Nvblox_examples_bringup isnt working

smokemonkey101 · October 16, 2024, 6:26pm

Im using on a Jetson Orin Nx and a Zed2i camera
I used

git clone -b release-3.1 https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_common.git isaac_ros_common

When i run the NVBlox Zed example from Nvidia Github Wiki nothing works in rviz.
Launch command
ros2 launch nvblox_examples_bringup zed_example.launch.py camera:=zed2

The rviz can see the topics and i can select them but nothing shows. It wont even show a camera. when i list the topics in a terminal, I see the zed and nvblox topics are there.

is my problem that i have Zed2i?

To test things out i also ran the Visual Slam
When i run isaac_ros_visual_slam things work mostly fine.
I do get these messages. but not important

[visual_slam_node]: Delta between current and previous frame [399.927000 ms] is above threshold [34.000000 ms]
[rviz]: Message Filter dropping message: frame ‘odom’ at time 1729037777.728 for reason ‘discarding message because the queue is full’

Ahung · October 17, 2024, 8:04am

Hi @smokemonkey101

Thanks for your post.
From the attached log, it seems that rebuilt zed library is not loaded. Could you source the setup.bash and try the demo again?

cd ${ISAAC_ROS_WS}/ && source install/setup.bash

Let me know.

Best,
Ahung

smokemonkey101 · October 18, 2024, 5:22am

The believe workspace was sourced.

To make sure the zed was running,
i first opened another terminal and entered the docker then listed the topics. Zed and nvblox where listed.
Second i ran the Visual slam right after. And it was working. Mostly

Thank you for the reply

smokemonkey101 · October 23, 2024, 12:24am

I decided to rebuild the workspace, but now im unable to rebuild the zed-ros2-wrapper.
cmake would result in
Failed <<< zed_components [51.7s, exited with code 2]

i found this thread

ros2-wrapper with branch foxy-humble-4.0.5 requires a cmake_minimum_version of 3.5 and policy is not set. On the other hand, Isaac ROS Visual SLAM requires a minimum version of 3.22.1

Im still trying to fix

Ahung · October 23, 2024, 1:53am

Hi @smokemonkey101

I sync’d zed-ros2-wrapper to top of tree and observed cmake build failed below.

It’s caused by recent merged commits. Please checkout to earlier tag like humble-v4.1.4 to avoid the issue.

Starting >>> zed_components
--- stderr: zed_components
/workspaces/isaac_ros-dev/src/zed-ros2-wrapper/zed_components/src/zed_camera/src/zed_camera_component.cpp: In member function ‘void stereolabs::ZedCamera::getOdParams()’:
/workspaces/isaac_ros-dev/src/zed-ros2-wrapper/zed_components/src/zed_camera/src/zed_camera_component.cpp:1656:51: error: ‘CUSTOM_YOLOLIKE_BOX_OBJECTS’ is not a member of ‘sl::OBJECT_DETECTION_MODE
L’; did you mean ‘CUSTOM_BOX_OBJECTS’?
 1656 |   if (mObjDetModel == sl::OBJECT_DETECTION_MODEL::CUSTOM_YOLOLIKE_BOX_OBJECTS) {
      |                                                   ^~~~~~~~~~~~~~~~~~~~~~~~~~~
      |                                                   CUSTOM_BOX_OBJECTS
/workspaces/isaac_ros-dev/src/zed-ros2-wrapper/zed_components/src/zed_camera/src/zed_camera_component.cpp:1698:51: error: ‘CUSTOM_YOLOLIKE_BOX_OBJECTS’ is not a member of ‘sl::OBJECT_DETECTION_MODE
L’; did you mean ‘CUSTOM_BOX_OBJECTS’?
 1698 |   if (mObjDetModel != sl::OBJECT_DETECTION_MODEL::CUSTOM_YOLOLIKE_BOX_OBJECTS) {
      |                                                   ^~~~~~~~~~~~~~~~~~~~~~~~~~~
      |                                                   CUSTOM_BOX_OBJECTS

smokemonkey101 · October 25, 2024, 8:19pm

Ok it took me a little while but i rebuild everything from the source and still experience the same problem.

