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NVIDIA-ISAAC-ROS / isaac_ros_dnn_inference

NVIDIA-accelerated DNN model inference ROS 2 packages using NVIDIA Triton/TensorRT for both Jetson and x86_64 with CUDA-capable GPU
https://developer.nvidia.com/isaac-ros-gems
Apache License 2.0
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cannot remap /image topic for dnn_image_encoder node #40

Open TeamRoboTo opened 10 months ago

TeamRoboTo commented 10 months ago

Hello everyone, i'm trying to pass to the dnn_image_encoder node images coming from other topics, try remapping the /different topic other than /image, but the node is not subscribing to the new topic as it was doing with the previous /image. The zed_node is running inside another container.

this is the command i runned:

ros2 launch isaac_ros_yolov8 isaac_ros_yolov8_visualize.zed.launch.py model_file_path:=src/isaac_ros_object_detection/resources/yolov8s.onnx engine_file_path:=src/isaac_ros_object_detection/resources/yolov8s.plan input_binding_names:=['images'] output_binding_names:=['output0'] network_image_width:=640 network_image_height:=640 force_engine_update:=False image_mean:=[0.0,0.0,0.0] image_stddev:=[1.0,1.0,1.0] input_image_width:=640 input_image_height:=360 confidence_threshold:=0.25 nms_threshold:=0.45 This is the code and the rqt graph: image image

Thanks in advanced for your time, Franzhd, Team Roboto.

jaiveersinghNV commented 10 months ago

Hi @TeamRoboTo ,

Could you please capture and share the ROS logs that are emitted when you launch your new graph? It's possible that there is an error message early in the type negotiation phase that will help us identify the problem

mohd-osama-47 commented 2 weeks ago

Am coming across a similar issue where am running a custom trained yolo v8 model.

Hardware wise, am running a custom dockerimage based on JetPack 6.0rev2, with the base image being nvcr.io/nvidia/isaac/ros:aarch64-ros2_humble_692ceb1a0a35fe8a1f37641bab978508 and running on a Jetson Orin NX 16GB version.

I have tested it with the realsense d435i and it works. When trying with a zedm camera i get errors and the launch file crashes. the following is the launch file i have 

# SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
# Copyright (c) 2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
#
# SPDX-License-Identifier: Apache-2.0

'''
packages needed:
- isaac_ros_dnn_image_encoder
- isaac_ros_yolov8
'''
import os
from typing import Any, Dict

from ament_index_python import get_package_share_directory
from launch_ros.actions import ComposableNodeContainer
from launch_ros.descriptions import ComposableNode

import launch
from launch import Action
from launch.substitutions import LaunchConfiguration
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource

class IsaacROSLaunchFragment():

    @staticmethod
    def get_interface_specs() -> Dict[str, Any]:
        """
        Get the interface specifications for this fragment.

        Interface specifications are a way to define key-value pairs that this fragment
        makes available to other fragments in the launch graph. This is useful for communicating
        values that must be known prior to launch time, such as camera resolutions, etc.

        Returns
        -------
        Dict[str, Any]
            The interface specifications for this fragment.

        """
        return {}

    @staticmethod
    def get_composable_nodes(interface_specs: Dict[str, Any] = {}) -> Dict[str, ComposableNode]:
        """
        Get the composable nodes for this fragment.

        Parameters
        ----------
        interface_specs : Dict[str, Any], optional
            The accumulated interface specs from all fragments, by default {}

        Returns
        -------
        Dict[str, ComposableNode]
            The composable nodes for this fragment, labelled with unique names

        """
        return {}

    @staticmethod
    def get_launch_actions(interface_specs: Dict[str, Any] = {}) -> Dict[str, Action]:
        """
        Get the launch actions for this fragment.

        Parameters
        ----------
        interface_specs : Dict[str, Any], optional
            The accumulated interface specs from all fragments, by default {}

        Returns
        -------
        Dict[str, Action]
            The launch actions for this fragment, labelled with unique names

        """
        return {}

class IsaacROSRealSenseMonoLaunchFragment(IsaacROSLaunchFragment):

    @staticmethod
    def get_interface_specs() -> Dict[str, Any]:
        return {
            'camera_resolution': {'width': 640, 'height': 480},
            'camera_frame': 'camera_color_optical_frame',
            'focal_length': {
                # Approximation - most RealSense cameras should be close to this value
                'f_x': 380.0,
                # Approximation - most RealSense cameras should be close to this value
                'f_y': 380.0
            }
        }

    @staticmethod
    def get_composable_nodes(interface_specs: Dict[str, Any]) -> Dict[str, ComposableNode]:
        realsense_config_file_path = os.path.join(
            get_package_share_directory('yolo_ros2'),
            'config', 'camera_params.yaml'
        )

        return {
            'camera_node': ComposableNode(
                package='realsense2_camera',
                plugin='realsense2_camera::RealSenseNodeFactory',
                name='realsense2_camera',
                namespace='',
                parameters=[
                    realsense_config_file_path
                ],
                # remappings=[('color/image_raw', 'image'),
                remappings=[('color/image_raw', 'image'),
                            ('color/camera_info', 'camera_info')]
            )
        }

def generate_launch_description():
    launch_args = [
        DeclareLaunchArgument(
            'model_file_path',
            default_value='/my_ws/isaac_ros_assets/models/yolov8/yolov8s.onnx',
            description='The absolute file path to the ONNX file'),
        DeclareLaunchArgument(
            'engine_file_path',
            default_value='/my_ws/isaac_ros_assets/models/yolov8/yolov8s.plan',
            description='The absolute file path to the TensorRT engine file'),
        DeclareLaunchArgument(
            'input_tensor_names',
            default_value='["input_tensor"]',
            description='A list of tensor names to bound to the specified input binding names'
        ),
        DeclareLaunchArgument(
            'input_binding_names',
            default_value="['images']",
            description='A list of input tensor binding names (specified by model)'),
        DeclareLaunchArgument(
            'output_tensor_names',
            default_value='["output_tensor"]',
            description='A list of tensor names to bound to the specified output binding names'),
        DeclareLaunchArgument(
            'output_binding_names',
            default_value="['output0']",
            description='A list of output tensor binding names (specified by model)'),
        DeclareLaunchArgument(
            'verbose',
            default_value='False',
            description='Whether TensorRT should verbosely log or not'),
        DeclareLaunchArgument(
            'force_engine_update',
            default_value='False',
            description='Whether TensorRT should update the TensorRT engine file or not'),
        DeclareLaunchArgument(
            'confidence_threshold',
            default_value='0.25',
            description='Confidence threshold to filter candidate detections during NMS'),
        DeclareLaunchArgument(
            'nms_threshold',
            default_value='0.45',
            description='NMS IOU threshold'),
    ]

