nvidia-isaac-ros / isaac_ros_image_segmentation Goto Github PK

Hi, there! I change the resolution of input to 512x512, then we I run the model, it shows
2023-01-04 12:19:42.029 ERROR image_segmentation/segmentation_postprocessor.cpp@78: Failed to get input tensor data!
What is the reason of it?
Thank you

Hi!

I am trying to run this demo on my Jetson NX. It seems that I can publish a static image, then the triton node processes it, but when I am trying to see the result by running 'ros2 run rqt_image_view rqt_image_view', I get the error:

Package 'rqt_image_view' not found

The same for rviz.

Any help, should I modify something in the dockerfile?

(I have a fresh Jetpack 4.6.1 install on an nvme ssd, deepstream 6.0).

ros2 launch isaac_ros_unet isaac_ros_unet_triton.launch.py model_name:=peoplesemsegnet_shuffleseg model_repository_paths:=['/home/badal/data/tao-converter_vv3.22.05_trt8.4_aarch64/models'] input_binding_names:=['input_2:0'] output_binding_names:=['argmax_1'] network_output_type:='argmax'
[INFO] [launch]: All log files can be found below /home/badal/.ros/log/2023-07-25-11-56-08-642323-badal-desktop-7416
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container_mt-1]: process started with pid [7430]
[component_container_mt-1] [INFO] [1690257371.992358167] [unet_container]: Load Library: /home/badal/vslam_ws/install/isaac_ros_dnn_encoders/lib/libdnn_image_encoder_node.so
[component_container_mt-1] [INFO] [1690257372.613882499] [unet_container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::dnn_inference::DnnImageEncoderNode
[component_container_mt-1] [INFO] [1690257372.615917419] [unet_container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::dnn_inference::DnnImageEncoderNode
[component_container_mt-1] [INFO] [1690257372.746378537] [NitrosContext]: [NitrosContext] Creating a new shared context
[component_container_mt-1] [INFO] [1690257372.748530743] [dnn_image_encoder]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1690257372.774453896] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/std/libgxf_std.so
[component_container_mt-1] [INFO] [1690257372.820423740] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_gxf_helpers.so
[component_container_mt-1] [INFO] [1690257372.853413686] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_sight.so
[component_container_mt-1] [INFO] [1690257372.890557894] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_atlas.so
[component_container_mt-1] [INFO] [1690257372.924691291] [NitrosContext]: [NitrosContext] Loading application: '/home/badal/vslam_ws/install/isaac_ros_nitros/share/isaac_ros_nitros/config/type_adapter_nitros_context_graph.yaml'
[component_container_mt-1] [INFO] [1690257372.936783271] [NitrosContext]: [NitrosContext] Initializing application...
[component_container_mt-1] [INFO] [1690257372.959984396] [NitrosContext]: [NitrosContext] Running application...
[component_container_mt-1] 2023-07-25 11:56:12.960 WARN gxf/std/program.cpp@456: No system specified. Nothing to do
[component_container_mt-1] [INFO] [1690257373.001809899] [dnn_image_encoder]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1690257373.002648982] [dnn_image_encoder]: [NitrosNode] Loading built-in preset extension specs
[component_container_mt-1] [INFO] [1690257373.038191794] [dnn_image_encoder]: [NitrosNode] Loading built-in extension specs
[component_container_mt-1] [INFO] [1690257373.039342413] [dnn_image_encoder]: [NitrosNode] Loading preset extension specs
[component_container_mt-1] [INFO] [1690257373.067547858] [dnn_image_encoder]: [NitrosNode] Loading extension specs
[component_container_mt-1] [INFO] [1690257373.069476244] [dnn_image_encoder]: [NitrosNode] Loading generator rules
[component_container_mt-1] [INFO] [1690257373.073576422] [dnn_image_encoder]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1690257373.088115023] [dnn_image_encoder]: [NitrosContext] Loading extension: gxf/lib/libgxf_message_compositor.so
[component_container_mt-1] [INFO] [1690257373.122406763] [dnn_image_encoder]: [NitrosContext] Loading extension: gxf/lib/cuda/libgxf_cuda.so
[component_container_mt-1] [INFO] [1690257373.156205133] [dnn_image_encoder]: [NitrosContext] Loading extension: gxf/lib/serialization/libgxf_serialization.so
[component_container_mt-1] [INFO] [1690257373.194179654] [dnn_image_encoder]: [NitrosContext] Loading extension: gxf/lib/image_proc/libgxf_tensorops.so
[component_container_mt-1] [INFO] [1690257373.297673434] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/multimedia/libgxf_multimedia.so
[component_container_mt-1] [INFO] [1690257373.317155839] [dnn_image_encoder]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1690257373.396755307] [dnn_image_encoder]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1690257375.103648168] [dnn_image_encoder]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1690257375.148956853] [dnn_image_encoder]: [NitrosNode] Creating negotiated publishers/subscribers
[component_container_mt-1] [INFO] [1690257375.375138305] [dnn_image_encoder]: [NitrosNode] Starting negotiation...
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/dnn_image_encoder' in container '/unet_container'
[component_container_mt-1] [INFO] [1690257375.447019996] [unet_container]: Load Library: /home/badal/vslam_ws/install/isaac_ros_triton/lib/libtriton_node.so
[component_container_mt-1] [INFO] [1690257375.462966539] [unet_container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::dnn_inference::TritonNode
[component_container_mt-1] [INFO] [1690257375.463921084] [unet_container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::dnn_inference::TritonNode
[component_container_mt-1] [INFO] [1690257375.576637439] [triton_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1690257375.617393603] [triton_node]: [TritonNode] Set input data format to: "nitros_tensor_list_nchw_rgb_f32"
[component_container_mt-1] [INFO] [1690257375.618090310] [triton_node]: [TritonNode] Set output data format to: "nitros_tensor_list_nhwc_rgb_f32"
[component_container_mt-1] [INFO] [1690257375.618979604] [triton_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1690257375.619177502] [triton_node]: [NitrosNode] Loading built-in preset extension specs
[component_container_mt-1] [INFO] [1690257375.640717323] [triton_node]: [NitrosNode] Loading built-in extension specs
[component_container_mt-1] [INFO] [1690257375.642276891] [triton_node]: [NitrosNode] Loading preset extension specs
[component_container_mt-1] [INFO] [1690257375.655154765] [triton_node]: [NitrosNode] Loading extension specs
[component_container_mt-1] [INFO] [1690257375.656179010] [triton_node]: [NitrosNode] Loading generator rules
[component_container_mt-1] [INFO] [1690257375.659424423] [triton_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1690257375.713413680] [triton_node]: [NitrosContext] Loading extension: gxf/triton/libgxf_triton_ext.so
[component_container_mt-1] [ERROR] [1690257375.741904960] [triton_node]: [NitrosContext] dlopen failed when opening "/home/badal/vslam_ws/install/isaac_ros_triton/share/isaac_ros_triton/gxf/triton/libgxf_triton_ext.so": libtritonserver.so: cannot open shared object file: No such file or directory
[component_container_mt-1] [ERROR] [1690257375.743142240] [triton_node]: [NitrosNode] loadExtensions Error: GXF_FAILURE
[component_container_mt-1] [INFO] [1690257375.744931227] [triton_node]: [NitrosNode] Terminating the running application
[component_container_mt-1] [INFO] [1690257375.745580508] [triton_node]: [NitrosContext] Interrupting GXF...
[component_container_mt-1] 2023-07-25 11:56:15.745 ERROR gxf/std/program.cpp@475: Attempted interrupting when not running (state=0d).
[component_container_mt-1] 2023-07-25 11:56:15.746 ERROR gxf/core/runtime.cpp@1243: Graph interrupt failed with error: GXF_INVALID_EXECUTION_SEQUENCE
[component_container_mt-1] [ERROR] [1690257375.746065973] [triton_node]: [NitrosContext] GxfGraphInterrupt Error: GXF_INVALID_EXECUTION_SEQUENCE
[component_container_mt-1] [INFO] [1690257375.746224029] [triton_node]: [NitrosContext] Waiting on GXF...
[component_container_mt-1] [INFO] [1690257375.746382885] [triton_node]: [NitrosContext] Deinitializing...
[component_container_mt-1] [INFO] [1690257375.746627218] [triton_node]: [NitrosContext] Destroying context
[component_container_mt-1] [INFO] [1690257375.746925377] [triton_node]: [NitrosNode] Application termination done
[component_container_mt-1] [ERROR] [1690257375.813321796] [unet_container]: Component constructor threw an exception: [NitrosNode] loadExtensions Error: GXF_FAILURE
[ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node 'triton_node' of type 'nvidia::isaac_ros::dnn_inference::TritonNode' in container '/unet_container': Component constructor threw an exception: [NitrosNode] loadExtensions Error: GXF_FAILURE
[component_container_mt-1] [INFO] [1690257375.876381788] [unet_container]: Load Library: /home/badal/vslam_ws/install/isaac_ros_unet/lib/libunet_decoder_node.so
[component_container_mt-1] [INFO] [1690257375.906204881] [unet_container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::unet::UNetDecoderNode
