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NVIDIA-ISAAC-ROS / isaac_ros_dnn_stereo_depth

NVIDIA-accelerated, deep learned stereo disparity estimation
https://developer.nvidia.com/isaac-ros-gems
Apache License 2.0
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Realsense Example Not Working #20

Closed mzahana closed 1 year ago

mzahana commented 1 year ago

Hi I followed this tutorial to use Realsense D455 with this pkg.

However, it seems to be not working as expected.

I followed this tutorial to setup this pkg, and it worked fine.

I execute,

ros2 launch isaac_ros_ess isaac_ros_ess_realsense.launch.py engine_file_path:=/workspaces/isaac_ros-dev/src/isaac_ros_dnn_stereo_depth/resources/ess.engine threshold:=0.8

part of the output is 

...
[component_container_mt-1] [INFO] [1699818205.747448756] [image_resize_left]: Could not negotiate
[component_container_mt-1] [INFO] [1699818205.747681727] [image_resize_right]: Negotiating
[component_container_mt-1] [INFO] [1699818205.747720481] [image_resize_right]: Could not negotiate
[component_container_mt-1] [INFO] [1699818205.749520828] [disparity.disparity_container]: Load Library: /workspaces/isaac_ros-dev/install/realsense2_camera/lib/librealsense2_camera.so
[component_container_mt-1] [INFO] [1699818205.984548441] [disparity.disparity_container]: Found class: rclcpp_components::NodeFactoryTemplate<realsense2_camera::RealSenseNodeFactory>
[component_container_mt-1] [INFO] [1699818205.984667167] [disparity.disparity_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<realsense2_camera::RealSenseNodeFactory>
[rviz2-2] [INFO] [1699818206.002883759] [rviz2]: Stereo is NOT SUPPORTED
[component_container_mt-1] [INFO] [1699818206.044860870] [camera]: RealSense ROS v4.51.1
[component_container_mt-1] [INFO] [1699818206.045072721] [camera]: Built with LibRealSense v2.54.2
[component_container_mt-1] [INFO] [1699818206.045105938] [camera]: Running with LibRealSense v2.54.2
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/camera' in container '/disparity/disparity_container'
[component_container_mt-1] [INFO] [1699818206.054732149] [disparity]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1699818206.054822233] [disparity]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1699818206.054853755] [disparity]: [NitrosPublisher] Use the negotiated data format: "nitros_disparity_image_32FC1"
[component_container_mt-1] [INFO] [1699818206.054927038] [disparity]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1699818206.054942143] [disparity]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/infra1/image_rect_raw_resize", data_format="nitros_image_rgb8"
[component_container_mt-1] [INFO] [1699818206.054954656] [disparity]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1699818206.054963104] [disparity]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/infra2/image_rect_raw_resize", data_format="nitros_image_rgb8"
[component_container_mt-1] [INFO] [1699818206.054972801] [disparity]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1699818206.054980449] [disparity]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/infra1/camera_info_resize", data_format="nitros_camera_info"
[component_container_mt-1] [INFO] [1699818206.054989569] [disparity]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1699818206.054996482] [disparity]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/infra2/camera_info_resize", data_format="nitros_camera_info"
[component_container_mt-1] [INFO] [1699818206.055102887] [disparity]: [NitrosNode] Exporting the final graph based on the negotiation results
[rviz2-2] [INFO] [1699818206.109344901] [rviz2]: Stereo is NOT SUPPORTED
[component_container_mt-1] [INFO] [1699818206.183729043] [image_format_node_left]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1699818206.183855193] [image_format_node_left]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1699818206.183877082] [image_format_node_left]: [NitrosPublisher] Use the negotiated data format: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1699818206.183895611] [image_format_node_left]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1699818206.183906812] [image_format_node_left]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/infra1/image_rect_raw_mono", data_format="nitros_image_rgb8"
[component_container_mt-1] [INFO] [1699818206.185799227] [image_format_node_left]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1699818206.205151492] [image_format_node_left]: [NitrosNode] Wrote the final top level YAML graph to "/workspaces/isaac_ros-dev/install/isaac_ros_image_proc/share/isaac_ros_image_proc/TFUVOWMRYE.yaml"
[component_container_mt-1] [INFO] [1699818206.209722345] [image_format_node_left]: [NitrosNode] Calling user's pre-load-graph callback
[component_container_mt-1] [INFO] [1699818206.213785077] [image_format_node_left]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1699818206.215476361] [image_format_node_left]: [NitrosContext] Loading application: '/workspaces/isaac_ros-dev/install/isaac_ros_image_proc/share/isaac_ros_image_proc/TFUVOWMRYE.yaml'
[component_container_mt-1] [INFO] [1699818206.224883905] [image_format_node_left]: [NitrosNode] Linking Nitros pub/sub to the loaded application
[component_container_mt-1] [INFO] [1699818206.228245737] [image_format_node_left]: [NitrosNode] Calling user's post-load-graph callback
[component_container_mt-1] [INFO] [1699818206.229684657] [image_format_node_left]: [ImageFormatConverterNode] postLoadGraphCallback().
[component_container_mt-1] [INFO] [1699818206.230395477] [image_format_node_left]: [NitrosContext] Initializing application...
[component_container_mt-1] [INFO] [1699818206.319505829] [image_format_node_right]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1699818206.319636395] [image_format_node_right]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1699818206.319660557] [image_format_node_right]: [NitrosPublisher] Use the negotiated data format: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1699818206.319677486] [image_format_node_right]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1699818206.319687694] [image_format_node_right]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/infra2/image_rect_raw_mono", data_format="nitros_image_rgb8"
[component_container_mt-1] [INFO] [1699818206.319761490] [image_format_node_right]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1699818206.357276521] [image_format_node_right]: [NitrosNode] Wrote the final top level YAML graph to "/workspaces/isaac_ros-dev/install/isaac_ros_image_proc/share/isaac_ros_image_proc/MAOARJGLFE.yaml"
[component_container_mt-1] [INFO] [1699818206.357441233] [image_format_node_right]: [NitrosNode] Calling user's pre-load-graph callback
[component_container_mt-1] [INFO] [1699818206.357527510] [image_format_node_right]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1699818206.428826506] [disparity]: [NitrosNode] Wrote the final top level YAML graph to "/workspaces/isaac_ros-dev/install/isaac_ros_ess/share/isaac_ros_ess/RQMNZLFWZE.yaml"
[component_container_mt-1] [INFO] [1699818206.429032212] [disparity]: [NitrosNode] Calling user's pre-load-graph callback
