Hi everyone,
I’m trying to use nvblox for 3D object reconstruction, but I’m running into visual and generation issues. I am able to generate the point cloud and the TSDF layer marker, but RViz crashes when I try to visualize the mesh or the occupancy grid.
System Specs:
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Environment: Isaac ROS (Docker container)
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Simulation: Isaac Lab
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GPU: NVIDIA GeForce RTX 3080 Ti
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ROS 2 Version: Humble
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Isaac ROS-nvblox Version: release-3.2
Here is my current node graph:
This is the point cloud generated from Isaac Lab (visible in RViz):
And here is the tsdf_layer_marker working correctly:
When I subscribe to the mesh or occupancy grid topics in RViz, the RViz process immediately dies with the following Ogre geometry error:
[rviz2-4] [ERROR] [1776881895.064336313] [rviz2]: ItemIdentityException: Unable to locate geometry program called rviz/glsl150/box.geom. in GpuProgramUsage::_getProgramByName at ./.obj-x86_64-linux-gnu/ogre-v1.12.1-prefix/src/ogre-v1.12.1/OgreMain/src/OgreGpuProgramUsage.cpp (line 92)
[rviz2-4] terminate called after throwing an instance of ‘Ogre::ItemIdentityException’
[rviz2-4] what(): ItemIdentityException: Unable to locate geometry program called rviz/glsl150/box.geom. in GpuProgramUsage::_getProgramByName at ./.obj-x86_64-linux-gnu/ogre-v1.12.1-prefix/src/ogre-v1.12.1/OgreMain/src/OgreGpuProgramUsage.cpp (line 92)
[ERROR] [rviz2-4]: process has died [pid 2384310, exit code -6, cmd ‘/opt/ros/humble/lib/rviz2/rviz2 -d /workspaces/isaac_ros-dev/src/nbv_ros2_bridge/rviz/nbv_config.rviz --ros-args -r __node:=rviz2’].c
Despite the crash, I can still use the save_ply service to export the mesh. However, the resulting reconstruction looks incorrect:
Finally, here is the output log from my nvblox node:
admin@quillay:/workspaces/isaac_ros-dev$ ros2 launch nbv_ros2_bridge nbv_full_stack.launch.py
[INFO] [launch]: All log files can be found below /home/admin/.ros/log/2026-04-22-14-16-12-166053-quillay-2384303
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [static_transform_publisher-1]: process started with pid [2384304]
[INFO] [robot_state_publisher-2]: process started with pid [2384306]
[INFO] [nvblox_node-3]: process started with pid [2384308]
[INFO] [rviz2-4]: process started with pid [2384310]
[static_transform_publisher-1] [INFO] [1776881772.234909235] [world_to_base]: Spinning until stopped - publishing transform
[static_transform_publisher-1] translation: (‘0.000000’, ‘0.000000’, ‘0.000000’)
[static_transform_publisher-1] rotation: (‘0.000000’, ‘0.000000’, ‘0.000000’, ‘1.000000’)
[static_transform_publisher-1] from ‘world’ to ‘base_link’
[robot_state_publisher-2] [WARN] [1776881772.239576759] [kdl_parser]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.
[robot_state_publisher-2] [INFO] [1776881772.239648866] [robot_state_publisher]: got segment base_link
[robot_state_publisher-2] [INFO] [1776881772.239683490] [robot_state_publisher]: got segment gripper_frame_link
[robot_state_publisher-2] [INFO] [1776881772.239688062] [robot_state_publisher]: got segment gripper_link
[robot_state_publisher-2] [INFO] [1776881772.239691789] [robot_state_publisher]: got segment lower_arm_link
[robot_state_publisher-2] [INFO] [1776881772.239695420] [robot_state_publisher]: got segment moving_jaw_so101_v1_link
[robot_state_publisher-2] [INFO] [1776881772.239699066] [robot_state_publisher]: got segment shoulder_link
[robot_state_publisher-2] [INFO] [1776881772.239702461] [robot_state_publisher]: got segment upper_arm_link
[robot_state_publisher-2] [INFO] [1776881772.239705818] [robot_state_publisher]: got segment wrist_link
[rviz2-4] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to ‘/tmp/runtime-admin’
[rviz2-4] [INFO] [1776881772.729127074] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-4] [INFO] [1776881772.729245002] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-4] [INFO] [1776881772.765175403] [rviz2]: Stereo is NOT SUPPORTED
[nvblox_node-3] [INFO] [1776881772.989681948] [nvblox_node]: Create nvblox cuda stream with type: kBlocking
[nvblox_node-3] I0422 14:16:13.003080 2384308 block_memory_pool_impl.h:65] Expanding the memory pool with 2048 blocks. Number of allocated blocks: 2048
[nvblox_node-3] I0422 14:16:13.010110 2384308 gpu_hash_interface_impl.cuh:83] Creating a GPUHashImpl with requested capacity of 4096 blocks. Real capacity: 4096
[nvblox_node-3] I0422 14:16:13.010160 2384308 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_9TsdfVoxelEEE, voxel_size: 0.05, and memory_type: kDevice to LayerCake.
[nvblox_node-3] I0422 14:16:13.013967 2384308 block_memory_pool_impl.h:65] Expanding the memory pool with 2048 blocks. Number of allocated blocks: 2048
[nvblox_node-3] I0422 14:16:13.016039 2384308 gpu_hash_interface_impl.cuh:83] Creating a GPUHashImpl with requested capacity of 4096 blocks. Real capacity: 4096
[nvblox_node-3] I0422 14:16:13.017624 2384308 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_10ColorVoxelEEE, voxel_size: 0.05, and memory_type: kDevice to LayerCake.
[nvblox_node-3] I0422 14:16:13.021297 2384308 block_memory_pool_impl.h:65] Expanding the memory pool with 2048 blocks. Number of allocated blocks: 2048
[nvblox_node-3] I0422 14:16:13.021667 2384308 gpu_hash_interface_impl.cuh:83] Creating a GPUHashImpl with requested capacity of 4096 blocks. Real capacity: 4096
[nvblox_node-3] I0422 14:16:13.023257 2384308 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_14FreespaceVoxelEEE, voxel_size: 0.05, and memory_type: kDevice to LayerCake.
[nvblox_node-3] I0422 14:16:13.025911 2384308 block_memory_pool_impl.h:65] Expanding the memory pool with 2048 blocks. Number of allocated blocks: 2048
[nvblox_node-3] I0422 14:16:13.026716 2384308 gpu_hash_interface_impl.cuh:83] Creating a GPUHashImpl with requested capacity of 4096 blocks. Real capacity: 4096
[nvblox_node-3] I0422 14:16:13.028412 2384308 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_14OccupancyVoxelEEE, voxel_size: 0.05, and memory_type: kDevice to LayerCake.
[nvblox_node-3] I0422 14:16:13.032121 2384308 block_memory_pool_impl.h:65] Expanding the memory pool with 2048 blocks. Number of allocated blocks: 2048
[nvblox_node-3] I0422 14:16:13.033180 2384308 gpu_hash_interface_impl.cuh:83] Creating a GPUHashImpl with requested capacity of 4096 blocks. Real capacity: 4096
[nvblox_node-3] I0422 14:16:13.033229 2384308 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_9EsdfVoxelEEE, voxel_size: 0.05, and memory_type: kDevice to LayerCake.
[nvblox_node-3] I0422 14:16:13.033443 2384308 block_memory_pool_impl.h:65] Expanding the memory pool with 2048 blocks. Number of allocated blocks: 2048
[nvblox_node-3] I0422 14:16:13.033597 2384308 gpu_hash_interface_impl.cuh:83] Creating a GPUHashImpl with requested capacity of 4096 blocks. Real capacity: 4096
[nvblox_node-3] I0422 14:16:13.033643 2384308 layer_cake_impl.h:32] Adding Layer with type: N6nvblox10BlockLayerINS_9MeshBlockEEE, voxel_size: 0.05, and memory_type: kDevice to LayerCake.
[nvblox_node-3] I0422 14:16:13.033651 2384308 layer_cake_streamer_impl.h:79] Adding Streamer with type: N6nvblox25LayerStreamerOldestBlocksINS_15VoxelBlockLayerINS_9TsdfVoxelEEEEE to LayerCake.