[component_container_mt-1] [INFO] [1690257375.906834577] [unet_container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::unet::UNetDecoderNode
[component_container_mt-1] [INFO] [1690257375.971981428] [unet_decoder_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1690257375.996895277] [unet_decoder_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1690257375.997465259] [unet_decoder_node]: [NitrosNode] Loading built-in preset extension specs
[component_container_mt-1] [INFO] [1690257376.016359824] [unet_decoder_node]: [NitrosNode] Loading built-in extension specs
[component_container_mt-1] [INFO] [1690257376.016795590] [unet_decoder_node]: [NitrosNode] Loading preset extension specs
[component_container_mt-1] [INFO] [1690257376.022548236] [unet_decoder_node]: [NitrosNode] Loading extension specs
[component_container_mt-1] [INFO] [1690257376.022906879] [unet_decoder_node]: [NitrosNode] Loading generator rules
[component_container_mt-1] [INFO] [1690257376.023009348] [unet_decoder_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1690257376.069812699] [unet_decoder_node]: [NitrosContext] Loading extension: gxf/libgxf_segmentation_postprocessor.so
[component_container_mt-1] [INFO] [1690257376.104115859] [unet_decoder_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1690257376.135671487] [unet_decoder_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1690257376.384891003] [dnn_image_encoder]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1690257376.385379764] [dnn_image_encoder]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1690257376.385521179] [dnn_image_encoder]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1690257376.385641602] [dnn_image_encoder]: [NitrosPublisher] Use only the compatible publisher: topic_name="/tensor_pub", data_format="nitros_tensor_list_nchw_rgb_f32"
[component_container_mt-1] [INFO] [1690257376.385747047] [dnn_image_encoder]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1690257376.385877806] [dnn_image_encoder]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/image", data_format="nitros_image_bgr8"
[component_container_mt-1] [INFO] [1690257376.386190014] [dnn_image_encoder]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1690257376.400752166] [unet_decoder_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1690257376.422335156] [unet_decoder_node]: [NitrosNode] Creating negotiated publishers/subscribers
[component_container_mt-1] [INFO] [1690257376.423596533] [unet_decoder_node]: [NitrosPublisherSubscriberGroup] Pinning the component "colored_segmentation_mask_sink/sink" (type="nvidia::isaac_ros::MessageRelay") to use its compatible format only: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1690257376.458283969] [unet_decoder_node]: [NitrosNode] Starting negotiation...
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/unet_decoder_node' in container '/unet_container'
[component_container_mt-1] [INFO] [1690257376.486819411] [dnn_image_encoder]: [NitrosNode] Wrote the final top level YAML graph to "/home/badal/vslam_ws/install/isaac_ros_dnn_encoders/share/isaac_ros_dnn_encoders/PVHACSQUUQ.yaml"
[component_container_mt-1] [INFO] [1690257376.487199910] [dnn_image_encoder]: [NitrosNode] Calling user's pre-load-graph callback
[component_container_mt-1] [INFO] [1690257376.487320876] [dnn_image_encoder]: In DNN Image Encoder Node preLoadGraphCallback().
[component_container_mt-1] [INFO] [1690257376.487569785] [dnn_image_encoder]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1690257376.487682943] [dnn_image_encoder]: [NitrosContext] Loading application: '/home/badal/vslam_ws/install/isaac_ros_dnn_encoders/share/isaac_ros_dnn_encoders/PVHACSQUUQ.yaml'
[component_container_mt-1] [INFO] [1690257376.522047706] [dnn_image_encoder]: [NitrosNode] Linking Nitros pub/sub to the loaded application
[component_container_mt-1] [INFO] [1690257376.522861988] [dnn_image_encoder]: [NitrosNode] Calling user's post-load-graph callback
[component_container_mt-1] [INFO] [1690257376.523011115] [dnn_image_encoder]: In DNN Image Encoder Node postLoadGraphCallback().
[component_container_mt-1] [INFO] [1690257376.523599178] [dnn_image_encoder]: [NitrosContext] Initializing application...
[component_container_mt-1] [INFO] [1690257376.808943355] [dnn_image_encoder]: [NitrosContext] Running application...
[component_container_mt-1] [INFO] [1690257376.809556122] [dnn_image_encoder]: [NitrosNode] Starting a heartbeat timer (eid=22)
[component_container_mt-1] [INFO] [1690257377.463722196] [unet_decoder_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1690257377.464016675] [unet_decoder_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1690257377.464126088] [unet_decoder_node]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1690257377.464262735] [unet_decoder_node]: [NitrosPublisher] Use only the compatible publisher: topic_name="/unet/raw_segmentation_mask", data_format="nitros_image_mono8"
[component_container_mt-1] [INFO] [1690257377.464354260] [unet_decoder_node]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1690257377.464478938] [unet_decoder_node]: [NitrosPublisher] Use only the compatible publisher: topic_name="/unet/colored_segmentation_mask", data_format="nitros_image_rgb8"
[component_container_mt-1] [INFO] [1690257377.464603553] [unet_decoder_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1690257377.464713510] [unet_decoder_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/tensor_sub", data_format="nitros_tensor_list_nhwc_rgb_f32"
[component_container_mt-1] [INFO] [1690257377.464947346] [unet_decoder_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1690257377.504186117] [unet_decoder_node]: [NitrosNode] Wrote the final top level YAML graph to "/home/badal/vslam_ws/install/isaac_ros_unet/share/isaac_ros_unet/ARALKDMKSC.yaml"
[component_container_mt-1] [INFO] [1690257377.504499797] [unet_decoder_node]: [NitrosNode] Calling user's pre-load-graph callback
[component_container_mt-1] [INFO] [1690257377.504596186] [unet_decoder_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1690257377.504739361] [unet_decoder_node]: [NitrosContext] Loading application: '/home/badal/vslam_ws/install/isaac_ros_unet/share/isaac_ros_unet/ARALKDMKSC.yaml'
[component_container_mt-1] [INFO] [1690257377.516895822] [unet_decoder_node]: [NitrosNode] Linking Nitros pub/sub to the loaded application
[component_container_mt-1] [INFO] [1690257377.517669109] [unet_decoder_node]: [NitrosNode] Calling user's post-load-graph callback
[component_container_mt-1] [INFO] [1690257377.518208465] [unet_decoder_node]: [NitrosContext] Initializing application...
[component_container_mt-1] [INFO] [1690257377.530851894] [unet_decoder_node]: [NitrosContext] Running application...
[component_container_mt-1] [INFO] [1690257377.532258334] [unet_decoder_node]: [NitrosNode] Starting a heartbeat timer (eid=101)
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[component_container_mt-1] [INFO] [1690257482.496492353] [rclcpp]: signal_handler(signum=2)
[component_container_mt-1] [INFO] [1690257482.522108454] [unet_decoder_node]: [NitrosNode] Terminating the running application
[component_container_mt-1] [INFO] [1690257482.522230859] [unet_decoder_node]: [NitrosContext] Interrupting GXF...
[component_container_mt-1] [INFO] [1690257482.524954285] [unet_decoder_node]: [NitrosContext] Waiting on GXF...
[component_container_mt-1] [INFO] [1690257482.525231258] [unet_decoder_node]: [NitrosContext] Deinitializing...
[component_container_mt-1] [INFO] [1690257482.535484963] [unet_decoder_node]: [NitrosContext] Destroying context
[component_container_mt-1] [INFO] [1690257482.536794497] [unet_decoder_node]: [NitrosNode] Application termination done
[component_container_mt-1] [INFO] [1690257482.596890640] [dnn_image_encoder]: [NitrosNode] Terminating the running application
[component_container_mt-1] [INFO] [1690257482.597173246] [dnn_image_encoder]: [NitrosContext] Interrupting GXF...
[component_container_mt-1] [INFO] [1690257482.597257058] [dnn_image_encoder]: [NitrosContext] Waiting on GXF...
[component_container_mt-1] [INFO] [1690257482.597832989] [dnn_image_encoder]: [NitrosContext] Deinitializing...
[component_container_mt-1] [INFO] [1690257482.657636575] [dnn_image_encoder]: [NitrosContext] Destroying context
[component_container_mt-1] [INFO] [1690257482.663163718] [dnn_image_encoder]: [NitrosNode] Application termination done
[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] |==================================================================================================================================================================|
[INFO] [component_container_mt-1]: process has finished cleanly [pid 7430]

Hi Guys,

I am using Ubuntu 22.04 with the docker image to start ROS2 packages from nvidia. I am trying the tutorial of this example, sadly, ran the isaac_ros_unet node, with the isaac_ros_unet_triton.launch.py launch file I have the following error:

[component_container_mt-1] 2022-10-14 13:21:04.108 ERROR gxf/std/entity_executor.cpp@200: Entity with 100 not found!