    # DNN Image Encoder parameters
    input_image_width = LaunchConfiguration('input_image_width')
    input_image_height = LaunchConfiguration('input_image_height')
    network_image_width = LaunchConfiguration('network_image_width')
    network_image_height = LaunchConfiguration('network_image_height')
    image_mean = LaunchConfiguration('image_mean')
    image_stddev = LaunchConfiguration('image_stddev')

    # TensorRT parameters
    model_file_path = LaunchConfiguration('model_file_path')
    engine_file_path = LaunchConfiguration('engine_file_path')
    input_tensor_names = LaunchConfiguration('input_tensor_names')
    input_binding_names = LaunchConfiguration('input_binding_names')
    output_tensor_names = LaunchConfiguration('output_tensor_names')
    output_binding_names = LaunchConfiguration('output_binding_names')
    verbose = LaunchConfiguration('verbose')
    force_engine_update = LaunchConfiguration('force_engine_update')

    # YOLOv8 Decoder parameters
    confidence_threshold = LaunchConfiguration('confidence_threshold')
    nms_threshold = LaunchConfiguration('nms_threshold')

    encoder_dir = get_package_share_directory('isaac_ros_dnn_image_encoder')

    # Encoder launcher for yolov8:
    yolov8_encoder_launch = IncludeLaunchDescription(
        PythonLaunchDescriptionSource(
            [os.path.join(encoder_dir, 'launch', 'dnn_image_encoder.launch.py')]
        ),
        launch_arguments={
            'input_image_width': input_image_width,
            'input_image_height': input_image_height,
            'network_image_width': network_image_width,
            'network_image_height': network_image_height,
            'image_mean': image_mean,
            'image_stddev': image_stddev,
            'attach_to_shared_component_container': 'True',
            'component_container_name': 'tensor_rt_container',
            'dnn_image_encoder_namespace': 'yolov8_encoder',
            # 'image_input_topic': '/image',
            # 'camera_info_input_topic': '/camera_info',
            'image_input_topic': '/zed/zed_node/left/image_rect_color',
            'camera_info_input_topic': '/zed/zed_node/left/camera_info',
            'tensor_output_topic': '/tensor_pub',
        }.items(),
    )

    # generate a composable node for the realsense camera:
    realsense_node = IsaacROSRealSenseMonoLaunchFragment.get_composable_nodes(IsaacROSRealSenseMonoLaunchFragment.get_interface_specs())

    # Store all comp nodes in a list to add them to a single container
    compNode = []
    compNode.extend(realsense_node.values())

    # get composable nodes for tensor rt and yolov8 decoder
    tensor_rt_node = ComposableNode(
        name='tensor_rt',
        package='isaac_ros_tensor_rt',
        plugin='nvidia::isaac_ros::dnn_inference::TensorRTNode',
        parameters=[{
            'model_file_path': model_file_path,
            'engine_file_path': engine_file_path,
            'output_binding_names': output_binding_names,
            'output_tensor_names': output_tensor_names,
            'input_tensor_names': input_tensor_names,
            'input_binding_names': input_binding_names,
            'verbose': verbose,
            'force_engine_update': force_engine_update
        }]
    )

    yolov8_decoder_node = ComposableNode(
        name='yolov8_decoder_node',
        package='isaac_ros_yolov8',
        plugin='nvidia::isaac_ros::yolov8::YoloV8DecoderNode',
        parameters=[{
            'confidence_threshold': confidence_threshold,
            'nms_threshold': nms_threshold,
        }]
    )

    realsense_container = ComposableNodeContainer(
        package='rclcpp_components',
        name='realsense_container',
        namespace='',
        executable='component_container_mt',
        composable_node_descriptions=compNode,
        arguments=['--ros-args', '--log-level', 'INFO'],
        output='screen'
    )

    tensor_rt_container = ComposableNodeContainer(
        name='tensor_rt_container',
        package='rclcpp_components',
        executable='component_container_mt',
        composable_node_descriptions=[tensor_rt_node, yolov8_decoder_node],
        output='screen',
        arguments=['--ros-args', '--log-level', 'INFO'],
        namespace=''
    )

    return launch.LaunchDescription(
        # launch_args + [yolov8_encoder_launch] + [realsense_container , tensor_rt_container]
        launch_args + [yolov8_encoder_launch] + [tensor_rt_container])

and the command am using to run :

ros2 launch yolo_ros2 realsense_launcher.launch.py input_image_width:=1280 input_image_height:=720 network_image_width:=640 network_image_height:=640 image_mean:=[0.0,0.0,0.0] image_stddev:=[1.0,1.0,1.0]

The commented parts relate to running a ComposableNode for the realsense and the pipeline works as expected (the command for ros2 launch has to account to the resolution of the realsense, w:640, h:480). Issue is when launching with the zed topic.

The terminal output is as follows:

ros2 launch yolo_ros2 realsense_launcher.launch.py input_image_width:=672 input_image_height:=376 network_image_width:=640 network_image_height:=640 image_mean:=[0.0,0.0,0.0] image_stddev:=[1.0,1.0,1.0]
[INFO] [launch]: All log files can be found below /root/.ros/log/2024-08-30-18-15-45-544105-mypc-64147
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container_mt-1]: process started with pid [64180]
[component_container_mt-1] [INFO] [1725027346.021121344] [tensor_rt_container]: Load Library: /opt/ros/humble/lib/libresize_node.so
[component_container_mt-1] [INFO] [1725027346.091733040] [tensor_rt_container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::ResizeNode>
[component_container_mt-1] [INFO] [1725027346.091843447] [tensor_rt_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::ResizeNode>
[component_container_mt-1] [INFO] [1725027346.103644785] [yolov8_encoder.resize_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1725027346.104948030] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/std/libgxf_std.so
[component_container_mt-1] [INFO] [1725027346.111720079] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_gxf_helpers.so
[component_container_mt-1] [INFO] [1725027346.120558905] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_sight.so
[component_container_mt-1] [INFO] [1725027346.130274264] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_atlas.so
[component_container_mt-1] 2024-08-30 18:15:46.149 WARN  gxf/std/program.cpp@532: No GXF scheduler specified.
[component_container_mt-1] [INFO] [1725027346.151812274] [yolov8_encoder.resize_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1725027346.167679613] [yolov8_encoder.resize_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1725027346.168269471] [yolov8_encoder.resize_node]: [NitrosContext] Loading extension: gxf/lib/multimedia/libgxf_multimedia.so
[component_container_mt-1] [INFO] [1725027346.174076471] [yolov8_encoder.resize_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_message_compositor.so
[component_container_mt-1] [INFO] [1725027346.176357726] [yolov8_encoder.resize_node]: [NitrosContext] Loading extension: gxf/lib/cuda/libgxf_cuda.so
[component_container_mt-1] [INFO] [1725027346.182402563] [yolov8_encoder.resize_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_tensorops.so
[component_container_mt-1] [INFO] [1725027346.191448666] [yolov8_encoder.resize_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1725027346.198255757] [yolov8_encoder.resize_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1725027346.470512052] [yolov8_encoder.resize_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1725027346.493969568] [yolov8_encoder.resize_node]: [NitrosNode] Starting negotiation...
[component_container_mt-1] [INFO] [1725027346.496227494] [tensor_rt_container]: Load Library: /opt/ros/humble/lib/libtensor_rt_node.so
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/yolov8_encoder/resize_node' in container 'tensor_rt_container'
[component_container_mt-1] [INFO] [1725027346.575652319] [tensor_rt_container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::TensorRTNode>
[component_container_mt-1] [INFO] [1725027346.575755685] [tensor_rt_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::TensorRTNode>
[component_container_mt-1] [INFO] [1725027346.586483104] [tensor_rt]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1725027346.589228610] [tensor_rt]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1725027346.596233601] [tensor_rt]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1725027346.597468266] [tensor_rt]: [NitrosContext] Loading extension: gxf/lib/serialization/libgxf_serialization.so
[component_container_mt-1] [INFO] [1725027346.601211559] [tensor_rt]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_tensor_rt.so
[component_container_mt-1] [INFO] [1725027346.603366375] [tensor_rt]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1725027346.606089512] [tensor_rt]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1725027346.632441214] [tensor_rt]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1725027346.634720997] [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] [1725027346.634813195] [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] [1725027346.640568959] [tensor_rt]: [NitrosNode] Starting negotiation...
[component_container_mt-1] [INFO] [1725027346.642302182] [tensor_rt_container]: Load Library: /opt/ros/humble/lib/libcrop_node.so
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/tensor_rt' in container '/tensor_rt_container'
[component_container_mt-1] [INFO] [1725027346.647549820] [tensor_rt_container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::CropNode>
[component_container_mt-1] [INFO] [1725027346.647627169] [tensor_rt_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::CropNode>
[component_container_mt-1] [INFO] [1725027346.664059948] [yolov8_encoder.crop_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1725027346.667877006] [yolov8_encoder.crop_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1725027346.686645572] [yolov8_encoder.crop_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1725027346.713933682] [yolov8_encoder.crop_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1725027346.718908537] [yolov8_encoder.crop_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1725027346.785397813] [yolov8_encoder.crop_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1725027346.798446969] [yolov8_encoder.crop_node]: [NitrosNode] Starting negotiation...
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/yolov8_encoder/crop_node' in container 'tensor_rt_container'
[component_container_mt-1] [INFO] [1725027346.800138749] [yolov8_encoder.resize_node]: Negotiating
[component_container_mt-1] [INFO] [1725027346.800652732] [tensor_rt_container]: Load Library: /my_ws/install/isaac_ros_yolov8/lib/libyolov8_decoder_node.so
[component_container_mt-1] [INFO] [1725027346.802225785] [yolov8_encoder.resize_node]: Negotiating
[component_container_mt-1] [INFO] [1725027346.821143416] [tensor_rt_container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::yolov8::YoloV8DecoderNode>
[component_container_mt-1] [INFO] [1725027346.821274527] [tensor_rt_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::yolov8::YoloV8DecoderNode>
[component_container_mt-1] [INFO] [1725027346.823630635] [yolov8_encoder.crop_node]: Negotiating
[component_container_mt-1] [INFO] [1725027346.824578275] [yolov8_encoder.crop_node]: Could not negotiate
[component_container_mt-1] [INFO] [1725027346.824631494] [yolov8_encoder.crop_node]: Negotiating
[component_container_mt-1] [INFO] [1725027346.824654375] [yolov8_encoder.crop_node]: Could not negotiate
[component_container_mt-1] [INFO] [1725027346.843928123] [yolov8_decoder_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1725027346.844168490] [tensor_rt]: Negotiating
[component_container_mt-1] [INFO] [1725027346.844241038] [tensor_rt]: Could not negotiate
[component_container_mt-1] [INFO] [1725027346.850407195] [tensor_rt_container]: Load Library: /opt/ros/humble/lib/libimage_format_converter_node.so
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/yolov8_decoder_node' in container '/tensor_rt_container'
[component_container_mt-1] [INFO] [1725027346.854146616] [tensor_rt_container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::ImageFormatConverterNode>
[component_container_mt-1] [INFO] [1725027346.854241021] [tensor_rt_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::ImageFormatConverterNode>
