No valid value in mask for Isaac ROS Foundation Pose #75
Description
Hello,
Thanks for your work. I am trying to test the Isaac ros foundation model. There are 2 things that I tried:
Pose Estimation (Everything inside the docker container)
- Launched the foundation pose and rtdetr node:
admin@arghya:/workspaces/isaac_ros-dev$ ros2 launch isaac_ros_examples isaac_ros_examples.launch.py launch_fragments:=foundationpose,rtdetr interface_specs_file:=$(pwd)/isaac_ros_assets/isaac_ros_foundationpose/quickstart_interface_specs.json mesh_file_path:=$(pwd)/isaac_ros_assets/isaac_ros_foundationpose/Mustard/textured_simple.obj texture_path:=$(pwd)/isaac_ros_assets/isaac_ros_foundationpose/Mustard/texture_map.png score_engine_file_path:=$(pwd)/isaac_ros_assets/models/foundationpose/score_trt_engine.plan refine_engine_file_path:=$(pwd)/isaac_ros_assets/models/foundationpose/refine_trt_engine.plan rt_detr_engine_file_path:=$(pwd)/isaac_ros_assets/models/synthetica_detr/sdetr_grasp.plan
- Launched the rviz2 node:
admin@arghya:/workspaces/isaac_ros-dev$ rviz2 -d $(ros2 pkg prefix isaac_ros_foundationpose --share)/rviz/foundationpose.rviz
- Launched the rosbag node:
admin@arghya:/workspaces/isaac_ros-dev$ ros2 bag play -l $(pwd)/isaac_ros_assets/isaac_ros_foundationpose/quickstart.bag/
Here is the error that I am getting for foundation pose estimation:
admin@arghya:/workspaces/isaac_ros-dev$ ros2 launch isaac_ros_examples isaac_ros_examples.launch.py launch_fragments:=foundationpose,rtdetr interface_specs_file:=$(pwd)/isaac_ros_assets/isaac_ros_foundationpose/quickstart_interface_specs.json mesh_file_path:=$(pwd)/isaac_ros_assets/isaac_ros_foundationpose/Mustard/textured_simple.obj texture_path:=$(pwd)/isaac_ros_assets/isaac_ros_foundationpose/Mustard/texture_map.png score_engine_file_path:=$(pwd)/isaac_ros_assets/models/foundationpose/score_trt_engine.plan refine_engine_file_path:=$(pwd)/isaac_ros_assets/models/foundationpose/refine_trt_engine.plan rt_detr_engine_file_path:=$(pwd)/isaac_ros_assets/models/synthetica_detr/sdetr_grasp.plan
[INFO] [launch]: All log files can be found below /home/admin/.ros/log/2025-04-08-16-07-26-643138-arghya-30126
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container_mt-1]: process started with pid [30138]
[component_container_mt-1] [INFO] [1744146446.953759786] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libisaac_ros_nitros_camera_drop_node.so
[component_container_mt-1] [INFO] [1744146446.976656871] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::nitros::NitrosCameraDropNode>
[component_container_mt-1] [INFO] [1744146446.976717868] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::nitros::NitrosCameraDropNode>
[component_container_mt-1] [INFO] [1744146446.990579565] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/std/libgxf_std.so
[component_container_mt-1] [INFO] [1744146446.991323134] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_gxf_helpers.so
[component_container_mt-1] [INFO] [1744146446.992872320] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_sight.so
[component_container_mt-1] [INFO] [1744146446.994461891] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_atlas.so
[component_container_mt-1] 2025-04-08 16:07:26.998 WARN gxf/std/program.cpp@538: No GXF scheduler specified.
