isaac_ros_pose_estimation
isaac_ros_pose_estimation copied to clipboard
NVIDIA-ISAAC-ROS
No valid value in mask for Isaac ROS Foundation Pose
Hello, Thanks for your work. I am trying to test the Isaac ros foundation model. There are 2 things that I tried:
Pose Estimation (Everything inside the docker container)
- Launched the foundation pose and rtdetr node:
admin@arghya:/workspaces/isaac_ros-dev$ ros2 launch isaac_ros_examples isaac_ros_examples.launch.py launch_fragments:=foundationpose,rtdetr interface_specs_file:=$(pwd)/isaac_ros_assets/isaac_ros_foundationpose/quickstart_interface_specs.json mesh_file_path:=$(pwd)/isaac_ros_assets/isaac_ros_foundationpose/Mustard/textured_simple.obj texture_path:=$(pwd)/isaac_ros_assets/isaac_ros_foundationpose/Mustard/texture_map.png score_engine_file_path:=$(pwd)/isaac_ros_assets/models/foundationpose/score_trt_engine.plan refine_engine_file_path:=$(pwd)/isaac_ros_assets/models/foundationpose/refine_trt_engine.plan rt_detr_engine_file_path:=$(pwd)/isaac_ros_assets/models/synthetica_detr/sdetr_grasp.plan
- Launched the rviz2 node:
admin@arghya:/workspaces/isaac_ros-dev$ rviz2 -d $(ros2 pkg prefix isaac_ros_foundationpose --share)/rviz/foundationpose.rviz
- Launched the rosbag node:
admin@arghya:/workspaces/isaac_ros-dev$ ros2 bag play -l $(pwd)/isaac_ros_assets/isaac_ros_foundationpose/quickstart.bag/
Here is the error that I am getting for foundation pose estimation:
admin@arghya:/workspaces/isaac_ros-dev$ ros2 launch isaac_ros_examples isaac_ros_examples.launch.py launch_fragments:=foundationpose,rtdetr interface_specs_file:=$(pwd)/isaac_ros_assets/isaac_ros_foundationpose/quickstart_interface_specs.json mesh_file_path:=$(pwd)/isaac_ros_assets/isaac_ros_foundationpose/Mustard/textured_simple.obj texture_path:=$(pwd)/isaac_ros_assets/isaac_ros_foundationpose/Mustard/texture_map.png score_engine_file_path:=$(pwd)/isaac_ros_assets/models/foundationpose/score_trt_engine.plan refine_engine_file_path:=$(pwd)/isaac_ros_assets/models/foundationpose/refine_trt_engine.plan rt_detr_engine_file_path:=$(pwd)/isaac_ros_assets/models/synthetica_detr/sdetr_grasp.plan
[INFO] [launch]: All log files can be found below /home/admin/.ros/log/2025-04-08-16-07-26-643138-arghya-30126
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container_mt-1]: process started with pid [30138]
[component_container_mt-1] [INFO] [1744146446.953759786] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libisaac_ros_nitros_camera_drop_node.so
[component_container_mt-1] [INFO] [1744146446.976656871] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::nitros::NitrosCameraDropNode>
[component_container_mt-1] [INFO] [1744146446.976717868] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::nitros::NitrosCameraDropNode>
[component_container_mt-1] [INFO] [1744146446.990579565] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/std/libgxf_std.so
[component_container_mt-1] [INFO] [1744146446.991323134] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_gxf_helpers.so
[component_container_mt-1] [INFO] [1744146446.992872320] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_sight.so
[component_container_mt-1] [INFO] [1744146446.994461891] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_atlas.so
[component_container_mt-1] 2025-04-08 16:07:26.998 WARN gxf/std/program.cpp@538: No GXF scheduler specified.
[component_container_mt-1] [INFO] [1744146446.998868770] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/multimedia/libgxf_multimedia.so
[component_container_mt-1] [INFO] [1744146447.001353528] [drop_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1744146447.001950345] [drop_node.ManagedNitrosPublisher]: Starting Managed Nitros Publisher
[component_container_mt-1] [INFO] [1744146447.002376374] [drop_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1744146447.002647631] [drop_node.ManagedNitrosPublisher]: Starting Managed Nitros Publisher
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/drop_node' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1744146447.004007664] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libresize_node.so
[component_container_mt-1] [INFO] [1744146447.004982309] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::ResizeNode>
[component_container_mt-1] [INFO] [1744146447.004994451] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::ResizeNode>
[component_container_mt-1] [INFO] [1744146447.006611462] [resize_left_rt_detr_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1744146447.006826149] [resize_left_rt_detr_node]: [ResizeNode] Set output data format to: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1744146447.006866879] [resize_left_rt_detr_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1744146447.012124858] [resize_left_rt_detr_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1744146447.012203092] [resize_left_rt_detr_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_message_compositor.so
[component_container_mt-1] [INFO] [1744146447.012480922] [resize_left_rt_detr_node]: [NitrosContext] Loading extension: gxf/lib/cuda/libgxf_cuda.so
[component_container_mt-1] [INFO] [1744146447.013853665] [resize_left_rt_detr_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_tensorops.so
[component_container_mt-1] [INFO] [1744146447.016005348] [resize_left_rt_detr_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1744146447.017948969] [resize_left_rt_detr_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1744146447.113844846] [resize_left_rt_detr_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1744146447.115492783] [resize_left_rt_detr_node]: [NitrosPublisherSubscriberGroup] Pinning the component "image_sink/sink" (type="nvidia::isaac_ros::MessageRelay") to use its compatible format only: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1744146447.118559915] [resize_left_rt_detr_node]: [NitrosNode] Starting negotiation...
[component_container_mt-1] [INFO] [1744146447.118823119] [drop_node]: Negotiating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/resize_left_rt_detr_node' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1744146447.120071810] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libpad_node.so
[component_container_mt-1] [INFO] [1744146447.153992703] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::PadNode>
[component_container_mt-1] [INFO] [1744146447.154064337] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::PadNode>
[component_container_mt-1] [INFO] [1744146447.156760964] [pad_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1744146447.156816738] [resize_left_rt_detr_node]: Negotiating
[component_container_mt-1] [INFO] [1744146447.156835206] [drop_node]: Negotiating
[component_container_mt-1] [INFO] [1744146447.156838841] [resize_left_rt_detr_node]: Could not negotiate
[component_container_mt-1] [INFO] [1744146447.157161873] [pad_node.ManagedNitrosPublisher]: Starting Managed Nitros Publisher
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/pad_node' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1744146447.158258769] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libimage_to_tensor_node.so
[component_container_mt-1] [INFO] [1744146447.162442315] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::ImageToTensorNode>
[component_container_mt-1] [INFO] [1744146447.162463506] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::ImageToTensorNode>
[component_container_mt-1] [INFO] [1744146447.164730831] [image_to_tensor_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1744146447.164771531] [pad_node]: Negotiating
[component_container_mt-1] [INFO] [1744146447.165400600] [image_to_tensor_node.ManagedNitrosPublisher]: Starting Managed Nitros Publisher
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/image_to_tensor_node' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1744146447.166381235] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libinterleaved_to_planar_node.so
[component_container_mt-1] [INFO] [1744146447.167026290] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::InterleavedToPlanarNode>
[component_container_mt-1] [INFO] [1744146447.167034907] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::InterleavedToPlanarNode>
[component_container_mt-1] [INFO] [1744146447.168599881] [interleaved_to_planar_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1744146447.168860636] [interleaved_to_planar_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1744146447.171566073] [interleaved_to_planar_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1744146447.171651651] [interleaved_to_planar_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1744146447.172380047] [interleaved_to_planar_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1744146447.174845516] [interleaved_to_planar_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1744146447.176273117] [interleaved_to_planar_node]: [NitrosNode] Starting negotiation...
[component_container_mt-1] [INFO] [1744146447.176474153] [image_to_tensor_node]: Negotiating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/interleaved_to_planar_node' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1744146447.176491711] [image_to_tensor_node]: Could not negotiate
[component_container_mt-1] [INFO] [1744146447.177475334] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libreshape_node.so
[component_container_mt-1] [INFO] [1744146447.178385067] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::ReshapeNode>
[component_container_mt-1] [INFO] [1744146447.178401046] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::ReshapeNode>
[component_container_mt-1] [INFO] [1744146447.180396042] [reshape_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1744146447.180725178] [reshape_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1744146447.183435828] [reshape_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1744146447.183519199] [reshape_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1744146447.184243727] [reshape_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1744146447.186781904] [reshape_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1744146447.188013461] [reshape_node]: [NitrosNode] Starting negotiation...
[component_container_mt-1] [INFO] [1744146447.188224095] [interleaved_to_planar_node]: Negotiating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/reshape_node' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1744146447.188339693] [image_to_tensor_node]: Negotiating
[component_container_mt-1] [INFO] [1744146447.188369804] [image_to_tensor_node]: Could not negotiate
[component_container_mt-1] [INFO] [1744146447.189252719] [isaac_ros_examples.container]: Load Library: /workspaces/isaac_ros-dev/install/isaac_ros_rtdetr/lib/librtdetr_preprocessor_node.so
[component_container_mt-1] [INFO] [1744146447.190692335] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::rtdetr::RtDetrPreprocessorNode>
[component_container_mt-1] [INFO] [1744146447.190712792] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::rtdetr::RtDetrPreprocessorNode>
[component_container_mt-1] [INFO] [1744146447.193961113] [rtdetr_preprocessor.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1744146447.194007466] [reshape_node]: Negotiating
[component_container_mt-1] [INFO] [1744146447.194101690] [interleaved_to_planar_node]: Negotiating
[component_container_mt-1] [INFO] [1744146447.194131755] [image_to_tensor_node]: Negotiating
[component_container_mt-1] [INFO] [1744146447.194179751] [image_to_tensor_node]: Could not negotiate
[component_container_mt-1] [INFO] [1744146447.194403206] [rtdetr_preprocessor.ManagedNitrosPublisher]: Starting Managed Nitros Publisher
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/rtdetr_preprocessor' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1744146447.195677112] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libtensor_rt_node.so
[component_container_mt-1] [INFO] [1744146447.208014352] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::TensorRTNode>
[component_container_mt-1] [INFO] [1744146447.208058621] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::TensorRTNode>
[component_container_mt-1] [INFO] [1744146447.210617105] [tensor_rt]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1744146447.211098216] [tensor_rt]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1744146447.213137041] [tensor_rt]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1744146447.213212553] [tensor_rt]: [NitrosContext] Loading extension: gxf/lib/serialization/libgxf_serialization.so
[component_container_mt-1] [INFO] [1744146447.213633555] [tensor_rt]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_tensor_rt.so
[component_container_mt-1] [INFO] [1744146447.213964929] [tensor_rt]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1744146447.214802383] [tensor_rt]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1744146447.223056243] [tensor_rt]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1744146447.223735784] [tensor_rt]: [NitrosPublisherSubscriberGroup] Pinning the component "inference/rx" (type="nvidia::gxf::DoubleBufferReceiver") to use its compatible format only: "nitros_tensor_list_nchw_rgb_f32"
[component_container_mt-1] [INFO] [1744146447.223745741] [tensor_rt]: [NitrosPublisherSubscriberGroup] Pinning the component "sink/sink" (type="nvidia::isaac_ros::MessageRelay") to use its compatible format only: "nitros_tensor_list_nhwc_rgb_f32"
[component_container_mt-1] [INFO] [1744146447.225075101] [tensor_rt]: [NitrosNode] Starting negotiation...