[nvblox_node-3] I0422 14:16:13.033655 2384308 layer_cake_streamer_impl.h:79] Adding Streamer with type: N6nvblox25LayerStreamerOldestBlocksINS_15VoxelBlockLayerINS_10ColorVoxelEEEEE to LayerCake.
[nvblox_node-3] I0422 14:16:13.033658 2384308 layer_cake_streamer_impl.h:79] Adding Streamer with type: N6nvblox25LayerStreamerOldestBlocksINS_15VoxelBlockLayerINS_14FreespaceVoxelEEEEE to LayerCake.
[nvblox_node-3] I0422 14:16:13.033661 2384308 layer_cake_streamer_impl.h:79] Adding Streamer with type: N6nvblox25LayerStreamerOldestBlocksINS_15VoxelBlockLayerINS_14OccupancyVoxelEEEEE to LayerCake.
[nvblox_node-3] I0422 14:16:13.033663 2384308 layer_cake_streamer_impl.h:79] Adding Streamer with type: N6nvblox25LayerStreamerOldestBlocksINS_15VoxelBlockLayerINS_9EsdfVoxelEEEEE to LayerCake.
[nvblox_node-3] I0422 14:16:13.033667 2384308 layer_cake_streamer_impl.h:79] Adding Streamer with type: N6nvblox25LayerStreamerOldestBlocksINS_10BlockLayerINS_9MeshBlockEEEEE to LayerCake.
[nvblox_node-3] I0422 14:16:13.037806 2384308 block_memory_pool_impl.h:65] Expanding the memory pool with 2048 blocks. Number of allocated blocks: 2048
[nvblox_node-3] I0422 14:16:13.038376 2384308 gpu_hash_interface_impl.cuh:83] Creating a GPUHashImpl with requested capacity of 4096 blocks. Real capacity: 4096
[nvblox_node-3] I0422 14:16:13.038414 2384308 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_9TsdfVoxelEEE, voxel_size: 0.05, and memory_type: kDevice to LayerCake.
[nvblox_node-3] I0422 14:16:13.042232 2384308 block_memory_pool_impl.h:65] Expanding the memory pool with 2048 blocks. Number of allocated blocks: 2048
[nvblox_node-3] I0422 14:16:13.043033 2384308 gpu_hash_interface_impl.cuh:83] Creating a GPUHashImpl with requested capacity of 4096 blocks. Real capacity: 4096
[nvblox_node-3] I0422 14:16:13.043066 2384308 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_10ColorVoxelEEE, voxel_size: 0.05, and memory_type: kDevice to LayerCake.
[nvblox_node-3] I0422 14:16:13.046828 2384308 block_memory_pool_impl.h:65] Expanding the memory pool with 2048 blocks. Number of allocated blocks: 2048
[nvblox_node-3] I0422 14:16:13.049669 2384308 gpu_hash_interface_impl.cuh:83] Creating a GPUHashImpl with requested capacity of 4096 blocks. Real capacity: 4096
[nvblox_node-3] I0422 14:16:13.049700 2384308 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_14FreespaceVoxelEEE, voxel_size: 0.05, and memory_type: kDevice to LayerCake.
[nvblox_node-3] I0422 14:16:13.052577 2384308 block_memory_pool_impl.h:65] Expanding the memory pool with 2048 blocks. Number of allocated blocks: 2048
[nvblox_node-3] I0422 14:16:13.052703 2384308 gpu_hash_interface_impl.cuh:83] Creating a GPUHashImpl with requested capacity of 4096 blocks. Real capacity: 4096
[nvblox_node-3] I0422 14:16:13.052729 2384308 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_14OccupancyVoxelEEE, voxel_size: 0.05, and memory_type: kDevice to LayerCake.
[nvblox_node-3] I0422 14:16:13.056617 2384308 block_memory_pool_impl.h:65] Expanding the memory pool with 2048 blocks. Number of allocated blocks: 2048
[nvblox_node-3] I0422 14:16:13.057292 2384308 gpu_hash_interface_impl.cuh:83] Creating a GPUHashImpl with requested capacity of 4096 blocks. Real capacity: 4096
[nvblox_node-3] I0422 14:16:13.057319 2384308 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_9EsdfVoxelEEE, voxel_size: 0.05, and memory_type: kDevice to LayerCake.
[nvblox_node-3] I0422 14:16:13.057463 2384308 block_memory_pool_impl.h:65] Expanding the memory pool with 2048 blocks. Number of allocated blocks: 2048
[nvblox_node-3] I0422 14:16:13.057547 2384308 gpu_hash_interface_impl.cuh:83] Creating a GPUHashImpl with requested capacity of 4096 blocks. Real capacity: 4096
[nvblox_node-3] I0422 14:16:13.057569 2384308 layer_cake_impl.h:32] Adding Layer with type: N6nvblox10BlockLayerINS_9MeshBlockEEE, voxel_size: 0.05, and memory_type: kDevice to LayerCake.
[nvblox_node-3] I0422 14:16:13.057572 2384308 layer_cake_streamer_impl.h:79] Adding Streamer with type: N6nvblox25LayerStreamerOldestBlocksINS_15VoxelBlockLayerINS_9TsdfVoxelEEEEE to LayerCake.
[nvblox_node-3] I0422 14:16:13.057574 2384308 layer_cake_streamer_impl.h:79] Adding Streamer with type: N6nvblox25LayerStreamerOldestBlocksINS_15VoxelBlockLayerINS_10ColorVoxelEEEEE to LayerCake.
[nvblox_node-3] I0422 14:16:13.057574 2384308 layer_cake_streamer_impl.h:79] Adding Streamer with type: N6nvblox25LayerStreamerOldestBlocksINS_15VoxelBlockLayerINS_14FreespaceVoxelEEEEE to LayerCake.
[nvblox_node-3] I0422 14:16:13.057577 2384308 layer_cake_streamer_impl.h:79] Adding Streamer with type: N6nvblox25LayerStreamerOldestBlocksINS_15VoxelBlockLayerINS_14OccupancyVoxelEEEEE to LayerCake.
[nvblox_node-3] I0422 14:16:13.057579 2384308 layer_cake_streamer_impl.h:79] Adding Streamer with type: N6nvblox25LayerStreamerOldestBlocksINS_15VoxelBlockLayerINS_9EsdfVoxelEEEEE to LayerCake.
[nvblox_node-3] I0422 14:16:13.057580 2384308 layer_cake_streamer_impl.h:79] Adding Streamer with type: N6nvblox25LayerStreamerOldestBlocksINS_10BlockLayerINS_9MeshBlockEEEEE to LayerCake.
[nvblox_node-3] [INFO] [1776881773.059478600] [nvblox_node]: Initialize Mapper:
[nvblox_node-3] [INFO] [1776881773.059511507] [nvblox_node]: static_mapper.do_depth_preprocessing: 0
[nvblox_node-3] [INFO] [1776881773.059518958] [nvblox_node]: static_mapper.depth_preprocessing_num_dilations: 4
[nvblox_node-3] [INFO] [1776881773.059526998] [nvblox_node]: static_mapper.esdf_slice_min_height: 0
[nvblox_node-3] [INFO] [1776881773.059530252] [nvblox_node]: static_mapper.esdf_slice_max_height: 1
[nvblox_node-3] [INFO] [1776881773.059533369] [nvblox_node]: static_mapper.esdf_slice_height: 1
[nvblox_node-3] [INFO] [1776881773.059536183] [nvblox_node]: static_mapper.exclude_last_view_from_decay: 0
[nvblox_node-3] [INFO] [1776881773.059539148] [nvblox_node]: static_mapper.projective_integrator_max_integration_distance_m: 7
[nvblox_node-3] [INFO] [1776881773.059543071] [nvblox_node]: static_mapper.lidar_projective_integrator_max_integration_distance_m: 10
[nvblox_node-3] [INFO] [1776881773.059546097] [nvblox_node]: static_mapper.projective_integrator_truncation_distance_vox: 4
[nvblox_node-3] [INFO] [1776881773.059551181] [nvblox_node]: static_mapper.projective_integrator_weighting_mode: kInverseSquareWeight
[nvblox_node-3] [WARN] [1776881773.059554993] [nvblox_node]: Requested weighting function: “kInverseSquareWeight” not recognized. Defaulting to: kInverseSquareWeight
[nvblox_node-3] [INFO] [1776881773.059558448] [nvblox_node]: static_mapper.projective_integrator_max_weight: 5
[nvblox_node-3] [INFO] [1776881773.059561578] [nvblox_node]: static_mapper.projective_tsdf_integrator_invalid_depth_decay_factor: -1
[nvblox_node-3] [INFO] [1776881773.059565117] [nvblox_node]: static_mapper.free_region_occupancy_probability: 0.3
[nvblox_node-3] [INFO] [1776881773.059568027] [nvblox_node]: static_mapper.occupied_region_occupancy_probability: 0.7
[nvblox_node-3] [INFO] [1776881773.059570955] [nvblox_node]: static_mapper.unobserved_region_occupancy_probability: 0.5
[nvblox_node-3] [INFO] [1776881773.059574008] [nvblox_node]: static_mapper.occupied_region_half_width_m: 0.1
[nvblox_node-3] [INFO] [1776881773.059576776] [nvblox_node]: static_mapper.raycast_subsampling_factor: 4
[nvblox_node-3] [INFO] [1776881773.059579637] [nvblox_node]: static_mapper.workspace_bounds_type: kUnbounded
[nvblox_node-3] [WARN] [1776881773.059583658] [nvblox_node]: Requested workspace bounds type: “kUnbounded” not recognized. Defaulting to: kUnbounded
[nvblox_node-3] [INFO] [1776881773.059587008] [nvblox_node]: static_mapper.workspace_bounds_min_height_m: 0
[nvblox_node-3] [INFO] [1776881773.059589854] [nvblox_node]: static_mapper.workspace_bounds_max_height_m: 1
[nvblox_node-3] [INFO] [1776881773.059592524] [nvblox_node]: static_mapper.workspace_bounds_min_corner_x_m: 0
[nvblox_node-3] [INFO] [1776881773.059595262] [nvblox_node]: static_mapper.workspace_bounds_max_corner_x_m: 0
[nvblox_node-3] [INFO] [1776881773.059597961] [nvblox_node]: static_mapper.workspace_bounds_min_corner_y_m: 2
[nvblox_node-3] [INFO] [1776881773.059600577] [nvblox_node]: static_mapper.workspace_bounds_max_corner_y_m: 2
[nvblox_node-3] [INFO] [1776881773.059603647] [nvblox_node]: static_mapper.esdf_integrator_min_weight: 0.0001
[nvblox_node-3] [INFO] [1776881773.059606359] [nvblox_node]: static_mapper.esdf_integrator_max_site_distance_vox: 1
[nvblox_node-3] [INFO] [1776881773.059609027] [nvblox_node]: static_mapper.esdf_integrator_max_distance_m: 2
[nvblox_node-3] [INFO] [1776881773.059611965] [nvblox_node]: static_mapper.mesh_integrator_min_weight: 0.0001
[nvblox_node-3] [INFO] [1776881773.059614547] [nvblox_node]: static_mapper.mesh_integrator_weld_vertices: 1
[nvblox_node-3] [INFO] [1776881773.059617089] [nvblox_node]: static_mapper.decay_integrator_deallocate_decayed_blocks: 1
[nvblox_node-3] [INFO] [1776881773.059620083] [nvblox_node]: static_mapper.tsdf_decay_factor: 0.95
[nvblox_node-3] [INFO] [1776881773.059623081] [nvblox_node]: static_mapper.tsdf_decayed_weight_threshold: 0.001
[nvblox_node-3] [INFO] [1776881773.059625741] [nvblox_node]: static_mapper.tsdf_set_free_distance_on_decayed: 0
[nvblox_node-3] [INFO] [1776881773.059628424] [nvblox_node]: static_mapper.tsdf_decayed_free_distance_vox: 4
[nvblox_node-3] [INFO] [1776881773.059631216] [nvblox_node]: static_mapper.free_region_decay_probability: 0.55
[nvblox_node-3] [INFO] [1776881773.059633948] [nvblox_node]: static_mapper.occupied_region_decay_probability: 0.4
[nvblox_node-3] [INFO] [1776881773.059636457] [nvblox_node]: static_mapper.occupancy_decay_to_free: 0
[nvblox_node-3] [INFO] [1776881773.059639180] [nvblox_node]: static_mapper.max_tsdf_distance_for_occupancy_m: 0.15
[nvblox_node-3] [INFO] [1776881773.059645138] [nvblox_node]: static_mapper.max_unobserved_to_keep_consecutive_occupancy_ms: 200
[nvblox_node-3] [INFO] [1776881773.059671330] [nvblox_node]: static_mapper.min_duration_since_occupied_for_freespace_ms: 1000
[nvblox_node-3] [INFO] [1776881773.059674250] [nvblox_node]: static_mapper.min_consecutive_occupancy_duration_for_reset_ms: 2000
[nvblox_node-3] [INFO] [1776881773.059676807] [nvblox_node]: static_mapper.check_neighborhood: 1
[nvblox_node-3] [INFO] [1776881773.059679375] [nvblox_node]: Initialize Mapper:
[nvblox_node-3] [INFO] [1776881773.059682284] [nvblox_node]: dynamic_mapper.do_depth_preprocessing: 0
[nvblox_node-3] [INFO] [1776881773.059684992] [nvblox_node]: dynamic_mapper.depth_preprocessing_num_dilations: 4
[nvblox_node-3] [INFO] [1776881773.059687762] [nvblox_node]: dynamic_mapper.esdf_slice_min_height: 0
[nvblox_node-3] [INFO] [1776881773.059690355] [nvblox_node]: dynamic_mapper.esdf_slice_max_height: 1
[nvblox_node-3] [INFO] [1776881773.059693055] [nvblox_node]: dynamic_mapper.esdf_slice_height: 1
[nvblox_node-3] [INFO] [1776881773.059695564] [nvblox_node]: dynamic_mapper.exclude_last_view_from_decay: 0
[nvblox_node-3] [INFO] [1776881773.059698169] [nvblox_node]: dynamic_mapper.projective_integrator_max_integration_distance_m: 7
[nvblox_node-3] [INFO] [1776881773.059701069] [nvblox_node]: dynamic_mapper.lidar_projective_integrator_max_integration_distance_m: 10
[nvblox_node-3] [INFO] [1776881773.059703926] [nvblox_node]: dynamic_mapper.projective_integrator_truncation_distance_vox: 4
[nvblox_node-3] [INFO] [1776881773.059706525] [nvblox_node]: dynamic_mapper.projective_integrator_weighting_mode: kInverseSquareWeight
[nvblox_node-3] [WARN] [1776881773.059710030] [nvblox_node]: Requested weighting function: “kInverseSquareWeight” not recognized. Defaulting to: kInverseSquareWeight
[nvblox_node-3] [INFO] [1776881773.059713005] [nvblox_node]: dynamic_mapper.projective_integrator_max_weight: 5
[nvblox_node-3] [INFO] [1776881773.059721384] [nvblox_node]: dynamic_mapper.projective_tsdf_integrator_invalid_depth_decay_factor: -1
[nvblox_node-3] [INFO] [1776881773.059724878] [nvblox_node]: dynamic_mapper.free_region_occupancy_probability: 0.3
[nvblox_node-3] [INFO] [1776881773.059727510] [nvblox_node]: dynamic_mapper.occupied_region_occupancy_probability: 0.7
[nvblox_node-3] [INFO] [1776881773.059730182] [nvblox_node]: dynamic_mapper.unobserved_region_occupancy_probability: 0.5
[nvblox_node-3] [INFO] [1776881773.059732932] [nvblox_node]: dynamic_mapper.occupied_region_half_width_m: 0.1
[nvblox_node-3] [INFO] [1776881773.059735474] [nvblox_node]: dynamic_mapper.raycast_subsampling_factor: 4
[nvblox_node-3] [INFO] [1776881773.059738148] [nvblox_node]: dynamic_mapper.workspace_bounds_type: kUnbounded
[nvblox_node-3] [WARN] [1776881773.059740692] [nvblox_node]: Requested workspace bounds type: “kUnbounded” not recognized. Defaulting to: kUnbounded
[nvblox_node-3] [INFO] [1776881773.059743601] [nvblox_node]: dynamic_mapper.workspace_bounds_min_height_m: 0
[nvblox_node-3] [INFO] [1776881773.059746288] [nvblox_node]: dynamic_mapper.workspace_bounds_max_height_m: 1
[nvblox_node-3] [INFO] [1776881773.059748973] [nvblox_node]: dynamic_mapper.workspace_bounds_min_corner_x_m: 0
[nvblox_node-3] [INFO] [1776881773.059751580] [nvblox_node]: dynamic_mapper.workspace_bounds_max_corner_x_m: 0
[nvblox_node-3] [INFO] [1776881773.059754211] [nvblox_node]: dynamic_mapper.workspace_bounds_min_corner_y_m: 2
[nvblox_node-3] [INFO] [1776881773.059756793] [nvblox_node]: dynamic_mapper.workspace_bounds_max_corner_y_m: 2
[nvblox_node-3] [INFO] [1776881773.059759685] [nvblox_node]: dynamic_mapper.esdf_integrator_min_weight: 0.0001
[nvblox_node-3] [INFO] [1776881773.059762419] [nvblox_node]: dynamic_mapper.esdf_integrator_max_site_distance_vox: 1
[nvblox_node-3] [INFO] [1776881773.059765034] [nvblox_node]: dynamic_mapper.esdf_integrator_max_distance_m: 2
[nvblox_node-3] [INFO] [1776881773.059768436] [nvblox_node]: dynamic_mapper.mesh_integrator_min_weight: 0.0001
[nvblox_node-3] [INFO] [1776881773.059770979] [nvblox_node]: dynamic_mapper.mesh_integrator_weld_vertices: 1
[nvblox_node-3] [INFO] [1776881773.059773767] [nvblox_node]: dynamic_mapper.decay_integrator_deallocate_decayed_blocks: 1
[nvblox_node-3] [INFO] [1776881773.059776518] [nvblox_node]: dynamic_mapper.tsdf_decay_factor: 0.95
[nvblox_node-3] [INFO] [1776881773.059779288] [nvblox_node]: dynamic_mapper.tsdf_decayed_weight_threshold: 0.001
[nvblox_node-3] [INFO] [1776881773.059781825] [nvblox_node]: dynamic_mapper.tsdf_set_free_distance_on_decayed: 0
[nvblox_node-3] [INFO] [1776881773.059784407] [nvblox_node]: dynamic_mapper.tsdf_decayed_free_distance_vox: 4
[nvblox_node-3] [INFO] [1776881773.059787064] [nvblox_node]: dynamic_mapper.free_region_decay_probability: 0.55
[nvblox_node-3] [INFO] [1776881773.059794366] [nvblox_node]: dynamic_mapper.occupied_region_decay_probability: 0.4
[nvblox_node-3] [INFO] [1776881773.059796953] [nvblox_node]: dynamic_mapper.occupancy_decay_to_free: 0
[nvblox_node-3] [INFO] [1776881773.059799752] [nvblox_node]: dynamic_mapper.max_tsdf_distance_for_occupancy_m: 0.15
[nvblox_node-3] [INFO] [1776881773.059802300] [nvblox_node]: dynamic_mapper.max_unobserved_to_keep_consecutive_occupancy_ms: 200
[nvblox_node-3] [INFO] [1776881773.059804912] [nvblox_node]: dynamic_mapper.min_duration_since_occupied_for_freespace_ms: 1000
[nvblox_node-3] [INFO] [1776881773.059807429] [nvblox_node]: dynamic_mapper.min_consecutive_occupancy_duration_for_reset_ms: 2000
[nvblox_node-3] [INFO] [1776881773.059810113] [nvblox_node]: dynamic_mapper.check_neighborhood: 1
[nvblox_node-3] [INFO] [1776881773.059813314] [nvblox_node]: Initialize MultiMapper:
[nvblox_node-3] [INFO] [1776881773.059816325] [nvblox_node]: multi_mapper.connected_mask_component_size_threshold: 2000
[nvblox_node-3] [INFO] [1776881773.059819165] [nvblox_node]: multi_mapper.remove_small_connected_components: 1
[nvblox_node-3] [INFO] [1776881773.059866319] [nvblox_node]: NvbloxNode::subscribeToTopics()
[nvblox_node-3] [INFO] [1776881773.059949578] [nvblox_node]: Subscribing input topics with QoS: SYSTEM_DEFAULT
[nvblox_node-3] [INFO] [1776881773.061206263] [nvblox_node]: NvbloxNode::setupTimers()
[nvblox_node-3] [INFO] [1776881773.061244145] [nvblox_node]: NvbloxNode::advertiseTopics()
[nvblox_node-3] [INFO] [1776881773.064040455] [nvblox_node]: NvbloxNode::advertiseServices()
[nvblox_node-3] [INFO] [1776881773.067005865] [nvblox_node]: Started up nvblox node in frame world and voxel size 0.05
[nvblox_node-3] [INFO] [1776881773.067034539] [nvblox_node]: Mapping type: kStaticTsdf
[nvblox_node-3] [INFO] [1776881773.067678478] [nvblox_node]: nvblox parameters:
[nvblox_node-3] nvblox_node
[nvblox_node-3] cuda_stream_type: kBlocking
[nvblox_node-3] global_frame: world
[nvblox_node-3] voxel_size: 0.050000
[nvblox_node-3] max_back_projection_distance: 10.000000
[nvblox_node-3] layer_visualization_min_tsdf_weight: 0.100000
[nvblox_node-3] layer_visualization_exclusion_height_m: 2.000000
[nvblox_node-3] layer_visualization_exclusion_radius_m: 5.000000
[nvblox_node-3] layer_streamer_bandwidth_limit_mbps: 30.000000
[nvblox_node-3] distance_map_unknown_value_optimistic: 1000.000000
[nvblox_node-3] distance_map_unknown_value_pessimistic: -1000.000000
[nvblox_node-3] esdf_mode: 3d
[nvblox_node-3] mapping_type: static_tsdf
[nvblox_node-3] pose_frame: base_link
[nvblox_node-3] map_clearing_frame_id: base_link
[nvblox_node-3] after_shutdown_map_save_path:
[nvblox_node-3] esdf_slice_bounds_visualization_attachment_frame_id: base_link
[nvblox_node-3] workspace_height_bounds_visualization_attachment_frame_id: base_link
[nvblox_node-3] publish_esdf_distance_slice: 1
[nvblox_node-3] use_color: 0
[nvblox_node-3] use_depth: 0
[nvblox_node-3] use_segmentation: 0
[nvblox_node-3] use_lidar: 1
[nvblox_node-3] use_non_equal_vertical_fov_lidar_params: 0
[nvblox_node-3] print_timings_to_console: 0
[nvblox_node-3] print_rates_to_console: 0
[nvblox_node-3] print_queue_drops_to_console: 0
[nvblox_node-3] print_delays_to_console: 0
[nvblox_node-3] layer_visualization_undo_gamma_correction: 0
[nvblox_node-3] output_pessimistic_distance_map: 1
[nvblox_node-3] num_cameras: 1
[nvblox_node-3] lidar_width: 192
[nvblox_node-3] lidar_height: 70
[nvblox_node-3] tick_period_ms: 10
[nvblox_node-3] print_statistics_on_console_period_ms: 10000
[nvblox_node-3] maximum_input_queue_length: 10
[nvblox_node-3] back_projection_subsampling: 1
[nvblox_node-3] lidar_vertical_fov_rad: 1.570800
[nvblox_node-3] lidar_min_valid_range_m: 0.050000
[nvblox_node-3] lidar_max_valid_range_m: 10.000000
[nvblox_node-3] min_angle_below_zero_elevation_rad: 0.349066
[nvblox_node-3] max_angle_above_zero_elevation_rad: 0.261799
[nvblox_node-3] esdf_slice_bounds_visualization_side_length: 10.000000
[nvblox_node-3] workspace_height_bounds_visualization_side_length: 10.000000
[nvblox_node-3] integrate_depth_rate_hz: 40.000000
[nvblox_node-3] integrate_color_rate_hz: 5.000000
[nvblox_node-3] integrate_lidar_rate_hz: 20.000000
[nvblox_node-3] update_mesh_rate_hz: 2.000000
[nvblox_node-3] update_esdf_rate_hz: 5.000000
[nvblox_node-3] publish_layer_rate_hz: 10.000000
[nvblox_node-3] publish_debug_vis_rate_hz: 2.000000
[nvblox_node-3] decay_tsdf_rate_hz: 0.000000
[nvblox_node-3] decay_dynamic_occupancy_rate_hz: 10.000000
[nvblox_node-3] clear_map_outside_radius_rate_hz: 1.000000
[nvblox_node-3] map_clearing_radius_m: -1.000000
[nvblox_node-3] esdf_and_gradients_unobserved_value: -1000.000000
[nvblox_node-3] multi_mapper
[nvblox_node-3] connected_mask_component_size_threshold: 2000
[nvblox_node-3] background_mapper
[nvblox_node-3] voxel_size_m: 0.050000
[nvblox_node-3] memory_type: kDevice
[nvblox_node-3] projective_layer_type: kTsdf
[nvblox_node-3] esdf_mode: kUnset
[nvblox_node-3] do_depth_preprocessing: 0
[nvblox_node-3] depth_preprocessing_num_dilations: 4
[nvblox_node-3] exclude_last_view_from_decay: 0
[nvblox_node-3] camera_tsdf_integrator
[nvblox_node-3] max_weight:: 5.000000
[nvblox_node-3] marked_unobserved_voxels_distance_m:: -1.000000
[nvblox_node-3] marked_unobserved_voxels_weight:: 0.100000
[nvblox_node-3] weighting_function_type:: kInverseSquareWeight
[nvblox_node-3] invalid_depth_decay_factor:: -1.000000
[nvblox_node-3] projective_integrator
[nvblox_node-3] lidar_linear_interpolation_max_allowable_difference_vox:: 2.000000
[nvblox_node-3] lidar_nearest_interpolation_max_allowable_dist_to_ray_vox:: 0.500000
[nvblox_node-3] truncation_distance_vox:: 4.000000
[nvblox_node-3] max_integration_distance_m:: 7.000000
[nvblox_node-3] view_calculator
[nvblox_node-3] raycast_subsampling_factor: 4
[nvblox_node-3] workspace_bounds_type: kUnbounded
[nvblox_node-3] workspace_bounds_min_height_m: 0.000000
[nvblox_node-3] workspace_bounds_max_height_m: 1.000000
[nvblox_node-3] workspace_bounds_min_corner_x_m: 0.000000
[nvblox_node-3] workspace_bounds_max_corner_x_m: 0.000000
[nvblox_node-3] workspace_bounds_min_corner_y_m: 2.000000
[nvblox_node-3] workspace_bounds_max_corner_y_m: 2.000000
[nvblox_node-3] lidar_tsdf_integrator
[nvblox_node-3] max_weight:: 5.000000
[nvblox_node-3] marked_unobserved_voxels_distance_m:: -1.000000
[nvblox_node-3] marked_unobserved_voxels_weight:: 0.100000
[nvblox_node-3] weighting_function_type:: kInverseSquareWeight
[nvblox_node-3] invalid_depth_decay_factor:: -1.000000
[nvblox_node-3] projective_integrator
[nvblox_node-3] lidar_linear_interpolation_max_allowable_difference_vox:: 2.000000
[nvblox_node-3] lidar_nearest_interpolation_max_allowable_dist_to_ray_vox:: 0.500000
[nvblox_node-3] truncation_distance_vox:: 4.000000
[nvblox_node-3] max_integration_distance_m:: 10.000000
[nvblox_node-3] view_calculator
[nvblox_node-3] raycast_subsampling_factor: 4
[nvblox_node-3] workspace_bounds_type: kUnbounded
[nvblox_node-3] workspace_bounds_min_height_m: 0.000000
[nvblox_node-3] workspace_bounds_max_height_m: 1.000000
[nvblox_node-3] workspace_bounds_min_corner_x_m: 0.000000
[nvblox_node-3] workspace_bounds_max_corner_x_m: 0.000000
[nvblox_node-3] workspace_bounds_min_corner_y_m: 2.000000
[nvblox_node-3] workspace_bounds_max_corner_y_m: 2.000000
[nvblox_node-3] projective_color_integrator
[nvblox_node-3] sphere_tracing_ray_subsampling_factor:: 4
[nvblox_node-3] max_weight:: 5.000000
[nvblox_node-3] weighting_function_type:: kInverseSquareWeight
[nvblox_node-3] projective_integrator
[nvblox_node-3] lidar_linear_interpolation_max_allowable_difference_vox:: 2.000000
[nvblox_node-3] lidar_nearest_interpolation_max_allowable_dist_to_ray_vox:: 0.500000
[nvblox_node-3] truncation_distance_vox:: 4.000000
[nvblox_node-3] max_integration_distance_m:: 7.000000
[nvblox_node-3] view_calculator
[nvblox_node-3] raycast_subsampling_factor: 4
[nvblox_node-3] workspace_bounds_type: kUnbounded
[nvblox_node-3] workspace_bounds_min_height_m: 0.000000
[nvblox_node-3] workspace_bounds_max_height_m: 1.000000
[nvblox_node-3] workspace_bounds_min_corner_x_m: 0.000000
[nvblox_node-3] workspace_bounds_max_corner_x_m: 0.000000
[nvblox_node-3] workspace_bounds_min_corner_y_m: 2.000000
[nvblox_node-3] workspace_bounds_max_corner_y_m: 2.000000
[nvblox_node-3] view_calculator
[nvblox_node-3] raycast_subsampling_factor: 4
[nvblox_node-3] workspace_bounds_type: kUnbounded
[nvblox_node-3] workspace_bounds_min_height_m: 0.000000
[nvblox_node-3] workspace_bounds_max_height_m: 1.000000
[nvblox_node-3] workspace_bounds_min_corner_x_m: 0.000000
[nvblox_node-3] workspace_bounds_max_corner_x_m: 0.000000
[nvblox_node-3] workspace_bounds_min_corner_y_m: 2.000000
[nvblox_node-3] workspace_bounds_max_corner_y_m: 2.000000
[nvblox_node-3] camera_occupancy_integrator
[nvblox_node-3] free_region_log_odds:: -0.847298
[nvblox_node-3] occupied_region_log_odds:: 0.847298
[nvblox_node-3] unobserved_region_log_odds:: 0.000000
[nvblox_node-3] occupied_region_half_width_m:: 0.100000
[nvblox_node-3] projective_integrator
