DetectNet freezes and stops publishing

[GEngels]

We have been very happy with your Isaac repo, but yesterday I ran into a small problem. After running the object detector for a couple of minutes the publishing freezes and nothing is published to the topic. If you then a ros command like (ros2 topic list, topic echo, etc) it continues again for a couple of minutes and freezes at some point. By calling a ros command you seem to trigger something and make it restart.

Nothing is publishes to the encoder so there is also nothing at the topic /detectnet/detections, but it seems to already stagnate at /tensor_pub. We are testing with a realsense camera and the image topic of the realsense keeps working, so that doesn't seem to be the problem.

Any idea what could be going wrong?

[Ilia-Kovalev]

I'm a colleague of @GEngels and after some extra investigation I can add the following:

• the problem disappears after changing component container type to component_container instead of component_container_mt
• the problem still appears when I launched only two nodes: realsense2_camera and isaac_ros_dnn_encoders

[swapnesh-wani-nvidia]

Thank you for the feedback. Could you please provide more details on how to reproduce the issue? Which platform are you running this on? Which RealSense camera?

[GEngels]

We are using a Jetson AGX Orin with the D455 realsense camera. We are running everything inside a docker container with DP 1.1 Release.

[Ilia-Kovalev]

With DP 2 release the problem occurs too.

[jaiveersinghNV]

Thanks for the additional information, we are looking into this.

[GEngels]

Any update on this?

[hemalshahNV]

We have not been able to reproduce this. Can you see this on other AGX Orin units?

Notes from SQA below.

• Xavier AGX + isaac_ros_detectnet (public DP2) + realsense camera (D435) [>4Hrs]
• Xavier AGX + isaac_ros_detectnet (public DP2) + realsense Rosbags (provided rosbag in quickstart, freshly recorded rosbag) [>4Hrs]
• Orin AGX + isaac_ros_detectnet (public DP2, internal DP_1.1) + realsense Rosbags (provided rosbag in quickstart, freshly recorded rosbag) [>4Hrs]
  Also checked with running just realsense2_camera node and isaac_ros_dnn_encoders ... to see if it freezes (mentioned in #2).. Still no repro.