[ERROR] [launch]: Caught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running #106
Comments
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Got the same issue. |
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I ran this on a couple of platforms over here and it operates as expected. I think this might just be an issue that console output is a bit confusing. Which system are you running on? Do you have a screen? If so can you see the reconstructed mesh in rviz? Thanks for the reporting this :) |
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Same error, The Rviz process died, so I couldn't see the reconstructed mesh |
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The issue I believe that you're seeing is that Rviz is shutting down when the dataset ends. The quickstart dataset is very short so this can appear like something is wrong. We'll update this behaviour at the next oppportunity, however in the mean time, you can change the line here from: |
After I updated to version 3.0 of isaac_ros_nvblox and followed the Quickstart to compile the source code, when I run the command:
ros2 launch nvblox_examples_bringup isaac_sim_example.launch.py
rosbag:=${ISAAC_ROS_WS}/isaac_ros_assets/isaac_ros_nvblox/quickstart
navigation:=False
I encountered the following error：
ros2 launch nvblox_examples_bringup isaac_sim_example.launch.py rosbag:=${ISAAC_ROS_WS}/isaac_ros_assets/isaac_ros_nvblox/quickstart navigation:=False
[INFO] [launch]: All log files can be found below /home/admin/.ros/log/2024-06-06-18-35-59-290615-DESKTOP-6EEDAMP-94664
[INFO] [launch]: Default logging verbosity is set to INFO
Using container type: component_container_isolated, with arguments: ['--ros-args', '--log-level', <launch.substitutions.launch_configuration.LaunchConfiguration object at 0x7f9b3d722aa0>]
[INFO] [launch.user]: Adding nodes [ /nvblox_node ] to container nvblox_container.
[INFO] [launch.user]: Starting nvblox for 'isaac_sim' in mode 'static'
[play_rosbag]: Running the following command: ros2 bag play /workspaces/isaac_ros-dev/isaac_ros_assets/isaac_ros_nvblox/quickstart --clock
[INFO] [component_container_isolated-1]: process started with pid [94677]
[INFO] [ros2-2]: process started with pid [94679]
[INFO] [rviz2-3]: process started with pid [94681]
[rviz2-3] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-admin'
[rviz2-3] [INFO] [1717670159.518632304] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-3] [INFO] [1717670159.518712567] [rviz2]: OpenGl version: 4.5 (GLSL 4.5)
[ros2-2] stdin is not a terminal device. Keyboard handling disabled.[INFO] [1717670159.526826347] [rosbag2_storage]: Opened database '/workspaces/isaac_ros-dev/isaac_ros_assets/isaac_ros_nvblox/quickstart/rosbag2_2024_04_04-15_44_33_0.db3' for READ_ONLY.
[ros2-2] [INFO] [1717670159.526872018] [rosbag2_player]: Set rate to 1
[ros2-2] [INFO] [1717670159.534936541] [rosbag2_player]: Adding keyboard callbacks.
[ros2-2] [INFO] [1717670159.534981252] [rosbag2_player]: Press SPACE for Pause/Resume
[ros2-2] [INFO] [1717670159.534993042] [rosbag2_player]: Press CURSOR_RIGHT for Play Next Message
[ros2-2] [INFO] [1717670159.535001383] [rosbag2_player]: Press CURSOR_UP for Increase Rate 10%
[ros2-2] [INFO] [1717670159.535006263] [rosbag2_player]: Press CURSOR_DOWN for Decrease Rate 10%
[ros2-2] [INFO] [1717670159.535503471] [rosbag2_storage]: Opened database '/workspaces/isaac_ros-dev/isaac_ros_assets/isaac_ros_nvblox/quickstart/rosbag2_2024_04_04-15_44_33_0.db3' for READ_ONLY.
[rviz2-3] [INFO] [1717670159.550325930] [rviz2]: Stereo is NOT SUPPORTED
[component_container_isolated-1] [INFO] [1717670159.617788119] [nvblox_container]: Load Library: /workspaces/isaac_ros-dev/install/nvblox_ros/lib/libnvblox_ros_lib.so
[component_container_isolated-1] [INFO] [1717670159.632967890] [nvblox_container]: Found class: rclcpp_components::NodeFactoryTemplatenvblox::NvbloxHumanNode
[component_container_isolated-1] [INFO] [1717670159.633028621] [nvblox_container]: Found class: rclcpp_components::NodeFactoryTemplatenvblox::NvbloxNode
[component_container_isolated-1] [INFO] [1717670159.633034322] [nvblox_container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvblox::NvbloxNode
[rviz2-3] [INFO] [1717670159.644741449] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-3] [INFO] [1717670159.727487851] [rviz2]: Stereo is NOT SUPPORTED
[ERROR] [rviz2-3]: process has died [pid 94681, exit code -11, cmd '/opt/ros/humble/lib/rviz2/rviz2 -d /workspaces/isaac_ros-dev/install/nvblox_examples_bringup/share/nvblox_examples_bringup/config/visualization/isaac_sim_example.rviz --ros-args -p use_sim_time:=True'].
[component_container_isolated-1] WARNING: Logging before InitGoogleLogging() is written to STDERR
[component_container_isolated-1] I0606 18:35:59.865969 94677 block_memory_pool_impl.h:55] Expanding the memory pool with 2048 blocks. Number of allocated blocks: 2048
[component_container_isolated-1] I0606 18:35:59.873169 94677 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_9TsdfVoxelEEE, voxel_size: 0.05, and memory_type: kDevice to LayerCake.
[component_container_isolated-1] I0606 18:35:59.877998 94677 block_memory_pool_impl.h:55] Expanding the memory pool with 2048 blocks. Number of allocated blocks: 2048
[component_container_isolated-1] I0606 18:35:59.878090 94677 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_10ColorVoxelEEE, voxel_size: 0.05, and memory_type: kDevice to LayerCake.