[component_container_mt-1] [INFO] [1725027346.866912395] [yolov8_encoder.image_format_converter_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1725027346.869255317] [yolov8_encoder.image_format_converter_node]: [ImageFormatConverterNode] Set output data format to: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1725027346.869422751] [yolov8_encoder.image_format_converter_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1725027346.887888548] [yolov8_encoder.image_format_converter_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1725027346.889383772] [yolov8_encoder.image_format_converter_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1725027346.891878768] [yolov8_encoder.image_format_converter_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1725027346.997490582] [yolov8_encoder.image_format_converter_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1725027347.016636131] [yolov8_encoder.image_format_converter_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] [1725027347.021288535] [yolov8_encoder.image_format_converter_node]: [NitrosNode] Starting negotiation...
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/yolov8_encoder/image_format_converter_node' in container 'tensor_rt_container'
[component_container_mt-1] [INFO] [1725027347.022463612] [yolov8_encoder.crop_node]: Negotiating
[component_container_mt-1] [INFO] [1725027347.022704202] [yolov8_encoder.resize_node]: Negotiating
[component_container_mt-1] [INFO] [1725027347.023599583] [yolov8_encoder.resize_node]: Negotiating
[component_container_mt-1] [INFO] [1725027347.025273506] [yolov8_encoder.image_format_converter_node]: Negotiating
[component_container_mt-1] [INFO] [1725027347.025346247] [yolov8_encoder.image_format_converter_node]: Could not negotiate
[component_container_mt-1] [INFO] [1725027347.026271037] [tensor_rt_container]: Load Library: /opt/ros/humble/lib/libimage_to_tensor_node.so
[component_container_mt-1] [INFO] [1725027347.040768215] [tensor_rt_container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::ImageToTensorNode>
[component_container_mt-1] [INFO] [1725027347.041171183] [tensor_rt_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::ImageToTensorNode>
[component_container_mt-1] [INFO] [1725027347.055080487] [yolov8_encoder.image_to_tensor.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1725027347.055431259] [yolov8_encoder.image_format_converter_node]: Negotiating
[component_container_mt-1] [INFO] [1725027347.055577572] [yolov8_encoder.crop_node]: Negotiating
[component_container_mt-1] [INFO] [1725027347.057588123] [yolov8_encoder.image_to_tensor.ManagedNitrosPublisher]: Starting Managed Nitros Publisher
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/yolov8_encoder/image_to_tensor' in container 'tensor_rt_container'
[component_container_mt-1] [INFO] [1725027347.061902298] [tensor_rt_container]: Load Library: /opt/ros/humble/lib/libimage_tensor_normalize_node.so
[component_container_mt-1] [INFO] [1725027347.064831368] [tensor_rt_container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::ImageTensorNormalizeNode>
[component_container_mt-1] [INFO] [1725027347.064894763] [tensor_rt_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::ImageTensorNormalizeNode>
[component_container_mt-1] [INFO] [1725027347.077473012] [yolov8_encoder.normalize_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1725027347.077761189] [yolov8_encoder.image_to_tensor]: Negotiating
[component_container_mt-1] [INFO] [1725027347.077831433] [yolov8_encoder.image_to_tensor]: Could not negotiate
[component_container_mt-1] [INFO] [1725027347.080049548] [yolov8_encoder.normalize_node.ManagedNitrosPublisher]: Starting Managed Nitros Publisher
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/yolov8_encoder/normalize_node' in container 'tensor_rt_container'
[component_container_mt-1] [INFO] [1725027347.086335776] [tensor_rt_container]: Load Library: /opt/ros/humble/lib/libinterleaved_to_planar_node.so
[component_container_mt-1] [INFO] [1725027347.089007935] [tensor_rt_container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::InterleavedToPlanarNode>
[component_container_mt-1] [INFO] [1725027347.089076643] [tensor_rt_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::InterleavedToPlanarNode>
[component_container_mt-1] [INFO] [1725027347.100214614] [yolov8_encoder.interleaved_to_planar_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1725027347.102453754] [yolov8_encoder.interleaved_to_planar_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1725027347.111139132] [yolov8_encoder.interleaved_to_planar_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1725027347.112513518] [yolov8_encoder.interleaved_to_planar_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1725027347.115049636] [yolov8_encoder.interleaved_to_planar_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1725027347.123377489] [yolov8_encoder.interleaved_to_planar_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1725027347.129611170] [yolov8_encoder.interleaved_to_planar_node]: [NitrosNode] Starting negotiation...
[component_container_mt-1] [INFO] [1725027347.130738565] [yolov8_encoder.normalize_node]: Negotiating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/yolov8_encoder/interleaved_to_planar_node' in container 'tensor_rt_container'
[component_container_mt-1] [INFO] [1725027347.135171787] [tensor_rt_container]: Load Library: /opt/ros/humble/lib/libreshape_node.so
[component_container_mt-1] [INFO] [1725027347.138215551] [tensor_rt_container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::ReshapeNode>
[component_container_mt-1] [INFO] [1725027347.138285731] [tensor_rt_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::ReshapeNode>
[component_container_mt-1] [INFO] [1725027347.153583053] [yolov8_encoder.reshape_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1725027347.156578142] [yolov8_encoder.reshape_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1725027347.166178198] [yolov8_encoder.reshape_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1725027347.167461922] [yolov8_encoder.reshape_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1725027347.169916499] [yolov8_encoder.reshape_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1725027347.177721409] [yolov8_encoder.reshape_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1725027347.184609625] [yolov8_encoder.reshape_node]: [NitrosNode] Starting negotiation...
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/yolov8_encoder/reshape_node' in container 'tensor_rt_container'
[component_container_mt-1] [INFO] [1725027347.186387458] [yolov8_encoder.interleaved_to_planar_node]: Negotiating
[component_container_mt-1] [INFO] [1725027347.186771897] [yolov8_encoder.normalize_node]: Negotiating
[component_container_mt-1] [INFO] [1725027347.255730730] [yolov8_encoder.reshape_node]: Negotiating
[component_container_mt-1] [INFO] [1725027347.256221223] [yolov8_encoder.interleaved_to_planar_node]: Negotiating
[component_container_mt-1] [INFO] [1725027347.256560411] [yolov8_encoder.normalize_node]: Negotiating
[component_container_mt-1] [INFO] [1725027347.495867823] [yolov8_encoder.resize_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1725027347.495989111] [yolov8_encoder.resize_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1725027347.496042074] [yolov8_encoder.resize_node]: [NitrosPublisher] Use the negotiated data format: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1725027347.496075996] [yolov8_encoder.resize_node]: [NitrosPublisher] Use the negotiated data format: "nitros_camera_info"
[component_container_mt-1] [INFO] [1725027347.496101885] [yolov8_encoder.resize_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1725027347.496122558] [yolov8_encoder.resize_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/zed/zed_node/left/image_rect_color", data_format="nitros_image_bgr8"
[component_container_mt-1] [INFO] [1725027347.496145344] [yolov8_encoder.resize_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1725027347.496162625] [yolov8_encoder.resize_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/zed/zed_node/left/camera_info", data_format="nitros_camera_info"