i built from source
release-3.1 isaac_ros_common, isaac_ros_visual_slam, and isaac_ros_nvblox
zed-ros2-wrapper tag humble-v4.1.4

I start the nvblox example with the Zed and i get the same 3 lines repeating.
On the left of the screenshot you can see i ran a topic list. The zed and nvblox nodes are present.
Here is the launch command. same as the example.

ros2 launch nvblox_examples_bringup zed_example.launch.py
camera:=zed2

[component_container_mt-1] [INFO] [1729886419.483382711] [nvblox_node]: Lookup transform failed for frame zed_camera_link. Layer pointclouds not published
[component_container_mt-1] [INFO] [1729886420.003754171] [nvblox_node]: Tried to clear map outside of radius but couldn't look up frame: zed_camera_link
[component_container_mt-1] [INFO] [1729886420.353818695] [nvblox_node]: Lookup transform failed for frame zed_camera_link. Mesh not published

i then change nothing and run the isaac_ros_visual_slam example and it works. Here is the launch command.

ros2 launch isaac_ros_examples isaac_ros_examples.launch.py
launch_fragments:=zed_stereo_rect,visual_slam
base_frame:=zed2_camera_center camera_optical_frames:=“[‘zed2_left_camera_optical_frame’, ‘zed2_right_camera_optical_frame’]”
interface_specs_file:=${ISAAC_ROS_WS}/isaac_ros_assets/isaac_ros_visual_slam/zed2_quickstart_interface_specs.json

smokemonkey101 · October 28, 2024, 6:19pm

to be honest im trying to do something like the Isaac Perceptor Technical Details — isaac_ros_docs documentation

but i only have the 1 zed camera - Zed2i

im trying to get localization and navigation.
So I need to combine Nvblox and isaac_ros_visual_slam but i cant seem to get Nvblox to run.

I tried both the build from source and the Binary package.
I even deleted the the dockers and rebuilt them.

Ahung · October 29, 2024, 3:48am

Hi @smokemonkey101

I don’t have zed2i but zed. I observe the same logs of lookup trasform failed & clear map. It somehow takes over10mins for zed to start streaming in nvblox demo. Please help confirm if you observe the same.

smokemonkey101 · October 29, 2024, 11:12pm

Yes. After proximity 12 mins it started working.

Also after about 9 mins of it working the tf axes started to fly away. Lol

foundbuddy101 · October 31, 2024, 12:27am

Ok so i got my hands on an jetson AGX and repeated the setup.
I can use the isaac_ros_visual_slam no problem. Then tried to use Nvblox, It take a while before it starts working.

i tried the zed-ros2-wrapper master first but had to move to
zed-ros2-wrapper tag humble-v4.1.4

release-3.1 isaac_ros_common
isaac_ros_visual_slam
isaac_ros_nvblox

sorry i accidentally change users

Ahung · November 5, 2024, 2:02am

Hi @smokemonkey101

Thank you for update. I forward this issue to engineers.

castej10 · November 5, 2024, 5:37pm

is there any progress on updating the isaac_ros-dev docker container to work with the main branch of the zed_ros-wrapper?

smokemonkey101 · November 5, 2024, 11:11pm

I have discovered some new interesting behavior.

1st - launch the Nvblox and wait the 10 odd minutes
2nd - stop the process while keeping the docker active
3rd - launch the Nvblox again.

With the second launch, I no longer had to wait the 10 min. It started immediately.

My new major problem is that my Tf info will not update .
When i move the device, it doesn’t see its own movement

