A collection of examples and tutorials to illustrate how to better use the ZED cameras in the ROS2 framework
Home Page: https://www.stereolabs.com/docs/ros2/
License: Apache License 2.0
Cannot open multiple camera's using zed_multi_camera.launch.py:
We run a ZED-Box Orin, have two ZED-X mini's attached using the GSML lines, and want to use both. We are on ROS2 Foxy on the ZED-Box since it is Tier one with Ubuntu 20.04.
I try to launch the cameras using:
$ ros2 launch zed_multi_camera zed_multi_camera.launch.py cam_names:='[zed_left,zed_right]' cam_models:='[zedxm,zedxm]' cam_serials:='[SERIAL_1,SERIAL_2]' cam_poses:=[[0.0,0.0,0.0,0.0,0.0,0.0],[0.0,0.0,0.1,0.0,0.0,0.5]]
And the program crashes due to it timing out connecting to at least one of the cameras. Cameras are up and running when using the Depth viewer tool
$ ros2 launch zed_multi_camera zed_multi_camera.launch.py cam_names:='[zed_left,zed_right]' cam_models:='[zedxm,zedxm]' cam_serials:='[SERIAL_1,SERIAL_2]' cam_poses:=[[0.0,0.0,0.0,0.0,0.0,0.0],[0.0,0.0,0.1,0.0,0.0,0.5]] where the serial numbers are the serial numbers of the two particular cameras.Both cameras are launched properly.
Seemingly relevant error messages:
[zed_wrapper-2] [ZED][ERROR] [ZED] sl::Camera::Open has not been called, no Camera instance running.
[zed_wrapper-2] [WARN] [1689929992.324157945] [zed_left.zed_node_0]: Error opening camera: CAMERA NOT DETECTED
[zed_wrapper-2] [INFO] [1689929992.324295070] [zed_left.zed_node_0]: Please verify the camera connection
[zed_wrapper-2] [ERROR] [1689929992.324323999] [zed_left.zed_node_0]: Camera detection timeout
ZED
System: ZED-Box Orin
OS: Ubuntu 20.04 variant installed with the Orin.
ROS2 Distro: Foxy
Cam (drop down lacks the option we use): ZED-X mini.No response
I turned on the mapping_enabled to true, and using 0.01 as resolution.
1.ros2 run zed_wrapper zed2i.launch
2.
3.
...
when the object is no longer there, the space should not be occupied.
When viewing with rviz, the if the camera captures something, and if the object moves and is no longer there, the cubes do not decay.
ZED2i
Ubuntu 22 on intel 64bits, with rtx2060 gpu.No response
When trying to build the zed-ros2-examples package, them rviz_plugin_zed_od dependency fails to build. It says that no member called "tracking_available" in struct zed_interfaces::msg::Object_<std::allocator >
I expect to build zed-ros2-example package without any errors thrown and with no dependencies failing.
The rviz_pluigin_zed_od dependency fails to build
ZED2i
OS: Ubuntu 18.04 LTS
CPU: ARM
GPU: NVIDIA Jetson AGX Xavier
ZED SDK Version: 3.6
ROS2 Version: EloquentNo response
In the ZED Depth map to Laser Scan documentation it lists this command to launch:
ros2 launch zed_to_laser_scan zed_to_laser_scan.launch.py camera_model:=<camera_model>
Which does not exist, however this command exists:
ros2 launch zed_depth_to_laser_scan zed_depth_to_laser_scan.launch.py camera_model:=<camera_model>
There are a couple other points that the documentation lists the incorrect launch command through out as well.
I know it's a very small thing but it would help clear up confusion to fix this documentation.
View README in examples/zed_depth_to_laserscan
Slight change in launch commands
Incorrect launch command, most likely command name changed recently
ZED
N/ANo response
Something similar to stereolabs/zed-ros-examples#8 but for ROS2
Running multiple Zed cameras using ROS2
I tried what was stated in that other launch file and provided separate camera_id but I could only see one of them. The other one never connects. This was on ROS2 Galactic (with image_commons 3.0.0 and fix suggested here stereolabs/zed-ros2-wrapper#79 (comment)). I have 2 Zed cameras connected to 2 separate USB ports on my computer with Quadro RTX 3000 and 6 GB of memory. This is also running on a custom Dockerfile I have that is based off of nvidia/cuda:11.6.2-cudnn8-devel-ubuntu20.04
Happy new year!
Do you have plan to introduce Aruco Marker Detection features by adding packages on ROS2 for Zed(Zed, Zed2, mini, etc...) camera with OpenCV support?
I know there is Aruco package for ZED(https://github.com/stereolabs/zed-aruco) and for Ar_track_alvar package(https://github.com/stereolabs/zed-ros-examples/tree/master/examples/zed_ar_track_alvar_example) but none of them is for ROS2 and Ar_track_alvar is going to be deprecated soon. Of course, many users are making their own solutions for usage of Aruco detection with zed on ROS2, but most of them is localized, not universal(That's why I always failed during colcon build with their work on my laptop) So I would suggest more general and unviersal packages of Aruco marker detection from Stereolabs.
Also, it would be perfect if this suggestion get connected with zed-ros2-examples also(https://github.com/stereolabs/zed-ros2-examples). Thanks.
No response
No response
I tried to execute the ros2 examples according to the guidance, and an issue occurred.
ros2 launch zed_display_rviz2 display_zed2i.launch.py
ZED2i
OS : Ubuntu 20.04
Docker image : stereolabs/zed:3.6-gl-devel-cuda11.4-ubuntu20.04No response
Hello, when I try to install the zed2-ros2-examples with the colcon command from the Readme I always get a cmake error:
`--- stderr: rviz_plugin_zed_od
CMake Error at CMakeLists.txt:15 (cmake_policy):
Policy "CMP0072" is not known to this version of CMake.
Failed <<< rviz_plugin_zed_od [0.71s, exited with code 1]
`
It seems like on ubuntu 18.04 the deb cmake can not compile it.
How can this be solved?
the conversion node only converts the left camera, both left and right cameras should be converted to BGR
bgra8 incompatible with isaac ros
Currently not using composition to achieve this but it'll be nice to have 2 image subscribers in the component
I just installed zed2 ros2 wrapper and zed2 examples and am unable to see the image topic in rviz2.
images in rviz2
[INFO] [launch]: All log files can be found below /home/halodi/.ros/log/2022-02-18-11-22-11-026963-halodi-204322
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [zed_wrapper-1]: process started with pid [204381]
[INFO] [rviz2-2]: process started with pid [204383]
[zed_wrapper-1] 1645201331.303967853 [zed2.zed_node] [INFO] ********************************
[zed_wrapper-1] 1645201331.304085688 [zed2.zed_node] [INFO] ZED Camera Component
[zed_wrapper-1] 1645201331.304097262 [zed2.zed_node] [INFO] ********************************
[zed_wrapper-1] 1645201331.304105062 [zed2.zed_node] [INFO] * namespace: /zed2
[zed_wrapper-1] 1645201331.304112434 [zed2.zed_node] [INFO] * node name: zed_node
[zed_wrapper-1] 1645201331.304118547 [zed2.zed_node] [INFO] ********************************
[zed_wrapper-1] 1645201331.304138893 [zed2.zed_node] [INFO] *** DEBUG parameters ***
[zed_wrapper-1] 1645201331.304168983 [zed2.zed_node] [INFO] * Debug mode: FALSE
[zed_wrapper-1] 1645201331.304185722 [zed2.zed_node] [INFO] *** GENERAL parameters ***
[zed_wrapper-1] 1645201331.304249770 [zed2.zed_node] [INFO] * Camera model: zed2 - ZED 2
[zed_wrapper-1] 1645201331.304296145 [zed2.zed_node] [INFO] * SDK Verbose: 1
[zed_wrapper-1] 1645201331.304323988 [zed2.zed_node] [INFO] * SVO: /home/halodi/ccw2.svo
[zed_wrapper-1] 1645201331.304344043 [zed2.zed_node] [INFO] * SVO Loop: TRUE
[zed_wrapper-1] 1645201331.304362136 [zed2.zed_node] [INFO] * SVO Realtime: TRUE
[zed_wrapper-1] 1645201331.304381750 [zed2.zed_node] [INFO] * Camera name: zed2
[zed_wrapper-1] 1645201331.304409435 [zed2.zed_node] [INFO] * Camera ID: 0
[zed_wrapper-1] 1645201331.304430826 [zed2.zed_node] [INFO] * Camera SN: 0
[zed_wrapper-1] 1645201331.304450838 [zed2.zed_node] [INFO] * Camera timeout [sec]: 5
[zed_wrapper-1] 1645201331.304471655 [zed2.zed_node] [INFO] * Camera reconnection temptatives: 5
[zed_wrapper-1] 1645201331.304491856 [zed2.zed_node] [INFO] * Camera framerate: 30
[zed_wrapper-1] 1645201331.304514757 [zed2.zed_node] [INFO] * GPU ID: -1
[zed_wrapper-1] 1645201331.304542243 [zed2.zed_node] [INFO] * Camera resolution: 2 - HD720
[zed_wrapper-1] 1645201331.304563157 [zed2.zed_node] [INFO] * Camera self calibration: TRUE
[zed_wrapper-1] 1645201331.304581324 [zed2.zed_node] [INFO] * Camera flip: FALSE
[zed_wrapper-1] 1645201331.304601364 [zed2.zed_node] [INFO] * [DYN] Publish framerate [Hz]: 15
[zed_wrapper-1] 1645201331.304620667 [zed2.zed_node] [INFO] *** VIDEO parameters ***