[component_container_mt-1] [INFO] [1725027347.496222116] [yolov8_encoder.resize_node]: [NitrosPublisherSubscriberGroup] Adjusted the compatible format of the component "sync/image_in" (type="nvidia::gxf::DoubleBufferReceiver") from "nitros_image_bgr8" to "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1725027347.496664511] [yolov8_encoder.resize_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1725027347.524681145] [yolov8_encoder.resize_node]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/ANJVTLGFJX/ANJVTLGFJX.yaml"
[component_container_mt-1] [INFO] [1725027347.524806624] [yolov8_encoder.resize_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1725027347.538480489] [yolov8_encoder.resize_node]: [ResizeNode] postLoadGraphCallback().
[component_container_mt-1] [INFO] [1725027347.538774875] [yolov8_encoder.resize_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] libEGL warning: DRI3: failed to query the version
[component_container_mt-1] libEGL warning: DRI2: failed to authenticate
[component_container_mt-1] [INFO] [1725027347.641820046] [tensor_rt]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1725027347.641947829] [tensor_rt]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1725027347.641984856] [tensor_rt]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1725027347.642013113] [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] [1725027347.642041787] [tensor_rt]: [NitrosSubscriber] Use the negotiated data format: "nitros_tensor_list_nchw_rgb_f32"
[component_container_mt-1] [INFO] [1725027347.642342221] [tensor_rt]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1725027347.654397622] [tensor_rt]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/VIWBQNPRJX/VIWBQNPRJX.yaml"
[component_container_mt-1] [INFO] [1725027347.654510205] [tensor_rt]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1725027347.683786786] [yolov8_encoder.resize_node]: [NitrosNode] Node was started
[component_container_mt-1] 2024-08-30 18:15:47.686 ERROR ./gxf/extensions/tensorops/components/Resize.cpp@228: invalid input/output type for image resize.
[component_container_mt-1] 2024-08-30 18:15:47.686 ERROR ./gxf/extensions/tensorops/components/TensorOperator.cpp@233: operation failed.
[component_container_mt-1] 2024-08-30 18:15:47.686 ERROR gxf/std/entity_executor.cpp@552: Failed to tick codelet StreamResize in entity: ANJVTLGFJX_imageResizer code: GXF_FAILURE
[component_container_mt-1] 2024-08-30 18:15:47.686 WARN  gxf/std/event_based_scheduler.cpp@329: Error while executing entity E185 named 'ANJVTLGFJX_imageResizer': GXF_FAILURE
[component_container_mt-1] 2024-08-30 18:15:47.688 WARN  gxf/std/yaml_file_loader.cpp@1077: Using unregistered parameter 'dev_id' in component 'stream'.
[component_container_mt-1] [INFO] [1725027347.688790186] [tensor_rt]: In TensorRTNode postLoadGraphCallback().
[component_container_mt-1] [INFO] [1725027347.800192843] [yolov8_encoder.crop_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1725027347.800297714] [yolov8_encoder.crop_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1725027347.800325235] [yolov8_encoder.crop_node]: [NitrosPublisher] Use the negotiated data format: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1725027347.800350773] [yolov8_encoder.crop_node]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1725027347.800367862] [yolov8_encoder.crop_node]: [NitrosPublisher] Use only the compatible publisher: topic_name="/yolov8_encoder/crop/camera_info", data_format="nitros_camera_info"
[component_container_mt-1] [INFO] [1725027347.800384535] [yolov8_encoder.crop_node]: [NitrosSubscriber] Use the negotiated data format: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1725027347.800440986] [yolov8_encoder.crop_node]: [NitrosSubscriber] Use the negotiated data format: "nitros_camera_info"
[component_container_mt-1] [INFO] [1725027347.800781390] [yolov8_encoder.crop_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1725027347.878439491] [yolov8_encoder.crop_node]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/XOWIMIXWRJ/XOWIMIXWRJ.yaml"
[component_container_mt-1] [INFO] [1725027347.878549161] [yolov8_encoder.crop_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1725027347.884393315] [yolov8_encoder.crop_node]: [CropNode] postLoadGraphCallback().
[component_container_mt-1] [INFO] [1725027347.884699221] [yolov8_encoder.crop_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] 2024-08-30 18:15:47.894 ERROR gxf/std/entity_executor.cpp@210: Entity with eid 167 not found!
[component_container_mt-1] [ERROR] [1725027347.894655266] [yolov8_encoder.resize_node]: [NitrosSubscriber] Failed to get the receiver entity (eid=167) status: GXF_ENTITY_NOT_FOUND
[component_container_mt-1] 2024-08-30 18:15:47.896 ERROR gxf/std/entity_executor.cpp@210: Entity with eid 167 not found!
[component_container_mt-1] [ERROR] [1725027347.896586357] [yolov8_encoder.resize_node]: [NitrosSubscriber] Failed to get the receiver entity (eid=167) status: GXF_ENTITY_NOT_FOUND
[component_container_mt-1] [INFO] [1725027347.897624050] [yolov8_encoder.crop_node]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1725027347.907740745] [tensor_rt]: Read tensor shape information from TRT Model Engine: /my_ws/isaac_ros_assets/models/yolov8/yolov8s.plan
[component_container_mt-1] [INFO] [1725027347.907957014] [tensor_rt]: Tensors 168000 bytes, num outputs 40 x tensors per output 1 = 40 blocks
[component_container_mt-1] [INFO] [1725027347.908235398] [tensor_rt]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1725027347.913332724] [tensor_rt]: [NitrosNode] Node was started
[component_container_mt-1] 2024-08-30 18:15:47.931 WARN  ./gxf/extensions/tensor_rt/tensor_rt_inference.cpp@155: TRT WARNING: Using an engine plan file across different models of devices is not recommended and is likely to affect performance or even cause errors.
[component_container_mt-1] 2024-08-30 18:15:47.955 ERROR gxf/std/entity_executor.cpp@210: Entity with eid 167 not found!
[component_container_mt-1] [ERROR] [1725027347.955356651] [yolov8_encoder.resize_node]: [NitrosSubscriber] Failed to get the receiver entity (eid=167) status: GXF_ENTITY_NOT_FOUND
[component_container_mt-1] 2024-08-30 18:15:47.956 ERROR gxf/std/entity_executor.cpp@210: Entity with eid 167 not found!
[component_container_mt-1] [ERROR] [1725027347.956384648] [yolov8_encoder.resize_node]: [NitrosSubscriber] Failed to get the receiver entity (eid=167) status: GXF_ENTITY_NOT_FOUND
[component_container_mt-1] [INFO] [1725027348.022317863] [yolov8_encoder.image_format_converter_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1725027348.022423405] [yolov8_encoder.image_format_converter_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1725027348.022450191] [yolov8_encoder.image_format_converter_node]: [NitrosPublisher] Use the negotiated data format: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1725027348.022472304] [yolov8_encoder.image_format_converter_node]: [NitrosSubscriber] Use the negotiated data format: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1725027348.022741376] [yolov8_encoder.image_format_converter_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1725027348.045931325] [yolov8_encoder.image_format_converter_node]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/MHLDIUYDEX/MHLDIUYDEX.yaml"
[component_container_mt-1] [INFO] [1725027348.046039908] [yolov8_encoder.image_format_converter_node]: [NitrosNode] Loading application
[component_container_mt-1] 2024-08-30 18:15:48.047 ERROR gxf/std/entity_executor.cpp@210: Entity with eid 167 not found!
[component_container_mt-1] [ERROR] [1725027348.047436151] [yolov8_encoder.resize_node]: [NitrosSubscriber] Failed to get the receiver entity (eid=167) status: GXF_ENTITY_NOT_FOUND
[component_container_mt-1] 2024-08-30 18:15:48.048 ERROR gxf/std/entity_executor.cpp@210: Entity with eid 167 not found!
