When I run ros2 launch isaac_ros_examples isaac_ros_examples.launch.py launch_fragments:=realsense_mono_rect_depth,foundationpose mesh_file_path:=${ISAAC_ROS_WS}/isaac_ros_assets/isaac_ros_foundationpose/Mac_and_cheese_0_1/Mac_and_cheese_0_1.obj score_engine_file_path:=${ISAAC_ROS_WS}/isaac_ros_assets/models/foundationpose/score_trt_engine.plan refine_engine_file_path:=${ISAAC_ROS_WS}/isaac_ros_assets/models/foundationpose/refine_trt_engine.plan rt_detr_engine_file_path:=${ISAAC_ROS_WS}/isaac_ros_assets/models/synthetica_detr/sdetr_grasp.plan in the demo isaac_ros_foundationpose with RealSense Camera. And I also run rviz2 -d $(ros2 pkg prefix isaac_ros_foundationpose --share)/rviz/foundationpose_realsense.rviz, but got the following result in the picture. There is nothing in this screen. It also showed No tf data. Actual error: Frame [camera_color_optical_frame] does not exist. I look through the original code of the directory isaac_ros_pose_estimation/isaac_ros_foundationpose/launch and find there is no isaac_ros_examples.launch.py in the directory. I think whether the script ros2 launch isaac_ros_examples isaac_ros_examples.launch.py is wrong here in RealSense Camera use. Who can give me the reason?
When I run ros2 launch isaac_ros_examples isaac_ros_examples.launch.py launch_fragments:=realsense_mono_rect_depth,foundationpose mesh_file_path:=${ISAAC_ROS_WS}/isaac_ros_assets/isaac_ros_foundationpose/Mac_and_cheese_0_1/Mac_and_cheese_0_1.obj score_engine_file_path:=${ISAAC_ROS_WS}/isaac_ros_assets/models/foundationpose/score_trt_engine.plan refine_engine_file_path:=${ISAAC_ROS_WS}/isaac_ros_assets/models/foundationpose/refine_trt_engine.plan rt_detr_engine_file_path:=${ISAAC_ROS_WS}/isaac_ros_assets/models/synthetica_detr/sdetr_grasp.plan, I got the following result.
[INFO] [launch]: All log files can be found below /home/admin/.ros/log/2026-02-05-16-53-05-360189-byd-System-Product-Name-50287
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container_mt-1]: process started with pid [50323]
[component_container_mt-1] [INFO] [1770281585.755639023] [isaac_ros_examples.container]: Load Library: /opt/ros/jazzy/lib/librealsense2_camera.so
[component_container_mt-1] [INFO] [1770281585.780874406] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<realsense2_camera::RealSenseNodeFactory>
[component_container_mt-1] [INFO] [1770281585.780909941] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<realsense2_camera::RealSenseNodeFactory>
[component_container_mt-1] [INFO] [1770281585.869542042] [camera]: RealSense ROS v4.56.4
[component_container_mt-1] [INFO] [1770281585.869562958] [camera]: Built with LibRealSense v2.56.4
[component_container_mt-1] [INFO] [1770281585.869567450] [camera]: Running with LibRealSense v2.56.4
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ā/cameraā in container ā/isaac_ros_examples/containerā
[component_container_mt-1] [INFO] [1770281585.874665602] [isaac_ros_examples.container]: Load Library: /opt/ros/jazzy/lib/libconvert_metric_node.so
[component_container_mt-1] [INFO] [1770281585.893821167] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::depth_image_proc::ConvertMetricNode
[component_container_mt-1] [INFO] [1770281585.893841662] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::depth_image_proc::ConvertMetricNode
[component_container_mt-1] 05/02 16:53:05,903 WARNING [138836084516544] (d400-factory.cpp:886) RGB extrinsic - translation is corrupted: -nan -nan -nan
[component_container_mt-1] 05/02 16:53:05,903 WARNING [138836084516544] (d400-factory.cpp:973) invalid RGB extrinsic was identified, recovery routine was invoked
[component_container_mt-1] 05/02 16:53:05,913 WARNING [138836084516544] (d400-factory.cpp:886) RGB extrinsic - translation is corrupted: -nan -nan -nan
[component_container_mt-1] 05/02 16:53:05,913 ERROR [138836084516544] (d400-factory.cpp:1006) RGB Extrinsic recovery routine failed
[component_container_mt-1] 05/02 16:53:05,913 WARNING [138836084516544] (d400-factory.cpp:886) RGB extrinsic - translation is corrupted: -nan -nan -nan
[component_container_mt-1] [INFO] [1770281585.913964035] [camera]: Device with serial number 825312071889 was found.
[component_container_mt-1]
[component_container_mt-1] [INFO] [1770281585.913981758] [camera]: Device with physical ID /sys/devices/pci0000:00/0000:00:14.0/usb2/2-8/2-8:1.0/video4linux/video0 was found.
[component_container_mt-1] [INFO] [1770281585.913984701] [camera]: Device with name Intel RealSense D435I was found.
[component_container_mt-1] [INFO] [1770281585.914090442] [camera]: Device with port number 2-8 was found.
[component_container_mt-1] [INFO] [1770281585.914093353] [camera]: Device USB type: 3.2
[component_container_mt-1] [INFO] [1770281585.914122101] [camera]: getParametersā¦
[component_container_mt-1] [INFO] [1770281585.914234711] [camera]: JSON file is not provided
[component_container_mt-1] [INFO] [1770281585.914237526] [camera]: Device Name: Intel RealSense D435I
[component_container_mt-1] [INFO] [1770281585.914239671] [camera]: Device Serial No: 825312071889
[component_container_mt-1] [INFO] [1770281585.914241877] [camera]: Device physical port: /sys/devices/pci0000:00/0000:00:14.0/usb2/2-8/2-8:1.0/video4linux/video0
[component_container_mt-1] [INFO] [1770281585.914244344] [camera]: Device FW version: 5.17.0.10
[component_container_mt-1] [INFO] [1770281585.914246289] [camera]: Device Product ID: 0x0B3A
[component_container_mt-1] [INFO] [1770281585.914248110] [camera]: Sync Mode: Off
[component_container_mt-1] [WARN] [1770281586.036257451] [camera]: re-enable the stream for the change to take effect.
[component_container_mt-1] [WARN] [1770281586.036496918] [camera]: re-enable the stream for the change to take effect.
[component_container_mt-1] [WARN] [1770281586.036677549] [camera]: re-enable the stream for the change to take effect.
[component_container_mt-1] [INFO] [1770281586.036892721] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/std/libgxf_std.so
[component_container_mt-1] [INFO] [1770281586.037567632] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/cuda/libgxf_cuda.so
[component_container_mt-1] [INFO] [1770281586.039074945] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_gxf_helpers.so
[component_container_mt-1] [WARN] [1770281586.039811876] [camera]: re-enable the stream for the change to take effect.
[component_container_mt-1] [INFO] [1770281586.040863371] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_sight.so
[component_container_mt-1] [INFO] [1770281586.042762510] [camera]: Stopping Sensor: Depth Module
[component_container_mt-1] [INFO] [1770281586.042854455] [camera]: Stopping Sensor: RGB Camera
[component_container_mt-1] [INFO] [1770281586.042862321] [camera]: Stopping Sensor: Motion Module
[component_container_mt-1] [INFO] [1770281586.042956139] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_atlas.so
[component_container_mt-1] [INFO] [1770281586.055429696] [camera]: Starting Sensor: Depth Module
[component_container_mt-1] [INFO] [1770281586.056925650] [camera]: Open profile: stream_type: Depth(0), Format: Z16, Width: 640, Height: 480, FPS: 15
[component_container_mt-1] [INFO] [1770281586.060669308] [camera]: Starting Sensor: RGB Camera
[component_container_mt-1] [INFO] [1770281586.083487894] [camera]: Open profile: stream_type: Color(0), Format: RGB8, Width: 640, Height: 480, FPS: 15
[component_container_mt-1] 05/02 16:53:06,084 WARNING [138836084516544] (ds-calib-parsers.cpp:36) IMU Calibration is not available, default intrinsic and extrinsic will be used.
[component_container_mt-1] [INFO] [1770281586.085170882] [camera]: Starting Sensor: Motion Module
[component_container_mt-1] [INFO] [1770281586.086002239] [camera]: Open profile: stream_type: Accel(0)Format: MOTION_XYZ32F, FPS: 100
[component_container_mt-1] [INFO] [1770281586.086012096] [camera]: Open profile: stream_type: Gyro(0)Format: MOTION_XYZ32F, FPS: 200
[component_container_mt-1] 05/02 16:53:06,086 ERROR [138836084516544] (librealsense-exception.h:52) iio hid device is busy or not found! Last Error: No such file or directory
[component_container_mt-1] 05/02 16:53:06,086 ERROR [138836084516544] (rs.cpp:256) [rs2_start_cpp( sensor:0x7e4578201880, callback:0x7e453435e5d0 ) Backend] iio hid device is busy or not found! Last Error: No such file or directory
[component_container_mt-1] [ERROR] [1770281586.086093624] [camera]: ./src/rs_node_setup.cpp:511:An exception has been thrown: iio hid device is busy or not found! Last Error: No such file or directory
[component_container_mt-1] [ERROR] [1770281586.086121916] [camera]: ./src/rs_node_setup.cpp:393:An exception has been thrown: iio hid device is busy or not found! Last Error: No such file or directory
[component_container_mt-1] Failed to start device: iio hid device is busy or not found! Last Error: No such file or directory
[component_container_mt-1] 05/02 16:53:06,120 WARNING [138836084516544] (d400-factory.cpp:886) RGB extrinsic - translation is corrupted: -nan -nan -nan
[component_container_mt-1] 05/02 16:53:06,120 WARNING [138836084516544] (d400-factory.cpp:973) invalid RGB extrinsic was identified, recovery routine was invoked
[component_container_mt-1] 05/02 16:53:06,131 WARNING [138836084516544] (d400-factory.cpp:886) RGB extrinsic - translation is corrupted: -nan -nan -nan
[component_container_mt-1] 05/02 16:53:06,131 ERROR [138836084516544] (d400-factory.cpp:1006) RGB Extrinsic recovery routine failed
[component_container_mt-1] 05/02 16:53:06,131 WARNING [138836084516544] (d400-factory.cpp:886) RGB extrinsic - translation is corrupted: -nan -nan -nan
[component_container_mt-1] [INFO] [1770281586.131287350] [camera]: Device with serial number 825312071889 was found.
[component_container_mt-1]
[component_container_mt-1] [INFO] [1770281586.131316707] [camera]: Device with physical ID /sys/devices/pci0000:00/0000:00:14.0/usb2/2-8/2-8:1.0/video4linux/video0 was found.
[component_container_mt-1] [INFO] [1770281586.131319563] [camera]: Device with name Intel RealSense D435I was found.
[component_container_mt-1] [INFO] [1770281586.131406604] [camera]: Device with port number 2-8 was found.
[component_container_mt-1] [INFO] [1770281586.131409892] [camera]: Device USB type: 3.2
[component_container_mt-1] [INFO] [1770281586.131466949] [camera]: Stop Sensor: Depth Module
[component_container_mt-1] [INFO] [1770281586.131472295] [camera]: Close Sensor.
[component_container_mt-1] [INFO] [1770281586.132479541] [camera]: Close Sensor - Done.
[component_container_mt-1] [INFO] [1770281586.132487345] [camera]: Stop Sensor: RGB Camera
[component_container_mt-1] [INFO] [1770281586.132489989] [camera]: Close Sensor.
[component_container_mt-1] [INFO] [1770281586.133260102] [camera]: Close Sensor - Done.
[component_container_mt-1] [INFO] [1770281586.133292696] [camera]: Stop Sensor: Motion Module
[component_container_mt-1] 05/02 16:53:06,133 ERROR [138836084516544] (rs.cpp:256) [rs2_stop( sensor:0x7e4578201880 ) Wrong Api Call Sequence] stop_streaming() failed. Hid device is not streaming!
[component_container_mt-1] [ERROR] [1770281586.133334749] [camera]: Exception: ./src/ros_sensor.cpp:271:stop_streaming() failed. Hid device is not streaming!
[component_container_mt-1] [INFO] [1770281586.133350969] [camera]: Close Sensor.
[component_container_mt-1] 2026-02-05 16:53:06.145 WARN external/com_nvidia_gxf/gxf/std/program.cpp@538: No GXF scheduler specified.
[component_container_mt-1] [INFO] [1770281586.145829822] [NitrosContext]: [NitrosContext] Successfully allocated 3 CUDA streams
[component_container_mt-1] [INFO] [1770281586.145860584] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/multimedia/libgxf_multimedia.so
[component_container_mt-1] [INFO] [1770281586.148326240] [convert_metric.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1770281586.148816618] [convert_metric.ManagedNitrosPublisher]: Starting Managed Nitros Publisher
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ā/convert_metricā in container ā/isaac_ros_examples/containerā
[component_container_mt-1] [INFO] [1770281586.149665953] [isaac_ros_examples.container]: Load Library: /opt/ros/jazzy/lib/libisaac_ros_nitros_camera_drop_node.so
[component_container_mt-1] [INFO] [1770281586.152907029] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::nitros::NitrosCameraDropNode
[component_container_mt-1] [INFO] [1770281586.152917608] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::nitros::NitrosCameraDropNode
[component_container_mt-1] [INFO] [1770281586.155850542] [drop_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1770281586.156454538] [drop_node.ManagedNitrosPublisher]: Starting Managed Nitros Publisher
[component_container_mt-1] [INFO] [1770281586.157056954] [drop_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1770281586.157168783] [convert_metric]: Negotiating
[component_container_mt-1] [INFO] [1770281586.157184061] [convert_metric]: Could not negotiate
[component_container_mt-1] [INFO] [1770281586.157450840] [drop_node.ManagedNitrosPublisher]: Starting Managed Nitros Publisher
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ā/drop_nodeā in container ā/isaac_ros_examples/containerā
[component_container_mt-1] [INFO] [1770281586.158201160] [isaac_ros_examples.container]: Load Library: /opt/ros/jazzy/lib/libresize_node.so
[component_container_mt-1] [INFO] [1770281586.159317662] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::image_proc::ResizeNode
[component_container_mt-1] [INFO] [1770281586.159327906] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::image_proc::ResizeNode
[component_container_mt-1] [INFO] [1770281586.161716221] [resize_left_rt_detr_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1770281586.162096342] [resize_left_rt_detr_node]: [ResizeNode] Set output data format to: ānitros_image_rgb8ā
[component_container_mt-1] [INFO] [1770281586.162132759] [resize_left_rt_detr_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1770281586.172213739] [resize_left_rt_detr_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1770281586.172239415] [resize_left_rt_detr_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_message_compositor.so
[component_container_mt-1] [INFO] [1770281586.172430606] [resize_left_rt_detr_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_tensorops.so
[component_container_mt-1] [INFO] [1770281586.175349031] [resize_left_rt_detr_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_camera_utils.so
[component_container_mt-1] [INFO] [1770281586.175627954] [resize_left_rt_detr_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1770281586.177771841] [resize_left_rt_detr_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1770281586.268199768] [resize_left_rt_detr_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1770281586.270002567] [resize_left_rt_detr_node]: [NitrosPublisherSubscriberGroup] Pinning the component āimage_sink/sinkā (type=ānvidia::isaac_ros::MessageRelayā) to use its compatible format only: ānitros_image_rgb8ā
[component_container_mt-1] [INFO] [1770281586.271760019] [resize_left_rt_detr_node]: [NitrosNode] Starting negotiationā¦
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ā/resize_left_rt_detr_nodeā in container ā/isaac_ros_examples/containerā
[component_container_mt-1] [INFO] [1770281586.272051546] [drop_node]: Negotiating
[component_container_mt-1] [INFO] [1770281586.272876513] [isaac_ros_examples.container]: Load Library: /opt/ros/jazzy/lib/libpad_node.so
[component_container_mt-1] [INFO] [1770281586.273992233] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::image_proc::PadNode
[component_container_mt-1] [INFO] [1770281586.274007560] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::image_proc::PadNode
[component_container_mt-1] [INFO] [1770281586.277281950] [pad_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1770281586.277437301] [resize_left_rt_detr_node]: Negotiating
[component_container_mt-1] [INFO] [1770281586.277457018] [resize_left_rt_detr_node]: Could not negotiate
[component_container_mt-1] [INFO] [1770281586.277565674] [drop_node]: Negotiating
[component_container_mt-1] [INFO] [1770281586.277953427] [pad_node.ManagedNitrosPublisher]: Starting Managed Nitros Publisher
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ā/pad_nodeā in container ā/isaac_ros_examples/containerā
[component_container_mt-1] [INFO] [1770281586.278761326] [isaac_ros_examples.container]: Load Library: /opt/ros/jazzy/lib/libimage_to_tensor_node.so
[component_container_mt-1] [INFO] [1770281586.283771736] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::dnn_inference::ImageToTensorNode
[component_container_mt-1] [INFO] [1770281586.283786980] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::dnn_inference::ImageToTensorNode
[component_container_mt-1] [INFO] [1770281586.286994843] [image_to_tensor_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1770281586.287168277] [pad_node]: Negotiating
[component_container_mt-1] [INFO] [1770281586.287880737] [image_to_tensor_node.ManagedNitrosPublisher]: Starting Managed Nitros Publisher
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ā/image_to_tensor_nodeā in container ā/isaac_ros_examples/containerā
[component_container_mt-1] [INFO] [1770281586.289260998] [isaac_ros_examples.container]: Load Library: /opt/ros/jazzy/lib/libinterleaved_to_planar_node.so
[component_container_mt-1] [INFO] [1770281586.290000973] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::dnn_inference::InterleavedToPlanarNode
[component_container_mt-1] [INFO] [1770281586.290015100] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::dnn_inference::InterleavedToPlanarNode
[component_container_mt-1] [INFO] [1770281586.292858441] [interleaved_to_planar_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1770281586.293272040] [interleaved_to_planar_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1770281586.297025177] [interleaved_to_planar_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1770281586.297097770] [interleaved_to_planar_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1770281586.298332090] [interleaved_to_planar_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1770281586.303055470] [interleaved_to_planar_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1770281586.304703540] [interleaved_to_planar_node]: [NitrosNode] Starting negotiationā¦
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ā/interleaved_to_planar_nodeā in container ā/isaac_ros_examples/containerā