[zed_wrapper-1] 1645201331.304641185 [zed2.zed_node] [INFO] * Use old extrinsic parameters: 0
[zed_wrapper-1] 1645201331.304660326 [zed2.zed_node] [INFO] * [DYN] Image downsample factor: 1
[zed_wrapper-1] 1645201331.304681025 [zed2.zed_node] [INFO] * [DYN] Brightness: 4
[zed_wrapper-1] 1645201331.304700830 [zed2.zed_node] [INFO] * [DYN] Contrast: 4
[zed_wrapper-1] 1645201331.304722749 [zed2.zed_node] [INFO] * [DYN] Hue: 0
[zed_wrapper-1] 1645201331.304742465 [zed2.zed_node] [INFO] * [DYN] Saturation: 4
[zed_wrapper-1] 1645201331.304761192 [zed2.zed_node] [INFO] * [DYN] Sharpness: 4
[zed_wrapper-1] 1645201331.304779883 [zed2.zed_node] [INFO] * [DYN] Gamma: 8
[zed_wrapper-1] 1645201331.304798251 [zed2.zed_node] [INFO] * [DYN] Auto Exposure/Gain: TRUE
[zed_wrapper-1] 1645201331.304819541 [zed2.zed_node] [INFO] * [DYN] Exposure: 80
[zed_wrapper-1] 1645201331.304839328 [zed2.zed_node] [INFO] * [DYN] Gain: 80
[zed_wrapper-1] 1645201331.304857299 [zed2.zed_node] [INFO] * [DYN] Auto White Balance: TRUE
[zed_wrapper-1] 1645201331.304876132 [zed2.zed_node] [INFO] * [DYN] White Balance Temperature: 42
[zed_wrapper-1] 1645201331.304897241 [zed2.zed_node] [INFO] * Video QoS History: KEEP_LAST
[zed_wrapper-1] 1645201331.304919187 [zed2.zed_node] [INFO] * Video QoS History depth: 1
[zed_wrapper-1] 1645201331.304938838 [zed2.zed_node] [INFO] * Video QoS Reliability: RELIABLE
[zed_wrapper-1] 1645201331.304957456 [zed2.zed_node] [INFO] * Video QoS Durability: VOLATILE
[zed_wrapper-1] 1645201331.304966560 [zed2.zed_node] [INFO] *** DEPTH parameters ***
[zed_wrapper-1] 1645201331.304988872 [zed2.zed_node] [INFO] * Depth quality: 3 - ULTRA
[zed_wrapper-1] 1645201331.305010301 [zed2.zed_node] [INFO] * Depth downsample factor: 1
[zed_wrapper-1] 1645201331.305044519 [zed2.zed_node] [INFO] * Min depth [m]: 0.2
[zed_wrapper-1] 1645201331.305067153 [zed2.zed_node] [INFO] * Max depth [m]: 12
[zed_wrapper-1] 1645201331.305090304 [zed2.zed_node] [INFO] * Depth Sensing Mode: 0 - STANDARD
[zed_wrapper-1] 1645201331.305116531 [zed2.zed_node] [INFO] * Depth Stabilization: FALSE
[zed_wrapper-1] 1645201331.305139542 [zed2.zed_node] [INFO] * OpenNI mode (16bit point cloud): FALSE
[zed_wrapper-1] 1645201331.305176953 [zed2.zed_node] [INFO] * [DYN] Point cloud rate [Hz]: 10
[zed_wrapper-1] 1645201331.305196406 [zed2.zed_node] [INFO] * [DYN] Depth Confidence: 75
[zed_wrapper-1] 1645201331.305215937 [zed2.zed_node] [INFO] * [DYN] Depth Texture Confidence: 100
[zed_wrapper-1] 1645201331.305234851 [zed2.zed_node] [INFO] * Depth QoS History: KEEP_LAST
[zed_wrapper-1] 1645201331.305254510 [zed2.zed_node] [INFO] * Depth QoS History depth: 1
[zed_wrapper-1] 1645201331.305272042 [zed2.zed_node] [INFO] * Depth QoS Reliability: RELIABLE
[zed_wrapper-1] 1645201331.305288242 [zed2.zed_node] [INFO] * Depth QoS Durability: VOLATILE
[zed_wrapper-1] 1645201331.305315932 [zed2.zed_node] [INFO] *** POSITIONAL TRACKING parameters ***
[zed_wrapper-1] 1645201331.305339259 [zed2.zed_node] [INFO] * Positional tracking enabled: FALSE
[zed_wrapper-1] 1645201331.305359500 [zed2.zed_node] [INFO] * Base frame id: base_link
[zed_wrapper-1] 1645201331.305381886 [zed2.zed_node] [INFO] * Map frame id: map
[zed_wrapper-1] 1645201331.305401081 [zed2.zed_node] [INFO] * Odometry frame id: odom
[zed_wrapper-1] 1645201331.305419615 [zed2.zed_node] [INFO] * Broadcast Odometry TF: FALSE
[zed_wrapper-1] 1645201331.305440166 [zed2.zed_node] [INFO] * [DYN] Path publishing rate: 2
[zed_wrapper-1] 1645201331.305459937 [zed2.zed_node] [INFO] * Path history lenght: -1
[zed_wrapper-1] 1645201331.305484389 [zed2.zed_node] [INFO] * Initial pose: [0,0,0,0,0,0,]
[zed_wrapper-1] 1645201331.305507848 [zed2.zed_node] [INFO] * Area Memory: TRUE
[zed_wrapper-1] 1645201331.305527104 [zed2.zed_node] [INFO] * Area Memory DB:
[zed_wrapper-1] 1645201331.305545697 [zed2.zed_node] [INFO] * IMU Fusion [not for ZED]: TRUE
[zed_wrapper-1] 1645201331.305564687 [zed2.zed_node] [INFO] * Floor Alignment: TRUE
[zed_wrapper-1] 1645201331.305586670 [zed2.zed_node] [INFO] * Init Odometry with first valid pose data: TRUE
[zed_wrapper-1] 1645201331.305605764 [zed2.zed_node] [INFO] * 2D mode: FALSE
[zed_wrapper-1] 1645201331.305623754 [zed2.zed_node] [INFO] * Pose/Odometry QoS History: KEEP_LAST
[zed_wrapper-1] 1645201331.305640659 [zed2.zed_node] [INFO] * Pose/Odometry QoS History depth: 1
[zed_wrapper-1] 1645201331.305657435 [zed2.zed_node] [INFO] * Pose/Odometry QoS Reliability: RELIABLE
[zed_wrapper-1] 1645201331.305676703 [zed2.zed_node] [INFO] * Pose/Odometry QoS Durability: VOLATILE
[zed_wrapper-1] 1645201331.305685791 [zed2.zed_node] [INFO] *** SENSORS STACK parameters ***
[zed_wrapper-1] 1645201331.305704243 [zed2.zed_node] [INFO] * Sensors Camera Sync: FALSE
[zed_wrapper-1] 1645201331.305725107 [zed2.zed_node] [INFO] * Sensors publishing rate: 200 Hz
[zed_wrapper-1] 1645201331.305743265 [zed2.zed_node] [INFO] * Sensors QoS History: KEEP_LAST
[zed_wrapper-1] 1645201331.305760053 [zed2.zed_node] [INFO] * Sensors QoS History depth: 1
[zed_wrapper-1] 1645201331.305779334 [zed2.zed_node] [INFO] * Sensors QoS Reliability: RELIABLE
[zed_wrapper-1] 1645201331.305795631 [zed2.zed_node] [INFO] * Sensors QoS Durability: VOLATILE
[zed_wrapper-1] 1645201331.305804132 [zed2.zed_node] [INFO] *** Spatial Mapping parameters ***
[zed_wrapper-1] 1645201331.305820967 [zed2.zed_node] [INFO] * Spatial Mapping Enabled: FALSE
[zed_wrapper-1] 1645201331.305844329 [zed2.zed_node] [INFO] * Spatial Mapping resolution [m]: 0.03
[zed_wrapper-1] 1645201331.305867926 [zed2.zed_node] [INFO] * 3D Max Mapping range [m]: 5
[zed_wrapper-1] 1645201331.305888878 [zed2.zed_node] [INFO] * Map publishing rate [Hz]: 0.5
[zed_wrapper-1] 1645201331.305906889 [zed2.zed_node] [INFO] * Sensors QoS History: KEEP_LAST
[zed_wrapper-1] 1645201331.305923533 [zed2.zed_node] [INFO] * Sensors QoS History depth: 1
[zed_wrapper-1] 1645201331.305939938 [zed2.zed_node] [INFO] * Sensors QoS Reliability: RELIABLE
[zed_wrapper-1] 1645201331.305959038 [zed2.zed_node] [INFO] * Sensors QoS Durability: VOLATILE
[zed_wrapper-1] 1645201331.305968868 [zed2.zed_node] [INFO] *** OBJECT DETECTION parameters ***
[zed_wrapper-1] 1645201331.305985993 [zed2.zed_node] [INFO] * Object Detection enabled: FALSE
[zed_wrapper-1] 1645201331.306006443 [zed2.zed_node] [INFO] * OD min. confidence: 50
[zed_wrapper-1] 1645201331.306025845 [zed2.zed_node] [INFO] * OD tracking: TRUE
[zed_wrapper-1] 1645201331.306053380 [zed2.zed_node] [INFO] * Object Detection model: 3 - HUMAN BODY ACCURATE
[zed_wrapper-1] 1645201331.306073651 [zed2.zed_node] [INFO] * MultiClassBox people: TRUE
[zed_wrapper-1] 1645201331.306092088 [zed2.zed_node] [INFO] * MultiClassBox vehicles: TRUE
[zed_wrapper-1] 1645201331.306109997 [zed2.zed_node] [INFO] * MultiClassBox bags: FALSE
[zed_wrapper-1] 1645201331.306139372 [zed2.zed_node] [INFO] * MultiClassBox animals: FALSE
[zed_wrapper-1] 1645201331.306163723 [zed2.zed_node] [INFO] * MultiClassBox electronics: FALSE
[zed_wrapper-1] 1645201331.306183288 [zed2.zed_node] [INFO] * MultiClassBox fruits and vegetables: FALSE
[zed_wrapper-1] 1645201331.306204584 [zed2.zed_node] [INFO] * Skeleton fitting: FALSE
[zed_wrapper-1] 1645201331.306224137 [zed2.zed_node] [INFO] * Body format: 1
[zed_wrapper-1] 1645201331.306242052 [zed2.zed_node] [INFO] * Obj. Det. QoS History: KEEP_LAST
[zed_wrapper-1] 1645201331.306259090 [zed2.zed_node] [INFO] * Obj. Det. QoS History depth: 2
[zed_wrapper-1] 1645201331.306276758 [zed2.zed_node] [INFO] * Obj. Det. QoS Reliability: BEST_EFFORT
[zed_wrapper-1] 1645201331.306295460 [zed2.zed_node] [INFO] * Obj. Det. QoS Durability: VOLATILE
[zed_wrapper-1] 1645201331.306355040 [zed2.zed_node] [INFO] *** SERVICES ***
[zed_wrapper-1] 1645201331.306824285 [zed2.zed_node] [INFO] * '/zed2/zed_node/reset_odometry'
[zed_wrapper-1] 1645201331.307173583 [zed2.zed_node] [INFO] * '/zed2/zed_node/reset_pos_tracking'
[zed_wrapper-1] 1645201331.307724796 [zed2.zed_node] [INFO] * '/zed2/zed_node/set_pose'
[zed_wrapper-1] 1645201331.307995259 [zed2.zed_node] [INFO] * '/zed2/zed_node/enable_obj_det'
[zed_wrapper-1] 1645201331.308235661 [zed2.zed_node] [INFO] * '/zed2/zed_node/enable_mapping'
[zed_wrapper-1] 1645201331.308655310 [zed2.zed_node] [INFO] * '/zed2/zed_node/start_svo_rec'
[zed_wrapper-1] 1645201331.308945688 [zed2.zed_node] [INFO] * '/zed2/zed_node/stop_svo_rec'