[component_container_mt-1] [INFO] [1744146446.998868770] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/multimedia/libgxf_multimedia.so
[component_container_mt-1] [INFO] [1744146447.001353528] [drop_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1744146447.001950345] [drop_node.ManagedNitrosPublisher]: Starting Managed Nitros Publisher
[component_container_mt-1] [INFO] [1744146447.002376374] [drop_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1744146447.002647631] [drop_node.ManagedNitrosPublisher]: Starting Managed Nitros Publisher
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/drop_node' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1744146447.004007664] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libresize_node.so
[component_container_mt-1] [INFO] [1744146447.004982309] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::ResizeNode>
[component_container_mt-1] [INFO] [1744146447.004994451] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::ResizeNode>
[component_container_mt-1] [INFO] [1744146447.006611462] [resize_left_rt_detr_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1744146447.006826149] [resize_left_rt_detr_node]: [ResizeNode] Set output data format to: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1744146447.006866879] [resize_left_rt_detr_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1744146447.012124858] [resize_left_rt_detr_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1744146447.012203092] [resize_left_rt_detr_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_message_compositor.so
[component_container_mt-1] [INFO] [1744146447.012480922] [resize_left_rt_detr_node]: [NitrosContext] Loading extension: gxf/lib/cuda/libgxf_cuda.so
[component_container_mt-1] [INFO] [1744146447.013853665] [resize_left_rt_detr_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_tensorops.so
[component_container_mt-1] [INFO] [1744146447.016005348] [resize_left_rt_detr_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1744146447.017948969] [resize_left_rt_detr_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1744146447.113844846] [resize_left_rt_detr_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1744146447.115492783] [resize_left_rt_detr_node]: [NitrosPublisherSubscriberGroup] Pinning the component "image_sink/sink" (type="nvidia::isaac_ros::MessageRelay") to use its compatible format only: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1744146447.118559915] [resize_left_rt_detr_node]: [NitrosNode] Starting negotiation...
[component_container_mt-1] [INFO] [1744146447.118823119] [drop_node]: Negotiating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/resize_left_rt_detr_node' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1744146447.120071810] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libpad_node.so
[component_container_mt-1] [INFO] [1744146447.153992703] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::PadNode>
[component_container_mt-1] [INFO] [1744146447.154064337] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::PadNode>
[component_container_mt-1] [INFO] [1744146447.156760964] [pad_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1744146447.156816738] [resize_left_rt_detr_node]: Negotiating
[component_container_mt-1] [INFO] [1744146447.156835206] [drop_node]: Negotiating
[component_container_mt-1] [INFO] [1744146447.156838841] [resize_left_rt_detr_node]: Could not negotiate
[component_container_mt-1] [INFO] [1744146447.157161873] [pad_node.ManagedNitrosPublisher]: Starting Managed Nitros Publisher
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/pad_node' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1744146447.158258769] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libimage_to_tensor_node.so
[component_container_mt-1] [INFO] [1744146447.162442315] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::ImageToTensorNode>
[component_container_mt-1] [INFO] [1744146447.162463506] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::ImageToTensorNode>
[component_container_mt-1] [INFO] [1744146447.164730831] [image_to_tensor_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1744146447.164771531] [pad_node]: Negotiating
[component_container_mt-1] [INFO] [1744146447.165400600] [image_to_tensor_node.ManagedNitrosPublisher]: Starting Managed Nitros Publisher
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/image_to_tensor_node' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1744146447.166381235] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libinterleaved_to_planar_node.so
[component_container_mt-1] [INFO] [1744146447.167026290] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::InterleavedToPlanarNode>
[component_container_mt-1] [INFO] [1744146447.167034907] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::InterleavedToPlanarNode>
[component_container_mt-1] [INFO] [1744146447.168599881] [interleaved_to_planar_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1744146447.168860636] [interleaved_to_planar_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1744146447.171566073] [interleaved_to_planar_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1744146447.171651651] [interleaved_to_planar_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1744146447.172380047] [interleaved_to_planar_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1744146447.174845516] [interleaved_to_planar_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1744146447.176273117] [interleaved_to_planar_node]: [NitrosNode] Starting negotiation...
[component_container_mt-1] [INFO] [1744146447.176474153] [image_to_tensor_node]: Negotiating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/interleaved_to_planar_node' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1744146447.176491711] [image_to_tensor_node]: Could not negotiate
[component_container_mt-1] [INFO] [1744146447.177475334] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libreshape_node.so
[component_container_mt-1] [INFO] [1744146447.178385067] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::ReshapeNode>
[component_container_mt-1] [INFO] [1744146447.178401046] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::ReshapeNode>
[component_container_mt-1] [INFO] [1744146447.180396042] [reshape_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1744146447.180725178] [reshape_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1744146447.183435828] [reshape_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1744146447.183519199] [reshape_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1744146447.184243727] [reshape_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1744146447.186781904] [reshape_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1744146447.188013461] [reshape_node]: [NitrosNode] Starting negotiation...
