issues at jetson - Githubissues

you wrote

Therefore, to use nvblox on jetson you have two options:

1. manually compile ROS2 Foxy and required dependent packages from source
2. or use the Isaac ROS development Docker image from [Isaac ROS Common](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_common).

However, there is also a third option to do dist-upgrade on jetson that will result in 20.04 ubuntu system-wide AV

@hemalshahNV how to run nvbox with zed stereolabs zed camera connected to jetson? how to run isaac_ros_nvblox with zed stereolabs camera? is it possible to use both apps with the camera? any? neither of the two?

admin@nvidia-desktop:/workspaces/isaac_ros-dev$ ros2 launch nvblox_nav2 carter_sim.launch.py
[INFO] [launch]: All log files can be found below /home/admin/.ros/log/2022-04-03-20-46-47-321749-nvidia-desktop-18936
[INFO] [launch]: Default logging verbosity is set to INFO
Task exception was never retrieved
future: <Task finished coro=<LaunchService._process_one_event() done, defined at /opt/ros/foxy/install/lib/python3.6/site-packages/launch/launch_service.py:226> exception=PackageNotFoundError("package 'rviz2' not found, searching: ['/workspaces/isaac_ros-dev/ros_ws/install/nvblox_rviz_plugin', '/workspaces/isaac_ros-dev/ros_ws/install/nvblox_ros', '/workspaces/isaac_ros-dev/ros_ws/install/nvblox_nav2', '/workspaces/isaac_ros-dev/ros_ws/install/nvblox_msgs', '/workspaces/isaac_ros-dev/ros_ws/install/isaac_ros_test', '/opt/ros/foxy/install']",)>
Traceback (most recent call last):
  File "/opt/ros/foxy/install/lib/python3.6/site-packages/ament_index_python/packages.py", line 50, in get_package_prefix
    content, package_prefix = get_resource('packages', package_name)
  File "/opt/ros/foxy/install/lib/python3.6/site-packages/ament_index_python/resources.py", line 49, in get_resource
    "Could not find the resource '%s' of type '%s'" % (resource_name, resource_type))
LookupError: Could not find the resource 'rviz2' of type 'packages'

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
  File "/opt/ros/foxy/install/lib/python3.6/site-packages/launch/launch_service.py", line 228, in _process_one_event
    await self.__process_event(next_event)
  File "/opt/ros/foxy/install/lib/python3.6/site-packages/launch/launch_service.py", line 248, in __process_event
    visit_all_entities_and_collect_futures(entity, self.__context))
  File "/opt/ros/foxy/install/lib/python3.6/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
    futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
  File "/opt/ros/foxy/install/lib/python3.6/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
    futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
  File "/opt/ros/foxy/install/lib/python3.6/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
    futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
  [Previous line repeated 3 more times]
  File "/opt/ros/foxy/install/lib/python3.6/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 38, in visit_all_entities_and_collect_futures
    sub_entities = entity.visit(context)
  File "/opt/ros/foxy/install/lib/python3.6/site-packages/launch/action.py", line 108, in visit
    return self.execute(context)
  File "/opt/ros/foxy/install/lib/python3.6/site-packages/launch_ros/actions/node.py", line 453, in execute
    ret = super().execute(context)
  File "/opt/ros/foxy/install/lib/python3.6/site-packages/launch/actions/execute_process.py", line 823, in execute
    self.__expand_substitutions(context)
  File "/opt/ros/foxy/install/lib/python3.6/site-packages/launch/actions/execute_process.py", line 668, in __expand_substitutions
    cmd = [perform_substitutions(context, x) for x in self.__cmd]
  File "/opt/ros/foxy/install/lib/python3.6/site-packages/launch/actions/execute_process.py", line 668, in <listcomp>
    cmd = [perform_substitutions(context, x) for x in self.__cmd]
  File "/opt/ros/foxy/install/lib/python3.6/site-packages/launch/utilities/perform_substitutions_impl.py", line 26, in perform_substitutions
    return ''.join([context.perform_substitution(sub) for sub in subs])
  File "/opt/ros/foxy/install/lib/python3.6/site-packages/launch/utilities/perform_substitutions_impl.py", line 26, in <listcomp>
    return ''.join([context.perform_substitution(sub) for sub in subs])
  File "/opt/ros/foxy/install/lib/python3.6/site-packages/launch/launch_context.py", line 197, in perform_substitution
    return substitution.perform(self)
  File "/opt/ros/foxy/install/lib/python3.6/site-packages/launch_ros/substitutions/executable_in_package.py", line 76, in perform
    package_prefix = super().perform(context)
  File "/opt/ros/foxy/install/lib/python3.6/site-packages/launch_ros/substitutions/find_package.py", line 79, in perform
    result = self.find(package)
  File "/opt/ros/foxy/install/lib/python3.6/site-packages/launch_ros/substitutions/find_package.py", line 96, in find
    return get_package_prefix(package_name)
  File "/opt/ros/foxy/install/lib/python3.6/site-packages/ament_index_python/packages.py", line 53, in get_package_prefix
    "package '{}' not found, searching: {}".format(package_name, get_search_paths()))
ament_index_python.packages.PackageNotFoundError: "package 'rviz2' not found, searching: ['/workspaces/isaac_ros-dev/ros_ws/install/nvblox_rviz_plugin', '/workspaces/isaac_ros-dev/ros_ws/install/nvblox_ros', '/workspaces/isaac_ros-dev/ros_ws/install/nvblox_nav2', '/workspaces/isaac_ros-dev/ros_ws/install/nvblox_msgs', '/workspaces/isaac_ros-dev/ros_ws/install/isaac_ros_test', '/opt/ros/foxy/install']"
Task exception was never retrieved
future: <Task finished coro=<LaunchService._process_one_event() done, defined at /opt/ros/foxy/install/lib/python3.6/site-packages/launch/launch_service.py:226> exception=RuntimeError('Signal event received before subprocess transport available.',)>
Traceback (most recent call last):
  File "/opt/ros/foxy/install/lib/python3.6/site-packages/launch/launch_service.py", line 228, in _process_one_event
    await self.__process_event(next_event)
  File "/opt/ros/foxy/install/lib/python3.6/site-packages/launch/launch_service.py", line 248, in __process_event
    visit_all_entities_and_collect_futures(entity, self.__context))
  File "/opt/ros/foxy/install/lib/python3.6/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 38, in visit_all_entities_and_collect_futures
    sub_entities = entity.visit(context)
  File "/opt/ros/foxy/install/lib/python3.6/site-packages/launch/action.py", line 108, in visit
    return self.execute(context)
  File "/opt/ros/foxy/install/lib/python3.6/site-packages/launch/actions/opaque_function.py", line 75, in execute
    return self.__function(context, *self.__args, **self.__kwargs)
  File "/opt/ros/foxy/install/lib/python3.6/site-packages/launch/actions/execute_process.py", line 443, in __on_signal_process_event
    raise RuntimeError('Signal event received before subprocess transport available.')
RuntimeError: Signal event received before subprocess transport available.
[INFO] [lifecycle_manager-1]: process started with pid [18940]
[lifecycle_manager-1] [INFO] [1649018807.595573509] [lifecycle_manager_map]: Creating
[lifecycle_manager-1] [INFO] [1649018807.603404317] [lifecycle_manager_map]: Creating and initializing lifecycle service clients
[lifecycle_manager-1] [INFO] [1649018807.604973967] [lifecycle_manager_map]: Starting managed nodes bringup...
[lifecycle_manager-1] [INFO] [1649018807.605073844] [lifecycle_manager_map]: Configuring map_server
[ERROR] [lifecycle_manager-1]: process[lifecycle_manager-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM'
[INFO] [lifecycle_manager-1]: sending signal 'SIGTERM' to process[lifecycle_manager-1]
[ERROR] [lifecycle_manager-1]: process has died [pid 18940, exit code -15, cmd '/opt/ros/foxy/install/lib/nav2_lifecycle_manager/lifecycle_manager --ros-args -r __node:=lifecycle_manager_map --params-file /tmp/launch_params_h1pcvnem --params-file /tmp/launch_params_pn7v6yc0 --params-file /tmp/launch_params_j1uyqwqy'].