[zed_wrapper-1] 1645201331.309210021 [zed2.zed_node] [INFO] * '/zed2/zed_node/toggle_svo_pause'
[zed_wrapper-1] 1645201331.309457531 [zed2.zed_node] [INFO] * '/zed2/zed_node/save_map_to_disk'
[zed_wrapper-1] 1645201331.309701923 [zed2.zed_node] [INFO] * '/zed2/zed_node/toggle_streaming'
[zed_wrapper-1] 1645201331.309728741 [zed2.zed_node] [INFO] ***** STARTING CAMERA *****
[zed_wrapper-1] 1645201331.309737503 [zed2.zed_node] [INFO] SDK Version: 3.6.2 - Build 35992_473158d4
[zed_wrapper-1] 1645201331.311550925 [zed2.zed_node] [INFO] Parameter change callback
[zed_wrapper-1] 1645201331.311603957 [zed2.zed_node] [WARN] qos_overrides./tf.publisher.durability force ignore
[zed_wrapper-1] 1645201331.311615409 [zed2.zed_node] [WARN] qos_overrides./tf.publisher.durability force ignore
[zed_wrapper-1] 1645201331.311649608 [zed2.zed_node] [INFO] Parameter change callback
[zed_wrapper-1] 1645201331.311662628 [zed2.zed_node] [WARN] qos_overrides./tf.publisher.history force ignore
[zed_wrapper-1] 1645201331.311670398 [zed2.zed_node] [WARN] qos_overrides./tf.publisher.history force ignore
[zed_wrapper-1] 1645201331.311692163 [zed2.zed_node] [INFO] Parameter change callback
[zed_wrapper-1] 1645201331.311703461 [zed2.zed_node] [WARN] qos_overrides./tf.publisher.depth force ignore
[zed_wrapper-1] 1645201331.311711429 [zed2.zed_node] [WARN] qos_overrides./tf.publisher.depth force ignore
[zed_wrapper-1] 1645201331.311845672 [zed2.zed_node] [INFO] Parameter change callback
[zed_wrapper-1] 1645201331.311872210 [zed2.zed_node] [WARN] qos_overrides./tf.publisher.reliability force ignore
[zed_wrapper-1] 1645201331.311882512 [zed2.zed_node] [WARN] qos_overrides./tf.publisher.reliability force ignore
[zed_wrapper-1] 1645201331.312169190 [zed2.zed_node] [INFO] Parameter change callback
[zed_wrapper-1] 1645201331.312191061 [zed2.zed_node] [WARN] qos_overrides./tf_static.publisher.history force ignore
[zed_wrapper-1] 1645201331.312200706 [zed2.zed_node] [WARN] qos_overrides./tf_static.publisher.history force ignore
[zed_wrapper-1] 1645201331.312229937 [zed2.zed_node] [INFO] Parameter change callback
[zed_wrapper-1] 1645201331.312241755 [zed2.zed_node] [WARN] qos_overrides./tf_static.publisher.depth force ignore
[zed_wrapper-1] 1645201331.312249894 [zed2.zed_node] [WARN] qos_overrides./tf_static.publisher.depth force ignore
[zed_wrapper-1] 1645201331.312270858 [zed2.zed_node] [INFO] Parameter change callback
[zed_wrapper-1] 1645201331.312281492 [zed2.zed_node] [WARN] qos_overrides./tf_static.publisher.reliability force ignore
[zed_wrapper-1] 1645201331.312289593 [zed2.zed_node] [WARN] qos_overrides./tf_static.publisher.reliability force ignore
[zed_wrapper-1] 1645201331.312487382 [zed2.zed_node] [INFO] *** SVO OPENING ***
[rviz2-2] 1645201331.738470993 [rviz2] [INFO] Stereo is NOT SUPPORTED
[rviz2-2] 1645201331.738538516 [rviz2] [INFO] OpenGl version: 4.6 (GLSL 4.6)
[rviz2-2] 1645201331.752450922 [rviz2] [INFO] Stereo is NOT SUPPORTED
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[rviz2-2] 1645201331.802542363 [rclcpp] [INFO] signal_handler(signal_value=2)
[zed_wrapper-1] 1645201331.802599280 [rclcpp] [INFO] signal_handler(signal_value=2)
[rviz2-2] 1645201331.808548605 [rviz2] [ERROR] Could not load display config: could not create subscription: rcl node's context is invalid, at /tmp/binarydeb/ros-galactic-rcl-3.1.2/src/rcl/node.c:426
[zed_wrapper-1] [ZED][Init] Depth mode: ULTRA
[INFO] [rviz2-2]: process has finished cleanly [pid 204383]
[zed_wrapper-1] 1645201332.441324514 [zed2.zed_node] [INFO] ZED SDK running on GPU #0
[zed_wrapper-1] 1645201332.441364007 [zed2.zed_node] [INFO] * Camera Model -> ZED 2
[zed_wrapper-1] 1645201332.441387411 [zed2.zed_node] [INFO] * Serial Number -> 29037738
[zed_wrapper-1] 1645201332.441422465 [zed2.zed_node] [INFO] * Input type -> SVO input type
[zed_wrapper-1] 1645201332.441481672 [zed2.zed_node] [INFO] * SVO resolution -> 1920x1080
[zed_wrapper-1] 1645201332.441498671 [zed2.zed_node] [INFO] * SVO framerate -> 30
[zed_wrapper-1] 1645201332.441570423 [zed2.zed_node] [INFO] *** TF FRAMES ***
[zed_wrapper-1] 1645201332.441574878 [zed2.zed_node] [INFO] * Map -> map
[zed_wrapper-1] 1645201332.441593088 [zed2.zed_node] [INFO] * Odometry -> odom
[zed_wrapper-1] 1645201332.441595588 [zed2.zed_node] [INFO] * Base -> base_link
[zed_wrapper-1] 1645201332.441598033 [zed2.zed_node] [INFO] * Camera -> zed2_camera_center
[zed_wrapper-1] 1645201332.441600518 [zed2.zed_node] [INFO] * Left -> zed2_left_camera_frame
[zed_wrapper-1] 1645201332.441602812 [zed2.zed_node] [INFO] * Left Optical -> zed2_left_camera_optical_frame
[zed_wrapper-1] 1645201332.441605270 [zed2.zed_node] [INFO] * RGB -> zed2_left_camera_frame
[zed_wrapper-1] 1645201332.441607501 [zed2.zed_node] [INFO] * RGB Optical -> zed2_left_camera_frame
[zed_wrapper-1] 1645201332.441610027 [zed2.zed_node] [INFO] * Right -> zed2_right_camera_frame
[zed_wrapper-1] 1645201332.441612298 [zed2.zed_node] [INFO] * Right Optical -> zed2_right_camera_optical_frame
[zed_wrapper-1] 1645201332.441614645 [zed2.zed_node] [INFO] * Depth -> zed2_left_camera_frame
[zed_wrapper-1] 1645201332.441616913 [zed2.zed_node] [INFO] * Depth Optical -> zed2_left_camera_optical_frame
[zed_wrapper-1] 1645201332.441640854 [zed2.zed_node] [INFO] * Point Cloud -> zed2_left_camera_optical_frame
[zed_wrapper-1] 1645201332.441643319 [zed2.zed_node] [INFO] * Disparity -> zed2_left_camera_frame
[zed_wrapper-1] 1645201332.441645680 [zed2.zed_node] [INFO] * Disparity Optical -> zed2_left_camera_optical_frame
[zed_wrapper-1] 1645201332.441648167 [zed2.zed_node] [INFO] * Confidence -> zed2_left_camera_frame
[zed_wrapper-1] 1645201332.441650647 [zed2.zed_node] [INFO] * Confidence Optical -> zed2_left_camera_optical_frame
[zed_wrapper-1] 1645201332.441653122 [zed2.zed_node] [INFO] * IMU -> zed2_imu_link
[zed_wrapper-1] 1645201332.441656474 [zed2.zed_node] [INFO] * Barometer -> zed2_camera_center
[zed_wrapper-1] 1645201332.441659079 [zed2.zed_node] [INFO] * Magnetometer -> zed2_imu_link
[zed_wrapper-1] 1645201332.441661500 [zed2.zed_node] [INFO] * Left Temperature -> zed2_left_camera_frame
[zed_wrapper-1] 1645201332.441663898 [zed2.zed_node] [INFO] * Right Temperature -> zed2_right_camera_frame
[zed_wrapper-1] 1645201332.441668651 [zed2.zed_node] [INFO] *** PUBLISHED TOPICS ***
[zed_wrapper-1] 1645201332.444386127 [zed2.zed_node] [ERROR] Failed to load plugin image_transport/raw_pub, error string: could not create publisher: rcl node's context is invalid, at /tmp/binarydeb/ros-galactic-rcl-3.1.2/src/rcl/node.c:426
ZED2
OS: Ubuntu
zed sdk : 3.6.2
cuda 11.3i did sudo apt-get install ros-galactic-image-transport but still got the same issue
I have also image_common 3.0.0 in my src workspace but still got the same issue
please advise
Jetson AGX Xavier, running ubuntu 20, Flashed with JetPack 5.0.2
ROS2 Foxy
ZED_SDK_Tegra_L4T35.1_v3.8.2 and ZED diagnostic is all green and 100%
Cuda version 11.4.239
ZED 2i.
When launching
ros2 launch zed_display_rviz2 display_zed2i.launch.py
Then in another terminal calling
ros2 service call /zed2i/zed_node/enable_obj_det std_srvs/srv/SetBool data:\ true\
The ros zed node crashes with the following error
[zed_wrapper-3] 1674513039.665809726 [zed2i.zed_node] [INFO] Starting Object Detection
[zed_wrapper-3] 1674513039.665904705 [zed2i.zed_node] [INFO] *** Starting Object Detection ***
[zed_wrapper-3] 1674513047.599875587 [zed2i.zed_node] [INFO] Advertised on topic /zed2i/zed_node/obj_det/objects
[rviz2-1] 1674513052.449418456 [rviz2] [ERROR] InternalErrorException: Vertex Buffer: Out of memory in GLHardwareVertexBuffer::lock at /tmp/binarydeb/ros-foxy-rviz-ogre-vendor-8.2.7/.obj-aarch64-linux-gnu/ogre-v1.12.1-prefix/src/ogre-v1.12.1/RenderSystems/GL/src/OgreGLHardwareVertexBuffer.cpp (line 125)
[rviz2-1] terminate called after throwing an instance of 'Ogre::InternalErrorException'
[rviz2-1] what(): InternalErrorException: Vertex Buffer: Out of memory in GLHardwareVertexBuffer::lock at /tmp/binarydeb/ros-foxy-rviz-ogre-vendor-8.2.7/.obj-aarch64-linux-gnu/ogre-v1.12.1-prefix/src/ogre-v1.12.1/RenderSystems/GL/src/OgreGLHardwareVertexBuffer.cpp (line 125)
[ERROR] [rviz2-1]: process has died [pid 92542, exit code -6, cmd '/opt/ros/foxy/lib/rviz2/rviz2 -d /home/aaaa/ros2_ws/install/zed_display_rviz2/share/zed_display_rviz2/rviz2/zed2i.rviz --ros-args -r __node:=zed2i_rviz2 -r __ns:=/'].