[component_container_mt-1] [INFO] [1744146447.188224095] [interleaved_to_planar_node]: Negotiating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/reshape_node' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1744146447.188339693] [image_to_tensor_node]: Negotiating
[component_container_mt-1] [INFO] [1744146447.188369804] [image_to_tensor_node]: Could not negotiate
[component_container_mt-1] [INFO] [1744146447.189252719] [isaac_ros_examples.container]: Load Library: /workspaces/isaac_ros-dev/install/isaac_ros_rtdetr/lib/librtdetr_preprocessor_node.so
[component_container_mt-1] [INFO] [1744146447.190692335] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::rtdetr::RtDetrPreprocessorNode>
[component_container_mt-1] [INFO] [1744146447.190712792] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::rtdetr::RtDetrPreprocessorNode>
[component_container_mt-1] [INFO] [1744146447.193961113] [rtdetr_preprocessor.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1744146447.194007466] [reshape_node]: Negotiating
[component_container_mt-1] [INFO] [1744146447.194101690] [interleaved_to_planar_node]: Negotiating
[component_container_mt-1] [INFO] [1744146447.194131755] [image_to_tensor_node]: Negotiating
[component_container_mt-1] [INFO] [1744146447.194179751] [image_to_tensor_node]: Could not negotiate
[component_container_mt-1] [INFO] [1744146447.194403206] [rtdetr_preprocessor.ManagedNitrosPublisher]: Starting Managed Nitros Publisher
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/rtdetr_preprocessor' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1744146447.195677112] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libtensor_rt_node.so
[component_container_mt-1] [INFO] [1744146447.208014352] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::TensorRTNode>
[component_container_mt-1] [INFO] [1744146447.208058621] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::TensorRTNode>
[component_container_mt-1] [INFO] [1744146447.210617105] [tensor_rt]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1744146447.211098216] [tensor_rt]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1744146447.213137041] [tensor_rt]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1744146447.213212553] [tensor_rt]: [NitrosContext] Loading extension: gxf/lib/serialization/libgxf_serialization.so
[component_container_mt-1] [INFO] [1744146447.213633555] [tensor_rt]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_tensor_rt.so
[component_container_mt-1] [INFO] [1744146447.213964929] [tensor_rt]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1744146447.214802383] [tensor_rt]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1744146447.223056243] [tensor_rt]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1744146447.223735784] [tensor_rt]: [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] [1744146447.223745741] [tensor_rt]: [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] [1744146447.225075101] [tensor_rt]: [NitrosNode] Starting negotiation...
[component_container_mt-1] [INFO] [1744146447.225334536] [rtdetr_preprocessor]: Negotiating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/tensor_rt' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1744146447.226442352] [isaac_ros_examples.container]: Load Library: /workspaces/isaac_ros-dev/install/isaac_ros_rtdetr/lib/librtdetr_decoder_node.so
[component_container_mt-1] [INFO] [1744146447.227509780] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::rtdetr::RtDetrDecoderNode>
[component_container_mt-1] [INFO] [1744146447.227520636] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::rtdetr::RtDetrDecoderNode>
[component_container_mt-1] [INFO] [1744146447.230193328] [rtdetr_decoder.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1744146447.230222677] [tensor_rt]: Negotiating
[component_container_mt-1] [INFO] [1744146447.230239945] [tensor_rt]: Could not negotiate
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/rtdetr_decoder' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1744146447.232135743] [isaac_ros_examples.container]: Load Library: /workspaces/isaac_ros-dev/install/isaac_ros_foundationpose/lib/libdetection2_d_array_filter.so
[component_container_mt-1] [INFO] [1744146447.232693427] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::foundationpose::Detection2DArrayFilter>
[component_container_mt-1] [INFO] [1744146447.232702737] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::foundationpose::Detection2DArrayFilter>
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/detection2_d_array_filter' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1744146447.236450728] [isaac_ros_examples.container]: Load Library: /workspaces/isaac_ros-dev/install/isaac_ros_foundationpose/lib/libdetection2_d_to_mask.so
[component_container_mt-1] [INFO] [1744146447.306353582] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::foundationpose::Detection2DToMask>
[component_container_mt-1] [INFO] [1744146447.306403688] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::foundationpose::Detection2DToMask>
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/detection2_d_to_mask' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1744146447.313618884] [detection2_d_to_mask]: Mask Height: 480, Mask Width: 640
[component_container_mt-1] [INFO] [1744146447.315677532] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::ResizeNode>
[component_container_mt-1] [INFO] [1744146447.315741951] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::ResizeNode>
[component_container_mt-1] [INFO] [1744146447.323703030] [resize_mask_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1744146447.324233200] [resize_mask_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1744146447.338533626] [resize_mask_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1744146447.338734822] [resize_mask_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1744146447.341331677] [resize_mask_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1744146447.436255616] [resize_mask_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1744146447.439981353] [resize_mask_node]: [NitrosNode] Starting negotiation...
