Use only the compatible publisher: topic_name="/centerpose/image_visualized", data_format="nitros_image_bgr8"
[component_container_mt-1] [INFO] [1739205016.453914081] [centerpose_visualizer]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1739205016.453922279] [centerpose_visualizer]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/image_rect", data_format="nitros_image_bgr8"
[component_container_mt-1] [INFO] [1739205016.454490439] [centerpose_visualizer]: [NitrosSubscriber] Use the negotiated data format: "nitros_detection3_d_array"
[component_container_mt-1] [INFO] [1739205016.454504057] [centerpose_visualizer]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1739205016.454509550] [centerpose_visualizer]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/camera_info_rect", data_format="nitros_camera_info"
[component_container_mt-1] [INFO] [1739205016.454668792] [centerpose_visualizer]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1739205016.456823957] [centerpose_visualizer]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/TMUOWPZKOS/TMUOWPZKOS.yaml"
[component_container_mt-1] [INFO] [1739205016.456874698] [centerpose_visualizer]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1739205016.458217522] [centerpose_visualizer]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1739205016.458707986] [centerpose_visualizer]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1739205016.482113732] [centerpose_encoder.interleaved_to_planar_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1739205016.482187899] [centerpose_encoder.interleaved_to_planar_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1739205016.482199384] [centerpose_encoder.interleaved_to_planar_node]: [NitrosPublisher] Use the negotiated data format: "nitros_tensor_list_nchw_rgb_f32"
[component_container_mt-1] [INFO] [1739205016.482211214] [centerpose_encoder.interleaved_to_planar_node]: [NitrosSubscriber] Use the negotiated data format: "nitros_tensor_list_nhwc_rgb_f32"
[component_container_mt-1] [INFO] [1739205016.482403088] [centerpose_encoder.interleaved_to_planar_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1739205016.486441992] [centerpose_encoder.interleaved_to_planar_node]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/QGQABMWLME/QGQABMWLME.yaml"
[component_container_mt-1] [INFO] [1739205016.486511315] [centerpose_encoder.interleaved_to_planar_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1739205016.488359660] [centerpose_encoder.interleaved_to_planar_node]: In InterleavedToPlanarNode postLoadGraphCallback().
[component_container_mt-1] [INFO] [1739205016.488421095] [centerpose_encoder.interleaved_to_planar_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1739205016.489869495] [centerpose_encoder.interleaved_to_planar_node]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1739205016.500732508] [centerpose_encoder.reshape_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1739205016.500785696] [centerpose_encoder.reshape_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1739205016.500795264] [centerpose_encoder.reshape_node]: [NitrosPublisher] Use the negotiated data format: "nitros_tensor_list_nchw_rgb_f32"
[component_container_mt-1] [INFO] [1739205016.500804485] [centerpose_encoder.reshape_node]: [NitrosSubscriber] Use the negotiated data format: "nitros_tensor_list_nchw_rgb_f32"
[component_container_mt-1] [INFO] [1739205016.500911640] [centerpose_encoder.reshape_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1739205016.503574832] [centerpose_encoder.reshape_node]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/WCZJFREUUX/WCZJFREUUX.yaml"
[component_container_mt-1] [INFO] [1739205016.503623436] [centerpose_encoder.reshape_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1739205016.505345001] [centerpose_encoder.reshape_node]: In ReshapeNode postLoadGraphCallback().
