search

NVIDIA-ISAAC-ROS / isaac_ros_apriltag

NVIDIA-accelerated Apriltag detection and pose estimation.
https://developer.nvidia.com/isaac-ros-gems
Apache License 2.0
107 stars 19 forks source link

Tutorial for AprilTag Detection with a USB Camera error - Unsupported encoding from ROS [yuv422_yuy2] #27

Closed TomGrimwood closed 1 year ago

TomGrimwood commented 1 year ago

Hi, I'm trying to run the detection with a usb camera, however, when I run the launch file isaac_ros_apriltag_usb_cam.launch.py, I get the following error

[component_container_mt-1] [ERROR] [1681273200.144922125] [NitrosImage]: [convert_to_custom] Unsupported encoding from ROS [yuv422_yuy2].
[component_container_mt-1] terminate called after throwing an instance of 'std::runtime_error'
[component_container_mt-1]   what():  [convert_to_custom] Unsupported encoding from ROS.
[ERROR] [component_container_mt-1]: process has died [pid 48189, exit code -6, cmd '/opt/ros/humble/install/lib/rclcpp_components/component_container_mt --ros-args -r __node:=apriltag_container -r __ns:=/'].

I'm using an AGX Orin 32GB with a C920 HD PRO WEBCAM. Running in a Isaac ROS Dev Docker I've added --device /dev/video0 to the docker run command in run_dev.sh for the webcam to be attatched to the docker image.

Full terminal output 

dmin@tom-Orin:/workspaces/isaac_ros-dev/src/testLaunch$ ros2 launch isaac_ros_apriltag isaac_ros_apriltag_usb_cam.launch.py
[INFO] [launch]: All log files can be found below /home/admin/.ros/log/2023-04-12-16-19-58-080654-tom-Orin-48178
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container_mt-1]: process started with pid [48189]
[component_container_mt-1] [INFO] [1681273198.543798929] [apriltag_container]: Load Library: /workspaces/isaac_ros-dev/install/isaac_ros_image_proc/lib/librectify_node.so
[component_container_mt-1] [INFO] [1681273198.630535384] [apriltag_container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::RectifyNode>
[component_container_mt-1] [INFO] [1681273198.630662073] [apriltag_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::RectifyNode>
[component_container_mt-1] [INFO] [1681273198.639262278] [NitrosContext]: [NitrosContext] Creating a new shared context
[component_container_mt-1] [INFO] [1681273198.639452968] [rectify]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1681273198.640338448] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/std/libgxf_std.so
[component_container_mt-1] [INFO] [1681273198.644184594] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_gxf_helpers.so
[component_container_mt-1] [INFO] [1681273198.646635400] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_sight.so
[component_container_mt-1] [INFO] [1681273198.649284512] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_atlas.so
[component_container_mt-1] [INFO] [1681273198.653000065] [NitrosContext]: [NitrosContext] Loading application: '/workspaces/isaac_ros-dev/install/isaac_ros_nitros/share/isaac_ros_nitros/config/type_adapter_nitros_context_graph.yaml'
[component_container_mt-1] [INFO] [1681273198.653941897] [NitrosContext]: [NitrosContext] Initializing application...
[component_container_mt-1] [INFO] [1681273198.655774618] [NitrosContext]: [NitrosContext] Running application...
[component_container_mt-1] 2023-04-12 16:19:58.655 WARN  gxf/std/program.cpp@456: No system specified. Nothing to do
[component_container_mt-1] [INFO] [1681273198.657147782] [rectify]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1681273198.657197479] [rectify]: [NitrosNode] Loading built-in preset extension specs
[component_container_mt-1] [INFO] [1681273198.659743645] [rectify]: [NitrosNode] Loading built-in extension specs
[component_container_mt-1] [INFO] [1681273198.659798974] [rectify]: [NitrosNode] Loading preset extension specs
[component_container_mt-1] [INFO] [1681273198.663223932] [rectify]: [NitrosNode] Loading extension specs
[component_container_mt-1] [INFO] [1681273198.663277789] [rectify]: [NitrosNode] Loading generator rules
[component_container_mt-1] [INFO] [1681273198.663639904] [rectify]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1681273198.664265158] [rectify]: [NitrosContext] Loading extension: gxf/lib/cuda/libgxf_cuda.so
[component_container_mt-1] [INFO] [1681273198.666717660] [rectify]: [NitrosContext] Loading extension: gxf/lib/libgxf_message_compositor.so
[component_container_mt-1] [INFO] [1681273198.667767685] [rectify]: [NitrosContext] Loading extension: gxf/lib/image_proc/libgxf_tensorops.so
[component_container_mt-1] [INFO] [1681273198.671264836] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/multimedia/libgxf_multimedia.so
[component_container_mt-1] [INFO] [1681273198.671802825] [rectify]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1681273198.675498442] [rectify]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1681273198.715884755] [rectify]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1681273198.717379008] [rectify]: [NitrosNode] Creating negotiated publishers/subscribers
[component_container_mt-1] [INFO] [1681273198.729649550] [rectify]: [NitrosNode] Starting negotiation...