[component_container_mt-1] [INFO] [1730849769.994574827] [nvblox_node]: Rates statistics: 
[component_container_mt-1] 
[component_container_mt-1] NVBlox Rates (in Hz)
[component_container_mt-1] namespace/tag - NumSamples (Window Length) - Mean 
[component_container_mt-1] -----------
[component_container_mt-1] ros/mesh                	100    	2.4
[component_container_mt-1] ros/color               	100    	3.3
[component_container_mt-1] ros/depth               	100    	4.8
[component_container_mt-1] ros/depth_image_callback	100    	4.8
[component_container_mt-1] ros/color_image_callback	100    	4.8
[component_container_mt-1] ros/update_esdf         	100    	2.4
[component_container_mt-1] mapper/stream_mesh      	100    	2.4
[component_container_mt-1] ros/tick                	100    	2.4
[component_container_mt-1] -----------
[component_container_mt-1] 
[component_container_mt-1] [INFO] [1730849769.994636557] [nvblox_node]: Delay statistics: 
[component_container_mt-1] 
[component_container_mt-1] NVBlox Delays
[component_container_mt-1] namespace/tag - NumSamples (Window Length) - Mean Delay (seconds) 
[component_container_mt-1] -----------
[component_container_mt-1] ros/esdf_integration       	100    	0.546
[component_container_mt-1] ros/color_image_integration	100    	0.546
[component_container_mt-1] ros/depth_image_integration	100    	0.458
[component_container_mt-1] ros/depth_image_callback   	100    	0.243
[component_container_mt-1] ros/color_image_callback   	100    	0.240
[component_container_mt-1] -----------
[component_container_mt-1] 
[component_container_mt-1] [INFO] [1730849775.284931032] [nvblox_node]: Depth Statistics: 
[component_container_mt-1] avg=212.191419, min=1.304427, max=519.248602, std_dev=30.598434, count=10612
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[component_container_mt-1] [INFO] [1730849778.355400712] [rclcpp]: signal_handler(signum=2)
[INFO] [robot_state_publisher-2]: process has finished cleanly [pid 88810]
[INFO] [rviz2-3]: process has finished cleanly [pid 88812]
[rviz2-3] [INFO] [1730849778.355405960] [rclcpp]: signal_handler(signum=2)
[robot_state_publisher-2] [INFO] [1730849778.355408008] [rclcpp]: signal_handler(signum=2)
[component_container_mt-1] [INFO] [1730849778.481249866] [nvblox_node]: Timing statistics: 
[component_container_mt-1] 
[component_container_mt-1] NVBlox Timings (in seconds)
[component_container_mt-1] namespace/tag - NumSamples - TotalTime - (Mean +- StdDev) - [Min,Max]
[component_container_mt-1] -----------
[component_container_mt-1] /esdf_slicer/get_aabb                         	   5520	00.165005	(00.000030 +- 00.000010)	[00.000001,00.000650]
[component_container_mt-1] /esdf_slicer/slice_layer                      	   5479	12.704775	(00.002319 +- 00.001199)	[00.000111,00.139642]
[component_container_mt-1] color/integrate                               	   8283	553.145147	(00.066781 +- 00.070205)	[00.001668,00.247916]
[component_container_mt-1] color/integrate/allocate_blocks               	   8283	58.551820	(00.007069 +- 00.039055)	[00.000067,00.194391]
[component_container_mt-1] color/integrate/get_blocks_in_view            	   8283	03.071003	(00.000371 +- 00.000168)	[00.000189,00.005468]
[component_container_mt-1] color/integrate/reduce_to_blocks_in_band      	   8283	65.846667	(00.007950 +- 00.009993)	[00.000328,00.186947]
[component_container_mt-1] color/integrate/sphere_trace                  	   8283	377.486956	(00.045574 +- 00.063874)	[00.000360,00.220408]
[component_container_mt-1] color/integrate/sphere_trace/hash_transfer    	   8283	358.592062	(00.043293 +- 00.063944)	[00.000001,00.219088]
[component_container_mt-1] color/integrate/transfer_blocks               	   8283	36.069596	(00.004355 +- 00.020668)	[00.000122,00.181925]
[component_container_mt-1] color/integrate/update_blocks                 	   8283	11.575567	(00.001398 +- 00.001097)	[00.000319,00.167490]