[component_container_mt-1] [INFO] [1744146447.225334536] [rtdetr_preprocessor]: Negotiating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/tensor_rt' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1744146447.226442352] [isaac_ros_examples.container]: Load Library: /workspaces/isaac_ros-dev/install/isaac_ros_rtdetr/lib/librtdetr_decoder_node.so
[component_container_mt-1] [INFO] [1744146447.227509780] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::rtdetr::RtDetrDecoderNode>
[component_container_mt-1] [INFO] [1744146447.227520636] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::rtdetr::RtDetrDecoderNode>
[component_container_mt-1] [INFO] [1744146447.230193328] [rtdetr_decoder.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1744146447.230222677] [tensor_rt]: Negotiating
[component_container_mt-1] [INFO] [1744146447.230239945] [tensor_rt]: Could not negotiate
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/rtdetr_decoder' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1744146447.232135743] [isaac_ros_examples.container]: Load Library: /workspaces/isaac_ros-dev/install/isaac_ros_foundationpose/lib/libdetection2_d_array_filter.so
[component_container_mt-1] [INFO] [1744146447.232693427] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::foundationpose::Detection2DArrayFilter>
[component_container_mt-1] [INFO] [1744146447.232702737] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::foundationpose::Detection2DArrayFilter>
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/detection2_d_array_filter' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1744146447.236450728] [isaac_ros_examples.container]: Load Library: /workspaces/isaac_ros-dev/install/isaac_ros_foundationpose/lib/libdetection2_d_to_mask.so
[component_container_mt-1] [INFO] [1744146447.306353582] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::foundationpose::Detection2DToMask>
[component_container_mt-1] [INFO] [1744146447.306403688] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::foundationpose::Detection2DToMask>
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/detection2_d_to_mask' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1744146447.313618884] [detection2_d_to_mask]: Mask Height: 480, Mask Width: 640
[component_container_mt-1] [INFO] [1744146447.315677532] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::ResizeNode>
[component_container_mt-1] [INFO] [1744146447.315741951] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::ResizeNode>
[component_container_mt-1] [INFO] [1744146447.323703030] [resize_mask_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1744146447.324233200] [resize_mask_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1744146447.338533626] [resize_mask_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1744146447.338734822] [resize_mask_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1744146447.341331677] [resize_mask_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1744146447.436255616] [resize_mask_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1744146447.439981353] [resize_mask_node]: [NitrosNode] Starting negotiation...
[component_container_mt-1] [INFO] [1744146447.440341586] [resize_left_rt_detr_node]: Negotiating
[component_container_mt-1] [INFO] [1744146447.440372616] [resize_left_rt_detr_node]: Could not negotiate
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/resize_mask_node' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1744146447.441680085] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::ResizeNode>
[component_container_mt-1] [INFO] [1744146447.441692808] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::ResizeNode>
[component_container_mt-1] [INFO] [1744146447.444332600] [resize_left_viz]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1744146447.444715455] [resize_left_viz]: [ResizeNode] Set output data format to: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1744146447.444749859] [resize_left_viz]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1744146447.450066798] [resize_left_viz]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1744146447.450180073] [resize_left_viz]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1744146447.451871310] [resize_left_viz]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1744146447.545088481] [resize_left_viz]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1744146447.546635818] [resize_left_viz]: [NitrosPublisherSubscriberGroup] Pinning the component "image_sink/sink" (type="nvidia::isaac_ros::MessageRelay") to use its compatible format only: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1744146447.550481355] [resize_left_viz]: [NitrosNode] Starting negotiation...
[component_container_mt-1] [INFO] [1744146447.550888467] [drop_node]: Negotiating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/resize_left_viz' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1744146447.552572144] [isaac_ros_examples.container]: Load Library: /workspaces/isaac_ros-dev/install/isaac_ros_foundationpose/lib/libfoundationpose_node.so
[component_container_mt-1] [INFO] [1744146447.555825707] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::foundationpose::FoundationPoseNode>
[component_container_mt-1] [INFO] [1744146447.555848686] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::foundationpose::FoundationPoseNode>
[component_container_mt-1] [INFO] [1744146447.558560515] [foundationpose_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1744146447.559537630] [foundationpose_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1744146447.562328769] [foundationpose_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1744146447.562440529] [foundationpose_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_depth_image_proc.so
[component_container_mt-1] [INFO] [1744146447.566400224] [foundationpose_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_sgm.so
[component_container_mt-1] [INFO] [1744146447.566744263] [foundationpose_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_messages.so
[component_container_mt-1] [INFO] [1744146447.567095206] [foundationpose_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_ros_messages.so
[component_container_mt-1] [INFO] [1744146447.567312772] [foundationpose_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_foundationpose.so
[component_container_mt-1] [INFO] [1744146447.570664424] [foundationpose_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1744146447.578797681] [foundationpose_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1744146447.927409027] [foundationpose_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1744146447.934406001] [foundationpose_node]: [NitrosNode] Starting negotiation...
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/foundationpose_node' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1744146447.934842785] [drop_node]: Negotiating
[component_container_mt-1] [INFO] [1744146447.934893143] [resize_mask_node]: Negotiating
[component_container_mt-1] [INFO] [1744146447.935116835] [resize_left_rt_detr_node]: Negotiating
[component_container_mt-1] [INFO] [1744146447.935137697] [resize_left_rt_detr_node]: Could not negotiate
[component_container_mt-1] [INFO] [1744146447.935275102] [drop_node]: Negotiating
[component_container_mt-1] [INFO] [1744146447.935289150] [drop_node]: Could not negotiate
[component_container_mt-1] [INFO] [1744146447.935275390] [foundationpose_node]: Negotiating
[component_container_mt-1] [INFO] [1744146447.935310382] [foundationpose_node]: Could not negotiate
[component_container_mt-1] [INFO] [1744146447.935315653] [foundationpose_node]: Negotiating
[component_container_mt-1] [INFO] [1744146447.935318602] [foundationpose_node]: Could not negotiate
[component_container_mt-1] [INFO] [1744146447.936625874] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::ResizeNode>
[component_container_mt-1] [INFO] [1744146447.936636708] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::ResizeNode>
[component_container_mt-1] [INFO] [1744146447.939622133] [resize_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1744146447.940144392] [resize_node]: [ResizeNode] Set output data format to: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1744146447.940184213] [resize_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1744146447.947786100] [resize_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1744146447.948056527] [resize_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1744146447.950002771] [resize_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1744146448.049073854] [resize_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1744146448.050881360] [resize_node]: [NitrosPublisherSubscriberGroup] Pinning the component "image_sink/sink" (type="nvidia::isaac_ros::MessageRelay") to use its compatible format only: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1744146448.055190338] [resize_node]: [NitrosNode] Starting negotiation...
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/resize_node' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1744146448.056710970] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::PadNode>
[component_container_mt-1] [INFO] [1744146448.056753483] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::PadNode>
[component_container_mt-1] [WARN] [1744146448.056878316] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[component_container_mt-1] [INFO] [1744146448.060303599] [pad_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1744146448.060603023] [resize_node]: Negotiating
[component_container_mt-1] [INFO] [1744146448.061021410] [pad_node.ManagedNitrosPublisher]: Starting Managed Nitros Publisher
[WARNING] [/isaac_ros_examples/container]: there are now at least 2 nodes with the name /pad_node created within this launch context
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/pad_node' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1744146448.062635923] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libimage_format_converter_node.so
[component_container_mt-1] [INFO] [1744146448.063572580] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::ImageFormatConverterNode>
[component_container_mt-1] [INFO] [1744146448.063591340] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::ImageFormatConverterNode>
[component_container_mt-1] [INFO] [1744146448.066738564] [image_format_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1744146448.067223779] [image_format_node]: [ImageFormatConverterNode] Set output data format to: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1744146448.067270850] [image_format_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1744146448.072413208] [image_format_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1744146448.072513500] [image_format_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1744146448.073307803] [image_format_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1744146448.102774858] [image_format_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1744146448.106430678] [image_format_node]: [NitrosPublisherSubscriberGroup] Pinning the component "sink/sink" (type="nvidia::isaac_ros::MessageRelay") to use its compatible format only: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1744146448.107992277] [image_format_node]: [NitrosNode] Starting negotiation...