Sometimes it crashes right away, and sometimes after few seconds of actually detecting some objects and displaying bounding boxes in rviz.
On the following page: https://github.com/stereolabs/zed-ros2-examples/tree/master/tutorials/zed_depth_tutorial#readme
I have noticed the link to the StereoLabs Website contains an Underscore '_' in place of a dash '-', causing you to be taken not to the documentation, but rather the store.
...
Go to Documentation Site
Go to Store Site
ZED2i
N/ANo response
Hi,
So I just build from master and it seems that Rviz crashes with the command :
ros2 launch zed_display_rviz2 display_zed2.launch.py
It opens and closes
Message error :
le@le-vm:~/zed$ ros2 launch zed_display_rviz2 display_zed2.launch.py
[INFO] [launch]: All log files can be found below /home/le/.ros/log/2021-07-20-08-05-56-588140-le-vm-5473
[INFO] [launch]: Default logging verbosity is set to INFO
/home/le/zed/install/zed_display_rviz2/share/zed_display_rviz2/launch/display_zed2.launch.py:51: UserWarning: The parameter 'node_executable' is deprecated, use 'executable' instead
rsp_node = Node(
/home/le/zed/install/zed_display_rviz2/share/zed_display_rviz2/launch/display_zed2.launch.py:51: UserWarning: The parameter 'node_name' is deprecated, use 'name' instead
rsp_node = Node(
/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/actions/node.py:185: UserWarning: The parameter 'node_namespace' is deprecated, use 'namespace' instead
warnings.warn("The parameter 'node_namespace' is deprecated, use 'namespace' instead")
/home/le/zed/install/zed_display_rviz2/share/zed_display_rviz2/launch/display_zed2.launch.py:61: UserWarning: The parameter 'node_executable' is deprecated, use 'executable' instead
zed_wrapper_node = Node(
/home/le/zed/install/zed_display_rviz2/share/zed_display_rviz2/launch/display_zed2.launch.py:61: UserWarning: The parameter 'node_name' is deprecated, use 'name' instead
zed_wrapper_node = Node(
/home/le/zed/install/zed_display_rviz2/share/zed_display_rviz2/launch/display_zed2.launch.py:74: UserWarning: The parameter 'node_executable' is deprecated, use 'executable' instead
rviz2_node = Node(
/home/le/zed/install/zed_display_rviz2/share/zed_display_rviz2/launch/display_zed2.launch.py:74: UserWarning: The parameter 'node_name' is deprecated, use 'name' instead
rviz2_node = Node(
[INFO] [robot_state_publisher-1]: process started with pid [5475]
[INFO] [zed_wrapper-2]: process started with pid [5477]
[INFO] [rviz2-3]: process started with pid [5479]
[robot_state_publisher-1] 1626782756.663415031 [zed2.zed2_state_publisher] [WARN] No robot_description parameter, but command-line argument available. Assuming argument is name of URDF file. This backwards compatibility fallback will be removed in the future.
[robot_state_publisher-1] Parsing robot urdf xml string.
[robot_state_publisher-1] Link zed2_camera_center had 2 children
[robot_state_publisher-1] Link zed2_left_camera_frame had 1 children
[robot_state_publisher-1] Link zed2_left_camera_optical_frame had 0 children
[robot_state_publisher-1] Link zed2_right_camera_frame had 1 children
[robot_state_publisher-1] Link zed2_right_camera_optical_frame had 0 children
[robot_state_publisher-1] 1626782756.664333823 [zed2.zed2_state_publisher] [INFO] got segment base_link
[robot_state_publisher-1] 1626782756.664347309 [zed2.zed2_state_publisher] [INFO] got segment zed2_camera_center
[robot_state_publisher-1] 1626782756.664352298 [zed2.zed2_state_publisher] [INFO] got segment zed2_left_camera_frame
[robot_state_publisher-1] 1626782756.664356676 [zed2.zed2_state_publisher] [INFO] got segment zed2_left_camera_optical_frame
[robot_state_publisher-1] 1626782756.664360704 [zed2.zed2_state_publisher] [INFO] got segment zed2_right_camera_frame
[robot_state_publisher-1] 1626782756.664364621 [zed2.zed2_state_publisher] [INFO] got segment zed2_right_camera_optical_frame
[zed_wrapper-2] 1626782756.676308156 [zed2.zed_node] [INFO] ********************************
[zed_wrapper-2] 1626782756.676395149 [zed2.zed_node] [INFO] ZED Camera Component
[zed_wrapper-2] 1626782756.676401541 [zed2.zed_node] [INFO] ********************************
[zed_wrapper-2] 1626782756.676406560 [zed2.zed_node] [INFO] * namespace: /zed2
[zed_wrapper-2] 1626782756.676411249 [zed2.zed_node] [INFO] * node name: zed_node
[zed_wrapper-2] 1626782756.676415126 [zed2.zed_node] [INFO] ********************************
[zed_wrapper-2] 1626782756.676444070 [zed2.zed_node] [INFO] *** GENERAL parameters ***
[zed_wrapper-2] 1626782756.676464369 [zed2.zed_node] [INFO] * Camera model: zed2 - ZED 2
[zed_wrapper-2] 1626782756.676476291 [zed2.zed_node] [INFO] * SDK Verbose: 1
[zed_wrapper-2] 1626782756.676486550 [zed2.zed_node] [INFO] * SVO:
[zed_wrapper-2] 1626782756.676494164 [zed2.zed_node] [INFO] * SVO Loop: FALSE
[zed_wrapper-2] 1626782756.676501438 [zed2.zed_node] [INFO] * SVO Realtime: FALSE
[zed_wrapper-2] 1626782756.676509714 [zed2.zed_node] [INFO] * Camera name: zed2
[zed_wrapper-2] 1626782756.676522798 [zed2.zed_node] [INFO] * Camera ID: 0
[zed_wrapper-2] 1626782756.676530843 [zed2.zed_node] [INFO] * Camera SN: 0
[zed_wrapper-2] 1626782756.676539029 [zed2.zed_node] [INFO] * Camera timeout [sec]: 5
[zed_wrapper-2] 1626782756.676547164 [zed2.zed_node] [INFO] * Camera reconnection temptatives: 5
[zed_wrapper-2] 1626782756.676554978 [zed2.zed_node] [INFO] * Camera framerate: 30
[zed_wrapper-2] 1626782756.676563094 [zed2.zed_node] [INFO] * GPU ID: -1
[zed_wrapper-2] 1626782756.676573994 [zed2.zed_node] [INFO] * Camera resolution: 2 - HD720
[zed_wrapper-2] 1626782756.676581588 [zed2.zed_node] [INFO] * Camera self calibration: TRUE
[zed_wrapper-2] 1626782756.676588742 [zed2.zed_node] [INFO] * Camera flip: FALSE
[zed_wrapper-2] 1626782756.676598109 [zed2.zed_node] [INFO] * [DYN] Publish framerate [Hz]: 15
[zed_wrapper-2] 1626782756.676607046 [zed2.zed_node] [INFO] *** VIDEO parameters ***
[zed_wrapper-2] 1626782756.676615482 [zed2.zed_node] [INFO] * Use old extrinsic parameters: 0
[zed_wrapper-2] 1626782756.676625260 [zed2.zed_node] [INFO] * [DYN] Image downsample factor: 0.5
[zed_wrapper-2] 1626782756.676634798 [zed2.zed_node] [INFO] * [DYN] Brightness: 4
[zed_wrapper-2] 1626782756.676642783 [zed2.zed_node] [INFO] * [DYN] Contrast: 4
[zed_wrapper-2] 1626782756.676650137 [zed2.zed_node] [INFO] * [DYN] Hue: 0
[zed_wrapper-2] 1626782756.676657952 [zed2.zed_node] [INFO] * [DYN] Saturation: 4
[zed_wrapper-2] 1626782756.676665446 [zed2.zed_node] [INFO] * [DYN] Sharpness: 4
[zed_wrapper-2] 1626782756.676673110 [zed2.zed_node] [INFO] * [DYN] Gamma: 8
[zed_wrapper-2] 1626782756.676684622 [zed2.zed_node] [INFO] * [DYN] Auto Exposure/Gain: TRUE
[zed_wrapper-2] 1626782756.676837208 [zed2.zed_node] [INFO] * [DYN] Exposure: 80
[zed_wrapper-2] 1626782756.676862195 [zed2.zed_node] [INFO] * [DYN] Gain: 80
[zed_wrapper-2] 1626782756.676883374 [zed2.zed_node] [INFO] * [DYN] Auto White Balance: TRUE
[zed_wrapper-2] 1626782756.676899324 [zed2.zed_node] [INFO] * [DYN] White Balance Temperature: 42
[zed_wrapper-2] 1626782756.676916146 [zed2.zed_node] [INFO] * Video QoS History: KEEP_LAST
[zed_wrapper-2] 1626782756.676930122 [zed2.zed_node] [INFO] * Video QoS History depth: 1
[zed_wrapper-2] 1626782756.676945140 [zed2.zed_node] [INFO] * Video QoS Reliability: BEST_EFFORT
[zed_wrapper-2] 1626782756.677011484 [zed2.zed_node] [INFO] * Video QoS Durability: VOLATILE
[zed_wrapper-2] 1626782756.677021123 [zed2.zed_node] [INFO] *** DEPTH parameters ***
[zed_wrapper-2] 1626782756.677049335 [zed2.zed_node] [INFO] * Depth downsample factor: 0.5
[zed_wrapper-2] 1626782756.677088940 [zed2.zed_node] [INFO] * Depth quality: 1 - PERFORMANCE
[zed_wrapper-2] 1626782756.677129927 [zed2.zed_node] [INFO] * Min depth [m]: 0.3
