No output from topic /processor/epd_localize_output

[Srikiranrao]

Hi ROS-I team, I have deployed the localisation as shown. It can output the image msg in /processor/output. However, there is no output from /processor/epd_localize_output. Same issue for the following topic: /processor/epd_p1_output /processor/epd_p2_output /processor/epd_p3_output

[cardboardcode]

It looks like you are currently on the "Visualize" mode. To view outputs on the /processor/epd_localize_output, ensure that you have selected the "Action" mode under the EPD's Deploy Graphical User Interface(GUI).

[Dcrypt]

Hi, I have changed to Action mode. However, there is an error when running the grasp_planning node from EMD or when echoing from topic /processor/epd_localize_output. The terminal does not show any OBJ detection values, except FPS value. The showimage shown is from image_raw to ensure the object is within camera's view

Error: terminate called after throwing an instance of 'eprosima::fastcdr::exception::NotEnoughMemoryException' what(): Not enough memory in the buffer stream

``

[cardboardcode]

@Dcrypt

The terminal does not show any OBJ detection values, except FPS value.

This is expected behaviour. So no worries there. Users are meant to view the localization results via ros2 topic ehco /processor/epd_localize_output under Action mode.

Error: terminate called after throwing an instance of 'eprosima::fastcdr::exception::NotEnoughMemoryException' what(): Not enough memory in the buffer stream

This is unexpected behaviour. If it is okay, please show the terminal output after running the following command:

nvidia-smi

You should get a result similar to the output below:

Wed Apr 14 17:57:54 2021       
+-----------------------------------------------------------------------------+
| NVIDIA-SMI 440.100      Driver Version: 440.100      CUDA Version: 10.2     |
|-------------------------------+----------------------+----------------------+
| GPU  Name        Persistence-M| Bus-Id        Disp.A | Volatile Uncorr. ECC |
| Fan  Temp  Perf  Pwr:Usage/Cap|         Memory-Usage | GPU-Util  Compute M. |
|===============================+======================+======================|
|   0  GeForce GTX 106...  Off  | 00000000:01:00.0  On |                  N/A |
|  0%   42C    P0    29W / 120W |    556MiB /  6075MiB |      1%      Default |
+-------------------------------+----------------------+----------------------+

+-----------------------------------------------------------------------------+
| Processes:                                                       GPU Memory |
|  GPU       PID   Type   Process name                             Usage      |
|=============================================================================|
|    0      1208      G   /usr/lib/xorg/Xorg                            35MiB |
|    0      2336      G   /usr/lib/xorg/Xorg                           287MiB |
|    0      2468      G   /usr/bin/gnome-shell                         121MiB |
|    0      4276      G   /usr/lib/firefox/firefox                       1MiB |
|    0     10662      G   /usr/lib/firefox/firefox                       1MiB |
|    0     13304      G   /usr/lib/firefox/firefox                       1MiB |
|    0     18048      G   ...SitePerProcess --gpu-preferences=IAAAAA    94MiB |
+-----------------------------------------------------------------------------+

If more information of the GPU you are using can be provided, it would be useful in helping to deduce the cause of this error.

[cardboardcode]

@Dcrypt Also, you can have a look at this external issue under eProsima to have a better understanding of the error in question:

https://github.com/ros2/rmw_fastrtps/issues/191#issuecomment-374157667

[Dcrypt]

Thu Apr 15 11:03:01 2021       
+-----------------------------------------------------------------------------+
| NVIDIA-SMI 460.39       Driver Version: 460.39       CUDA Version: 11.2     |
|-------------------------------+----------------------+----------------------+
| GPU  Name        Persistence-M| Bus-Id        Disp.A | Volatile Uncorr. ECC |
| Fan  Temp  Perf  Pwr:Usage/Cap|         Memory-Usage | GPU-Util  Compute M. |
|                               |                      |               MIG M. |
|===============================+======================+======================|
|   0  Quadro P4000        Off  | 00000000:01:00.0  On |                  N/A |
| 52%   49C    P0    31W / 105W |   1760MiB /  8111MiB |     72%      Default |
|                               |                      |                  N/A |
+-------------------------------+----------------------+----------------------+

+-----------------------------------------------------------------------------+
| Processes:                                                                  |
|  GPU   GI   CI        PID   Type   Process name                  GPU Memory |
|        ID   ID                                                   Usage      |
|=============================================================================|
|    0   N/A  N/A      1128      G   /usr/lib/xorg/Xorg                 39MiB |
|    0   N/A  N/A      1859      G   /usr/lib/xorg/Xorg                100MiB |
|    0   N/A  N/A      1997      G   /usr/bin/gnome-shell              106MiB |
|    0   N/A  N/A      6370      G   gnome-control-center                2MiB |
|    0   N/A  N/A     13744      C   ...tion_deployment/processor     1501MiB |
+-----------------------------------------------------------------------------+

[Dcrypt]

I managed to echo from the topic when I open new terminal and source /opt/ros/foxy/setup.bash and epd_msgs only. Once I source the EMD workspace, the NotEnoughMemoryException will appear for both topic echo and grasp_planning_node.

[cardboardcode]

Hmm... Interesting. Noted.

@Dcrypt Thank you for reporting this issue and its solution.

Closing issue.

Solution

1. Open new terminal.
2. Source ROS2 Foxy: source /opt/ros/foxy/setup.bash
3. Source epd_msgs: source easy_perception_deployment/epd_msgs/install/setup.bash

   Do not source EMD workspace in the same terminal.