I am working on a robotics project and plan to use Isaac ROS and I am looking to purchase cameras that are Argus cameras to be able to use the most effective path for my machine vision on the Jetson Orin Nano, I dont see this on the list of specified cameras but I am asking to not assume. If the Zed x is not hardware configured for Argus to be able to bypass the CPU and go straight to GPU, is it being planned?
thank you very much
Hi @castel
Welcome to the Stereolabs community.
The ZED SDK uses Argus to retrieve ZED X data and it allows to directly retrieve the information in GPU memory, without passing from GPU memory.
This is allowed by calling the retrieveImage and retrieveMeasure functions with sl::MEM::GPU as type parameter.
Hello @Myzhar im trying to get the Zedx mini to work with the isaac ros argus package on the jetson orin nx, but it fails to load. you mentioned This is allowed by calling the retrieveImage and retrieveMeasure functions with sl::MEM::GPU as type parameter. Is this an automatic process or do i have to change anything myself for this to work? also should i start the zed wrapper before i start the argus package so the information is available? here is an output from the zed wrapper there is an error about retreiving sensor data could this be an issue?
admin@airbud-desktop:/workspaces/isaac_ros-dev$ ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zedxm
[INFO] [launch]: All log files can be found below /home/admin/.ros/log/2024-03-05-11-53-35-507652-airbud-desktop-34040
[INFO] [launch]: Default logging verbosity is set to INFO
[WARNING] [launch_ros.actions.node]: Parameter file path is not a file: .
[INFO] [robot_state_publisher-1]: process started with pid [34043]
[INFO] [zed_wrapper-2]: process started with pid [34045]
[robot_state_publisher-1] [INFO] [1709657616.369101339] [zed.zed_state_publisher]: got segment zed_camera_center
[robot_state_publisher-1] [INFO] [1709657616.369332961] [zed.zed_state_publisher]: got segment zed_camera_link
[robot_state_publisher-1] [INFO] [1709657616.369357537] [zed.zed_state_publisher]: got segment zed_left_camera_frame
[robot_state_publisher-1] [INFO] [1709657616.369370242] [zed.zed_state_publisher]: got segment zed_left_camera_optical_frame
[robot_state_publisher-1] [INFO] [1709657616.369379138] [zed.zed_state_publisher]: got segment zed_right_camera_frame
[robot_state_publisher-1] [INFO] [1709657616.369386594] [zed.zed_state_publisher]: got segment zed_right_camera_optical_frame
[zed_wrapper-2] [INFO] [1709657616.450280751] [zed.zed_node]: ********************************
[zed_wrapper-2] [INFO] [1709657616.450583095] [zed.zed_node]: ZED Camera Component
[zed_wrapper-2] [INFO] [1709657616.450609975] [zed.zed_node]: ********************************
[zed_wrapper-2] [INFO] [1709657616.450625880] [zed.zed_node]: * namespace: /zed
[zed_wrapper-2] [INFO] [1709657616.450640184] [zed.zed_node]: * node name: zed_node
[zed_wrapper-2] [INFO] [1709657616.450652601] [zed.zed_node]: ********************************
[zed_wrapper-2] [INFO] [1709657616.450695546] [zed.zed_node]: *** DEBUG parameters ***
[zed_wrapper-2] [INFO] [1709657616.450767804] [zed.zed_node]: * SDK Verbose: 0
[zed_wrapper-2] [INFO] [1709657616.450813053] [zed.zed_node]: * Debug Common: FALSE
[zed_wrapper-2] [INFO] [1709657616.450875902] [zed.zed_node]: * Debug Simulation: FALSE
[zed_wrapper-2] [INFO] [1709657616.450902687] [zed.zed_node]: * Debug Video/Depth: FALSE
[zed_wrapper-2] [INFO] [1709657616.450926752] [zed.zed_node]: * Debug Control settings: FALSE
[zed_wrapper-2] [INFO] [1709657616.450957152] [zed.zed_node]: * Debug Point Cloud: FALSE
[zed_wrapper-2] [INFO] [1709657616.450982145] [zed.zed_node]: * Debug GNSS: FALSE
[zed_wrapper-2] [INFO] [1709657616.451005506] [zed.zed_node]: * Debug Positional Tracking: FALSE
[zed_wrapper-2] [INFO] [1709657616.451030562] [zed.zed_node]: * Debug sensors: FALSE
[zed_wrapper-2] [INFO] [1709657616.451059395] [zed.zed_node]: * Debug Mapping: FALSE
[zed_wrapper-2] [INFO] [1709657616.451084036] [zed.zed_node]: * Debug Object Detection: FALSE
[zed_wrapper-2] [INFO] [1709657616.451108612] [zed.zed_node]: * Debug Body Tracking: FALSE
[zed_wrapper-2] [INFO] [1709657616.451136293] [zed.zed_node]: * Debug Advanced: FALSE
[zed_wrapper-2] [INFO] [1709657616.451189574] [zed.zed_node]: *** GENERAL parameters ***
[zed_wrapper-2] [INFO] [1709657616.451230344] [zed.zed_node]: * SVO: ''
[zed_wrapper-2] [INFO] [1709657616.451276489] [zed.zed_node]: * Camera model: zedxm - ZED X Mini
[zed_wrapper-2] [INFO] [1709657616.451314250] [zed.zed_node]: * Camera name: zed
[zed_wrapper-2] [INFO] [1709657616.451346123] [zed.zed_node]: * Camera SN: 0
[zed_wrapper-2] [INFO] [1709657616.451375627] [zed.zed_node]: * Camera timeout [sec]: 5
[zed_wrapper-2] [INFO] [1709657616.451407468] [zed.zed_node]: * Camera reconnection temptatives: 5
