I used the official tutorial and started with the ros bag package, but it seems that no map was built
here is log:
ros2 launch nvblox_examples_bringup isaac_sim_example.launch.py
rosbag:=${ISAAC_ROS_WS}/isaac_ros_assets/isaac_ros_nvblox/quickstart
navigation:=False
[INFO] [launch]: All log files can be found below /home/admin/.ros/log/2025-10-28-18-41-07-022361-OMEN-fj-8083
[INFO] [launch]: Default logging verbosity is set to INFO
Using container type: component_container_isolated, with arguments: [‘–ros-args’, ‘–log-level’, <launch.substitutions.launch_configuration.LaunchConfiguration object at 0x7e65e896a680>]
[INFO] [launch.user]: Adding nodes [ /nvblox_node ] to container nvblox_container.
[INFO] [launch.user]: Starting nvblox with the ‘isaac_sim’ camera in ‘static’ mode.
[INFO] [launch.user]: Now starting playback of rosbag “/workspaces/isaac_ros-dev/isaac_ros_assets/isaac_ros_nvblox/quickstart” with command: ros2bagplay/workspaces/isaac_ros-dev/isaac_ros_assets/isaac_ros_nvblox/quickstart–clock
[INFO] [component_container_isolated-1]: process started with pid [8095]
[INFO] [ros2-2]: process started with pid [8097]
[INFO] [rviz2-3]: process started with pid [8099]
[rviz2-3] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to ‘/tmp/runtime-admin’
[ros2-2] stdin is not a terminal device. Keyboard handling disabled.[INFO] [1761648067.214297626] [rosbag2_storage]: Opened database ‘/workspaces/isaac_ros-dev/isaac_ros_assets/isaac_ros_nvblox/quickstart/rosbag2_2024_04_04-15_44_33_0.db3’ for READ_ONLY.
[ros2-2] [INFO] [1761648067.214332397] [rosbag2_player]: Set rate to 1
[ros2-2] [INFO] [1761648067.217277047] [rosbag2_player]: Adding keyboard callbacks.
[ros2-2] [INFO] [1761648067.217295337] [rosbag2_player]: Press SPACE for Pause/Resume
[ros2-2] [INFO] [1761648067.217301754] [rosbag2_player]: Press CURSOR_RIGHT for Play Next Message
[ros2-2] [INFO] [1761648067.217307051] [rosbag2_player]: Press CURSOR_UP for Increase Rate 10%
[ros2-2] [INFO] [1761648067.217311274] [rosbag2_player]: Press CURSOR_DOWN for Decrease Rate 10%
[ros2-2] [INFO] [1761648067.217591820] [rosbag2_storage]: Opened database ‘/workspaces/isaac_ros-dev/isaac_ros_assets/isaac_ros_nvblox/quickstart/rosbag2_2024_04_04-15_44_33_0.db3’ for READ_ONLY.
[component_container_isolated-1] [INFO] [1761648067.319756349] [nvblox_container]: Load Library: /workspaces/isaac_ros-dev/install/nvblox_ros/lib/libnvblox_ros_lib.so
[component_container_isolated-1] [INFO] [1761648067.344509434] [nvblox_container]: Found class: rclcpp_components::NodeFactoryTemplatenvblox::NvbloxNode
[component_container_isolated-1] [INFO] [1761648067.344546211] [nvblox_container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvblox::NvbloxNode
[component_container_isolated-1] [INFO] [1761648067.512131969] [nvblox_node]: Create nvblox cuda stream with type: kBlocking
[component_container_isolated-1] WARNING: Logging before InitGoogleLogging() is written to STDERR
[component_container_isolated-1] I1028 18:41:07.528582 8095 block_memory_pool_impl.h:65] Expanding the memory pool with 2048 blocks. Number of allocated blocks: 2048
[rviz2-3] [INFO] [1761648069.005421447] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-3] [INFO] [1761648069.005497255] [rviz2]: OpenGl version: 4.5 (GLSL 4.5)
[rviz2-3] [INFO] [1761648069.052907258] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-3] [INFO] [1761648069.165711247] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-3] [INFO] [1761648069.252604150] [rviz2]: Stereo is NOT SUPPORTED
[component_container_isolated-1] I1028 18:41:13.496707 8095 gpu_hash_interface_impl.cuh:83] Creating a GPUHashImpl with requested capacity of 4096 blocks. Real capacity: 4096
[INFO] [ros2-2]: process has finished cleanly [pid 8097]
[component_container_isolated-1] I1028 18:41:19.031315 8095 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_9TsdfVoxelEEE, voxel_size: 0.05, and memory_type: kDevice to LayerCake.
[component_container_isolated-1] I1028 18:41:19.047417 8095 block_memory_pool_impl.h:65] Expanding the memory pool with 2048 blocks. Number of allocated blocks: 2048
[component_container_isolated-1] I1028 18:41:19.047787 8095 gpu_hash_interface_impl.cuh:83] Creating a GPUHashImpl with requested capacity of 4096 blocks. Real capacity: 4096
[component_container_isolated-1] I1028 18:41:19.047845 8095 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_10ColorVoxelEEE, voxel_size: 0.05, and memory_type: kDevice to LayerCake.
[component_container_isolated-1] I1028 18:41:19.053143 8095 block_memory_pool_impl.h:65] Expanding the memory pool with 2048 blocks. Number of allocated blocks: 2048
[component_container_isolated-1] I1028 18:41:19.053272 8095 gpu_hash_interface_impl.cuh:83] Creating a GPUHashImpl with requested capacity of 4096 blocks. Real capacity: 4096
[component_container_isolated-1] I1028 18:41:24.604791 8095 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_14FreespaceVoxelEEE, voxel_size: 0.05, and memory_type: kDevice to LayerCake.
[component_container_isolated-1] I1028 18:41:24.608804 8095 block_memory_pool_impl.h:65] Expanding the memory pool with 2048 blocks. Number of allocated blocks: 2048
[component_container_isolated-1] I1028 18:41:24.608983 8095 gpu_hash_interface_impl.cuh:83] Creating a GPUHashImpl with requested capacity of 4096 blocks. Real capacity: 4096
[component_container_isolated-1] I1028 18:41:29.899842 8095 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_14OccupancyVoxelEEE, voxel_size: 0.05, and memory_type: kDevice to LayerCake.
[component_container_isolated-1] I1028 18:41:29.905182 8095 block_memory_pool_impl.h:65] Expanding the memory pool with 2048 blocks. Number of allocated blocks: 2048
[component_container_isolated-1] I1028 18:41:30.228819 8095 gpu_hash_interface_impl.cuh:83] Creating a GPUHashImpl with requested capacity of 4096 blocks. Real capacity: 4096
[component_container_isolated-1] I1028 18:41:30.228891 8095 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_9EsdfVoxelEEE, voxel_size: 0.05, and memory_type: kDevice to LayerCake.
[component_container_isolated-1] I1028 18:41:30.228981 8095 block_memory_pool_impl.h:65] Expanding the memory pool with 2048 blocks. Number of allocated blocks: 2048
[component_container_isolated-1] I1028 18:41:30.229159 8095 gpu_hash_interface_impl.cuh:83] Creating a GPUHashImpl with requested capacity of 4096 blocks. Real capacity: 4096
[component_container_isolated-1] I1028 18:41:30.229198 8095 layer_cake_impl.h:32] Adding Layer with type: N6nvblox10BlockLayerINS_9MeshBlockEEE, voxel_size: 0.05, and memory_type: kDevice to LayerCake.
