Closed MrOCW closed 1 year ago
hemalshahNV
commented
1 year ago Could you post a snippet of your launch file? It looks like disparity is fine but PointCloudNode is not running correctly and receiving the disparity for publishing to /points2. It is not clear why PointCloudNode appears as "/NitrosNode" in rQT either.
MrOCW
commented
1 year ago def generate_launch_description():
disparity_node = ComposableNode(
name='disparity',
package='isaac_ros_stereo_image_proc',
plugin='nvidia::isaac_ros::stereo_image_proc::DisparityNode',
parameters=[{
'backends': 'CUDA',
'max_disparity': 64.0,
}],
remappings=[('/left/image_rect', '/zed2i/zed_node/left_rgb/image_rect_color'),
('/right/image_rect','/zed2i/zed_node/right_rgb/image_rect_color'),
('/left/camera_info','/zed2i/zed_node/left/camera_info'),
('/right/camera_info','/zed2i/zed_node/right/camera_info'),
]
)
pointcloud_node = ComposableNode(
package='isaac_ros_stereo_image_proc',
plugin='nvidia::isaac_ros::stereo_image_proc::PointCloudNode',
parameters=[{
'use_color': False,
}],
remappings=[('/left/image_rect_color', '/zed2i/zed_node/left_rgb/image_rect_color'),
('/disparity','/zed2i/zed_node/disparity/disparity_image')])
container = ComposableNodeContainer(
name='disparity_container',
namespace='disparity',
package='rclcpp_components',
executable='component_container',
composable_node_descriptions=[pointcloud_node],
output='screen'
)Not launching disparity as i'm using the one from ZED.
hemalshahNV
commented
1 year ago Could you also post the part where you're launching the ZED node? There may be something about the disparity image that ZED is publishing that is incompatible with PointCloudNode. If you can post the output (truncated of course) of ros2 topic echo on the topic for ZED's disparity image: /zed2i/zed_node/disparity/disparity_image, that would be helpful to see if different fields are populated than we expected.
I attempted to use the zed2 camera's disparity image instead of isaac ros disparity image for the pointcloud and still, theres no output