Cuda bindings mismatch error using custom trained model

immaixq commented 12 months ago

Description: Encounter error using yolov8_tensor_rt.launch.py and isaac_ros_yolov8_visualize.launch.py. The scripts are run on jetson orin nano. The custom trained model is exported to onnx as suggested by documentation using ultralytics, I have also tried exporting using trtexec but still face the same error.

Screenshot from 2023-11-27 09-58-40

Thank you for your help.

mzahana commented 12 months ago

Hi @immaixq Have you figured this out?

I am also trying to use a custom yolov8 model, but failed to do so. I also converted the .pt file to onnx and the to an engine file, but I am not sure If I need to change any of the arguments that are defined in the following command

   ros2 launch isaac_ros_yolov8 isaac_ros_yolov8_visualize.launch.py model_file_path:=/tmp/yolov8s.onnx engine_file_path:=/tmp/yolov8s.plan input_binding_names:=['images'] output_binding_names:=['output0'] network_image_width:=640 network_image_height:=640 force_engine_update:=False image_mean:=[0.0,0.0,0.0] image_stddev:=[1.0,1.0,1.0] input_image_width:=640 input_image_height:=640 confidence_threshold:=0.25 nms_threshold:=0.45

mzahana commented 12 months ago

I suspect that the issue is in the hardcoded number of classes https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_object_detection/blob/b43ecaed3e1be3864a5f872e105aa3bbecd05a41/isaac_ros_yolov8/src/yolov8_decoder_node.cpp#L76

If your custom model has different number of classes then it will break here https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_object_detection/blob/b43ecaed3e1be3864a5f872e105aa3bbecd05a41/isaac_ros_yolov8/src/yolov8_decoder_node.cpp#L92

I suggest that you visualize your ONNX model using netron, and note the input/output names and the input/output dimensions.

kajananchinniahNV commented 12 months ago

Hi @immaixq,

The problem you posted seems to originate from a parameter mismatch. We have parameters called input_binding_names and output_binding_names, as well as input_tensor_names and output_tensor_names. Please see here for where they are located in the launch file. I believe that these need to be updated accordingly to match what your model expects.

The input/output binding names should be noted from the ONNX model as @mzahana said. The input tensor names can be kept the same. The output tensor name I believe should be output_tensor based on here.

It also appears that your model outputs a 3 tensors, instead of 2 as we expect. Having additional information about your network would likely be useful.

kajananchinniahNV commented 12 months ago

Hi @mzahana,

To respond to your issue separately, hopefully my first response is helpful for your first issue.

You're also right that the number of classes expected by the decoder node is hard coded, which will be problematic later. Currently, the issue seems to originate from the TensorRT node, and not the decoder.

mzahana commented 12 months ago

@kajananchinniahNV thanks for your response.

My problem was solved after I changed the hard-coded number of classes according to my custom model.

I suggest to make it a parameter.

Thanks.

kajananchinniahNV commented 12 months ago

Thanks for finding a fix to the issue! I'll remove the needs info label and keep the bug label.

We'll be working on a patch to this issue soon. The solution you recommend sounds reasonable to me.

@immaixq could you confirm that this also solves it for you?

mzahana commented 12 months ago

@kajananchinniahNV thank you.

Actually, to make the fix more complete, the output dimension of the model could be a parameter. This way, the decoder can adapt to custom models with output tensor dimensions(not only the number of classes) that is different from the default one by Yolov8 [1, 84, 8400].

Thanks.

immaixq commented 12 months ago

@mzahana Thank you for your help and advice, I have gained some insights after looking into netron again. I did changed the number of classes in the script and I think the error is caused by the number of outputs my model gives, which consists of output0 and output1. I managed to fix the mismatch error after changing output_tensor_names and output_binding_names to [output0, output1]. However, another error occurred which I'm not sure of what could be the cause of it.

@kajananchinniahNV Thank you for your help, I have changed the parameters as mentioned above and managed to fix the mismatch error. Unfortunately another error occurred. The process has died without additional log on its cause. it'd be great if you could share some insights or advice on how to troubleshoot the cause of it.

Really appreciate both of your help, thank you!

Screenshot from 2023-11-28 11-39-54

kajananchinniahNV commented 12 months ago

I'll be reopening this until we have a solution merged in the repository for tracking purposes.

We'll close it once a fix is in place.

TeamRoboTo commented 12 months ago

Hello, i'm coming from another issue post, that has the same problem. I did check the neutron model structure, but it did not differ from the original yolov8s model, except from the output size that goes from [1,84,8400] to [1,5,8400]. For this reason I added a parameter into the yolov8_decoder_node.hpp and yolov8_decoder_node.cpp that can be modified from the launch file, in order to take in account the class number change. But still everything crashes after launch, the problem seems to be inside the tensor_rt node. here it is the output of neutron:

while here it is the run of the tesor_rt_node without any encoder/decoder: cd /workspaces/isaac_ros-dev && ros2 launch isaac_ros_yolov8 isaac_ros_yolov8_visualize.launch.py model_file_path:=/tmp/s_best.onnx engine_file_path:=/tmp/s_best.plan network_image_width:=640 network_image_height:=640 force_engine_update:=False image_mean:=[0.0,0.0,0.0] image_stddev:=[1.0,1.0,1.0] input_image_width:=640 input_image_height:=640 confidence_threshold:=0.25 nms_threshold:=0.45 num_classes:=1 [INFO] [launch]: All log files can be found below /home/admin/.ros/log/2023-11-30-19-34-51-284081-Egidio-317485 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [component_container_mt-1]: process started with pid [317496] [INFO] [isaac_ros_yolov8_visualizer.py-2]: process started with pid [317498] [INFO] [rqt_image_view-3]: process started with pid [317500] [component_container_mt-1] [INFO] [1701369291.699265543] [tensor_rt_container]: Load Library: /opt/ros/humble/lib/libdnn_image_encoder_node.so [component_container_mt-1] [INFO] [1701369291.709586471] [tensor_rt_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-1] [INFO] [1701369291.709630123] [tensor_rt_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [component_container_mt-1] [INFO] [1701369291.712210486] [NitrosContext]: [NitrosContext] Creating a new shared context [component_container_mt-1] [INFO] [1701369291.712677614] [dnn_image_encoder]: [NitrosNode] Initializing NitrosNode [component_container_mt-1] [INFO] [1701369291.713071269] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/std/libgxf_std.so [component_container_mt-1] [INFO] [1701369291.717046746] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_gxf_helpers.so [component_container_mt-1] [INFO] [1701369291.719117256] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_sight.so [component_container_mt-1] [INFO] [1701369291.721440821] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_atlas.so [component_container_mt-1] [INFO] [1701369291.724068618] [NitrosContext]: [NitrosContext] Loading application: '/opt/ros/humble/share/isaac_ros_nitros/config/type_adapter_nitros_context_graph.yaml' [component_container_mt-1] [INFO] [1701369291.724616426] [NitrosContext]: [NitrosContext] Initializing application... [component_container_mt-1] [INFO] [1701369291.727872325] [NitrosContext]: [NitrosContext] Running application... [component_container_mt-1] 2023-11-30 19:34:51.727 WARN gxf/std/program.cpp@514: No system specified. Nothing to do [component_container_mt-1] [INFO] [1701369291.728550577] [dnn_image_encoder]: [NitrosNode] Starting NitrosNode [component_container_mt-1] [INFO] [1701369291.728565274] [dnn_image_encoder]: [NitrosNode] Loading built-in preset extension specs [component_container_mt-1] [INFO] [1701369291.729633893] [dnn_image_encoder]: [NitrosNode] Loading built-in extension specs [component_container_mt-1] [INFO] [1701369291.729643912] [dnn_image_encoder]: [NitrosNode] Loading preset extension specs [component_container_mt-1] [INFO] [1701369291.730784416] [dnn_image_encoder]: [NitrosNode] Loading extension specs [component_container_mt-1] [INFO] [1701369291.730793663] [dnn_image_encoder]: [NitrosNode] Loading generator rules [component_container_mt-1] [INFO] [1701369291.730977303] [dnn_image_encoder]: [NitrosNode] Loading extensions [component_container_mt-1] [INFO] [1701369291.731084571] [dnn_image_encoder]: [NitrosContext] Loading extension: gxf/lib/libgxf_message_compositor.so [component_container_mt-1] [INFO] [1701369291.731892282] [dnn_image_encoder]: [NitrosContext] Loading extension: gxf/lib/cuda/libgxf_cuda.so [component_container_mt-1] [INFO] [1701369291.732606752] [dnn_image_encoder]: [NitrosContext] Loading extension: gxf/lib/serialization/libgxf_serialization.so [component_container_mt-1] [INFO] [1701369291.735061868] [dnn_image_encoder]: [NitrosContext] Loading extension: gxf/lib/image_proc/libgxf_tensorops.so [component_container_mt-1] [INFO] [1701369291.738366425] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/multimedia/libgxf_multimedia.so [component_container_mt-1] [INFO] [1701369291.739427020] [dnn_image_encoder]: [NitrosNode] Loading graph to the optimizer [component_container_mt-1] [INFO] [1701369291.742600550] [dnn_image_encoder]: [NitrosNode] Running optimization [component_container_mt-1] [INFO] [1701369291.829503900] [dnn_image_encoder]: [NitrosNode] Obtaining graph IO group info from the optimizer [component_container_mt-1] [INFO] [1701369291.831678458] [dnn_image_encoder]: [NitrosNode] Creating negotiated publishers/subscribers [component_container_mt-1] [INFO] [1701369291.839007725] [dnn_image_encoder]: [NitrosNode] Starting negotiation... [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/dnn_image_encoder' in container '/tensor_rt_container' [component_container_mt-1] [INFO] [1701369291.841603810] [tensor_rt_container]: Load Library: /opt/ros/humble/lib/libtensor_rt_node.so [component_container_mt-1] [INFO] [1701369291.874405223] [tensor_rt_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-1] [INFO] [1701369291.874462346] [tensor_rt_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [component_container_mt-1] [INFO] [1701369291.877348066] [tensor_rt]: [NitrosNode] Initializing NitrosNode [component_container_mt-1] [INFO] [1701369291.877813663] [tensor_rt]: [NitrosNode] Starting NitrosNode [component_container_mt-1] [INFO] [1701369291.877821802] [tensor_rt]: [NitrosNode] Loading built-in preset extension specs [component_container_mt-1] [INFO] [1701369291.879300150] [tensor_rt]: [NitrosNode] Loading built-in extension specs [component_container_mt-1] [INFO] [1701369291.879320782] [tensor_rt]: [NitrosNode] Loading preset extension specs [component_container_mt-1] [INFO] [1701369291.879602509] [tensor_rt]: [NitrosNode] Loading extension specs [component_container_mt-1] [INFO] [1701369291.879607005] [tensor_rt]: [NitrosNode] Loading generator rules [component_container_mt-1] [INFO] [1701369291.879739664] [tensor_rt]: [NitrosNode] Loading extensions [component_container_mt-1] [INFO] [1701369291.880154519] [tensor_rt]: [NitrosContext] Loading extension: gxf/tensor_rt/libgxf_tensor_rt.so [component_container_mt-1] [INFO] [1701369291.881506225] [tensor_rt]: [NitrosNode] Loading graph to the optimizer [component_container_mt-1] [INFO] [1701369291.882449822] [tensor_rt]: [NitrosNode] Running optimization [component_container_mt-1] [INFO] [1701369291.890357829] [tensor_rt]: [NitrosNode] Obtaining graph IO group info from the optimizer [component_container_mt-1] [INFO] [1701369291.891196735] [tensor_rt]: [NitrosNode] Creating negotiated publishers/subscribers [component_container_mt-1] [INFO] [1701369291.891224289] [tensor_rt]: [NitrosPublisherSubscriberGroup] Pinning the component "inference/rx" (type="nvidia::gxf::DoubleBufferReceiver") to use its compatible format only: "nitros_tensor_list_nchw_rgb_f32" [component_container_mt-1] [INFO] [1701369291.891236891] [tensor_rt]: [NitrosPublisherSubscriberGroup] Pinning the component "sink/sink" (type="nvidia::isaac_ros::MessageRelay") to use its compatible format only: "nitros_tensor_list_nhwc_rgb_f32" [component_container_mt-1] [INFO] [1701369291.892752454] [tensor_rt]: [NitrosNode] Starting negotiation... [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/tensor_rt' in container '/tensor_rt_container' [component_container_mt-1] [INFO] [1701369291.893821691] [tensor_rt_container]: Load Library: /workspaces/isaac_ros-dev/install/isaac_ros_yolov8/lib/libyolov8_decoder_node.so [component_container_mt-1] [INFO] [1701369291.897479472] [tensor_rt_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-1] [INFO] [1701369291.897495971] [tensor_rt_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [component_container_mt-1] [INFO] [1701369291.900536323] [yolov8_decoder_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber

[component_container_mt-1] [INFO] [1701369291.900636307] [tensor_rt]: Could not negotiate [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/yolov8_decoder_node' in container '/tensor_rt_container' [component_container_mt-1] [INFO] [1701369291.934111873] [dnn_image_encoder]: [NitrosSubscriber] Received a message but the application receiver's pointer is not yet set.

