How to run this repro？

I want to know how to run the repro of Hawk and IMU. I encountered an error while trying to build a workspace, and I want to know how to solve them

I'm not sure I understood. There are packages for HAWK and IMU using Jetson timestamp synchronization. What errors are you getting building?

After my own attempt, I have been able to successfully build and install the workspace, but I don't know how to test the packages for Hawk and IMU

I was trying to run “colcon test -- ctest args tests isaac ROS hawk” When using the command, I found that no package could pass the test, and when I used the command “colcon test result -- all -- verbose” to check the reason, I found that

build/isaac_ros_hawk/test_results/isaac_ros_hawk/copyright.xunit.xml: 4 tests, 0 errors, 0 failures, 0 skipped build/isaac_ros_hawk/test_results/isaac_ros_hawk/cppcheck.xunit.xml: 2 tests, 0 errors, 0 failures, 0 skipped build/isaac_ros_hawk/test_results/isaac_ros_hawk/cpplint.xunit.xml: 2 tests, 0 errors, 0 failures, 0 skipped build/isaac_ros_hawk/test_results/isaac_ros_hawk/flake8.xunit.xml: 1 test, 0 errors, 1 failure, 0 skipped

isaac_ros_hawk.flake8 W293 (./test/isaac_ros_hawk_timestamp_equality_test.py:113:1) <<< failure message blank line contains whitespace:

build/isaac_ros_hawk/test_results/isaac_ros_hawk/lint_cmake.xunit.xml: 1 test, 0 errors, 0 failures, 0 skipped build/isaac_ros_hawk/test_results/isaac_ros_hawk/pep257.xunit.xml: 2 tests, 0 errors, 0 failures, 0 skipped build/isaac_ros_hawk/test_results/isaac_ros_hawk/test_isaac_ros_hawk_timestamp_equality_test.py.xunit.xml: 1 test, 0 errors, 0 failures, 1 skipped build/isaac_ros_hawk/test_results/isaac_ros_hawk/uncrustify.xunit.xml: 2 tests, 0 errors, 0 failures, 0 skipped build/isaac_ros_hawk/test_results/isaac_ros_hawk/xmllint.xunit.xml: 1 test, 0 errors, 0 failures, 0 skipped

Can you provide me with a detailed testing procedure or command?

Take a look the Hawk launch file and IMU launch file. These launches the appropriate ROS node foe the sensors. Also, could you confirm your sensor setup? Which hardware are you running this on?

I am running on the orin platform, but I encountered the following problem while trying to run the hawk node