[component_container_isolated-1] I0606 18:35:59.883653 94677 block_memory_pool_impl.h:55] Expanding the memory pool with 2048 blocks. Number of allocated blocks: 2048
[component_container_isolated-1] I0606 18:35:59.884953 94677 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_14FreespaceVoxelEEE, voxel_size: 0.05, and memory_type: kDevice to LayerCake.
[component_container_isolated-1] I0606 18:35:59.890389 94677 block_memory_pool_impl.h:55] Expanding the memory pool with 2048 blocks. Number of allocated blocks: 2048
[component_container_isolated-1] I0606 18:35:59.893409 94677 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_14OccupancyVoxelEEE, voxel_size: 0.05, and memory_type: kDevice to LayerCake.
[component_container_isolated-1] I0606 18:35:59.898970 94677 block_memory_pool_impl.h:55] Expanding the memory pool with 2048 blocks. Number of allocated blocks: 2048
[component_container_isolated-1] I0606 18:35:59.899880 94677 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_9EsdfVoxelEEE, voxel_size: 0.05, and memory_type: kDevice to LayerCake.
[component_container_isolated-1] I0606 18:35:59.900024 94677 block_memory_pool_impl.h:55] Expanding the memory pool with 2048 blocks. Number of allocated blocks: 2048
[component_container_isolated-1] I0606 18:35:59.900034 94677 layer_cake_impl.h:32] Adding Layer with type: N6nvblox10BlockLayerINS_9MeshBlockEEE, voxel_size: 0.05, and memory_type: kDevice to LayerCake.
[component_container_isolated-1] I0606 18:35:59.908357 94677 block_memory_pool_impl.h:55] Expanding the memory pool with 2048 blocks. Number of allocated blocks: 2048
[component_container_isolated-1] I0606 18:35:59.914629 94677 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_9TsdfVoxelEEE, voxel_size: 0.05, and memory_type: kDevice to LayerCake.
[component_container_isolated-1] I0606 18:35:59.919333 94677 block_memory_pool_impl.h:55] Expanding the memory pool with 2048 blocks. Number of allocated blocks: 2048
[component_container_isolated-1] I0606 18:35:59.919955 94677 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_10ColorVoxelEEE, voxel_size: 0.05, and memory_type: kDevice to LayerCake.
[component_container_isolated-1] I0606 18:35:59.924830 94677 block_memory_pool_impl.h:55] Expanding the memory pool with 2048 blocks. Number of allocated blocks: 2048
[component_container_isolated-1] I0606 18:35:59.925609 94677 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_14FreespaceVoxelEEE, voxel_size: 0.05, and memory_type: kDevice to LayerCake.
[component_container_isolated-1] I0606 18:35:59.928119 94677 block_memory_pool_impl.h:55] Expanding the memory pool with 2048 blocks. Number of allocated blocks: 2048
[component_container_isolated-1] I0606 18:35:59.933611 94677 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_14OccupancyVoxelEEE, voxel_size: 0.05, and memory_type: kDevice to LayerCake.
[component_container_isolated-1] I0606 18:35:59.938529 94677 block_memory_pool_impl.h:55] Expanding the memory pool with 2048 blocks. Number of allocated blocks: 2048
[component_container_isolated-1] I0606 18:35:59.938621 94677 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_9EsdfVoxelEEE, voxel_size: 0.05, and memory_type: kDevice to LayerCake.
[component_container_isolated-1] I0606 18:35:59.938726 94677 block_memory_pool_impl.h:55] Expanding the memory pool with 2048 blocks. Number of allocated blocks: 2048
[component_container_isolated-1] I0606 18:35:59.938730 94677 layer_cake_impl.h:32] Adding Layer with type: N6nvblox10BlockLayerINS_9MeshBlockEEE, voxel_size: 0.05, and memory_type: kDevice to LayerCake.
[component_container_isolated-1] [INFO] [1717670159.943187601] [nvblox_node]: Initialize Mapper:
[component_container_isolated-1] [INFO] [1717670159.943244373] [nvblox_node]: static_mapper.do_depth_preprocessing: 0
[component_container_isolated-1] [INFO] [1717670159.943257973] [nvblox_node]: static_mapper.depth_preprocessing_num_dilations: 3
[component_container_isolated-1] [INFO] [1717670159.943268504] [nvblox_node]: static_mapper.mesh_bandwidth_limit_mbps: 1e+09
[component_container_isolated-1] [INFO] [1717670159.943272294] [nvblox_node]: static_mapper.esdf_slice_min_height: 0.09
[component_container_isolated-1] [INFO] [1717670159.943275484] [nvblox_node]: static_mapper.esdf_slice_max_height: 0.65
[component_container_isolated-1] [INFO] [1717670159.943278604] [nvblox_node]: static_mapper.esdf_slice_height: 0.09
[component_container_isolated-1] [INFO] [1717670159.943281544] [nvblox_node]: static_mapper.exclude_last_view_from_decay: 1
[component_container_isolated-1] [INFO] [1717670159.943284604] [nvblox_node]: static_mapper.projective_integrator_max_integration_distance_m: 5