[component_container_mt-1] [INFO] [1701369291.947272058] [dnn_image_encoder]: [NitrosSubscriber] Received a message but the application receiver's pointer is not yet set. [component_container_mt-1] [INFO] [1701369291.982223412] [dnn_image_encoder]: [NitrosSubscriber] Received a message but the application receiver's pointer is not yet set. [component_container_mt-1] [INFO] [1701369292.016896335] [dnn_image_encoder]: [NitrosSubscriber] Received a message but the application receiver's pointer is not yet set. [component_container_mt-1] [INFO] [1701369292.049667792] [dnn_image_encoder]: [NitrosSubscriber] Received a message but the application receiver's pointer is not yet set. [component_container_mt-1] [INFO] [1701369292.083270206] [dnn_image_encoder]: [NitrosSubscriber] Received a message but the application receiver's pointer is not yet set. [component_container_mt-1] [INFO] [1701369292.116083800] [dnn_image_encoder]: [NitrosSubscriber] Received a message but the application receiver's pointer is not yet set. [component_container_mt-1] [INFO] [1701369292.150248000] [dnn_image_encoder]: [NitrosSubscriber] Received a message but the application receiver's pointer is not yet set. [component_container_mt-1] [INFO] [1701369292.184162641] [dnn_image_encoder]: [NitrosSubscriber] Received a message but the application receiver's pointer is not yet set. [component_container_mt-1] [INFO] [1701369292.217759223] [dnn_image_encoder]: [NitrosSubscriber] Received a message but the application receiver's pointer is not yet set. [component_container_mt-1] [INFO] [1701369292.251089681] [dnn_image_encoder]: [NitrosSubscriber] Received a message but the application receiver's pointer is not yet set. [component_container_mt-1] [INFO] [1701369292.283518456] [dnn_image_encoder]: [NitrosSubscriber] Received a message but the application receiver's pointer is not yet set. [component_container_mt-1] [INFO] [1701369292.318538717] [dnn_image_encoder]: [NitrosSubscriber] Received a message but the application receiver's pointer is not yet set. [component_container_mt-1] [INFO] [1701369292.351548301] [dnn_image_encoder]: [NitrosSubscriber] Received a message but the application receiver's pointer is not yet set. [component_container_mt-1] [INFO] [1701369292.384940387] [dnn_image_encoder]: [NitrosSubscriber] Received a message but the application receiver's pointer is not yet set. [component_container_mt-1] [INFO] [1701369292.416969910] [dnn_image_encoder]: [NitrosSubscriber] Received a message but the application receiver's pointer is not yet set. [component_container_mt-1] [INFO] [1701369292.449342500] [dnn_image_encoder]: [NitrosSubscriber] Received a message but the application receiver's pointer is not yet set. [component_container_mt-1] [INFO] [1701369292.484723863] [dnn_image_encoder]: [NitrosSubscriber] Received a message but the application receiver's pointer is not yet set. [component_container_mt-1] [INFO] [1701369292.516197962] [dnn_image_encoder]: [NitrosSubscriber] Received a message but the application receiver's pointer is not yet set. [component_container_mt-1] [INFO] [1701369292.550623352] [dnn_image_encoder]: [NitrosSubscriber] Received a message but the application receiver's pointer is not yet set. [component_container_mt-1] [INFO] [1701369292.583731148] [dnn_image_encoder]: [NitrosSubscriber] Received a message but the application receiver's pointer is not yet set. [component_container_mt-1] [INFO] [1701369292.616523174] [dnn_image_encoder]: [NitrosSubscriber] Received a message but the application receiver's pointer is not yet set. [component_container_mt-1] [INFO] [1701369292.650641510] [dnn_image_encoder]: [NitrosSubscriber] Received a message but the application receiver's pointer is not yet set. [component_container_mt-1] [INFO] [1701369292.684008235] [dnn_image_encoder]: [NitrosSubscriber] Received a message but the application receiver's pointer is not yet set. [component_container_mt-1] [INFO] [1701369292.716650965] [dnn_image_encoder]: [NitrosSubscriber] Received a message but the application receiver's pointer is not yet set. [component_container_mt-1] [INFO] [1701369292.749464186] [dnn_image_encoder]: [NitrosSubscriber] Received a message but the application receiver's pointer is not yet set. [component_container_mt-1] [INFO] [1701369292.783434003] [dnn_image_encoder]: [NitrosSubscriber] Received a message but the application receiver's pointer is not yet set. [component_container_mt-1] [INFO] [1701369292.816425523] [dnn_image_encoder]: [NitrosSubscriber] Received a message but the application receiver's pointer is not yet set. [component_container_mt-1] [INFO] [1701369292.839439958] [dnn_image_encoder]: [NitrosNode] Starting post negotiation setup [component_container_mt-1] [INFO] [1701369292.839537394] [dnn_image_encoder]: [NitrosNode] Getting data format negotiation results [component_container_mt-1] [INFO] [1701369292.839562452] [dnn_image_encoder]: [NitrosPublisher] Use the negotiated data format: "nitros_tensor_list_nchw_rgb_f32" [component_container_mt-1] [INFO] [1701369292.839576597] [dnn_image_encoder]: [NitrosSubscriber] Negotiation ended with no results [component_container_mt-1] [INFO] [1701369292.839590433] [dnn_image_encoder]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/image", data_format="nitros_image_bgr8" [component_container_mt-1] [INFO] [1701369292.839900061] [dnn_image_encoder]: [NitrosNode] Exporting the final graph based on the negotiation results [component_container_mt-1] [INFO] [1701369292.880184565] [dnn_image_encoder]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/VLIIWSZCED/VLIIWSZCED.yaml" [component_container_mt-1] [INFO] [1701369292.880220173] [dnn_image_encoder]: [NitrosNode] Calling user's pre-load-graph callback [component_container_mt-1] [INFO] [1701369292.880227743] [dnn_image_encoder]: In DNN Image Encoder Node preLoadGraphCallback(). [component_container_mt-1] [INFO] [1701369292.880249907] [dnn_image_encoder]: [NitrosNode] Loading application [component_container_mt-1] [INFO] [1701369292.880254837] [dnn_image_encoder]: [NitrosContext] Loading application: '/tmp/isaac_ros_nitros/graphs/VLIIWSZCED/VLIIWSZCED.yaml' [component_container_mt-1] [INFO] [1701369292.882713726] [dnn_image_encoder]: [NitrosNode] Linking Nitros pub/sub to the loaded application [component_container_mt-1] [INFO] [1701369292.882774628] [dnn_image_encoder]: [NitrosNode] Calling user's post-load-graph callback [component_container_mt-1] [INFO] [1701369292.882778619] [dnn_image_encoder]: In DNN Image Encoder Node postLoadGraphCallback(). [component_container_mt-1] [INFO] [1701369292.882860822] [dnn_image_encoder]: [NitrosContext] Initializing application... [component_container_mt-1] [INFO] [1701369292.891619948] [dnn_image_encoder]: [NitrosContext] Running application... [component_container_mt-1] [INFO] [1701369292.891754417] [dnn_image_encoder]: [NitrosNode] Starting a heartbeat timer (eid=137) [component_container_mt-1] [INFO] [1701369292.892987384] [tensor_rt]: [NitrosNode] Starting post negotiation setup [component_container_mt-1] [INFO] [1701369292.893010583] [tensor_rt]: [NitrosNode] Getting data format negotiation results [component_container_mt-1] [INFO] [1701369292.893014784] [tensor_rt]: [NitrosPublisher] Negotiation ended with no results [component_container_mt-1] [INFO] [1701369292.893019335] [tensor_rt]: [NitrosPublisher] Use only the compatible publisher: topic_name="/tensor_sub", data_format="nitros_tensor_list_nhwc_rgb_f32" [component_container_mt-1] [INFO] [1701369292.893050205] [tensor_rt]: [NitrosSubscriber] Use the negotiated data format: "nitros_tensor_list_nchw_rgb_f32" [component_container_mt-1] [INFO] [1701369292.893151012] [tensor_rt]: [NitrosNode] Exporting the final graph based on the negotiation results [component_container_mt-1] [INFO] [1701369292.895767175] [tensor_rt]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/CVQLNEENCN/CVQLNEENCN.yaml" [component_container_mt-1] [INFO] [1701369292.895789827] [tensor_rt]: [NitrosNode] Calling user's pre-load-graph callback [component_container_mt-1] [INFO] [1701369292.895793439] [tensor_rt]: [NitrosNode] Loading application [component_container_mt-1] [INFO] [1701369292.895798445] [tensor_rt]: [NitrosContext] Loading application: '/tmp/isaac_ros_nitros/graphs/CVQLNEENCN/CVQLNEENCN.yaml' [component_container_mt-1] 2023-11-30 19:34:52.897 WARN gxf/std/yaml_file_loader.cpp@1058: Using unregistered parameter 'dummy_rx' in component ''. [component_container_mt-1] 2023-11-30 19:34:52.897 WARN gxf/std/yaml_file_loader.cpp@1058: Using unregistered parameter 'dev_id' in component 'stream'. [component_container_mt-1] [INFO] [1701369292.897544799] [tensor_rt]: [NitrosNode] Linking Nitros pub/sub to the loaded application [component_container_mt-1] [INFO] [1701369292.897606722] [tensor_rt]: [NitrosNode] Calling user's post-load-graph callback [component_container_mt-1] [INFO] [1701369292.897615558] [tensor_rt]: In TensorRTNode postLoadGraphCallback(). [component_container_mt-1] [ERROR] [1701369293.026835734] [TRT]: TRT ERROR: 3: [engine.cpp::getProfileObliviousBindingIndex::1401] Error Code 3: Internal Error (getTensorShape given invalid tensor name: ) [component_container_mt-1] [ERROR] [1701369293.034368876] [TRT]: TRT ERROR: 3: [engine.cpp::getProfileObliviousBindingIndex::1401] Error Code 3: Internal Error (getTensorDataType given invalid tensor name: ) [component_container_mt-1] [INFO] [1701369293.042799419] [tensor_rt]: Read tensor shape information from TRT Model Engine: /tmp/s_best.plan [component_container_mt-1] [INFO] [1701369293.042881374] [tensor_rt]: Tensors 4 bytes, num outputs 40 x tensors per output 1 = 40 blocks [component_container_mt-1] [INFO] [1701369293.042948886] [tensor_rt]: [NitrosContext] Initializing application... [component_container_mt-1] [INFO] [1701369293.046011715] [tensor_rt]: [NitrosContext] Running application... [component_container_mt-1] [INFO] [1701369293.046168062] [tensor_rt]: [NitrosNode] Starting a heartbeat timer (eid=254) [component_container_mt-1] 2023-11-30 19:34:53.109 ERROR /home/jenkins/agent/workspace/ly_debian-compatible-release-2.1/isaac_ros-dev/ros_ws/src/isaac_ros_dnn_inference/isaac_ros_tensor_rt/gxf/tensor_rt/tensor_rt_inference.cpp@148: TRT ERROR: 3: Cannot find binding of given name: [component_container_mt-1] 2023-11-30 19:34:53.109 ERROR /home/jenkins/agent/workspace/ly_debian-compatible-release-2.1/isaac_ros-dev/ros_ws/src/isaac_ros_dnn_inference/isaac_ros_tensor_rt/gxf/tensor_rt/tensor_rt_inference.cpp@341: Failed to get binding index for input in model /tmp/s_best.plan [component_container_mt-1] 2023-11-30 19:34:53.111 WARN gxf/std/multi_thread_scheduler.cpp@325: Error while executing entity E254 named 'CVQLNEENCN_inference': GXF_FAILURE [component_container_mt-1] 2023-11-30 19:34:53.111 ERROR gxf/std/entity_executor.cpp@563: Entity [CVQLNEENCN_inference] must be in Started, Tick Pending, Ticking or Idle stage before stopping. Current state is StartPending [component_container_mt-1] 2023-11-30 19:34:54.046 ERROR gxf/std/entity_executor.cpp@210: Entity with eid 254 not found! [component_container_mt-1] [WARN] [1701369294.046364375] [tensor_rt]: [NitrosNode] The heartbeat entity (eid=254) was stopped. The graph may have been terminated. [component_container_mt-1] [INFO] [1701369294.051208264] [tensor_rt]: [NitrosNode] Terminating the running application [component_container_mt-1] [INFO] [1701369294.051220509] [tensor_rt]: [NitrosContext] Interrupting GXF... [component_container_mt-1] 2023-11-30 19:34:54.051 ERROR gxf/core/runtime.cpp@1400: Graph interrupt failed with error: GXF_FAILURE [component_container_mt-1] [ERROR] [1701369294.051256202] [tensor_rt]: [NitrosContext] GxfGraphInterrupt Error: GXF_FAILURE [component_container_mt-1] [INFO] [1701369294.051259368] [tensor_rt]: [NitrosContext] Waiting on GXF... [component_container_mt-1] 2023-11-30 19:34:54.051 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] 2023-11-30 19:34:54.052 WARN gxf/std/entity_warden.cpp@433: Component of type nvidia::gxf::MultiThreadScheduler, cid 277 failed to deinitialize with code GXF_FAILURE [component_container_mt-1] 2023-11-30 19:34:54.052 ERROR gxf/core/runtime.cpp@731: Could not deinitialize entity 'CVQLNEENCN_utils' (E275): GXF_FAILURE [component_container_mt-1] 2023-11-30 19:34:54.052 ERROR gxf/std/program.cpp@558: Deactivation failed. [component_container_mt-1] 2023-11-30 19:34:54.052 ERROR gxf/core/runtime.cpp@1408: Graph wait failed with error: GXF_FAILURE [component_container_mt-1] [ERROR] [1701369294.052356975] [tensor_rt]: [NitrosContext] GxfGraphWait Error: GXF_FAILURE [component_container_mt-1] [INFO] [1701369294.052361284] [tensor_rt]: [NitrosNode] Application termination done [component_container_mt-1] [INFO] [1701369294.055715099] [dnn_image_encoder]: [NitrosNode] Terminating the running application [component_container_mt-1] [INFO] [1701369294.055723036] [dnn_image_encoder]: [NitrosContext] Interrupting GXF... [component_container_mt-1] [INFO] [1701369294.056752561] [dnn_image_encoder]: [NitrosContext] Waiting on GXF... [component_container_mt-1] [INFO] [1701369294.056760362] [dnn_image_encoder]: [NitrosContext] Deinitializing... [component_container_mt-1] [INFO] [1701369294.063464597] [dnn_image_encoder]: [NitrosContext] Destroying context [ERROR] [component_container_mt-1]: process has died [pid 317496, exit code -11, cmd '/opt/ros/humble/lib/rclcpp_components/component_container_mt --ros-args --log-level INFO --ros-args -r node:=tensor_rt_container -r ns:=/'].

kajananchinniahNV commented 12 months ago

Hi @TeamRoboTo,

I believe the issue is because the input_binding_names and output_binding_names parameter aren't set.

In the quickstart, the command we provide is:

ros2 launch isaac_ros_yolov8 isaac_ros_yolov8_visualize.launch.py model_file_path:=/tmp/yolov8s.onnx engine_file_path:=/tmp/yolov8s.plan input_binding_names:=['images'] output_binding_names:=['output0'] network_image_width:=640 network_image_height:=640 force_engine_update:=False image_mean:=[0.0,0.0,0.0] image_stddev:=[1.0,1.0,1.0] input_image_width:=640 input_image_height:=640 confidence_threshold:=0.25 nms_threshold:=0.45

The input_binding_names is set to images and the output_binding_names is set to output0. This matches the screenshot you provided of your custom model, so can you try setting those parameters accordingly?

