RViz2: TF OLD DATA Error

[jkcolem]

Hello @hemalshahNV and @jaiveersinghNV ,

I'm currently having a issue with running the freespace segmentation. Whenever I run this line of code:

featnet_engine_file_path:=/tmp/models/bi3d/bi3dnet_featnet.plan \
segnet_engine_file_path:=/tmp/models/bi3d/bi3dnet_segnet.plan \
max_disparity_values:=32 

I get the following error from RViz2:

When I was working on this a month ago, I was able to get the whole freespace segmentation pipeline to work.

[hemalshahNV]

Could you show more of the log before this point? The process for the freespace container died right at the beginning of this output so curious what took that out. The rest of the log seems expected after the freespace node died.

[jkcolem]

Hello @hemalshahNV ,

This is the entire log of the error:

[hemalshahNV]

Thanks! The log indicates that isaac_ros_image_proc package (in the Isaac ROS Image Pipeline repository) and isaac_ros_bi3d package (in the Isaac ROS Depth Segmentation repository) do not seem to be built in your ROS workspace and sourced into your environment. Could you confirm that these are available? Freespace segmentation relies on both of them.

[jkcolem]

Hello @hemalshahNV ,

So I try sudo apt-get install -y ros-humble-isaac-ros-bi3d-freespace in the docker container and a few new things were install in the container. Then I follow all the steps where I open the second terminal in the docker container and everything builds successfully. This shown by the following images:

Next I run the freespace segmentation of the code, then I ran into new errors which is shown in the following images:

Then I looked at the rqt_graph to see which ROS2 nodes where communicating with each other and this image is the following results of that:

For some reason the nitros node for the images couldn't load in

[jaiveersinghNV]

Hi @jkcolem ,

If you are building your workspace from source, please make sure to source the workspace after building:

source install/setup.bash

This will ensure that the isaac_ros_image_proc package is indexed and discoverable during the ROS launch process.

[jkcolem]

Hello @jaiveersinghNV ,

I have done source install/setup.bash this shown in the first image.

Down below I have cropped the first image to show this:

[swapnesh-wani-nvidia]

Could you try with a clean build? From the rqt image it looks like you are still missing nvidia::isaac_ros::bi3d::Bi3DNode.

[jkcolem]

Hello @swapnesh-wani-nvidia ,

I was able to get the freespace segmentation working again, but not by doing a clean build. I had to source /opt/ros/humble/setup.bash before launching the docker container. Also, I noticed that you must click play in Isaac Sim first before you launch the isaac_ros_bi3d node. I replicate my original error by stopping my simulation in Isaac Sim and letting Rviz2 continue running. . Then I click play to run the simulation, and Rviz2 will output TF old data error. If you launch the isaac_ros_bi3d node first, then you get a gxf error message. This is before you start the simulation in Isaac Sim.