[component_container_isolated-1] [INFO] [1717670159.943288114] [nvblox_node]: static_mapper.lidar_projective_integrator_max_integration_distance_m: 10
[component_container_isolated-1] [INFO] [1717670159.943291354] [nvblox_node]: static_mapper.projective_integrator_truncation_distance_vox: 4
[component_container_isolated-1] [INFO] [1717670159.943297314] [nvblox_node]: static_mapper.projective_integrator_weighting_mode: inverse_square_tsdf_distance_penalty
[component_container_isolated-1] [INFO] [1717670159.943307165] [nvblox_node]: static_mapper.projective_integrator_max_weight: 5
[component_container_isolated-1] [INFO] [1717670159.943310405] [nvblox_node]: static_mapper.free_region_occupancy_probability: 0.45
[component_container_isolated-1] [INFO] [1717670159.943313475] [nvblox_node]: static_mapper.occupied_region_occupancy_probability: 0.55
[component_container_isolated-1] [INFO] [1717670159.943316405] [nvblox_node]: static_mapper.unobserved_region_occupancy_probability: 0.5
[component_container_isolated-1] [INFO] [1717670159.943319395] [nvblox_node]: static_mapper.occupied_region_half_width_m: 0.1
[component_container_isolated-1] [INFO] [1717670159.943322215] [nvblox_node]: static_mapper.esdf_integrator_min_weight: 0.1
[component_container_isolated-1] [INFO] [1717670159.943325235] [nvblox_node]: static_mapper.esdf_integrator_max_site_distance_vox: 5
[component_container_isolated-1] [INFO] [1717670159.943327935] [nvblox_node]: static_mapper.esdf_integrator_max_distance_m: 2
[component_container_isolated-1] [INFO] [1717670159.943330825] [nvblox_node]: static_mapper.mesh_integrator_min_weight: 0.1
[component_container_isolated-1] [INFO] [1717670159.943333615] [nvblox_node]: static_mapper.mesh_integrator_weld_vertices: 1
[component_container_isolated-1] [INFO] [1717670159.943336635] [nvblox_node]: static_mapper.tsdf_decay_factor: 0.95
[component_container_isolated-1] [INFO] [1717670159.943339606] [nvblox_node]: static_mapper.tsdf_decayed_weight_threshold: 0.001
[component_container_isolated-1] [INFO] [1717670159.943342386] [nvblox_node]: static_mapper.tsdf_set_free_distance_on_decayed: 0
[component_container_isolated-1] [INFO] [1717670159.943345276] [nvblox_node]: static_mapper.tsdf_decayed_free_distance_vox: 4
[component_container_isolated-1] [INFO] [1717670159.943347946] [nvblox_node]: static_mapper.tsdf_deallocate_on_decayed: 1
[component_container_isolated-1] [INFO] [1717670159.943350956] [nvblox_node]: static_mapper.free_region_decay_probability: 0.55
[component_container_isolated-1] [INFO] [1717670159.943353956] [nvblox_node]: static_mapper.occupied_region_decay_probability: 0.4
[component_container_isolated-1] [INFO] [1717670159.943356626] [nvblox_node]: static_mapper.occupancy_deallocate_on_decayed: 1
[component_container_isolated-1] [INFO] [1717670159.943359566] [nvblox_node]: static_mapper.max_tsdf_distance_for_occupancy_m: 0.15
[component_container_isolated-1] [INFO] [1717670159.943376057] [nvblox_node]: static_mapper.max_unobserved_to_keep_consecutive_occupancy_ms: 200
[component_container_isolated-1] [INFO] [1717670159.943385937] [nvblox_node]: static_mapper.min_duration_since_occupied_for_freespace_ms: 1000
[component_container_isolated-1] [INFO] [1717670159.943389727] [nvblox_node]: static_mapper.min_consecutive_occupancy_duration_for_reset_ms: 2000
[component_container_isolated-1] [INFO] [1717670159.943393137] [nvblox_node]: static_mapper.check_neighborhood: 1
[component_container_isolated-1] [INFO] [1717670159.943397047] [nvblox_node]: static_mapper.mesh_streamer_exclusion_height_m: 2
[component_container_isolated-1] [INFO] [1717670159.943400427] [nvblox_node]: static_mapper.mesh_streamer_exclusion_radius_m: 15
[component_container_isolated-1] [INFO] [1717670159.943403047] [nvblox_node]: Initialize Mapper:
[component_container_isolated-1] [INFO] [1717670159.943427608] [nvblox_node]: dynamic_mapper.do_depth_preprocessing: 0
[component_container_isolated-1] [INFO] [1717670159.943430948] [nvblox_node]: dynamic_mapper.depth_preprocessing_num_dilations: 4
[component_container_isolated-1] [INFO] [1717670159.943434078] [nvblox_node]: dynamic_mapper.mesh_bandwidth_limit_mbps: 25
[component_container_isolated-1] [INFO] [1717670159.943437158] [nvblox_node]: dynamic_mapper.esdf_slice_min_height: 0.09
[component_container_isolated-1] [INFO] [1717670159.943440178] [nvblox_node]: dynamic_mapper.esdf_slice_max_height: 0.65
[component_container_isolated-1] [INFO] [1717670159.943443058] [nvblox_node]: dynamic_mapper.esdf_slice_height: 0.09
[component_container_isolated-1] [INFO] [1717670159.943445628] [nvblox_node]: dynamic_mapper.exclude_last_view_from_decay: 0
[component_container_isolated-1] [INFO] [1717670159.943448519] [nvblox_node]: dynamic_mapper.projective_integrator_max_integration_distance_m: 7