Jetpack 4.6.1 doesn't support Ubuntu 20.04. You need to either build ROS from source or build the docker image on 18.04. So no there's no 3rd option yet. Jetpack 5.0 will support 20.04 and then we'll have a nicer install process. :) I do not recommend doing a dist-upgrade.

You're missing rviz2. Either install rviz2 or use the docker image: https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_common

You can use the zed2.

ros2 run nvblox_ros nvblox_node --ros-args -r depth/camera_info:=/camera/depth/camera_info \
-r depth/image:=/camera/depth/image_rect_raw -p global_frame:=<whatever_tf_frame_the_zed2_uses>

@helenol Thank you for following up

You're missing rviz2. Either install rviz2 or use the docker image https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_common

However, it is exactly the docker image I used, as it seems to me, as I used the docker steps for Xavier Jetson that clones the docker image https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_common as one of steps

here is the example how I run the isssac ros common container

 ~/workspaces/isaac_ros-dev/ros_ws/src/isaac_ros_common/scripts/run_dev.sh
isaac_ros_dev not specified, assuming /home/nvidia/workspaces/isaac_ros-dev
~ ~
Attaching to running container: isaac_ros_dev-aarch64-container
admin@nvidia-desktop:/workspaces/isaac_ros-dev$ source /workspaces/isaac_ros-dev/ros_ws/install/setup.bash
admin@nvidia-desktop:/workspaces/isaac_ros-dev$ ros2 run nvblox_ros nvblox_node --ros-args -r depth/camera_info:=/camera/depth/camera_info -r depth/image:=/camera/depth/image_rect_raw 
I0404 16:04:06.438750 27193 layer_cake_impl.h:31] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_9TsdfVoxelEEE , and memory_type: kDevice to LayerCake.
I0404 16:04:06.439639 27193 layer_cake_impl.h:31] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_10ColorVoxelEEE , and memory_type: kDevice to LayerCake.
I0404 16:04:06.439697 27193 layer_cake_impl.h:31] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_9EsdfVoxelEEE , and memory_type: kDevice to LayerCake.
I0404 16:04:06.439723 27193 layer_cake_impl.h:31] Adding Layer with type: N6nvblox10BlockLayerINS_9MeshBlockEEE , and memory_type: kDevice to LayerCake.
[INFO] [1649088246.448897243] [nvblox_node]: Outputting results (as requested) to: 
[INFO] [1649088246.449255690] [nvblox_node]: Started up nvblox node in frame map and voxel size 0.05

but it won't work without installing the zed rose node, right?

@AndreV84 If you want to use the Zed camera in ROS2 with nvblox you will have to install the ROS2 Zed camera drivers. :) I don't, uh, really see a way around using the camera without running the drivers.

You can run the library on Jetson without rviz (you can run rviz on another device, for example) with:

ros2 launch nvblox_nav2 carter_sim.launch.py run_rviz:=false

@helenol now the situation has changed I got zed ros2 node running but nvblox got corrupted with the most recent changes as it seems to me


 source /workspaces/isaac_ros-dev/ros_ws/install/setup.bash
not found: "/workspaces/isaac_ros-dev/ros_ws/install/camera_info_manager/share/camera_info_manager/local_setup.bash"
admin@nvidia-desktop:/workspaces/isaac_ros-dev$ source /workspaces/isaac_ros-dev/ros_ws/install/setup.bash
not found: "/workspaces/isaac_ros-dev/ros_ws/install/camera_info_manager/share/camera_info_manager/local_setup.bash"

However, I can run the zed command you shared. but there are no vizualization outputs anywhere


 ros2 run nvblox_ros nvblox_node --ros-args -r depth/camera_info:=/camera/depth/camera_info -r depth/image:=/camera/depth/image_rect_raw  -p global_frame:=map
I0407 14:27:19.763958 29223 layer_cake_impl.h:31] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_9TsdfVoxelEEE , and memory_type: kDevice to LayerCake.
I0407 14:27:19.764844 29223 layer_cake_impl.h:31] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_10ColorVoxelEEE , and memory_type: kDevice to LayerCake.
I0407 14:27:19.764941 29223 layer_cake_impl.h:31] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_9EsdfVoxelEEE , and memory_type: kDevice to LayerCake.
I0407 14:27:19.764971 29223 layer_cake_impl.h:31] Adding Layer with type: N6nvblox10BlockLayerINS_9MeshBlockEEE , and memory_type: kDevice to LayerCake.
[INFO] [1649341639.776463217] [nvblox_node]: Outputting results (as requested) to: 
[INFO] [1649341639.776912362] [nvblox_node]: Started up nvblox node in frame map and voxel size 0.05

there are no any visual outputs


admin@nvidia-desktop:/workspaces/isaac_ros-dev$ ros2 topic list
/diagnostics
/parameter_events
/rosout
/tf
/tf_static
/zed/joint_states
/zed/robot_description
/zed/zed_node/confidence/confidence_map
/zed/zed_node/depth/camera_info
/zed/zed_node/depth/depth_info
/zed/zed_node/depth/depth_registered
/zed/zed_node/disparity/disparity_image
/zed/zed_node/left/camera_info
/zed/zed_node/left/image_rect_color
/zed/zed_node/left/image_rect_gray
/zed/zed_node/left_raw/camera_info
/zed/zed_node/left_raw/image_raw_color
/zed/zed_node/left_raw/image_raw_gray
/zed/zed_node/odom
/zed/zed_node/path_map
/zed/zed_node/path_odom
/zed/zed_node/point_cloud/cloud_registered
/zed/zed_node/pose
/zed/zed_node/pose_with_covariance
/zed/zed_node/rgb/camera_info
/zed/zed_node/rgb/image_rect_color
/zed/zed_node/rgb/image_rect_gray
/zed/zed_node/rgb_raw/camera_info
/zed/zed_node/rgb_raw/image_raw_color
/zed/zed_node/rgb_raw/image_raw_gray
/zed/zed_node/right/camera_info
/zed/zed_node/right/image_rect_color
/zed/zed_node/right/image_rect_gray
/zed/zed_node/right_raw/camera_info
/zed/zed_node/right_raw/image_raw_color
/zed/zed_node/right_raw/image_raw_gray
/zed/zed_node/stereo/image_rect_color
/zed/zed_node/stereo_raw/image_raw_color
admin@nvidia-desktop:/workspaces/isaac_ros-dev$  ros2 run nvblox_ros nvblox_node --ros-args -r depth/camera_info:=/camera/depth/camera_info -r depth/image:=/camera/depth/image_rect_raw  -p global_frame:=map
I0407 15:32:42.804675 12493 layer_cake_impl.h:31] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_9TsdfVoxelEEE , and memory_type: kDevice to LayerCake.
I0407 15:32:42.805625 12493 layer_cake_impl.h:31] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_10ColorVoxelEEE , and memory_type: kDevice to LayerCake.
I0407 15:32:42.805663 12493 layer_cake_impl.h:31] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_9EsdfVoxelEEE , and memory_type: kDevice to LayerCake.
I0407 15:32:42.805697 12493 layer_cake_impl.h:31] Adding Layer with type: N6nvblox10BlockLayerINS_9MeshBlockEEE , and memory_type: kDevice to LayerCake.
[INFO] [1649345562.813117348] [nvblox_node]: Outputting results (as requested) to: 
[INFO] [1649345562.813550352] [nvblox_node]: Started up nvblox node in frame map and voxel size 0.05

what image_common version is used in your container? stereolabs folks pointed out that only https://github.com/ros-perception/image_common/releases/tag/3.0.0 will see zed topics

seems we got ubuntu 20.04 for jetson in preview 5.0. already https://developer.nvidia.com/jetpack-sdk-50dp so native method maybe will work better

ros2 run nvblox_ros nvblox_node --ros-args -r depth/camera_info:=/camera/depth/camera_info \ -r depth/image:=/camera/depth/image_rect_raw -p global_frame:=

