root@ubuntu:~# ros2 launch dnn_node_example dnn_node_example_feedback.launch.py dnn_example_config_file:=config/yolov8segworkconfig.json dnn_example_image:=config/test.jpg
[INFO] [launch]: All log files can be found below /root/.ros/log/2025-01-23-11-07-00-142887-ubuntu-4817
[INFO] [launch]: Default logging verbosity is set to INFO
dnn_node_example_path is  /opt/tros/humble/lib/dnn_node_example
cp_cmd is  cp -r /opt/tros/humble/lib/dnn_node_example/config .
[INFO] [example-1]: process started with pid [4822]
[example-1] [WARN] [1737601620.758815146] [dnn_example_node]: Parameter:
[example-1]  feed_type(0:local, 1:sub): 0
[example-1]  image: config/test.jpg
[example-1]  image_type: 0
[example-1]  dump_render_img: 1
[example-1]  is_shared_mem_sub: 0
[example-1]  config_file: config/yolov8segworkconfig.json
[example-1]  msg_pub_topic_name: hobot_dnn_detection
[example-1]  info_msg_pub_topic_name: hobot_dnn_detection_info
[example-1]  ros_img_topic_name: /image
[example-1]  sharedmem_img_topic_name: /hbmem_img
[example-1] [WARN] [1737601620.759638354] [dnn_example_node]: Load [80] class types from file [/opt/tros/humble/lib/dnn_node_example/config/coco.list]
[example-1] [WARN] [1737601620.759744146] [dnn_example_node]: Parameter:
[example-1]  model_file_name: /opt/hobot/model/x5/basic/yolov8_seg_640x640_nv12.bin
[example-1]  model_name:
[example-1] [INFO] [1737601620.759941562] [dnn]: Node init.
[example-1] [INFO] [1737601620.759967687] [dnn_example_node]: Set node para.
[example-1] [WARN] [1737601620.760009021] [dnn_example_node]: model_file_name_: /opt/hobot/model/x5/basic/yolov8_seg_640x640_nv12.bin, task_num: 4
[example-1] [INFO] [1737601620.760057229] [dnn]: Model init.
[example-1] [BPU_PLAT]BPU Platform Version(1.3.6)!
[example-1] [HBRT] set log level as 0. version = 3.15.54.0
[example-1] [DNN] Runtime version = 1.23.10_(3.15.54 HBRT)
[example-1] [A][DNN][packed_model.cpp:247][Model](2025-01-23,11:07:00.851.226) [HorizonRT] The model builder version = 1.23.8
[example-1] [INFO] [1737601620.930123612] [dnn]: The model input 0 width is 640 and height is 640
[example-1] [INFO] [1737601620.930300654] [dnn]:
[example-1] Model Info:
[example-1] name: yolov8n_instance_seg_bayese_640x640_nv12.
[example-1] [input]
[example-1]  - (0) Layout: NCHW, Shape: [1, 3, 640, 640], Type: HB_DNN_IMG_TYPE_NV12.
[example-1] [output]
[example-1]  - (0) Layout: NHWC, Shape: [1, 80, 80, 32], Type: HB_DNN_TENSOR_TYPE_S32.
[example-1]  - (1) Layout: NHWC, Shape: [1, 40, 40, 32], Type: HB_DNN_TENSOR_TYPE_S32.
[example-1]  - (2) Layout: NHWC, Shape: [1, 20, 20, 32], Type: HB_DNN_TENSOR_TYPE_S32.
[example-1]  - (3) Layout: NHWC, Shape: [1, 80, 80, 64], Type: HB_DNN_TENSOR_TYPE_S32.
[example-1]  - (4) Layout: NHWC, Shape: [1, 40, 40, 64], Type: HB_DNN_TENSOR_TYPE_S32.
[example-1]  - (5) Layout: NHWC, Shape: [1, 20, 20, 64], Type: HB_DNN_TENSOR_TYPE_S32.
[example-1]  - (6) Layout: NHWC, Shape: [1, 80, 80, 80], Type: HB_DNN_TENSOR_TYPE_F32.
[example-1]  - (7) Layout: NHWC, Shape: [1, 40, 40, 80], Type: HB_DNN_TENSOR_TYPE_F32.
[example-1]  - (8) Layout: NHWC, Shape: [1, 20, 20, 80], Type: HB_DNN_TENSOR_TYPE_F32.
[example-1]  - (9) Layout: NCHW, Shape: [1, 160, 160, 32], Type: HB_DNN_TENSOR_TYPE_F32.
[example-1]
[example-1] [INFO] [1737601620.930427779] [dnn]: Task init.
[example-1] [INFO] [1737601620.932082237] [dnn]: Set task_num [4]
[example-1] [WARN] [1737601620.932171237] [dnn_example_node]: Get model name: yolov8n_instance_seg_bayese_640x640_nv12 from load model.
[example-1] [INFO] [1737601620.932289862] [dnn_example_node]: The model input width is 640 and height is 640
[example-1] [WARN] [1737601620.932341737] [dnn_example_node]: Create ai msg publisher with topic_name: hobot_dnn_detection
[example-1] [INFO] [1737601620.944707613] [dnn_example_node]: Dnn node feed with local image: config/test.jpg
[example-1] [INFO] [1737601622.367645576] [dnn_example_node]: Output from frame_id: feedback, stamp: 0.0
[ERROR] [example-1]: process has died [pid 4822, exit code -11, cmd '/opt/tros/humble/lib/dnn_node_example/example --ros-args --log-level info --ros-args --params-file /tmp/launch_params_icpjgblf --params-file /tmp/launch_params_ecz4wy41 --params-file /tmp/launch_params_25l8qhvu --params-file /tmp/launch_params_uzhwbix6 --params-file /tmp/launch_params_carci6mj'].