Any suggestion?

ros2 launch isaac_ros_unet isaac_ros_unet_tensor_rt.launch.py model_name:=peoplesemsegnet_shuffleseg engine_file_path:=/home/badal/data/new_engine.plan input_binding_names:=['input_2:0'] output_binding_names:=['argmax_1'] network_output_type:='argmax'
rvi[INFO] [launch]: All log files can be found below /home/badal/.ros/log/2023-07-25-18-56-14-386452-badal-desktop-4707
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container_mt-1]: process started with pid [4770]
[component_container_mt-1] [INFO] [1690282576.766031488] [unet_container]: Load Library: /home/badal/vslam_ws/install/isaac_ros_dnn_encoders/lib/libdnn_image_encoder_node.so
[component_container_mt-1] [INFO] [1690282577.418500576] [unet_container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::dnn_inference::DnnImageEncoderNode
[component_container_mt-1] [INFO] [1690282577.418960256] [unet_container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::dnn_inference::DnnImageEncoderNode
[component_container_mt-1] [INFO] [1690282577.474196192] [NitrosContext]: [NitrosContext] Creating a new shared context
[component_container_mt-1] [INFO] [1690282577.475289536] [dnn_image_encoder]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1690282577.499201984] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/std/libgxf_std.so
[component_container_mt-1] [INFO] [1690282577.536095968] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_gxf_helpers.so
[component_container_mt-1] [INFO] [1690282577.564563936] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_sight.so
[component_container_mt-1] [INFO] [1690282577.594015360] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_atlas.so
[component_container_mt-1] [INFO] [1690282577.624380416] [NitrosContext]: [NitrosContext] Loading application: '/home/badal/vslam_ws/install/isaac_ros_nitros/share/isaac_ros_nitros/config/type_adapter_nitros_context_graph.yaml'
[component_container_mt-1] [INFO] [1690282577.633416000] [NitrosContext]: [NitrosContext] Initializing application...
[component_container_mt-1] [INFO] [1690282577.648229568] [NitrosContext]: [NitrosContext] Running application...
[component_container_mt-1] 2023-07-25 18:56:17.648 WARN gxf/std/program.cpp@456: No system specified. Nothing to do
[component_container_mt-1] [INFO] [1690282577.673352704] [dnn_image_encoder]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1690282577.673727968] [dnn_image_encoder]: [NitrosNode] Loading built-in preset extension specs
[component_container_mt-1] [INFO] [1690282577.695671456] [dnn_image_encoder]: [NitrosNode] Loading built-in extension specs
[component_container_mt-1] [INFO] [1690282577.696311520] [dnn_image_encoder]: [NitrosNode] Loading preset extension specs
[component_container_mt-1] [INFO] [1690282577.712717824] [dnn_image_encoder]: [NitrosNode] Loading extension specs
[component_container_mt-1] [INFO] [1690282577.713155712] [dnn_image_encoder]: [NitrosNode] Loading generator rules
[component_container_mt-1] [INFO] [1690282577.716584992] [dnn_image_encoder]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1690282577.726539072] [dnn_image_encoder]: [NitrosContext] Loading extension: gxf/lib/libgxf_message_compositor.so
[component_container_mt-1] [INFO] [1690282577.750451488] [dnn_image_encoder]: [NitrosContext] Loading extension: gxf/lib/cuda/libgxf_cuda.so
[component_container_mt-1] [INFO] [1690282577.778020864] [dnn_image_encoder]: [NitrosContext] Loading extension: gxf/lib/serialization/libgxf_serialization.so
[component_container_mt-1] [INFO] [1690282577.811581536] [dnn_image_encoder]: [NitrosContext] Loading extension: gxf/lib/image_proc/libgxf_tensorops.so
[component_container_mt-1] [INFO] [1690282577.928038944] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/multimedia/libgxf_multimedia.so
[component_container_mt-1] [INFO] [1690282577.941050720] [dnn_image_encoder]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1690282577.998541280] [dnn_image_encoder]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1690282578.889717216] [dnn_image_encoder]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1690282578.918500544] [dnn_image_encoder]: [NitrosNode] Creating negotiated publishers/subscribers
[component_container_mt-1] [INFO] [1690282579.034744352] [dnn_image_encoder]: [NitrosNode] Starting negotiation...
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/dnn_image_encoder' in container '/unet_container'
[component_container_mt-1] [INFO] [1690282579.073490656] [unet_container]: Load Library: /home/badal/vslam_ws/install/isaac_ros_tensor_rt/lib/libtensor_rt_node.so
[component_container_mt-1] [INFO] [1690282579.087640320] [unet_container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::dnn_inference::TensorRTNode
[component_container_mt-1] [INFO] [1690282579.088165504] [unet_container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::dnn_inference::TensorRTNode
[component_container_mt-1] [INFO] [1690282579.166642240] [tensor_rt_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1690282579.208608416] [tensor_rt_node]: [TensorRTNode] Set input data format to: "nitros_tensor_list_nchw_rgb_f32"
[component_container_mt-1] [INFO] [1690282579.208914752] [tensor_rt_node]: [TensorRTNode] Set output data format to: "nitros_tensor_list_nhwc_rgb_f32"
[component_container_mt-1] [INFO] [1690282579.209256000] [tensor_rt_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1690282579.209385184] [tensor_rt_node]: [NitrosNode] Loading built-in preset extension specs
[component_container_mt-1] [INFO] [1690282579.226240448] [tensor_rt_node]: [NitrosNode] Loading built-in extension specs
[component_container_mt-1] [INFO] [1690282579.226681248] [tensor_rt_node]: [NitrosNode] Loading preset extension specs
[component_container_mt-1] [INFO] [1690282579.229786432] [tensor_rt_node]: [NitrosNode] Loading extension specs
[component_container_mt-1] [INFO] [1690282579.230094560] [tensor_rt_node]: [NitrosNode] Loading generator rules
[component_container_mt-1] [INFO] [1690282579.232664544] [tensor_rt_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1690282579.275218304] [tensor_rt_node]: [NitrosContext] Loading extension: gxf/tensor_rt/libgxf_tensor_rt.so
[component_container_mt-1] [INFO] [1690282579.584771456] [dnn_image_encoder]: [NitrosSubscriber] Received a message but the application receiver's pointer is not yet set.
[component_container_mt-1] [INFO] [1690282579.596685632] [tensor_rt_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1690282579.600179584] [dnn_image_encoder]: [NitrosSubscriber] Received a message but the application receiver's pointer is not yet set.
[component_container_mt-1] [INFO] [1690282579.610728960] [tensor_rt_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1690282579.621694016] [dnn_image_encoder]: [NitrosSubscriber] Received a message but the application receiver's pointer is not yet set.
[component_container_mt-1] [INFO] [1690282579.675447456] [tensor_rt_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1690282579.679445600] [tensor_rt_node]: [NitrosNode] Creating negotiated publishers/subscribers
[component_container_mt-1] [INFO] [1690282579.679762656] [tensor_rt_node]: [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] [1690282579.680097824] [tensor_rt_node]: [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] [1690282579.694474464] [tensor_rt_node]: [NitrosNode] Starting negotiation...
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/tensor_rt_node' in container '/unet_container'
[component_container_mt-1] [INFO] [1690282579.699725760] [dnn_image_encoder]: Negotiating
[component_container_mt-1] [INFO] [1690282579.717791808] [dnn_image_encoder]: [NitrosSubscriber] Received a message but the application receiver's pointer is not yet set.
[component_container_mt-1] [INFO] [1690282579.722061536] [unet_container]: Load Library: /home/badal/vslam_ws/install/isaac_ros_unet/lib/libunet_decoder_node.so
[component_container_mt-1] [INFO] [1690282579.742071616] [unet_container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::unet::UNetDecoderNode
[component_container_mt-1] [INFO] [1690282579.742371008] [unet_container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::unet::UNetDecoderNode
[component_container_mt-1] [INFO] [1690282579.782681024] [unet_decoder_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1690282579.804838176] [unet_decoder_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1690282579.805103424] [unet_decoder_node]: [NitrosNode] Loading built-in preset extension specs
[component_container_mt-1] [INFO] [1690282579.815235968] [dnn_image_encoder]: [NitrosSubscriber] Received a message but the application receiver's pointer is not yet set.
[component_container_mt-1] [INFO] [1690282579.819626336] [unet_decoder_node]: [NitrosNode] Loading built-in extension specs
[component_container_mt-1] [INFO] [1690282579.820016384] [unet_decoder_node]: [NitrosNode] Loading preset extension specs
[component_container_mt-1] [INFO] [1690282579.824074848] [unet_decoder_node]: [NitrosNode] Loading extension specs
[component_container_mt-1] [INFO] [1690282579.824297824] [unet_decoder_node]: [NitrosNode] Loading generator rules
[component_container_mt-1] [INFO] [1690282579.824387040] [unet_decoder_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1690282579.854912736] [unet_decoder_node]: [NitrosContext] Loading extension: gxf/libgxf_segmentation_postprocessor.so
[component_container_mt-1] [INFO] [1690282579.878305888] [unet_decoder_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1690282579.897539936] [unet_decoder_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1690282579.922508416] [dnn_image_encoder]: [NitrosSubscriber] Received a message but the application receiver's pointer is not yet set.
[component_container_mt-1] [INFO] [1690282580.043207552] [dnn_image_encoder]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1690282580.044096832] [dnn_image_encoder]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1690282580.044571904] [dnn_image_encoder]: [NitrosPublisher] Use the negotiated data format: "nitros_tensor_list_nchw_rgb_f32"
[component_container_mt-1] [INFO] [1690282580.044825984] [dnn_image_encoder]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1690282580.045043456] [dnn_image_encoder]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/image", data_format="nitros_image_bgr8"
[component_container_mt-1] [INFO] [1690282580.045369952] [dnn_image_encoder]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1690282580.105343104] [dnn_image_encoder]: [NitrosNode] Wrote the final top level YAML graph to "/home/badal/vslam_ws/install/isaac_ros_dnn_encoders/share/isaac_ros_dnn_encoders/YXBOCKVNMB.yaml"
[component_container_mt-1] [INFO] [1690282580.106741440] [dnn_image_encoder]: [NitrosNode] Calling user's pre-load-graph callback
[component_container_mt-1] [INFO] [1690282580.106968288] [dnn_image_encoder]: In DNN Image Encoder Node preLoadGraphCallback().
[component_container_mt-1] [INFO] [1690282580.107284608] [dnn_image_encoder]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1690282580.107480672] [dnn_image_encoder]: [NitrosContext] Loading application: '/home/badal/vslam_ws/install/isaac_ros_dnn_encoders/share/isaac_ros_dnn_encoders/YXBOCKVNMB.yaml'
[component_container_mt-1] [INFO] [1690282580.135827552] [dnn_image_encoder]: [NitrosNode] Linking Nitros pub/sub to the loaded application
[component_container_mt-1] [INFO] [1690282580.137354688] [unet_decoder_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1690282580.137629664] [dnn_image_encoder]: [NitrosNode] Calling user's post-load-graph callback
[component_container_mt-1] [INFO] [1690282580.137811776] [dnn_image_encoder]: In DNN Image Encoder Node postLoadGraphCallback().
[component_container_mt-1] [INFO] [1690282580.138377088] [dnn_image_encoder]: [NitrosContext] Initializing application...
[component_container_mt-1] [INFO] [1690282580.152343392] [unet_decoder_node]: [NitrosNode] Creating negotiated publishers/subscribers
[component_container_mt-1] [INFO] [1690282580.153414752] [unet_decoder_node]: [NitrosPublisherSubscriberGroup] Pinning the component "colored_segmentation_mask_sink/sink" (type="nvidia::isaac_ros::MessageRelay") to use its compatible format only: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1690282580.181691168] [unet_decoder_node]: [NitrosNode] Starting negotiation...
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/unet_decoder_node' in container '/unet_container'
[component_container_mt-1] [INFO] [1690282580.187514016] [tensor_rt_node]: Negotiating
[component_container_mt-1] [INFO] [1690282580.202962944] [dnn_image_encoder]: [NitrosContext] Running application...
[component_container_mt-1] [INFO] [1690282580.203566240] [dnn_image_encoder]: [NitrosNode] Starting a heartbeat timer (eid=46)
[component_container_mt-1] [INFO] [1690282580.219748832] [dnn_image_encoder]: Negotiating
[component_container_mt-1] [INFO] [1690282580.697649376] [tensor_rt_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1690282580.697998720] [tensor_rt_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1690282580.698143520] [tensor_rt_node]: [NitrosPublisher] Use the negotiated data format: "nitros_tensor_list_nhwc_rgb_f32"
[component_container_mt-1] [INFO] [1690282580.698274336] [tensor_rt_node]: [NitrosSubscriber] Use the negotiated data format: "nitros_tensor_list_nchw_rgb_f32"
[component_container_mt-1] [INFO] [1690282580.698429440] [tensor_rt_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1690282580.717308256] [tensor_rt_node]: [NitrosNode] Wrote the final top level YAML graph to "/home/badal/vslam_ws/install/isaac_ros_tensor_rt/share/isaac_ros_tensor_rt/JROAGQYGZR.yaml"
[component_container_mt-1] [INFO] [1690282580.717614592] [tensor_rt_node]: [NitrosNode] Calling user's pre-load-graph callback
[component_container_mt-1] [INFO] [1690282580.717712448] [tensor_rt_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1690282580.717825056] [tensor_rt_node]: [NitrosContext] Loading application: '/home/badal/vslam_ws/install/isaac_ros_tensor_rt/share/isaac_ros_tensor_rt/JROAGQYGZR.yaml'
[component_container_mt-1] 2023-07-25 18:56:20.727 WARN gxf/std/yaml_file_loader.cpp@952: Using unregistered parameter 'dummy_rx' in component ''.
[component_container_mt-1] [INFO] [1690282580.730695520] [tensor_rt_node]: [NitrosNode] Linking Nitros pub/sub to the loaded application
[component_container_mt-1] [INFO] [1690282580.731416160] [tensor_rt_node]: [NitrosNode] Calling user's post-load-graph callback
[component_container_mt-1] [INFO] [1690282580.731563776] [tensor_rt_node]: In TensorRTNode postLoadGraphCallback().
[component_container_mt-1] [INFO] [1690282580.732454208] [tensor_rt_node]: [NitrosContext] Initializing application...
[component_container_mt-1] [INFO] [1690282580.739824512] [tensor_rt_node]: [NitrosContext] Running application...
[component_container_mt-1] [INFO] [1690282580.740747328] [tensor_rt_node]: [NitrosNode] Starting a heartbeat timer (eid=164)
[component_container_mt-1] [INFO] [1690282581.187272768] [unet_decoder_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1690282581.189636608] [unet_decoder_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1690282581.189814016] [unet_decoder_node]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1690282581.189941056] [unet_decoder_node]: [NitrosPublisher] Use only the compatible publisher: topic_name="/unet/raw_segmentation_mask", data_format="nitros_image_mono8"
[component_container_mt-1] [INFO] [1690282581.190038720] [unet_decoder_node]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1690282581.190119104] [unet_decoder_node]: [NitrosPublisher] Use only the compatible publisher: topic_name="/unet/colored_segmentation_mask", data_format="nitros_image_rgb8"
[component_container_mt-1] [INFO] [1690282581.190212512] [unet_decoder_node]: [NitrosSubscriber] Use the negotiated data format: "nitros_tensor_list_nhwc_rgb_f32"
[component_container_mt-1] [INFO] [1690282581.190394368] [unet_decoder_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1690282581.217646176] [unet_decoder_node]: [NitrosNode] Wrote the final top level YAML graph to "/home/badal/vslam_ws/install/isaac_ros_unet/share/isaac_ros_unet/JDKKGCNCOB.yaml"
[component_container_mt-1] [INFO] [1690282581.218106880] [unet_decoder_node]: [NitrosNode] Calling user's pre-load-graph callback
[component_container_mt-1] [INFO] [1690282581.218456000] [unet_decoder_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1690282581.218814016] [unet_decoder_node]: [NitrosContext] Loading application: '/home/badal/vslam_ws/install/isaac_ros_unet/share/isaac_ros_unet/JDKKGCNCOB.yaml'
[component_container_mt-1] [INFO] [1690282581.237629792] [unet_decoder_node]: [NitrosNode] Linking Nitros pub/sub to the loaded application
[component_container_mt-1] [INFO] [1690282581.238782848] [unet_decoder_node]: [NitrosNode] Calling user's post-load-graph callback
[component_container_mt-1] [INFO] [1690282581.239325792] [unet_decoder_node]: [NitrosContext] Initializing application...
[component_container_mt-1] [INFO] [1690282581.298128160] [unet_decoder_node]: [NitrosContext] Running application...
[component_container_mt-1] [INFO] [1690282581.299689152] [unet_decoder_node]: [NitrosNode] Starting a heartbeat timer (eid=208)
[component_container_mt-1] 2023-07-25 18:56:27.239 ERROR /home/badal/vslam_ws/src/isaac_ros_dnn_inference/isaac_ros_tensor_rt/gxf/tensor_rt/tensor_rt_inference.cpp@148: TRT ERROR: 3: Cannot find binding of given name: input_2:0
[component_container_mt-1] 2023-07-25 18:56:27.239 ERROR /home/badal/vslam_ws/src/isaac_ros_dnn_inference/isaac_ros_tensor_rt/gxf/tensor_rt/tensor_rt_inference.cpp@341: Failed to get binding index for input input_2:0 in model /home/badal/data/new_engine.plan
[component_container_mt-1] 2023-07-25 18:56:27.242 WARN gxf/std/greedy_scheduler.cpp@241: Error while executing entity 164 named 'JROAGQYGZR_inference': GXF_FAILURE
[component_container_mt-1] 2023-07-25 18:56:27.242 ERROR gxf/std/entity_executor.cpp@540: Entity [JROAGQYGZR_inference] must be in Lifecycle::kStarted or Lifecycle::kIdle stage before stopping. Current state is StartPending
[component_container_mt-1] 2023-07-25 18:56:27.741 ERROR gxf/std/entity_executor.cpp@203: Entity with eid 164 not found!
[component_container_mt-1] [WARN] [1690282587.741622848] [tensor_rt_node]: [NitrosNode] The heartbeat entity (eid=164) was stopped. The graph may have been terminated.
[component_container_mt-1] [INFO] [1690282587.766059744] [unet_decoder_node]: [NitrosNode] Terminating the running application
[component_container_mt-1] [INFO] [1690282587.766205152] [unet_decoder_node]: [NitrosContext] Interrupting GXF...
[component_container_mt-1] [INFO] [1690282587.768190176] [unet_decoder_node]: [NitrosContext] Waiting on GXF...
[component_container_mt-1] [INFO] [1690282587.768323328] [unet_decoder_node]: [NitrosContext] Deinitializing...
[component_container_mt-1] [INFO] [1690282587.774302048] [unet_decoder_node]: [NitrosContext] Destroying context
[component_container_mt-1] [INFO] [1690282587.775050144] [unet_decoder_node]: [NitrosNode] Application termination done
[component_container_mt-1] [INFO] [1690282587.836418048] [tensor_rt_node]: [NitrosNode] Terminating the running application
[component_container_mt-1] [INFO] [1690282587.836540736] [tensor_rt_node]: [NitrosContext] Interrupting GXF...
[component_container_mt-1] [INFO] [1690282587.836605888] [tensor_rt_node]: [NitrosContext] Waiting on GXF...
[component_container_mt-1] 2023-07-25 18:56:27.836 ERROR gxf/std/program.cpp@497: wait failed. Deactivating...
[component_container_mt-1] 2023-07-25 18:56:27.838 ERROR gxf/core/runtime.cpp@1251: Graph wait failed with error: GXF_FAILURE
[component_container_mt-1] [ERROR] [1690282587.838750656] [tensor_rt_node]: [NitrosContext] GxfGraphWait Error: GXF_FAILURE
[component_container_mt-1] [INFO] [1690282587.838802848] [tensor_rt_node]: [NitrosNode] Application termination done
[component_container_mt-1] [INFO] [1690282587.869010048] [dnn_image_encoder]: [NitrosNode] Terminating the running application
[component_container_mt-1] [INFO] [1690282587.869272576] [dnn_image_encoder]: [NitrosContext] Interrupting GXF...
[component_container_mt-1] [INFO] [1690282587.869350048] [dnn_image_encoder]: [NitrosContext] Waiting on GXF...
[component_container_mt-1] [INFO] [1690282587.872316224] [dnn_image_encoder]: [NitrosContext] Deinitializing...
[component_container_mt-1] [INFO] [1690282587.907488512] [dnn_image_encoder]: [NitrosContext] Destroying context
[ERROR] [component_container_mt-1]: process has died [pid 4770, exit code -11, cmd '/home/badal/ros2_humble/install/rclcpp_components/lib/rclcpp_components/component_container_mt --ros-args -r __node:=unet_container -r __ns:=/'].