TeamRoboTo commented 11 months ago

Yep, thanks you. Now it works :)

magic-Alex commented 11 months ago

Sorry,I have the same issue.I changed the code cloned from git(num_classes), and then I found that running ros2 launch according to quickstart didn't seem to compile my code, so my changes won't take effect,I want to know the correct operation,any suggestions?

kajananchinniahNV commented 11 months ago

Hi @magic-Alex

In our latest release because of our usage of debians now, it's harder to update the source code directly to apply this fix now.

My recommendation for now would be to uninstall the debians for this package and instead compile the code from source (via colcon build) by cloning the repository in your local workspace.

If you run into issues doing this, please let us know!

magic-Alex commented 11 months ago

@kajananchinniahNV Thanks,it works!

eddieliao commented 10 months ago

I believe I'm having the same issue. I'm trying to run a model with the following input/output dimensions: I've already updated my yolov8_decoder_node.cpp to match the amount of classes I have (8), as well as isaac_ros_yolov8_visualizer.py to the correct class names. The example ONNX model is able to run when I follow the Quickstart Guide, but when I try to run my own model, I get the same error in which the process dies. I'm using the following command:

ros2 launch isaac_ros_yolov8 isaac_ros_yolov8_visualize.launch.py model_file_path:=/workspaces/isaac_ros-dev/models/12_1_23-87_8.onnx engine_file_path:=/workspaces/isaac_ros-dev/models/12_1_23-87_8.plan input_binding_names:=['images'] output_binding_names:=['output0'] network_image_width:=640 network_image_height:=640 force_engine_update:=False image_mean:=[0.0,0.0,0.0] image_stddev:=[1.0,1.0,1.0] input_image_width:=640 input_image_height:=640 confidence_threshold:=0.25 nms_threshold:=0.45

Is there anything I'm missing here?

jaiveersinghNV commented 10 months ago

Hi @eddieliao ,

Could you please provide the full error trace? There can be many different reasons that the process dies.

eddieliao commented 10 months ago

I've managed to get it to work with an image, but if I input a video it will crash when the video ends.

Could you please provide the full error trace? There can be many different reasons that the process dies.

Here's the full output, although it doesn't seem too useful?


admin@eddie-Slim-7-ProX-14ARH7:/workspaces/isaac_ros-dev$ ros2 launch isaac_ros_yolov8 isaac_ros_yolov8_visualize.launch.py model_file_path:=/workspaces/isaac_ros-dev/models/12_1_23-87_8.onnx engine_file_path:=/workspaces/isaac_ros-dev/models/12_1_23-87_8.plan input_binding_names:=['images'] output_binding_names:=['output0'] network_image_width:=640 network_image_height:=640 force_engine_update:=False image_mean:=[0.0,0.0,0.0] image_stddev:=[1.0,1.0,1.0] input_image_width:=640 input_image_height:=640 confidence_threshold:=0.25 nms_threshold:=0.45
[INFO] [launch]: All log files can be found below /home/admin/.ros/log/2024-01-12-15-54-05-242222-eddie-Slim-7-ProX-14ARH7-21621
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container_mt-1]: process started with pid [21632]
[INFO] [isaac_ros_yolov8_visualizer.py-2]: process started with pid [21634]
[INFO] [rqt_image_view-3]: process started with pid [21636]
[component_container_mt-1] [INFO] [1705103645.715825702] [tensor_rt_container]: Load Library: /workspaces/isaac_ros-dev/install/isaac_ros_dnn_image_encoder/lib/libdnn_image_encoder_node.so
[component_container_mt-1] [INFO] [1705103645.750832265] [tensor_rt_container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::DnnImageEncoderNode>
[component_container_mt-1] [INFO] [1705103645.750880569] [tensor_rt_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::DnnImageEncoderNode>
[component_container_mt-1] [INFO] [1705103645.754788087] [NitrosContext]: [NitrosContext] Creating a new shared context
[component_container_mt-1] [INFO] [1705103645.754971920] [dnn_image_encoder]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1705103645.755961694] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/std/libgxf_std.so
[component_container_mt-1] [INFO] [1705103645.767465581] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_gxf_helpers.so
[component_container_mt-1] [INFO] [1705103645.774823463] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_sight.so
[component_container_mt-1] [INFO] [1705103645.785412771] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_atlas.so
[component_container_mt-1] [INFO] [1705103645.793653142] [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] [1705103645.795100962] [NitrosContext]: [NitrosContext] Initializing application...
[component_container_mt-1] [INFO] [1705103645.802402336] [NitrosContext]: [NitrosContext] Running application...
[component_container_mt-1] 2024-01-12 15:54:05.802 WARN  gxf/std/program.cpp@514: No system specified. Nothing to do
[component_container_mt-1] [INFO] [1705103645.803663739] [dnn_image_encoder]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1705103645.803689839] [dnn_image_encoder]: [NitrosNode] Loading built-in preset extension specs
[component_container_mt-1] [INFO] [1705103645.806399723] [dnn_image_encoder]: [NitrosNode] Loading built-in extension specs
[component_container_mt-1] [INFO] [1705103645.806423008] [dnn_image_encoder]: [NitrosNode] Loading preset extension specs
[component_container_mt-1] [INFO] [1705103645.807594502] [dnn_image_encoder]: [NitrosNode] Loading extension specs
[component_container_mt-1] [INFO] [1705103645.807615324] [dnn_image_encoder]: [NitrosNode] Loading generator rules
[component_container_mt-1] [INFO] [1705103645.807975499] [dnn_image_encoder]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1705103645.808308812] [dnn_image_encoder]: [NitrosContext] Loading extension: gxf/lib/libgxf_message_compositor.so
[component_container_mt-1] [INFO] [1705103645.810069153] [dnn_image_encoder]: [NitrosContext] Loading extension: gxf/lib/cuda/libgxf_cuda.so
[component_container_mt-1] [INFO] [1705103645.811678932] [dnn_image_encoder]: [NitrosContext] Loading extension: gxf/lib/serialization/libgxf_serialization.so
[component_container_mt-1] [INFO] [1705103645.821224854] [dnn_image_encoder]: [NitrosContext] Loading extension: gxf/lib/image_proc/libgxf_tensorops.so
[component_container_mt-1] [INFO] [1705103645.830523104] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/multimedia/libgxf_multimedia.so
[component_container_mt-1] [INFO] [1705103645.832671653] [dnn_image_encoder]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1705103645.839784417] [dnn_image_encoder]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1705103646.052297749] [dnn_image_encoder]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1705103646.057241107] [dnn_image_encoder]: [NitrosNode] Creating negotiated publishers/subscribers
[component_container_mt-1] [INFO] [1705103646.083560457] [dnn_image_encoder]: [NitrosNode] Starting negotiation...
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/dnn_image_encoder' in container '/tensor_rt_container'
[component_container_mt-1] [INFO] [1705103646.087228880] [tensor_rt_container]: Load Library: /workspaces/isaac_ros-dev/install/isaac_ros_tensor_rt/lib/libtensor_rt_node.so
[component_container_mt-1] [INFO] [1705103646.142498865] [tensor_rt_container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::TensorRTNode>
[component_container_mt-1] [INFO] [1705103646.142570596] [tensor_rt_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::TensorRTNode>
[component_container_mt-1] [INFO] [1705103646.146771299] [tensor_rt]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1705103646.147795758] [tensor_rt]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1705103646.147810982] [tensor_rt]: [NitrosNode] Loading built-in preset extension specs
[component_container_mt-1] [INFO] [1705103646.149321520] [tensor_rt]: [NitrosNode] Loading built-in extension specs
[component_container_mt-1] [INFO] [1705103646.149339387] [tensor_rt]: [NitrosNode] Loading preset extension specs
[component_container_mt-1] [INFO] [1705103646.149648684] [tensor_rt]: [NitrosNode] Loading extension specs
[component_container_mt-1] [INFO] [1705103646.149666391] [tensor_rt]: [NitrosNode] Loading generator rules
[component_container_mt-1] [INFO] [1705103646.154810539] [tensor_rt]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1705103646.155955924] [tensor_rt]: [NitrosContext] Loading extension: gxf/tensor_rt/libgxf_tensor_rt.so
[component_container_mt-1] [INFO] [1705103646.158797863] [tensor_rt]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1705103646.160072357] [tensor_rt]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1705103646.169617437] [tensor_rt]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1705103646.170398140] [tensor_rt]: [NitrosNode] Creating negotiated publishers/subscribers
[component_container_mt-1] [INFO] [1705103646.170428117] [tensor_rt]: [NitrosPublisherSubscriberGroup] Pinning the component "inference/rx" (type="nvidia::gxf::DoubleBufferReceiver") to use its compatible format only: "nitros_tensor_list_nchw_rgb_f32"
[component_container_mt-1] [INFO] [1705103646.170461167] [tensor_rt]: [NitrosPublisherSubscriberGroup] Pinning the component "sink/sink" (type="nvidia::isaac_ros::MessageRelay") to use its compatible format only: "nitros_tensor_list_nhwc_rgb_f32"
[component_container_mt-1] [INFO] [1705103646.172971936] [tensor_rt]: [NitrosNode] Starting negotiation...
[component_container_mt-1] [INFO] [1705103646.173531388] [dnn_image_encoder]: Negotiating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/tensor_rt' in container '/tensor_rt_container'
[component_container_mt-1] [INFO] [1705103646.175685458] [tensor_rt_container]: Load Library: /workspaces/isaac_ros-dev/install/isaac_ros_yolov8/lib/libyolov8_decoder_node.so
[component_container_mt-1] [INFO] [1705103646.183410443] [tensor_rt_container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::yolov8::YoloV8DecoderNode>
[component_container_mt-1] [INFO] [1705103646.183476084] [tensor_rt_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::yolov8::YoloV8DecoderNode>
[component_container_mt-1] [INFO] [1705103646.190048002] [yolov8_decoder_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1705103646.190094553] [tensor_rt]: Negotiating
[component_container_mt-1] [INFO] [1705103646.190141345] [tensor_rt]: Could not negotiate
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/yolov8_decoder_node' in container '/tensor_rt_container'
[component_container_mt-1] [INFO] [1705103647.083791693] [dnn_image_encoder]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1705103647.083879789] [dnn_image_encoder]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1705103647.083900861] [dnn_image_encoder]: [NitrosPublisher] Use the negotiated data format: "nitros_tensor_list_nchw_rgb_f32"
[component_container_mt-1] [INFO] [1705103647.083916796] [dnn_image_encoder]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1705103647.083926721] [dnn_image_encoder]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/image", data_format="nitros_image_bgr8"
[component_container_mt-1] [INFO] [1705103647.083988406] [dnn_image_encoder]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1705103647.150636731] [dnn_image_encoder]: [NitrosNode] Wrote the final top level YAML graph to "/workspaces/isaac_ros-dev/install/isaac_ros_dnn_image_encoder/share/isaac_ros_dnn_image_encoder/VCAEGTJSZK.yaml"
[component_container_mt-1] [INFO] [1705103647.150709203] [dnn_image_encoder]: [NitrosNode] Calling user's pre-load-graph callback
[component_container_mt-1] [INFO] [1705103647.150723936] [dnn_image_encoder]: In DNN Image Encoder Node preLoadGraphCallback().
[component_container_mt-1] [INFO] [1705103647.150757497] [dnn_image_encoder]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1705103647.150765119] [dnn_image_encoder]: [NitrosContext] Loading application: '/workspaces/isaac_ros-dev/install/isaac_ros_dnn_image_encoder/share/isaac_ros_dnn_image_encoder/VCAEGTJSZK.yaml'
[component_container_mt-1] [INFO] [1705103647.156145866] [dnn_image_encoder]: [NitrosNode] Linking Nitros pub/sub to the loaded application
[component_container_mt-1] [INFO] [1705103647.156314617] [dnn_image_encoder]: [NitrosNode] Calling user's post-load-graph callback
[component_container_mt-1] [INFO] [1705103647.156323510] [dnn_image_encoder]: In DNN Image Encoder Node postLoadGraphCallback().
[component_container_mt-1] [INFO] [1705103647.156402913] [dnn_image_encoder]: [NitrosContext] Initializing application...
[component_container_mt-1] [INFO] [1705103647.173021740] [tensor_rt]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1705103647.173133532] [tensor_rt]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1705103647.173155686] [tensor_rt]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1705103647.173225053] [tensor_rt]: [NitrosPublisher] Use only the compatible publisher: topic_name="/tensor_sub", data_format="nitros_tensor_list_nhwc_rgb_f32"
[component_container_mt-1] [INFO] [1705103647.173242230] [tensor_rt]: [NitrosSubscriber] Use the negotiated data format: "nitros_tensor_list_nchw_rgb_f32"
[component_container_mt-1] [INFO] [1705103647.173266587] [tensor_rt]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1705103647.176585816] [tensor_rt]: [NitrosNode] Wrote the final top level YAML graph to "/workspaces/isaac_ros-dev/install/isaac_ros_tensor_rt/share/isaac_ros_tensor_rt/XJCBXQQGNJ.yaml"
[component_container_mt-1] [INFO] [1705103647.176629843] [tensor_rt]: [NitrosNode] Calling user's pre-load-graph callback
[component_container_mt-1] [INFO] [1705103647.176638046] [tensor_rt]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1705103647.244900521] [dnn_image_encoder]: [NitrosContext] Running application...
[component_container_mt-1] [INFO] [1705103647.245189436] [dnn_image_encoder]: [NitrosNode] Starting a heartbeat timer (eid=25)
[component_container_mt-1] [INFO] [1705103647.245216378] [tensor_rt]: [NitrosContext] Loading application: '/workspaces/isaac_ros-dev/install/isaac_ros_tensor_rt/share/isaac_ros_tensor_rt/XJCBXQQGNJ.yaml'
[component_container_mt-1] 2024-01-12 15:54:07.249 WARN  gxf/std/yaml_file_loader.cpp@1058: Using unregistered parameter 'dummy_rx' in component ''.
[component_container_mt-1] 2024-01-12 15:54:07.250 WARN  gxf/std/yaml_file_loader.cpp@1058: Using unregistered parameter 'dev_id' in component 'stream'.
[component_container_mt-1] [INFO] [1705103647.250522549] [tensor_rt]: [NitrosNode] Linking Nitros pub/sub to the loaded application
[component_container_mt-1] [INFO] [1705103647.250671239] [tensor_rt]: [NitrosNode] Calling user's post-load-graph callback
[component_container_mt-1] [INFO] [1705103647.250687013] [tensor_rt]: In TensorRTNode postLoadGraphCallback().
[component_container_mt-1] [INFO] [1705103647.494105456] [tensor_rt]: Read tensor shape information from TRT Model Engine: /workspaces/isaac_ros-dev/models/12_1_23-87_8.plan
[component_container_mt-1] [INFO] [1705103647.494248387] [tensor_rt]: Tensors 403200 bytes, num outputs 40 x tensors per output 1 = 40 blocks
[component_container_mt-1] [INFO] [1705103647.494363895] [tensor_rt]: [NitrosContext] Initializing application...
[component_container_mt-1] [INFO] [1705103647.501373574] [tensor_rt]: [NitrosContext] Running application...
[component_container_mt-1] [INFO] [1705103647.501617660] [tensor_rt]: [NitrosNode] Starting a heartbeat timer (eid=112)
[ERROR] [component_container_mt-1]: process has died [pid 21632, exit code -11, cmd '/opt/ros/humble/lib/rclcpp_components/component_container_mt --ros-args --log-level INFO --ros-args -r __node:=tensor_rt_container -r __ns:=/'].```

