LEAPP Bundle Load Failures

Both LEAPP runtimes serve the policy’s ONNX graph through NVIDIA Triton, and both build a Triton model repository from the bundle’s YAML before inference starts. A bundle that is incomplete, or that has been separated from its ONNX files, fails at that point. The failures below all happen during startup, before the policy runs.

The Bundle Was Not Exported With the ONNX Backend

The bundle YAML declares a model whose parameters.backend is missing, or is set to something other than onnx. The ROS2 Node LEAPP Runtime serves ONNX models only.

Symptom

Model '<name>' parameters.backend is missing. Export the LEAPP graph with the ONNX backend.

or:

Model '<name>' backend '<backend>' is not supported by create_triton_model_repo. Export the LEAPP graph with the ONNX backend.

Solution

Re-export the bundle with the ONNX backend selected. Then confirm that every entry under models: in the YAML carries backend: onnx.

The ONNX File Cannot Be Found Next to the Bundle YAML

A model’s parameters.model_path is resolved relative to the directory that contains the bundle YAML. Copying the YAML on its own, or moving it out of the exported directory, breaks that relative path even though the YAML itself is still valid.

Symptom

ONNX model not found: <path>

Solution

Copy the whole exported directory to the deployment machine and point config_path (or inference_controller_config_path) at the YAML inside it, as described in Bring Your Own Policy.

The Path Points at the Wrong YAML

The controller configuration files, controller_manager.yaml and controller_groups.yaml, are a common mix-up with the bundle configuration.

Symptom

Config file <path> is missing required 'models' section

Solution

Point the runtime at the bundle YAML, which is the one whose top level is a models: mapping named after the exported task.

A CPU Model Name Does Not Match the Bundle

A name passed in the triton_cpu_models launch argument does not match any key under models:. Model names are the exported task names and are case sensitive.

Symptom

CPU model(s) not found in LEAPP config: <names>

Solution

Read the exact keys from the bundle YAML and pass those.

The Runtime Cannot Create Its Temporary Model Repository

The ROS2 Control LEAPP Runtime builds its model repository under the system temporary directory and symlinks the ONNX file into it.

Symptom

Failed to create model repo directory: <reason>

or:

Failed to symlink model file: <reason>

Solution

These come from the filesystem, not from the bundle: the temporary directory is full, is mounted read-only, or is on a filesystem that does not support symbolic links. Check this first in a container with an unusual /tmp mount.