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NVIDIA-ISAAC-ROS / isaac_ros_pose_estimation

Deep learned, NVIDIA-accelerated 3D object pose estimation
https://developer.nvidia.com/isaac-ros-gems
Apache License 2.0
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[centerpose_decoder_node.NitrosSubscriber]: 10.0s passed while waiting to push a message entity (eid=1614) to the receiver camera_model_input #43

Open Yeager-101 opened 2 months ago

Yeager-101 commented 2 months ago

When I try to use centerpose to start the node ros2 launch isaac_ros_centerpose isaac_ros_centerpose_tensor_rt.launch.py ​​model_file_path:=/home/nvidia/Chen/centerpose/bottle_DLA34.onnx engine_file_path:=/home/nvidia/Chen/centerpose/bottle.plan, the terminal appears the following problem:

[INFO] [launch]: All log files can be found below /home/nvidia/.ros/log/2024-07-03-22-03-07-667750-ubuntu-20821
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container_mt-1]: process started with pid [20842]
[component_container_mt-1] [INFO] [1720015388.060679791] [centerpose_container]: Load Library: /opt/ros/humble/lib/libtensor_rt_node.so
[component_container_mt-1] [INFO] [1720015388.134159284] [centerpose_container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::TensorRTNode>
[component_container_mt-1] [INFO] [1720015388.134249330] [centerpose_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::TensorRTNode>
[component_container_mt-1] [INFO] [1720015388.139843306] [centerpose_inference]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1720015388.140262690] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/std/libgxf_std.so
[component_container_mt-1] [INFO] [1720015388.143588356] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_gxf_helpers.so
[component_container_mt-1] [INFO] [1720015388.148251405] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_sight.so
[component_container_mt-1] [INFO] [1720015388.153292015] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_atlas.so
[component_container_mt-1] 2024-07-03 22:03:08.165 WARN  gxf/std/program.cpp@532: No GXF scheduler specified.
[component_container_mt-1] [INFO] [1720015388.166755923] [centerpose_inference]: [TensorRTNode] Set input data format to: "nitros_tensor_list_nchw_rgb_f32"
[component_container_mt-1] [INFO] [1720015388.166812210] [centerpose_inference]: [TensorRTNode] Set output data format to: "nitros_tensor_list_nhwc_rgb_f32"
[component_container_mt-1] [INFO] [1720015388.166853394] [centerpose_inference]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1720015388.170892198] [centerpose_inference]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1720015388.170967813] [centerpose_inference]: [NitrosContext] Loading extension: gxf/lib/multimedia/libgxf_multimedia.so
[component_container_mt-1] [INFO] [1720015388.174443748] [centerpose_inference]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_message_compositor.so
[component_container_mt-1] [INFO] [1720015388.175484433] [centerpose_inference]: [NitrosContext] Loading extension: gxf/lib/cuda/libgxf_cuda.so
[component_container_mt-1] [INFO] [1720015388.178943248] [centerpose_inference]: [NitrosContext] Loading extension: gxf/lib/serialization/libgxf_serialization.so
[component_container_mt-1] [INFO] [1720015388.180159769] [centerpose_inference]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_tensor_rt.so
[component_container_mt-1] [INFO] [1720015388.181827578] [centerpose_inference]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1720015388.183663832] [centerpose_inference]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1720015388.200557117] [centerpose_inference]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1720015388.202033313] [centerpose_inference]: [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] [1720015388.202088896] [centerpose_inference]: [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] [1720015388.206588652] [centerpose_inference]: [NitrosNode] Starting negotiation...
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/centerpose_inference' in container '/centerpose_container'
[component_container_mt-1] [INFO] [1720015388.207498747] [centerpose_container]: Load Library: /opt/ros/humble/lib/libresize_node.so
[component_container_mt-1] [INFO] [1720015388.227484966] [centerpose_container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::ResizeNode>
[component_container_mt-1] [INFO] [1720015388.227572133] [centerpose_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::ResizeNode>
[component_container_mt-1] [INFO] [1720015388.233267674] [centerpose_encoder.resize_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1720015388.234201161] [centerpose_encoder.resize_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1720015388.245175676] [centerpose_encoder.resize_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1720015388.245321529] [centerpose_encoder.resize_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_tensorops.so
[component_container_mt-1] [INFO] [1720015388.250240638] [centerpose_encoder.resize_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1720015388.254562573] [centerpose_encoder.resize_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1720015388.437379002] [centerpose_encoder.resize_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1720015388.456850383] [centerpose_encoder.resize_node]: [NitrosNode] Starting negotiation...
