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Published 20 hours ago • verified publisher icon NVIDIA-ISAAC-ROS

[centerpose_decoder_node.NitrosSubscriber]: 10.0s passed while waiting to push a message entity (eid=1614) to the receiver camera_model_input

Open Yeager-101 opened this issue 7 months ago • 4 comments

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.

Yeager-101 avatar Jul 03 '24 14:07 Yeager-101