[component_container_isolated-1] I1028 18:41:30.229208 8095 layer_cake_streamer_impl.h:79] Adding Streamer with type: N6nvblox25LayerStreamerOldestBlocksINS_15VoxelBlockLayerINS_9TsdfVoxelEEEEE to LayerCake.
[component_container_isolated-1] I1028 18:41:30.229212 8095 layer_cake_streamer_impl.h:79] Adding Streamer with type: N6nvblox25LayerStreamerOldestBlocksINS_15VoxelBlockLayerINS_10ColorVoxelEEEEE to LayerCake.
[component_container_isolated-1] I1028 18:41:30.229215 8095 layer_cake_streamer_impl.h:79] Adding Streamer with type: N6nvblox25LayerStreamerOldestBlocksINS_15VoxelBlockLayerINS_14FreespaceVoxelEEEEE to LayerCake.
[component_container_isolated-1] I1028 18:41:30.229218 8095 layer_cake_streamer_impl.h:79] Adding Streamer with type: N6nvblox25LayerStreamerOldestBlocksINS_15VoxelBlockLayerINS_14OccupancyVoxelEEEEE to LayerCake.
[component_container_isolated-1] I1028 18:41:30.229220 8095 layer_cake_streamer_impl.h:79] Adding Streamer with type: N6nvblox25LayerStreamerOldestBlocksINS_15VoxelBlockLayerINS_9EsdfVoxelEEEEE to LayerCake.
[component_container_isolated-1] I1028 18:41:30.229224 8095 layer_cake_streamer_impl.h:79] Adding Streamer with type: N6nvblox25LayerStreamerOldestBlocksINS_10BlockLayerINS_9MeshBlockEEEEE to LayerCake.
[component_container_isolated-1] I1028 18:41:30.234571 8095 block_memory_pool_impl.h:65] Expanding the memory pool with 2048 blocks. Number of allocated blocks: 2048
[component_container_isolated-1] I1028 18:41:30.234701 8095 gpu_hash_interface_impl.cuh:83] Creating a GPUHashImpl with requested capacity of 4096 blocks. Real capacity: 4096
[component_container_isolated-1] I1028 18:41:30.234736 8095 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_9TsdfVoxelEEE, voxel_size: 0.05, and memory_type: kDevice to LayerCake.
[component_container_isolated-1] I1028 18:41:30.240257 8095 block_memory_pool_impl.h:65] Expanding the memory pool with 2048 blocks. Number of allocated blocks: 2048
[component_container_isolated-1] I1028 18:41:30.240530 8095 gpu_hash_interface_impl.cuh:83] Creating a GPUHashImpl with requested capacity of 4096 blocks. Real capacity: 4096
[component_container_isolated-1] I1028 18:41:30.240561 8095 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_10ColorVoxelEEE, voxel_size: 0.05, and memory_type: kDevice to LayerCake.
[component_container_isolated-1] I1028 18:41:30.245637 8095 block_memory_pool_impl.h:65] Expanding the memory pool with 2048 blocks. Number of allocated blocks: 2048
[component_container_isolated-1] I1028 18:41:30.245754 8095 gpu_hash_interface_impl.cuh:83] Creating a GPUHashImpl with requested capacity of 4096 blocks. Real capacity: 4096
[component_container_isolated-1] I1028 18:41:30.245785 8095 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_14FreespaceVoxelEEE, voxel_size: 0.05, and memory_type: kDevice to LayerCake.
[component_container_isolated-1] I1028 18:41:30.249378 8095 block_memory_pool_impl.h:65] Expanding the memory pool with 2048 blocks. Number of allocated blocks: 2048
[component_container_isolated-1] I1028 18:41:30.249486 8095 gpu_hash_interface_impl.cuh:83] Creating a GPUHashImpl with requested capacity of 4096 blocks. Real capacity: 4096
[component_container_isolated-1] I1028 18:41:30.249514 8095 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_14OccupancyVoxelEEE, voxel_size: 0.05, and memory_type: kDevice to LayerCake.
[component_container_isolated-1] I1028 18:41:30.254606 8095 block_memory_pool_impl.h:65] Expanding the memory pool with 2048 blocks. Number of allocated blocks: 2048
[component_container_isolated-1] I1028 18:41:30.254721 8095 gpu_hash_interface_impl.cuh:83] Creating a GPUHashImpl with requested capacity of 4096 blocks. Real capacity: 4096
[component_container_isolated-1] I1028 18:41:30.254750 8095 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_9EsdfVoxelEEE, voxel_size: 0.05, and memory_type: kDevice to LayerCake.
[component_container_isolated-1] I1028 18:41:30.254827 8095 block_memory_pool_impl.h:65] Expanding the memory pool with 2048 blocks. Number of allocated blocks: 2048
[component_container_isolated-1] I1028 18:41:30.254922 8095 gpu_hash_interface_impl.cuh:83] Creating a GPUHashImpl with requested capacity of 4096 blocks. Real capacity: 4096
[component_container_isolated-1] I1028 18:41:30.254948 8095 layer_cake_impl.h:32] Adding Layer with type: N6nvblox10BlockLayerINS_9MeshBlockEEE, voxel_size: 0.05, and memory_type: kDevice to LayerCake.
[component_container_isolated-1] I1028 18:41:30.254952 8095 layer_cake_streamer_impl.h:79] Adding Streamer with type: N6nvblox25LayerStreamerOldestBlocksINS_15VoxelBlockLayerINS_9TsdfVoxelEEEEE to LayerCake.
[component_container_isolated-1] I1028 18:41:30.254954 8095 layer_cake_streamer_impl.h:79] Adding Streamer with type: N6nvblox25LayerStreamerOldestBlocksINS_15VoxelBlockLayerINS_10ColorVoxelEEEEE to LayerCake.
[component_container_isolated-1] I1028 18:41:30.254956 8095 layer_cake_streamer_impl.h:79] Adding Streamer with type: N6nvblox25LayerStreamerOldestBlocksINS_15VoxelBlockLayerINS_14FreespaceVoxelEEEEE to LayerCake.
[component_container_isolated-1] I1028 18:41:30.254956 8095 layer_cake_streamer_impl.h:79] Adding Streamer with type: N6nvblox25LayerStreamerOldestBlocksINS_15VoxelBlockLayerINS_14OccupancyVoxelEEEEE to LayerCake.
[component_container_isolated-1] I1028 18:41:30.254958 8095 layer_cake_streamer_impl.h:79] Adding Streamer with type: N6nvblox25LayerStreamerOldestBlocksINS_15VoxelBlockLayerINS_9EsdfVoxelEEEEE to LayerCake.
[component_container_isolated-1] I1028 18:41:30.254959 8095 layer_cake_streamer_impl.h:79] Adding Streamer with type: N6nvblox25LayerStreamerOldestBlocksINS_10BlockLayerINS_9MeshBlockEEEEE to LayerCake.