[component_container_isolated-1] [INFO] [1717670159.943451789] [nvblox_node]: dynamic_mapper.lidar_projective_integrator_max_integration_distance_m: 10
[component_container_isolated-1] [INFO] [1717670159.943455049] [nvblox_node]: dynamic_mapper.projective_integrator_truncation_distance_vox: 4
[component_container_isolated-1] [INFO] [1717670159.943458119] [nvblox_node]: dynamic_mapper.projective_integrator_weighting_mode: kInverseSquareWeight
[component_container_isolated-1] [WARN] [1717670159.943460829] [nvblox_node]: Requested weighting function: "kInverseSquareWeight" not recognized. Defaulting to: kInverseSquareWeight
[component_container_isolated-1] [INFO] [1717670159.943465549] [nvblox_node]: dynamic_mapper.projective_integrator_max_weight: 5
[component_container_isolated-1] [INFO] [1717670159.943468599] [nvblox_node]: dynamic_mapper.free_region_occupancy_probability: 0.3
[component_container_isolated-1] [INFO] [1717670159.943471589] [nvblox_node]: dynamic_mapper.occupied_region_occupancy_probability: 0.7
[component_container_isolated-1] [INFO] [1717670159.943474669] [nvblox_node]: dynamic_mapper.unobserved_region_occupancy_probability: 0.5
[component_container_isolated-1] [INFO] [1717670159.943477569] [nvblox_node]: dynamic_mapper.occupied_region_half_width_m: 0.1
[component_container_isolated-1] [INFO] [1717670159.943480779] [nvblox_node]: dynamic_mapper.esdf_integrator_min_weight: 0.0001
[component_container_isolated-1] [INFO] [1717670159.943483550] [nvblox_node]: dynamic_mapper.esdf_integrator_max_site_distance_vox: 1
[component_container_isolated-1] [INFO] [1717670159.943486250] [nvblox_node]: dynamic_mapper.esdf_integrator_max_distance_m: 2
[component_container_isolated-1] [INFO] [1717670159.943489170] [nvblox_node]: dynamic_mapper.mesh_integrator_min_weight: 0.0001
[component_container_isolated-1] [INFO] [1717670159.943491810] [nvblox_node]: dynamic_mapper.mesh_integrator_weld_vertices: 1
[component_container_isolated-1] [INFO] [1717670159.943494620] [nvblox_node]: dynamic_mapper.tsdf_decay_factor: 0.95
[component_container_isolated-1] [INFO] [1717670159.943497400] [nvblox_node]: dynamic_mapper.tsdf_decayed_weight_threshold: 0.001
[component_container_isolated-1] [INFO] [1717670159.943499990] [nvblox_node]: dynamic_mapper.tsdf_set_free_distance_on_decayed: 0
[component_container_isolated-1] [INFO] [1717670159.943502640] [nvblox_node]: dynamic_mapper.tsdf_decayed_free_distance_vox: 4
[component_container_isolated-1] [INFO] [1717670159.943505280] [nvblox_node]: dynamic_mapper.tsdf_deallocate_on_decayed: 1
[component_container_isolated-1] [INFO] [1717670159.943508130] [nvblox_node]: dynamic_mapper.free_region_decay_probability: 0.55
[component_container_isolated-1] [INFO] [1717670159.943510870] [nvblox_node]: dynamic_mapper.occupied_region_decay_probability: 0.4
[component_container_isolated-1] [INFO] [1717670159.943513520] [nvblox_node]: dynamic_mapper.occupancy_deallocate_on_decayed: 1
[component_container_isolated-1] [INFO] [1717670159.943516340] [nvblox_node]: dynamic_mapper.max_tsdf_distance_for_occupancy_m: 0.15
[component_container_isolated-1] [INFO] [1717670159.943518961] [nvblox_node]: dynamic_mapper.max_unobserved_to_keep_consecutive_occupancy_ms: 200
[component_container_isolated-1] [INFO] [1717670159.943521751] [nvblox_node]: dynamic_mapper.min_duration_since_occupied_for_freespace_ms: 1000
[component_container_isolated-1] [INFO] [1717670159.943524521] [nvblox_node]: dynamic_mapper.min_consecutive_occupancy_duration_for_reset_ms: 2000
[component_container_isolated-1] [INFO] [1717670159.943527171] [nvblox_node]: dynamic_mapper.check_neighborhood: 1
[component_container_isolated-1] [INFO] [1717670159.943529951] [nvblox_node]: dynamic_mapper.mesh_streamer_exclusion_height_m: -1
[component_container_isolated-1] [INFO] [1717670159.943532981] [nvblox_node]: dynamic_mapper.mesh_streamer_exclusion_radius_m: -1
[component_container_isolated-1] [INFO] [1717670159.943568042] [nvblox_node]: NvbloxNode::subscribeToTopics()
[component_container_isolated-1] [INFO] [1717670159.943656094] [nvblox_node]: Subscribing input topics with QoS: SENSOR_DATA
[component_container_isolated-1] [INFO] [1717670159.944795666] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/std/libgxf_std.so
[component_container_isolated-1] [INFO] [1717670159.946333418] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_gxf_helpers.so
[component_container_isolated-1] [INFO] [1717670159.948009235] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_sight.so
[component_container_isolated-1] [INFO] [1717670159.950133083] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_atlas.so
[component_container_isolated-1] 2024-06-06 18:35:59.955 WARN external/com_nvidia_gxf/gxf/std/program.cpp@532: No GXF scheduler specified.
