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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
87 stars 10 forks source link

Launch with RealSense fail #23

Open zhukao opened 3 months ago

zhukao commented 3 months ago

Platform: Jetson Orin Nano & Ubuntu 22.04 & Isaac ROS 3.0.0

Run example:

ros2 launch isaac_ros_examples isaac_ros_examples.launch.py launch_fragments:=realsense_stereo_rect,ess_disparity \
   engine_file_path:=${ISAAC_ROS_WS}/isaac_ros_assets/models/dnn_stereo_disparity/dnn_stereo_disparity_v4.0.0/ess.engine \
   threshold:=0.35 realsense_config_file:=$(ros2 pkg prefix isaac_ros_ess --share)/config/realsense.yaml

Crash with log:

[component_container_mt-1] 2024-06-13 16:13:24.950 WARN  gxf/std/entity_warden.cpp@464: Component of type nvidia::gxf::EventBasedScheduler, cid 290 failed to deinitialize with code GXF_FAILURE
[component_container_mt-1] 2024-06-13 16:13:24.950 ERROR gxf/core/runtime.cpp@751: Could not deinitialize entity 'TXEAAHPWIS_WVOLORXTUG' (E288): GXF_FAILURE
[component_container_mt-1] 2024-06-13 16:13:24.950 ERROR gxf/std/program.cpp@576: Deactivation failed.
[component_container_mt-1] 2024-06-13 16:13:24.950 ERROR gxf/core/runtime.cpp@1476: Graph wait failed with error: GXF_FAILURE
[component_container_mt-1] [ERROR] [1718266404.951001751] [ess_disparity]: [NitrosContext] GxfGraphWait Error: GXF_FAILURE
[component_container_mt-1] [INFO] [1718266404.951022711] [ess_disparity]: [NitrosNode] Application termination done
[component_container_mt-1] [INFO] [1718266405.001189836] [right_resize]: [NitrosNode] Terminating the running application
[component_container_mt-1] [INFO] [1718266405.002332748] [right_resize]: [NitrosContext] Interrupting GXF...
[component_container_mt-1] [INFO] [1718266405.004440007] [right_resize]: [NitrosContext] Waiting on GXF...
[component_container_mt-1] [INFO] [1718266405.004485736] [right_resize]: [NitrosContext] Deinitializing...

...

[INFO] [component_container_mt-1]: process has finished cleanly [pid 149755]
mvp-aadesh commented 3 months ago

Hello, I am running the docker container on agx orin with jetpack 6.0, librealsense version v2.55.1 and ros wrapper v4.51.1 , following the official tutorial for issac ros3 .

ros2 launch isaac_ros_examples isaac_ros_examples.launch.py launch_fragments:=realsense_stereo_rect,ess_disparity    engine_file_path:=/workspaces/isaac_ros-dev/isaac_ros_assets/models/dnn_stereo_disparity/dnn_stereo_disparity_v4.0.0/ess.engine    threshold:=0.35 realsense_config_file:=$(ros2 pkg prefix isaac_ros_ess --share)/config/realsense.yaml
[component_container_mt-1] [INFO] [1719932327.884995060] [isaac_ros_examples.container]: Load Library: /workspaces/isaac_ros-dev/install/realsense2_camera/lib/librealsense2_camera.so
[component_container_mt-1] [INFO] [1719932328.055273900] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<realsense2_camera::RealSenseNodeFactory>
[component_container_mt-1] [INFO] [1719932328.056217372] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<realsense2_camera::RealSenseNodeFactory>
[component_container_mt-1] [INFO] [1719932328.286434515] [realsense2_camera]: RealSense ROS v4.51.1
[component_container_mt-1] [INFO] [1719932328.286574192] [realsense2_camera]: Built with LibRealSense v2.55.1
[component_container_mt-1] [INFO] [1719932328.286616559] [realsense2_camera]: Running with LibRealSense v2.55.1
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/realsense2_camera' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1719932328.291844153] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libimage_format_converter_node.so
[component_container_mt-1] [INFO] [1719932328.366366597] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::ImageFormatConverterNode>
[component_container_mt-1] [INFO] [1719932328.366484099] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::ImageFormatConverterNode>
[component_container_mt-1] [INFO] [1719932328.373242131] [image_format_left]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [WARN] [1719932328.373317778] [realsense2_camera]: No RealSense devices were found!
[component_container_mt-1] [INFO] [1719932328.374010246] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/std/libgxf_std.so
[component_container_mt-1] [INFO] [1719932328.379443116] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_gxf_helpers.so
[component_container_mt-1] [INFO] [1719932328.386190172] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_sight.so
[component_container_mt-1] [INFO] [1719932328.393839997] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_atlas.so
[component_container_mt-1] 2024-07-02 10:58:48.412 WARN  gxf/std/program.cpp@532: No GXF scheduler specified.
[component_container_mt-1] [INFO] [1719932328.412995936] [image_format_left]: [ImageFormatConverterNode] Set output data format to: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1719932328.413123838] [image_format_left]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1719932328.425895114] [image_format_left]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1719932328.426255172] [image_format_left]: [NitrosContext] Loading extension: gxf/lib/multimedia/libgxf_multimedia.so
[component_container_mt-1] [INFO] [1719932328.431127251] [image_format_left]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_message_compositor.so
[component_container_mt-1] [INFO] [1719932328.433084883] [image_format_left]: [NitrosContext] Loading extension: gxf/lib/cuda/libgxf_cuda.so
[component_container_mt-1] [INFO] [1719932328.437802628] [image_format_left]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_tensorops.so
[component_container_mt-1] [INFO] [1719932328.446244632] [image_format_left]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1719932328.448346390] [image_format_left]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1719932328.522600166] [image_format_left]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1719932328.531022523] [image_format_left]: [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] [1719932328.535811979] [image_format_left]: [NitrosNode] Starting negotiation...
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/image_format_left' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1719932328.538964343] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::ImageFormatConverterNode>
[component_container_mt-1] [INFO] [1719932328.539027638] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::ImageFormatConverterNode>
[component_container_mt-1] [INFO] [1719932328.544584922] [image_format_right]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1719932328.545201359] [image_format_right]: [ImageFormatConverterNode] Set output data format to: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1719932328.545271854] [image_format_right]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1719932328.557730976] [image_format_right]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1719932328.558519187] [image_format_right]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1719932328.560583248] [image_format_right]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1719932328.657233262] [image_format_right]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1719932328.669746334] [image_format_right]: [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] [1719932328.671850395] [image_format_right]: [NitrosNode] Starting negotiation...
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/image_format_right' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1719932328.676483726] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libresize_node.so
[component_container_mt-1] [INFO] [1719932328.687512887] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::ResizeNode>
[component_container_mt-1] [INFO] [1719932328.687641429] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::ResizeNode>
[component_container_mt-1] [INFO] [1719932328.699595183] [left_resize]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1719932328.701507663] [left_resize]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1719932328.732059381] [left_resize]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1719932328.733791160] [left_resize]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1719932328.742728452] [left_resize]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1719932328.942714416] [left_resize]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1719932328.956454828] [left_resize]: [NitrosNode] Starting negotiation...