[component_container_mt-1] esdf/integrate/clear                          	   5393	08.193795	(00.001519 +- 00.001054)	[00.000227,00.151343]
[component_container_mt-1] esdf/integrate/clear/get_blocks               	   5393	01.064018	(00.000197 +- 00.000225)	[00.000030,00.108795]
[component_container_mt-1] esdf/integrate/compute/neighbor_bands         	  26603	39.893708	(00.001500 +- 00.001675)	[00.000105,00.167104]
[component_container_mt-1] esdf/integrate/compute/neighbor_bands/gpu_view	  26603	00.022708	(00.000001 +- 00.000000)	[00.000000,00.003035]
[component_container_mt-1] esdf/integrate/compute/swap                   	  26603	00.029332	(00.000001 +- 00.000000)	[00.000000,00.000239]
[component_container_mt-1] esdf/integrate/compute/sweep                  	  26603	02.460562	(00.000092 +- 00.000048)	[00.000007,00.146435]
[component_container_mt-1] esdf/integrate/mark_sites/pack_out            	   5393	02.883380	(00.000535 +- 00.000896)	[00.000064,00.009172]
[component_container_mt-1] esdf/integrate_slice                          	   5527	337.990212	(00.061153 +- 00.067269)	[00.000001,00.355386]
[component_container_mt-1] esdf/integrate_slice/compute                  	   5393	44.763791	(00.008300 +- 00.006675)	[00.000219,00.207068]
[component_container_mt-1] esdf/integrate_slice/mark_sites               	   5393	284.964804	(00.052840 +- 00.066950)	[00.000302,00.242384]
[component_container_mt-1] gpu_hash/transfer                             	  11118	616.771218	(00.055475 +- 00.059300)	[00.000430,00.226511]
[component_container_mt-1] gpu_hash/transfer/reallocation                	      2	00.199550	(00.099775 +- 00.062662)	[00.037113,00.162437]
[component_container_mt-1] mesh/gpu/get_meshable                         	   5297	12.928927	(00.002441 +- 00.001128)	[00.000256,00.167581]
[component_container_mt-1] mesh/gpu/integrate                            	   5298	640.622824	(00.120918 +- 00.068733)	[00.000002,00.292942]
[component_container_mt-1] mesh/gpu/mesh_blocks                          	   5297	625.154492	(00.118020 +- 00.069092)	[00.011248,00.275519]
[component_container_mt-1] mesh/gpu/mesh_blocks/block_allocation         	   5297	08.265672	(00.001560 +- 00.001094)	[00.000153,00.165054]
[component_container_mt-1] mesh/gpu/mesh_blocks/copy_out                 	   5297	379.479101	(00.071640 +- 00.069273)	[00.000042,00.193503]
[component_container_mt-1] mesh/gpu/mesh_blocks/kernel_table             	   5297	113.282751	(00.021386 +- 00.004727)	[00.003031,00.092951]
[component_container_mt-1] mesh/gpu/mesh_blocks/kernel_vertices          	   5297	16.704542	(00.003154 +- 00.001690)	[00.000774,00.164233]
[component_container_mt-1] mesh/gpu/mesh_blocks/prep                     	   5297	45.114894	(00.008517 +- 00.026195)	[00.000284,00.191598]
[component_container_mt-1] mesh/gpu/mesh_blocks/welding                  	   5297	62.046829	(00.011714 +- 00.002598)	[00.002826,00.189585]
[component_container_mt-1] ros/clear_outside_radius                      	   1845	00.004140	(00.000002 +- 00.000001)	[00.000000,00.000110]
[component_container_mt-1] ros/color                                     	  10628	563.265509	(00.052998 +- 00.063378)	[00.000006,00.252039]
[component_container_mt-1] ros/color/conversion                          	   8283	09.498460	(00.001147 +- 00.001304)	[00.000113,00.151776]
[component_container_mt-1] ros/color/integrate                           	   8283	553.425124	(00.066815 +- 00.070202)	[00.001684,00.247949]
[component_container_mt-1] ros/color/transform                           	  10628	00.226206	(00.000021 +- 00.000007)	[00.000005,00.001317]
[component_container_mt-1] ros/color_image_callback                      	  10628	116.187459	(00.010932 +- 00.022303)	[00.000033,00.405586]
[component_container_mt-1] ros/decay_tsdf                                	   5300	21.147383	(00.003990 +- 00.003046)	[00.000179,00.164207]
[component_container_mt-1] ros/depth                                     	  10628	266.604657	(00.025085 +- 00.042156)	[00.000781,00.207339]