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/centerpose_encoder/resize_node' in container 'centerpose_container'
[component_container_mt-1] [INFO] [1720015388.458160374] [centerpose_container]: Load Library: /opt/ros/humble/lib/libcenterpose_decoder_node.so
[component_container_mt-1] [INFO] [1720015388.461621174] [centerpose_container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::centerpose::CenterPoseDecoderNode>
[component_container_mt-1] [INFO] [1720015388.461678069] [centerpose_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::centerpose::CenterPoseDecoderNode>
[component_container_mt-1] [INFO] [1720015388.469589345] [centerpose_decoder_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1720015388.470258357] [centerpose_decoder_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1720015388.473979727] [centerpose_decoder_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1720015388.474149644] [centerpose_decoder_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_centerpose.so
[component_container_mt-1] [INFO] [1720015388.479528520] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_messages.so
[component_container_mt-1] [INFO] [1720015388.480724977] [centerpose_decoder_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1720015388.482627278] [centerpose_decoder_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1720015388.488595006] [centerpose_decoder_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1720015388.496111602] [centerpose_decoder_node]: [NitrosNode] Starting negotiation...
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/centerpose_decoder_node' in container '/centerpose_container'
[component_container_mt-1] [INFO] [1720015388.496744966] [centerpose_inference]: Negotiating
[component_container_mt-1] [INFO] [1720015388.496809925] [centerpose_inference]: Could not negotiate
[component_container_mt-1] [INFO] [1720015388.497189470] [centerpose_container]: Load Library: /opt/ros/humble/lib/libcrop_node.so
[component_container_mt-1] [INFO] [1720015388.500545631] [centerpose_container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::CropNode>
[component_container_mt-1] [INFO] [1720015388.500601470] [centerpose_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::CropNode>
[component_container_mt-1] [INFO] [1720015388.508742662] [centerpose_encoder.crop_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1720015388.510135053] [centerpose_encoder.crop_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1720015388.522545765] [centerpose_encoder.crop_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1720015388.522759425] [centerpose_encoder.crop_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1720015388.525807688] [centerpose_encoder.crop_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1720015388.569600855] [centerpose_encoder.crop_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1720015388.577394598] [centerpose_encoder.crop_node]: [NitrosNode] Starting negotiation...
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/centerpose_encoder/crop_node' in container 'centerpose_container'
[component_container_mt-1] [INFO] [1720015388.578470705] [centerpose_encoder.resize_node]: Negotiating
[component_container_mt-1] [INFO] [1720015388.578667854] [centerpose_container]: Load Library: /opt/ros/humble/lib/libcenterpose_visualizer_node.so
[component_container_mt-1] [INFO] [1720015388.579378977] [centerpose_encoder.resize_node]: Negotiating
[component_container_mt-1] [INFO] [1720015388.582597732] [centerpose_container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::centerpose::CenterPoseVisualizerNode>
[component_container_mt-1] [INFO] [1720015388.582641956] [centerpose_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::centerpose::CenterPoseVisualizerNode>
[component_container_mt-1] [INFO] [1720015388.583243608] [centerpose_encoder.crop_node]: Negotiating
[component_container_mt-1] [INFO] [1720015388.583648593] [centerpose_encoder.crop_node]: Could not negotiate
[component_container_mt-1] [INFO] [1720015388.583667632] [centerpose_encoder.crop_node]: Negotiating
[component_container_mt-1] [INFO] [1720015388.583676944] [centerpose_encoder.crop_node]: Could not negotiate
[component_container_mt-1] [INFO] [1720015388.589543395] [centerpose_visualizer_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1720015388.590347924] [centerpose_visualizer_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1720015388.594073198] [centerpose_visualizer_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1720015388.594286314] [centerpose_visualizer_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1720015388.595549107] [centerpose_visualizer_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1720015388.599765380] [centerpose_visualizer_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1720015388.609651212] [centerpose_visualizer_node]: [NitrosNode] Starting negotiation...
[component_container_mt-1] [INFO] [1720015388.610332991] [centerpose_decoder_node]: Negotiating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/centerpose_visualizer_node' in container '/centerpose_container'
[component_container_mt-1] [INFO] [1720015388.610584090] [centerpose_inference]: Negotiating
