hi, I have nova orin dev kit and recently encountered a problem when launching a bmi088 sensor on both front_stereo_imu(id=69, hawk stereo camera) and chasis_imu(id=68).
After launching a ros2 launch isaac_ros_imu_bmi088 bmi088.launch.py bmi_id:=68 diagnostics:=True, messages are being published on topic /imu/imu for varied period of time from 1 up to 20 minutes until it abruptly stops without any errors in the launch logs. The launch file is the standard one from the isaac_ros_nova repo
The /diagnostics would then change from OK to DIAGNOSTICS STALE:
---
header:
stamp:
sec: 607
nanosec: 1419741671
frame_id: ''
status:
- level: "\0"
name: bmi088/imu/imu
message: OK
hardware_id: nvidia
values:
- key: num_non_increasing_msg
value: '0'
- key: num_jitter_outliers_msg
value: '0'
- key: num_jitter_outliers_node
value: '0'
- key: max_abs_jitter_msg
value: '18'
- key: max_abs_jitter_node
value: '0'
- key: mean_abs_jitter_msg
value: '17'
- key: mean_abs_jitter_node
value: '0'
- key: frame_rate_msg
value: '99.828293'
- key: frame_rate_node
value: '99.825302'
- key: total_dropped_frames
value: '0'
---
header:
stamp:
sec: 608
nanosec: 2419729304
frame_id: ''
status:
- level: "\x03"
name: bmi088/imu/imu
message: DIAGNOSTICS STALE
hardware_id: nvidia
values: []
---
header:
stamp:
sec: 609
nanosec: 3419724171
frame_id: ''
status:
- level: "\x03"
name: bmi088/imu/imu
message: DIAGNOSTICS STALE
hardware_id: nvidia
values: []
---
launch file console output
admin@nvidia-desktop:/workspaces/isaac_ros-dev$ ros2 launch isaac_ros_imu_bmi088 bmi088.launch.py bmi_id:=68 diagnostics:=True
[INFO] [launch]: All log files can be found below /home/admin/.ros/log/2025-07-17-12-47-27-439709-nvidia-desktop-49453
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container_mt-1]: process started with pid [49485]
[component_container_mt-1] [INFO] [1752745647.827934169] [bmi088_container]: Load Library: /opt/ros/humble/lib/libcorrelated_timestamp_driver_node.so
[component_container_mt-1] [INFO] [1752745647.870428375] [bmi088_container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::correlated_timestamp_driver::CorrelatedTimestampDriverNode>
[component_container_mt-1] [INFO] [1752745647.870510231] [bmi088_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::correlated_timestamp_driver::CorrelatedTimestampDriverNode>
[component_container_mt-1] [INFO] [1752745647.881103478] [correlated_timestamp_driver]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1752745647.881360790] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/std/libgxf_std.so
[component_container_mt-1] [INFO] [1752745647.882732982] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_gxf_helpers.so
[component_container_mt-1] [INFO] [1752745647.886905910] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_sight.so
[component_container_mt-1] [INFO] [1752745647.891499254] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_atlas.so
[component_container_mt-1] 2025-07-17 12:47:27.902 WARN gxf/std/program.cpp@538: No GXF scheduler specified.
[component_container_mt-1] [INFO] [1752745647.903356021] [correlated_timestamp_driver]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1752745647.906589301] [correlated_timestamp_driver]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1752745647.906735445] [correlated_timestamp_driver]: [NitrosContext] Loading extension: gxf/lib/multimedia/libgxf_multimedia.so
[component_container_mt-1] [INFO] [1752745647.909766229] [correlated_timestamp_driver]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_message_compositor.so
[component_container_mt-1] [INFO] [1752745647.910239829] [correlated_timestamp_driver]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_timestamp_correlator.so
[component_container_mt-1] [INFO] [1752745647.918442389] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/serialization/libgxf_serialization.so
[component_container_mt-1] [INFO] [1752745647.919022837] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_messages.so
[component_container_mt-1] [INFO] [1752745647.919583509] [correlated_timestamp_driver]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1752745647.920667509] [correlated_timestamp_driver]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1752745647.922024789] [correlated_timestamp_driver]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1752745647.924464149] [correlated_timestamp_driver]: [NitrosNode] Starting negotiation...