[component_container_mt-1] [INFO] [1719932328.957566137] [image_format_left]: Negotiating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/left_resize' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1719932328.959547736] [left_resize]: Negotiating
[component_container_mt-1] [INFO] [1719932328.959615319] [left_resize]: Could not negotiate
[component_container_mt-1] [INFO] [1719932328.959648503] [left_resize]: Negotiating
[component_container_mt-1] [INFO] [1719932328.959666934] [left_resize]: Could not negotiate
[component_container_mt-1] [INFO] [1719932328.960958177] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::ResizeNode>
[component_container_mt-1] [INFO] [1719932328.961041312] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::ResizeNode>
[component_container_mt-1] [INFO] [1719932328.971920171] [right_resize]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1719932328.974023144] [right_resize]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1719932329.002244372] [right_resize]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1719932329.004070582] [right_resize]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1719932329.014388459] [right_resize]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1719932329.230318895] [right_resize]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1719932329.243705521] [right_resize]: [NitrosNode] Starting negotiation...
[component_container_mt-1] [INFO] [1719932329.244832734] [image_format_right]: Negotiating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/right_resize' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1719932329.247940779] [right_resize]: Negotiating
[component_container_mt-1] [INFO] [1719932329.248029097] [right_resize]: Could not negotiate
[component_container_mt-1] [INFO] [1719932329.248082792] [right_resize]: Negotiating
[component_container_mt-1] [INFO] [1719932329.248112904] [right_resize]: Could not negotiate
[component_container_mt-1] [INFO] [1719932329.249046584] [isaac_ros_examples.container]: Load Library: /workspaces/isaac_ros-dev/install/isaac_ros_ess/lib/libess_disparity_node.so
[component_container_mt-1] [INFO] [1719932329.276469137] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_stereo_depth::ESSDisparityNode>
[component_container_mt-1] [INFO] [1719932329.276622415] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_stereo_depth::ESSDisparityNode>
[component_container_mt-1] [INFO] [1719932329.289977490] [ess_disparity]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1719932329.292309387] [ess_disparity]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1719932329.304922778] [ess_disparity]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1719932329.306380546] [ess_disparity]: [NitrosContext] Loading extension: gxf/lib/serialization/libgxf_serialization.so
[component_container_mt-1] [INFO] [1719932329.312163746] [ess_disparity]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_video_buffer_utils.so
[component_container_mt-1] [INFO] [1719932329.317051953] [ess_disparity]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_messages.so
[component_container_mt-1] [INFO] [1719932329.321330922] [ess_disparity]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_sgm.so
[component_container_mt-1] [INFO] [1719932329.327346854] [ess_disparity]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_messages_throttler.so
[component_container_mt-1] [INFO] [1719932329.335519550] [ess_disparity]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_ess.so
[component_container_mt-1] [INFO] [1719932329.382829806] [ess_disparity]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1719932329.391788217] [ess_disparity]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1719932329.536939475] [image_format_left]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1719932329.537740613] [image_format_left]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1719932329.537807620] [image_format_left]: [NitrosPublisher] Use the negotiated data format: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1719932329.537890595] [image_format_left]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1719932329.537918786] [image_format_left]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/infra1/image_rect_raw_mono", data_format="nitros_image_rgb8"
[component_container_mt-1] [INFO] [1719932329.538382779] [image_format_left]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1719932329.568844450] [image_format_left]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/EPFWPYKFGJ/EPFWPYKFGJ.yaml"
[component_container_mt-1] [INFO] [1719932329.569874865] [image_format_left]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1719932329.593915234] [image_format_left]: [ImageFormatConverterNode] postLoadGraphCallback().
[component_container_mt-1] [INFO] [1719932329.594128126] [image_format_left]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1719932329.672460716] [image_format_right]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1719932329.673392764] [image_format_right]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1719932329.673421404] [image_format_right]: [NitrosPublisher] Use the negotiated data format: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1719932329.673435867] [image_format_right]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1719932329.673444443] [image_format_right]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/infra2/image_rect_raw_mono", data_format="nitros_image_rgb8"
[component_container_mt-1] [INFO] [1719932329.674541289] [image_format_right]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1719932329.691896905] [image_format_right]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/KWNQJXJSFS/KWNQJXJSFS.yaml"
[component_container_mt-1] [INFO] [1719932329.691999720] [image_format_right]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1719932329.693874057] [ess_disparity]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1719932329.727308926] [ess_disparity]: [NitrosNode] Starting negotiation...
[component_container_mt-1] [INFO] [1719932329.729610456] [right_resize]: Negotiating
[component_container_mt-1] [INFO] [1719932329.729690839] [right_resize]: Could not negotiate