Senja20 commented 3 weeks ago

I have a similar issue with running a YOLOv8 module on Orin (Isaac ROS Object Detection), which worked with the quickstart tutorial. I am getting [GetAnyNamedTensor] failed to get GXF tensor of name : [output_tensor]: and Failed to retrieve Tensor input_tensor. We tried the suggestions from the above in this conversation, but nothing seems to help with this issue. It seems that there is some issue with the output tensor name and input tensor name, however, even tho we change the names in the code, the error still mentions [output_tensor]

[component_container_mt-2] [INFO] [1730317159.001821746] [zed.zed_node]:  * Debug Positional Tracking: FALSE
[component_container_mt-2] [INFO] [1730317159.001932784] [zed.zed_node]:  * Debug sensors: FALSE
[component_container_mt-2] [INFO] [1730317159.002044781] [zed.zed_node]:  * Debug Mapping: FALSE
[component_container_mt-2] [INFO] [1730317159.002145931] [zed.zed_node]:  * Debug Object Detection: FALSE
[component_container_mt-2] [INFO] [1730317159.002247625] [zed.zed_node]:  * Debug Body Tracking: FALSE
[component_container_mt-2] [INFO] [1730317159.002369286] [zed.zed_node]:  * Debug Streaming: FALSE
[component_container_mt-2] [INFO] [1730317159.002493252] [zed.zed_node]:  * Debug ROI: FALSE
[component_container_mt-2] [INFO] [1730317159.002846396] [zed.zed_node]:  * Debug Advanced: FALSE
[component_container_mt-2] [INFO] [1730317159.003224532] [zed.zed_node]: *** GENERAL parameters ***
[component_container_mt-2] [INFO] [1730317159.003893382] [zed.zed_node]:  * Camera model: zed2i - ZED 2i
[component_container_mt-2] [INFO] [1730317159.004124673] [zed.zed_node]:  * Camera name: zed
[component_container_mt-2] [INFO] [1730317159.004309629] [zed.zed_node]:  * Camera SN: 0
[component_container_mt-2] [INFO] [1730317159.004777043] [zed.zed_node]:  * Camera timeout [sec]: 5
[component_container_mt-2] [INFO] [1730317159.005036813] [zed.zed_node]:  * Camera reconnection temptatives: 5
[component_container_mt-2] [INFO] [1730317159.005215721] [zed.zed_node]:  * Camera framerate: 60
[component_container_mt-2] [INFO] [1730317159.005395813] [zed.zed_node]:  * GPU ID: -1
[component_container_mt-2] [INFO] [1730317159.005625248] [zed.zed_node]:  * Camera resolution: HD720
[component_container_mt-2] [INFO] [1730317159.005839804] [zed.zed_node]:  * Publishing resolution: NATIVE
[component_container_mt-2] [INFO] [1730317159.006015672] [zed.zed_node]:  * OpenCV custom calibration: 
[component_container_mt-2] [INFO] [1730317159.006204468] [zed.zed_node]:  * Camera self calibration: TRUE
[component_container_mt-2] [INFO] [1730317159.006378256] [zed.zed_node]:  * Camera flip: FALSE
[component_container_mt-2] [INFO] [1730317159.006621547] [zed.zed_node]:  * [DYN] Publish framerate [Hz]:  30
[component_container_mt-2] [INFO] [1730317159.006682506] [zed.zed_node]: *** VIDEO parameters ***
[component_container_mt-2] [INFO] [1730317159.006861990] [zed.zed_node]:  * [DYN] Brightness: 4
[component_container_mt-2] [INFO] [1730317159.007047970] [zed.zed_node]:  * [DYN] Contrast: 4
[component_container_mt-2] [INFO] [1730317159.007228958] [zed.zed_node]:  * [DYN] Hue: 0
[component_container_mt-2] [INFO] [1730317159.007466009] [zed.zed_node]:  * [DYN] Saturation: 4
[component_container_mt-2] [INFO] [1730317159.007655861] [zed.zed_node]:  * [DYN] Sharpness: 4
[component_container_mt-2] [INFO] [1730317159.007831441] [zed.zed_node]:  * [DYN] Gamma: 8
[component_container_mt-2] [INFO] [1730317159.008025709] [zed.zed_node]:  * [DYN] Auto Exposure/Gain: TRUE
[component_container_mt-2] [INFO] [1730317159.008236296] [zed.zed_node]:  * [DYN] Exposure: 80
[component_container_mt-2] [INFO] [1730317159.008474947] [zed.zed_node]:  * [DYN] Gain: 80
[component_container_mt-2] [INFO] [1730317159.009535405] [zed.zed_node]:  * [DYN] Auto White Balance: TRUE
[component_container_mt-2] [INFO] [1730317159.010574806] [zed.zed_node]:  * [DYN] White Balance Temperature: 42
[component_container_mt-2] [INFO] [1730317159.010707283] [zed.zed_node]: *** DEPTH parameters ***
[component_container_mt-2] [INFO] [1730317159.011026221] [zed.zed_node]:  * Depth mode: NEURAL [4]
[component_container_mt-2] [INFO] [1730317159.011673375] [zed.zed_node]:  * Min depth [m]: 0.2
[component_container_mt-2] [INFO] [1730317159.012045655] [zed.zed_node]:  * Max depth [m]: 5
[component_container_mt-2] [INFO] [1730317159.012388143] [zed.zed_node]:  * Depth Stabilization: 1
[component_container_mt-2] [INFO] [1730317159.012700489] [zed.zed_node]:  * OpenNI mode (16bit point cloud): FALSE
[component_container_mt-2] [INFO] [1730317159.013026018] [zed.zed_node]:  * [DYN] Point cloud rate [Hz]: 10
[component_container_mt-2] [INFO] [1730317159.013363898] [zed.zed_node]:  * [DYN] Depth Confidence: 10
[component_container_mt-2] [INFO] [1730317159.013602389] [zed.zed_node]:  * [DYN] Depth Texture Confidence: 100
[component_container_mt-2] [INFO] [1730317159.013817329] [zed.zed_node]:  * [DYN] Remove saturated areas: TRUE
[component_container_mt-2] [INFO] [1730317159.014149930] [zed.zed_node]: *** GNSS FUSION parameters ***
[component_container_mt-2] [INFO] [1730317159.014554177] [zed.zed_node]:  * GNSS fusion enabled: FALSE
[component_container_mt-2] [INFO] [1730317159.014629055] [zed.zed_node]: *** POSITIONAL TRACKING parameters ***
[component_container_mt-2] [INFO] [1730317159.015012279] [zed.zed_node]:  * Positional tracking enabled: TRUE
[component_container_mt-2] [INFO] [1730317159.015545324] [zed.zed_node]:  * Positional tracking mode: POSITIONAL TRACKING MODE GEN_2
[component_container_mt-2] [INFO] [1730317159.016016962] [zed.zed_node]:  * Map frame id: map
[component_container_mt-2] [INFO] [1730317159.016276636] [zed.zed_node]:  * Odometry frame id: odom
[component_container_mt-2] [INFO] [1730317159.016481848] [zed.zed_node]:  * Broadcast Odometry TF: TRUE
[component_container_mt-2] [INFO] [1730317159.018182387] [zed.zed_node]:  * Broadcast Pose TF: TRUE
[component_container_mt-2] [INFO] [1730317159.018614634] [zed.zed_node]:  * [DYN] Depth minimum range: 0
[component_container_mt-2] [INFO] [1730317159.018897892] [zed.zed_node]:  * [DYN] TF timestamp offset: 0
[component_container_mt-2] [INFO] [1730317159.019206525] [zed.zed_node]:  * [DYN] Path publishing rate: 2
[component_container_mt-2] [INFO] [1730317159.019577973] [zed.zed_node]:  * Path history lenght: -1
[component_container_mt-2] [INFO] [1730317159.019914638] [zed.zed_node]:  * Initial pose: [0,0,0,0,0,0,]
[component_container_mt-2] [INFO] [1730317159.021088341] [zed.zed_node]:  * Area Memory: TRUE
[component_container_mt-2] [INFO] [1730317159.021307728] [zed.zed_node]:  * Area Memory DB: 
[component_container_mt-2] [INFO] [1730317159.021717991] [zed.zed_node]:  * Camera is static: FALSE
[component_container_mt-2] [INFO] [1730317159.021926755] [zed.zed_node]:  * Gravity as origin [not for ZED]: TRUE
[component_container_mt-2] [INFO] [1730317159.022142974] [zed.zed_node]:  * IMU Fusion [not for ZED]: TRUE
[component_container_mt-2] [INFO] [1730317159.022294395] [zed.zed_node]:  * Floor Alignment: FALSE
[component_container_mt-2] [INFO] [1730317159.022412056] [zed.zed_node]:  * Reset Odometry with Loop Closure: TRUE
[component_container_mt-2] [INFO] [1730317159.022522966] [zed.zed_node]:  * 2D mode: FALSE
[component_container_mt-2] [INFO] [1730317159.022559765] [zed.zed_node]: *** Region of Interest parameters ***
[component_container_mt-2] [INFO] [1730317159.022651315] [zed.zed_node]:  * Automatic ROI generation: FALSE
[component_container_mt-2] [INFO] [1730317159.022827951] [zed.zed_node]:  * Manual ROI polygon: []
[component_container_mt-2] [INFO] [1730317159.022859727] [zed.zed_node]: *** SENSORS STACK parameters ***
[component_container_mt-2] [INFO] [1730317159.022973740] [zed.zed_node]:  * Broadcast IMU TF [not for ZED]: TRUE
[component_container_mt-2] [INFO] [1730317159.023085002] [zed.zed_node]:  * Sensors Camera Sync: FALSE
[component_container_mt-2] [INFO] [1730317159.023200263] [zed.zed_node]:  * Sensors publishing rate: 200 Hz
[component_container_mt-2] [INFO] [1730317159.023231431] [zed.zed_node]: *** Spatial Mapping parameters ***
[component_container_mt-2] [INFO] [1730317159.023363332] [zed.zed_node]:  * Spatial Mapping Enabled: FALSE
[component_container_mt-2] [INFO] [1730317159.023530496] [zed.zed_node]:  * Spatial Mapping resolution [m]: 0.05
[component_container_mt-2] [INFO] [1730317159.023663358] [zed.zed_node]:  * 3D Max Mapping range [m]: 5
[component_container_mt-2] [INFO] [1730317159.023770587] [zed.zed_node]:  * Map publishing rate [Hz]: 1
[component_container_mt-2] [INFO] [1730317159.023878393] [zed.zed_node]:  * Clicked point topic: /clicked_point
[component_container_mt-2] [INFO] [1730317159.024004886] [zed.zed_node]:  * Plane Det. Max Dist. Thresh.: 0.15
[component_container_mt-2] [INFO] [1730317159.024121940] [zed.zed_node]:  * Plane Det. Normals Sim. Thresh.: 15
[component_container_mt-2] [INFO] [1730317159.024154067] [zed.zed_node]: *** Object Det. parameters ***
[component_container_mt-2] [INFO] [1730317159.024253905] [zed.zed_node]:  * Object Det. enabled: FALSE
[component_container_mt-2] [INFO] [1730317159.024545867] [zed.zed_node]:  * Object Det. model: MULTI CLASS BOX MEDIUM
[component_container_mt-2] [INFO] [1730317159.024830820] [zed.zed_node]:  * Object Det. allow reduced precision: TRUE
[component_container_mt-2] [INFO] [1730317159.025018464] [zed.zed_node]:  * Object Det. maximum range [m]: 20
[component_container_mt-2] [INFO] [1730317159.025172541] [zed.zed_node]:  * Object Det. min. confidence: 50
[component_container_mt-2] [INFO] [1730317159.025332570] [zed.zed_node]:  * Object Det. prediction timeout [sec]: 0.5
[component_container_mt-2] [INFO] [1730317159.025532629] [zed.zed_node]:  * Object Det. tracking: TRUE
[component_container_mt-2] [INFO] [1730317159.025716369] [zed.zed_node]:  * Object Filtering mode: 1 - NMS 3D
[component_container_mt-2] [INFO] [1730317159.025907565] [zed.zed_node]:  * MultiClassBox people: TRUE
[component_container_mt-2] [INFO] [1730317159.026129001] [zed.zed_node]:  * MultiClassBox vehicles: TRUE
[component_container_mt-2] [INFO] [1730317159.026563999] [zed.zed_node]:  * MultiClassBox bags: TRUE
[component_container_mt-2] [INFO] [1730317159.026793530] [zed.zed_node]:  * MultiClassBox animals: TRUE
[component_container_mt-2] [INFO] [1730317159.027076276] [zed.zed_node]:  * MultiClassBox electronics: TRUE
[component_container_mt-2] [INFO] [1730317159.027326095] [zed.zed_node]:  * MultiClassBox fruits and vegetables: TRUE
[component_container_mt-2] [INFO] [1730317159.027548522] [zed.zed_node]:  * MultiClassBox sport-related objects: TRUE
[component_container_mt-2] [INFO] [1730317159.027596681] [zed.zed_node]: *** Body Track. parameters ***
[component_container_mt-2] [INFO] [1730317159.028019872] [zed.zed_node]:  * Body Track. enabled: FALSE
[component_container_mt-2] [INFO] [1730317159.028430071] [zed.zed_node]:  * Body Track. model: HUMAN BODY MEDIUM
[component_container_mt-2] [INFO] [1730317159.028889613] [zed.zed_node]:  * Body Track. format: BODY_38
[component_container_mt-2] [INFO] [1730317159.029274821] [zed.zed_node]:  * Body Track. allow reduced precision: TRUE
[component_container_mt-2] [INFO] [1730317159.029559615] [zed.zed_node]:  * Body Track. maximum range [m]: 20
[component_container_mt-2] [INFO] [1730317159.029784858] [zed.zed_node]:  * Body Track. KP selection: FULL
[component_container_mt-2] [INFO] [1730317159.030397677] [zed.zed_node]:  * Body fitting: FALSE
[component_container_mt-2] [INFO] [1730317159.030807364] [zed.zed_node]:  * Body joints tracking: TRUE
[component_container_mt-2] [INFO] [1730317159.031227771] [yolov8_encoder.resize_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-2] [INFO] [1730317159.031293690] [zed.zed_node]:  * Body Track. prediction timeout [sec]: 0.5
[component_container_mt-2] [INFO] [1730317159.031770704] [zed.zed_node]:  * Body Track. confidence thresh.: 50
[component_container_mt-2] [INFO] [1730317159.032064457] [zed.zed_node]:  * Body Track. min. KP thresh.: 5
[component_container_mt-2] [INFO] [1730317159.032120616] [zed.zed_node]: *** Streaming Server parameters ***
[component_container_mt-2] [INFO] [1730317159.032392546] [zed.zed_node]:  * Streaming Server enabled: FALSE
[component_container_mt-2] [INFO] [1730317159.032539743] [zed.zed_node]:  * Stream codec: H264
[component_container_mt-2] [INFO] [1730317159.032677116] [zed.zed_node]:  * Stream port:30000
[component_container_mt-2] [INFO] [1730317159.032715323] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/std/libgxf_std.so
[component_container_mt-2] [INFO] [1730317159.032809241] [zed.zed_node]:  * Stream bitrate: 12500
[component_container_mt-2] [INFO] [1730317159.032945110] [zed.zed_node]:  * Stream GOP size: -1
[component_container_mt-2] [INFO] [1730317159.033057812] [zed.zed_node]:  * Stream Chunk size: 16084
[component_container_mt-2] [INFO] [1730317159.033186705] [zed.zed_node]:  * Adaptive bitrate: FALSE
[component_container_mt-2] [INFO] [1730317159.033308847] [zed.zed_node]:  * Target frame rate:0
[component_container_mt-2] [INFO] [1730317159.033340846] [zed.zed_node]: *** Advanced parameters ***
[component_container_mt-2] [INFO] [1730317159.033910594] [zed.zed_node]:  * Thread sched. policy: SCHED_BATCH
[component_container_mt-2] [INFO] [1730317159.034085374] [zed.zed_node]: *** SERVICES ***
[component_container_mt-2] [INFO] [1730317159.038201318] [zed.zed_node]:  * '/zed/zed_node/reset_odometry'
[component_container_mt-2] [INFO] [1730317159.038982293] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_gxf_helpers.so
[component_container_mt-2] [INFO] [1730317159.040969066] [zed.zed_node]:  * '/zed/zed_node/reset_pos_tracking'
[component_container_mt-2] [INFO] [1730317159.047005481] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_sight.so
[component_container_mt-2] [INFO] [1730317159.048317005] [zed.zed_node]:  * '/zed/zed_node/set_pose'
[component_container_mt-2] [INFO] [1730317159.055792588] [zed.zed_node]:  * '/zed/zed_node/enable_obj_det'
[component_container_mt-2] [INFO] [1730317159.056032135] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_atlas.so
[component_container_mt-2] [INFO] [1730317159.057624453] [zed.zed_node]:  * '/zed/zed_node/enable_body_trk'
[component_container_mt-2] [INFO] [1730317159.070636910] [zed.zed_node]:  * '/zed/zed_node/enable_mapping'
[component_container_mt-2] [INFO] [1730317159.072425992] [zed.zed_node]:  * '/zed/zed_node/enable_streaming'