[component_container_mt-1] [ERROR] [1725027348.048516407] [yolov8_encoder.resize_node]: [NitrosSubscriber] Failed to get the receiver entity (eid=167) status: GXF_ENTITY_NOT_FOUND
[component_container_mt-1] [INFO] [1725027348.050234140] [yolov8_encoder.image_format_converter_node]: [ImageFormatConverterNode] postLoadGraphCallback().
[component_container_mt-1] [INFO] [1725027348.050435176] [yolov8_encoder.image_format_converter_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1725027348.061031644] [yolov8_encoder.image_format_converter_node]: [NitrosNode] Node was started
[component_container_mt-1] 2024-08-30 18:15:48.084 ERROR gxf/std/entity_executor.cpp@210: Entity with eid 167 not found!
[component_container_mt-1] [ERROR] [1725027348.084131316] [yolov8_encoder.resize_node]: [NitrosSubscriber] Failed to get the receiver entity (eid=167) status: GXF_ENTITY_NOT_FOUND
[component_container_mt-1] 2024-08-30 18:15:48.084 ERROR gxf/std/entity_executor.cpp@210: Entity with eid 167 not found!
[component_container_mt-1] [ERROR] [1725027348.084753689] [yolov8_encoder.resize_node]: [NitrosSubscriber] Failed to get the receiver entity (eid=167) status: GXF_ENTITY_NOT_FOUND
[component_container_mt-1] [INFO] [1725027348.131420901] [yolov8_encoder.interleaved_to_planar_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1725027348.131521931] [yolov8_encoder.interleaved_to_planar_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1725027348.131547116] [yolov8_encoder.interleaved_to_planar_node]: [NitrosPublisher] Use the negotiated data format: "nitros_tensor_list_nchw_rgb_f32"
[component_container_mt-1] [INFO] [1725027348.131648690] [yolov8_encoder.interleaved_to_planar_node]: [NitrosSubscriber] Use the negotiated data format: "nitros_tensor_list_nhwc_rgb_f32"
[component_container_mt-1] [INFO] [1725027348.131895201] [yolov8_encoder.interleaved_to_planar_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1725027348.137603987] [yolov8_encoder.interleaved_to_planar_node]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/ZZIMCTRPQQ/ZZIMCTRPQQ.yaml"
[component_container_mt-1] [INFO] [1725027348.137698104] [yolov8_encoder.interleaved_to_planar_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1725027348.143074423] [yolov8_encoder.interleaved_to_planar_node]: In InterleavedToPlanarNode postLoadGraphCallback().
[component_container_mt-1] [INFO] [1725027348.143407851] [yolov8_encoder.interleaved_to_planar_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] 2024-08-30 18:15:48.151 ERROR gxf/std/entity_executor.cpp@210: Entity with eid 167 not found!
[component_container_mt-1] [ERROR] [1725027348.151971878] [yolov8_encoder.resize_node]: [NitrosSubscriber] Failed to get the receiver entity (eid=167) status: GXF_ENTITY_NOT_FOUND
[component_container_mt-1] 2024-08-30 18:15:48.165 ERROR gxf/std/entity_executor.cpp@210: Entity with eid 167 not found!
[component_container_mt-1] [ERROR] [1725027348.165063821] [yolov8_encoder.resize_node]: [NitrosSubscriber] Failed to get the receiver entity (eid=167) status: GXF_ENTITY_NOT_FOUND
[component_container_mt-1] [INFO] [1725027348.166892953] [yolov8_encoder.interleaved_to_planar_node]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1725027348.186401501] [yolov8_encoder.reshape_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1725027348.186494434] [yolov8_encoder.reshape_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1725027348.186530373] [yolov8_encoder.reshape_node]: [NitrosPublisher] Use the negotiated data format: "nitros_tensor_list_nchw_rgb_f32"
[component_container_mt-1] [INFO] [1725027348.186556966] [yolov8_encoder.reshape_node]: [NitrosSubscriber] Use the negotiated data format: "nitros_tensor_list_nchw_rgb_f32"
[component_container_mt-1] [INFO] [1725027348.186859480] [yolov8_encoder.reshape_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1725027348.193115051] [yolov8_encoder.reshape_node]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/SREZTTNMSR/SREZTTNMSR.yaml"
[component_container_mt-1] [INFO] [1725027348.193226417] [yolov8_encoder.reshape_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1725027348.197019282] [yolov8_encoder.reshape_node]: In ReshapeNode postLoadGraphCallback().
[component_container_mt-1] [INFO] [1725027348.197276481] [yolov8_encoder.reshape_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1725027348.211096179] [yolov8_encoder.reshape_node]: [NitrosNode] Node was started
[component_container_mt-1] 2024-08-30 18:15:48.217 ERROR gxf/std/entity_executor.cpp@210: Entity with eid 167 not found!
[component_container_mt-1] [ERROR] [1725027348.217920936] [yolov8_encoder.resize_node]: [NitrosSubscriber] Failed to get the receiver entity (eid=167) status: GXF_ENTITY_NOT_FOUND
[component_container_mt-1] 2024-08-30 18:15:48.218 ERROR gxf/std/entity_executor.cpp@210: Entity with eid 167 not found!
[component_container_mt-1] [ERROR] [1725027348.218099698] [yolov8_encoder.resize_node]: [NitrosSubscriber] Failed to get the receiver entity (eid=167) status: GXF_ENTITY_NOT_FOUND
[component_container_mt-1] 2024-08-30 18:15:48.285 ERROR gxf/std/entity_executor.cpp@210: Entity with eid 167 not found!
[component_container_mt-1] [ERROR] [1725027348.285825181] [yolov8_encoder.resize_node]: [NitrosSubscriber] Failed to get the receiver entity (eid=167) status: GXF_ENTITY_NOT_FOUND
[component_container_mt-1] 2024-08-30 18:15:48.286 ERROR gxf/std/entity_executor.cpp@210: Entity with eid 167 not found!
[component_container_mt-1] [ERROR] [1725027348.286947008] [yolov8_encoder.resize_node]: [NitrosSubscriber] Failed to get the receiver entity (eid=167) status: GXF_ENTITY_NOT_FOUND
[component_container_mt-1] 2024-08-30 18:15:48.352 ERROR gxf/std/entity_executor.cpp@210: Entity with eid 167 not found!
[component_container_mt-1] [ERROR] [1725027348.352409989] [yolov8_encoder.resize_node]: [NitrosSubscriber] Failed to get the receiver entity (eid=167) status: GXF_ENTITY_NOT_FOUND
[component_container_mt-1] 2024-08-30 18:15:48.353 ERROR gxf/std/entity_executor.cpp@210: Entity with eid 167 not found!
[component_container_mt-1] [ERROR] [1725027348.353447938] [yolov8_encoder.resize_node]: [NitrosSubscriber] Failed to get the receiver entity (eid=167) status: GXF_ENTITY_NOT_FOUND
[component_container_mt-1] 2024-08-30 18:15:48.418 ERROR gxf/std/entity_executor.cpp@210: Entity with eid 167 not found!
[component_container_mt-1] [ERROR] [1725027348.419036175] [yolov8_encoder.resize_node]: [NitrosSubscriber] Failed to get the receiver entity (eid=167) status: GXF_ENTITY_NOT_FOUND
[component_container_mt-1] 2024-08-30 18:15:48.420 ERROR gxf/std/entity_executor.cpp@210: Entity with eid 167 not found!
[component_container_mt-1] [ERROR] [1725027348.420255735] [yolov8_encoder.resize_node]: [NitrosSubscriber] Failed to get the receiver entity (eid=167) status: GXF_ENTITY_NOT_FOUND
[component_container_mt-1] 2024-08-30 18:15:48.485 ERROR gxf/std/entity_executor.cpp@210: Entity with eid 167 not found!
[component_container_mt-1] [ERROR] [1725027348.486016046] [yolov8_encoder.resize_node]: [NitrosSubscriber] Failed to get the receiver entity (eid=167) status: GXF_ENTITY_NOT_FOUND
[component_container_mt-1] 2024-08-30 18:15:48.487 ERROR gxf/std/entity_executor.cpp@210: Entity with eid 167 not found!
[component_container_mt-1] [ERROR] [1725027348.487128464] [yolov8_encoder.resize_node]: [NitrosSubscriber] Failed to get the receiver entity (eid=167) status: GXF_ENTITY_NOT_FOUND
[component_container_mt-1] 2024-08-30 18:15:48.553 ERROR gxf/std/entity_executor.cpp@210: Entity with eid 167 not found!
[component_container_mt-1] [ERROR] [1725027348.553270173] [yolov8_encoder.resize_node]: [NitrosSubscriber] Failed to get the receiver entity (eid=167) status: GXF_ENTITY_NOT_FOUND
[component_container_mt-1] 2024-08-30 18:15:48.553 ERROR gxf/std/entity_executor.cpp@210: Entity with eid 167 not found!