[zed_wrapper-2] [INFO] [1709657616.451437229] [zed.zed_node]: * Camera framerate: 60
[zed_wrapper-2] [INFO] [1709657616.451465550] [zed.zed_node]: * GPU ID: -1
[zed_wrapper-2] [INFO] [1709657616.451507471] [zed.zed_node]: * Camera resolution: SVGA
[zed_wrapper-2] [INFO] [1709657616.451542160] [zed.zed_node]: * Publishing resolution: CUSTOM
[zed_wrapper-2] [INFO] [1709657616.451593681] [zed.zed_node]: * Publishing downscale factor: 2
[zed_wrapper-2] [INFO] [1709657616.451624946] [zed.zed_node]: * OpenCV custom calibration:
[zed_wrapper-2] [INFO] [1709657616.451669043] [zed.zed_node]: * Region of interest: []
[zed_wrapper-2] [INFO] [1709657616.451698100] [zed.zed_node]: * Camera self calibration: TRUE
[zed_wrapper-2] [INFO] [1709657616.451725780] [zed.zed_node]: * Camera flip: FALSE
[zed_wrapper-2] [INFO] [1709657616.451770197] [zed.zed_node]: * [DYN] Publish framerate [Hz]: 15
[zed_wrapper-2] [INFO] [1709657616.451790550] [zed.zed_node]: *** VIDEO parameters ***
[zed_wrapper-2] [INFO] [1709657616.451821751] [zed.zed_node]: * [DYN] Saturation: 4
[zed_wrapper-2] [INFO] [1709657616.451847063] [zed.zed_node]: * [DYN] Sharpness: 4
[zed_wrapper-2] [INFO] [1709657616.451874200] [zed.zed_node]: * [DYN] Gamma: 8
[zed_wrapper-2] [INFO] [1709657616.451910809] [zed.zed_node]: * [DYN] Auto Exposure/Gain: TRUE
[zed_wrapper-2] [INFO] [1709657616.451939258] [zed.zed_node]: * [DYN] Exposure: 80
[zed_wrapper-2] [INFO] [1709657616.451963578] [zed.zed_node]: * [DYN] Gain: 80
[zed_wrapper-2] [INFO] [1709657616.451987899] [zed.zed_node]: * [DYN] Auto White Balance: TRUE
[zed_wrapper-2] [INFO] [1709657616.452018716] [zed.zed_node]: * [DYN] White Balance Temperature: 42
[zed_wrapper-2] [INFO] [1709657616.452045053] [zed.zed_node]: * [DYN] ZED X Exposure time: 16666
[zed_wrapper-2] [INFO] [1709657616.452072765] [zed.zed_node]: * [DYN] ZED X Auto Exp. time range min: 28
[zed_wrapper-2] [INFO] [1709657616.452099102] [zed.zed_node]: * [DYN] ZED X Auto Exp. time range max: 16666
[zed_wrapper-2] [INFO] [1709657616.452132447] [zed.zed_node]: * [DYN] ZED X Exposure comp.: 50
[zed_wrapper-2] [INFO] [1709657616.452160256] [zed.zed_node]: * [DYN] ZED X Analog Gain: 8000
[zed_wrapper-2] [INFO] [1709657616.452188064] [zed.zed_node]: * [DYN] ZED X Auto Analog Gain range min: 1000
[zed_wrapper-2] [INFO] [1709657616.452214689] [zed.zed_node]: * [DYN] ZED X Auto Analog Gain range max: 16000
[zed_wrapper-2] [INFO] [1709657616.452246786] [zed.zed_node]: * [DYN] ZED X Digital Gain: 128
[zed_wrapper-2] [INFO] [1709657616.452273955] [zed.zed_node]: * [DYN] ZED X Auto Digital Gain range min: 1
[zed_wrapper-2] [INFO] [1709657616.452397990] [zed.zed_node]: * [DYN] ZED X Auto Digital Gain range max: 256
[zed_wrapper-2] [INFO] [1709657616.452433031] [zed.zed_node]: * [DYN] ZED X Auto Digital Gain range max: 50
[zed_wrapper-2] [INFO] [1709657616.452466279] [zed.zed_node]: * Video QoS History: KEEP_LAST
[zed_wrapper-2] [INFO] [1709657616.452493384] [zed.zed_node]: * Video QoS History depth: 1
[zed_wrapper-2] [INFO] [1709657616.452518569] [zed.zed_node]: * Video QoS Reliability: RELIABLE
[zed_wrapper-2] [INFO] [1709657616.452548362] [zed.zed_node]: * Video QoS Durability: VOLATILE
[zed_wrapper-2] [INFO] [1709657616.452567882] [zed.zed_node]: *** DEPTH parameters ***
[zed_wrapper-2] [INFO] [1709657616.452602475] [zed.zed_node]: * Depth mode: ULTRA [3]
[zed_wrapper-2] [INFO] [1709657616.452637196] [zed.zed_node]: * Min depth [m]: 0.3
[zed_wrapper-2] [INFO] [1709657616.452673581] [zed.zed_node]: * Max depth [m]: 10
[zed_wrapper-2] [INFO] [1709657616.452701998] [zed.zed_node]: * Depth Stabilization: 1
[zed_wrapper-2] [INFO] [1709657616.452728558] [zed.zed_node]: * OpenNI mode (16bit point cloud): FALSE
[zed_wrapper-2] [INFO] [1709657616.452757743] [zed.zed_node]: * [DYN] Point cloud rate [Hz]: 10
[zed_wrapper-2] [INFO] [1709657616.452791408] [zed.zed_node]: * [DYN] Depth Confidence: 50
[zed_wrapper-2] [INFO] [1709657616.452817585] [zed.zed_node]: * [DYN] Depth Texture Confidence: 100
[zed_wrapper-2] [INFO] [1709657616.452842033] [zed.zed_node]: * [DYN] Remove saturated areas: TRUE
[zed_wrapper-2] [INFO] [1709657616.452872914] [zed.zed_node]: * Depth QoS History: KEEP_LAST
[zed_wrapper-2] [INFO] [1709657616.452897267] [zed.zed_node]: * Depth QoS History depth: 1
[zed_wrapper-2] [INFO] [1709657616.452922291] [zed.zed_node]: * Depth QoS Reliability: RELIABLE
[zed_wrapper-2] [INFO] [1709657616.452946420] [zed.zed_node]: * Depth QoS Durability: VOLATILE
[zed_wrapper-2] [INFO] [1709657616.452968820] [zed.zed_node]: *** GNSS FUSION parameters ***
[zed_wrapper-2] [INFO] [1709657616.453000245] [zed.zed_node]: * GNSS fusion enabled: FALSE
[zed_wrapper-2] [INFO] [1709657616.453017814] [zed.zed_node]: *** POSITIONAL TRACKING parameters ***
[zed_wrapper-2] [INFO] [1709657616.453047159] [zed.zed_node]: * Positional tracking enabled: TRUE
