Reconstruction with RealSense camera fail

[zhukao]

Platform: Jetson Orin Nano & Ubuntu 22.04 & Isaac ROS 3.0.0

Run example:
ros2 launch nvblox_examples_bringup realsense_example.launch.py \ mode:=dynamic

The data in output is empty, width & height & origin are also invaid.

$ ros2 topic echo /nvblox_node/dynamic_map_slice
header:
  stamp:
    sec: 1718264781
    nanosec: 223499342
  frame_id: odom
resolution: 0.05000000074505806
width: 0
height: 0
origin:
  x: 3.4028234663852886e+38
  y: 3.4028234663852886e+38
  z: 0.0
unknown_value: 1000.0
data: []

Run this example with rosbag is correct:

$ ros2 topic echo /nvblox_node/dynamic_map_slice
header:
  stamp:
    sec: 1709922748
    nanosec: 790565322
  frame_id: odom
resolution: 0.05000000074505806
width: 256
height: 184
origin:
  x: -8.0
  y: -9.199999809265137
  z: 0.09000000357627869
unknown_value: 1000.0
data:
- 1000.0
- 1000.0
- 1000.0
- 1000.0
- 1000.0
- 1000.0
- 1000.0
- 1000.0
- '...'

[zhukao]

The log maybe helpful:

[component_container_mt-1] -----------
[component_container_mt-1]
[component_container_mt-1] [INFO] [1718268590.584968756] [nvblox_node]: Rates statistics:
[component_container_mt-1]
[component_container_mt-1] NVBlox Rates (in Hz)
[component_container_mt-1] namespace/tag - NumSamples (Window Length) - Mean
[component_container_mt-1] -----------
[component_container_mt-1] ros/color_image_callback     100     15.1
[component_container_mt-1] ros/depth_image_callback     100     7.6
[component_container_mt-1] ros/update_esdf              100     9.5
[component_container_mt-1] mapper/stream_mesh           91      4.9
[component_container_mt-1] ros/tick                     100     101.0
[component_container_mt-1] -----------
[component_container_mt-1]
[component_container_mt-1] [INFO] [1718268590.585014902] [nvblox_node]: Delay statistics:
[component_container_mt-1]
[component_container_mt-1] NVBlox Delays
[component_container_mt-1] namespace/tag - NumSamples (Window Length) - Mean Delay (seconds)
[component_container_mt-1] -----------
[component_container_mt-1] ros/color_image_callback     100     0.069
[component_container_mt-1] ros/depth_image_callback     100     0.013
[component_container_mt-1] -----------
[component_container_mt-1]
[component_container_mt-1] [INFO] [1718268591.423968351] [nvblox_node]: Dropped an item from: color_queue. Size of queue: 9. Total number of dropped messages is: 367
[component_container_mt-1] [INFO] [1718268592.424187846] [nvblox_node]: Dropped an item from: color_queue. Size of queue: 9. Total number of dropped messages is: 382
[component_container_mt-1] [INFO] [1718268593.426054636] [nvblox_node]: Dropped an item from: color_queue. Size of queue: 9. Total number of dropped messages is: 397
[component_container_mt-1] [INFO] [1718268594.426266499] [nvblox_node]: Dropped an item from: color_queue. Size of queue: 9. Total number of dropped messages is: 412
[component_container_mt-1] [INFO] [1718268595.427498494] [nvblox_node]: Dropped an item from: color_queue. Size of queue: 9. Total number of dropped messages is: 427
[component_container_mt-1] [INFO] [1718268595.961308811] [nvblox_node]: Color Statistics:
[component_container_mt-1] avg=66.706161, min=54.031483, max=81.477836, std_dev=2.645830, count=444
[component_container_mt-1] [INFO] [1718268596.438006748] [nvblox_node]: Dropped an item from: depth_queue. Size of queue: 9. Total number of dropped messages is: 220
[component_container_mt-1] [INFO] [1718268597.495052617] [nvblox_node]: Dropped an item from: color_queue. Size of queue: 9. Total number of dropped messages is: 458
[component_container_mt-1] [INFO] [1718268598.495971999] [nvblox_node]: Dropped an item from: color_queue. Size of queue: 9. Total number of dropped messages is: 473
[component_container_mt-1] [INFO] [1718268599.496557407] [nvblox_node]: Dropped an item from: color_queue. Size of queue: 9. Total number of dropped messages is: 488
[component_container_mt-1] [INFO] [1718268600.497162073] [nvblox_node]: Dropped an item from: color_queue. Size of queue: 9. Total number of dropped messages is: 503