[component_container_mt-1] [INFO] [1744146448.108354199] [pad_node]: Negotiating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/image_format_node' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1744146448.108367749] [pad_node]: Negotiating
[component_container_mt-1] [INFO] [1744146448.109661847] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::ImageToTensorNode>
[component_container_mt-1] [INFO] [1744146448.109688741] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::ImageToTensorNode>
[component_container_mt-1] [WARN] [1744146448.109795658] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[component_container_mt-1] [INFO] [1744146448.113306865] [image_to_tensor_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1744146448.113562274] [image_format_node]: Negotiating
[component_container_mt-1] [INFO] [1744146448.113749066] [pad_node]: Negotiating
[component_container_mt-1] [INFO] [1744146448.113770357] [pad_node]: Negotiating
[component_container_mt-1] [INFO] [1744146448.114106557] [image_to_tensor_node.ManagedNitrosPublisher]: Starting Managed Nitros Publisher
[WARNING] [/isaac_ros_examples/container]: there are now at least 2 nodes with the name /image_to_tensor_node created within this launch context
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/image_to_tensor_node' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1744146448.115764103] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::InterleavedToPlanarNode>
[component_container_mt-1] [INFO] [1744146448.115785471] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::InterleavedToPlanarNode>
[component_container_mt-1] [WARN] [1744146448.115852274] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[component_container_mt-1] [INFO] [1744146448.118601907] [interleaved_to_planar_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1744146448.118902159] [resize_left_rt_detr_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1744146448.118916243] [resize_left_rt_detr_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1744146448.118924989] [resize_left_rt_detr_node]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1744146448.118929556] [resize_left_rt_detr_node]: [NitrosPublisher] Use only the compatible publisher: topic_name="/color_image_resized", data_format="nitros_image_rgb8"
[component_container_mt-1] [INFO] [1744146448.118934138] [resize_left_rt_detr_node]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1744146448.118937277] [resize_left_rt_detr_node]: [NitrosPublisher] Use only the compatible publisher: topic_name="/camera_info_resized", data_format="nitros_camera_info"
[component_container_mt-1] [INFO] [1744146448.118941295] [resize_left_rt_detr_node]: [NitrosSubscriber] Use the negotiated data format: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1744146448.118946060] [resize_left_rt_detr_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1744146448.118948630] [resize_left_rt_detr_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/rgb/camera_info", data_format="nitros_camera_info"
[component_container_mt-1] [INFO] [1744146448.119023207] [interleaved_to_planar_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1744146448.119084731] [resize_left_rt_detr_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1744146448.121836140] [interleaved_to_planar_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1744146448.121939291] [interleaved_to_planar_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1744146448.122799255] [interleaved_to_planar_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1744146448.124019675] [resize_left_rt_detr_node]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/LTWLGRHKNZ/LTWLGRHKNZ.yaml"
[component_container_mt-1] [INFO] [1744146448.124052146] [resize_left_rt_detr_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1744146448.125176226] [interleaved_to_planar_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1744146448.125696417] [resize_left_rt_detr_node]: [ResizeNode] postLoadGraphCallback().
[component_container_mt-1] [INFO] [1744146448.125745601] [resize_left_rt_detr_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1744146448.127087371] [interleaved_to_planar_node]: [NitrosNode] Starting negotiation...
[WARNING] [/isaac_ros_examples/container]: there are now at least 2 nodes with the name /interleaved_to_planar_node created within this launch context
[component_container_mt-1] [INFO] [1744146448.127528147] [image_to_tensor_node]: Negotiating
[component_container_mt-1] [INFO] [1744146448.127548024] [image_to_tensor_node]: Could not negotiate
[component_container_mt-1] [INFO] [1744146448.127540343] [image_to_tensor_node]: Negotiating
[component_container_mt-1] [INFO] [1744146448.127571430] [image_to_tensor_node]: Could not negotiate
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/interleaved_to_planar_node' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1744146448.129107128] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::ReshapeNode>
[component_container_mt-1] [INFO] [1744146448.129128845] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::ReshapeNode>
[component_container_mt-1] [WARN] [1744146448.129196094] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[component_container_mt-1] [INFO] [1744146448.131329511] [pad_node]: Negotiating
[component_container_mt-1] [INFO] [1744146448.134978812] [resize_left_rt_detr_node]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1744146448.135002639] [reshape_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1744146448.135528884] [reshape_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1744146448.138125819] [reshape_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1744146448.138214846] [reshape_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1744146448.138926030] [reshape_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1744146448.141422216] [reshape_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1744146448.143307694] [reshape_node]: [NitrosNode] Starting negotiation...
[WARNING] [/isaac_ros_examples/container]: there are now at least 2 nodes with the name /reshape_node created within this launch context
[component_container_mt-1] [INFO] [1744146448.143688788] [interleaved_to_planar_node]: Negotiating
[component_container_mt-1] [INFO] [1744146448.143692339] [interleaved_to_planar_node]: Negotiating
[component_container_mt-1] [INFO] [1744146448.143943957] [image_to_tensor_node]: Negotiating
[component_container_mt-1] [INFO] [1744146448.143958853] [image_to_tensor_node]: Could not negotiate
[component_container_mt-1] [INFO] [1744146448.143976657] [image_to_tensor_node]: Negotiating
[component_container_mt-1] [INFO] [1744146448.143994013] [image_to_tensor_node]: Could not negotiate
[component_container_mt-1] [INFO] [1744146448.144604606] [image_to_tensor_node]: Negotiating
[component_container_mt-1] [INFO] [1744146448.144619746] [image_to_tensor_node]: Could not negotiate
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/reshape_node' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1744146448.145549899] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::rtdetr::RtDetrPreprocessorNode>
[component_container_mt-1] [INFO] [1744146448.145578977] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::rtdetr::RtDetrPreprocessorNode>
[component_container_mt-1] [WARN] [1744146448.145729935] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[component_container_mt-1] [INFO] [1744146448.151553857] [rtdetr_preprocessor.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
Continuing...
[component_container_mt-1] [INFO] [1744146448.151786387] [reshape_node]: Negotiating
[component_container_mt-1] [INFO] [1744146448.151797897] [reshape_node]: Negotiating
[component_container_mt-1] [INFO] [1744146448.152023214] [interleaved_to_planar_node]: Negotiating
[component_container_mt-1] [INFO] [1744146448.152064919] [interleaved_to_planar_node]: Negotiating
[component_container_mt-1] [INFO] [1744146448.152297357] [image_to_tensor_node]: Negotiating
[component_container_mt-1] [INFO] [1744146448.152312980] [image_to_tensor_node]: Negotiating
[component_container_mt-1] [INFO] [1744146448.152325454] [image_to_tensor_node]: Could not negotiate
[component_container_mt-1] [INFO] [1744146448.152313068] [image_to_tensor_node]: Could not negotiate
[component_container_mt-1] [INFO] [1744146448.152778063] [image_to_tensor_node]: Negotiating
[component_container_mt-1] [INFO] [1744146448.152797981] [image_to_tensor_node]: Could not negotiate
[component_container_mt-1] [INFO] [1744146448.152999446] [rtdetr_preprocessor.ManagedNitrosPublisher]: Starting Managed Nitros Publisher
[WARNING] [/isaac_ros_examples/container]: there are now at least 2 nodes with the name /rtdetr_preprocessor created within this launch context
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/rtdetr_preprocessor' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1744146448.155481407] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::TensorRTNode>
[component_container_mt-1] [INFO] [1744146448.155510175] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::TensorRTNode>
[component_container_mt-1] [WARN] [1744146448.155609003] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[component_container_mt-1] [INFO] [1744146448.159392288] [tensor_rt]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1744146448.160411673] [tensor_rt]: [NitrosNode] Terminating the running application
[component_container_mt-1] [INFO] [1744146448.160434343] [tensor_rt]: [NitrosContext] Interrupting GXF...
[component_container_mt-1] 2025-04-08 16:07:28.160 ERROR gxf/std/program.cpp@557: Attempted interrupting when not running (state=0).
[component_container_mt-1] 2025-04-08 16:07:28.160 ERROR gxf/core/runtime.cpp@1641: Graph interrupt failed with error: GXF_INVALID_EXECUTION_SEQUENCE
[component_container_mt-1] [ERROR] [1744146448.160452254] [tensor_rt]: [NitrosContext] GxfGraphInterrupt Error: GXF_INVALID_EXECUTION_SEQUENCE
[component_container_mt-1] [INFO] [1744146448.160455960] [tensor_rt]: [NitrosContext] Waiting on GXF...
[component_container_mt-1] [INFO] [1744146448.160461359] [tensor_rt]: [NitrosContext] Deinitializing...
[component_container_mt-1] [INFO] [1744146448.160465937] [tensor_rt]: [NitrosContext] Destroying context
[component_container_mt-1] [INFO] [1744146448.160472840] [tensor_rt]: [NitrosNode] Application termination done
[component_container_mt-1] [ERROR] [1744146448.165833510] [isaac_ros_examples.container]: Component constructor threw an exception: [TensorRTNode] Empty engine_file_path_, this needs to be set per the engine
[ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node 'tensor_rt' of type 'nvidia::isaac_ros::dnn_inference::TensorRTNode' in container '/isaac_ros_examples/container': Component constructor threw an exception: [TensorRTNode] Empty engine_file_path_, this needs to be set per the engine
[component_container_mt-1] [INFO] [1744146448.167231205] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::rtdetr::RtDetrDecoderNode>
[component_container_mt-1] [INFO] [1744146448.167251667] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::rtdetr::RtDetrDecoderNode>
[component_container_mt-1] [WARN] [1744146448.167349622] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[component_container_mt-1] [INFO] [1744146448.171330908] [rtdetr_decoder.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1744146448.171781370] [tensor_rt]: Negotiating
[component_container_mt-1] [INFO] [1744146448.171790777] [tensor_rt]: Could not negotiate
[WARNING] [/isaac_ros_examples/container]: there are now at least 2 nodes with the name /rtdetr_decoder created within this launch context
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/rtdetr_decoder' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1744146448.177009712] [interleaved_to_planar_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1744146448.177045416] [interleaved_to_planar_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1744146448.177050693] [interleaved_to_planar_node]: [NitrosPublisher] Use the negotiated data format: "nitros_tensor_list_nchw_rgb_f32"
[component_container_mt-1] [INFO] [1744146448.177066036] [interleaved_to_planar_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1744146448.177070253] [interleaved_to_planar_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/normalized_tensor", data_format="nitros_tensor_list_nhwc_rgb_f32"
[component_container_mt-1] [INFO] [1744146448.177195210] [interleaved_to_planar_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1744146448.179079459] [interleaved_to_planar_node]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/DARFPZJKSH/DARFPZJKSH.yaml"
[component_container_mt-1] [INFO] [1744146448.179110668] [interleaved_to_planar_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1744146448.180017072] [interleaved_to_planar_node]: In InterleavedToPlanarNode postLoadGraphCallback().