[component_container_mt-1] [INFO] [1770281586.304950603] [image_to_tensor_node]: Negotiating
[component_container_mt-1] [INFO] [1770281586.304967765] [image_to_tensor_node]: Could not negotiate
[component_container_mt-1] [INFO] [1770281586.305803571] [isaac_ros_examples.container]: Load Library: /opt/ros/jazzy/lib/libreshape_node.so
[component_container_mt-1] [INFO] [1770281586.307052956] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::dnn_inference::ReshapeNode
[component_container_mt-1] [INFO] [1770281586.307072910] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::dnn_inference::ReshapeNode
[component_container_mt-1] [INFO] [1770281586.312977440] [reshape_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1770281586.313761752] [reshape_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1770281586.317412919] [reshape_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1770281586.317472897] [reshape_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1770281586.318877973] [reshape_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1770281586.324855861] [reshape_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1770281586.326478321] [reshape_node]: [NitrosNode] Starting negotiationā¦
[component_container_mt-1] [INFO] [1770281586.326677089] [interleaved_to_planar_node]: Negotiating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ā/reshape_nodeā in container ā/isaac_ros_examples/containerā
[component_container_mt-1] [INFO] [1770281586.326953903] [image_to_tensor_node]: Negotiating
[component_container_mt-1] [INFO] [1770281586.326980964] [image_to_tensor_node]: Could not negotiate
[component_container_mt-1] [INFO] [1770281586.328026682] [isaac_ros_examples.container]: Load Library: /opt/ros/jazzy/lib/librtdetr_preprocessor_node.so
[component_container_mt-1] [INFO] [1770281586.329291301] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::rtdetr::RtDetrPreprocessorNode
[component_container_mt-1] [INFO] [1770281586.329310836] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::rtdetr::RtDetrPreprocessorNode
[component_container_mt-1] [INFO] [1770281586.333333737] [rtdetr_preprocessor.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1770281586.333408496] [reshape_node]: Negotiating
[component_container_mt-1] [INFO] [1770281586.333529941] [interleaved_to_planar_node]: Negotiating
[component_container_mt-1] [INFO] [1770281586.333648179] [image_to_tensor_node]: Negotiating
[component_container_mt-1] [INFO] [1770281586.333667665] [image_to_tensor_node]: Could not negotiate
[component_container_mt-1] [INFO] [1770281586.333967893] [rtdetr_preprocessor.ManagedNitrosPublisher]: Starting Managed Nitros Publisher
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ā/rtdetr_preprocessorā in container ā/isaac_ros_examples/containerā
[component_container_mt-1] [INFO] [1770281586.336083446] [isaac_ros_examples.container]: Load Library: /opt/ros/jazzy/lib/libtensor_rt_node.so
[component_container_mt-1] [INFO] [1770281586.365454875] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::dnn_inference::TensorRTNode
[component_container_mt-1] [INFO] [1770281586.365491123] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::dnn_inference::TensorRTNode
[component_container_mt-1] [INFO] [1770281586.368944601] [tensor_rt]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1770281586.369642414] [tensor_rt]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1770281586.372060712] [tensor_rt]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1770281586.372100227] [tensor_rt]: [NitrosContext] Loading extension: gxf/lib/serialization/libgxf_serialization.so
[component_container_mt-1] [INFO] [1770281586.372472495] [tensor_rt]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_tensor_rt.so
[component_container_mt-1] [INFO] [1770281586.372835289] [tensor_rt]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1770281586.373725542] [tensor_rt]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1770281586.381741523] [tensor_rt]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1770281586.382374696] [tensor_rt]: [NitrosPublisherSubscriberGroup] Pinning the component āinference/rxā (type=ānvidia::gxf::DoubleBufferReceiverā) to use its compatible format only: ānitros_tensor_list_nchw_rgb_f32ā
[component_container_mt-1] [INFO] [1770281586.382383683] [tensor_rt]: [NitrosPublisherSubscriberGroup] Pinning the component āsink/sinkā (type=ānvidia::isaac_ros::MessageRelayā) to use its compatible format only: ānitros_tensor_list_nhwc_rgb_f32ā
[component_container_mt-1] [INFO] [1770281586.383678372] [tensor_rt]: [NitrosNode] Starting negotiationā¦
[component_container_mt-1] [INFO] [1770281586.383934946] [rtdetr_preprocessor]: Negotiating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ā/tensor_rtā in container ā/isaac_ros_examples/containerā
[component_container_mt-1] [INFO] [1770281586.385579646] [isaac_ros_examples.container]: Load Library: /opt/ros/jazzy/lib/librtdetr_decoder_node.so
[component_container_mt-1] [INFO] [1770281586.386500298] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::rtdetr::RtDetrDecoderNode
[component_container_mt-1] [INFO] [1770281586.386510561] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::rtdetr::RtDetrDecoderNode
[component_container_mt-1] [INFO] [1770281586.390344662] [rtdetr_decoder.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1770281586.391009035] [tensor_rt]: Negotiating
[component_container_mt-1] [INFO] [1770281586.391029118] [tensor_rt]: Could not negotiate
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ā/rtdetr_decoderā in container ā/isaac_ros_examples/containerā
[component_container_mt-1] [INFO] [1770281586.392395890] [isaac_ros_examples.container]: Load Library: /opt/ros/jazzy/lib/libdetection2_d_array_filter.so
[component_container_mt-1] [INFO] [1770281586.393072368] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::foundationpose::Detection2DArrayFilter
[component_container_mt-1] [INFO] [1770281586.393091467] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::foundationpose::Detection2DArrayFilter
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ā/detection2_d_array_filterā in container ā/isaac_ros_examples/containerā
[component_container_mt-1] [INFO] [1770281586.399605751] [isaac_ros_examples.container]: Load Library: /opt/ros/jazzy/lib/libdetection2_d_to_mask.so
[component_container_mt-1] [INFO] [1770281586.400495156] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::foundationpose::Detection2DToMask
[component_container_mt-1] [INFO] [1770281586.400515694] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::foundationpose::Detection2DToMask
[component_container_mt-1] [INFO] [1770281586.407189128] [detection2_d_to_mask]: Mask Height: 480, Mask Width: 640
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ā/detection2_d_to_maskā in container ā/isaac_ros_examples/containerā
[component_container_mt-1] [INFO] [1770281586.408560982] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::image_proc::ResizeNode
[component_container_mt-1] [INFO] [1770281586.408578895] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::image_proc::ResizeNode
[component_container_mt-1] [INFO] [1770281586.414308925] [resize_mask_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1770281586.415364487] [resize_mask_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1770281586.426636303] [resize_mask_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1770281586.426705620] [resize_mask_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1770281586.428628718] [resize_mask_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1770281586.521136827] [resize_mask_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1770281586.525034529] [resize_mask_node]: [NitrosNode] Starting negotiationā¦
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ā/resize_mask_nodeā in container ā/isaac_ros_examples/containerā
[component_container_mt-1] [INFO] [1770281586.525450435] [resize_left_rt_detr_node]: Negotiating
[component_container_mt-1] [INFO] [1770281586.525476440] [resize_left_rt_detr_node]: Could not negotiate
[component_container_mt-1] [INFO] [1770281586.526388505] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::image_proc::ResizeNode
[component_container_mt-1] [INFO] [1770281586.526411823] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::image_proc::ResizeNode
[component_container_mt-1] [INFO] [1770281586.530129038] [resize_left_viz]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1770281586.530803880] [resize_left_viz]: [ResizeNode] Set output data format to: ānitros_image_rgb8ā
[component_container_mt-1] [INFO] [1770281586.530832679] [resize_left_viz]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1770281586.541352875] [resize_left_viz]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1770281586.541411569] [resize_left_viz]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1770281586.543346572] [resize_left_viz]: [NitrosNode] Running optimization
[component_container_mt-1] 05/02 16:53:06,621 ERROR [138836076123840] (librealsense-exception.h:52) map_device_descriptor Cannot open '/dev/video0 Last Error: No such device or address
[component_container_mt-1] 05/02 16:53:06,621 ERROR [138836076123840] (uvc-sensor.cpp:428) acquire_power failed: map_device_descriptor Cannot open '/dev/video0 Last Error: No such device or address
[component_container_mt-1] 05/02 16:53:06,621 ERROR [138836076123840] (global_timestamp_reader.cpp:253) Error during time_diff_keeper polling: map_device_descriptor Cannot open '/dev/video0 Last Error: No such device or address
[component_container_mt-1] [INFO] [1770281586.637514156] [resize_left_viz]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1770281586.639078746] [resize_left_viz]: [NitrosPublisherSubscriberGroup] Pinning the component āimage_sink/sinkā (type=ānvidia::isaac_ros::MessageRelayā) to use its compatible format only: ānitros_image_rgb8ā
[component_container_mt-1] [INFO] [1770281586.643093860] [resize_left_viz]: [NitrosNode] Starting negotiationā¦
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ā/resize_left_vizā in container ā/isaac_ros_examples/containerā
[component_container_mt-1] [INFO] [1770281586.643699166] [drop_node]: Negotiating
[component_container_mt-1] [INFO] [1770281586.644634182] [isaac_ros_examples.container]: Load Library: /opt/ros/jazzy/lib/libfoundationpose_node.so
[component_container_mt-1] [INFO] [1770281586.647677820] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::foundationpose::FoundationPoseNode
[component_container_mt-1] [INFO] [1770281586.647694611] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::foundationpose::FoundationPoseNode
[component_container_mt-1] [INFO] [1770281586.652083284] [foundationpose_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1770281586.654306732] [foundationpose_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1770281586.657595274] [foundationpose_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1770281586.657643770] [foundationpose_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_depth_image_proc.so
[component_container_mt-1] [INFO] [1770281586.662160270] [foundationpose_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_sgm.so
[component_container_mt-1] [INFO] [1770281586.662491704] [foundationpose_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_messages.so
[component_container_mt-1] [INFO] [1770281586.662827939] [foundationpose_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_ros_messages.so
[component_container_mt-1] [INFO] [1770281586.662958655] [foundationpose_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_foundationpose.so
[component_container_mt-1] [INFO] [1770281586.665607235] [foundationpose_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1770281586.674584459] [foundationpose_node]: [NitrosNode] Running optimization
[component_container_mt-1] 05/02 16:53:06,723 ERROR [138836076123840] (librealsense-exception.h:52) map_device_descriptor Cannot open '/dev/video0 Last Error: No such device or address
[component_container_mt-1] 05/02 16:53:06,723 ERROR [138836076123840] (uvc-sensor.cpp:428) acquire_power failed: map_device_descriptor Cannot open '/dev/video0 Last Error: No such device or address
[component_container_mt-1] 05/02 16:53:06,723 ERROR [138836076123840] (global_timestamp_reader.cpp:253) Error during time_diff_keeper polling: map_device_descriptor Cannot open '/dev/video0 Last Error: No such device or address
[component_container_mt-1] 05/02 16:53:06,824 ERROR [138836076123840] (librealsense-exception.h:52) map_device_descriptor Cannot open '/dev/video0 Last Error: No such device or address
[component_container_mt-1] 05/02 16:53:06,824 ERROR [138836076123840] (uvc-sensor.cpp:428) acquire_power failed: map_device_descriptor Cannot open '/dev/video0 Last Error: No such device or address
[component_container_mt-1] 05/02 16:53:06,824 ERROR [138836076123840] (global_timestamp_reader.cpp:253) Error during time_diff_keeper polling: map_device_descriptor Cannot open '/dev/video0 Last Error: No such device or address
[component_container_mt-1] 05/02 16:53:06,926 ERROR [138836076123840] (librealsense-exception.h:52) map_device_descriptor Cannot open '/dev/video0 Last Error: No such device or address
[component_container_mt-1] 05/02 16:53:06,926 ERROR [138836076123840] (uvc-sensor.cpp:428) acquire_power failed: map_device_descriptor Cannot open '/dev/video0 Last Error: No such device or address
[component_container_mt-1] 05/02 16:53:06,926 ERROR [138836076123840] (global_timestamp_reader.cpp:253) Error during time_diff_keeper polling: map_device_descriptor Cannot open '/dev/video0 Last Error: No such device or address
[component_container_mt-1] [INFO] [1770281587.005281427] [foundationpose_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1770281587.013663420] [foundationpose_node]: [NitrosNode] Starting negotiationā¦
[component_container_mt-1] [INFO] [1770281587.014097780] [drop_node]: Negotiating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ā/foundationpose_nodeā in container ā/isaac_ros_examples/containerā
[component_container_mt-1] [INFO] [1770281587.014114265] [drop_node]: Could not negotiate
[component_container_mt-1] [INFO] [1770281587.014162267] [resize_mask_node]: Negotiating
[component_container_mt-1] [INFO] [1770281587.014645226] [drop_node]: Negotiating
[component_container_mt-1] [INFO] [1770281587.014675324] [foundationpose_node]: Negotiating
[component_container_mt-1] [INFO] [1770281587.014728212] [foundationpose_node]: Could not negotiate
[component_container_mt-1] [INFO] [1770281587.014676693] [resize_left_rt_detr_node]: Negotiating
[component_container_mt-1] [INFO] [1770281587.014742328] [foundationpose_node]: Negotiating
[component_container_mt-1] [INFO] [1770281587.014768452] [foundationpose_node]: Could not negotiate
[component_container_mt-1] [INFO] [1770281587.014762326] [resize_left_rt_detr_node]: Could not negotiate
[component_container_mt-1] 05/02 16:53:07,028 ERROR [138836076123840] (librealsense-exception.h:52) map_device_descriptor Cannot open '/dev/video0 Last Error: No such device or address
[component_container_mt-1] 05/02 16:53:07,028 ERROR [138836076123840] (uvc-sensor.cpp:428) acquire_power failed: map_device_descriptor Cannot open '/dev/video0 Last Error: No such device or address
[component_container_mt-1] 05/02 16:53:07,028 ERROR [138836076123840] (global_timestamp_reader.cpp:253) Error during time_diff_keeper polling: map_device_descriptor Cannot open '/dev/video0 Last Error: No such device or address
[component_container_mt-1] 05/02 16:53:07,058 ERROR [138836050945728] (librealsense-exception.h:52) map_device_descriptor Cannot open '/dev/video0 Last Error: No such device or address
[component_container_mt-1] 05/02 16:53:07,058 ERROR [138836050945728] (uvc-sensor.cpp:428) acquire_power failed: map_device_descriptor Cannot open '/dev/video0 Last Error: No such device or address
[component_container_mt-1] 05/02 16:53:07,058 ERROR [138836050945728] (error-handling.cpp:99) Error during polling error handler: map_device_descriptor Cannot open '/dev/video0 Last Error: No such device or address
[component_container_mt-1] 05/02 16:53:07,133 ERROR [138836076123840] (librealsense-exception.h:52) map_device_descriptor Cannot open '/dev/video0 Last Error: No such device or address
[component_container_mt-1] 05/02 16:53:07,133 ERROR [138836076123840] (uvc-sensor.cpp:428) acquire_power failed: map_device_descriptor Cannot open '/dev/video0 Last Error: No such device or address
[component_container_mt-1] 05/02 16:53:07,133 ERROR [138836076123840] (global_timestamp_reader.cpp:253) Error during time_diff_keeper polling: map_device_descriptor Cannot open '/dev/video0 Last Error: No such device or address
[component_container_mt-1] 05/02 16:53:07,198 ERROR [138836084516544] (librealsense-exception.h:52) open() failed with all retries! Last Error: No such file or directory
[component_container_mt-1] 05/02 16:53:07,198 ERROR [138836084516544] (librealsense-exception.h:52) Failed to open scan_element /sys/devices/pci0000:00/0000:00:14.0/usb2/2-8/2-8:1.5/0003:8086:0B3A.0015/HID-SENSOR-200076.3.auto/iio:device1/scan_elements/in_anglvel_x_en Last Error: No such file or directory
[component_container_mt-1] 05/02 16:53:07,198 ERROR [138836084516544] (librealsense-exception.h:52) Failed to open scan_element /sys/devices/pci0000:00/0000:00:14.0/usb2/2-8/2-8:1.5/0003:8086:0B3A.0015/HID-SENSOR-200076.3.auto/iio:device1/scan_elements/in_anglvel_y_en Last Error: No such file or directory
[component_container_mt-1] 05/02 16:53:07,198 ERROR [138836084516544] (librealsense-exception.h:52) Failed to open scan_element /sys/devices/pci0000:00/0000:00:14.0/usb2/2-8/2-8:1.5/0003:8086:0B3A.0015/HID-SENSOR-200076.3.auto/iio:device1/scan_elements/in_timestamp_en Last Error: No such file or directory
[component_container_mt-1] 05/02 16:53:07,198 ERROR [138836084516544] (librealsense-exception.h:52) Failed to open scan_element /sys/devices/pci0000:00/0000:00:14.0/usb2/2-8/2-8:1.5/0003:8086:0B3A.0015/HID-SENSOR-200076.3.auto/iio:device1/scan_elements/in_anglvel_z_en Last Error: No such file or directory
[component_container_mt-1] 05/02 16:53:07,199 ERROR [138836084516544] (librealsense-exception.h:52) open() failed with all retries! Last Error: No such file or directory
[component_container_mt-1] [INFO] [1770281587.233698525] [camera]: Close Sensor - Done.