[component_container_mt-1] [INFO] [1752745647.925449429] [bmi088_container]: Load Library: /opt/ros/humble/lib/libimu_bmi088_node.so
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/correlated_timestamp_driver' in container 'bmi088_container'
[component_container_mt-1] [INFO] [1752745647.927828372] [bmi088_container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::imu_bmi088::Bmi088Node>
[component_container_mt-1] [INFO] [1752745647.927871380] [bmi088_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::imu_bmi088::Bmi088Node>
[component_container_mt-1] [INFO] [1752745647.932501364] [imu.bmi088]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1752745647.933017652] [imu.bmi088]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1752745647.937208820] [imu.bmi088]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1752745647.937362836] [imu.bmi088]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_bmi088_imu.so
[component_container_mt-1] [INFO] [1752745647.938505908] [imu.bmi088]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_imu_utils.so
[component_container_mt-1] [INFO] [1752745647.939178868] [imu.bmi088]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1752745647.943168148] [imu.bmi088]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1752745647.974325330] [imu.bmi088]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1752745647.990346642] [imu.bmi088]: [NitrosNode] Starting negotiation...
[component_container_mt-1] [INFO] [1752745647.990890322] [correlated_timestamp_driver]: Negotiating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/imu/bmi088' in container 'bmi088_container'
[component_container_mt-1] [INFO] [1752745648.925155607] [correlated_timestamp_driver]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1752745648.925233911] [correlated_timestamp_driver]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1752745648.925258295] [correlated_timestamp_driver]: [NitrosPublisher] Use the negotiated data format: "nitros_correlated_timestamp"
[component_container_mt-1] [INFO] [1752745648.925485847] [correlated_timestamp_driver]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1752745648.927242296] [correlated_timestamp_driver]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/DEHMQAMDNA/DEHMQAMDNA.yaml"
[component_container_mt-1] [INFO] [1752745648.927322936] [correlated_timestamp_driver]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1752745648.928512888] [correlated_timestamp_driver]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1752745648.929421336] [correlated_timestamp_driver]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1752745652.990880971] [imu.bmi088]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1752745652.990957067] [imu.bmi088]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1752745652.990972011] [imu.bmi088]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1752745652.990992555] [imu.bmi088]: [NitrosPublisher] Use only the compatible publisher: topic_name="/imu/imu", data_format="nitros_imu"
[component_container_mt-1] [INFO] [1752745652.991016107] [imu.bmi088]: [NitrosSubscriber] Use the negotiated data format: "nitros_correlated_timestamp"
[component_container_mt-1] [INFO] [1752745652.991187371] [imu.bmi088]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1752745652.997819595] [imu.bmi088]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/STLKBBJPNZ/STLKBBJPNZ.yaml"
[component_container_mt-1] [INFO] [1752745652.997874059] [imu.bmi088]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1752745653.001371627] [imu.bmi088]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1752745653.004411019] [imu.bmi088]: [NitrosNode] Node was started
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[component_container_mt-1] [INFO] [1752746446.123469129] [rclcpp]: signal_handler(signum=2)
[component_container_mt-1] [INFO] [1752746446.126196009] [imu.bmi088]: [NitrosNode] Terminating the running application
[component_container_mt-1] [INFO] [1752746446.126222409] [imu.bmi088]: [NitrosContext] Interrupting GXF...
[component_container_mt-1] [INFO] [1752746446.164227304] [imu.bmi088]: [NitrosContext] Waiting on GXF...
[component_container_mt-1] [INFO] [1752746446.164245320] [imu.bmi088]: [NitrosContext] Deinitializing...
[component_container_mt-1] [INFO] [1752746446.165097416] [imu.bmi088]: [NitrosContext] Destroying context
[component_container_mt-1] [INFO] [1752746446.165354632] [imu.bmi088]: [NitrosNode] Application termination done
[component_container_mt-1] [INFO] [1752746446.170410407] [correlated_timestamp_driver]: [NitrosNode] Terminating the running application
[component_container_mt-1] [INFO] [1752746446.170429447] [correlated_timestamp_driver]: [NitrosContext] Interrupting GXF...