[zed_wrapper-2] 1626782756.677164261 [zed2.zed_node] [INFO] * Max depth [m]: 20
[zed_wrapper-2] 1626782756.677200068 [zed2.zed_node] [INFO] * Depth Sensing Mode: 0 - STANDARD
[zed_wrapper-2] 1626782756.677217290 [zed2.zed_node] [INFO] * Depth Stabilization: TRUE
[zed_wrapper-2] 1626782756.677234853 [zed2.zed_node] [INFO] * OpenNI mode (16bit point cloud): FALSE
[zed_wrapper-2] 1626782756.677252777 [zed2.zed_node] [INFO] * [DYN] Point cloud rate [Hz]: 10
[zed_wrapper-2] 1626782756.677268206 [zed2.zed_node] [INFO] * [DYN] Depth Confidence: 50
[zed_wrapper-2] 1626782756.677283164 [zed2.zed_node] [INFO] * [DYN] Depth Texture Confidence: 100
[zed_wrapper-2] 1626782756.677297210 [zed2.zed_node] [INFO] * Depth QoS History: KEEP_LAST
[zed_wrapper-2] 1626782756.677312970 [zed2.zed_node] [INFO] * Depth QoS History depth: 1
[zed_wrapper-2] 1626782756.677330132 [zed2.zed_node] [INFO] * Depth QoS Reliability: BEST_EFFORT
[zed_wrapper-2] 1626782756.677346493 [zed2.zed_node] [INFO] * Depth QoS Durability: VOLATILE
[zed_wrapper-2] 1626782756.677380226 [zed2.zed_node] [INFO] *** POSITIONAL TRACKING parameters ***
[zed_wrapper-2] 1626782756.677447582 [zed2.zed_node] [INFO] * Positional tracking enabled: TRUE
[zed_wrapper-2] 1626782756.677483389 [zed2.zed_node] [INFO] * Base frame id: base_link
[zed_wrapper-2] 1626782756.677517243 [zed2.zed_node] [INFO] * Map frame id: map
[zed_wrapper-2] 1626782756.677553962 [zed2.zed_node] [INFO] * Odometry frame id: odom
[zed_wrapper-2] 1626782756.677589839 [zed2.zed_node] [INFO] * Broadcast Odometry TF: TRUE
[zed_wrapper-2] 1626782756.677624183 [zed2.zed_node] [INFO] * Broadcast Pose TF: TRUE
[zed_wrapper-2] 1626782756.677642939 [zed2.zed_node] [INFO] * Broadcast Static IMU TF [not for ZED]: TRUE
[zed_wrapper-2] 1626782756.677658648 [zed2.zed_node] [INFO] * [DYN] Path publishing rate: 2
[zed_wrapper-2] 1626782756.677668947 [zed2.zed_node] [INFO] * Path history lenght: -1
[zed_wrapper-2] 1626782756.677687212 [zed2.zed_node] [INFO] * Initial pose: [0,0,0,0,0,0,]
[zed_wrapper-2] 1626782756.677701989 [zed2.zed_node] [INFO] * Area Memory: TRUE
[zed_wrapper-2] 1626782756.677714633 [zed2.zed_node] [INFO] * Area Memory DB:
[zed_wrapper-2] 1626782756.677726475 [zed2.zed_node] [INFO] * IMU Fusion [not for ZED]: TRUE
[zed_wrapper-2] 1626782756.677735743 [zed2.zed_node] [INFO] * Floor Alignment: FALSE
[zed_wrapper-2] 1626782756.677749629 [zed2.zed_node] [INFO] * Init Odometry with first valid pose data: TRUE
[zed_wrapper-2] 1626782756.677761511 [zed2.zed_node] [INFO] * 2D mode: FALSE
[zed_wrapper-2] 1626782756.677772171 [zed2.zed_node] [INFO] * Pose/Odometry QoS History: KEEP_LAST
[zed_wrapper-2] 1626782756.677783582 [zed2.zed_node] [INFO] * Pose/Odometry QoS History depth: 1
[zed_wrapper-2] 1626782756.677791437 [zed2.zed_node] [INFO] * Pose/Odometry QoS Reliability: BEST_EFFORT
[zed_wrapper-2] 1626782756.677801346 [zed2.zed_node] [INFO] * Pose/Odometry QoS Durability: VOLATILE
[zed_wrapper-2] 1626782756.677808870 [zed2.zed_node] [INFO] *** SENSORS STACK parameters ***
[zed_wrapper-2] 1626782756.677826543 [zed2.zed_node] [INFO] * Sensors Camera Sync: FALSE
[zed_wrapper-2] 1626782756.677842182 [zed2.zed_node] [INFO] * Sensors publishing rate: 200 Hz
[zed_wrapper-2] 1626782756.677851470 [zed2.zed_node] [INFO] * Sensors QoS History: KEEP_LAST
[zed_wrapper-2] 1626782756.677861288 [zed2.zed_node] [INFO] * Sensors QoS History depth: 1
[zed_wrapper-2] 1626782756.677872579 [zed2.zed_node] [INFO] * Sensors QoS Reliability: BEST_EFFORT
[zed_wrapper-2] 1626782756.677880644 [zed2.zed_node] [INFO] * Sensors QoS Durability: VOLATILE
[zed_wrapper-2] 1626782756.677886656 [zed2.zed_node] [INFO] *** Spatial Mapping parameters ***
[zed_wrapper-2] 1626782756.677902756 [zed2.zed_node] [INFO] * Spatial Mapping Enabled: FALSE
[zed_wrapper-2] 1626782756.677917022 [zed2.zed_node] [INFO] * Spatial Mapping resolution [m]: 0.1
[zed_wrapper-2] 1626782756.677932111 [zed2.zed_node] [INFO] * 3D Max Mapping range [m]: 20
[zed_wrapper-2] 1626782756.677942781 [zed2.zed_node] [INFO] * Map publishing rate [Hz]: 0.5
[zed_wrapper-2] 1626782756.677954012 [zed2.zed_node] [INFO] * Sensors QoS History: KEEP_LAST
[zed_wrapper-2] 1626782756.677965143 [zed2.zed_node] [INFO] * Sensors QoS History depth: 1
[zed_wrapper-2] 1626782756.677975642 [zed2.zed_node] [INFO] * Sensors QoS Reliability: BEST_EFFORT
[zed_wrapper-2] 1626782756.677986653 [zed2.zed_node] [INFO] * Sensors QoS Durability: VOLATILE
[zed_wrapper-2] 1626782756.677994187 [zed2.zed_node] [INFO] *** OBJECT DETECTION parameters ***
[zed_wrapper-2] 1626782756.678003915 [zed2.zed_node] [INFO] * Object Detection enabled: FALSE
[zed_wrapper-2] 1626782756.678018553 [zed2.zed_node] [INFO] * OD min. confidence: 50
[zed_wrapper-2] 1626782756.678032239 [zed2.zed_node] [INFO] * Object Detection model: 0 - MULTI CLASS BOX FAST
[zed_wrapper-2] 1626782756.678045343 [zed2.zed_node] [INFO] * MultiClassBox people: TRUE
[zed_wrapper-2] 1626782756.678058418 [zed2.zed_node] [INFO] * MultiClassBox vehicles: TRUE
[zed_wrapper-2] 1626782756.678068406 [zed2.zed_node] [INFO] * MultiClassBox bags: TRUE
[zed_wrapper-2] 1626782756.678081311 [zed2.zed_node] [INFO] * MultiClassBox animals: TRUE
[zed_wrapper-2] 1626782756.678091790 [zed2.zed_node] [INFO] * MultiClassBox electronics: TRUE
[zed_wrapper-2] 1626782756.678109624 [zed2.zed_node] [INFO] * MultiClassBox fruits and vegetables: TRUE
[zed_wrapper-2] 1626782756.678122488 [zed2.zed_node] [INFO] * Skeleton fitting: FALSE
[zed_wrapper-2] 1626782756.678139139 [zed2.zed_node] [INFO] * Obj. Det. QoS History: KEEP_LAST
[zed_wrapper-2] 1626782756.678150921 [zed2.zed_node] [INFO] * Obj. Det. QoS History depth: 1
[zed_wrapper-2] 1626782756.678161250 [zed2.zed_node] [INFO] * Obj. Det. QoS Reliability: BEST_EFFORT
[zed_wrapper-2] 1626782756.678170868 [zed2.zed_node] [INFO] * Obj. Det. QoS Durability: VOLATILE
[zed_wrapper-2] 1626782756.678177240 [zed2.zed_node] [INFO] *** SERVICES ***
[zed_wrapper-2] 1626782756.678620061 [zed2.zed_node] [INFO] * '/zed2/zed_node/reset_odometry'
[zed_wrapper-2] 1626782756.678913521 [zed2.zed_node] [INFO] * '/zed2/zed_node/reset_pos_tracking'
[zed_wrapper-2] 1626782756.679340151 [zed2.zed_node] [INFO] * '/zed2/zed_node/set_pose'
[zed_wrapper-2] 1626782756.679654520 [zed2.zed_node] [INFO] * '/zed2/zed_node/enable_obj_det'
[zed_wrapper-2] 1626782756.679906843 [zed2.zed_node] [INFO] * '/zed2/zed_node/enable_mapping'
[zed_wrapper-2] 1626782756.680281726 [zed2.zed_node] [INFO] * '/zed2/zed_node/start_svo_rec'
[zed_wrapper-2] 1626782756.680617686 [zed2.zed_node] [INFO] * '/zed2/zed_node/stop_svo_rec'
[zed_wrapper-2] 1626782756.681006756 [zed2.zed_node] [INFO] * '/zed2/zed_node/toggle_svo_pause'
[zed_wrapper-2] 1626782756.681022625 [zed2.zed_node] [INFO] ***** STARTING CAMERA *****
[zed_wrapper-2] 1626782756.681032123 [zed2.zed_node] [INFO] SDK Version: 3.5.0 - Build 24184_2d27c82a
[zed_wrapper-2] 1626782756.683128554 [zed2.zed_node] [INFO] *** CAMERA OPENING ***
[rviz2-3] 1626782757.197853401 [rviz2] [INFO] Stereo is NOT SUPPORTED
[rviz2-3] 1626782757.197945864 [rviz2] [INFO] OpenGl version: 4.6 (GLSL 4.6)
[zed_wrapper-2] [ZED][Init] Depth mode: PERFORMANCE
[rviz2-3] 1626782757.307099812 [rviz2] [INFO] Stereo is NOT SUPPORTED
[rviz2-3] /opt/ros/foxy/lib/rviz2/rviz2: symbol lookup error: /home/le/zed/install/rviz_plugin_zed_od/lib/librviz_plugin_zed_od.so: undefined symbol: _ZN15message_filters10Connection10disconnectEv
[ERROR] [rviz2-3]: process has died [pid 5479, exit code 127, cmd '/opt/ros/foxy/lib/rviz2/rviz2 -d /home/le/zed/install/zed_display_rviz2/share/zed_display_rviz2/rviz2/zed2.rviz --ros-args -r __node:=zed2_rviz2 -r __node:=zed2_rviz2 -r __ns:=/zed2'].
[zed_wrapper-2] [ZED][Init] Video mode: HD720@30
[zed_wrapper-2] 1626782758.111523774 [zed2.zed_node] [INFO] ZED SDK running on GPU #0
[zed_wrapper-2] 1626782758.111581903 [zed2.zed_node] [INFO] * Camera Model -> ZED 2
[zed_wrapper-2] 1626782758.111590109 [zed2.zed_node] [INFO] * Serial Number-> 29352887
[zed_wrapper-2] 1626782758.111614104 [zed2.zed_node] [INFO] * Input type -> USB input type
[zed_wrapper-2] 1626782758.111623010 [zed2.zed_node] [INFO] * Camera FW Version -> 1523
[zed_wrapper-2] 1626782758.111629993 [zed2.zed_node] [INFO] * Sensors FW Version -> 776
[zed_wrapper-2] 1626782758.111679196 [zed2.zed_node] [INFO] *** TF FRAMES ***
[zed_wrapper-2] 1626782758.111688683 [zed2.zed_node] [INFO] * Map -> map
[zed_wrapper-2] 1626782758.111695306 [zed2.zed_node] [INFO] * Odometry -> odom
[zed_wrapper-2] 1626782758.111701568 [zed2.zed_node] [INFO] * Base -> base_link
[zed_wrapper-2] 1626782758.111707749 [zed2.zed_node] [INFO] * Camera -> zed2_camera_center
[zed_wrapper-2] 1626782758.111716486 [zed2.zed_node] [INFO] * Left -> zed2_left_camera_frame
[zed_wrapper-2] 1626782758.111723459 [zed2.zed_node] [INFO] * Left Optical -> zed2_left_camera_optical_frame
[zed_wrapper-2] 1626782758.111730061 [zed2.zed_node] [INFO] * RGB -> zed2_left_camera_frame
[zed_wrapper-2] 1626782758.111736403 [zed2.zed_node] [INFO] * RGB Optical -> zed2_left_camera_frame
[zed_wrapper-2] 1626782758.111742615 [zed2.zed_node] [INFO] * Right -> zed2_right_camera_frame
[zed_wrapper-2] 1626782758.111748886 [zed2.zed_node] [INFO] * Right Optical-> zed2_right_camera_optical_frame
[zed_wrapper-2] 1626782758.111755168 [zed2.zed_node] [INFO] * Depth -> zed2_left_camera_frame
[zed_wrapper-2] 1626782758.111761310 [zed2.zed_node] [INFO] * Depth Optical-> zed2_left_camera_optical_frame
[zed_wrapper-2] 1626782758.111767451 [zed2.zed_node] [INFO] * Point Cloud -> zed2_left_camera_optical_frame
[zed_wrapper-2] 1626782758.111773793 [zed2.zed_node] [INFO] * Disparity -> zed2_left_camera_frame
[zed_wrapper-2] 1626782758.111779945 [zed2.zed_node] [INFO] * Disparity Optical -> zed2_left_camera_optical_frame
[zed_wrapper-2] 1626782758.111786176 [zed2.zed_node] [INFO] * Confidence -> zed2_left_camera_frame
[zed_wrapper-2] 1626782758.111792398 [zed2.zed_node] [INFO] * Confidence Optical -> zed2_left_camera_optical_frame
[zed_wrapper-2] 1626782758.111798690 [zed2.zed_node] [INFO] * IMU -> zed2_imu_link
[zed_wrapper-2] 1626782758.111805883 [zed2.zed_node] [INFO] * Barometer -> zed2_camera_center
[zed_wrapper-2] 1626782758.111817435 [zed2.zed_node] [INFO] * Magnetometer -> zed2_imu_link
[zed_wrapper-2] 1626782758.111823687 [zed2.zed_node] [INFO] * Left Temperature -> zed2_left_camera_frame
[zed_wrapper-2] 1626782758.111829788 [zed2.zed_node] [INFO] * Right Temperature -> zed2_right_camera_frame
[zed_wrapper-2] 1626782758.111838745 [zed2.zed_node] [INFO] *** PUBLISHED TOPICS ***
[zed_wrapper-2] 1626782758.113504688 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/rgb/image_rect_color
[zed_wrapper-2] 1626782758.113814459 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/rgb/image_rect_gray
[zed_wrapper-2] 1626782758.113840999 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/rgb/camera_info
[zed_wrapper-2] 1626782758.114157783 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/rgb_raw/image_raw_color
[zed_wrapper-2] 1626782758.114483514 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/rgb_raw/image_raw_gray
[zed_wrapper-2] 1626782758.114506807 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/rgb_raw/camera_info
[zed_wrapper-2] 1626782758.114834512 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/left/image_rect_color
[zed_wrapper-2] 1626782758.115178096 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/left/image_rect_gray
[zed_wrapper-2] 1626782758.115192022 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/left/camera_info
[zed_wrapper-2] 1626782758.115429277 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/left_raw/image_raw_color
[zed_wrapper-2] 1626782758.115668576 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/left_raw/image_raw_gray
[zed_wrapper-2] 1626782758.115681390 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/left_raw/camera_info
[zed_wrapper-2] 1626782758.115908245 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/right/image_rect_color
[zed_wrapper-2] 1626782758.116206534 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/right/image_rect_gray
[zed_wrapper-2] 1626782758.116239596 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/right/camera_info
[zed_wrapper-2] 1626782758.116688198 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/right_raw/image_raw_color
[zed_wrapper-2] 1626782758.117138272 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/right_raw/image_raw_gray
[zed_wrapper-2] 1626782758.117169320 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/right_raw/camera_info
[zed_wrapper-2] 1626782758.117608684 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/depth/depth_registered
[zed_wrapper-2] 1626782758.117639381 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/depth/camera_info
[zed_wrapper-2] 1626782758.117867609 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/stereo/image_rect_color
[zed_wrapper-2] 1626782758.118102329 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/stereo_raw/image_raw_color
[zed_wrapper-2] 1626782758.118327592 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/confidence/confidence_map
[zed_wrapper-2] 1626782758.118820907 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/disparity/disparity_image
[zed_wrapper-2] 1626782758.119087476 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/point_cloud/cloud_registered
[zed_wrapper-2] 1626782758.119443254 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/pose
[zed_wrapper-2] 1626782758.119719181 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/pose_with_covariance
[zed_wrapper-2] 1626782758.120195554 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/odom
[zed_wrapper-2] 1626782758.120454049 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/path_map
[zed_wrapper-2] 1626782758.120652471 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/path_odom
[zed_wrapper-2] 1626782758.120968503 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/imu/data
[zed_wrapper-2] 1626782758.121153009 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/imu/data_raw
[zed_wrapper-2] 1626782758.121375987 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/temperature/imu
[zed_wrapper-2] 1626782758.121562186 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/imu/mag
[zed_wrapper-2] 1626782758.121755329 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/atm_press
[zed_wrapper-2] 1626782758.121944633 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/temperature/left
[zed_wrapper-2] 1626782758.122097841 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/temperature/right
[zed_wrapper-2] 1626782758.122284791 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/left_cam_imu_transform [LATCHED]
[zed_wrapper-2] 1626782758.122296273 [zed2.zed_node] [INFO] Camera-IMU Translation:
[zed_wrapper-2] -0.002 -0.023 -0.002
[zed_wrapper-2] 1626782758.122319246 [zed2.zed_node] [INFO] Camera-IMU Rotation:
[zed_wrapper-2] 7FFD54F685E0
[zed_wrapper-2] 0.999995 0.003136 -0.000548
[zed_wrapper-2] -0.003136 0.999994 -0.001484
[zed_wrapper-2] 0.000544 0.001486 0.999999
[zed_wrapper-2]
[zed_wrapper-2] 1626782758.122348711 [zed2.zed_node] [INFO] Published static TF: 'zed2_imu_link' -> 'zed2_left_camera_frame'
[zed_wrapper-2] 1626782758.137006395 [zed2.zed_node] [INFO] *** Starting Positional Tracking ***
[zed_wrapper-2] 1626782758.137057280 [zed2.zed_node] [INFO] * Waiting for valid static transformations...
[zed_wrapper-2] 1626782758.137131630 [zed2.zed_node] [INFO] Static transform Sensor to Base [zed2_left_camera_frame -> base_link]
[zed_wrapper-2] 1626782758.137147680 [zed2.zed_node] [INFO] * Translation: {0.000,-0.060,0.000}
[zed_wrapper-2] 1626782758.137165453 [zed2.zed_node] [INFO] * Rotation: {0.000,-0.000,0.000}
[zed_wrapper-2] 1626782758.137187044 [zed2.zed_node] [INFO] Static transform Sensor to Camera Center [zed2_left_camera_frame -> zed2_camera_center]
[zed_wrapper-2] 1626782758.137196581 [zed2.zed_node] [INFO] * Translation: {0.000,-0.060,0.000}
[zed_wrapper-2] 1626782758.137214886 [zed2.zed_node] [INFO] * Rotation: {0.000,-0.000,0.000}
[zed_wrapper-2] 1626782758.137231206 [zed2.zed_node] [INFO] Static transform Camera Center to Base [zed2_camera_center -> base_link]
[zed_wrapper-2] 1626782758.137265481 [zed2.zed_node] [INFO] * Translation: {0.000,0.000,0.000}
[zed_wrapper-2] 1626782758.137282242 [zed2.zed_node] [INFO] * Rotation: {0.000,-0.000,0.000}
[zed_wrapper-2] 1626782758.237364149 [zed2.zed_node] [INFO] Initial ZED left camera pose (ZED pos. tracking):
[zed_wrapper-2] 1626782758.237403583 [zed2.zed_node] [INFO] * T: [0,0.06,0]
[zed_wrapper-2] 1626782758.237420044 [zed2.zed_node] [INFO] * Q: [0,0,0,1]
[zed_wrapper-2] 1626782758.410986326 [zed2.zed_node] [INFO] Odometry aligned to last tracking pose
After rviz crashes I just stay with this message on the terminal.
