Nvblox quickstart example crashing

Robotics & Edge Computing Robotics - Isaac Isaac ROS
1

Hi there,

I am trying to use nvblox and I started following this guide.
I am using docker and I have run run_dev.sh.
I have used both installation from Debian and from source but if I run:

ros2 launch nvblox_examples_bringup isaac_sim_example.launch.py \
rosbag:=${ISAAC_ROS_WS}/isaac_ros_assets/isaac_ros_nvblox/quickstart \
navigation:=False

rviz2 opens and crashes in few seconds and I cannot see anything. I should see something like the image below as written in the guide.

image
image1357×694 244 KB

I have attached the output I get from terminal.
output.txt (69.2 KB)

2

Hi @daniele.marchisotti.work

Thank you for your post. Looking at your output, I can see that nvblox is expanding the memory on your computer, and after you sent CTRL-C to the terminal and switched off the launch file.

[component_container_isolated-1] I0514 10:25:42.962843 2347 mapper.cpp:304] Allocating space for last depth image
[component_container_isolated-1] I0514 10:25:42.981626 2347 image_cache_impl.h:45] Allocating a new cached image
[component_container_isolated-1] I0514 10:25:44.441819 2347 block_memory_pool_impl.h:65] Expanding the memory pool with 4096 blocks. Number of allocated blocks: 6144
[component_container_isolated-1] I0514 10:25:44.442116 2347 gpu_layer_view_impl.cuh:100] Resizing GPU hash capacity from 4096 to 8192 in order to accomodate space for 76 new elements.
[component_container_isolated-1] I0514 10:25:44.442312 2347 gpu_hash_interface_impl.cuh:83] Creating a GPUHashImpl with requested capacity of 8192 blocks. Real capacity: 8192
[component_container_isolated-1] I0514 10:25:44.694808 2347 block_memory_pool_impl.h:65] Expanding the memory pool with 4096 blocks. Number of allocated blocks: 6144
[component_container_isolated-1] I0514 10:25:44.695183 2347 gpu_layer_view_impl.cuh:100] Resizing GPU hash capacity from 4096 to 8192 in order to accomodate space for 341 new elements.
[component_container_isolated-1] I0514 10:25:44.695341 2347 gpu_hash_interface_impl.cuh:83] Creating a GPUHashImpl with requested capacity of 8192 blocks. Real capacity: 8192
[component_container_isolated-1] I0514 10:25:58.492200 2347 gpu_layer_view_impl.cuh:100] Resizing GPU hash capacity from 8192 to 16384 in order to accomodate space for 30 new elements.
[component_container_isolated-1] I0514 10:25:58.492799 2347 gpu_hash_interface_impl.cuh:83] Creating a GPUHashImpl with requested capacity of 16384 blocks. Real capacity: 16384
[INFO] [ros2-2]: process has finished cleanly [pid 2259]
[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)

From the terminal, I don’t read any other crash reports from the system.
Try to give more time to the execution to load the NVBLOX properly into the GPU memory.

Best,
Raffaello

3

Hi @Raffaello,

Thank you for your reply. Yes, there is no crash it seems, apart from rviz2 I think.
I have attached another file with no CTRL+C. The only problem is rviz2 then.

Do you know how could I solve it?

output.txt (58.0 KB)

4

Hi Daniele,

Looks like only dead rviz, but unfortunately, we don’t know the reason.