[component_container_mt-1] [INFO] [1744146447.440341586] [resize_left_rt_detr_node]: Negotiating
[component_container_mt-1] [INFO] [1744146447.440372616] [resize_left_rt_detr_node]: Could not negotiate
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/resize_mask_node' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1744146447.441680085] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::ResizeNode>
[component_container_mt-1] [INFO] [1744146447.441692808] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::ResizeNode>
[component_container_mt-1] [INFO] [1744146447.444332600] [resize_left_viz]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1744146447.444715455] [resize_left_viz]: [ResizeNode] Set output data format to: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1744146447.444749859] [resize_left_viz]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1744146447.450066798] [resize_left_viz]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1744146447.450180073] [resize_left_viz]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1744146447.451871310] [resize_left_viz]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1744146447.545088481] [resize_left_viz]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1744146447.546635818] [resize_left_viz]: [NitrosPublisherSubscriberGroup] Pinning the component "image_sink/sink" (type="nvidia::isaac_ros::MessageRelay") to use its compatible format only: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1744146447.550481355] [resize_left_viz]: [NitrosNode] Starting negotiation...
[component_container_mt-1] [INFO] [1744146447.550888467] [drop_node]: Negotiating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/resize_left_viz' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1744146447.552572144] [isaac_ros_examples.container]: Load Library: /workspaces/isaac_ros-dev/install/isaac_ros_foundationpose/lib/libfoundationpose_node.so
[component_container_mt-1] [INFO] [1744146447.555825707] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::foundationpose::FoundationPoseNode>
[component_container_mt-1] [INFO] [1744146447.555848686] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::foundationpose::FoundationPoseNode>
[component_container_mt-1] [INFO] [1744146447.558560515] [foundationpose_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1744146447.559537630] [foundationpose_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1744146447.562328769] [foundationpose_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1744146447.562440529] [foundationpose_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_depth_image_proc.so
[component_container_mt-1] [INFO] [1744146447.566400224] [foundationpose_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_sgm.so
[component_container_mt-1] [INFO] [1744146447.566744263] [foundationpose_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_messages.so
[component_container_mt-1] [INFO] [1744146447.567095206] [foundationpose_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_ros_messages.so
[component_container_mt-1] [INFO] [1744146447.567312772] [foundationpose_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_foundationpose.so
[component_container_mt-1] [INFO] [1744146447.570664424] [foundationpose_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1744146447.578797681] [foundationpose_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1744146447.927409027] [foundationpose_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1744146447.934406001] [foundationpose_node]: [NitrosNode] Starting negotiation...