[component_container_mt-2] [INFO] [1730317159.074284320] [zed.zed_node]:  * '/zed/zed_node/start_svo_rec'
[component_container_mt-2] [INFO] [1730317159.075953116] [zed.zed_node]:  * '/zed/zed_node/stop_svo_rec'
[component_container_mt-2] [INFO] [1730317159.077588601] [zed.zed_node]:  * '/zed/zed_node/set_roi'
[component_container_mt-2] [INFO] [1730317159.079116600] [zed.zed_node]:  * '/zed/zed_node/reset_roi'
[component_container_mt-2] [INFO] [1730317159.079223126] [zed.zed_node]: ***** STARTING CAMERA *****
[component_container_mt-2] [INFO] [1730317159.079262709] [zed.zed_node]: ZED SDK Version: 4.1.3 - Build 91256_6aa9ad15
[component_container_mt-2] 2024-10-30 20:39:19.080 WARN  gxf/std/program.cpp@532: No GXF scheduler specified.
[component_container_mt-2] [INFO] [1730317159.083828275] [yolov8_encoder.resize_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-2] [INFO] [1730317159.090270537] [zed.zed_node]: *** CAMERA OPENING ***
[component_container_mt-2] [INFO] [1730317159.099467492] [yolov8_encoder.resize_node]: [NitrosNode] Loading extensions
[component_container_mt-2] [INFO] [1730317159.099949497] [yolov8_encoder.resize_node]: [NitrosContext] Loading extension: gxf/lib/multimedia/libgxf_multimedia.so
[component_container_mt-2] [INFO] [1730317159.105129546] [yolov8_encoder.resize_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_message_compositor.so
[component_container_mt-2] [INFO] [1730317159.107372890] [yolov8_encoder.resize_node]: [NitrosContext] Loading extension: gxf/lib/cuda/libgxf_cuda.so
[component_container_mt-2] [INFO] [1730317159.112600394] [yolov8_encoder.resize_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_tensorops.so
[component_container_mt-2] [INFO] [1730317159.120756507] [yolov8_encoder.resize_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-2] [INFO] [1730317159.126155975] [yolov8_encoder.resize_node]: [NitrosNode] Running optimization
[component_container_mt-2] [INFO] [1730317159.343142202] [yolov8_encoder.resize_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-2] [INFO] [1730317159.359717526] [yolov8_encoder.resize_node]: [NitrosNode] Starting negotiation...
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/yolov8_encoder/resize_node' in container 'zed_yolov8_container'
[component_container_mt-2] [INFO] [1730317159.362231424] [zed_yolov8_container]: Load Library: /opt/ros/humble/lib/libtensor_rt_node.so
[component_container_mt-2] [INFO] [1730317159.434548177] [zed_yolov8_container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::TensorRTNode>
[component_container_mt-2] [INFO] [1730317159.434656879] [zed_yolov8_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::TensorRTNode>
[component_container_mt-2] [INFO] [1730317159.449946631] [tensor_rt]: [NitrosNode] Initializing NitrosNode
[component_container_mt-2] [INFO] [1730317159.452956359] [tensor_rt]: [NitrosNode] Starting NitrosNode
[component_container_mt-2] [INFO] [1730317159.458651916] [tensor_rt]: [NitrosNode] Loading extensions
[component_container_mt-2] [INFO] [1730317159.459529882] [tensor_rt]: [NitrosContext] Loading extension: gxf/lib/serialization/libgxf_serialization.so
[component_container_mt-2] [INFO] [1730317159.462733269] [tensor_rt]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_tensor_rt.so
[component_container_mt-2] [INFO] [1730317159.464691115] [tensor_rt]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-2] [INFO] [1730317159.466866972] [tensor_rt]: [NitrosNode] Running optimization
[component_container_mt-2] [INFO] [1730317159.486321467] [tensor_rt]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-2] [INFO] [1730317159.488120244] [tensor_rt]: [NitrosPublisherSubscriberGroup] Pinning the component "inference/rx" (type="nvidia::gxf::DoubleBufferReceiver") to use its compatible format only: "nitros_tensor_list_nchw_rgb_f32"
[component_container_mt-2] [INFO] [1730317159.488199315] [tensor_rt]: [NitrosPublisherSubscriberGroup] Pinning the component "sink/sink" (type="nvidia::isaac_ros::MessageRelay") to use its compatible format only: "nitros_tensor_list_nhwc_rgb_f32"
[component_container_mt-2] [INFO] [1730317159.495129438] [tensor_rt]: [NitrosNode] Starting negotiation...
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/tensor_rt' in container '/zed_yolov8_container'
[component_container_mt-2] [INFO] [1730317159.497240657] [zed_yolov8_container]: Load Library: /opt/ros/humble/lib/libcrop_node.so
[component_container_mt-2] [INFO] [1730317159.502879832] [zed_yolov8_container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::CropNode>
[component_container_mt-2] [INFO] [1730317159.502978102] [zed_yolov8_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::CropNode>
[component_container_mt-2] [INFO] [1730317159.525369558] [yolov8_encoder.crop_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-2] [INFO] [1730317159.530171471] [yolov8_encoder.crop_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-2] [INFO] [1730317159.548134221] [yolov8_encoder.crop_node]: [NitrosNode] Loading extensions
[component_container_mt-2] [INFO] [1730317159.549181815] [yolov8_encoder.crop_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-2] [INFO] [1730317159.554146956] [yolov8_encoder.crop_node]: [NitrosNode] Running optimization
[component_container_mt-2] [INFO] [1730317159.605544926] [yolov8_encoder.crop_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-2] [INFO] [1730317159.616677071] [yolov8_encoder.crop_node]: [NitrosNode] Starting negotiation...
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/yolov8_encoder/crop_node' in container 'zed_yolov8_container'
[component_container_mt-2] [INFO] [1730317159.618485097] [yolov8_encoder.resize_node]: Negotiating
[component_container_mt-2] [INFO] [1730317159.618904352] [zed_yolov8_container]: Load Library: /opt/ros/humble/lib/libyolov8_decoder_node.so
[component_container_mt-2] [INFO] [1730317159.620304066] [yolov8_encoder.resize_node]: Negotiating
[component_container_mt-2] [INFO] [1730317159.629236898] [zed_yolov8_container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::yolov8::YoloV8DecoderNode>
[component_container_mt-2] [INFO] [1730317159.629330944] [zed_yolov8_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::yolov8::YoloV8DecoderNode>
[component_container_mt-2] [INFO] [1730317159.630517414] [yolov8_encoder.crop_node]: Negotiating
[component_container_mt-2] [INFO] [1730317159.631947848] [yolov8_encoder.crop_node]: Could not negotiate
[component_container_mt-2] [INFO] [1730317159.631979655] [yolov8_encoder.crop_node]: Negotiating
[component_container_mt-2] [INFO] [1730317159.631989831] [yolov8_encoder.crop_node]: Could not negotiate
[component_container_mt-2] [INFO] [1730317159.651924155] [tensor_rt]: Negotiating
[component_container_mt-2] [INFO] [1730317159.652014425] [tensor_rt]: Could not negotiate
[component_container_mt-2] [INFO] [1730317159.652067672] [yolov8_decoder_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-2] [INFO] [1730317159.655690251] [zed_yolov8_container]: Load Library: /opt/ros/humble/lib/libimage_format_converter_node.so
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/yolov8_decoder_node' in container '/zed_yolov8_container'
[component_container_mt-2] [INFO] [1730317159.660058989] [zed_yolov8_container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::ImageFormatConverterNode>
[component_container_mt-2] [INFO] [1730317159.660148715] [zed_yolov8_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::ImageFormatConverterNode>
[component_container_mt-2] [INFO] [1730317159.681773851] [yolov8_encoder.image_format_converter_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-2] [INFO] [1730317159.685765382] [yolov8_encoder.image_format_converter_node]: [ImageFormatConverterNode] Set output data format to: "nitros_image_rgb8"
[component_container_mt-2] [INFO] [1730317159.686903085] [yolov8_encoder.image_format_converter_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-2] [INFO] [1730317159.701729711] [yolov8_encoder.image_format_converter_node]: [NitrosNode] Loading extensions
[component_container_mt-2] [INFO] [1730317159.702913910] [yolov8_encoder.image_format_converter_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-2] [INFO] [1730317159.705113543] [yolov8_encoder.image_format_converter_node]: [NitrosNode] Running optimization
[component_container_mt-2] [2024-10-30 19:39:19 UTC][ZED][INFO] Logging level INFO
[component_container_mt-2] [INFO] [1730317159.796299939] [yolov8_encoder.image_format_converter_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-2] [INFO] [1730317159.813687566] [yolov8_encoder.image_format_converter_node]: [NitrosPublisherSubscriberGroup] Pinning the component "sink/sink" (type="nvidia::isaac_ros::MessageRelay") to use its compatible format only: "nitros_image_rgb8"
[component_container_mt-2] [INFO] [1730317159.819613007] [yolov8_encoder.image_format_converter_node]: [NitrosNode] Starting negotiation...
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/yolov8_encoder/image_format_converter_node' in container 'zed_yolov8_container'
[component_container_mt-2] [INFO] [1730317159.821498439] [zed_yolov8_container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::ImageFormatConverterNode>
[component_container_mt-2] [INFO] [1730317159.821575877] [zed_yolov8_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::ImageFormatConverterNode>
[component_container_mt-2] [INFO] [1730317159.823753526] [yolov8_encoder.crop_node]: Negotiating
[component_container_mt-2] [INFO] [1730317159.823864724] [yolov8_encoder.resize_node]: Negotiating
[component_container_mt-2] [INFO] [1730317159.824133390] [yolov8_encoder.resize_node]: Negotiating
[component_container_mt-2] [INFO] [1730317159.828380947] [yolov8_encoder.image_format_converter_node]: Negotiating
[component_container_mt-2] [INFO] [1730317159.828452625] [yolov8_encoder.image_format_converter_node]: Could not negotiate
[component_container_mt-2] [INFO] [1730317159.835796628] [image_format_node_left]: [NitrosNode] Initializing NitrosNode
[component_container_mt-2] [INFO] [1730317159.838388956] [image_format_node_left]: [ImageFormatConverterNode] Set output data format to: "nitros_image_rgb8"
[component_container_mt-2] [INFO] [1730317159.838510170] [image_format_node_left]: [NitrosNode] Starting NitrosNode
[component_container_mt-2] [INFO] [1730317159.851541986] [image_format_node_left]: [NitrosNode] Loading extensions
[component_container_mt-2] [INFO] [1730317159.852711273] [image_format_node_left]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-2] [INFO] [1730317159.854822588] [image_format_node_left]: [NitrosNode] Running optimization
[component_container_mt-2] [INFO] [1730317159.940594732] [image_format_node_left]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-2] [INFO] [1730317159.957904697] [image_format_node_left]: [NitrosPublisherSubscriberGroup] Pinning the component "sink/sink" (type="nvidia::isaac_ros::MessageRelay") to use its compatible format only: "nitros_image_rgb8"
[component_container_mt-2] [INFO] [1730317159.962769777] [image_format_node_left]: [NitrosNode] Starting negotiation...
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/image_format_node_left' in container '/zed_yolov8_container'
[component_container_mt-2] [INFO] [1730317159.965680498] [zed_yolov8_container]: Load Library: /opt/ros/humble/lib/libimage_to_tensor_node.so
[component_container_mt-2] [INFO] [1730317159.980055582] [zed_yolov8_container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::ImageToTensorNode>
[component_container_mt-2] [INFO] [1730317159.980161276] [zed_yolov8_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::ImageToTensorNode>
[component_container_mt-2] [INFO] [1730317159.997776834] [yolov8_encoder.image_to_tensor.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-2] [INFO] [1730317159.998111195] [yolov8_encoder.image_format_converter_node]: Negotiating
[component_container_mt-2] [INFO] [1730317159.998304823] [yolov8_encoder.crop_node]: Negotiating
[component_container_mt-2] [INFO] [1730317160.000826913] [yolov8_encoder.image_to_tensor.ManagedNitrosPublisher]: Starting Managed Nitros Publisher
[component_container_mt-2] [INFO] [1730317160.034026553] [image_format_node_left]: Negotiating
[component_container_mt-2] [INFO] [1730317160.034724810] [image_format_node_left]: Negotiating
[component_container_mt-2] [INFO] [1730317160.035219391] [image_format_node_left]: Negotiating
[component_container_mt-2] [INFO] [1730317160.036530499] [yolov8_encoder.resize_node]: Negotiating
[component_container_mt-2] [INFO] [1730317160.036635425] [yolov8_encoder.resize_node]: Could not negotiate
[component_container_mt-2] [INFO] [1730317160.036704415] [yolov8_encoder.resize_node]: Negotiating
[component_container_mt-2] [INFO] [1730317160.036734110] [yolov8_encoder.resize_node]: Could not negotiate
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/yolov8_encoder/image_to_tensor' in container 'zed_yolov8_container'
[component_container_mt-2] [INFO] [1730317160.123304510] [yolov8_encoder.image_to_tensor]: Negotiating
[component_container_mt-2] [INFO] [1730317160.128627884] [zed_yolov8_container]: Load Library: /opt/ros/humble/lib/libimage_tensor_normalize_node.so
[component_container_mt-2] [INFO] [1730317160.133223721] [zed_yolov8_container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::ImageTensorNormalizeNode>
[component_container_mt-2] [INFO] [1730317160.133355366] [zed_yolov8_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::ImageTensorNormalizeNode>
[component_container_mt-2] [INFO] [1730317160.165753327] [yolov8_encoder.normalize_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-2] [INFO] [1730317160.166207014] [yolov8_encoder.image_to_tensor]: Negotiating
[component_container_mt-2] [INFO] [1730317160.171036254] [yolov8_encoder.normalize_node.ManagedNitrosPublisher]: Starting Managed Nitros Publisher
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/yolov8_encoder/normalize_node' in container 'zed_yolov8_container'
[component_container_mt-2] [INFO] [1730317160.179649541] [zed_yolov8_container]: Load Library: /opt/ros/humble/lib/libinterleaved_to_planar_node.so
[component_container_mt-2] [INFO] [1730317160.184749208] [zed_yolov8_container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::InterleavedToPlanarNode>
[component_container_mt-2] [INFO] [1730317160.184866710] [zed_yolov8_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::InterleavedToPlanarNode>
[component_container_mt-2] [INFO] [1730317160.208238976] [yolov8_encoder.interleaved_to_planar_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-2] [INFO] [1730317160.212278506] [yolov8_encoder.interleaved_to_planar_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-2] [INFO] [1730317160.226370075] [yolov8_encoder.interleaved_to_planar_node]: [NitrosNode] Loading extensions
[component_container_mt-2] [INFO] [1730317160.227991897] [yolov8_encoder.interleaved_to_planar_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-2] [INFO] [1730317160.231209588] [yolov8_encoder.interleaved_to_planar_node]: [NitrosNode] Running optimization
[component_container_mt-2] [INFO] [1730317160.240706984] [yolov8_encoder.interleaved_to_planar_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-2] [INFO] [1730317160.247843759] [yolov8_encoder.interleaved_to_planar_node]: [NitrosNode] Starting negotiation...
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/yolov8_encoder/interleaved_to_planar_node' in container 'zed_yolov8_container'
[component_container_mt-2] [INFO] [1730317160.249520651] [yolov8_encoder.normalize_node]: Negotiating
[component_container_mt-2] [INFO] [1730317160.253832942] [zed_yolov8_container]: Load Library: /opt/ros/humble/lib/libreshape_node.so
[component_container_mt-2] [INFO] [1730317160.257123944] [zed_yolov8_container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::ReshapeNode>
[component_container_mt-2] [INFO] [1730317160.257224678] [zed_yolov8_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::ReshapeNode>
[component_container_mt-2] [INFO] [1730317160.281696121] [yolov8_encoder.reshape_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-2] [INFO] [1730317160.284919220] [yolov8_encoder.reshape_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-2] [INFO] [1730317160.295171128] [yolov8_encoder.reshape_node]: [NitrosNode] Loading extensions
[component_container_mt-2] [INFO] [1730317160.296582266] [yolov8_encoder.reshape_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-2] [INFO] [1730317160.299126755] [yolov8_encoder.reshape_node]: [NitrosNode] Running optimization
[component_container_mt-2] [INFO] [1730317160.309671329] [yolov8_encoder.reshape_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-2] [INFO] [1730317160.319245972] [yolov8_encoder.reshape_node]: [NitrosNode] Starting negotiation...
[component_container_mt-2] [INFO] [1730317160.320969135] [yolov8_encoder.interleaved_to_planar_node]: Negotiating
[component_container_mt-2] [INFO] [1730317160.321665408] [yolov8_encoder.normalize_node]: Negotiating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/yolov8_encoder/reshape_node' in container 'zed_yolov8_container'
[component_container_mt-2] [INFO] [1730317160.361606631] [yolov8_encoder.resize_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-2] [INFO] [1730317160.361741828] [yolov8_encoder.resize_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-2] [INFO] [1730317160.361790339] [yolov8_encoder.resize_node]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-2] [INFO] [1730317160.361819267] [yolov8_encoder.resize_node]: [NitrosPublisher] Use only the compatible publisher: topic_name="/yolov8_encoder/resize/image", data_format="nitros_image_bgr8"
[component_container_mt-2] [INFO] [1730317160.361848610] [yolov8_encoder.resize_node]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-2] [INFO] [1730317160.361869985] [yolov8_encoder.resize_node]: [NitrosPublisher] Use only the compatible publisher: topic_name="/yolov8_encoder/resize/camera_info", data_format="nitros_camera_info"
[component_container_mt-2] [INFO] [1730317160.361897313] [yolov8_encoder.resize_node]: [NitrosSubscriber] Use the negotiated data format: "nitros_image_rgb8"
[component_container_mt-2] [INFO] [1730317160.361971135] [yolov8_encoder.resize_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-2] [INFO] [1730317160.361998783] [yolov8_encoder.resize_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/zed/zed_node/left/camera_info", data_format="nitros_camera_info"
[component_container_mt-2] [INFO] [1730317160.362054238] [yolov8_encoder.resize_node]: [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-2] [INFO] [1730317160.362527731] [yolov8_encoder.resize_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-2] [INFO] [1730317160.384859828] [yolov8_encoder.resize_node]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/PSXRXNEDSU/PSXRXNEDSU.yaml"
[component_container_mt-2] [INFO] [1730317160.385019665] [yolov8_encoder.resize_node]: [NitrosNode] Loading application
[component_container_mt-2] [INFO] [1730317160.390667448] [yolov8_encoder.reshape_node]: Negotiating
[component_container_mt-2] [INFO] [1730317160.391077775] [yolov8_encoder.interleaved_to_planar_node]: Negotiating
[component_container_mt-2] [INFO] [1730317160.391509190] [yolov8_encoder.normalize_node]: Negotiating
[component_container_mt-2] [INFO] [1730317160.397316553] [yolov8_encoder.resize_node]: [ResizeNode] postLoadGraphCallback().
[component_container_mt-2] [INFO] [1730317160.397570340] [yolov8_encoder.resize_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-2] [INFO] [1730317160.421827196] [yolov8_encoder.resize_node]: [NitrosNode] Node was started
[component_container_mt-2] [INFO] [1730317160.496243040] [tensor_rt]: [NitrosNode] Starting post negotiation setup
[component_container_mt-2] [INFO] [1730317160.496360253] [tensor_rt]: [NitrosNode] Getting data format negotiation results
[component_container_mt-2] [INFO] [1730317160.496390716] [tensor_rt]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-2] [INFO] [1730317160.496519226] [tensor_rt]: [NitrosPublisher] Use only the compatible publisher: topic_name="/yolov8_encoder/image_tensor_out", data_format="nitros_tensor_list_nhwc_rgb_f32"
[component_container_mt-2] [INFO] [1730317160.496555129] [tensor_rt]: [NitrosSubscriber] Use the negotiated data format: "nitros_tensor_list_nchw_rgb_f32"
[component_container_mt-2] [INFO] [1730317160.496841075] [tensor_rt]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-2] [INFO] [1730317160.505992559] [tensor_rt]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/UELFVMUCIQ/UELFVMUCIQ.yaml"
[component_container_mt-2] [INFO] [1730317160.506098412] [tensor_rt]: [NitrosNode] Loading application
[component_container_mt-2] 2024-10-30 20:39:20.509 WARN  gxf/std/yaml_file_loader.cpp@1077: Using unregistered parameter 'dev_id' in component 'stream'.
[component_container_mt-2] [INFO] [1730317160.510389104] [tensor_rt]: In TensorRTNode postLoadGraphCallback().
[component_container_mt-2] [INFO] [1730317160.618509825] [yolov8_encoder.crop_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-2] [INFO] [1730317160.618640703] [yolov8_encoder.crop_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-2] [INFO] [1730317160.618678878] [yolov8_encoder.crop_node]: [NitrosPublisher] Use the negotiated data format: "nitros_image_rgb8"
[component_container_mt-2] [INFO] [1730317160.618716285] [yolov8_encoder.crop_node]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-2] [INFO] [1730317160.618741149] [yolov8_encoder.crop_node]: [NitrosPublisher] Use only the compatible publisher: topic_name="/yolov8_encoder/crop/camera_info", data_format="nitros_camera_info"
[component_container_mt-2] [INFO] [1730317160.618766268] [yolov8_encoder.crop_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-2] [INFO] [1730317160.618785564] [yolov8_encoder.crop_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/yolov8_encoder/resize/image", data_format="nitros_image_bgr8"
[component_container_mt-2] [INFO] [1730317160.618806427] [yolov8_encoder.crop_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-2] [INFO] [1730317160.618823291] [yolov8_encoder.crop_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/yolov8_encoder/resize/camera_info", data_format="nitros_camera_info"
[component_container_mt-2] [INFO] [1730317160.618871066] [yolov8_encoder.crop_node]: [NitrosPublisherSubscriberGroup] Adjusted the compatible format of the component "input_compositor/image_in" (type="nvidia::gxf::DoubleBufferReceiver") from "nitros_image_bgr8" to "nitros_image_rgb8"
[component_container_mt-2] [INFO] [1730317160.619243666] [yolov8_encoder.crop_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-2] [INFO] [1730317160.656391317] [tensor_rt]: Read tensor shape information from TRT Model Engine: /workspaces/isaac_ros-dev/install/perception_setup/share/perception_setup/models/yolov8n.engine
[component_container_mt-2] [INFO] [1730317160.656845419] [tensor_rt]: Tensors 2822400 bytes, num outputs 40 x tensors per output 1 = 40 blocks
[component_container_mt-2] [INFO] [1730317160.657491133] [tensor_rt]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-2] [INFO] [1730317160.669046246] [tensor_rt]: [NitrosNode] Node was started
[component_container_mt-2] 2024-10-30 20:39:20.677 WARN  ./gxf/extensions/tensor_rt/tensor_rt_inference.cpp@155: TRT WARNING: 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-2] [INFO] [1730317160.683986181] [yolov8_encoder.crop_node]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/SBOOVLUVFM/SBOOVLUVFM.yaml"
[component_container_mt-2] [INFO] [1730317160.684122754] [yolov8_encoder.crop_node]: [NitrosNode] Loading application
[component_container_mt-2] [INFO] [1730317160.689517743] [yolov8_encoder.crop_node]: [CropNode] postLoadGraphCallback().
[component_container_mt-2] [INFO] [1730317160.689756905] [yolov8_encoder.crop_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-2] [INFO] [1730317160.702693972] [yolov8_encoder.crop_node]: [NitrosNode] Node was started
[component_container_mt-2] [INFO] [1730317160.820631059] [yolov8_encoder.image_format_converter_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-2] [INFO] [1730317160.820726065] [yolov8_encoder.image_format_converter_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-2] [INFO] [1730317160.820742896] [yolov8_encoder.image_format_converter_node]: [NitrosPublisher] Use the negotiated data format: "nitros_image_rgb8"
[component_container_mt-2] [INFO] [1730317160.820756144] [yolov8_encoder.image_format_converter_node]: [NitrosSubscriber] Use the negotiated data format: "nitros_image_rgb8"
[component_container_mt-2] [INFO] [1730317160.820984299] [yolov8_encoder.image_format_converter_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-2] [INFO] [1730317160.839919349] [yolov8_encoder.image_format_converter_node]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/HCVOVVEERZ/HCVOVVEERZ.yaml"
[component_container_mt-2] [INFO] [1730317160.840019795] [yolov8_encoder.image_format_converter_node]: [NitrosNode] Loading application
[component_container_mt-2] [INFO] [1730317160.841948969] [yolov8_encoder.image_format_converter_node]: [ImageFormatConverterNode] postLoadGraphCallback().
[component_container_mt-2] [INFO] [1730317160.842085095] [yolov8_encoder.image_format_converter_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-2] [INFO] [1730317160.848916884] [yolov8_encoder.image_format_converter_node]: [NitrosNode] Node was started
[component_container_mt-2] [INFO] [1730317160.963859379] [image_format_node_left]: [NitrosNode] Starting post negotiation setup
[component_container_mt-2] [INFO] [1730317160.963956241] [image_format_node_left]: [NitrosNode] Getting data format negotiation results
[component_container_mt-2] [INFO] [1730317160.963973041] [image_format_node_left]: [NitrosPublisher] Use the negotiated data format: "nitros_image_rgb8"
[component_container_mt-2] [INFO] [1730317160.963987440] [image_format_node_left]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-2] [INFO] [1730317160.963996624] [image_format_node_left]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/zed/zed_node/left/image_rect_color", data_format="nitros_image_rgb8"
[component_container_mt-2] [INFO] [1730317160.964259530] [image_format_node_left]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-2] [2024-10-30 19:39:20 UTC][ZED][INFO] [Init]  Depth mode: NEURAL
[component_container_mt-2] [INFO] [1730317160.986089974] [image_format_node_left]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/XWPVCGWKIT/XWPVCGWKIT.yaml"
[component_container_mt-2] [INFO] [1730317160.986246099] [image_format_node_left]: [NitrosNode] Loading application
[component_container_mt-2] [INFO] [1730317160.992172916] [image_format_node_left]: [ImageFormatConverterNode] postLoadGraphCallback().
[component_container_mt-2] [INFO] [1730317160.992398767] [image_format_node_left]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-2] [INFO] [1730317161.011685617] [image_format_node_left]: [NitrosNode] Node was started
[component_container_mt-2] [INFO] [1730317161.249695713] [yolov8_encoder.interleaved_to_planar_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-2] [INFO] [1730317161.249806142] [yolov8_encoder.interleaved_to_planar_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-2] [INFO] [1730317161.249831582] [yolov8_encoder.interleaved_to_planar_node]: [NitrosPublisher] Use the negotiated data format: "nitros_tensor_list_nchw_rgb_f32"
[component_container_mt-2] [INFO] [1730317161.249858237] [yolov8_encoder.interleaved_to_planar_node]: [NitrosSubscriber] Use the negotiated data format: "nitros_tensor_list_nhwc_rgb_f32"
[component_container_mt-2] [INFO] [1730317161.250134199] [yolov8_encoder.interleaved_to_planar_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-2] [INFO] [1730317161.255771999] [yolov8_encoder.interleaved_to_planar_node]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/GSSQNTMZPG/GSSQNTMZPG.yaml"
[component_container_mt-2] [INFO] [1730317161.255899004] [yolov8_encoder.interleaved_to_planar_node]: [NitrosNode] Loading application
[component_container_mt-2] [INFO] [1730317161.260248575] [yolov8_encoder.interleaved_to_planar_node]: In InterleavedToPlanarNode postLoadGraphCallback().
[component_container_mt-2] [INFO] [1730317161.260464506] [yolov8_encoder.interleaved_to_planar_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-2] [INFO] [1730317161.277849157] [yolov8_encoder.interleaved_to_planar_node]: [NitrosNode] Node was started
[component_container_mt-2] [INFO] [1730317161.320940969] [yolov8_encoder.reshape_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-2] [INFO] [1730317161.321043239] [yolov8_encoder.reshape_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-2] [INFO] [1730317161.321063942] [yolov8_encoder.reshape_node]: [NitrosPublisher] Use the negotiated data format: "nitros_tensor_list_nchw_rgb_f32"
[component_container_mt-2] [INFO] [1730317161.321089222] [yolov8_encoder.reshape_node]: [NitrosSubscriber] Use the negotiated data format: "nitros_tensor_list_nchw_rgb_f32"
[component_container_mt-2] [INFO] [1730317161.321365280] [yolov8_encoder.reshape_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-2] [INFO] [1730317161.325390921] [yolov8_encoder.reshape_node]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/WLDTVECASQ/WLDTVECASQ.yaml"
[component_container_mt-2] [INFO] [1730317161.325503783] [yolov8_encoder.reshape_node]: [NitrosNode] Loading application
[component_container_mt-2] [INFO] [1730317161.328263276] [yolov8_encoder.reshape_node]: In ReshapeNode postLoadGraphCallback().
[component_container_mt-2] [INFO] [1730317161.328465000] [yolov8_encoder.reshape_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-2] [INFO] [1730317161.340108174] [yolov8_encoder.reshape_node]: [NitrosNode] Node was started
[component_container_mt-2] [2024-10-30 19:39:21 UTC][ZED][INFO] [Init]  Camera successfully opened.
[component_container_mt-2] [2024-10-30 19:39:21 UTC][ZED][INFO] [Init]  Camera FW version: 1523
[component_container_mt-2] [2024-10-30 19:39:21 UTC][ZED][INFO] [Init]  Video mode: HD720@60
[component_container_mt-2] [2024-10-30 19:39:21 UTC][ZED][INFO] [Init]  Serial Number: S/N 39587354
[component_container_mt-2] [INFO] [1730317162.343516895] [zed.zed_node]: ZED SDK running on GPU #0
[component_container_mt-2] [INFO] [1730317162.343648380] [zed.zed_node]:  * Camera Model  -> ZED 2i
[component_container_mt-2] [INFO] [1730317162.343678875] [zed.zed_node]:  * Serial Number -> 39587354
[component_container_mt-2] [INFO] [1730317162.343711419] [zed.zed_node]:  * Focal Lenght -> 2.08513 mm
[component_container_mt-2] [INFO] [1730317162.343751930] [zed.zed_node]:  * Input    -> USB input type
[component_container_mt-2] [INFO] [1730317162.343779449] [zed.zed_node]:  * Camera FW Version  -> 1523
[component_container_mt-2] [INFO] [1730317162.343796761] [zed.zed_node]:  * Sensors FW Version -> 777
[component_container_mt-2] [INFO] [1730317162.343817688] [zed.zed_node]:  * Camera grab frame size -> 1280x720
[component_container_mt-2] [INFO] [1730317162.343835640] [zed.zed_node]:  * Publishing frame size  -> 1280x720
[component_container_mt-2] [INFO] [1730317162.343870679] [zed.zed_node]: *** TF FRAMES ***
[component_container_mt-2] [INFO] [1730317162.343887895] [zed.zed_node]:  * Map         -> map
[component_container_mt-2] [INFO] [1730317162.343902934] [zed.zed_node]:  * Odometry        -> odom
[component_container_mt-2] [INFO] [1730317162.343916854] [zed.zed_node]:  * Base            -> zed_camera_link
[component_container_mt-2] [INFO] [1730317162.343930806] [zed.zed_node]:  * Camera          -> zed_camera_center
[component_container_mt-2] [INFO] [1730317162.343945014] [zed.zed_node]:  * Left            -> zed_left_camera_frame
[component_container_mt-2] [INFO] [1730317162.343959125] [zed.zed_node]:  * Left Optical        -> zed_left_camera_optical_frame
[component_container_mt-2] [INFO] [1730317162.343973237] [zed.zed_node]:  * RGB         -> zed_left_camera_frame
[component_container_mt-2] [INFO] [1730317162.343987317] [zed.zed_node]:  * RGB Optical     -> zed_left_camera_optical_frame
[component_container_mt-2] [INFO] [1730317162.344001076] [zed.zed_node]:  * Right           -> zed_right_camera_frame
[component_container_mt-2] [INFO] [1730317162.344014804] [zed.zed_node]:  * Right Optical       -> zed_right_camera_optical_frame
[component_container_mt-2] [INFO] [1730317162.344028180] [zed.zed_node]:  * Depth           -> zed_left_camera_frame
[component_container_mt-2] [INFO] [1730317162.344041811] [zed.zed_node]:  * Depth Optical       -> zed_left_camera_optical_frame
[component_container_mt-2] [INFO] [1730317162.344082035] [zed.zed_node]:  * Point Cloud     -> zed_left_camera_optical_frame
[component_container_mt-2] [INFO] [1730317162.344098834] [zed.zed_node]:  * Disparity       -> zed_left_camera_frame
[component_container_mt-2] [INFO] [1730317162.344113202] [zed.zed_node]:  * Disparity Optical   -> zed_left_camera_optical_frame
[component_container_mt-2] [INFO] [1730317162.344127186] [zed.zed_node]:  * Confidence      -> zed_left_camera_frame
[component_container_mt-2] [INFO] [1730317162.344140657] [zed.zed_node]:  * Confidence Optical  -> zed_left_camera_optical_frame
[component_container_mt-2] [INFO] [1730317162.344154481] [zed.zed_node]:  * IMU         -> zed_imu_link
[component_container_mt-2] [INFO] [1730317162.344172273] [zed.zed_node]:  * Barometer       -> zed_camera_center
[component_container_mt-2] [INFO] [1730317162.344187920] [zed.zed_node]:  * Magnetometer        -> zed_imu_link
[component_container_mt-2] [INFO] [1730317162.344202064] [zed.zed_node]:  * Left Temperature    -> zed_left_camera_frame
[component_container_mt-2] [INFO] [1730317162.344538121] [zed.zed_node]:  * Right Temperature   -> zed_right_camera_frame
[component_container_mt-2] [INFO] [1730317162.344640551] [zed.zed_node]: *** PUBLISHED TOPICS ***
[component_container_mt-2] [INFO] [1730317162.535940704] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb/image_rect_color
[component_container_mt-2] [INFO] [1730317162.536923275] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb/camera_info
[component_container_mt-2] [INFO] [1730317162.547399594] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_gray/image_rect_gray
[component_container_mt-2] [INFO] [1730317162.547468297] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_gray/camera_info
[component_container_mt-2] [INFO] [1730317162.552837878] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_raw/image_raw_color
[component_container_mt-2] [INFO] [1730317162.552913620] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_raw/camera_info
[component_container_mt-2] [INFO] [1730317162.558046118] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_raw_gray/image_raw_gray
[component_container_mt-2] [INFO] [1730317162.558117188] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_raw_gray/camera_info
[component_container_mt-2] [INFO] [1730317162.564002630] [zed.zed_node]: Advertised on topic: /zed/zed_node/left/image_rect_color
[component_container_mt-2] [INFO] [1730317162.564153411] [zed.zed_node]: Advertised on topic: /zed/zed_node/left/camera_info
[component_container_mt-2] [INFO] [1730317162.570852819] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_gray/image_rect_gray
[component_container_mt-2] [INFO] [1730317162.570924082] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_gray/camera_info
[component_container_mt-2] [INFO] [1730317162.577006767] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_raw/image_raw_color
[component_container_mt-2] [INFO] [1730317162.577077870] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_raw/camera_info
[component_container_mt-2] [INFO] [1730317162.582267678] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_raw_gray/image_raw_gray
[component_container_mt-2] [INFO] [1730317162.582338045] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_raw_gray/camera_info
[component_container_mt-2] [INFO] [1730317162.588268478] [zed.zed_node]: Advertised on topic: /zed/zed_node/right/image_rect_color
[component_container_mt-2] [INFO] [1730317162.588343644] [zed.zed_node]: Advertised on topic: /zed/zed_node/right/camera_info
[component_container_mt-2] [INFO] [1730317162.594373403] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_gray/image_rect_gray
[component_container_mt-2] [INFO] [1730317162.594457625] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_gray/camera_info
[component_container_mt-2] [INFO] [1730317162.600988397] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_raw/image_raw_color
[component_container_mt-2] [INFO] [1730317162.601064107] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_raw/camera_info
[component_container_mt-2] [INFO] [1730317162.606436920] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_raw_gray/image_raw_gray
[component_container_mt-2] [INFO] [1730317162.606507031] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_raw_gray/camera_info
[component_container_mt-2] [INFO] [1730317162.612101023] [zed.zed_node]: Advertised on topic: /zed/zed_node/depth/depth_registered
[component_container_mt-2] [INFO] [1730317162.612174717] [zed.zed_node]: Advertised on topic: /zed/zed_node/depth/camera_info
[component_container_mt-2] [INFO] [1730317162.615321466] [zed.zed_node]: Advertised on topic: /zed/zed_node/depth/depth_info
[component_container_mt-2] [INFO] [1730317162.621532404] [zed.zed_node]: Advertised on topic: /zed/zed_node/stereo/image_rect_color
[component_container_mt-2] [INFO] [1730317162.626720133] [zed.zed_node]: Advertised on topic: /zed/zed_node/stereo_raw/image_raw_color
[component_container_mt-2] [INFO] [1730317162.627593778] [zed.zed_node]: Advertised on topic: /zed/zed_node/confidence/confidence_map
[component_container_mt-2] [INFO] [1730317162.630775182] [zed.zed_node]: Advertised on topic: /zed/zed_node/disparity/disparity_image
[component_container_mt-2] [INFO] [1730317162.654707341] [zed.zed_node]: Advertised on topic: /zed/zed_node/point_cloud/cloud_registered
[component_container_mt-2] [INFO] [1730317162.657012700] [zed.zed_node]: Advertised on topic: /zed/zed_node/pose
[component_container_mt-2] [INFO] [1730317162.659328874] [zed.zed_node]: Advertised on topic: /zed/zed_node/pose/status
[component_container_mt-2] [INFO] [1730317162.661555482] [zed.zed_node]: Advertised on topic: /zed/zed_node/pose_with_covariance
[component_container_mt-2] [INFO] [1730317162.664983665] [zed.zed_node]: Advertised on topic: /zed/zed_node/odom
[component_container_mt-2] [INFO] [1730317162.667431292] [zed.zed_node]: Advertised on topic: /zed/zed_node/path_map
[component_container_mt-2] [INFO] [1730317162.669610413] [zed.zed_node]: Advertised on topic: /zed/zed_node/path_odom
[component_container_mt-2] [INFO] [1730317162.673478106] [zed.zed_node]: Advertised on topic: /zed/plane_marker
[component_container_mt-2] [INFO] [1730317162.676478970] [zed.zed_node]: Advertised on topic: /zed/plane
[component_container_mt-2] [INFO] [1730317162.678914694] [zed.zed_node]: Advertised on topic: /zed/zed_node/imu/data
[component_container_mt-2] [INFO] [1730317162.681152918] [zed.zed_node]: Advertised on topic: /zed/zed_node/imu/data_raw
[component_container_mt-2] [INFO] [1730317162.683618081] [zed.zed_node]: Advertised on topic: /zed/zed_node/temperature/imu
[component_container_mt-2] [INFO] [1730317162.686111947] [zed.zed_node]: Advertised on topic: /zed/zed_node/imu/mag
[component_container_mt-2] [INFO] [1730317162.688393851] [zed.zed_node]: Advertised on topic: /zed/zed_node/atm_press
[component_container_mt-2] [INFO] [1730317162.690568748] [zed.zed_node]: Advertised on topic: /zed/zed_node/temperature/left
[component_container_mt-2] [INFO] [1730317162.692824891] [zed.zed_node]: Advertised on topic: /zed/zed_node/temperature/right
[component_container_mt-2] [INFO] [1730317162.695081739] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_cam_imu_transform
[component_container_mt-2] [INFO] [1730317162.695173289] [zed.zed_node]: Camera-IMU Translation: 
[component_container_mt-2]  -0.002 -0.023061 0.000217
[component_container_mt-2] [INFO] [1730317162.695227304] [zed.zed_node]: Camera-IMU Rotation:
[component_container_mt-2] FFFFA3FFC6C0
[component_container_mt-2] 0.999970 0.007774 0.000491
[component_container_mt-2] -0.007774 0.999970 0.000808
[component_container_mt-2] -0.000485 -0.000812 1.000000
[component_container_mt-2] 
[component_container_mt-2] [INFO] [1730317162.695328550] [zed.zed_node]: *** Subscribers ***
[component_container_mt-2] [INFO] [1730317162.697978637] [zed.zed_node]:  * Plane detection: '/clicked_point'
[component_container_mt-2] [INFO] [1730317162.816760826] [zed.zed_node]: *** Starting Positional Tracking ***
[component_container_mt-2] [INFO] [1730317162.816870039] [zed.zed_node]:  * Waiting for valid static transformations...
[component_container_mt-2] [INFO] [1730317162.817008980] [zed.zed_node]:  Static transform ref. CMOS Sensor to Base [zed_left_camera_frame -> zed_camera_link]
[component_container_mt-2] [INFO] [1730317162.817034356] [zed.zed_node]:   * Translation: {0.010,-0.060,-0.015}
[component_container_mt-2] [INFO] [1730317162.817048435] [zed.zed_node]:   * Rotation: {0.000,-0.000,0.000}
[component_container_mt-2] [INFO] [1730317162.817076179] [zed.zed_node]:  Static transform ref. CMOS Sensor to Camera Center [zed_left_camera_frame -> zed_camera_center]
[component_container_mt-2] [INFO] [1730317162.817088787] [zed.zed_node]:   * Translation: {0.010,-0.060,0.000}
[component_container_mt-2] [INFO] [1730317162.817098226] [zed.zed_node]:   * Rotation: {0.000,-0.000,0.000}
[component_container_mt-2] [INFO] [1730317162.817117586] [zed.zed_node]:  Static transform Camera Center to Base [zed_camera_center -> zed_camera_link]
[component_container_mt-2] [INFO] [1730317162.817128626] [zed.zed_node]:   * Translation: {0.000,0.000,-0.015}
[component_container_mt-2] [INFO] [1730317162.817137937] [zed.zed_node]:   * Rotation: {0.000,-0.000,0.000}
[component_container_mt-2] [INFO] [1730317162.818213658] [zed.zed_node]: Initial ZED left camera pose (ZED pos. tracking): 
[component_container_mt-2] [INFO] [1730317162.818257273] [zed.zed_node]:  * T: [-0.01,0.06,0.015]
[component_container_mt-2] [INFO] [1730317162.818281849] [zed.zed_node]:  * Q: [0,0,0,1]
[component_container_mt-2] 2024-10-30 20:39:23.922 ERROR ./gxf/extensions/tensor_rt/tensor_rt_inference.cpp@576: Failed to retrieve Tensor input_tensor
[component_container_mt-2] 2024-10-30 20:39:23.922 ERROR gxf/std/entity_executor.cpp@552: Failed to tick codelet  in entity: UELFVMUCIQ_inference code: GXF_FAILURE
[component_container_mt-2] [ERROR] [1730317163.964770254] [NitrosTensorListView]: [GetAnyNamedTensor] failed to get GXF tensor of name : [output_tensor] : GXF_ENTITY_COMPONENT_NOT_FOUND
[component_container_mt-2] terminate called after throwing an instance of 'std::runtime_error'
[component_container_mt-2]   what():  [GetAnyNamedTensor] failed to get GXF tensor of name : [output_tensor] : GXF_ENTITY_COMPONENT_NOT_FOUND
[ERROR] [component_container_mt-2]: process has died [pid 92068, exit code -6, cmd '/opt/ros/humble/lib/rclcpp_components/component_container_mt --ros-args --log-level INFO --ros-args -r __node:=zed_yolov8_container -r __ns:=/'].
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[robot_state_publisher-1] [INFO] [1730317173.839703743] [rclcpp]: signal_handler(signum=2)
[INFO] [robot_state_publisher-1]: process has finished cleanly [pid 92066]
admin@ubuntu:/workspaces/isaac_ros-dev$