[nvblox_node-3] lidar_linear_interpolation_max_allowable_difference_vox:: 2.000000
[nvblox_node-3] lidar_nearest_interpolation_max_allowable_dist_to_ray_vox:: 0.500000
[nvblox_node-3] truncation_distance_vox:: 4.000000
[nvblox_node-3] max_integration_distance_m:: 7.000000
[nvblox_node-3] view_calculator
[nvblox_node-3] raycast_subsampling_factor: 4
[nvblox_node-3] workspace_bounds_type: kUnbounded
[nvblox_node-3] workspace_bounds_min_height_m: 0.000000
[nvblox_node-3] workspace_bounds_max_height_m: 1.000000
[nvblox_node-3] workspace_bounds_min_corner_x_m: 0.000000
[nvblox_node-3] workspace_bounds_max_corner_x_m: 0.000000
[nvblox_node-3] workspace_bounds_min_corner_y_m: 2.000000
[nvblox_node-3] workspace_bounds_max_corner_y_m: 2.000000
[nvblox_node-3] lidar_occupancy_integrator
[nvblox_node-3] free_region_log_odds:: -0.847298
[nvblox_node-3] occupied_region_log_odds:: 0.847298
[nvblox_node-3] unobserved_region_log_odds:: 0.000000
[nvblox_node-3] occupied_region_half_width_m:: 0.100000
[nvblox_node-3] projective_integrator
[nvblox_node-3] lidar_linear_interpolation_max_allowable_difference_vox:: 2.000000
[nvblox_node-3] lidar_nearest_interpolation_max_allowable_dist_to_ray_vox:: 0.500000
[nvblox_node-3] truncation_distance_vox:: 4.000000
[nvblox_node-3] max_integration_distance_m:: 10.000000
[nvblox_node-3] view_calculator
[nvblox_node-3] raycast_subsampling_factor: 4
[nvblox_node-3] workspace_bounds_type: kUnbounded
[nvblox_node-3] workspace_bounds_min_height_m: 0.000000
[nvblox_node-3] workspace_bounds_max_height_m: 1.000000
[nvblox_node-3] workspace_bounds_min_corner_x_m: 0.000000
[nvblox_node-3] workspace_bounds_max_corner_x_m: 0.000000
[nvblox_node-3] workspace_bounds_min_corner_y_m: 2.000000
[nvblox_node-3] workspace_bounds_max_corner_y_m: 2.000000
[nvblox_node-3] esdf_integrator
[nvblox_node-3] max_esdf_distance_m:: 2.000000
[nvblox_node-3] max_tsdf_site_distance_vox:: 1.000000
[nvblox_node-3] tsdf_min_weight:: 0.000100
[nvblox_node-3] occupied_threshold_log_odds:: 0.000000
[nvblox_node-3] esdf_slice_min_height:: 0.000000
[nvblox_node-3] esdf_slice_max_height:: 1.000000
[nvblox_node-3] esdf_slice_height:: 1.000000
[nvblox_node-3] slice_height_above_plane_m:: 0.000000
[nvblox_node-3] slice_height_thickness_m:: 0.100000
[nvblox_node-3] mesh_integrator
[nvblox_node-3] min_weight:: 0.000100
[nvblox_node-3] cutoff_distance_vox:: 5.000000
[nvblox_node-3] weld_vertices:: 1
[nvblox_node-3] occupancy_decay_integrator
[nvblox_node-3] free_space_decay_log_odds:: 0.200671
[nvblox_node-3] occupied_space_decay_log_odds:: -0.405465
[nvblox_node-3] decay_to_log_odds_:: 0.000000
[nvblox_node-3] decay_integrator
[nvblox_node-3] deallocate_decayed_blocks:: 1
[nvblox_node-3] tsdf_decay_integrator
[nvblox_node-3] decay_factor:: 0.950000
[nvblox_node-3] decayed_weight_theshold:: 0.001000
[nvblox_node-3] set_free_distance_on_decayed:: 0
[nvblox_node-3] free_distance_vox:: 4.000000
[nvblox_node-3] decay_integrator
[nvblox_node-3] deallocate_decayed_blocks:: 1
[nvblox_node-3] freespace_integrator
[nvblox_node-3] max_tsdf_distance_for_occupancy_m:: 0.150000
[nvblox_node-3] max_unobserved_to_keep_consecutive_occupancy_ms:: 200
[nvblox_node-3] min_duration_since_occupied_for_freespace_ms:: 1000
[nvblox_node-3] min_consecutive_occupancy_duration_for_reset_ms:: 2000
[nvblox_node-3] check_neighborhood:: 1
[nvblox_node-3] foreground_mapper
[nvblox_node-3] voxel_size_m: 0.050000
[nvblox_node-3] memory_type: kDevice
[nvblox_node-3] projective_layer_type: kNone
[nvblox_node-3] esdf_mode: kUnset
[nvblox_node-3] do_depth_preprocessing: 0
[nvblox_node-3] depth_preprocessing_num_dilations: 4
[nvblox_node-3] exclude_last_view_from_decay: 0
[nvblox_node-3] camera_tsdf_integrator
[nvblox_node-3] max_weight:: 5.000000
[nvblox_node-3] marked_unobserved_voxels_distance_m:: -1.000000
[nvblox_node-3] marked_unobserved_voxels_weight:: 0.100000
[nvblox_node-3] weighting_function_type:: kInverseSquareWeight
[nvblox_node-3] invalid_depth_decay_factor:: -1.000000
[nvblox_node-3] projective_integrator
[nvblox_node-3] lidar_linear_interpolation_max_allowable_difference_vox:: 2.000000
[nvblox_node-3] lidar_nearest_interpolation_max_allowable_dist_to_ray_vox:: 0.500000
[nvblox_node-3] truncation_distance_vox:: 4.000000
[nvblox_node-3] max_integration_distance_m:: 7.000000
[nvblox_node-3] view_calculator
[nvblox_node-3] raycast_subsampling_factor: 4
[nvblox_node-3] workspace_bounds_type: kUnbounded
[nvblox_node-3] workspace_bounds_min_height_m: 0.000000
[nvblox_node-3] workspace_bounds_max_height_m: 1.000000
[nvblox_node-3] workspace_bounds_min_corner_x_m: 0.000000
[nvblox_node-3] workspace_bounds_max_corner_x_m: 0.000000
[nvblox_node-3] workspace_bounds_min_corner_y_m: 2.000000
[nvblox_node-3] workspace_bounds_max_corner_y_m: 2.000000
[nvblox_node-3] lidar_tsdf_integrator
[nvblox_node-3] max_weight:: 5.000000
[nvblox_node-3] marked_unobserved_voxels_distance_m:: -1.000000
[nvblox_node-3] marked_unobserved_voxels_weight:: 0.100000
[nvblox_node-3] weighting_function_type:: kInverseSquareWeight
[nvblox_node-3] invalid_depth_decay_factor:: -1.000000
[nvblox_node-3] projective_integrator
[nvblox_node-3] lidar_linear_interpolation_max_allowable_difference_vox:: 2.000000
[nvblox_node-3] lidar_nearest_interpolation_max_allowable_dist_to_ray_vox:: 0.500000
[nvblox_node-3] truncation_distance_vox:: 4.000000
[nvblox_node-3] max_integration_distance_m:: 10.000000
[nvblox_node-3] view_calculator
[nvblox_node-3] raycast_subsampling_factor: 4
[nvblox_node-3] workspace_bounds_type: kUnbounded
[nvblox_node-3] workspace_bounds_min_height_m: 0.000000
[nvblox_node-3] workspace_bounds_max_height_m: 1.000000
[nvblox_node-3] workspace_bounds_min_corner_x_m: 0.000000
[nvblox_node-3] workspace_bounds_max_corner_x_m: 0.000000
[nvblox_node-3] workspace_bounds_min_corner_y_m: 2.000000
[nvblox_node-3] workspace_bounds_max_corner_y_m: 2.000000
[nvblox_node-3] projective_color_integrator
[nvblox_node-3] sphere_tracing_ray_subsampling_factor:: 4
[nvblox_node-3] max_weight:: 5.000000
[nvblox_node-3] weighting_function_type:: kInverseSquareWeight
[nvblox_node-3] projective_integrator
[nvblox_node-3] lidar_linear_interpolation_max_allowable_difference_vox:: 2.000000
[nvblox_node-3] lidar_nearest_interpolation_max_allowable_dist_to_ray_vox:: 0.500000
[nvblox_node-3] truncation_distance_vox:: 4.000000
[nvblox_node-3] max_integration_distance_m:: 7.000000
[nvblox_node-3] view_calculator
[nvblox_node-3] raycast_subsampling_factor: 4
[nvblox_node-3] workspace_bounds_type: kUnbounded
[nvblox_node-3] workspace_bounds_min_height_m: 0.000000
[nvblox_node-3] workspace_bounds_max_height_m: 1.000000
[nvblox_node-3] workspace_bounds_min_corner_x_m: 0.000000
[nvblox_node-3] workspace_bounds_max_corner_x_m: 0.000000
[nvblox_node-3] workspace_bounds_min_corner_y_m: 2.000000
[nvblox_node-3] workspace_bounds_max_corner_y_m: 2.000000
[nvblox_node-3] view_calculator
[nvblox_node-3] raycast_subsampling_factor: 4
[nvblox_node-3] workspace_bounds_type: kUnbounded
[nvblox_node-3] workspace_bounds_min_height_m: 0.000000
[nvblox_node-3] workspace_bounds_max_height_m: 1.000000
[nvblox_node-3] workspace_bounds_min_corner_x_m: 0.000000
[nvblox_node-3] workspace_bounds_max_corner_x_m: 0.000000
[nvblox_node-3] workspace_bounds_min_corner_y_m: 2.000000
[nvblox_node-3] workspace_bounds_max_corner_y_m: 2.000000
[nvblox_node-3] camera_occupancy_integrator
[nvblox_node-3] free_region_log_odds:: -0.847298
[nvblox_node-3] occupied_region_log_odds:: 0.847298
[nvblox_node-3] unobserved_region_log_odds:: 0.000000
[nvblox_node-3] occupied_region_half_width_m:: 0.100000
[nvblox_node-3] projective_integrator
[nvblox_node-3] lidar_linear_interpolation_max_allowable_difference_vox:: 2.000000
[nvblox_node-3] lidar_nearest_interpolation_max_allowable_dist_to_ray_vox:: 0.500000
[nvblox_node-3] truncation_distance_vox:: 4.000000
[nvblox_node-3] max_integration_distance_m:: 7.000000
[nvblox_node-3] view_calculator
[nvblox_node-3] raycast_subsampling_factor: 4
[nvblox_node-3] workspace_bounds_type: kUnbounded
[nvblox_node-3] workspace_bounds_min_height_m: 0.000000
[nvblox_node-3] workspace_bounds_max_height_m: 1.000000
[nvblox_node-3] workspace_bounds_min_corner_x_m: 0.000000
[nvblox_node-3] workspace_bounds_max_corner_x_m: 0.000000
[nvblox_node-3] workspace_bounds_min_corner_y_m: 2.000000
[nvblox_node-3] workspace_bounds_max_corner_y_m: 2.000000
[nvblox_node-3] lidar_occupancy_integrator
[nvblox_node-3] free_region_log_odds:: -0.847298
[nvblox_node-3] occupied_region_log_odds:: 0.847298
[nvblox_node-3] unobserved_region_log_odds:: 0.000000
[nvblox_node-3] occupied_region_half_width_m:: 0.100000
[nvblox_node-3] projective_integrator
[nvblox_node-3] lidar_linear_interpolation_max_allowable_difference_vox:: 2.000000
[nvblox_node-3] lidar_nearest_interpolation_max_allowable_dist_to_ray_vox:: 0.500000
[nvblox_node-3] truncation_distance_vox:: 4.000000
[nvblox_node-3] max_integration_distance_m:: 10.000000
[nvblox_node-3] view_calculator
[nvblox_node-3] raycast_subsampling_factor: 4
[nvblox_node-3] workspace_bounds_type: kUnbounded
[nvblox_node-3] workspace_bounds_min_height_m: 0.000000
[nvblox_node-3] workspace_bounds_max_height_m: 1.000000
[nvblox_node-3] workspace_bounds_min_corner_x_m: 0.000000
[nvblox_node-3] workspace_bounds_max_corner_x_m: 0.000000
[nvblox_node-3] workspace_bounds_min_corner_y_m: 2.000000
[nvblox_node-3] workspace_bounds_max_corner_y_m: 2.000000
[nvblox_node-3] esdf_integrator
[nvblox_node-3] max_esdf_distance_m:: 2.000000
[nvblox_node-3] max_tsdf_site_distance_vox:: 1.000000
[nvblox_node-3] tsdf_min_weight:: 0.000100
[nvblox_node-3] occupied_threshold_log_odds:: 0.000000
[nvblox_node-3] esdf_slice_min_height:: 0.000000
[nvblox_node-3] esdf_slice_max_height:: 1.000000
[nvblox_node-3] esdf_slice_height:: 1.000000
[nvblox_node-3] slice_height_above_plane_m:: 0.000000
[nvblox_node-3] slice_height_thickness_m:: 0.100000
[nvblox_node-3] mesh_integrator
[nvblox_node-3] min_weight:: 0.000100
[nvblox_node-3] cutoff_distance_vox:: 5.000000
[nvblox_node-3] weld_vertices:: 1
[nvblox_node-3] occupancy_decay_integrator
[nvblox_node-3] free_space_decay_log_odds:: 0.200671
[nvblox_node-3] occupied_space_decay_log_odds:: -0.405465
[nvblox_node-3] decay_to_log_odds_:: 0.000000
[nvblox_node-3] decay_integrator
[nvblox_node-3] deallocate_decayed_blocks:: 1
[nvblox_node-3] tsdf_decay_integrator
[nvblox_node-3] decay_factor:: 0.950000
[nvblox_node-3] decayed_weight_theshold:: 0.001000
[nvblox_node-3] set_free_distance_on_decayed:: 0
[nvblox_node-3] free_distance_vox:: 4.000000
[nvblox_node-3] decay_integrator
[nvblox_node-3] deallocate_decayed_blocks:: 1
[nvblox_node-3] freespace_integrator
[nvblox_node-3] max_tsdf_distance_for_occupancy_m:: 0.150000
[nvblox_node-3] max_unobserved_to_keep_consecutive_occupancy_ms:: 200
[nvblox_node-3] min_duration_since_occupied_for_freespace_ms:: 1000
[nvblox_node-3] min_consecutive_occupancy_duration_for_reset_ms:: 2000
[nvblox_node-3] check_neighborhood:: 1
[nvblox_node-3] image_masker
[nvblox_node-3] occlusion_threshold_m:: 0.250000
[nvblox_node-3] ground_plane_estimator
[nvblox_node-3] ground_points_candidates_min_z_m:: -0.100000
[nvblox_node-3] ground_points_candidates_max_z_m:: 0.150000
[nvblox_node-3] ransac_plane_fitter
[nvblox_node-3] num_ransac_iterations:: 1000
[nvblox_node-3] ransac_distance_threshold_m:: 0.200000
[nvblox_node-3] tsdf_zero_crossings_extractor
[nvblox_node-3] min_tsdf_weight:: 0.100000
[nvblox_node-3] max_crossings:: 360000
[nvblox_node-3]
[nvblox_node-3] [INFO] [1776881895.043378349] [nvblox_node]: Got a new subscriber, sending entire map.
[rviz2-4] [ERROR] [1776881895.064336313] [rviz2]: ItemIdentityException: Unable to locate geometry program called rviz/glsl150/box.geom. in GpuProgramUsage::_getProgramByName at ./.obj-x86_64-linux-gnu/ogre-v1.12.1-prefix/src/ogre-v1.12.1/OgreMain/src/OgreGpuProgramUsage.cpp (line 92)
[rviz2-4] terminate called after throwing an instance of ‘Ogre::ItemIdentityException’
[rviz2-4] what(): ItemIdentityException: Unable to locate geometry program called rviz/glsl150/box.geom. in GpuProgramUsage::_getProgramByName at ./.obj-x86_64-linux-gnu/ogre-v1.12.1-prefix/src/ogre-v1.12.1/OgreMain/src/OgreGpuProgramUsage.cpp (line 92)
[ERROR] [rviz2-4]: process has died [pid 2384310, exit code -6, cmd ‘/opt/ros/humble/lib/rviz2/rviz2 -d /workspaces/isaac_ros-dev/src/nbv_ros2_bridge/rviz/nbv_config.rviz --ros-args -r __node:=rviz2’].
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[robot_state_publisher-2] [INFO] [1776882886.450617953] [rclcpp]: signal_handler(SIGINT/SIGTERM)
[nvblox_node-3] [INFO] [1776882886.450617822] [rclcpp]: signal_handler(SIGINT/SIGTERM)
[static_transform_publisher-1] [INFO] [1776882886.450644583] [rclcpp]: signal_handler(SIGINT/SIGTERM)
[nvblox_node-3] [INFO] [1776882886.452012452] [nvblox_node]: Timing statistics:
[nvblox_node-3]
[nvblox_node-3] NVBlox Timings (in seconds)
[nvblox_node-3] namespace/tag - NumSamples - TotalTime - (Mean ± StdDev) - [Min,Max]
[nvblox_node-3] -----------
[nvblox_node-3] esdf/integrate 5339 08.584118 (00.001608 ± 00.000000) [00.000000,00.022860]
[nvblox_node-3] esdf/integrate/allocate 1548 00.003088 (00.000002 ± 00.000000) [00.000001,00.000013]
[nvblox_node-3] esdf/integrate/clear 1548 02.464191 (00.001592 ± 00.001834) [00.000030,00.007416]
[nvblox_node-3] esdf/integrate/clear/get_blocks 1548 00.009845 (00.000006 ± 00.000005) [00.000003,00.000036]
[nvblox_node-3] esdf/integrate/compute 1548 03.981972 (00.002572 ± 00.003193) [00.000047,00.015792]
[nvblox_node-3] esdf/integrate/compute/neighbor_bands 1821 02.646035 (00.001453 ± 00.002121) [00.000029,00.006167]
[nvblox_node-3] esdf/integrate/compute/neighbor_bands/gpu_view 1821 01.356458 (00.000745 ± 00.001103) [00.000007,00.003669]
[nvblox_node-3] esdf/integrate/compute/swap 1821 00.000480 (00.000000 ± 00.000000) [00.000000,00.000002]
[nvblox_node-3] esdf/integrate/compute/sweep 1821 01.323866 (00.000727 ± 00.001089) [00.000001,00.003256]
[nvblox_node-3] esdf/integrate/mark_sites 1548 02.129004 (00.001375 ± 00.001389) [00.000033,00.009462]
[nvblox_node-3] esdf/integrate/mark_sites/pack_out 1548 01.193341 (00.000771 ± 00.000846) [00.000010,00.004459]
[nvblox_node-3] gpu_hash/flush_insertion_cache 2 00.003007 (00.001504 ± 00.001424) [00.000079,00.002928]
[nvblox_node-3] gpu_hash/transfer/reset 12 00.017509 (00.001459 ± 00.001750) [00.000099,00.006519]
[nvblox_node-3] mesh/gpu/get_meshable 150 00.059528 (00.000397 ± 00.000638) [00.000014,00.004303]
[nvblox_node-3] mesh/gpu/integrate 154 00.303217 (00.001969 ± 00.003074) [00.000001,00.011588]
[nvblox_node-3] mesh/gpu/mesh_blocks 150 00.243250 (00.001622 ± 00.002935) [00.000077,00.009522]
[nvblox_node-3] mesh/gpu/mesh_blocks/block_allocation 150 00.000482 (00.000003 ± 00.000002) [00.000002,00.000016]
[nvblox_node-3] mesh/gpu/mesh_blocks/copy_out 150 00.000820 (00.000005 ± 00.000002) [00.000004,00.000017]
[nvblox_node-3] mesh/gpu/mesh_blocks/kernel_table 150 00.106946 (00.000713 ± 00.001481) [00.000007,00.005354]
[nvblox_node-3] mesh/gpu/mesh_blocks/kernel_vertices 150 00.063941 (00.000426 ± 00.000740) [00.000009,00.002451]
[nvblox_node-3] mesh/gpu/mesh_blocks/prep 150 00.002235 (00.000015 ± 00.000002) [00.000011,00.000050]
[nvblox_node-3] mesh/gpu/mesh_blocks/welding 150 00.068401 (00.000456 ± 00.000805) [00.000039,00.003579]
[nvblox_node-3] ros/esdf 5339 09.141987 (00.001712 ± 00.000036) [00.000020,00.022921]
[nvblox_node-3] ros/esdf/integrate 5339 09.128788 (00.001710 ± 00.000035) [00.000019,00.022921]
[nvblox_node-3] ros/idle 95854 877.051305 (00.009150 ± 00.000122) [00.000031,00.012179]
[nvblox_node-3] ros/lidar 4800 218.962184 (00.045617 ± 00.003174) [00.031650,00.071097]
[nvblox_node-3] ros/lidar/conversion 4800 211.230742 (00.044006 ± 00.002559) [00.031540,00.065529]
[nvblox_node-3] ros/lidar/integration 4800 07.672175 (00.001598 ± 00.001909) [00.000090,00.009952]
[nvblox_node-3] ros/lidar/transform 4800 00.019757 (00.000004 ± 00.000002) [00.000002,00.000035]
[nvblox_node-3] ros/pointcloud_callback 4801 00.052147 (00.000011 ± 00.000007) [00.000004,00.000094]
[nvblox_node-3] ros/process_queue 287565 223.508415 (00.000777 ± 00.000027) [00.000000,00.071123]
[nvblox_node-3] ros/publish_layer 9998 01.737506 (00.000174 ± 00.000046) [00.000016,00.019363]
[nvblox_node-3] ros/publish_layer/serialize 9998 01.199174 (00.000120 ± 00.000043) [00.000010,00.007231]
[nvblox_node-3] ros/publish_layers 9998 01.987831 (00.000199 ± 00.000050) [00.000023,00.019388]
[nvblox_node-3] ros/publish_mesh_layer 154 00.033832 (00.000220 ± 00.000198) [00.000003,00.001988]
[nvblox_node-3] ros/publish_tsdf_layer 276 00.024769 (00.000090 ± 00.000018) [00.000052,00.001362]
[nvblox_node-3] ros/push_onto_queue 4801 00.006478 (00.000001 ± 00.000000) [00.000000,00.000043]
[nvblox_node-3] ros/tick 95855 235.920945 (00.002461 ± 00.000076) [00.000001,00.080075]
[nvblox_node-3] tsdf/integrate 4800 07.177914 (00.001495 ± 00.001869) [00.000030,00.009858]
[nvblox_node-3] tsdf/integrate/allocate_blocks 4800 02.957968 (00.000616 ± 00.000829) [00.000002,00.005430]
[nvblox_node-3] tsdf/integrate/get_blocks_in_view 4800 00.016392 (00.000003 ± 00.000002) [00.000002,00.000658]
[nvblox_node-3] tsdf/integrate/transfer_blocks 4800 02.263479 (00.000472 ± 00.000710) [00.000012,00.004871]
[nvblox_node-3] tsdf/integrate/update_blocks 4800 01.925599 (00.000401 ± 00.000790) [00.000010,00.005147]
[nvblox_node-3] view_calculator/raycast 4800 00.008692 (00.000002 ± 00.000000) [00.000001,00.000656]
[nvblox_node-3] view_calculator/raycast/output 1 00.000343 (00.000343 ± 00.000000) [00.000343,00.000343]
[nvblox_node-3] view_calculator/raycast/raycast_pixels_kernel 1 00.000283 (00.000283 ± 00.000000) [00.000283,00.000283]
[nvblox_node-3] view_calculator/raycast/setup 1 00.000027 (00.000027 ± 00.000000) [00.000027,00.000027]
[nvblox_node-3] -----------
[nvblox_node-3]
[nvblox_node-3] [INFO] [1776882886.452035749] [nvblox_node]: Rates statistics:
[nvblox_node-3]
[nvblox_node-3] NVBlox Rates (in Hz)
[nvblox_node-3] namespace/tag - NumSamples (Window Length) - Mean
[nvblox_node-3] -----------
[nvblox_node-3] layer_streamer/mesh 100 7.7
[nvblox_node-3] layer_streamer/tsdf 100 7.8
[nvblox_node-3] ros/lidar 100 14.2
[nvblox_node-3] ros/pointcloud_callback 100 14.2
[nvblox_node-3] ros/update_esdf 100 4.9
[nvblox_node-3] ros/tick 100 101.0
[nvblox_node-3] -----------
[nvblox_node-3]
[nvblox_node-3] [INFO] [1776882886.452046522] [nvblox_node]: Delay statistics:
[nvblox_node-3]
[nvblox_node-3] NVBlox Delays
[nvblox_node-3] namespace/tag - NumSamples (Window Length) - Mean Delay (seconds)
[nvblox_node-3] -----------
[nvblox_node-3] ros/esdf_integration 100 743.239
[nvblox_node-3] ros/pointcloud_integration 100 0.114
[nvblox_node-3] ros/pointcloud_callback 100 0.023
[nvblox_node-3] -----------
[nvblox_node-3]
[INFO] [static_transform_publisher-1]: process has finished cleanly [pid 2384304]
[INFO] [robot_state_publisher-2]: process has finished cleanly [pid 2384306]
[INFO] [nvblox_node-3]: process has finished cleanly [pid 2384308]
Regarding these issues, I would appreciate any advice on how to properly reconstruct the object and resolve the RViz crash I am experiencing. I suspect my parameters or system setup might need adjustments. Since I am a student and still new to the field of robotics, any guidance, tips, or suggestions would be greatly appreciated. Thanks!