[component_container_mt-1] [INFO] [1699818206.429051285] [disparity]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1699818206.443848538] [image_resize_left]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1699818206.443990209] [image_resize_left]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1699818206.444012930] [image_resize_left]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1699818206.444029667] [image_resize_left]: [NitrosPublisher] Use only the compatible publisher: topic_name="/infra1/image_rect_raw_resize", data_format="nitros_image_bgr8"
[component_container_mt-1] [INFO] [1699818206.444042020] [image_resize_left]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1699818206.444052772] [image_resize_left]: [NitrosPublisher] Use only the compatible publisher: topic_name="/infra1/camera_info_resize", data_format="nitros_camera_info"
[component_container_mt-1] [INFO] [1699818206.444068805] [image_resize_left]: [NitrosSubscriber] Use the negotiated data format: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1699818206.445814717] [image_resize_left]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1699818206.445928098] [image_resize_left]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/infra1/camera_info", data_format="nitros_camera_info"
[component_container_mt-1] [INFO] [1699818206.445996038] [image_resize_left]: [NitrosPublisherSubscriberGroup] Adjusted the compatible format of the component "image_sink/sink" (type="nvidia::isaac_ros::MessageRelay") from "nitros_image_bgr8" to "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1699818206.446048808] [image_resize_left]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1699818206.466435910] [image_resize_left]: [NitrosNode] Wrote the final top level YAML graph to "/workspaces/isaac_ros-dev/install/isaac_ros_image_proc/share/isaac_ros_image_proc/BWDFJVZUNY.yaml"
[component_container_mt-1] [INFO] [1699818206.469896403] [image_resize_left]: [NitrosNode] Calling user's pre-load-graph callback
[component_container_mt-1] [INFO] [1699818206.471238454] [image_resize_left]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1699818206.502466899] [camera]: Device with serial number 207322250752 was found.
[component_container_mt-1] 
[component_container_mt-1] [INFO] [1699818206.502632571] [camera]: Device with physical ID 2-1.1-3 was found.
[component_container_mt-1] [INFO] [1699818206.502665437] [camera]: Device with name Intel RealSense D455 was found.
[component_container_mt-1] [INFO] [1699818206.503226521] [camera]: Device with port number 2-1.1 was found.
[component_container_mt-1] [INFO] [1699818206.503267643] [camera]: Device USB type: 3.2
[component_container_mt-1] [INFO] [1699818206.517447777] [camera]: getParameters...
[component_container_mt-1] [INFO] [1699818206.538307190] [camera]: JSON file is not provided
[component_container_mt-1] [INFO] [1699818206.540551815] [camera]: Device Name: Intel RealSense D455
[component_container_mt-1] [INFO] [1699818206.541969646] [camera]: Device Serial No: 207322250752
[component_container_mt-1] [INFO] [1699818206.541999503] [camera]: Device physical port: 2-1.1-3
[component_container_mt-1] [INFO] [1699818206.542012080] [camera]: Device FW version: 5.14.0
[component_container_mt-1] [INFO] [1699818206.542023184] [camera]: Device Product ID: 0x0B5C
[component_container_mt-1] [INFO] [1699818206.542032753] [camera]: Sync Mode: Off
[component_container_mt-1] [INFO] [1699818206.553882530] [image_resize_right]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1699818206.554246869] [image_resize_right]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1699818206.554270678] [image_resize_right]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1699818206.554300215] [image_resize_right]: [NitrosPublisher] Use only the compatible publisher: topic_name="/infra2/image_rect_raw_resize", data_format="nitros_image_bgr8"
[component_container_mt-1] [INFO] [1699818206.554317656] [image_resize_right]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1699818206.554342490] [image_resize_right]: [NitrosPublisher] Use only the compatible publisher: topic_name="/infra2/camera_info_resize", data_format="nitros_camera_info"
[component_container_mt-1] [INFO] [1699818206.554361626] [image_resize_right]: [NitrosSubscriber] Use the negotiated data format: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1699818206.557723747] [image_resize_right]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1699818206.557886443] [image_resize_right]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/infra2/camera_info", data_format="nitros_camera_info"
[component_container_mt-1] [INFO] [1699818206.557948462] [image_resize_right]: [NitrosPublisherSubscriberGroup] Adjusted the compatible format of the component "image_sink/sink" (type="nvidia::isaac_ros::MessageRelay") from "nitros_image_bgr8" to "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1699818206.558006193] [image_resize_right]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1699818206.566988915] [image_resize_right]: [NitrosNode] Wrote the final top level YAML graph to "/workspaces/isaac_ros-dev/install/isaac_ros_image_proc/share/isaac_ros_image_proc/XNVARQMKXS.yaml"
[component_container_mt-1] [INFO] [1699818206.567138843] [image_resize_right]: [NitrosNode] Calling user's pre-load-graph callback
[component_container_mt-1] [INFO] [1699818206.567154235] [image_resize_right]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1699818206.745673259] [pointcloud_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1699818206.745811570] [pointcloud_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1699818206.745833843] [pointcloud_node]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1699818206.745848467] [pointcloud_node]: [NitrosPublisher] Use only the compatible publisher: topic_name="/points2", data_format="nitros_point_cloud"
[component_container_mt-1] [INFO] [1699818206.745866484] [pointcloud_node]: [NitrosSubscriber] Use the negotiated data format: "nitros_disparity_image_32FC1"
[component_container_mt-1] [INFO] [1699818206.745878325] [pointcloud_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1699818206.745889045] [pointcloud_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/infra1/image_rect_raw_resize", data_format="nitros_image_bgr8"
[component_container_mt-1] [INFO] [1699818206.747299292] [pointcloud_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1699818206.747352383] [pointcloud_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/infra1/camera_info_resize", data_format="nitros_camera_info"
[component_container_mt-1] [INFO] [1699818206.747370816] [pointcloud_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1699818206.747382144] [pointcloud_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/infra2/camera_info_resize", data_format="nitros_camera_info"
[component_container_mt-1] [INFO] [1699818206.747442851] [pointcloud_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1699818206.794625695] [image_format_node_left]: [NitrosContext] Running application...
[component_container_mt-1] [INFO] [1699818206.794923438] [image_format_node_left]: [NitrosNode] Starting a heartbeat timer (eid=17)
[component_container_mt-1] [INFO] [1699818206.794954639] [image_format_node_right]: [NitrosContext] Loading application: '/workspaces/isaac_ros-dev/install/isaac_ros_image_proc/share/isaac_ros_image_proc/MAOARJGLFE.yaml'
[component_container_mt-1] [INFO] [1699818206.797162142] [image_format_node_right]: [NitrosNode] Linking Nitros pub/sub to the loaded application
[component_container_mt-1] [INFO] [1699818206.797324518] [image_format_node_right]: [NitrosNode] Calling user's post-load-graph callback