Hello @helenol I was able to figure out zed wraper setup on Jetpack 5.0; However the arguments you proposed above do not match nothing that zed camera provides as output topics. Could you provide refined arguments for vizualization of zed outputs based onm the list below, please?


 ros2 topic list
/diagnostics
/parameter_events
/rosout
/tf
/tf_static
/zed/joint_states
/zed/robot_description
/zed/zed_node/confidence/confidence_map
/zed/zed_node/depth/camera_info
/zed/zed_node/depth/depth_info
/zed/zed_node/depth/depth_registered
/zed/zed_node/disparity/disparity_image
/zed/zed_node/left/camera_info
/zed/zed_node/left/image_rect_color
/zed/zed_node/left/image_rect_gray
/zed/zed_node/left_raw/camera_info
/zed/zed_node/left_raw/image_raw_color
/zed/zed_node/left_raw/image_raw_gray
/zed/zed_node/odom
/zed/zed_node/path_map
/zed/zed_node/path_odom
/zed/zed_node/point_cloud/cloud_registered
/zed/zed_node/pose
/zed/zed_node/pose_with_covariance
/zed/zed_node/rgb/camera_info
/zed/zed_node/rgb/image_rect_color
/zed/zed_node/rgb/image_rect_gray
/zed/zed_node/rgb_raw/camera_info
/zed/zed_node/rgb_raw/image_raw_color
/zed/zed_node/rgb_raw/image_raw_gray
/zed/zed_node/right/camera_info
/zed/zed_node/right/image_rect_color
/zed/zed_node/right/image_rect_gray
/zed/zed_node/right_raw/camera_info
/zed/zed_node/right_raw/image_raw_color
/zed/zed_node/right_raw/image_raw_gray
/zed/zed_node/stereo/image_rect_color
/zed/zed_node/stereo_raw/image_raw_color

there is no vizualization output


ros2 run nvblox_ros nvblox_node --ros-args -r depth/camera_info:=/zed/zed_node/depth/camera_info -r depth/image:=/zed/zed_node/depth/depth_registered -p global_frame:=map
I0414 03:08:54.979846 21379 layer_cake_impl.h:31] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_9TsdfVoxelEEE , and memory_type: kDevice to LayerCake.
I0414 03:08:54.980430 21379 layer_cake_impl.h:31] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_10ColorVoxelEEE , and memory_type: kDevice to LayerCake.
I0414 03:08:54.980460 21379 layer_cake_impl.h:31] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_9EsdfVoxelEEE , and memory_type: kDevice to LayerCake.
I0414 03:08:54.980485 21379 layer_cake_impl.h:31] Adding Layer with type: N6nvblox10BlockLayerINS_9MeshBlockEEE , and memory_type: kDevice to LayerCake.
[INFO] [1649920134.988893534] [nvblox_node]: Outputting results (as requested) to: 
[INFO] [1649920134.989234345] [nvblox_node]: Started up nvblox node in frame map and voxel size 0.05
[INFO] [1649920135.088369260] [nvblox_node]: Depth frame statistics: 
avg=nan, min=nan, max=nan, std_dev=nan, count=0
[INFO] [1649920135.088571059] [nvblox_node]: Timing statistics: 

[INFO] [1649920145.137678686] [nvblox_node]: Depth frame statistics: 
avg=65.973510, min=11.000000, max=118.000000, std_dev=7.351125, count=151
[INFO] [1649920145.138326916] [nvblox_node]: Timing statistics: 
NVBlox Timing
-----------
esdf/integrate/compute/neighbors             62 00.016905   (00.000273 +- 00.000124)    [00.000151,00.000804]
esdf/integrate/compute/neighbors/kernel      62 00.004362   (00.000070 +- 00.000018)    [00.000055,00.000171]
esdf/integrate/compute/neighbors/table       62 00.005375   (00.000087 +- 00.000063)    [00.000019,00.000436]
esdf/integrate/compute/sweep                 62 00.004603   (00.000074 +- 00.000043)    [00.000029,00.000279]
esdf/integrate_slice                         19 00.085214   (00.004485 +- 00.004316)    [00.002121,00.021809]
esdf/integrate_slice/allocate                19 00.038929   (00.002049 +- 00.004119)    [00.000307,00.019020]
esdf/integrate_slice/clear                   18 00.012554   (00.000697 +- 00.000131)    [00.000320,00.000928]
esdf/integrate_slice/compute                 19 00.023626   (00.001243 +- 00.000338)    [00.000737,00.001914]
esdf/integrate_slice/mark_sites              19 00.009872   (00.000520 +- 00.000258)    [00.000261,00.001141]
in_view/combined_kernel                      38 00.054325   (00.001430 +- 00.000033)    [00.001309,00.001502]
in_view/destroy                              38 00.000005   (00.000000 +- 00.000000)    [00.000000,00.000000]
in_view/output                               38 00.005345   (00.000141 +- 00.000056)    [00.000085,00.000371]
in_view/setup                                38 00.002612   (00.000069 +- 00.000085)    [00.000045,00.000583]
mesh/gpu/get_meshable                        38 00.022310   (00.000587 +- 00.000238)    [00.000290,00.001188]
mesh/gpu/integrate                           38 00.520089   (00.013687 +- 00.009910)    [00.009099,00.062586]
mesh/gpu/mesh_blocks                         38 00.480138   (00.012635 +- 00.009769)    [00.008249,00.061314]
mesh/gpu/mesh_blocks/block_allocation        38 00.086669   (00.002281 +- 00.005671)    [00.000241,00.035817]
mesh/gpu/mesh_blocks/copy_out                38 00.001687   (00.000044 +- 00.000050)    [00.000018,00.000248]
mesh/gpu/mesh_blocks/kernel_table            38 00.201008   (00.005290 +- 00.000396)    [00.004623,00.006128]
mesh/gpu/mesh_blocks/kernel_vertices         38 00.102247   (00.002691 +- 00.000229)    [00.002346,00.003478]
mesh/gpu/mesh_blocks/prep                    38 00.087773   (00.002310 +- 00.005201)    [00.000357,00.021396]
ros/esdf                                     19 00.086523   (00.004554 +- 00.004328)    [00.002172,00.021928]
ros/esdf/integrate                           19 00.086257   (00.004540 +- 00.004323)    [00.002160,00.021889]
ros/esdf/output                              19 00.000180   (00.000009 +- 00.000005)    [00.000007,00.000029]
ros/mesh                                     38 00.571534   (00.015040 +- 00.011377)    [00.009760,00.072628]
ros/mesh/integrate_and_color                 38 00.570881   (00.015023 +- 00.011374)    [00.009747,00.072598]
ros/mesh/output                              38 00.000235   (00.000006 +- 00.000001)    [00.000004,00.000008]
ros/total                                   151 00.814180   (00.005392 +- 00.006805)    [00.000001,00.117208]
ros/tsdf                                     76 00.153336   (00.002018 +- 00.001672)    [00.000001,00.021637]
ros/tsdf/conversions                         38 00.020501   (00.000539 +- 00.000113)    [00.000469,00.001197]
ros/tsdf/integrate                           38 00.130571   (00.003436 +- 00.002868)    [00.002349,00.020267]
ros/tsdf/transform                           38 00.001549   (00.000041 +- 00.000014)    [00.000030,00.000088]
tsdf/integrate                               38 00.122550   (00.003225 +- 00.002832)    [00.002216,00.019873]
tsdf/integrate/allocate_blocks               38 00.036769   (00.000968 +- 00.002560)    [00.000208,00.016155]
tsdf/integrate/get_blocks_in_view            38 00.062816   (00.001653 +- 00.000128)    [00.001521,00.002313]
tsdf/integrate/update_blocks                 38 00.022201   (00.000584 +- 00.000209)    [00.000401,00.001382]