[component_container_mt-1] [INFO] [1720015388.610644889] [centerpose_inference]: Could not negotiate
[component_container_mt-1] [INFO] [1720015388.610747543] [centerpose_container]: Load Library: /opt/ros/humble/lib/libimage_format_converter_node.so
[component_container_mt-1] [INFO] [1720015388.613200553] [centerpose_container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::ImageFormatConverterNode>
[component_container_mt-1] [INFO] [1720015388.613249321] [centerpose_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::ImageFormatConverterNode>
[component_container_mt-1] [INFO] [1720015388.621808649] [centerpose_encoder.image_format_converter_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1720015388.622729816] [centerpose_encoder.image_format_converter_node]: [ImageFormatConverterNode] Set output data format to: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1720015388.622833366] [centerpose_encoder.image_format_converter_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1720015388.633143605] [centerpose_encoder.image_format_converter_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1720015388.633319826] [centerpose_encoder.image_format_converter_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1720015388.634737976] [centerpose_encoder.image_format_converter_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1720015388.708973966] [centerpose_encoder.image_format_converter_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1720015388.723080455] [centerpose_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-1] [INFO] [1720015388.726260652] [centerpose_encoder.image_format_converter_node]: [NitrosNode] Starting negotiation...
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/centerpose_encoder/image_format_converter_node' in container 'centerpose_container'
[component_container_mt-1] [INFO] [1720015388.727091516] [centerpose_encoder.crop_node]: Negotiating
[component_container_mt-1] [INFO] [1720015388.727437910] [centerpose_encoder.resize_node]: Negotiating
[component_container_mt-1] [INFO] [1720015388.727795791] [centerpose_encoder.resize_node]: Negotiating
[component_container_mt-1] [INFO] [1720015388.728081418] [centerpose_encoder.image_format_converter_node]: Negotiating
[component_container_mt-1] [INFO] [1720015388.728104426] [centerpose_encoder.image_format_converter_node]: Could not negotiate
[component_container_mt-1] [INFO] [1720015388.729308307] [centerpose_container]: Load Library: /opt/ros/humble/lib/libimage_to_tensor_node.so
[component_container_mt-1] [ERROR] [1720015388.730105060] [centerpose_container]: Failed to load library: Could not load library dlopen error: libcvcuda.so.0: cannot open shared object file: No such file or directory, at ./src/shared_library.c:99
[ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node 'image_to_tensor' of type 'nvidia::isaac_ros::dnn_inference::ImageToTensorNode' in container 'centerpose_container': Failed to load library: Could not load library dlopen error: libcvcuda.so.0: cannot open shared object file: No such file or directory, at ./src/shared_library.c:99
[component_container_mt-1] [INFO] [1720015388.755699687] [centerpose_container]: Load Library: /opt/ros/humble/lib/libimage_tensor_normalize_node.so
[component_container_mt-1] [ERROR] [1720015388.756321019] [centerpose_container]: Failed to load library: Could not load library dlopen error: libcvcuda.so.0: cannot open shared object file: No such file or directory, at ./src/shared_library.c:99
[ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node 'normalize_node' of type 'nvidia::isaac_ros::dnn_inference::ImageTensorNormalizeNode' in container 'centerpose_container': Failed to load library: Could not load library dlopen error: libcvcuda.so.0: cannot open shared object file: No such file or directory, at ./src/shared_library.c:99
[component_container_mt-1] [INFO] [1720015388.759578942] [centerpose_container]: Load Library: /opt/ros/humble/lib/libinterleaved_to_planar_node.so
[component_container_mt-1] [INFO] [1720015388.761357533] [centerpose_container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::InterleavedToPlanarNode>
[component_container_mt-1] [INFO] [1720015388.761413756] [centerpose_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::InterleavedToPlanarNode>
[component_container_mt-1] [INFO] [1720015388.768329627] [centerpose_encoder.interleaved_to_planar_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1720015388.769192267] [centerpose_encoder.interleaved_to_planar_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1720015388.774981919] [centerpose_encoder.interleaved_to_planar_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1720015388.775127708] [centerpose_encoder.interleaved_to_planar_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1720015388.776727038] [centerpose_encoder.interleaved_to_planar_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1720015388.781818655] [centerpose_encoder.interleaved_to_planar_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1720015388.785343230] [centerpose_encoder.interleaved_to_planar_node]: [NitrosNode] Starting negotiation...
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/centerpose_encoder/interleaved_to_planar_node' in container 'centerpose_container'