[component_container_mt-1] 2023-11-21 11:24:52.666 ERROR extensions/timestamp_correlator/correlated_timestamp_driver.cpp@75: failed to open the device /dev/nvpps0 errno = 2 [component_container_mt-1] 2023-11-21 11:24:52.666 WARN gxf/std/greedy_scheduler.cpp@250: Error while executing entity 151 named 'WVWJTXBZEI_correlator': GXF_FAILURE [component_container_mt-1] 2023-11-21 11:24:52.666 ERROR gxf/std/entity_executor.cpp@563: Entity [WVWJTXBZEI_correlator] must be in Started, Tick Pending, Ticking or Idle stage before stopping. Current state is StartPending [component_container_mt-1] [INFO] [1700537092.889830020] [hawk_node]: [NitrosContext] Running application... [component_container_mt-1] [INFO] [1700537092.890241316] [hawk_node]: [NitrosNode] Starting a heartbeat timer (eid=32) [component_container_mt-1] 2023-11-21 11:24:53.012 ERROR extensions/hawk/components/argus_camera.cpp@271: Selected module ID is invalid [component_container_mt-1] 2023-11-21 11:24:53.012 ERROR gxf/std/entity_executor.cpp@563: Entity [YPZRTFHAET_argus_camera] must be in Started, Tick Pending, Ticking or Idle stage before stopping. Current state is StartPending [component_container_mt-1] 2023-11-21 11:24:53.012 WARN gxf/std/multi_thread_scheduler.cpp@325: Error while executing entity E54 named 'YPZRTFHAET_argus_camera': GXF_FAILURE [component_container_mt-1] 2023-11-21 11:24:53.666 ERROR gxf/std/entity_executor.cpp@210: Entity with eid 156 not found! [component_container_mt-1] [WARN] [1700537093.666341584] [correlated_timestamp_driver]: [NitrosNode] The heartbeat entity (eid=156) was stopped. The graph may have been terminated. [component_container_mt-1] [INFO] [1700537093.669354608] [correlated_timestamp_driver]: [NitrosNode] Terminating the running application [component_container_mt-1] [INFO] [1700537093.669385552] [correlated_timestamp_driver]: [NitrosContext] Interrupting GXF... [component_container_mt-1] [INFO] [1700537093.669426064] [correlated_timestamp_driver]: [NitrosContext] Waiting on GXF... [component_container_mt-1] 2023-11-21 11:24:53.669 ERROR gxf/std/program.cpp@556: wait failed. Deactivating... [component_container_mt-1] 2023-11-21 11:24:53.669 ERROR gxf/core/runtime.cpp@1408: Graph wait failed with error: GXF_FAILURE [component_container_mt-1] [ERROR] [1700537093.669814032] [correlated_timestamp_driver]: [NitrosContext] GxfGraphWait Error: GXF_FAILURE [component_container_mt-1] [INFO] [1700537093.669821520] [correlated_timestamp_driver]: [NitrosNode] Application termination done [component_container_mt-1] [INFO] [1700537093.673580144] [hawk_node]: [NitrosNode] Terminating the running application [component_container_mt-1] [INFO] [1700537093.673606608] [hawk_node]: [NitrosContext] Interrupting GXF... [component_container_mt-1] 2023-11-21 11:24:53.673 ERROR gxf/core/runtime.cpp@1400: Graph interrupt failed with error: GXF_FAILURE [component_container_mt-1] [ERROR] [1700537093.673678128] [hawk_node]: [NitrosContext] GxfGraphInterrupt Error: GXF_FAILURE [component_container_mt-1] [INFO] [1700537093.673682896] [hawk_node]: [NitrosContext] Waiting on GXF... [component_container_mt-1] 2023-11-21 11:24:53.673 ERROR gxf/std/program.cpp@556: wait failed. Deactivating... [component_container_mt-1] |==================================================================================================================================================================| [component_container_mt-1] | Job Statistics Report (regular) | [component_container_mt-1] |==================================================================================================================================================================| [component_container_mt-1] | Name | Count | Time (Median - 90% - Max) [ms] | Load (%) | Exec(ms) | Variation (Median - 90% - Max) [ns] | [component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------| [component_container_mt-1] |==================================================================================================================================================================| [component_container_mt-1] |==================================================================================================================================================================| [component_container_mt-1] | Entity Statistics Report (regular) | [component_container_mt-1] |==================================================================================================================================================================| [component_container_mt-1] | Entity Name | Entity State | Count | Time (Median - 90% - Max) [ms] | [component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------| [component_container_mt-1] |==================================================================================================================================================================| [component_container_mt-1] 2023-11-21 11:24:53.674 WARN gxf/std/entity_warden.cpp@433: Component of type nvidia::gxf::MultiThreadScheduler, cid 149 failed to deinitialize with code GXF_FAILURE [component_container_mt-1] 2023-11-21 11:24:53.674 ERROR gxf/core/runtime.cpp@731: Could not deinitialize entity 'YPZRTFHAET_CEGDICIZFH' (E148): GXF_FAILURE [component_container_mt-1] 2023-11-21 11:24:53.674 ERROR gxf/std/program.cpp@558: Deactivation failed. [component_container_mt-1] 2023-11-21 11:24:53.674 ERROR gxf/core/runtime.cpp@1408: Graph wait failed with error: GXF_FAILURE [component_container_mt-1] [ERROR] [1700537093.674662320] [hawk_node]: [NitrosContext] GxfGraphWait Error: GXF_FAILURE [component_container_mt-1] [INFO] [1700537093.674670224] [hawk_node]: [NitrosNode] Application termination done [INFO] [component_container_mt-1]: process has finished cleanly [pid 23326]

I'm not sure if this is a problem with my environment configuration or my steps

The launch file content I am using is

import launch from launch_ros.actions import ComposableNodeContainer from launch_ros.descriptions import ComposableNode

def generate_launch_description(): correlated_timestamp_driver_node = ComposableNode( package='isaac_ros_correlated_timestamp_driver', plugin='nvidia::isaac_ros::correlated_timestamp_driver::CorrelatedTimestampDriverNode', name='correlated_timestamp_driver', parameters=[{'use_time_since_epoch': False, 'nvpps_dev_name': '/dev/nvpps0'}])

hawk_node = ComposableNode(
    name='hawk_node',
    package='isaac_ros_hawk',
    plugin='nvidia::isaac_ros::hawk::HawkNode',
    namespace='',
)

hawk_container = ComposableNodeContainer(
        name='hawk_container',
        package='rclcpp_components',
        executable='component_container_mt',
        composable_node_descriptions=[hawk_node,
                                      correlated_timestamp_driver_node],
        namespace='',
        output='screen',
        arguments=['--ros-args', '--log-level', 'info'],
    )

return launch.LaunchDescription([hawk_container])