[INFO] [1649920155.147660883] [nvblox_node]: Depth frame statistics: 
avg=66.066445, min=11.000000, max=118.000000, std_dev=5.750248, count=301
[INFO] [1649920155.148317560] [nvblox_node]: Timing statistics: 
NVBlox Timing
-----------
esdf/integrate/compute/neighbors            112 00.028254   (00.000252 +- 00.000111)    [00.000132,00.000843]
esdf/integrate/compute/neighbors/kernel     112 00.007113   (00.000064 +- 00.000014)    [00.000044,00.000171]
esdf/integrate/compute/neighbors/table      112 00.009072   (00.000081 +- 00.000063)    [00.000017,00.000436]
esdf/integrate/compute/sweep                112 00.007970   (00.000071 +- 00.000030)    [00.000029,00.000279]
esdf/integrate_slice                         38 00.127838   (00.003364 +- 00.003279)    [00.001422,00.021809]
esdf/integrate_slice/allocate                38 00.048434   (00.001275 +- 00.003018)    [00.000305,00.019020]
esdf/integrate_slice/clear                   37 00.022140   (00.000598 +- 00.000190)    [00.000261,00.000985]
esdf/integrate_slice/compute                 38 00.040143   (00.001056 +- 00.000347)    [00.000572,00.001914]
esdf/integrate_slice/mark_sites              38 00.016718   (00.000440 +- 00.000206)    [00.000261,00.001141]
in_view/combined_kernel                      75 00.107916   (00.001439 +- 00.000038)    [00.001309,00.001529]
in_view/destroy                              75 00.000009   (00.000000 +- 00.000000)    [00.000000,00.000000]
in_view/output                               75 00.009233   (00.000123 +- 00.000026)    [00.000085,00.000371]
in_view/setup                                75 00.004717   (00.000063 +- 00.000009)    [00.000045,00.000583]
mesh/gpu/get_meshable                        75 00.037918   (00.000506 +- 00.000106)    [00.000290,00.001188]
mesh/gpu/integrate                           75 00.916795   (00.012224 +- 00.002887)    [00.007794,00.062586]
mesh/gpu/mesh_blocks                         75 00.843880   (00.011252 +- 00.002821)    [00.007095,00.061314]
mesh/gpu/mesh_blocks/block_allocation        75 00.108724   (00.001450 +- 00.000521)    [00.000159,00.035817]
mesh/gpu/mesh_blocks/copy_out                75 00.003017   (00.000040 +- 00.000037)    [00.000017,00.000284]
mesh/gpu/mesh_blocks/kernel_table            75 00.406447   (00.005419 +- 00.000517)    [00.003961,00.006506]
mesh/gpu/mesh_blocks/kernel_vertices         75 00.203620   (00.002715 +- 00.000238)    [00.002125,00.003481]
mesh/gpu/mesh_blocks/prep                    75 00.120699   (00.001609 +- 00.002233)    [00.000357,00.021396]
ros/esdf                                     38 00.130472   (00.003433 +- 00.003287)    [00.001485,00.021928]
ros/esdf/integrate                           38 00.129970   (00.003420 +- 00.003283)    [00.001473,00.021889]
ros/esdf/output                              38 00.000338   (00.000009 +- 00.000003)    [00.000007,00.000029]
ros/mesh                                     75 00.997289   (00.013297 +- 00.003095)    [00.008300,00.072628]
ros/mesh/integrate_and_color                 75 00.995780   (00.013277 +- 00.003095)    [00.008291,00.072598]
ros/mesh/output                              75 00.000451   (00.000006 +- 00.000001)    [00.000004,00.000008]
ros/total                                   301 01.409278   (00.004682 +- 00.007789)    [00.000001,00.117208]
ros/tsdf                                    151 00.277042   (00.001835 +- 00.001674)    [00.000001,00.021637]
ros/tsdf/conversions                         75 00.040835   (00.000544 +- 00.000046)    [00.000469,00.001197]
ros/tsdf/integrate                           75 00.231919   (00.003092 +- 00.000295)    [00.002277,00.020267]
ros/tsdf/transform                           75 00.002946   (00.000039 +- 00.000017)    [00.000030,00.000116]
tsdf/integrate                               75 00.215778   (00.002877 +- 00.000290)    [00.002112,00.019873]
tsdf/integrate/allocate_blocks               75 00.049840   (00.000665 +- 00.000212)    [00.000208,00.016155]
tsdf/integrate/get_blocks_in_view            75 00.122875   (00.001638 +- 00.000055)    [00.001479,00.002313]
tsdf/integrate/update_blocks                 75 00.041764   (00.000557 +- 00.000109)    [00.000393,00.001382]

[INFO] [1649920165.207074796] [nvblox_node]: Depth frame statistics: 
avg=66.061947, min=11.000000, max=118.000000, std_dev=5.206417, count=452
[INFO] [1649920165.207752052] [nvblox_node]: Timing statistics: 
NVBlox Timing
-----------
esdf/integrate/compute/neighbors            157 00.038622   (00.000246 +- 00.000108)    [00.000132,00.000843]
esdf/integrate/compute/neighbors/kernel     157 00.009459   (00.000060 +- 00.000012)    [00.000044,00.000171]
esdf/integrate/compute/neighbors/table      157 00.012804   (00.000082 +- 00.000070)    [00.000016,00.000436]
esdf/integrate/compute/sweep                157 00.010975   (00.000070 +- 00.000032)    [00.000022,00.000279]
esdf/integrate_slice                         57 00.166564   (00.002922 +- 00.000781)    [00.001238,00.021809]
esdf/integrate_slice/allocate                57 00.057056   (00.001001 +- 00.000280)    [00.000305,00.019020]
esdf/integrate_slice/clear                   54 00.030157   (00.000558 +- 00.000192)    [00.000259,00.000985]
esdf/integrate_slice/compute                 57 00.055184   (00.000968 +- 00.000291)    [00.000357,00.001914]
esdf/integrate_slice/mark_sites              57 00.023601   (00.000414 +- 00.000154)    [00.000261,00.001141]
in_view/combined_kernel                     113 00.162767   (00.001440 +- 00.000034)    [00.001309,00.001529]
in_view/destroy                             113 00.000014   (00.000000 +- 00.000000)    [00.000000,00.000000]
in_view/output                              113 00.013102   (00.000116 +- 00.000014)    [00.000085,00.000371]
in_view/setup                               113 00.006845   (00.000061 +- 00.000010)    [00.000045,00.000583]
mesh/gpu/get_meshable                       113 00.052284   (00.000463 +- 00.000067)    [00.000290,00.001188]
mesh/gpu/integrate                          113 01.323280   (00.011710 +- 00.003666)    [00.007794,00.062586]
mesh/gpu/mesh_blocks                        113 01.217984   (00.010779 +- 00.003586)    [00.007095,00.061314]
mesh/gpu/mesh_blocks/block_allocation       113 00.128075   (00.001133 +- 00.000386)    [00.000159,00.035817]
mesh/gpu/mesh_blocks/copy_out               113 00.004333   (00.000038 +- 00.000050)    [00.000017,00.000284]
mesh/gpu/mesh_blocks/kernel_table           113 00.620351   (00.005490 +- 00.000528)    [00.003617,00.006745]
mesh/gpu/mesh_blocks/kernel_vertices        113 00.310721   (00.002750 +- 00.000257)    [00.002125,00.003608]
mesh/gpu/mesh_blocks/prep                   113 00.152563   (00.001350 +- 00.002910)    [00.000357,00.021396]
ros/esdf                                     57 00.170436   (00.002990 +- 00.000782)    [00.001329,00.021928]
ros/esdf/integrate                           57 00.169679   (00.002977 +- 00.000781)    [00.001317,00.021889]
ros/esdf/output                              57 00.000493   (00.000009 +- 00.000001)    [00.000007,00.000029]
ros/mesh                                    113 01.432510   (00.012677 +- 00.003886)    [00.008300,00.072628]
ros/mesh/integrate_and_color                113 01.430317   (00.012658 +- 00.003887)    [00.008291,00.072598]
ros/mesh/output                             113 00.000677   (00.000006 +- 00.000001)    [00.000004,00.000008]
ros/total                                   452 02.014717   (00.004457 +- 00.006860)    [00.000001,00.117208]
ros/tsdf                                    226 00.405006   (00.001792 +- 00.001713)    [00.000001,00.021637]
ros/tsdf/conversions                        113 00.062560   (00.000554 +- 00.000062)    [00.000469,00.001197]
ros/tsdf/integrate                          113 00.336076   (00.002974 +- 00.000235)    [00.002277,00.020267]
ros/tsdf/transform                          113 00.004297   (00.000038 +- 00.000011)    [00.000030,00.000116]
tsdf/integrate                              113 00.310640   (00.002749 +- 00.000225)    [00.002112,00.019873]
tsdf/integrate/allocate_blocks              113 00.062066   (00.000549 +- 00.000123)    [00.000208,00.016155]
tsdf/integrate/get_blocks_in_view           113 00.184258   (00.001631 +- 00.000042)    [00.001479,00.002313]
tsdf/integrate/update_blocks                113 00.062412   (00.000552 +- 00.000103)    [00.000393,00.001382]

