Nova Adaptation and Isaac ROS Nova Packages

Autonomous Machines Robotics - Isaac Isaac ROS
1

Hi @Raffaello,

I’m looking into adapting Isaac ROS Nova packages to my hardware combination and sensor packages. Since I’m not using Orin Nova Developer Kit, I still would like test timestamping and PTP sync capabilities (with a PTP-enabled LiDAR in the future) with Intel RealSense D455 USB and its integrated Bosch BMI085 IMU. However, even though there is a package for the Intel RealSense under /opt/nvidia/nova/realsense directory, the installation script is just focusing on bringing up the Hawk and the BMI088 IMU.

I have a Jetson AGX Orin 64GB + Carrier combination, so I had to comment out the following line /opt/nvidia/jetson-io/config-by-hardware.py "${args_[@]}" from the /opt/nvidia/nova/dtb/setup.sh script which is run by the sudo nova_manager install since it tries to replace my current DTB with p3762’s DTB (built from the /opt/nvidia/nova/dtb/nova-p3762.dtsi) file.

After these, I’ve managed to pass foundational steps for Orin Nova except the ones related to Hawk and BMI088:

test_summary
test_summary1419×681 174 KB

failed_steps
failed_steps2491×508 185 KB

However, when I want to test isaac_ros_correlated_timestamp_driver package, I get the following error:

timestamp_driver
timestamp_driver2117×727 278 KB

What does the /dev/nvpps0 expects in this scenario? How can I test hardware timestamping feature with stereo cameras and IMUs other than the ones listed on the supported sensors section?

2

@Raffaello, sorry for bothering again but do you have any idea about the application complaining about NVPPS Invalid Argument? I’m trying to integrate realsense into this package

3

I have customized the package but it terminates after the encoder initalization:

ros2 launch isaac_ros_data_recorder data_recorder.launch.py config:=/workspaces/isaac_ros-dev/install/isaac_ros_data_recorder/share/isaac_ros_data_recorder/config/d455-1.yaml rosbag_name:=rosbag2_2024_09_10-21_56_34 recording_dir:=/mnt/nova_ssd/recordings append_datetime:=False
[INFO] [launch]: All log files can be found below /home/admin/.ros/log/2024-09-10-21-56-34-652574-admin-585771
[INFO] [launch]: Default logging verbosity is set to INFO
Detection of NovaRobot failed: UNKNOWN
[INFO] [launch.user]: NovaRobot type UNKNOWN not implemented for data recorder. Launching without robot description.'
[INFO] [realsense2_camera_node-2]: process started with pid [585807]
[INFO] [component_container_mt-1]: process started with pid [585805]
[component_container_mt-1] [INFO] [1725994595.098228775] [data_recorder]: Load Library: /opt/ros/humble/lib/libcorrelated_timestamp_driver_node.so
[realsense2_camera_node-2] [INFO] [1725994595.134496834] [camera.camera]: RealSense ROS v4.51.1
[realsense2_camera_node-2] [INFO] [1725994595.134668743] [camera.camera]: Built with LibRealSense v2.55.1
[realsense2_camera_node-2] [INFO] [1725994595.134706664] [camera.camera]: Running with LibRealSense v2.55.1
[component_container_mt-1] [INFO] [1725994595.151924552] [data_recorder]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::correlated_timestamp_driver::CorrelatedTimestampDriverNode>
[component_container_mt-1] [INFO] [1725994595.152011115] [data_recorder]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::correlated_timestamp_driver::CorrelatedTimestampDriverNode>
[component_container_mt-1] [INFO] [1725994595.159515704] [correlated_timestamp_driver]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1725994595.160123180] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/std/libgxf_std.so
[component_container_mt-1] [INFO] [1725994595.163868994] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_gxf_helpers.so
[component_container_mt-1] [INFO] [1725994595.168947523] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_sight.so
[component_container_mt-1] [INFO] [1725994595.174464625] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_atlas.so
[component_container_mt-1] 2024-09-10 21:56:35.188 WARN  gxf/std/program.cpp@532: No GXF scheduler specified.
[component_container_mt-1] [INFO] [1725994595.189565742] [correlated_timestamp_driver]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1725994595.192603022] [correlated_timestamp_driver]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1725994595.192829014] [correlated_timestamp_driver]: [NitrosContext] Loading extension: gxf/lib/multimedia/libgxf_multimedia.so
[component_container_mt-1] [INFO] [1725994595.196724913] [correlated_timestamp_driver]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_message_compositor.so
[component_container_mt-1] [INFO] [1725994595.198146590] [correlated_timestamp_driver]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_timestamp_correlator.so
[component_container_mt-1] [INFO] [1725994595.207372161] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/serialization/libgxf_serialization.so
[component_container_mt-1] [INFO] [1725994595.209105656] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_messages.so
[component_container_mt-1] [INFO] [1725994595.210603975] [correlated_timestamp_driver]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1725994595.211717163] [correlated_timestamp_driver]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1725994595.212853391] [correlated_timestamp_driver]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1725994595.215629126] [correlated_timestamp_driver]: [NitrosNode] Starting negotiation...
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/correlated_timestamp_driver' in container 'data_recorder'
[component_container_mt-1] [INFO] [1725994595.218959248] [data_recorder]: Load Library: /opt/ros/humble/lib/libencoder_node.so
[component_container_mt-1] [INFO] [1725994595.230292278] [data_recorder]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::h264_encoder::EncoderNode>
[component_container_mt-1] [INFO] [1725994595.230391641] [data_recorder]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::h264_encoder::EncoderNode>
[component_container_mt-1] [INFO] [1725994595.236046316] [front_stereo_camera.left_encoder]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1725994595.237066892] [front_stereo_camera.left_encoder]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1725994595.241466135] [front_stereo_camera.left_encoder]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1725994595.241856387] [front_stereo_camera.left_encoder]: [NitrosContext] Loading extension: gxf/lib/cuda/libgxf_cuda.so