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/foundationpose_node' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1744146447.934842785] [drop_node]: Negotiating
[component_container_mt-1] [INFO] [1744146447.934893143] [resize_mask_node]: Negotiating
[component_container_mt-1] [INFO] [1744146447.935116835] [resize_left_rt_detr_node]: Negotiating
[component_container_mt-1] [INFO] [1744146447.935137697] [resize_left_rt_detr_node]: Could not negotiate
[component_container_mt-1] [INFO] [1744146447.935275102] [drop_node]: Negotiating
[component_container_mt-1] [INFO] [1744146447.935289150] [drop_node]: Could not negotiate
[component_container_mt-1] [INFO] [1744146447.935275390] [foundationpose_node]: Negotiating
[component_container_mt-1] [INFO] [1744146447.935310382] [foundationpose_node]: Could not negotiate
[component_container_mt-1] [INFO] [1744146447.935315653] [foundationpose_node]: Negotiating
[component_container_mt-1] [INFO] [1744146447.935318602] [foundationpose_node]: Could not negotiate
[component_container_mt-1] [INFO] [1744146447.936625874] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::ResizeNode>
[component_container_mt-1] [INFO] [1744146447.936636708] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::ResizeNode>
[component_container_mt-1] [INFO] [1744146447.939622133] [resize_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1744146447.940144392] [resize_node]: [ResizeNode] Set output data format to: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1744146447.940184213] [resize_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1744146447.947786100] [resize_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1744146447.948056527] [resize_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1744146447.950002771] [resize_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1744146448.049073854] [resize_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1744146448.050881360] [resize_node]: [NitrosPublisherSubscriberGroup] Pinning the component "image_sink/sink" (type="nvidia::isaac_ros::MessageRelay") to use its compatible format only: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1744146448.055190338] [resize_node]: [NitrosNode] Starting negotiation...
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/resize_node' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1744146448.056710970] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::PadNode>
[component_container_mt-1] [INFO] [1744146448.056753483] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::PadNode>
[component_container_mt-1] [WARN] [1744146448.056878316] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[component_container_mt-1] [INFO] [1744146448.060303599] [pad_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1744146448.060603023] [resize_node]: Negotiating
[component_container_mt-1] [INFO] [1744146448.061021410] [pad_node.ManagedNitrosPublisher]: Starting Managed Nitros Publisher
[WARNING] [/isaac_ros_examples/container]: there are now at least 2 nodes with the name /pad_node created within this launch context
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/pad_node' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1744146448.062635923] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libimage_format_converter_node.so
[component_container_mt-1] [INFO] [1744146448.063572580] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::ImageFormatConverterNode>
[component_container_mt-1] [INFO] [1744146448.063591340] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::ImageFormatConverterNode>
[component_container_mt-1] [INFO] [1744146448.066738564] [image_format_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1744146448.067223779] [image_format_node]: [ImageFormatConverterNode] Set output data format to: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1744146448.067270850] [image_format_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1744146448.072413208] [image_format_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1744146448.072513500] [image_format_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1744146448.073307803] [image_format_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1744146448.102774858] [image_format_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1744146448.106430678] [image_format_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] [1744146448.107992277] [image_format_node]: [NitrosNode] Starting negotiation...
[component_container_mt-1] [INFO] [1744146448.108354199] [pad_node]: Negotiating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/image_format_node' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1744146448.108367749] [pad_node]: Negotiating
[component_container_mt-1] [INFO] [1744146448.109661847] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::ImageToTensorNode>
[component_container_mt-1] [INFO] [1744146448.109688741] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::ImageToTensorNode>
[component_container_mt-1] [WARN] [1744146448.109795658] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[component_container_mt-1] [INFO] [1744146448.113306865] [image_to_tensor_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1744146448.113562274] [image_format_node]: Negotiating
[component_container_mt-1] [INFO] [1744146448.113749066] [pad_node]: Negotiating
[component_container_mt-1] [INFO] [1744146448.113770357] [pad_node]: Negotiating
[component_container_mt-1] [INFO] [1744146448.114106557] [image_to_tensor_node.ManagedNitrosPublisher]: Starting Managed Nitros Publisher
[WARNING] [/isaac_ros_examples/container]: there are now at least 2 nodes with the name /image_to_tensor_node created within this launch context
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/image_to_tensor_node' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1744146448.115764103] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::InterleavedToPlanarNode>