[INFO] [1649920175.208414186] [nvblox_node]: Depth frame statistics: 
avg=66.081395, min=11.000000, max=118.000000, std_dev=5.109923, count=602
[INFO] [1649920175.209130420] [nvblox_node]: Timing statistics: 
NVBlox Timing
-----------
esdf/integrate/compute/neighbors            201 00.050412   (00.000251 +- 00.000154)    [00.000132,00.000853]
esdf/integrate/compute/neighbors/kernel     201 00.012189   (00.000061 +- 00.000022)    [00.000044,00.000171]
esdf/integrate/compute/neighbors/table      201 00.016870   (00.000084 +- 00.000078)    [00.000016,00.000436]
esdf/integrate/compute/sweep                201 00.013924   (00.000069 +- 00.000028)    [00.000022,00.000279]
esdf/integrate_slice                         75 00.205608   (00.002741 +- 00.000662)    [00.001056,00.021809]
esdf/integrate_slice/allocate                75 00.065835   (00.000878 +- 00.000189)    [00.000305,00.019020]
esdf/integrate_slice/clear                   67 00.037096   (00.000554 +- 00.000177)    [00.000259,00.000985]
esdf/integrate_slice/compute                 75 00.071665   (00.000956 +- 00.000300)    [00.000357,00.001914]
esdf/integrate_slice/mark_sites              75 00.030271   (00.000404 +- 00.000129)    [00.000261,00.001141]
in_view/combined_kernel                     150 00.216827   (00.001446 +- 00.000040)    [00.001309,00.001545]
in_view/destroy                             150 00.000018   (00.000000 +- 00.000000)    [00.000000,00.000000]
in_view/output                              150 00.016888   (00.000113 +- 00.000011)    [00.000085,00.000371]
in_view/setup                               150 00.008928   (00.000060 +- 00.000011)    [00.000045,00.000583]
mesh/gpu/get_meshable                       150 00.067581   (00.000451 +- 00.000096)    [00.000290,00.001188]
mesh/gpu/integrate                          150 01.767627   (00.011784 +- 00.003279)    [00.007794,00.062586]
mesh/gpu/mesh_blocks                        150 01.629119   (00.010861 +- 00.003183)    [00.007095,00.061314]
mesh/gpu/mesh_blocks/block_allocation       150 00.150770   (00.001005 +- 00.000439)    [00.000159,00.035817]
mesh/gpu/mesh_blocks/copy_out               150 00.005882   (00.000039 +- 00.000036)    [00.000017,00.000284]
mesh/gpu/mesh_blocks/kernel_table           150 00.849220   (00.005661 +- 00.000730)    [00.003617,00.007521]
mesh/gpu/mesh_blocks/kernel_vertices        150 00.424366   (00.002829 +- 00.000395)    [00.002125,00.003883]
mesh/gpu/mesh_blocks/prep                   150 00.196299   (00.001309 +- 00.002431)    [00.000357,00.021396]
ros/esdf                                     75 00.211028   (00.002814 +- 00.000664)    [00.001136,00.021928]
ros/esdf/integrate                           75 00.210041   (00.002801 +- 00.000664)    [00.001124,00.021889]
ros/esdf/output                              75 00.000641   (00.000009 +- 00.000001)    [00.000007,00.000029]
ros/mesh                                    150 01.907953   (00.012720 +- 00.003459)    [00.008300,00.072628]
ros/mesh/integrate_and_color                150 01.904867   (00.012699 +- 00.003456)    [00.008291,00.072598]
ros/mesh/output                             150 00.000957   (00.000006 +- 00.000006)    [00.000004,00.000036]
ros/total                                   602 02.660020   (00.004419 +- 00.006984)    [00.000001,00.117208]
ros/tsdf                                    301 00.531740   (00.001767 +- 00.001699)    [00.000001,00.021637]
ros/tsdf/conversions                        150 00.082417   (00.000549 +- 00.000049)    [00.000469,00.001197]
ros/tsdf/integrate                          150 00.440930   (00.002940 +- 00.000231)    [00.002277,00.020267]
ros/tsdf/transform                          150 00.005539   (00.000037 +- 00.000011)    [00.000029,00.000116]
tsdf/integrate                              150 00.405053   (00.002700 +- 00.000214)    [00.002112,00.019873]
tsdf/integrate/allocate_blocks              150 00.075725   (00.000505 +- 00.000131)    [00.000208,00.016155]
tsdf/integrate/get_blocks_in_view           150 00.244747   (00.001632 +- 00.000049)    [00.001479,00.002313]
tsdf/integrate/update_blocks                150 00.082245   (00.000548 +- 00.000080)    [00.000393,00.001382]

seems it works but it doesn't display nothing how do I get visdual outputs?


ros2 run nvblox_ros nvblox_node --ros-args -r depth/camera_info:=/zed/zed_node/depth/camera_info -r depth/image:=/zed/zed_node/depth/depth_registered -p global_frame:=map

@helenol Screenshot from 2022-04-14 03-30-48 is that it ? no coloring supported? am I missing something?

Is it possible to in some way write(Save) one of current point clouds(meshes) ? in mesh/ point cloud file format? @helenol also what is with nav2/ coloring? can not be used with rgb-d camera live input?

Sorry, your setup seems to be a bit different from what mine was. Glad you got the depth input hooked up. You also need the color input hooked up for coloring.

ros2 run nvblox_ros nvblox_node --ros-args -r depth/camera_info:=/zed/zed_node/depth/camera_info \ 
-r depth/image:=/zed/zed_node/depth/depth_registered \
-r  color/image:=/zed/zed_node/rgb/image_rect_color
-r color/camera_info:=/zed/zed_node/rgb/color_info
-p global_frame:=map

Should hook up the coloring for you. There's a /save_ply service call to output the mesh as ply. All of the inputs, outputs, and parameters, and service calls are detailed in the readme: https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_nvblox#services

@helenol Thank you for following up! I can see the color information from terminal e.g. with

 ros2 topic hz /zed/zed_node/rgb/image_rect_color
average rate: 3.927
    min: 0.065s max: 0.610s std dev: 0.24505s window: 6
average rate: 7.115
    min: 0.055s max: 0.610s std dev: 0.16912s window: 18

but after I execute the following nvblox call, it doesn't seem to return color on /nvblox_node/mesh outputs, so it is grey only still

ros2 run nvblox_ros nvblox_node --ros-args -r depth/camera_info:=/zed/zed_node/depth/camera_info -r depth/image:=/zed/zed_node/depth/depth_registered -r  color/image:=/zed/zed_node/rgb/image_rect_color -r color/camera_info:=/zed/zed_node/rgb/color_info -p global_frame:=map

the problem probably is because this topic seems empty?