[component_container_mt-1] [INFO] [1739205016.505425188] [centerpose_encoder.reshape_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1739205016.509467730] [centerpose_encoder.reshape_node]: [NitrosNode] Node was started
[component_container_mt-1] I0210 16:30:16.536878 648 logging.cc:46] "Loaded engine size: 152 MiB"
[component_container_mt-1] I0210 16:30:16.603296 648 logging.cc:46] "[MS] Running engine with multi stream info"
[component_container_mt-1] I0210 16:30:16.603312 648 logging.cc:46] "[MS] Number of aux streams is 6"
[component_container_mt-1] I0210 16:30:16.603316 648 logging.cc:46] "[MS] Number of total worker streams is 7"
[component_container_mt-1] I0210 16:30:16.603319 648 logging.cc:46] "[MS] The main stream provided by execute/enqueue calls is the first worker stream"
[component_container_mt-1] I0210 16:30:16.732604 648 logging.cc:46] "[MemUsageChange] TensorRT-managed allocation in IExecutionContext creation: CPU +0, GPU +301, now: CPU 0, GPU 442 (MiB)"
[component_container_mt-1] I0210 16:30:16.732970 648 instance_state.cc:186] "Created instance centerpose_custom_0 on GPU 0 with stream priority 0 and optimization profile default[0];"
[component_container_mt-1] I0210 16:30:16.733137 648 model_lifecycle.cc:839] "successfully loaded 'centerpose_custom'"
[component_container_mt-1] INFO: infer_simple_runtime.cpp:71 TrtISBackend id:118 initialized model: centerpose_custom
[component_container_mt-1] 2025-02-10 11:30:16.925 WARN extensions/triton/inferencers/triton_inferencer_impl.cpp@508: Incomplete inference; response appeared out of order; invalid: index = 2
[component_container_mt-1] 2025-02-10 11:30:16.925 WARN extensions/triton/inferencers/triton_inferencer_impl.cpp@510: Inference appeared out of order
[component_container_mt-1] 2025-02-10 11:30:17.135 WARN extensions/triton/inferencers/triton_inferencer_impl.cpp@508: Incomplete inference; response appeared out of order; invalid: index = 6
[component_container_mt-1] 2025-02-10 11:30:17.135 WARN extensions/triton/inferencers/triton_inferencer_impl.cpp@510: Inference appeared out of order
[component_container_mt-1] 2025-02-10 11:30:17.259 WARN extensions/triton/inferencers/triton_inferencer_impl.cpp@508: Incomplete inference; response appeared out of order; invalid: index = 9
[component_container_mt-1] 2025-02-10 11:30:17.259 WARN extensions/triton/inferencers/triton_inferencer_impl.cpp@510: Inference appeared out of order
[component_container_mt-1] W0210 16:30:17.362937 648 metrics.cc:631] "Unable to get power limit for GPU 0. Status:Success, value:0.000000"
[component_container_mt-1] 2025-02-10 11:30:17.470 WARN extensions/triton/inferencers/triton_inferencer_impl.cpp@508: Incomplete inference; response appeared out of order; invalid: index = 3
[component_container_mt-1] 2025-02-10 11:30:17.470 WARN extensions/triton/inferencers/triton_inferencer_impl.cpp@510: Inference appeared out of order
[component_container_mt-1] 2025-02-10 11:30:17.543 WARN extensions/triton/inferencers/triton_inferencer_impl.cpp@508: Incomplete inference; response appeared out of order; invalid: index = 5
[component_container_mt-1] 2025-02-10 11:30:17.543 WARN extensions/triton/inferencers/triton_inferencer_impl.cpp@510: Inference appeared out of order
[component_container_mt-1] 2025-02-10 11:30:17.671 WARN extensions/triton/inferencers/triton_inferencer_impl.cpp@508: Incomplete inference; response appeared out of order; invalid: index = 7
[component_container_mt-1] 2025-02-10 11:30:17.671 WARN extensions/triton/inferencers/triton_inferencer_impl.cpp@510: Inference appeared out of order
[component_container_mt-1] W0210 16:30:18.404711 648 metrics.cc:631] "Unable to get power limit for GPU 0. Status:Success, value:0.000000"
[component_container_mt-1] W0210 16:30:19.407777 648 metrics.cc:631] "Unable to get power limit for GPU 0. Status:Success, value:0.000000"
[component_container_mt-1] 2025-02-10 11:30:20.481 WARN extensions/triton/inferencers/triton_inferencer_impl.cpp@508: Incomplete inference; response appeared out of order; invalid: index = 7
[component_container_mt-1] 2025-02-10 11:30:20.481 WARN extensions/triton/inferencers/triton_inferencer_impl.cpp@510: Inference appeared out of order
[component_container_mt-1] 2025-02-10 11:30:20.567 WARN extensions/triton/inferencers/triton_inferencer_impl.cpp@508: Incomplete inference; response appeared out of order; invalid: index = 9
[component_container_mt-1] 2025-02-10 11:30:20.567 WARN extensions/triton/inferencers/triton_inferencer_impl.cpp@510: Inference appeared out of order
[component_container_mt-1] 2025-02-10 11:30:34.776 WARN extensions/triton/inferencers/triton_inferencer_impl.cpp@508: Incomplete inference; response appeared out of order; invalid: index = 8
[component_container_mt-1] 2025-02-10 11:30:34.776 WARN extensions/triton/inferencers/triton_inferencer_impl.cpp@510: Inference appeared out of order
[component_container_mt-1] 2025-02-10 11:30:34.905 WARN extensions/triton/inferencers/triton_inferencer_impl.cpp@508: Incomplete inference; response appeared out of order; invalid: index = 1