[component_container_mt-1] [INFO] [1725994595.245945445] [front_stereo_camera.left_encoder]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_tensorops.so
[component_container_mt-1] [INFO] [1725994595.252281517] [front_stereo_camera.left_encoder]: [NitrosContext] Loading extension: gxf/lib/codec/libgxf_video_encoder_extension.so
[component_container_mt-1] [INFO] [1725994595.254480498] [front_stereo_camera.left_encoder]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1725994595.257161287] [front_stereo_camera.left_encoder]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1725994595.273523276] [front_stereo_camera.left_encoder]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1725994595.279235649] [front_stereo_camera.left_encoder]: [NitrosNode] Starting negotiation...
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/front_stereo_camera/left_encoder' in container 'data_recorder'
[realsense2_camera_node-2] [INFO] [1725994595.605136799] [camera.camera]: Device with serial number 031422250413 was found.
[realsense2_camera_node-2] 
[realsense2_camera_node-2] [INFO] [1725994595.605263043] [camera.camera]: Device with physical ID 2-1-3 was found.
[realsense2_camera_node-2] [INFO] [1725994595.605286436] [camera.camera]: Device with name Intel RealSense D455 was found.
[realsense2_camera_node-2] [INFO] [1725994595.605584974] [camera.camera]: Device with port number 2-1 was found.
[realsense2_camera_node-2] [INFO] [1725994595.605611886] [camera.camera]: Device USB type: 3.2
[realsense2_camera_node-2] [INFO] [1725994595.608977241] [camera.camera]: getParameters...
[realsense2_camera_node-2] [INFO] [1725994595.609685583] [camera.camera]: JSON file is not provided
[realsense2_camera_node-2] [INFO] [1725994595.609737489] [camera.camera]: Device Name: Intel RealSense D455
[realsense2_camera_node-2] [INFO] [1725994595.609755985] [camera.camera]: Device Serial No: 031422250413
[realsense2_camera_node-2] [INFO] [1725994595.609769170] [camera.camera]: Device physical port: 2-1-3
[realsense2_camera_node-2] [INFO] [1725994595.609779506] [camera.camera]: Device FW version: 5.13.0.50
[realsense2_camera_node-2] [INFO] [1725994595.609789362] [camera.camera]: Device Product ID: 0x0B5C
[realsense2_camera_node-2] [INFO] [1725994595.609798163] [camera.camera]: Sync Mode: Off
[component_container_mt-1] [INFO] [1725994596.216774835] [correlated_timestamp_driver]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1725994596.216877814] [correlated_timestamp_driver]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1725994596.216906455] [correlated_timestamp_driver]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1725994596.216977337] [correlated_timestamp_driver]: [NitrosPublisher] Use only the compatible publisher: topic_name="/correlated_timestamp", data_format="nitros_correlated_timestamp"
[component_container_mt-1] [INFO] [1725994596.217186976] [correlated_timestamp_driver]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1725994596.219215552] [correlated_timestamp_driver]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/WKOQNYMMGI/WKOQNYMMGI.yaml"
[component_container_mt-1] [INFO] [1725994596.219296931] [correlated_timestamp_driver]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1725994596.227990837] [correlated_timestamp_driver]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] 2024-09-10 21:56:36.233 ERROR extensions/timestamp_correlator/correlated_timestamp_driver.cpp@58: ioctl failed for NVPPS_GETTIMESTAMP err Invalid argument
[component_container_mt-1] 2024-09-10 21:56:36.233 WARN  extensions/timestamp_correlator/correlated_timestamp_driver.cpp@144: ioctl failed for NVPPS_GETEVENT/GETTIMESTAMP err Invalid argument, retrying
[component_container_mt-1] [INFO] [1725994596.233814669] [correlated_timestamp_driver]: [NitrosNode] Node was started
[component_container_mt-1] 2024-09-10 21:56:37.234 WARN  extensions/timestamp_correlator/correlated_timestamp_driver.cpp@144: ioctl failed for NVPPS_GETEVENT/GETTIMESTAMP err Invalid argument, retrying
[component_container_mt-1] 2024-09-10 21:56:38.258 WARN  extensions/timestamp_correlator/correlated_timestamp_driver.cpp@144: ioctl failed for NVPPS_GETEVENT/GETTIMESTAMP err Invalid argument, retrying