/zed/zed_node/rgb/color_info

this doesn't seem to publish any data

were you able to vizualize colored mesh from rgbd camera at your setup with jetson or x86_64?

probably you meant

/zed/zed_node/rgb/camera_info rather than /zed/zed_node/rgb/color_info

but still no color


rosrun nvblox_ros nvblox_node --ros-args -r depth/camera_info:=/zed/zed_node/depth/camera_info -r depth/image:=/zed/zed_node/depth/depth_registered -r  color/image:=/zed/zed_node/rgb/image_rect_color -r color/camera_info:=/zed/zed_node/rgb/camera_info -p global_frame:=map
I0420 01:08:13.289378  5872 layer_cake_impl.h:31] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_9TsdfVoxelEEE , and memory_type: kDevice to LayerCake.
I0420 01:08:13.290109  5872 layer_cake_impl.h:31] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_10ColorVoxelEEE , and memory_type: kDevice to LayerCake.
I0420 01:08:13.290144  5872 layer_cake_impl.h:31] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_9EsdfVoxelEEE , and memory_type: kDevice to LayerCake.
I0420 01:08:13.290171  5872 layer_cake_impl.h:31] Adding Layer with type: N6nvblox10BlockLayerINS_9MeshBlockEEE , and memory_type: kDevice to LayerCake.
[INFO] [1650431293.300284067] [nvblox_node]: Outputting results (as requested) to: 
[INFO] [1650431293.300632295] [nvblox_node]: Started up nvblox node in frame map and voxel size 0.05
[INFO] [1650431408.944434788] [nvblox_node]: RGB frame statistics: 
avg=nan, min=nan, max=nan, std_dev=nan, count=0
[INFO] [1650431408.952606139] [nvblox_node]: Depth frame statistics: 
avg=nan, min=nan, max=nan, std_dev=nan, count=0
[INFO] [1650431408.952850686] [nvblox_node]: Timing statistics: 
NVBlox Timing
-----------
ros/color         1 00.000003   (00.000003 +- 00.000000)    [00.000003,00.000003]
ros/total         1 00.000015   (00.000015 +- 00.000000)    [00.000015,00.000015]

[INFO] [1650431409.349673370] [nvblox_node]: Got a new subscriber, sending entire map.
[ERROR] [1650431409.818310321] [nvblox_node]: Failed to transform color image.
[ERROR] [1650431410.231222328] [nvblox_node]: Failed to transform color image.
[ERROR] [1650431410.231421242] [nvblox_node]: Failed to transform color image.
[ERROR] [1650431411.506182894] [nvblox_node]: Failed to transform color image.
[ERROR] [1650431411.506396753] [nvblox_node]: Failed to transform color image.

could you also share an example command for save_ply execution? How do I start the service from the terminal? something like this won't work

 ros2 run nvblox_ros nvblox_node --ros-args  -r depth/camera_info:=/zed/zed_node/depth/camera_info -r depth/image:=/zed/zed_node/depth/depth_registered -r  color/image:=/zed/zed_node/rgb/image_rect_color -r color/camera_info:=/zed/zed_node/rgb/camera_info -p global_frame:=map -r save_ply output_dir=.

@AndreV84 your color camera appears to be missing a TF frame connection to the map frame. I guess something misconfigured in the drivers? Don't have a Zed2 to test.

-p output_dir:=. read about ROS2 param here: https://docs.ros.org/en/foxy/Tutorials/Parameters/Understanding-ROS2-Parameters.html To call the service you can read this tutorial: https://docs.ros.org/en/foxy/Tutorials/Services/Understanding-ROS2-Services.html

ros2 service call /nvblox_node/save_ply std_srvs/Empty

@helenol Thank you for following up However execution of the command while generates some response both in local terminal and nvblox node, but it does not seem to write file to anywhere. maybe output dir argument is missed?

ros2 service call /nvblox_node/save_ply std_srvs/Empty
requester: making request: std_srvs.srv.Empty_Request()

response:
std_srvs.srv.Empty_Response()

at nvblox node


W0420 08:50:41.036128  4493 ply_writer.cpp:26] Could not open file for PLY output.
W0420 08:50:41.343626  4493 ply_writer.cpp:26] Could not open file for PLY output.
W0420 08:50:41.916122  4493 ply_writer.cpp:26] Could not open file for PLY output.
[INFO] [1650459041.917257785] [nvblox_node]: Output PLY files to 
[INFO] [1650459046.164783201] [nvblox_node]: Depth frame statistics: 
avg=79.979920, min=0.000000, max=2340.000000, std_dev=155.531359, count=249
[INFO] [1650459046.165351842] [nvblox_node]: Timing statistics:

@helenol seems I can write with the service call if using

ros2 run nvblox_ros nvblox_node --ros-args -r depth/camera_info:=/zed/zed_node/depth/camera_info -r depth/image:=/zed/zed_node/depth/depth_registered -p global_frame:=map -p output_dir:=.

Thanks But still how to get color with zed camera? have you tested with any stereolabs or intel camera?

from stereolabs:

What is the TF tree required by the application that you are performing? Does it follow the [REP105](https://www.ros.org/reps/rep-0105.html) specifications?
The ZED ROS wrapper follows the REP105 specifications, so it can be integrated into every application that correctly supports the ROS standard.

@helenol what are my choices for getting the color?

@AndreV84 The output you pasted shows that the color frame transform to the map frame cannot be resolved. Something is wrong with your TF tree to the color camera. I have used the Zed successfully including color but ~6 months ago and as I said, don't have a camera on-hand to test. I don't know what frame your color image is published in so you'd have to figure that out yourself, and you can use these tools to debug: https://docs.ros.org/en/foxy/Tutorials/Tf2/Debugging-Tf2-Problems.html I agree that transform should be available from the driver.

I genuinely don't know how to help you past that.

I have zed camera,It has two topics for color - one info and one color -r color/image:=/zed/zed_node/rgb/image_rect_color -r color/camera_info:=/zed/zed_node/rgb/camera_info they both kind of work as if I list their topics it will be shown in text terminal but how would I resolve the error from nvblox_node? regarding the TF?

You need to ensure that whatever frame_id the /zed/zed_node/rgb/image_rect_color topic has (header/frame_id) can be transformed into the global frame you have (map in your case) through the TF tree. Here is some docs on the TF tree and what its purpose is: https://docs.ros.org/en/foxy/Tutorials/Tf2/Introduction-To-Tf2.html This should be supplied by the driver. I don't know what's going wrong in your case. If it's available in the TF tree, as it is with the depth camera, then you should be getting the color images fused in. Since it's not for some reason (at least according to the error messages in your output), nvblox has no idea what to do with the color images since it doesn't know where they are in space and can't fuse them in.

@helenol Thank you for the update I passed your feedback to stereolabs. Maybe they will add on troubleshooting I tried verifying tf using this command but it is probably errorneous


 ros2 run tf2_ros tf2_echo map /zed/zed_node/rgb/image_rect_color 
[INFO] [1650511733.959375328] [tf2_echo]: Waiting for transform map ->  /zed/zed_node/rgb/image_rect_color: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[INFO] [1650511735.920045936] [tf2_echo]: Waiting for transform map ->  /zed/zed_node/rgb/image_rect_color: Invalid frame ID "/zed/zed_node/rgb/image_rect_color" passed to canTransform argument source_frame - in tf2 frame_ids cannot start with a '/'
[INFO] [1650511736.920048524] [tf2_echo]: Waiting for transform map ->  /zed/zed_node/rgb/image_rect_color: Invalid frame ID "/zed/zed_node/rgb/image_rect_color" passed to canTransform argument source_frame - in tf2 frame_ids cannot start with a '/'
[INFO] [1650511738.920035129] [tf2_echo]: Waiting for transform map ->  /zed/zed_node/rgb/image_rect_color: Invalid frame ID "/zed/zed_node/rgb/image_rect_color" passed to canTransform argument source_frame - in tf2 frame_ids cannot start with a '/'

@AndreV84 you are passing the wrong parameters: /zed/zed_node/rgb/image_rect_color is not a frame id, it's a topic name. You must pass the correct frame ids where required.