[component_container_mt-1] [INFO] [1744146448.180054997] [interleaved_to_planar_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1744146448.180782984] [interleaved_to_planar_node]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1744146448.184221189] [image_to_tensor_node]: Negotiating
[component_container_mt-1] [INFO] [1744146448.184243044] [image_to_tensor_node]: Could not negotiate
[component_container_mt-1] [INFO] [1744146448.184814481] [image_to_tensor_node]: Negotiating
[component_container_mt-1] [INFO] [1744146448.184824478] [image_to_tensor_node]: Could not negotiate
[component_container_mt-1] [INFO] [1744146448.185181317] [image_to_tensor_node]: Negotiating
[component_container_mt-1] [INFO] [1744146448.185193737] [image_to_tensor_node]: Could not negotiate
[component_container_mt-1] [INFO] [1744146448.186035250] [image_to_tensor_node]: Negotiating
[component_container_mt-1] [INFO] [1744146448.186051350] [image_to_tensor_node]: Could not negotiate
[component_container_mt-1] [INFO] [1744146448.186442918] [image_to_tensor_node]: Negotiating
[component_container_mt-1] [INFO] [1744146448.186457586] [image_to_tensor_node]: Could not negotiate
[component_container_mt-1] [INFO] [1744146448.188858025] [reshape_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1744146448.188872649] [reshape_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1744146448.188879685] [reshape_node]: [NitrosPublisher] Use the negotiated data format: "nitros_tensor_list_nchw_rgb_f32"
[component_container_mt-1] [INFO] [1744146448.188887139] [reshape_node]: [NitrosSubscriber] Use the negotiated data format: "nitros_tensor_list_nchw_rgb_f32"
[component_container_mt-1] [INFO] [1744146448.189008266] [reshape_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1744146448.192054402] [reshape_node]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/IHDWCYMMYT/IHDWCYMMYT.yaml"
[component_container_mt-1] [INFO] [1744146448.192086225] [reshape_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1744146448.193287658] [reshape_node]: In ReshapeNode postLoadGraphCallback().
[component_container_mt-1] [INFO] [1744146448.193341064] [reshape_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1744146448.194276117] [reshape_node]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1744146448.197475360] [interleaved_to_planar_node]: Negotiating
[component_container_mt-1] [INFO] [1744146448.197723828] [image_to_tensor_node]: Negotiating
[component_container_mt-1] [INFO] [1744146448.197738487] [image_to_tensor_node]: Could not negotiate
[component_container_mt-1] [INFO] [1744146448.197768692] [image_to_tensor_node]: Negotiating
[component_container_mt-1] [INFO] [1744146448.197783197] [image_to_tensor_node]: Could not negotiate
[component_container_mt-1] [INFO] [1744146448.198197022] [interleaved_to_planar_node]: Negotiating
[component_container_mt-1] [INFO] [1744146448.198459329] [image_to_tensor_node]: Negotiating
[component_container_mt-1] [INFO] [1744146448.198466987] [image_to_tensor_node]: Could not negotiate
[component_container_mt-1] [INFO] [1744146448.198473977] [image_to_tensor_node]: Negotiating
[component_container_mt-1] [INFO] [1744146448.198484370] [image_to_tensor_node]: Could not negotiate
[component_container_mt-1] [INFO] [1744146448.214035841] [reshape_node]: Negotiating
[component_container_mt-1] [INFO] [1744146448.223216561] [rtdetr_preprocessor]: Negotiating
[component_container_mt-1] [INFO] [1744146448.226314012] [tensor_rt]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1744146448.226345815] [tensor_rt]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1744146448.226354836] [tensor_rt]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1744146448.226361509] [tensor_rt]: [NitrosPublisher] Use only the compatible publisher: topic_name="/tensor_sub", data_format="nitros_tensor_list_nhwc_rgb_f32"
[component_container_mt-1] [INFO] [1744146448.226369169] [tensor_rt]: [NitrosSubscriber] Use the negotiated data format: "nitros_tensor_list_nchw_rgb_f32"
[component_container_mt-1] [INFO] [1744146448.226567383] [tensor_rt]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1744146448.233564925] [tensor_rt]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/FUGCBDWASP/FUGCBDWASP.yaml"
[component_container_mt-1] [INFO] [1744146448.233590126] [tensor_rt]: [NitrosNode] Loading application
[component_container_mt-1] 2025-04-08 16:07:28.235 WARN gxf/std/yaml_file_loader.cpp@1076: Using unregistered parameter 'dev_id' in component 'stream'.
[component_container_mt-1] [INFO] [1744146448.235419118] [tensor_rt]: In TensorRTNode postLoadGraphCallback().
[component_container_mt-1] [INFO] [1744146448.408643550] [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] [1744146448.408702940] [tensor_rt]: Tensors 4800 bytes, num outputs 40 x tensors per output 3 = 120 blocks
[component_container_mt-1] [INFO] [1744146448.408760270] [tensor_rt]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1744146448.409418491] [tensor_rt]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1744146448.440747398] [resize_mask_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1744146448.440808279] [resize_mask_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1744146448.440814412] [resize_mask_node]: [NitrosPublisher] Use the negotiated data format: "nitros_image_mono8"
[component_container_mt-1] [INFO] [1744146448.440819347] [resize_mask_node]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1744146448.440822927] [resize_mask_node]: [NitrosPublisher] Use only the compatible publisher: topic_name="/camera_info_segmentation", data_format="nitros_camera_info"
[component_container_mt-1] [INFO] [1744146448.440827247] [resize_mask_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1744146448.440830670] [resize_mask_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/rt_detr_segmentation", data_format="nitros_image_bgr8"
[component_container_mt-1] [INFO] [1744146448.440834562] [resize_mask_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1744146448.440837045] [resize_mask_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/camera_info_resized", data_format="nitros_camera_info"
[component_container_mt-1] [INFO] [1744146448.440849863] [resize_mask_node]: [NitrosPublisherSubscriberGroup] Adjusted the compatible format of the component "sync/image_in" (type="nvidia::gxf::DoubleBufferReceiver") from "nitros_image_bgr8" to "nitros_image_mono8"
[component_container_mt-1] [INFO] [1744146448.440978037] [resize_mask_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1744146448.446294221] [resize_mask_node]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/UBYIFCINHE/UBYIFCINHE.yaml"
[component_container_mt-1] [INFO] [1744146448.446337323] [resize_mask_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1744146448.447957804] [resize_mask_node]: [ResizeNode] postLoadGraphCallback().
[component_container_mt-1] [INFO] [1744146448.448001042] [resize_mask_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1744146448.449279351] [resize_mask_node]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1744146448.551089838] [resize_left_viz]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1744146448.551149784] [resize_left_viz]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1744146448.551156961] [resize_left_viz]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1744146448.551166963] [resize_left_viz]: [NitrosPublisher] Use only the compatible publisher: topic_name="/rgb/image_rect_color_viz", data_format="nitros_image_rgb8"
[component_container_mt-1] [INFO] [1744146448.551172681] [resize_left_viz]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1744146448.551176579] [resize_left_viz]: [NitrosPublisher] Use only the compatible publisher: topic_name="/rgb/camera_info_viz", data_format="nitros_camera_info"
[component_container_mt-1] [INFO] [1744146448.551182450] [resize_left_viz]: [NitrosSubscriber] Use the negotiated data format: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1744146448.551188739] [resize_left_viz]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1744146448.551191488] [resize_left_viz]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/rgb/camera_info", data_format="nitros_camera_info"
[component_container_mt-1] [INFO] [1744146448.551370697] [resize_left_viz]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1744146448.556299398] [resize_left_viz]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/UDOMRAOWCC/UDOMRAOWCC.yaml"
[component_container_mt-1] [INFO] [1744146448.556334082] [resize_left_viz]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1744146448.557879189] [resize_left_viz]: [ResizeNode] postLoadGraphCallback().
[component_container_mt-1] [INFO] [1744146448.557915206] [resize_left_viz]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1744146448.559158000] [resize_left_viz]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1744146448.937975887] [foundationpose_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1744146448.938077637] [foundationpose_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1744146448.938161820] [foundationpose_node]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1744146448.938179585] [foundationpose_node]: [NitrosPublisher] Use only the compatible publisher: topic_name="/output", data_format="nitros_detection3_d_array"
[component_container_mt-1] [INFO] [1744146448.938197279] [foundationpose_node]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1744146448.938208439] [foundationpose_node]: [NitrosPublisher] Use only the compatible publisher: topic_name="/pose_estimation/pose_matrix_output", data_format="nitros_tensor_list_nchw"
[component_container_mt-1] [INFO] [1744146448.938223948] [foundationpose_node]: [NitrosSubscriber] Use the negotiated data format: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1744146448.938240963] [foundationpose_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1744146448.938252091] [foundationpose_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/rgb/camera_info", data_format="nitros_camera_info"
[component_container_mt-1] [INFO] [1744146448.938267317] [foundationpose_node]: [NitrosSubscriber] Use the negotiated data format: "nitros_image_mono8"
[component_container_mt-1] [INFO] [1744146448.938279244] [foundationpose_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1744146448.938290727] [foundationpose_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/depth_image", data_format="nitros_image_32FC1"
[component_container_mt-1] [INFO] [1744146448.947138399] [foundationpose_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1744146449.056289827] [resize_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1744146449.056346949] [resize_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1744146449.056355193] [resize_node]: [NitrosPublisher] Use the negotiated data format: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1744146449.056361300] [resize_node]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1744146449.056366305] [resize_node]: [NitrosPublisher] Use only the compatible publisher: topic_name="/resize/camera_info", data_format="nitros_camera_info"
[component_container_mt-1] [INFO] [1744146449.056372874] [resize_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1744146449.056376788] [resize_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/image_rect", data_format="nitros_image_rgb8"
[component_container_mt-1] [INFO] [1744146449.056382333] [resize_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1744146449.056385760] [resize_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/camera_info_rect", data_format="nitros_camera_info"
[component_container_mt-1] [INFO] [1744146449.056555684] [resize_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1744146449.061763322] [resize_node]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/PQWLEJXJAE/PQWLEJXJAE.yaml"
[component_container_mt-1] [INFO] [1744146449.061810193] [resize_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1744146449.063557723] [resize_node]: [ResizeNode] postLoadGraphCallback().
