Failed to load node 'isaac_ros_image_rectifier_right' of type 'nvidia::isaac_ros::image_proc::RectifyNode' in container: Component constructor threw an exception: intraprocess communication allowed only with volatile durability

[gc625-kodifly]

Hi,
currently developing a project using the official docker container provided on an x86 host running ubuntu 20.04, and because of the project details I have to use an rtsp camera. I have the following node that uses gstreamer to read in the camera stream and publishes it.

#include "rclcpp/rclcpp.hpp"
#include "sensor_msgs/msg/image.hpp"
#include "opencv2/opencv.hpp"
#include "cv_bridge/cv_bridge.h"
#include "camera_info_manager/camera_info_manager.hpp"

namespace camera_interface_cpp
{
    class ImagePublisher : public rclcpp::Node
    {
    public:
        ImagePublisher(const rclcpp::NodeOptions &options) : Node("ImagePublisher", options)
        {
            this->declare_parameter<std::string>("rtsp_username", "admin");
            this->declare_parameter<std::string>("rtsp_password", "password");
            this->declare_parameter<std::string>("rtsp_ip", "ip");
            this->declare_parameter<int>("rtsp_fps", 20);
            this->declare_parameter<std::string>("camera_name", "camera");
            this->declare_parameter<std::string>("calibration_url", "");

            std::string rtsp_username, rtsp_password, rtsp_ip, camera_name, calibration_url;
            int rtsp_fps;

            this->get_parameter("rtsp_username", rtsp_username);
            this->get_parameter("rtsp_password", rtsp_password);
            this->get_parameter("rtsp_ip", rtsp_ip);
            this->get_parameter("rtsp_fps", rtsp_fps);
            this->get_parameter("camera_name", camera_name);
            this->get_parameter("calibration_url", calibration_url);

            info_manager_ = std::make_shared<camera_info_manager::CameraInfoManager>(this, camera_name);
            info_manager_->loadCameraInfo(calibration_url);

            auto qos = rclcpp::QoS(rclcpp::KeepLast(1)).durability_volatile();

            camera_info_pub_ = this->create_publisher<sensor_msgs::msg::CameraInfo>("camera_info", qos);
            publisher_ = this->create_publisher<sensor_msgs::msg::Image>("image_topic", qos);
            timer_ = this->create_wall_timer(
                std::chrono::milliseconds(1000 / rtsp_fps),
                std::bind(&ImagePublisher::publish_frame, this));

            // OpenCV VideoCapture with GStreamer pipeline
            std::string rtsp_url = "rtsp://" + rtsp_username + ":" + rtsp_password + "@" + rtsp_ip + ":554";

            RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "RTSP URL: %s", rtsp_url.c_str());

            pipeline = "rtspsrc location=" + rtsp_url +
                       " latency=0 ! "
                       "queue ! "
                       "rtph264depay ! "
                       "h264parse ! "
                       "avdec_h264 ! "
                       "videoconvert ! "
                       "appsink";

            cap_.open(pipeline, cv::CAP_GSTREAMER);
            if (!cap_.isOpened())
            {
                RCLCPP_ERROR(this->get_logger(), "Failed to open the camera feed");
            }
        }

    private:
        void publish_frame()
        {
            if (!cap_.isOpened())
            {
                RCLCPP_ERROR(this->get_logger(), "Failed to open the camera feed");
                cap_.open(pipeline, cv::CAP_GSTREAMER);
                return;
            }

            cv::Mat frame;

            if (!cap_.read(frame))
            {
                RCLCPP_ERROR(this->get_logger(), "Failed to read frame from the camera feed");
                cap_.open(pipeline, cv::CAP_GSTREAMER);
                return;
            }
            rclcpp::Time now = this->now();

            sensor_msgs::msg::CameraInfo camera_info_msg = info_manager_->getCameraInfo();
            camera_info_msg.header.frame_id = "camera_frame"; // Set to appropriate frame id
            camera_info_msg.header.stamp = now;
            camera_info_pub_->publish(camera_info_msg);

