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NVIDIA-accelerated Apriltag detection and pose estimation.

Home Page: https://developer.nvidia.com/isaac-ros-gems

License: Apache License 2.0

CMake 15.68% C++ 84.32%

apriltag fiducial-marker gpu jetson nvidia ros ros2 ros2-humble

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isaac_ros_apriltag's Issues

ROS 1 node

I am very interested in switched to GPU accelerated tag detection. April tag tracking is part of the work flow for many projects in my lab but like many we are all still using ROS1.

Could you make a ROS1 node for this?

it won't work on NX Jetpack 4.6.1 with the latest ros common docker implementation

After runing the run. sh from the common package
it won't build with colcon after cloning to src of the workspace created
Any ideas?

tarting >>> image_geometry                                                                                                     
Starting >>> camera_calibration_parsers
--- stderr: image_transport                                                                                                                                                                             
CMake Error at CMakeLists.txt:4 (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.


---
Failed   <<< image_transport [2.10s, exited with code 1]
--- stderr: cv_bridge
CMake Error at CMakeLists.txt:4 (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.


---
Failed   <<< cv_bridge [2.05s, exited with code 1]
Aborted  <<< camera_calibration_parsers [2.79s]                                                                                                                              
Aborted  <<< image_geometry [2.87s]
Aborted  <<< isaac_ros_test [3.64s]                                                                  
Aborted  <<< isaac_ros_common [5.65s]                            
                                 
Summary: 0 packages finished [6.84s]
  2 packages failed: cv_bridge image_transport
  4 packages aborted: camera_calibration_parsers image_geometry isaac_ros_common isaac_ros_test
  4 packages had stderr output: camera_calibration_parsers cv_bridge image_geometry image_transport
  12 packages not processed
admin@nvidia-desktop:/workspaces/isaac_ros-dev$

Jetson Xavier NX High CPU Usage

Hi there, I followed all steps in order to run this package within the provided ROS humble docker using Jetpack 5.0.1 on a Jetson Xavier NX and all is working as should however, my CPU usage is 200% which defeats the point of using isaac_apriltag package in the first place as the CPU based packages usage is on a order of magnitude less.
Is this normal and if not what could be the problem ?

Thanks for your help!

Latest version does not run on Jetpack 5.1.2 [L4T 35.4.1] Orin-AGX

Iam trying the quickstart example of isaac_ros_apriltags. I get the following error. Other applications (e.g. Visual Slam etc ) are working fine. Any help would be appreciated.
Thank you
Sandeep
admin@orin-agx:/workspaces/isaac_ros_stuff/src/isaac_ros_apriltag$ ros2 launch isaac_ros_apriltag isaac_ros_apriltag.launch.py
[INFO] [launch]: All log files can be found below /home/admin/.ros/log/2023-11-07-11-13-56-737337-orin-agx-9145
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container_mt-1]: process started with pid [9157]
[component_container_mt-1] [INFO] [1699384437.267629942] [apriltag_container]: Load Library: /workspaces/isaac_ros_stuff/install/isaac_ros_apriltag/lib/libapriltag_node.so
[component_container_mt-1] [INFO] [1699384437.347700828] [apriltag_container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::apriltag::AprilTagNode
[component_container_mt-1] [INFO] [1699384437.347889501] [apriltag_container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::apriltag::AprilTagNode
[component_container_mt-1] [INFO] [1699384437.373393666] [NitrosContext]: [NitrosContext] Creating a new shared context
[component_container_mt-1] [INFO] [1699384437.373708964] [apriltag]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1699384437.376281845] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/std/libgxf_std.so
[component_container_mt-1] [INFO] [1699384437.385640529] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_gxf_helpers.so
[component_container_mt-1] [INFO] [1699384437.391190165] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_sight.so
[component_container_mt-1] [INFO] [1699384437.397244956] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_atlas.so
[component_container_mt-1] [INFO] [1699384437.403127010] [NitrosContext]: [NitrosContext] Loading application: '/workspaces/isaac_ros_stuff/install/isaac_ros_nitros/share/isaac_ros_nitros/config/type_adapter_nitros_context_graph.yaml'
[component_container_mt-1] [INFO] [1699384437.404568108] [NitrosContext]: [NitrosContext] Initializing application...
[component_container_mt-1] [INFO] [1699384437.408508005] [NitrosContext]: [NitrosContext] Running application...
[component_container_mt-1] 2023-11-07 11:13:57.408 WARN gxf/std/program.cpp@514: No system specified. Nothing to do
[component_container_mt-1] [INFO] [1699384437.415157584] [apriltag]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1699384437.415304401] [apriltag]: [NitrosNode] Loading built-in preset extension specs
[component_container_mt-1] [INFO] [1699384437.418362245] [apriltag]: [NitrosNode] Loading built-in extension specs
[component_container_mt-1] [INFO] [1699384437.418494182] [apriltag]: [NitrosNode] Loading preset extension specs
[component_container_mt-1] [INFO] [1699384437.419833487] [apriltag]: [NitrosNode] Loading extension specs
[component_container_mt-1] [INFO] [1699384437.419894159] [apriltag]: [NitrosNode] Loading generator rules
[component_container_mt-1] [INFO] [1699384437.420490643] [apriltag]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1699384437.421806203] [apriltag]: [NitrosContext] Loading extension: gxf/lib/libgxf_message_compositor.so
[component_container_mt-1] [INFO] [1699384437.425626260] [apriltag]: [NitrosContext] Loading extension: gxf/lib/multimedia/libgxf_multimedia.so
[component_container_mt-1] [INFO] [1699384437.427972291] [apriltag]: [NitrosContext] Loading extension: gxf/lib/serialization/libgxf_serialization.so
[component_container_mt-1] [INFO] [1699384437.434093323] [apriltag]: [NitrosContext] Loading extension: gxf/lib/cuda/libgxf_cuda.so
[component_container_mt-1] [INFO] [1699384437.438921290] [apriltag]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_messages.so
[component_container_mt-1] [INFO] [1699384437.442668098] [apriltag]: [NitrosContext] Loading extension: gxf/lib/image_proc/libgxf_tensorops.so
[component_container_mt-1] [INFO] [1699384437.453629353] [apriltag]: [NitrosContext] Loading extension: gxf/lib/fiducials/libgxf_fiducials.so
[component_container_mt-1] [INFO] [1699384437.461641021] [apriltag]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1699384437.466384572] [apriltag]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1699384437.586187075] [apriltag]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1699384437.592111849] [apriltag]: [NitrosNode] Creating negotiated publishers/subscribers
[component_container_mt-1] [INFO] [1699384437.616075428] [apriltag]: [NitrosNode] Starting negotiation...
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/apriltag' in container '/apriltag_container'
[component_container_mt-1] [INFO] [1699384438.618039766] [apriltag]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1699384438.618306327] [apriltag]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1699384438.618399224] [apriltag]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1699384438.618474073] [apriltag]: [NitrosPublisher] Use only the compatible publisher: topic_name="/tag_detections", data_format="nitros_april_tag_detection_array"
[component_container_mt-1] [INFO] [1699384438.618540633] [apriltag]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1699384438.618592825] [apriltag]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/camera_info", data_format="nitros_camera_info"
[component_container_mt-1] [INFO] [1699384438.618642426] [apriltag]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1699384438.618687482] [apriltag]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/image", data_format="nitros_image_bgr8"
[component_container_mt-1] [INFO] [1699384438.619040572] [apriltag]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1699384438.644939460] [apriltag]: [NitrosNode] Wrote the final top level YAML graph to "/workspaces/isaac_ros_stuff/install/isaac_ros_apriltag/share/isaac_ros_apriltag/WRMOYBTIKU.yaml"
[component_container_mt-1] [INFO] [1699384438.645148389] [apriltag]: [NitrosNode] Calling user's pre-load-graph callback
[component_container_mt-1] [INFO] [1699384438.645216678] [apriltag]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1699384438.645290694] [apriltag]: [NitrosContext] Loading application: '/workspaces/isaac_ros_stuff/install/isaac_ros_apriltag/share/isaac_ros_apriltag/WRMOYBTIKU.yaml'
[ERROR] [component_container_mt-1]: process has died [pid 9157, exit code -11, cmd '/opt/ros/humble/install/lib/rclcpp_components/component_container_mt --ros-args -r __node:=apriltag_container -r __ns:=/'].

realsense support ? jammy support? neither?

is it possible to use with reealsense d400 camera?
with OS upgraded to jammy?
both? neither of the two ?

sudo apt-get install -y ros-humble-isaac-ros-apriltag

[sudo] password for sim:
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
E: Unable to locate package ros-humble-isaac-ros-apriltag

run_dev.sh fails on ros2bag

Fresh install of ubuntu 20.04 on desktop computer
Fresh install of ros2-humble
fresh install of nvidia container toolkit
fresh install of omniverse sim

followed install instructions.

Got error:
Finished <<< rosbag2_py [44.0s]
Starting >>> ros2bag
Finished <<< nav2_map_server [1min 17s]
Finished <<< ros2bag [21.3s]
Starting >>> rosbag2_tests
--- stderr: ros2bag
/usr/local/lib/python3.8/dist-packages/setuptools/command/install.py:34: SetuptoolsDeprecationWarning: setup.py install is deprecated. Use build and pip and other standards-based tools.
warnings.warn(

The command '/bin/bash -c cd ${ROS_ROOT} && colcon build --merge-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo --packages-up-to behaviortree_cpp_v3 && colcon build --merge-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo && rm -Rf src build log' returned a non-zero code: 137
Failed to build base image: isaac_ros_dev-x86_64, aborting.
~/workspaces/isaac_ros-dev/src/isaac_ros_common

Apriltag node slows down

Hi,
First of all, thank you for such a project.

Let's get to the point.
My system:

Jetson Orin NX 16Gb and AverMedia D131 Carrier board.
Jetpack 5.1.1 (L4T 35.3.1) with MAXN NV Power and running Jetson Clocks.
DP 3.1 Release

AprilTags with a static camera pose:

SW Flow:

graph LR
NITROS
A(usb_cam) -->|/image_raw|B(isaac_ros_apriltag)
A(usb_cam) -->|/camera_info|B(isaac_ros_apriltag)
B(isaac_ros_apriltag) --> |/tf|C(USER SW)
B(isaac_ros_apriltag) --> |/tag_detections|C(USER SW)

Main parameters:

classDiagram
      class usb_cam{
          -double framerate=15
          -int image_width=2592
          -int image_height=1944
      }
      class isaac_ros_apriltag{
          -double size=0.074
          -int max_tags=64
      }

I recorded a few bag files and visualized measurements, one of them:

Here you can see how data publishing stably for 30 seconds at a frequency of about 10Hz, then you can observe a ~7-second pause, which is observed only in the topic of the Isaac Apriltag node. From time to time, freeze data can be more/less frequent and longer/shorter. On what it depends, I can not understand.

I also noticed that at this moment the consumed voltage drops. This is clearly related to the slowing down of the node, but it is difficult to say whether this is the cause of the hang or the consequence. You can see this behavior starting from the 5th second in the video below:

out.mp4

So, in this regard, I have a question. Have you ever encountered a similar problem, and, in your opinion, what might be the problem that needs solving?

Thank you for your help!

Cuda failure: Unable to recieve meaningful tag_detections

I am getting a strange error message while running 'ros2 run isaac_ros_apriltag isaac_ros_apriltag':

This error message only appears after I spin up the calibrated camera publisher, as instructed in Step 6 of the Quickstart section. For reference, I am using the v4l2_camera node, which is compatible with my laptop camera. This error is especially confusing as the path '/home/thomas/Downloads' doesn't exist on my local machine or in the docker container. Likewise, I am unable to receive meaningful /tag_detections information, as I'm not sure that the isacc_ros_apriltag node is publishing anything given the issue raised above.

I am running the docker container on x86_64 and meet all of the outlined system requirements. I have been able to successfully get the isaac_ros_image_pipeline to work, which leads me to believe that my container workspace has been setup correctly.

Any help would be greatly appreciated. Please let me know if I failed to mention any information that would prove valuable in getting this issue resolved. Thanks in advance!

"ERROR extensions/tensor_ops/ImageUtils.cpp@106: invalid distortion type" when launching isaac_ros_argus_apriltag_pipeline.launch.py

Trying to make work the apriltag on a jetson xavier nx using an Arducam IMX219. Done the calibration following this. Using the ost.txt file, and changing to .ini, I added the path to the file under params inside the launch file of isaac_ros_argus_apriltag_pipeline, and argus_camera node finds it correctly. But I get the following error:
ERROR extensions/tensor_ops/ImageUtils.cpp@106: invalid distortion type

Here the full log:

nvidia@nvidia-desktop:~/workspaces/isaac_ros-dev_CUDA$ ros2 launch isaac_ros_apriltag isaac_ros_argus_apriltag_pipeline.launch.py
[INFO] [launch]: All log files can be found below /home/nvidia/.ros/log/2023-02-03-07-53-05-449449-nvidia-desktop-12222
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container_mt-1]: process started with pid [12236]
[component_container_mt-1] [INFO] [1675410786.929724959] [apriltag_container]: Load Library: /home/nvidia/workspaces/isaac_ros-dev_CUDA/install/isaac_ros_argus_camera/lib/libmono_node.so
[component_container_mt-1] [INFO] [1675410787.182959153] [NitrosContext]: [NitrosContext] Creating a new shared context
[component_container_mt-1] [INFO] [1675410787.184281801] [apriltag_container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::argus::ArgusMonoNode>
[component_container_mt-1] [INFO] [1675410787.184446824] [apriltag_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::argus::ArgusMonoNode>
[component_container_mt-1] [INFO] [1675410787.222202817] [argus_mono]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1675410787.255069399] [argus_mono]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1675410787.255241590] [argus_mono]: [NitrosNode] Loading built-in preset extension specs
[component_container_mt-1] [INFO] [1675410787.266572753] [argus_mono]: [NitrosNode] Loading built-in extension specs
[component_container_mt-1] [INFO] [1675410787.266750128] [argus_mono]: [NitrosNode] Loading preset extension specs
[component_container_mt-1] [INFO] [1675410787.269772605] [argus_mono]: [NitrosNode] Loading extension specs
[component_container_mt-1] [INFO] [1675410787.269890525] [argus_mono]: [NitrosNode] Loading generator rules
[component_container_mt-1] [INFO] [1675410787.270728920] [argus_mono]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1675410787.276499060] [argus_mono]: [NitrosContext] Loading extension: gxf/std/libgxf_std.so
[component_container_mt-1] [INFO] [1675410787.291493816] [argus_mono]: [NitrosContext] Loading extension: gxf/cuda/libgxf_cuda.so
[component_container_mt-1] [INFO] [1675410787.302714164] [argus_mono]: [NitrosContext] Loading extension: gxf/serialization/libgxf_serialization.so
[component_container_mt-1] [INFO] [1675410787.315352486] [argus_mono]: [NitrosContext] Loading extension: gxf/libgxf_sight.so
[component_container_mt-1] [INFO] [1675410787.326825184] [argus_mono]: [NitrosContext] Loading extension: gxf/libgxf_atlas.so
[component_container_mt-1] [INFO] [1675410787.340604108] [argus_mono]: [NitrosContext] Loading extension: gxf/libgxf_isaac_messages.so
[component_container_mt-1] [INFO] [1675410787.352840385] [argus_mono]: [NitrosContext] Loading extension: gxf/multimedia/libgxf_multimedia.so
[component_container_mt-1] [INFO] [1675410787.360204308] [argus_mono]: [NitrosContext] Loading extension: gxf/tensorops/libgxf_tensorops.so
[component_container_mt-1] [INFO] [1675410787.411666681] [argus_mono]: [NitrosContext] Loading extension: gxf/libgxf_argus.so
[component_container_mt-1] [INFO] [1675410788.091216122] [argus_mono]: [NitrosContext] Loading extension: gxf/libgxf_message_compositor.so
[component_container_mt-1] [INFO] [1675410788.106772091] [argus_mono]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1675410788.125271273] [argus_mono]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1675410788.185335866] [argus_mono]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1675410788.188370151] [argus_mono]: [NitrosNode] Creating negotiated publishers/subscribers
[component_container_mt-1] [INFO] [1675410788.215406274] [argus_mono]: [NitrosNode] Starting negotiation...
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/argus_mono' in container '/apriltag_container'
[component_container_mt-1] [INFO] [1675410788.241623041] [apriltag_container]: Load Library: /home/nvidia/workspaces/isaac_ros-dev_CUDA/install/isaac_ros_image_proc/lib/librectify_node.so
[component_container_mt-1] [INFO] [1675410788.250384364] [apriltag_container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::RectifyNode>
[component_container_mt-1] [INFO] [1675410788.250612490] [apriltag_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::RectifyNode>
[component_container_mt-1] [INFO] [1675410788.288077861] [rectify_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1675410788.300755959] [rectify_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1675410788.300990518] [rectify_node]: [NitrosNode] Loading built-in preset extension specs
[component_container_mt-1] [INFO] [1675410788.309887807] [rectify_node]: [NitrosNode] Loading built-in extension specs
[component_container_mt-1] [INFO] [1675410788.310071550] [rectify_node]: [NitrosNode] Loading preset extension specs
[component_container_mt-1] [INFO] [1675410788.325908221] [rectify_node]: [NitrosNode] Loading extension specs
[component_container_mt-1] [INFO] [1675410788.326097372] [rectify_node]: [NitrosNode] Loading generator rules
[component_container_mt-1] [INFO] [1675410788.326993111] [rectify_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1675410788.358016217] [rectify_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1675410788.371927268] [rectify_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1675410788.505222996] [rectify_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1675410788.509017309] [rectify_node]: [NitrosNode] Creating negotiated publishers/subscribers
[component_container_mt-1] [INFO] [1675410788.541765364] [rectify_node]: [NitrosNode] Starting negotiation...
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/rectify_node' in container '/apriltag_container'
[component_container_mt-1] [INFO] [1675410788.548604010] [argus_mono]: Negotiating
[component_container_mt-1] [INFO] [1675410788.550238016] [argus_mono]: Negotiating
[component_container_mt-1] [INFO] [1675410788.560203331] [rectify_node]: Negotiating
[component_container_mt-1] [INFO] [1675410788.560408546] [rectify_node]: Could not negotiate
[component_container_mt-1] [INFO] [1675410788.560541633] [rectify_node]: Negotiating
[component_container_mt-1] [INFO] [1675410788.560632225] [rectify_node]: Could not negotiate
[component_container_mt-1] [INFO] [1675410788.565513923] [apriltag_container]: Load Library: /home/nvidia/workspaces/isaac_ros-dev_CUDA/install/isaac_ros_apriltag/lib/libapriltag_node.so
[component_container_mt-1] [INFO] [1675410788.583321014] [apriltag_container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::apriltag::AprilTagNode>
[component_container_mt-1] [INFO] [1675410788.583548757] [apriltag_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::apriltag::AprilTagNode>
[component_container_mt-1] [INFO] [1675410788.624060061] [apriltag]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1675410788.636807759] [apriltag]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1675410788.637164620] [apriltag]: [NitrosNode] Loading built-in preset extension specs
[component_container_mt-1] [INFO] [1675410788.647176527] [apriltag]: [NitrosNode] Loading built-in extension specs
[component_container_mt-1] [INFO] [1675410788.647365838] [apriltag]: [NitrosNode] Loading preset extension specs
[component_container_mt-1] [INFO] [1675410788.652999948] [apriltag]: [NitrosNode] Loading extension specs
[component_container_mt-1] [INFO] [1675410788.653169482] [apriltag]: [NitrosNode] Loading generator rules
[component_container_mt-1] [INFO] [1675410788.654945120] [apriltag]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1675410788.695975364] [apriltag]: [NitrosContext] Loading extension: gxf/libgxf_fiducials.so
[component_container_mt-1] [INFO] [1675410788.750947060] [apriltag]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1675410788.770211262] [apriltag]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1675410789.058257563] [apriltag]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1675410789.065687054] [apriltag]: [NitrosNode] Creating negotiated publishers/subscribers
[component_container_mt-1] [INFO] [1675410789.098822243] [apriltag]: [NitrosNode] Starting negotiation...
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/apriltag' in container '/apriltag_container'
[component_container_mt-1] [INFO] [1675410789.103514854] [rectify_node]: Negotiating
[component_container_mt-1] [INFO] [1675410789.104905566] [argus_mono]: Negotiating
[component_container_mt-1] [INFO] [1675410789.106221846] [rectify_node]: Negotiating
[component_container_mt-1] [INFO] [1675410789.107232207] [argus_mono]: Negotiating
[component_container_mt-1] [INFO] [1675410789.115495933] [apriltag]: Negotiating
[component_container_mt-1] [INFO] [1675410789.115691388] [apriltag]: Could not negotiate
[component_container_mt-1] [INFO] [1675410789.224442626] [argus_mono]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1675410789.224696416] [argus_mono]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1675410789.224797376] [argus_mono]: [NitrosPublisher] Use the negotiated data format: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1675410789.224876287] [argus_mono]: [NitrosPublisher] Use the negotiated data format: "nitros_camera_info"
[component_container_mt-1] [INFO] [1675410789.225082334] [argus_mono]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1675410789.258313331] [argus_mono]: [NitrosNode] Wrote the final top level YAML graph to "/home/nvidia/workspaces/isaac_ros-dev_CUDA/install/isaac_ros_argus_camera/share/isaac_ros_argus_camera/FPHWKRYABH.yaml"
[component_container_mt-1] [INFO] [1675410789.258549809] [argus_mono]: [NitrosNode] Calling user's pre-load-graph callback
[component_container_mt-1] [INFO] [1675410789.258627121] [argus_mono]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1675410789.258734192] [argus_mono]: [NitrosContext] Loading application: '/home/nvidia/workspaces/isaac_ros-dev_CUDA/install/isaac_ros_argus_camera/share/isaac_ros_argus_camera/FPHWKRYABH.yaml'
[component_container_mt-1] 2023-02-03 07:53:09.273 WARN  gxf/std/yaml_file_loader.cpp@459: Using unregistered parameter 'left_camera_frame' in component ''.
[component_container_mt-1] 2023-02-03 07:53:09.273 WARN  gxf/std/yaml_file_loader.cpp@459: Using unregistered parameter 'right_camera_frame' in component ''.
[component_container_mt-1] 2023-02-03 07:53:09.273 WARN  gxf/std/yaml_file_loader.cpp@459: Using unregistered parameter 'camera_info_url' in component ''.
[component_container_mt-1] 2023-02-03 07:53:09.273 WARN  gxf/std/yaml_file_loader.cpp@459: Using unregistered parameter 'transmitter' in component ''.
[component_container_mt-1] [INFO] [1675410789.276345316] [argus_mono]: [NitrosNode] Linking Nitros pub/sub to the loaded application
[component_container_mt-1] [INFO] [1675410789.276854241] [argus_mono]: [NitrosNode] Calling user's post-load-graph callback
[component_container_mt-1] [INFO] [1675410789.277265311] [argus_mono]: [NitrosContext] Initializing applicaiton...
[component_container_mt-1] [INFO] [1675410789.547914630] [rectify_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1675410789.548378307] [rectify_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1675410789.548482371] [rectify_node]: [NitrosPublisher] Use the negotiated data format: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1675410789.548561058] [rectify_node]: [NitrosPublisher] Use the negotiated data format: "nitros_camera_info"
[component_container_mt-1] [INFO] [1675410789.553914562] [rectify_node]: [NitrosSubscriber] Use the negotiated data format: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1675410789.554151072] [rectify_node]: [NitrosSubscriber] Use the negotiated data format: "nitros_camera_info"
[component_container_mt-1] [INFO] [1675410789.554350943] [rectify_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1675410789.577738096] [rectify_node]: [NitrosNode] Wrote the final top level YAML graph to "/home/nvidia/workspaces/isaac_ros-dev_CUDA/install/isaac_ros_image_proc/share/isaac_ros_image_proc/SEORPMQFEN.yaml"
[component_container_mt-1] [INFO] [1675410789.577983662] [rectify_node]: [NitrosNode] Calling user's pre-load-graph callback
[component_container_mt-1] [INFO] [1675410789.578079790] [rectify_node]: [RectifyNode] preLoadGraphCallback().
[component_container_mt-1] [INFO] [1675410789.578222413] [rectify_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1675410790.093933528] [argus_mono]: [NitrosContext] Running appliation...
[component_container_mt-1] [INFO] [1675410790.094544405] [rectify_node]: [NitrosContext] Loading application: '/home/nvidia/workspaces/isaac_ros-dev_CUDA/install/isaac_ros_image_proc/share/isaac_ros_image_proc/SEORPMQFEN.yaml'
[component_container_mt-1] [INFO] [1675410790.102540548] [apriltag]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1675410790.102780450] [apriltag]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1675410790.102882338] [apriltag]: [NitrosPublisher] Negotiation failed
[component_container_mt-1] [INFO] [1675410790.102957921] [apriltag]: [NitrosPublisher] Use only the compatible publisher: topic_name="/tag_detections", data_format="nitros_april_tag_detection_array"
[component_container_mt-1] [INFO] [1675410790.103036609] [apriltag]: [NitrosSubscriber] Use the negotiated data format: "nitros_camera_info"
[component_container_mt-1] [INFO] [1675410790.105821808] [apriltag]: [NitrosSubscriber] Use the negotiated data format: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1675410790.106068302] [apriltag]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1675410790.113424929] [rectify_node]: [NitrosNode] Linking Nitros pub/sub to the loaded application
[component_container_mt-1] [INFO] [1675410790.114057213] [rectify_node]: [NitrosNode] Calling user's post-load-graph callback
[component_container_mt-1] [INFO] [1675410790.114238428] [rectify_node]: [RectifyNode] postLoadGraphCallback().
[component_container_mt-1] [INFO] [1675410790.114665338] [rectify_node]: [NitrosContext] Initializing applicaiton...
[component_container_mt-1] [INFO] [1675410790.130633144] [apriltag]: [NitrosNode] Wrote the final top level YAML graph to "/home/nvidia/workspaces/isaac_ros-dev_CUDA/install/isaac_ros_apriltag/share/isaac_ros_apriltag/HREEMTJPRC.yaml"
[component_container_mt-1] [INFO] [1675410790.130865782] [apriltag]: [NitrosNode] Calling user's pre-load-graph callback
[component_container_mt-1] [INFO] [1675410790.130962614] [apriltag]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1675410790.156100220] [rectify_node]: [NitrosContext] Running appliation...
[component_container_mt-1] [INFO] [1675410790.156570329] [apriltag]: [NitrosContext] Loading application: '/home/nvidia/workspaces/isaac_ros-dev_CUDA/install/isaac_ros_apriltag/share/isaac_ros_apriltag/HREEMTJPRC.yaml'
[component_container_mt-1] [INFO] [1675410790.173925839] [apriltag]: [NitrosNode] Linking Nitros pub/sub to the loaded application
[component_container_mt-1] [INFO] [1675410790.174548875] [apriltag]: [NitrosNode] Calling user's post-load-graph callback
[component_container_mt-1] [INFO] [1675410790.174866505] [apriltag]: [NitrosContext] Initializing applicaiton...
[component_container_mt-1] [INFO] [1675410790.254280611] [apriltag]: [NitrosContext] Running appliation...
[component_container_mt-1] 2023-02-03 07:53:10.713 WARN  extensions/hawk/argus_camera.cpp@677: Failed to get calibration data from Argus!
[component_container_mt-1] 2023-02-03 07:53:11.330 ERROR extensions/tensor_ops/ImageUtils.cpp@106: invalid distortion type.
[component_container_mt-1] 2023-02-03 07:53:11.330 ERROR extensions/tensor_ops/TensorOperator.cpp@186: operation failed.
[component_container_mt-1] 2023-02-03 07:53:11.331 WARN  gxf/std/greedy_scheduler.cpp@221: Error while executing entity 61 named 'SEORPMQFEN_rectifier': GXF_FAILURE
[component_container_mt-1] 2023-02-03 07:53:11.333 ERROR gxf/std/entity_executor.cpp@200: Entity with 79 not found!
[component_container_mt-1] [ERROR] [1675410791.334310673] [rectify_node]: [NitrosPublisher] Vault ("image_vault/vault", eid=79) was stopped. The graph may have been terminated due to an error.
[component_container_mt-1] terminate called after throwing an instance of 'std::runtime_error'
[component_container_mt-1]   what():  [NitrosPublisher] Vault ("image_vault/vault", eid=79) was stopped. The graph may have been terminated due to an error.
[ERROR] [component_container_mt-1]: process has died [pid 12236, exit code -6, cmd '/home/nvidia/ros2_humble/install/rclcpp_components/lib/rclcpp_components/component_container_mt --ros-args -r __node:=apriltag_container -r __ns:=/'].

Error with a Zed2i camera

Running on a Jetson Orin AGX JP 5.0.2

[component_container_mt-1] [INFO] [1668066195.081800913] [apriltag]: [NitrosSubscriber] Received a message but the application receiver's pointer is not yet set.
[component_container_mt-1] [INFO] [1668066195.280788751] [apriltag]: [NitrosSubscriber] Received a message but the application receiver's pointer is not yet set.
[component_container_mt-1] [INFO] [1668066195.281303925] [apriltag]: [NitrosSubscriber] Received a message but the application receiver's pointer is not yet set.
[component_container_mt-1] [INFO] [1668066195.281546456] [apriltag]: [NitrosSubscriber] Received a message but the application receiver's pointer is not yet set.
[component_container_mt-1] [INFO] [1668066195.372365648] [apriltag]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1668066195.372459505] [apriltag]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1668066195.372484849] [apriltag]: [NitrosPublisher] Negotiation failed
[component_container_mt-1] [INFO] [1668066195.372498385] [apriltag]: [NitrosPublisher] Use only the compatible publisher: topic_name="/tag_detections", data_format="nitros_april_tag_detection_array"
[component_container_mt-1] [INFO] [1668066195.372514897] [apriltag]: [NitrosSubscriber] Negotiation failed
[component_container_mt-1] [INFO] [1668066195.372524050] [apriltag]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/zed2i/zed_node/left/camera_info", data_format="nitros_camera_info"
[component_container_mt-1] [INFO] [1668066195.372532498] [apriltag]: [NitrosSubscriber] Negotiation failed
[component_container_mt-1] [INFO] [1668066195.372539314] [apriltag]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/zed2i/zed_node/left/image_rect_color", data_format="nitros_image_bgr8"
[component_container_mt-1] [INFO] [1668066195.372622163] [apriltag]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1668066195.381650046] [apriltag]: [NitrosNode] Wrote the final top level YAML graph to "/home/warthog/external/isaac_ros_apriltag/install/isaac_ros_apriltag/share/isaac_ros_apriltag/USQGZMTPXW.yaml"
[component_container_mt-1] [INFO] [1668066195.381732863] [apriltag]: [NitrosNode] Calling user's pre-load-graph callback
[component_container_mt-1] [INFO] [1668066195.381749503] [apriltag]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1668066195.381765023] [apriltag]: [NitrosContext] Loading application: '/home/warthog/external/isaac_ros_apriltag/install/isaac_ros_apriltag/share/isaac_ros_apriltag/USQGZMTPXW.yaml'
[component_container_mt-1] [INFO] [1668066195.384871396] [apriltag]: [NitrosNode] Linking Nitros pub/sub to the loaded application
[component_container_mt-1] [INFO] [1668066195.384994822] [apriltag]: [NitrosNode] Calling user's post-load-graph callback
[component_container_mt-1] [INFO] [1668066195.385071847] [apriltag]: [NitrosContext] Initializing applicaiton...
[component_container_mt-1] [INFO] [1668066195.411477857] [apriltag]: [NitrosContext] Running appliation...
[component_container_mt-1] 2022-11-10 07:43:15.414 ERROR extensions/tensor_ops/detail/ImageAdapterVideoBufferImpl.cpp@61: invalid video format.
[component_container_mt-1] 2022-11-10 07:43:15.415 WARN  gxf/std/greedy_scheduler.cpp@221: Error while executing entity 92 named 'USQGZMTPXW_image_converter': GXF_FAILURE
[component_container_mt-1] 2022-11-10 07:43:15.415 ERROR external/com_nvidia_gxf/gxf/std/entity_executor.cpp@200: Entity with 115 not found!
[component_container_mt-1] [ERROR] [1668066195.415273422] [apriltag]: [NitrosPublisher] Vault ("vault/vault", eid=115) was stopped. The graph may have been terminated due to an error.
[component_container_mt-1] terminate called after throwing an instance of 'std::runtime_error'

ament_cmake_auto problem

hello,
when I ran the "colcon build --symlink-install" I got cmake version error and upgrade the cmake to 3.23.2.

Then I face error as below:

Starting >>> isaac_ros_common
Starting >>> isaac_ros_test
Starting >>> FortranCInterface
Starting >>> IntelFortranImplicit
--- stderr: isaac_ros_common
CMake Error at CMakeLists.txt:16 (find_package):
By not providing "Findament_cmake_auto.cmake" in CMAKE_MODULE_PATH this
project has asked CMake to find a package configuration file provided by
"ament_cmake_auto", but CMake did not find one.

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

ament_cmake_autoConfig.cmake
ament_cmake_auto-config.cmake

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

Failed <<< isaac_ros_common [0.96s, exited with code 1]
Aborted <<< IntelFortranImplicit [0.67s]
Aborted <<< FortranCInterface [0.98s]
Aborted <<< isaac_ros_test [1.31s]

my jetson is as follows:

Using camera Intel RealSense D435i as camera tracking

Hello,
I am using on the last month jetson nano with Intel RealSense Tracking Camera T265 and CUAV v5+ on my quad drone for using it as Navigation when GPS signal not found or loss for some time using "vision_position_estimate" message that send it to Ardupilot via mavlink protocol and I found this error " T265: VISO jump detected" .
Now I want to use Jetson AGX Xavier with Intel RealSense D435i as camera tracking to work as Intel RealSense Tracking Camera T265 and to give me position estimate data.
How I can do it ,any one help me .
Thanks.

Add support for AprilTag bundles

Hello,

We are developing an application that requires highly accurate localization and we would like to leverage the capabilities of our NVIDIA Jetson Orin NX to achieve this using AprilTags.

We would be deeply interested in leveraging AprilTag bundles, as used in the apriltag_ros ROS package (https://github.com/AprilRobotics/apriltag_ros). In other words, we would like to be able to define a set of AprilTags with known individual properties (size, id, relative position to bundle reference point, etc.) and receive as output a refined localization estimate with respect to the reference point of said bundle.

We believe that this feature would have a very positive impact on the adoption of isaac_ros_apriltag, and we would highly appreciate it if you could consider adding it in the future.

Thank you for your time!

Error following tutorial

Following the tutorial on the quick start guide, step 5 generates the following error:

cd /workspaces/isaac_ros-dev && \
  colcon build --symlink-install && \  #<< problematic command
  source install/setup.bash

Error:

--- stderr: isaac_ros_apriltag
Traceback (most recent call last):
  File "/usr/lib/python3/dist-packages/colcon_core/executor/__init__.py", line 91, in __call__
    rc = await self.task(*args, **kwargs)
  File "/usr/lib/python3/dist-packages/colcon_core/task/__init__.py", line 93, in __call__
    return await task_method(*args, **kwargs)
  File "/usr/lib/python3/dist-packages/colcon_ros/task/ament_cmake/build.py", line 59, in build
    rc = await extension.build(
  File "/usr/lib/python3/dist-packages/colcon_cmake/task/cmake/build.py", line 87, in build
    rc = await self._reconfigure(args, env)
  File "/usr/lib/python3/dist-packages/colcon_cmake/task/cmake/build.py", line 133, in _reconfigure
    buildfile = get_buildfile(cmake_cache)
  File "/usr/lib/python3/dist-packages/colcon_cmake/task/cmake/__init__.py", line 112, in get_buildfile 
    if 'Ninja' in generator:
TypeError: argument of type 'NoneType' is not iterable
---
Failed   <<< isaac_ros_apriltag [0.02s, exited with code 1]
Aborted  <<< isaac_ros_image_pipeline [0.02s]

Summary: 25 packages finished [3.06s]
  1 package failed: isaac_ros_apriltag
  1 package aborted: isaac_ros_image_pipeline
  1 package had stderr output: isaac_ros_apriltag
argument of type 'NoneType' is not iterable

Consider adding support for the tag16h5 family

Hello,

Currently, the only tag family supported by this project is tag36h11. It was mentioned in issue #12 that there were plans to implement the detection of other tag families. If this is still planned, I would like to propose the addition of the tag16h5 family due to its use in FIRST Robotics Competition (FRC).

FRC is a yearly robotics competition that centers around a specific challenge played on a standardized field. On FRC fields, tag16h5 tags are set up around the field in specified positions that allow robots to determine their pose. See the official field marking guide to see how they were used in this year's challenge, especially page four, where AprilTags are covered in detail. There has been interest in the FRC community about using this software to estimate robot poses during matches by running it on Jetson hardware. However, this is not possible with this version of the software due to the tag16h5 family not being supported.

I know that NVIDIA has supported FRC before, and I would be grateful if the ISAAC ROS team would consider adding this.

Thanks.

Is it possible to use ros1_bridge to communicate with ros1 nodes?

Hello, I would like to subscribe to the tf of AprilTag from a ROS1 node. As this library is wrapped in ROS2, I attempted to install the ros1_bridge package from this GitHub page. However, an error occurred during the package build. From my research, it seems that this package is intended to be used with ROS2 Foxy. I am wondering if it is possible to install and use the ros1_bridge package with this library, or if I need to reinstall ROS2 Humble in a seperate docker container in order to use this package?

Error Invalid version: '0.23ubuntu1' on "colcon build --symlink-install" inside Docker container

Following the Quickstart guide a step 5, the build of the workspace inside docker gives the following error:
pkg_resources.extern.packaging.version.InvalidVersion: Invalid version: '0.23ubuntu1' (package: distro-info)

Seems it is correlated with this issue relative to the version of Python Setuptools. Downgrading from version 66 to 65 solved the building problem in my case. However, this is only a workaround and the project should adapt to provide conformant versions during the build.

File has unexpected size

Hello

I had been successfully using a USB CAM with ROS2 until the update 2-3 days ago.

However, after the weekend, when I tried to use it again in the same way, I encountered the following errors: File has unexpected size and etc.
nvv4l2 has been bypassed and installed using v4l-utils
colcon build : cmake error (magic enum)
Additionally, through GPT, I managed to change the release to 3.1 and somehow access the Docker container. However, I kept failing to run colcon build due to missing packages such as gxf and image, which I had never seen before. (ros-humble-gxf-isaac-tensorops, ros-humble-isaac-ros-image-proc)

While I appreciate the version upgrade, existing users or new users might face difficulties using it. Therefore, if possible, could you test the installation from scratch by following the tutorial to ensure it works?

Also, if the issues I summarized below can be resolved by simple modifications, please provide detailed instructions on how to fix them.

Thank you in advance for your help.

#4 ros-humble-gxf-isaac-tensorops, ros-humble-isaac-ros-image-proc

The following NEW packages will be installed:
ros-humble-foxglove-msgs
0 upgraded, 1 newly installed, 0 to remove and 87 not upgraded.
Need to get 509 kB of archives.
After this operation, 8,353 kB of additional disk space will be used.
Get:1 http://packages.ros.org/ros2/ubuntu jammy/main amd64 ros-humble-foxglove-msgs amd64 2.3.0-1jammy.20240523.221334 [509 kB]
Fetched 509 kB in 4s (117 kB/s)
debconf: unable to initialize frontend: Dialog
debconf: (No usable dialog-like program is installed, so the dialog based frontend cannot be used. at /usr/share/perl5/Debconf/FrontEnd/Dialog.pm line 78, <> line 1.)
debconf: falling back to frontend: Readline
Selecting previously unselected package ros-humble-foxglove-msgs.
(Reading database ... 142976 files and directories currently installed.)
Preparing to unpack .../ros-humble-foxglove-msgs_2.3.0-1jammy.20240523.221334_amd64.deb ...
Unpacking ros-humble-foxglove-msgs (2.3.0-1jammy.20240523.221334) ...
Setting up ros-humble-foxglove-msgs (2.3.0-1jammy.20240523.221334) ...
Processing triggers for libc-bin (2.35-0ubuntu3.3) ...
ERROR: the following rosdeps failed to install
apt: command [sudo -H apt-get install -y ros-humble-isaac-ros-image-proc] failed
apt: command [sudo -H apt-get install -y ros-humble-gxf-isaac-tensorops] failed
apt: Failed to detect successful installation of [ros-humble-isaac-ros-image-proc]
apt: Failed to detect successful installation of [ros-humble-gxf-isaac-tensorops]

#1 file has unexpected size

+] Building 228.5s (7/19) docker:default
=> [internal] load build definition from Dockerfile.x86_64 0.0s
=> => transferring dockerfile: 6.04kB 0.0s
=> [internal] load metadata for nvcr.io/nvidia/tritonserver:23.10-py3 1.3s
=> [internal] load .dockerignore 0.0s
=> => transferring context: 2B 0.0s
=> [stage-0 1/16] FROM nvcr.io/nvidia/tritonserver:23.10-py3@sha256:83513cb05c7e53ada093cab904daa8861d5b8bc67d75dd 0.0s

=> ERROR [stage-0 4/16] RUN --mount=type=cache,target=/var/cache/apt apt-get update && apt-get install -y wg 227.1s

[stage-0 4/16] RUN --mount=type=cache,target=/var/cache/apt apt-get update && apt-get install -y wget gnupg && wget -qO - https://isaac.download.nvidia.com/isaac-ros/repos.key | gpg --dearmor -o /usr/share/keyrings/isaac-ros-archive-keyring.gpg && echo "deb [signed-by=/usr/share/keyrings/isaac-ros-archive-keyring.gpg] https://isaac.download.nvidia.com/isaac-ros/release-3 $(lsb_release -cs) release-3.0" | tee /etc/apt/sources.list.d/isaac-ros.list && apt-get update -o Acquire::http::No-Cache=True --allow-insecure-repositories || (sleep 30 && apt-get update -o Acquire::http::No-Cache=True --allow-insecure-repositories) || (sleep 60 && apt-get update -o Acquire::http::No-Cache=True --allow-insecure-repositories) || (sleep 120 && apt-get update -o Acquire::http::No-Cache=True --allow-insecure-repositories):
0.426 Hit:1 https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2204/x86_64 InRelease

6.444 Ign:7 https://isaac.download.nvidia.com/isaac-ros/release-3 jammy/release-3.0 amd64 Packages
6.487 Get:7 https://isaac.download.nvidia.com/isaac-ros/release-3 jammy/release-3.0 amd64 Packages [29.8 kB]
6.487 Err:7 https://isaac.download.nvidia.com/isaac-ros/release-3 jammy/release-3.0 amd64 Packages
**6.487   File has unexpected size (30010 != 29756). Mirror sync in progress? [IP: 192.229.232.31 443]
6.487   Hashes of expected file:
6.487    - Filesize:29756 [weak]
6.487    - SHA256:52e020ceb7e96ff56fe91d46c186552ba0f16eeed519c7e2f14c35b2b8ab2062
6.488    - SHA1:1eec0f5f970fa4757bf9eb7527880359d4084d7f [weak]
6.488    - MD5Sum:7e41bd8552c5ddd8a7292feacdbd4555 [weak]
6.488   Release file created at: Sat, 15 Jun 2024 03:14:19 +0000**
7.020 Fetched 3429 B in 2s (1862 B/s)
7.020 Reading package lists...
8.040 E: Failed to fetch https://isaac.download.nvidia.com/isaac-ros/release-3/dists/jammy/release-3.0/binary-amd64/Packages.gz  File has unexpected size (30010 != 29756). Mirror sync in progress? [IP: 192.229.232.31 443]
8.040    Hashes of expected file:
8.040     - Filesize:29756 [weak]
8.040     - SHA256:52e020ceb7e96ff56fe91d46c186552ba0f16eeed519c7e2f14c35b2b8ab2062
8.040     - SHA1:1eec0f5f970fa4757bf9eb7527880359d4084d7f [weak]
8.040     - MD5Sum:7e41bd8552c5ddd8a7292feacdbd4555 [weak]
8.040    Release file created at: Sat, 15 Jun 2024 03:14:19 +0000
8.040 E: Some index files failed to download. They have been ignored, or old ones used instead.
38.50 Hit:1 https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2204/x86_64  InRelease
38.51 Get:2 https://isaac.download.nvidia.com/isaac-ros/release-3 jammy InRelease [3429 B]
38.54 Hit:3 http://archive.ubuntu.com/ubuntu jammy InRelease
~~~~~~
39.07 Ign:7 https://isaac.download.nvidia.com/isaac-ros/release-3 jammy/release-3.0 amd64 Packages
39.11 Get:7 https://isaac.download.nvidia.com/isaac-ros/release-3 jammy/release-3.0 amd64 Packages [29.8 kB]
39.11 Err:7 https://isaac.download.nvidia.com/isaac-ros/release-3 jammy/release-3.0 amd64 Packages
**39.11   File has unexpected size (30010 != 29756). Mirror sync in progress? [IP: 192.229.232.31 443]
39.11   Hashes of expected file:
39.11    - Filesize:29756 [weak]
39.11    - SHA256:52e020ceb7e96ff56fe91d46c186552ba0f16eeed519c7e2f14c35b2b8ab2062
39.11    - SHA1:1eec0f5f970fa4757bf9eb7527880359d4084d7f [weak]
39.11    - MD5Sum:7e41bd8552c5ddd8a7292feacdbd4555 [weak]**
39.11   Release file created at: Sat, 15 Jun 2024 03:14:19 +0000
40.07 Reading package lists...
41.08 E: Failed to fetch https://isaac.download.nvidia.com/isaac-ros/release-3/dists/jammy/release-3.0/binary-amd64/Packages.gz  File has unexpected size (30010 != 29756). Mirror sync in progress? [IP: 192.229.232.31 443]
41.08    Hashes of expected file:
41.08     - Filesize:29756 [weak]
41.08     - SHA256:52e020ceb7e96ff56fe91d46c186552ba0f16eeed519c7e2f14c35b2b8ab2062
41.08     - SHA1:1eec0f5f970fa4757bf9eb7527880359d4084d7f [weak]
41.08     - MD5Sum:7e41bd8552c5ddd8a7292feacdbd4555 [weak]
41.08    Release file created at: Sat, 15 Jun 2024 03:14:19 +0000
41.08 E: Some index files failed to download. They have been ignored, or old ones used instead.

-------------------------------

#2 nvv4l2 

[+] Building 282.3s (13/19)                                                                                 docker:default
 => [internal] load build definition from Dockerfile.x86_64                                                           0.0s
 => => transferring dockerfile: 6.04kB                                                                                0.0s
 => [internal] load metadata for nvcr.io/nvidia/tritonserver:23.10-py3                                                0.3s
 => [internal] load .dockerignore                                                                                     0.0s
 => => transferring context: 2B                                                                                       0.0s
 => [stage-0  1/16] FROM nvcr.io/nvidia/tritonserver:23.10-py3@sha256:83513cb05c7e53ada093cab904daa8861d5b8bc67d75dd  0.0s
 => CACHED [stage-0  2/16] RUN mkdir -p /opt/nvidia/isaac_ros_dev_base && dpkg-query -W | sort > /opt/nvidia/isaac_r  0.0s
 => CACHED [stage-0  3/16] RUN --mount=type=cache,target=/var/cache/apt     apt-get update && apt-get install -y      0.0s
 => CACHED [stage-0  4/16] RUN --mount=type=cache,target=/var/cache/apt     apt-get update && apt-get install -y wge  0.0s
 => [stage-0  5/16] RUN --mount=type=cache,target=/var/cache/apt     apt-get update && apt-get install -y         a  73.2s
 => [stage-0  6/16] RUN --mount=type=cache,target=/var/cache/apt     apt-get update && apt-get install -y         p  23.6s 
 => [stage-0  7/16] RUN update-alternatives --install /usr/bin/python python /usr/bin/python3 1                       0.1s 
 => [stage-0  8/16] RUN --mount=type=cache,target=/var/cache/apt     apt-get update && apt-get install -y           131.3s 
 => [stage-0  9/16] RUN python3 -m pip install -U         argcomplete         autopep8         flake8==4.0.1         49.5s 
 => ERROR [stage-0 10/16] RUN --mount=type=cache,target=/var/cache/apt     apt-get update && apt-get install -y       4.3s 
------                                                                                                                     
 > [stage-0 10/16] RUN --mount=type=cache,target=/var/cache/apt     apt-get update && apt-get install -y         nvv4l2     && ln -s /usr/lib/x86_64-linux-gnu/libnvcuvid.so.1 /usr/lib/x86_64-linux-gnu/libnvcuvid.so     && ln -s /usr/lib/x86_64-linux-gnu/libnvidia-encode.so.1 /usr/lib/x86_64-linux-gnu/libnvidia-encode.so:                                               
0.469 Hit:1 https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2204/x86_64  InRelease                          
0.561 Hit:2 https://isaac.download.nvidia.com/isaac-ros/release-3 jammy InRelease                                          
0.733 Hit:3 http://security.ubuntu.com/ubuntu jammy-security InRelease
0.786 Hit:4 http://archive.ubuntu.com/ubuntu jammy InRelease
0.972 Hit:5 http://archive.ubuntu.com/ubuntu jammy-updates InRelease
1.156 Hit:6 http://archive.ubuntu.com/ubuntu jammy-backports InRelease
2.138 Reading package lists...
3.083 W: Skipping acquire of configured file 'release-3.1/binary-amd64/Packages' as repository 'https://isaac.download.nvidia.com/isaac-ros/release-3 jammy InRelease' doesn't have the component 'release-3.1' (component misspelt in sources.list?)
3.127 Reading package lists...
5.052 Building dependency tree...
4.250 Reading state information...
4.260 E: Unable to locate package nvv4l2
------
Dockerfile.x86_64:120
--------------------
 119 |     # Install nvv4l2 for GXF Multimedia h264 codec
 120 | >>> RUN --mount=type=cache,target=/var/cache/apt \
 121 | >>>     apt-get update && apt-get install -y \
 122 | >>>         nvv4l2 \
 123 | >>>     && ln -s /usr/lib/x86_64-linux-gnu/libnvcuvid.so.1 /usr/lib/x86_64-linux-gnu/libnvcuvid.so \
 124 | >>>     && ln -s /usr/lib/x86_64-linux-gnu/libnvidia-encode.so.1 /usr/lib/x86_64-linux-gnu/libnvidia-encode.so
 125 |     
--------------------
ERROR: failed to solve: process "/bin/bash -c apt-get update && apt-get install -y         nvv4l2     && ln -s /usr/lib/x86_64-linux-gnu/libnvcuvid.so.1 /usr/lib/x86_64-linux-gnu/libnvcuvid.so     && ln -s /usr/lib/x86_64-linux-gnu/libnvidia-encode.so.1 /usr/lib/x86_64-linux-gnu/libnvidia-encode.so" did not complete successfully: exit code: 100
~/workspaces/isaac_ros-dev/src/isaac_ros_common

------------------------
#3 colcon build : Cmake error (magic_enum::magic_enum)

Finished <<< gxf_isaac_messages [3.62s]                                                                     
Starting >>> isaac_ros_nitros_bridge_interfaces
--- stderr: isaac_ros_launch_utils                                                                               
ERROR setuptools_scm._file_finders.git listing git files failed - pretending there aren't any
---
Finished <<< isaac_ros_launch_utils [2.33s]
Starting >>> usb_cam
--- stderr: isaac_ros_nitros                                                                                        
CMake Error at /opt/ros/humble/share/ament_cmake_auto/cmake/ament_auto_add_library.cmake:66 (add_library):
  Target "isaac_ros_nitros" links to target "magic_enum::magic_enum" but the
  target was not found.  Perhaps a find_package() call is missing for an
  IMPORTED target, or an ALIAS target is missing?
Call Stack (most recent call first):
  CMakeLists.txt:76 (ament_auto_add_library)


CMake Error at /opt/ros/humble/share/ament_cmake_auto/cmake/ament_auto_add_library.cmake:66 (add_library):
  Target "nitros_empty_forward_node" links to target "magic_enum::magic_enum"
  but the target was not found.  Perhaps a find_package() call is missing for
  an IMPORTED target, or an ALIAS target is missing?
Call Stack (most recent call first):
  CMakeLists.txt:102 (ament_auto_add_library)


CMake Generate step failed.  Build files cannot be regenerated correctly.
---
Failed   <<< isaac_ros_nitros [3.39s, exited with code 1]
Aborted  <<< isaac_ros_nitros_bridge_interfaces [2.96s]                                         
Aborted  <<< isaac_ros_bi3d_interfaces [5.82s]                                                                      
Aborted  <<< usb_cam [4.73s]

Allow for detection tuning

Hello,

It seems that for a detection to occur the image currently needs to be super clear and noise-less. It will be great to allow for parameter tuning such as blur, hamming, decision threshold.

Covariance always zero

Hello,

I have been experimenting with this package, it is a high performance apriltag detector.
However I see that the covariance matrix is always zero, am I doing something incorrect ?
Without the covariance matrix, we are unable to determine the reliability of the detection.

Thank you
Sandeep

Can't run launch file. Realsense device not detected.

Hi.

I followed the previous steps:

Set Up Development Environment
Sensor Specific Guide
Set Up Docker

I am able to correctly start the docker and stream images through realsense-viewer. However, after I run sudo apt-get -y install ros-humble-isaac-ros-realsense (which is required to run the launch file according to the guide) I am no longer able to detect the realsense camera, neither through camera nodes or realsense-viewer. rs-enumerate-devices also stops detecting the camera.. I've tried to unsuccesfully install realsense2_camera without using the ros-humble-isaac-ros-realsense command and I've made sure to use the correct versions the camera setup recommends of librealsense, realsense-ros and camera firmware but it does not help either.

Any advice would be greatly appreciated, thanks in advanced.

Camera: d435i
Camera firmware: 5.13.0.50
librealsense: 2.55.1
Realsense ROS Driver version: 4.55.1
Ubuntu 22.04
Jetpack 6.0 (36.3.0)
Kernel. 5.15.136-tegra
Device: Jetson Orin Nano

Fails to run on Jetpack 5.1.2 / Xavier NX

This package will build within the isaac_ros_common container on a freshly flashed Xavier NX with all Deepstream and libraries installed through the SDK manager, but will not run due to a libcupva linking issue. This is likely related to this discussion and this issue. NVIDIA should work to isolate docker images / containers from the host platform as much as possible.

Error on run:

admin@leonardo:/workspaces/isaac_ros-dev$ ros2 launch isaac_ros_apriltag isaac_ros_apriltag.launch.py
[INFO] [launch]: All log files can be found below /home/admin/.ros/log/2023-09-13-17-19-08-355659-leonardo-221427
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container_mt-1]: process started with pid [221450]
[component_container_mt-1] [INFO] [1694639950.965111504] [apriltag_container]: Load Library: /workspaces/isaac_ros-dev/install/isaac_ros_apriltag/lib/libapriltag_node.so
[component_container_mt-1] [ERROR] [1694639950.999343527] [apriltag_container]: Failed to load library: Could not load library dlopen error: libcupva_host.so.2.3: cannot open shared object file: No such file or directory, at /opt/ros/humble/src/rcutils/src/shared_library.c:99
[ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node 'apriltag' of type 'nvidia::isaac_ros::apriltag::AprilTagNode' in container '/apriltag_container': Failed to load library: Could not load library dlopen error: libcupva_host.so.2.3: cannot open shared object file: No such file or directory, at /opt/ros/humble/src/rcutils/src/shared_library.c:99
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[component_container_mt-1] [INFO] [1694639958.103195520] [rclcpp]: signal_handler(signum=2)
[INFO] [component_container_mt-1]: process has finished cleanly [pid 221450]

Tutorial for AprilTag Detection with a USB Camera error - Unsupported encoding from ROS [yuv422_yuy2]

Hi, I'm trying to run the detection with a usb camera, however, when I run the launch file isaac_ros_apriltag_usb_cam.launch.py, I get the following error

[component_container_mt-1] [ERROR] [1681273200.144922125] [NitrosImage]: [convert_to_custom] Unsupported encoding from ROS [yuv422_yuy2].
[component_container_mt-1] terminate called after throwing an instance of &apos;std::runtime_error&apos;
[component_container_mt-1]   what():  [convert_to_custom] Unsupported encoding from ROS.
[ERROR] [component_container_mt-1]: process has died [pid 48189, exit code -6, cmd &apos;/opt/ros/humble/install/lib/rclcpp_components/component_container_mt --ros-args -r __node:=apriltag_container -r __ns:=/&apos;].

I'm using an AGX Orin 32GB with a C920 HD PRO WEBCAM.
Running in a Isaac ROS Dev Docker
I've added --device /dev/video0 to the docker run command in run_dev.sh for the webcam to be attatched to the docker image.

Full terminal output

dmin@tom-Orin:/workspaces/isaac_ros-dev/src/testLaunch$ ros2 launch isaac_ros_apriltag isaac_ros_apriltag_usb_cam.launch.py
[INFO] [launch]: All log files can be found below /home/admin/.ros/log/2023-04-12-16-19-58-080654-tom-Orin-48178
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container_mt-1]: process started with pid [48189]
[component_container_mt-1] [INFO] [1681273198.543798929] [apriltag_container]: Load Library: /workspaces/isaac_ros-dev/install/isaac_ros_image_proc/lib/librectify_node.so
[component_container_mt-1] [INFO] [1681273198.630535384] [apriltag_container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::RectifyNode>
[component_container_mt-1] [INFO] [1681273198.630662073] [apriltag_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::RectifyNode>
[component_container_mt-1] [INFO] [1681273198.639262278] [NitrosContext]: [NitrosContext] Creating a new shared context
[component_container_mt-1] [INFO] [1681273198.639452968] [rectify]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1681273198.640338448] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/std/libgxf_std.so
[component_container_mt-1] [INFO] [1681273198.644184594] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_gxf_helpers.so
[component_container_mt-1] [INFO] [1681273198.646635400] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_sight.so
[component_container_mt-1] [INFO] [1681273198.649284512] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_atlas.so
[component_container_mt-1] [INFO] [1681273198.653000065] [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] [1681273198.653941897] [NitrosContext]: [NitrosContext] Initializing application...
[component_container_mt-1] [INFO] [1681273198.655774618] [NitrosContext]: [NitrosContext] Running application...
[component_container_mt-1] 2023-04-12 16:19:58.655 WARN  gxf/std/program.cpp@456: No system specified. Nothing to do
[component_container_mt-1] [INFO] [1681273198.657147782] [rectify]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1681273198.657197479] [rectify]: [NitrosNode] Loading built-in preset extension specs
[component_container_mt-1] [INFO] [1681273198.659743645] [rectify]: [NitrosNode] Loading built-in extension specs
[component_container_mt-1] [INFO] [1681273198.659798974] [rectify]: [NitrosNode] Loading preset extension specs
[component_container_mt-1] [INFO] [1681273198.663223932] [rectify]: [NitrosNode] Loading extension specs
[component_container_mt-1] [INFO] [1681273198.663277789] [rectify]: [NitrosNode] Loading generator rules
[component_container_mt-1] [INFO] [1681273198.663639904] [rectify]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1681273198.664265158] [rectify]: [NitrosContext] Loading extension: gxf/lib/cuda/libgxf_cuda.so
[component_container_mt-1] [INFO] [1681273198.666717660] [rectify]: [NitrosContext] Loading extension: gxf/lib/libgxf_message_compositor.so
[component_container_mt-1] [INFO] [1681273198.667767685] [rectify]: [NitrosContext] Loading extension: gxf/lib/image_proc/libgxf_tensorops.so
[component_container_mt-1] [INFO] [1681273198.671264836] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/multimedia/libgxf_multimedia.so
[component_container_mt-1] [INFO] [1681273198.671802825] [rectify]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1681273198.675498442] [rectify]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1681273198.715884755] [rectify]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1681273198.717379008] [rectify]: [NitrosNode] Creating negotiated publishers/subscribers
[component_container_mt-1] [INFO] [1681273198.729649550] [rectify]: [NitrosNode] Starting negotiation...
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/rectify' in container '/apriltag_container'
[component_container_mt-1] [INFO] [1681273198.734796540] [apriltag_container]: Load Library: /workspaces/isaac_ros-dev/install/isaac_ros_apriltag/lib/libapriltag_node.so
[component_container_mt-1] [INFO] [1681273198.748092947] [apriltag_container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::apriltag::AprilTagNode>
[component_container_mt-1] [INFO] [1681273198.748177844] [apriltag_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::apriltag::AprilTagNode>
[component_container_mt-1] [INFO] [1681273198.755770455] [apriltag]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1681273198.756945026] [apriltag]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1681273198.756978754] [apriltag]: [NitrosNode] Loading built-in preset extension specs
[component_container_mt-1] [INFO] [1681273198.758928244] [apriltag]: [NitrosNode] Loading built-in extension specs
[component_container_mt-1] [INFO] [1681273198.758978356] [apriltag]: [NitrosNode] Loading preset extension specs
[component_container_mt-1] [INFO] [1681273198.760264288] [apriltag]: [NitrosNode] Loading extension specs
[component_container_mt-1] [INFO] [1681273198.760297728] [apriltag]: [NitrosNode] Loading generator rules
[component_container_mt-1] [INFO] [1681273198.760722724] [apriltag]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1681273198.761544107] [apriltag]: [NitrosContext] Loading extension: gxf/lib/serialization/libgxf_serialization.so
[component_container_mt-1] [INFO] [1681273198.765808593] [apriltag]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_messages.so
[component_container_mt-1] [INFO] [1681273198.767266206] [apriltag]: [NitrosContext] Loading extension: gxf/lib/fiducials/libgxf_fiducials.so
[component_container_mt-1] [INFO] [1681273198.770263929] [apriltag]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1681273198.773792792] [apriltag]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1681273198.874102105] [apriltag]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1681273198.877759641] [apriltag]: [NitrosNode] Creating negotiated publishers/subscribers
[component_container_mt-1] [INFO] [1681273198.889007902] [apriltag]: [NitrosNode] Starting negotiation...
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/apriltag' in container '/apriltag_container'
[component_container_mt-1] [INFO] [1681273198.890029639] [rectify]: Negotiating
[component_container_mt-1] [INFO] [1681273198.892940801] [apriltag]: Negotiating
[component_container_mt-1] [INFO] [1681273198.893038370] [apriltag]: Could not negotiate
[component_container_mt-1] [INFO] [1681273198.894632496] [apriltag_container]: Load Library: /workspaces/isaac_ros-dev/install/usb_cam/lib/libusb_cam_node.so
[component_container_mt-1] [INFO] [1681273198.937789042] [apriltag_container]: Found class: rclcpp_components::NodeFactoryTemplate<usb_cam::UsbCamNode>
[component_container_mt-1] [INFO] [1681273198.937877299] [apriltag_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<usb_cam::UsbCamNode>
[component_container_mt-1] [INFO] [1681273199.080274507] [usb_cam]: camera_name value: test_camera
[component_container_mt-1] [WARN] [1681273199.080374635] [usb_cam]: framerate: 30.000000
[component_container_mt-1] [INFO] [1681273199.089245563] [usb_cam]: camera calibration URL: package://isaac_ros_apriltag/config/camera_info.yaml
[component_container_mt-1] [WARN] [1681273199.090154179] [usb_cam]: [test_camera] does not match narrow_stereo in file /workspaces/isaac_ros-dev/install/isaac_ros_apriltag/share/isaac_ros_apriltag/config/camera_info.yaml
[component_container_mt-1] [INFO] [1681273199.090228195] [usb_cam]: Starting 'test_camera' (/dev/video0) at 1280x720 via mmap (yuyv) at 30 FPS
[component_container_mt-1] [INFO] [1681273199.175870048] [usb_cam]: This devices supproted formats:
[component_container_mt-1] [INFO] [1681273199.176393125] [usb_cam]: 	YUYV 4:2:2: 640 x 480 (30 Hz)
[component_container_mt-1] [INFO] [1681273199.176421797] [usb_cam]: 	YUYV 4:2:2: 640 x 480 (24 Hz)
[component_container_mt-1] [INFO] [1681273199.176436549] [usb_cam]: 	YUYV 4:2:2: 640 x 480 (20 Hz)
[component_container_mt-1] [INFO] [1681273199.176445541] [usb_cam]: 	YUYV 4:2:2: 640 x 480 (15 Hz)
[component_container_mt-1] [INFO] [1681273199.176453221] [usb_cam]: 	YUYV 4:2:2: 640 x 480 (10 Hz)
[component_container_mt-1] [INFO] [1681273199.176459846] [usb_cam]: 	YUYV 4:2:2: 640 x 480 (7 Hz)
[component_container_mt-1] [INFO] [1681273199.176466662] [usb_cam]: 	YUYV 4:2:2: 640 x 480 (5 Hz)
[component_container_mt-1] [INFO] [1681273199.176472870] [usb_cam]: 	YUYV 4:2:2: 160 x 90 (30 Hz)
[component_container_mt-1] [INFO] [1681273199.176480070] [usb_cam]: 	YUYV 4:2:2: 160 x 90 (24 Hz)
[component_container_mt-1] [INFO] [1681273199.176486342] [usb_cam]: 	YUYV 4:2:2: 160 x 90 (20 Hz)
[component_container_mt-1] [INFO] [1681273199.176493126] [usb_cam]: 	YUYV 4:2:2: 160 x 90 (15 Hz)
[component_container_mt-1] [INFO] [1681273199.176499558] [usb_cam]: 	YUYV 4:2:2: 160 x 90 (10 Hz)
[component_container_mt-1] [INFO] [1681273199.176506278] [usb_cam]: 	YUYV 4:2:2: 160 x 90 (7 Hz)
[component_container_mt-1] [INFO] [1681273199.176512390] [usb_cam]: 	YUYV 4:2:2: 160 x 90 (5 Hz)
[component_container_mt-1] [INFO] [1681273199.176518694] [usb_cam]: 	YUYV 4:2:2: 160 x 120 (30 Hz)
[component_container_mt-1] [INFO] [1681273199.176525158] [usb_cam]: 	YUYV 4:2:2: 160 x 120 (24 Hz)
[component_container_mt-1] [INFO] [1681273199.176531366] [usb_cam]: 	YUYV 4:2:2: 160 x 120 (20 Hz)
[component_container_mt-1] [INFO] [1681273199.176537638] [usb_cam]: 	YUYV 4:2:2: 160 x 120 (15 Hz)
[component_container_mt-1] [INFO] [1681273199.176544038] [usb_cam]: 	YUYV 4:2:2: 160 x 120 (10 Hz)
[component_container_mt-1] [INFO] [1681273199.176550662] [usb_cam]: 	YUYV 4:2:2: 160 x 120 (7 Hz)
[component_container_mt-1] [INFO] [1681273199.176557158] [usb_cam]: 	YUYV 4:2:2: 160 x 120 (5 Hz)
[component_container_mt-1] [INFO] [1681273199.176563238] [usb_cam]: 	YUYV 4:2:2: 176 x 144 (30 Hz)
[component_container_mt-1] [INFO] [1681273199.176568870] [usb_cam]: 	YUYV 4:2:2: 176 x 144 (24 Hz)
[component_container_mt-1] [INFO] [1681273199.176575175] [usb_cam]: 	YUYV 4:2:2: 176 x 144 (20 Hz)
[component_container_mt-1] [INFO] [1681273199.176582023] [usb_cam]: 	YUYV 4:2:2: 176 x 144 (15 Hz)
[component_container_mt-1] [INFO] [1681273199.176588327] [usb_cam]: 	YUYV 4:2:2: 176 x 144 (10 Hz)
[component_container_mt-1] [INFO] [1681273199.176594471] [usb_cam]: 	YUYV 4:2:2: 176 x 144 (7 Hz)
[component_container_mt-1] [INFO] [1681273199.176600935] [usb_cam]: 	YUYV 4:2:2: 176 x 144 (5 Hz)
[component_container_mt-1] [INFO] [1681273199.176607591] [usb_cam]: 	YUYV 4:2:2: 320 x 180 (30 Hz)
[component_container_mt-1] [INFO] [1681273199.176613415] [usb_cam]: 	YUYV 4:2:2: 320 x 180 (24 Hz)
[component_container_mt-1] [INFO] [1681273199.176619975] [usb_cam]: 	YUYV 4:2:2: 320 x 180 (20 Hz)
[component_container_mt-1] [INFO] [1681273199.176625799] [usb_cam]: 	YUYV 4:2:2: 320 x 180 (15 Hz)
[component_container_mt-1] [INFO] [1681273199.176706824] [usb_cam]: 	YUYV 4:2:2: 320 x 180 (10 Hz)
[component_container_mt-1] [INFO] [1681273199.176717544] [usb_cam]: 	YUYV 4:2:2: 320 x 180 (7 Hz)
[component_container_mt-1] [INFO] [1681273199.176724200] [usb_cam]: 	YUYV 4:2:2: 320 x 180 (5 Hz)
[component_container_mt-1] [INFO] [1681273199.176730856] [usb_cam]: 	YUYV 4:2:2: 320 x 240 (30 Hz)
[component_container_mt-1] [INFO] [1681273199.176737864] [usb_cam]: 	YUYV 4:2:2: 320 x 240 (24 Hz)
[component_container_mt-1] [INFO] [1681273199.176743400] [usb_cam]: 	YUYV 4:2:2: 320 x 240 (20 Hz)
[component_container_mt-1] [INFO] [1681273199.176749704] [usb_cam]: 	YUYV 4:2:2: 320 x 240 (15 Hz)
[component_container_mt-1] [INFO] [1681273199.176755912] [usb_cam]: 	YUYV 4:2:2: 320 x 240 (10 Hz)
[component_container_mt-1] [INFO] [1681273199.176762280] [usb_cam]: 	YUYV 4:2:2: 320 x 240 (7 Hz)
[component_container_mt-1] [INFO] [1681273199.176768360] [usb_cam]: 	YUYV 4:2:2: 320 x 240 (5 Hz)
[component_container_mt-1] [INFO] [1681273199.176775240] [usb_cam]: 	YUYV 4:2:2: 352 x 288 (30 Hz)
[component_container_mt-1] [INFO] [1681273199.176781992] [usb_cam]: 	YUYV 4:2:2: 352 x 288 (24 Hz)
[component_container_mt-1] [INFO] [1681273199.176788520] [usb_cam]: 	YUYV 4:2:2: 352 x 288 (20 Hz)
[component_container_mt-1] [INFO] [1681273199.176794537] [usb_cam]: 	YUYV 4:2:2: 352 x 288 (15 Hz)
[component_container_mt-1] [INFO] [1681273199.176800681] [usb_cam]: 	YUYV 4:2:2: 352 x 288 (10 Hz)
[component_container_mt-1] [INFO] [1681273199.176806761] [usb_cam]: 	YUYV 4:2:2: 352 x 288 (7 Hz)
[component_container_mt-1] [INFO] [1681273199.176813257] [usb_cam]: 	YUYV 4:2:2: 352 x 288 (5 Hz)
[component_container_mt-1] [INFO] [1681273199.176819561] [usb_cam]: 	YUYV 4:2:2: 432 x 240 (30 Hz)
[component_container_mt-1] [INFO] [1681273199.176825481] [usb_cam]: 	YUYV 4:2:2: 432 x 240 (24 Hz)
[component_container_mt-1] [INFO] [1681273199.176832297] [usb_cam]: 	YUYV 4:2:2: 432 x 240 (20 Hz)
[component_container_mt-1] [INFO] [1681273199.176838601] [usb_cam]: 	YUYV 4:2:2: 432 x 240 (15 Hz)
[component_container_mt-1] [INFO] [1681273199.176860617] [usb_cam]: 	YUYV 4:2:2: 432 x 240 (10 Hz)
[component_container_mt-1] [INFO] [1681273199.176867209] [usb_cam]: 	YUYV 4:2:2: 432 x 240 (7 Hz)
[component_container_mt-1] [INFO] [1681273199.176876201] [usb_cam]: 	YUYV 4:2:2: 432 x 240 (5 Hz)
[component_container_mt-1] [INFO] [1681273199.176882281] [usb_cam]: 	YUYV 4:2:2: 640 x 360 (30 Hz)
[component_container_mt-1] [INFO] [1681273199.176888521] [usb_cam]: 	YUYV 4:2:2: 640 x 360 (24 Hz)
[component_container_mt-1] [INFO] [1681273199.176895049] [usb_cam]: 	YUYV 4:2:2: 640 x 360 (20 Hz)
[component_container_mt-1] [INFO] [1681273199.176901897] [usb_cam]: 	YUYV 4:2:2: 640 x 360 (15 Hz)
[component_container_mt-1] [INFO] [1681273199.176908746] [usb_cam]: 	YUYV 4:2:2: 640 x 360 (10 Hz)
[component_container_mt-1] [INFO] [1681273199.176915306] [usb_cam]: 	YUYV 4:2:2: 640 x 360 (7 Hz)
[component_container_mt-1] [INFO] [1681273199.176921386] [usb_cam]: 	YUYV 4:2:2: 640 x 360 (5 Hz)
[component_container_mt-1] [INFO] [1681273199.176927882] [usb_cam]: 	YUYV 4:2:2: 800 x 448 (30 Hz)
[component_container_mt-1] [INFO] [1681273199.176934314] [usb_cam]: 	YUYV 4:2:2: 800 x 448 (24 Hz)
[component_container_mt-1] [INFO] [1681273199.176940682] [usb_cam]: 	YUYV 4:2:2: 800 x 448 (20 Hz)
[component_container_mt-1] [INFO] [1681273199.176947210] [usb_cam]: 	YUYV 4:2:2: 800 x 448 (15 Hz)
[component_container_mt-1] [INFO] [1681273199.176954122] [usb_cam]: 	YUYV 4:2:2: 800 x 448 (10 Hz)
[component_container_mt-1] [INFO] [1681273199.176960970] [usb_cam]: 	YUYV 4:2:2: 800 x 448 (7 Hz)
[component_container_mt-1] [INFO] [1681273199.176967530] [usb_cam]: 	YUYV 4:2:2: 800 x 448 (5 Hz)
[component_container_mt-1] [INFO] [1681273199.176973866] [usb_cam]: 	YUYV 4:2:2: 800 x 600 (24 Hz)
[component_container_mt-1] [INFO] [1681273199.176980618] [usb_cam]: 	YUYV 4:2:2: 800 x 600 (20 Hz)
[component_container_mt-1] [INFO] [1681273199.176987114] [usb_cam]: 	YUYV 4:2:2: 800 x 600 (15 Hz)
[component_container_mt-1] [INFO] [1681273199.176994090] [usb_cam]: 	YUYV 4:2:2: 800 x 600 (10 Hz)
[component_container_mt-1] [INFO] [1681273199.177000554] [usb_cam]: 	YUYV 4:2:2: 800 x 600 (7 Hz)
[component_container_mt-1] [INFO] [1681273199.177007658] [usb_cam]: 	YUYV 4:2:2: 800 x 600 (5 Hz)
[component_container_mt-1] [INFO] [1681273199.177014346] [usb_cam]: 	YUYV 4:2:2: 864 x 480 (24 Hz)
[component_container_mt-1] [INFO] [1681273199.177020907] [usb_cam]: 	YUYV 4:2:2: 864 x 480 (20 Hz)
[component_container_mt-1] [INFO] [1681273199.177027275] [usb_cam]: 	YUYV 4:2:2: 864 x 480 (15 Hz)
[component_container_mt-1] [INFO] [1681273199.177033579] [usb_cam]: 	YUYV 4:2:2: 864 x 480 (10 Hz)
[component_container_mt-1] [INFO] [1681273199.177040171] [usb_cam]: 	YUYV 4:2:2: 864 x 480 (7 Hz)
[component_container_mt-1] [INFO] [1681273199.177046507] [usb_cam]: 	YUYV 4:2:2: 864 x 480 (5 Hz)
[component_container_mt-1] [INFO] [1681273199.177053131] [usb_cam]: 	YUYV 4:2:2: 960 x 720 (15 Hz)
[component_container_mt-1] [INFO] [1681273199.177061515] [usb_cam]: 	YUYV 4:2:2: 960 x 720 (10 Hz)
[component_container_mt-1] [INFO] [1681273199.177069067] [usb_cam]: 	YUYV 4:2:2: 960 x 720 (7 Hz)
[component_container_mt-1] [INFO] [1681273199.177075883] [usb_cam]: 	YUYV 4:2:2: 960 x 720 (5 Hz)
[component_container_mt-1] [INFO] [1681273199.177082315] [usb_cam]: 	YUYV 4:2:2: 1024 x 576 (15 Hz)
[component_container_mt-1] [INFO] [1681273199.177088779] [usb_cam]: 	YUYV 4:2:2: 1024 x 576 (10 Hz)
[component_container_mt-1] [INFO] [1681273199.177095307] [usb_cam]: 	YUYV 4:2:2: 1024 x 576 (7 Hz)
[component_container_mt-1] [INFO] [1681273199.177114155] [usb_cam]: 	YUYV 4:2:2: 1024 x 576 (5 Hz)
[component_container_mt-1] [INFO] [1681273199.177124043] [usb_cam]: 	YUYV 4:2:2: 1280 x 720 (10 Hz)
[component_container_mt-1] [INFO] [1681273199.177131244] [usb_cam]: 	YUYV 4:2:2: 1280 x 720 (7 Hz)
[component_container_mt-1] [INFO] [1681273199.177137612] [usb_cam]: 	YUYV 4:2:2: 1280 x 720 (5 Hz)
[component_container_mt-1] [INFO] [1681273199.177144236] [usb_cam]: 	YUYV 4:2:2: 1600 x 896 (7 Hz)
[component_container_mt-1] [INFO] [1681273199.177150796] [usb_cam]: 	YUYV 4:2:2: 1600 x 896 (5 Hz)
[component_container_mt-1] [INFO] [1681273199.177162700] [usb_cam]: 	YUYV 4:2:2: 1920 x 1080 (5 Hz)
[component_container_mt-1] [INFO] [1681273199.177177612] [usb_cam]: 	YUYV 4:2:2: 2560 x 1472 (2 Hz)
[component_container_mt-1] [INFO] [1681273199.177184204] [usb_cam]: 	Motion-JPEG: 640 x 480 (30 Hz)
[component_container_mt-1] [INFO] [1681273199.177190476] [usb_cam]: 	Motion-JPEG: 640 x 480 (24 Hz)
[component_container_mt-1] [INFO] [1681273199.177196972] [usb_cam]: 	Motion-JPEG: 640 x 480 (20 Hz)
[component_container_mt-1] [INFO] [1681273199.177203148] [usb_cam]: 	Motion-JPEG: 640 x 480 (15 Hz)
[component_container_mt-1] [INFO] [1681273199.177209420] [usb_cam]: 	Motion-JPEG: 640 x 480 (10 Hz)
[component_container_mt-1] [INFO] [1681273199.177215468] [usb_cam]: 	Motion-JPEG: 640 x 480 (7 Hz)
[component_container_mt-1] [INFO] [1681273199.177221516] [usb_cam]: 	Motion-JPEG: 640 x 480 (5 Hz)
[component_container_mt-1] [INFO] [1681273199.177227884] [usb_cam]: 	Motion-JPEG: 160 x 90 (30 Hz)
[component_container_mt-1] [INFO] [1681273199.177234252] [usb_cam]: 	Motion-JPEG: 160 x 90 (24 Hz)
[component_container_mt-1] [INFO] [1681273199.177240332] [usb_cam]: 	Motion-JPEG: 160 x 90 (20 Hz)
[component_container_mt-1] [INFO] [1681273199.177246637] [usb_cam]: 	Motion-JPEG: 160 x 90 (15 Hz)
[component_container_mt-1] [INFO] [1681273199.177252877] [usb_cam]: 	Motion-JPEG: 160 x 90 (10 Hz)
[component_container_mt-1] [INFO] [1681273199.177258765] [usb_cam]: 	Motion-JPEG: 160 x 90 (7 Hz)
[component_container_mt-1] [INFO] [1681273199.177264877] [usb_cam]: 	Motion-JPEG: 160 x 90 (5 Hz)
[component_container_mt-1] [INFO] [1681273199.177270893] [usb_cam]: 	Motion-JPEG: 160 x 120 (30 Hz)
[component_container_mt-1] [INFO] [1681273199.177276749] [usb_cam]: 	Motion-JPEG: 160 x 120 (24 Hz)
[component_container_mt-1] [INFO] [1681273199.177282477] [usb_cam]: 	Motion-JPEG: 160 x 120 (20 Hz)
[component_container_mt-1] [INFO] [1681273199.177288141] [usb_cam]: 	Motion-JPEG: 160 x 120 (15 Hz)
[component_container_mt-1] [INFO] [1681273199.177294157] [usb_cam]: 	Motion-JPEG: 160 x 120 (10 Hz)
[component_container_mt-1] [INFO] [1681273199.177300269] [usb_cam]: 	Motion-JPEG: 160 x 120 (7 Hz)
[component_container_mt-1] [INFO] [1681273199.177311981] [usb_cam]: 	Motion-JPEG: 160 x 120 (5 Hz)
[component_container_mt-1] [INFO] [1681273199.177318317] [usb_cam]: 	Motion-JPEG: 176 x 144 (30 Hz)
[component_container_mt-1] [INFO] [1681273199.177324461] [usb_cam]: 	Motion-JPEG: 176 x 144 (24 Hz)
[component_container_mt-1] [INFO] [1681273199.177330477] [usb_cam]: 	Motion-JPEG: 176 x 144 (20 Hz)
[component_container_mt-1] [INFO] [1681273199.177336429] [usb_cam]: 	Motion-JPEG: 176 x 144 (15 Hz)
[component_container_mt-1] [INFO] [1681273199.177342221] [usb_cam]: 	Motion-JPEG: 176 x 144 (10 Hz)
[component_container_mt-1] [INFO] [1681273199.177347949] [usb_cam]: 	Motion-JPEG: 176 x 144 (7 Hz)
[component_container_mt-1] [INFO] [1681273199.177353741] [usb_cam]: 	Motion-JPEG: 176 x 144 (5 Hz)
[component_container_mt-1] [INFO] [1681273199.177359566] [usb_cam]: 	Motion-JPEG: 320 x 180 (30 Hz)
[component_container_mt-1] [INFO] [1681273199.177365262] [usb_cam]: 	Motion-JPEG: 320 x 180 (24 Hz)
[component_container_mt-1] [INFO] [1681273199.177371182] [usb_cam]: 	Motion-JPEG: 320 x 180 (20 Hz)
[component_container_mt-1] [INFO] [1681273199.177377230] [usb_cam]: 	Motion-JPEG: 320 x 180 (15 Hz)
[component_container_mt-1] [INFO] [1681273199.177383342] [usb_cam]: 	Motion-JPEG: 320 x 180 (10 Hz)
[component_container_mt-1] [INFO] [1681273199.177389486] [usb_cam]: 	Motion-JPEG: 320 x 180 (7 Hz)
[component_container_mt-1] [INFO] [1681273199.177395822] [usb_cam]: 	Motion-JPEG: 320 x 180 (5 Hz)
[component_container_mt-1] [INFO] [1681273199.177401934] [usb_cam]: 	Motion-JPEG: 320 x 240 (30 Hz)
[component_container_mt-1] [INFO] [1681273199.177407982] [usb_cam]: 	Motion-JPEG: 320 x 240 (24 Hz)
[component_container_mt-1] [INFO] [1681273199.177414030] [usb_cam]: 	Motion-JPEG: 320 x 240 (20 Hz)
[component_container_mt-1] [INFO] [1681273199.177419982] [usb_cam]: 	Motion-JPEG: 320 x 240 (15 Hz)
[component_container_mt-1] [INFO] [1681273199.177426222] [usb_cam]: 	Motion-JPEG: 320 x 240 (10 Hz)
[component_container_mt-1] [INFO] [1681273199.177432366] [usb_cam]: 	Motion-JPEG: 320 x 240 (7 Hz)
[component_container_mt-1] [INFO] [1681273199.177438382] [usb_cam]: 	Motion-JPEG: 320 x 240 (5 Hz)
[component_container_mt-1] [INFO] [1681273199.177446286] [usb_cam]: 	Motion-JPEG: 352 x 288 (30 Hz)
[component_container_mt-1] [INFO] [1681273199.177458094] [usb_cam]: 	Motion-JPEG: 352 x 288 (24 Hz)
[component_container_mt-1] [INFO] [1681273199.177464078] [usb_cam]: 	Motion-JPEG: 352 x 288 (20 Hz)
[component_container_mt-1] [INFO] [1681273199.177469871] [usb_cam]: 	Motion-JPEG: 352 x 288 (15 Hz)
[component_container_mt-1] [INFO] [1681273199.177476143] [usb_cam]: 	Motion-JPEG: 352 x 288 (10 Hz)
[component_container_mt-1] [INFO] [1681273199.177482223] [usb_cam]: 	Motion-JPEG: 352 x 288 (7 Hz)
[component_container_mt-1] [INFO] [1681273199.177500271] [usb_cam]: 	Motion-JPEG: 352 x 288 (5 Hz)
[component_container_mt-1] [INFO] [1681273199.177509487] [usb_cam]: 	Motion-JPEG: 432 x 240 (30 Hz)
[component_container_mt-1] [INFO] [1681273199.177516079] [usb_cam]: 	Motion-JPEG: 432 x 240 (24 Hz)
[component_container_mt-1] [INFO] [1681273199.177521807] [usb_cam]: 	Motion-JPEG: 432 x 240 (20 Hz)
[component_container_mt-1] [INFO] [1681273199.177527535] [usb_cam]: 	Motion-JPEG: 432 x 240 (15 Hz)
[component_container_mt-1] [INFO] [1681273199.177533135] [usb_cam]: 	Motion-JPEG: 432 x 240 (10 Hz)
[component_container_mt-1] [INFO] [1681273199.177538831] [usb_cam]: 	Motion-JPEG: 432 x 240 (7 Hz)
[component_container_mt-1] [INFO] [1681273199.177544463] [usb_cam]: 	Motion-JPEG: 432 x 240 (5 Hz)
[component_container_mt-1] [INFO] [1681273199.177550479] [usb_cam]: 	Motion-JPEG: 640 x 360 (30 Hz)
[component_container_mt-1] [INFO] [1681273199.177556367] [usb_cam]: 	Motion-JPEG: 640 x 360 (24 Hz)
[component_container_mt-1] [INFO] [1681273199.177562511] [usb_cam]: 	Motion-JPEG: 640 x 360 (20 Hz)
[component_container_mt-1] [INFO] [1681273199.177568463] [usb_cam]: 	Motion-JPEG: 640 x 360 (15 Hz)
[component_container_mt-1] [INFO] [1681273199.177574415] [usb_cam]: 	Motion-JPEG: 640 x 360 (10 Hz)
[component_container_mt-1] [INFO] [1681273199.177580272] [usb_cam]: 	Motion-JPEG: 640 x 360 (7 Hz)
[component_container_mt-1] [INFO] [1681273199.177586416] [usb_cam]: 	Motion-JPEG: 640 x 360 (5 Hz)
[component_container_mt-1] [INFO] [1681273199.177592336] [usb_cam]: 	Motion-JPEG: 800 x 448 (30 Hz)
[component_container_mt-1] [INFO] [1681273199.177598032] [usb_cam]: 	Motion-JPEG: 800 x 448 (24 Hz)
[component_container_mt-1] [INFO] [1681273199.177603856] [usb_cam]: 	Motion-JPEG: 800 x 448 (20 Hz)
[component_container_mt-1] [INFO] [1681273199.177610064] [usb_cam]: 	Motion-JPEG: 800 x 448 (15 Hz)
[component_container_mt-1] [INFO] [1681273199.177615920] [usb_cam]: 	Motion-JPEG: 800 x 448 (10 Hz)
[component_container_mt-1] [INFO] [1681273199.177627440] [usb_cam]: 	Motion-JPEG: 800 x 448 (7 Hz)
[component_container_mt-1] [INFO] [1681273199.177633424] [usb_cam]: 	Motion-JPEG: 800 x 448 (5 Hz)
[component_container_mt-1] [INFO] [1681273199.177639376] [usb_cam]: 	Motion-JPEG: 800 x 600 (30 Hz)
[component_container_mt-1] [INFO] [1681273199.177645200] [usb_cam]: 	Motion-JPEG: 800 x 600 (24 Hz)
[component_container_mt-1] [INFO] [1681273199.177651184] [usb_cam]: 	Motion-JPEG: 800 x 600 (20 Hz)
[component_container_mt-1] [INFO] [1681273199.177657008] [usb_cam]: 	Motion-JPEG: 800 x 600 (15 Hz)
[component_container_mt-1] [INFO] [1681273199.177663216] [usb_cam]: 	Motion-JPEG: 800 x 600 (10 Hz)
[component_container_mt-1] [INFO] [1681273199.177669712] [usb_cam]: 	Motion-JPEG: 800 x 600 (7 Hz)
[component_container_mt-1] [INFO] [1681273199.177675568] [usb_cam]: 	Motion-JPEG: 800 x 600 (5 Hz)
[component_container_mt-1] [INFO] [1681273199.177681712] [usb_cam]: 	Motion-JPEG: 864 x 480 (30 Hz)
[component_container_mt-1] [INFO] [1681273199.177690545] [usb_cam]: 	Motion-JPEG: 864 x 480 (24 Hz)
[component_container_mt-1] [INFO] [1681273199.177696753] [usb_cam]: 	Motion-JPEG: 864 x 480 (20 Hz)
[component_container_mt-1] [INFO] [1681273199.177703089] [usb_cam]: 	Motion-JPEG: 864 x 480 (15 Hz)
[component_container_mt-1] [INFO] [1681273199.177709169] [usb_cam]: 	Motion-JPEG: 864 x 480 (10 Hz)
[component_container_mt-1] [INFO] [1681273199.177715633] [usb_cam]: 	Motion-JPEG: 864 x 480 (7 Hz)
[component_container_mt-1] [INFO] [1681273199.177721745] [usb_cam]: 	Motion-JPEG: 864 x 480 (5 Hz)
[component_container_mt-1] [INFO] [1681273199.177727889] [usb_cam]: 	Motion-JPEG: 960 x 720 (30 Hz)
[component_container_mt-1] [INFO] [1681273199.177733905] [usb_cam]: 	Motion-JPEG: 960 x 720 (24 Hz)
[component_container_mt-1] [INFO] [1681273199.177739889] [usb_cam]: 	Motion-JPEG: 960 x 720 (20 Hz)
[component_container_mt-1] [INFO] [1681273199.177746001] [usb_cam]: 	Motion-JPEG: 960 x 720 (15 Hz)
[component_container_mt-1] [INFO] [1681273199.177752049] [usb_cam]: 	Motion-JPEG: 960 x 720 (10 Hz)
[component_container_mt-1] [INFO] [1681273199.177758289] [usb_cam]: 	Motion-JPEG: 960 x 720 (7 Hz)
[component_container_mt-1] [INFO] [1681273199.177764689] [usb_cam]: 	Motion-JPEG: 960 x 720 (5 Hz)
[component_container_mt-1] [INFO] [1681273199.177770769] [usb_cam]: 	Motion-JPEG: 1024 x 576 (30 Hz)
[component_container_mt-1] [INFO] [1681273199.177777137] [usb_cam]: 	Motion-JPEG: 1024 x 576 (24 Hz)
[component_container_mt-1] [INFO] [1681273199.177783249] [usb_cam]: 	Motion-JPEG: 1024 x 576 (20 Hz)
[component_container_mt-1] [INFO] [1681273199.177789393] [usb_cam]: 	Motion-JPEG: 1024 x 576 (15 Hz)
[component_container_mt-1] [INFO] [1681273199.177800721] [usb_cam]: 	Motion-JPEG: 1024 x 576 (10 Hz)
[component_container_mt-1] [INFO] [1681273199.177807282] [usb_cam]: 	Motion-JPEG: 1024 x 576 (7 Hz)
[component_container_mt-1] [INFO] [1681273199.177813714] [usb_cam]: 	Motion-JPEG: 1024 x 576 (5 Hz)
[component_container_mt-1] [INFO] [1681273199.177822418] [usb_cam]: 	Motion-JPEG: 1280 x 720 (30 Hz)
[component_container_mt-1] [INFO] [1681273199.177829234] [usb_cam]: 	Motion-JPEG: 1280 x 720 (24 Hz)
[component_container_mt-1] [INFO] [1681273199.177835602] [usb_cam]: 	Motion-JPEG: 1280 x 720 (20 Hz)
[component_container_mt-1] [INFO] [1681273199.177841970] [usb_cam]: 	Motion-JPEG: 1280 x 720 (15 Hz)
[component_container_mt-1] [INFO] [1681273199.177848050] [usb_cam]: 	Motion-JPEG: 1280 x 720 (10 Hz)
[component_container_mt-1] [INFO] [1681273199.177854354] [usb_cam]: 	Motion-JPEG: 1280 x 720 (7 Hz)
[component_container_mt-1] [INFO] [1681273199.177871954] [usb_cam]: 	Motion-JPEG: 1280 x 720 (5 Hz)
[component_container_mt-1] [INFO] [1681273199.177881298] [usb_cam]: 	Motion-JPEG: 1600 x 896 (30 Hz)
[component_container_mt-1] [INFO] [1681273199.177888242] [usb_cam]: 	Motion-JPEG: 1600 x 896 (24 Hz)
[component_container_mt-1] [INFO] [1681273199.177895058] [usb_cam]: 	Motion-JPEG: 1600 x 896 (20 Hz)
[component_container_mt-1] [INFO] [1681273199.177901746] [usb_cam]: 	Motion-JPEG: 1600 x 896 (15 Hz)
[component_container_mt-1] [INFO] [1681273199.177907954] [usb_cam]: 	Motion-JPEG: 1600 x 896 (10 Hz)
[component_container_mt-1] [INFO] [1681273199.177914451] [usb_cam]: 	Motion-JPEG: 1600 x 896 (7 Hz)
[component_container_mt-1] [INFO] [1681273199.177920979] [usb_cam]: 	Motion-JPEG: 1600 x 896 (5 Hz)
[component_container_mt-1] [INFO] [1681273199.177927731] [usb_cam]: 	Motion-JPEG: 1920 x 1080 (30 Hz)