[zed_wrapper-2] [INFO] [1709657616.453081175] [zed.zed_node]: * Positional tracking mode: POSITIONAL TRACKING MODE STANDARD
[zed_wrapper-2] [INFO] [1709657616.453117784] [zed.zed_node]: * Map frame id: map
[zed_wrapper-2] [INFO] [1709657616.453149113] [zed.zed_node]: * Odometry frame id: odom
[zed_wrapper-2] [INFO] [1709657616.453177722] [zed.zed_node]: * Broadcast Odometry TF: TRUE
[zed_wrapper-2] [INFO] [1709657616.453210171] [zed.zed_node]: * Broadcast Pose TF: TRUE
[zed_wrapper-2] [INFO] [1709657616.453239643] [zed.zed_node]: * [DYN] Depth minimum range: 0
[zed_wrapper-2] [INFO] [1709657616.453269404] [zed.zed_node]: * [DYN] TF timestamp offset: 0
[zed_wrapper-2] [INFO] [1709657616.453299389] [zed.zed_node]: * [DYN] Path publishing rate: 2
[zed_wrapper-2] [INFO] [1709657616.453326974] [zed.zed_node]: * Path history lenght: -1
[zed_wrapper-2] [INFO] [1709657616.453360895] [zed.zed_node]: * Initial pose: [0,0,0,0,0,0,]
[zed_wrapper-2] [INFO] [1709657616.453392767] [zed.zed_node]: * Area Memory: TRUE
[zed_wrapper-2] [INFO] [1709657616.453426592] [zed.zed_node]: * Area Memory DB:
[zed_wrapper-2] [INFO] [1709657616.453454945] [zed.zed_node]: * Camera is static: FALSE
[zed_wrapper-2] [INFO] [1709657616.453481378] [zed.zed_node]: * Gravity as origin [not for ZED]: TRUE
[zed_wrapper-2] [INFO] [1709657616.453521123] [zed.zed_node]: * IMU Fusion [not for ZED]: TRUE
[zed_wrapper-2] [INFO] [1709657616.453549059] [zed.zed_node]: * Floor Alignment: FALSE
[zed_wrapper-2] [INFO] [1709657616.453578308] [zed.zed_node]: * Init Odometry with first valid pose data: TRUE
[zed_wrapper-2] [INFO] [1709657616.453604517] [zed.zed_node]: * 2D mode: FALSE
[zed_wrapper-2] [INFO] [1709657616.453635430] [zed.zed_node]: * Pose/Odometry QoS History: KEEP_LAST
[zed_wrapper-2] [INFO] [1709657616.453662630] [zed.zed_node]: * Pose/Odometry QoS History depth: 1
[zed_wrapper-2] [INFO] [1709657616.453689671] [zed.zed_node]: * Pose/Odometry QoS Reliability: RELIABLE
[zed_wrapper-2] [INFO] [1709657616.453719848] [zed.zed_node]: * Pose/Odometry QoS Durability: VOLATILE
[zed_wrapper-2] [INFO] [1709657616.453763113] [zed.zed_node]: *** SENSORS STACK parameters ***
[zed_wrapper-2] [INFO] [1709657616.453803658] [zed.zed_node]: * Broadcast IMU TF [not for ZED]: TRUE
[zed_wrapper-2] [INFO] [1709657616.453834699] [zed.zed_node]: * Sensors Camera Sync: FALSE
[zed_wrapper-2] [INFO] [1709657616.453870284] [zed.zed_node]: * Sensors publishing rate: 200 Hz
[zed_wrapper-2] [INFO] [1709657616.453896204] [zed.zed_node]: * Sensors QoS History: KEEP_LAST
[zed_wrapper-2] [INFO] [1709657616.453922637] [zed.zed_node]: * Sensors QoS History depth: 1
[zed_wrapper-2] [INFO] [1709657616.453984335] [zed.zed_node]: * Sensors QoS Reliability: RELIABLE
[zed_wrapper-2] [INFO] [1709657616.454018576] [zed.zed_node]: * Sensors QoS Durability: VOLATILE
[zed_wrapper-2] [INFO] [1709657616.454037616] [zed.zed_node]: *** Spatial Mapping parameters ***
[zed_wrapper-2] [INFO] [1709657616.454067089] [zed.zed_node]: * Spatial Mapping Enabled: FALSE
[zed_wrapper-2] [INFO] [1709657616.454102898] [zed.zed_node]: * Spatial Mapping resolution [m]: 0.05
[zed_wrapper-2] [INFO] [1709657616.454134835] [zed.zed_node]: * 3D Max Mapping range [m]: 5
[zed_wrapper-2] [INFO] [1709657616.454169620] [zed.zed_node]: * Map publishing rate [Hz]: 1
[zed_wrapper-2] [INFO] [1709657616.454200532] [zed.zed_node]: * Clicked point topic: /clicked_point
[zed_wrapper-2] [INFO] [1709657616.454230805] [zed.zed_node]: * Plane Det. Max Dist. Thresh.: 0.15
[zed_wrapper-2] [INFO] [1709657616.454260630] [zed.zed_node]: * Plane Det. Normals Sim. Thresh.: 15
[zed_wrapper-2] [INFO] [1709657616.454312343] [zed.zed_node]: * Sensors QoS History: KEEP_LAST
[zed_wrapper-2] [INFO] [1709657616.454339160] [zed.zed_node]: * Sensors QoS History depth: 1
[zed_wrapper-2] [INFO] [1709657616.454364761] [zed.zed_node]: * Sensors QoS Reliability: RELIABLE
[zed_wrapper-2] [INFO] [1709657616.454390361] [zed.zed_node]: * Sensors QoS Durability: VOLATILE
[zed_wrapper-2] [INFO] [1709657616.454409274] [zed.zed_node]: *** Object Det. parameters ***
[zed_wrapper-2] [INFO] [1709657616.454441915] [zed.zed_node]: * Object Det. enabled: FALSE
[zed_wrapper-2] [INFO] [1709657616.454491548] [zed.zed_node]: * Object Det. model: MULTI CLASS BOX MEDIUM
[zed_wrapper-2] [INFO] [1709657616.454521053] [zed.zed_node]: * Object Det. allow reduced precision: TRUE
[zed_wrapper-2] [INFO] [1709657616.454551549] [zed.zed_node]: * Object Det. maximum range [m]: 20
[zed_wrapper-2] [INFO] [1709657616.454588734] [zed.zed_node]: * Object Det. min. confidence: 50
[zed_wrapper-2] [INFO] [1709657616.454617663] [zed.zed_node]: * Object Det. prediction timeout [sec]: 0.5
[zed_wrapper-2] [INFO] [1709657616.454645280] [zed.zed_node]: * Object Det. tracking: TRUE
[zed_wrapper-2] [INFO] [1709657616.454680801] [zed.zed_node]: * Object Filtering mode: 1 - NMS 3D