@Myzhar which are the correct frame ids of zed camera to pass as argument?

@Myzhar

ros2 run tf2_tools view_frames.py
[INFO] [1650535741.439487194] [view_frames]: Listening to tf data during 5 seconds...
[INFO] [1650535746.455180303] [view_frames]: Generating graph in frames.pdf file...
[INFO] [1650535746.460357531] [view_frames]: Result:tf2_msgs.srv.FrameGraph_Response(frame_yaml="base_link: \n  parent: 'odom'\n  broadcaster: 'default_authority'\n  rate: 15.196\n  most_recent_transform: 1650535746.389833\n  oldest_transform: 1650535741.322851\n  buffer_length: 5.067\nodom: \n  parent: 'map'\n  broadcaster: 'default_authority'\n  rate: 15.196\n  most_recent_transform: 1650535746.389833\n  oldest_transform: 1650535741.322851\n  buffer_length: 5.067\nzed_base_link: \n  parent: 'base_link'\n  broadcaster: 'default_authority'\n  rate: 10000.000\n  most_recent_transform: 0.000000\n  oldest_transform: 0.000000\n  buffer_length: 0.000\nzed_camera_center: \n  parent: 'zed_base_link'\n  broadcaster: 'default_authority'\n  rate: 10000.000\n  most_recent_transform: 0.000000\n  oldest_transform: 0.000000\n  buffer_length: 0.000\nzed_left_camera_frame: \n  parent: 'zed_camera_center'\n  broadcaster: 'default_authority'\n  rate: 10000.000\n  most_recent_transform: 0.000000\n  oldest_transform: 0.000000\n  buffer_length: 0.000\nzed_left_camera_optical_frame: \n  parent: 'zed_left_camera_frame'\n  broadcaster: 'default_authority'\n  rate: 10000.000\n  most_recent_transform: 0.000000\n  oldest_transform: 0.000000\n  buffer_length: 0.000\nzed_right_camera_frame: \n  parent: 'zed_camera_center'\n  broadcaster: 'default_authority'\n  rate: 10000.000\n  most_recent_transform: 0.000000\n  oldest_transform: 0.000000\n  buffer_length: 0.000\nzed_right_camera_optical_frame: \n  parent: 'zed_right_camera_frame'\n  broadcaster: 'default_authority'\n  rate: 10000.000\n  most_recent_transform: 0.000000\n  oldest_transform: 0.000000\n  buffer_length: 0.000\n")

frames.pdf

@Myzhar which are the correct frame ids of zed camera to pass as argument?

They are in the header of each topic and you can read them in the PDF that you attached above

so what causes the error and how to get the correct color?

For example, this command ros2 run tf2_ros tf2_echo map /zed/zed_node/rgb/image_rect_color must be instead ros2 run tf2_ros tf2_echo map zed_left_camera_frame

 ros2 run tf2_ros tf2_echo map zed_left_camera_frame
[INFO] [1650536179.712090187] [tf2_echo]: Waiting for transform map ->  zed_left_camera_frame: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[INFO] [1650536181.675397085] [tf2_echo]: Waiting for transform map ->  zed_left_camera_frame: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
At time 1650536183.555873048
- Translation: [-0.001, 0.060, 0.015]
- Rotation: in Quaternion [0.000, 0.025, -0.000, 1.000]
At time 1650536184.555792048
- Translation: [-0.001, 0.060, 0.015]
- Rotation: in Quaternion [0.000, 0.025, -0.000, 1.000]
At time 1650536185.555836048
- Translation: [-0.001, 0.060, 0.015]
- Rotation: in Quaternion [0.000, 0.025, -0.000, 1.000]
At time 1650536186.555901048
- Translation: [-0.001, 0.060, 0.015]
- Rotation: in Quaternion [0.000, 0.025, -0.000, 1.000]
^C[INFO] [1650536186.915386711] [rclcpp]: signal_handler(signal_value=2)

@Myzhar @helenol any ideas?

why there is no color?

 ros2 run nvblox_ros nvblox_node --ros-args -r depth/camera_info:=/zed/zed_node/depth/camera_info -r depth/image:=/zed/zed_node/depth/depth_registered -r  color/image:=/zed/zed_node/rgb/image_rect_color -r color/camera_info:=/zed/zed_node/rgb/camera_info -p global_frame:=map
I0421 06:27:14.357000  8796 layer_cake_impl.h:31] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_9TsdfVoxelEEE , and memory_type: kDevice to LayerCake.
I0421 06:27:14.357630  8796 layer_cake_impl.h:31] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_10ColorVoxelEEE , and memory_type: kDevice to LayerCake.
I0421 06:27:14.357662  8796 layer_cake_impl.h:31] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_9EsdfVoxelEEE , and memory_type: kDevice to LayerCake.
I0421 06:27:14.357715  8796 layer_cake_impl.h:31] Adding Layer with type: N6nvblox10BlockLayerINS_9MeshBlockEEE , and memory_type: kDevice to LayerCake.
[INFO] [1650536834.365698824] [nvblox_node]: Outputting results (as requested) to: 
[INFO] [1650536834.366014970] [nvblox_node]: Started up nvblox node in frame map and voxel size 0.05
[INFO] [1650536836.765444720] [nvblox_node]: Depth frame statistics: 
avg=nan, min=nan, max=nan, std_dev=nan, count=0
[INFO] [1650536836.765641563] [nvblox_node]: Timing statistics: 

[INFO] [1650536836.797969047] [nvblox_node]: RGB frame statistics: 
avg=nan, min=nan, max=nan, std_dev=nan, count=0
[INFO] [1650536837.231978317] [nvblox_node]: Got a new subscriber, sending entire map.
[ERROR] [1650536838.004807942] [nvblox_node]: Failed to transform color image.
[ERROR] [1650536838.855563465] [nvblox_node]: Failed to transform color image.
[ERROR] [1650536838.855782997] [nvblox_node]: Failed to transform color image.

what I am getting is this

is it a failure of nvblox core or of zed driver?both? neither of the two?

What's the output of the ZED Wrapper node? I do not know how the nvblox node works, but I suppose that you must set the publish_tf parameter of the ZED node to false to not have more than a node publishing the map -> odom -> base_link transform