[ERROR] [rviz2-3]: process has died [pid 2871, exit code -11, cmd ‘/opt/ros/humble/lib/rviz2/rviz2 -d /opt/ros/humble/share/nvblox_examples_bringup/config/visualization/isaac_sim_example.rviz --ros-args -p use_sim_time:=True’]

We can move on this way:

  • Run the launcher
  • Open a new terminal and type:
cd $ISAAC_ROS_WS && ./src/isaac_ros_common/scripts/run_dev.sh

From the second terminal, run

rviz2

From rviz2
Flie → Open Config

And manually open:

/opt/ros/humble/share/nvblox_examples_bringup/config/visualization/isaac_sim_example.rviz

Let me know at which step rviz2 crashes

Best,
Raffaello

5

Hi @Raffaello

Ok I did the following.
I have opened a first terminal:

cd $ISAAC_ROS_WS && ./src/isaac_ros_common/scripts/run_dev.sh

Then in the first erminal, I have installed isaas_rso_nvblox as in the guide:

sudo apt update &&
sudo apt-get install -y ros-humble-isaac-ros-nvblox && \
rosdep update && \
rosdep install isaac_ros_nvblox

Then I opened a second terminal (cd $ISAAC_ROS_WS && ./src/isaac_ros_common/scripts/run_dev.sh) and I run rviz2 and manually opened /opt/ros/humble/share/nvblox_examples_bringup/config/visualization/isaac_sim_example.rviz.

Then in the first terminal, I run the quickstart example:

ros2 launch nvblox_examples_bringup isaac_sim_example.launch.py rosbag:=${ISAAC_ROS_WS}/isaac_ros_assets/isaac_ros_nvblox/quickstart navigation:=False

and rviz2 in the second terminal crashed with the following output:

rviz2
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-admin'
[INFO] [1747320730.921566719] [rviz2]: Stereo is NOT SUPPORTED
[INFO] [1747320730.921650887] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[INFO] [1747320730.942847779] [rviz2]: Stereo is NOT SUPPORTED
[INFO] [1747320776.936826145] [rviz2]: Stereo is NOT SUPPORTED
[INFO] [1747320776.966588129] [rviz2]: Stereo is NOT SUPPORTED
[WARN] [1747320807.221390908] [rviz2]: Detected time source change. Resetting RViz.
[WARN] [1747320807.222589051] [tf2_buffer]: Detected time source change. Clearing TF buffer.
Segmentation fault (core dumped)

I don’t think it is a problem with sim_time, because if I run:

rviz2 --ros-args -p use_sim_time:=True

it crashes anyway.
Do you know which could be the problem? I have attached the output of terminal 1
output.txt (69.2 KB)

6

Anyway I managed to record all ros2 topics and play the bag file to visualize them in rviz2 with /opt/ros/humble/share/nvblox_examples_bringup/config/visualization/isaac_sim_example.rviz configuration of rviz2.
So I think it is a sort of conflict between rviz2 and nodes launched with isaac_sim_example.launch.py

7

we double check, if is a docker issue, but seems coming from rviz.

Thank you to share.

Raffaello

8

Hi even i am facing the same issue as Daniele, the simulation just gets stuck . Did anyone check this ??

9

Hi @vaishnav.raju

If you are same following this guide., could you run the command below to get the debug log and attach to this topic?

ros2 launch nvblox_examples_bringup isaac_sim_example.launch.py rosbag:=${ISAAC_ROS_WS}/isaac_ros_assets/isaac_ros_nvblox/quickstart navigation:=False log_level:=debug

Best,
Ahung

10

Hi,

Here is the log file u asked for

my_log.log (2.7 MB)

11

Hi @vaishnav.raju ,

Thank you for collecting the log. The original issue at this post was that rviz2 got died while the demo was just started. But according to your log, the rviz2 looks running okay. The rviz2 was stoped after you terminated it by Ctrl-C. Can you elaborate a bit more on your issue? If it looks like a different issue, please open a new topic with detailed context.

Best,
Ahung

12

Im sorry , i did not clarify the issue earlier.
The issue is that the demo gets stuck midway and does not complete the full 360 of the bot as shown in the example. Rviz does not crash , but the demo get stuck.

13

Hi @vaishnav.raju ,

The rosbag file has been shortened( it’s about 3/4 of what is shown on the documentation ).
So your demo result should be as expected, which is not an issue, thank you.

14

Hi,

Oh okay thank you for the clarification