isaac_ros_nvblox
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NVIDIA-ISAAC-ROS
Nvblox with ORBBEC Gemini 2 L
I have been spending quite some time trying to adapt nvblox to work with the Gemini 2 L camera. I have created and added the following to the nvblox_examples_bringup package/directory:
- gemini2L.launch.py
- gemini2L_rviz.launch.py
- gemini2L_visualization.launch.py
- gemini2L_example.launch.py
- gemini2L_example.rviz
- nvblox_gemini2L.yaml
As well as updated all the necessary launch files that call these things, and even update the NvbloxCamera class to include the gemini2L camera configuration. I am curious if you would know how to help me if I am able to provide the error messages I am receiving when running my example launch file, or if you have seen them before. I also have made sure that the rqt node graph matches the one when running the realsense example (except I am not using a splitter node).
I will provide the terminal outputs below. Any help or suggestions would be helpful, and correct me if I am wrong but I believe the problems I am having now are the "camera_link", "odom", and "map" frames which (specifically odom and map) are not being made by my orbbec_camera node.
Basically what would be extremely helpful are (1) maybe a checklist of what exactly is being used in the nvblox examples, like a node graph but more specific about the launch files and config files, (2) more comments or README files in the code so I don't need to go line-by-line through every file in every directory to understand what is going on, (3) any suggestions on where to possibly fix the errors/outputs I will paste below. Thanks so much in advance :)
admin@ia-li-jrwh924:/workspaces/isaac_ros-dev$ ros2 launch nvblox_examples_bringup gemini2L_example.launch.py [INFO] [launch]: All log files can be found below /home/admin/.ros/log/2024-07-01-15-26-27-378798-ia-li-jrwh924.unirobotts.local-13664 [INFO] [launch]: Default logging verbosity is set to INFO Using container type: component_container_mt, with arguments: ['--ros-args', '--log-level', <launch.substitutions.launch_configuration.LaunchConfiguration object at 0x7040254ce500>] [INFO] [launch.user]: Adding nodes [ /nvblox_node ] to container nvblox_container. [INFO] [launch.user]: Starting nvblox for 'gemini2L' in mode 'static' [INFO] [component_container-1]: process started with pid [13675] [INFO] [rviz2-2]: process started with pid [13677] [INFO] [component_container_mt-3]: process started with pid [13679] [rviz2-2] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-admin' [rviz2-2] [INFO] [1719840387.664104723] [rviz2]: Stereo is NOT SUPPORTED [rviz2-2] [INFO] [1719840387.664145128] [rviz2]: OpenGl version: 4.6 (GLSL 4.6) [rviz2-2] [INFO] [1719840387.674105472] [rviz2]: Stereo is NOT SUPPORTED [component_container-1] [INFO] [1719840387.704151439] [camera.camera_container]: Load Library: /workspaces/isaac_ros-dev/install/orbbec_camera/lib/liborbbec_camera.so [component_container_mt-3] [INFO] [1719840387.711547495] [nvblox_container]: Load Library: /workspaces/isaac_ros-dev/install/nvblox_ros/lib/libnvblox_ros_lib.so [component_container_mt-3] [INFO] [1719840387.724737898] [nvblox_container]: Found class: rclcpp_components::NodeFactoryTemplate<nvblox::NvbloxHumanNode> [component_container_mt-3] [INFO] [1719840387.724771645] [nvblox_container]: Found class: rclcpp_components::NodeFactoryTemplate<nvblox::NvbloxNode> [component_container_mt-3] [INFO] [1719840387.724774965] [nvblox_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvblox::NvbloxNode> [component_container-1] [INFO] [1719840387.739696521] [camera.camera_container]: Found class: rclcpp_components::NodeFactoryTemplate<orbbec_camera::OBCameraNodeDriver> [component_container-1] [INFO] [1719840387.739738026] [camera.camera_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<orbbec_camera::OBCameraNodeDriver> [component_container-1] [07/01 15:26:27.742028][info][13675][Context.cpp:68] Context created with config: /workspaces/isaac_ros-dev/install/orbbec_camera/share/orbbec_camera/config/OrbbecSDKConfig_v1.0.xml [component_container-1] [07/01 15:26:27.742035][info][13675][Context.cpp:73] Work directory=/workspaces/isaac_ros-dev, SDK version=v1.10.8-20240604-d1671a3 [component_container-1] [07/01 15:26:27.742042][info][13675][LinuxPal.cpp:32] createObPal: create LinuxPal! [rviz2-2] [INFO] [1719840387.757619689] [rviz2]: Stereo is NOT SUPPORTED [rviz2-2] [INFO] [1719840387.776417401] [rviz2]: Stereo is NOT SUPPORTED [component_container-1] [07/01 15:26:27.814068][info][13675][LinuxPal.cpp:143] Create PollingDeviceWatcher! [component_container-1] [07/01 15:26:27.814103][info][13675][DeviceManager.cpp:15] Current found device(s): (1) [component_container-1] [07/01 15:26:27.814106][info][13675][DeviceManager.cpp:24] - Name: Orbbec Gemini 2 L, PID: 0x0673, SN/ID: AY8ZA3300C2, Connection: USB3.0 [component_container-1] [07/01 15:26:27.814305][info][13675][DeviceManager.cpp:304] Enable net device enumeration: false [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/camera/camera/camera' in container '/camera/camera_container' [component_container-1] [INFO] [1719840387.914536760] [camera.camera.camera]: Connecting to the default device [component_container_mt-3] WARNING: Logging before InitGoogleLogging() is written to STDERR [component_container_mt-3] I0701 15:26:27.983114 13697 block_memory_pool_impl.h:55] Expanding the memory pool with 2048 blocks. Number of allocated blocks: 2048 [component_container_mt-3] I0701 15:26:27.984287 13697 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_9TsdfVoxelEEE, voxel_size: 0.05, and memory_type: kDevice to LayerCake. [component_container_mt-3] I0701 15:26:27.987907 13697 block_memory_pool_impl.h:55] Expanding the memory pool with 2048 blocks. Number of allocated blocks: 2048 [component_container_mt-3] I0701 15:26:27.987922 13697 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_10ColorVoxelEEE, voxel_size: 0.05, and memory_type: kDevice to LayerCake. [component_container_mt-3] I0701 15:26:27.991540 13697 block_memory_pool_impl.h:55] Expanding the memory pool with 2048 blocks. Number of allocated blocks: 2048 [component_container_mt-3] I0701 15:26:27.991740 13697 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_14FreespaceVoxelEEE, voxel_size: 0.05, and memory_type: kDevice to LayerCake. [component_container_mt-3] I0701 15:26:27.994746 13697 block_memory_pool_impl.h:55] Expanding the memory pool with 2048 blocks. Number of allocated blocks: 2048 [component_container_mt-3] I0701 15:26:27.994755 13697 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_14OccupancyVoxelEEE, voxel_size: 0.05, and memory_type: kDevice to LayerCake. [component_container_mt-3] I0701 15:26:27.998272 13697 block_memory_pool_impl.h:55] Expanding the memory pool with 2048 blocks. Number of allocated blocks: 2048 [component_container_mt-3] I0701 15:26:27.998533 13697 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_9EsdfVoxelEEE, voxel_size: 0.05, and memory_type: kDevice to LayerCake. [component_container_mt-3] I0701 15:26:27.998756 13697 block_memory_pool_impl.h:55] Expanding the memory pool with 2048 blocks. Number of allocated blocks: 2048 [component_container_mt-3] I0701 15:26:27.998762 13697 layer_cake_impl.h:32] Adding Layer with type: N6nvblox10BlockLayerINS_9MeshBlockEEE, voxel_size: 0.05, and memory_type: kDevice to LayerCake. [component_container_mt-3] I0701 