发件人: zhao yong @.> 发送时间: 2023年11月21日 11:40 收件人: NVIDIA-ISAAC-ROS/isaac_ros_nova @.> 抄送: Yong Zhao @.>; Your activity @.> 主题: Re: [NVIDIA-ISAAC-ROS/isaac_ros_nova] How to run this repro？ (Issue #2)

I am running on the orin platform, but I encountered the following problem while trying to run the hawk node

[component_container_mt-1] 2023-11-21 11:24:52.666 ERROR @.: failed to open the device /dev/nvpps0 errno = 2 [component_container_mt-1] 2023-11-21 11:24:52.666 WARN @.: Error while executing entity 151 named 'WVWJTXBZEI_correlator': GXF_FAILURE [component_container_mt-1] 2023-11-21 11:24:52.666 ERROR @.: Entity [WVWJTXBZEI_correlator] must be in Started, Tick Pending, Ticking or Idle stage before stopping. Current state is StartPending [component_container_mt-1] [INFO] [1700537092.889830020] [hawk_node]: [NitrosContext] Running application... [component_container_mt-1] [INFO] [1700537092.890241316] [hawk_node]: [NitrosNode] Starting a heartbeat timer (eid=32) [component_container_mt-1] 2023-11-21 11:24:53.012 ERROR @.: Selected module ID is invalid [component_container_mt-1] 2023-11-21 11:24:53.012 ERROR @.: Entity [YPZRTFHAET_argus_camera] must be in Started, Tick Pending, Ticking or Idle stage before stopping. Current state is StartPending [component_container_mt-1] 2023-11-21 11:24:53.012 WARN @.: Error while executing entity E54 named 'YPZRTFHAET_argus_camera': GXF_FAILURE [component_container_mt-1] 2023-11-21 11:24:53.666 ERROR @.: Entity with eid 156 not found! [component_container_mt-1] [WARN] [1700537093.666341584] [correlated_timestamp_driver]: [NitrosNode] The heartbeat entity (eid=156) was stopped. The graph may have been terminated. [component_container_mt-1] [INFO] [1700537093.669354608] [correlated_timestamp_driver]: [NitrosNode] Terminating the running application [component_container_mt-1] [INFO] [1700537093.669385552] [correlated_timestamp_driver]: [NitrosContext] Interrupting GXF... [component_container_mt-1] [INFO] [1700537093.669426064] [correlated_timestamp_driver]: [NitrosContext] Waiting on GXF... [component_container_mt-1] 2023-11-21 11:24:53.669 ERROR @.: wait failed. Deactivating... [component_container_mt-1] 2023-11-21 11:24:53.669 ERROR @.: Graph wait failed with error: GXF_FAILURE [component_container_mt-1] [ERROR] [1700537093.669814032] [correlated_timestamp_driver]: [NitrosContext] GxfGraphWait Error: GXF_FAILURE [component_container_mt-1] [INFO] [1700537093.669821520] [correlated_timestamp_driver]: [NitrosNode] Application termination done [component_container_mt-1] [INFO] [1700537093.673580144] [hawk_node]: [NitrosNode] Terminating the running application [component_container_mt-1] [INFO] [1700537093.673606608] [hawk_node]: [NitrosContext] Interrupting GXF... [component_container_mt-1] 2023-11-21 11:24:53.673 ERROR @.: Graph interrupt failed with error: GXF_FAILURE [component_container_mt-1] [ERROR] [1700537093.673678128] [hawk_node]: [NitrosContext] GxfGraphInterrupt Error: GXF_FAILURE [component_container_mt-1] [INFO] [1700537093.673682896] [hawk_node]: [NitrosContext] Waiting on GXF... [component_container_mt-1] 2023-11-21 11:24:53.673 ERROR @.: wait failed. Deactivating... [component_container_mt-1] |==================================================================================================================================================================| [component_container_mt-1] | Job Statistics Report (regular) | [component_container_mt-1] |==================================================================================================================================================================| [component_container_mt-1] | Name | Count | Time (Median - 90% - Max) [ms] | Load (%) | Exec(ms) | Variation (Median - 90% - Max) [ns] | [component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------| [component_container_mt-1] |==================================================================================================================================================================| [component_container_mt-1] |==================================================================================================================================================================| [component_container_mt-1] | Entity Statistics Report (regular) | [component_container_mt-1] |==================================================================================================================================================================| [component_container_mt-1] | Entity Name | Entity State | Count | Time (Median - 90% - Max) [ms] | [component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------| [component_container_mt-1] |==================================================================================================================================================================| [component_container_mt-1] 2023-11-21 11:24:53.674 WARN @.: Component of type nvidia::gxf::MultiThreadScheduler, cid 149 failed to deinitialize with code GXF_FAILURE [component_container_mt-1] 2023-11-21 11:24:53.674 ERROR @.: Could not deinitialize entity 'YPZRTFHAET_CEGDICIZFH' (E148): GXF_FAILURE [component_container_mt-1] 2023-11-21 11:24:53.674 ERROR @.: Deactivation failed. [component_container_mt-1] 2023-11-21 11:24:53.674 ERROR @.***: Graph wait failed with error: GXF_FAILURE [component_container_mt-1] [ERROR] [1700537093.674662320] [hawk_node]: [NitrosContext] GxfGraphWait Error: GXF_FAILURE [component_container_mt-1] [INFO] [1700537093.674670224] [hawk_node]: [NitrosNode] Application termination done [INFO] [component_container_mt-1]: process has finished cleanly [pid 23326]