[component_container_mt-1] [INFO] [1699818206.797348359] [image_format_node_right]: [ImageFormatConverterNode] postLoadGraphCallback().
[component_container_mt-1] [INFO] [1699818206.797631254] [disparity]: [NitrosContext] Loading application: '/workspaces/isaac_ros-dev/install/isaac_ros_ess/share/isaac_ros_ess/RQMNZLFWZE.yaml'
[component_container_mt-1] 2023-11-12 22:43:26.805 WARN  gxf/std/yaml_file_loader.cpp@1058: Using unregistered parameter 'left_image_input' in component ''.
[component_container_mt-1] 2023-11-12 22:43:26.806 WARN  gxf/std/yaml_file_loader.cpp@1058: Using unregistered parameter 'right_image_input' in component ''.
[component_container_mt-1] 2023-11-12 22:43:26.806 WARN  gxf/std/yaml_file_loader.cpp@1058: Using unregistered parameter 'left_cam_input' in component ''.
[component_container_mt-1] 2023-11-12 22:43:26.806 WARN  gxf/std/yaml_file_loader.cpp@1058: Using unregistered parameter 'right_cam_input' in component ''.
[component_container_mt-1] 2023-11-12 22:43:26.806 WARN  gxf/std/yaml_file_loader.cpp@1058: Using unregistered parameter 'left_image_output' in component ''.
[component_container_mt-1] 2023-11-12 22:43:26.806 WARN  gxf/std/yaml_file_loader.cpp@1058: Using unregistered parameter 'right_image_output' in component ''.
[component_container_mt-1] 2023-11-12 22:43:26.806 WARN  gxf/std/yaml_file_loader.cpp@1058: Using unregistered parameter 'left_cam_output' in component ''.
[component_container_mt-1] 2023-11-12 22:43:26.806 WARN  gxf/std/yaml_file_loader.cpp@1058: Using unregistered parameter 'right_cam_output' in component ''.
[component_container_mt-1] 2023-11-12 22:43:26.806 WARN  gxf/std/yaml_file_loader.cpp@1058: Using unregistered parameter 'output_adapter' in component ''.
[component_container_mt-1] [INFO] [1699818206.808471445] [image_resize_left]: [NitrosContext] Loading application: '/workspaces/isaac_ros-dev/install/isaac_ros_image_proc/share/isaac_ros_image_proc/BWDFJVZUNY.yaml'
[component_container_mt-1] [INFO] [1699818206.815606618] [image_resize_right]: [NitrosContext] Loading application: '/workspaces/isaac_ros-dev/install/isaac_ros_image_proc/share/isaac_ros_image_proc/XNVARQMKXS.yaml'
[component_container_mt-1] [INFO] [1699818206.819890417] [image_resize_left]: [NitrosNode] Linking Nitros pub/sub to the loaded application
[component_container_mt-1] [INFO] [1699818206.820064889] [disparity]: [NitrosNode] Linking Nitros pub/sub to the loaded application
[component_container_mt-1] [INFO] [1699818206.821166033] [image_resize_right]: [NitrosNode] Linking Nitros pub/sub to the loaded application
[component_container_mt-1] [INFO] [1699818206.821179953] [image_format_node_right]: [NitrosContext] Initializing application...
[component_container_mt-1] [INFO] [1699818206.881056905] [image_format_node_right]: [NitrosContext] Running application...
[component_container_mt-1] [INFO] [1699818206.881559906] [image_resize_left]: [NitrosNode] Calling user's post-load-graph callback
[component_container_mt-1] [INFO] [1699818206.881619909] [image_resize_left]: [ResizeNode] postLoadGraphCallback().
[component_container_mt-1] [INFO] [1699818206.881805454] [image_resize_left]: [NitrosContext] Initializing application...
[component_container_mt-1] [INFO] [1699818206.893257004] [image_format_node_right]: [NitrosNode] Starting a heartbeat timer (eid=43)
[component_container_mt-1] [INFO] [1699818206.901554028] [image_resize_left]: [NitrosContext] Running application...
[component_container_mt-1] [INFO] [1699818206.903785788] [image_resize_left]: [NitrosNode] Starting a heartbeat timer (eid=131)
[component_container_mt-1] [INFO] [1699818206.904072266] [image_resize_right]: [NitrosNode] Calling user's post-load-graph callback
[component_container_mt-1] [INFO] [1699818206.905459023] [image_resize_right]: [ResizeNode] postLoadGraphCallback().
[component_container_mt-1] [INFO] [1699818206.905583894] [image_resize_right]: [NitrosContext] Initializing application...
[component_container_mt-1] [INFO] [1699818206.904159662] [disparity]: [NitrosNode] Calling user's post-load-graph callback
[component_container_mt-1] [INFO] [1699818206.927794830] [image_resize_right]: [NitrosContext] Running application...
[component_container_mt-1] [INFO] [1699818206.930415250] [disparity]: [ESSDisparityNode] Setting engine_file_path: /workspaces/isaac_ros-dev/src/isaac_ros_dnn_stereo_depth/resources/ess.engine.
[component_container_mt-1] [INFO] [1699818206.930506134] [disparity]: [NitrosContext] Initializing application...
[component_container_mt-1] [INFO] [1699818206.933022100] [image_resize_right]: [NitrosNode] Starting a heartbeat timer (eid=174)
[component_container_mt-1] [INFO] [1699818206.963771993] [pointcloud_node]: [NitrosNode] Wrote the final top level YAML graph to "/workspaces/isaac_ros-dev/install/isaac_ros_stereo_image_proc/share/isaac_ros_stereo_image_proc/ZXUXPBWZNC.yaml"
[component_container_mt-1] [INFO] [1699818206.967178819] [pointcloud_node]: [NitrosNode] Calling user's pre-load-graph callback
[component_container_mt-1] [INFO] [1699818206.968414209] [pointcloud_node]: [PointCloudNode] preLoadGraphCallback().
[component_container_mt-1] [INFO] [1699818206.969224746] [pointcloud_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1699818207.851400784] [disparity]: [NitrosContext] Running application...
[component_container_mt-1] [INFO] [1699818207.852968350] [pointcloud_node]: [NitrosContext] Loading application: '/workspaces/isaac_ros-dev/install/isaac_ros_stereo_image_proc/share/isaac_ros_stereo_image_proc/ZXUXPBWZNC.yaml'
[component_container_mt-1] [INFO] [1699818207.858554806] [disparity]: [NitrosNode] Starting a heartbeat timer (eid=63)
[component_container_mt-1] [INFO] [1699818207.883117509] [pointcloud_node]: [NitrosNode] Linking Nitros pub/sub to the loaded application
[component_container_mt-1] [INFO] [1699818207.883419412] [pointcloud_node]: [NitrosNode] Calling user's post-load-graph callback
[component_container_mt-1] [INFO] [1699818207.883529305] [pointcloud_node]: [NitrosContext] Initializing application...
[component_container_mt-1] [INFO] [1699818208.661036038] [pointcloud_node]: [NitrosContext] Running application...
[component_container_mt-1] [INFO] [1699818208.667420838] [pointcloud_node]: [NitrosNode] Starting a heartbeat timer (eid=241)
[component_container_mt-1] [WARN] [1699818211.804775370] [camera]: re-enable the stream for the change to take effect.
[component_container_mt-1] [WARN] [1699818211.808804916] [camera]: re-enable the stream for the change to take effect.
[component_container_mt-1] [WARN] [1699818211.813847377] [camera]: re-enable the stream for the change to take effect.
[component_container_mt-1] [WARN] [1699818211.835451756] [camera]: re-enable the stream for the change to take effect.
[component_container_mt-1] [WARN] [1699818213.334440232] [camera]: re-enable the stream for the change to take effect.
[component_container_mt-1] [WARN] [1699818213.348789368] [camera]: re-enable the stream for the change to take effect.
[component_container_mt-1] [INFO] [1699818213.474070431] [camera]: Stopping Sensor: Stereo Module
[component_container_mt-1] [INFO] [1699818213.853043572] [camera]: Starting Sensor: Stereo Module
[component_container_mt-1]  12/11 22:43:33,959 WARNING [281470883064112] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-1]  12/11 22:43:33,971 WARNING [281470883064112] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-1] [INFO] [1699818213.983774573] [camera]: Open profile: stream_type: Infra(1), Format: Y8, Width: 1280, Height: 720, FPS: 30