[component_container_mt-1] [INFO] [1744146449.063613381] [resize_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1744146449.065448448] [resize_node]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1744146449.108710024] [image_format_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1744146449.108763439] [image_format_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1744146449.108768418] [image_format_node]: [NitrosPublisher] Use the negotiated data format: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1744146449.108774269] [image_format_node]: [NitrosSubscriber] Use the negotiated data format: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1744146449.108914944] [image_format_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1744146449.114661796] [image_format_node]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/MYQKCTKQCA/MYQKCTKQCA.yaml"
[component_container_mt-1] [INFO] [1744146449.114697703] [image_format_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1744146449.115333441] [image_format_node]: [ImageFormatConverterNode] postLoadGraphCallback().
[component_container_mt-1] [INFO] [1744146449.115368936] [image_format_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1744146449.116257931] [image_format_node]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1744146449.127904502] [interleaved_to_planar_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1744146449.127933551] [interleaved_to_planar_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1744146449.127940863] [interleaved_to_planar_node]: [NitrosPublisher] Use the negotiated data format: "nitros_tensor_list_nchw_rgb_f32"
[component_container_mt-1] [INFO] [1744146449.127946870] [interleaved_to_planar_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1744146449.127950850] [interleaved_to_planar_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/normalized_tensor", data_format="nitros_tensor_list_nhwc_rgb_f32"
[component_container_mt-1] [INFO] [1744146449.128094067] [interleaved_to_planar_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1744146449.129623941] [interleaved_to_planar_node]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/WWGYLSKBYK/WWGYLSKBYK.yaml"
[component_container_mt-1] [INFO] [1744146449.129641287] [interleaved_to_planar_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1744146449.130379725] [interleaved_to_planar_node]: In InterleavedToPlanarNode postLoadGraphCallback().
[component_container_mt-1] [INFO] [1744146449.130400643] [interleaved_to_planar_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1744146449.131247703] [interleaved_to_planar_node]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1744146449.144017397] [reshape_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1744146449.144095988] [reshape_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1744146449.144108869] [reshape_node]: [NitrosPublisher] Use the negotiated data format: "nitros_tensor_list_nchw_rgb_f32"
[component_container_mt-1] [INFO] [1744146449.144121256] [reshape_node]: [NitrosSubscriber] Use the negotiated data format: "nitros_tensor_list_nchw_rgb_f32"
[component_container_mt-1] [INFO] [1744146449.144310256] [reshape_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1744146449.146559948] [reshape_node]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/ABFJLRZYRG/ABFJLRZYRG.yaml"
[component_container_mt-1] [INFO] [1744146449.146604883] [reshape_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1744146449.147628329] [reshape_node]: In ReshapeNode postLoadGraphCallback().
[component_container_mt-1] [INFO] [1744146449.147673950] [reshape_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1744146449.148463203] [reshape_node]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1744146451.013120557] [foundationpose_node]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/SUMHZPBVZA/SUMHZPBVZA.yaml"
[component_container_mt-1] [INFO] [1744146451.013162774] [foundationpose_node]: [NitrosNode] Loading application
[component_container_mt-1] 2025-04-08 16:07:31.018 WARN gxf/std/yaml_file_loader.cpp@1076: Using unregistered parameter 'dummy_rx' in component ''.
[component_container_mt-1] 2025-04-08 16:07:31.018 WARN gxf/std/yaml_file_loader.cpp@1076: Using unregistered parameter 'dummy_rx' in component ''.
[component_container_mt-1] 2025-04-08 16:07:31.018 WARN gxf/std/yaml_file_loader.cpp@1076: Using unregistered parameter 'dev_id' in component 'stream'.
[component_container_mt-1] [INFO] [1744146451.019331475] [foundationpose_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] 2025-04-08 16:07:31.020 WARN gxf/std/scheduling_terms.cpp@333: 'min_size' parameter in MultiMessageAvailableSchedulingTerm is deprecated. Use 'min_sum' with SumOfAll sampling mode instead
[component_container_mt-1] 2025-04-08 16:07:31.020 WARN gxf/std/scheduling_terms.cpp@333: 'min_size' parameter in MultiMessageAvailableSchedulingTerm is deprecated. Use 'min_sum' with SumOfAll sampling mode instead
[component_container_mt-1] 2025-04-08 16:07:31.020 WARN gxf/std/scheduling_terms.cpp@333: 'min_size' parameter in MultiMessageAvailableSchedulingTerm is deprecated. Use 'min_sum' with SumOfAll sampling mode instead
[component_container_mt-1] 2025-04-08 16:07:31.020 WARN gxf/std/scheduling_terms.cpp@333: 'min_size' parameter in MultiMessageAvailableSchedulingTerm is deprecated. Use 'min_sum' with SumOfAll sampling mode instead
[component_container_mt-1] 2025-04-08 16:07:31.020 WARN gxf/std/scheduling_terms.cpp@333: 'min_size' parameter in MultiMessageAvailableSchedulingTerm is deprecated. Use 'min_sum' with SumOfAll sampling mode instead
[component_container_mt-1] [INFO] [1744146451.021417046] [foundationpose_node]: [NitrosNode] Node was started
[component_container_mt-1] 2025-04-08 16:07:32.508 ERROR ./gxf/foundationpose/foundationpose_sampling.cpp@310: [FoundationposeSampling] No valid value in mask.
[component_container_mt-1] 2025-04-08 16:07:33.656 ERROR ./gxf/foundationpose/foundationpose_sampling.cpp@310: [FoundationposeSampling] No valid value in mask.
[component_container_mt-1] 2025-04-08 16:07:34.770 ERROR ./gxf/foundationpose/foundationpose_sampling.cpp@310: [FoundationposeSampling] No valid value in mask.
[component_container_mt-1] 2025-04-08 16:07:35.906 ERROR ./gxf/foundationpose/foundationpose_sampling.cpp@310: [FoundationposeSampling] No valid value in mask.
[component_container_mt-1] 2025-04-08 16:08:53.105 ERROR ./gxf/foundationpose/foundationpose_sampling.cpp@310: [FoundationposeSampling] No valid value in mask.
[component_container_mt-1] 2025-04-08 16:08:56.393 ERROR ./gxf/foundationpose/foundationpose_sampling.cpp@310: [FoundationposeSampling] No valid value in mask.
[component_container_mt-1] 2025-04-08 16:08:59.590 ERROR ./gxf/foundationpose/foundationpose_sampling.cpp@310: [FoundationposeSampling] No valid value in mask.
[component_container_mt-1] 2025-04-08 16:09:01.955 ERROR ./gxf/foundationpose/foundationpose_sampling.cpp@310: [FoundationposeSampling] No valid value in mask.
[component_container_mt-1] 2025-04-08 16:09:05.364 ERROR ./gxf/foundationpose/foundationpose_sampling.cpp@310: [FoundationposeSampling] No valid value in mask.
[component_container_mt-1] 2025-04-08 16:09:09.293 ERROR ./gxf/foundationpose/foundationpose_sampling.cpp@310: [FoundationposeSampling] No valid value in mask.
[component_container_mt-1] 2025-04-08 16:09:12.909 ERROR ./gxf/foundationpose/foundationpose_sampling.cpp@310: [FoundationposeSampling] No valid value in mask.
[component_container_mt-1] 2025-04-08 16:09:14.444 ERROR ./gxf/foundationpose/foundationpose_sampling.cpp@310: [FoundationposeSampling] No valid value in mask.
[component_container_mt-1] 2025-04-08 16:09:18.347 ERROR ./gxf/foundationpose/foundationpose_sampling.cpp@310: [FoundationposeSampling] No valid value in mask.
[component_container_mt-1] 2025-04-08 16:09:23.216 ERROR ./gxf/foundationpose/foundationpose_sampling.cpp@310: [FoundationposeSampling] No valid value in mask.
[component_container_mt-1] 2025-04-08 16:09:26.512 ERROR ./gxf/foundationpose/foundationpose_sampling.cpp@310: [FoundationposeSampling] No valid value in mask.
[component_container_mt-1] 2025-04-08 16:09:30.342 ERROR ./gxf/foundationpose/foundationpose_sampling.cpp@310: [FoundationposeSampling] No valid value in mask.
[component_container_mt-1] 2025-04-08 16:09:36.228 ERROR ./gxf/foundationpose/foundationpose_sampling.cpp@310: [FoundationposeSampling] No valid value in mask.
[component_container_mt-1] 2025-04-08 16:09:40.560 ERROR ./gxf/foundationpose/foundationpose_sampling.cpp@310: [FoundationposeSampling] No valid value in mask.
[component_container_mt-1] 2025-04-08 16:09:45.111 ERROR ./gxf/foundationpose/foundationpose_sampling.cpp@310: [FoundationposeSampling] No valid value in mask.
[component_container_mt-1] 2025-04-08 16:09:49.072 ERROR ./gxf/foundationpose/foundationpose_sampling.cpp@310: [FoundationposeSampling] No valid value in mask.
[component_container_mt-1] 2025-04-08 16:09:55.097 ERROR ./gxf/foundationpose/foundationpose_sampling.cpp@310: [FoundationposeSampling] No valid value in mask.
[component_container_mt-1] 2025-04-08 16:10:00.469 ERROR ./gxf/foundationpose/foundationpose_sampling.cpp@310: [FoundationposeSampling] No valid value in mask.
[component_container_mt-1] 2025-04-08 16:10:04.380 ERROR ./gxf/foundationpose/foundationpose_sampling.cpp@310: [FoundationposeSampling] No valid value in mask.
[component_container_mt-1] 2025-04-08 16:10:10.184 ERROR ./gxf/foundationpose/foundationpose_sampling.cpp@310: [FoundationposeSampling] No valid value in mask.
[component_container_mt-1] 2025-04-08 16:10:16.089 ERROR ./gxf/foundationpose/foundationpose_sampling.cpp@310: [FoundationposeSampling] No valid value in mask.
[component_container_mt-1] 2025-04-08 16:10:21.233 ERROR ./gxf/foundationpose/foundationpose_sampling.cpp@310: [FoundationposeSampling] No valid value in mask.
[component_container_mt-1] 2025-04-08 16:10:24.323 ERROR ./gxf/foundationpose/foundationpose_sampling.cpp@310: [FoundationposeSampling] No valid value in mask.
[component_container_mt-1] 2025-04-08 16:10:29.480 ERROR ./gxf/foundationpose/foundationpose_sampling.cpp@310: [FoundationposeSampling] No valid value in mask.
