Hi, I’m encountering an issue while trying to launch Visual SLAM with Isaac ROS within a container. Following the tutorial from the Isaac ROS Visual SLAM Quickstart, I use the following command to start Visual SLAM:
ros2 launch isaac_ros_examples isaac_ros_examples.launch.py launch_fragments:=realsense_stereo_rect,visual_slam interface_specs_file:=${ISAAC_ROS_WS}/isaac_ros_assets/isaac_ros_visual_slam/quickstart_interface_specs.json base_frame:=camera_link camera_optical_frames:="['camera_infra1_optical_frame', 'camera_infra2_optical_frame']"
However, the RealSense camera is not being recognized, and I see the following warnings in the logs:
[component_container_mt-1] [INFO] [1718847688.545110603] [image_format_node_left]: [NitrosPublisher] Use only the compatible publisher: topic_name="/left/image_rect_mono", data_format="nitros_image_mono8"
[component_container_mt-1] [INFO] [1718847688.545128108] [image_format_node_left]: [NitrosSubscriber] Use the negotiated data format: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1718847688.545470552] [image_format_node_left]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1718847688.566246332] [image_format_node_left]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/WLNRKPCRWF/WLNRKPCRWF.yaml"
[component_container_mt-1] [INFO] [1718847688.566433218] [image_format_node_left]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1718847688.568174558] [visual_slam_node]: Time taken by CUVSLAM_WarmUpGPU(): 0.552029
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/visual_slam_node' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1718847688.690362660] [image_format_left]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1718847688.695055332] [image_format_node_left]: [ImageFormatConverterNode] postLoadGraphCallback().
[component_container_mt-1] [INFO] [1718847688.695226858] [image_format_node_left]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1718847688.745143375] [image_format_node_right]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1718847688.745298901] [image_format_node_right]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1718847688.745321558] [image_format_node_right]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1718847688.745343862] [image_format_node_right]: [NitrosPublisher] Use only the compatible publisher: topic_name="/right/image_rect_mono", data_format="nitros_image_mono8"
[component_container_mt-1] [INFO] [1718847688.745479771] [image_format_node_right]: [NitrosSubscriber] Use the negotiated data format: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1718847688.745797830] [image_format_node_right]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1718847688.766914550] [image_format_node_right]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/XUABRYSTFI/XUABRYSTFI.yaml"
[component_container_mt-1] [INFO] [1718847688.767056859] [image_format_node_right]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1718847688.792801928] [image_format_node_left]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1718847688.796279871] [image_format_right]: [ImageFormatConverterNode] postLoadGraphCallback().
[component_container_mt-1] [INFO] [1718847688.796402691] [image_format_node_right]: [ImageFormatConverterNode] postLoadGraphCallback().
[component_container_mt-1] [INFO] [1718847688.796493222] [image_format_right]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1718847688.796543112] [image_format_node_right]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1718847689.003490040] [image_format_right]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1718847689.199538737] [image_format_node_right]: [NitrosNode] Node was started
[component_container_mt-1] [WARN] [1718847693.093907852] [realsense2_camera]: No RealSense devices were found!
[component_container_mt-1] [WARN] [1718847699.323161911] [realsense2_camera]: No RealSense devices were found!
[component_container_mt-1] [WARN] [1718847705.547085693] [realsense2_camera]: No RealSense devices were found!
The RealSense camera is detected in the RealSense Viewer that I launched following the RealSense Sensor Setup. However, it only gets recognized after re-plugging the USB connector, and even then, it’s unstable.
I have followed the setup instructions from the following links:
My environment is as follows:
- Device: Jetson Orin Nano
- Camera: Intel RealSense Depth Camera D457 (connected via USB3.2)
- Operating System: JetPack 6.0 (rev2)
What steps should I take to resolve this issue? Any advice or solutions would be greatly appreciated.
Thank you!