NVblox + RealSense: "Lookup transform failed for frame camera0_link" & Missing Realsense Splitter Node

Robotics & Edge Computing Robotics - Isaac Isaac ROS
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Issue Description:

🔹 System Configuration:

  • Device: Jetson Orin NX 16GB
  • JetPack Version: 6.2 (Ubuntu 22.04.5 LTS)
  • CUDA Version: 12.6
  • ROS 2 Distribution: Humble
  • NVIDIA Isaac ROS: Latest
  • RealSense Camera Model: Intel RealSense D435i
  • RealSense ROS Version: v4.55.1

I am trying to launch NVblox with RealSense using the following command: ros2 launch nvblox_examples_bringup realsense_example.launch.py

However, I am facing multiple issues:
[component_container_mt-2] [INFO] [1740681989.358706826] [nvblox_node]: Lookup transform failed for frame camera0_link. Layer pointclouds not published

[component_container_mt-2] [INFO] [1740681997.363385942] [camera0.camera]: Starting Sensor: RGB Camera
[component_container_mt-2] [INFO] [1740681997.386630207] [camera0.camera]: Open profile: stream_type: Color(0), Format: RGB8, Width: 1280, Height: 720, FPS: 30
[component_container_mt-2] 27/02 12:46:37,392 WARNING [281470894401760] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-2] [INFO] [1740681997.397961242] [nvblox_node]: Tried to clear map outside of radius but couldn’t look up frame: camera0_link
[component_container_mt-2] 27/02 12:46:37,404 WARNING [281470924548320] (ds-calib-parsers.cpp:35) IMU Calibration is not available, default intrinsic and extrinsic will be used.
[component_container_mt-2] [INFO] [1740681997.411107378] [camera0.camera]: Starting Sensor: Motion Module
[component_container_mt-2] [INFO] [1740681997.437796335] [camera0.camera]: Open profile: stream_type: Accel(0)Format: MOTION_XYZ32F, FPS: 200
[component_container_mt-2] [INFO] [1740681997.437905139] [camera0.camera]: Open profile: stream_type: Gyro(0)Format: MOTION_XYZ32F, FPS: 200
[component_container_mt-2] [INFO] [1740681997.450091914] [camera0.camera]: RealSense Node Is Up!
[component_container_mt-2] 27/02 12:46:37,474 WARNING [281470894401760] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-2] 27/02 12:46:37,485 WARNING [281470894401760] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-2] 27/02 12:46:37,496 WARNING [281470894401760] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-2] 27/02 12:46:37,509 WARNING [281470894401760] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-2] 27/02 12:46:37,520 WARNING [281470894401760] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-2] 27/02 12:46:37,532 WARNING [281470894401760] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-2] [INFO] [1740681997.597983422] [nvblox_node]: Lookup transform failed for frame camera0_link. Layer pointclouds not published
[component_container_mt-2] 27/02 12:46:37,850 WARNING [281470894401760] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-2] [INFO] [1740681998.618398648] [nvblox_node]: Lookup transform failed for frame camera0_link. Layer pointclouds not published
[component_container_mt-2] [INFO] [1740681999.398347173] [nvblox_node]: Tried to clear map outside of radius but couldn’t look up frame: camera0_link
[component_container_mt-2] [INFO] [1740681999.667955073] [nvblox_node]: Lookup transform failed for frame camera0_link. Layer pointclouds not published
[component_container_mt-2] [INFO] [1740682000.408079034] [nvblox_node]: Tried to clear map outside of radius but couldn’t look up frame: camera0_link
[component_container_mt-2] [INFO] [1740682000.678274218] [nvblox_node]: Lookup transform failed for frame camera0_link. Layer pointclouds not published
[component_container_mt-2] [INFO] [1740682001.408117451] [nvblox_node]: Tried to clear map outside of radius but couldn’t look up frame: camera0_link
[component_container_mt-2] [INFO] [1740682001.718171568] [nvblox_node]: Lookup transform failed for frame camera0_link. Layer pointclouds not published
[component_container_mt-2] [INFO] [1740682002.408352930] [nvblox_node]: Tried to clear map outside of radius but couldn’t look up frame: camera0_link
[component_container_mt-2] [INFO] [1740682002.748232493] [nvblox_node]: Lookup transform failed for frame camera0_link. Layer pointclouds not published
[component_container_mt-2] [INFO] [1740682003.418287647] [nvblox_node]: Tried to clear map outside of radius but couldn’t look up frame: camera0_link
[component_container_mt-2] [INFO] [1740682003.758219308] [nvblox_node]: Lookup transform failed for frame camera0_link. Layer pointclouds not published
[component_container_mt-2] [INFO] [1740682004.418311792] [nvblox_node]: Tried to clear map outside of radius but couldn’t look up frame: camera0_link
[component_container_mt-2] [INFO] [1740682004.778838734] [nvblox_node]: Lookup transform failed for frame camera0_link. Layer pointclouds not published
[component_container_mt-2] [INFO] [1740682005.418643467] [nvblox_node]: Tried to clear map outside of radius but couldn’t look up frame: camera0_link
[component_container_mt-2] [INFO] [1740682005.818261189] [nvblox_node]: Lookup transform failed for frame camera0_link. Layer pointclouds not published
[component_container_mt-2] [INFO] [1740682006.428292063] [nvblox_node]: Tried to clear map outside of radius but couldn’t look up frame: camera0_link
[component_container_mt-2] [INFO] [1740682006.848743474] [nvblox_node]: Lookup transform failed for frame camera0_link. Layer pointclouds not published
[component_container_mt-2] [INFO] [1740682007.428737183] [nvblox_node]: Tried to clear map outside of radius but couldn’t look up frame: camera0_link
[component_container_mt-2] [INFO] [1740682007.878512039] [nvblox_node]: Lookup transform failed for frame camera0_link. Layer pointclouds not published
[component_container_mt-2] [INFO] [1740682008.438303696] [nvblox_node]: Tried to clear map outside of radius but couldn’t look up frame: camera0_link
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)

2

Hi @chaud324

Thank you for your post.

Have you also check the firmware version on your realsense camera?

It is required to use RealSense firmware version 5.13.0.50, librealsense SDK version 2.55.1 and realsense-ros driver version 4.51.1-isaac. Any deviation from these versions will break Isaac ROS examples.

Second question, have you tried to run the demo from a ROSbag, to isolate the issue, if is related to the Camera or from the device?

Best,
Raffaello

3

Hi Raffaello,

We had a great conversation at ROSCon 2024 in Copenhagen, Denmark about Isaac ROS—it was great connecting with you!

Regarding this issue, it was related to the nvblox_ros package not building correctly with release 3.2. There was a missing return statement in the multi_mapper.h file inside:

/workspaces/isaac_ros-dev/src/isaac_ros_nvblox/nvblox_ros/nvblox_core/nvblox/include/nvblox/mapper/

I resolved it by adding:

return “UnknownMappingType”;

after CHECK(false) << “Requested mapping type is not implemented.”; at line 89.

After this fix, I was able to successfully build the package and run all required nodes, including NVblox with RealSense.

Thanks again for your support! Looking forward to more discussions on Isaac ROS.

Best,
Abhishek

1 Like
4

Hi @chaud324

Happy to hear that!

I mark your message as such a solution.

For every type of other questions, we are really happy to support you :-)

Raffaello

5

This seems not useful and will cause error when building

6

Hi @zsh000

Thank you for your post and welcome to the Isaac ROS forum.
Can you start a new topic and explain your issue.

Thank you in advance,
Raffaello