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/rectify' in container '/apriltag_container'
[component_container_mt-1] [INFO] [1681273198.734796540] [apriltag_container]: Load Library: /workspaces/isaac_ros-dev/install/isaac_ros_apriltag/lib/libapriltag_node.so
[component_container_mt-1] [INFO] [1681273198.748092947] [apriltag_container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::apriltag::AprilTagNode>
[component_container_mt-1] [INFO] [1681273198.748177844] [apriltag_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::apriltag::AprilTagNode>
[component_container_mt-1] [INFO] [1681273198.755770455] [apriltag]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1681273198.756945026] [apriltag]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1681273198.756978754] [apriltag]: [NitrosNode] Loading built-in preset extension specs
[component_container_mt-1] [INFO] [1681273198.758928244] [apriltag]: [NitrosNode] Loading built-in extension specs
[component_container_mt-1] [INFO] [1681273198.758978356] [apriltag]: [NitrosNode] Loading preset extension specs
[component_container_mt-1] [INFO] [1681273198.760264288] [apriltag]: [NitrosNode] Loading extension specs
[component_container_mt-1] [INFO] [1681273198.760297728] [apriltag]: [NitrosNode] Loading generator rules
[component_container_mt-1] [INFO] [1681273198.760722724] [apriltag]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1681273198.761544107] [apriltag]: [NitrosContext] Loading extension: gxf/lib/serialization/libgxf_serialization.so
[component_container_mt-1] [INFO] [1681273198.765808593] [apriltag]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_messages.so
[component_container_mt-1] [INFO] [1681273198.767266206] [apriltag]: [NitrosContext] Loading extension: gxf/lib/fiducials/libgxf_fiducials.so
[component_container_mt-1] [INFO] [1681273198.770263929] [apriltag]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1681273198.773792792] [apriltag]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1681273198.874102105] [apriltag]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1681273198.877759641] [apriltag]: [NitrosNode] Creating negotiated publishers/subscribers
[component_container_mt-1] [INFO] [1681273198.889007902] [apriltag]: [NitrosNode] Starting negotiation...
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/apriltag' in container '/apriltag_container'
[component_container_mt-1] [INFO] [1681273198.890029639] [rectify]: Negotiating
[component_container_mt-1] [INFO] [1681273198.892940801] [apriltag]: Negotiating
[component_container_mt-1] [INFO] [1681273198.893038370] [apriltag]: Could not negotiate
[component_container_mt-1] [INFO] [1681273198.894632496] [apriltag_container]: Load Library: /workspaces/isaac_ros-dev/install/usb_cam/lib/libusb_cam_node.so
[component_container_mt-1] [INFO] [1681273198.937789042] [apriltag_container]: Found class: rclcpp_components::NodeFactoryTemplate<usb_cam::UsbCamNode>
[component_container_mt-1] [INFO] [1681273198.937877299] [apriltag_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<usb_cam::UsbCamNode>
[component_container_mt-1] [INFO] [1681273199.080274507] [usb_cam]: camera_name value: test_camera
[component_container_mt-1] [WARN] [1681273199.080374635] [usb_cam]: framerate: 30.000000
[component_container_mt-1] [INFO] [1681273199.089245563] [usb_cam]: camera calibration URL: package://isaac_ros_apriltag/config/camera_info.yaml
[component_container_mt-1] [WARN] [1681273199.090154179] [usb_cam]: [test_camera] does not match narrow_stereo in file /workspaces/isaac_ros-dev/install/isaac_ros_apriltag/share/isaac_ros_apriltag/config/camera_info.yaml
[component_container_mt-1] [INFO] [1681273199.090228195] [usb_cam]: Starting 'test_camera' (/dev/video0) at 1280x720 via mmap (yuyv) at 30 FPS
[component_container_mt-1] [INFO] [1681273199.175870048] [usb_cam]: This devices supproted formats:
[component_container_mt-1] [INFO] [1681273199.176393125] [usb_cam]:     YUYV 4:2:2: 640 x 480 (30 Hz)
[component_container_mt-1] [INFO] [1681273199.176421797] [usb_cam]:     YUYV 4:2:2: 640 x 480 (24 Hz)
[component_container_mt-1] [INFO] [1681273199.176436549] [usb_cam]:     YUYV 4:2:2: 640 x 480 (20 Hz)
[component_container_mt-1] [INFO] [1681273199.176445541] [usb_cam]:     YUYV 4:2:2: 640 x 480 (15 Hz)
[component_container_mt-1] [INFO] [1681273199.176453221] [usb_cam]:     YUYV 4:2:2: 640 x 480 (10 Hz)
[component_container_mt-1] [INFO] [1681273199.176459846] [usb_cam]:     YUYV 4:2:2: 640 x 480 (7 Hz)
[component_container_mt-1] [INFO] [1681273199.176466662] [usb_cam]:     YUYV 4:2:2: 640 x 480 (5 Hz)
[component_container_mt-1] [INFO] [1681273199.176472870] [usb_cam]:     YUYV 4:2:2: 160 x 90 (30 Hz)