I'm not sure if this is a problem with my environment configuration or my steps

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I understand that you're running this example on an Orin board. Could you please provide the following details to help us debug:

What specific Orin board are you using? For example: AGX Orin Devkit, Orin NX, Orin Nano
What version of JetPack is installed on your Orin? For example: JetPack 5.1.2
What version of the Isaac ROS Nova repository/packages have you downloaded? For example: Isaac ROS Nova 2.0.0
Which specific camera are you using? For example: Leopard Imaging's LI-AR0234CS-STEREO-GMSL2-30 HAWK stereo camera

The board I am using is AGX Orin Devkit, JetPack 5.1.2, Isaac ROS Nova 2.0.0, and the camera is Leopard Imaging's LI-AR0234CS-STEREO-GMSL2-30 HAWK stereo camera

Have you already run through the Nova Orin Init process to install and configure the Nova-specific drivers?

The error in your log suggests that the timestamp correlator component of Nova isn't properly installed:

[component_container_mt-1] 2023-11-21 11:24:52.666 ERROR ***@***.***: failed to open the device /dev/nvpps0 errno = 2

As a separate test, could you try running the Isaac ROS Argus Stereo test? This node is a more generic camera driver for all cameras that support NVIDIA's libArgus, including the LI HAWK camera you own.

If your intent is to eventually use a larger subset of the Nova sensor suite, then continuing through the Nova Orin Init process is likely the best choice. If you only want to use this HAWK camera in isolation, then the Isaac ROS Argus Camera flow might be easier to use.

I can now successfully run nova orin init and all tests pass, but I am trying to use ros2 launch isaac ROS Hawk isaac ROS When running hawk node using hawk. launch. py, the following error was encountered：