[component_container_mt-1] [INFO] [1719932329.729709526] [left_resize]: Negotiating
[component_container_mt-1] [INFO] [1719932329.729769685] [left_resize]: Could not negotiate
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/ess_disparity' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1719932329.729974738] [right_resize]: Negotiating
[component_container_mt-1] [INFO] [1719932329.730006321] [right_resize]: Could not negotiate
[component_container_mt-1] [INFO] [1719932329.730337036] [left_resize]: Negotiating
[component_container_mt-1] [INFO] [1719932329.730383691] [left_resize]: Could not negotiate
[component_container_mt-1] [INFO] [1719932329.732850626] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libdisparity_to_depth_node.so
[component_container_mt-1] [INFO] [1719932329.742265126] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::stereo_image_proc::DisparityToDepthNode>
[component_container_mt-1] [INFO] [1719932329.742367557] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::stereo_image_proc::DisparityToDepthNode>
[component_container_mt-1] [INFO] [1719932329.743655407] [image_format_left]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1719932329.744687582] [image_format_left]: Negotiating
[component_container_mt-1] [INFO] [1719932329.745328787] [image_format_right]: [ImageFormatConverterNode] postLoadGraphCallback().
[component_container_mt-1] [INFO] [1719932329.745416498] [image_format_right]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1719932329.745641102] [image_format_left]: Negotiating
[component_container_mt-1] [INFO] [1719932329.754721496] [image_format_right]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1719932329.755148689] [image_format_right]: Negotiating
[component_container_mt-1] [INFO] [1719932329.755240943] [DisparityToDepthNode]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1719932329.755879621] [image_format_right]: Negotiating
[component_container_mt-1] [INFO] [1719932329.756051906] [DisparityToDepthNode]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1719932329.760477656] [DisparityToDepthNode]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1719932329.761246924] [DisparityToDepthNode]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_utils.so
[component_container_mt-1] [INFO] [1719932329.777037830] [DisparityToDepthNode]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1719932329.778823784] [DisparityToDepthNode]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1719932329.782172657] [DisparityToDepthNode]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1719932329.785737877] [DisparityToDepthNode]: [NitrosNode] Starting negotiation...
[component_container_mt-1] [INFO] [1719932329.786732421] [ess_disparity]: Negotiating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/DisparityToDepthNode' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1719932329.787027040] [right_resize]: Negotiating
[component_container_mt-1] [INFO] [1719932329.787077759] [left_resize]: Negotiating
[component_container_mt-1] [INFO] [1719932329.787087455] [right_resize]: Could not negotiate
[component_container_mt-1] [INFO] [1719932329.787142750] [left_resize]: Could not negotiate
[component_container_mt-1] [INFO] [1719932329.787894866] [right_resize]: Negotiating
[component_container_mt-1] [INFO] [1719932329.787935857] [left_resize]: Negotiating
[component_container_mt-1] [INFO] [1719932329.788108942] [right_resize]: Could not negotiate
[component_container_mt-1] [INFO] [1719932329.788153293] [left_resize]: Could not negotiate
[component_container_mt-1] [INFO] [1719932329.957399639] [left_resize]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1719932329.957535413] [left_resize]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1719932329.957571220] [left_resize]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1719932329.957599348] [left_resize]: [NitrosPublisher] Use only the compatible publisher: topic_name="/left/image_resize", data_format="nitros_image_bgr8"
[component_container_mt-1] [INFO] [1719932329.957623891] [left_resize]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1719932329.957642035] [left_resize]: [NitrosPublisher] Use only the compatible publisher: topic_name="/left/camera_info_resize", data_format="nitros_camera_info"
[component_container_mt-1] [INFO] [1719932329.957668243] [left_resize]: [NitrosSubscriber] Use the negotiated data format: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1719932329.957739954] [left_resize]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1719932329.957765265] [left_resize]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/left/camera_info_rect", data_format="nitros_camera_info"
[component_container_mt-1] [INFO] [1719932329.957812176] [left_resize]: [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] [1719932329.958141547] [left_resize]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1719932329.984453303] [left_resize]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/RNVDYBEQDC/RNVDYBEQDC.yaml"
[component_container_mt-1] [INFO] [1719932329.984576885] [left_resize]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1719932329.997575997] [left_resize]: [ResizeNode] postLoadGraphCallback().
[component_container_mt-1] [INFO] [1719932329.998076373] [left_resize]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1719932330.019546641] [left_resize]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1719932330.245073398] [right_resize]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1719932330.245218227] [right_resize]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1719932330.245258067] [right_resize]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1719932330.245288050] [right_resize]: [NitrosPublisher] Use only the compatible publisher: topic_name="/right/image_resize", data_format="nitros_image_bgr8"
[component_container_mt-1] [INFO] [1719932330.245318578] [right_resize]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1719932330.245447184] [right_resize]: [NitrosPublisher] Use only the compatible publisher: topic_name="/right/camera_info_resize", data_format="nitros_camera_info"
