NVBlox fails with Lookup transform failed for frame camera0_link after remapping r2b_galileo2 bag topics to /camera0/*

Robotics & Edge Computing Robotics - Isaac Isaac ROS
1

I launch nvblox_examples_bringup/realsense_example.launch.py in people_segmentation mode and play r2b_galileo2. I remap /camera/* topics to /camera0/* via rosbag_args. NVBlox then logs:

[nvblox_node]: Lookup transform failed for frame camera0_link. Layer pointclouds not published

Remapping changes topic names only; TF frames and message header.frame_id remain /camera_*, so lookups for camera0_* fail. Looking for the recommended way to keep TF consistent with namespaced topics.

Repro Command (exact):

ros2 launch nvblox_examples_bringup realsense_example.launch.py \
  mode:=people_segmentation \
  rosbag:=r2b_galileo2/ \
  rosbag_args:="--remap /camera/color/camera_info:=/camera0/color/camera_info \
                        --remap /camera/color/image_raw:=/camera0/color/image_raw \
                        --remap /camera/depth/camera_info:=/camera0/depth/camera_info \
                        --remap /camera/infra1/camera_info:=/camera0/infra1/camera_info \
                        --remap /camera/infra2/camera_info:=/camera0/infra2/camera_info \
                        --remap /camera/realsense_splitter_node/output/depth:=/camera0/realsense_splitter_node/output/depth \
                        --remap /camera/realsense_splitter_node/output/infra_1:=/camera0/realsense_splitter_node/output/infra_1 \
                        --remap /camera/realsense_splitter_node/output/infra_2:=/camera0/realsense_splitter_node/output/infra_2"

image
image1525×872 112 KB

How should this be resolved?

4

Hi @benny6551102

Thanks for your post.

For nvblox in Isaac ROS 3.2, please use the rosbag galileo_static_3_2 downloaded in the nvblox quickstart .

Best,
Ahung