admin@nvidia-desktop:/workspaces/isaac_ros-dev$ ros2 launch isaac_ros_hawk isaac_ros_hawk.launch.py [INFO] [launch]: All log files can be found below /home/admin/.ros/log/2023-12-22-15-52-12-274928-nvidia-desktop-5577 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [component_container_mt-1]: process started with pid [5589] [component_container_mt-1] [INFO] [1703231532.791965617] [hawk_container]: Load Library: /workspaces/isaac_ros-dev/install/isaac_ros_hawk/lib/libhawk_node.so [component_container_mt-1] [INFO] [1703231532.979918388] [hawk_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-1] [INFO] [1703231532.980015220] [hawk_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [component_container_mt-1] [INFO] [1703231532.985816308] [NitrosContext]: [NitrosContext] Creating a new shared context [component_container_mt-1] [INFO] [1703231532.986010132] [hawk_node]: [NitrosNode] Initializing NitrosNode [component_container_mt-1] [INFO] [1703231532.986709844] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/std/libgxf_std.so [component_container_mt-1] [INFO] [1703231532.997705908] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_gxf_helpers.so [component_container_mt-1] [INFO] [1703231533.004840532] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_sight.so [component_container_mt-1] [INFO] [1703231533.013337172] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_atlas.so [component_container_mt-1] [INFO] [1703231533.022621236] [NitrosContext]: [NitrosContext] Loading application: '/workspaces/isaac_ros-dev/install/isaac_ros_nitros/share/isaac_ros_nitros/config/type_adapter_nitros_context_graph.yaml' [component_container_mt-1] [INFO] [1703231533.024869076] [NitrosContext]: [NitrosContext] Initializing application... [component_container_mt-1] [INFO] [1703231533.028463572] [NitrosContext]: [NitrosContext] Running application... [component_container_mt-1] 2023-12-22 15:52:13.028 WARN gxf/std/program.cpp@514: No system specified. Nothing to do [component_container_mt-1] [INFO] [1703231533.035520948] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_argus.so [component_container_mt-1] [INFO] [1703231533.331824888] [NitrosContext]: [NitrosContext] Loading application: '/workspaces/isaac_ros-dev/install/isaac_ros_argus_camera/share/isaac_ros_argus_camera/config/argus_nitros_context_graph.yaml' [component_container_mt-1] [INFO] [1703231533.332939960] [NitrosContext]: [NitrosContext] Initializing application... [component_container_mt-1] [INFO] [1703231533.333978008] [NitrosContext]: [NitrosContext] Running application... [component_container_mt-1] 2023-12-22 15:52:13.334 WARN gxf/std/program.cpp@514: No system specified. Nothing to do [component_container_mt-1] [INFO] [1703231533.334518008] [hawk_node]: [NitrosNode] Starting NitrosNode [component_container_mt-1] [INFO] [1703231533.334559384] [hawk_node]: [NitrosNode] Loading built-in preset extension specs [component_container_mt-1] [INFO] [1703231533.337831448] [hawk_node]: [NitrosNode] Loading built-in extension specs [component_container_mt-1] [INFO] [1703231533.337891768] [hawk_node]: [NitrosNode] Loading preset extension specs [component_container_mt-1] [INFO] [1703231533.339359288] [hawk_node]: [NitrosNode] Loading extension specs [component_container_mt-1] [INFO] [1703231533.339400952] [hawk_node]: [NitrosNode] Loading generator rules [component_container_mt-1] [INFO] [1703231533.339829624] [hawk_node]: [NitrosNode] Loading extensions [component_container_mt-1] [INFO] [1703231533.340100120] [hawk_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_message_compositor.so [component_container_mt-1] [INFO] [1703231533.341845880] [hawk_node]: [NitrosContext] Loading extension: gxf/lib/cuda/libgxf_cuda.so [component_container_mt-1] [INFO] [1703231533.343262616] [hawk_node]: [NitrosContext] Loading