[component_container_mt-1] [INFO] [1719932330.245483983] [right_resize]: [NitrosSubscriber] Use the negotiated data format: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1719932330.245550734] [right_resize]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1719932330.245579597] [right_resize]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/right/camera_info_rect", data_format="nitros_camera_info"
[component_container_mt-1] [INFO] [1719932330.245631245] [right_resize]: [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] [1719932330.245935016] [right_resize]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1719932330.271191589] [right_resize]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/LEFHEDKYHP/LEFHEDKYHP.yaml"
[component_container_mt-1] [INFO] [1719932330.271326371] [right_resize]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1719932330.285149245] [right_resize]: [ResizeNode] postLoadGraphCallback().
[component_container_mt-1] [INFO] [1719932330.285524727] [right_resize]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1719932330.307535690] [right_resize]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1719932330.729837265] [ess_disparity]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1719932330.729968591] [ess_disparity]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1719932330.730010446] [ess_disparity]: [NitrosPublisher] Use the negotiated data format: "nitros_disparity_image_32FC1"
[component_container_mt-1] [INFO] [1719932330.730041422] [ess_disparity]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1719932330.730064973] [ess_disparity]: [NitrosPublisher] Use only the compatible publisher: topic_name="/camera_info", data_format="nitros_camera_info"
[component_container_mt-1] [INFO] [1719932330.730087597] [ess_disparity]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1719932330.730106317] [ess_disparity]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/left/image_resize", data_format="nitros_image_rgb8"
[component_container_mt-1] [INFO] [1719932330.730127468] [ess_disparity]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1719932330.730143884] [ess_disparity]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/right/image_resize", data_format="nitros_image_rgb8"
[component_container_mt-1] [INFO] [1719932330.730162124] [ess_disparity]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1719932330.730177227] [ess_disparity]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/left/camera_info_resize", data_format="nitros_camera_info"
[component_container_mt-1] [INFO] [1719932330.730195819] [ess_disparity]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1719932330.730211467] [ess_disparity]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/right/camera_info_resize", data_format="nitros_camera_info"
[component_container_mt-1] [INFO] [1719932330.730632132] [ess_disparity]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1719932330.786850624] [DisparityToDepthNode]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1719932330.786974878] [DisparityToDepthNode]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1719932330.787003165] [DisparityToDepthNode]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1719932330.787024221] [DisparityToDepthNode]: [NitrosPublisher] Use only the compatible publisher: topic_name="/depth", data_format="nitros_image_32FC1"
[component_container_mt-1] [INFO] [1719932330.787044317] [DisparityToDepthNode]: [NitrosSubscriber] Use the negotiated data format: "nitros_disparity_image_32FC1"
[component_container_mt-1] [INFO] [1719932330.787346456] [DisparityToDepthNode]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1719932330.791297398] [DisparityToDepthNode]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/AVGEPHNPPX/AVGEPHNPPX.yaml"
[component_container_mt-1] [INFO] [1719932330.791442740] [DisparityToDepthNode]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1719932330.794354691] [DisparityToDepthNode]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1719932330.837553111] [DisparityToDepthNode]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1719932331.382459694] [ess_disparity]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/WMKKTJPWLQ/WMKKTJPWLQ.yaml"
[component_container_mt-1] [INFO] [1719932331.382572108] [ess_disparity]: [ESSDisparityNode] preLoadGraphCallback().
[component_container_mt-1] [INFO] [1719932331.382672299] [ess_disparity]: [ESSDisparityNode] Setting tensorrt_plugin: /workspaces/isaac_ros-dev/isaac_ros_assets/models/dnn_stereo_disparity/dnn_stereo_disparity_v4.0.0/plugins/aarch64/ess_plugins.so.
[component_container_mt-1] [INFO] [1719932331.382689642] [ess_disparity]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1719932331.389657911] [ess_disparity]: [ESSDisparityNode] Setting engine_file_path: /workspaces/isaac_ros-dev/isaac_ros_assets/models/dnn_stereo_disparity/dnn_stereo_disparity_v4.0.0/ess.engine.
[component_container_mt-1] [INFO] [1719932331.389748917] [ess_disparity]: [ESSDisparityNode] postLoadGraphCallback() with image [576 x 960]
[component_container_mt-1] [INFO] [1719932331.389763957] [ess_disparity]: [ESSDisparityNode] postLoadGraphCallback() block_size = 2211840.
[component_container_mt-1] [INFO] [1719932331.389774261] [ess_disparity]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1719932331.418477113] [ess_disparity]: [NitrosNode] Node was started
[component_container_mt-1] 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] [WARN] [1719932334.604459414] [realsense2_camera]: No RealSense devices were found!
[component_container_mt-1] [WARN] [1719932340.828126246] [realsense2_camera]: No RealSense devices were found!
[component_container_mt-1] [WARN] [1719932347.051671398] [realsense2_camera]: No RealSense devices were found!
[component_container_mt-1] [WARN] [1719932353.279603624] [realsense2_camera]: No RealSense devices were found!
[component_container_mt-1] [WARN] [1719932359.503491991] [realsense2_camera]: No RealSense devices were found!
[component_container_mt-1] [WARN] [1719932365.731891972] [realsense2_camera]: No RealSense devices were found!

It cannot find the intelrealsense device I think it is a sdk and the realsense ros wrapper compatibility issue. But any help or suggestions to fix this issue would be helpful.

Thank you.