[component_container_mt-1] 2024-09-10 21:56:39.278 WARN  extensions/timestamp_correlator/correlated_timestamp_driver.cpp@144: ioctl failed for NVPPS_GETEVENT/GETTIMESTAMP err Invalid argument, retrying
[realsense2_camera_node-2] [INFO] [1725994599.498299200] [camera.camera]: Set Exposure.1 to 7500
[realsense2_camera_node-2] [INFO] [1725994599.790167339] [camera.camera]: Set ROS param depth_module.profile to default: 848x480x30
[component_container_mt-1] [INFO] [1725994600.282781318] [front_stereo_camera.left_encoder]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1725994600.282887946] [front_stereo_camera.left_encoder]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1725994600.282916491] [front_stereo_camera.left_encoder]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1725994600.282930059] [front_stereo_camera.left_encoder]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/front_stereo_camera/left/image_raw", data_format="nitros_image_bgr8"
[component_container_mt-1] [INFO] [1725994600.282959852] [front_stereo_camera.left_encoder]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1725994600.282970316] [front_stereo_camera.left_encoder]: [NitrosPublisher] Use only the compatible publisher: topic_name="/front_stereo_camera/image_compressed", data_format="nitros_compressed_image"
[component_container_mt-1] [INFO] [1725994600.283139282] [front_stereo_camera.left_encoder]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1725994600.289982026] [front_stereo_camera.left_encoder]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/OSLXACGPVC/OSLXACGPVC.yaml"
[component_container_mt-1] [INFO] [1725994600.291190288] [front_stereo_camera.left_encoder]: [EncoderNode] preLoadGraphCallback().
[component_container_mt-1] [INFO] [1725994600.291227922] [front_stereo_camera.left_encoder]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1725994600.295850884] [front_stereo_camera.left_encoder]: [EncoderNode] postLoadGraphCallback().
[component_container_mt-1] [INFO] [1725994600.296011721] [front_stereo_camera.left_encoder]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] 2024-09-10 21:56:40.302 WARN  extensions/timestamp_correlator/correlated_timestamp_driver.cpp@144: ioctl failed for NVPPS_GETEVENT/GETTIMESTAMP err Invalid argument, retrying
[component_container_mt-1] NvMMLiteOpen : Block : BlockType = 4 
[component_container_mt-1] [INFO] [1725994600.495071776] [front_stereo_camera.left_encoder]: [NitrosNode] Node was started
[component_container_mt-1] ===== NvVideo: NVENC =====
[component_container_mt-1] NvMMLiteBlockCreate : Block : BlockType = 4 
[component_container_mt-1] H264: Profile = 77 Level = 51 
[component_container_mt-1] NVMEDIA: Need to set EMC bandwidth : 2872000 
[realsense2_camera_node-2] [INFO] [1725994600.574430318] [camera.camera]: Set ROS param rgb_camera.profile to default: 1280x720x30
[realsense2_camera_node-2] [INFO] [1725994600.576106659] [camera.camera]: Set ROS param gyro_fps to default: 200
[realsense2_camera_node-2] [INFO] [1725994600.576258856] [camera.camera]: Set ROS param accel_fps to default: 63
[realsense2_camera_node-2] [INFO] [1725994600.586537357] [camera.camera]: Stopping Sensor: Stereo Module
[realsense2_camera_node-2] [INFO] [1725994600.730403763] [camera.camera]: Starting Sensor: Stereo Module
[realsense2_camera_node-2] [INFO] [1725994600.825821757] [camera.camera]: Open profile: stream_type: Depth(0), Format: Z16, Width: 848, Height: 480, FPS: 30
[realsense2_camera_node-2] [INFO] [1725994600.826049637] [camera.camera]: Stopping Sensor: RGB Camera
[realsense2_camera_node-2]  10/09 21:56:40,827 WARNING [281472250079456] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-2]  10/09 21:56:40,845 WARNING [281472250079456] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-2]  10/09 21:56:40,859 WARNING [281472250079456] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-2]  10/09 21:56:40,870 WARNING [281472250079456] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-2]  10/09 21:56:40,882 WARNING [281472250079456] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-2]  10/09 21:56:40,894 WARNING [281472250079456] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-2]  10/09 21:56:40,905 WARNING [281472250079456] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-2]  10/09 21:56:40,918 WARNING [281472250079456] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-2]  10/09 21:56:40,929 WARNING [281472250079456] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-2] [INFO] [1725994600.943308386] [camera.camera]: Starting Sensor: RGB Camera