extension: gxf/lib/serialization/libgxf_serialization.so [component_container_mt-1] [INFO] [1703231533.351364055] [hawk_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_messages.so [component_container_mt-1] [INFO] [1703231533.353597175] [hawk_node]: [NitrosContext] Loading extension: gxf/lib/multimedia/libgxf_multimedia.so [component_container_mt-1] [INFO] [1703231533.354974455] [hawk_node]: [NitrosContext] Loading extension: gxf/lib/image_proc/libgxf_tensorops.so [component_container_mt-1] [INFO] [1703231533.378569783] [hawk_node]: [NitrosContext] Loading extension: gxf/lib/image_proc/libgxf_rectify_params_generator.so [component_container_mt-1] [INFO] [1703231533.392550295] [hawk_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_timestamp_correlator.so [component_container_mt-1] [INFO] [1703231533.401387255] [hawk_node]: [NitrosContext] Loading extension: gxf/lib/utils/libgxf_utils.so [component_container_mt-1] [INFO] [1703231533.405093143] [hawk_node]: [NitrosNode] Loading graph to the optimizer [component_container_mt-1] [INFO] [1703231533.414340119] [hawk_node]: [NitrosNode] Running optimization [component_container_mt-1] [INFO] [1703231533.603582773] [hawk_node]: [NitrosNode] Obtaining graph IO group info from the optimizer [component_container_mt-1] [INFO] [1703231533.609454933] [hawk_node]: [NitrosNode] Creating negotiated publishers/subscribers [component_container_mt-1] [INFO] [1703231533.619322901] [hawk_node]: [NitrosNode] Starting negotiation... [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/hawk_node' in container '/hawk_container' [component_container_mt-1] [INFO] [1703231533.623842293] [hawk_container]: Load Library: /workspaces/isaac_ros-dev/install/isaac_ros_correlated_timestamp_driver/lib/libcorrelated_timestamp_driver_node.so [component_container_mt-1] [INFO] [1703231533.628220981] [hawk_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-1] [INFO] [1703231533.628270357] [hawk_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [component_container_mt-1] [INFO] [1703231533.632927701] [correlated_timestamp_driver]: [NitrosNode] Initializing NitrosNode [component_container_mt-1] [INFO] [1703231533.633525397] [correlated_timestamp_driver]: [NitrosNode] Starting NitrosNode [component_container_mt-1] [INFO] [1703231533.633554261] [correlated_timestamp_driver]: [NitrosNode] Loading built-in preset extension specs [component_container_mt-1] [INFO] [1703231533.635721781] [correlated_timestamp_driver]: [NitrosNode] Loading built-in extension specs [component_container_mt-1] [INFO] [1703231533.635764181] [correlated_timestamp_driver]: [NitrosNode] Loading preset extension specs [component_container_mt-1] [INFO] [1703231533.636063989] [correlated_timestamp_driver]: [NitrosNode] Loading extension specs [component_container_mt-1] [INFO] [1703231533.636085461] [correlated_timestamp_driver]: [NitrosNode] Loading generator rules [component_container_mt-1] [INFO] [1703231533.636097461] [correlated_timestamp_driver]: [NitrosNode] Loading extensions [component_container_mt-1] [INFO] [1703231533.636944789] [correlated_timestamp_driver]: [NitrosNode] Loading graph to the optimizer [component_container_mt-1] [INFO] [1703231533.638311157] [correlated_timestamp_driver]: [NitrosNode] Running optimization [component_container_mt-1] [INFO] [1703231533.639566133] [correlated_timestamp_driver]: [NitrosNode] Obtaining graph IO group info from the optimizer [component_container_mt-1] [INFO] [1703231533.639777109] [correlated_timestamp_driver]: [NitrosNode] Creating negotiated publishers/subscribers [component_container_mt-1] [INFO] [1703231533.640798869] [correlated_timestamp_driver]: [NitrosNode] Starting negotiation... [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/correlated_timestamp_driver' in container '/hawk_container'