[component_container_mt-1] [ERROR] [1725027348.553361730] [yolov8_encoder.resize_node]: [NitrosSubscriber] Failed to get the receiver entity (eid=167) status: GXF_ENTITY_NOT_FOUND
[component_container_mt-1] 2024-08-30 18:15:48.619 ERROR gxf/std/entity_executor.cpp@210: Entity with eid 167 not found!
[component_container_mt-1] [ERROR] [1725027348.619944618] [yolov8_encoder.resize_node]: [NitrosSubscriber] Failed to get the receiver entity (eid=167) status: GXF_ENTITY_NOT_FOUND
[component_container_mt-1] 2024-08-30 18:15:48.621 ERROR gxf/std/entity_executor.cpp@210: Entity with eid 167 not found!
[component_container_mt-1] [ERROR] [1725027348.621128624] [yolov8_encoder.resize_node]: [NitrosSubscriber] Failed to get the receiver entity (eid=167) status: GXF_ENTITY_NOT_FOUND
[component_container_mt-1] 2024-08-30 18:15:48.684 ERROR gxf/std/entity_executor.cpp@210: Entity with eid 167 not found!
[component_container_mt-1] [WARN] [1725027348.684504889] [yolov8_encoder.resize_node]: [NitrosNode] The heartbeat entity (eid=167) was stopped. The graph may have been terminated.
[component_container_mt-1] [INFO] [1725027348.713014930] [yolov8_encoder.reshape_node]: [NitrosNode] Terminating the running application
[component_container_mt-1] [INFO] [1725027348.713077302] [yolov8_encoder.reshape_node]: [NitrosContext] Interrupting GXF...
[component_container_mt-1] [INFO] [1725027348.714661395] [yolov8_encoder.reshape_node]: [NitrosContext] Waiting on GXF...
[component_container_mt-1] [INFO] [1725027348.714712214] [yolov8_encoder.reshape_node]: [NitrosContext] Deinitializing...
[component_container_mt-1] [INFO] [1725027348.725652926] [yolov8_encoder.reshape_node]: [NitrosContext] Destroying context
[component_container_mt-1] [INFO] [1725027348.726427340] [yolov8_encoder.reshape_node]: [NitrosNode] Application termination done
[component_container_mt-1] [INFO] [1725027348.760136569] [yolov8_encoder.interleaved_to_planar_node]: [NitrosNode] Terminating the running application
[component_container_mt-1] [INFO] [1725027348.760198684] [yolov8_encoder.interleaved_to_planar_node]: [NitrosContext] Interrupting GXF...
[component_container_mt-1] [INFO] [1725027348.761168214] [yolov8_encoder.interleaved_to_planar_node]: [NitrosContext] Waiting on GXF...
[component_container_mt-1] [INFO] [1725027348.761196791] [yolov8_encoder.interleaved_to_planar_node]: [NitrosContext] Deinitializing...
[component_container_mt-1] [INFO] [1725027348.773587605] [yolov8_encoder.interleaved_to_planar_node]: [NitrosContext] Destroying context
[component_container_mt-1] [INFO] [1725027348.775290554] [yolov8_encoder.interleaved_to_planar_node]: [NitrosNode] Application termination done
[component_container_mt-1] [INFO] [1725027348.824694184] [yolov8_encoder.image_format_converter_node]: [NitrosNode] Terminating the running application
[component_container_mt-1] [INFO] [1725027348.824741419] [yolov8_encoder.image_format_converter_node]: [NitrosContext] Interrupting GXF...
[component_container_mt-1] [INFO] [1725027348.826737921] [yolov8_encoder.image_format_converter_node]: [NitrosContext] Waiting on GXF...
[component_container_mt-1] [INFO] [1725027348.826784932] [yolov8_encoder.image_format_converter_node]: [NitrosContext] Deinitializing...
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] |                                           Job Statistics Report (regular)                                                                                        |
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] | Name                                               |   Count | Time (Median - 90% - Max) [ms] | Load (%) | Exec(ms) | Variation (Median - 90% - Max) [ns]        |
[component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] |                                           Entity Statistics Report (regular)                                                                                     |
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] | Entity Name             | Entity State             |   Count | Time (Median - 90% - Max) [ms]                                                                    |
[component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] |                                           Job Statistics Report (regular)                                                                                        |
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] | Name                                               |   Count | Time (Median - 90% - Max) [ms] | Load (%) | Exec(ms) | Variation (Median - 90% - Max) [ns]        |
[component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] |                                           Entity Statistics Report (regular)                                                                                     |
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] | Entity Name             | Entity State             |   Count | Time (Median - 90% - Max) [ms]                                                                    |
[component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] [INFO] [1725027348.830236688] [yolov8_encoder.image_format_converter_node]: [NitrosContext] Destroying context
[component_container_mt-1] [INFO] [1725027348.830436380] [yolov8_encoder.image_format_converter_node]: [NitrosNode] Application termination done
[component_container_mt-1] [INFO] [1725027348.859800007] [yolov8_encoder.crop_node]: [NitrosNode] Terminating the running application
[component_container_mt-1] [INFO] [1725027348.859841994] [yolov8_encoder.crop_node]: [NitrosContext] Interrupting GXF...
[component_container_mt-1] [INFO] [1725027348.861889827] [yolov8_encoder.crop_node]: [NitrosContext] Waiting on GXF...
[component_container_mt-1] [INFO] [1725027348.861929029] [yolov8_encoder.crop_node]: [NitrosContext] Deinitializing...
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] |                                           Job Statistics Report (regular)                                                                                        |
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] | Name                                               |   Count | Time (Median - 90% - Max) [ms] | Load (%) | Exec(ms) | Variation (Median - 90% - Max) [ns]        |
[component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] |                                           Entity Statistics Report (regular)                                                                                     |
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] | Entity Name             | Entity State             |   Count | Time (Median - 90% - Max) [ms]                                                                    |
[component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] |                                           Job Statistics Report (regular)                                                                                        |
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] | Name                                               |   Count | Time (Median - 90% - Max) [ms] | Load (%) | Exec(ms) | Variation (Median - 90% - Max) [ns]        |
[component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-1] |                                    XOWIMIXWRJ_bbox |      12 |     0.39 |     0.86 |     1.54 |   93.9 % |      6.9 |     16263874 |     17572688 |     18388832 |
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] |                                           Entity Statistics Report (regular)                                                                                     |
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] | Entity Name             | Entity State             |   Count | Time (Median - 90% - Max) [ms]                                                                    |