[component_container_mt-1] 2025-02-10 11:30:34.906 WARN extensions/triton/inferencers/triton_inferencer_impl.cpp@510: Inference appeared out of order
[component_container_mt-1] 2025-02-10 11:30:35.559 WARN extensions/triton/inferencers/triton_inferencer_impl.cpp@508: Incomplete inference; response appeared out of order; invalid: index = 4
[component_container_mt-1] 2025-02-10 11:30:35.559 WARN extensions/triton/inferencers/triton_inferencer_impl.cpp@510: Inference appeared out of order
[component_container_mt-1] 2025-02-10 11:30:41.360 WARN extensions/triton/inferencers/triton_inferencer_impl.cpp@508: Incomplete inference; response appeared out of order; invalid: index = 8
[component_container_mt-1] 2025-02-10 11:30:41.360 WARN extensions/triton/inferencers/triton_inferencer_impl.cpp@510: Inference appeared out of order
[component_container_mt-1] 2025-02-10 11:30:41.480 WARN extensions/triton/inferencers/triton_inferencer_impl.cpp@508: Incomplete inference; response appeared out of order; invalid: index = 0
[component_container_mt-1] 2025-02-10 11:30:41.480 WARN extensions/triton/inferencers/triton_inferencer_impl.cpp@510: Inference appeared out of order
[component_container_mt-1] 2025-02-10 11:30:44.588 WARN extensions/triton/inferencers/triton_inferencer_impl.cpp@508: Incomplete inference; response appeared out of order; invalid: index = 5
[component_container_mt-1] 2025-02-10 11:30:44.588 WARN extensions/triton/inferencers/triton_inferencer_impl.cpp@510: Inference appeared out of order
[component_container_mt-1] 2025-02-10 11:30:44.681 WARN extensions/triton/inferencers/triton_inferencer_impl.cpp@508: Incomplete inference; response appeared out of order; invalid: index = 7
[component_container_mt-1] 2025-02-10 11:30:44.681 WARN extensions/triton/inferencers/triton_inferencer_impl.cpp@510: Inference appeared out of order
[component_container_mt-1] 2025-02-10 11:30:53.965 WARN extensions/triton/inferencers/triton_inferencer_impl.cpp@508: Incomplete inference; response appeared out of order; invalid: index = 5
[component_container_mt-1] 2025-02-10 11:30:53.965 WARN extensions/triton/inferencers/triton_inferencer_impl.cpp@510: Inference appeared out of order
[component_container_mt-1] 2025-02-10 11:30:54.084 WARN extensions/triton/inferencers/triton_inferencer_impl.cpp@508: Incomplete inference; response appeared out of order; invalid: index = 7
[component_container_mt-1] 2025-02-10 11:30:54.084 WARN extensions/triton/inferencers/triton_inferencer_impl.cpp@510: Inference appeared out of order
[component_container_mt-1] 2025-02-10 11:30:58.834 WARN extensions/triton/inferencers/triton_inferencer_impl.cpp@508: Incomplete inference; response appeared out of order; invalid: index = 6
[component_container_mt-1] 2025-02-10 11:30:58.834 WARN extensions/triton/inferencers/triton_inferencer_impl.cpp@510: Inference appeared out of order
[component_container_mt-1] 2025-02-10 11:31:03.920 WARN extensions/triton/inferencers/triton_inferencer_impl.cpp@508: Incomplete inference; response appeared out of order; invalid: index = 0
[component_container_mt-1] 2025-02-10 11:31:03.920 WARN extensions/triton/inferencers/triton_inferencer_impl.cpp@510: Inference appeared out of order
[component_container_mt-1] 2025-02-10 11:31:04.293 WARN extensions/triton/inferencers/triton_inferencer_impl.cpp@508: Incomplete inference; response appeared out of order; invalid: index = 7
[component_container_mt-1] 2025-02-10 11:31:04.293 WARN extensions/triton/inferencers/triton_inferencer_impl.cpp@510: Inference appeared out of order
[component_container_mt-1] 2025-02-10 11:31:04.317 WARN extensions/triton/inferencers/triton_inferencer_impl.cpp@508: Incomplete inference; response appeared out of order; invalid: index = 8
[component_container_mt-1] 2025-02-10 11:31:04.317 WARN extensions/triton/inferencers/triton_inferencer_impl.cpp@510: Inference appeared out of order
[component_container_mt-1] [ERROR] [1739205065.966387346] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: rgb8).
[component_container_mt-1] [ERROR] [1739205066.033013919] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: rgb8).
[component_container_mt-1] [ERROR] [1739205066.099722295] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: rgb8).
[component_container_mt-1] [ERROR] [1739205066.166432378] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: rgb8).
[component_container_mt-1] [ERROR] [1739205066.233251523] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: rgb8).
[component_container_mt-1] [ERROR] [1739205066.299919436] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: rgb8).
[component_container_mt-1] [ERROR] [1739205066.366717697] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: rgb8).
[component_container_mt-1] [ERROR] [1739205066.433637911] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: rgb8).
[component_container_mt-1] [ERROR] [1739205066.500359871] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: rgb8).
[component_container_mt-1] [ERROR] [1739205066.567097237] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: rgb8).
[component_container_mt-1] [ERROR] [1739205066.633477945] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: rgb8).
