Isaac_ros_freespace_segmentation Launch Error on Docker Container

Issue Overview

Users are experiencing a std::out_of_range error when attempting to launch the isaac_ros_freespace_segmentation application on the Nvidia Jetson Orin Nano Developer Kit within a Docker container. This issue arises during the execution of the application, specifically after following the setup instructions provided in the relevant documentation.

Specific Symptoms

• The error message indicates an issue with accessing elements in a data structure, leading to a crash of the process.
• The error occurs after several initialization and negotiation steps, suggesting that the application is unable to handle certain expected inputs or configurations.

Context of the Problem

• The problem occurs when launching the application using ROS 2 commands within a Docker container.
• Users have followed the setup instructions, including running a script to initialize their development environment.

Relevant Specifications

• The user is working with an Nvidia Jetson Orin Nano Developer Kit.
• The application relies on specific models located at /tmp/models/bi3d/bi3dnet_featnet.plan and /tmp/models/bi3d/bi3dnet_segnet.plan.

Frequency and Impact

• This issue appears to be consistent for users attempting to run this specific application under similar conditions.
• The impact is significant as it prevents users from utilizing the intended functionality of the isaac_ros_freespace_segmentation, hindering development and testing efforts.

Possible Causes

• Hardware Incompatibilities or Defects: If the hardware does not meet specific requirements for running the models, it could lead to runtime errors.

• Software Bugs or Conflicts: There may be unresolved bugs in the version of Isaac ROS being used that affect compatibility with Docker containers.

• Configuration Errors: Incorrect configurations in YAML files or parameter settings may lead to unexpected behavior during execution.

• Driver Issues: Outdated or incompatible drivers for components like the RealSense camera may result in errors when trying to access camera data.

• Environmental Factors: Issues such as insufficient power supply or overheating could cause instability in performance.

• User Errors or Misconfigurations: Incorrect paths for model files or misconfigured parameters could lead to failures during execution.

Troubleshooting Steps, Solutions & Fixes

Step-by-Step Troubleshooting Instructions

1. Verify Model File Paths:

   • Ensure that the model files exist at specified paths:

     ls /tmp/models/bi3d/
     

2. Check Configuration Files:

   • Review YAML configuration files for any unregistered parameters or incorrect settings. Look for parameters like left_input_placeholder, right_output_placeholder, etc., which may not be recognized.

3. Update Drivers and Software:

   • Ensure that all drivers and software packages are up-to-date. Use:

     sudo apt update && sudo apt upgrade
     

4. Run Diagnostic Commands:

   • Collect system information and logs using ROS commands:

     ros2 node list
     ros2 topic list
     ros2 launch isaac_ros_bi3d_freespace isaac_ros_bi3d_freespace_realsense.launch.py --verbose
     

5. Test with Different Configurations:

   • Try modifying parameters in launch files or using different model files if available.

6. Docker Container Debugging Tools:

   • Consider using debugging tools like gdb within your Docker container to trace where the error occurs:

     gdb --args /opt/ros/humble/install/lib/rclcpp_components/component_container_mt --ros-args ...
     

7. Consult Documentation and Forums:

   • Refer to official NVIDIA documentation for troubleshooting related to Isaac ROS and Docker usage.
   • Engage with community forums such as NVIDIA Developer Forums for additional support.

Recommended Fixes

• If multiple users report success by ensuring that all model paths are correct and that configurations are validated, this should be emphasized as a recommended approach.

• Regularly check for updates from NVIDIA regarding bug fixes related to Isaac ROS components.

Best Practices

• Always back up configuration files before making changes.

• Keep your development environment updated with the latest versions of tools and libraries.

Unresolved Aspects

• The underlying cause of the std::out_of_range error remains unclear, indicating a need for further investigation into both software and hardware compatibility issues related to specific setups.