[component_container_mt-1] [INFO] [1770281587.273264049] [resize_left_rt_detr_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1770281587.273288407] [resize_left_rt_detr_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1770281587.273296817] [resize_left_rt_detr_node]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1770281587.273300554] [resize_left_rt_detr_node]: [NitrosPublisher] Use only the compatible publisher: topic_name=ā/color_image_resizedā, data_format=ānitros_image_rgb8ā
[component_container_mt-1] [INFO] [1770281587.273304403] [resize_left_rt_detr_node]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1770281587.273306955] [resize_left_rt_detr_node]: [NitrosPublisher] Use only the compatible publisher: topic_name=ā/camera_info_resizedā, data_format=ānitros_camera_infoā
[component_container_mt-1] [INFO] [1770281587.273311437] [resize_left_rt_detr_node]: [NitrosSubscriber] Use the negotiated data format: ānitros_image_rgb8ā
[component_container_mt-1] [INFO] [1770281587.273314963] [resize_left_rt_detr_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1770281587.273317626] [resize_left_rt_detr_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name=ā/rgb/camera_infoā, data_format=ānitros_camera_infoā
[component_container_mt-1] [INFO] [1770281587.273439205] [resize_left_rt_detr_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1770281587.282208354] [resize_left_rt_detr_node]: [NitrosNode] Wrote the final top level YAML graph to ā/tmp/isaac_ros_nitros/graphs/KKPHNYLYIF/KKPHNYLYIF.yamlā
[component_container_mt-1] [INFO] [1770281587.282241015] [resize_left_rt_detr_node]: [NitrosNode] Loading application
[component_container_mt-1] 2026-02-05 16:53:07.285 WARN external/com_nvidia_gxf/gxf/std/yaml_file_loader.cpp@1076: Using unregistered parameter āmin_sumā in component āā.
[component_container_mt-1] 2026-02-05 16:53:07.285 WARN external/com_nvidia_gxf/gxf/std/yaml_file_loader.cpp@1076: Using unregistered parameter āmin_sumā in component āā.
[component_container_mt-1] [INFO] [1770281587.286117017] [resize_left_rt_detr_node]: [ResizeNode] postLoadGraphCallback().
[component_container_mt-1] [INFO] [1770281587.286185326] [resize_left_rt_detr_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1770281587.305471030] [interleaved_to_planar_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1770281587.305551169] [interleaved_to_planar_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1770281587.305566214] [interleaved_to_planar_node]: [NitrosPublisher] Use the negotiated data format: ānitros_tensor_list_nchw_rgb_f32ā
[component_container_mt-1] [INFO] [1770281587.305583102] [interleaved_to_planar_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1770281587.305593325] [interleaved_to_planar_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name=ā/normalized_tensorā, data_format=ānitros_tensor_list_nhwc_rgb_f32ā
[component_container_mt-1] [INFO] [1770281587.305871426] [interleaved_to_planar_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1770281587.309904403] [interleaved_to_planar_node]: [NitrosNode] Wrote the final top level YAML graph to ā/tmp/isaac_ros_nitros/graphs/SUOYOFSGLX/SUOYOFSGLX.yamlā
[component_container_mt-1] [INFO] [1770281587.309916037] [interleaved_to_planar_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1770281587.326995393] [reshape_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1770281587.327040818] [reshape_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1770281587.327052596] [reshape_node]: [NitrosPublisher] Use the negotiated data format: ānitros_tensor_list_nchw_rgb_f32ā
[component_container_mt-1] [INFO] [1770281587.327063305] [reshape_node]: [NitrosSubscriber] Use the negotiated data format: ānitros_tensor_list_nchw_rgb_f32ā
[component_container_mt-1] [INFO] [1770281587.327206088] [reshape_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1770281587.332083606] [reshape_node]: [NitrosNode] Wrote the final top level YAML graph to ā/tmp/isaac_ros_nitros/graphs/ZXAYSSTYLO/ZXAYSSTYLO.yamlā
[component_container_mt-1] [INFO] [1770281587.332110132] [reshape_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1770281587.384261626] [tensor_rt]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1770281587.384309921] [tensor_rt]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1770281587.384316992] [tensor_rt]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1770281587.384321751] [tensor_rt]: [NitrosPublisher] Use only the compatible publisher: topic_name=ā/tensor_subā, data_format=ānitros_tensor_list_nhwc_rgb_f32ā
[component_container_mt-1] [INFO] [1770281587.384328936] [tensor_rt]: [NitrosSubscriber] Use the negotiated data format: ānitros_tensor_list_nchw_rgb_f32ā
[component_container_mt-1] [INFO] [1770281587.384449272] [tensor_rt]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1770281587.389334292] [tensor_rt]: [NitrosNode] Wrote the final top level YAML graph to ā/tmp/isaac_ros_nitros/graphs/ANFCNDQYOS/ANFCNDQYOS.yamlā
[component_container_mt-1] [INFO] [1770281587.389361225] [tensor_rt]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1770281587.407431034] [resize_left_rt_detr_node]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1770281587.415568656] [reshape_node]: In ReshapeNode postLoadGraphCallback().
[component_container_mt-1] 2026-02-05 16:53:07.417 WARN external/com_nvidia_gxf/gxf/std/yaml_file_loader.cpp@1076: Using unregistered parameter ādev_idā in component āstreamā.
[component_container_mt-1] [INFO] [1770281587.418016954] [interleaved_to_planar_node]: In InterleavedToPlanarNode postLoadGraphCallback().
[component_container_mt-1] [INFO] [1770281587.418042644] [tensor_rt]: In TensorRTNode postLoadGraphCallback().
[component_container_mt-1] [INFO] [1770281587.418086760] [reshape_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1770281587.418127164] [interleaved_to_planar_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1770281587.420225335] [reshape_node]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1770281587.422034164] [interleaved_to_planar_node]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1770281587.525655023] [resize_mask_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1770281587.525710114] [resize_mask_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1770281587.525714564] [resize_mask_node]: [NitrosPublisher] Use the negotiated data format: ānitros_image_mono8ā
[component_container_mt-1] [INFO] [1770281587.525718670] [resize_mask_node]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1770281587.525721937] [resize_mask_node]: [NitrosPublisher] Use only the compatible publisher: topic_name=ā/camera_info_segmentationā, data_format=ānitros_camera_infoā
[component_container_mt-1] [INFO] [1770281587.525725988] [resize_mask_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1770281587.525728551] [resize_mask_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name=ā/rt_detr_segmentationā, data_format=ānitros_image_bgr8ā
[component_container_mt-1] [INFO] [1770281587.525731801] [resize_mask_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1770281587.525733514] [resize_mask_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name=ā/camera_info_resizedā, data_format=ānitros_camera_infoā
[component_container_mt-1] [INFO] [1770281587.525750585] [resize_mask_node]: [NitrosPublisherSubscriberGroup] Adjusted the compatible format of the component āsync/camera_message_rxā (type=ānvidia::gxf::DoubleBufferReceiverā) from ānitros_image_bgr8ā to ānitros_image_mono8ā
[component_container_mt-1] [INFO] [1770281587.525913102] [resize_mask_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1770281587.532062006] [resize_mask_node]: [NitrosNode] Wrote the final top level YAML graph to ā/tmp/isaac_ros_nitros/graphs/WKEBVNDIWQ/WKEBVNDIWQ.yamlā
[component_container_mt-1] [INFO] [1770281587.532096933] [resize_mask_node]: [NitrosNode] Loading application
[component_container_mt-1] 2026-02-05 16:53:07.533 WARN external/com_nvidia_gxf/gxf/std/yaml_file_loader.cpp@1076: Using unregistered parameter āmin_sumā in component āā.
[component_container_mt-1] 2026-02-05 16:53:07.533 WARN external/com_nvidia_gxf/gxf/std/yaml_file_loader.cpp@1076: Using unregistered parameter āmin_sumā in component āā.
[component_container_mt-1] [INFO] [1770281587.533922750] [resize_mask_node]: [ResizeNode] postLoadGraphCallback().
[component_container_mt-1] [INFO] [1770281587.533961365] [resize_mask_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1770281587.542891750] [resize_mask_node]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1770281587.557282612] [tensor_rt]: Read tensor shape information from TRT Model Engine: /workspaces/isaac_ros-dev/isaac_ros_assets/models/synthetica_detr/sdetr_grasp.plan
[component_container_mt-1] [INFO] [1770281587.557336706] [tensor_rt]: Tensors 4800 bytes, num outputs 40 x tensors per output 3 = 120 blocks
[component_container_mt-1] [INFO] [1770281587.557385553] [tensor_rt]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1770281587.557859009] [tensor_rt]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1770281587.643790752] [resize_left_viz]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1770281587.643891324] [resize_left_viz]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1770281587.643899308] [resize_left_viz]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1770281587.643904914] [resize_left_viz]: [NitrosPublisher] Use only the compatible publisher: topic_name=ā/rgb/image_rect_color_vizā, data_format=ānitros_image_rgb8ā
[component_container_mt-1] [INFO] [1770281587.643909232] [resize_left_viz]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1770281587.643912068] [resize_left_viz]: [NitrosPublisher] Use only the compatible publisher: topic_name=ā/rgb/camera_info_vizā, data_format=ānitros_camera_infoā
[component_container_mt-1] [INFO] [1770281587.643917213] [resize_left_viz]: [NitrosSubscriber] Use the negotiated data format: ānitros_image_rgb8ā
[component_container_mt-1] [INFO] [1770281587.643920782] [resize_left_viz]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1770281587.643923232] [resize_left_viz]: [NitrosSubscriber] Use the compatible subscriber: topic_name=ā/rgb/camera_infoā, data_format=ānitros_camera_infoā
[component_container_mt-1] [INFO] [1770281587.644081143] [resize_left_viz]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1770281587.650309529] [resize_left_viz]: [NitrosNode] Wrote the final top level YAML graph to ā/tmp/isaac_ros_nitros/graphs/MWLLJVPHLC/MWLLJVPHLC.yamlā
[component_container_mt-1] [INFO] [1770281587.650354013] [resize_left_viz]: [NitrosNode] Loading application
[component_container_mt-1] 2026-02-05 16:53:07.652 WARN external/com_nvidia_gxf/gxf/std/yaml_file_loader.cpp@1076: Using unregistered parameter āmin_sumā in component āā.
[component_container_mt-1] 2026-02-05 16:53:07.652 WARN external/com_nvidia_gxf/gxf/std/yaml_file_loader.cpp@1076: Using unregistered parameter āmin_sumā in component āā.
[component_container_mt-1] [INFO] [1770281587.652454516] [resize_left_viz]: [ResizeNode] postLoadGraphCallback().
[component_container_mt-1] [INFO] [1770281587.652494522] [resize_left_viz]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1770281587.668074556] [resize_left_viz]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1770281588.014568450] [foundationpose_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1770281588.014666777] [foundationpose_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1770281588.014685118] [foundationpose_node]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1770281588.014697795] [foundationpose_node]: [NitrosPublisher] Use only the compatible publisher: topic_name=ā/outputā, data_format=ānitros_detection3_d_arrayā
[component_container_mt-1] [INFO] [1770281588.014714329] [foundationpose_node]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1770281588.014723819] [foundationpose_node]: [NitrosPublisher] Use only the compatible publisher: topic_name=ā/pose_estimation/pose_matrix_outputā, data_format=ānitros_tensor_list_nchwā
[component_container_mt-1] [INFO] [1770281588.014740598] [foundationpose_node]: [NitrosSubscriber] Use the negotiated data format: ānitros_image_rgb8ā
[component_container_mt-1] [INFO] [1770281588.014753784] [foundationpose_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1770281588.014764474] [foundationpose_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name=ā/rgb/camera_infoā, data_format=ānitros_camera_infoā
[component_container_mt-1] [INFO] [1770281588.014778914] [foundationpose_node]: [NitrosSubscriber] Use the negotiated data format: ānitros_image_mono8ā
[component_container_mt-1] [INFO] [1770281588.014789908] [foundationpose_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1770281588.014824222] [foundationpose_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name=ā/depth_imageā, data_format=ānitros_image_32FC1ā
[component_container_mt-1] [INFO] [1770281588.015138816] [foundationpose_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] 05/02 16:53:08,059 ERROR [138836050945728] (librealsense-exception.h:52) map_device_descriptor Cannot open '/dev/video0 Last Error: No such device or address
[component_container_mt-1] 05/02 16:53:08,059 ERROR [138836050945728] (uvc-sensor.cpp:428) acquire_power failed: map_device_descriptor Cannot open '/dev/video0 Last Error: No such device or address
[component_container_mt-1] 05/02 16:53:08,059 ERROR [138836050945728] (error-handling.cpp:99) Error during polling error handler: map_device_descriptor Cannot open '/dev/video0 Last Error: No such device or address
[component_container_mt-1] [INFO] [1770281588.060811509] [camera]: getParametersā¦
[component_container_mt-1] [INFO] [1770281588.061669526] [camera]: JSON file is not provided
[component_container_mt-1] [INFO] [1770281588.061689105] [camera]: Device Name: Intel RealSense D435I
[component_container_mt-1] [INFO] [1770281588.061697770] [camera]: Device Serial No: 825312071889
[component_container_mt-1] [INFO] [1770281588.061705307] [camera]: Device physical port: /sys/devices/pci0000:00/0000:00:14.0/usb2/2-8/2-8:1.0/video4linux/video0
[component_container_mt-1] [INFO] [1770281588.061714445] [camera]: Device FW version: 5.17.0.10
[component_container_mt-1] [INFO] [1770281588.061721611] [camera]: Device Product ID: 0x0B3A
[component_container_mt-1] [INFO] [1770281588.061728522] [camera]: Sync Mode: Off
[component_container_mt-1] 05/02 16:53:08,062 ERROR [138836084516544] (librealsense-exception.h:52) map_device_descriptor Cannot open '/dev/video0 Last Error: No such device or address
[component_container_mt-1] 05/02 16:53:08,062 ERROR [138836084516544] (uvc-sensor.cpp:428) acquire_power failed: map_device_descriptor Cannot open '/dev/video0 Last Error: No such device or address
[component_container_mt-1] 05/02 16:53:08,062 WARNING [138836084516544] (hdr-config.cpp:394) In hdr_config::disable() - hw command failed: std::exception
[component_container_mt-1] 05/02 16:53:08,134 ERROR [138836084516544] (librealsense-exception.h:52) map_device_descriptor Cannot open '/dev/video0 Last Error: No such device or address
[component_container_mt-1] 05/02 16:53:08,134 ERROR [138836084516544] (uvc-sensor.cpp:428) acquire_power failed: map_device_descriptor Cannot open '/dev/video0 Last Error: No such device or address
[component_container_mt-1] 05/02 16:53:08,134 ERROR [138836084516544] (rs.cpp:256) [rs2_get_option_range( options:0x7e45701fa4a0, option:3, min:1.6747e+07, max:4.5297e-41, step:4.5297e-41, def:1.67483e+07 ) Backend] map_device_descriptor Cannot open '/dev/video0 Last Error: No such device or address
[component_container_mt-1] Failed to start device: map_device_descriptor Cannot open '/dev/video0 Last Error: No such device or address
[component_container_mt-1] 05/02 16:53:08,135 ERROR [138836084516544] (librealsense-exception.h:52) map_device_descriptor Cannot open '/dev/video0 Last Error: No such device or address
[component_container_mt-1] 05/02 16:53:08,135 ERROR [138836084516544] (uvc-sensor.cpp:428) acquire_power failed: map_device_descriptor Cannot open '/dev/video0 Last Error: No such device or address
[component_container_mt-1] 05/02 16:53:08,135 ERROR [138836084516544] (rs.cpp:256) [rs2_hardware_reset( device:0x7e45342625f0 ) Backend] map_device_descriptor Cannot open '/dev/video0 Last Error: No such device or address
[component_container_mt-1] [ERROR] [1770281588.135911516] [camera]: Error starting device: map_device_descriptor Cannot open '/dev/video0 Last Error: No such device or address
[component_container_mt-1] [INFO] [1770281590.346340660] [foundationpose_node]: [NitrosNode] Wrote the final top level YAML graph to ā/tmp/isaac_ros_nitros/graphs/OZKZFCZWBL/OZKZFCZWBL.yamlā
[component_container_mt-1] [INFO] [1770281590.346379875] [foundationpose_node]: [NitrosNode] Loading application
[component_container_mt-1] 2026-02-05 16:53:10.351 WARN external/com_nvidia_gxf/gxf/std/yaml_file_loader.cpp@1076: Using unregistered parameter āreceiverā in component āā.
[component_container_mt-1] 2026-02-05 16:53:10.351 WARN external/com_nvidia_gxf/gxf/std/yaml_file_loader.cpp@1076: Using unregistered parameter ādummy_rxā in component āā.
[component_container_mt-1] 2026-02-05 16:53:10.351 WARN external/com_nvidia_gxf/gxf/std/yaml_file_loader.cpp@1076: Using unregistered parameter ādummy_rxā in component āā.
[component_container_mt-1] 2026-02-05 16:53:10.351 WARN external/com_nvidia_gxf/gxf/std/yaml_file_loader.cpp@1076: Using unregistered parameter ādev_idā in component āstreamā.
[component_container_mt-1] [INFO] [1770281590.352422816] [foundationpose_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] 2026-02-05 16:53:10.426 WARN external/com_nvidia_gxf/gxf/std/scheduling_terms.cpp@333: āmin_sizeā parameter in MultiMessageAvailableSchedulingTerm is deprecated. Use āmin_sumā with SumOfAll sampling mode instead
[component_container_mt-1] 2026-02-05 16:53:10.426 WARN external/com_nvidia_gxf/gxf/std/scheduling_terms.cpp@333: āmin_sizeā parameter in MultiMessageAvailableSchedulingTerm is deprecated. Use āmin_sumā with SumOfAll sampling mode instead
[component_container_mt-1] 2026-02-05 16:53:10.426 WARN external/com_nvidia_gxf/gxf/std/scheduling_terms.cpp@333: āmin_sizeā parameter in MultiMessageAvailableSchedulingTerm is deprecated. Use āmin_sumā with SumOfAll sampling mode instead
[component_container_mt-1] 2026-02-05 16:53:10.426 WARN external/com_nvidia_gxf/gxf/std/scheduling_terms.cpp@333: āmin_sizeā parameter in MultiMessageAvailableSchedulingTerm is deprecated. Use āmin_sumā with SumOfAll sampling mode instead
[component_container_mt-1] 2026-02-05 16:53:10.426 WARN external/com_nvidia_gxf/gxf/std/scheduling_terms.cpp@333: āmin_sizeā parameter in MultiMessageAvailableSchedulingTerm is deprecated. Use āmin_sumā with SumOfAll sampling mode instead
[component_container_mt-1] 2026-02-05 16:53:10.426 WARN external/com_nvidia_gxf/gxf/std/scheduling_terms.cpp@333: āmin_sizeā parameter in MultiMessageAvailableSchedulingTerm is deprecated. Use āmin_sumā with SumOfAll sampling mode instead
[component_container_mt-1] [INFO] [1770281590.427245460] [foundationpose_node]: [NitrosNode] Node was started
[component_container_mt-1] 2026-02-05 16:53:10.476 WARN ./gxf/extensions/tensor_rt/tensor_rt_inference.cpp@160: TRT WARNING: WARNING The logger passed into createInferRuntime differs from one already registered for an existing builder, runtime, or refitter. So the current new logger is ignored, and TensorRT will use the existing one which is returned by nvinfer1::getLogger() instead.