However using this command ros2 launch zed_display_rviz2 display_zed.launch.py
rviz works and the mssage is
Moreover, I am unable to see RGB image
fer_core.cpp
[rviz2-3] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[zed_wrapper-2] 1626782939.705339609 [zed.zed_node] [INFO] ZED SDK running on GPU #0
[zed_wrapper-2] 1626782939.705393650 [zed.zed_node] [WARN] Camera model does not match user parameter. Please modify the value of the parameter 'general.camera_model' to 'zed2'
[zed_wrapper-2] 1626782939.705403539 [zed.zed_node] [INFO] * Camera Model -> ZED 2
[zed_wrapper-2] 1626782939.705408779 [zed.zed_node] [INFO] * Serial Number -> 29352887
[zed_wrapper-2] 1626782939.705421001 [zed.zed_node] [INFO] * Input type -> USB input type
[zed_wrapper-2] 1626782939.705427514 [zed.zed_node] [INFO] * Camera FW Version -> 1523
[zed_wrapper-2] 1626782939.705432132 [zed.zed_node] [INFO] * Sensors FW Version -> 776
[zed_wrapper-2] 1626782939.705462089 [zed.zed_node] [INFO] *** TF FRAMES ***
[zed_wrapper-2] 1626782939.705470905 [zed.zed_node] [INFO] * Map -> map
[zed_wrapper-2] 1626782939.705475614 [zed.zed_node] [INFO] * Odometry -> odom
[zed_wrapper-2] 1626782939.705480142 [zed.zed_node] [INFO] * Base -> base_link
[zed_wrapper-2] 1626782939.705484511 [zed.zed_node] [INFO] * Camera -> zed_camera_center
[zed_wrapper-2] 1626782939.705489109 [zed.zed_node] [INFO] * Left -> zed_left_camera_frame
[zed_wrapper-2] 1626782939.705493628 [zed.zed_node] [INFO] * Left Optical -> zed_left_camera_optical_frame
[zed_wrapper-2] 1626782939.705498066 [zed.zed_node] [INFO] * RGB -> zed_left_camera_frame
[zed_wrapper-2] 1626782939.705502564 [zed.zed_node] [INFO] * RGB Optical -> zed_left_camera_frame
[zed_wrapper-2] 1626782939.705507053 [zed.zed_node] [INFO] * Right -> zed_right_camera_frame
[zed_wrapper-2] 1626782939.705511521 [zed.zed_node] [INFO] * Right Optical -> zed_right_camera_optical_frame
[zed_wrapper-2] 1626782939.705516080 [zed.zed_node] [INFO] * Depth -> zed_left_camera_frame
[zed_wrapper-2] 1626782939.705522782 [zed.zed_node] [INFO] * Depth Optical -> zed_left_camera_optical_frame
[zed_wrapper-2] 1626782939.705529074 [zed.zed_node] [INFO] * Point Cloud -> zed_left_camera_optical_frame
[zed_wrapper-2] 1626782939.705535847 [zed.zed_node] [INFO] * Disparity -> zed_left_camera_frame
[zed_wrapper-2] 1626782939.705540475 [zed.zed_node] [INFO] * Disparity Optical -> zed_left_camera_optical_frame
[zed_wrapper-2] 1626782939.705544924 [zed.zed_node] [INFO] * Confidence -> zed_left_camera_frame
[zed_wrapper-2] 1626782939.705553249 [zed.zed_node] [INFO] * Confidence Optical -> zed_left_camera_optical_frame
[zed_wrapper-2] 1626782939.705557798 [zed.zed_node] [INFO] * IMU -> zed_imu_link
[zed_wrapper-2] 1626782939.705567506 [zed.zed_node] [INFO] *** PUBLISHED TOPICS ***
[zed_wrapper-2] 1626782939.707024258 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/rgb/image_rect_color
[zed_wrapper-2] 1626782939.707302028 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/rgb/image_rect_gray
[zed_wrapper-2] 1626782939.707322016 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/rgb/camera_info
[zed_wrapper-2] 1626782939.707554742 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/rgb_raw/image_raw_color
[zed_wrapper-2] 1626782939.707812806 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/rgb_raw/image_raw_gray
[zed_wrapper-2] 1626782939.707824709 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/rgb_raw/camera_info
[zed_wrapper-2] 1626782939.708081690 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/left/image_rect_color
[zed_wrapper-2] 1626782939.708368288 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/left/image_rect_gray
[zed_wrapper-2] 1626782939.708383837 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/left/camera_info
[zed_wrapper-2] 1626782939.708632233 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/left_raw/image_raw_color
[zed_wrapper-2] 1626782939.708908661 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/left_raw/image_raw_gray
[zed_wrapper-2] 1626782939.708943937 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/left_raw/camera_info
[zed_wrapper-2] 1626782939.709168088 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/right/image_rect_color
[zed_wrapper-2] 1626782939.709382750 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/right/image_rect_gray
[zed_wrapper-2] 1626782939.709398820 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/right/camera_info
[zed_wrapper-2] 1626782939.709616428 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/right_raw/image_raw_color
[zed_wrapper-2] 1626782939.709841200 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/right_raw/image_raw_gray
[zed_wrapper-2] 1626782939.709856068 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/right_raw/camera_info
[zed_wrapper-2] 1626782939.710092992 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/depth/depth_registered
[zed_wrapper-2] 1626782939.710107659 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/depth/camera_info
[zed_wrapper-2] 1626782939.710233295 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/stereo/image_rect_color
[zed_wrapper-2] 1626782939.710357728 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/stereo_raw/image_raw_color
[zed_wrapper-2] 1626782939.710484155 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/confidence/confidence_map
[zed_wrapper-2] 1626782939.710766705 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/disparity/disparity_image
[zed_wrapper-2] 1626782939.710920634 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/point_cloud/cloud_registered
[zed_wrapper-2] 1626782939.711115930 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/pose
[zed_wrapper-2] 1626782939.711266482 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/pose_with_covariance
[zed_wrapper-2] 1626782939.711515980 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/odom
[zed_wrapper-2] 1626782939.711659990 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/path_map
[zed_wrapper-2] 1626782939.711776078 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/path_odom
[zed_wrapper-2] 1626782939.711932040 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/imu/data
[zed_wrapper-2] 1626782939.712046314 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/imu/data_raw
[zed_wrapper-2] 1626782939.712191166 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/temperature/imu
[zed_wrapper-2] 1626782939.712318825 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/imu/mag
[zed_wrapper-2] 1626782939.712454199 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/atm_press
[zed_wrapper-2] 1626782939.712556341 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/temperature/left
[zed_wrapper-2] 1626782939.712663862 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/temperature/right
[zed_wrapper-2] 1626782939.712878364 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/left_cam_imu_transform [LATCHED]
[zed_wrapper-2] 1626782939.712889986 [zed.zed_node] [INFO] Camera-IMU Translation:
[zed_wrapper-2] -0.002 -0.023 -0.002
[zed_wrapper-2] 1626782939.712914382 [zed.zed_node] [INFO] Camera-IMU Rotation:
[zed_wrapper-2] 7FFC9483C7D0
[zed_wrapper-2] 0.999995 0.003136 -0.000548
[zed_wrapper-2] -0.003136 0.999994 -0.001484
[zed_wrapper-2] 0.000544 0.001486 0.999999
[zed_wrapper-2]
[zed_wrapper-2] 1626782939.712944689 [zed.zed_node] [INFO] Published static TF: 'zed_imu_link' -> 'zed_left_camera_frame'
[rviz2-3] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[zed_wrapper-2] 1626782939.725892426 [zed.zed_node] [INFO] Static transform Sensor to Base [zed_left_camera_frame -> base_link]
[zed_wrapper-2] 1626782939.725929366 [zed.zed_node] [INFO] * Translation: {0.000,-0.060,0.000}
[zed_wrapper-2] 1626782939.725939955 [zed.zed_node] [INFO] * Rotation: {0.000,-0.000,0.000}
[zed_wrapper-2] 1626782939.725957458 [zed.zed_node] [INFO] Static transform Sensor to Camera Center [zed_left_camera_frame -> zed_camera_center]
[zed_wrapper-2] 1626782939.725964261 [zed.zed_node] [INFO] * Translation: {0.000,-0.060,0.000}
[zed_wrapper-2] 1626782939.725972286 [zed.zed_node] [INFO] * Rotation: {0.000,-0.000,0.000}
[zed_wrapper-2] 1626782939.725982726 [zed.zed_node] [INFO] Static transform Camera Center to Base [zed_camera_center -> base_link]
[zed_wrapper-2] 1626782939.725989278 [zed.zed_node] [INFO] * Translation: {0.000,0.000,0.000}
[zed_wrapper-2] 1626782939.726009125 [zed.zed_node] [INFO] * Rotation: {0.000,-0.000,0.000}
[zed_wrapper-2] 1626782939.729270731 [zed.zed_node] [INFO] *** Starting Positional Tracking ***
[zed_wrapper-2] 1626782939.729349699 [zed.zed_node] [INFO] * Waiting for valid static transformations...
[zed_wrapper-2] 1626782939.829402451 [zed.zed_node] [INFO] Initial ZED left camera pose (ZED pos. tracking):
[zed_wrapper-2] 1626782939.829467733 [zed.zed_node] [INFO] * T: [0,0.06,0]
[zed_wrapper-2] 1626782939.829508900 [zed.zed_node] [INFO] * Q: [0,0,0,1]
[zed_wrapper-2] 1626782940.004520724 [zed.zed_node] [INFO] Odometry aligned to last tracking pose
Please advise
@Myzhar
Describe the bug
This error happens when I ran the colcon build.
--- stderr: zed_rgb_convert
CMake Error at CMakeLists.txt:40 (find_package):
By not providing "FindOpenCV.cmake" in CMAKE_MODULE_PATH this project has
asked CMake to find a package configuration file provided by "OpenCV", but
CMake did not find one.
Could not find a package configuration file provided by "OpenCV" with any
of the following names:
OpenCVConfig.cmake
opencv-config.cmake
Add the installation prefix of "OpenCV" to CMAKE_PREFIX_PATH or set
"OpenCV_DIR" to a directory containing one of the above files. If "OpenCV"
provides a separate development package or SDK, be sure it has been
installed.