[component_container_mt-1] 2025-04-08 16:10:35.164 ERROR ./gxf/foundationpose/foundationpose_sampling.cpp@310: [FoundationposeSampling] No valid value in mask.
[component_container_mt-1] 2025-04-08 16:10:39.188 ERROR ./gxf/foundationpose/foundationpose_sampling.cpp@310: [FoundationposeSampling] No valid value in mask.
Pose Tracking (Everything inside the docker container)
- Launched the foundation pose tracking and rtdetr node:
admin@arghya:/workspaces/isaac_ros-dev$ ros2 launch isaac_ros_examples isaac_ros_examples.launch.py launch_fragments:=foundationpose_tracking,rtdetr interface_specs_file:=$(pwd)/isaac_ros_assets/isaac_ros_foundationpose/quickstart_interface_specs.json mesh_file_path:=$(pwd)/isaac_ros_assets/isaac_ros_foundationpose/Mustard/textured_simple.obj texture_path:=$(pwd)/isaac_ros_assets/isaac_ros_foundationpose/Mustard/texture_map.png score_engine_file_path:=$(pwd)/isaac_ros_assets/models/foundationpose/score_trt_engine.plan refine_engine_file_path:=$(pwd)/isaac_ros_assets/models/foundationpose/refine_trt_engine.plan rt_detr_engine_file_path:=$(pwd)/isaac_ros_assets/models/synthetica_detr/sdetr_grasp.plan
- Launched the rviz2 node:
admin@arghya:/workspaces/isaac_ros-dev$ rviz2 -d $(ros2 pkg prefix isaac_ros_foundationpose --share)/rviz/foundationpose_tracking.rviz
- Launched the rosbag node:
admin@arghya:/workspaces/isaac_ros-dev$ ros2 bag play -l $(pwd)/isaac_ros_assets/isaac_ros_foundationpose/foundationpose_tracking.bag/
Here is the error that I am getting for foundation pose tracking:
admin@arghya:/workspaces/isaac_ros-dev$ ros2 launch isaac_ros_examples isaac_ros_examples.launch.py launch_fragments:=foundationpose_tracking interface_specs_file:=${ISAAC_ROS_WS}/isaac_ros_assets/isaac_ros_foundationpose/quickstart_interface_specs.json mesh_file_path:=${ISAAC_ROS_WS}/isaac_ros_assets/isaac_ros_foundationpose/Mustard/textured_simple.obj texture_path:=${ISAAC_ROS_WS}/isaac_ros_assets/isaac_ros_foundationpose/Mustard/texture_map.png score_engine_file_path:=${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/2025-04-08-16-01-14-193906-arghya-29959
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container_mt-1]: process started with pid [29971]
[component_container_mt-1] [INFO] [1744146074.502186510] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libresize_node.so
[component_container_mt-1] [INFO] [1744146074.523370260] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::ResizeNode>
[component_container_mt-1] [INFO] [1744146074.523421324] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::ResizeNode>
[component_container_mt-1] [INFO] [1744146074.536387884] [resize_left_rt_detr_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1744146074.536655622] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/std/libgxf_std.so
[component_container_mt-1] [INFO] [1744146074.537380525] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_gxf_helpers.so
[component_container_mt-1] [INFO] [1744146074.539003874] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_sight.so
[component_container_mt-1] [INFO] [1744146074.540698997] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_atlas.so
[component_container_mt-1] 2025-04-08 16:01:14.545 WARN gxf/std/program.cpp@538: No GXF scheduler specified.
[component_container_mt-1] [INFO] [1744146074.545791123] [resize_left_rt_detr_node]: [ResizeNode] Set output data format to: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1744146074.545844972] [resize_left_rt_detr_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1744146074.550812713] [resize_left_rt_detr_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1744146074.550873259] [resize_left_rt_detr_node]: [NitrosContext] Loading extension: gxf/lib/multimedia/libgxf_multimedia.so
[component_container_mt-1] [INFO] [1744146074.552141487] [resize_left_rt_detr_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_message_compositor.so
[component_container_mt-1] [INFO] [1744146074.552366932] [resize_left_rt_detr_node]: [NitrosContext] Loading extension: gxf/lib/cuda/libgxf_cuda.so
[component_container_mt-1] [INFO] [1744146074.553800994] [resize_left_rt_detr_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_tensorops.so
[component_container_mt-1] [INFO] [1744146074.556312794] [resize_left_rt_detr_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1744146074.558500038] [resize_left_rt_detr_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1744146074.649288511] [resize_left_rt_detr_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1744146074.650884272] [resize_left_rt_detr_node]: [NitrosPublisherSubscriberGroup] Pinning the component "image_sink/sink" (type="nvidia::isaac_ros::MessageRelay") to use its compatible format only: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1744146074.655658718] [resize_left_rt_detr_node]: [NitrosNode] Starting negotiation...
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/resize_left_rt_detr_node' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1744146074.657429925] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libpad_node.so
[component_container_mt-1] [INFO] [1744146074.690426993] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::PadNode>
[component_container_mt-1] [INFO] [1744146074.690489265] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::PadNode>
[component_container_mt-1] [INFO] [1744146074.693216868] [pad_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1744146074.693337554] [resize_left_rt_detr_node]: Negotiating
[component_container_mt-1] [INFO] [1744146074.693843991] [pad_node.ManagedNitrosPublisher]: Starting Managed Nitros Publisher
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/pad_node' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1744146074.765434759] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libimage_to_tensor_node.so
[component_container_mt-1] [INFO] [1744146074.769579274] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::ImageToTensorNode>
[component_container_mt-1] [INFO] [1744146074.769595340] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::ImageToTensorNode>
[component_container_mt-1] [INFO] [1744146074.772019537] [image_to_tensor_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1744146074.772032155] [pad_node]: Negotiating
[component_container_mt-1] [INFO] [1744146074.772716704] [image_to_tensor_node.ManagedNitrosPublisher]: Starting Managed Nitros Publisher
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/image_to_tensor_node' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1744146074.773599898] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libinterleaved_to_planar_node.so
[component_container_mt-1] [INFO] [1744146074.774263078] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::InterleavedToPlanarNode>
[component_container_mt-1] [INFO] [1744146074.774293536] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::InterleavedToPlanarNode>
[component_container_mt-1] [INFO] [1744146074.776165918] [interleaved_to_planar_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1744146074.776396688] [interleaved_to_planar_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1744146074.779597057] [interleaved_to_planar_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1744146074.779702556] [interleaved_to_planar_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1744146074.780483494] [interleaved_to_planar_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1744146074.783233446] [interleaved_to_planar_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1744146074.784484932] [interleaved_to_planar_node]: [NitrosNode] Starting negotiation...
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/interleaved_to_planar_node' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1744146074.784677648] [image_to_tensor_node]: Negotiating
[component_container_mt-1] [INFO] [1744146074.784702617] [image_to_tensor_node]: Could not negotiate
[component_container_mt-1] [INFO] [1744146074.785722290] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libreshape_node.so
[component_container_mt-1] [INFO] [1744146074.786435832] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::ReshapeNode>
[component_container_mt-1] [INFO] [1744146074.786447503] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::ReshapeNode>
[component_container_mt-1] [INFO] [1744146074.788395308] [reshape_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1744146074.788658643] [reshape_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1744146074.791706901] [reshape_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1744146074.791829306] [reshape_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1744146074.792781813] [reshape_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1744146074.795639839] [reshape_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1744146074.797114943] [reshape_node]: [NitrosNode] Starting negotiation...
[component_container_mt-1] [INFO] [1744146074.797345011] [interleaved_to_planar_node]: Negotiating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/reshape_node' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1744146074.797414114] [image_to_tensor_node]: Negotiating
[component_container_mt-1] [INFO] [1744146074.797433766] [image_to_tensor_node]: Could not negotiate
[component_container_mt-1] [INFO] [1744146074.798510634] [isaac_ros_examples.container]: Load Library: /workspaces/isaac_ros-dev/install/isaac_ros_rtdetr/lib/librtdetr_preprocessor_node.so
[component_container_mt-1] [INFO] [1744146074.799633196] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::rtdetr::RtDetrPreprocessorNode>
[component_container_mt-1] [INFO] [1744146074.799646217] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::rtdetr::RtDetrPreprocessorNode>
[component_container_mt-1] [INFO] [1744146074.802251062] [rtdetr_preprocessor.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1744146074.802330268] [reshape_node]: Negotiating
[component_container_mt-1] [INFO] [1744146074.802374836] [interleaved_to_planar_node]: Negotiating
[component_container_mt-1] [INFO] [1744146074.802389122] [image_to_tensor_node]: Negotiating
[component_container_mt-1] [INFO] [1744146074.802407406] [image_to_tensor_node]: Could not negotiate
[component_container_mt-1] [INFO] [1744146074.802693813] [rtdetr_preprocessor.ManagedNitrosPublisher]: Starting Managed Nitros Publisher
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/rtdetr_preprocessor' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1744146074.803681508] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libtensor_rt_node.so
[component_container_mt-1] [INFO] [1744146074.816930009] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::TensorRTNode>
[component_container_mt-1] [INFO] [1744146074.816979824] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::TensorRTNode>
[component_container_mt-1] [INFO] [1744146074.819655194] [tensor_rt]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1744146074.820166242] [tensor_rt]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1744146074.822272953] [tensor_rt]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1744146074.822348865] [tensor_rt]: [NitrosContext] Loading extension: gxf/lib/serialization/libgxf_serialization.so
[component_container_mt-1] [INFO] [1744146074.822776679] [tensor_rt]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_tensor_rt.so
[component_container_mt-1] [INFO] [1744146074.823108823] [tensor_rt]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1744146074.823940325] [tensor_rt]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1744146074.832424967] [tensor_rt]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1744146074.833123876] [tensor_rt]: [NitrosPublisherSubscriberGroup] Pinning the component "inference/rx" (type="nvidia::gxf::DoubleBufferReceiver") to use its compatible format only: "nitros_tensor_list_nchw_rgb_f32"
[component_container_mt-1] [INFO] [1744146074.833135894] [tensor_rt]: [NitrosPublisherSubscriberGroup] Pinning the component "sink/sink" (type="nvidia::isaac_ros::MessageRelay") to use its compatible format only: "nitros_tensor_list_nhwc_rgb_f32"
[component_container_mt-1] [INFO] [1744146074.834570956] [tensor_rt]: [NitrosNode] Starting negotiation...