[component_container_mt-1] [INFO] [1681273199.176480070] [usb_cam]:     YUYV 4:2:2: 160 x 90 (24 Hz)
[component_container_mt-1] [INFO] [1681273199.176486342] [usb_cam]:     YUYV 4:2:2: 160 x 90 (20 Hz)
[component_container_mt-1] [INFO] [1681273199.176493126] [usb_cam]:     YUYV 4:2:2: 160 x 90 (15 Hz)
[component_container_mt-1] [INFO] [1681273199.176499558] [usb_cam]:     YUYV 4:2:2: 160 x 90 (10 Hz)
[component_container_mt-1] [INFO] [1681273199.176506278] [usb_cam]:     YUYV 4:2:2: 160 x 90 (7 Hz)
[component_container_mt-1] [INFO] [1681273199.176512390] [usb_cam]:     YUYV 4:2:2: 160 x 90 (5 Hz)
[component_container_mt-1] [INFO] [1681273199.176518694] [usb_cam]:     YUYV 4:2:2: 160 x 120 (30 Hz)
[component_container_mt-1] [INFO] [1681273199.176525158] [usb_cam]:     YUYV 4:2:2: 160 x 120 (24 Hz)
[component_container_mt-1] [INFO] [1681273199.176531366] [usb_cam]:     YUYV 4:2:2: 160 x 120 (20 Hz)
[component_container_mt-1] [INFO] [1681273199.176537638] [usb_cam]:     YUYV 4:2:2: 160 x 120 (15 Hz)
[component_container_mt-1] [INFO] [1681273199.176544038] [usb_cam]:     YUYV 4:2:2: 160 x 120 (10 Hz)
[component_container_mt-1] [INFO] [1681273199.176550662] [usb_cam]:     YUYV 4:2:2: 160 x 120 (7 Hz)
[component_container_mt-1] [INFO] [1681273199.176557158] [usb_cam]:     YUYV 4:2:2: 160 x 120 (5 Hz)
[component_container_mt-1] [INFO] [1681273199.176563238] [usb_cam]:     YUYV 4:2:2: 176 x 144 (30 Hz)
[component_container_mt-1] [INFO] [1681273199.176568870] [usb_cam]:     YUYV 4:2:2: 176 x 144 (24 Hz)
[component_container_mt-1] [INFO] [1681273199.176575175] [usb_cam]:     YUYV 4:2:2: 176 x 144 (20 Hz)
[component_container_mt-1] [INFO] [1681273199.176582023] [usb_cam]:     YUYV 4:2:2: 176 x 144 (15 Hz)
[component_container_mt-1] [INFO] [1681273199.176588327] [usb_cam]:     YUYV 4:2:2: 176 x 144 (10 Hz)
[component_container_mt-1] [INFO] [1681273199.176594471] [usb_cam]:     YUYV 4:2:2: 176 x 144 (7 Hz)
[component_container_mt-1] [INFO] [1681273199.176600935] [usb_cam]:     YUYV 4:2:2: 176 x 144 (5 Hz)
[component_container_mt-1] [INFO] [1681273199.176607591] [usb_cam]:     YUYV 4:2:2: 320 x 180 (30 Hz)
[component_container_mt-1] [INFO] [1681273199.176613415] [usb_cam]:     YUYV 4:2:2: 320 x 180 (24 Hz)
[component_container_mt-1] [INFO] [1681273199.176619975] [usb_cam]:     YUYV 4:2:2: 320 x 180 (20 Hz)
[component_container_mt-1] [INFO] [1681273199.176625799] [usb_cam]:     YUYV 4:2:2: 320 x 180 (15 Hz)
[component_container_mt-1] [INFO] [1681273199.176706824] [usb_cam]:     YUYV 4:2:2: 320 x 180 (10 Hz)
[component_container_mt-1] [INFO] [1681273199.176717544] [usb_cam]:     YUYV 4:2:2: 320 x 180 (7 Hz)
[component_container_mt-1] [INFO] [1681273199.176724200] [usb_cam]:     YUYV 4:2:2: 320 x 180 (5 Hz)
[component_container_mt-1] [INFO] [1681273199.176730856] [usb_cam]:     YUYV 4:2:2: 320 x 240 (30 Hz)
[component_container_mt-1] [INFO] [1681273199.176737864] [usb_cam]:     YUYV 4:2:2: 320 x 240 (24 Hz)
[component_container_mt-1] [INFO] [1681273199.176743400] [usb_cam]:     YUYV 4:2:2: 320 x 240 (20 Hz)
[component_container_mt-1] [INFO] [1681273199.176749704] [usb_cam]:     YUYV 4:2:2: 320 x 240 (15 Hz)
[component_container_mt-1] [INFO] [1681273199.176755912] [usb_cam]:     YUYV 4:2:2: 320 x 240 (10 Hz)
[component_container_mt-1] [INFO] [1681273199.176762280] [usb_cam]:     YUYV 4:2:2: 320 x 240 (7 Hz)
[component_container_mt-1] [INFO] [1681273199.176768360] [usb_cam]:     YUYV 4:2:2: 320 x 240 (5 Hz)
[component_container_mt-1] [INFO] [1681273199.176775240] [usb_cam]:     YUYV 4:2:2: 352 x 288 (30 Hz)
[component_container_mt-1] [INFO] [1681273199.176781992] [usb_cam]:     YUYV 4:2:2: 352 x 288 (24 Hz)
[component_container_mt-1] [INFO] [1681273199.176788520] [usb_cam]:     YUYV 4:2:2: 352 x 288 (20 Hz)
[component_container_mt-1] [INFO] [1681273199.176794537] [usb_cam]:     YUYV 4:2:2: 352 x 288 (15 Hz)
[component_container_mt-1] [INFO] [1681273199.176800681] [usb_cam]:     YUYV 4:2:2: 352 x 288 (10 Hz)
[component_container_mt-1] [INFO] [1681273199.176806761] [usb_cam]:     YUYV 4:2:2: 352 x 288 (7 Hz)
[component_container_mt-1] [INFO] [1681273199.176813257] [usb_cam]:     YUYV 4:2:2: 352 x 288 (5 Hz)
[component_container_mt-1] [INFO] [1681273199.176819561] [usb_cam]:     YUYV 4:2:2: 432 x 240 (30 Hz)
[component_container_mt-1] [INFO] [1681273199.176825481] [usb_cam]:     YUYV 4:2:2: 432 x 240 (24 Hz)
[component_container_mt-1] [INFO] [1681273199.176832297] [usb_cam]:     YUYV 4:2:2: 432 x 240 (20 Hz)
[component_container_mt-1] [INFO] [1681273199.176838601] [usb_cam]:     YUYV 4:2:2: 432 x 240 (15 Hz)