[component_container_mt-1] ros/depth/conversions                         	  10628	117.125571	(00.011020 +- 00.018293)	[00.000026,00.192800]
[component_container_mt-1] ros/depth/integrate                           	  10628	148.983163	(00.014018 +- 00.038599)	[00.000715,00.195382]
[component_container_mt-1] ros/depth/output/back_projected_depth         	  10628	00.074657	(00.000007 +- 00.000002)	[00.000002,00.000614]
[component_container_mt-1] ros/depth/transform                           	  10628	00.258749	(00.000024 +- 00.000006)	[00.000013,00.001974]
[component_container_mt-1] ros/depth_image_callback                      	  10628	06.736762	(00.000634 +- 00.001263)	[00.000030,00.097637]
[component_container_mt-1] ros/esdf                                      	   5527	441.126865	(00.079813 +- 00.067656)	[00.000095,00.379073]
[component_container_mt-1] ros/esdf/integrate                            	   5527	339.897198	(00.061498 +- 00.067247)	[00.000081,00.361500]
[component_container_mt-1] ros/esdf/output                               	   5527	101.183028	(00.018307 +- 00.021801)	[00.000009,00.182255]
[component_container_mt-1] ros/idle                                      	   7520	21.244951	(00.002825 +- 00.003158)	[00.000156,00.014708]
[component_container_mt-1] ros/mesh                                      	   5322	732.461973	(00.137629 +- 00.068774)	[00.000032,00.549782]
[component_container_mt-1] ros/mesh/output                               	   5298	25.294886	(00.004774 +- 00.001343)	[00.000001,00.033632]
[component_container_mt-1] ros/mesh/update                               	   5322	705.944582	(00.132646 +- 00.068914)	[00.000031,00.535609]
[component_container_mt-1] ros/process_message_queue                     	  15042	1042.378904	(00.069298 +- 00.061101)	[00.000032,00.407627]
[component_container_mt-1] ros/publish_layer                             	   5536	00.432812	(00.000078 +- 00.000014)	[00.000007,00.005662]
[component_container_mt-1] ros/static/esdf/output/compute                	   5520	12.930773	(00.002343 +- 00.001199)	[00.000004,00.139703]
[component_container_mt-1] ros/static/esdf/output/pointcloud             	   5520	87.915693	(00.015927 +- 00.021500)	[00.000093,00.181572]
[component_container_mt-1] ros/tick                                      	   7521	2238.514339	(00.297635 +- 00.201227)	[00.000117,01.022147]
[component_container_mt-1] tsdf/integrate                                	  10628	117.445840	(00.011051 +- 00.035479)	[00.000535,00.195132]
[component_container_mt-1] tsdf/integrate/allocate_blocks                	  10628	17.877340	(00.001682 +- 00.020643)	[00.000040,00.179810]
[component_container_mt-1] tsdf/integrate/get_blocks_in_view             	  10628	72.598013	(00.006831 +- 00.028559)	[00.000180,00.184035]
[component_container_mt-1] tsdf/integrate/transfer_blocks                	  10628	14.521142	(00.001366 +- 00.000732)	[00.000062,00.171682]
[component_container_mt-1] tsdf/integrate/update_blocks                  	  10628	12.216338	(00.001149 +- 00.001158)	[00.000061,00.156685]
[component_container_mt-1] view_calculator/get_blocks_in_view_planes     	   8283	00.006006	(00.000001 +- 00.000000)	[00.000000,00.000322]
[component_container_mt-1] view_calculator/raycast                       	  10628	72.557093	(00.006827 +- 00.028559)	[00.000177,00.184030]
[component_container_mt-1] view_calculator/raycast/output                	  10628	50.605285	(00.004762 +- 00.028137)	[00.000042,00.178946]
[component_container_mt-1] view_calculator/raycast/raycast_pixels_kernel 	  10628	20.609830	(00.001939 +- 00.001627)	[00.000102,00.171418]
[component_container_mt-1] view_calculator/raycast/setup                 	  10628	01.206494	(00.000114 +- 00.000018)	[00.000012,00.159047]

system · November 19, 2024, 11:12pm

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Nvblox_examples_bringup isnt working

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