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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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ros2 launch isaac_ros_ess isaac_ros_ess.launch.py engine_file_path:=${ISAAC_ROS_WS}/isaac_ros_assets/models/dnn_stereo_disparity/dnn_stereo_disparity_v4.0.0/ess.engine threshold:=0.3 #28

Open Aruen24 opened 4 months ago

Aruen24 commented 4 months ago

/** ERROR gxf/std/program.cpp@551: Attempted interrupting when not running (state=0). ERROR gxf/core/runtime.cpp@1468: Graph interrupt failed with error: GXF_INVALID_EXECUTION_SEQUENCE Failed to load node 'disparity' of type 'nvidia::isaac_ros::dnn_stereo_depth::ESSDisparityNode' in container '/disparity/disparity_container': Component constructor threw an exception: package 'gxf_isaac_messages_throttler' not found ***/

[INFO] [launch]: All log files can be found below /root/.ros/log/2024-07-30-15-19-09-930020-N16PR1-15071 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [component_container_mt-1]: process started with pid [15083] [component_container_mt-1] [INFO] [1722323950.212498917] [disparity.disparity_container]: Load Library: /ROS2/IsaacSim-ros_workspaces/humble_ws/install/isaac_ros_ess/lib/libess_disparity_node.so [component_container_mt-1] [INFO] [1722323950.230038306] [disparity.disparity_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-1] [INFO] [1722323950.230072954] [disparity.disparity_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [component_container_mt-1] [INFO] [1722323950.231801132] [disparity]: [NitrosNode] Initializing NitrosNode [component_container_mt-1] [INFO] [1722323950.232072449] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/std/libgxf_std.so [component_container_mt-1] [INFO] [1722323950.234754581] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_gxf_helpers.so [component_container_mt-1] [INFO] [1722323950.236654259] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_sight.so [component_container_mt-1] [INFO] [1722323950.238724225] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_atlas.so [component_container_mt-1] 2024-07-30 15:19:10.245 WARN gxf/std/program.cpp@532: No GXF scheduler specified. [component_container_mt-1] [INFO] [1722323950.245885226] [disparity]: [NitrosNode] Starting NitrosNode [component_container_mt-1] [INFO] [1722323950.247702524] [disparity]: [NitrosNode] Loading extensions [component_container_mt-1] [INFO] [1722323950.247795626] [disparity]: [NitrosContext] Loading extension: gxf/lib/multimedia/libgxf_multimedia.so [component_container_mt-1] [INFO] [1722323950.249497945] [disparity]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_message_compositor.so [component_container_mt-1] [INFO] [1722323950.250229028] [disparity]: [NitrosContext] Loading extension: gxf/lib/cuda/libgxf_cuda.so [component_container_mt-1] [INFO] [1722323950.251818670] [disparity]: [NitrosContext] Loading extension: gxf/lib/serialization/libgxf_serialization.so [component_container_mt-1] [INFO] [1722323950.252698378] [disparity]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_video_buffer_utils.so [component_container_mt-1] [INFO] [1722323950.253676188] [disparity]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_messages.so [component_container_mt-1] [INFO] [1722323950.254419120] [disparity]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_tensorops.so [component_container_mt-1] [INFO] [1722323950.256383098] [disparity]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_sgm.so [component_container_mt-1] [INFO] [1722323950.257329580] [disparity]: [NitrosNode] Terminating the running application [component_container_mt-1] [INFO] [1722323950.257341137] [disparity]: [NitrosContext] Interrupting GXF... [component_container_mt-1] 2024-07-30 15:19:10.257 ERROR gxf/std/program.cpp@551: Attempted interrupting when not running (state=0). [component_container_mt-1] 2024-07-30 15:19:10.257 ERROR gxf/core/runtime.cpp@1468: Graph interrupt failed with error: GXF_INVALID_EXECUTION_SEQUENCE [component_container_mt-1] [ERROR] [1722323950.257355726] [disparity]: [NitrosContext] GxfGraphInterrupt Error: GXF_INVALID_EXECUTION_SEQUENCE [component_container_mt-1] [INFO] [1722323950.257358810] [disparity]: [NitrosContext] Waiting on GXF... [component_container_mt-1] [INFO] [1722323950.257362313] [disparity]: [NitrosContext] Deinitializing... [component_container_mt-1] [INFO] [1722323950.257365335] [disparity]: [NitrosContext] Destroying context [component_container_mt-1] [INFO] [1722323950.257390223] [disparity]: [NitrosNode] Application termination done [component_container_mt-1] [ERROR] [1722323950.258280076] [disparity.disparity_container]: Component constructor threw an exception: package 'gxf_isaac_messages_throttler' not found, searching: [/ROS2/IsaacSim-ros_workspaces/humble_ws/install/isaac_ros_ess_models_install, /ROS2/IsaacSim-ros_workspaces/humble_ws/install/gxf_isaac_ess, /ROS2/IsaacSim-ros_workspaces/humble_ws/install/isaac_ros_ess, /ROS2/IsaacSim-ros_workspaces/humble_ws/install/isaac_ros_test, /ROS2/IsaacSim-ros_workspaces/humble_ws/install/gxf_isaac_video_buffer_utils, /ROS2/IsaacSim-ros_workspaces/humble_ws/install/isaac_ros_common, /opt/ros/humble] [ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node 'disparity' of type 'nvidia::isaac_ros::dnn_stereo_depth::ESSDisparityNode' in container '/disparity/disparity_container': Component constructor threw an exception: package 'gxf_isaac_messages_throttler' not found, searching: [/ROS2/IsaacSim-ros_workspaces/humble_ws/install/isaac_ros_ess_models_install, /ROS2/IsaacSim-ros_workspaces/humble_ws/install/gxf_isaac_ess, /ROS2/IsaacSim-ros_workspaces/humble_ws/install/isaac_ros_ess, /ROS2/IsaacSim-ros_workspaces/humble_ws/install/isaac_ros_test, /ROS2/IsaacSim-ros_workspaces/humble_ws/install/gxf_isaac_video_buffer_utils, /ROS2/IsaacSim-ros_workspaces/humble_ws/install/isaac_ros_common, /opt/ros/humble]