[component_container_isolated-1] [INFO] [1717670159.956062417] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/multimedia/libgxf_multimedia.so
[component_container_isolated-1] [INFO] [1717670159.959532173] [nvblox_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_isolated-1] [INFO] [1717670159.961520708] [nvblox_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_isolated-1] [INFO] [1717670159.962771892] [nvblox_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_isolated-1] [INFO] [1717670159.964441745] [nvblox_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_isolated-1] [INFO] [1717670159.965904025] [nvblox_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_isolated-1] [INFO] [1717670159.967363765] [nvblox_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_isolated-1] [INFO] [1717670159.968170568] [nvblox_node]: NvbloxNode::setupTimers()
[component_container_isolated-1] [INFO] [1717670159.968224479] [nvblox_node]: NvbloxNode::advertiseTopics()
[component_container_isolated-1] [INFO] [1717670159.971581876] [nvblox_node]: NvbloxNode::advertiseServices()
[component_container_isolated-1] [INFO] [1717670159.974566294] [nvblox_node]: Started up nvblox node in frame odom and voxel size 0.05
[component_container_isolated-1] [INFO] [1717670159.974599424] [nvblox_node]: Mapping type: kStaticTsdf
[component_container_isolated-1] [INFO] [1717670159.974999686] [nvblox_node]: nvblox parameters:
[component_container_isolated-1] nvblox_node
[component_container_isolated-1] global_frame: odom
[component_container_isolated-1] pose_frame: base_link
[component_container_isolated-1] map_clearing_frame_id: base_link
[component_container_isolated-1] slice_visualization_attachment_frame_id: base_link
[component_container_isolated-1] publish_esdf_distance_slice: 1
[component_container_isolated-1] use_color: 1
[component_container_isolated-1] use_depth: 1
[component_container_isolated-1] use_lidar: 0
[component_container_isolated-1] use_non_equal_vertical_fov_lidar_params: 0
[component_container_isolated-1] print_timings_to_console: 1
[component_container_isolated-1] print_rates_to_console: 1
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/nvblox_node' in container 'nvblox_container'
[component_container_isolated-1] print_delays_to_console: 1
[component_container_isolated-1] enable_mesh_markers: 0
[component_container_isolated-1] layer_visualization_undo_gamma_correction: 0
[component_container_isolated-1] num_cameras: 3
[component_container_isolated-1] lidar_width: 1800
[component_container_isolated-1] lidar_height: 31
[component_container_isolated-1] tick_period_ms: 10
[component_container_isolated-1] print_statistics_on_console_period_ms: 10000
[component_container_isolated-1] maximum_sensor_message_queue_length: 10
[component_container_isolated-1] back_projection_subsampling: 1
[component_container_isolated-1] lidar_vertical_fov_rad: 0.523599
[component_container_isolated-1] voxel_size: 0.050000
[component_container_isolated-1] min_angle_below_zero_elevation_rad: 0.349066
[component_container_isolated-1] max_angle_above_zero_elevation_rad: 0.261799
[component_container_isolated-1] slice_visualization_side_length: 10.000000
[component_container_isolated-1] layer_visualization_max_tsdf_distance_m: 0.050000
[component_container_isolated-1] layer_visualization_min_tsdf_weight: 0.100000
[component_container_isolated-1] layer_visualization_exclusion_height_m: 2.000000
[component_container_isolated-1] layer_visualization_exclusion_radius_m: 15.000000
[component_container_isolated-1] integrate_depth_rate_hz: 40.000000
[component_container_isolated-1] integrate_color_rate_hz: 5.000000
[component_container_isolated-1] integrate_lidar_rate_hz: 40.000000
[component_container_isolated-1] update_mesh_rate_hz: 5.000000
[component_container_isolated-1] update_esdf_rate_hz: 10.000000
[component_container_isolated-1] publish_layer_rate_hz: 10.000000
[component_container_isolated-1] decay_tsdf_rate_hz: 5.000000
[component_container_isolated-1] decay_dynamic_occucancy_rate_hz: 10.000000
[component_container_isolated-1] clear_map_outside_radius_rate_hz: 1.000000
[component_container_isolated-1] map_clearing_radius_m: 15.000000
[component_container_isolated-1] max_back_projection_distance: 7.000000
[component_container_isolated-1] esdf_and_gradients_unobserved_value: -1000.000000
[component_container_isolated-1] esdf_mode: k2D
[component_container_isolated-1] mapping_type: static_tsdf
[component_container_isolated-1] multi_mapper
[component_container_isolated-1] connected_mask_component_size_threshold: 2000
[component_container_isolated-1] unmasked_mapper
[component_container_isolated-1] voxel_size_m: 0.050000
[component_container_isolated-1] memory_type: kDevice
[component_container_isolated-1] projective_layer_type: kTsdf
[component_container_isolated-1] esdf_mode: kUnset
[component_container_isolated-1] do_depth_preprocessing: 0
[component_container_isolated-1] depth_preprocessing_num_dilations: 3
[component_container_isolated-1] mesh_bandwidth_limit_mbps: 999999936.000000
[component_container_isolated-1] esdf_slice_min_height: 0.090000
[component_container_isolated-1] esdf_slice_max_height: 0.650000
[component_container_isolated-1] esdf_slice_height: 0.090000
[component_container_isolated-1] exclude_last_view_from_decay: 1
[component_container_isolated-1] camera_tsdf_integrator
[component_container_isolated-1] max_weight:: 5.000000
[component_container_isolated-1] marked_unobserved_voxels_distance_m:: -1.000000
[component_container_isolated-1] marked_unobserved_voxels_weight:: 0.100000
[component_container_isolated-1] weighting_function_type:: kInverseSquareTsdfDistancePenalty
[component_container_isolated-1] projective_integrator