[component_container_mt-1] [INFO] [1681273199.176860617] [usb_cam]:     YUYV 4:2:2: 432 x 240 (10 Hz)
[component_container_mt-1] [INFO] [1681273199.176867209] [usb_cam]:     YUYV 4:2:2: 432 x 240 (7 Hz)
[component_container_mt-1] [INFO] [1681273199.176876201] [usb_cam]:     YUYV 4:2:2: 432 x 240 (5 Hz)
[component_container_mt-1] [INFO] [1681273199.176882281] [usb_cam]:     YUYV 4:2:2: 640 x 360 (30 Hz)
[component_container_mt-1] [INFO] [1681273199.176888521] [usb_cam]:     YUYV 4:2:2: 640 x 360 (24 Hz)
[component_container_mt-1] [INFO] [1681273199.176895049] [usb_cam]:     YUYV 4:2:2: 640 x 360 (20 Hz)
[component_container_mt-1] [INFO] [1681273199.176901897] [usb_cam]:     YUYV 4:2:2: 640 x 360 (15 Hz)
[component_container_mt-1] [INFO] [1681273199.176908746] [usb_cam]:     YUYV 4:2:2: 640 x 360 (10 Hz)
[component_container_mt-1] [INFO] [1681273199.176915306] [usb_cam]:     YUYV 4:2:2: 640 x 360 (7 Hz)
[component_container_mt-1] [INFO] [1681273199.176921386] [usb_cam]:     YUYV 4:2:2: 640 x 360 (5 Hz)
[component_container_mt-1] [INFO] [1681273199.176927882] [usb_cam]:     YUYV 4:2:2: 800 x 448 (30 Hz)
[component_container_mt-1] [INFO] [1681273199.176934314] [usb_cam]:     YUYV 4:2:2: 800 x 448 (24 Hz)
[component_container_mt-1] [INFO] [1681273199.176940682] [usb_cam]:     YUYV 4:2:2: 800 x 448 (20 Hz)
[component_container_mt-1] [INFO] [1681273199.176947210] [usb_cam]:     YUYV 4:2:2: 800 x 448 (15 Hz)
[component_container_mt-1] [INFO] [1681273199.176954122] [usb_cam]:     YUYV 4:2:2: 800 x 448 (10 Hz)
[component_container_mt-1] [INFO] [1681273199.176960970] [usb_cam]:     YUYV 4:2:2: 800 x 448 (7 Hz)
[component_container_mt-1] [INFO] [1681273199.176967530] [usb_cam]:     YUYV 4:2:2: 800 x 448 (5 Hz)
[component_container_mt-1] [INFO] [1681273199.176973866] [usb_cam]:     YUYV 4:2:2: 800 x 600 (24 Hz)
[component_container_mt-1] [INFO] [1681273199.176980618] [usb_cam]:     YUYV 4:2:2: 800 x 600 (20 Hz)
[component_container_mt-1] [INFO] [1681273199.176987114] [usb_cam]:     YUYV 4:2:2: 800 x 600 (15 Hz)
[component_container_mt-1] [INFO] [1681273199.176994090] [usb_cam]:     YUYV 4:2:2: 800 x 600 (10 Hz)
[component_container_mt-1] [INFO] [1681273199.177000554] [usb_cam]:     YUYV 4:2:2: 800 x 600 (7 Hz)
[component_container_mt-1] [INFO] [1681273199.177007658] [usb_cam]:     YUYV 4:2:2: 800 x 600 (5 Hz)
[component_container_mt-1] [INFO] [1681273199.177014346] [usb_cam]:     YUYV 4:2:2: 864 x 480 (24 Hz)
[component_container_mt-1] [INFO] [1681273199.177020907] [usb_cam]:     YUYV 4:2:2: 864 x 480 (20 Hz)
[component_container_mt-1] [INFO] [1681273199.177027275] [usb_cam]:     YUYV 4:2:2: 864 x 480 (15 Hz)
[component_container_mt-1] [INFO] [1681273199.177033579] [usb_cam]:     YUYV 4:2:2: 864 x 480 (10 Hz)
[component_container_mt-1] [INFO] [1681273199.177040171] [usb_cam]:     YUYV 4:2:2: 864 x 480 (7 Hz)
[component_container_mt-1] [INFO] [1681273199.177046507] [usb_cam]:     YUYV 4:2:2: 864 x 480 (5 Hz)
[component_container_mt-1] [INFO] [1681273199.177053131] [usb_cam]:     YUYV 4:2:2: 960 x 720 (15 Hz)
[component_container_mt-1] [INFO] [1681273199.177061515] [usb_cam]:     YUYV 4:2:2: 960 x 720 (10 Hz)
[component_container_mt-1] [INFO] [1681273199.177069067] [usb_cam]:     YUYV 4:2:2: 960 x 720 (7 Hz)
[component_container_mt-1] [INFO] [1681273199.177075883] [usb_cam]:     YUYV 4:2:2: 960 x 720 (5 Hz)
[component_container_mt-1] [INFO] [1681273199.177082315] [usb_cam]:     YUYV 4:2:2: 1024 x 576 (15 Hz)
[component_container_mt-1] [INFO] [1681273199.177088779] [usb_cam]:     YUYV 4:2:2: 1024 x 576 (10 Hz)
[component_container_mt-1] [INFO] [1681273199.177095307] [usb_cam]:     YUYV 4:2:2: 1024 x 576 (7 Hz)
[component_container_mt-1] [INFO] [1681273199.177114155] [usb_cam]:     YUYV 4:2:2: 1024 x 576 (5 Hz)
[component_container_mt-1] [INFO] [1681273199.177124043] [usb_cam]:     YUYV 4:2:2: 1280 x 720 (10 Hz)
[component_container_mt-1] [INFO] [1681273199.177131244] [usb_cam]:     YUYV 4:2:2: 1280 x 720 (7 Hz)
[component_container_mt-1] [INFO] [1681273199.177137612] [usb_cam]:     YUYV 4:2:2: 1280 x 720 (5 Hz)
[component_container_mt-1] [INFO] [1681273199.177144236] [usb_cam]:     YUYV 4:2:2: 1600 x 896 (7 Hz)
[component_container_mt-1] [INFO] [1681273199.177150796] [usb_cam]:     YUYV 4:2:2: 1600 x 896 (5 Hz)
[component_container_mt-1] [INFO] [1681273199.177162700] [usb_cam]:     YUYV 4:2:2: 1920 x 1080 (5 Hz)
[component_container_mt-1] [INFO] [1681273199.177177612] [usb_cam]:     YUYV 4:2:2: 2560 x 1472 (2 Hz)
[component_container_mt-1] [INFO] [1681273199.177184204] [usb_cam]:     Motion-JPEG: 640 x 480 (30 Hz)
[component_container_mt-1] [INFO] [1681273199.177190476] [usb_cam]:     Motion-JPEG: 640 x 480 (24 Hz)
[component_container_mt-1] [INFO] [1681273199.177196972] [usb_cam]:     Motion-JPEG: 640 x 480 (20 Hz)
[component_container_mt-1] [INFO] [1681273199.177203148] [usb_cam]:     Motion-JPEG: 640 x 480 (15 Hz)
[component_container_mt-1] [INFO] [1681273199.177209420] [usb_cam]:     Motion-JPEG: 640 x 480 (10 Hz)
[component_container_mt-1] [INFO] [1681273199.177215468] [usb_cam]:     Motion-JPEG: 640 x 480 (7 Hz)
[component_container_mt-1] [INFO] [1681273199.177221516] [usb_cam]:     Motion-JPEG: 640 x 480 (5 Hz)
[component_container_mt-1] [INFO] [1681273199.177227884] [usb_cam]:     Motion-JPEG: 160 x 90 (30 Hz)
[component_container_mt-1] [INFO] [1681273199.177234252] [usb_cam]:     Motion-JPEG: 160 x 90 (24 Hz)
[component_container_mt-1] [INFO] [1681273199.177240332] [usb_cam]:     Motion-JPEG: 160 x 90 (20 Hz)
[component_container_mt-1] [INFO] [1681273199.177246637] [usb_cam]:     Motion-JPEG: 160 x 90 (15 Hz)
[component_container_mt-1] [INFO] [1681273199.177252877] [usb_cam]:     Motion-JPEG: 160 x 90 (10 Hz)
[component_container_mt-1] [INFO] [1681273199.177258765] [usb_cam]:     Motion-JPEG: 160 x 90 (7 Hz)
[component_container_mt-1] [INFO] [1681273199.177264877] [usb_cam]:     Motion-JPEG: 160 x 90 (5 Hz)
[component_container_mt-1] [INFO] [1681273199.177270893] [usb_cam]:     Motion-JPEG: 160 x 120 (30 Hz)
[component_container_mt-1] [INFO] [1681273199.177276749] [usb_cam]:     Motion-JPEG: 160 x 120 (24 Hz)
[component_container_mt-1] [INFO] [1681273199.177282477] [usb_cam]:     Motion-JPEG: 160 x 120 (20 Hz)
[component_container_mt-1] [INFO] [1681273199.177288141] [usb_cam]:     Motion-JPEG: 160 x 120 (15 Hz)
[component_container_mt-1] [INFO] [1681273199.177294157] [usb_cam]:     Motion-JPEG: 160 x 120 (10 Hz)
[component_container_mt-1] [INFO] [1681273199.177300269] [usb_cam]:     Motion-JPEG: 160 x 120 (7 Hz)
[component_container_mt-1] [INFO] [1681273199.177311981] [usb_cam]:     Motion-JPEG: 160 x 120 (5 Hz)
[component_container_mt-1] [INFO] [1681273199.177318317] [usb_cam]:     Motion-JPEG: 176 x 144 (30 Hz)
[component_container_mt-1] [INFO] [1681273199.177324461] [usb_cam]:     Motion-JPEG: 176 x 144 (24 Hz)
[component_container_mt-1] [INFO] [1681273199.177330477] [usb_cam]:     Motion-JPEG: 176 x 144 (20 Hz)
[component_container_mt-1] [INFO] [1681273199.177336429] [usb_cam]:     Motion-JPEG: 176 x 144 (15 Hz)
[component_container_mt-1] [INFO] [1681273199.177342221] [usb_cam]:     Motion-JPEG: 176 x 144 (10 Hz)
[component_container_mt-1] [INFO] [1681273199.177347949] [usb_cam]:     Motion-JPEG: 176 x 144 (7 Hz)
[component_container_mt-1] [INFO] [1681273199.177353741] [usb_cam]:     Motion-JPEG: 176 x 144 (5 Hz)
[component_container_mt-1] [INFO] [1681273199.177359566] [usb_cam]:     Motion-JPEG: 320 x 180 (30 Hz)
[component_container_mt-1] [INFO] [1681273199.177365262] [usb_cam]:     Motion-JPEG: 320 x 180 (24 Hz)
[component_container_mt-1] [INFO] [1681273199.177371182] [usb_cam]:     Motion-JPEG: 320 x 180 (20 Hz)
[component_container_mt-1] [INFO] [1681273199.177377230] [usb_cam]:     Motion-JPEG: 320 x 180 (15 Hz)
[component_container_mt-1] [INFO] [1681273199.177383342] [usb_cam]:     Motion-JPEG: 320 x 180 (10 Hz)
[component_container_mt-1] [INFO] [1681273199.177389486] [usb_cam]:     Motion-JPEG: 320 x 180 (7 Hz)
[component_container_mt-1] [INFO] [1681273199.177395822] [usb_cam]:     Motion-JPEG: 320 x 180 (5 Hz)
[component_container_mt-1] [INFO] [1681273199.177401934] [usb_cam]:     Motion-JPEG: 320 x 240 (30 Hz)
[component_container_mt-1] [INFO] [1681273199.177407982] [usb_cam]:     Motion-JPEG: 320 x 240 (24 Hz)
[component_container_mt-1] [INFO] [1681273199.177414030] [usb_cam]:     Motion-JPEG: 320 x 240 (20 Hz)
[component_container_mt-1] [INFO] [1681273199.177419982] [usb_cam]:     Motion-JPEG: 320 x 240 (15 Hz)
[component_container_mt-1] [INFO] [1681273199.177426222] [usb_cam]:     Motion-JPEG: 320 x 240 (10 Hz)
[component_container_mt-1] [INFO] [1681273199.177432366] [usb_cam]:     Motion-JPEG: 320 x 240 (7 Hz)
[component_container_mt-1] [INFO] [1681273199.177438382] [usb_cam]:     Motion-JPEG: 320 x 240 (5 Hz)
[component_container_mt-1] [INFO] [1681273199.177446286] [usb_cam]:     Motion-JPEG: 352 x 288 (30 Hz)
[component_container_mt-1] [INFO] [1681273199.177458094] [usb_cam]:     Motion-JPEG: 352 x 288 (24 Hz)
[component_container_mt-1] [INFO] [1681273199.177464078] [usb_cam]:     Motion-JPEG: 352 x 288 (20 Hz)
[component_container_mt-1] [INFO] [1681273199.177469871] [usb_cam]:     Motion-JPEG: 352 x 288 (15 Hz)
[component_container_mt-1] [INFO] [1681273199.177476143] [usb_cam]:     Motion-JPEG: 352 x 288 (10 Hz)
[component_container_mt-1] [INFO] [1681273199.177482223] [usb_cam]:     Motion-JPEG: 352 x 288 (7 Hz)
[component_container_mt-1] [INFO] [1681273199.177500271] [usb_cam]:     Motion-JPEG: 352 x 288 (5 Hz)
[component_container_mt-1] [INFO] [1681273199.177509487] [usb_cam]:     Motion-JPEG: 432 x 240 (30 Hz)
[component_container_mt-1] [INFO] [1681273199.177516079] [usb_cam]:     Motion-JPEG: 432 x 240 (24 Hz)
[component_container_mt-1] [INFO] [1681273199.177521807] [usb_cam]:     Motion-JPEG: 432 x 240 (20 Hz)
[component_container_mt-1] [INFO] [1681273199.177527535] [usb_cam]:     Motion-JPEG: 432 x 240 (15 Hz)
[component_container_mt-1] [INFO] [1681273199.177533135] [usb_cam]:     Motion-JPEG: 432 x 240 (10 Hz)
[component_container_mt-1] [INFO] [1681273199.177538831] [usb_cam]:     Motion-JPEG: 432 x 240 (7 Hz)
[component_container_mt-1] [INFO] [1681273199.177544463] [usb_cam]:     Motion-JPEG: 432 x 240 (5 Hz)
[component_container_mt-1] [INFO] [1681273199.177550479] [usb_cam]:     Motion-JPEG: 640 x 360 (30 Hz)
[component_container_mt-1] [INFO] [1681273199.177556367] [usb_cam]:     Motion-JPEG: 640 x 360 (24 Hz)
[component_container_mt-1] [INFO] [1681273199.177562511] [usb_cam]:     Motion-JPEG: 640 x 360 (20 Hz)
[component_container_mt-1] [INFO] [1681273199.177568463] [usb_cam]:     Motion-JPEG: 640 x 360 (15 Hz)
[component_container_mt-1] [INFO] [1681273199.177574415] [usb_cam]:     Motion-JPEG: 640 x 360 (10 Hz)
[component_container_mt-1] [INFO] [1681273199.177580272] [usb_cam]:     Motion-JPEG: 640 x 360 (7 Hz)
[component_container_mt-1] [INFO] [1681273199.177586416] [usb_cam]:     Motion-JPEG: 640 x 360 (5 Hz)
[component_container_mt-1] [INFO] [1681273199.177592336] [usb_cam]:     Motion-JPEG: 800 x 448 (30 Hz)
[component_container_mt-1] [INFO] [1681273199.177598032] [usb_cam]:     Motion-JPEG: 800 x 448 (24 Hz)
[component_container_mt-1] [INFO] [1681273199.177603856] [usb_cam]:     Motion-JPEG: 800 x 448 (20 Hz)
[component_container_mt-1] [INFO] [1681273199.177610064] [usb_cam]:     Motion-JPEG: 800 x 448 (15 Hz)
[component_container_mt-1] [INFO] [1681273199.177615920] [usb_cam]:     Motion-JPEG: 800 x 448 (10 Hz)
[component_container_mt-1] [INFO] [1681273199.177627440] [usb_cam]:     Motion-JPEG: 800 x 448 (7 Hz)
[component_container_mt-1] [INFO] [1681273199.177633424] [usb_cam]:     Motion-JPEG: 800 x 448 (5 Hz)
[component_container_mt-1] [INFO] [1681273199.177639376] [usb_cam]:     Motion-JPEG: 800 x 600 (30 Hz)
[component_container_mt-1] [INFO] [1681273199.177645200] [usb_cam]:     Motion-JPEG: 800 x 600 (24 Hz)
[component_container_mt-1] [INFO] [1681273199.177651184] [usb_cam]:     Motion-JPEG: 800 x 600 (20 Hz)
[component_container_mt-1] [INFO] [1681273199.177657008] [usb_cam]:     Motion-JPEG: 800 x 600 (15 Hz)
[component_container_mt-1] [INFO] [1681273199.177663216] [usb_cam]:     Motion-JPEG: 800 x 600 (10 Hz)
[component_container_mt-1] [INFO] [1681273199.177669712] [usb_cam]:     Motion-JPEG: 800 x 600 (7 Hz)
[component_container_mt-1] [INFO] [1681273199.177675568] [usb_cam]:     Motion-JPEG: 800 x 600 (5 Hz)
[component_container_mt-1] [INFO] [1681273199.177681712] [usb_cam]:     Motion-JPEG: 864 x 480 (30 Hz)
[component_container_mt-1] [INFO] [1681273199.177690545] [usb_cam]:     Motion-JPEG: 864 x 480 (24 Hz)
[component_container_mt-1] [INFO] [1681273199.177696753] [usb_cam]:     Motion-JPEG: 864 x 480 (20 Hz)
[component_container_mt-1] [INFO] [1681273199.177703089] [usb_cam]:     Motion-JPEG: 864 x 480 (15 Hz)
[component_container_mt-1] [INFO] [1681273199.177709169] [usb_cam]:     Motion-JPEG: 864 x 480 (10 Hz)
[component_container_mt-1] [INFO] [1681273199.177715633] [usb_cam]:     Motion-JPEG: 864 x 480 (7 Hz)
[component_container_mt-1] [INFO] [1681273199.177721745] [usb_cam]:     Motion-JPEG: 864 x 480 (5 Hz)
[component_container_mt-1] [INFO] [1681273199.177727889] [usb_cam]:     Motion-JPEG: 960 x 720 (30 Hz)
[component_container_mt-1] [INFO] [1681273199.177733905] [usb_cam]:     Motion-JPEG: 960 x 720 (24 Hz)
[component_container_mt-1] [INFO] [1681273199.177739889] [usb_cam]:     Motion-JPEG: 960 x 720 (20 Hz)
[component_container_mt-1] [INFO] [1681273199.177746001] [usb_cam]:     Motion-JPEG: 960 x 720 (15 Hz)
[component_container_mt-1] [INFO] [1681273199.177752049] [usb_cam]:     Motion-JPEG: 960 x 720 (10 Hz)
[component_container_mt-1] [INFO] [1681273199.177758289] [usb_cam]:     Motion-JPEG: 960 x 720 (7 Hz)
[component_container_mt-1] [INFO] [1681273199.177764689] [usb_cam]:     Motion-JPEG: 960 x 720 (5 Hz)
[component_container_mt-1] [INFO] [1681273199.177770769] [usb_cam]:     Motion-JPEG: 1024 x 576 (30 Hz)
[component_container_mt-1] [INFO] [1681273199.177777137] [usb_cam]:     Motion-JPEG: 1024 x 576 (24 Hz)
[component_container_mt-1] [INFO] [1681273199.177783249] [usb_cam]:     Motion-JPEG: 1024 x 576 (20 Hz)
[component_container_mt-1] [INFO] [1681273199.177789393] [usb_cam]:     Motion-JPEG: 1024 x 576 (15 Hz)
[component_container_mt-1] [INFO] [1681273199.177800721] [usb_cam]:     Motion-JPEG: 1024 x 576 (10 Hz)
[component_container_mt-1] [INFO] [1681273199.177807282] [usb_cam]:     Motion-JPEG: 1024 x 576 (7 Hz)
[component_container_mt-1] [INFO] [1681273199.177813714] [usb_cam]:     Motion-JPEG: 1024 x 576 (5 Hz)
[component_container_mt-1] [INFO] [1681273199.177822418] [usb_cam]:     Motion-JPEG: 1280 x 720 (30 Hz)
[component_container_mt-1] [INFO] [1681273199.177829234] [usb_cam]:     Motion-JPEG: 1280 x 720 (24 Hz)
[component_container_mt-1] [INFO] [1681273199.177835602] [usb_cam]:     Motion-JPEG: 1280 x 720 (20 Hz)
[component_container_mt-1] [INFO] [1681273199.177841970] [usb_cam]:     Motion-JPEG: 1280 x 720 (15 Hz)
[component_container_mt-1] [INFO] [1681273199.177848050] [usb_cam]:     Motion-JPEG: 1280 x 720 (10 Hz)
[component_container_mt-1] [INFO] [1681273199.177854354] [usb_cam]:     Motion-JPEG: 1280 x 720 (7 Hz)
[component_container_mt-1] [INFO] [1681273199.177871954] [usb_cam]:     Motion-JPEG: 1280 x 720 (5 Hz)
[component_container_mt-1] [INFO] [1681273199.177881298] [usb_cam]:     Motion-JPEG: 1600 x 896 (30 Hz)
[component_container_mt-1] [INFO] [1681273199.177888242] [usb_cam]:     Motion-JPEG: 1600 x 896 (24 Hz)
[component_container_mt-1] [INFO] [1681273199.177895058] [usb_cam]:     Motion-JPEG: 1600 x 896 (20 Hz)
[component_container_mt-1] [INFO] [1681273199.177901746] [usb_cam]:     Motion-JPEG: 1600 x 896 (15 Hz)
[component_container_mt-1] [INFO] [1681273199.177907954] [usb_cam]:     Motion-JPEG: 1600 x 896 (10 Hz)
[component_container_mt-1] [INFO] [1681273199.177914451] [usb_cam]:     Motion-JPEG: 1600 x 896 (7 Hz)
[component_container_mt-1] [INFO] [1681273199.177920979] [usb_cam]:     Motion-JPEG: 1600 x 896 (5 Hz)
[component_container_mt-1] [INFO] [1681273199.177927731] [usb_cam]:     Motion-JPEG: 1920 x 1080 (30 Hz)
[component_container_mt-1] [INFO] [1681273199.177934291] [usb_cam]:     Motion-JPEG: 1920 x 1080 (24 Hz)
[component_container_mt-1] [INFO] [1681273199.177941139] [usb_cam]:     Motion-JPEG: 1920 x 1080 (20 Hz)
[component_container_mt-1] [INFO] [1681273199.177947667] [usb_cam]:     Motion-JPEG: 1920 x 1080 (15 Hz)
[component_container_mt-1] [INFO] [1681273199.177954131] [usb_cam]:     Motion-JPEG: 1920 x 1080 (10 Hz)
[component_container_mt-1] [INFO] [1681273199.177960563] [usb_cam]:     Motion-JPEG: 1920 x 1080 (7 Hz)
[component_container_mt-1] [INFO] [1681273199.177966995] [usb_cam]:     Motion-JPEG: 1920 x 1080 (5 Hz)
[component_container_mt-1] [INFO] [1681273199.177978739] [usb_cam]: Setting 'brightness' to 50
[component_container_mt-1] sh: 1: v4l2-ctl: not found
[component_container_mt-1] 
[component_container_mt-1] sh: 1: v4l2-ctl: not found
[component_container_mt-1] 
[component_container_mt-1] [INFO] [1681273199.184598990] [usb_cam]: Setting 'white_balance_temperature_auto' to 1
[component_container_mt-1] [INFO] [1681273199.184653231] [usb_cam]: Setting 'exposure_auto' to 3
[component_container_mt-1] sh: 1: v4l2-ctl: not found
[component_container_mt-1] 
[component_container_mt-1] sh: 1: v4l2-ctl: not found
[component_container_mt-1] 
[component_container_mt-1] [INFO] [1681273199.187481512] [usb_cam]: Setting 'focus_auto' to 0
[component_container_mt-1] [INFO] [1681273199.329228794] [usb_cam]: Timer triggering every 33 ms
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/usb_cam' in container '/apriltag_container'
[component_container_mt-1] [INFO] [1681273199.731049374] [rectify]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1681273199.731141119] [rectify]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1681273199.731171647] [rectify]: [NitrosPublisher] Use the negotiated data format: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1681273199.731187743] [rectify]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1681273199.731196735] [rectify]: [NitrosPublisher] Use only the compatible publisher: topic_name="/camera_info_rect", data_format="nitros_camera_info"
[component_container_mt-1] [INFO] [1681273199.731207839] [rectify]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1681273199.731215967] [rectify]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/image_raw", data_format="nitros_image_bgr8"
[component_container_mt-1] [INFO] [1681273199.731225311] [rectify]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1681273199.731231776] [rectify]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/camera_info", data_format="nitros_camera_info"
[component_container_mt-1] [INFO] [1681273199.731282656] [rectify]: [NitrosPublisherSubscriberGroup] Adjusted the compatible format of the component "input_compositor/image_in" (type="nvidia::gxf::DoubleBufferReceiver") from "nitros_image_bgr8" to "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1681273199.731336896] [rectify]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1681273199.749453986] [rectify]: [NitrosNode] Wrote the final top level YAML graph to "/workspaces/isaac_ros-dev/install/isaac_ros_image_proc/share/isaac_ros_image_proc/BVYMTFWEXJ.yaml"
[component_container_mt-1] [INFO] [1681273199.749595652] [rectify]: [NitrosNode] Calling user's pre-load-graph callback
[component_container_mt-1] [INFO] [1681273199.749619908] [rectify]: [RectifyNode] preLoadGraphCallback().
[component_container_mt-1] [INFO] [1681273199.749659300] [rectify]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1681273199.749678116] [rectify]: [NitrosContext] Loading application: '/workspaces/isaac_ros-dev/install/isaac_ros_image_proc/share/isaac_ros_image_proc/BVYMTFWEXJ.yaml'
[component_container_mt-1] [INFO] [1681273199.752715999] [rectify]: [NitrosNode] Linking Nitros pub/sub to the loaded application
[component_container_mt-1] [INFO] [1681273199.752874913] [rectify]: [NitrosNode] Calling user's post-load-graph callback
[component_container_mt-1] [INFO] [1681273199.752896961] [rectify]: [RectifyNode] postLoadGraphCallback().
[component_container_mt-1] [INFO] [1681273199.752965986] [rectify]: [NitrosContext] Initializing application...
[component_container_mt-1] [INFO] [1681273199.829982225] [apriltag]: [NitrosSubscriber] Received a message but the application receiver's pointer is not yet set.
[component_container_mt-1] [INFO] [1681273199.889746343] [apriltag]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1681273199.889823176] [apriltag]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1681273199.889920137] [apriltag]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1681273199.889947273] [apriltag]: [NitrosPublisher] Use only the compatible publisher: topic_name="/tag_detections", data_format="nitros_april_tag_detection_array"
[component_container_mt-1] [INFO] [1681273199.889960905] [apriltag]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1681273199.889970377] [apriltag]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/camera_info", data_format="nitros_camera_info"
[component_container_mt-1] [INFO] [1681273199.892057724] [apriltag]: [NitrosSubscriber] Use the negotiated data format: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1681273199.892163453] [apriltag]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1681273199.902037973] [apriltag]: [NitrosNode] Wrote the final top level YAML graph to "/workspaces/isaac_ros-dev/install/isaac_ros_apriltag/share/isaac_ros_apriltag/HWVQVQYVCB.yaml"
[component_container_mt-1] [INFO] [1681273199.903033758] [apriltag]: [NitrosNode] Calling user's pre-load-graph callback
[component_container_mt-1] [INFO] [1681273199.903486946] [apriltag]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1681273200.142282773] [rectify]: [NitrosContext] Running application...
[component_container_mt-1] [INFO] [1681273200.142540504] [apriltag]: [NitrosContext] Loading application: '/workspaces/isaac_ros-dev/install/isaac_ros_apriltag/share/isaac_ros_apriltag/HWVQVQYVCB.yaml'
[component_container_mt-1] [ERROR] [1681273200.144922125] [NitrosImage]: [convert_to_custom] Unsupported encoding from ROS [yuv422_yuy2].
[component_container_mt-1] terminate called after throwing an instance of 'std::runtime_error'
[component_container_mt-1]   what():  [convert_to_custom] Unsupported encoding from ROS.
[ERROR] [component_container_mt-1]: process has died [pid 48189, exit code -6, cmd '/opt/ros/humble/install/lib/rclcpp_components/component_container_mt --ros-args -r __node:=apriltag_container -r __ns:=/'].
jaiveersinghNV commented 1 year ago

It looks like the image being output by the usb_cam node is encoded in the YUYV422 format, which is not a format that the Isaac ROS AprilTag node supports.

Could you try setting the usb_cam node's pixel_format parameter to yuyv2rgb, as explained in the README? This should ensure that the output image from the usb_cam node is encoded in the RGB format, which is supported by the Isaac ROS suite of packages.

TomGrimwood commented 1 year ago

Thanks, after doing this I ran into the same issue as this, https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_image_pipeline/issues/27 and used the rational_polynomial workaround, I will build from the new commit and everything should work smoothly!