[component_container_mt-1] 2026-02-05 16:53:10.476 WARN ./gxf/extensions/tensor_rt/tensor_rt_inference.cpp@160: TRT WARNING: Using an engine plan file across different models of devices is not supported and is likely to affect performance or even cause errors or deadlock.
[component_container_mt-1] 2026-02-05 16:53:10.478 WARN ./gxf/extensions/tensor_rt/tensor_rt_inference.cpp@160: TRT WARNING: WARNING The logger passed into createInferRuntime differs from one already registered for an existing builder, runtime, or refitter. So the current new logger is ignored, and TensorRT will use the existing one which is returned by nvinfer1::getLogger() instead.
[component_container_mt-1] 2026-02-05 16:53:10.489 WARN ./gxf/extensions/tensor_rt/tensor_rt_inference.cpp@160: TRT WARNING: Using an engine plan file across different models of devices is not supported and is likely to affect performance or even cause errors or deadlock.
Hello @2287278570,
Thanks for posting in the Isaac ROS forum!
ros2 launch isaac_ros_examples isaac_ros_examples.launch.py ... is exactly what the official RealSense quickstart uses. The fact that you donāt see isaac_ros_examples.launch.py inside the isaac_ros_foundationpose/launch directory is expected. That launch file lives in the isaac_ros_examples package, not in the FoundationPose repo.
From your log, librealsense does detect the D435i (Device with name Intel RealSense D435I was found), but when it tries to start streaming it cannot open /dev/video0 and it fails to access the IMU IIO/HID device (iio hid device is busy or not found), so the RealSense node prints Failed to start device and shuts the sensors down.
Thatās why all the Nitros / RTāDETR / FoundationPose nodes come up, but nothing useful flows through. The camera is not actually streaming.
Iād suggest first verifying the D435i works on the host (outside Docker) using
rs-enumerate-devices
realsense-viewer
Then, inside the Isaac ROS container, check that the RealSense devices are visible:
ls /dev/video* ls /dev/iio:device*
and make sure that /dev/video0 (or whichever /dev/video* the node is trying to open) actually belongs to the D435i you want to use and isnāt being used by another process.
How about the following result? I did not see anything in the picture either.
admin@ubuntu:/workspaces/isaac_ros-dev$ ros2 launch isaac_ros_examples isaac_ros_examples.launch.py launch_fragments:=realsense_mono_rect_depth,foundationpose mesh_file_path:=${ISAAC_ROS_WS}/isaac_ros_assets/isaac_ros_foundationpose/bolt/boltorin.obj texture_path:=${ISAAC_ROS_WS}/isaac_ros_assets/isaac_ros_foundationpose/bolt/baked_mesh_tex0.png score_engine_file_path:=${ISAAC_ROS_WS}/isaac_ros_assets/models/foundationpose/score_trt_engine.plan refine_engine_file_path:=${ISAAC_ROS_WS}/isaac_ros_assets/models/foundationpose/refine_trt_engine.plan rt_detr_engine_file_path:=${ISAAC_ROS_WS}/isaac_ros_assets/models/synthetica_detr/sdetr_grasp.plan
[INFO] [launch]: All log files can be found below /home/admin/.ros/log/2026-02-11-02-21-09-195096-ubuntu-341269
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container_mt-1]: process started with pid [341281]
[component_container_mt-1] [INFO] [1770794469.617368973] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/librealsense2_camera.so
[component_container_mt-1] [INFO] [1770794469.785020344] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<realsense2_camera::RealSenseNodeFactory>
[component_container_mt-1] [INFO] [1770794469.785982104] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<realsense2_camera::RealSenseNodeFactory>
[component_container_mt-1] [INFO] [1770794469.811116097] [realsense2_camera]: RealSense ROS v4.51.1
[component_container_mt-1] [INFO] [1770794469.811218049] [realsense2_camera]: Built with LibRealSense v2.55.1
[component_container_mt-1] [INFO] [1770794469.811236641] [realsense2_camera]: Running with LibRealSense v2.55.1
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ā/realsense2_cameraā in container ā/isaac_ros_examples/containerā
[component_container_mt-1] [INFO] [1770794469.815316382] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libconvert_metric_node.so
[component_container_mt-1] [INFO] [1770794469.895759574] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::depth_image_proc::ConvertMetricNode
[component_container_mt-1] [INFO] [1770794469.895877270] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::depth_image_proc::ConvertMetricNode
[component_container_mt-1] [INFO] [1770794470.332476352] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/std/libgxf_std.so
[component_container_mt-1] [INFO] [1770794470.335128382] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_gxf_helpers.so
[component_container_mt-1] [INFO] [1770794470.343304951] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_sight.so
[component_container_mt-1] [INFO] [1770794470.352205391] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_atlas.so
[component_container_mt-1] 2026-02-11 02:21:10.369 WARN external/com_nvidia_gxf/gxf/std/program.cpp@538: No GXF scheduler specified.
[component_container_mt-1] [INFO] [1770794470.369465472] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/multimedia/libgxf_multimedia.so
[component_container_mt-1] [INFO] [1770794470.378293369] [convert_metric.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1770794470.380067287] [convert_metric.ManagedNitrosPublisher]: Starting Managed Nitros Publisher
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ā/convert_metricā in container ā/isaac_ros_examples/containerā
[component_container_mt-1] [INFO] [1770794470.469386092] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libisaac_ros_nitros_camera_drop_node.so
[component_container_mt-1] [INFO] [1770794470.474484327] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::nitros::NitrosCameraDropNode
[component_container_mt-1] [INFO] [1770794470.474589191] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::nitros::NitrosCameraDropNode
[component_container_mt-1] [INFO] [1770794470.485667390] [drop_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1770794470.487764540] [drop_node.ManagedNitrosPublisher]: Starting Managed Nitros Publisher
[component_container_mt-1] [INFO] [1770794470.490301594] [drop_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1770794470.490481786] [convert_metric]: Negotiating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ā/drop_nodeā in container ā/isaac_ros_examples/containerā
[component_container_mt-1] [INFO] [1770794470.490604602] [convert_metric]: Could not negotiate
[component_container_mt-1] [INFO] [1770794470.492631256] [drop_node.ManagedNitrosPublisher]: Starting Managed Nitros Publisher
[component_container_mt-1] [INFO] [1770794470.495857781] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libresize_node.so
[component_container_mt-1] [INFO] [1770794470.500565489] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::image_proc::ResizeNode
[component_container_mt-1] [INFO] [1770794470.500662033] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::image_proc::ResizeNode
[component_container_mt-1] [INFO] [1770794470.504690926] [realsense2_camera]: Device with serial number 218622274543 was found.
[component_container_mt-1]
[component_container_mt-1] [INFO] [1770794470.504810766] [realsense2_camera]: Device with physical ID 2-3.1-41 was found.
[component_container_mt-1] [INFO] [1770794470.504827982] [realsense2_camera]: Device with name Intel RealSense D405 was found.
[component_container_mt-1] [INFO] [1770794470.505133165] [realsense2_camera]: Device with port number 2-3.1 was found.
[component_container_mt-1] [INFO] [1770794470.505154765] [realsense2_camera]: Device USB type: 3.2
[component_container_mt-1] [INFO] [1770794470.510117353] [realsense2_camera]: getParametersā¦
[component_container_mt-1] [INFO] [1770794470.510594889] [realsense2_camera]: JSON file is not provided
[component_container_mt-1] [INFO] [1770794470.510629673] [realsense2_camera]: Device Name: Intel RealSense D405
[component_container_mt-1] [INFO] [1770794470.510646473] [realsense2_camera]: Device Serial No: 218622274543
[component_container_mt-1] [INFO] [1770794470.510719497] [realsense2_camera]: Device physical port: 2-3.1-41
[component_container_mt-1] [INFO] [1770794470.510733705] [realsense2_camera]: Device FW version: 5.17.0.10
[component_container_mt-1] [INFO] [1770794470.510741993] [realsense2_camera]: Device Product ID: 0x0B5B
[component_container_mt-1] [INFO] [1770794470.510749865] [realsense2_camera]: Sync Mode: Off
[component_container_mt-1] [INFO] [1770794470.514509157] [resize_left_rt_detr_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1770794470.515141125] [resize_left_rt_detr_node]: [ResizeNode] Set output data format to: ānitros_image_rgb8ā
[component_container_mt-1] [INFO] [1770794470.515278533] [resize_left_rt_detr_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1770794470.527601978] [resize_left_rt_detr_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1770794470.527813050] [resize_left_rt_detr_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_message_compositor.so
[component_container_mt-1] [INFO] [1770794470.528758937] [resize_left_rt_detr_node]: [NitrosContext] Loading extension: gxf/lib/cuda/libgxf_cuda.so
[component_container_mt-1] [INFO] [1770794470.532953142] [resize_left_rt_detr_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_tensorops.so
[component_container_mt-1] [INFO] [1770794470.540796687] [resize_left_rt_detr_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1770794470.545491467] [resize_left_rt_detr_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1770794470.821451073] [resize_left_rt_detr_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1770794470.827706236] [resize_left_rt_detr_node]: [NitrosPublisherSubscriberGroup] Pinning the component āimage_sink/sinkā (type=ānvidia::isaac_ros::MessageRelayā) to use its compatible format only: ānitros_image_rgb8ā
[component_container_mt-1] [INFO] [1770794470.840143249] [resize_left_rt_detr_node]: [NitrosNode] Starting negotiationā¦
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ā/resize_left_rt_detr_nodeā in container ā/isaac_ros_examples/containerā
[component_container_mt-1] [INFO] [1770794470.841442032] [drop_node]: Negotiating
[component_container_mt-1] [INFO] [1770794470.847005323] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libpad_node.so
[component_container_mt-1] [INFO] [1770794470.852282023] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::image_proc::PadNode
[component_container_mt-1] [INFO] [1770794470.852379815] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::image_proc::PadNode
[component_container_mt-1] [INFO] [1770794470.866761467] [pad_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1770794470.866954043] [resize_left_rt_detr_node]: Negotiating
[component_container_mt-1] [INFO] [1770794470.867014618] [resize_left_rt_detr_node]: Could not negotiate
[component_container_mt-1] [INFO] [1770794470.867041274] [drop_node]: Negotiating
[component_container_mt-1] [INFO] [1770794470.868584697] [pad_node.ManagedNitrosPublisher]: Starting Managed Nitros Publisher
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ā/pad_nodeā in container ā/isaac_ros_examples/containerā
[component_container_mt-1] [INFO] [1770794470.871675447] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libimage_to_tensor_node.so
[component_container_mt-1] [INFO] [1770794470.890163175] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::dnn_inference::ImageToTensorNode
[component_container_mt-1] [INFO] [1770794470.890278631] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::dnn_inference::ImageToTensorNode
[component_container_mt-1] [INFO] [1770794470.905040154] [image_to_tensor_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1770794470.905265434] [pad_node]: Negotiating
[component_container_mt-1] [INFO] [1770794470.908987063] [image_to_tensor_node.ManagedNitrosPublisher]: Starting Managed Nitros Publisher
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ā/image_to_tensor_nodeā in container ā/isaac_ros_examples/containerā
[component_container_mt-1] [INFO] [1770794470.911993044] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libinterleaved_to_planar_node.so
[component_container_mt-1] [INFO] [1770794470.914905202] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::dnn_inference::InterleavedToPlanarNode
[component_container_mt-1] [INFO] [1770794470.914984242] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::dnn_inference::InterleavedToPlanarNode
[component_container_mt-1] [INFO] [1770794470.922953579] [interleaved_to_planar_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1770794470.924574986] [interleaved_to_planar_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1770794470.931383076] [interleaved_to_planar_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1770794470.931663524] [interleaved_to_planar_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1770794470.933650658] [interleaved_to_planar_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1770794470.941094620] [interleaved_to_planar_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1770794470.945957752] [interleaved_to_planar_node]: [NitrosNode] Starting negotiationā¦
[component_container_mt-1] [INFO] [1770794470.947044887] [image_to_tensor_node]: Negotiating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ā/interleaved_to_planar_nodeā in container ā/isaac_ros_examples/containerā
[component_container_mt-1] [INFO] [1770794470.947133751] [image_to_tensor_node]: Could not negotiate
[component_container_mt-1] [INFO] [1770794470.950381844] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libreshape_node.so
[component_container_mt-1] [INFO] [1770794470.954010129] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::dnn_inference::ReshapeNode
[component_container_mt-1] [INFO] [1770794470.954100721] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::dnn_inference::ReshapeNode
[component_container_mt-1] [INFO] [1770794470.962303466] [reshape_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1770794470.963316649] [reshape_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1770794470.972596385] [reshape_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1770794470.972870369] [reshape_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1770794470.975264735] [reshape_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1770794470.982925048] [reshape_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1770794470.988111796] [reshape_node]: [NitrosNode] Starting negotiationā¦
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ā/reshape_nodeā in container ā/isaac_ros_examples/containerā
[component_container_mt-1] [INFO] [1770794470.989322867] [interleaved_to_planar_node]: Negotiating
[component_container_mt-1] [INFO] [1770794470.989636914] [image_to_tensor_node]: Negotiating
[component_container_mt-1] [INFO] [1770794470.989674514] [image_to_tensor_node]: Could not negotiate
[component_container_mt-1] [INFO] [1770794470.997149900] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/librtdetr_preprocessor_node.so
[component_container_mt-1] [INFO] [1770794471.000164490] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::rtdetr::RtDetrPreprocessorNode
[component_container_mt-1] [INFO] [1770794471.000248777] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::rtdetr::RtDetrPreprocessorNode
[component_container_mt-1] [INFO] [1770794471.011937632] [rtdetr_preprocessor.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1770794471.014239134] [reshape_node]: Negotiating
[component_container_mt-1] [INFO] [1770794471.014417598] [rtdetr_preprocessor.ManagedNitrosPublisher]: Starting Managed Nitros Publisher
[component_container_mt-1] [INFO] [1770794471.014578974] [interleaved_to_planar_node]: Negotiating
[component_container_mt-1] [INFO] [1770794471.015287037] [image_to_tensor_node]: Negotiating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ā/rtdetr_preprocessorā in container ā/isaac_ros_examples/containerā
[component_container_mt-1] [INFO] [1770794471.015329085] [image_to_tensor_node]: Could not negotiate
[component_container_mt-1] [INFO] [1770794471.018089755] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libtensor_rt_node.so
[component_container_mt-1] [INFO] [1770794471.064434101] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::dnn_inference::TensorRTNode
[component_container_mt-1] [INFO] [1770794471.064540853] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::dnn_inference::TensorRTNode
[component_container_mt-1] [INFO] [1770794471.072358863] [tensor_rt]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1770794471.073640046] [tensor_rt]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1770794471.078151242] [tensor_rt]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1770794471.078327498] [tensor_rt]: [NitrosContext] Loading extension: gxf/lib/serialization/libgxf_serialization.so
[component_container_mt-1] [INFO] [1770794471.079601673] [tensor_rt]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_tensor_rt.so
[component_container_mt-1] [INFO] [1770794471.080857160] [tensor_rt]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1770794471.082786310] [tensor_rt]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1770794471.101721847] [tensor_rt]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1770794471.103374966] [tensor_rt]: [NitrosPublisherSubscriberGroup] Pinning the component āinference/rxā (type=ānvidia::gxf::DoubleBufferReceiverā) to use its compatible format only: ānitros_tensor_list_nchw_rgb_f32ā
[component_container_mt-1] [INFO] [1770794471.103529878] [tensor_rt]: [NitrosPublisherSubscriberGroup] Pinning the component āsink/sinkā (type=ānvidia::isaac_ros::MessageRelayā) to use its compatible format only: ānitros_tensor_list_nhwc_rgb_f32ā
[component_container_mt-1] [INFO] [1770794471.107437426] [tensor_rt]: [NitrosNode] Starting negotiationā¦
[component_container_mt-1] [INFO] [1770794471.108933329] [rtdetr_preprocessor]: Negotiating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ā/tensor_rtā in container ā/isaac_ros_examples/containerā
[component_container_mt-1] [INFO] [1770794471.111399599] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/librtdetr_decoder_node.so
[component_container_mt-1] [INFO] [1770794471.114992556] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::rtdetr::RtDetrDecoderNode
[component_container_mt-1] [INFO] [1770794471.115070988] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::rtdetr::RtDetrDecoderNode
[component_container_mt-1] [INFO] [1770794471.128298466] [rtdetr_decoder.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1770794471.128676929] [tensor_rt]: Negotiating
[component_container_mt-1] [INFO] [1770794471.128790369] [tensor_rt]: Could not negotiate
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ā/rtdetr_decoderā in container ā/isaac_ros_examples/containerā
[component_container_mt-1] [INFO] [1770794471.140167128] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libdetection2_d_array_filter.so
[component_container_mt-1] [INFO] [1770794471.141998774] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::foundationpose::Detection2DArrayFilter
[component_container_mt-1] [INFO] [1770794471.142074582] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::foundationpose::Detection2DArrayFilter
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ā/detection2_d_array_filterā in container ā/isaac_ros_examples/containerā
[component_container_mt-1] [INFO] [1770794471.162341766] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libdetection2_d_to_mask.so
[component_container_mt-1] [INFO] [1770794471.164959972] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::foundationpose::Detection2DToMask
[component_container_mt-1] [INFO] [1770794471.165044452] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::foundationpose::Detection2DToMask
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ā/detection2_d_to_maskā in container ā/isaac_ros_examples/containerā
[component_container_mt-1] [INFO] [1770794471.175719195] [detection2_d_to_mask]: Mask Height: 480, Mask Width: 640
[component_container_mt-1] [INFO] [1770794471.179642968] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::image_proc::ResizeNode
[component_container_mt-1] [INFO] [1770794471.179710104] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::image_proc::ResizeNode
[component_container_mt-1] [INFO] [1770794471.193742829] [resize_mask_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1770794471.195350507] [resize_mask_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1770794471.209092544] [resize_mask_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1770794471.209374400] [resize_mask_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1770794471.214181212] [resize_mask_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1770794471.500150612] [resize_mask_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1770794471.514708137] [resize_mask_node]: [NitrosNode] Starting negotiationā¦
[component_container_mt-1] [INFO] [1770794471.516655591] [resize_left_rt_detr_node]: Negotiating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ā/resize_mask_nodeā in container ā/isaac_ros_examples/containerā
[component_container_mt-1] [INFO] [1770794471.516730791] [resize_left_rt_detr_node]: Could not negotiate
[component_container_mt-1] [INFO] [1770794471.519877348] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::image_proc::ResizeNode
[component_container_mt-1] [INFO] [1770794471.519974148] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::image_proc::ResizeNode
[component_container_mt-1] [INFO] [1770794471.543095026] [resize_left_viz]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1770794471.545862383] [resize_left_viz]: [ResizeNode] Set output data format to: ānitros_image_rgb8ā
[component_container_mt-1] [INFO] [1770794471.546057743] [resize_left_viz]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1770794471.571981722] [resize_left_viz]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1770794471.572371258] [resize_left_viz]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1770794471.578658549] [resize_left_viz]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1770794471.841616192] [resize_left_rt_detr_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1770794471.841715680] [resize_left_rt_detr_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1770794471.841745888] [resize_left_rt_detr_node]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1770794471.841760480] [resize_left_rt_detr_node]: [NitrosPublisher] Use only the compatible publisher: topic_name=ā/color_image_resizedā, data_format=ānitros_image_rgb8ā
[component_container_mt-1] [INFO] [1770794471.843119518] [resize_left_rt_detr_node]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1770794471.843139518] [resize_left_rt_detr_node]: [NitrosPublisher] Use only the compatible publisher: topic_name=ā/camera_info_resizedā, data_format=ānitros_camera_infoā
[component_container_mt-1] [INFO] [1770794471.843157086] [resize_left_rt_detr_node]: [NitrosSubscriber] Use the negotiated data format: ānitros_image_rgb8ā
[component_container_mt-1] [INFO] [1770794471.843537150] [resize_left_rt_detr_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1770794471.843551806] [resize_left_rt_detr_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name=ā/rgb/camera_infoā, data_format=ānitros_camera_infoā
[component_container_mt-1] [INFO] [1770794471.843890270] [resize_left_rt_detr_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1770794471.851906679] [resize_left_viz]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1770794471.857573715] [resize_left_rt_detr_node]: [NitrosNode] Wrote the final top level YAML graph to ā/tmp/isaac_ros_nitros/graphs/QGIFKZTHKF/QGIFKZTHKF.yamlā
[component_container_mt-1] [INFO] [1770794471.857900306] [resize_left_rt_detr_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1770794471.858945778] [resize_left_viz]: [NitrosPublisherSubscriberGroup] Pinning the component āimage_sink/sinkā (type=ānvidia::isaac_ros::MessageRelayā) to use its compatible format only: ānitros_image_rgb8ā
[component_container_mt-1] [INFO] [1770794471.863122510] [resize_left_rt_detr_node]: [ResizeNode] postLoadGraphCallback().