[component_container_mt-1] [INFO] [1744146448.115785471] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::InterleavedToPlanarNode>
[component_container_mt-1] [WARN] [1744146448.115852274] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[component_container_mt-1] [INFO] [1744146448.118601907] [interleaved_to_planar_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1744146448.118902159] [resize_left_rt_detr_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1744146448.118916243] [resize_left_rt_detr_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1744146448.118924989] [resize_left_rt_detr_node]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1744146448.118929556] [resize_left_rt_detr_node]: [NitrosPublisher] Use only the compatible publisher: topic_name="/color_image_resized", data_format="nitros_image_rgb8"
[component_container_mt-1] [INFO] [1744146448.118934138] [resize_left_rt_detr_node]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1744146448.118937277] [resize_left_rt_detr_node]: [NitrosPublisher] Use only the compatible publisher: topic_name="/camera_info_resized", data_format="nitros_camera_info"
[component_container_mt-1] [INFO] [1744146448.118941295] [resize_left_rt_detr_node]: [NitrosSubscriber] Use the negotiated data format: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1744146448.118946060] [resize_left_rt_detr_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1744146448.118948630] [resize_left_rt_detr_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/rgb/camera_info", data_format="nitros_camera_info"
[component_container_mt-1] [INFO] [1744146448.119023207] [interleaved_to_planar_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1744146448.119084731] [resize_left_rt_detr_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1744146448.121836140] [interleaved_to_planar_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1744146448.121939291] [interleaved_to_planar_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1744146448.122799255] [interleaved_to_planar_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1744146448.124019675] [resize_left_rt_detr_node]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/LTWLGRHKNZ/LTWLGRHKNZ.yaml"
[component_container_mt-1] [INFO] [1744146448.124052146] [resize_left_rt_detr_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1744146448.125176226] [interleaved_to_planar_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1744146448.125696417] [resize_left_rt_detr_node]: [ResizeNode] postLoadGraphCallback().
[component_container_mt-1] [INFO] [1744146448.125745601] [resize_left_rt_detr_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1744146448.127087371] [interleaved_to_planar_node]: [NitrosNode] Starting negotiation...
[WARNING] [/isaac_ros_examples/container]: there are now at least 2 nodes with the name /interleaved_to_planar_node created within this launch context
[component_container_mt-1] [INFO] [1744146448.127528147] [image_to_tensor_node]: Negotiating
[component_container_mt-1] [INFO] [1744146448.127548024] [image_to_tensor_node]: Could not negotiate
[component_container_mt-1] [INFO] [1744146448.127540343] [image_to_tensor_node]: Negotiating
[component_container_mt-1] [INFO] [1744146448.127571430] [image_to_tensor_node]: Could not negotiate
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/interleaved_to_planar_node' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1744146448.129107128] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::ReshapeNode>
[component_container_mt-1] [INFO] [1744146448.129128845] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::ReshapeNode>
[component_container_mt-1] [WARN] [1744146448.129196094] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[component_container_mt-1] [INFO] [1744146448.131329511] [pad_node]: Negotiating
[component_container_mt-1] [INFO] [1744146448.134978812] [resize_left_rt_detr_node]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1744146448.135002639] [reshape_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1744146448.135528884] [reshape_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1744146448.138125819] [reshape_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1744146448.138214846] [reshape_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1744146448.138926030] [reshape_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1744146448.141422216] [reshape_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1744146448.143307694] [reshape_node]: [NitrosNode] Starting negotiation...
[WARNING] [/isaac_ros_examples/container]: there are now at least 2 nodes with the name /reshape_node created within this launch context
[component_container_mt-1] [INFO] [1744146448.143688788] [interleaved_to_planar_node]: Negotiating
[component_container_mt-1] [INFO] [1744146448.143692339] [interleaved_to_planar_node]: Negotiating
[component_container_mt-1] [INFO] [1744146448.143943957] [image_to_tensor_node]: Negotiating
[component_container_mt-1] [INFO] [1744146448.143958853] [image_to_tensor_node]: Could not negotiate
[component_container_mt-1] [INFO] [1744146448.143976657] [image_to_tensor_node]: Negotiating
[component_container_mt-1] [INFO] [1744146448.143994013] [image_to_tensor_node]: Could not negotiate
[component_container_mt-1] [INFO] [1744146448.144604606] [image_to_tensor_node]: Negotiating
[component_container_mt-1] [INFO] [1744146448.144619746] [image_to_tensor_node]: Could not negotiate
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/reshape_node' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1744146448.145549899] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::rtdetr::RtDetrPreprocessorNode>
[component_container_mt-1] [INFO] [1744146448.145578977] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::rtdetr::RtDetrPreprocessorNode>
[component_container_mt-1] [WARN] [1744146448.145729935] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[component_container_mt-1] [INFO] [1744146448.151553857] [rtdetr_preprocessor.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber