Hi
i am facing some problem with running nvblox_node with isaac SLAM.
when running “ros2 launch nvblox_nav2 carter_sim.launch.py” it seems like most of packages are running just fine but when launching the slam (“ros2 launch isaac_ros_visual_slam isaac_ros_visual_slam_realsense.launch.py”) an error is emerging and the package crash.
any idea about it?
the error:
nvblox_node-9] F1019 14:23:14.291710 98171 projective_color_integrator.cu:214] Check failed: color_frame.cols() / depth_frame.cols() == depth_subsampling_factor (8 vs. 6)
[nvblox_node-9] *** Check failure stack trace: ***
[nvblox_node-9] @ 0x7f6cacffc1c3 google::LogMessage::Fail()
[nvblox_node-9] @ 0x7f6cad00125b google::LogMessage::SendToLog()
[nvblox_node-9] @ 0x7f6cacffbebf google::LogMessage::Flush()
[nvblox_node-9] @ 0x7f6cacffc6ef google::LogMessageFatal::~LogMessageFatal()
[nvblox_node-9] @ 0x7f6cad0e96ee nvblox::ProjectiveColorIntegrator::updateBlocks()
[nvblox_node-9] @ 0x7f6cad0e9cd4 nvblox::ProjectiveColorIntegrator::integrateFrame()
[nvblox_node-9] @ 0x7f6cad0c5ea6 nvblox::RgbdMapper::integrateColor()
[nvblox_node-9] @ 0x7f6cad8462e5 nvblox::NvbloxNode::processColorImage()
[nvblox_node-9] @ 0x7f6cad84482c nvblox::NvbloxNode::processColorQueue()
[nvblox_node-9] @ 0x7f6cad846803 nvblox::NvbloxNode::colorImageCallback()
[nvblox_node-9] @ 0x7f6cad8a2ef0 message_filters::CallbackHelper9T<>::call()
[nvblox_node-9] @ 0x7f6cad8bc54d message_filters::sync_policies::ApproximateTime<>::publishCandidate()
[nvblox_node-9] @ 0x7f6cad8bcfc0 message_filters::sync_policies::ApproximateTime<>::process()
[nvblox_node-9] @ 0x7f6cad8bf2c8 message_filters::sync_policies::ApproximateTime<>::add<>()
[nvblox_node-9] @ 0x7f6cad8a8080 message_filters::CallbackHelper1T<>::call()
[nvblox_node-9] @ 0x563d567b57e9 ZNSt17_Function_handlerIFvSt10shared_ptrIKN11sensor_msgs3msg11CameraInfo_ISaIvEEEEEZN15message_filters10SubscriberIS5_E9subscribeEPN6rclcpp4NodeERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE17rmw_qos_profile_tEUlS7_E_E9_M_invokeERKSt9_Any_dataOS7
[nvblox_node-9] @ 0x563d56799ab8 ZNSt8__detail9__variant17__gen_vtable_implILb1ENS0_12_Multi_arrayIPFvOZN6rclcpp23AnySubscriptionCallbackIN11sensor_msgs3msg11CameraInfo_ISaIvEEES8_E8dispatchESt10shared_ptrIS9_ERKNS3_11MessageInfoEEUlOT_E_RSt7variantIJSt8functionIFvRKS9_EESL_IFvSN_SF_EESL_IFvSt10unique_ptrIS9_St14default_deleteIS9_EEEESL_IFvSV_SF_EESL_IFvSB_ISM_EEESL_IFvS10_SF_EESL_IFvRKS10_EESL_IFvS16_SF_EESL_IFvSC_EESL_IFvSC_SF_EEEEEJEEESt5tupleIJS1G_EESt16integer_sequenceImJLm4EEEE14__visit_invokeESJ_S1G
[nvblox_node-9] @ 0x563d567b2ac5 rclcpp::Subscription<>::handle_message()
[nvblox_node-9] @ 0x7f6cace22014 (unknown)
[nvblox_node-9] @ 0x7f6cace228e4 rclcpp::Executor::execute_subscription()
[nvblox_node-9] @ 0x7f6cace23015 rclcpp::Executor::execute_any_executable()
[nvblox_node-9] @ 0x7f6cace2a12c rclcpp::executors::SingleThreadedExecutor::spin()
[nvblox_node-9] @ 0x7f6cace28ce8 rclcpp::spin()
[nvblox_node-9] @ 0x7f6cace28f90 rclcpp::spin()
[nvblox_node-9] @ 0x563d5678992f main
[nvblox_node-9] @ 0x7f6cac8b0083 __libc_start_main
[nvblox_node-9] @ 0x563d56789b1e _start
[ERROR] [nvblox_node-9]: process has died [pid 98171, exit code -6, cmd ‘/home/elad/workspaces/isaac_ros-dev/ros_ws/install/nvblox_ros/lib/nvblox_ros/nvblox_node --ros-args --params-file /home/elad/workspaces/isaac_ros-dev/ros_ws/install/nvblox_nav2/share/nvblox_nav2/params/nvblox.yaml --params-file /tmp/launch_params_yly1uo9u -r depth/image:=/left/depth -r depth/camera_info:=/left/camera_info -r color/image:=/left/rgb -r color/camera_info:=/left/camera_info’].
Thank you all