CMake Error at CMakeLists.txt:7 (find_package):
By not providing "Findcatkin.cmake" in CMAKE_MODULE_PATH this project has
asked CMake to find a package configuration file provided by "catkin", but
CMake did not find one.

Could not find a package configuration file provided by "catkin" with any
of the following names:

catkinConfig.cmake
catkin-config.cmake

Add the installation prefix of "catkin" to CMAKE_PREFIX_PATH or set
"catkin_DIR" to a directory containing one of the above files. If "catkin"
provides a separate development package or SDK, be sure it has been
installed.

Hi,

i am planning to use isaac_ros_image_segmentation package on AGX Xavier using Jetpack 5.0 by installing ROS2 foxy natively. can you please let me know if this is possible or tested ? if yes, can you please share some steps to follow
Also, what is roadmap to support isaac ros gems packages without containers using Jetpack 5.0 on ROS2 foxy/Humble) ?

Thanks
Gurpreet

Hello, Im trying to build isaac_ros_unet package and i get this fatal error:

--- stderr: isaac_ros_unet                                 
/workspaces/isaac_ros-dev/src/isaac_ros_image_segmentation/isaac_ros_unet/src/unet_decoder_node.cpp:29:10: fatal error: isaac_ros_nitros_tensor_list_type/nitros_tensor_list.hpp: No such file or directory
   29 | #include "isaac_ros_nitros_tensor_list_type/nitros_tensor_list.hpp"
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.

never mind fixed with building isaac_ros_nitros packages

Hello, I have completed the Quickstart without any errors, but I am unable to find the topic /unet/colored_segmentation_mask; only the /image topic is displayed.

admin@isaac-robot-OMEN:/workspaces/isaac_ros-dev$ ros2 launch isaac_ros_unet isaac_ros_unet_triton.launch.py model_name:=peoplesemsegnet_shuffleseg model_repository_paths:=['/tmp/models'] input_binding_names:=['input_2:0'] output_binding_names:=['argmax_1'] network_output_type:='argmax'
[INFO] [launch]: All log files can be found below /home/admin/.ros/log/2023-05-06-17-58-58-716934-isaac-robot-OMEN-44146
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container_mt-1]: process started with pid [44157]
[component_container_mt-1] [INFO] [1683367139.122993358] [unet_container]: Load Library: /workspaces/isaac_ros-dev/install/isaac_ros_dnn_encoders/lib/libdnn_image_encoder_node.so
[component_container_mt-1] [INFO] [1683367141.883314307] [unet_container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::dnn_inference::DnnImageEncoderNode
[component_container_mt-1] [INFO] [1683367141.883431543] [unet_container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::dnn_inference::DnnImageEncoderNode
[component_container_mt-1] [INFO] [1683367141.892318156] [NitrosContext]: [NitrosContext] Creating a new shared context
[component_container_mt-1] [INFO] [1683367141.892565623] [dnn_image_encoder]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1683367141.893421751] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/std/libgxf_std.so
[component_container_mt-1] [INFO] [1683367142.313592290] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_gxf_helpers.so
[component_container_mt-1] [INFO] [1683367142.789333199] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_sight.so
[component_container_mt-1] [INFO] [1683367143.173993198] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_atlas.so
[component_container_mt-1] [INFO] [1683367143.656327313] [NitrosContext]: [NitrosContext] Loading application: '/workspaces/isaac_ros-dev/install/isaac_ros_nitros/share/isaac_ros_nitros/config/type_adapter_nitros_context_graph.yaml'
[component_container_mt-1] [INFO] [1683367143.660435253] [NitrosContext]: [NitrosContext] Initializing application...
[component_container_mt-1] [INFO] [1683367143.664778063] [NitrosContext]: [NitrosContext] Running application...
[component_container_mt-1] 2023-05-06 17:59:03.664 WARN gxf/std/program.cpp@456: No system specified. Nothing to do
[component_container_mt-1] [INFO] [1683367143.665931722] [dnn_image_encoder]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1683367143.665975427] [dnn_image_encoder]: [NitrosNode] Loading built-in preset extension specs
[component_container_mt-1] [INFO] [1683367143.696298122] [dnn_image_encoder]: [NitrosNode] Loading built-in extension specs
[component_container_mt-1] [INFO] [1683367143.696394782] [dnn_image_encoder]: [NitrosNode] Loading preset extension specs
[component_container_mt-1] [INFO] [1683367143.701298720] [dnn_image_encoder]: [NitrosNode] Loading extension specs
[component_container_mt-1] [INFO] [1683367143.701340995] [dnn_image_encoder]: [NitrosNode] Loading generator rules
[component_container_mt-1] [INFO] [1683367143.702070540] [dnn_image_encoder]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1683367143.702589842] [dnn_image_encoder]: [NitrosContext] Loading extension: gxf/lib/cuda/libgxf_cuda.so
[component_container_mt-1] [INFO] [1683367143.745394223] [dnn_image_encoder]: [NitrosContext] Loading extension: gxf/lib/serialization/libgxf_serialization.so
[component_container_mt-1] [INFO] [1683367143.805760229] [dnn_image_encoder]: [NitrosContext] Loading extension: gxf/lib/image_proc/libgxf_tensorops.so
[component_container_mt-1] [INFO] [1683367143.894031855] [dnn_image_encoder]: [NitrosContext] Loading extension: gxf/lib/libgxf_message_compositor.so
[component_container_mt-1] [INFO] [1683367143.941471549] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/multimedia/libgxf_multimedia.so
[component_container_mt-1] [INFO] [1683367143.942177109] [dnn_image_encoder]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1683367143.954081872] [dnn_image_encoder]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1683367144.032706321] [dnn_image_encoder]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1683367144.034240552] [dnn_image_encoder]: [NitrosNode] Creating negotiated publishers/subscribers
[component_container_mt-1] [INFO] [1683367144.038699359] [dnn_image_encoder]: [NitrosNode] Starting negotiation...
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/dnn_image_encoder' in container '/unet_container'
[component_container_mt-1] [INFO] [1683367144.039879358] [unet_container]: Load Library: /workspaces/isaac_ros-dev/install/isaac_ros_triton/lib/libtriton_node.so
[component_container_mt-1] [INFO] [1683367144.040650835] [unet_container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::dnn_inference::TritonNode
[component_container_mt-1] [INFO] [1683367144.040657771] [unet_container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::dnn_inference::TritonNode
[component_container_mt-1] [INFO] [1683367144.041861781] [triton_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1683367144.042071273] [triton_node]: [TritonNode] Set input data format to: "nitros_tensor_list_nchw_rgb_f32"
[component_container_mt-1] [INFO] [1683367144.042077182] [triton_node]: [TritonNode] Set output data format to: "nitros_tensor_list_nhwc_rgb_f32"
[component_container_mt-1] [INFO] [1683367144.042106720] [triton_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1683367144.042109553] [triton_node]: [NitrosNode] Loading built-in preset extension specs
[component_container_mt-1] [INFO] [1683367144.043047661] [triton_node]: [NitrosNode] Loading built-in extension specs
[component_container_mt-1] [INFO] [1683367144.043054605] [triton_node]: [NitrosNode] Loading preset extension specs
[component_container_mt-1] [INFO] [1683367144.043870081] [triton_node]: [NitrosNode] Loading extension specs
[component_container_mt-1] [INFO] [1683367144.043876246] [triton_node]: [NitrosNode] Loading generator rules
[component_container_mt-1] [INFO] [1683367144.043968901] [triton_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1683367144.044143531] [triton_node]: [NitrosContext] Loading extension: gxf/triton/libgxf_triton_ext.so
[component_container_mt-1] [INFO] [1683367144.163754591] [triton_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1683367144.167206906] [triton_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1683367144.225266183] [triton_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1683367144.229952854] [triton_node]: [NitrosNode] Creating negotiated publishers/subscribers
[component_container_mt-1] [INFO] [1683367144.230083723] [triton_node]: [NitrosPublisherSubscriberGroup] Pinning the component "triton_request/input" (type="nvidia::gxf::DoubleBufferReceiver") to use its compatible format only: "nitros_tensor_list_nchw_rgb_f32"
[component_container_mt-1] [INFO] [1683367144.231385138] [triton_node]: [NitrosPublisherSubscriberGroup] Pinning the component "vault/vault" (type="nvidia::gxf::Vault") to use its compatible format only: "nitros_tensor_list_nhwc_rgb_f32"
[component_container_mt-1] [INFO] [1683367144.231664422] [triton_node]: [NitrosNode] Starting negotiation...
[component_container_mt-1] [INFO] [1683367144.231787404] [dnn_image_encoder]: Negotiating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/triton_node' in container '/unet_container'
[component_container_mt-1] [INFO] [1683367144.232630991] [unet_container]: Load Library: /workspaces/isaac_ros-dev/install/isaac_ros_unet/lib/libunet_decoder_node.so
[component_container_mt-1] [INFO] [1683367144.233894639] [unet_container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::unet::UNetDecoderNode
[component_container_mt-1] [INFO] [1683367144.233903015] [unet_container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::unet::UNetDecoderNode
[component_container_mt-1] [INFO] [1683367144.235148118] [unet_decoder_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1683367144.235375115] [unet_decoder_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1683367144.235381106] [unet_decoder_node]: [NitrosNode] Loading built-in preset extension specs
[component_container_mt-1] [INFO] [1683367144.236302741] [unet_decoder_node]: [NitrosNode] Loading built-in extension specs
[component_container_mt-1] [INFO] [1683367144.236310738] [unet_decoder_node]: [NitrosNode] Loading preset extension specs
[component_container_mt-1] [INFO] [1683367144.236686807] [unet_decoder_node]: [NitrosNode] Loading extension specs
[component_container_mt-1] [INFO] [1683367144.236690999] [unet_decoder_node]: [NitrosNode] Loading generator rules
[component_container_mt-1] [INFO] [1683367144.236693589] [unet_decoder_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1683367144.236836837] [unet_decoder_node]: [NitrosContext] Loading extension: gxf/libgxf_segmentation_postprocessor.so
[component_container_mt-1] [INFO] [1683367144.237258895] [unet_decoder_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1683367144.238400895] [unet_decoder_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1683367144.262384827] [unet_decoder_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1683367144.263732693] [unet_decoder_node]: [NitrosNode] Creating negotiated publishers/subscribers
[component_container_mt-1] [INFO] [1683367144.263774712] [unet_decoder_node]: [NitrosPublisherSubscriberGroup] Pinning the component "colored_segmentation_mask_vault/vault" (type="nvidia::gxf::Vault") to use its compatible format only: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1683367144.264882341] [unet_decoder_node]: [NitrosNode] Starting negotiation...
[component_container_mt-1] [INFO] [1683367144.265064482] [triton_node]: Negotiating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/unet_decoder_node' in container '/unet_container'
[component_container_mt-1] [INFO] [1683367145.039043237] [dnn_image_encoder]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1683367145.039169073] [dnn_image_encoder]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1683367145.039198538] [dnn_image_encoder]: [NitrosPublisher] Use the negotiated data format: "nitros_tensor_list_nchw_rgb_f32"
[component_container_mt-1] [INFO] [1683367145.039219720] [dnn_image_encoder]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1683367145.039234824] [dnn_image_encoder]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/image", data_format="nitros_image_bgr8"
[component_container_mt-1] [INFO] [1683367145.039358487] [dnn_image_encoder]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1683367145.050069360] [dnn_image_encoder]: [NitrosNode] Wrote the final top level YAML graph to "/workspaces/isaac_ros-dev/install/isaac_ros_dnn_encoders/share/isaac_ros_dnn_encoders/LWXJRVGXBZ.yaml"
[component_container_mt-1] [INFO] [1683367145.050112287] [dnn_image_encoder]: [NitrosNode] Calling user's pre-load-graph callback
[component_container_mt-1] [INFO] [1683367145.050117433] [dnn_image_encoder]: In DNN Image Encoder Node preLoadGraphCallback().
[component_container_mt-1] [INFO] [1683367145.050133791] [dnn_image_encoder]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1683367145.050138222] [dnn_image_encoder]: [NitrosContext] Loading application: '/workspaces/isaac_ros-dev/install/isaac_ros_dnn_encoders/share/isaac_ros_dnn_encoders/LWXJRVGXBZ.yaml'
[component_container_mt-1] [INFO] [1683367145.052829092] [dnn_image_encoder]: [NitrosNode] Linking Nitros pub/sub to the loaded application
[component_container_mt-1] [INFO] [1683367145.052891816] [dnn_image_encoder]: [NitrosNode] Calling user's post-load-graph callback