[component_container_mt-1] [INFO] [1720015388.788781565] [centerpose_container]: Load Library: /opt/ros/humble/lib/libreshape_node.so
[component_container_mt-1] [INFO] [1720015388.790756985] [centerpose_container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::ReshapeNode>
[component_container_mt-1] [INFO] [1720015388.790803288] [centerpose_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::ReshapeNode>
[component_container_mt-1] [INFO] [1720015388.798695204] [centerpose_encoder.reshape_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1720015388.799666514] [centerpose_encoder.reshape_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1720015388.805439623] [centerpose_encoder.reshape_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1720015388.805590468] [centerpose_encoder.reshape_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1720015388.807184998] [centerpose_encoder.reshape_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1720015388.812571362] [centerpose_encoder.reshape_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1720015388.816337051] [centerpose_encoder.reshape_node]: [NitrosNode] Starting negotiation...
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/centerpose_encoder/reshape_node' in container 'centerpose_container'
[component_container_mt-1] [INFO] [1720015388.817313257] [centerpose_encoder.interleaved_to_planar_node]: Negotiating
[component_container_mt-1] [INFO] [1720015388.886999477] [centerpose_encoder.reshape_node]: Negotiating
[component_container_mt-1] [INFO] [1720015388.887129874] [centerpose_encoder.interleaved_to_planar_node]: Negotiating
[component_container_mt-1] [INFO] [1720015389.207228065] [centerpose_inference]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1720015389.207323615] [centerpose_inference]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1720015389.207349182] [centerpose_inference]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1720015389.207360798] [centerpose_inference]: [NitrosPublisher] Use only the compatible publisher: topic_name="/tensor_sub", data_format="nitros_tensor_list_nhwc_rgb_f32"
[component_container_mt-1] [INFO] [1720015389.207371966] [centerpose_inference]: [NitrosSubscriber] Use the negotiated data format: "nitros_tensor_list_nchw_rgb_f32"
[component_container_mt-1] [INFO] [1720015389.207684952] [centerpose_inference]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1720015389.212375809] [centerpose_inference]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/DYQQERNXCW/DYQQERNXCW.yaml"
[component_container_mt-1] [INFO] [1720015389.212443327] [centerpose_inference]: [NitrosNode] Loading application
[component_container_mt-1] 2024-07-03 22:03:09.214 WARN  gxf/std/yaml_file_loader.cpp@1077: Using unregistered parameter 'dev_id' in component 'stream'.
[component_container_mt-1] [INFO] [1720015389.214923697] [centerpose_inference]: In TensorRTNode postLoadGraphCallback().
[component_container_mt-1] [INFO] [1720015389.324162365] [centerpose_inference]: Read tensor shape information from TRT Model Engine: /home/nvidia/Chen/centerpose/bottle.plan
[component_container_mt-1] [INFO] [1720015389.324370713] [centerpose_inference]: Tensors 6400 bytes, num outputs 40 x tensors per output 7 = 280 blocks
[component_container_mt-1] [INFO] [1720015389.324534454] [centerpose_inference]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1720015389.328163090] [centerpose_inference]: [NitrosNode] Node was started
[component_container_mt-1] 2024-07-03 22:03:09.352 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-1] [INFO] [1720015389.457971262] [centerpose_encoder.resize_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1720015389.458060636] [centerpose_encoder.resize_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1720015389.458075324] [centerpose_encoder.resize_node]: [NitrosPublisher] Use the negotiated data format: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1720015389.458088668] [centerpose_encoder.resize_node]: [NitrosPublisher] Use the negotiated data format: "nitros_camera_info"
[component_container_mt-1] [INFO] [1720015389.458098491] [centerpose_encoder.resize_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1720015389.458105883] [centerpose_encoder.resize_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/image", data_format="nitros_image_bgr8"
[component_container_mt-1] [INFO] [1720015389.458184698] [centerpose_encoder.resize_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1720015389.458194842] [centerpose_encoder.resize_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/camera_info", data_format="nitros_camera_info"
[component_container_mt-1] [INFO] [1720015389.458221337] [centerpose_encoder.resize_node]: [NitrosPublisherSubscriberGroup] Adjusted the compatible format of the component "sync/image_in" (type="nvidia::gxf::DoubleBufferReceiver") from "nitros_image_bgr8" to "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1720015389.458430869] [centerpose_encoder.resize_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1720015389.467704648] [centerpose_encoder.resize_node]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/ZQWGZUFNZS/ZQWGZUFNZS.yaml"