[realsense2_camera_node-2] [INFO] [1725994600.967614178] [camera.camera]: Open profile: stream_type: Color(0), Format: RGB8, Width: 1280, Height: 720, FPS: 30
[realsense2_camera_node-2] [INFO] [1725994600.969111058] [camera.camera]: RealSense Node Is Up!
[realsense2_camera_node-2] [WARN] [1725994601.073667613] [camera.camera]: 
[realsense2_camera_node-2]  10/09 21:56:41,247 WARNING [281472250079456] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-2]  10/09 21:56:41,257 WARNING [281472250079456] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-2]  10/09 21:56:41,268 WARNING [281472250079456] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-2]  10/09 21:56:41,279 WARNING [281472250079456] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-2]  10/09 21:56:41,290 WARNING [281472250079456] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-1] Opening in BLOCKING MODE 
[component_container_mt-1] 2024-09-10 21:56:41.326 WARN  extensions/timestamp_correlator/correlated_timestamp_driver.cpp@144: ioctl failed for NVPPS_GETEVENT/GETTIMESTAMP err Invalid argument, retrying
[component_container_mt-1] 2024-09-10 21:56:41.326 ERROR extensions/timestamp_correlator/correlated_timestamp_driver.cpp@148: ioctl failed for NVPPS_GETEVENT/GETTIMESTAMP err Invalid argument, giving up
[INFO] [ros2-3]: process started with pid [593230]
[ros2-3] [ERROR] [ros2bag]: Output folder '/mnt/nova_ssd/recordings/rosbag2_2024_09_10-21_56_34' already exists.
[ERROR] [ros2-3]: process has died [pid 593230, exit code 1, cmd 'ros2 bag record --storage mcap --output /mnt/nova_ssd/recordings/rosbag2_2024_09_10-21_56_34 /rosout /tf_static /camera/color/image_raw/compressed /camera/color/camera_info /camera/imu'].
[INFO] [launch]: process[ros2-3] was required: shutting down launched system
[INFO] [realsense2_camera_node-2]: sending signal 'SIGINT' to process[realsense2_camera_node-2]
[INFO] [component_container_mt-1]: sending signal 'SIGINT' to process[component_container_mt-1]
[realsense2_camera_node-2] [INFO] [1725994611.294383701] [rclcpp]: signal_handler(signum=2)
[realsense2_camera_node-2] [INFO] [1725994611.294811843] [camera.camera]: Stop Sensor: Stereo Module
[realsense2_camera_node-2] [INFO] [1725994611.294838116] [camera.camera]: Close Sensor. 
[component_container_mt-1] [INFO] [1725994611.295127405] [rclcpp]: signal_handler(signum=2)
[component_container_mt-1] [INFO] [1725994611.297383348] [front_stereo_camera.left_encoder]: [NitrosNode] Terminating the running application
[component_container_mt-1] [INFO] [1725994611.297416533] [front_stereo_camera.left_encoder]: [NitrosContext] Interrupting GXF...
[component_container_mt-1] [INFO] [1725994611.297749248] [front_stereo_camera.left_encoder]: [NitrosContext] Waiting on GXF...
[component_container_mt-1] [INFO] [1725994611.297764832] [front_stereo_camera.left_encoder]: [NitrosContext] Deinitializing...
[component_container_mt-1] [INFO] [1725994611.318063074] [front_stereo_camera.left_encoder]: [NitrosContext] Destroying context
[component_container_mt-1] [INFO] [1725994611.318337579] [front_stereo_camera.left_encoder]: [NitrosNode] Application termination done
[component_container_mt-1] [INFO] [1725994611.325319271] [correlated_timestamp_driver]: [NitrosNode] Terminating the running application
[component_container_mt-1] [INFO] [1725994611.325351272] [correlated_timestamp_driver]: [NitrosContext] Interrupting GXF...
[component_container_mt-1] [INFO] [1725994611.325677299] [correlated_timestamp_driver]: [NitrosContext] Waiting on GXF...
[component_container_mt-1] [INFO] [1725994611.325695251] [correlated_timestamp_driver]: [NitrosContext] Deinitializing...
[component_container_mt-1] [INFO] [1725994611.325956028] [correlated_timestamp_driver]: [NitrosContext] Destroying context
[component_container_mt-1] [INFO] [1725994611.326728692] [correlated_timestamp_driver]: [NitrosNode] Application termination done
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] |                                           Job Statistics Report (regular)                                                                                        |
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] | Name                                               |   Count | Time (Median - 90% - Max) [ms] | Load (%) | Exec(ms) | Variation (Median - 90% - Max) [ns]        |