[component_container_isolated-1] lidar_linear_interpolation_max_allowable_difference_vox:: 2.000000
[component_container_isolated-1] lidar_nearest_interpolation_max_allowable_dist_to_ray_vox:: 0.500000
[component_container_isolated-1] truncation_distance_vox:: 4.000000
[component_container_isolated-1] max_integration_distance_m:: 5.000000
[component_container_isolated-1] view_calculator
[component_container_isolated-1] raycast_to_pixels:: 1
[component_container_isolated-1] raycast_subsampling_factor:: 4
[component_container_isolated-1] lidar_tsdf_integrator
[component_container_isolated-1] max_weight:: 5.000000
[component_container_isolated-1] marked_unobserved_voxels_distance_m:: -1.000000
[component_container_isolated-1] marked_unobserved_voxels_weight:: 0.100000
[component_container_isolated-1] weighting_function_type:: kInverseSquareWeight
[component_container_isolated-1] projective_integrator
[component_container_isolated-1] lidar_linear_interpolation_max_allowable_difference_vox:: 2.000000
[component_container_isolated-1] lidar_nearest_interpolation_max_allowable_dist_to_ray_vox:: 0.500000
[component_container_isolated-1] truncation_distance_vox:: 4.000000
[component_container_isolated-1] max_integration_distance_m:: 10.000000
[component_container_isolated-1] view_calculator
[component_container_isolated-1] raycast_to_pixels:: 1
[component_container_isolated-1] raycast_subsampling_factor:: 4
[component_container_isolated-1] projective_color_integrator
[component_container_isolated-1] sphere_tracing_ray_subsampling_factor:: 4
[component_container_isolated-1] max_weight:: 5.000000
[component_container_isolated-1] weighting_function_type:: kInverseSquareTsdfDistancePenalty
[component_container_isolated-1] projective_integrator
[component_container_isolated-1] lidar_linear_interpolation_max_allowable_difference_vox:: 2.000000
[component_container_isolated-1] lidar_nearest_interpolation_max_allowable_dist_to_ray_vox:: 0.500000
[component_container_isolated-1] truncation_distance_vox:: 4.000000
[component_container_isolated-1] max_integration_distance_m:: 5.000000
[component_container_isolated-1] view_calculator
[component_container_isolated-1] raycast_to_pixels:: 1
[component_container_isolated-1] raycast_subsampling_factor:: 4
[component_container_isolated-1] view_calculator
[component_container_isolated-1] raycast_to_pixels:: 1
[component_container_isolated-1] raycast_subsampling_factor:: 4
[component_container_isolated-1] camera_occupancy_integrator
[component_container_isolated-1] free_region_log_odds:: -0.200671
[component_container_isolated-1] occupied_region_log_odds:: 0.200671
[component_container_isolated-1] unobserved_region_log_odds:: 0.000000
[component_container_isolated-1] occupied_region_half_width_m:: 0.100000
[component_container_isolated-1] projective_integrator
[component_container_isolated-1] lidar_linear_interpolation_max_allowable_difference_vox:: 2.000000
[component_container_isolated-1] lidar_nearest_interpolation_max_allowable_dist_to_ray_vox:: 0.500000
[component_container_isolated-1] truncation_distance_vox:: 4.000000
[component_container_isolated-1] max_integration_distance_m:: 5.000000
[component_container_isolated-1] view_calculator
[component_container_isolated-1] raycast_to_pixels:: 1
[component_container_isolated-1] raycast_subsampling_factor:: 4
[component_container_isolated-1] lidar_occupancy_integrator
[component_container_isolated-1] free_region_log_odds:: -0.200671
[component_container_isolated-1] occupied_region_log_odds:: 0.200671
[component_container_isolated-1] unobserved_region_log_odds:: 0.000000
[component_container_isolated-1] occupied_region_half_width_m:: 0.100000
[component_container_isolated-1] projective_integrator
[component_container_isolated-1] lidar_linear_interpolation_max_allowable_difference_vox:: 2.000000
[component_container_isolated-1] lidar_nearest_interpolation_max_allowable_dist_to_ray_vox:: 0.500000
[component_container_isolated-1] truncation_distance_vox:: 4.000000
[component_container_isolated-1] max_integration_distance_m:: 10.000000
[component_container_isolated-1] view_calculator
[component_container_isolated-1] raycast_to_pixels:: 1
[component_container_isolated-1] raycast_subsampling_factor:: 4
[component_container_isolated-1] esdf_integrator
[component_container_isolated-1] max_esdf_distance_m:: 2.000000
[component_container_isolated-1] max_tsdf_site_distance_vox:: 5.000000
[component_container_isolated-1] tsdf_min_weight:: 0.100000
[component_container_isolated-1] occupied_threshold_log_odds:: 0.000000
[component_container_isolated-1] mesh_integrator
[component_container_isolated-1] min_weight:: 0.100000
[component_container_isolated-1] cutoff_distance_vox:: 5.000000
[component_container_isolated-1] weld_vertices:: 1
[component_container_isolated-1] mesh_streamer
[component_container_isolated-1] exclusion_height_m:: 2.000000
[component_container_isolated-1] exclusion_radius_m:: 15.000000
[component_container_isolated-1] occupancy_decay_integrator
[component_container_isolated-1] free_space_decay_log_odds:: 0.200671
[component_container_isolated-1] occupied_space_decay_log_odds:: -0.405465
[component_container_isolated-1] decay_to_log_odds_:: 0.000000
[component_container_isolated-1] decay_integrator
[component_container_isolated-1] deallocate_decayed_blocks:: 1
[component_container_isolated-1] tsdf_decay_integrator
[component_container_isolated-1] decay_factor:: 0.950000
[component_container_isolated-1] decayed_weight_theshold:: 0.001000
[component_container_isolated-1] set_free_distance_on_decayed:: 0
[component_container_isolated-1] free_distance_vox:: 4.000000
[component_container_isolated-1] decay_integrator
[component_container_isolated-1] deallocate_decayed_blocks:: 1
[component_container_isolated-1] freespace_integrator