[component_container_isolated-1] [INFO] [1761648090.257780216] [nvblox_node]: Initialize Mapper:
[component_container_isolated-1] [INFO] [1761648090.257820476] [nvblox_node]: static_mapper.do_depth_preprocessing: 0
[component_container_isolated-1] [INFO] [1761648090.257830354] [nvblox_node]: static_mapper.depth_preprocessing_num_dilations: 3
[component_container_isolated-1] [INFO] [1761648090.257840309] [nvblox_node]: static_mapper.esdf_slice_min_height: 0.09
[component_container_isolated-1] [INFO] [1761648090.257844770] [nvblox_node]: static_mapper.esdf_slice_max_height: 0.65
[component_container_isolated-1] [INFO] [1761648090.257848754] [nvblox_node]: static_mapper.esdf_slice_height: 0.09
[component_container_isolated-1] [INFO] [1761648090.257852728] [nvblox_node]: static_mapper.exclude_last_view_from_decay: 1
[component_container_isolated-1] [INFO] [1761648090.257856917] [nvblox_node]: static_mapper.projective_integrator_max_integration_distance_m: 5
[component_container_isolated-1] [INFO] [1761648090.257861715] [nvblox_node]: static_mapper.lidar_projective_integrator_max_integration_distance_m: 10
[component_container_isolated-1] [INFO] [1761648090.257866073] [nvblox_node]: static_mapper.projective_integrator_truncation_distance_vox: 4
[component_container_isolated-1] [INFO] [1761648090.257873026] [nvblox_node]: static_mapper.projective_integrator_weighting_mode: inverse_square_tsdf_distance_penalty
[component_container_isolated-1] [INFO] [1761648090.257879538] [nvblox_node]: static_mapper.projective_integrator_max_weight: 5
[component_container_isolated-1] [INFO] [1761648090.257883669] [nvblox_node]: static_mapper.projective_tsdf_integrator_invalid_depth_decay_factor: -1
[component_container_isolated-1] [INFO] [1761648090.257888030] [nvblox_node]: static_mapper.free_region_occupancy_probability: 0.45
[component_container_isolated-1] [INFO] [1761648090.257891946] [nvblox_node]: static_mapper.occupied_region_occupancy_probability: 0.55
[component_container_isolated-1] [INFO] [1761648090.257896154] [nvblox_node]: static_mapper.unobserved_region_occupancy_probability: 0.5
[component_container_isolated-1] [INFO] [1761648090.257900115] [nvblox_node]: static_mapper.occupied_region_half_width_m: 0.1
[component_container_isolated-1] [INFO] [1761648090.257903705] [nvblox_node]: static_mapper.raycast_subsampling_factor: 4
[component_container_isolated-1] [INFO] [1761648090.257907399] [nvblox_node]: static_mapper.workspace_bounds_type: unbounded
[component_container_isolated-1] [INFO] [1761648090.257913433] [nvblox_node]: static_mapper.workspace_bounds_min_height_m: -0.5
[component_container_isolated-1] [INFO] [1761648090.257917389] [nvblox_node]: static_mapper.workspace_bounds_max_height_m: 2
[component_container_isolated-1] [INFO] [1761648090.257921006] [nvblox_node]: static_mapper.workspace_bounds_min_corner_x_m: 0
[component_container_isolated-1] [INFO] [1761648090.257924847] [nvblox_node]: static_mapper.workspace_bounds_max_corner_x_m: 0
[component_container_isolated-1] [INFO] [1761648090.257928279] [nvblox_node]: static_mapper.workspace_bounds_min_corner_y_m: 0
[component_container_isolated-1] [INFO] [1761648090.257931661] [nvblox_node]: static_mapper.workspace_bounds_max_corner_y_m: 0
[component_container_isolated-1] [INFO] [1761648090.257935490] [nvblox_node]: static_mapper.esdf_integrator_min_weight: 0.1
[component_container_isolated-1] [INFO] [1761648090.257939361] [nvblox_node]: static_mapper.esdf_integrator_max_site_distance_vox: 2
[component_container_isolated-1] [INFO] [1761648090.257942950] [nvblox_node]: static_mapper.esdf_integrator_max_distance_m: 2
[component_container_isolated-1] [INFO] [1761648090.257946683] [nvblox_node]: static_mapper.mesh_integrator_min_weight: 0.1
[component_container_isolated-1] [INFO] [1761648090.257950106] [nvblox_node]: static_mapper.mesh_integrator_weld_vertices: 1
[component_container_isolated-1] [INFO] [1761648090.257953632] [nvblox_node]: static_mapper.decay_integrator_deallocate_decayed_blocks: 1
[component_container_isolated-1] [INFO] [1761648090.257957359] [nvblox_node]: static_mapper.tsdf_decay_factor: 0.95
[component_container_isolated-1] [INFO] [1761648090.257961264] [nvblox_node]: static_mapper.tsdf_decayed_weight_threshold: 0.001
[component_container_isolated-1] [INFO] [1761648090.257965300] [nvblox_node]: static_mapper.tsdf_set_free_distance_on_decayed: 0
[component_container_isolated-1] [INFO] [1761648090.257968785] [nvblox_node]: static_mapper.tsdf_decayed_free_distance_vox: 4
[component_container_isolated-1] [INFO] [1761648090.257972364] [nvblox_node]: static_mapper.free_region_decay_probability: 0.55
[component_container_isolated-1] [INFO] [1761648090.257976083] [nvblox_node]: static_mapper.occupied_region_decay_probability: 0.4
[component_container_isolated-1] [INFO] [1761648090.257979729] [nvblox_node]: static_mapper.occupancy_decay_to_free: 0
[component_container_isolated-1] [INFO] [1761648090.258012330] [nvblox_node]: static_mapper.max_tsdf_distance_for_occupancy_m: 0.15
[component_container_isolated-1] [INFO] [1761648090.258020602] [nvblox_node]: static_mapper.max_unobserved_to_keep_consecutive_occupancy_ms: 200
[component_container_isolated-1] [INFO] [1761648090.258024629] [nvblox_node]: static_mapper.min_duration_since_occupied_for_freespace_ms: 1000
[component_container_isolated-1] [INFO] [1761648090.258028206] [nvblox_node]: static_mapper.min_consecutive_occupancy_duration_for_reset_ms: 2000
[component_container_isolated-1] [INFO] [1761648090.258031724] [nvblox_node]: static_mapper.check_neighborhood: 1
[component_container_isolated-1] [INFO] [1761648090.258034710] [nvblox_node]: Initialize Mapper:
[component_container_isolated-1] [INFO] [1761648090.258038457] [nvblox_node]: dynamic_mapper.do_depth_preprocessing: 0
[component_container_isolated-1] [INFO] [1761648090.258041642] [nvblox_node]: dynamic_mapper.depth_preprocessing_num_dilations: 4
[component_container_isolated-1] [INFO] [1761648090.258045072] [nvblox_node]: dynamic_mapper.esdf_slice_min_height: 0.09
[component_container_isolated-1] [INFO] [1761648090.258048399] [nvblox_node]: dynamic_mapper.esdf_slice_max_height: 0.65
[component_container_isolated-1] [INFO] [1761648090.258051603] [nvblox_node]: dynamic_mapper.esdf_slice_height: 0.09
[component_container_isolated-1] [INFO] [1761648090.258054784] [nvblox_node]: dynamic_mapper.exclude_last_view_from_decay: 0