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/tensor_rt' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1744146074.834813447] [rtdetr_preprocessor]: Negotiating
[component_container_mt-1] [INFO] [1744146074.835798273] [isaac_ros_examples.container]: Load Library: /workspaces/isaac_ros-dev/install/isaac_ros_rtdetr/lib/librtdetr_decoder_node.so
[component_container_mt-1] [INFO] [1744146074.836847025] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::rtdetr::RtDetrDecoderNode>
[component_container_mt-1] [INFO] [1744146074.836858103] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::rtdetr::RtDetrDecoderNode>
[component_container_mt-1] [INFO] [1744146074.839520618] [rtdetr_decoder.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1744146074.839545004] [tensor_rt]: Negotiating
[component_container_mt-1] [INFO] [1744146074.839561190] [tensor_rt]: Could not negotiate
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/rtdetr_decoder' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1744146074.840984670] [isaac_ros_examples.container]: Load Library: /workspaces/isaac_ros-dev/install/isaac_ros_foundationpose/lib/libdetection2_d_array_filter.so
[component_container_mt-1] [INFO] [1744146074.841547453] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::foundationpose::Detection2DArrayFilter>
[component_container_mt-1] [INFO] [1744146074.841556238] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::foundationpose::Detection2DArrayFilter>
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/detection2_d_array_filter' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1744146074.844781337] [isaac_ros_examples.container]: Load Library: /workspaces/isaac_ros-dev/install/isaac_ros_foundationpose/lib/libdetection2_d_to_mask.so
[component_container_mt-1] [INFO] [1744146074.898793287] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::foundationpose::Detection2DToMask>
[component_container_mt-1] [INFO] [1744146074.898849573] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::foundationpose::Detection2DToMask>
[component_container_mt-1] [INFO] [1744146074.906651408] [detection2_d_to_mask]: Mask Height: 480, Mask Width: 640
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/detection2_d_to_mask' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1744146074.913639629] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::ResizeNode>
[component_container_mt-1] [INFO] [1744146074.913675402] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::ResizeNode>
[component_container_mt-1] [INFO] [1744146074.921818609] [resize_mask_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1744146074.922278175] [resize_mask_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1744146074.932203873] [resize_mask_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1744146074.932394767] [resize_mask_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1744146074.934956119] [resize_mask_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1744146075.039262394] [resize_mask_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1744146075.042970458] [resize_mask_node]: [NitrosNode] Starting negotiation...
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/resize_mask_node' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1744146075.043335777] [resize_left_rt_detr_node]: Negotiating
[component_container_mt-1] [INFO] [1744146075.044580076] [isaac_ros_examples.container]: Load Library: /workspaces/isaac_ros-dev/install/isaac_ros_foundationpose/lib/libfoundationpose_selector_node.so
[component_container_mt-1] [INFO] [1744146075.046642295] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::foundationpose::Selector>
Continuing ..
[component_container_mt-1] [INFO] [1744146075.046676421] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::foundationpose::Selector>
[component_container_mt-1] [INFO] [1744146075.049858951] [selector_node.ManagedNitrosPublisher]: Starting Managed Nitros Publisher
[component_container_mt-1] [INFO] [1744146075.050451707] [selector_node.ManagedNitrosPublisher]: Starting Managed Nitros Publisher
[component_container_mt-1] [INFO] [1744146075.051121594] [selector_node.ManagedNitrosPublisher]: Starting Managed Nitros Publisher
[component_container_mt-1] [INFO] [1744146075.051846244] [selector_node.ManagedNitrosPublisher]: Starting Managed Nitros Publisher
[component_container_mt-1] [INFO] [1744146075.052377623] [selector_node.ManagedNitrosPublisher]: Starting Managed Nitros Publisher
[component_container_mt-1] [INFO] [1744146075.053267149] [selector_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1744146075.053462732] [resize_mask_node]: Negotiating
[component_container_mt-1] [INFO] [1744146075.053486961] [resize_mask_node]: Could not negotiate
[component_container_mt-1] [INFO] [1744146075.053621113] [resize_left_rt_detr_node]: Negotiating
[component_container_mt-1] [INFO] [1744146075.054069859] [selector_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1744146075.054868877] [selector_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/selector_node' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1744146075.056658529] [isaac_ros_examples.container]: Load Library: /workspaces/isaac_ros-dev/install/isaac_ros_foundationpose/lib/libfoundationpose_node.so
[component_container_mt-1] [INFO] [1744146075.059912756] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::foundationpose::FoundationPoseNode>
[component_container_mt-1] [INFO] [1744146075.059928945] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::foundationpose::FoundationPoseNode>
[component_container_mt-1] [INFO] [1744146075.062888157] [foundationpose_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1744146075.063820131] [foundationpose_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1744146075.066531808] [foundationpose_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1744146075.066640708] [foundationpose_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_depth_image_proc.so
[component_container_mt-1] [INFO] [1744146075.070671892] [foundationpose_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_sgm.so
[component_container_mt-1] [INFO] [1744146075.071038793] [foundationpose_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_messages.so
[component_container_mt-1] [INFO] [1744146075.071400302] [foundationpose_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_ros_messages.so
[component_container_mt-1] [INFO] [1744146075.071548281] [foundationpose_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_foundationpose.so
[component_container_mt-1] [INFO] [1744146075.074900592] [foundationpose_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1744146075.083282392] [foundationpose_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1744146075.425727912] [foundationpose_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1744146075.432658910] [foundationpose_node]: [NitrosNode] Starting negotiation...
[component_container_mt-1] [INFO] [1744146075.433227116] [selector_node]: Negotiating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/foundationpose_node' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1744146075.433766292] [selector_node]: Negotiating
[component_container_mt-1] [INFO] [1744146075.434108733] [selector_node]: Negotiating
[component_container_mt-1] [INFO] [1744146075.434583560] [isaac_ros_examples.container]: Load Library: /workspaces/isaac_ros-dev/install/isaac_ros_foundationpose/lib/libfoundationpose_tracking_node.so
[component_container_mt-1] [INFO] [1744146075.437244763] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::foundationpose::FoundationPoseTrackingNode>
[component_container_mt-1] [INFO] [1744146075.437265945] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::foundationpose::FoundationPoseTrackingNode>
[component_container_mt-1] [INFO] [1744146075.440355748] [foundationpose_tracking_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1744146075.441050295] [foundationpose_tracking_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1744146075.443825311] [foundationpose_tracking_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1744146075.444013684] [foundationpose_tracking_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1744146075.448193278] [foundationpose_tracking_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1744146075.533731219] [foundationpose_tracking_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1744146075.544958830] [foundationpose_tracking_node]: [NitrosNode] Starting negotiation...
[component_container_mt-1] [INFO] [1744146075.545498444] [selector_node]: Negotiating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/foundationpose_tracking_node' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1744146075.545896235] [selector_node]: Negotiating
[component_container_mt-1] [INFO] [1744146075.656540036] [resize_left_rt_detr_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1744146075.656598502] [resize_left_rt_detr_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1744146075.656616626] [resize_left_rt_detr_node]: [NitrosPublisher] Use the negotiated data format: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1744146075.656625384] [resize_left_rt_detr_node]: [NitrosPublisher] Use the negotiated data format: "nitros_camera_info"
[component_container_mt-1] [INFO] [1744146075.656631374] [resize_left_rt_detr_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1744146075.656637440] [resize_left_rt_detr_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/image_rect", data_format="nitros_image_rgb8"
[component_container_mt-1] [INFO] [1744146075.656648777] [resize_left_rt_detr_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1744146075.656654075] [resize_left_rt_detr_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/camera_info_rect", data_format="nitros_camera_info"
[component_container_mt-1] [INFO] [1744146075.656867509] [resize_left_rt_detr_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1744146075.665931679] [resize_left_rt_detr_node]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/SGREXZWKGR/SGREXZWKGR.yaml"
[component_container_mt-1] [INFO] [1744146075.665995504] [resize_left_rt_detr_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1744146075.669750046] [resize_left_rt_detr_node]: [ResizeNode] postLoadGraphCallback().
[component_container_mt-1] [INFO] [1744146075.669830698] [resize_left_rt_detr_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1744146075.689846326] [resize_left_rt_detr_node]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1744146075.785254952] [interleaved_to_planar_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1744146075.785360931] [interleaved_to_planar_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1744146075.785381618] [interleaved_to_planar_node]: [NitrosPublisher] Use the negotiated data format: "nitros_tensor_list_nchw_rgb_f32"
[component_container_mt-1] [INFO] [1744146075.785406924] [interleaved_to_planar_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1744146075.785421582] [interleaved_to_planar_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/normalized_tensor", data_format="nitros_tensor_list_nhwc_rgb_f32"
[component_container_mt-1] [INFO] [1744146075.785714820] [interleaved_to_planar_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1744146075.792161028] [interleaved_to_planar_node]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/GIGBUJSSFX/GIGBUJSSFX.yaml"
[component_container_mt-1] [INFO] [1744146075.792233704] [interleaved_to_planar_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1744146075.795576760] [interleaved_to_planar_node]: In InterleavedToPlanarNode postLoadGraphCallback().
[component_container_mt-1] [INFO] [1744146075.795689126] [interleaved_to_planar_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1744146075.797378760] [interleaved_to_planar_node]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1744146075.798274709] [reshape_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1744146075.798333476] [reshape_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1744146075.798351467] [reshape_node]: [NitrosPublisher] Use the negotiated data format: "nitros_tensor_list_nchw_rgb_f32"
[component_container_mt-1] [INFO] [1744146075.798371647] [reshape_node]: [NitrosSubscriber] Use the negotiated data format: "nitros_tensor_list_nchw_rgb_f32"
[component_container_mt-1] [INFO] [1744146075.798610305] [reshape_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1744146075.802316359] [reshape_node]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/GNZTYLWAOU/GNZTYLWAOU.yaml"
[component_container_mt-1] [INFO] [1744146075.802351409] [reshape_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1744146075.803763436] [reshape_node]: In ReshapeNode postLoadGraphCallback().