[component_container_mt-1] 2025-07-17 13:00:46.164 WARN gxf/std/double_buffer_receiver.cpp@40: Unprocessed num of message 10 in queue: STLKBBJPNZ_imu_combiner:rx_gyroscope
[component_container_mt-1] 2025-07-17 13:00:46.164 WARN gxf/std/double_buffer_receiver.cpp@40: Unprocessed num of message 10 in queue: STLKBBJPNZ_imu_combiner:rx_accelerometer
[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] | STLKBBJPNZ_sink | 60073 | 0.03 | 0.03 | 0.11 | 0.3 % | 1839.1 | 4608 | 5248 | 58912 |
[component_container_mt-1] | STLKBBJPNZ_accel_translator | 79555 | 0.05 | 0.05 | 0.19 | 0.5 % | 4155.6 | 11200 | 16320 | 98240 |
[component_container_mt-1] | STLKBBJPNZ_imu_combiner | 6190192 | 0.01 | 0.02 | 0.79 | 11.5 % | 91428.2 | 92418665607 | 160025060609 | 191154869361 |
[component_container_mt-1] | STLKBBJPNZ_gyro_translator | 79162 | 0.04 | 0.05 | 0.30 | 0.5 % | 3631.0 | 11872 | 14144 | 250752 |
[component_container_mt-1] | STLKBBJPNZ_bmi088_driver | 158737 | 0.06 | 0.07 | 0.26 | 1.1 % | 8781.1 | 0 | 0 | 0 |
[component_container_mt-1] | STLKBBJPNZ_correlator_broadcast | 775 | 0.04 | 0.05 | 0.10 | 0.0 % | 33.8 | 19392 | 23264 | 80576 |
[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] | STLKBBJPNZ_sink | StopPending | 1 | 0.00669 | 0.00669 | 0.00669 |
[component_container_mt-1] | STLKBBJPNZ_sink | Idle | 60073 | 9.99050 | 10.01830 | 191212.67185 |
[component_container_mt-1] | STLKBBJPNZ_sink | Ticking | 60073 | 0.01875 | 0.02509 | 0.09872 |
[component_container_mt-1] | STLKBBJPNZ_sink | TickPending | 60073 | 0.00435 | 0.00454 | 0.05210 |
[component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-1] | STLKBBJPNZ_accel_transl | StopPending | 1 | 0.00602 | 0.00602 | 0.00602 |
[component_container_mt-1] | STLKBBJPNZ_accel_transl | Idle | 79555 | 9.93203 | 9.95824 | 42.49328 |
[component_container_mt-1] [INFO] [1752746446.612501978] [correlated_timestamp_driver]: [NitrosContext] Waiting on GXF...
[component_container_mt-1] [INFO] [1752746446.612528602] [correlated_timestamp_driver]: [NitrosContext] Deinitializing...
