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NVIDIA-ISAAC-ROS / isaac_ros_nvblox

NVIDIA-accelerated 3D scene reconstruction and Nav2 local costmap provider using nvblox
https://developer.nvidia.com/isaac-ros-gems
Apache License 2.0
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not able to visualize or see any data #10

Closed indsy123 closed 2 years ago

indsy123 commented 2 years ago

Hi, I was trying to use nvblox ros with ubuntu 18.04 and realsene d455 camera. I installed ros-foxy from source, installed isaac_nvblox_ros and its dependencies along with realsense2_ros. I think I supplied correct camera topics/transform and can run both but have two problems.

  1. As is, the nvblox_ros stops with SIGSEGV. I noticed that thrust::transform function in conversions.cu that divides the depth values by 1000 in RosConverter::depthImageFromImageMessage() is the cause (because I can use print commands up to that point) . The full error I get is: aborted at 1649440186 (unix time) try date -d 1649440186 if you are using GNU date.. 0x0 unkonwn, SIGSEGV received by PID 11109(TID 0x7fb5aba010) from PID 33530880; stack trace

  2. I suppressed that line (thrust::transform()) just to see what happens. Now it runs and If I do "ros2 topic hz /nvblox_node/mesh" it seems to publish on to that topic. Same is with the pointcloud topic. However, there is no data in the fields when I echo the topics. I cant see it in rviz because I get the error: " [rviz2]: could not load pixmap package://nvblox_ros_plugin/icons/classes/NvbloxMesh.png". I do have sourced the ros and nvblox bash files before running rviz.

Can anyone please help with this or let me know if you need more information. Note that I am not running nav2_bringup and have suppressed the corresponding node in the carter_sim launch file. have also changed global frame in the nvblox-yaml file as per what I have from realsense2_ros. Just one thing, the ubuntu 18.04 that I have has jetpack 4.6 in case that is the root cause.

helenol commented 2 years ago

@indsy123 Hey thanks a ton for the report! We'll push a fix to this shortly (hopefully today) but there's a super quick hack fix you can do in the code: in nvblox_ros/src/lib./cuda/conversions.cu at around line 255, set:

bool kUseCuda = false;

This should fix the seg-fault. Sorry, this code-path ended up untested somehow. With this fix it works for the RS on my Jetson. :)

helenol commented 2 years ago

For (2) you can ignore the rviz warning (just doesn't show up the icon in rviz) but you can do git lfs pull within the repo to get the .png. :)

indsy123 commented 2 years ago

Hi @helenol , Thanks for your reply. I could get it working with the quick fix you suggested and also was able to see the topics in rviz despite that error about pixmap. I appreciate your help and will switch to the fix once its pushed.

AndreV84 commented 2 years ago

@helenol I can see just grey outputs. should they be colored? can we run like that with rgb-d camera live inputs https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_nvblox/raw/main/docs/images/readme_nav2.gif ?

AndreV84 commented 2 years ago

@helenol so what is the solution to get zed color presented?