[component_container_mt-1] [INFO] [1699818213.983929621] [camera]: Open profile: stream_type: Infra(2), Format: Y8, Width: 1280, Height: 720, FPS: 30
[component_container_mt-1] [INFO] [1699818213.990449595] [camera]: RealSense Node Is Up!
[component_container_mt-1] [WARN] [1699818214.108581949] [camera]: 
[component_container_mt-1] 2023-11-12 22:43:35.103 ERROR pointcloud/point_cloud.cpp@159: [Point Cloud] RGB & disparity image dimensions do not match!
[component_container_mt-1] 2023-11-12 22:43:35.103 ERROR gxf/std/entity_executor.cpp@529: Failed to tick codelet  in entity: ZXUXPBWZNC_point_cloud code: GXF_FAILURE
[component_container_mt-1] 2023-11-12 22:43:35.676 ERROR gxf/std/entity_executor.cpp@210: Entity with eid 241 not found!
[component_container_mt-1] [WARN] [1699818215.676173080] [pointcloud_node]: [NitrosNode] The heartbeat entity (eid=241) was stopped. The graph may have been terminated.
[component_container_mt-1] [INFO] [1699818216.384278501] [camera]: Stop Sensor: Stereo Module
[component_container_mt-1] [INFO] [1699818216.384324264] [camera]: Close Sensor. 
[component_container_mt-1]  12/11 22:43:37,989 ERROR [281470841100592] (d400-thermal-monitor.cpp:94) Error during thermal compensation handling: query is available during streaming only
[component_container_mt-1] [INFO] [1699818218.491507586] [camera]: Close Sensor - Done. 
[component_container_mt-1] [INFO] [1699818220.165185504] [pointcloud_node]: [NitrosNode] Terminating the running application
[component_container_mt-1] [INFO] [1699818220.165229891] [pointcloud_node]: [NitrosContext] Interrupting GXF...
[component_container_mt-1] 2023-11-12 22:43:40.165 ERROR gxf/core/runtime.cpp@1400: Graph interrupt failed with error: GXF_FAILURE
[component_container_mt-1] [ERROR] [1699818220.165373642] [pointcloud_node]: [NitrosContext] GxfGraphInterrupt Error: GXF_FAILURE
[component_container_mt-1] [INFO] [1699818220.165381802] [pointcloud_node]: [NitrosContext] Waiting on GXF...
[component_container_mt-1] 2023-11-12 22:43:40.165 ERROR gxf/std/program.cpp@556: wait failed. Deactivating...
[component_container_mt-1] 2023-11-12 22:43:40.228 ERROR gxf/core/runtime.cpp@731: Could not deinitialize entity 'ZXUXPBWZNC_BSMBCOQCCA' (E283): GXF_FAILURE
[component_container_mt-1] 2023-11-12 22:43:40.228 ERROR gxf/std/program.cpp@558: Deactivation failed.
[component_container_mt-1] 2023-11-12 22:43:40.228 ERROR gxf/core/runtime.cpp@1408: Graph wait failed with error: GXF_FAILURE
[component_container_mt-1] [ERROR] [1699818220.228447749] [pointcloud_node]: [NitrosContext] GxfGraphWait Error: GXF_FAILURE
[component_container_mt-1] [INFO] [1699818220.228468102] [pointcloud_node]: [NitrosNode] Application termination done
[component_container_mt-1] [INFO] [1699818220.249152084] [image_resize_right]: [NitrosNode] Terminating the running application
[component_container_mt-1] [INFO] [1699818220.249199574] [image_resize_right]: [NitrosContext] Interrupting GXF...
[component_container_mt-1] [INFO] [1699818220.251121270] [image_resize_right]: [NitrosContext] Waiting on GXF...
[component_container_mt-1] [INFO] [1699818220.251161560] [image_resize_right]: [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] |                             ZXUXPBWZNC_point_cloud |       0 |     0.00 |     0.00 |     0.00 |  100.0 % |      0.0 |            0 |            0 |            0 |
[component_container_mt-1] |                                    ZXUXPBWZNC_sync |       3 |     1.02 |     1.02 |     3.00 |    5.6 % |      4.6 |        91204 |        91204 |       281262 |
[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] |  ZXUXPBWZNC_point_cloud  |              StopPending |       1 |  0.01706 |  0.01706 |  0.01706                                                                   |
[component_container_mt-1] |  ZXUXPBWZNC_point_cloud  |                  Ticking |       1 |  0.45778 |  0.45778 |  0.45778                                                                   |
[component_container_mt-1] |  ZXUXPBWZNC_point_cloud  |                  Pending |       1 |  0.24548 |  0.24548 |  0.24548                                                                   |
[component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-1] |         ZXUXPBWZNC_sync  |              StopPending |       1 |  0.01158 |  0.01158 |  0.01158                                                                   |
[component_container_mt-1] |         ZXUXPBWZNC_sync  |                     Idle |       3 | 10.56402 | 10.56402 | 68.02930                                                                   |
[component_container_mt-1] |         ZXUXPBWZNC_sync  |                  Ticking |       3 |  0.70839 |  0.70839 |  2.71857                                                                   |
[component_container_mt-1] |         ZXUXPBWZNC_sync  |                  Pending |       3 |  0.23867 |  0.23867 |  0.24241                                                                   |
[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] |                         XNVARQMKXS_camerainfo_sink |      38 |     0.08 |     0.20 |     0.32 |    0.4 % |      3.8 |        47267 |       151369 |     20106032 |
[component_container_mt-1] |                              XNVARQMKXS_image_sink |      38 |     0.11 |     0.20 |    19.85 |    2.6 % |     24.7 |        85285 |       226603 |      2885584 |
[component_container_mt-1] |                                XNVARQMKXS_splitter |      38 |     0.58 |     5.24 |    11.28 |    6.8 % |     64.2 |       146951 |       599518 |      4669418 |
[component_container_mt-1] |                            XNVARQMKXS_imageResizer |      38 |    10.59 |    17.93 |   505.64 |   62.6 % |    908.6 |      1051861 |    731719784 |    747737548 |
[component_container_mt-1] |                        XNVARQMKXS_input_compositor |      38 |     0.55 |     4.01 |    18.66 |    7.0 % |    100.9 |        78084 |       811753 |      2364855 |
[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] | XNVARQMKXS_camerainfo_s  |              StopPending |       1 |  0.01014 |  0.01014 |  0.01014                                                                   |
[component_container_mt-1] | XNVARQMKXS_camerainfo_s  |                     Idle |      38 | 20.85529 | 36.93328 | 4596.87463                                                                   |
[component_container_mt-1] | XNVARQMKXS_camerainfo_s  |                  Ticking |      38 |  0.04682 |  0.13473 |  0.29634                                                                   |
[component_container_mt-1] | XNVARQMKXS_camerainfo_s  |                  Pending |      38 |  0.01472 |  0.04093 |  0.12570                                                                   |
[component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-1] |   XNVARQMKXS_image_sink  |              StopPending |       1 |  0.01117 |  0.01117 |  0.01117                                                                   |
[component_container_mt-1] |   XNVARQMKXS_image_sink  |                     Idle |      38 | 20.86674 | 37.04768 | 4596.85102                                                                   |
[component_container_mt-1] |   XNVARQMKXS_image_sink  |                  Ticking |      38 |  0.04477 |  0.13265 |  1.21881                                                                   |