[component_container_mt-1] [INFO] [1770794471.868341546] [resize_left_rt_detr_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1770794471.879009281] [resize_left_viz]: [NitrosNode] Starting negotiationā¦
[component_container_mt-1] [INFO] [1770794471.881095360] [drop_node]: Negotiating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ā/resize_left_vizā in container ā/isaac_ros_examples/containerā
[component_container_mt-1] [INFO] [1770794471.887045211] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libfoundationpose_node.so
[component_container_mt-1] [INFO] [1770794471.897991634] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::foundationpose::FoundationPoseNode
[component_container_mt-1] [INFO] [1770794471.898082770] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::foundationpose::FoundationPoseNode
[component_container_mt-1] [INFO] [1770794471.926539003] [foundationpose_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1770794471.927181946] [resize_left_rt_detr_node]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1770794471.931290135] [foundationpose_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1770794471.937733938] [foundationpose_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1770794471.937976786] [foundationpose_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_depth_image_proc.so
[component_container_mt-1] [INFO] [1770794471.947175274] [interleaved_to_planar_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1770794471.947318410] [interleaved_to_planar_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1770794471.947346378] [interleaved_to_planar_node]: [NitrosPublisher] Use the negotiated data format: ānitros_tensor_list_nchw_rgb_f32ā
[component_container_mt-1] [INFO] [1770794471.947363242] [interleaved_to_planar_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1770794471.947386538] [interleaved_to_planar_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name=ā/normalized_tensorā, data_format=ānitros_tensor_list_nhwc_rgb_f32ā
[component_container_mt-1] [INFO] [1770794471.947761258] [interleaved_to_planar_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1770794471.951149543] [foundationpose_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_sgm.so
[component_container_mt-1] [INFO] [1770794471.951190823] [interleaved_to_planar_node]: [NitrosNode] Wrote the final top level YAML graph to ā/tmp/isaac_ros_nitros/graphs/SWJKCUFEET/SWJKCUFEET.yamlā
[component_container_mt-1] [INFO] [1770794471.951303335] [interleaved_to_planar_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1770794471.955540067] [foundationpose_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_messages.so
[component_container_mt-1] [INFO] [1770794471.957261058] [interleaved_to_planar_node]: In InterleavedToPlanarNode postLoadGraphCallback().
[component_container_mt-1] [INFO] [1770794471.957303650] [foundationpose_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_ros_messages.so
[component_container_mt-1] [INFO] [1770794471.958261313] [interleaved_to_planar_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1770794471.989424584] [reshape_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1770794471.989515464] [reshape_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1770794471.989533800] [reshape_node]: [NitrosPublisher] Use the negotiated data format: ānitros_tensor_list_nchw_rgb_f32ā
[component_container_mt-1] [INFO] [1770794471.989549032] [reshape_node]: [NitrosSubscriber] Use the negotiated data format: ānitros_tensor_list_nchw_rgb_f32ā
[component_container_mt-1] [INFO] [1770794471.989787624] [reshape_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1770794471.994046692] [reshape_node]: [NitrosNode] Wrote the final top level YAML graph to ā/tmp/isaac_ros_nitros/graphs/PTQKQZRJEY/PTQKQZRJEY.yamlā
[component_container_mt-1] [INFO] [1770794471.994142980] [reshape_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1770794472.003068957] [foundationpose_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_foundationpose.so
[component_container_mt-1] [INFO] [1770794472.004078268] [interleaved_to_planar_node]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1770794472.013639221] [foundationpose_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1770794472.017971089] [reshape_node]: In ReshapeNode postLoadGraphCallback().
[component_container_mt-1] [INFO] [1770794472.018124497] [reshape_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1770794472.041220575] [foundationpose_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1770794472.062080367] [reshape_node]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1770794472.108339179] [tensor_rt]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1770794472.108663467] [tensor_rt]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1770794472.108687339] [tensor_rt]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1770794472.108704203] [tensor_rt]: [NitrosPublisher] Use only the compatible publisher: topic_name=ā/tensor_subā, data_format=ānitros_tensor_list_nhwc_rgb_f32ā
[component_container_mt-1] [INFO] [1770794472.108730827] [tensor_rt]: [NitrosSubscriber] Use the negotiated data format: ānitros_tensor_list_nchw_rgb_f32ā
[component_container_mt-1] [INFO] [1770794472.109069099] [tensor_rt]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1770794472.117452804] [tensor_rt]: [NitrosNode] Wrote the final top level YAML graph to ā/tmp/isaac_ros_nitros/graphs/STYVJYUGFH/STYVJYUGFH.yamlā
[component_container_mt-1] [INFO] [1770794472.117549476] [tensor_rt]: [NitrosNode] Loading application
[component_container_mt-1] 2026-02-11 02:21:12.120 WARN external/com_nvidia_gxf/gxf/std/yaml_file_loader.cpp@1076: Using unregistered parameter ādev_idā in component āstreamā.
[component_container_mt-1] [INFO] [1770794472.120606594] [tensor_rt]: In TensorRTNode postLoadGraphCallback().
[component_container_mt-1] [INFO] [1770794472.283662052] [tensor_rt]: Read tensor shape information from TRT Model Engine: /workspaces/isaac_ros-dev/isaac_ros_assets/models/synthetica_detr/sdetr_grasp.plan
[component_container_mt-1] [INFO] [1770794472.283881060] [tensor_rt]: Tensors 4800 bytes, num outputs 40 x tensors per output 3 = 120 blocks
[component_container_mt-1] [INFO] [1770794472.284073604] [tensor_rt]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1770794472.285481987] [tensor_rt]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1770794472.516872944] [resize_mask_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1770794472.516983952] [resize_mask_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1770794472.517014320] [resize_mask_node]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1770794472.517033584] [resize_mask_node]: [NitrosPublisher] Use only the compatible publisher: topic_name=ā/segmentationā, data_format=ānitros_image_bgr8ā
[component_container_mt-1] [INFO] [1770794472.517124944] [resize_mask_node]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1770794472.517143376] [resize_mask_node]: [NitrosPublisher] Use only the compatible publisher: topic_name=ā/camera_info_segmentationā, data_format=ānitros_camera_infoā
[component_container_mt-1] [INFO] [1770794472.517161136] [resize_mask_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1770794472.517174448] [resize_mask_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name=ā/rt_detr_segmentationā, data_format=ānitros_image_bgr8ā
[component_container_mt-1] [INFO] [1770794472.517187536] [resize_mask_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1770794472.517199088] [resize_mask_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name=ā/camera_info_resizedā, data_format=ānitros_camera_infoā
[component_container_mt-1] [INFO] [1770794472.517463791] [resize_mask_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1770794472.530578917] [resize_mask_node]: [NitrosNode] Wrote the final top level YAML graph to ā/tmp/isaac_ros_nitros/graphs/XUOCTSNCTV/XUOCTSNCTV.yamlā
[component_container_mt-1] [INFO] [1770794472.530713445] [resize_mask_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1770794472.535657633] [resize_mask_node]: [ResizeNode] postLoadGraphCallback().
[component_container_mt-1] [INFO] [1770794472.535909121] [resize_mask_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1770794472.548084632] [resize_mask_node]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1770794472.881154487] [resize_left_viz]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1770794472.881248982] [resize_left_viz]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1770794472.881267958] [resize_left_viz]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1770794472.881285718] [resize_left_viz]: [NitrosPublisher] Use only the compatible publisher: topic_name=ā/rgb/image_rect_color_vizā, data_format=ānitros_image_rgb8ā
[component_container_mt-1] [INFO] [1770794472.881297686] [resize_left_viz]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1770794472.881326294] [resize_left_viz]: [NitrosPublisher] Use only the compatible publisher: topic_name=ā/rgb/camera_info_vizā, data_format=ānitros_camera_infoā
[component_container_mt-1] [INFO] [1770794472.881342486] [resize_left_viz]: [NitrosSubscriber] Use the negotiated data format: ānitros_image_rgb8ā
[component_container_mt-1] [INFO] [1770794472.881357526] [resize_left_viz]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1770794472.881367446] [resize_left_viz]: [NitrosSubscriber] Use the compatible subscriber: topic_name=ā/rgb/camera_infoā, data_format=ānitros_camera_infoā
[component_container_mt-1] [INFO] [1770794472.881608662] [resize_left_viz]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1770794472.904471941] [resize_left_viz]: [NitrosNode] Wrote the final top level YAML graph to ā/tmp/isaac_ros_nitros/graphs/HQTXPTKUFD/HQTXPTKUFD.yamlā
[component_container_mt-1] [INFO] [1770794472.905155684] [resize_left_viz]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1770794472.911509375] [resize_left_viz]: [ResizeNode] postLoadGraphCallback().
[component_container_mt-1] [INFO] [1770794472.911954879] [resize_left_viz]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1770794472.920078488] [resize_left_viz]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1770794473.000148859] [foundationpose_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1770794473.026874983] [foundationpose_node]: [NitrosNode] Starting negotiationā¦
[component_container_mt-1] [INFO] [1770794473.029662021] [drop_node]: Negotiating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ā/foundationpose_nodeā in container ā/isaac_ros_examples/containerā
[component_container_mt-1] [INFO] [1770794473.029842053] [resize_mask_node]: Negotiating
[component_container_mt-1] [INFO] [1770794473.031053124] [resize_left_rt_detr_node]: Negotiating
[component_container_mt-1] [INFO] [1770794473.031138596] [resize_left_rt_detr_node]: Could not negotiate
[component_container_mt-1] [INFO] [1770794473.032365827] [drop_node]: Negotiating
[component_container_mt-1] [INFO] [1770794473.032441603] [drop_node]: Could not negotiate
[component_container_mt-1] [INFO] [1770794473.047050008] [foundationpose_node]: Negotiating
[component_container_mt-1] [INFO] [1770794473.047145400] [foundationpose_node]: Could not negotiate
[component_container_mt-1] [INFO] [1770794473.047171416] [foundationpose_node]: Negotiating
[component_container_mt-1] [INFO] [1770794473.047269048] [foundationpose_node]: Could not negotiate
[component_container_mt-1] [INFO] [1770794474.029965799] [foundationpose_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1770794474.030092775] [foundationpose_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1770794474.030120903] [foundationpose_node]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1770794474.030140007] [foundationpose_node]: [NitrosPublisher] Use only the compatible publisher: topic_name=ā/outputā, data_format=ānitros_detection3_d_arrayā
[component_container_mt-1] [INFO] [1770794474.030178183] [foundationpose_node]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1770794474.030191207] [foundationpose_node]: [NitrosPublisher] Use only the compatible publisher: topic_name=ā/pose_estimation/pose_matrix_outputā, data_format=ānitros_tensor_list_nchwā
[component_container_mt-1] [INFO] [1770794474.030205895] [foundationpose_node]: [NitrosSubscriber] Use the negotiated data format: ānitros_image_rgb8ā
[component_container_mt-1] [INFO] [1770794474.030220999] [foundationpose_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1770794474.030233415] [foundationpose_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name=ā/rgb/camera_infoā, data_format=ānitros_camera_infoā
[component_container_mt-1] [INFO] [1770794474.030248839] [foundationpose_node]: [NitrosSubscriber] Use the negotiated data format: ānitros_image_mono8ā
[component_container_mt-1] [INFO] [1770794474.030260871] [foundationpose_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1770794474.030271207] [foundationpose_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name=ā/depth_imageā, data_format=ānitros_image_32FC1ā
[component_container_mt-1] [INFO] [1770794474.030587910] [foundationpose_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [WARN] [1770794476.541437853] [realsense2_camera]: re-enable the stream for the change to take effect.
[component_container_mt-1] [WARN] [1770794476.543336412] [realsense2_camera]: re-enable the stream for the change to take effect.
[component_container_mt-1] [INFO] [1770794476.553991989] [realsense2_camera]: Stopping Sensor: Stereo Module
[component_container_mt-1] [INFO] [1770794477.070467702] [realsense2_camera]: Starting Sensor: Stereo Module
[component_container_mt-1] [INFO] [1770794477.183537491] [realsense2_camera]: Open profile: stream_type: Color(0), Format: RGB8, Width: 640, Height: 480, FPS: 15
[component_container_mt-1] [INFO] [1770794477.183686003] [realsense2_camera]: Open profile: stream_type: Depth(0), Format: Z16, Width: 640, Height: 480, FPS: 15
[component_container_mt-1] [INFO] [1770794477.186446866] [realsense2_camera]: RealSense Node Is Up!
[component_container_mt-1] 11/02 02:21:17,186 WARNING [281470776371424] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-1] 11/02 02:21:17,197 WARNING [281470776371424] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-1] [WARN] [1770794477.836431253] [realsense2_camera]:
[component_container_mt-1] [INFO] [1770794480.633246818] [foundationpose_node]: [NitrosNode] Wrote the final top level YAML graph to ā/tmp/isaac_ros_nitros/graphs/IMIVAZDLIF/IMIVAZDLIF.yamlā
[component_container_mt-1] [INFO] [1770794480.633381250] [foundationpose_node]: [NitrosNode] Loading application
[component_container_mt-1] 2026-02-11 02:21:20.644 WARN external/com_nvidia_gxf/gxf/std/yaml_file_loader.cpp@1076: Using unregistered parameter āreceiverā in component āā.
[component_container_mt-1] 2026-02-11 02:21:20.645 WARN external/com_nvidia_gxf/gxf/std/yaml_file_loader.cpp@1076: Using unregistered parameter ādummy_rxā in component āā.
[component_container_mt-1] 2026-02-11 02:21:20.646 WARN external/com_nvidia_gxf/gxf/std/yaml_file_loader.cpp@1076: Using unregistered parameter ādummy_rxā in component āā.
[component_container_mt-1] 2026-02-11 02:21:20.646 WARN external/com_nvidia_gxf/gxf/std/yaml_file_loader.cpp@1076: Using unregistered parameter ādev_idā in component āstreamā.
[component_container_mt-1] [INFO] [1770794480.648194427] [foundationpose_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] 2026-02-11 02:21:20.741 WARN ./gxf/foundationpose/mesh_storage.cpp@92: [MeshStorage] /workspaces/isaac_ros-dev/isaac_ros_assets/isaac_ros_foundationpose/bolt/dummy.png could not be found, assign texture map with pure color
[component_container_mt-1] 2026-02-11 02:21:20.744 WARN external/com_nvidia_gxf/gxf/std/scheduling_terms.cpp@333: āmin_sizeā parameter in MultiMessageAvailableSchedulingTerm is deprecated. Use āmin_sumā with SumOfAll sampling mode instead
[component_container_mt-1] 2026-02-11 02:21:20.811 WARN external/com_nvidia_gxf/gxf/std/scheduling_terms.cpp@333: āmin_sizeā parameter in MultiMessageAvailableSchedulingTerm is deprecated. Use āmin_sumā with SumOfAll sampling mode instead
[component_container_mt-1] 2026-02-11 02:21:20.811 WARN external/com_nvidia_gxf/gxf/std/scheduling_terms.cpp@333: āmin_sizeā parameter in MultiMessageAvailableSchedulingTerm is deprecated. Use āmin_sumā with SumOfAll sampling mode instead
[component_container_mt-1] 2026-02-11 02:21:20.811 WARN external/com_nvidia_gxf/gxf/std/scheduling_terms.cpp@333: āmin_sizeā parameter in MultiMessageAvailableSchedulingTerm is deprecated. Use āmin_sumā with SumOfAll sampling mode instead
[component_container_mt-1] 2026-02-11 02:21:20.811 WARN external/com_nvidia_gxf/gxf/std/scheduling_terms.cpp@333: āmin_sizeā parameter in MultiMessageAvailableSchedulingTerm is deprecated. Use āmin_sumā with SumOfAll sampling mode instead
[component_container_mt-1] 2026-02-11 02:21:20.822 WARN external/com_nvidia_gxf/gxf/std/scheduling_terms.cpp@333: āmin_sizeā parameter in MultiMessageAvailableSchedulingTerm is deprecated. Use āmin_sumā with SumOfAll sampling mode instead
[component_container_mt-1] [INFO] [1770794480.884983307] [foundationpose_node]: [NitrosNode] Node was started
[component_container_mt-1] 2026-02-11 02:21:20.907 WARN ./gxf/extensions/tensor_rt/tensor_rt_inference.cpp@158: TRT WARNING: Using an engine plan file across different models of devices is not recommended and is likely to affect performance or even cause errors.
Have you checked if you could see the device with this command first?
Check devices: ls -l /dev/video*
Also, ensure the user has permission on /dev/video* (belongs to the video group), or temporarily: sudo chmod a+rw /dev/video*
Optionally, you could try to disable IMU in the RealSense driver**.**
Since there are IMU/HID-related errors, this helps narrow down whether the issue is related to the IMU.
ros2 launch realsense2_camera rs_launch.py \
enable_imu:=false
For D435i, I also get the following result but there is also nothing in the picture.
admin@ubuntu:/workspaces/isaac_ros-dev$ ros2 launch isaac_ros_examples isaac_ros_examples.launch.py launch_fragments:=realsense_mono_rect_depth,foundationpose mesh_file_path:=${ISAAC_ROS_WS}/isaac_ros_assets/isaac_ros_foundationpose/bolt/boltorin.obj texture_path:=${ISAAC_ROS_WS}/isaac_ros_assets/isaac_ros_foundationpose/bolt/baked_mesh_tex0.png score_engine_file_path:=${ISAAC_ROS_WS}/isaac_ros_assets/models/foundationpose/score_trt_engine.plan refine_engine_file_path:=${ISAAC_ROS_WS}/isaac_ros_assets/models/foundationpose/refine_trt_engine.plan rt_detr_engine_file_path:=${ISAAC_ROS_WS}/isaac_ros_assets/models/synthetica_detr/sdetr_grasp.plan
[INFO] [launch]: All log files can be found below /home/admin/.ros/log/2026-02-12-03-09-42-220248-ubuntu-542914
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container_mt-1]: process started with pid [542926]
[component_container_mt-1] [INFO] [1770883782.637134925] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/librealsense2_camera.so
[component_container_mt-1] [INFO] [1770883782.810845965] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<realsense2_camera::RealSenseNodeFactory>
[component_container_mt-1] [INFO] [1770883782.811809730] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<realsense2_camera::RealSenseNodeFactory>
[component_container_mt-1] [INFO] [1770883782.835877533] [realsense2_camera]: RealSense ROS v4.51.1
[component_container_mt-1] [INFO] [1770883782.835969820] [realsense2_camera]: Built with LibRealSense v2.55.1
[component_container_mt-1] [INFO] [1770883782.835986395] [realsense2_camera]: Running with LibRealSense v2.55.1
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ā/realsense2_cameraā in container ā/isaac_ros_examples/containerā
[component_container_mt-1] [INFO] [1770883782.840944229] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libconvert_metric_node.so
[component_container_mt-1] [INFO] [1770883782.925877674] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::depth_image_proc::ConvertMetricNode
[component_container_mt-1] [INFO] [1770883782.926001193] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::depth_image_proc::ConvertMetricNode
[component_container_mt-1] [INFO] [1770883783.122890216] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/std/libgxf_std.so
[component_container_mt-1] [INFO] [1770883783.125529835] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_gxf_helpers.so
[component_container_mt-1] [INFO] [1770883783.130960368] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_sight.so
[component_container_mt-1] [INFO] [1770883783.138166113] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_atlas.so
[component_container_mt-1] 2026-02-12 03:09:43.153 WARN external/com_nvidia_gxf/gxf/std/program.cpp@538: No GXF scheduler specified.
[component_container_mt-1] [INFO] [1770883783.153573753] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/multimedia/libgxf_multimedia.so
[component_container_mt-1] [INFO] [1770883783.162103068] [convert_metric.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1770883783.163605355] [convert_metric.ManagedNitrosPublisher]: Starting Managed Nitros Publisher
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ā/convert_metricā in container ā/isaac_ros_examples/containerā
[component_container_mt-1] [INFO] [1770883783.263507818] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libisaac_ros_nitros_camera_drop_node.so
[component_container_mt-1] [INFO] [1770883783.268673745] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::nitros::NitrosCameraDropNode
[component_container_mt-1] [INFO] [1770883783.268773040] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::nitros::NitrosCameraDropNode
[component_container_mt-1] [INFO] [1770883783.284103785] [drop_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1770883783.287013993] [drop_node.ManagedNitrosPublisher]: Starting Managed Nitros Publisher
[component_container_mt-1] [INFO] [1770883783.290370788] [drop_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1770883783.290594146] [convert_metric]: Negotiating
[component_container_mt-1] [INFO] [1770883783.290692737] [convert_metric]: Could not negotiate
[component_container_mt-1] [INFO] [1770883783.292379279] [drop_node.ManagedNitrosPublisher]: Starting Managed Nitros Publisher
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ā/drop_nodeā in container ā/isaac_ros_examples/containerā
[component_container_mt-1] [INFO] [1770883783.295772554] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libresize_node.so
[component_container_mt-1] [INFO] [1770883783.300465206] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::image_proc::ResizeNode
[component_container_mt-1] [INFO] [1770883783.300546549] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::image_proc::ResizeNode
[component_container_mt-1] [INFO] [1770883783.306978447] [resize_left_rt_detr_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1770883783.307620872] [resize_left_rt_detr_node]: [ResizeNode] Set output data format to: ānitros_image_rgb8ā
[component_container_mt-1] [INFO] [1770883783.307761895] [resize_left_rt_detr_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1770883783.320849304] [resize_left_rt_detr_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1770883783.321080565] [resize_left_rt_detr_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_message_compositor.so
[component_container_mt-1] [INFO] [1770883783.322029451] [resize_left_rt_detr_node]: [NitrosContext] Loading extension: gxf/lib/cuda/libgxf_cuda.so
[component_container_mt-1] [INFO] [1770883783.326570714] [resize_left_rt_detr_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_tensorops.so
[component_container_mt-1] [INFO] [1770883783.334373636] [resize_left_rt_detr_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1770883783.339147440] [resize_left_rt_detr_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1770883783.551589859] [realsense2_camera]: Device with serial number 317622073560 was found.
[component_container_mt-1]
[component_container_mt-1] [INFO] [1770883783.552462905] [realsense2_camera]: Device with physical ID 2-3.1-52 was found.
[component_container_mt-1] [INFO] [1770883783.552506329] [realsense2_camera]: Device with name Intel RealSense D435I was found.
[component_container_mt-1] [INFO] [1770883783.552828245] [realsense2_camera]: Device with port number 2-3.1 was found.
[component_container_mt-1] [INFO] [1770883783.552851413] [realsense2_camera]: Device USB type: 3.2
[component_container_mt-1] [INFO] [1770883783.559028529] [realsense2_camera]: getParametersā¦
[component_container_mt-1] [INFO] [1770883783.560108614] [realsense2_camera]: JSON file is not provided
[component_container_mt-1] [INFO] [1770883783.560184197] [realsense2_camera]: Device Name: Intel RealSense D435I
[component_container_mt-1] [INFO] [1770883783.560465314] [realsense2_camera]: Device Serial No: 317622073560
[component_container_mt-1] [INFO] [1770883783.560525889] [realsense2_camera]: Device physical port: 2-3.1-52
[component_container_mt-1] [INFO] [1770883783.560546337] [realsense2_camera]: Device FW version: 5.17.0.10
[component_container_mt-1] [INFO] [1770883783.560563585] [realsense2_camera]: Device Product ID: 0x0B3A
[component_container_mt-1] [INFO] [1770883783.560579553] [realsense2_camera]: Sync Mode: Off
[component_container_mt-1] [INFO] [1770883783.642919486] [resize_left_rt_detr_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1770883783.648027975] [resize_left_rt_detr_node]: [NitrosPublisherSubscriberGroup] Pinning the component āimage_sink/sinkā (type=ānvidia::isaac_ros::MessageRelayā) to use its compatible format only: ānitros_image_rgb8ā
[component_container_mt-1] [INFO] [1770883783.659629352] [resize_left_rt_detr_node]: [NitrosNode] Starting negotiationā¦
[component_container_mt-1] [INFO] [1770883783.660637469] [drop_node]: Negotiating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ā/resize_left_rt_detr_nodeā in container ā/isaac_ros_examples/containerā
[component_container_mt-1] [INFO] [1770883783.663514238] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libpad_node.so
[component_container_mt-1] [INFO] [1770883783.668471719] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::image_proc::PadNode
[component_container_mt-1] [INFO] [1770883783.668563750] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::image_proc::PadNode
[component_container_mt-1] [INFO] [1770883783.679102356] [pad_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1770883783.679599502] [resize_left_rt_detr_node]: Negotiating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ā/pad_nodeā in container ā/isaac_ros_examples/containerā
[component_container_mt-1] [INFO] [1770883783.679661741] [drop_node]: Negotiating
[component_container_mt-1] [INFO] [1770883783.679678541] [resize_left_rt_detr_node]: Could not negotiate
[component_container_mt-1] [INFO] [1770883783.680733826] [pad_node.ManagedNitrosPublisher]: Starting Managed Nitros Publisher
[component_container_mt-1] [INFO] [1770883783.684714294] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libimage_to_tensor_node.so
[component_container_mt-1] [INFO] [1770883783.700247117] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::dnn_inference::ImageToTensorNode
[component_container_mt-1] [INFO] [1770883783.700348236] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::dnn_inference::ImageToTensorNode
[component_container_mt-1] [INFO] [1770883783.710175617] [image_to_tensor_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1770883783.710235968] [pad_node]: Negotiating
[component_container_mt-1] [INFO] [1770883783.712817956] [image_to_tensor_node.ManagedNitrosPublisher]: Starting Managed Nitros Publisher
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ā/image_to_tensor_nodeā in container ā/isaac_ros_examples/containerā
[component_container_mt-1] [INFO] [1770883783.715820323] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libinterleaved_to_planar_node.so
[component_container_mt-1] [INFO] [1770883783.718531365] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::dnn_inference::InterleavedToPlanarNode
[component_container_mt-1] [INFO] [1770883783.718602693] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::dnn_inference::InterleavedToPlanarNode
[component_container_mt-1] [INFO] [1770883783.726340112] [interleaved_to_planar_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1770883783.727343269] [interleaved_to_planar_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1770883783.733661856] [interleaved_to_planar_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1770883783.733929405] [interleaved_to_planar_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1770883783.735565676] [interleaved_to_planar_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1770883783.741076815] [interleaved_to_planar_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1770883783.748274497] [interleaved_to_planar_node]: [NitrosNode] Starting negotiationā¦
[component_container_mt-1] [INFO] [1770883783.749269110] [image_to_tensor_node]: Negotiating
[component_container_mt-1] [INFO] [1770883783.749331861] [image_to_tensor_node]: Could not negotiate
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ā/interleaved_to_planar_nodeā in container ā/isaac_ros_examples/containerā
[component_container_mt-1] [INFO] [1770883783.752532498] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libreshape_node.so
[component_container_mt-1] [INFO] [1770883783.756298249] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::dnn_inference::ReshapeNode
[component_container_mt-1] [INFO] [1770883783.756383336] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::dnn_inference::ReshapeNode
[component_container_mt-1] [INFO] [1770883783.767371025] [reshape_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1770883783.768257159] [reshape_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1770883783.776780202] [reshape_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1770883783.777018695] [reshape_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1770883783.778704725] [reshape_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1770883783.784520469] [reshape_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1770883783.789435296] [reshape_node]: [NitrosNode] Starting negotiationā¦
[component_container_mt-1] [INFO] [1770883783.791099342] [interleaved_to_planar_node]: Negotiating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ā/reshape_nodeā in container ā/isaac_ros_examples/containerā
[component_container_mt-1] [INFO] [1770883783.791557865] [image_to_tensor_node]: Negotiating
[component_container_mt-1] [INFO] [1770883783.791599720] [image_to_tensor_node]: Could not negotiate
[component_container_mt-1] [INFO] [1770883783.794185612] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/librtdetr_preprocessor_node.so
[component_container_mt-1] [INFO] [1770883783.797779717] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::rtdetr::RtDetrPreprocessorNode
[component_container_mt-1] [INFO] [1770883783.797862852] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::rtdetr::RtDetrPreprocessorNode
[component_container_mt-1] [INFO] [1770883783.818455651] [reshape_node]: Negotiating
[component_container_mt-1] [INFO] [1770883783.818600994] [rtdetr_preprocessor.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1770883783.818884831] [interleaved_to_planar_node]: Negotiating
[component_container_mt-1] [INFO] [1770883783.819157148] [image_to_tensor_node]: Negotiating
[component_container_mt-1] [INFO] [1770883783.819200827] [image_to_tensor_node]: Could not negotiate
[component_container_mt-1] [INFO] [1770883783.823519468] [rtdetr_preprocessor.ManagedNitrosPublisher]: Starting Managed Nitros Publisher
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ā/rtdetr_preprocessorā in container ā/isaac_ros_examples/containerā
[component_container_mt-1] [INFO] [1770883783.829911526] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libtensor_rt_node.so
[component_container_mt-1] [INFO] [1770883783.874928315] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::dnn_inference::TensorRTNode
[component_container_mt-1] [INFO] [1770883783.875047578] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::dnn_inference::TensorRTNode
[component_container_mt-1] [INFO] [1770883783.883329247] [tensor_rt]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1770883783.884511891] [tensor_rt]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1770883783.889080225] [tensor_rt]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1770883783.889276991] [tensor_rt]: [NitrosContext] Loading extension: gxf/lib/serialization/libgxf_serialization.so
[component_container_mt-1] [INFO] [1770883783.890691343] [tensor_rt]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_tensor_rt.so
[component_container_mt-1] [INFO] [1770883783.892677593] [tensor_rt]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1770883783.894867682] [tensor_rt]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1770883783.915831517] [tensor_rt]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1770883783.917908646] [tensor_rt]: [NitrosPublisherSubscriberGroup] Pinning the component āinference/rxā (type=ānvidia::gxf::DoubleBufferReceiverā) to use its compatible format only: ānitros_tensor_list_nchw_rgb_f32ā
[component_container_mt-1] [INFO] [1770883783.918093348] [tensor_rt]: [NitrosPublisherSubscriberGroup] Pinning the component āsink/sinkā (type=ānvidia::isaac_ros::MessageRelayā) to use its compatible format only: ānitros_tensor_list_nhwc_rgb_f32ā
[component_container_mt-1] [INFO] [1770883783.924127170] [tensor_rt]: [NitrosNode] Starting negotiationā¦
[component_container_mt-1] [INFO] [1770883783.925649618] [rtdetr_preprocessor]: Negotiating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ā/tensor_rtā in container ā/isaac_ros_examples/containerā
[component_container_mt-1] [INFO] [1770883783.928827855] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/librtdetr_decoder_node.so
[component_container_mt-1] [INFO] [1770883783.932581638] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::rtdetr::RtDetrDecoderNode
[component_container_mt-1] [INFO] [1770883783.932665125] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::rtdetr::RtDetrDecoderNode
[component_container_mt-1] [INFO] [1770883783.947873727] [rtdetr_decoder.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1770883783.948490201] [tensor_rt]: Negotiating
[component_container_mt-1] [INFO] [1770883783.948868692] [tensor_rt]: Could not negotiate
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ā/rtdetr_decoderā in container ā/isaac_ros_examples/containerā
[component_container_mt-1] [INFO] [1770883783.968828891] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libdetection2_d_array_filter.so
[component_container_mt-1] [INFO] [1770883783.970688646] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::foundationpose::Detection2DArrayFilter
[component_container_mt-1] [INFO] [1770883783.970766982] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::foundationpose::Detection2DArrayFilter
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ā/detection2_d_array_filterā in container ā/isaac_ros_examples/containerā
[component_container_mt-1] [INFO] [1770883783.991446596] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libdetection2_d_to_mask.so
[component_container_mt-1] [INFO] [1770883783.994151526] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::foundationpose::Detection2DToMask
[component_container_mt-1] [INFO] [1770883783.994225862] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::foundationpose::Detection2DToMask
[component_container_mt-1] [INFO] [1770883784.007187576] [detection2_d_to_mask]: Mask Height: 480, Mask Width: 640
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ā/detection2_d_to_maskā in container ā/isaac_ros_examples/containerā
[component_container_mt-1] [INFO] [1770883784.011322443] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::image_proc::ResizeNode
[component_container_mt-1] [INFO] [1770883784.011394602] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::image_proc::ResizeNode
[component_container_mt-1] [INFO] [1770883784.021444732] [resize_mask_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1770883784.022896076] [resize_mask_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1770883784.039080443] [resize_mask_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1770883784.039361656] [resize_mask_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1770883784.044732637] [resize_mask_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1770883784.332907851] [resize_mask_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1770883784.356040621] [resize_mask_node]: [NitrosNode] Starting negotiationā¦
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ā/resize_mask_nodeā in container ā/isaac_ros_examples/containerā
[component_container_mt-1] [INFO] [1770883784.362300233] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::image_proc::ResizeNode
[component_container_mt-1] [INFO] [1770883784.362378440] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::image_proc::ResizeNode
[component_container_mt-1] [INFO] [1770883784.364733742] [resize_left_rt_detr_node]: Negotiating
[component_container_mt-1] [INFO] [1770883784.367450832] [resize_left_rt_detr_node]: Could not negotiate
[component_container_mt-1] [INFO] [1770883784.378678357] [resize_left_viz]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1770883784.380717503] [resize_left_viz]: [ResizeNode] Set output data format to: ānitros_image_rgb8ā
[component_container_mt-1] [INFO] [1770883784.380827678] [resize_left_viz]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1770883784.395460222] [resize_left_viz]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1770883784.395852089] [resize_left_viz]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1770883784.400440263] [resize_left_viz]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1770883784.660766917] [resize_left_rt_detr_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1770883784.660863396] [resize_left_rt_detr_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1770883784.660891076] [resize_left_rt_detr_node]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1770883784.660906852] [resize_left_rt_detr_node]: [NitrosPublisher] Use only the compatible publisher: topic_name=ā/color_image_resizedā, data_format=ānitros_image_rgb8ā
[component_container_mt-1] [INFO] [1770883784.661897273] [resize_left_rt_detr_node]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1770883784.661922425] [resize_left_rt_detr_node]: [NitrosPublisher] Use only the compatible publisher: topic_name=ā/camera_info_resizedā, data_format=ānitros_camera_infoā
[component_container_mt-1] [INFO] [1770883784.661938361] [resize_left_rt_detr_node]: [NitrosSubscriber] Use the negotiated data format: ānitros_image_rgb8ā
[component_container_mt-1] [INFO] [1770883784.661953209] [resize_left_rt_detr_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1770883784.661965144] [resize_left_rt_detr_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name=ā/rgb/camera_infoā, data_format=ānitros_camera_infoā
[component_container_mt-1] [INFO] [1770883784.662304789] [resize_left_rt_detr_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1770883784.674659757] [resize_left_rt_detr_node]: [NitrosNode] Wrote the final top level YAML graph to ā/tmp/isaac_ros_nitros/graphs/WBNALGCKIZ/WBNALGCKIZ.yamlā
[component_container_mt-1] [INFO] [1770883784.676744311] [resize_left_rt_detr_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1770883784.681614817] [resize_left_rt_detr_node]: [ResizeNode] postLoadGraphCallback().