[component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] |                                           Entity Statistics Report (regular)                                                                                     |
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] | Entity Name             | Entity State             |   Count | Time (Median - 90% - Max) [ms]                                                                    |
[component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] |                                           Job Statistics Report (regular)                                                                                        |
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] | Name                                               |   Count | Time (Median - 90% - Max) [ms] | Load (%) | Exec(ms) | Variation (Median - 90% - Max) [ns]        |
[component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] |                                           Entity Statistics Report (regular)                                                                                     |
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] | Entity Name             | Entity State             |   Count | Time (Median - 90% - Max) [ms]                                                                    |
[component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-1] |==================================================================================================================================================================|
[INFO] [component_container_mt-1]: process has finished cleanly [pid 585805]
[INFO] [launch]: process[component_container_mt-1] was required: shutting down launched system
[ERROR] [launch]: Caught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running
[realsense2_camera_node-2] [INFO] [1725994613.184053138] [camera.camera]: Close Sensor - Done. 
[realsense2_camera_node-2] [INFO] [1725994613.184124981] [camera.camera]: Stop Sensor: RGB Camera
[realsense2_camera_node-2] [INFO] [1725994613.184146197] [camera.camera]: Close Sensor. 
[realsense2_camera_node-2] [INFO] [1725994613.453587202] [camera.camera]: Close Sensor - Done. 
[INFO] [realsense2_camera_node-2]: process has finished cleanly [pid 585807]
Could not find metadata in bag directory /mnt/nova_ssd/recordings/rosbag2_2024_09_10-21_56_34
python -m isaac_ros_data_validation.summarize_bag /mnt/nova_ssd/recordings/rosbag2_2024_09_10-21_56_34
[ERROR] [1725994616.968005798] [rosbag2_storage]: Could not open '/mnt/nova_ssd/recordings/rosbag2_2024_09_10-21_56_34' with 'mcap'. Error: read failed
[ERROR] [1725994616.968057607] [rosbag2_storage]: Could not load/open plugin with storage id 'mcap'
Traceback (most recent call last):
  File "/usr/lib/python3.10/runpy.py", line 196, in _run_module_as_main
    return _run_code(code, main_globals, None,
  File "/usr/lib/python3.10/runpy.py", line 86, in _run_code
    exec(code, run_globals)
  File "/opt/ros/humble/lib/python3.10/site-packages/isaac_ros_data_validation/summarize_bag.py", line 43, in <module>
    _, _, _, q_scores = do_validation(args.input_file, verbose=VERBOSITY_MAP[args.verbosity])
  File "/opt/ros/humble/lib/python3.10/site-packages/isaac_ros_data_validation/bag_tools.py", line 246, in do_validation
    dfs = read_rosbag(input_file, verbose=verbose)
  File "/opt/ros/humble/lib/python3.10/site-packages/isaac_ros_data_validation/bag_tools.py", line 170, in read_rosbag
    data_by_topic, fails_by_topic = _read_mcap_file(input_file, store_data=store_data)
  File "/opt/ros/humble/lib/python3.10/site-packages/isaac_ros_data_validation/bag_tools.py", line 75, in _read_mcap_file
    reader.open(
RuntimeError: No storage could be initialized from the inputs.
Error opening bagfile, checking a few things...
You have mcap installed .., 
Data validation took 0m 2s.
Bag was saved in /mnt/nova_ssd/recordings/rosbag2_2024_09_10-21_56_34
/workspaces/isaac_ros-dev/install/isaac_ros_data_recorder/lib/isaac_ros_data_recorder/record_data.sh: line 65: /mnt/nova_ssd/recordings/rosbag2_2024_09_10-21_56_34/git_summary.txt: Permission denied
[ros2run]: Process exited with failure 1
4

Hi @dsonmez

Thank you for your posts. I’m really happy to help! I have forwarded your request internally to better understand and support you. I will keep you posted with updates.

Raffaello

5

@Raffaello thanks for looking into this. Looking forward to the internal team’s evaluation.

6

Hi @Raffaello, do you have an update on this? Thanks.