[component_container_mt-1] [INFO] [1683367145.052897359] [dnn_image_encoder]: In DNN Image Encoder Node postLoadGraphCallback().
[component_container_mt-1] [INFO] [1683367145.052953604] [dnn_image_encoder]: [NitrosContext] Initializing application...
[component_container_mt-1] [INFO] [1683367145.122801285] [dnn_image_encoder]: [NitrosContext] Running application...
[component_container_mt-1] [INFO] [1683367145.231826846] [triton_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1683367145.231858080] [triton_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1683367145.231862953] [triton_node]: [NitrosSubscriber] Use the negotiated data format: "nitros_tensor_list_nchw_rgb_f32"
[component_container_mt-1] [INFO] [1683367145.231873080] [triton_node]: [NitrosPublisher] Use the negotiated data format: "nitros_tensor_list_nhwc_rgb_f32"
[component_container_mt-1] [INFO] [1683367145.231878029] [triton_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1683367145.239768914] [triton_node]: [NitrosNode] Wrote the final top level YAML graph to "/workspaces/isaac_ros-dev/install/isaac_ros_triton/share/isaac_ros_triton/JXNPYNGECH.yaml"
[component_container_mt-1] [INFO] [1683367145.239785171] [triton_node]: [NitrosNode] Calling user's pre-load-graph callback
[component_container_mt-1] [INFO] [1683367145.239789364] [triton_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1683367145.239793679] [triton_node]: [NitrosContext] Loading application: '/workspaces/isaac_ros-dev/install/isaac_ros_triton/share/isaac_ros_triton/JXNPYNGECH.yaml'
[component_container_mt-1] 2023-05-06 17:59:05.240 WARN gxf/std/yaml_file_loader.cpp@952: Using unregistered parameter 'dummy_rx' in component 'requester'.
[component_container_mt-1] [INFO] [1683367145.240722032] [triton_node]: [NitrosNode] Linking Nitros pub/sub to the loaded application
[component_container_mt-1] [INFO] [1683367145.240751460] [triton_node]: [NitrosNode] Calling user's post-load-graph callback
[component_container_mt-1] [INFO] [1683367145.240755723] [triton_node]: In TritonNode postLoadGraphCallback().
[component_container_mt-1] [INFO] [1683367145.240818899] [triton_node]: [NitrosContext] Initializing application...
[component_container_mt-1] [INFO] [1683367145.265047898] [unet_decoder_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1683367145.265098162] [unet_decoder_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1683367145.265108201] [unet_decoder_node]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1683367145.265117192] [unet_decoder_node]: [NitrosPublisher] Use only the compatible publisher: topic_name="/unet/raw_segmentation_mask", data_format="nitros_image_mono8"
[component_container_mt-1] [INFO] [1683367145.265126073] [unet_decoder_node]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1683367145.265132657] [unet_decoder_node]: [NitrosPublisher] Use only the compatible publisher: topic_name="/unet/colored_segmentation_mask", data_format="nitros_image_rgb8"
[component_container_mt-1] [INFO] [1683367145.265141932] [unet_decoder_node]: [NitrosSubscriber] Use the negotiated data format: "nitros_tensor_list_nhwc_rgb_f32"
[component_container_mt-1] [INFO] [1683367145.265165690] [unet_decoder_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] WARNING: infer_trtis_server.cpp:1219 NvDsTritonServerInit suggest to set model_control_mode:none. otherwise may cause unknow issues.
[component_container_mt-1] I0506 09:59:05.292163 44157 pinned_memory_manager.cc:240] Pinned memory pool is created at '0x7f5c00000000' with size 268435456
[component_container_mt-1] I0506 09:59:05.292285 44157 cuda_memory_manager.cc:105] CUDA memory pool is created on device 0 with size 67108864
[component_container_mt-1] [INFO] [1683367145.292780257] [unet_decoder_node]: [NitrosNode] Wrote the final top level YAML graph to "/workspaces/isaac_ros-dev/install/isaac_ros_unet/share/isaac_ros_unet/QCUIGEOMRJ.yaml"
[component_container_mt-1] [INFO] [1683367145.292820539] [unet_decoder_node]: [NitrosNode] Calling user's pre-load-graph callback
[component_container_mt-1] [INFO] [1683367145.292824343] [unet_decoder_node]: [NitrosNode] Loading application
[component_container_mt-1] I0506 09:59:05.292888 44157 server.cc:563]
[component_container_mt-1] +------------------+------+
[component_container_mt-1] | Repository Agent | Path |
[component_container_mt-1] +------------------+------+
[component_container_mt-1] +------------------+------+
[component_container_mt-1]
[component_container_mt-1] I0506 09:59:05.292896 44157 server.cc:590]
[component_container_mt-1] +---------+------+--------+
[component_container_mt-1] | Backend | Path | Config |
[component_container_mt-1] +---------+------+--------+
[component_container_mt-1] +---------+------+--------+
[component_container_mt-1]
[component_container_mt-1] I0506 09:59:05.292901 44157 server.cc:633]
[component_container_mt-1] +-------+---------+--------+
[component_container_mt-1] | Model | Version | Status |
[component_container_mt-1] +-------+---------+--------+
[component_container_mt-1] +-------+---------+--------+
[component_container_mt-1]
[component_container_mt-1] I0506 09:59:05.369985 44157 metrics.cc:864] Collecting metrics for GPU 0: NVIDIA GeForce RTX 3080
[component_container_mt-1] I0506 09:59:05.370114 44157 metrics.cc:757] Collecting CPU metrics
[component_container_mt-1] I0506 09:59:05.370186 44157 tritonserver.cc:2264]
[component_container_mt-1] +----------------------------------+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
[component_container_mt-1] | Option | Value |
[component_container_mt-1] +----------------------------------+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
[component_container_mt-1] | server_id | triton |
[component_container_mt-1] | server_version | 2.26.0 |
[component_container_mt-1] | server_extensions | classification sequence model_repository model_repository(unload_dependents) schedule_policy model_configuration system_shared_memory cuda_shared_memory binary_tensor_data statistics trace logging |
[component_container_mt-1] | model_repository_path[0] | /tmp/models |
[component_container_mt-1] | model_control_mode | MODE_EXPLICIT |
[component_container_mt-1] | strict_model_config | 1 |
[component_container_mt-1] | rate_limit | OFF |
[component_container_mt-1] | pinned_memory_pool_byte_size | 268435456 |
[component_container_mt-1] | cuda_memory_pool_byte_size{0} | 67108864 |
[component_container_mt-1] | response_cache_byte_size | 0 |
[component_container_mt-1] | min_supported_compute_capability | 6.0 |
[component_container_mt-1] | strict_readiness | 1 |
[component_container_mt-1] | exit_timeout | 30 |
[component_container_mt-1] +----------------------------------+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
[component_container_mt-1]
[component_container_mt-1] [INFO] [1683367145.370505773] [triton_node]: [NitrosContext] Running application...
[component_container_mt-1] [INFO] [1683367145.370579833] [unet_decoder_node]: [NitrosContext] Loading application: '/workspaces/isaac_ros-dev/install/isaac_ros_unet/share/isaac_ros_unet/QCUIGEOMRJ.yaml'
[component_container_mt-1] I0506 09:59:05.371478 44157 model_lifecycle.cc:459] loading: peoplesemsegnet_shuffleseg:1
[component_container_mt-1] [INFO] [1683367145.372550653] [unet_decoder_node]: [NitrosNode] Linking Nitros pub/sub to the loaded application
[component_container_mt-1] [INFO] [1683367145.372638746] [unet_decoder_node]: [NitrosNode] Calling user's post-load-graph callback
[component_container_mt-1] [INFO] [1683367145.372740727] [unet_decoder_node]: [NitrosContext] Initializing application...
[component_container_mt-1] [INFO] [1683367145.374147202] [unet_decoder_node]: [NitrosContext] Running application...
[component_container_mt-1] I0506 09:59:05.396475 44157 tensorrt.cc:5442] TRITONBACKEND_Initialize: tensorrt
[component_container_mt-1] I0506 09:59:05.396488 44157 tensorrt.cc:5452] Triton TRITONBACKEND API version: 1.10
[component_container_mt-1] I0506 09:59:05.396492 44157 tensorrt.cc:5458] 'tensorrt' TRITONBACKEND API version: 1.10
[component_container_mt-1] I0506 09:59:05.396493 44157 tensorrt.cc:5486] backend configuration:
[component_container_mt-1] {"cmdline":{"auto-complete-config":"false","min-compute-capability":"6.000000","backend-directory":"/opt/tritonserver/backends","default-max-batch-size":"4"}}
[component_container_mt-1] I0506 09:59:05.396685 44157 tensorrt.cc:5591] TRITONBACKEND_ModelInitialize: peoplesemsegnet_shuffleseg (version 1)
[component_container_mt-1] I0506 09:59:05.397406 44157 tensorrt.cc:5640] TRITONBACKEND_ModelInstanceInitialize: peoplesemsegnet_shuffleseg (GPU device 0)
[component_container_mt-1] I0506 09:59:05.495704 44157 tensorrt.cc:5678] TRITONBACKEND_ModelInstanceFinalize: delete instance state
[component_container_mt-1] I0506 09:59:05.495723 44157 tensorrt.cc:5617] TRITONBACKEND_ModelFinalize: delete model state
[component_container_mt-1] E0506 09:59:05.495730 44157 model_lifecycle.cc:596] failed to load 'peoplesemsegnet_shuffleseg' version 1: Internal: unable to create stream: the provided PTX was compiled with an unsupported toolchain.
[component_container_mt-1] ERROR: infer_trtis_server.cpp:1057 Triton: failed to load model peoplesemsegnet_shuffleseg, triton_err_str:Invalid argument, err_msg:load failed for model 'peoplesemsegnet_shuffleseg': version 1 is at UNAVAILABLE state: Internal: unable to create stream: the provided PTX was compiled with an unsupported toolchain.;
[component_container_mt-1]
[component_container_mt-1] ERROR: infer_trtis_backend.cpp:54 failed to load model: peoplesemsegnet_shuffleseg, nvinfer error:NVDSINFER_TRITON_ERROR
[component_container_mt-1] ERROR: infer_simple_runtime.cpp:33 failed to initialize backend while ensuring model:peoplesemsegnet_shuffleseg ready, nvinfer error:NVDSINFER_TRITON_ERROR
[component_container_mt-1] ERROR: Error in createNNBackend() <infer_simple_context.cpp:76> [UID = 103]: failed to initialize triton simple runtime for model:peoplesemsegnet_shuffleseg, nvinfer error:NVDSINFER_TRITON_ERROR
[component_container_mt-1] ERROR: Error in initialize() <infer_base_context.cpp:79> [UID = 103]: create nn-backend failed, check config file settings, nvinfer error:NVDSINFER_TRITON_ERROR
[component_container_mt-1] 2023-05-06 17:59:05.495 ERROR /workspaces/isaac_ros-dev/src/isaac_ros_dnn_inference/isaac_ros_triton/gxf/triton/inferencers/triton_inferencer_impl.cpp@326: Failure to initialize Inference Context for 'peoplesemsegnet_shuffleseg'
[component_container_mt-1] 2023-05-06 17:59:05.495 ERROR gxf/std/entity_executor.cpp@541: Entity [JXNPYNGECH_triton_request] must be in kStarted or kIdle or kTickPending or kTicking stage before stopping. Current state is StartPending
[component_container_mt-1] 2023-05-06 17:59:05.495 ERROR gxf/std/entity_executor.cpp@203: Entity with eid 121 not found!
[component_container_mt-1] [ERROR] [1683367145.495833517] [triton_node]: [NitrosPublisher] Vault ("vault/vault", eid=121) was stopped. The graph may have been terminated due to an error.
[component_container_mt-1] 2023-05-06 17:59:05.495 WARN gxf/std/greedy_scheduler.cpp@235: Error while executing entity 103 named 'JXNPYNGECH_triton_request': GXF_FAILURE
[component_container_mt-1] terminate called after throwing an instance of 'std::runtime_error'
[component_container_mt-1] what(): [NitrosPublisher] Vault ("vault/vault", eid=121) was stopped. The graph may have been terminated due to an error.
[ERROR] [component_container_mt-1]: process has died [pid 44157, exit code -6, cmd '/opt/ros/humble/install/lib/rclcpp_components/component_container_mt --ros-args -r __node:=unet_container -r __ns:=/'].