[zed_wrapper-2] [INFO] [1709657616.454710082] [zed.zed_node]: * MultiClassBox people: TRUE
[zed_wrapper-2] [INFO] [1709657616.454736066] [zed.zed_node]: * MultiClassBox vehicles: TRUE
[zed_wrapper-2] [INFO] [1709657616.454771715] [zed.zed_node]: * MultiClassBox bags: TRUE
[zed_wrapper-2] [INFO] [1709657616.454797252] [zed.zed_node]: * MultiClassBox animals: TRUE
[zed_wrapper-2] [INFO] [1709657616.454824196] [zed.zed_node]: * MultiClassBox electronics: TRUE
[zed_wrapper-2] [INFO] [1709657616.454901382] [zed.zed_node]: * MultiClassBox fruits and vegetables: TRUE
[zed_wrapper-2] [INFO] [1709657616.454928711] [zed.zed_node]: * MultiClassBox sport-related objects: TRUE
[zed_wrapper-2] [INFO] [1709657616.454956264] [zed.zed_node]: * Obj. Det. QoS History: KEEP_LAST
[zed_wrapper-2] [INFO] [1709657616.454982889] [zed.zed_node]: * Obj. Det. QoS History depth: 1
[zed_wrapper-2] [INFO] [1709657616.455011049] [zed.zed_node]: * Obj. Det. QoS Reliability: RELIABLE
[zed_wrapper-2] [INFO] [1709657616.455036842] [zed.zed_node]: * Obj. Det. QoS Durability: VOLATILE
[zed_wrapper-2] [INFO] [1709657616.455055562] [zed.zed_node]: *** Body Track. parameters ***
[zed_wrapper-2] [INFO] [1709657616.455083627] [zed.zed_node]: * Body Track. enabled: FALSE
[zed_wrapper-2] [INFO] [1709657616.455125996] [zed.zed_node]: * Body Track. model: HUMAN BODY MEDIUM
[zed_wrapper-2] [INFO] [1709657616.455161837] [zed.zed_node]: * Body Track. format: BODY_38
[zed_wrapper-2] [INFO] [1709657616.455189902] [zed.zed_node]: * Body Track. allow reduced precision: TRUE
[zed_wrapper-2] [INFO] [1709657616.455240783] [zed.zed_node]: * Body Track. maximum range [m]: 20
[zed_wrapper-2] [INFO] [1709657616.455275184] [zed.zed_node]: * Body Track. KP selection: FULL
[zed_wrapper-2] [INFO] [1709657616.455309649] [zed.zed_node]: * Body fitting: FALSE
[zed_wrapper-2] [INFO] [1709657616.455339794] [zed.zed_node]: * Body joints tracking: TRUE
[zed_wrapper-2] [INFO] [1709657616.455374835] [zed.zed_node]: * Body Track. prediction timeout [sec]: 0.5
[zed_wrapper-2] [INFO] [1709657616.455405332] [zed.zed_node]: * Body Track. confidence thresh.: 50
[zed_wrapper-2] [INFO] [1709657616.455434068] [zed.zed_node]: * Body Track. min. KP thresh.: 5
[zed_wrapper-2] [INFO] [1709657616.455464405] [zed.zed_node]: * Body Track. QoS History: KEEP_LAST
[zed_wrapper-2] [INFO] [1709657616.455489942] [zed.zed_node]: * Body Track. QoS History depth: 1
[zed_wrapper-2] [INFO] [1709657616.455515478] [zed.zed_node]: * Body Track. QoS Reliability: RELIABLE
[zed_wrapper-2] [INFO] [1709657616.455541847] [zed.zed_node]: * Body Track. QoS Durability: VOLATILE
[zed_wrapper-2] [INFO] [1709657616.455595672] [zed.zed_node]: *** Advanced parameters ***
[zed_wrapper-2] [INFO] [1709657616.455627289] [zed.zed_node]: * Thread sched. policy: SCHED_BATCH
[zed_wrapper-2] [INFO] [1709657616.455717884] [zed.zed_node]: *** SERVICES ***
[zed_wrapper-2] [INFO] [1709657616.456779511] [zed.zed_node]: * '/zed/zed_node/reset_odometry'
[zed_wrapper-2] [INFO] [1709657616.457242979] [zed.zed_node]: * '/zed/zed_node/reset_pos_tracking'
[zed_wrapper-2] [INFO] [1709657616.458598438] [zed.zed_node]: * '/zed/zed_node/set_pose'
[zed_wrapper-2] [INFO] [1709657616.459436156] [zed.zed_node]: * '/zed/zed_node/enable_obj_det'
[zed_wrapper-2] [INFO] [1709657616.459843270] [zed.zed_node]: * '/zed/zed_node/enable_body_trk'
[zed_wrapper-2] [INFO] [1709657616.460227312] [zed.zed_node]: * '/zed/zed_node/enable_mapping'
[zed_wrapper-2] [INFO] [1709657616.460694172] [zed.zed_node]: * '/zed/zed_node/start_svo_rec'
[zed_wrapper-2] [INFO] [1709657616.461102087] [zed.zed_node]: * '/zed/zed_node/stop_svo_rec'
[zed_wrapper-2] [INFO] [1709657616.461725815] [zed.zed_node]: * '/zed/zed_node/set_roi'
[zed_wrapper-2] [INFO] [1709657616.462255237] [zed.zed_node]: * '/zed/zed_node/reset_roi'
[zed_wrapper-2] [INFO] [1709657616.462289702] [zed.zed_node]: ***** STARTING CAMERA *****
[zed_wrapper-2] [INFO] [1709657616.462316198] [zed.zed_node]: ZED SDK Version: 4.0.6 - Build 76737_a80ced01
[zed_wrapper-2] [INFO] [1709657616.468235647] [zed.zed_node]: *** CAMERA OPENING ***
[zed_wrapper-2] [ZED-X][Warning] Failed to open zed_x service
[zed_wrapper-2] [INFO] [1709657620.874886141] [zed.zed_node]: ZED SDK running on GPU #0
[zed_wrapper-2] [INFO] [1709657620.875030721] [zed.zed_node]: * Camera Model -> ZED X Mini
[zed_wrapper-2] [INFO] [1709657620.875051553] [zed.zed_node]: * Serial Number -> 56236837
[zed_wrapper-2] [INFO] [1709657620.875074274] [zed.zed_node]: * Focal Lenght -> 2.20052 mm
[zed_wrapper-2] [INFO] [1709657620.875101923] [zed.zed_node]: * Input -> GMSL input type
[zed_wrapper-2] [INFO] [1709657620.875121315] [zed.zed_node]: * Camera FW Version -> 2001
[zed_wrapper-2] [INFO] [1709657620.875141764] [zed.zed_node]: * Sensors FW Version -> 1000
[zed_wrapper-2] [INFO] [1709657620.875159012] [zed.zed_node]: * Camera grab frame size -> 960x600
[zed_wrapper-2] [INFO] [1709657620.875173381] [zed.zed_node]: * Publishing frame size -> 480x300
[zed_wrapper-2] [INFO] [1709657620.875203013] [zed.zed_node]: *** TF FRAMES ***
[zed_wrapper-2] [INFO] [1709657620.875219494] [zed.zed_node]: * Map -> map
[zed_wrapper-2] [INFO] [1709657620.875232518] [zed.zed_node]: * Odometry -> odom
[zed_wrapper-2] [INFO] [1709657620.875244902] [zed.zed_node]: * Base -> zed_camera_link
[zed_wrapper-2] [INFO] [1709657620.875256807] [zed.zed_node]: * Camera -> zed_camera_center
[zed_wrapper-2] [INFO] [1709657620.875268647] [zed.zed_node]: * Left -> zed_left_camera_frame
[zed_wrapper-2] [INFO] [1709657620.875280679] [zed.zed_node]: * Left Optical -> zed_left_camera_optical_frame
[zed_wrapper-2] [INFO] [1709657620.875292840] [zed.zed_node]: * RGB -> zed_left_camera_frame
[zed_wrapper-2] [INFO] [1709657620.875304584] [zed.zed_node]: * RGB Optical -> zed_left_camera_frame
[zed_wrapper-2] [INFO] [1709657620.875316648] [zed.zed_node]: * Right -> zed_right_camera_frame
[zed_wrapper-2] [INFO] [1709657620.875327656] [zed.zed_node]: * Right Optical -> zed_right_camera_optical_frame
[zed_wrapper-2] [INFO] [1709657620.875339145] [zed.zed_node]: * Depth -> zed_left_camera_frame
[zed_wrapper-2] [INFO] [1709657620.875350953] [zed.zed_node]: * Depth Optical -> zed_left_camera_optical_frame
[zed_wrapper-2] [INFO] [1709657620.875362697] [zed.zed_node]: * Point Cloud -> zed_left_camera_optical_frame
[zed_wrapper-2] [INFO] [1709657620.875374634] [zed.zed_node]: * Disparity -> zed_left_camera_frame
[zed_wrapper-2] [INFO] [1709657620.875398122] [zed.zed_node]: * Disparity Optical -> zed_left_camera_optical_frame
[zed_wrapper-2] [INFO] [1709657620.875426251] [zed.zed_node]: * Confidence -> zed_left_camera_frame
[zed_wrapper-2] [INFO] [1709657620.875440267] [zed.zed_node]: * Confidence Optical -> zed_left_camera_optical_frame
[zed_wrapper-2] [INFO] [1709657620.875452460] [zed.zed_node]: * IMU -> zed_imu_link
[zed_wrapper-2] [INFO] [1709657620.875520589] [zed.zed_node]: *** PUBLISHED TOPICS ***
[zed_wrapper-2] [INFO] [1709657621.082904611] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb/image_rect_color
[zed_wrapper-2] [INFO] [1709657621.082993862] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb/camera_info
[zed_wrapper-2] [INFO] [1709657621.088678073] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_gray/image_rect_gray
[zed_wrapper-2] [INFO] [1709657621.089769717] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_gray/camera_info
[zed_wrapper-2] [INFO] [1709657621.098283345] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_raw/image_raw_color
[zed_wrapper-2] [INFO] [1709657621.099430607] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_raw/camera_info
[zed_wrapper-2] [INFO] [1709657621.104904637] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_raw_gray/image_raw_gray
[zed_wrapper-2] [INFO] [1709657621.106019225] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_raw_gray/camera_info
[zed_wrapper-2] [INFO] [1709657621.111060764] [zed.zed_node]: Advertised on topic: /zed/zed_node/left/image_rect_color
[zed_wrapper-2] [INFO] [1709657621.112145688] [zed.zed_node]: Advertised on topic: /zed/zed_node/left/camera_info
[zed_wrapper-2] [INFO] [1709657621.118434395] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_gray/image_rect_gray
[zed_wrapper-2] [INFO] [1709657621.119412692] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_gray/camera_info
[zed_wrapper-2] [INFO] [1709657621.124794399] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_raw/image_raw_color
[zed_wrapper-2] [INFO] [1709657621.125690230] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_raw/camera_info
[zed_wrapper-2] [INFO] [1709657621.134452249] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_raw_gray/image_raw_gray
[zed_wrapper-2] [INFO] [1709657621.135451923] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_raw_gray/camera_info
[zed_wrapper-2] [INFO] [1709657621.140953665] [zed.zed_node]: Advertised on topic: /zed/zed_node/right/image_rect_color
[zed_wrapper-2] [INFO] [1709657621.141960859] [zed.zed_node]: Advertised on topic: /zed/zed_node/right/camera_info
[zed_wrapper-2] [INFO] [1709657621.150906979] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_gray/image_rect_gray
[zed_wrapper-2] [INFO] [1709657621.151886012] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_gray/camera_info
[zed_wrapper-2] [INFO] [1709657621.157287272] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_raw/image_raw_color
[zed_wrapper-2] [INFO] [1709657621.158285570] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_raw/camera_info
[zed_wrapper-2] [INFO] [1709657621.162673779] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_raw_gray/image_raw_gray
[zed_wrapper-2] [INFO] [1709657621.163599691] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_raw_gray/camera_info
[zed_wrapper-2] [INFO] [1709657621.167788536] [zed.zed_node]: Advertised on topic: /zed/zed_node/depth/depth_registered
[zed_wrapper-2] [INFO] [1709657621.168837779] [zed.zed_node]: Advertised on topic: /zed/zed_node/depth/camera_info
[zed_wrapper-2] [INFO] [1709657621.172221994] [zed.zed_node]: Advertised on topic: /zed/zed_node/depth/depth_info
[zed_wrapper-2] [INFO] [1709657621.181830147] [zed.zed_node]: Advertised on topic: /zed/zed_node/stereo/image_rect_color
[zed_wrapper-2] [INFO] [1709657621.188485615] [zed.zed_node]: Advertised on topic: /zed/zed_node/stereo_raw/image_raw_color
[zed_wrapper-2] [INFO] [1709657621.190305310] [zed.zed_node]: Advertised on topic: /zed/zed_node/confidence/confidence_map
[zed_wrapper-2] [INFO] [1709657621.193257995] [zed.zed_node]: Advertised on topic: /zed/zed_node/disparity/disparity_image
[zed_wrapper-2] [INFO] [1709657621.195668553] [zed.zed_node]: Advertised on topic: /zed/zed_node/point_cloud/cloud_registered
[zed_wrapper-2] [INFO] [1709657621.197705758] [zed.zed_node]: Advertised on topic: /zed/zed_node/pose
[zed_wrapper-2] [INFO] [1709657621.199158563] [zed.zed_node]: Advertised on topic: /zed/zed_node/pose/status
[zed_wrapper-2] [INFO] [1709657621.200786989] [zed.zed_node]: Advertised on topic: /zed/zed_node/pose_with_covariance
[zed_wrapper-2] [INFO] [1709657621.204189733] [zed.zed_node]: Advertised on topic: /zed/zed_node/odom
[zed_wrapper-2] [INFO] [1709657621.206112087] [zed.zed_node]: Advertised on topic: /zed/zed_node/odom/status
[zed_wrapper-2] [INFO] [1709657621.208101099] [zed.zed_node]: Advertised on topic: /zed/zed_node/path_map
[zed_wrapper-2] [INFO] [1709657621.213459989] [zed.zed_node]: Advertised on topic: /zed/zed_node/path_odom
[zed_wrapper-2] [INFO] [1709657621.218191216] [zed.zed_node]: Advertised on topic: /zed/plane_marker
[zed_wrapper-2] [INFO] [1709657621.220935223] [zed.zed_node]: Advertised on topic: /zed/plane
[zed_wrapper-2] [INFO] [1709657621.223122191] [zed.zed_node]: Advertised on topic: /zed/zed_node/imu/data
[zed_wrapper-2] [INFO] [1709657621.224736409] [zed.zed_node]: Advertised on topic: /zed/zed_node/imu/data_raw
[zed_wrapper-2] [INFO] [1709657621.226475142] [zed.zed_node]: Advertised on topic: /zed/zed_node/temperature/imu
[zed_wrapper-2] [INFO] [1709657621.228202003] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_cam_imu_transform
[zed_wrapper-2] [INFO] [1709657621.228869252] [zed.zed_node]: Camera-IMU Translation:
[zed_wrapper-2] -0.002 -0.023 0.00022
[zed_wrapper-2] [INFO] [1709657621.229521621] [zed.zed_node]: Camera-IMU Rotation:
[zed_wrapper-2] FFFFE19A0110
[zed_wrapper-2] 0.999993 -0.003677 0.000741
[zed_wrapper-2] 0.003680 0.999982 -0.004839
[zed_wrapper-2] -0.000724 0.004841 0.999988
[zed_wrapper-2]
[zed_wrapper-2] [INFO] [1709657621.230213351] [zed.zed_node]: *** Subscribers ***
[zed_wrapper-2] [INFO] [1709657621.232024086] [zed.zed_node]: * Plane detection: '/clicked_point'
[zed_wrapper-2] [INFO] [1709657621.308512305] [zed.zed_node]: *** Starting Positional Tracking ***
[zed_wrapper-2] [INFO] [1709657621.308633492] [zed.zed_node]: * Waiting for valid static transformations...
[zed_wrapper-2] [INFO] [1709657621.308816505] [zed.zed_node]: Static transform Sensor to Base [zed_left_camera_frame -> zed_camera_link]
[zed_wrapper-2] [INFO] [1709657621.308842329] [zed.zed_node]: * Translation: {0.010,-0.025,-0.016}
[zed_wrapper-2] [INFO] [1709657621.308859866] [zed.zed_node]: * Rotation: {0.000,-0.000,0.000}
[zed_wrapper-2] [INFO] [1709657621.308933884] [zed.zed_node]: Static transform Sensor to Camera Center [zed_left_camera_frame -> zed_camera_center]
[zed_wrapper-2] [INFO] [1709657621.308976797] [zed.zed_node]: * Translation: {0.010,-0.025,0.000}
[zed_wrapper-2] [INFO] [1709657621.308993085] [zed.zed_node]: * Rotation: {0.000,-0.000,0.000}
[zed_wrapper-2] [INFO] [1709657621.309021662] [zed.zed_node]: Static transform Camera Center to Base [zed_camera_center -> zed_camera_link]
[zed_wrapper-2] [INFO] [1709657621.309038334] [zed.zed_node]: * Translation: {0.000,0.000,-0.016}
[zed_wrapper-2] [INFO] [1709657621.309065631] [zed.zed_node]: * Rotation: {0.000,-0.000,0.000}
[zed_wrapper-2] [INFO] [1709657621.310176348] [zed.zed_node]: Initial ZED left camera pose (ZED pos. tracking):
[zed_wrapper-2] [INFO] [1709657621.310225117] [zed.zed_node]: * T: [-0.01,0.025,0.016]
[zed_wrapper-2] [INFO] [1709657621.310283167] [zed.zed_node]: * Q: [0,0,0,1]
[zed_wrapper-2] [WARN] [1709657621.321733415] [zed.zed_node]: sl::getSensorsData error: CAMERA NOT DETECTED
[zed_wrapper-2] [INFO] [1709657621.485094506] [zed.zed_node]: Odometry aligned to last tracking pose
[zed_wrapper-2] [INFO] [1709657621.485202316] [zed.zed_node]: * Initial odometry [odom -> zed_camera_link] - {0.001,-0.000,0.001} {-0.478,-3.042,-0.015}
Hi @castel
according to the log that you posted the ZED ROS 2 node is correctly running.
What is the problem that you are facing?
when i run the argus ros package i get errors about:
Failure to get the CaptureSession interface for the Argus camera component.
Error setting up output streams for the Argus camera component.
GXF (Graph eXecution Framework) errors indicating issues with entity execution, graph interruption, and graph deactivation.
here is the complete output i know this is nvidias docker container but if you could shine some light on how i could go about making it work that would be greatly appreciated:
admin@airbud-desktop:/workspaces/isaac_ros-dev$ ros2 launch isaac_ros_argus_camera isaac_ros_argus_camera_stereo.launch.py
[INFO] [launch]: All log files can be found below /home/admin/.ros/log/2024-03-05-12-07-42-338266-airbud-desktop-34971
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container_mt-1]: process started with pid [34982]
[component_container_mt-1] [INFO] [1709658462.912735992] [argus_stereo_container]: Load Library: /workspaces/isaac_ros-dev/install/isaac_ros_argus_camera/lib/libstereo_node.so
[component_container_mt-1] [INFO] [1709658462.981518580] [argus_stereo_container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::argus::ArgusStereoNode>
[component_container_mt-1] [INFO] [1709658462.981647161] [argus_stereo_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::argus::ArgusStereoNode>
[component_container_mt-1] [INFO] [1709658463.014639202] [NitrosContext]: [NitrosContext] Creating a new shared context
[component_container_mt-1] [INFO] [1709658463.015842319] [argus_stereo]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1709658463.017546286] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/std/libgxf_std.so
[component_container_mt-1] [INFO] [1709658463.025411090] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_gxf_helpers.so
[component_container_mt-1] [INFO] [1709658463.029295075] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_sight.so
[component_container_mt-1] [INFO] [1709658463.049072225] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_atlas.so
[component_container_mt-1] [INFO] [1709658463.055526001] [NitrosContext]: [NitrosContext] Loading application: '/opt/ros/humble/share/isaac_ros_nitros/config/type_adapter_nitros_context_graph.yaml'
[component_container_mt-1] [INFO] [1709658463.056851266] [NitrosContext]: [NitrosContext] Initializing application...
[component_container_mt-1] [INFO] [1709658463.069443382] [NitrosContext]: [NitrosContext] Running application...
[component_container_mt-1] 2024-03-05 12:07:43.069 WARN gxf/std/program.cpp@514: No system specified. Nothing to do
[component_container_mt-1] [INFO] [1709658463.084623817] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_argus.so
[component_container_mt-1] [INFO] [1709658463.356994349] [NitrosContext]: [NitrosContext] Loading application: '/workspaces/isaac_ros-dev/install/isaac_ros_argus_camera/share/isaac_ros_argus_camera/config/argus_nitros_context_graph.yaml'
[component_container_mt-1] [INFO] [1709658463.358634090] [NitrosContext]: [NitrosContext] Initializing application...
[component_container_mt-1] [INFO] [1709658463.360496431] [NitrosContext]: [NitrosContext] Running application...
[component_container_mt-1] 2024-03-05 12:07:43.362 WARN gxf/std/program.cpp@514: No system specified. Nothing to do
[component_container_mt-1] [INFO] [1709658463.367384111] [argus_stereo]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1709658463.371064856] [argus_stereo]: [NitrosNode] Loading built-in preset extension specs
[component_container_mt-1] [INFO] [1709658463.374603131] [argus_stereo]: [NitrosNode] Loading built-in extension specs
[component_container_mt-1] [INFO] [1709658463.374688575] [argus_stereo]: [NitrosNode] Loading preset extension specs
[component_container_mt-1] [INFO] [1709658463.376799501] [argus_stereo]: [NitrosNode] Loading extension specs
[component_container_mt-1] [INFO] [1709658463.380557753] [argus_stereo]: [NitrosNode] Loading generator rules
[component_container_mt-1] [INFO] [1709658463.382813996] [argus_stereo]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1709658463.384615375] [argus_stereo]: [NitrosContext] Loading extension: gxf/lib/libgxf_message_compositor.so
[component_container_mt-1] [INFO] [1709658463.389912788] [argus_stereo]: [NitrosContext] Loading extension: gxf/lib/cuda/libgxf_cuda.so
[component_container_mt-1] [INFO] [1709658463.393066537] [argus_stereo]: [NitrosContext] Loading extension: gxf/lib/serialization/libgxf_serialization.so
[component_container_mt-1] [INFO] [1709658463.401102292] [argus_stereo]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_messages.so
[component_container_mt-1] [INFO] [1709658463.410429006] [argus_stereo]: [NitrosContext] Loading extension: gxf/lib/multimedia/libgxf_multimedia.so
[component_container_mt-1] [INFO] [1709658463.413364731] [argus_stereo]: [NitrosContext] Loading extension: gxf/lib/image_proc/libgxf_tensorops.so
[component_container_mt-1] [INFO] [1709658463.425612002] [argus_stereo]: [NitrosContext] Loading extension: gxf/lib/image_proc/libgxf_rectify_params_generator.so
[component_container_mt-1] [INFO] [1709658463.433827923] [argus_stereo]: [NitrosContext] Loading extension: gxf/lib/libgxf_timestamp_correlator.so
[component_container_mt-1] [INFO] [1709658463.441178820] [argus_stereo]: [NitrosContext] Loading extension: gxf/lib/utils/libgxf_utils.so
[component_container_mt-1] [INFO] [1709658463.443255185] [argus_stereo]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1709658463.450425531] [argus_stereo]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1709658463.621259204] [argus_stereo]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1709658463.625320123] [argus_stereo]: [NitrosNode] Creating negotiated publishers/subscribers
[component_container_mt-1] [INFO] [1709658463.650198103] [argus_stereo]: [NitrosNode] Starting negotiation...
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/argus_stereo' in container '/argus_stereo_container'
[component_container_mt-1] [INFO] [1709658464.656352774] [argus_stereo]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1709658464.656549901] [argus_stereo]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1709658464.656586670] [argus_stereo]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1709658464.656603919] [argus_stereo]: [NitrosPublisher] Use only the compatible publisher: topic_name="/left/image_raw", data_format="nitros_image_rgb8"
[component_container_mt-1] [INFO] [1709658464.656618959] [argus_stereo]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1709658464.656632848] [argus_stereo]: [NitrosPublisher] Use only the compatible publisher: topic_name="/right/image_raw", data_format="nitros_image_rgb8"
[component_container_mt-1] [INFO] [1709658464.656642256] [argus_stereo]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1709658464.656649809] [argus_stereo]: [NitrosPublisher] Use only the compatible publisher: topic_name="/left/camerainfo", data_format="nitros_camera_info"
[component_container_mt-1] [INFO] [1709658464.656658641] [argus_stereo]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1709658464.656666737] [argus_stereo]: [NitrosPublisher] Use only the compatible publisher: topic_name="/right/camerainfo", data_format="nitros_camera_info"
[component_container_mt-1] [INFO] [1709658464.656974045] [argus_stereo]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1709658464.670669977] [argus_stereo]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/VKSQBZVGFG/VKSQBZVGFG.yaml"
[component_container_mt-1] [INFO] [1709658464.670769277] [argus_stereo]: [NitrosNode] Calling user's pre-load-graph callback
[component_container_mt-1] [INFO] [1709658464.670785277] [argus_stereo]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1709658464.670804254] [argus_stereo]: [NitrosContext] Loading application: '/tmp/isaac_ros_nitros/graphs/VKSQBZVGFG/VKSQBZVGFG.yaml'
[component_container_mt-1] 2024-03-05 12:07:44.678 WARN gxf/std/yaml_file_loader.cpp@1058: Using unregistered parameter 'left_camera_frame' in component ''.
[component_container_mt-1] 2024-03-05 12:07:44.678 WARN gxf/std/yaml_file_loader.cpp@1058: Using unregistered parameter 'right_camera_frame' in component ''.
[component_container_mt-1] 2024-03-05 12:07:44.679 WARN gxf/std/yaml_file_loader.cpp@1058: Using unregistered parameter 'allocator' in component ''.
[component_container_mt-1] [INFO] [1709658464.680416899] [argus_stereo]: [NitrosNode] Linking Nitros pub/sub to the loaded application
[component_container_mt-1] [INFO] [1709658464.680697485] [argus_stereo]: [NitrosNode] Calling user's post-load-graph callback
[component_container_mt-1] [INFO] [1709658464.680726094] [argus_stereo]: [ArgusCameraNode] postLoadGraphCallback().
[component_container_mt-1] [INFO] [1709658464.680795185] [argus_stereo]: [NitrosContext] Initializing application...
[component_container_mt-1] [INFO] [1709658465.087028569] [argus_stereo]: [NitrosContext] Running application...
[component_container_mt-1] [INFO] [1709658465.087519851] [argus_stereo]: [NitrosNode] Starting a heartbeat timer (eid=93)
[component_container_mt-1] 2024-03-05 12:07:45.089 ERROR extensions/hawk/components/argus_camera.cpp@354: Failed to get CaptureSession interface
[component_container_mt-1] 2024-03-05 12:07:45.089 ERROR extensions/hawk/components/argus_camera.cpp@705: Error setting up output streams
[component_container_mt-1] 2024-03-05 12:07:45.089 WARN gxf/std/multi_thread_scheduler.cpp@325: Error while executing entity E32 named 'VKSQBZVGFG_argus_camera': GXF_FAILURE
[component_container_mt-1] 2024-03-05 12:07:45.090 ERROR gxf/std/entity_executor.cpp@563: Entity [VKSQBZVGFG_argus_camera] must be in Started, Tick Pending, Ticking or Idle stage before stopping. Current state is StartPending
[component_container_mt-1] 2024-03-05 12:07:46.087 ERROR gxf/std/entity_executor.cpp@210: Entity with eid 93 not found!
[component_container_mt-1] [WARN] [1709658466.087949615] [argus_stereo]: [NitrosNode] The heartbeat entity (eid=93) was stopped. The graph may have been terminated.
[component_container_mt-1] [INFO] [1709658466.094404062] [argus_stereo]: [NitrosNode] Terminating the running application
[component_container_mt-1] [INFO] [1709658466.094464000] [argus_stereo]: [NitrosContext] Interrupting GXF...
[component_container_mt-1] 2024-03-05 12:07:46.094 ERROR gxf/core/runtime.cpp@1400: Graph interrupt failed with error: GXF_FAILURE
[component_container_mt-1] [ERROR] [1709658466.094595557] [argus_stereo]: [NitrosContext] GxfGraphInterrupt Error: GXF_FAILURE
[component_container_mt-1] [INFO] [1709658466.094602981] [argus_stereo]: [NitrosContext] Waiting on GXF...
[component_container_mt-1] 2024-03-05 12:07:46.094 ERROR gxf/std/program.cpp@556: wait failed. Deactivating...
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] | Job Statistics Report (regular) |
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] | Name | Count | Time (Median - 90% - Max) [ms] | Load (%) | Exec(ms) | Variation (Median - 90% - Max) [ns] |
[component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] | Entity Statistics Report (regular) |
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] | Entity Name | Entity State | Count | Time (Median - 90% - Max) [ms] |
[component_container_mt-1] |------------------------------------------------------------------------------------------------------------------------------------------------------------------|
[component_container_mt-1] |==================================================================================================================================================================|
[component_container_mt-1] 2024-03-05 12:07:46.126 WARN gxf/std/entity_warden.cpp@433: Component of type nvidia::gxf::MultiThreadScheduler, cid 124 failed to deinitialize with code GXF_FAILURE
[component_container_mt-1] 2024-03-05 12:07:46.126 ERROR gxf/core/runtime.cpp@731: Could not deinitialize entity 'VKSQBZVGFG_UEBLGUEHXG' (E122): GXF_FAILURE
[component_container_mt-1] 2024-03-05 12:07:46.127 ERROR gxf/std/program.cpp@558: Deactivation failed.
[component_container_mt-1] 2024-03-05 12:07:46.127 ERROR gxf/core/runtime.cpp@1408: Graph wait failed with error: GXF_FAILURE
[component_container_mt-1] [ERROR] [1709658466.127022040] [argus_stereo]: [NitrosContext] GxfGraphWait Error: GXF_FAILURE
[component_container_mt-1] [INFO] [1709658466.127039353] [argus_stereo]: [NitrosNode] Application termination done
[INFO] [component_container_mt-1]: process has finished cleanly [pid 34982]
admin@airbud-desktop:/workspaces/isaac_ros-dev$
This is a problem with NVIDIA packages.
I recommend you open an issue on their GitHub repository.