---
Failed <<< zed_rgb_convert [0.45s, exited with code 1]
Device information:
This is my Dockerfile
FROM stereolabs/zed:3.5-gl-devel-cuda11.0-ubuntu20.04
ARG DEBIAN_FRONTEND=noninteractive
WORKDIR /root/ros2_installation
# Update Packages
RUN apt-get update
RUN apt-get install -y apt-utils
RUN apt-get install locales && locale-gen en_US en_US.UTF-8 && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 && export LANG=en_US.UTF-8
# Install ROS Package Keys
RUN apt-get install -y curl gnupg2 apt-transport-https gnupg ca-certificates lsb-release
RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
# Update package repo for ROS
RUN apt-get update
# Install ROS
RUN apt-get install -y ros-foxy-ros-base ros-foxy-demo-nodes-cpp
RUN apt-get install -y python3-argcomplete wget unzip nano build-essential python3-colcon-common-extensions git python3-rosdep
# Configure Enviroment for ROS
RUN echo "source /opt/ros/foxy/setup.bash" >> ~/.bashrc
ENV ROS_DISTRO=foxy
SHELL ["/bin/bash", "-c"]
WORKDIR /root/ros2_ws/src/
RUN git clone https://github.com/stereolabs/zed-ros2-wrapper.git
WORKDIR /root/ros2_ws
RUN source /opt/ros/foxy/setup.bash && rosdep init && rosdep update && \
rosdep install --from-paths src --ignore-src -r -y && \
colcon build --symlink-install --cmake-args=-DCMAKE_BUILD_TYPE=Release --cmake-args=-DCMAKE_LIBRARY_PATH=/usr/local/cuda/lib64/stubs --cmake-args=-DCMAKE_CXX_FLAGS="-Wl,--allow-shlib-undefined" && \
echo source $(pwd)/install/local_setup.bash >> ~/.bashrc && \
source ~/.bashrc
WORKDIR /root/ros2_ws/src/
RUN git clone https://github.com/stereolabs/zed-ros2-examples.git
WORKDIR /root/ros2_ws
RUN source /opt/ros/foxy/setup.bash && \
rosdep install --from-paths src --ignore-src -r -y && \
colcon build --symlink-install --cmake-args=-DCMAKE_BUILD_TYPE=Release --cmake-args=-DCMAKE_LIBRARY_PATH=/usr/local/cuda/lib64/stubs --cmake-args=-DCMAKE_CXX_FLAGS="-Wl,--allow-shlib-undefined" && \
source ~/.bashrc
Expected behavior
no error
Workaround
add RUN rm -rf zed-ros2-examples/tutorials/zed_rgb_convert right after git clone
--
the command below won't work ros2 run zed_rgb_convert zed_rgb_convert
how to run?
The zed_od display plugin fails to load. Error: According to the loaded plugin descriptions the class rviz_plugin_zed_od/ZedOdDisplay with base class type rviz_common::Display does not exist, despite it being built as shown below
"
However, zed_aruco_localization fails to build, but I assumed it has nothing to do with the zed_od plugin. I could be wrong.
1.Install all required dependencies (ZED SDK, zed_ros2_wrapper, e.t.c)
2.Source and build zed-ros2-examples
3.Run ros2 launch zed_display_rviz2 display_zed_cam.launch.py camera_model:=zed2i
...
Detected objects visualised in Rviz2
ZED2i
OS: Ubuntu 22.04
Platform: Nvidia Jetson Orin
ROS: Humble
ZED SDK: 4No response
Happy new year!
Do you have plan to introduce Aruco Marker Detection examples for ROS2 for Zed(Zed, Zed2, mini, etc...) camera with OpenCV support?
I know there is Aruco package for ZED(https://github.com/stereolabs/zed-aruco) and for Ar_track_alvar package(https://github.com/stereolabs/zed-ros-examples/tree/master/examples/zed_ar_track_alvar_example) but none of them is for ROS2 and Ar_track_alvar is going to be deprecated soon. Of course, many users are making their own solutions for usage of Aruco detection with zed on ROS2, but most of them is localized, not universal(That's why I always failed during colcon build with their work on my laptop) So I would suggest more general and unviersal packages of Aruco marker detection from Stereolabs.
Also, it would be perfect if this suggestion get connected with zed-ros2-wrapper also(https://github.com/stereolabs/zed-ros2-wrapper). Thanks.
No response
No response
Using the humble zed 3.8 sdk docker image, stereolabs/zed:3.8-devel-cuda11.7-ubuntu22.04, I am unable to specify or set after the fact the avg_win_size parameter specified here https://github.com/stereolabs/zed-ros2-examples/tree/master/tools#parameters.
avg_win_size param on the commandline as a launch argument or try specifying it with a ros2 param set callros2 run zed_topic_benchmark zed_topic_benchmark --ros-args -p topic_name:=/zed2i/zed_node/rgb/image_rect_color avg_win_size:=15 throws an "unknown ros arguments" errorros2 param set /topic_benchmark avg_win_size 15 returns "parameter cannot be set because it is read only"I expected to be able to specify via launch arguments or modifying the parameter after launch the avg_win_size variable.
ros2 run zed_topic_benchmark zed_topic_benchmark --ros-args -p topic_name:=/zed2i/zed_node/rgb/image_rect_color avg_win_size:=15 throws an "unknown ros arguments" error
ros2 param set /topic_benchmark avg_win_size 15 returns "parameter cannot be set because it is read only"
ZED2i
- Ubuntu 22.04.1 LTS
- 16gb of ram
- Intel® 9th/ 8th-Gen Core™ hexa-core 35W/ 65W LGA1151 CPU
- running Stereolabs 3.8 sdk docker container
- using zed2i polarized sensorNo response
While the zed-ros-examples do have examples related to rtabmap, no examples exists for ros2. The examples folder is empty.
Could you make ros2 compatible examples for rtabmap and octomap specifically.
Use ZED2i, out of the box with rtabmap and octomap
No response
When you run ros2 launch zed_robot_integration view_dual_zed.launch.py, the command fails. There are two problems.
<xacro:include filename="$(find scout_description)/urdf/scout_mini.xacro" />Captured stderr output: error: Not enough blocks
when instantiating macro: zed_camera (/app/ros2_ws/install/zed_wrapper/share/zed_wrapper/urdf/zed_macro.urdf.xacro)
in file: /app/ws/install/zed_robot_integration/share/zed_robot_integration/urdf/zed_robot_dual.urdf.xacro
To fix, you must add a block for the macro to consume the gnss_origin arg. ie:
<xacro:zed_camera name="$(arg camera_name_2)" model="$(arg camera_model_2)">
<gnss_origin/>
</xacro:zed_camera>
ros2 launch zed_robot_integration view_dual_zed.launch.pyLaunch fails to start
# ros2 launch zed_robot_integration view_dual_zed.launch.py
[INFO] [launch]: Default logging verbosity is set to INFO
[ERROR] [launch]: Caught exception in launch (see debug for traceback): executed command failed. Command: xacro /app/ws/install/zed_robot_integration/share/zed_robot_integration/urdf/zed_robot_dual.urdf.xacro camera_name_1:=zed_front camera_name_2:=zed_rear camera_model_1:=zedx camera_model_2:=zedxm use_zed_localization:=true
Captured stderr output: error: package not found: "package 'scout_description' not found, searching: ['/app/ws/install/zed_tutorial_video', '/app/ws/install/zed_tutorial_pos_tracking', '/app/ws/install/zed_tutorial_depth', '/app/ws/install/zed_topic_benchmark', '/app/ws/install/zed_topic_benchmark_component', '/app/ws/install/zed_topic_benchmark_interfaces', '/app/ws/install/zed_robot_integration', '/app/ws/install/zed_rgb_convert', '/app/ws/install/zed_multi_camera', '/app/ws/install/zed_display_rviz2', '/app/ws/install/zed_depth_to_laserscan',
...
when processing file: /app/ws/install/zed_robot_integration/share/zed_robot_integration/urdf/zed_robot_dual.urdf.xacro
and for bullet 2:
ERROR] [launch]: Caught exception in launch (see debug for traceback): executed command failed. Command: xacro /app/ws/install/zed_robot_integration/share/zed_robot_integration/urdf/zed_robot_dual.urdf.xacro camera_name_1:=zed_front camera_name_2:=zed_rear camera_model_1:=zedx camera_model_2:=zedxm use_zed_localization:=true
Captured stderr output: error: Not enough blocks
when instantiating macro: zed_camera (/app/ros2_ws/install/zed_wrapper/share/zed_wrapper/urdf/zed_macro.urdf.xacro)
in file: /app/ws/install/zed_robot_integration/share/zed_robot_integration/urdf/zed_robot_dual.urdf.xacro
ZED
OS: Ubuntu 22.04 running ROS2 Humble in a slightly modified Docker environment
GPU: Jetson Orin AGX
ZED SDK Version: v4.1.3
Other info: ROS2 HumbleThis caused me (a user new to xacro debugging, and ros2) quite a bit of debugging time. This would be great to have fixed for use as a functional example
Readme in this repository shows a list of examples, but the Aruco one points to a inexistant page:
https://github.com/stereolabs/zed-ros2-examples/blob/master/zed_aruco_localization
...
A page with info about this code example
A 404, not found, page.
ZED2
Does not matter.No response
I am trying to run the zed_aruco_localization example with just one marker, set to the origin of the map frame (i.e. pos = 0,0,0, or = 0,0,0).
But whenever I try to run this example with one marker, it outputs an infinite transform. I have tried this at different distances and doesn't seem to affect it.
When I try running the example with 2 markers, it doesn't output an infinite transform. But the transform is still quite off, and am just wondering if there is anything I am missing?
Here is my config file:
# config/aruco_loc.yaml
# Parameters for ArUco localization
---
/**:
ros__parameters:
general:
marker_count: 1 # Number of markers in the World
marker_size: 0.16 # Width/Height of the ArUco markers [m]
maximum_distance: 3.0 # Maximum distance of the target from the camera to consider it valid
detection_rate: 0.5 # Maximum detection frequency for pose update
camera_name: 'zed' # Name of the camera to relocate
world_frame_id: 'map' # Frame id of the world frame
refine_detection: false # If enabled the corners of the detected markers will be processed to obtain sub-pixel precision
debug:
active: false # Enable debug messages
marker_000:
aruco_id: 40 # ID of the ArUco tag as retrieved by the ArUco Detector code
position: [0.0,0.0,0.0]
orientation: [0.0,0.0,0.0] # Orientation with respect to the World origin [rad]
#marker_001:
# aruco_id: 19 # ID of the ArUco tag as retrieved by the ArUco Detector code
# position: [0.0,0.0,1.09] # Pose with respect to the World origin [m]
# orientation: [0.0,0.0,0.0] # Orientation with respect to the World origin [rad]
# Add a number of marker definitions equal to the number of markers in the World according to the `marker_count` value
#marker_xxx:
# aruco_id: YYY # ID of the ArUco tag as retrieved by the ArUco Detector code
# position: [x.x,y.y,z.z] # Pose with respect to the World origin [m]
# orientation: [R.R,P.P,Y.Y] # Orientation with respect to the World origin [rad]
ros2 launch zed_aruco_localization zed_aruco_loc.launch.py camera_model:=zed2iShould be outputting a valid transform from the marker to the camera.
It outputs an infinite transformation.
ZED2i
OS: Ubuntu 22.04
CPU: AMD64 (also tried on ARM64 (Jetson Xavier NX))
ZED SDK 4.0.8
ROS2 HumbleNo response
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