[component_container_mt-1] [INFO] [1681273199.177934291] [usb_cam]: 	Motion-JPEG: 1920 x 1080 (24 Hz)
[component_container_mt-1] [INFO] [1681273199.177941139] [usb_cam]: 	Motion-JPEG: 1920 x 1080 (20 Hz)
[component_container_mt-1] [INFO] [1681273199.177947667] [usb_cam]: 	Motion-JPEG: 1920 x 1080 (15 Hz)
[component_container_mt-1] [INFO] [1681273199.177954131] [usb_cam]: 	Motion-JPEG: 1920 x 1080 (10 Hz)
[component_container_mt-1] [INFO] [1681273199.177960563] [usb_cam]: 	Motion-JPEG: 1920 x 1080 (7 Hz)
[component_container_mt-1] [INFO] [1681273199.177966995] [usb_cam]: 	Motion-JPEG: 1920 x 1080 (5 Hz)
[component_container_mt-1] [INFO] [1681273199.177978739] [usb_cam]: Setting 'brightness' to 50
[component_container_mt-1] sh: 1: v4l2-ctl: not found
[component_container_mt-1] 
[component_container_mt-1] sh: 1: v4l2-ctl: not found
[component_container_mt-1] 
[component_container_mt-1] [INFO] [1681273199.184598990] [usb_cam]: Setting 'white_balance_temperature_auto' to 1
[component_container_mt-1] [INFO] [1681273199.184653231] [usb_cam]: Setting 'exposure_auto' to 3
[component_container_mt-1] sh: 1: v4l2-ctl: not found
[component_container_mt-1] 
[component_container_mt-1] sh: 1: v4l2-ctl: not found
[component_container_mt-1] 
[component_container_mt-1] [INFO] [1681273199.187481512] [usb_cam]: Setting 'focus_auto' to 0
[component_container_mt-1] [INFO] [1681273199.329228794] [usb_cam]: Timer triggering every 33 ms
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/usb_cam' in container '/apriltag_container'
[component_container_mt-1] [INFO] [1681273199.731049374] [rectify]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1681273199.731141119] [rectify]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1681273199.731171647] [rectify]: [NitrosPublisher] Use the negotiated data format: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1681273199.731187743] [rectify]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1681273199.731196735] [rectify]: [NitrosPublisher] Use only the compatible publisher: topic_name="/camera_info_rect", data_format="nitros_camera_info"
[component_container_mt-1] [INFO] [1681273199.731207839] [rectify]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1681273199.731215967] [rectify]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/image_raw", data_format="nitros_image_bgr8"
[component_container_mt-1] [INFO] [1681273199.731225311] [rectify]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1681273199.731231776] [rectify]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/camera_info", data_format="nitros_camera_info"
[component_container_mt-1] [INFO] [1681273199.731282656] [rectify]: [NitrosPublisherSubscriberGroup] Adjusted the compatible format of the component "input_compositor/image_in" (type="nvidia::gxf::DoubleBufferReceiver") from "nitros_image_bgr8" to "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1681273199.731336896] [rectify]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1681273199.749453986] [rectify]: [NitrosNode] Wrote the final top level YAML graph to "/workspaces/isaac_ros-dev/install/isaac_ros_image_proc/share/isaac_ros_image_proc/BVYMTFWEXJ.yaml"
[component_container_mt-1] [INFO] [1681273199.749595652] [rectify]: [NitrosNode] Calling user's pre-load-graph callback
[component_container_mt-1] [INFO] [1681273199.749619908] [rectify]: [RectifyNode] preLoadGraphCallback().
[component_container_mt-1] [INFO] [1681273199.749659300] [rectify]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1681273199.749678116] [rectify]: [NitrosContext] Loading application: '/workspaces/isaac_ros-dev/install/isaac_ros_image_proc/share/isaac_ros_image_proc/BVYMTFWEXJ.yaml'
[component_container_mt-1] [INFO] [1681273199.752715999] [rectify]: [NitrosNode] Linking Nitros pub/sub to the loaded application
[component_container_mt-1] [INFO] [1681273199.752874913] [rectify]: [NitrosNode] Calling user's post-load-graph callback
[component_container_mt-1] [INFO] [1681273199.752896961] [rectify]: [RectifyNode] postLoadGraphCallback().
[component_container_mt-1] [INFO] [1681273199.752965986] [rectify]: [NitrosContext] Initializing application...
[component_container_mt-1] [INFO] [1681273199.829982225] [apriltag]: [NitrosSubscriber] Received a message but the application receiver's pointer is not yet set.
[component_container_mt-1] [INFO] [1681273199.889746343] [apriltag]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1681273199.889823176] [apriltag]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1681273199.889920137] [apriltag]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1681273199.889947273] [apriltag]: [NitrosPublisher] Use only the compatible publisher: topic_name="/tag_detections", data_format="nitros_april_tag_detection_array"
[component_container_mt-1] [INFO] [1681273199.889960905] [apriltag]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1681273199.889970377] [apriltag]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/camera_info", data_format="nitros_camera_info"
[component_container_mt-1] [INFO] [1681273199.892057724] [apriltag]: [NitrosSubscriber] Use the negotiated data format: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1681273199.892163453] [apriltag]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1681273199.902037973] [apriltag]: [NitrosNode] Wrote the final top level YAML graph to "/workspaces/isaac_ros-dev/install/isaac_ros_apriltag/share/isaac_ros_apriltag/HWVQVQYVCB.yaml"
[component_container_mt-1] [INFO] [1681273199.903033758] [apriltag]: [NitrosNode] Calling user's pre-load-graph callback
[component_container_mt-1] [INFO] [1681273199.903486946] [apriltag]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1681273200.142282773] [rectify]: [NitrosContext] Running application...
[component_container_mt-1] [INFO] [1681273200.142540504] [apriltag]: [NitrosContext] Loading application: '/workspaces/isaac_ros-dev/install/isaac_ros_apriltag/share/isaac_ros_apriltag/HWVQVQYVCB.yaml'
[component_container_mt-1] [ERROR] [1681273200.144922125] [NitrosImage]: [convert_to_custom] Unsupported encoding from ROS [yuv422_yuy2].
[component_container_mt-1] terminate called after throwing an instance of 'std::runtime_error'
[component_container_mt-1]   what():  [convert_to_custom] Unsupported encoding from ROS.
[ERROR] [component_container_mt-1]: process has died [pid 48189, exit code -6, cmd '/opt/ros/humble/install/lib/rclcpp_components/component_container_mt --ros-args -r __node:=apriltag_container -r __ns:=/'].

TF_NO_FRAME_ID

When I try to run April Tag detection, the following error is logged:

Error: TF_NO_FRAME_ID: Ignoring transform with child_frame_id "tag36h11:9" from authority "Authority undetectable" because frame_id not set

For detection, I am using a ZED2 to convert the image encoding and then sending reading of the image in the April tag detection from Isaac ROS. The ZED2 is running in another Docker, but the containers can communicate.

Running without Isaac?

Hi, Is the source for the cuda apriltag lib available? I would like to compile it for windows. Thanks!

Error in doing ros2 launch isaac_ros_apriltag isaac_ros_apriltag_usb_cam.launch.py

I want to run apriltag by USB camera and I'm entirely followed the guidance in https://nvidia-isaac-ros.github.io/. But in the last step ,when I running ros2 launch isaac_ros_apriltag isaac_ros_apriltag_usb_cam.launch.py, there will be errors :
[component_container_mt-1] 2023-12-08 15:28:28.409 ERROR /workspaces/isaac_ros-dev/src/isaac_ros_image_pipeline/isaac_ros_image_proc/gxf/tensorops/extensions/tensorops/components/TensorStream.cpp@104: tensor stream creation failed.
[component_container_mt-1] 2023-12-08 15:28:28.411 ERROR gxf/std/entity_warden.cpp@406: Failed to initialize component 00052 (stream)
[component_container_mt-1] 2023-12-08 15:28:28.412 ERROR gxf/core/runtime.cpp@685: Could not initialize entity 'QAOFSAUKML_resource' (E51): GXF_FAILURE
[component_container_mt-1] 2023-12-08 15:28:28.414 ERROR gxf/std/program.cpp@236: Failed to activate entity 00051 named QAOFSAUKML_resource: GXF_FAILURE
[component_container_mt-1] 2023-12-08 15:28:28.415 ERROR gxf/std/program.cpp@238: Deactivating...
[component_container_mt-1] 2023-12-08 15:28:28.420 ERROR gxf/core/runtime.cpp@1384: Graph activation failed with error: GXF_FAILURE
and at last
[ERROR] [1702020508.439103213] [rectify]: [NitrosNode] runGraphAsync Error: GXF_FAILURE
[component_container_mt-1] terminate called after throwing an instance of 'std::runtime_error'
[component_container_mt-1] what(): [NitrosNode] runGraphAsync Error: GXF_FAILURE
[ERROR] [component_container_mt-1]: process has died [pid 49742, exit code -6, cmd '/opt/ros/humble/lib/rclcpp_components/component_container_mt --ros-args -r __node:=apriltag_container -r __ns:=/'].
I can never start it.

No detection at higher camera resolution

I can successfully run detection with a Realsense set to resolution 640x480. However, when I increase the resolution to 1920x1080, I am not getting any detection, no matter how far or close the marker is from the camera. Why is this happening, and how could I adjust the parameters so that the detection is possible at a higher resolution? Possibly also at 4K? Thank you

Error in doing ros2 launch isaac_ros_apriltag isaac_ros_apriltag.launch.py

Hi,

I installed isacc ros2 humble to jetson xavier Ubuntu-20.;04, then, I tried to test with quick guide for testing it.

By the way, I encountered such error. it would be vvpi version problem. I use jetpac 5.1 now. If this error will be version problem, how can I test it with jetpack-5.1.

dmin@linkxavier-desktop:/workspaces/isaac_ros-dev$ ros2 launch isaac_ros_apriltag isaac_ros_apriltag.launch.py
[INFO] [launch]: All log files can be found below /home/admin/.ros/log/2023-12-04-14-55-04-106567-linkxavier-desktop-130753
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container_mt-1]: process started with pid [130764]
[component_container_mt-1] [INFO] [1701669304.910403855] [apriltag_container]: Load Library: /opt/ros/humble/lib/libapriltag_node.so
[component_container_mt-1] [ERROR] [1701669304.935665282] [apriltag_container]: Failed to load library: Could not load library dlopen error: /opt/nvidia/vpi2/lib64/libnvvpi.so.2: version `VPI_2.3' not found (required by /opt/ros/humble/lib/libisaac_ros_nitros_image_type.so), at /tmp/binarydeb/ros-humble-rcutils-5.1.3/src/shared_library.c:99
[ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node 'apriltag' of type 'nvidia::isaac_ros::apriltag::AprilTagNode' in container '/apriltag_container': Failed to load library: Could not load library dlopen error: /opt/nvidia/vpi2/lib64/libnvvpi.so.2: version `VPI_2.3' not found (required by /opt/ros/humble/lib/libisaac_ros_nitros_image_type.so), at /tmp/binarydeb/ros-humble-rcutils-5.1.3/src/shared_library.c:99

BR,
Mark

apriltags will detect but pose data is always NaN

Hello,

I managed to run isaac_ros_apriltag on docker, and /tag_detection publishes detected tags correctly, but all members of pose data are NaN.

Where can I start to debug this problem.

Best Regards,
Can

Is tagStandard41h12 supported?

Hi, thanks for publishing the code.
The link below says this, but is there any change in the types of tags that are still supported?
In the 2018.3 release, the tag36h11 tag family is supported. Extending the algorithm to other tag families is planned for a future release.
https://docs.nvidia.com/isaac/packages/fiducials/doc/apriltags.html
I would like to know if tagStandard41h12 is supported.

gigE camera what are the arguments to start the node?

how do we run nvidia apriltags humble docker with GigE camera on Jetson orin?

Support for Multi-Camera(s) ?

Does isaac_ros_apriltag support multi-camera(s) ?
If does, how much camera(s) can it support at the same time ?
How shall i config the parameters for different camera(s) ?
As my robot has 4 camera(s), front, left, right, rear.

Best,
Samuel

Cuda Error after I change output size to 1280x720.

Hello:
I use a IMX219 Camera, it can output in 1280x720, So I change rectify_node output size to 1280x720, and get error:

[component_container_mt-1] CUDA error at external/libapriltag/april_tagging/corner_detection/corner_detector.cpp:97 code=2(cudaErrorMemoryAllocation) "cudaMalloc((void**)&d_gradient_x2, sizeof(float) * gradient_w * gradient_h)"
[component_container_mt-1] CUDA error at external/libapriltag/april_tagging/corner_detection/corner_detector.cpp:98 code=2(cudaErrorMemoryAllocation) "cudaMalloc((void**)&d_gradient_y2, sizeof(float) * gradient_w * gradient_h)"
[component_container_mt-1] CUDA error at external/libapriltag/april_tagging/corner_detection/corner_detector.cpp:99 code=2(cudaErrorMemoryAllocation) "cudaMalloc((void**)&d_gradient_xy, sizeof(float) * gradient_w * gradient_h)"
[component_container_mt-1] CUDA error at external/libapriltag/april_tagging/corner_detection/corner_detector.cpp:100 code=2(cudaErrorMemoryAllocation) "cudaMalloc((void**)&d_blur_gradient_x2, sizeof(float) * blur_gradient_w * blur_gradient_h)"
[component_container_mt-1] CUDA error at external/libapriltag/april_tagging/corner_detection/corner_detector.cpp:101 code=2(cudaErrorMemoryAllocation) "cudaMalloc((void**)&d_blur_gradient_y2, sizeof(float) * blur_gradient_w * blur_gradient_h)"
[component_container_mt-1] CUDA error at external/libapriltag/april_tagging/corner_detection/corner_detector.cpp:102 code=2(cudaErrorMemoryAllocation) "cudaMalloc((void**)&d_blur_gradient_xy, sizeof(float) * blur_gradient_w * blur_gradient_h)"
[component_container_mt-1] CUDA error at external/libapriltag/april_tagging/corner_detection/corner_detector.cpp:104 code=2(cudaErrorMemoryAllocation) "cudaMalloc((void**)&d_maxima_suppression, sizeof(bool) * corners_w * corners_h)"
[component_container_mt-1] CUDA error at external/libapriltag/april_tagging/corner_detection/corner_detector.cpp:187 code=700(cudaErrorIllegalAddress) "cudaStreamWaitEvent(x2_stream, sync_event_x2, 0)"

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