[component_container_mt-1] [INFO] [1770883784.682940915] [resize_left_rt_detr_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1770883784.703078614] [resize_left_viz]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1770883784.710418630] [resize_left_viz]: [NitrosPublisherSubscriberGroup] Pinning the component āimage_sink/sinkā (type=ānvidia::isaac_ros::MessageRelayā) to use its compatible format only: ānitros_image_rgb8ā
[component_container_mt-1] [INFO] [1770883784.733421354] [resize_left_viz]: [NitrosNode] Starting negotiationā¦
[component_container_mt-1] [INFO] [1770883784.736510344] [drop_node]: Negotiating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ā/resize_left_vizā in container ā/isaac_ros_examples/containerā
[component_container_mt-1] [INFO] [1770883784.739766021] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libfoundationpose_node.so
[component_container_mt-1] [INFO] [1770883784.749162302] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::foundationpose::FoundationPoseNode
[component_container_mt-1] [INFO] [1770883784.749827127] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::foundationpose::FoundationPoseNode
[component_container_mt-1] [INFO] [1770883784.749644729] [interleaved_to_planar_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1770883784.749922390] [interleaved_to_planar_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1770883784.749941013] [interleaved_to_planar_node]: [NitrosPublisher] Use the negotiated data format: ānitros_tensor_list_nchw_rgb_f32ā
[component_container_mt-1] [INFO] [1770883784.749959029] [interleaved_to_planar_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1770883784.749971445] [interleaved_to_planar_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name=ā/normalized_tensorā, data_format=ānitros_tensor_list_nhwc_rgb_f32ā
[component_container_mt-1] [INFO] [1770883784.750392848] [interleaved_to_planar_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1770883784.754744065] [resize_left_rt_detr_node]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1770883784.756265104] [interleaved_to_planar_node]: [NitrosNode] Wrote the final top level YAML graph to ā/tmp/isaac_ros_nitros/graphs/NVTGHKRJRX/NVTGHKRJRX.yamlā
[component_container_mt-1] [INFO] [1770883784.756341007] [interleaved_to_planar_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1770883784.757842591] [interleaved_to_planar_node]: In InterleavedToPlanarNode postLoadGraphCallback().
[component_container_mt-1] [INFO] [1770883784.757936190] [interleaved_to_planar_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1770883784.790824214] [reshape_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1770883784.790917909] [reshape_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1770883784.790935125] [reshape_node]: [NitrosPublisher] Use the negotiated data format: ānitros_tensor_list_nchw_rgb_f32ā
[component_container_mt-1] [INFO] [1770883784.790950228] [reshape_node]: [NitrosSubscriber] Use the negotiated data format: ānitros_tensor_list_nchw_rgb_f32ā
[component_container_mt-1] [INFO] [1770883784.791185490] [reshape_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1770883784.797602732] [reshape_node]: [NitrosNode] Wrote the final top level YAML graph to ā/tmp/isaac_ros_nitros/graphs/HFSBWQUABA/HFSBWQUABA.yamlā
[component_container_mt-1] [INFO] [1770883784.797702186] [reshape_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1770883784.803710857] [foundationpose_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1770883784.803716969] [interleaved_to_planar_node]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1770883784.806559562] [reshape_node]: In ReshapeNode postLoadGraphCallback().
[component_container_mt-1] [INFO] [1770883784.806705768] [reshape_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1770883784.808948879] [foundationpose_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1770883784.816936952] [foundationpose_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1770883784.860509467] [reshape_node]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1770883784.860707641] [foundationpose_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_depth_image_proc.so
[component_container_mt-1] [INFO] [1770883784.876014449] [foundationpose_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_sgm.so
[component_container_mt-1] [INFO] [1770883784.878479894] [foundationpose_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_messages.so
[component_container_mt-1] [INFO] [1770883784.880030629] [foundationpose_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_ros_messages.so
[component_container_mt-1] [INFO] [1770883784.880802525] [foundationpose_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_foundationpose.so
[component_container_mt-1] [INFO] [1770883784.890561074] [foundationpose_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1770883784.909652577] [foundationpose_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1770883784.926458185] [tensor_rt]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1770883784.926557000] [tensor_rt]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1770883784.926579016] [tensor_rt]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1770883784.926629991] [tensor_rt]: [NitrosPublisher] Use only the compatible publisher: topic_name=ā/tensor_subā, data_format=ānitros_tensor_list_nhwc_rgb_f32ā
[component_container_mt-1] [INFO] [1770883784.926657479] [tensor_rt]: [NitrosSubscriber] Use the negotiated data format: ānitros_tensor_list_nchw_rgb_f32ā
[component_container_mt-1] [INFO] [1770883784.926895588] [tensor_rt]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1770883784.935627813] [tensor_rt]: [NitrosNode] Wrote the final top level YAML graph to ā/tmp/isaac_ros_nitros/graphs/FVOSPITOEF/FVOSPITOEF.yamlā
[component_container_mt-1] [INFO] [1770883784.935764963] [tensor_rt]: [NitrosNode] Loading application
[component_container_mt-1] 2026-02-12 03:09:44.938 WARN external/com_nvidia_gxf/gxf/std/yaml_file_loader.cpp@1076: Using unregistered parameter ādev_idā in component āstreamā.
[component_container_mt-1] [INFO] [1770883784.939419003] [tensor_rt]: In TensorRTNode postLoadGraphCallback().
[component_container_mt-1] [INFO] [1770883785.138152663] [tensor_rt]: Read tensor shape information from TRT Model Engine: /workspaces/isaac_ros-dev/isaac_ros_assets/models/synthetica_detr/sdetr_grasp.plan
[component_container_mt-1] [INFO] [1770883785.138575858] [tensor_rt]: Tensors 4800 bytes, num outputs 40 x tensors per output 3 = 120 blocks
[component_container_mt-1] [INFO] [1770883785.138743440] [tensor_rt]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1770883785.141135094] [tensor_rt]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1770883785.358096103] [resize_mask_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1770883785.358252037] [resize_mask_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1770883785.358271621] [resize_mask_node]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1770883785.358286213] [resize_mask_node]: [NitrosPublisher] Use only the compatible publisher: topic_name=ā/segmentationā, data_format=ānitros_image_bgr8ā
[component_container_mt-1] [INFO] [1770883785.358355908] [resize_mask_node]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1770883785.358369700] [resize_mask_node]: [NitrosPublisher] Use only the compatible publisher: topic_name=ā/camera_info_segmentationā, data_format=ānitros_camera_infoā
[component_container_mt-1] [INFO] [1770883785.358379620] [resize_mask_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1770883785.358389124] [resize_mask_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name=ā/rt_detr_segmentationā, data_format=ānitros_image_bgr8ā
[component_container_mt-1] [INFO] [1770883785.358398468] [resize_mask_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1770883785.358405507] [resize_mask_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name=ā/camera_info_resizedā, data_format=ānitros_camera_infoā
[component_container_mt-1] [INFO] [1770883785.358641409] [resize_mask_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1770883785.373085794] [resize_mask_node]: [NitrosNode] Wrote the final top level YAML graph to ā/tmp/isaac_ros_nitros/graphs/VUTCSHZJWX/VUTCSHZJWX.yamlā
[component_container_mt-1] [INFO] [1770883785.374087831] [resize_mask_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1770883785.383198707] [resize_mask_node]: [ResizeNode] postLoadGraphCallback().
[component_container_mt-1] [INFO] [1770883785.384331655] [resize_mask_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1770883785.399444609] [resize_mask_node]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1770883785.736175854] [resize_left_viz]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1770883785.736346764] [resize_left_viz]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1770883785.736414091] [resize_left_viz]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1770883785.736469387] [resize_left_viz]: [NitrosPublisher] Use only the compatible publisher: topic_name=ā/rgb/image_rect_color_vizā, data_format=ānitros_image_rgb8ā
[component_container_mt-1] [INFO] [1770883785.736522826] [resize_left_viz]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1770883785.736566730] [resize_left_viz]: [NitrosPublisher] Use only the compatible publisher: topic_name=ā/rgb/camera_info_vizā, data_format=ānitros_camera_infoā
[component_container_mt-1] [INFO] [1770883785.736607753] [resize_left_viz]: [NitrosSubscriber] Use the negotiated data format: ānitros_image_rgb8ā
[component_container_mt-1] [INFO] [1770883785.736647081] [resize_left_viz]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1770883785.736674217] [resize_left_viz]: [NitrosSubscriber] Use the compatible subscriber: topic_name=ā/rgb/camera_infoā, data_format=ānitros_camera_infoā
[component_container_mt-1] [INFO] [1770883785.737211907] [resize_left_viz]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1770883785.752202558] [resize_left_viz]: [NitrosNode] Wrote the final top level YAML graph to ā/tmp/isaac_ros_nitros/graphs/WUSBAWVWUZ/WUSBAWVWUZ.yamlā
[component_container_mt-1] [INFO] [1770883785.752382556] [resize_left_viz]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1770883785.757631906] [resize_left_viz]: [ResizeNode] postLoadGraphCallback().
[component_container_mt-1] [INFO] [1770883785.758979860] [resize_left_viz]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1770883785.763674592] [resize_left_viz]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1770883785.905248077] [foundationpose_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1770883785.935540704] [foundationpose_node]: [NitrosNode] Starting negotiationā¦
[component_container_mt-1] [INFO] [1770883785.938344961] [drop_node]: Negotiating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ā/foundationpose_nodeā in container ā/isaac_ros_examples/containerā
[component_container_mt-1] [INFO] [1770883785.941456255] [resize_mask_node]: Negotiating
[component_container_mt-1] [INFO] [1770883785.942314166] [drop_node]: Negotiating
[component_container_mt-1] [INFO] [1770883785.942381845] [drop_node]: Could not negotiate
[component_container_mt-1] [INFO] [1770883785.943520297] [resize_left_rt_detr_node]: Negotiating
[component_container_mt-1] [INFO] [1770883785.943584488] [resize_left_rt_detr_node]: Could not negotiate
[component_container_mt-1] [INFO] [1770883785.944218305] [foundationpose_node]: Negotiating
[component_container_mt-1] [INFO] [1770883785.944259584] [foundationpose_node]: Could not negotiate
[component_container_mt-1] [INFO] [1770883785.944280064] [foundationpose_node]: Negotiating
[component_container_mt-1] [INFO] [1770883785.944350239] [foundationpose_node]: Could not negotiate
[component_container_mt-1] [INFO] [1770883786.938851921] [foundationpose_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1770883786.938949520] [foundationpose_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1770883786.938968560] [foundationpose_node]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1770883786.938981904] [foundationpose_node]: [NitrosPublisher] Use only the compatible publisher: topic_name=ā/outputā, data_format=ānitros_detection3_d_arrayā
[component_container_mt-1] [INFO] [1770883786.938991536] [foundationpose_node]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1770883786.938999472] [foundationpose_node]: [NitrosPublisher] Use only the compatible publisher: topic_name=ā/pose_estimation/pose_matrix_outputā, data_format=ānitros_tensor_list_nchwā
[component_container_mt-1] [INFO] [1770883786.939009936] [foundationpose_node]: [NitrosSubscriber] Use the negotiated data format: ānitros_image_rgb8ā
[component_container_mt-1] [INFO] [1770883786.939020016] [foundationpose_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1770883786.939028399] [foundationpose_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name=ā/rgb/camera_infoā, data_format=ānitros_camera_infoā
[component_container_mt-1] [INFO] [1770883786.939038351] [foundationpose_node]: [NitrosSubscriber] Use the negotiated data format: ānitros_image_mono8ā
[component_container_mt-1] [INFO] [1770883786.939070415] [foundationpose_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1770883786.939082223] [foundationpose_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name=ā/depth_imageā, data_format=ānitros_image_32FC1ā
[component_container_mt-1] [INFO] [1770883786.939319532] [foundationpose_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [WARN] [1770883787.560071807] [realsense2_camera]: re-enable the stream for the change to take effect.
[component_container_mt-1] [WARN] [1770883787.561930538] [realsense2_camera]: re-enable the stream for the change to take effect.
[component_container_mt-1] [WARN] [1770883788.416809006] [realsense2_camera]: re-enable the stream for the change to take effect.
[component_container_mt-1] [INFO] [1770883788.434581065] [realsense2_camera]: Stopping Sensor: Stereo Module
[component_container_mt-1] [INFO] [1770883788.607115726] [realsense2_camera]: Starting Sensor: Stereo Module
[component_container_mt-1] [INFO] [1770883788.727000124] [realsense2_camera]: Open profile: stream_type: Depth(0), Format: Z16, Width: 640, Height: 480, FPS: 15
[component_container_mt-1] [INFO] [1770883788.727332729] [realsense2_camera]: Stopping Sensor: RGB Camera
[component_container_mt-1] 12/02 03:09:48,729 WARNING [281469950028000] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-1] 12/02 03:09:48,740 WARNING [281469950028000] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-1] [INFO] [1770883788.752546625] [realsense2_camera]: Starting Sensor: RGB Camera
[component_container_mt-1] [INFO] [1770883788.773768277] [realsense2_camera]: Open profile: stream_type: Color(0), Format: RGB8, Width: 640, Height: 480, FPS: 15
[component_container_mt-1] [INFO] [1770883788.773930964] [realsense2_camera]: Stopping Sensor: Motion Module
[component_container_mt-1] 12/02 03:09:48,780 WARNING [281471497005280] (ds-calib-parsers.cpp:35) IMU Calibration is not available, default intrinsic and extrinsic will be used.
[component_container_mt-1] [INFO] [1770883788.787539005] [realsense2_camera]: Starting Sensor: Motion Module
[component_container_mt-1] [INFO] [1770883788.911484349] [realsense2_camera]: Open profile: stream_type: Accel(0)Format: MOTION_XYZ32F, FPS: 100
[component_container_mt-1] [INFO] [1770883788.911600732] [realsense2_camera]: Open profile: stream_type: Gyro(0)Format: MOTION_XYZ32F, FPS: 200
[component_container_mt-1] [WARN] [1770883788.940135488] [realsense2_camera]:
[component_container_mt-1] [INFO] [1770883788.943675192] [realsense2_camera]: RealSense Node Is Up!
[component_container_mt-1] 12/02 03:09:49,046 WARNING [281469950028000] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-1] 12/02 03:09:49,059 WARNING [281469950028000] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
I got the following result about D435i,
admin@ubuntu:/workspaces/isaac_ros-dev$ ls /dev/video*
/dev/video0 /dev/video1 /dev/video2 /dev/video3 /dev/video4 /dev/video5
admin@ubuntu:/workspaces/isaac_ros-dev$ ls /dev/iio:device*
ls: cannot access ā/dev/iio:device*ā: No such file or directory
admin@ubuntu:/workspaces/isaac_ros-dev$ ros2 launch realsense2_camera rs_launch.py
enable_imu:=false
[INFO] [launch]: All log files can be found below /home/admin/.ros/log/2026-02-12-03-20-45-257560-ubuntu-604775
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [realsense2_camera_node-1]: process started with pid [604776]
[realsense2_camera_node-1] [INFO] [1770884445.509928912] [camera.camera]: RealSense ROS v4.51.1
[realsense2_camera_node-1] [INFO] [1770884445.510106604] [camera.camera]: Built with LibRealSense v2.55.1
[realsense2_camera_node-1] [INFO] [1770884445.510134059] [camera.camera]: Running with LibRealSense v2.55.1
[realsense2_camera_node-1] [INFO] [1770884446.200079245] [camera.camera]: Device with serial number 317622073560 was found.