[component_container_mt-1] [INFO] [1703231534.620742541] [hawk_node]: [NitrosNode] Starting post negotiation setup [component_container_mt-1] [INFO] [1703231534.620841613] [hawk_node]: [NitrosNode] Getting data format negotiation results [component_container_mt-1] [INFO] [1703231534.620867181] [hawk_node]: [NitrosPublisher] Negotiation ended with no results [component_container_mt-1] [INFO] [1703231534.620882509] [hawk_node]: [NitrosPublisher] Use only the compatible publisher: topic_name="/left/image_raw", data_format="nitros_image_rgb8" [component_container_mt-1] [INFO] [1703231534.620893101] [hawk_node]: [NitrosPublisher] Negotiation ended with no results [component_container_mt-1] [INFO] [1703231534.620901357] [hawk_node]: [NitrosPublisher] Use only the compatible publisher: topic_name="/right/image_raw", data_format="nitros_image_rgb8" [component_container_mt-1] [INFO] [1703231534.620909485] [hawk_node]: [NitrosPublisher] Negotiation ended with no results [component_container_mt-1] [INFO] [1703231534.620916749] [hawk_node]: [NitrosPublisher] Use only the compatible publisher: topic_name="/left/camerainfo", data_format="nitros_camera_info" [component_container_mt-1] [INFO] [1703231534.620924653] [hawk_node]: [NitrosPublisher] Negotiation ended with no results [component_container_mt-1] [INFO] [1703231534.620931309] [hawk_node]: [NitrosPublisher] Use only the compatible publisher: topic_name="/right/camerainfo", data_format="nitros_camera_info" [component_container_mt-1] [INFO] [1703231534.620945293] [hawk_node]: [NitrosSubscriber] Use the negotiated data format: "nitros_correlated_timestamp" [component_container_mt-1] [INFO] [1703231534.624103725] [hawk_node]: [NitrosNode] Exporting the final graph based on the negotiation results [component_container_mt-1] [INFO] [1703231534.638670604] [hawk_node]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/SDZUHRUKHZ/SDZUHRUKHZ.yaml" [component_container_mt-1] [INFO] [1703231534.638740428] [hawk_node]: [NitrosNode] Calling user's pre-load-graph callback [component_container_mt-1] [INFO] [1703231534.638766956] [hawk_node]: [HawkNode] preLoadGraphCallback(). [component_container_mt-1] [INFO] [1703231534.638779116] [hawk_node]: [NitrosNode] Loading application [component_container_mt-1] [INFO] [1703231534.638793228] [hawk_node]: [NitrosContext] Loading application: '/tmp/isaac_ros_nitros/graphs/SDZUHRUKHZ/SDZUHRUKHZ.yaml' [component_container_mt-1] [INFO] [1703231534.641271084] [correlated_timestamp_driver]: [NitrosNode] Starting post negotiation setup [component_container_mt-1] [INFO] [1703231534.641322508] [correlated_timestamp_driver]: [NitrosNode] Getting data format negotiation results [component_container_mt-1] [INFO] [1703231534.641341068] [correlated_timestamp_driver]: [NitrosPublisher] Use the negotiated data format: "nitros_correlated_timestamp" [component_container_mt-1] [INFO] [1703231534.641535692] [correlated_timestamp_driver]: [NitrosNode] Exporting the final graph based on the negotiation results [component_container_mt-1] [INFO] [1703231534.643136236] [correlated_timestamp_driver]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/YLYYJTZSAZ/YLYYJTZSAZ.yaml" [component_container_mt-1] [INFO] [1703231534.643186252] [correlated_timestamp_driver]: [NitrosNode] Calling user's pre-load-graph callback [component_container_mt-1] [INFO] [1703231534.643203116] [correlated_timestamp_driver]: [NitrosNode] Loading application [component_container_mt-1] 2023-12-22 15:52:14.646 WARN gxf/std/yaml_file_loader.cpp@1058: Using unregistered parameter 'left_camera_frame' in component ''. [component_container_mt-1] 2023-12-22 15:52:14.646 WARN gxf/std/yaml_file_loader.cpp@1058: Using unregistered parameter 'right_camera_frame' in component ''. [component_container_mt-1] 2023-12-22 15:52:14.647 WARN gxf/std/yaml_file_loader.cpp@1058: Using unregistered parameter 'transmitter' in component ''. [component_container_mt-1] 2023-12-22 15:52:14.647 WARN gxf/std/yaml_file_loader.cpp@1058: Using unregistered parameter 'transmitter' in component ''. [component_container_mt-1] 2023-12-22 15:52:14.647 WARN gxf/std/yaml_file_loader.cpp@1058: Using unregistered parameter 'allocator' in component ''. [component_container_mt-1] [INFO] [1703231534.649016044] [hawk_node]: [NitrosNode] Linking Nitros pub/sub to the loaded application [component_container_mt-1] [INFO] [1703231534.649025004] [correlated_timestamp_driver]: [NitrosContext] Loading application: '/tmp/isaac_ros_nitros/graphs/YLYYJTZSAZ/YLYYJTZSAZ.yaml' [component_container_mt-1] [INFO] [1703231534.650673036] [correlated_timestamp_driver]: [NitrosNode] Linking Nitros pub/sub to the loaded application [component_container_mt-1] [INFO] [1703231534.650853260] [correlated_timestamp_driver]: [NitrosNode] Calling user's post-load-graph callback [component_container_mt-1] [INFO] [1703231534.651004428] [correlated_timestamp_driver]: [NitrosContext] Initializing application... [component_container_mt-1] [INFO] [1703231534.653228972] [correlated_timestamp_driver]: [NitrosContext] Running application... [component_container_mt-1] [INFO] [1703231534.653417132] [correlated_timestamp_driver]: [NitrosNode] Starting a heartbeat timer (eid=156) [component_container_mt-1] [INFO] [1703231534.653465196] [hawk_node]: [NitrosNode] Calling user's post-load-graph callback [component_container_mt-1] [INFO] [1703231534.653514060] [hawk_node]: [ArgusCameraNode] postLoadGraphCallback(). [component_container_mt-1] [INFO] [1703231534.653595116] [hawk_node]: [HawkNode] postLoadGraphCallback(). [component_container_mt-1] [INFO] [1703231534.653614700] [hawk_node]: [NitrosContext] Initializing application... [component_container_mt-1] [INFO] [1703231535.350062088] [hawk_node]: [NitrosContext] Running application... [component_container_mt-1] [INFO] [1703231535.350483016] [hawk_node]: [NitrosNode] Starting a heartbeat timer (eid=32) [component_container_mt-1] terminate called after throwing an instance of 'cv::Exception' [component_container_mt-1] what(): OpenCV(4.2.0) ../modules/calib3d/src/calibration.cpp:2531: error: (-215:Assertion failed) nt > 0.0 in function 'cvStereoRectify' [component_container_mt-1] [ERROR] [component_container_mt-1]: process has died [pid 5589, exit code -6, cmd '/opt/ros/humble/lib/rclcpp_components/component_container_mt --ros-args --log-level info --ros-args -r __node:=hawk_container -r __ns:=/'].