15:26:28.003527 13697 block_memory_pool_impl.h:55] Expanding the memory pool with 2048 blocks. Number of allocated blocks: 2048 [component_container_mt-3] I0701 15:26:28.003999 13697 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_9TsdfVoxelEEE, voxel_size: 0.05, and memory_type: kDevice to LayerCake. [component_container_mt-3] I0701 15:26:28.007756 13697 block_memory_pool_impl.h:55] Expanding the memory pool with 2048 blocks. Number of allocated blocks: 2048 [component_container_mt-3] I0701 15:26:28.007776 13697 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_10ColorVoxelEEE, voxel_size: 0.05, and memory_type: kDevice to LayerCake. [component_container_mt-3] I0701 15:26:28.011477 13697 block_memory_pool_impl.h:55] Expanding the memory pool with 2048 blocks. Number of allocated blocks: 2048 [component_container_mt-3] I0701 15:26:28.011636 13697 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_14FreespaceVoxelEEE, voxel_size: 0.05, and memory_type: kDevice to LayerCake. [component_container_mt-3] I0701 15:26:28.014493 13697 block_memory_pool_impl.h:55] Expanding the memory pool with 2048 blocks. Number of allocated blocks: 2048 [component_container_mt-3] I0701 15:26:28.014504 13697 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_14OccupancyVoxelEEE, voxel_size: 0.05, and memory_type: kDevice to LayerCake. [component_container_mt-3] I0701 15:26:28.018043 13697 block_memory_pool_impl.h:55] Expanding the memory pool with 2048 blocks. Number of allocated blocks: 2048 [component_container_mt-3] I0701 15:26:28.018258 13697 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_9EsdfVoxelEEE, voxel_size: 0.05, and memory_type: kDevice to LayerCake. [component_container_mt-3] I0701 15:26:28.018487 13697 block_memory_pool_impl.h:55] Expanding the memory pool with 2048 blocks. Number of allocated blocks: 2048 [component_container_mt-3] I0701 15:26:28.018493 13697 layer_cake_impl.h:32] Adding Layer with type: N6nvblox10BlockLayerINS_9MeshBlockEEE, voxel_size: 0.05, and memory_type: kDevice to LayerCake. [component_container_mt-3] [INFO] [1719840388.019527563] [nvblox_node]: Initialize Mapper: [component_container_mt-3] [INFO] [1719840388.019562382] [nvblox_node]: static_mapper.do_depth_preprocessing: 0 [component_container_mt-3] [INFO] [1719840388.019573964] [nvblox_node]: static_mapper.depth_preprocessing_num_dilations: 3 [component_container_mt-3] [INFO] [1719840388.019587248] [nvblox_node]: static_mapper.mesh_bandwidth_limit_mbps: 1e+09 [component_container_mt-3] [INFO] [1719840388.019592408] [nvblox_node]: static_mapper.esdf_slice_min_height: -0.1 [component_container_mt-3] [INFO] [1719840388.019596630] [nvblox_node]: static_mapper.esdf_slice_max_height: 0.3 [component_container_mt-3] [INFO] [1719840388.019600816] [nvblox_node]: static_mapper.esdf_slice_height: 0 [component_container_mt-3] [INFO] [1719840388.019605060] [nvblox_node]: static_mapper.exclude_last_view_from_decay: 1 [component_container_mt-3] [INFO] [1719840388.019609446] [nvblox_node]: static_mapper.projective_integrator_max_integration_distance_m: 5 [component_container_mt-3] [INFO] [1719840388.019614810] [nvblox_node]: static_mapper.lidar_projective_integrator_max_integration_distance_m: 10 [component_container_mt-3] [INFO] [1719840388.019618898] [nvblox_node]: static_mapper.projective_integrator_truncation_distance_vox: 4 [component_container_mt-3] [INFO] [1719840388.019626775] [nvblox_node]: static_mapper.projective_integrator_weighting_mode: inverse_square_tsdf_distance_penalty [component_container_mt-3] [INFO] [1719840388.019636802] [nvblox_node]: static_mapper.projective_integrator_max_weight: 5 [component_container_mt-3] [INFO] [1719840388.019641266] [nvblox_node]: static_mapper.free_region_occupancy_probability: 0.45 [component_container_mt-3] [INFO] [1719840388.019646006] [nvblox_node]: static_mapper.occupied_region_occupancy_probability: 0.55 [component_container_mt-3] [INFO] [1719840388.019650561] [nvblox_node]: static_mapper.unobserved_region_occupancy_probability: 0.5 [component_container_mt-3] [INFO] [1719840388.019654974] [nvblox_node]: static_mapper.occupied_region_half_width_m: 0.1 [component_container_mt-3] [INFO] [1719840388.019659050] [nvblox_node]: static_mapper.esdf_integrator_min_weight: 0.1 [component_container_mt-3] [INFO] [1719840388.019663622] [nvblox_node]: static_mapper.esdf_integrator_max_site_distance_vox: 5 [component_container_mt-3] [INFO] [1719840388.019667881] [nvblox_node]: static_mapper.esdf_integrator_max_distance_m: 2 [component_container_mt-3] [INFO] [1719840388.019672346] [nvblox_node]: static_mapper.mesh_integrator_min_weight: 0.1 [component_container_mt-3] [INFO] [1719840388.019676399] [nvblox_node]: static_mapper.mesh_integrator_weld_vertices: 1 [component_container_mt-3] [INFO] [1719840388.019680807] [nvblox_node]: static_mapper.tsdf_decay_factor: 0.95 [component_container_mt-3] [INFO] [1719840388.019685478] [nvblox_node]: static_mapper.tsdf_decayed_weight_threshold: 0.001 [component_container_mt-3] [INFO] [1719840388.019689476] [nvblox_node]: static_mapper.tsdf_set_free_distance_on_decayed: 0 [component_container_mt-3] [INFO] [1719840388.019693559] [nvblox_node]: static_mapper.tsdf_decayed_free_distance_vox: 4 [component_container_mt-3] [INFO] [1719840388.019697514] [nvblox_node]: static_mapper.tsdf_deallocate_on_decayed: 1 [component_container_mt-3] [INFO] [1719840388.019701682] [nvblox_node]: static_mapper.free_region_decay_probability: 0.55 [component_container_mt-3] [INFO] [1719840388.019705926] [nvblox_node]: static_mapper.occupied_region_decay_probability: 0.4 [component_container_mt-3] [INFO] [1719840388.019709877] [nvblox_node]: static_mapper.occupancy_deallocate_on_decayed: 1 [component_container_mt-3] [INFO] [1719840388.019714156] [nvblox_node]: static_mapper.max_tsdf_distance_for_occupancy_m: 0.15 [component_container_mt-3] [INFO] [1719840388.019722888] [nvblox_node]: static_mapper.max_unobserved_to_keep_consecutive_occupancy_ms: 200 [component_container_mt-3] [INFO] [1719840388.019727421] [nvblox_node]: static_mapper.min_duration_since_occupied_for_freespace_ms: 1000 [component_container_mt-3] [INFO] [1719840388.019731619] [nvblox_node]: static_mapper.min_consecutive_occupancy_duration_for_reset_ms: 2000 [component_container_mt-3] [INFO] [1719840388.019735871] [nvblox_node]: static_mapper.check_neighborhood: 1 [component_container_mt-3] [INFO] [1719840388.019740028] [nvblox_node]: static_mapper.mesh_streamer_exclusion_height_m: 2 [component_container_mt-3] [INFO] [1719840388.019744238] [nvblox_node]: static_mapper.mesh_streamer_exclusion_radius_m: 7 [component_container_mt-3] [INFO] [1719840388.019748015] [nvblox_node]: Initialize Mapper: [component_container_mt-3] [INFO] [1719840388.019773009] [nvblox_node]: dynamic_mapper.do_depth_preprocessing: 0 [component_container_mt-3] [INFO] [1719840388.019777873] [nvblox_node]: dynamic_mapper.depth_preprocessing_num_dilations: 4 [component_container_mt-3] [INFO] [1719840388.019786666] [nvblox_node]: dynamic_mapper.mesh_bandwidth_limit_mbps: 25 [component_container_mt-3] [INFO] [1719840388.019791207] [nvblox_node]: dynamic_mapper.esdf_slice_min_height: -0.1 [component_container_mt-3] [INFO] [1719840388.019795657] [nvblox_node]: dynamic_mapper.esdf_slice_max_height: 0.3 [component_container_mt-3] [INFO] [1719840388.019800042] [nvblox_node]: dynamic_mapper.esdf_slice_height: 0 [component_container_mt-3] [INFO] [1719840388.019804181] [nvblox_node]: dynamic_mapper.exclude_last_view_from_decay: 0 [component_container_mt-3] [INFO] [1719840388.019808653] [nvblox_node]: dynamic_mapper.projective_integrator_max_integration_distance_m: 7 [component_container_mt-3] [INFO] [1719840388.019813307] [nvblox_node]: dynamic_mapper.lidar_projective_integrator_max_integration_distance_m: 10 [component_container_mt-3] [INFO] [1719840388.019818252] [nvblox_node]: dynamic_mapper.projective_integrator_truncation_distance_vox: 4 [component_container_mt-3] [INFO] [1719840388.019822842] [nvblox_node]: dynamic_mapper.projective_integrator_weighting_mode: kInverseSquareWeight [component_container_mt-3] [WARN] [1719840388.019826978] [nvblox_node]: Requested weighting function: "kInverseSquareWeight" not recognized. Defaulting to: kInverseSquareWeight [component_container_mt-3] [INFO] [1719840388.019833887] [nvblox_node]: dynamic_mapper.projective_integrator_max_weight: 5 [component_container_mt-3] [INFO] [1719840388.019838202] [nvblox_node]: dynamic_mapper.free_region_occupancy_probability: 0.3 [component_container_mt-3] [INFO] [1719840388.019842739] [nvblox_node]: dynamic_mapper.occupied_region_occupancy_probability: 0.7 [component_container_mt-3] [INFO] [1719840388.019847348] [nvblox_node]: dynamic_mapper.unobserved_region_occupancy_probability: 0.5 [component_container_mt-3] [INFO] [1719840388.019851640] [nvblox_node]: dynamic_mapper.occupied_region_half_width_m: 0.1 [component_container_mt-3] [INFO] [1719840388.019856424] [nvblox_node]: dynamic_mapper.esdf_integrator_min_weight: 0.0001 [component_container_mt-3] [INFO] [1719840388.019860880] [nvblox_node]: dynamic_mapper.esdf_integrator_max_site_distance_vox: 1 [component_container_mt-3] [INFO] [1719840388.019865276] [nvblox_node]: dynamic_mapper.esdf_integrator_max_distance_m: 2 [component_container_mt-3] [INFO] [1719840388.019869705] [nvblox_node]: dynamic_mapper.mesh_integrator_min_weight: 0.0001 [component_container_mt-3] [INFO] [1719840388.019873888] [nvblox_node]: dynamic_mapper.mesh_integrator_weld_vertices: 1 [component_container_mt-3] [INFO] [1719840388.019878411] [nvblox_node]: dynamic_mapper.tsdf_decay_factor: 0.95 [component_container_mt-3] [INFO] [1719840388.019882932] [nvblox_node]: dynamic_mapper.tsdf_decayed_weight_threshold: 0.001 [component_container_mt-3] [INFO] [1719840388.019887251] [nvblox_node]: dynamic_mapper.tsdf_set_free_distance_on_decayed: 0 [component_container_mt-3] [INFO] [1719840388.019891744] [nvblox_node]: dynamic_mapper.tsdf_decayed_free_distance_vox: 4 [component_container_mt-3] [INFO] [1719840388.019895839] [nvblox_node]: dynamic_mapper.tsdf_deallocate_on_decayed: 1 [component_container_mt-3] [INFO] [1719840388.019900443] [nvblox_node]: dynamic_mapper.free_region_decay_probability: 0.55 [component_container_mt-3] [INFO] [1719840388.019904918] [nvblox_node]: dynamic_mapper.occupied_region_decay_probability: 0.4 [component_container_mt-3] [INFO] [1719840388.019909123] [nvblox_node]: dynamic_mapper.occupancy_deallocate_on_decayed: 1 [component_container_mt-3] [INFO] [1719840388.019913586] [nvblox_node]: dynamic_mapper.max_tsdf_distance_for_occupancy_m: 0.15 [component_container_mt-3] [INFO] [1719840388.019940208] [nvblox_node]: dynamic_mapper.max_unobserved_to_keep_consecutive_occupancy_ms: 200 [component_container_mt-3] [INFO] [1719840388.019949214] [nvblox_node]: dynamic_mapper.min_duration_since_occupied_for_freespace_ms: 1000 [component_container_mt-3] [INFO] [1719840388.019951775] [nvblox_node]: dynamic_mapper.min_consecutive_occupancy_duration_for_reset_ms: 2000 [component_container_mt-3] [INFO] [1719840388.019954743] [nvblox_node]: dynamic_mapper.check_neighborhood: 1 [component_container_mt-3] [INFO] [1719840388.019960379] [nvblox_node]: dynamic_mapper.mesh_streamer_exclusion_height_m: -1 [component_container_mt-3] [INFO] [1719840388.019962973] [nvblox_node]: dynamic_mapper.mesh_streamer_exclusion_radius_m: -1 [component_container_mt-3] [INFO] [1719840388.019995387] [nvblox_node]: NvbloxNode::subscribeToTopics() [component_container_mt-3] [INFO] [1719840388.020057560] [nvblox_node]: Subscribing input topics with QoS: SENSOR_DATA [component_container_mt-3] [INFO] [1719840388.021292886] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/std/libgxf_std.so [component_container_mt-3] [INFO] [1719840388.023638323] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_gxf_helpers.so [component_container_mt-3] [INFO] [1719840388.025510299] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_sight.so [component_container_mt-3] [INFO] [1719840388.027615058] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_atlas.so [component_container_mt-3] 2024-07-01 15:26:28.033 WARN external/com_nvidia_gxf/gxf/std/program.cpp@532: No GXF scheduler specified. [component_container_mt-3] [INFO] [1719840388.033468161] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/multimedia/libgxf_multimedia.so [component_container_mt-3] [INFO] [1719840388.035845569] [nvblox_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber [component_container_mt-3] [INFO] [1719840388.036389266] [nvblox_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber [component_container_mt-3] [INFO] [1719840388.036739055] [nvblox_node]: NvbloxNode::setupTimers() [component_container_mt-3] [INFO] [1719840388.036768182] [nvblox_node]: NvbloxNode::advertiseTopics() [component_container_mt-3] [INFO] [1719840388.038876260] [nvblox_node]: NvbloxNode::advertiseServices() [component_container_mt-3] [INFO] [1719840388.039633801] [nvblox_node]: Started up nvblox node in frame odom and voxel size 0.05 ... [component_container_mt-3] [INFO] [1719840388.047152926] [nvblox_node]: Tried to clear map outside of radius but couldn't look up frame: camera_link [component_container_mt-3] [INFO] [1719840388.047257314] [nvblox_node]: Lookup transform failed for frame camera_link. Mesh not published [component_container_mt-3] [INFO] [1719840388.047264329] [nvblox_node]: Lookup transform failed for frame camera_link. Layer pointclouds not published [component_container-1] [07/01 15:26:28.375958][info][13795][AbstractDevice.cpp:117] - Firmware version: 1.4.38 [component_container-1] [07/01 15:26:28.379784][info][13795][Gemini2LDevice.cpp:183] Gemini2 L device created! PID: 0x0673, SN: AY8ZA3300C2 [component_container-1] [07/01 15:26:28.379790][info][13795][DeviceManager.cpp:150] Device created successfully! Name: Orbbec Gemini 2 L, PID: 0x0673, SN/ID: AY8ZA3300C2 [component_container-1] [INFO] [1719840388.380491687] [camera.camera.camera]: use_hardware_time: true [component_container-1] [07/01 15:26:28.382084][info][13795][Gemini2LDevice.cpp:839] OB_SENSOR_IR sensor has been created! [component_container-1] [07/01 15:26:28.382758][info][13795][VideoSensor.cpp:384] Query stream profile! size= 24, SensorType=OB_SENSOR_IR [component_container-1] [07/01 15:26:28.382762][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y8, width: 1280, height: 800, fps: 30} [component_container-1] [07/01 15:26:28.382765][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y8, width: 320, height: 200, fps: 30} [component_container-1] [07/01 15:26:28.382766][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y8, width: 320, height: 200, fps: 15} [component_container-1] [07/01 15:26:28.382768][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y8, width: 320, height: 200, fps: 10} [component_container-1] [07/01 15:26:28.382769][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y8, width: 320, height: 200, fps: 5} [component_container-1] [07/01 15:26:28.382771][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y8, width: 640, height: 400, fps: 30} [component_container-1] [07/01 15:26:28.382772][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y8, width: 640, height: 400, fps: 15} [component_container-1] [07/01 15:26:28.382774][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y8, width: 640, height: 400, fps: 10} [component_container-1] [07/01 15:26:28.382776][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y8, width: 640, height: 400, fps: 5} [component_container-1] [07/01 15:26:28.382777][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y8, width: 1280, height: 800, fps: 15} [component_container-1] [07/01 15:26:28.382779][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y8, width: 1280, height: 800, fps: 10} [component_container-1] [07/01 15:26:28.382780][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y8, width: 1280, height: 800, fps: 5} [component_container-1] [07/01 15:26:28.382782][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_MJPG, width: 320, height: 200, fps: 30} [component_container-1] [07/01 15:26:28.382784][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_MJPG, width: 320, height: 200, fps: 15} [component_container-1] [07/01 15:26:28.382785][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_MJPG, width: 320, height: 200, fps: 10} [component_container-1] [07/01 15:26:28.382787][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_MJPG, width: 320, height: 200, fps: 5} [component_container-1] [07/01 15:26:28.382789][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_MJPG, width: 640, height: 400, fps: 30} [component_container-1] [07/01 15:26:28.382790][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_MJPG, width: 640, height: 400, fps: 15} [component_container-1] [07/01 15:26:28.382792][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_MJPG, width: 640, height: 400, fps: 10} [component_container-1] [07/01 15:26:28.382797][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_MJPG, width: 640, height: 400, fps: 5} [component_container-1] [07/01 15:26:28.382798][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_MJPG, width: 1280, height: 800, fps: 30} [component_container-1] [07/01 15:26:28.382800][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_MJPG, width: 1280, height: 800, fps: 15} [component_container-1] [07/01 15:26:28.382801][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_MJPG, width: 1280, height: 800, fps: 10} [component_container-1] [07/01 15:26:28.382803][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_MJPG, width: 1280, height: 800, fps: 5} [component_container-1] [07/01 15:26:28.383298][info][13795][Gemini2LDevice.cpp:744] Color sensor has been created! [component_container-1] [07/01 15:26:28.383399][info][13795][VideoSensor.cpp:384] Query stream profile! size= 80, SensorType=OB_SENSOR_COLOR [component_container-1] [07/01 15:26:28.383402][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_COLOR, format: OB_FORMAT_MJPG, width: 1280, height: 720, fps: 30} [component_container-1] [07/01 15:26:28.383403][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_COLOR, format: OB_FORMAT_YUYV, width: 640, height: 400, fps: 30} [component_container-1] [07/01 15:26:28.383405][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_COLOR, format: OB_FORMAT_YUYV, width: 640, height: 400, fps: 15} [component_container-1] [07/01 15:26:28.383406][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_COLOR, format: OB_FORMAT_YUYV, width: 640, height: 400, fps: 10} [component_container-1] [07/01 15:26:28.383408][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_COLOR, format: OB_FORMAT_YUYV, width: 640, height: 400, fps: 5} [component_container-1] [07/01 15:26:28.383410][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_COLOR, format: OB_FORMAT_YUYV, width: 800, height: 600, fps: 30} [component_container-1] [07/01 15:26:28.383411][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_COLOR, format: OB_FORMAT_YUYV, width: 800, height: 600, fps: 15} [component_container-1] [07/01 15:26:28.383413][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_COLOR, format: OB_FORMAT_YUYV, width: 800, height: 600, fps: 10} [component_container-1] [07/01 15:26:28.383415][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_COLOR, format: OB_FORMAT_YUYV, width: 800, height: 600, fps: 5} [component_container-1] [07/01 15:26:28.383416][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_COLOR, format: OB_FORMAT_YUYV, width: 640, height: 360, fps: 30} [component_container-1] [07/01 15:26:28.383418][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_COLOR, format: OB_FORMAT_YUYV, width: 640, height: 360, fps: 15} [component_container-1] [07/01 15:26:28.383419][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_COLOR, format: OB_FORMAT_YUYV, width: 640, height: 360, fps: 10} [component_container-1] [07/01 15:26:28.383423][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_COLOR, format: OB_FORMAT_YUYV, width: 640, height: 360, fps: 5} [component_container-1] [07/01 15:26:28.383425][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_COLOR, format: OB_FORMAT_YUYV, width: 1280, height: 720, fps: 30} [component_container-1] [07/01 15:26:28.383427][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_COLOR, format: OB_FORMAT_YUYV, width: 1280, height: 720, fps: 15} [component_container-1] [07/01 15:26:28.383428][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_COLOR, format: OB_FORMAT_YUYV, width: 1280, height: 720, fps: 10} [component_container-1] [07/01 15:26:28.383430][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_COLOR, format: OB_FORMAT_YUYV, width: 1280, height: 720, fps: 5} [component_container-1] [07/01 15:26:28.383431][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_COLOR, format: OB_FORMAT_YUYV, width: 1280, height: 800, fps: 30} [component_container-1] [07/01 15:26:28.383433][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_COLOR, format: OB_FORMAT_YUYV, width: 1280, height: 800, fps: 15} [component_container-1] [07/01 15:26:28.383436][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_COLOR, format: OB_FORMAT_YUYV, width: 1280, height: 800, fps: 10} [component_container-1] [07/01 15:26:28.383437][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_COLOR, format: OB_FORMAT_YUYV, width: 1280, height: 800, fps: 5} [component_container-1] [07/01 15:26:28.383439][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_COLOR, format: OB_FORMAT_MJPG, width: 640, height: 400, fps: 30} [component_container-1] [07/01 15:26:28.383440][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_COLOR, format: OB_FORMAT_MJPG, width: 640, height: 400, fps: 15} [component_container-1] [07/01 15:26:28.383442][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_COLOR, format: OB_FORMAT_MJPG, width: 640, height: 400, fps: 10} [component_container-1] [07/01 15:26:28.383443][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_COLOR, format: OB_FORMAT_MJPG, width: 640, height: 400, fps: 5} [component_container-1] [07/01 15:26:28.383445][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_COLOR, format: OB_FORMAT_MJPG, width: 800, height: 600, fps: 30} [component_container-1] [07/01 15:26:28.383446][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_COLOR, format: OB_FORMAT_MJPG, width: 800, height: 600, fps: 15} [component_container-1] [07/01 15:26:28.383448][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_COLOR, format: OB_FORMAT_MJPG, width: 800, height: 600, fps: 10} [component_container-1] [07/01 15:26:28.383450][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_COLOR, format: OB_FORMAT_MJPG, width: 800, height: 600, fps: 5} [component_container-1] [07/01 15:26:28.383452][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_COLOR, format: OB_FORMAT_MJPG, width: 640, height: 360, fps: 30} [component_container-1] [07/01 15:26:28.383453][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_COLOR, format: OB_FORMAT_MJPG, width: 640, height: 360, fps: 15} [component_container-1] [07/01 15:26:28.383455][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_COLOR, format: OB_FORMAT_MJPG, width: 640, height: 360, fps: 10} [component_container-1] [07/01 15:26:28.383456][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_COLOR, format: OB_FORMAT_MJPG, width: 640, height: 360, fps: 5} [component_container-1] [07/01 15:26:28.383458][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_COLOR, format: OB_FORMAT_MJPG, width: 1280, height: 720, fps: 15} [component_container-1] [07/01 15:26:28.383460][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_COLOR, format: OB_FORMAT_MJPG, width: 1280, height: 720, fps: 10} [component_container-1] [07/01 15:26:28.383462][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_COLOR, format: OB_FORMAT_MJPG, width: 1280, height: 720, fps: 5} [component_container-1] [07/01 15:26:28.383463][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_COLOR, format: OB_FORMAT_MJPG, width: 1280, height: 800, fps: 30} [component_container-1] [07/01 15:26:28.383465][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_COLOR, format: OB_FORMAT_MJPG, width: 1280, height: 800, fps: 15} [component_container-1] [07/01 15:26:28.383466][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_COLOR, format: OB_FORMAT_MJPG, width: 1280, height: 800, fps: 10} [component_container-1] [07/01 15:26:28.383468][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_COLOR, format: OB_FORMAT_MJPG, width: 1280, height: 800, fps: 5} [component_container-1] [07/01 15:26:28.383470][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_COLOR, format: OB_FORMAT_RGB888, width: 640, height: 400, fps: 30} [component_container-1] [07/01 15:26:28.383473][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_COLOR, format: OB_FORMAT_RGB888, width: 640, height: 400, fps: 15} [component_container-1] [07/01 15:26:28.383474][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_COLOR, format: OB_FORMAT_RGB888, width: 640, height: 400, fps: 10} [component_container-1] [07/01 15:26:28.383476][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_COLOR, format: OB_FORMAT_RGB888, width: 640, height: 400, fps: 5} [component_container-1] [07/01 15:26:28.383477][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_COLOR, format: OB_FORMAT_RGB888, width: 800, height: 600, fps: 30} [component_container-1] [07/01 15:26:28.383479][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_COLOR, format: OB_FORMAT_RGB888, width: 800, height: 600, fps: 15} [component_container-1] [07/01 15:26:28.383480][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_COLOR, format: OB_FORMAT_RGB888, width: 800, height: 600, fps: 10} [component_container-1] [07/01 15:26:28.383482][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_COLOR, format: OB_FORMAT_RGB888, width: 800, height: 600, fps: 5} [component_container-1] [07/01 15:26:28.383484][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_COLOR, format: OB_FORMAT_RGB888, width: 640, height: 360, fps: 30} [component_container-1] [07/01 15:26:28.383485][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_COLOR, format: OB_FORMAT_RGB888, width: 640, height: 360, fps: 15} [component_container-1] [07/01 15:26:28.383487][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_COLOR, format: OB_FORMAT_RGB888, width: 640, height: 360, fps: 10} [component_container-1] [07/01 15:26:28.383488][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_COLOR, format: OB_FORMAT_RGB888, width: 640, height: 360, fps: 5} [component_container-1] [07/01 15:26:28.383490][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_COLOR, format: OB_FORMAT_RGB888, width: 1280, height: 720, fps: 30} [component_container-1] [07/01 15:26:28.383492][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_COLOR, format: OB_FORMAT_RGB888, width: 1280, height: 720, fps: 15} [component_container-1] [07/01 15:26:28.383493][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_COLOR, format: OB_FORMAT_RGB888, width: 1280, height: 720, fps: 10} [component_container-1] [07/01 15:26:28.383495][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_COLOR, format: OB_FORMAT_RGB888, width: 1280, height: 720, fps: 5} [component_container-1] [07/01 15:26:28.383497][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_COLOR, format: OB_FORMAT_RGB888, width: 1280, height: 800, fps: 30} [component_container-1] [07/01 15:26:28.383498][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_COLOR, format: OB_FORMAT_RGB888, width: 1280, height: 800, fps: 15} [component_container-1] [07/01 15:26:28.383500][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_COLOR, format: OB_FORMAT_RGB888, width: 1280, height: 800, fps: 10} [component_container-1] [07/01 15:26:28.383502][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_COLOR, format: OB_FORMAT_RGB888, width: 1280, height: 800, fps: 5} [component_container-1] [07/01 15:26:28.383503][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_COLOR, format: OB_FORMAT_BGRA, width: 640, height: 400, fps: 30} [component_container-1] [07/01 15:26:28.383505][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_COLOR, format: OB_FORMAT_BGRA, width: 640, height: 400, fps: 15} [component_container-1] [07/01 15:26:28.383507][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_COLOR, format: OB_FORMAT_BGRA, width: 640, height: 400, fps: 10} [component_container-1] [07/01 15:26:28.383509][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_COLOR, format: OB_FORMAT_BGRA, width: 640, height: 400, fps: 5} [component_container-1] [07/01 15:26:28.383511][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_COLOR, format: OB_FORMAT_BGRA, width: 800, height: 600, fps: 30} [component_container-1] [07/01 15:26:28.383512][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_COLOR, format: OB_FORMAT_BGRA, width: 800, height: 600, fps: 15} [component_container-1] [07/01 15:26:28.383514][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_COLOR, format: OB_FORMAT_BGRA, width: 800, height: 600, fps: 10} [component_container-1] [07/01 15:26:28.383516][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_COLOR, format: OB_FORMAT_BGRA, width: 800, height: 600, fps: 5} [component_container-1] [07/01 15:26:28.383517][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_COLOR, format: OB_FORMAT_BGRA, width: 640, height: 360, fps: 30} [component_container-1] [07/01 15:26:28.383523][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_COLOR, format: OB_FORMAT_BGRA, width: 640, height: 360, fps: 15} [component_container-1] [07/01 15:26:28.383525][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_COLOR, format: OB_FORMAT_BGRA, width: 640, height: 360, fps: 10} [component_container-1] [07/01 15:26:28.383527][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_COLOR, format: OB_FORMAT_BGRA, width: 640, height: 360, fps: 5} [component_container-1] [07/01 15:26:28.383528][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_COLOR, format: OB_FORMAT_BGRA, width: 1280, height: 720, fps: 30} [component_container-1] [07/01 15:26:28.383530][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_COLOR, format: OB_FORMAT_BGRA, width: 1280, height: 720, fps: 15} [component_container-1] [07/01 15:26:28.383532][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_COLOR, format: OB_FORMAT_BGRA, width: 1280, height: 720, fps: 10} [component_container-1] [07/01 15:26:28.383533][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_COLOR, format: OB_FORMAT_BGRA, width: 1280, height: 720, fps: 5} [component_container-1] [07/01 15:26:28.383535][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_COLOR, format: OB_FORMAT_BGRA, width: 1280, height: 800, fps: 30} [component_container-1] [07/01 15:26:28.383537][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_COLOR, format: OB_FORMAT_BGRA, width: 1280, height: 800, fps: 15} [component_container-1] [07/01 15:26:28.383539][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_COLOR, format: OB_FORMAT_BGRA, width: 1280, height: 800, fps: 10} [component_container-1] [07/01 15:26:28.383540][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_COLOR, format: OB_FORMAT_BGRA, width: 1280, height: 800, fps: 5} [component_container-1] [07/01 15:26:28.388707][info][13795][DepthDispFilter.cpp:205] update anchor width and height config success. [component_container-1] [07/01 15:26:28.389180][info][13795][Gemini2LDevice.cpp:703] Depth sensor has been created! [component_container-1] [07/01 15:26:28.389283][info][13795][VideoSensor.cpp:384] Query stream profile! size= 36, SensorType=OB_SENSOR_DEPTH [component_container-1] [07/01 15:26:28.389287][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_RLE, width: 1280, height: 800, fps: 30} [component_container-1] [07/01 15:26:28.389294][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y14, width: 320, height: 200, fps: 30} [component_container-1] [07/01 15:26:28.389296][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y14, width: 320, height: 200, fps: 15} [component_container-1] [07/01 15:26:28.389298][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y14, width: 320, height: 200, fps: 10} [component_container-1] [07/01 15:26:28.389299][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y14, width: 320, height: 200, fps: 5} [component_container-1] [07/01 15:26:28.389301][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y14, width: 640, height: 400, fps: 30} [component_container-1] [07/01 15:26:28.389303][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y14, width: 640, height: 400, fps: 15} [component_container-1] [07/01 15:26:28.389304][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y14, width: 640, height: 400, fps: 10} [component_container-1] [07/01 15:26:28.389306][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y14, width: 640, height: 400, fps: 5} [component_container-1] [07/01 15:26:28.389308][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y14, width: 1280, height: 800, fps: 30} [component_container-1] [07/01 15:26:28.389309][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y14, width: 1280, height: 800, fps: 15} [component_container-1] [07/01 15:26:28.389311][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y14, width: 1280, height: 800, fps: 10} [component_container-1] [07/01 15:26:28.389312][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y14, width: 1280, height: 800, fps: 5} [component_container-1] [07/01 15:26:28.389314][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_RLE, width: 320, height: 200, fps: 30} [component_container-1] [07/01 15:26:28.389316][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_RLE, width: 320, height: 200, fps: 15} [component_container-1] [07/01 15:26:28.389318][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_RLE, width: 320, height: 200, fps: 10} [component_container-1] [07/01 15:26:28.389320][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_RLE, width: 320, height: 200, fps: 5} [component_container-1] [07/01 15:26:28.389321][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_RLE, width: 640, height: 400, fps: 30} [component_container-1] [07/01 15:26:28.389323][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_RLE, width: 640, height: 400, fps: 15} [component_container-1] [07/01 15:26:28.389325][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_RLE, width: 640, height: 400, fps: 10} [component_container-1] [07/01 15:26:28.389326][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_RLE, width: 640, height: 400, fps: 5} [component_container-1] [07/01 15:26:28.389328][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_RLE, width: 1280, height: 800, fps: 15} [component_container-1] [07/01 15:26:28.389330][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_RLE, width: 1280, height: 800, fps: 10} [component_container-1] [07/01 15:26:28.389331][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_RLE, width: 1280, height: 800, fps: 5} [component_container-1] [07/01 15:26:28.389333][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 320, height: 200, fps: 30} [component_container-1] [07/01 15:26:28.389335][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 320, height: 200, fps: 15} [component_container-1] [07/01 15:26:28.389336][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 320, height: 200, fps: 10} [component_container-1] [07/01 15:26:28.389338][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 320, height: 200, fps: 5} [component_container-1] [07/01 15:26:28.389339][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 640, height: 400, fps: 30} [component_container-1] [07/01 15:26:28.389341][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 640, height: 400, fps: 15} [component_container-1] [07/01 15:26:28.389344][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 640, height: 400, fps: 10} [component_container-1] [07/01 15:26:28.389346][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 640, height: 400, fps: 5} [component_container-1] [07/01 15:26:28.389348][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 1280, height: 800, fps: 30} [component_container-1] [07/01 15:26:28.389350][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 1280, height: 800, fps: 15} [component_container-1] [07/01 15:26:28.389352][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 1280, height: 800, fps: 10} [component_container-1] [07/01 15:26:28.389354][info][13795][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 1280, height: 800, fps: 5} [component_container-1] [07/01 15:26:28.389439][info][13795][AccelSensor.cpp:27] AccelSensor created [component_container-1] [07/01 15:26:28.389440][info][13795][Gemini2LDevice.cpp:879] Accel sensor has been created! [component_container-1] [07/01 15:26:28.389944][info][13795][GyroSensor.cpp:28] GyroSensor created! [component_container-1] [07/01 15:26:28.389946][info][13795][Gemini2LDevice.cpp:920] Gyro sensor has been created! [component_container-1] [INFO] [1719840388.393378520] [camera.camera.camera]: Depth process is HW D2D [component_container-1] [07/01 15:26:28.393449][info][13795][DepthDispFilter.cpp:205] update anchor width and height config success. [component_container-1] [07/01 15:26:28.393463][info][13795][DepthDispFilter.cpp:205] update anchor width and height config success. [component_container-1] [INFO] [1719840388.393923377] [camera.camera.camera]: Setting ThresholdFilter...... [component_container-1] [INFO] [1719840388.393935903] [camera.camera.camera]: set ThresholdFilter to false [component_container-1] [INFO] [1719840388.393947039] [camera.camera.camera]: Skip setting filter: ThresholdFilter [component_container-1] [INFO] [1719840388.393952641] [camera.camera.camera]: Setting EdgeNoiseRemovalFilter...... [component_container-1] [INFO] [1719840388.393955300] [camera.camera.camera]: Skip setting filter: EdgeNoiseRemovalFilter [component_container-1] [INFO] [1719840388.393958560] [camera.camera.camera]: Setting SpatialAdvancedFilter...... [component_container-1] [INFO] [1719840388.393961574] [camera.camera.camera]: set SpatialAdvancedFilter to false [component_container-1] [INFO] [1719840388.393964383] [camera.camera.camera]: Skip setting filter: SpatialAdvancedFilter [component_container-1] [INFO] [1719840388.393967439] [camera.camera.camera]: Setting TemporalFilter...... [component_container-1] [INFO] [1719840388.393970034] [camera.camera.camera]: set TemporalFilter to false [component_container-1] [INFO] [1719840388.393972768] [camera.camera.camera]: Skip setting filter: TemporalFilter [component_container-1] [INFO] [1719840388.393975722] [camera.camera.camera]: Setting HoleFillingFilter...... [component_container-1] [INFO] [1719840388.393978257] [camera.camera.camera]: set HoleFillingFilter to false [component_container-1] [INFO] [1719840388.393980858] [camera.camera.camera]: Skip setting filter: HoleFillingFilter [component_container-1] [INFO] [1719840388.394561883] [camera.camera.camera]: Current sync mode: OB_MULTI_DEVICE_SYNC_MODE_FREE_RUN [component_container-1] [07/01 15:26:28.394595][info][13795][DeviceSyncConfigurator.cpp:34] New sync config is same as current device sync config, the upgrade process would not execute! [component_container-1] [INFO] [1719840388.397612010] [camera.camera.camera]: Set sync mode: OB_MULTI_DEVICE_SYNC_MODE_FREE_RUN [component_container-1] [INFO] [1719840388.404626867] [camera.camera.camera]: stream depth is enabled - width: 640, height: 400, fps: 30, Format: OB_FORMAT_Y16 [component_container-1] [INFO] [1719840388.404779248] [camera.camera.camera]: stream ir is enabled - width: 640, height: 400, fps: 30, Format: OB_FORMAT_Y8 [component_container-1] [INFO] [1719840388.405115119] [camera.camera.camera]: stream color is enabled - width: 640, height: 400, fps: 15, Format: OB_FORMAT_YUYV [component_container-1] [INFO] [1719840388.405141806] [camera.camera.camera]: stream gyro full scale range 1000dps sample rate 100hz [component_container-1] [INFO] [1719840388.405163403] [camera.camera.camera]: stream accel full scale range 4g sample rate 100hz [component_container-1] [INFO] [1719840388.419077759] [camera.camera.camera]: Publish diagnostics every 1 seconds [component_container-1] [07/01 15:26:28.419789][info][13795][Pipeline.cpp:47] Pipeline created with device: {name: Orbbec Gemini 2 L, sn: AY8ZA3300C2}, @0x77742C6A13C0 [component_container-1] [07/01 15:26:28.419820][info][13795][Pipeline.cpp:188] Check and set config start! [component_container-1] [07/01 15:26:28.419826][info][13795][Pipeline.cpp:223] Check and set config done! [component_container-1] [07/01 15:26:28.419836][info][13795][Pipeline.cpp:288] Try to start streams! [component_container-1] [07/01 15:26:28.424347][info][13795][Pipeline.cpp:301] Start streams done! [component_container-1] [07/01 15:26:28.424350][info][13795][Pipeline.cpp:277] Pipeline start done! [component_container-1] [07/01 15:26:28.424407][info][13795][Pipeline.cpp:47] Pipeline created with device: {name: Orbbec Gemini 2 L, sn: AY8ZA3300C2}, @0x77742C6AE010 [component_container-1] [INFO] [1719840388.424361160] [camera.camera.camera]: start accel stream with range: 4g,rate:100hz, and start gyro stream with range:1000dps,rate:100hz [component_container-1] [INFO] [1719840388.424412314] [camera.camera.camera]: Enable depth stream [component_container-1] [INFO] [1719840388.424418834] [camera.camera.camera]: Stream depth width: 640 height: 400 fps: 30 format: Y16 [component_container-1] [INFO] [1719840388.424422113] [camera.camera.camera]: Enable ir stream [component_container-1] [INFO] [1719840388.424425114] [camera.camera.camera]: Stream ir width: 640 height: 400 fps: 30 format: Y8 [component_container-1] [INFO] [1719840388.424427881] [camera.camera.camera]: Enable color stream [component_container-1] [INFO] [1719840388.424430798] [camera.camera.camera]: Stream color width: 640 height: 400 fps: 15 format: YUYV [component_container-1] [07/01 15:26:28.424434][info][13795][Pipeline.cpp:188] Check and set config start! [component_container-1] [07/01 15:26:28.424445][info][13795][Pipeline.cpp:223] Check and set config done! [component_container-1] [07/01 15:26:28.424791][info][13795][Pipeline.cpp:288] Try to start streams! [component_container-1] [07/01 15:26:28.424805][info][13795][VideoSensor.cpp:646] start OB_SENSOR_DEPTH stream with profile: {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 640, height: 400, fps: 30}, Backend Format: OB_FORMAT_Y14 [component_container-1] [07/01 15:26:28.431287][info][13795][VideoSensor.cpp:646] start OB_SENSOR_IR stream with profile: {type: OB_STREAM_IR, format: OB_FORMAT_Y8, width: 640, height: 400, fps: 30}, Backend Format: OB_FORMAT_Y8 [component_container-1] [07/01 15:26:28.445009][info][13795][VideoSensor.cpp:646] start OB_SENSOR_COLOR stream with profile: {type: OB_STREAM_COLOR, format: OB_FORMAT_YUYV, width: 640, height: 400, fps: 15}, Backend Format: OB_FORMAT_YUYV [component_container-1] [07/01 15:26:28.462870][warning][13820][VideoSensor.cpp:453] This frame will be dropped because the data size does not match the expectation! size=49104, expected=256000 @OB_SENSOR_IR [component_container-1] [07/01 15:26:28.463155][info][13795][Pipeline.cpp:301] Start streams done! [component_container-1] [07/01 15:26:28.463158][info][13795][Pipeline.cpp:277] Pipeline start done! [component_container-1] [INFO] [1719840388.463188468] [camera.camera.camera]: Enable frame sync [component_container-1] [INFO] [1719840388.463265820] [camera.camera.camera]: Device Orbbec Gemini 2 L connected [component_container-1] [INFO] [1719840388.463271574] [camera.camera.camera]: Serial number: AY8ZA3300C2 [component_container-1] [INFO] [1719840388.463276354] [camera.camera.camera]: Firmware version: 1.4.38 [component_container-1] [INFO] [1719840388.463284848] [camera.camera.camera]: Hardware version: 1.0 [component_container-1] [INFO] [1719840388.463287551] [camera.camera.camera]: device unique id: 2-3-3 [component_container-1] [INFO] [1719840388.463293432] [camera.camera.camera]: Current node pid: 13675 [INFO] [launch.user]: Adding nodes [ /visual_slam_node ] to container nvblox_container. [component_container_mt-3] [INFO] [1719840388.482815423] [nvblox_container]: Load Library: /opt/ros/humble/lib/libvisual_slam_node.so [component_container-1] [07/01 15:26:28.486114][error][13823][VendorCommand.cpp:415] syncDeviceTime failed after retry 10 times, rtt=0 [component_container-1] [07/01 15:26:28.486150][info][13823][DeviceManager.cpp:242] dev-uid@0x2-3-3, update device time succeeded! round-trip-time=-1ms [component_container-1] [component_container_mt-3] [INFO] [1719840388.503703069] [nvblox_container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::visual_slam::VisualSlamNode> [component_container_mt-3] [INFO] [1719840388.503744294] [nvblox_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::visual_slam::VisualSlamNode> [component_container_mt-3] [INFO] [1719840388.506803740] [visual_slam_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber [component_container_mt-3] [INFO] [1719840388.507214563] [visual_slam_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber [component_container_mt-3] [INFO] [1719840388.511415620] [visual_slam_node]: cuVSLAM version: 12.2 [component_container-1] [07/01 15:26:28.515184][warning][13816][VideoSensor.cpp:453] This frame will be dropped because the data size does not match the expectation! size=114531, expected=448000 @OB_SENSOR_DEPTH [component_container-1] strmh->payload_header_hold_bytes is invalid,size:0 [component_container_mt-3] [INFO] [1719840388.530059229] [visual_slam_node]: Time taken by CUVSLAM_WarmUpGPU(): 0.018629 [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/visual_slam_node' in container 'nvblox_container' [component_container-1] [07/01 15:26:28.564749][warning][13816][VideoSensor.cpp:448] This frame will be dropped because because the data size is larger than expected! size=496865, expected=448000 @OB_SENSOR_DEPTH [component_container-1] [07/01 15:26:28.602624][info][13835][DepthDispFilter.cpp:163] update anchor filter config success. [component_container-1] [INFO] [1719840388.639780674] [camera.camera.camera]: Publishing static transform from camera_link to ir [component_container-1] [INFO] [1719840388.639806197] [camera.camera.camera]: Translation 0, 0, 0 [component_container-1] [INFO] [1719840388.639810950] [camera.camera.camera]: Rotation 0, 0, 0, 1 [component_container-1] [INFO] [1719840388.639818298] [camera.camera.camera]: Publishing static transform from camera_link to color [component_container-1] [INFO] [1719840388.639822932] [camera.camera.camera]: Translation -25.1567, 0.0483435, -0.16624 [component_container-1] [INFO] [1719840388.639826965] [camera.camera.camera]: Rotation -0.000938383, 0.000209765, 0.00111213, 0.999999 [component_container-1] [INFO] [1719840388.639830222] [camera.camera.camera]: Publishing static transform from camera_link to depth [component_container-1] [INFO] [1719840388.639834597] [camera.camera.camera]: Translation 0, 0, 0 [component_container-1] [INFO] [1719840388.639837606] [camera.camera.camera]: Rotation 0, 0, 0, 1 [component_container-1] [INFO] [1719840388.639841285] [camera.camera.camera]: Publishing static transform from camera_link to accel [component_container-1] [INFO] [1719840388.639844015] [camera.camera.camera]: Translation 0, 0, 0 [component_container-1] [INFO] [1719840388.639847163] [camera.camera.camera]: Rotation 0, 0, 0, 1 [component_container-1] [INFO] [1719840388.639850107] [camera.camera.camera]: Publishing static transform from camera_link to gyro [component_container-1] [INFO] [1719840388.639852987] [camera.camera.camera]: Translation 0, 0, 0 [component_container-1] [INFO] [1719840388.639855803] [camera.camera.camera]: Rotation 0, 0, 0, 1 [component_container-1] [WARN] [1719840388.640051189] [camera.camera.camera]: Publishing dynamic camera transforms (/tf) at 10 Hz [component_container_mt-3] [INFO] [1719840388.643643651] [nvblox_node]: Depth Statistics: [component_container_mt-3] avg=nan, min=nan, max=nan, std_dev=nan, count=0 [component_container_mt-3] [INFO] [1719840389.051246052] [nvblox_node]: Dropped an item from: depth_queue. Size of queue: 9. Total number of dropped messages is: 1 [component_container_mt-3] [INFO] [1719840389.057091640] [nvblox_node]: Tried to clear map outside of radius but couldn't look up frame: camera_link [component_container_mt-3] [INFO] [1719840389.077150746] [nvblox_node]: Lookup transform failed for frame camera_link. Mesh not published [component_container_mt-3] [INFO] [1719840389.107135999] [nvblox_node]: Lookup transform failed for frame camera_link. Layer pointclouds not published [component_container_mt-3] [INFO] [1719840390.057119533] [nvblox_node]: Tried to clear map outside of radius but couldn't look up frame: camera_link [component_container_mt-3] [INFO] [1719840390.087479499] [nvblox_node]: Lookup transform failed for frame camera_link. Mesh not published [component_container_mt-3] [INFO] [1719840390.167190588] [nvblox_node]: Dropped an item from: depth_queue. Size of queue: 9. Total number of dropped messages is: 24 [component_container_mt-3] [INFO] [1719840390.177435731] [nvblox_node]: Lookup transform failed for frame camera_link. Layer pointclouds not published [component_container_mt-3] [INFO] [1719840391.057189747] [nvblox_node]: Tried to clear map outside of radius but couldn't look up frame: camera_link [component_container_mt-3] [INFO] [1719840391.117317024] [nvblox_node]: Lookup transform failed for frame camera_link. Mesh not published [component_container_mt-3] [INFO] [1719840391.226450484] [nvblox_node]: Dropped an item from: color_queue. Size of queue: 9. Total number of dropped messages is: 10 [component_container_mt-3] [INFO] [1719840391.236992615] [nvblox_node]: Lookup transform failed for frame camera_link. Layer pointclouds not published [component_container-1] [07/01 15:26:31.499532][warning][13827][VideoSensor.cpp:453] This frame will be dropped because the data size does not match the expectation! size=16372, expected=256000 @OB_SENSOR_IR [**1 logs in 3036ms, last: 15:26:28.499302**] [component_container-1] [07/01 15:26:31.517107][warning][13829][VideoSensor.cpp:453] This frame will be dropped because the data size does not match the expectation! size=16163, expected=448000 @OB_SENSOR_DEPTH [**5 logs in 3001ms, last: 15:26:28.527652**] [component_container_mt-3] [INFO] [1719840392.066953546] [nvblox_node]: Tried to clear map outside of radius but couldn't look up frame: camera_link [component_container_mt-3] [INFO] [1719840392.147175164] [nvblox_node]: Lookup transform failed for frame camera_link. Mesh not published [component_container_mt-3] [INFO] [1719840392.284215549] [nvblox_node]: Dropped an item from: depth_queue. Size of queue: 9. Total number of dropped messages is: 67 [component_container_mt-3] [INFO] [1719840392.297089576] [nvblox_node]: Lookup transform failed for frame camera_link. Layer pointclouds not published [component_container-1] [07/01 15:26:32.818118][error][13932][VendorCommand.cpp:415] syncDeviceTime failed after retry 10 times, rtt=0 [component_container-1] [07/01 15:26:32.818170][info][13932][DeviceManager.cpp:242] dev-uid@0x2-3-3, update device time succeeded! round-trip-time=-1ms [component_container-1] [component_container_mt-3] [INFO] [1719840393.067170915] [nvblox_node]: Tried to clear map outside of radius but couldn't look up frame: camera_link [component_container_mt-3] [INFO] [1719840393.157205235] [nvblox_node]: Lookup transform failed for frame camera_link. Mesh not published [component_container_mt-3] [INFO] [1719840393.284921526] [nvblox_node]: Dropped an item from: depth_queue. Size of queue: 9. Total number of dropped messages is: 82 [component_container_mt-3] [INFO] [1719840393.347294734] [nvblox_node]: Lookup transform failed for frame camera_link. Layer pointclouds not published