[component_container_mt-1] | STLKBBJPNZ_accel_transl | Ticking | 79555 | 0.03405 | 0.03709 | 0.17142 |
[component_container_mt-1] | STLKBBJPNZ_accel_transl | TickPending | 79555 | 0.00838 | 0.01027 | 0.11290 |
[component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-1] | STLKBBJPNZ_imu_combiner | StopPending | 1 | 0.11437 | 0.11437 | 0.11437 |
[component_container_mt-1] | STLKBBJPNZ_imu_combiner | Idle | 6190192 | 0.02314 | 0.02445 | 37.75133 |
[component_container_mt-1] | STLKBBJPNZ_imu_combiner | Ticking | 6190192 | 0.00397 | 0.00413 | 0.37818 |
[component_container_mt-1] | STLKBBJPNZ_imu_combiner | TickPending | 6190192 | 0.00544 | 0.00589 | 0.09258 |
[component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-1] | STLKBBJPNZ_gyro_transla | StopPending | 1 | 0.01520 | 0.01520 | 0.01520 |
[component_container_mt-1] | STLKBBJPNZ_gyro_transla | Idle | 79162 | 9.96665 | 10.00979 | 44.11011 |
[component_container_mt-1] | STLKBBJPNZ_gyro_transla | Ticking | 79162 | 0.02938 | 0.03693 | 0.28352 |
[component_container_mt-1] | STLKBBJPNZ_gyro_transla | TickPending | 79162 | 0.00710 | 0.01005 | 0.06118 |
[component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-1] | STLKBBJPNZ_bmi088_drive | StopPending | 1 | 37.64099 | 37.64099 | 37.64099 |
[component_container_mt-1] | STLKBBJPNZ_bmi088_drive | Idle | 158737 | 5.30019 | 8.34601 | 9.77149 |
[component_container_mt-1] | STLKBBJPNZ_bmi088_drive | Ticking | 158737 | 0.04298 | 0.05046 | 0.18691 |
[component_container_mt-1] | STLKBBJPNZ_bmi088_drive | TickPending | 158737 | 0.00771 | 0.01091 | 0.11968 |
[component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-1] | STLKBBJPNZ_correlator_b | StopPending | 1 | 0.00496 | 0.00496 | 0.00496 |
[component_container_mt-1] | STLKBBJPNZ_correlator_b | Idle | 775 | 1023.96918 | 1024.00328 | 1028.15016 |
[component_container_mt-1] | STLKBBJPNZ_correlator_b | Ticking | 775 | 0.02352 | 0.02544 | 0.06355 |
[component_container_mt-1] | STLKBBJPNZ_correlator_b | TickPending | 775 | 0.01226 | 0.01456 | 0.05901 |
[component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] [INFO] [1752746446.612928602] [correlated_timestamp_driver]: [NitrosContext] Destroying context
[component_container_mt-1] [INFO] [1752746446.613061626] [correlated_timestamp_driver]: [NitrosNode] Application termination done
[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] | DEHMQAMDNA_sink | 779 | 0.06 | 0.08 | 0.12 | 0.0 % | 49.6 | 24160 | 34432 | 58752 |
[component_container_mt-1] | DEHMQAMDNA_correlator | 779 | 0.11 | 0.12 | 0.17 | 0.0 % | 85.5 | 0 | 0 | 0 |
[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] | DEHMQAMDNA_sink | StopPending | 1 | 0.01709 | 0.01709 | 0.01709 |
[component_container_mt-1] | DEHMQAMDNA_sink | Idle | 779 | 1023.94686 | 1023.97955 | 1028.05026 |
[component_container_mt-1] | DEHMQAMDNA_sink | Ticking | 779 | 0.03520 | 0.04941 | 0.07866 |
[component_container_mt-1] | DEHMQAMDNA_sink | TickPending | 779 | 0.01482 | 0.02019 | 0.04486 |
[component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-1] | DEHMQAMDNA_correlator | StopPending | 1 | 441.80354 | 441.80354 | 441.80354 |
[component_container_mt-1] | DEHMQAMDNA_correlator | Idle | 779 | 1023.89368 | 1023.92843 | 1028.00764 |
[component_container_mt-1] | DEHMQAMDNA_correlator | Ticking | 779 | 0.07482 | 0.08006 | 0.12506 |
[component_container_mt-1] | DEHMQAMDNA_correlator | TickPending | 779 | 0.02381 | 0.02659 | 0.04755 admin@nvidia-desktop:/workspace
logs from GXF_LOG_LEVEL=debug ros2 launch ros2 launch isaac_ros_imu_bmi088 bmi088.launch.py bmi_id:=68 diagnostics:=True
bmi_gxf_log_debug_part1.log (97.9 MB)
bmi_gxf_log_debug_part2.log (2.5 MB)
| Jetpack | 6.2+b77 |
| Ubuntu | 22.04 |
| ROS2 | Humble |
| Kernel | 5.15.148-tegra |
| Nova Version | 1.3.2+b4 |
| Nova Config | nova-devkit |