I am trying to run the bi3d_freespace quickstart and I am getting the following error message when I try to run the ros2 example in the quickstart located at isaac_ros_bi3d_freespace — isaac_ros_docs documentation
admin@vnode008:/workspaces/isaac_ros-dev$ ros2 launch isaac_ros_examples isaac_ros_examples.launch.py launch_fragments:=bi3d,bi3d_freespace interface_specs_file:=${ISAAC_ROS_WS}/isaac_ros_assets/isaac_ros_bi3d_freespace/rosbag_quickstart_interface_specs.json featnet_engine_file_path:=${ISAAC_ROS_WS}/isaac_ros_assets/models/bi3d_proximity_segmentation/featnet.plan segnet_engine_file_path:=${ISAAC_ROS_WS}/isaac_ros_assets/models/bi3d_proximity_segmentation/segnet.plan max_disparity_values:=10
[INFO] [launch]: All log files can be found below /home/admin/.ros/log/2025-01-07-15-21-33-925781-vnode008.palmetto.clemson.edu-1714
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container_mt-1]: process started with pid [1724]
[component_container_mt-1] [INFO] [1736281294.256367568] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libbi3d_node.so
[component_container_mt-1] [INFO] [1736281294.282331853] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::bi3d::Bi3DNode
[component_container_mt-1] [INFO] [1736281294.282371327] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::bi3d::Bi3DNode
[component_container_mt-1] [INFO] [1736281294.361874346] [bi3d_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1736281294.362042462] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/std/libgxf_std.so
[component_container_mt-1] [INFO] [1736281294.362883716] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_gxf_helpers.so
[component_container_mt-1] [INFO] [1736281294.364894129] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_sight.so
[component_container_mt-1] [INFO] [1736281294.367166286] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_atlas.so
[component_container_mt-1] 2025-01-07 15:21:34.373 WARN external/com_nvidia_gxf/gxf/std/program.cpp@538: No GXF scheduler specified.
[component_container_mt-1] [INFO] [1736281294.373632113] [bi3d_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1736281294.376129618] [bi3d_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1736281294.376198861] [bi3d_node]: [NitrosContext] Loading extension: gxf/lib/multimedia/libgxf_multimedia.so
[component_container_mt-1] [INFO] [1736281294.377817525] [bi3d_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_message_compositor.so
[component_container_mt-1] [INFO] [1736281294.378071540] [bi3d_node]: [NitrosContext] Loading extension: gxf/lib/cuda/libgxf_cuda.so
[component_container_mt-1] [INFO] [1736281294.379853321] [bi3d_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_sgm.so
[component_container_mt-1] [INFO] [1736281294.380267274] [bi3d_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_bi3d.so
[component_container_mt-1] [INFO] [1736281294.392246923] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/serialization/libgxf_serialization.so
[component_container_mt-1] [INFO] [1736281294.394684901] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_messages.so
[component_container_mt-1] [INFO] [1736281294.395055403] [bi3d_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1736281294.401057930] [bi3d_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1736281294.531138950] [bi3d_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1736281294.542825081] [bi3d_node]: [NitrosPublisherSubscriberGroup] Expanding “any” data formats to all registered data formats
[component_container_mt-1] [INFO] [1736281294.542864077] [bi3d_node]: [NitrosNode] Starting negotiation…
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ‘/bi3d_node’ in container ‘/isaac_ros_examples/container’
[component_container_mt-1] [INFO] [1736281294.544541265] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libfreespace_segmentation_node.so
[component_container_mt-1] [INFO] [1736281294.546724969] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::bi3d_freespace::FreespaceSegmentationNode
[component_container_mt-1] [INFO] [1736281294.546757066] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::bi3d_freespace::FreespaceSegmentationNode
[component_container_mt-1] [INFO] [1736281294.549828910] [freespace_segmentation_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1736281294.551649093] [freespace_segmentation_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1736281294.553826680] [freespace_segmentation_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1736281294.553925467] [freespace_segmentation_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_occupancy_grid_projector.so
[component_container_mt-1] [INFO] [1736281294.554359430] [freespace_segmentation_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1736281294.555069353] [freespace_segmentation_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1736281294.556463024] [freespace_segmentation_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1736281294.558196750] [freespace_segmentation_node]: [NitrosNode] Starting negotiation…
[component_container_mt-1] [INFO] [1736281294.558520574] [bi3d_node]: Negotiating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ‘/freespace_segmentation_node’ in container ‘/isaac_ros_examples/container’
[component_container_mt-1] [INFO] [1736281295.526511786] [bi3d_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1736281295.526582827] [bi3d_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1736281295.526597466] [bi3d_node]: [NitrosPublisher] Use the negotiated data format: “nitros_disparity_image_32FC1”
[component_container_mt-1] [INFO] [1736281295.526604687] [bi3d_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1736281295.526637408] [bi3d_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name=“/left/image_rect”, data_format=“nitros_image_rgb8”
[component_container_mt-1] [INFO] [1736281295.526644520] [bi3d_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1736281295.526648715] [bi3d_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name=“/right/image_rect”, data_format=“nitros_image_rgb8”
[component_container_mt-1] [INFO] [1736281295.526653832] [bi3d_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1736281295.526657903] [bi3d_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name=“/left/camera_info_rect”, data_format=“nitros_camera_info”
[component_container_mt-1] [INFO] [1736281295.526662098] [bi3d_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1736281295.526665719] [bi3d_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name=“/right/camera_info_rect”, data_format=“nitros_camera_info”
[component_container_mt-1] [INFO] [1736281295.526702918] [bi3d_node]: [NitrosPublisherSubscriberGroup] Adjusted the compatible format of the component “disparity_roundrobin/data_receiver” (type=“nvidia::gxf::DoubleBufferReceiver”) from “” to “nitros_bi3d_inference_param_array”
[component_container_mt-1] [INFO] [1736281295.526827389] [bi3d_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1736281295.540569527] [freespace_segmentation_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1736281295.540617860] [freespace_segmentation_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1736281295.540624986] [freespace_segmentation_node]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1736281295.540631372] [freespace_segmentation_node]: [NitrosPublisher] Use only the compatible publisher: topic_name=“/freespace_segmentation/occupancy_grid”, data_format=“nitros_occupancy_grid”
[component_container_mt-1] [INFO] [1736281295.540638711] [freespace_segmentation_node]: [NitrosSubscriber] Use the negotiated data format: “nitros_disparity_image_32FC1”
[component_container_mt-1] [INFO] [1736281295.540704043] [freespace_segmentation_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1736281295.542025874] [freespace_segmentation_node]: [NitrosNode] Wrote the final top level YAML graph to “/tmp/isaac_ros_nitros/graphs/MEOIGRXKNM/MEOIGRXKNM.yaml”
[component_container_mt-1] [INFO] [1736281295.542050405] [freespace_segmentation_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1736281295.542824602] [freespace_segmentation_node]: Waiting for tf2 transform…
[component_container_mt-1] [ERROR] [1736281295.542938563] [freespace_segmentation_node]: Could not transform base_link to carter_camera_stereo_left: “base_link” passed to lookupTransform argument target_frame does not exist.
[component_container_mt-1] [INFO] [1736281295.696746745] [bi3d_node]: [NitrosNode] Wrote the final top level YAML graph to “/tmp/isaac_ros_nitros/graphs/IHVHFLKRCX/IHVHFLKRCX.yaml”
[component_container_mt-1] [INFO] [1736281295.696814335] [bi3d_node]: In Bi3D Node preLoadGraphCallback().
[component_container_mt-1] [INFO] [1736281295.696837643] [bi3d_node]: [NitrosNode] Loading application
[component_container_mt-1] 2025-01-07 15:21:35.700 WARN external/com_nvidia_gxf/gxf/std/yaml_file_loader.cpp@1076: Using unregistered parameter ‘dev_id’ in component ‘stream’.
[component_container_mt-1] 2025-01-07 15:21:35.701 WARN external/com_nvidia_gxf/gxf/std/yaml_file_loader.cpp@1076: Using unregistered parameter ‘forward_pool’ in component ‘’.
[component_container_mt-1] 2025-01-07 15:21:35.701 WARN external/com_nvidia_gxf/gxf/std/yaml_file_loader.cpp@1076: Using unregistered parameter ‘dev_id’ in component ‘stream’.
[component_container_mt-1] 2025-01-07 15:21:35.701 WARN external/com_nvidia_gxf/gxf/std/yaml_file_loader.cpp@1076: Using unregistered parameter ‘forward_pool’ in component ‘’.
[component_container_mt-1] 2025-01-07 15:21:35.701 WARN external/com_nvidia_gxf/gxf/std/yaml_file_loader.cpp@1076: Using unregistered parameter ‘disparity_tensor_name’ in component ‘’.
[component_container_mt-1] 2025-01-07 15:21:35.701 WARN external/com_nvidia_gxf/gxf/std/yaml_file_loader.cpp@1076: Using unregistered parameter ‘disparity_values_tensor_name’ in component ‘’.
[component_container_mt-1] [INFO] [1736281295.701830789] [bi3d_node]: [Bi3DNode] Setting featnet_engine_file_path: /workspaces/isaac_ros-dev/isaac_ros_assets/models/bi3d_proximity_segmentation/featnet.plan.
[component_container_mt-1] [INFO] [1736281295.701863703] [bi3d_node]: [Bi3DNode] Setting segnet_engine_file_path: /workspaces/isaac_ros-dev/isaac_ros_assets/models/bi3d_proximity_segmentation/segnet.plan.
[component_container_mt-1] [INFO] [1736281295.701868804] [bi3d_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] 2025-01-07 15:21:35.702 WARN external/com_nvidia_gxf/gxf/std/scheduling_terms.cpp@333: ‘min_size’ parameter in MultiMessageAvailableSchedulingTerm is deprecated. Use ‘min_sum’ with SumOfAll sampling mode instead
[component_container_mt-1] [INFO] [1736281295.815961334] [bi3d_node]: [NitrosNode] Node was started
[component_container_mt-1] IRuntime::deserializeCudaEngine: Error Code 1: Internal Error (Failed due to an old deserialization call on a newer plan file. This might happen when the plan file was built from an older TensorRT version. You can usetrtexec --getPlanVersionOnlyto check the version of TensorRT that was used to create the plan file.)
[ERROR] [component_container_mt-1]: process has died [pid 1724, exit code -11, cmd ‘/opt/ros/humble/lib/rclcpp_components/component_container_mt --ros-args -r __node:=container -r __ns:=/isaac_ros_examples’].
I am running the nvidia 550.54.15 drivers.
admin@vnode008:/workspaces/isaac_ros-dev$ nvidia-smi
Tue Jan 7 15:21:57 2025
+-----------------------------------------------------------------------------------------+
| NVIDIA-SMI 550.54.15 Driver Version: 550.54.15 CUDA Version: 12.4 |
|-----------------------------------------+------------------------+----------------------+
| GPU Name Persistence-M | Bus-Id Disp.A | Volatile Uncorr. ECC |
| Fan Temp Perf Pwr:Usage/Cap | Memory-Usage | GPU-Util Compute M. |
| | | MIG M. |
|=========================================+========================+======================|
| 0 NVIDIA L40 Off | 00000000:02:03.0 Off | 0 |
| N/A 18C P8 32W / 300W | 267MiB / 46068MiB | 0% Default |
| | | N/A |
+-----------------------------------------+------------------------+----------------------+
+-----------------------------------------------------------------------------------------+
| Processes: |
| GPU GI CI PID Type Process name GPU Memory |
| ID ID Usage |
|=========================================================================================|
+-----------------------------------------------------------------------------------------+
I have the docker container up and running, the pretrained bi3d model downloaded, and the ros bi3d packages installed. This has worked before, but I’m not sure what has changed. Any help would be appreciated.