            auto msg = cv_bridge::CvImage(std_msgs::msg::Header(), "bgr8", frame).toImageMsg();
            msg->header.stamp = now;
            msg->header.frame_id = "camera_frame"; // Ensure this matches camera_info_msg
            publisher_->publish(*msg);
        }

        rclcpp::Publisher<sensor_msgs::msg::Image>::SharedPtr publisher_;
        rclcpp::TimerBase::SharedPtr timer_;
        cv::VideoCapture cap_;
        std::string pipeline;
        std::shared_ptr<camera_info_manager::CameraInfoManager> info_manager_;
        rclcpp::Publisher<sensor_msgs::msg::CameraInfo>::SharedPtr camera_info_pub_;
    };
}

#include <rclcpp_components/register_node_macro.hpp>
RCLCPP_COMPONENTS_REGISTER_NODE(camera_interface_cpp::ImagePublisher)

i installed the package with sudo apt-get install -y ros-humble-isaac-ros-image-proc and would like to use the rectify node from the package. Since I want to take advantage of composables Nodes, I have my launch file like so:

import launch
from launch_ros.actions import ComposableNodeContainer, Node
from launch_ros.descriptions import ComposableNode
from ament_index_python.packages import get_package_share_directory
import os


def generate_launch_description():
    params = os.path.join(
        get_package_share_directory('bringup'),
        'config',
        'params.yaml'
        )
    right_camera_container = ComposableNodeContainer(
        name='right_camera_container',
        namespace='',
        package='rclcpp_components',
        executable='component_container',
        composable_node_descriptions=[
                ComposableNode(
                    package='camera_interface_cpp',
                    plugin='camera_interface_cpp::ImagePublisher',
                    name='image_publisher_right',
                    remappings=[
                        ('image_topic', 'image/right/raw'),
                        ('camera_info', 'image/right/camera_info')
                        ],
                    parameters=[params],
                    extra_arguments=[{'use_intra_process_comms': True}]),
                ComposableNode(
                    package='isaac_ros_image_proc',
                    plugin='nvidia::isaac_ros::image_proc::RectifyNode',
                    name='isaac_ros_image_rectifier_right',
                    parameters=[{
                        'output_height': 720,
                        'output_width': 1280,
                    }],
                    remappings=[
                        ('/image_raw', '/image/right/raw'),
                        ('/camera_info', '/image/right/camera_info'),
                    ],
                    extra_arguments=[{'use_intra_process_comms': True}]
                    
                )


        ],
    )
        return launch.LaunchDescription([right_camera_container])

However, the rectifyNode is unable to launch, and returns the following error:

[component_container-1] [INFO] [1709698554.895557930] [right_camera_container]: Load Library: /opt/ros/humble/lib/librectify_node.so
[component_container-1] [INFO] [1709698554.924203888] [right_camera_container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::RectifyNode>
[component_container-1] [INFO] [1709698554.924243283] [right_camera_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::RectifyNode>
[component_container-1] [INFO] [1709698554.926704587] [NitrosContext]: [NitrosContext] Creating a new shared context
[component_container-1] [INFO] [1709698554.926755312] [isaac_ros_image_rectifier_right]: [NitrosNode] Initializing NitrosNode
[component_container-1] [INFO] [1709698554.926886815] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/std/libgxf_std.so
[component_container-1] [INFO] [1709698554.934141138] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_gxf_helpers.so
[component_container-1] [INFO] [1709698554.938776601] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_sight.so
[component_container-1] [INFO] [1709698554.945355173] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_atlas.so
[component_container-1] [INFO] [1709698554.954075398] [NitrosContext]: [NitrosContext] Loading application: '/opt/ros/humble/share/isaac_ros_nitros/config/type_adapter_nitros_context_graph.yaml'
[component_container-1] [INFO] [1709698554.955214632] [NitrosContext]: [NitrosContext] Initializing application...
[component_container-1] [INFO] [1709698554.958184775] [NitrosContext]: [NitrosContext] Running application...
[component_container-1] [INFO] [1709698554.958487827] [isaac_ros_image_rectifier_right]: [NitrosNode] Starting NitrosNode
[component_container-1] [INFO] [1709698554.958500674] [isaac_ros_image_rectifier_right]: [NitrosNode] Loading built-in preset extension specs
[component_container-1] [INFO] [1709698554.960597435] [isaac_ros_image_rectifier_right]: [NitrosNode] Loading built-in extension specs
[component_container-1] [INFO] [1709698554.960622025] [isaac_ros_image_rectifier_right]: [NitrosNode] Loading preset extension specs
[component_container-1] [INFO] [1709698554.962840165] [isaac_ros_image_rectifier_right]: [NitrosNode] Loading extension specs
[component_container-1] [INFO] [1709698554.962854198] [isaac_ros_image_rectifier_right]: [NitrosNode] Loading generator rules
[component_container-1] [INFO] [1709698554.963056459] [isaac_ros_image_rectifier_right]: [NitrosNode] Loading extensions
[component_container-1] [INFO] [1709698554.963094582] [isaac_ros_image_rectifier_right]: [NitrosContext] Loading extension: gxf/lib/libgxf_message_compositor.so
[component_container-1] [INFO] [1709698554.963713516] [isaac_ros_image_rectifier_right]: [NitrosContext] Loading extension: gxf/lib/cuda/libgxf_cuda.so
[component_container-1] [INFO] [1709698554.964284843] [isaac_ros_image_rectifier_right]: [NitrosContext] Loading extension: gxf/lib/image_proc/libgxf_tensorops.so
[component_container-1] [INFO] [1709698554.980244107] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/multimedia/libgxf_multimedia.so
[component_container-1] [INFO] [1709698554.981053892] [isaac_ros_image_rectifier_right]: [NitrosNode] Loading graph to the optimizer
[component_container-1] [INFO] [1709698554.982937104] [isaac_ros_image_rectifier_right]: [NitrosNode] Running optimization
[component_container-1] [INFO] [1709698554.998453587] [isaac_ros_image_rectifier_right]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container-1] [INFO] [1709698554.999132926] [isaac_ros_image_rectifier_right]: [NitrosNode] Creating negotiated publishers/subscribers
[component_container-1] [INFO] [1709698555.002886834] [isaac_ros_image_rectifier_right]: [NitrosNode] Terminating the running application
[component_container-1] [INFO] [1709698555.002912379] [isaac_ros_image_rectifier_right]: [NitrosContext] Interrupting GXF...
[component_container-1] 2024-03-06 12:15:55.002 ERROR gxf/std/program.cpp@533: Attempted interrupting when not running (state=0).
[component_container-1] 2024-03-06 12:15:55.002 ERROR gxf/core/runtime.cpp@1400: Graph interrupt failed with error: GXF_INVALID_EXECUTION_SEQUENCE
[component_container-1] [ERROR] [1709698555.002926748] [isaac_ros_image_rectifier_right]: [NitrosContext] GxfGraphInterrupt Error: GXF_INVALID_EXECUTION_SEQUENCE
[component_container-1] [INFO] [1709698555.002945449] [isaac_ros_image_rectifier_right]: [NitrosContext] Waiting on GXF...
[component_container-1] [INFO] [1709698555.002949138] [isaac_ros_image_rectifier_right]: [NitrosContext] Deinitializing...
[component_container-1] [INFO] [1709698555.002952421] [isaac_ros_image_rectifier_right]: [NitrosContext] Destroying context
[component_container-1] [INFO] [1709698555.003116350] [isaac_ros_image_rectifier_right]: [NitrosNode] Application termination done
[component_container-1] [ERROR] [1709698555.004670327] [right_camera_container]: Component constructor threw an exception: intraprocess communication allowed only with volatile durability
[ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node 'isaac_ros_image_rectifier_right' of type 'nvidia::isaac_ros::image_proc::RectifyNode' in container '/right_camera_container': Component constructor threw an exception: intraprocess communication allowed only with volatile durability

Note that if i disable use_intra_process_comms, everything launches fine, however I would assume this needs to be on in order to minimize data transfer overhead between nodes?

I have already set the qos of the publishers:
auto qos = rclcpp::QoS(rclcpp::KeepLast(1)).durability_volatile();
to volatile, so im unsure what is the solution here. Thanks