[realsense2_camera_node-1]
[realsense2_camera_node-1] [INFO] [1770884446.200224553] [camera.camera]: Device with physical ID 2-3.1-52 was found.
[realsense2_camera_node-1] [INFO] [1770884446.200254632] [camera.camera]: Device with name Intel RealSense D435I was found.
[realsense2_camera_node-1] [INFO] [1770884446.200635135] [camera.camera]: Device with port number 2-3.1 was found.
[realsense2_camera_node-1] [INFO] [1770884446.200669118] [camera.camera]: Device USB type: 3.2
[realsense2_camera_node-1] [INFO] [1770884446.203671220] [camera.camera]: getParametersā¦
[realsense2_camera_node-1] [INFO] [1770884446.204046923] [camera.camera]: JSON file is not provided
[realsense2_camera_node-1] [INFO] [1770884446.204081482] [camera.camera]: Device Name: Intel RealSense D435I
[realsense2_camera_node-1] [INFO] [1770884446.204107433] [camera.camera]: Device Serial No: 317622073560
[realsense2_camera_node-1] [INFO] [1770884446.204131240] [camera.camera]: Device physical port: 2-3.1-52
[realsense2_camera_node-1] [INFO] [1770884446.204146984] [camera.camera]: Device FW version: 5.17.0.10
[realsense2_camera_node-1] [INFO] [1770884446.204162120] [camera.camera]: Device Product ID: 0x0B3A
[realsense2_camera_node-1] [INFO] [1770884446.204176583] [camera.camera]: Sync Mode: Off
[realsense2_camera_node-1] [INFO] [1770884450.071160458] [camera.camera]: Set ROS param depth_module.profile to default: 848x480x30
[realsense2_camera_node-1] [INFO] [1770884450.883407381] [camera.camera]: Set ROS param rgb_camera.profile to default: 1280x720x30
[realsense2_camera_node-1] [INFO] [1770884450.884896784] [camera.camera]: Set ROS param gyro_fps to default: 200
[realsense2_camera_node-1] [INFO] [1770884450.885148202] [camera.camera]: Set ROS param accel_fps to default: 100
[realsense2_camera_node-1] [INFO] [1770884450.891230579] [camera.camera]: Stopping Sensor: Stereo Module
[realsense2_camera_node-1] [INFO] [1770884451.025391353] [camera.camera]: Starting Sensor: Stereo Module
[realsense2_camera_node-1] [INFO] [1770884451.131679695] [camera.camera]: Open profile: stream_type: Depth(0), Format: Z16, Width: 848, Height: 480, FPS: 30
[realsense2_camera_node-1] [INFO] [1770884451.131888618] [camera.camera]: Stopping Sensor: RGB Camera
[realsense2_camera_node-1] [INFO] [1770884451.137939412] [camera.camera]: Starting Sensor: RGB Camera
[realsense2_camera_node-1] 12/02 03:20:51,138 WARNING [281472015460576] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] [INFO] [1770884451.165750947] [camera.camera]: Open profile: stream_type: Color(0), Format: RGB8, Width: 1280, Height: 720, FPS: 30
[realsense2_camera_node-1] [INFO] [1770884451.168370722] [camera.camera]: RealSense Node Is Up!
[realsense2_camera_node-1] [WARN] [1770884451.250476560] [camera.camera]:
[realsense2_camera_node-1] 12/02 03:20:51,456 WARNING [281472015460576] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
It seems that the issue is related to the IMU.
admin@ubuntu:/workspaces/isaac_ros-dev$ ls /dev/video*
/dev/video0 /dev/video1 /dev/video2 /dev/video3 /dev/video4 /dev/video5
admin@ubuntu:/workspaces/isaac_ros-dev$ ls /dev/iio:device*
ls: cannot access ā/dev/iio:device*ā: No such file or directory
admin@ubuntu:/workspaces/isaac_ros-dev$ ros2 launch realsense2_camera rs_launch.py
enable_imu:=false
[INFO] [launch]: All log files can be found below /home/admin/.ros/log/2026-02-12-03-20-45-257560-ubuntu-604775
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [realsense2_camera_node-1]: process started with pid [604776]
[realsense2_camera_node-1] [INFO] [1770884445.509928912] [camera.camera]: RealSense ROS v4.51.1
[realsense2_camera_node-1] [INFO] [1770884445.510106604] [camera.camera]: Built with LibRealSense v2.55.1
[realsense2_camera_node-1] [INFO] [1770884445.510134059] [camera.camera]: Running with LibRealSense v2.55.1
[realsense2_camera_node-1] [INFO] [1770884446.200079245] [camera.camera]: Device with serial number 317622073560 was found.
[realsense2_camera_node-1]
[realsense2_camera_node-1] [INFO] [1770884446.200224553] [camera.camera]: Device with physical ID 2-3.1-52 was found.
[realsense2_camera_node-1] [INFO] [1770884446.200254632] [camera.camera]: Device with name Intel RealSense D435I was found.
[realsense2_camera_node-1] [INFO] [1770884446.200635135] [camera.camera]: Device with port number 2-3.1 was found.
[realsense2_camera_node-1] [INFO] [1770884446.200669118] [camera.camera]: Device USB type: 3.2
[realsense2_camera_node-1] [INFO] [1770884446.203671220] [camera.camera]: getParametersā¦
[realsense2_camera_node-1] [INFO] [1770884446.204046923] [camera.camera]: JSON file is not provided
[realsense2_camera_node-1] [INFO] [1770884446.204081482] [camera.camera]: Device Name: Intel RealSense D435I
[realsense2_camera_node-1] [INFO] [1770884446.204107433] [camera.camera]: Device Serial No: 317622073560
[realsense2_camera_node-1] [INFO] [1770884446.204131240] [camera.camera]: Device physical port: 2-3.1-52
[realsense2_camera_node-1] [INFO] [1770884446.204146984] [camera.camera]: Device FW version: 5.17.0.10
[realsense2_camera_node-1] [INFO] [1770884446.204162120] [camera.camera]: Device Product ID: 0x0B3A
[realsense2_camera_node-1] [INFO] [1770884446.204176583] [camera.camera]: Sync Mode: Off
[realsense2_camera_node-1] [INFO] [1770884450.071160458] [camera.camera]: Set ROS param depth_module.profile to default: 848x480x30
[realsense2_camera_node-1] [INFO] [1770884450.883407381] [camera.camera]: Set ROS param rgb_camera.profile to default: 1280x720x30
[realsense2_camera_node-1] [INFO] [1770884450.884896784] [camera.camera]: Set ROS param gyro_fps to default: 200
[realsense2_camera_node-1] [INFO] [1770884450.885148202] [camera.camera]: Set ROS param accel_fps to default: 100
[realsense2_camera_node-1] [INFO] [1770884450.891230579] [camera.camera]: Stopping Sensor: Stereo Module
[realsense2_camera_node-1] [INFO] [1770884451.025391353] [camera.camera]: Starting Sensor: Stereo Module
[realsense2_camera_node-1] [INFO] [1770884451.131679695] [camera.camera]: Open profile: stream_type: Depth(0), Format: Z16, Width: 848, Height: 480, FPS: 30
[realsense2_camera_node-1] [INFO] [1770884451.131888618] [camera.camera]: Stopping Sensor: RGB Camera
[realsense2_camera_node-1] [INFO] [1770884451.137939412] [camera.camera]: Starting Sensor: RGB Camera
[realsense2_camera_node-1] 12/02 03:20:51,138 WARNING [281472015460576] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] [INFO] [1770884451.165750947] [camera.camera]: Open profile: stream_type: Color(0), Format: RGB8, Width: 1280, Height: 720, FPS: 30
[realsense2_camera_node-1] [INFO] [1770884451.168370722] [camera.camera]: RealSense Node Is Up!
[realsense2_camera_node-1] [WARN] [1770884451.250476560] [camera.camera]:
[realsense2_camera_node-1] 12/02 03:20:51,456 WARNING [281472015460576] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
From your RealSense log it looks like youāre using the Isaac ROS 3.2 RealSense stack (realsense-ros 4.51.1 with librealsense 2.55.1). Correct me if Iām wrong.
I also see: text Device FW version: 5.17.0.10
For Isaac ROS 3.2, the officially supported combo is documented as:
-
RealSense firmware 5.13.0.50
-
librealsense 2.55.1
-
realsense-ros 4.51.1-isaac
Could you first try to install the same version of firmware?
You can verify the firmware on your system after installation with:
rs-enumerate-devices | grep -i "Firmware Version"
You are right. It is Isaac ROS 3.2. Inside the docker, I want to upgrade the camera firmware but got the following result:
admin@ubuntu:/workspaces/isaac_ros-dev/D400_Series_FW_5_13_0_50$ ls
Legal_Notices RealSense-D400-Series-Spec-Update.pdf Signed_Image_UVC_5_13_0_50.bin
admin@ubuntu:/workspaces/isaac_ros-dev/D400_Series_FW_5_13_0_50$ rs-fw-update -f Signed_Image_UVC_5_13_0_50.bin
Updating device FW:
[USB] Intel RealSense D435I s/n 317622073560, update serial number: 250143060435, firmware version: 5.17.0.10
25/02 00:34:48,361 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:48,372 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:48,384 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:48,396 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:48,407 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:48,419 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:48,431 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:48,442 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:48,454 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:48,466 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:48,478 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:48,490 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:48,502 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:48,514 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:48,526 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:48,538 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:48,550 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:48,562 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:48,574 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:48,586 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:48,598 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:48,610 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:48,622 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:48,634 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:48,646 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:48,658 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:48,670 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:48,682 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:48,694 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:48,706 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:48,718 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:48,730 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:48,742 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:48,754 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:48,766 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:48,778 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:48,790 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:48,802 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:48,814 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:48,826 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:48,838 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:48,850 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:48,862 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:48,874 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:48,886 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:48,898 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:48,910 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:48,922 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:48,934 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:48,946 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:48,958 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:48,970 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:48,982 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:48,994 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:49,006 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:49,018 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:49,030 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:49,042 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:49,054 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:49,066 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:49,078 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:49,090 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:49,102 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:49,114 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:49,126 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:49,138 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:49,150 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:49,162 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:49,174 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:49,186 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:49,198 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:49,210 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:49,222 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:49,234 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:49,246 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:49,258 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:49,270 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:49,282 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:49,294 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:49,306 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:49,318 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:49,330 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:49,342 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:49,354 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:49,366 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:49,378 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:49,390 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:49,402 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:49,414 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:49,426 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:49,438 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:49,450 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:49,462 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:49,474 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:49,486 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:49,498 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:49,510 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:49,522 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:49,534 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:49,546 WARNING [281473183303744] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Success, number: 0
25/02 00:34:49,631 WARNING [281473292761152] (ds-device-common.cpp:101) set_xu(ctrl=1) failed! Last Error: Resource temporarily unavailable
25/02 00:34:51,173 ERROR [281473276299328] (handle-libusb.h:53) failed to open usb interface: 0, error: RS2_USB_STATUS_NO_DEVICE
25/02 00:34:51,173 ERROR [281473276299328] (fw-update-device.cpp:138) access failed for 8086:adb uid: 2-3.1-55
25/02 00:34:51,173 ERROR [281473276299328] (rs.cpp:237) [rs2_create_device( info_list:0xffff84010440, index:0 ) UNKNOWN] access failed for 8086:adb uid: 2-3.1-55
25/02 00:34:51,173 ERROR [281473276299328] (rs.cpp:237) [rs2_delete_device( device:nullptr ) UNKNOWN] null pointer passed for argument ādeviceā
25/02 00:34:51,173 WARNING [281473276299328] (rs.cpp:373) null pointer passed for argument ādeviceā
25/02 00:34:51,173 ERROR [281473276299328] (rs.cpp:1210) Exception thrown from user callback handler: access failed for 8086:adb uid: 2-3.1-55
Failed to locate a device in FW update mode
admin@ubuntu:/workspaces/isaac_ros-dev/D400_Series_FW_5_13_0_50$ rs-enumerate-devices | grep -i āFirmware Versionā
Firmware Version : 5.17.0.10
Recommended Firmware Version : 5.16.0.1
I run the script cd ${ISAAC_ROS_WS}/src/isaac_ros_common &&
./scripts/run_dev.sh -d ${ISAAC_ROS_WS} in the Isaac ROS RealSense Setup ā isaac_ros_docs documentation and it automatically installed the Device FW version: 5.17.0.10
It seems that the Version of FW downgrade triggers verification failure
Hello @2287278570,
You need to do the FW update on the host, not inside Docker.
On the host (outside the Isaac ROS container):
sudo apt install librealsense2-utils # if not already
rs-enumerate-devices -s # confirm camera is seen
From Intelās firmware page, download the D435i image.
Then flash on HOST:
rs-fw-update -l # list devices
rs-fw-update -f Signed_Image_UVC_5_13_0_50.bin
After it finishes, reāplug the camera and verify on the host:
rs-enumerate-devices | grep "Firmware Version"
# should show: Firmware Version : 5.13.0.50
Yes. It is OK. I have already run the demo isaac_ros_foundationpose and get the screen. But how to get the result with a new object. I run the script ros2 launch isaac_ros_examples isaac_ros_examples.launch.py launch_fragments:=realsense_mono_rect_depth,foundationpose mesh_file_path:=${ISAAC_ROS_WS}/isaac_ros_assets/isaac_ros_foundationpose/bolt/boltorin.obj texture_path:=${ISAAC_ROS_WS}/isaac_ros_assets/isaac_ros_foundationpose/bolt/baked_mesh_tex0.png score_engine_file_path:=${ISAAC_ROS_WS}/isaac_ros_assets/models/foundationpose/score_trt_engine.plan refine_engine_file_path:=${ISAAC_ROS_WS}/isaac_ros_assets/models/foundationpose/refine_trt_engine.plan rt_detr_engine_file_path:=${ISAAC_ROS_WS}/isaac_ros_assets/models/synthetica_detr/sdetr_grasp.plan but got the wrong result like the following picture. It focused on the cup but not the right bolt. Maybe it is related to the result of synthetica_detr.
SyntheticaDETR is an exactāinstance detector trained on a fixed set of objects, so when you swap in a new bolt mesh without training a matching RTāDETR model, the detector still fires on the closest known object (your cup) and FoundationPose then estimates the bolt pose inside that cup box.
You could follow this documentation to create a 3D mesh for the object you want.
To get correct results on a new object, you need a detector model trained specifically for that bolt. Here is the reference for the model details.
I see āThe sdetr_grasp model used in this quickstart is only trained on a specific subset of objects. To run the quickstart with a live camera stream, you will need to procure and present one of the specific objects listed in the appendix of the SyntheticaDETR model card. ā in isaac_ros_rtdetr ā isaac_ros_docs documentation
You mean I need to retrain the model on the bolt datasets with .pt and transform it to .onnx and .engine format. So can I use the RTDETR model instead of SyntheticaDETR?
To keep the forum clean and easier to follow, please avoid reposting the same content and instead add any new details as a single followāup reply.
For the quickstart, that sentence just means: if you use the preātrained sdetr_grasp engine from NGC, you need to show the camera one of the exact objects listed in the SyntheticaDETR model card appendix. You donāt need to retrain as long as you use those objects.
If you want to detect a different object (like a different bolt), then yes, youād need a model that has been trained or fineātuned on that object (for example via TAO RTāDETR ā ONNX ā TensorRT).
The preātrained RTāDETR/SyntheticaDETR models are not trained on your specific bolt class, so simply switching models wonāt improve detection for that object unless you fineātune on a dataset that actually contains that type of bolt you want.
I give new issues in the above. Thank you very much.
From the log you shared confirms that the engineās output layout may not be what Isaac ROS expects:
[tensor_rt]: Read tensor shape information from TRT Model Engine: .../model.plan
[tensor_rt]: Tensors 4800 bytes, num outputs 40 x tensors per output 3 = 120 blocks
That ā3 outputsā and the way TensorRT reports them is not how the stock Synthetica RT-DETR engine looks. The rtdetr_decoder node is still assuming the Synthetica/TAO layout and it parses the wrong bindings / shapes, so: either it interprets non-class tensors as scores (near-zero ā filtered out), or it sees mismatched dims and silently bails / outputs an empty detection array
The upstream RT-DETR repo you used does not guarantee exactly the same ONNX interface as the TAO RT-DETR model that Isaac ROS was built and tested against. Common mismatches:
-
Different number of output tensors (e.g. 3 outputs instead of 2)
-
Different order of outputs (boxes first vs scores first, or auxiliary outputs first)
-
Different shapes (e.g.
[B, num_queries, 4 + num_classes]fused vs āboxes + scoresā split) -
Different class count (
1class for bolt vs 80/other in the reference model)
You could reference the Official TAO RTāDETR documentation (expected data / export interface) to adjust them accordingly.
You could also have a quick check to see if any detections are being published at all
ros2 topic list | grep -i det
ros2 topic echo <rtdetr_detections_topic_name>
If that topic exists but is always empty, the problem is squarely in the decoder/model interface.
-
Check decoder parameters
In the
rtdetr_decodernode, verify (via launch file orros2 param get) that:-
num_classes(or equivalent parameter) is set to 1 (you only have āboltā). -
The `label_path` / `label_file` points to a text file with *one line*:
bolt
If the model actually outputs 1 class but the decoder assumes 80, it may try to index beyond the last dimension or treat everything as background.
-
-
Inspect the ONNX outputs, on your machine, run:
# For your bolt ONNX /usr/src/tensorrt/bin/trtexec --onnx=/path/to/your/bolt/model.onnx --dumpShapes --verbose
By the way, how I can reproduce the results of video in Figure 3 in the link Making Industrial Robots More Nimble With NVIDIA Isaac Manipulator and Vention MachineMotion AI | NVIDIA Technical Blog, can you tell me how to combine the Foundationpose, FoundationStereo, nvblox and CuMotion to do the robotic grasp?