The model transformation process is as follows
admin@isaac-robot-OMEN:/tmp/models/peoplesemsegnet_shuffleseg$ /opt/nvidia/tao/tao-converter -k tlt_encode -d 3,544,960 -p input_2:0,1x3x544x960,1x3x544x960,1x3x544x960 -t int8 -c peoplesemsegnet_shuffleseg_cache.txt -e /tmp/models/peoplesemsegnet_shuffleseg/1/model.plan -o argmax_1 peoplesemsegnet_shuffleseg_etlt.etlt
[INFO] [MemUsageChange] Init CUDA: CPU +323, GPU +0, now: CPU 335, GPU 850 (MiB)
[INFO] [MemUsageChange] Init builder kernel library: CPU +416, GPU +116, now: CPU 803, GPU 966 (MiB)
[WARNING] CUDA lazy loading is not enabled. Enabling it can significantly reduce device memory usage. See CUDA_MODULE_LOADING in https://docs.nvidia.com/cuda/cuda-c-programming-guide/index.html#env-vars
[INFO] ----------------------------------------------------------------
[INFO] Input filename: /tmp/filergJUTG
[INFO] ONNX IR version: 0.0.6
[INFO] Opset version: 11
[INFO] Producer name: tf2onnx
[INFO] Producer version: 1.9.2
[INFO] Domain:
[INFO] Model version: 0
[INFO] Doc string:
[INFO] ----------------------------------------------------------------
[WARNING] onnx2trt_utils.cpp:377: Your ONNX model has been generated with INT64 weights, while TensorRT does not natively support INT64. Attempting to cast down to INT32.
[WARNING] Tensor DataType is determined at build time for tensors not marked as input or output.
[INFO] Detected input dimensions from the model: (-1, 3, 544, 960)
[INFO] Model has dynamic shape. Setting up optimization profiles.
[INFO] Using optimization profile min shape: (1, 3, 544, 960) for input: input_2:0
[INFO] Using optimization profile opt shape: (1, 3, 544, 960) for input: input_2:0
[INFO] Using optimization profile max shape: (1, 3, 544, 960) for input: input_2:0
[INFO] Reading Calibration Cache for calibrator: EntropyCalibration2
[INFO] Generated calibration scales using calibration cache. Make sure that calibration cache has latest scales.
[INFO] To regenerate calibration cache, please delete the existing one. TensorRT will generate a new calibration cache.
[WARNING] Missing scale and zero-point for tensor channel_shuffle_1/Reshape_1:0, expect fall back to non-int8 implementation for any layer consuming or producing given tensor
[WARNING] Missing scale and zero-point for tensor channel_shuffle_2/Reshape_1:0, expect fall back to non-int8 implementation for any layer consuming or producing given tensor
[WARNING] Missing scale and zero-point for tensor channel_shuffle_3/Reshape_1:0, expect fall back to non-int8 implementation for any layer consuming or producing given tensor
[WARNING] Missing scale and zero-point for tensor channel_shuffle_4/Reshape_1:0, expect fall back to non-int8 implementation for any layer consuming or producing given tensor
[WARNING] Missing scale and zero-point for tensor channel_shuffle_5/Reshape_1:0, expect fall back to non-int8 implementation for any layer consuming or producing given tensor
[WARNING] Missing scale and zero-point for tensor channel_shuffle_6/Reshape_1:0, expect fall back to non-int8 implementation for any layer consuming or producing given tensor
[WARNING] Missing scale and zero-point for tensor channel_shuffle_7/Reshape_1:0, expect fall back to non-int8 implementation for any layer consuming or producing given tensor
[WARNING] Missing scale and zero-point for tensor channel_shuffle_8/Reshape_1:0, expect fall back to non-int8 implementation for any layer consuming or producing given tensor
[WARNING] Missing scale and zero-point for tensor channel_shuffle_9/Reshape_1:0, expect fall back to non-int8 implementation for any layer consuming or producing given tensor
[WARNING] Missing scale and zero-point for tensor channel_shuffle_10/Reshape_1:0, expect fall back to non-int8 implementation for any layer consuming or producing given tensor
[WARNING] Missing scale and zero-point for tensor channel_shuffle_11/Reshape_1:0, expect fall back to non-int8 implementation for any layer consuming or producing given tensor
[WARNING] Missing scale and zero-point for tensor channel_shuffle_12/Reshape_1:0, expect fall back to non-int8 implementation for any layer consuming or producing given tensor
[WARNING] Missing scale and zero-point for tensor channel_shuffle_13/Reshape_1:0, expect fall back to non-int8 implementation for any layer consuming or producing given tensor
[WARNING] Missing scale and zero-point for tensor channel_shuffle_14/Reshape_1:0, expect fall back to non-int8 implementation for any layer consuming or producing given tensor
[WARNING] Missing scale and zero-point for tensor channel_shuffle_15/Reshape_1:0, expect fall back to non-int8 implementation for any layer consuming or producing given tensor
[WARNING] Missing scale and zero-point for tensor channel_shuffle_16/Reshape_1:0, expect fall back to non-int8 implementation for any layer consuming or producing given tensor
[INFO] [MemUsageChange] Init cuBLAS/cuBLASLt: CPU +852, GPU +360, now: CPU 1665, GPU 1326 (MiB)
[INFO] [MemUsageChange] Init cuDNN: CPU +125, GPU +58, now: CPU 1790, GPU 1384 (MiB)
[INFO] Local timing cache in use. Profiling results in this builder pass will not be stored.
[INFO] Some tactics do not have sufficient workspace memory to run. Increasing workspace size will enable more tactics, please check verbose output for requested sizes.
[INFO] Detected 1 inputs and 1 output network tensors.
[INFO] Total Host Persistent Memory: 116144
[INFO] Total Device Persistent Memory: 991232
[INFO] Total Scratch Memory: 16711680
[INFO] [MemUsageStats] Peak memory usage of TRT CPU/GPU memory allocators: CPU 4 MiB, GPU 698 MiB
[INFO] [BlockAssignment] Algorithm ShiftNTopDown took 2.17698ms to assign 5 blocks to 74 nodes requiring 21428736 bytes.
[INFO] Total Activation Memory: 21428736
[WARNING] TensorRT encountered issues when converting weights between types and that could affect accuracy.
[WARNING] If this is not the desired behavior, please modify the weights or retrain with regularization to adjust the magnitude of the weights.
[WARNING] Check verbose logs for the list of affected weights.
[WARNING] - 45 weights are affected by this issue: Detected subnormal FP16 values.
[WARNING] - 2 weights are affected by this issue: Detected values less than smallest positive FP16 subnormal value and converted them to the FP16 minimum subnormalized value.
[INFO] [MemUsageChange] TensorRT-managed allocation in building engine: CPU +1, GPU +4, now: CPU 1, GPU 4 (MiB)

Hello,

Is there any support to be able to use the Image Segmentation capabilities from Isaac ROS Image Segmentation in parallel environments in Omniverse Sim/Gym? The ROS2 layer would have to be stripped away as it's not appropriate for the parallel Gym environments used during the RL training. Is this possible?

I tried to run the demo but I can't find package 'ros-humble-isaac-ros-unet' when installing at step 5 of the Quickstart, do you have any suggestions