[component_container_isolated-1] max_tsdf_distance_for_occupancy_m:: 0.150000
[component_container_isolated-1] max_unobserved_to_keep_consecutive_occupancy_ms:: 200
[component_container_isolated-1] min_duration_since_occupied_for_freespace_ms:: 1000
[component_container_isolated-1] min_consecutive_occupancy_duration_for_reset_ms:: 2000
[component_container_isolated-1] check_neighborhood:: 1
[component_container_isolated-1] masked_mapper
[component_container_isolated-1] voxel_size_m: 0.050000
[component_container_isolated-1] memory_type: kDevice
[component_container_isolated-1] projective_layer_type: kNone
[component_container_isolated-1] esdf_mode: kUnset
[component_container_isolated-1] do_depth_preprocessing: 0
[component_container_isolated-1] depth_preprocessing_num_dilations: 4
[component_container_isolated-1] mesh_bandwidth_limit_mbps: 25.000000
[component_container_isolated-1] esdf_slice_min_height: 0.090000
[component_container_isolated-1] esdf_slice_max_height: 0.650000
[component_container_isolated-1] esdf_slice_height: 0.090000
[component_container_isolated-1] exclude_last_view_from_decay: 0
[component_container_isolated-1] camera_tsdf_integrator
[component_container_isolated-1] max_weight:: 5.000000
[component_container_isolated-1] marked_unobserved_voxels_distance_m:: -1.000000
[component_container_isolated-1] marked_unobserved_voxels_weight:: 0.100000
[component_container_isolated-1] weighting_function_type:: kInverseSquareWeight
[component_container_isolated-1] projective_integrator
[component_container_isolated-1] lidar_linear_interpolation_max_allowable_difference_vox:: 2.000000
[component_container_isolated-1] lidar_nearest_interpolation_max_allowable_dist_to_ray_vox:: 0.500000
[component_container_isolated-1] truncation_distance_vox:: 4.000000
[component_container_isolated-1] max_integration_distance_m:: 7.000000
[component_container_isolated-1] view_calculator
[component_container_isolated-1] raycast_to_pixels:: 1
[component_container_isolated-1] raycast_subsampling_factor:: 4
[component_container_isolated-1] lidar_tsdf_integrator
[component_container_isolated-1] max_weight:: 5.000000
[component_container_isolated-1] marked_unobserved_voxels_distance_m:: -1.000000
[component_container_isolated-1] marked_unobserved_voxels_weight:: 0.100000
[component_container_isolated-1] weighting_function_type:: kInverseSquareWeight
[component_container_isolated-1] projective_integrator
[component_container_isolated-1] lidar_linear_interpolation_max_allowable_difference_vox:: 2.000000
[component_container_isolated-1] lidar_nearest_interpolation_max_allowable_dist_to_ray_vox:: 0.500000
[component_container_isolated-1] truncation_distance_vox:: 4.000000
[component_container_isolated-1] max_integration_distance_m:: 10.000000
[component_container_isolated-1] view_calculator
[component_container_isolated-1] raycast_to_pixels:: 1
[component_container_isolated-1] raycast_subsampling_factor:: 4
[component_container_isolated-1] projective_color_integrator
[component_container_isolated-1] sphere_tracing_ray_subsampling_factor:: 4
[component_container_isolated-1] max_weight:: 5.000000
[component_container_isolated-1] weighting_function_type:: kInverseSquareWeight
[component_container_isolated-1] projective_integrator
[component_container_isolated-1] lidar_linear_interpolation_max_allowable_difference_vox:: 2.000000
[component_container_isolated-1] lidar_nearest_interpolation_max_allowable_dist_to_ray_vox:: 0.500000
[component_container_isolated-1] truncation_distance_vox:: 4.000000
[component_container_isolated-1] max_integration_distance_m:: 7.000000
[component_container_isolated-1] view_calculator
[component_container_isolated-1] raycast_to_pixels:: 1
[component_container_isolated-1] raycast_subsampling_factor:: 4
[component_container_isolated-1] view_calculator
[component_container_isolated-1] raycast_to_pixels:: 1
[component_container_isolated-1] raycast_subsampling_factor:: 4
[component_container_isolated-1] camera_occupancy_integrator
[component_container_isolated-1] free_region_log_odds:: -0.847298
[component_container_isolated-1] occupied_region_log_odds:: 0.847298
[component_container_isolated-1] unobserved_region_log_odds:: 0.000000
[component_container_isolated-1] occupied_region_half_width_m:: 0.100000
[component_container_isolated-1] projective_integrator
[component_container_isolated-1] lidar_linear_interpolation_max_allowable_difference_vox:: 2.000000
[component_container_isolated-1] lidar_nearest_interpolation_max_allowable_dist_to_ray_vox:: 0.500000
[component_container_isolated-1] truncation_distance_vox:: 4.000000
[component_container_isolated-1] max_integration_distance_m:: 7.000000
[component_container_isolated-1] view_calculator
[component_container_isolated-1] raycast_to_pixels:: 1
[component_container_isolated-1] raycast_subsampling_factor:: 4
[component_container_isolated-1] lidar_occupancy_integrator
[component_container_isolated-1] free_region_log_odds:: -0.847298
[component_container_isolated-1] occupied_region_log_odds:: 0.847298
[component_container_isolated-1] unobserved_region_log_odds:: 0.000000
[component_container_isolated-1] occupied_region_half_width_m:: 0.100000
[component_container_isolated-1] projective_integrator
[component_container_isolated-1] lidar_linear_interpolation_max_allowable_difference_vox:: 2.000000
[component_container_isolated-1] lidar_nearest_interpolation_max_allowable_dist_to_ray_vox:: 0.500000
[component_container_isolated-1] truncation_distance_vox:: 4.000000
[component_container_isolated-1] max_integration_distance_m:: 10.000000
[component_container_isolated-1] view_calculator
[component_container_isolated-1] raycast_to_pixels:: 1
[component_container_isolated-1] raycast_subsampling_factor:: 4
[component_container_isolated-1] esdf_integrator
[component_container_isolated-1] max_esdf_distance_m:: 2.000000
[component_container_isolated-1] max_tsdf_site_distance_vox:: 1.000000
[component_container_isolated-1] tsdf_min_weight:: 0.000100
[component_container_isolated-1] occupied_threshold_log_odds:: 0.000000
[component_container_isolated-1] mesh_integrator
[component_container_isolated-1] min_weight:: 0.000100
[component_container_isolated-1] cutoff_distance_vox:: 5.000000
[component_container_isolated-1] weld_vertices:: 1
[component_container_isolated-1] mesh_streamer
[component_container_isolated-1] exclusion_height_m:: -1.000000
[component_container_isolated-1] exclusion_radius_m:: -1.000000
[component_container_isolated-1] occupancy_decay_integrator
[component_container_isolated-1] free_space_decay_log_odds:: 0.200671
[component_container_isolated-1] occupied_space_decay_log_odds:: -0.405465
[component_container_isolated-1] decay_to_log_odds_:: 0.000000
[component_container_isolated-1] decay_integrator
[component_container_isolated-1] deallocate_decayed_blocks:: 1
[component_container_isolated-1] tsdf_decay_integrator
[component_container_isolated-1] decay_factor:: 0.950000
[component_container_isolated-1] decayed_weight_theshold:: 0.001000
[component_container_isolated-1] set_free_distance_on_decayed:: 0
[component_container_isolated-1] free_distance_vox:: 4.000000
[component_container_isolated-1] decay_integrator
[component_container_isolated-1] deallocate_decayed_blocks:: 1
[component_container_isolated-1] freespace_integrator
[component_container_isolated-1] max_tsdf_distance_for_occupancy_m:: 0.150000
[component_container_isolated-1] max_unobserved_to_keep_consecutive_occupancy_ms:: 200
[component_container_isolated-1] min_duration_since_occupied_for_freespace_ms:: 1000
[component_container_isolated-1] min_consecutive_occupancy_duration_for_reset_ms:: 2000
[component_container_isolated-1] check_neighborhood:: 1
[component_container_isolated-1] image_masker
[component_container_isolated-1] occlusion_threshold_m:: 0.250000
[component_container_isolated-1]
[component_container_isolated-1] [INFO] [1717670159.978351553] [nvblox_node]: Timing statistics:
[component_container_isolated-1]
[component_container_isolated-1] NVBlox Timings (in seconds)
[component_container_isolated-1] namespace/tag - NumSamples - TotalTime - (Mean +- StdDev) - [Min,Max]
[component_container_isolated-1] -----------
[component_container_isolated-1] ros/idle 0
[component_container_isolated-1] ros/process_message_queue 0
[component_container_isolated-1] ros/tick 0
[component_container_isolated-1] -----------
[component_container_isolated-1]
[component_container_isolated-1] [INFO] [1717670159.978382494] [nvblox_node]: Rates statistics:
[component_container_isolated-1]
[component_container_isolated-1] NVBlox Rates (in Hz)
[component_container_isolated-1] namespace/tag - NumSamples (Window Length) - Mean
[component_container_isolated-1] -----------
[component_container_isolated-1] ros/tick 1 0.0
[component_container_isolated-1] -----------
[component_container_isolated-1]
[component_container_isolated-1] [INFO] [1717670159.978394944] [nvblox_node]: Delay statistics:
[component_container_isolated-1]
[component_container_isolated-1] NVBlox Delays
[component_container_isolated-1] namespace/tag - NumSamples (Window Length) - Mean Delay (seconds)
[component_container_isolated-1] -----------
[component_container_isolated-1] -----------
[component_container_isolated-1]
[component_container_isolated-1] [INFO] [1717670159.978767024] [nvblox_node]: Got a new subscriber, sending entire map.
[component_container_isolated-1] [INFO] [1717670160.022344265] [nvblox_node]: Color Statistics:
[component_container_isolated-1] avg=nan, min=nan, max=nan, std_dev=nan, count=0
[component_container_isolated-1] I0606 18:36:00.107396 94753 mapper.cpp:218] Allocating space for last depth image
[component_container_isolated-1] I0606 18:36:00.115187 94753 image_cache_impl.h:45] Allocating a new cached image
[component_container_isolated-1] I0606 18:36:03.401206 94753 block_memory_pool_impl.h:55] Expanding the memory pool with 4096 blocks. Number of allocated blocks: 6144
[component_container_isolated-1] I0606 18:36:03.958550 94753 block_memory_pool_impl.h:55] Expanding the memory pool with 4096 blocks. Number of allocated blocks: 6144
[INFO] [ros2-2]: process has finished cleanly [pid 94679]
[INFO] [launch]: process[ros2-2] was required: shutting down launched system
[INFO] [component_container_isolated-1]: sending signal 'SIGINT' to process[component_container_isolated-1]
[component_container_isolated-1] [INFO] [1717670167.981686786] [rclcpp]: signal_handler(signum=2)
[ERROR] [component_container_isolated-1]: process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM'
[INFO] [component_container_isolated-1]: sending signal 'SIGTERM' to process[component_container_isolated-1]
[component_container_isolated-1] [INFO] [1717670172.987573458] [rclcpp]: signal_handler(signum=15)
[ERROR] [component_container_isolated-1]: process[component_container_isolated-1] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL'
[INFO] [component_container_isolated-1]: sending signal 'SIGKILL' to process[component_container_isolated-1]
[ERROR] [component_container_isolated-1]: process has died [pid 94677, exit code -9, cmd '/opt/ros/humble/lib/rclcpp_components/component_container_isolated --ros-args --log-level info --ros-args -r __node:=nvblox_container -p use_sim_time:=True'].
[INFO] [launch]: process[component_container_isolated-1] was required: shutting down launched system
[ERROR] [launch]: Caught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running
The text was updated successfully, but these errors were encountered: