search

NVIDIA-ISAAC-ROS / isaac_ros_visual_slam

Visual SLAM/odometry package based on NVIDIA-accelerated cuVSLAM
https://developer.nvidia.com/isaac-ros-gems
Apache License 2.0
908 stars 144 forks source link

Transform is impossible error in IsaacSim setting #172

Open delenius opened 4 months ago

delenius commented 4 months ago

I am trying to run via the docker container and IsaacSim, exactly according to these instructions.

I am getting this error from the ros2 launch command:

$ ros2 launch isaac_ros_visual_slam isaac_ros_visual_slam_isaac_sim.launch.py
[INFO] [launch]: All log files can be found below /home/admin/.ros/log/2024-07-19-16-22-56-878144-isaac-isaaclab3-1521
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container-1]: process started with pid [1531]
[component_container-1] [INFO] [1721406177.208677985] [visual_slam_launch_container]: Load Library: /opt/ros/humble/lib/libvisual_slam_node.so
[component_container-1] [INFO] [1721406177.546464722] [visual_slam_launch_container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::visual_slam::VisualSlamNode>
[component_container-1] [INFO] [1721406177.546536463] [visual_slam_launch_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::visual_slam::VisualSlamNode>
[component_container-1] [INFO] [1721406177.557724688] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/std/libgxf_std.so
[component_container-1] [INFO] [1721406177.563932174] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_gxf_helpers.so
[component_container-1] [INFO] [1721406177.568349956] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_sight.so
[component_container-1] [INFO] [1721406177.573472977] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_atlas.so
[component_container-1] 2024-07-19 16:22:57.588 WARN  external/com_nvidia_gxf/gxf/std/program.cpp@532: No GXF scheduler specified.
[component_container-1] [INFO] [1721406177.588166741] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/multimedia/libgxf_multimedia.so
[component_container-1] [INFO] [1721406177.595610345] [visual_slam_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container-1] [INFO] [1721406177.597912797] [visual_slam_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container-1] [INFO] [1721406177.623850247] [visual_slam_node]: cuVSLAM version: 12.2
[component_container-1] [INFO] [1721406177.907287548] [visual_slam_node]: Time taken by CUVSLAM_WarmUpGPU(): 0.283388
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/visual_slam_node' in container '/visual_slam_launch_container'
[component_container-1] [INFO] [1721406177.931708098] [visual_slam_node]: Initializing cuVSLAM.
[component_container-1] [ERROR] [1721406184.105847826] [visual_slam_node]: Transform is impossible. canTransform(base_link->front_stereo_camera_left_optical) returns false
[component_container-1] [INFO] [1721406190.365531194] [visual_slam_node]: Could not transform front_stereo_camera_left_optical to base_link: Lookup would require extrapolation into the past.  Requested time 2.533333 but the earliest data is at time 2.550000, when looking up transform from frame [front_stereo_camera_left_optical] to frame [base_link]
[component_container-1] terminate called after throwing an instance of 'std::runtime_error'
[component_container-1]   what():  Could not find the requested transform!
[ERROR] [component_container-1]: process has died [pid 1531, exit code -6, cmd '/opt/ros/humble/lib/rclcpp_components/component_container --ros-args -r __node:=visual_slam_launch_container -r __ns:=/'].
admin@isaac-isaaclab3:/workspaces/isaac_ros-dev$ ros2 launch isaac_ros_visual_slam isaac_ros_visual_slam_isaac_sim.launch.py
[INFO] [launch]: All log files can be found below /home/admin/.ros/log/2024-07-19-16-24-29-148527-isaac-isaaclab3-1544
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container-1]: process started with pid [1554]
[component_container-1] [INFO] [1721406269.489956372] [visual_slam_launch_container]: Load Library: /opt/ros/humble/lib/libvisual_slam_node.so
[component_container-1] [INFO] [1721406269.555689035] [visual_slam_launch_container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::visual_slam::VisualSlamNode>
[component_container-1] [INFO] [1721406269.555747966] [visual_slam_launch_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::visual_slam::VisualSlamNode>
[component_container-1] [INFO] [1721406269.566959005] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/std/libgxf_std.so
[component_container-1] [INFO] [1721406269.572439478] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_gxf_helpers.so
[component_container-1] [INFO] [1721406269.576144254] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_sight.so
[component_container-1] [INFO] [1721406269.580029732] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_atlas.so
[component_container-1] 2024-07-19 16:24:29.595 WARN  external/com_nvidia_gxf/gxf/std/program.cpp@532: No GXF scheduler specified.
[component_container-1] [INFO] [1721406269.595940413] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/multimedia/libgxf_multimedia.so
[component_container-1] [INFO] [1721406269.603836482] [visual_slam_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container-1] [INFO] [1721406269.605973245] [visual_slam_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container-1] [INFO] [1721406269.632523026] [visual_slam_node]: cuVSLAM version: 12.2
[component_container-1] [INFO] [1721406269.915252087] [visual_slam_node]: Time taken by CUVSLAM_WarmUpGPU(): 0.282677
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/visual_slam_node' in container '/visual_slam_launch_container'
[component_container-1] [INFO] [1721406269.925931149] [visual_slam_node]: Initializing cuVSLAM.
[component_container-1] [ERROR] [1721406276.115626953] [visual_slam_node]: Transform is impossible. canTransform(base_link->front_stereo_camera_left_optical) returns false
[component_container-1] [INFO] [1721406282.632923365] [visual_slam_node]: Could not transform front_stereo_camera_left_optical to base_link: Lookup would require extrapolation into the past.  Requested time 17.216668 but the earliest data is at time 17.233334, when looking up transform from frame [front_stereo_camera_left_optical] to frame [base_link]
[component_container-1] terminate called after throwing an instance of 'std::runtime_error'
[component_container-1]   what():  Could not find the requested transform!
[ERROR] [component_container-1]: process has died [pid 1554, exit code -6, cmd '/opt/ros/humble/lib/rclcpp_components/component_container --ros-args -r __node:=visual_slam_launch_container -r __ns:=/'].
silence-moon commented 3 weeks ago

I also meet the same error when launch isaac_ros_examples.launch.py with playing dual camera topics. Did you solve it ?