[component_container_mt-1] [INFO] [1744146075.803823457] [reshape_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1744146075.804700368] [reshape_node]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1744146075.835461290] [tensor_rt]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1744146075.835538867] [tensor_rt]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1744146075.835551208] [tensor_rt]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1744146075.835560734] [tensor_rt]: [NitrosPublisher] Use only the compatible publisher: topic_name="/tensor_sub", data_format="nitros_tensor_list_nhwc_rgb_f32"
[component_container_mt-1] [INFO] [1744146075.835573211] [tensor_rt]: [NitrosSubscriber] Use the negotiated data format: "nitros_tensor_list_nchw_rgb_f32"
[component_container_mt-1] [INFO] [1744146075.835778503] [tensor_rt]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1744146075.846653872] [tensor_rt]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/EKDKELYCXU/EKDKELYCXU.yaml"
[component_container_mt-1] [INFO] [1744146075.846737026] [tensor_rt]: [NitrosNode] Loading application
[component_container_mt-1] 2025-04-08 16:01:15.850 WARN gxf/std/yaml_file_loader.cpp@1076: Using unregistered parameter 'dev_id' in component 'stream'.
[component_container_mt-1] [INFO] [1744146075.850376715] [tensor_rt]: In TensorRTNode postLoadGraphCallback().
[component_container_mt-1] [INFO] [1744146076.043679979] [resize_mask_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1744146076.043755076] [resize_mask_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1744146076.043764001] [resize_mask_node]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1744146076.043771556] [resize_mask_node]: [NitrosPublisher] Use only the compatible publisher: topic_name="/segmentation", data_format="nitros_image_bgr8"
[component_container_mt-1] [INFO] [1744146076.043777415] [resize_mask_node]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1744146076.043782708] [resize_mask_node]: [NitrosPublisher] Use only the compatible publisher: topic_name="/camera_info_segmentation", data_format="nitros_camera_info"
[component_container_mt-1] [INFO] [1744146076.043790750] [resize_mask_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1744146076.043795335] [resize_mask_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/rt_detr_segmentation", data_format="nitros_image_bgr8"
[component_container_mt-1] [INFO] [1744146076.043800993] [resize_mask_node]: [NitrosSubscriber] Use the negotiated data format: "nitros_camera_info"
[component_container_mt-1] [INFO] [1744146076.043986804] [resize_mask_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1744146076.049838614] [resize_mask_node]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/VFAVXGDLWM/VFAVXGDLWM.yaml"
[component_container_mt-1] [INFO] [1744146076.049885780] [resize_mask_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1744146076.051748754] [resize_mask_node]: [ResizeNode] postLoadGraphCallback().
[component_container_mt-1] [INFO] [1744146076.051804782] [resize_mask_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1744146076.056905431] [resize_mask_node]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1744146076.069212845] [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] [1744146076.069284192] [tensor_rt]: Tensors 4800 bytes, num outputs 40 x tensors per output 3 = 120 blocks
[component_container_mt-1] [INFO] [1744146076.069338765] [tensor_rt]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1744146076.069894806] [tensor_rt]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1744146076.433444412] [foundationpose_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1744146076.433528196] [foundationpose_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1744146076.433543050] [foundationpose_node]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1744146076.433605454] [foundationpose_node]: [NitrosPublisher] Use only the compatible publisher: topic_name="/pose_estimation/output", data_format="nitros_detection3_d_array"
[component_container_mt-1] [INFO] [1744146076.433617537] [foundationpose_node]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1744146076.433626560] [foundationpose_node]: [NitrosPublisher] Use only the compatible publisher: topic_name="/pose_estimation/pose_matrix_output", data_format="nitros_tensor_list_nchw"
[component_container_mt-1] [INFO] [1744146076.433639556] [foundationpose_node]: [NitrosSubscriber] Use the negotiated data format: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1744146076.433651020] [foundationpose_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1744146076.433659788] [foundationpose_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/pose_estimation/camera_info", data_format="nitros_camera_info"
[component_container_mt-1] [INFO] [1744146076.433672251] [foundationpose_node]: [NitrosSubscriber] Use the negotiated data format: "nitros_image_mono8"
[component_container_mt-1] [INFO] [1744146076.433681428] [foundationpose_node]: [NitrosSubscriber] Use the negotiated data format: "nitros_image_32FC1"
[component_container_mt-1] [INFO] [1744146076.433891946] [foundationpose_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1744146076.545717754] [foundationpose_tracking_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1744146076.545767946] [foundationpose_tracking_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1744146076.545775296] [foundationpose_tracking_node]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1744146076.545779786] [foundationpose_tracking_node]: [NitrosPublisher] Use only the compatible publisher: topic_name="/tracking/output", data_format="nitros_detection3_d_array"
[component_container_mt-1] [INFO] [1744146076.545788078] [foundationpose_tracking_node]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1744146076.545791347] [foundationpose_tracking_node]: [NitrosPublisher] Use only the compatible publisher: topic_name="/tracking/pose_matrix_output", data_format="nitros_tensor_list_nchw"
[component_container_mt-1] [INFO] [1744146076.545795971] [foundationpose_tracking_node]: [NitrosSubscriber] Use the negotiated data format: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1744146076.545800282] [foundationpose_tracking_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1744146076.545803081] [foundationpose_tracking_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/tracking/camera_info", data_format="nitros_camera_info"
[component_container_mt-1] [INFO] [1744146076.545806461] [foundationpose_tracking_node]: [NitrosSubscriber] Use the negotiated data format: "nitros_image_32FC1"
[component_container_mt-1] [INFO] [1744146076.545809627] [foundationpose_tracking_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1744146076.545811983] [foundationpose_tracking_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/tracking/pose_input", data_format="nitros_tensor_list_nchw"
[component_container_mt-1] [INFO] [1744146076.545962506] [foundationpose_tracking_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1744146076.552311715] [foundationpose_tracking_node]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/EEVDIFYNMF/EEVDIFYNMF.yaml"
[component_container_mt-1] [INFO] [1744146076.552361632] [foundationpose_tracking_node]: [NitrosNode] Loading application
[component_container_mt-1] 2025-04-08 16:01:16.555 WARN gxf/std/yaml_file_loader.cpp@1076: Using unregistered parameter 'dummy_rx' in component ''.
[component_container_mt-1] 2025-04-08 16:01:16.555 WARN gxf/std/yaml_file_loader.cpp@1076: Using unregistered parameter 'dev_id' in component 'stream'.
[component_container_mt-1] [INFO] [1744146076.556155879] [foundationpose_tracking_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1744146076.557720368] [foundationpose_tracking_node]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1744146078.450519691] [foundationpose_node]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/DZYMNBDQFQ/DZYMNBDQFQ.yaml"
[component_container_mt-1] [INFO] [1744146078.450564557] [foundationpose_node]: [NitrosNode] Loading application
[component_container_mt-1] 2025-04-08 16:01:18.455 WARN gxf/std/yaml_file_loader.cpp@1076: Using unregistered parameter 'dummy_rx' in component ''.
[component_container_mt-1] 2025-04-08 16:01:18.455 WARN gxf/std/yaml_file_loader.cpp@1076: Using unregistered parameter 'dummy_rx' in component ''.
[component_container_mt-1] 2025-04-08 16:01:18.455 WARN gxf/std/yaml_file_loader.cpp@1076: Using unregistered parameter 'dev_id' in component 'stream'.
[component_container_mt-1] [INFO] [1744146078.456122848] [foundationpose_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] 2025-04-08 16:01:18.457 WARN gxf/std/scheduling_terms.cpp@333: 'min_size' parameter in MultiMessageAvailableSchedulingTerm is deprecated. Use 'min_sum' with SumOfAll sampling mode instead
[component_container_mt-1] 2025-04-08 16:01:18.457 WARN gxf/std/scheduling_terms.cpp@333: 'min_size' parameter in MultiMessageAvailableSchedulingTerm is deprecated. Use 'min_sum' with SumOfAll sampling mode instead
[component_container_mt-1] 2025-04-08 16:01:18.457 WARN gxf/std/scheduling_terms.cpp@333: 'min_size' parameter in MultiMessageAvailableSchedulingTerm is deprecated. Use 'min_sum' with SumOfAll sampling mode instead
[component_container_mt-1] 2025-04-08 16:01:18.457 WARN gxf/std/scheduling_terms.cpp@333: 'min_size' parameter in MultiMessageAvailableSchedulingTerm is deprecated. Use 'min_sum' with SumOfAll sampling mode instead
[component_container_mt-1] 2025-04-08 16:01:18.457 WARN gxf/std/scheduling_terms.cpp@333: 'min_size' parameter in MultiMessageAvailableSchedulingTerm is deprecated. Use 'min_sum' with SumOfAll sampling mode instead
[component_container_mt-1] [INFO] [1744146078.458174929] [foundationpose_node]: [NitrosNode] Node was started
[component_container_mt-1] 2025-04-08 16:02:20.139 ERROR ./gxf/foundationpose/foundationpose_sampling.cpp@310: [FoundationposeSampling] No valid value in mask.
[component_container_mt-1] 2025-04-08 16:03:25.087 ERROR ./gxf/foundationpose/foundationpose_sampling.cpp@310: [FoundationposeSampling] No valid value in mask.
[component_container_mt-1] 2025-04-08 16:04:30.074 ERROR ./gxf/foundationpose/foundationpose_sampling.cpp@310: [FoundationposeSampling] No valid value in mask.
Hi @ArghyaChatterjee @ZorAttC This error suggests that either the depth or segmentation data is invalid. Since the depth information comes from the quickstart rosbag, it's possible that there’s an issue with RT-DETR setup causing incorrect segmentation.
Could you please check the visualizations of the /segmentation and /depth_image topics to confirm if they look correct?
If you can share a rosbag that records all topics during the quickstart run, we’d be happy to help with debugging.
Hi @ArghyaChatterjee @ZorAttC This error suggests that either the depth or segmentation data is invalid. Since the depth information comes from the quickstart rosbag, it's possible that there’s an issue with RT-DETR setup causing incorrect segmentation.
Could you please check the visualizations of the
/segmentationand/depth_imagetopics to confirm if they look correct? If you can share a rosbag that records all topics during the quickstart run, we’d be happy to help with debugging.
Hi, I met the same issue, and my /segmentation and /depth_image are correct. I have also upgraded my CUDA to 12.6. What else can I try?