[component_container_mt-1] [ERROR] [1739205066.700220982] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: rgb8).
[component_container_mt-1] [ERROR] [1739205066.831914980] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: rgb8).
[component_container_mt-1] [ERROR] [1739205066.840103140] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: rgb8).
[component_container_mt-1] [ERROR] [1739205066.909067687] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: rgb8).
[component_container_mt-1] [ERROR] [1739205067.004555396] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: rgb8).
[component_container_mt-1] [ERROR] [1739205067.085747255] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: rgb8).
[component_container_mt-1] [ERROR] [1739205067.135273400] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: rgb8).
[component_container_mt-1] [ERROR] [1739205067.192932688] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: rgb8).
[component_container_mt-1] [ERROR] [1739205067.241968121] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: rgb8).
[component_container_mt-1] [ERROR] [1739205067.313925181] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: rgb8).
[component_container_mt-1] [ERROR] [1739205067.377616303] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: rgb8).
[component_container_mt-1] [ERROR] [1739205067.444442880] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: rgb8).
[component_container_mt-1] [ERROR] [1739205067.515853895] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: rgb8).
[component_container_mt-1] [ERROR] [1739205067.579681491] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: rgb8).
[component_container_mt-1] [ERROR] [1739205067.663494883] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: rgb8).
[component_container_mt-1] [ERROR] [1739205067.713156658] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: rgb8).
[component_container_mt-1] [ERROR] [1739205067.833366773] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: rgb8).
[component_container_mt-1] [ERROR] [1739205067.835538166] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: rgb8).
[component_container_mt-1] [ERROR] [1739205067.912450851] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: rgb8).
[component_container_mt-1] [ERROR] [1739205067.981167129] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: rgb8).
[component_container_mt-1] [ERROR] [1739205068.063643612] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: rgb8).
[component_container_mt-1] [ERROR] [1739205068.102383119] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: rgb8).
[component_container_mt-1] [ERROR] [1739205068.184769638] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: rgb8).
[component_container_mt-1] [ERROR] [1739205068.246197939] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: rgb8).
[component_container_mt-1] [ERROR] [1739205068.306918727] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: rgb8).
[component_container_mt-1] [ERROR] [1739205068.403168603] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: rgb8).
[component_container_mt-1] [ERROR] [1739205068.466979806] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: rgb8).
[component_container_mt-1] [ERROR] [1739205068.518622300] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: rgb8).
[component_container_mt-1] [ERROR] [1739205068.568613937] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: rgb8).
[component_container_mt-1] [ERROR] [1739205068.700289989] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: rgb8).
[component_container_mt-1] [ERROR] [1739205068.705065623] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: rgb8).
[component_container_mt-1] [ERROR] [1739205068.779939880] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: rgb8).
[component_container_mt-1] [ERROR] [1739205068.882077381] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: rgb8).
[component_container_mt-1] [ERROR] [1739205068.932985283] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: rgb8).
[component_container_mt-1] [ERROR] [1739205068.977415211] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: rgb8).
[component_container_mt-1] [ERROR] [1739205069.054316193] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: rgb8).
[component_container_mt-1] [ERROR] [1739205069.104488678] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: rgb8).
[component_container_mt-1] [ERROR] [1739205069.183900892] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: rgb8).
Please note following the instructions in tutorial, I had no problem recreating the shoe inference example with same exact camera (Intel RealSense D435).
I also have:
admin@DOS:/workspaces/isaac_ros-dev/isaac_ros_assets/models/centerpose_custom$ cat config.pbtxt
name: "centerpose_custom"
platform: "tensorrt_plan"
max_batch_size: 0
input [
{
name: "input"
data_type: TYPE_FP32
dims: [ 1, 3, 512, 512 ]
}
]
output [
{
name: "bboxes"
data_type: TYPE_FP32
dims: [ 1, 100, 4 ]
},
{
name: "scores"
data_type: TYPE_FP32
dims: [ 1, 100, 1 ]
},
{
name: "kps"
data_type: TYPE_FP32
dims: [ 1, 100, 16 ]
},
{
name: "clses"
data_type: TYPE_FP32
dims: [ 1, 100, 1 ]
},
{
name: "obj_scale"
data_type: TYPE_FP32
dims: [ 1, 100, 3 ]
},
{
name: "kps_displacement_mean"
data_type: TYPE_FP32
dims: [ 1, 100, 16 ]
},
{
name: "kps_heatmap_mean"
data_type: TYPE_FP32
dims: [ 1, 100, 16 ]
}
]
version_policy: {
specific {
versions: [ 1 ]
}
}
also:
admin@DOS:/workspaces/isaac_ros-dev/isaac_ros_assets/models/centerpose_custom$ tree .
.
├── 1
│ ├── model.onnx
│ └── model.plan
└── config.pbtxt
1 directory, 3 files