[component_container_mt-1] [INFO] [1720015389.467784903] [centerpose_encoder.resize_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1720015389.472776426] [centerpose_encoder.resize_node]: [ResizeNode] postLoadGraphCallback().
[component_container_mt-1] [INFO] [1720015389.472947463] [centerpose_encoder.resize_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1720015389.496880456] [centerpose_decoder_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1720015389.496963527] [centerpose_decoder_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1720015389.496978535] [centerpose_decoder_node]: [NitrosPublisher] Use the negotiated data format: "nitros_detection3_d_array"
[component_container_mt-1] [INFO] [1720015389.496991334] [centerpose_decoder_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1720015389.497000038] [centerpose_decoder_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/tensor_sub", data_format="nitros_tensor_list_nchw_rgb_f32"
[component_container_mt-1] [INFO] [1720015389.497013094] [centerpose_decoder_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1720015389.497019270] [centerpose_decoder_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/camera_info", data_format="nitros_camera_info"
[component_container_mt-1] [INFO] [1720015389.497234338] [centerpose_decoder_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1720015389.540058467] [centerpose_decoder_node]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/RSACMKTBUR/RSACMKTBUR.yaml"
[component_container_mt-1] [INFO] [1720015389.540146626] [centerpose_decoder_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1720015389.578414328] [centerpose_encoder.crop_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1720015389.578501943] [centerpose_encoder.crop_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1720015389.578517942] [centerpose_encoder.crop_node]: [NitrosPublisher] Use the negotiated data format: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1720015389.578528886] [centerpose_encoder.crop_node]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1720015389.578538518] [centerpose_encoder.crop_node]: [NitrosPublisher] Use only the compatible publisher: topic_name="/centerpose_encoder/crop/camera_info", data_format="nitros_camera_info"
[component_container_mt-1] [INFO] [1720015389.578548374] [centerpose_encoder.crop_node]: [NitrosSubscriber] Use the negotiated data format: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1720015389.578589269] [centerpose_encoder.crop_node]: [NitrosSubscriber] Use the negotiated data format: "nitros_camera_info"
[component_container_mt-1] [INFO] [1720015389.578813073] [centerpose_encoder.crop_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] libEGL warning: DRI3: failed to query the version
[component_container_mt-1] libEGL warning: DRI2: failed to authenticate
[component_container_mt-1] [INFO] [1720015389.610331941] [centerpose_visualizer_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1720015389.610427043] [centerpose_visualizer_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1720015389.610443939] [centerpose_visualizer_node]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1720015389.610455651] [centerpose_visualizer_node]: [NitrosPublisher] Use only the compatible publisher: topic_name="/centerpose/image_visualized", data_format="nitros_image_bgr8"
[component_container_mt-1] [INFO] [1720015389.610527745] [centerpose_visualizer_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1720015389.610539585] [centerpose_visualizer_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/image", data_format="nitros_image_bgr8"
[component_container_mt-1] [INFO] [1720015389.610550433] [centerpose_visualizer_node]: [NitrosSubscriber] Use the negotiated data format: "nitros_detection3_d_array"
[component_container_mt-1] [INFO] [1720015389.610559553] [centerpose_visualizer_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1720015389.610566209] [centerpose_visualizer_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/camera_info", data_format="nitros_camera_info"
[component_container_mt-1] [INFO] [1720015389.610748285] [centerpose_visualizer_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1720015389.612970452] [centerpose_visualizer_node]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/JKMGOUOCFY/JKMGOUOCFY.yaml"
[component_container_mt-1] [INFO] [1720015389.613056402] [centerpose_visualizer_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1720015389.618013526] [centerpose_encoder.crop_node]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/HEXQQQFLBM/HEXQQQFLBM.yaml"
[component_container_mt-1] [INFO] [1720015389.618082677] [centerpose_encoder.crop_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1720015389.632397610] [centerpose_encoder.resize_node]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1720015389.640420084] [centerpose_visualizer_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1720015389.643529242] [centerpose_visualizer_node]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1720015389.643562266] [centerpose_encoder.crop_node]: [CropNode] postLoadGraphCallback().
[component_container_mt-1] [INFO] [1720015389.643583961] [centerpose_decoder_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1720015389.647268564] [centerpose_decoder_node]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1720015389.647411570] [centerpose_encoder.crop_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1720015389.654886022] [centerpose_encoder.crop_node]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1720015389.726975494] [centerpose_encoder.image_format_converter_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1720015389.727059621] [centerpose_encoder.image_format_converter_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1720015389.727073637] [centerpose_encoder.image_format_converter_node]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1720015389.727084804] [centerpose_encoder.image_format_converter_node]: [NitrosPublisher] Use only the compatible publisher: topic_name="/centerpose_encoder/converted/image", data_format="nitros_image_rgb8"
[component_container_mt-1] [INFO] [1720015389.727097284] [centerpose_encoder.image_format_converter_node]: [NitrosSubscriber] Use the negotiated data format: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1720015389.727332128] [centerpose_encoder.image_format_converter_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1720015389.739456414] [centerpose_encoder.image_format_converter_node]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/UVJSJWKDRW/UVJSJWKDRW.yaml"
[component_container_mt-1] [INFO] [1720015389.739538108] [centerpose_encoder.image_format_converter_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1720015389.741757331] [centerpose_encoder.image_format_converter_node]: [ImageFormatConverterNode] postLoadGraphCallback().
[component_container_mt-1] [INFO] [1720015389.741884848] [centerpose_encoder.image_format_converter_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1720015389.747288780] [centerpose_encoder.image_format_converter_node]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1720015389.786299124] [centerpose_encoder.interleaved_to_planar_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1720015389.786379091] [centerpose_encoder.interleaved_to_planar_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1720015389.786402002] [centerpose_encoder.interleaved_to_planar_node]: [NitrosPublisher] Use the negotiated data format: "nitros_tensor_list_nchw_rgb_f32"
[component_container_mt-1] [INFO] [1720015389.786643822] [centerpose_encoder.interleaved_to_planar_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1720015389.786660942] [centerpose_encoder.interleaved_to_planar_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/centerpose_encoder/normalized_tensor", data_format="nitros_tensor_list_nhwc_rgb_f32"
[component_container_mt-1] [INFO] [1720015389.786856906] [centerpose_encoder.interleaved_to_planar_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1720015389.789989840] [centerpose_encoder.interleaved_to_planar_node]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/OGREIAFSSX/OGREIAFSSX.yaml"
[component_container_mt-1] [INFO] [1720015389.790054414] [centerpose_encoder.interleaved_to_planar_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1720015389.792294469] [centerpose_encoder.interleaved_to_planar_node]: In InterleavedToPlanarNode postLoadGraphCallback().
[component_container_mt-1] [INFO] [1720015389.792470401] [centerpose_encoder.interleaved_to_planar_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1720015389.799248515] [centerpose_encoder.interleaved_to_planar_node]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1720015389.817108182] [centerpose_encoder.reshape_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1720015389.817183573] [centerpose_encoder.reshape_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1720015389.817199668] [centerpose_encoder.reshape_node]: [NitrosPublisher] Use the negotiated data format: "nitros_tensor_list_nchw_rgb_f32"
[component_container_mt-1] [INFO] [1720015389.817219284] [centerpose_encoder.reshape_node]: [NitrosSubscriber] Use the negotiated data format: "nitros_tensor_list_nchw_rgb_f32"
[component_container_mt-1] [INFO] [1720015389.817450320] [centerpose_encoder.reshape_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1720015389.820658164] [centerpose_encoder.reshape_node]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/NIMLREPFDX/NIMLREPFDX.yaml"
[component_container_mt-1] [INFO] [1720015389.820708403] [centerpose_encoder.reshape_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1720015389.823513982] [centerpose_encoder.reshape_node]: In ReshapeNode postLoadGraphCallback().
[component_container_mt-1] [INFO] [1720015389.823713723] [centerpose_encoder.reshape_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1720015389.837260638] [centerpose_encoder.reshape_node]: [NitrosNode] Node was started
[component_container_mt-1] [WARN] [1720015405.465157381] [centerpose_visualizer_node.NitrosSubscriber]: 10.0s passed while waiting to push a message entity (eid=1298) to the receiver video_buffer_input
[component_container_mt-1] [WARN] [1720015405.811588983] [centerpose_decoder_node.NitrosSubscriber]: 10.0s passed while waiting to push a message entity (eid=1614) to the receiver camera_model_input
[component_container_mt-1] [WARN] [1720015405.820685199] [centerpose_visualizer_node.NitrosSubscriber]: 10.0s passed while waiting to push a message entity (eid=1602) to the receiver camera_model_input
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)

I don't know why this problem occurs. There is no image output in my "/centerpose/image_visualized" topic. My "/image" and "/camera_info" topics are normal.

huihui6666 commented 1 month ago

I encounter the similar problem, do you solve it?

Yeager-101 commented 1 month ago

我遇到了类似的问题，你解决了吗？

After I changed the system to ubuntu20.04 and JetPack5 version, everything was normal. I don’t know why it can’t run normally on ubuntu22.04 and JetPack6.

huihui6666 commented 1 month ago

我遇到了类似的问题，你解决了吗？

After I changed the system to ubuntu20.04 and JetPack5 version, everything was normal. I don’t know why it can’t run normally on ubuntu22.04 and JetPack6.

Thanks, although it is a really strange problem

Yeager-101 commented 1 week ago

我遇到了类似的问题，你解决了吗？

After I changed the system to ubuntu20.04 and JetPack5 version, everything was normal. I don’t know why it can’t run normally on ubuntu22.04 and JetPack6.

Thanks, although it is a really strange problem

I recently rebuilt the development environment of Isaac_ros and tried the centerpose algorithm again. This time I succeeded (successful within 10 minutes). If you need it, I have the following suggestions:

  1. Development environment ubuntu22.04 JetPack6.0
  2. It is not recommended to install the package in apt form. It is recommended to compile and install it in source code form, because I found that there seems to be some problems with the opencv version when installing in apt form
  3. After the source code is compiled, modify the corresponding path in the launch file, especially the model path
  4. If you have not modified the camera subscribed in the source code, please use ros2 run topic_tools relay ...Complete the mapping of /camera/color/image_raw and /camera/color/camera_info topics. Centerpose needs /image and /camera_info. If you don't want to use relay to remap topics, you can go to src and modify the two topics in the source code (both cpp files need to be modified). After modifying them to your own corresponding topics, modify /camera and /camera_info in the launch file to the topics you need. Re-colcon build --symlink-packages ... and you're done.
  5. Finally, source the install/setup.bash of the compiled package, and then start the node and you will find that everything is normal. Currently, I found an additional problem in my test. When multiple objects of the same type appear in the camera's field of view at the same time, the program will directly have a similar interruption problem. This is also the problem I am currently thinking about. I hope the above suggestions will be helpful to you.