[component_container_mt-1] |   XNVARQMKXS_image_sink  |                  Pending |      38 |  0.02016 |  0.03354 | 19.58351                                                                   |
[component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-1] [INFO] [1699818220.254570595] [image_resize_right]: [NitrosContext] Destroying context
[component_container_mt-1] [INFO] [1699818220.255259846] [image_resize_right]: [NitrosNode] Application termination done
[component_container_mt-1] [INFO] [1699818220.276016375] [image_resize_left]: [NitrosNode] Terminating the running application
[component_container_mt-1] [INFO] [1699818220.276065465] [image_resize_left]: [NitrosContext] Interrupting GXF...
[component_container_mt-1] [INFO] [1699818220.277153584] [image_resize_left]: [NitrosContext] Waiting on GXF...
[component_container_mt-1] [INFO] [1699818220.277170481] [image_resize_left]: [NitrosContext] Deinitializing...
[component_container_mt-1] |     XNVARQMKXS_splitter  |              StopPending |       1 |  0.01293 |  0.01293 |  0.01293                                                                   |
[component_container_mt-1] |     XNVARQMKXS_splitter  |                     Idle |      38 | 17.82297 | 37.21019 | 4597.40493                                                                   |
[component_container_mt-1] |     XNVARQMKXS_splitter  |                  Ticking |      38 |  0.53859 |  3.80893 |  5.19527                                                                   |
[component_container_mt-1] |     XNVARQMKXS_splitter  |                  Pending |      38 |  0.02630 |  0.12109 | 10.28938                                                                   |
[component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-1] | XNVARQMKXS_imageResizer  |              StopPending |       1 |  0.01594 |  0.01594 |  0.01594                                                                   |
[component_container_mt-1] | XNVARQMKXS_imageResizer  |                     Idle |      38 |  2.75895 | 41.89090 | 4597.99348                                                                   |
[component_container_mt-1] | XNVARQMKXS_imageResizer  |                  Ticking |      38 | 10.53982 | 17.88477 | 505.58234                                                                   |
[component_container_mt-1] | XNVARQMKXS_imageResizer  |                  Pending |      38 |  0.02669 |  0.14503 |  2.99449                                                                   |
[component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-1] | XNVARQMKXS_input_compos  |              StopPending |       1 |  0.02573 |  0.02573 |  0.02573                                                                   |
[component_container_mt-1] | XNVARQMKXS_input_compos  |                     Idle |      38 | 27.39616 | 78.10033 | 4599.07257                                                                   |
[component_container_mt-1] | XNVARQMKXS_input_compos  |                  Ticking |      38 |  0.48713 |  1.85289 | 18.57347                                                                   |
[component_container_mt-1] | XNVARQMKXS_input_compos  |                  Pending |      38 |  0.03965 |  0.11751 |  3.72716                                                                   |
[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] |                         BWDFJVZUNY_camerainfo_sink |      38 |     0.12 |     0.25 |     1.14 |    0.5 % |      4.9 |       107077 |      1106647 |     27425823 |
[component_container_mt-1] |                              BWDFJVZUNY_image_sink |      38 |     0.07 |     0.39 |     1.14 |    0.7 % |      7.0 |       168457 |      1181755 |     27306713 |
[component_container_mt-1] |                                BWDFJVZUNY_splitter |      38 |     0.58 |     2.55 |    18.36 |    9.4 % |     89.4 |        52866 |       100613 |      2969973 |
[component_container_mt-1] |                            BWDFJVZUNY_imageResizer |      38 |    10.57 |    15.96 |   502.22 |   64.0 % |    930.3 |       101285 |    666187956 |    685859726 |
[component_container_mt-1] |                        BWDFJVZUNY_input_compositor |      38 |     0.94 |     8.32 |    27.79 |   10.6 % |    153.7 |        70051 |      2566497 |      6566729 |
[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] | BWDFJVZUNY_camerainfo_s  |              StopPending |       1 |  0.00934 |  0.00934 |  0.00934                                                                   |
[component_container_mt-1] | BWDFJVZUNY_camerainfo_s  |                     Idle |      38 | 19.72317 | 51.20212 | 4616.28262                                                                   |
[component_container_mt-1] | BWDFJVZUNY_camerainfo_s  |                  Ticking |      38 |  0.06007 |  0.12423 |  0.30139                                                                   |
[component_container_mt-1] | BWDFJVZUNY_camerainfo_s  |                  Pending |      38 |  0.02134 |  0.03415 |  1.06296                                                                   |
[component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-1] |   BWDFJVZUNY_image_sink  |              StopPending |       1 |  0.01229 |  0.01229 |  0.01229                                                                   |
[component_container_mt-1] |   BWDFJVZUNY_image_sink  |                     Idle |      38 | 19.78672 | 51.12948 | 4616.22799                                                                   |
[component_container_mt-1] |   BWDFJVZUNY_image_sink  |                  Ticking |      38 |  0.04106 |  0.36347 |  0.86964                                                                   |
[component_container_mt-1] |   BWDFJVZUNY_image_sink  |                  Pending |      38 |  0.01213 |  0.02029 |  0.05616                                                                   |
[component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-1] |     BWDFJVZUNY_splitter  |              StopPending |       1 |  0.01206 |  0.01206 |  0.01206                                                                   |
[component_container_mt-1] |     BWDFJVZUNY_splitter  |                     Idle |      38 | 19.09657 | 45.23104 | 4616.58030                                                                   |
[component_container_mt-1] |     BWDFJVZUNY_splitter  |                  Ticking |      38 |  0.46594 |  2.50320 | 18.29407                                                                   |
[component_container_mt-1] |     BWDFJVZUNY_splitter  |                  Pending |      38 |  0.02621 |  0.06279 | 10.96874                                                                   |
[component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-1] | BWDFJVZUNY_imageResizer  |              StopPending |       1 |  0.01350 |  0.01350 |  0.01350                                                                   |
[component_container_mt-1] | BWDFJVZUNY_imageResizer  |                     Idle |      38 |  8.04168 | 38.92457 | 4618.59153                                                                   |
[component_container_mt-1] | BWDFJVZUNY_imageResizer  |                  Ticking |      38 | 10.53986 | 15.89897 | 502.16770                                                                   |
[component_container_mt-1] [INFO] [1699818220.280463638] [image_resize_left]: [NitrosContext] Destroying context
[component_container_mt-1] [INFO] [1699818220.280997073] [image_resize_left]: [NitrosNode] Application termination done
[component_container_mt-1] [INFO] [1699818220.295943710] [image_format_node_right]: [NitrosNode] Terminating the running application
[component_container_mt-1] [INFO] [1699818220.295992033] [image_format_node_right]: [NitrosContext] Interrupting GXF...
[component_container_mt-1] [INFO] [1699818220.296019010] [image_format_node_right]: [NitrosContext] Waiting on GXF...
[component_container_mt-1] [INFO] [1699818220.296323089] [image_format_node_right]: [NitrosContext] Deinitializing...
[component_container_mt-1] | BWDFJVZUNY_imageResizer  |                  Pending |      38 |  0.02586 |  0.05114 |  1.56808                                                                   |
[component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-1] | BWDFJVZUNY_input_compos  |              StopPending |       1 |  0.02358 |  0.02358 |  0.02358                                                                   |
[component_container_mt-1] | BWDFJVZUNY_input_compos  |                     Idle |      38 | 32.66708 | 60.16647 | 4622.14864                                                                   |
[component_container_mt-1] | BWDFJVZUNY_input_compos  |                  Ticking |      38 |  0.85547 |  7.09968 | 27.76485                                                                   |
[component_container_mt-1] | BWDFJVZUNY_input_compos  |                  Pending |      38 |  0.04240 |  0.05968 | 17.11660                                                                   |
[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] |                                    MAOARJGLFE_sink |      47 |     0.09 |     1.12 |     6.80 |    1.5 % |     21.8 |            0 |            0 |            0 |
[component_container_mt-1] |                          MAOARJGLFE_imageConverter |      47 |    10.38 |    26.27 |    36.67 |   40.0 % |    608.8 |            0 |            0 |     43595369 |
[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] |         MAOARJGLFE_sink  |              StopPending |       1 |  0.05997 |  0.05997 |  0.05997                                                                   |
[component_container_mt-1] |         MAOARJGLFE_sink  |                     Idle |      47 | 27.70824 | 68.05192 | 4650.51166                                                                   |
[component_container_mt-1] |         MAOARJGLFE_sink  |                  Ticking |      47 |  0.06362 |  0.63549 |  6.74104                                                                   |
[component_container_mt-1] [INFO] [1699818220.320327237] [image_format_node_right]: [NitrosContext] Destroying context
[component_container_mt-1] [INFO] [1699818220.320633589] [image_format_node_right]: [NitrosNode] Application termination done
[component_container_mt-1] [INFO] [1699818220.337869717] [image_format_node_left]: [NitrosNode] Terminating the running application
[component_container_mt-1] [INFO] [1699818220.337917688] [image_format_node_left]: [NitrosContext] Interrupting GXF...
[component_container_mt-1] [INFO] [1699818220.337949561] [image_format_node_left]: [NitrosContext] Waiting on GXF...
[component_container_mt-1] [INFO] [1699818220.338245448] [image_format_node_left]: [NitrosContext] Deinitializing...
[component_container_mt-1] |         MAOARJGLFE_sink  |                  Pending |      47 |  0.01466 |  0.01958 |  0.63238                                                                   |
[component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-1] | MAOARJGLFE_imageConvert  |              StopPending |       1 |  0.01037 |  0.01037 |  0.01037                                                                   |
[component_container_mt-1] | MAOARJGLFE_imageConvert  |                     Idle |      47 | 18.88456 | 47.92429 | 4650.67384                                                                   |
[component_container_mt-1] | MAOARJGLFE_imageConvert  |                  Ticking |      47 | 10.34122 | 26.20963 | 36.59304                                                                   |
[component_container_mt-1] | MAOARJGLFE_imageConvert  |                  Pending |      47 |  0.02272 |  0.05027 |  4.71764                                                                   |
[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] |                                    TFUVOWMRYE_sink |      47 |     0.09 |     0.14 |     3.07 |    1.1 % |     15.7 |            0 |            0 |            0 |
[component_container_mt-1] |                          TFUVOWMRYE_imageConverter |      47 |    10.99 |    22.29 |    64.33 |   50.8 % |    776.5 |            0 |     27867349 |    153321254 |
[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] |         TFUVOWMRYE_sink  |              StopPending |       1 |  0.01632 |  0.01632 |  0.01632                                                                   |
[component_container_mt-1] |         TFUVOWMRYE_sink  |                     Idle |      47 | 27.16437 | 66.15317 | 4682.49358                                                                   |
[component_container_mt-1] |         TFUVOWMRYE_sink  |                  Ticking |      47 |  0.06663 |  0.09719 |  3.02911                                                                   |
[component_container_mt-1] |         TFUVOWMRYE_sink  |                  Pending |      47 |  0.01309 |  0.01968 |  1.65253                                                                   |
[component_container_mt-1] [INFO] [1699818220.372536480] [image_format_node_left]: [NitrosContext] Destroying context
[component_container_mt-1] [INFO] [1699818220.372734698] [image_format_node_left]: [NitrosNode] Application termination done
[component_container_mt-1] [INFO] [1699818220.390702159] [disparity]: [NitrosNode] Terminating the running application
[component_container_mt-1] [INFO] [1699818220.390753010] [disparity]: [NitrosContext] Interrupting GXF...
[component_container_mt-1] [INFO] [1699818220.402360536] [disparity]: [NitrosContext] Waiting on GXF...
[component_container_mt-1] [INFO] [1699818220.402418523] [disparity]: [NitrosContext] Deinitializing...
[component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-1] | TFUVOWMRYE_imageConvert  |              StopPending |       1 |  0.00768 |  0.00768 |  0.00768                                                                   |
[component_container_mt-1] | TFUVOWMRYE_imageConvert  |                     Idle |      47 | 12.64873 | 49.51144 | 4682.65196                                                                   |
[component_container_mt-1] | TFUVOWMRYE_imageConvert  |                  Ticking |      47 | 10.97367 | 22.25014 | 64.27052                                                                   |
[component_container_mt-1] | TFUVOWMRYE_imageConvert  |                  Pending |      47 |  0.01799 |  0.07459 |  1.83363                                                                   |
[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] |                                    RQMNZLFWZE_sink |      18 |     0.11 |     0.50 |     1.06 |    0.6 % |      4.0 |        79364 |       545212 |     11918294 |
[component_container_mt-1] |                    RQMNZLFWZE_disparity_compositor |      18 |     0.78 |     5.29 |    10.32 |    7.2 % |     49.0 |        60547 |       333808 |      3354536 |