[component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-1] |         XOWIMIXWRJ_bbox  |              StopPending |       1 |  0.01591 |  0.01591 |  0.01591                                                                   |
[component_container_mt-1] [INFO] [1725027348.864992507] [yolov8_encoder.crop_node]: [NitrosContext] Destroying context
[component_container_mt-1] [INFO] [1725027348.866286151] [yolov8_encoder.crop_node]: [NitrosNode] Application termination done
[component_container_mt-1] [INFO] [1725027348.884185291] [tensor_rt]: [NitrosNode] Terminating the running application
[component_container_mt-1] [INFO] [1725027348.884224942] [tensor_rt]: [NitrosContext] Interrupting GXF...
[component_container_mt-1] [INFO] [1725027348.908805118] [tensor_rt]: [NitrosContext] Waiting on GXF...
[component_container_mt-1] [INFO] [1725027348.908868673] [tensor_rt]: [NitrosContext] Deinitializing...
[component_container_mt-1] [INFO] [1725027348.910006437] [tensor_rt]: [NitrosContext] Destroying context
[component_container_mt-1] [INFO] [1725027348.910231250] [tensor_rt]: [NitrosNode] Application termination done
[component_container_mt-1] [INFO] [1725027348.922557132] [yolov8_encoder.resize_node]: [NitrosNode] Terminating the running application
[component_container_mt-1] [INFO] [1725027348.922602479] [yolov8_encoder.resize_node]: [NitrosContext] Interrupting GXF...
[component_container_mt-1] 2024-08-30 18:15:48.922 ERROR gxf/core/runtime.cpp@1468: Graph interrupt failed with error: GXF_FAILURE
[component_container_mt-1] [ERROR] [1725027348.922718998] [yolov8_encoder.resize_node]: [NitrosContext] GxfGraphInterrupt Error: GXF_FAILURE
[component_container_mt-1] [INFO] [1725027348.922725814] [yolov8_encoder.resize_node]: [NitrosContext] Waiting on GXF...
[component_container_mt-1] 2024-08-30 18:15:48.922 ERROR gxf/std/program.cpp@574: wait failed. Deactivating...
[component_container_mt-1] |         XOWIMIXWRJ_bbox  |                     Idle |      12 |  0.04263 |  0.06544 | 954.97111                                                                   |
[component_container_mt-1] |         XOWIMIXWRJ_bbox  |                  Ticking |      12 |  0.37004 |  0.83339 |  1.44172                                                                   |
[component_container_mt-1] |         XOWIMIXWRJ_bbox  |              TickPending |      12 |  0.00883 |  0.01667 |  0.06461                                                                   |
[component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] |                                           Job Statistics Report (regular)                                                                                        |
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] | Name                                               |   Count | Time (Median - 90% - Max) [ms] | Load (%) | Exec(ms) | Variation (Median - 90% - Max) [ns]        |
[component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] |                                           Entity Statistics Report (regular)                                                                                     |
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] | Entity Name             | Entity State             |   Count | Time (Median - 90% - Max) [ms]                                                                    |
[component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] |                                           Job Statistics Report (regular)                                                                                        |
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] | Name                                               |   Count | Time (Median - 90% - Max) [ms] | Load (%) | Exec(ms) | Variation (Median - 90% - Max) [ns]        |
[component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-1] |                            ANJVTLGFJX_imageResizer |       0 |     0.00 |     0.00 |     0.00 |  100.0 % |      0.0 |            0 |            0 |            0 |
[component_container_mt-1] |                        ANJVTLGFJX_input_compositor |       1 |     0.28 |     0.28 |     0.28 |  100.0 % |      0.3 |        26818 |        26818 |        26818 |
[component_container_mt-1] |                                    ANJVTLGFJX_sync |       1 |     0.22 |     0.22 |     0.22 |  100.0 % |      0.2 |        38210 |        38210 |        38210 |
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] |                                           Entity Statistics Report (regular)                                                                                     |
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] | Entity Name             | Entity State             |   Count | Time (Median - 90% - Max) [ms]                                                                    |
[component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-1] | ANJVTLGFJX_imageResizer  |              StopPending |       1 |  0.01146 |  0.01146 |  0.01146                                                                   |
[component_container_mt-1] | ANJVTLGFJX_imageResizer  |                  Ticking |       1 |  0.58756 |  0.58756 |  0.58756                                                                   |
[component_container_mt-1] | ANJVTLGFJX_imageResizer  |              TickPending |       1 |  0.01664 |  0.01664 |  0.01664                                                                   |
[component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-1] | ANJVTLGFJX_input_compos  |              StopPending |       1 |  0.00765 |  0.00765 |  0.00765                                                                   |
[component_container_mt-1] | ANJVTLGFJX_input_compos  |                     Idle |       1 |  0.81557 |  0.81557 |  0.81557                                                                   |
[component_container_mt-1] | ANJVTLGFJX_input_compos  |                  Ticking |       1 |  0.24110 |  0.24110 |  0.24110                                                                   |
[component_container_mt-1] | ANJVTLGFJX_input_compos  |              TickPending |       1 |  0.01453 |  0.01453 |  0.01453                                                                   |
[component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-1] |         ANJVTLGFJX_sync  |              StopPending |       1 |  0.01258 |  0.01258 |  0.01258                                                                   |
[component_container_mt-1] |         ANJVTLGFJX_sync  |                     Idle |       1 |  1.09661 |  1.09661 |  1.09661                                                                   |
[component_container_mt-1] |         ANJVTLGFJX_sync  |                  Ticking |       1 |  0.11508 |  0.11508 |  0.11508                                                                   |
[component_container_mt-1] |         ANJVTLGFJX_sync  |              TickPending |       1 |  0.04583 |  0.04583 |  0.04583                                                                   |
[component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] 2024-08-30 18:15:48.931 WARN  gxf/std/entity_warden.cpp@464: Component of type nvidia::gxf::EventBasedScheduler, cid 229 failed to deinitialize with code GXF_FAILURE
[component_container_mt-1] 2024-08-30 18:15:48.931 ERROR gxf/core/runtime.cpp@751: Could not deinitialize entity 'ANJVTLGFJX_utils' (E227): GXF_FAILURE
[component_container_mt-1] 2024-08-30 18:15:48.931 ERROR gxf/std/program.cpp@576: Deactivation failed.
[component_container_mt-1] 2024-08-30 18:15:48.931 ERROR gxf/core/runtime.cpp@1476: Graph wait failed with error: GXF_FAILURE
[component_container_mt-1] [ERROR] [1725027348.931594403] [yolov8_encoder.resize_node]: [NitrosContext] GxfGraphWait Error: GXF_FAILURE
[component_container_mt-1] [INFO] [1725027348.931610820] [yolov8_encoder.resize_node]