The codebase:

import os
from ament_index_python.packages import get_package_share_directory
import launch
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import ComposableNodeContainer, Node
from launch_ros.descriptions import ComposableNode
from launch.conditions import UnlessCondition, IfCondition

# Define the default container name for composable nodes
DEFAULT_CONTAINER_NAME = 'zed_yolov8_container'

def generate_launch_description():
    # Declare common launch arguments
    container_name_arg = DeclareLaunchArgument(
        'container_name',
        default_value=DEFAULT_CONTAINER_NAME,
        description='Name of the container to load the composable nodes into'
    )
    run_standalone_arg = DeclareLaunchArgument(
        'run_standalone',
        default_value='False',
        description='Run the nodes as standalone if set to True'
    )

    # Launch configuration for the container name and run_standalone
    container_name = LaunchConfiguration('container_name')
    run_standalone = LaunchConfiguration('run_standalone')

    # Path to the ZED launch file (adjust the path as needed)
    zed_launch_path = os.path.join(get_package_share_directory('perception_setup'), 'launch', 'zed_composable_node_launch.py')

    # Include the ZED launch file
    zed_launch = IncludeLaunchDescription(
        PythonLaunchDescriptionSource([zed_launch_path]),
        launch_arguments={
            'container_name': container_name,
            'run_standalone': run_standalone, # Pass the run_standalone argument to the ZED launch
        }.items(),
    )

    # Define the default values for the YOLOv8 composable node configurations
    model_file_path_arg = DeclareLaunchArgument(
        'model_file_path',
        default_value=os.path.join(get_package_share_directory('perception_setup'), 'models', 'yolov8n.onnx'),
        description='Path to the ONNX model file'
    )
    engine_file_path_arg = DeclareLaunchArgument(
        'engine_file_path',
        default_value=os.path.join(get_package_share_directory('perception_setup'), 'models', 'yolov8n.engine'),
        description='Path to the TensorRT engine file'
    )

    confidence_threshold_arg = DeclareLaunchArgument(
        'confidence_threshold',
        default_value='0.5',
        description='Confidence threshold for object detection'
    )
    nms_threshold_arg = DeclareLaunchArgument(
        'nms_threshold',
        default_value='0.5',
        description='Non-maximum suppression threshold for object detection'
    )
    image_input_topic_arg = DeclareLaunchArgument(
        'image_input_topic',
        default_value='image_rect',
        description='Input image topic for object detection'
    )
    camera_info_input_topic_arg = DeclareLaunchArgument(
        'camera_info_input_topic',
        default_value='/zed/zed_node/left/camera_info',
        description='Input camera info topic for object detection'
    )
    tensor_output_topic_arg = DeclareLaunchArgument(
        'tensor_output_topic',
        default_value='/yolov8_encoder/image_tensor_out',
        description='Output tensor topic for object detection'
    )

    input_tensor_name_arg = DeclareLaunchArgument(
            'input_tensor_names',
            default_value='["input_tensor"]',
            description='A list of tensor names to bound to the specified input binding names')

    output_tensor_name_arg = DeclareLaunchArgument(
            'output_tensor_names',
            default_value='["output_tensor"]',
            description='A list of tensor names to bound to the specified output binding names')

    # TensorRT and YOLOv8 composable node configurations
    model_file_path = LaunchConfiguration('model_file_path')
    engine_file_path = LaunchConfiguration('engine_file_path')

    confidence_threshold = LaunchConfiguration('confidence_threshold')
    nms_threshold = LaunchConfiguration('nms_threshold')

    image_input_topic = LaunchConfiguration('image_input_topic')
    camera_info_input_topic = LaunchConfiguration('camera_info_input_topic')
    tensor_output_topic = LaunchConfiguration('tensor_output_topic')

    input_tensor_names = LaunchConfiguration('input_tensor_names')
    output_tensor_names = LaunchConfiguration('output_tensor_names')

    # First step is to convert from bgr8 to rgb8
    image_format_converter_node_left = ComposableNode(
                package='isaac_ros_image_proc',
                plugin='nvidia::isaac_ros::image_proc::ImageFormatConverterNode',
                name='image_format_node_left',
                parameters=[{
                    'encoding_desired': 'rgb8',
                    'image_width': 1280,
                    'image_height': 720,
                }],
                remappings=[
                    ('image_raw', '/zed/zed_node/left/image_rect_color'),
                    ('image', '/yolov8_encoder/image_rect')]
            )

    # To find binding names run 
    # trtexec --loadEngine=<path_to_your_model.engine> --verbose
    tensor_rt_node = ComposableNode(
        name='tensor_rt',
        package='isaac_ros_tensor_rt',
        plugin='nvidia::isaac_ros::dnn_inference::TensorRTNode',
        parameters=[{

            'model_file_path': model_file_path,
            'engine_file_path': engine_file_path,
            'output_binding_names': ["output0"],
            'output_tensor_names': ["output_tensor"],  # ROS-specific output tensor name
            'input_tensor_names': ["input_tensor"],    # ROS-specific input tensor name
            'input_binding_names': ["images"],         # TensorRT engine binding names
            'verbose': True,
            'force_engine_update': False
        }],
        remappings=[('tensor_pub', '/yolov8_encoder/image_tensor'),
                    ('tensor_sub', '/yolov8_encoder/image_tensor_out')],
    )

    yolov8_decoder_node = ComposableNode(
        name='yolov8_decoder_node',
        package='isaac_ros_yolov8',
        plugin='nvidia::isaac_ros::yolov8::YoloV8DecoderNode',
        parameters=[{
            'confidence_threshold': confidence_threshold,
            'nms_threshold': nms_threshold,
            'output_tensor': 'output_tensor'
        }],
        remappings=[
            ('tensor_sub', '/yolov8_encoder/image_tensor_out'),
                    ('detections_output', '/yolov8/detections')],
    )

    # Include the DNN Image Encoder launch (adjust the paths accordingly)
    encoder_dir = get_package_share_directory('isaac_ros_dnn_image_encoder')
    yolov8_encoder_launch = IncludeLaunchDescription(
        PythonLaunchDescriptionSource(
            [os.path.join(encoder_dir, 'launch', 'dnn_image_encoder.launch.py')]
        ),
        launch_arguments={
            'input_image_width': '1280',
            'input_image_height': '720',
            'network_image_width': '640',
            'network_image_height': '640',
            'image_mean': '[0.0, 0.0, 0.0]',
            'image_stddev': '[1.0, 1.0, 1.0]',
            'attach_to_shared_component_container': 'True',
            'component_container_name': container_name,
            'dnn_image_encoder_namespace': 'yolov8_encoder',
            'image_input_topic': image_input_topic,
            'camera_info_input_topic': camera_info_input_topic,
            'tensor_output_topic': tensor_output_topic,
            'final_tensor_name': 'input_tensor'
        }.items(),
    )

    # Define the image resize node for the left camera to visualize the YOLOv8 output
    # image_resize_node_left = ComposableNode(
    #     package='isaac_ros_image_proc',
    #     plugin='nvidia::isaac_ros::image_proc::ResizeNode',
    #     name='image_resize_node_left',
    #     parameters=[{
    #             'output_width': 640,
    #             'output_height': 640,
    #             'encoding_desired': 'rgb8',
    #     }],
    #     remappings=[
    #         ('camera_info', '/zed/zed_node/left/camera_info'),
    #         ('image', '/zed/zed_node/left/image_rect_color'),
    #         ('resize/camera_info', '/zed/zed_node/left/camera_info_resize'),
    #         ('resize/image', '/zed/zed_node/left/image_rect_color')]
    # )

    # yolov8_visualizer_node = Node(
    #     package='isaac_ros_yolov8',
    #     executable='isaac_ros_yolov8_visualizer.py',
    #     name='yolov8_visualizer',
    #     remappings=[('yolov8_encoder/resize/image', '/zed/zed_node/left/image_rect_color'),
    #                 ('detections_output', '/yolov8/detections')],

    # )

    # Combine the ZED launch and the YOLOv8 setup into a single launch description
    return LaunchDescription([
        container_name_arg,
        run_standalone_arg,
        model_file_path_arg,
        engine_file_path_arg,
        confidence_threshold_arg,
        nms_threshold_arg,
        image_input_topic_arg,
        camera_info_input_topic_arg,
        tensor_output_topic_arg,
        input_tensor_name_arg,
        output_tensor_name_arg,

        zed_launch,
        yolov8_encoder_launch,
        ComposableNodeContainer(
            name=container_name,
            namespace='',
            package='rclcpp_components',
            executable='component_container_mt',
            # composable_node_descriptions=[yolov8_decoder_node, image_format_converter_node_left],
            composable_node_descriptions=[tensor_rt_node, yolov8_decoder_node, image_format_converter_node_left],
            # composable_node_descriptions=[tensor_rt_node, image_format_converter_node_left],

            # composable_node_descriptions=[image_format_converter_node_left],

            output='screen',
            arguments=['--ros-args', '--log-level', 'INFO'],
            condition=UnlessCondition(run_standalone),
        ),
        # yolov8_visualizer_node,
    ])

Thanks for any help in advance!

NVIDIA-ISAAC-ROS / isaac_ros_object_detection

Cuda bindings mismatch error using custom trained model #32