And I'm trying to run the Isaac ROS Argus Stereo test encountered the following issues：

[component_container_mt-1] 2023-12-22 15:16:40.664 ERROR extensions/hawk/components/argus_camera.cpp@354: Failed to get CaptureSession interface [component_container_mt-1] 2023-12-22 15:16:40.664 ERROR extensions/hawk/components/argus_camera.cpp@705: Error setting up output streams [component_container_mt-1] 2023-12-22 15:16:40.664 WARN gxf/std/multi_thread_scheduler.cpp@325: Error while executing entity E32 named 'LOSWRWNCRG_argus_camera': GXF_FAILURE [component_container_mt-1] 2023-12-22 15:16:40.664 ERROR gxf/std/entity_executor.cpp@563: Entity [LOSWRWNCRG_argus_camera] must be in Started, Tick Pending, Ticking or Idle stage before stopping. Current state is StartPending [component_container_mt-1] 2023-12-22 15:16:41.485 ERROR gxf/std/entity_executor.cpp@210: Entity with eid 93 not found! [component_container_mt-1] [WARN] [1703229401.485318339] [argus_stereo]: [NitrosNode] The heartbeat entity (eid=93) was stopped. The graph may have been terminated. [component_container_mt-1] [INFO] [1703229401.487925091] [argus_stereo]: [NitrosNode] Terminating the running application [component_container_mt-1] [INFO] [1703229401.487952131] [argus_stereo]: [NitrosContext] Interrupting GXF... [component_container_mt-1] 2023-12-22 15:16:41.488 ERROR gxf/core/runtime.cpp@1400: Graph interrupt failed with error: GXF_FAILURE [component_container_mt-1] [ERROR] [1703229401.488038883] [argus_stereo]: [NitrosContext] GxfGraphInterrupt Error: GXF_FAILURE [component_container_mt-1] [INFO] [1703229401.488043651] [argus_stereo]: [NitrosContext] Waiting on GXF... [component_container_mt-1] 2023-12-22 15:16:41.488 ERROR gxf/std/program.cpp@556: wait failed. Deactivating... [component_container_mt-1] |==================================================================================================================================================================| [component_container_mt-1] | Job Statistics Report (regular) | [component_container_mt-1] |==================================================================================================================================================================| [component_container_mt-1] | Name | Count | Time (Median - 90% - Max) [ms] | Load (%) | Exec(ms) | Variation (Median - 90% - Max) [ns] | [component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------| [component_container_mt-1] |==================================================================================================================================================================| [component_container_mt-1] |==================================================================================================================================================================| [component_container_mt-1] | Entity Statistics Report (regular) | [component_container_mt-1] |==================================================================================================================================================================| [component_container_mt-1] | Entity Name | Entity State | Count | Time (Median - 90% - Max) [ms] | [component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------| [component_container_mt-1] |==================================================================================================================================================================| [component_container_mt-1] 2023-12-22 15:16:41.497 WARN gxf/std/entity_warden.cpp@433: Component of type nvidia::gxf::MultiThreadScheduler, cid 124 failed to deinitialize with code GXF_FAILURE [component_container_mt-1] 2023-12-22 15:16:41.497 ERROR gxf/core/runtime.cpp@731: Could not deinitialize entity 'LOSWRWNCRG_MXGBCKSZCF' (E122): GXF_FAILURE [component_container_mt-1] 2023-12-22 15:16:41.497 ERROR gxf/std/program.cpp@558: Deactivation failed. [component_container_mt-1] 2023-12-22 15:16:41.497 ERROR gxf/core/runtime.cpp@1408: Graph wait failed with error: GXF_FAILURE [component_container_mt-1] [ERROR] [1703229401.497999203] [argus_stereo]: [NitrosContext] GxfGraphWait Error: GXF_FAILURE [component_container_mt-1] [INFO] [1703229401.498014755] [argus_stereo]: [NitrosNode] Application termination done [INFO] [component_container_mt-1]: process has finished cleanly [pid 22356]

Have you tried restarting the Argus daemon and then restarting the container? We have seen similar failures when the Argus daemon dies inexplicably.

Yes,I have tried restarting the daemon, but encountered the same problem

Hi @zhaoyong5555 sorry you are having issues here.

Lets try to get the argus_camera node working first before diving into the rectification issue.

Can we try using the argus sample apps outside of any dev container to narrow down where the issue might be. These should be installed already if you installed nova-init. Can you try argus_oneshot, and if you have a monitor connected argus_camera and then argus_syncstereo?

Can you also tell me which carrier board you are using for hawk? is it p3762 or e3653? Do you know?

Hi @sgillen The board I am using is P3762. nova-init has been successfully installed and all tests have passed. I have not been able to run the entire process in China, but I can successfully run it using the same steps in the United States. I guess it is due to network issues

Interesting, just to clarify, and summarize: you are able to get everything running and get a stream in ROS when building and running in the US? but when building and running in China you get nova-init installed and nova-init tests passing but the above two errors:

For isaac_ros_hawk:

[component_container_mt-1] terminate called after throwing an instance of 'cv::Exception'
[component_container_mt-1] what(): OpenCV(4.2.0) ../modules/calib3d/src/calibration.cpp:2531: error: (-215:Assertion failed) nt > 0.0 in function 'cvStereoRectify'

And isaac_ros_argus_camera:

[component_container_mt-1] 2023-12-22 15:16:40.664 ERROR extensions/hawk/components/argus_camera.cpp@354: Failed to get CaptureSession interface

Do I have that correct?

NVIDIA-ISAAC-ROS / isaac_ros_nova

How to run this repro？ #2