isaac_ros_visual_slam_zed.launch.py If an error occurs when running

[konghun]

**Hello, I am trying to do vslam using ZED2i.

I've done all the environment settings, but I'm getting this error. Does anyone have a similar experience?**

[ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node 'image_format_node_left' of type 'nvidia::isaac_ros::image_proc::ImageFormatConverterNode' in container '/visual_slam_launch_container': Could not find requested resource in ament index
[ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node 'image_format_node_right' of type 'nvidia::isaac_ros::image_proc::ImageFormatConverterNode' in container '/visual_slam_launch_container': Could not find requested resource in ament index

visual_slam_node is said to have been successfully loaded within the container

[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/visual_slam_node' in container '/visual_slam_launch_container'

[swapnesh-wani-nvidia]

Looks like you are missing ImageFormatConverterNode. It is part of isaac_ros_image_proc package. Make sure you are building the package correctly. Could you share how you built the package?

[Jimi1811]

Hi there! I encountered a similar issue while working with the documentation for Isaac ROS VSLAM. The documentation suggests installing the package using sudo apt-get install -y ros-humble-isaac-ros-stereo-image-proc. Despite following this instruction, I faced the same problem.

In an attempt to resolve it, I moved the package located in /opt/ros/humble/share to the src directory. However, upon compilation, I encountered an error indicating the absence of a .txt file. Consequently, I decided to clone the package from this repository and compiled it successfully.

After compilation, I verified its presence using the command ros2 pkg list, only to find that the output remained unchanged, unfortunately.

admin@ubuntu:/workspaces/isaac_ros-dev$ ros2 launch isaac_ros_visual_slam isaac_ros_visual_slam_zed.launch.py
[INFO] [launch]: All log files can be found below /home/admin/.ros/log/2024-04-29-17-39-30-412315-ubuntu-20695
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container-1]: process started with pid [20706]
[component_container-1] [ERROR] [1714430376.086975535] [visual_slam_launch_container]: Could not find requested resource in ament index
[ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node 'image_format_node_left' of type 'nvidia::isaac_ros::image_proc::ImageFormatConverterNode' in container '/visual_slam_launch_container': Could not find requested resource in ament index
[component_container-1] [ERROR] [1714430376.093385568] [visual_slam_launch_container]: Could not find requested resource in ament index
[ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node 'image_format_node_right' of type 'nvidia::isaac_ros::image_proc::ImageFormatConverterNode' in container '/visual_slam_launch_container': Could not find requested resource in ament index
[component_container-1] [INFO] [1714430376.097873189] [visual_slam_launch_container]: Load Library: /workspaces/isaac_ros-dev/install/isaac_ros_visual_slam/lib/libvisual_slam_node.so
[component_container-1] [INFO] [1714430376.328403243] [visual_slam_launch_container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::visual_slam::VisualSlamNode>
[component_container-1] [INFO] [1714430376.328525005] [visual_slam_launch_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::visual_slam::VisualSlamNode>
[component_container-1] [INFO] [1714430376.419255316] [visual_slam_node]: cuVSLAM version: 11.4
[component_container-1] [INFO] [1714430379.014976567] [visual_slam_node]: Time taken by CUVSLAM_WarmUpGPU(): 2.595536
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/visual_slam_node' in container '/visual_slam_launch_container'

I recently encountered this issue, which stemmed from a problem with policy in the subscribers. To address it, I took the following steps: First, I commented out the zed node in ros2 launch isaac_ros_visual_slam isaac_ros_visual_slam_zed.launch.py. Next, I ran ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zed2i.