[component_container_mt-1] |                   RQMNZLFWZE_disparity_thresholder |      18 |     6.48 |    16.52 |    22.55 |   21.9 % |    152.5 |       195434 |      2609539 |     16353812 |
[component_container_mt-1] |                                     RQMNZLFWZE_ess |      18 |    19.65 |    51.57 |   249.50 |   86.1 % |    806.4 |    132361357 |    354620467 |    406024261 |
[component_container_mt-1] |                                    RQMNZLFWZE_sync |      20 |     0.52 |     0.76 |     5.51 |    1.9 % |     18.0 |       183689 |      2278131 |      6431907 |
[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] |         RQMNZLFWZE_sink  |              StopPending |       1 |  0.00858 |  0.00858 |  0.00858                                                                   |
[component_container_mt-1] |         RQMNZLFWZE_sink  |                     Idle |      18 | 37.36072 | 59.85522 | 4713.37565                                                                   |
[component_container_mt-1] [INFO] [1699818220.507976681] [disparity]: [NitrosContext] Destroying context
[component_container_mt-1] 2023-11-12 22:43:40.508 PANIC external/com_nvidia_gxf/gxf/core/handle.hpp@187: Invalid Component Pointer.
[component_container_mt-1] #01 /workspaces/isaac_ros-dev/install/isaac_ros_gxf/share/isaac_ros_gxf/gxf/lib/libgxf_isaac_messages.so(+0x1711d8) [0xffff9eaba1d8]
[component_container_mt-1] #02 std::_Function_handler<nvidia::Expected<void, gxf_result_t> (void*), nvidia::gxf::MemoryBuffer::resize(nvidia::gxf::Handle<nvidia::gxf::Allocator>, unsigned long, nvidia::gxf::MemoryStorageType)::{lambda(void*)#1}>::_M_invoke(std::_Any_data const&, void*&&) /workspaces/isaac_ros-dev/install/isaac_ros_gxf/share/isaac_ros_gxf/gxf/lib/libgxf_isaac_messages.so(_ZNSt17_Function_handlerIFN6nvidia8ExpectedIv12gxf_result_tEEPvEZNS0_3gxf12MemoryBuffer6resizeENS6_6HandleINS6_9AllocatorEEEmNS6_17MemoryStorageTypeEEUlS4_E_E9_M_invokeERKSt9_Any_dataOS4_+0x40) [0xffff9eaba220]
[component_container_mt-1] #03 nvidia::gxf::NewComponentAllocator<nvidia::gxf::VideoBuffer, void>::deallocate_abi(void*) /workspaces/isaac_ros-dev/install/isaac_ros_gxf/share/isaac_ros_gxf/gxf/lib/multimedia/libgxf_multimedia.so(_ZN6nvidia3gxf21NewComponentAllocatorINS0_11VideoBufferEvE14deallocate_abiEPv+0x48) [0xffff9e4ef2b8]
[component_container_mt-1] #04 nvidia::gxf::ComponentAllocator::deallocate(void*) /workspaces/isaac_ros-dev/install/isaac_ros_gxf/share/isaac_ros_gxf/gxf/lib/core/libgxf_core.so(_ZN6nvidia3gxf18ComponentAllocator10deallocateEPv+0x1c) [0xffff9eedc70c]
[component_container_mt-1] #05 nvidia::gxf::DefaultExtension::deallocate_abi(gxf_tid_t, void*) /workspaces/isaac_ros-dev/install/isaac_ros_gxf/share/isaac_ros_gxf/gxf/lib/libgxf_isaac_messages.so(_ZN6nvidia3gxf16DefaultExtension14deallocate_abiE9gxf_tid_tPv+0x3c) [0xffff9ebe36ac]
[component_container_mt-1] #06 nvidia::gxf::ComponentFactory::deallocate(gxf_tid_t, void*) /workspaces/isaac_ros-dev/install/isaac_ros_gxf/share/isaac_ros_gxf/gxf/lib/core/libgxf_core.so(_ZN6nvidia3gxf16ComponentFactory10deallocateE9gxf_tid_tPv+0x1c) [0xffff9eedc5fc]
[component_container_mt-1] #07 nvidia::gxf::ExtensionLoader::deallocate_abi(gxf_tid_t, void*) /workspaces/isaac_ros-dev/install/isaac_ros_gxf/share/isaac_ros_gxf/gxf/lib/core/libgxf_core.so(_ZN6nvidia3gxf15ExtensionLoader14deallocate_abiE9gxf_tid_tPv+0xf0) [0xffff9eeb85d0]
[component_container_mt-1] #08 nvidia::gxf::ComponentFactory::deallocate(gxf_tid_t, void*) /workspaces/isaac_ros-dev/install/isaac_ros_gxf/share/isaac_ros_gxf/gxf/lib/core/libgxf_core.so(_ZN6nvidia3gxf16ComponentFactory10deallocateE9gxf_tid_tPv+0x1c) [0xffff9eedc5fc]
[component_container_mt-1] #09 nvidia::gxf::EntityWarden::EntityItem::destroy(nvidia::gxf::ComponentFactory*) /workspaces/isaac_ros-dev/install/isaac_ros_gxf/share/isaac_ros_gxf/gxf/lib/core/libgxf_core.so(_ZN6nvidia3gxf12EntityWarden10EntityItem7destroyEPNS0_16ComponentFactoryE+0xd0) [0xffff9eed79d0]
[component_container_mt-1] #10 nvidia::gxf::EntityWarden::destroy(long, nvidia::gxf::ComponentFactory*) /workspaces/isaac_ros-dev/install/isaac_ros_gxf/share/isaac_ros_gxf/gxf/lib/core/libgxf_core.so(_ZN6nvidia3gxf12EntityWarden7destroyElPNS0_16ComponentFactoryE+0x228) [0xffff9eedbbb8]
[component_container_mt-1] #11 nvidia::gxf::Runtime::GxfEntityDestroyImpl(long) /workspaces/isaac_ros-dev/install/isaac_ros_gxf/share/isaac_ros_gxf/gxf/lib/core/libgxf_core.so(_ZN6nvidia3gxf7Runtime20GxfEntityDestroyImplEl+0x12c) [0xffff9eeac7bc]
[component_container_mt-1] #12 nvidia::gxf::Runtime::GxfEntityRefCountDec(long) /workspaces/isaac_ros-dev/install/isaac_ros_gxf/share/isaac_ros_gxf/gxf/lib/core/libgxf_core.so(_ZN6nvidia3gxf7Runtime20GxfEntityRefCountDecEl+0xa8) [0xffff9eeacaf8]
[component_container_mt-1] #13 nvidia::isaac_ros::MessageRelay::~MessageRelay() /workspaces/isaac_ros-dev/install/isaac_ros_gxf/share/isaac_ros_gxf/gxf/lib/libgxf_message_compositor.so(_ZN6nvidia9isaac_ros12MessageRelayD0Ev+0xac) [0xffffac03310c]
[component_container_mt-1] #14 nvidia::gxf::NewComponentAllocator<nvidia::isaac_ros::MessageRelay, void>::deallocate_abi(void*) /workspaces/isaac_ros-dev/install/isaac_ros_gxf/share/isaac_ros_gxf/gxf/lib/libgxf_message_compositor.so(_ZN6nvidia3gxf21NewComponentAllocatorINS_9isaac_ros12MessageRelayEvE14deallocate_abiEPv+0x1c) [0xffffac02f31c]
[component_container_mt-1] #15 nvidia::gxf::ComponentAllocator::deallocate(void*) /workspaces/isaac_ros-dev/install/isaac_ros_gxf/share/isaac_ros_gxf/gxf/lib/core/libgxf_core.so(_ZN6nvidia3gxf18ComponentAllocator10deallocateEPv+0x1c) [0xffff9eedc70c]
[component_container_mt-1] #16 nvidia::gxf::DefaultExtension::deallocate_abi(gxf_tid_t, void*) /workspaces/isaac_ros-dev/install/isaac_ros_gxf/share/isaac_ros_gxf/gxf/lib/libgxf_isaac_messages.so(_ZN6nvidia3gxf16DefaultExtension14deallocate_abiE9gxf_tid_tPv+0x3c) [0xffff9ebe36ac]
[component_container_mt-1] #17 nvidia::gxf::ComponentFactory::deallocate(gxf_tid_t, void*) /workspaces/isaac_ros-dev/install/isaac_ros_gxf/share/isaac_ros_gxf/gxf/lib/core/libgxf_core.so(_ZN6nvidia3gxf16ComponentFactory10deallocateE9gxf_tid_tPv+0x1c) [0xffff9eedc5fc]
[component_container_mt-1] #18 nvidia::gxf::ExtensionLoader::deallocate_abi(gxf_tid_t, void*) /workspaces/isaac_ros-dev/install/isaac_ros_gxf/share/isaac_ros_gxf/gxf/lib/core/libgxf_core.so(_ZN6nvidia3gxf15ExtensionLoader14deallocate_abiE9gxf_tid_tPv+0xf0) [0xffff9eeb85d0]
[component_container_mt-1] #19 nvidia::gxf::ComponentFactory::deallocate(gxf_tid_t, void*) /workspaces/isaac_ros-dev/install/isaac_ros_gxf/share/isaac_ros_gxf/gxf/lib/core/libgxf_core.so(_ZN6nvidia3gxf16ComponentFactory10deallocateE9gxf_tid_tPv+0x1c) [0xffff9eedc5fc]
[component_container_mt-1] #20 nvidia::gxf::EntityWarden::EntityItem::destroy(nvidia::gxf::ComponentFactory*) /workspaces/isaac_ros-dev/install/isaac_ros_gxf/share/isaac_ros_gxf/gxf/lib/core/libgxf_core.so(_ZN6nvidia3gxf12EntityWarden10EntityItem7destroyEPNS0_16ComponentFactoryE+0xd0) [0xffff9eed79d0]
[component_container_mt-1] #21 nvidia::gxf::EntityWarden::destroy(long, nvidia::gxf::ComponentFactory*) /workspaces/isaac_ros-dev/install/isaac_ros_gxf/share/isaac_ros_gxf/gxf/lib/core/libgxf_core.so(_ZN6nvidia3gxf12EntityWarden7destroyElPNS0_16ComponentFactoryE+0x228) [0xffff9eedbbb8]
[component_container_mt-1] #22 nvidia::gxf::Runtime::GxfEntityDestroyImpl(long) /workspaces/isaac_ros-dev/install/isaac_ros_gxf/share/isaac_ros_gxf/gxf/lib/core/libgxf_core.so(_ZN6nvidia3gxf7Runtime20GxfEntityDestroyImplEl+0x12c) [0xffff9eeac7bc]
[component_container_mt-1] #23 nvidia::gxf::Runtime::GxfEntityRefCountDec(long) /workspaces/isaac_ros-dev/install/isaac_ros_gxf/share/isaac_ros_gxf/gxf/lib/core/libgxf_core.so(_ZN6nvidia3gxf7Runtime20GxfEntityRefCountDecEl+0xa8) [0xffff9eeacaf8]
[component_container_mt-1] #24 nvidia::gxf::Program::destroy() /workspaces/isaac_ros-dev/install/isaac_ros_gxf/share/isaac_ros_gxf/gxf/lib/core/libgxf_core.so(_ZN6nvidia3gxf7Program7destroyEv+0xe4) [0xffff9eeceab4]
[component_container_mt-1] #25 nvidia::gxf::Runtime::destroy() /workspaces/isaac_ros-dev/install/isaac_ros_gxf/share/isaac_ros_gxf/gxf/lib/core/libgxf_core.so(_ZN6nvidia3gxf7Runtime7destroyEv+0x20) [0xffff9eeb76e0]
[component_container_mt-1] #26 /workspaces/isaac_ros-dev/install/isaac_ros_gxf/share/isaac_ros_gxf/gxf/lib/core/libgxf_core.so(GxfContextDestroy+0x20) [0xffff9ee92f80]
[component_container_mt-1] #27 nvidia::isaac_ros::nitros::NitrosContext::destroy() /workspaces/isaac_ros-dev/install/isaac_ros_nitros/lib/libisaac_ros_nitros.so(_ZN6nvidia9isaac_ros6nitros13NitrosContext7destroyEv+0x7a0) [0xffffac2d6cf8]
[component_container_mt-1] #28 nvidia::isaac_ros::nitros::NitrosNode::~NitrosNode() /workspaces/isaac_ros-dev/install/isaac_ros_nitros/lib/libisaac_ros_nitros.so(_ZN6nvidia9isaac_ros6nitros10NitrosNodeD1Ev+0x6e0) [0xffffac286178]
[component_container_mt-1] #29 std::_Rb_tree<unsigned long, std::pair<unsigned long const, rclcpp_components::NodeInstanceWrapper>, std::_Select1st<std::pair<unsigned long const, rclcpp_components::NodeInstanceWrapper> >, std::less<unsigned long>, std::allocator<std::pair<unsigned long const, rclcpp_components::NodeInstanceWrapper> > >::_M_erase(std::_Rb_tree_node<std::pair<unsigned long const, rclcpp_components::NodeInstanceWrapper> >*) /opt/ros/humble/lib/libcomponent_manager.so(_ZNSt8_Rb_treeImSt4pairIKmN17rclcpp_components19NodeInstanceWrapperEESt10_Select1stIS4_ESt4lessImESaIS4_EE8_M_eraseEPSt13_Rb_tree_nodeIS4_E+0xc4) [0xffffb4144adc]
[component_container_mt-1] #30 rclcpp_components::ComponentManager::~ComponentManager() /opt/ros/humble/lib/libcomponent_manager.so(_ZN17rclcpp_components16ComponentManagerD2Ev+0x21c) [0xffffb413bf6c]
[component_container_mt-1] #31 std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() /opt/ros/humble/lib/rclcpp_components/component_container_mt(_ZNSt16_Sp_counted_baseILN9__gnu_cxx12_Lock_policyE2EE10_M_releaseEv+0x68) [0xaaaad5532fe8]
[component_container_mt-1] #32 /opt/ros/humble/lib/rclcpp_components/component_container_mt(+0x2088) [0xaaaad5532088]
[component_container_mt-1] #33 /lib/aarch64-linux-gnu/libc.so.6(__libc_start_main+0xe8) [0xffffb3ab4e10]
[component_container_mt-1] #34 /opt/ros/humble/lib/rclcpp_components/component_container_mt(+0x2338) [0xaaaad5532338]
[component_container_mt-1] |         RQMNZLFWZE_sink  |                  Ticking |      18 |  0.06404 |  0.10557 |  1.03112                                                                   |
[component_container_mt-1] |         RQMNZLFWZE_sink  |                  Pending |      18 |  0.01389 |  0.03056 |  0.43490                                                                   |
[component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-1] | RQMNZLFWZE_disparity_co  |              StopPending |       1 |  0.00938 |  0.00938 |  0.00938                                                                   |
[component_container_mt-1] | RQMNZLFWZE_disparity_co  |                     Idle |      18 | 38.50350 | 66.02005 | 4713.45872                                                                   |
[component_container_mt-1] | RQMNZLFWZE_disparity_co  |                  Ticking |      18 |  0.36303 |  5.18135 | 10.27415                                                                   |
[component_container_mt-1] | RQMNZLFWZE_disparity_co  |                  Pending |      18 |  0.03559 |  0.10801 |  7.27144                                                                   |
[component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-1] | RQMNZLFWZE_disparity_th  |              StopPending |       1 |  0.02378 |  0.02378 |  0.02378                                                                   |
[component_container_mt-1] | RQMNZLFWZE_disparity_th  |                     Idle |      18 | 30.44937 | 60.18452 | 4714.94190                                                                   |
[component_container_mt-1] | RQMNZLFWZE_disparity_th  |                  Ticking |      18 |  6.45140 | 12.95514 | 22.51793                                                                   |
[component_container_mt-1] | RQMNZLFWZE_disparity_th  |                  Pending |      18 |  0.02890 |  0.78769 |  5.58697                                                                   |
[component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-1] |          RQMNZLFWZE_ess  |              StopPending |       1 |  8.67813 |  8.67813 |  8.67813                                                                   |
[component_container_mt-1] |          RQMNZLFWZE_ess  |                     Idle |      18 |  1.05093 | 30.61299 | 4716.31023                                                                   |
[component_container_mt-1] |          RQMNZLFWZE_ess  |                  Ticking |      18 | 19.59420 | 51.53673 | 249.43471                                                                   |
[component_container_mt-1] |          RQMNZLFWZE_ess  |                  Pending |      18 |  0.03171 |  0.36603 |  2.14417                                                                   |
[component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-1] |         RQMNZLFWZE_sync  |              StopPending |       1 |  0.01779 |  0.01779 |  0.01779                                                                   |
[component_container_mt-1] |         RQMNZLFWZE_sync  |                     Idle |      20 | 36.04027 | 55.25413 | 4728.82490                                                                   |
[component_container_mt-1] |         RQMNZLFWZE_sync  |                  Ticking |      20 |  0.44069 |  0.64355 |  5.38264                                                                   |
[component_container_mt-1] |         RQMNZLFWZE_sync  |                  Pending |      20 |  0.02826 |  0.04954 |  0.11604                                                                   |
[component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-1] |==================================================================================================================================================================|
[ERROR] [component_container_mt-1]: process has died [pid 81779, exit code 1, cmd '/opt/ros/humble/lib/rclcpp_components/component_container_mt --ros-args --log-level info --ros-args -r __node:=disparity_container -r __ns:=/disparity'].

When I execute 

ros2 topic list

I get,

/clicked_point
/goal_pose
/infra1/image_rect_raw
/infra2/image_rect_raw
/initialpose
/parameter_events
/points2
/rosout
/tf
/tf_static

Whe I execute 

ros2 node list

I get

/launch_ros_25170
/rviz
/transform_listener_impl_aaaaef814410

I am not sure what the issue is.

Any help is appreciated.

Thanks.

mzahana commented 1 year ago

I think I found the issue.

I was using the wrong image sizes for ESS.

The supported image sizes re explained here.