Camera and grounding#

File image does not appear#

Confirm CAMERA_BACKEND=file, the configured CAMERA_IMAGE_PATH, and that the file is readable by the application. Library sessions use their own working image; check the image in the active session’s workspace. See first task.

ROS image or point cloud times out#

Read the exact topic in the error. In the same sourced environment as GTA, use the camera readiness checks to inspect publisher count, type, QoS, and data rate separately for each topic.

Check domain ID and ROS networking, full topic overrides, the external device driver, and the external transformed-cloud producer. The reference ZED image and transformed IGEV cloud are different endpoints. Start the external cloud pipeline and verify each publisher’s QoS and message stream.

The ROS 2 camera spins its node while waiting for messages. If publication and discovery are working, check the camera backend’s executor errors.

Keypoints are on the wrong object or part#

Check the selected image, keypoint names/descriptions, and whether the required surface is visible. Use vision feedback to adjust annotations on the current image. Use requery after physically changing the scene. These operations have different purposes; see vision workflow.

If the skill requests the wrong keypoint, refine the skill rather than only dragging the interpretation toward an incompatible location. Broader feedback can regenerate downstream model output.

The 3D point is far away or the cloud cannot reshape#

Stop before execution. Check:

  1. RGB and cloud resolution, pixel ordering, and alignment.

  2. Cloud base frame and physical units after conversion.

  3. Exact cloud field layout; the current XYZRGB and XYZ conversion branches scale differently.

  4. Whether NaN filtering removed points from an organized image grid.

  5. Image padding and the landscape-image assumption in pixel-to-cloud lookup.

  6. That image and cloud correspond to the same physical scene.

Verify scale and pixel alignment using known scene points. The camera input guide describes the current limitations.

Generate Script or Run remains disabled#

Check the most recent operation error and wait for background handlers to finish. Requery/refinement invalidates old readiness immediately. A failed operation can leave historical files on disk without making them current. Obtain valid grounding, then generate and inspect a fresh script. Loaded checkpoint coordinates are a reference, not new-scene grounding.