[component_container_isolated-1] [INFO] [1761648090.258058191] [nvblox_node]: dynamic_mapper.projective_integrator_max_integration_distance_m: 7
[component_container_isolated-1] [INFO] [1761648090.258061790] [nvblox_node]: dynamic_mapper.lidar_projective_integrator_max_integration_distance_m: 10
[component_container_isolated-1] [INFO] [1761648090.258065382] [nvblox_node]: dynamic_mapper.projective_integrator_truncation_distance_vox: 4
[component_container_isolated-1] [INFO] [1761648090.258068691] [nvblox_node]: dynamic_mapper.projective_integrator_weighting_mode: kInverseSquareWeight
[component_container_isolated-1] [WARN] [1761648090.258072124] [nvblox_node]: Requested weighting function: “kInverseSquareWeight” not recognized. Defaulting to: kInverseSquareWeight
[component_container_isolated-1] [INFO] [1761648090.258079444] [nvblox_node]: dynamic_mapper.projective_integrator_max_weight: 5
[component_container_isolated-1] [INFO] [1761648090.258083350] [nvblox_node]: dynamic_mapper.projective_tsdf_integrator_invalid_depth_decay_factor: -1
[component_container_isolated-1] [INFO] [1761648090.258086856] [nvblox_node]: dynamic_mapper.free_region_occupancy_probability: 0.3
[component_container_isolated-1] [INFO] [1761648090.258090157] [nvblox_node]: dynamic_mapper.occupied_region_occupancy_probability: 0.7
[component_container_isolated-1] [INFO] [1761648090.258093536] [nvblox_node]: dynamic_mapper.unobserved_region_occupancy_probability: 0.5
[component_container_isolated-1] [INFO] [1761648090.258096916] [nvblox_node]: dynamic_mapper.occupied_region_half_width_m: 0.1
[component_container_isolated-1] [INFO] [1761648090.258100033] [nvblox_node]: dynamic_mapper.raycast_subsampling_factor: 4
[component_container_isolated-1] [INFO] [1761648090.258103298] [nvblox_node]: dynamic_mapper.workspace_bounds_type: kUnbounded
[component_container_isolated-1] [WARN] [1761648090.258108948] [nvblox_node]: Requested workspace bounds type: “kUnbounded” not recognized. Defaulting to: kUnbounded
[component_container_isolated-1] [INFO] [1761648090.258112962] [nvblox_node]: dynamic_mapper.workspace_bounds_min_height_m: 0
[component_container_isolated-1] [INFO] [1761648090.258116826] [nvblox_node]: dynamic_mapper.workspace_bounds_max_height_m: 1
[component_container_isolated-1] [INFO] [1761648090.258120162] [nvblox_node]: dynamic_mapper.workspace_bounds_min_corner_x_m: 0
[component_container_isolated-1] [INFO] [1761648090.258123385] [nvblox_node]: dynamic_mapper.workspace_bounds_max_corner_x_m: 0
[component_container_isolated-1] [INFO] [1761648090.258126526] [nvblox_node]: dynamic_mapper.workspace_bounds_min_corner_y_m: 2
[component_container_isolated-1] [INFO] [1761648090.258129716] [nvblox_node]: dynamic_mapper.workspace_bounds_max_corner_y_m: 2
[component_container_isolated-1] [INFO] [1761648090.258133520] [nvblox_node]: dynamic_mapper.esdf_integrator_min_weight: 0.0001
[component_container_isolated-1] [INFO] [1761648090.258136624] [nvblox_node]: dynamic_mapper.esdf_integrator_max_site_distance_vox: 1
[component_container_isolated-1] [INFO] [1761648090.258139977] [nvblox_node]: dynamic_mapper.esdf_integrator_max_distance_m: 2
[component_container_isolated-1] [INFO] [1761648090.258143288] [nvblox_node]: dynamic_mapper.mesh_integrator_min_weight: 0.0001
[component_container_isolated-1] [INFO] [1761648090.258146491] [nvblox_node]: dynamic_mapper.mesh_integrator_weld_vertices: 1
[component_container_isolated-1] [INFO] [1761648090.258149651] [nvblox_node]: dynamic_mapper.decay_integrator_deallocate_decayed_blocks: 1
[component_container_isolated-1] [INFO] [1761648090.258153083] [nvblox_node]: dynamic_mapper.tsdf_decay_factor: 0.95
[component_container_isolated-1] [INFO] [1761648090.258156447] [nvblox_node]: dynamic_mapper.tsdf_decayed_weight_threshold: 0.001
[component_container_isolated-1] [INFO] [1761648090.258159437] [nvblox_node]: dynamic_mapper.tsdf_set_free_distance_on_decayed: 0
[component_container_isolated-1] [INFO] [1761648090.258167299] [nvblox_node]: dynamic_mapper.tsdf_decayed_free_distance_vox: 4
[component_container_isolated-1] [INFO] [1761648090.258170802] [nvblox_node]: dynamic_mapper.free_region_decay_probability: 0.55
[component_container_isolated-1] [INFO] [1761648090.258174006] [nvblox_node]: dynamic_mapper.occupied_region_decay_probability: 0.4
[component_container_isolated-1] [INFO] [1761648090.258177185] [nvblox_node]: dynamic_mapper.occupancy_decay_to_free: 0
[component_container_isolated-1] [INFO] [1761648090.258180400] [nvblox_node]: dynamic_mapper.max_tsdf_distance_for_occupancy_m: 0.15
[component_container_isolated-1] [INFO] [1761648090.258183554] [nvblox_node]: dynamic_mapper.max_unobserved_to_keep_consecutive_occupancy_ms: 200
[component_container_isolated-1] [INFO] [1761648090.258186755] [nvblox_node]: dynamic_mapper.min_duration_since_occupied_for_freespace_ms: 1000
[component_container_isolated-1] [INFO] [1761648090.258189778] [nvblox_node]: dynamic_mapper.min_consecutive_occupancy_duration_for_reset_ms: 2000
[component_container_isolated-1] [INFO] [1761648090.258192914] [nvblox_node]: dynamic_mapper.check_neighborhood: 1
[component_container_isolated-1] [INFO] [1761648090.258196519] [nvblox_node]: Initialize MultiMapper:
[component_container_isolated-1] [INFO] [1761648090.258200558] [nvblox_node]: multi_mapper.connected_mask_component_size_threshold: 2000
[component_container_isolated-1] [INFO] [1761648090.258203997] [nvblox_node]: multi_mapper.remove_small_connected_components: 1
[component_container_isolated-1] [INFO] [1761648090.258265546] [nvblox_node]: NvbloxNode::subscribeToTopics()
[component_container_isolated-1] [INFO] [1761648090.258305725] [nvblox_node]: Subscribing input topics with QoS: DEFAULT
[component_container_isolated-1] [INFO] [1761648090.258928274] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/std/libgxf_std.so
[component_container_isolated-1] [INFO] [1761648090.259658518] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_gxf_helpers.so
[component_container_isolated-1] [INFO] [1761648090.261376244] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_sight.so
[component_container_isolated-1] [INFO] [1761648090.263293136] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_atlas.so
[component_container_isolated-1] 2025-10-28 18:41:30.267 WARN external/com_nvidia_gxf/gxf/std/program.cpp@538: No GXF scheduler specified.
[component_container_isolated-1] [INFO] [1761648090.267662132] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/multimedia/libgxf_multimedia.so
[component_container_isolated-1] [INFO] [1761648090.269631696] [nvblox_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_isolated-1] [INFO] [1761648090.270028324] [nvblox_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_isolated-1] [INFO] [1761648090.270333685] [nvblox_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_isolated-1] [INFO] [1761648090.270641829] [nvblox_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_isolated-1] [INFO] [1761648090.270946752] [nvblox_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_isolated-1] [INFO] [1761648090.271258702] [nvblox_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_isolated-1] [INFO] [1761648090.271445699] [nvblox_node]: NvbloxNode::setupTimers()
[component_container_isolated-1] [INFO] [1761648090.271477305] [nvblox_node]: NvbloxNode::advertiseTopics()
[component_container_isolated-1] [INFO] [1761648090.272404371] [nvblox_node]: NvbloxNode::advertiseServices()
[component_container_isolated-1] [INFO] [1761648090.273232116] [nvblox_node]: Started up nvblox node in frame odom and voxel size 0.05
[component_container_isolated-1] [INFO] [1761648090.273242969] [nvblox_node]: Mapping type: kStaticTsdf
[component_container_isolated-1] [INFO] [1761648090.273698521] [nvblox_node]: nvblox parameters:
[component_container_isolated-1] nvblox_node
[component_container_isolated-1] cuda_stream_type: kBlocking
[component_container_isolated-1] global_frame: odom
[component_container_isolated-1] voxel_size: 0.050000
[component_container_isolated-1] max_back_projection_distance: 7.000000
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ‘/nvblox_node’ in container ‘nvblox_container’
[component_container_isolated-1] layer_visualization_min_tsdf_weight: 0.100000
[component_container_isolated-1] layer_visualization_exclusion_height_m: 2.000000
[component_container_isolated-1] layer_visualization_exclusion_radius_m: 15.000000
[component_container_isolated-1] layer_streamer_bandwidth_limit_mbps: -1.000000
[component_container_isolated-1] distance_map_unknown_value_optimistic: 1000.000000
[component_container_isolated-1] distance_map_unknown_value_pessimistic: -1000.000000
[component_container_isolated-1] esdf_mode: 2d
[component_container_isolated-1] mapping_type: static_tsdf
[component_container_isolated-1] pose_frame: base_link
[component_container_isolated-1] map_clearing_frame_id: base_link
[component_container_isolated-1] after_shutdown_map_save_path:
[component_container_isolated-1] esdf_slice_bounds_visualization_attachment_frame_id: base_link
[component_container_isolated-1] workspace_height_bounds_visualization_attachment_frame_id: base_link
[component_container_isolated-1] publish_esdf_distance_slice: 1
[component_container_isolated-1] use_color: 1
[component_container_isolated-1] use_depth: 1
[component_container_isolated-1] use_segmentation: 0
[component_container_isolated-1] use_lidar: 0
[component_container_isolated-1] use_non_equal_vertical_fov_lidar_params: 0
[component_container_isolated-1] print_timings_to_console: 0
[component_container_isolated-1] print_rates_to_console: 0
[component_container_isolated-1] print_queue_drops_to_console: 0
[component_container_isolated-1] print_delays_to_console: 0
[component_container_isolated-1] layer_visualization_undo_gamma_correction: 0
[component_container_isolated-1] output_pessimistic_distance_map: 1
[component_container_isolated-1] num_cameras: 3
[component_container_isolated-1] lidar_width: 1800
[component_container_isolated-1] lidar_height: 31
[component_container_isolated-1] tick_period_ms: 10
[component_container_isolated-1] print_statistics_on_console_period_ms: 10000
[component_container_isolated-1] maximum_input_queue_length: 10
[component_container_isolated-1] back_projection_subsampling: 1
[component_container_isolated-1] lidar_vertical_fov_rad: 0.523599
[component_container_isolated-1] lidar_min_valid_range_m: 0.100000
[component_container_isolated-1] lidar_max_valid_range_m: 50.000000
[component_container_isolated-1] min_angle_below_zero_elevation_rad: 0.349066
[component_container_isolated-1] max_angle_above_zero_elevation_rad: 0.261799
[component_container_isolated-1] esdf_slice_bounds_visualization_side_length: 10.000000
[component_container_isolated-1] workspace_height_bounds_visualization_side_length: 10.000000
[component_container_isolated-1] integrate_depth_rate_hz: 40.000000
[component_container_isolated-1] integrate_color_rate_hz: 5.000000
[component_container_isolated-1] integrate_lidar_rate_hz: 40.000000
[component_container_isolated-1] update_mesh_rate_hz: 5.000000
[component_container_isolated-1] update_esdf_rate_hz: 10.000000
[component_container_isolated-1] publish_layer_rate_hz: 5.000000
[component_container_isolated-1] publish_debug_vis_rate_hz: 2.000000
[component_container_isolated-1] decay_tsdf_rate_hz: 5.000000
[component_container_isolated-1] decay_dynamic_occupancy_rate_hz: 10.000000
[component_container_isolated-1] clear_map_outside_radius_rate_hz: 1.000000
[component_container_isolated-1] map_clearing_radius_m: 15.000000
[component_container_isolated-1] esdf_and_gradients_unobserved_value: -1000.000000
[component_container_isolated-1] multi_mapper
[component_container_isolated-1] connected_mask_component_size_threshold: 2000
[component_container_isolated-1] background_mapper
[component_container_isolated-1] voxel_size_m: 0.050000
[component_container_isolated-1] memory_type: kDevice
[component_container_isolated-1] projective_layer_type: kTsdf
[component_container_isolated-1] esdf_mode: kUnset
[component_container_isolated-1] do_depth_preprocessing: 0
[component_container_isolated-1] depth_preprocessing_num_dilations: 3
[component_container_isolated-1] exclude_last_view_from_decay: 1
[component_container_isolated-1] camera_tsdf_integrator
[component_container_isolated-1] max_weight:: 5.000000
[component_container_isolated-1] marked_unobserved_voxels_distance_m:: -1.000000
[component_container_isolated-1] marked_unobserved_voxels_weight:: 0.100000
[component_container_isolated-1] weighting_function_type:: kInverseSquareTsdfDistancePenalty
[component_container_isolated-1] invalid_depth_decay_factor:: -1.000000
[component_container_isolated-1] projective_integrator
[component_container_isolated-1] lidar_linear_interpolation_max_allowable_difference_vox:: 2.000000
[component_container_isolated-1] lidar_nearest_interpolation_max_allowable_dist_to_ray_vox:: 0.500000
[component_container_isolated-1] truncation_distance_vox:: 4.000000
[component_container_isolated-1] max_integration_distance_m:: 5.000000
[component_container_isolated-1] view_calculator
[component_container_isolated-1] raycast_subsampling_factor: 4
[component_container_isolated-1] workspace_bounds_type: kUnbounded
[component_container_isolated-1] workspace_bounds_min_height_m: -0.500000
[component_container_isolated-1] workspace_bounds_max_height_m: 2.000000
[component_container_isolated-1] workspace_bounds_min_corner_x_m: 0.000000
[component_container_isolated-1] workspace_bounds_max_corner_x_m: 0.000000
[component_container_isolated-1] workspace_bounds_min_corner_y_m: 0.000000
[component_container_isolated-1] workspace_bounds_max_corner_y_m: 0.000000
[component_container_isolated-1] lidar_tsdf_integrator
[component_container_isolated-1] max_weight:: 5.000000
[component_container_isolated-1] marked_unobserved_voxels_distance_m:: -1.000000
[component_container_isolated-1] marked_unobserved_voxels_weight:: 0.100000
[component_container_isolated-1] weighting_function_type:: kInverseSquareWeight
[component_container_isolated-1] invalid_depth_decay_factor:: -1.000000
[component_container_isolated-1] projective_integrator
[component_container_isolated-1] lidar_linear_interpolation_max_allowable_difference_vox:: 2.000000
[component_container_isolated-1] lidar_nearest_interpolation_max_allowable_dist_to_ray_vox:: 0.500000
[component_container_isolated-1] truncation_distance_vox:: 4.000000
[component_container_isolated-1] max_integration_distance_m:: 10.000000
[component_container_isolated-1] view_calculator
[component_container_isolated-1] raycast_subsampling_factor: 4
[component_container_isolated-1] workspace_bounds_type: kUnbounded
[component_container_isolated-1] workspace_bounds_min_height_m: 0.000000
[component_container_isolated-1] workspace_bounds_max_height_m: 1.000000
[component_container_isolated-1] workspace_bounds_min_corner_x_m: 0.000000
[component_container_isolated-1] workspace_bounds_max_corner_x_m: 0.000000
[component_container_isolated-1] workspace_bounds_min_corner_y_m: 2.000000
[component_container_isolated-1] workspace_bounds_max_corner_y_m: 2.000000
[component_container_isolated-1] projective_color_integrator
[component_container_isolated-1] sphere_tracing_ray_subsampling_factor:: 4
[component_container_isolated-1] max_weight:: 5.000000
[component_container_isolated-1] weighting_function_type:: kInverseSquareTsdfDistancePenalty
[component_container_isolated-1] projective_integrator
[component_container_isolated-1] lidar_linear_interpolation_max_allowable_difference_vox:: 2.000000
[component_container_isolated-1] lidar_nearest_interpolation_max_allowable_dist_to_ray_vox:: 0.500000
[component_container_isolated-1] truncation_distance_vox:: 4.000000
[component_container_isolated-1] max_integration_distance_m:: 5.000000
[component_container_isolated-1] view_calculator
[component_container_isolated-1] raycast_subsampling_factor: 4
[component_container_isolated-1] workspace_bounds_type: kUnbounded
[component_container_isolated-1] workspace_bounds_min_height_m: 0.000000
[component_container_isolated-1] workspace_bounds_max_height_m: 1.000000
[component_container_isolated-1] workspace_bounds_min_corner_x_m: 0.000000
[component_container_isolated-1] workspace_bounds_max_corner_x_m: 0.000000
[component_container_isolated-1] workspace_bounds_min_corner_y_m: 2.000000
[component_container_isolated-1] workspace_bounds_max_corner_y_m: 2.000000
[component_container_isolated-1] view_calculator
[component_container_isolated-1] raycast_subsampling_factor: 4
[component_container_isolated-1] workspace_bounds_type: kUnbounded
[component_container_isolated-1] workspace_bounds_min_height_m: -0.500000
[component_container_isolated-1] workspace_bounds_max_height_m: 2.000000
[component_container_isolated-1] workspace_bounds_min_corner_x_m: 0.000000
[component_container_isolated-1] workspace_bounds_max_corner_x_m: 0.000000
[component_container_isolated-1] workspace_bounds_min_corner_y_m: 0.000000
[component_container_isolated-1] workspace_bounds_max_corner_y_m: 0.000000
[component_container_isolated-1] camera_occupancy_integrator
[component_container_isolated-1] free_region_log_odds:: -0.200671
[component_container_isolated-1] occupied_region_log_odds:: 0.200671
[component_container_isolated-1] unobserved_region_log_odds:: 0.000000
[component_container_isolated-1] occupied_region_half_width_m:: 0.100000
[component_container_isolated-1] projective_integrator
[component_container_isolated-1] lidar_linear_interpolation_max_allowable_difference_vox:: 2.000000
[component_container_isolated-1] lidar_nearest_interpolation_max_allowable_dist_to_ray_vox:: 0.500000
[component_container_isolated-1] truncation_distance_vox:: 4.000000
[component_container_isolated-1] max_integration_distance_m:: 5.000000
[component_container_isolated-1] view_calculator
[component_container_isolated-1] raycast_subsampling_factor: 4
[component_container_isolated-1] workspace_bounds_type: kUnbounded
[component_container_isolated-1] workspace_bounds_min_height_m: 0.000000
[component_container_isolated-1] workspace_bounds_max_height_m: 1.000000
[component_container_isolated-1] workspace_bounds_min_corner_x_m: 0.000000
[component_container_isolated-1] workspace_bounds_max_corner_x_m: 0.000000
[component_container_isolated-1] workspace_bounds_min_corner_y_m: 2.000000
[component_container_isolated-1] workspace_bounds_max_corner_y_m: 2.000000
[component_container_isolated-1] lidar_occupancy_integrator
[component_container_isolated-1] free_region_log_odds:: -0.200671
[component_container_isolated-1] occupied_region_log_odds:: 0.200671
[component_container_isolated-1] unobserved_region_log_odds:: 0.000000
[component_container_isolated-1] occupied_region_half_width_m:: 0.100000
[component_container_isolated-1] projective_integrator
[component_container_isolated-1] lidar_linear_interpolation_max_allowable_difference_vox:: 2.000000
[component_container_isolated-1] lidar_nearest_interpolation_max_allowable_dist_to_ray_vox:: 0.500000
[component_container_isolated-1] truncation_distance_vox:: 4.000000
[component_container_isolated-1] max_integration_distance_m:: 10.000000
[component_container_isolated-1] view_calculator
[component_container_isolated-1] raycast_subsampling_factor: 4
[component_container_isolated-1] workspace_bounds_type: kUnbounded
[component_container_isolated-1] workspace_bounds_min_height_m: 0.000000
[component_container_isolated-1] workspace_bounds_max_height_m: 1.000000
[component_container_isolated-1] workspace_bounds_min_corner_x_m: 0.000000
[component_container_isolated-1] workspace_bounds_max_corner_x_m: 0.000000
[component_container_isolated-1] workspace_bounds_min_corner_y_m: 2.000000
[component_container_isolated-1] workspace_bounds_max_corner_y_m: 2.000000
[component_container_isolated-1] esdf_integrator
[component_container_isolated-1] max_esdf_distance_m:: 2.000000
[component_container_isolated-1] max_tsdf_site_distance_vox:: 2.000000
[component_container_isolated-1] tsdf_min_weight:: 0.100000
[component_container_isolated-1] occupied_threshold_log_odds:: 0.000000
[component_container_isolated-1] esdf_slice_min_height:: 0.090000
[component_container_isolated-1] esdf_slice_max_height:: 0.650000
[component_container_isolated-1] esdf_slice_height:: 0.090000
[component_container_isolated-1] slice_height_above_plane_m:: 0.000000
[component_container_isolated-1] slice_height_thickness_m:: 0.100000
[component_container_isolated-1] mesh_integrator
[component_container_isolated-1] min_weight:: 0.100000
[component_container_isolated-1] cutoff_distance_vox:: 5.000000
[component_container_isolated-1] weld_vertices:: 1
[component_container_isolated-1] occupancy_decay_integrator
[component_container_isolated-1] free_space_decay_log_odds:: 0.200671
[component_container_isolated-1] occupied_space_decay_log_odds:: -0.405465
[component_container_isolated-1] decay_to_log_odds_:: 0.000000
[component_container_isolated-1] decay_integrator
[component_container_isolated-1] deallocate_decayed_blocks:: 1
[component_container_isolated-1] tsdf_decay_integrator
[component_container_isolated-1] decay_factor:: 0.950000
[component_container_isolated-1] decayed_weight_theshold:: 0.001000
[component_container_isolated-1] set_free_distance_on_decayed:: 0
[component_container_isolated-1] free_distance_vox:: 4.000000
[component_container_isolated-1] decay_integrator
[component_container_isolated-1] deallocate_decayed_blocks:: 1
[component_container_isolated-1] freespace_integrator
[component_container_isolated-1] max_tsdf_distance_for_occupancy_m:: 0.150000
[component_container_isolated-1] max_unobserved_to_keep_consecutive_occupancy_ms:: 200
[component_container_isolated-1] min_duration_since_occupied_for_freespace_ms:: 1000
[component_container_isolated-1] min_consecutive_occupancy_duration_for_reset_ms:: 2000
[component_container_isolated-1] check_neighborhood:: 1
[component_container_isolated-1] foreground_mapper
[component_container_isolated-1] voxel_size_m: 0.050000
[component_container_isolated-1] memory_type: kDevice
[component_container_isolated-1] projective_layer_type: kNone
[component_container_isolated-1] esdf_mode: kUnset
[component_container_isolated-1] do_depth_preprocessing: 0
[component_container_isolated-1] depth_preprocessing_num_dilations: 4
[component_container_isolated-1] exclude_last_view_from_decay: 0
[component_container_isolated-1] camera_tsdf_integrator
[component_container_isolated-1] max_weight:: 5.000000
[component_container_isolated-1] marked_unobserved_voxels_distance_m:: -1.000000
[component_container_isolated-1] marked_unobserved_voxels_weight:: 0.100000
[component_container_isolated-1] weighting_function_type:: kInverseSquareWeight
[component_container_isolated-1] invalid_depth_decay_factor:: -1.000000
[component_container_isolated-1] projective_integrator
[component_container_isolated-1] lidar_linear_interpolation_max_allowable_difference_vox:: 2.000000
[component_container_isolated-1] lidar_nearest_interpolation_max_allowable_dist_to_ray_vox:: 0.500000
[component_container_isolated-1] truncation_distance_vox:: 4.000000
[component_container_isolated-1] max_integration_distance_m:: 7.000000
[component_container_isolated-1] view_calculator
[component_container_isolated-1] raycast_subsampling_factor: 4
[component_container_isolated-1] workspace_bounds_type: kUnbounded
[component_container_isolated-1] workspace_bounds_min_height_m: 0.000000
[component_container_isolated-1] workspace_bounds_max_height_m: 1.000000
[component_container_isolated-1] workspace_bounds_min_corner_x_m: 0.000000
[component_container_isolated-1] workspace_bounds_max_corner_x_m: 0.000000
[component_container_isolated-1] workspace_bounds_min_corner_y_m: 2.000000
[component_container_isolated-1] workspace_bounds_max_corner_y_m: 2.000000
[component_container_isolated-1] lidar_tsdf_integrator
[component_container_isolated-1] max_weight:: 5.000000
[component_container_isolated-1] marked_unobserved_voxels_distance_m:: -1.000000
[component_container_isolated-1] marked_unobserved_voxels_weight:: 0.100000
[component_container_isolated-1] weighting_function_type:: kInverseSquareWeight
[component_container_isolated-1] invalid_depth_decay_factor:: -1.000000
[component_container_isolated-1] projective_integrator
[component_container_isolated-1] lidar_linear_interpolation_max_allowable_difference_vox:: 2.000000
[component_container_isolated-1] lidar_nearest_interpolation_max_allowable_dist_to_ray_vox:: 0.500000
[component_container_isolated-1] truncation_distance_vox:: 4.000000
[component_container_isolated-1] max_integration_distance_m:: 10.000000
[component_container_isolated-1] view_calculator
[component_container_isolated-1] raycast_subsampling_factor: 4
[component_container_isolated-1] workspace_bounds_type: kUnbounded
[component_container_isolated-1] workspace_bounds_min_height_m: 0.000000
[component_container_isolated-1] workspace_bounds_max_height_m: 1.000000
[component_container_isolated-1] workspace_bounds_min_corner_x_m: 0.000000
[component_container_isolated-1] workspace_bounds_max_corner_x_m: 0.000000
[component_container_isolated-1] workspace_bounds_min_corner_y_m: 2.000000
[component_container_isolated-1] workspace_bounds_max_corner_y_m: 2.000000
[component_container_isolated-1] projective_color_integrator
[component_container_isolated-1] sphere_tracing_ray_subsampling_factor:: 4
[component_container_isolated-1] max_weight:: 5.000000
[component_container_isolated-1] weighting_function_type:: kInverseSquareWeight
[component_container_isolated-1] projective_integrator
[component_container_isolated-1] lidar_linear_interpolation_max_allowable_difference_vox:: 2.000000
[component_container_isolated-1] lidar_nearest_interpolation_max_allowable_dist_to_ray_vox:: 0.500000
[component_container_isolated-1] truncation_distance_vox:: 4.000000
[component_container_isolated-1] max_integration_distance_m:: 7.000000
[component_container_isolated-1] view_calculator
[component_container_isolated-1] raycast_subsampling_factor: 4
[component_container_isolated-1] workspace_bounds_type: kUnbounded
[component_container_isolated-1] workspace_bounds_min_height_m: 0.000000
[component_container_isolated-1] workspace_bounds_max_height_m: 1.000000
[component_container_isolated-1] workspace_bounds_min_corner_x_m: 0.000000
[component_container_isolated-1] workspace_bounds_max_corner_x_m: 0.000000
[component_container_isolated-1] workspace_bounds_min_corner_y_m: 2.000000
[component_container_isolated-1] workspace_bounds_max_corner_y_m: 2.000000
[component_container_isolated-1] view_calculator
[component_container_isolated-1] raycast_subsampling_factor: 4
[component_container_isolated-1] workspace_bounds_type: kUnbounded
[component_container_isolated-1] workspace_bounds_min_height_m: 0.000000
[component_container_isolated-1] workspace_bounds_max_height_m: 1.000000
[component_container_isolated-1] workspace_bounds_min_corner_x_m: 0.000000
[component_container_isolated-1] workspace_bounds_max_corner_x_m: 0.000000
[component_container_isolated-1] workspace_bounds_min_corner_y_m: 2.000000
[component_container_isolated-1] workspace_bounds_max_corner_y_m: 2.000000
[component_container_isolated-1] camera_occupancy_integrator
[component_container_isolated-1] free_region_log_odds:: -0.847298
[component_container_isolated-1] occupied_region_log_odds:: 0.847298
[component_container_isolated-1] unobserved_region_log_odds:: 0.000000
[component_container_isolated-1] occupied_region_half_width_m:: 0.100000
[component_container_isolated-1] projective_integrator
[component_container_isolated-1] lidar_linear_interpolation_max_allowable_difference_vox:: 2.000000
[component_container_isolated-1] lidar_nearest_interpolation_max_allowable_dist_to_ray_vox:: 0.500000
[component_container_isolated-1] truncation_distance_vox:: 4.000000
[component_container_isolated-1] max_integration_distance_m:: 7.000000
[component_container_isolated-1] view_calculator
[component_container_isolated-1] raycast_subsampling_factor: 4
[component_container_isolated-1] workspace_bounds_type: kUnbounded
[component_container_isolated-1] workspace_bounds_min_height_m: 0.000000
[component_container_isolated-1] workspace_bounds_max_height_m: 1.000000
[component_container_isolated-1] workspace_bounds_min_corner_x_m: 0.000000
[component_container_isolated-1] workspace_bounds_max_corner_x_m: 0.000000
[component_container_isolated-1] workspace_bounds_min_corner_y_m: 2.000000
[component_container_isolated-1] workspace_bounds_max_corner_y_m: 2.000000
[component_container_isolated-1] lidar_occupancy_integrator
[component_container_isolated-1] free_region_log_odds:: -0.847298
[component_container_isolated-1] occupied_region_log_odds:: 0.847298
[component_container_isolated-1] unobserved_region_log_odds:: 0.000000
[component_container_isolated-1] occupied_region_half_width_m:: 0.100000
[component_container_isolated-1] projective_integrator
[component_container_isolated-1] lidar_linear_interpolation_max_allowable_difference_vox:: 2.000000
[component_container_isolated-1] lidar_nearest_interpolation_max_allowable_dist_to_ray_vox:: 0.500000
[component_container_isolated-1] truncation_distance_vox:: 4.000000
[component_container_isolated-1] max_integration_distance_m:: 10.000000
[component_container_isolated-1] view_calculator
[component_container_isolated-1] raycast_subsampling_factor: 4
[component_container_isolated-1] workspace_bounds_type: kUnbounded
[component_container_isolated-1] workspace_bounds_min_height_m: 0.000000
[component_container_isolated-1] workspace_bounds_max_height_m: 1.000000
[component_container_isolated-1] workspace_bounds_min_corner_x_m: 0.000000
[component_container_isolated-1] workspace_bounds_max_corner_x_m: 0.000000
[component_container_isolated-1] workspace_bounds_min_corner_y_m: 2.000000
[component_container_isolated-1] workspace_bounds_max_corner_y_m: 2.000000
[component_container_isolated-1] esdf_integrator
[component_container_isolated-1] max_esdf_distance_m:: 2.000000
[component_container_isolated-1] max_tsdf_site_distance_vox:: 1.000000
[component_container_isolated-1] tsdf_min_weight:: 0.000100
[component_container_isolated-1] occupied_threshold_log_odds:: 0.000000
[component_container_isolated-1] esdf_slice_min_height:: 0.090000
[component_container_isolated-1] esdf_slice_max_height:: 0.650000
[component_container_isolated-1] esdf_slice_height:: 0.090000
[component_container_isolated-1] slice_height_above_plane_m:: 0.000000
[component_container_isolated-1] slice_height_thickness_m:: 0.100000
[component_container_isolated-1] mesh_integrator
[component_container_isolated-1] min_weight:: 0.000100
[component_container_isolated-1] cutoff_distance_vox:: 5.000000
[component_container_isolated-1] weld_vertices:: 1
[component_container_isolated-1] occupancy_decay_integrator
[component_container_isolated-1] free_space_decay_log_odds:: 0.200671
[component_container_isolated-1] occupied_space_decay_log_odds:: -0.405465
[component_container_isolated-1] decay_to_log_odds_:: 0.000000
[component_container_isolated-1] decay_integrator
[component_container_isolated-1] deallocate_decayed_blocks:: 1
[component_container_isolated-1] tsdf_decay_integrator
[component_container_isolated-1] decay_factor:: 0.950000
[component_container_isolated-1] decayed_weight_theshold:: 0.001000
[component_container_isolated-1] set_free_distance_on_decayed:: 0
[component_container_isolated-1] free_distance_vox:: 4.000000
[component_container_isolated-1] decay_integrator
[component_container_isolated-1] deallocate_decayed_blocks:: 1
[component_container_isolated-1] freespace_integrator
[component_container_isolated-1] max_tsdf_distance_for_occupancy_m:: 0.150000
[component_container_isolated-1] max_unobserved_to_keep_consecutive_occupancy_ms:: 200
[component_container_isolated-1] min_duration_since_occupied_for_freespace_ms:: 1000
[component_container_isolated-1] min_consecutive_occupancy_duration_for_reset_ms:: 2000
[component_container_isolated-1] check_neighborhood:: 1
[component_container_isolated-1] image_masker
[component_container_isolated-1] occlusion_threshold_m:: 0.250000
[component_container_isolated-1] ground_plane_estimator
[component_container_isolated-1] ground_points_candidates_min_z_m:: -0.100000
[component_container_isolated-1] ground_points_candidates_max_z_m:: 0.150000
[component_container_isolated-1] ransac_plane_fitter
[component_container_isolated-1] num_ransac_iterations:: 1000
[component_container_isolated-1] ransac_distance_threshold_m:: 0.200000
[component_container_isolated-1] tsdf_zero_crossings_extractor
[component_container_isolated-1] min_tsdf_weight:: 0.100000
[component_container_isolated-1] max_crossings:: 360000
[component_container_isolated-1]
[rviz2-3] Nvblox plugin did not detect a geometry shader capable GPU. Using fallback rendering.
topic list is :
ros2 topic list
/clicked_point
/clock
/events/read_split
/front_stereo_camera/depth/camera_info
/front_stereo_camera/depth/ground_truth
/front_stereo_camera/depth/ground_truth/nitros
/front_stereo_camera/left/camera_info
/front_stereo_camera/left/image_raw
/front_stereo_camera/left/image_raw/nitros
/global_costmap/costmap_updates
/goal_pose
/initialpose
/left_stereo_camera/depth/ground_truth
/left_stereo_camera/depth/ground_truth/nitros
/left_stereo_camera/left/camera_info
/left_stereo_camera/left/image_raw
/left_stereo_camera/left/image_raw/nitros
/local_costmap/costmap_updates
/nvblox_node/color_layer
/nvblox_node/color_layer_marker
/nvblox_node/combined_occupancy_grid
/nvblox_node/dynamic_occupancy_grid
/nvblox_node/esdf_slice_bounds
/nvblox_node/mesh
/nvblox_node/pessimistic_static_esdf_pointcloud
/nvblox_node/pessimistic_static_map_slice
/nvblox_node/shapes_to_clear
/nvblox_node/static_esdf_pointcloud
/nvblox_node/static_map_slice
/nvblox_node/static_occupancy_grid
/nvblox_node/tsdf_layer
/nvblox_node/tsdf_layer_marker
/nvblox_node/workspace_bounds
/parameter_events
/pose
/right_stereo_camera/depth/ground_truth
/right_stereo_camera/depth/ground_truth/nitros
/right_stereo_camera/left/camera_info
/right_stereo_camera/left/image_raw
/right_stereo_camera/left/image_raw/nitros
/rosout
/tf
/tf_static
/transform
/unsmoothed_plan
