isaac_ros_map_localization
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NVIDIA-ISAAC-ROS
Node crashes when setting lower minimum FOV
I am attempting to use this package by way of using a ZEDx stereo camera with the depthimage-to-laserscan package to obtain a LaserScan which is then used by this package (with laserscan_to_flatscan_node). When setting min_scan_fov_degrees to anything below the default 270.0, I get the following error.
[component_container_mt-2] 2024-04-13 15:50:51.705 ERROR extensions/localization/flatscan_localization/grid_search_localizer.cpp@568: Global localization failed to find a valid sample
[component_container_mt-2] 2024-04-13 15:50:51.705 ERROR gxf/std/entity_executor.cpp@529: Failed to tick codelet grid_search_localizer in entity: QSKPDRWWKJ_global_localization code: GXF_FAILURE
[component_container_mt-2] 2024-04-13 15:50:51.749 WARN gxf/std/greedy_scheduler.cpp@250: Error while executing entity 37 named 'QSKPDRWWKJ_global_localization': GXF_FAILURE
[component_container_mt-2] 2024-04-13 15:50:52.121 ERROR gxf/std/entity_executor.cpp@210: Entity with eid 52 not found!
[component_container_mt-2] [WARN] [1713037852.121822048] [occupancy_grid_localizer]: [NitrosNode] The heartbeat entity (eid=52) was stopped. The graph may have been terminated.
[component_container_mt-2] [INFO] [1713037852.169526339] [occupancy_grid_localizer]: [NitrosNode] Terminating the running application
[component_container_mt-2] [INFO] [1713037852.169571651] [occupancy_grid_localizer]: [NitrosContext] Interrupting GXF...
[component_container_mt-2] [INFO] [1713037852.169626531] [occupancy_grid_localizer]: [NitrosContext] Waiting on GXF...
[component_container_mt-2] 2024-04-13 15:50:52.169 ERROR gxf/std/program.cpp@556: wait failed. Deactivating...
[component_container_mt-2] |==================================================================================================================================================================|
[component_container_mt-2] | Job Statistics Report (regular) |
[component_container_mt-2] |==================================================================================================================================================================|
[component_container_mt-2] | Name | Count | Time (Median - 90% - Max) [ms] | Load (%) | Exec(ms) | Variation (Median - 90% - Max) [ns] |
[component_container_mt-2] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-2] | QSKPDRWWKJ_sink | 0 | 0.00 | 0.00 | 0.00 | 100.0 % | 0.0 | 0 | 0 | 0 |
[component_container_mt-2] | QSKPDRWWKJ_flatscan_beams_tensor_copier | 1 | 0.36 | 0.36 | 0.36 | 100.0 % | 0.4 | 0 | 0 | 0 |
[component_container_mt-2] | QSKPDRWWKJ_broadcaster | 1 | 0.05 | 0.05 | 0.05 | 100.0 % | 0.0 | 0 | 0 | 0 |
[component_container_mt-2] | QSKPDRWWKJ_global_localization | 0 | 0.00 | 0.00 | 0.00 | 100.0 % | 0.0 | 0 | 0 | 0 |
[component_container_mt-2] | QSKPDRWWKJ_localization_to_pose3d | 0 | 0.00 | 0.00 | 0.00 | 100.0 % | 0.0 | 0 | 0 | 0 |
[component_container_mt-2] |==================================================================================================================================================================|
[component_container_mt-2] |==================================================================================================================================================================|
[component_container_mt-2] | Entity Statistics Report (regular) |
[component_container_mt-2] |==================================================================================================================================================================|
[component_container_mt-2] | Entity Name | Entity State | Count | Time (Median - 90% - Max) [ms] |
[component_container_mt-2] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-2] | QSKPDRWWKJ_sink | StopPending | 1 | 0.00406 | 0.00406 | 0.00406 |
[component_container_mt-2] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-2] | QSKPDRWWKJ_flatscan_bea | StopPending | 1 | 0.02176 | 0.02176 | 0.02176 |
[component_container_mt-2] | QSKPDRWWKJ_flatscan_bea | Idle | 1 | 298.86599 | 298.86599 | 298.86599 |
[component_container_mt-2] | QSKPDRWWKJ_flatscan_bea | Ticking | 1 | 0.28112 | 0.28112 | 0.28112 |
[component_container_mt-2] | QSKPDRWWKJ_flatscan_bea | Pending | 1 | 0.04198 | 0.04198 | 0.04198 |
[component_container_mt-2] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-2] | QSKPDRWWKJ_broadcaster | StopPending | 1 | 0.00534 | 0.00534 | 0.00534 |
[component_container_mt-2] 2024-04-13 15:50:52.223 ERROR gxf/core/runtime.cpp@1408: Graph wait failed with error: GXF_FAILURE
[component_container_mt-2] [ERROR] [1713037852.223302498] [occupancy_grid_localizer]: [NitrosContext] GxfGraphWait Error: GXF_FAILURE
[component_container_mt-2] [INFO] [1713037852.223317506] [occupancy_grid_localizer]: [NitrosNode] Application termination done
[component_container_mt-2] | QSKPDRWWKJ_broadcaster | Idle | 1 | 298.79629 | 298.79629 | 298.79629 |
[component_container_mt-2] | QSKPDRWWKJ_broadcaster | Ticking | 1 | 0.03360 | 0.03360 | 0.03360 |
[component_container_mt-2] | QSKPDRWWKJ_broadcaster | Pending | 1 | 0.00838 | 0.00838 | 0.00838 |
[component_container_mt-2] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-2] | QSKPDRWWKJ_global_local | StopPending | 1 | 44.07559 | 44.07559 | 44.07559 |
[component_container_mt-2] | QSKPDRWWKJ_global_local | Ticking | 1 | 254.60102 | 254.60102 | 254.60102 |
[component_container_mt-2] | QSKPDRWWKJ_global_local | Pending | 1 | 0.00682 | 0.00682 | 0.00682 |
[component_container_mt-2] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-2] | QSKPDRWWKJ_localization | StopPending | 1 | 0.00934 | 0.00934 | 0.00934 |
[component_container_mt-2] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-2] |==================================================================================================================================================================|
[component_container_mt-2] 2024-04-13 15:50:52.266 WARN external/com_nvidia_isaac_engine/engine/core/allocator/cached_allocator.cpp@132: Potentially lost 158460 bytes of memory (allocated total: 285228)
[INFO] [component_container_mt-2]: process has finished cleanly [pid 76333]
Hi Dave, Thanks for reporting this issue, do you see this printout when you set min_scan_fov_degrees to below 270?
GXF_LOG_ERROR(
"Got a scan that has FOV %f smaller than threshold %f, maybe scanner is covered? ignoring "
"this scan",
scan_fov_degree, min_scan_fov_degrees_.get());
The actual issue seems related to the global localization search failed to find a valid sample that are within the tolerance of what it expected, probably due to the quality of the flatscan from a depth image being too noisy. I would try to set max_beam_error to a higher value see if that would help. I would also suggest you upload a small ros bag that just contains the flatscan and it's corresponding map so we can better debug this issue.