@Myzhar The output of the zed node is as follows


ros2 launch zed_wrapper zed.launch.py
[INFO] [launch]: All log files can be found below /home/nvidia/.ros/log/2022-04-21-06-08-48-200495-agx-8206
[INFO] [launch]: Default logging verbosity is set to INFO
[WARNING] [launch_ros.actions.node]: Parameter file path is not a file: .
[INFO] [robot_state_publisher-1]: process started with pid [8209]
[INFO] [zed_wrapper-2]: process started with pid [8211]
[robot_state_publisher-1] Parsing robot urdf xml string.
[robot_state_publisher-1] Link zed_base_link had 1 children
[robot_state_publisher-1] Link zed_camera_center had 2 children
[robot_state_publisher-1] Link zed_left_camera_frame had 1 children
[robot_state_publisher-1] Link zed_left_camera_optical_frame had 0 children
[robot_state_publisher-1] Link zed_right_camera_frame had 1 children
[robot_state_publisher-1] Link zed_right_camera_optical_frame had 0 children
[robot_state_publisher-1] 1650535729.107045564 [zed.zed_state_publisher] [INFO] got segment base_link
[robot_state_publisher-1] 1650535729.107236101 [zed.zed_state_publisher] [INFO] got segment zed_base_link
[robot_state_publisher-1] 1650535729.107273319 [zed.zed_state_publisher] [INFO] got segment zed_camera_center
[robot_state_publisher-1] 1650535729.107303401 [zed.zed_state_publisher] [INFO] got segment zed_left_camera_frame
[robot_state_publisher-1] 1650535729.107331082 [zed.zed_state_publisher] [INFO] got segment zed_left_camera_optical_frame
[robot_state_publisher-1] 1650535729.107364908 [zed.zed_state_publisher] [INFO] got segment zed_right_camera_frame
[robot_state_publisher-1] 1650535729.107396846 [zed.zed_state_publisher] [INFO] got segment zed_right_camera_optical_frame
[zed_wrapper-2] 1650535729.121290522 [zed.zed_node] [INFO] ********************************
[zed_wrapper-2] 1650535729.121576201 [zed.zed_node] [INFO]       ZED Camera Component 
[zed_wrapper-2] 1650535729.121615019 [zed.zed_node] [INFO] ********************************
[zed_wrapper-2] 1650535729.121646861 [zed.zed_node] [INFO]  * namespace: /zed
[zed_wrapper-2] 1650535729.121689647 [zed.zed_node] [INFO]  * node name: zed_node
[zed_wrapper-2] 1650535729.121750770 [zed.zed_node] [INFO] ********************************
[zed_wrapper-2] 1650535729.121855607 [zed.zed_node] [INFO] *** DEBUG parameters ***
[zed_wrapper-2] 1650535729.121986046 [zed.zed_node] [INFO]  * Debug mode: FALSE
[zed_wrapper-2] 1650535729.122040865 [zed.zed_node] [INFO] *** GENERAL parameters ***
[zed_wrapper-2] 1650535729.122136998 [zed.zed_node] [INFO]  * Camera model: zed - ZED
[zed_wrapper-2] 1650535729.122211850 [zed.zed_node] [INFO]  * SDK Verbose: 1
[zed_wrapper-2] 1650535729.122286446 [zed.zed_node] [INFO]  * SVO: live
[zed_wrapper-2] 1650535729.122358449 [zed.zed_node] [INFO]  * SVO Loop: FALSE
[zed_wrapper-2] 1650535729.122476183 [zed.zed_node] [INFO]  * SVO Realtime: FALSE
[zed_wrapper-2] 1650535729.122597182 [zed.zed_node] [INFO]  * Camera name: zed
[zed_wrapper-2] 1650535729.122699459 [zed.zed_node] [INFO]  * Camera ID: 0
[zed_wrapper-2] 1650535729.122807496 [zed.zed_node] [INFO]  * Camera SN: 0
[zed_wrapper-2] 1650535729.122884012 [zed.zed_node] [INFO]  * Camera timeout [sec]: 5
[zed_wrapper-2] 1650535729.122963696 [zed.zed_node] [INFO]  * Camera reconnection temptatives: 5
[zed_wrapper-2] 1650535729.123065878 [zed.zed_node] [INFO]  * Camera framerate: 15
[zed_wrapper-2] 1650535729.123184636 [zed.zed_node] [INFO]  * GPU ID: -1
[zed_wrapper-2] 1650535729.123282177 [zed.zed_node] [INFO]  * Camera resolution: 2 - HD720
[zed_wrapper-2] 1650535729.123400743 [zed.zed_node] [INFO]  * Camera self calibration: TRUE
[zed_wrapper-2] 1650535729.123511853 [zed.zed_node] [INFO]  * Camera flip: FALSE
[zed_wrapper-2] 1650535729.123646580 [zed.zed_node] [INFO]  * [DYN] Publish framerate [Hz]: 15 
[zed_wrapper-2] 1650535729.123691766 [zed.zed_node] [INFO] *** VIDEO parameters ***
[zed_wrapper-2] 1650535729.123766170 [zed.zed_node] [INFO]  * Use old extrinsic parameters: 0
[zed_wrapper-2] 1650535729.123852926 [zed.zed_node] [INFO]  * [DYN] Image downsample factor: 1 
[zed_wrapper-2] 1650535729.123922626 [zed.zed_node] [INFO]  * [DYN] Brightness: 4
[zed_wrapper-2] 1650535729.124109452 [zed.zed_node] [INFO]  * [DYN] Contrast: 4
[zed_wrapper-2] 1650535729.124201904 [zed.zed_node] [INFO]  * [DYN] Hue: 0
[zed_wrapper-2] 1650535729.124309782 [zed.zed_node] [INFO]  * [DYN] Saturation: 4
[zed_wrapper-2] 1650535729.124380474 [zed.zed_node] [INFO]  * [DYN] Sharpness: 4
[zed_wrapper-2] 1650535729.124494751 [zed.zed_node] [INFO]  * [DYN] Gamma: 8
[zed_wrapper-2] 1650535729.124605829 [zed.zed_node] [INFO]  * [DYN] Auto Exposure/Gain: TRUE
[zed_wrapper-2] 1650535729.124790095 [zed.zed_node] [INFO]  * [DYN] Exposure: 80
[zed_wrapper-2] 1650535729.124931094 [zed.zed_node] [INFO]  * [DYN] Gain: 80
[zed_wrapper-2] 1650535729.125027227 [zed.zed_node] [INFO]  * [DYN] Auto White Balance: TRUE
[zed_wrapper-2] 1650535729.125130112 [zed.zed_node] [INFO]  * [DYN] White Balance Temperature: 42
[zed_wrapper-2] 1650535729.125210596 [zed.zed_node] [INFO]  * Video QoS History: KEEP_LAST
[zed_wrapper-2] 1650535729.125308105 [zed.zed_node] [INFO]  * Video QoS History depth: 1
[zed_wrapper-2] 1650535729.125392174 [zed.zed_node] [INFO]  * Video QoS Reliability: RELIABLE
[zed_wrapper-2] 1650535729.125465649 [zed.zed_node] [INFO]  * Video QoS Durability: VOLATILE
[zed_wrapper-2] 1650535729.125498579 [zed.zed_node] [INFO] *** DEPTH parameters ***
[zed_wrapper-2] 1650535729.125568471 [zed.zed_node] [INFO]  * Depth quality: 1 - PERFORMANCE
[zed_wrapper-2] 1650535729.125672124 [zed.zed_node] [INFO]  * Depth downsample factor: 1 
[zed_wrapper-2] 1650535729.125806723 [zed.zed_node] [INFO]  * Min depth [m]: 0.2
[zed_wrapper-2] 1650535729.125887079 [zed.zed_node] [INFO]  * Max depth [m]: 10
[zed_wrapper-2] 1650535729.125975148 [zed.zed_node] [INFO]  * Depth Sensing Mode: 0 - STANDARD
[zed_wrapper-2] 1650535729.126064112 [zed.zed_node] [INFO]  * Depth Stabilization: TRUE
[zed_wrapper-2] 1650535729.126164021 [zed.zed_node] [INFO]  * OpenNI mode (16bit point cloud): FALSE
[zed_wrapper-2] 1650535729.126276219 [zed.zed_node] [INFO]  * [DYN] Point cloud rate [Hz]: 10
[zed_wrapper-2] 1650535729.126350687 [zed.zed_node] [INFO]  * [DYN] Depth Confidence: 50
[zed_wrapper-2] 1650535729.126460965 [zed.zed_node] [INFO]  * [DYN] Depth Texture Confidence: 100
[zed_wrapper-2] 1650535729.126540329 [zed.zed_node] [INFO]  * [DYN] Remove saturated areas: TRUE
[zed_wrapper-2] 1650535729.126637934 [zed.zed_node] [INFO]  * Depth QoS History: KEEP_LAST
[zed_wrapper-2] 1650535729.126731699 [zed.zed_node] [INFO]  * Depth QoS History depth: 1
[zed_wrapper-2] 1650535729.126844889 [zed.zed_node] [INFO]  * Depth QoS Reliability: RELIABLE
[zed_wrapper-2] 1650535729.126945310 [zed.zed_node] [INFO]  * Depth QoS Durability: VOLATILE
[zed_wrapper-2] 1650535729.127102310 [zed.zed_node] [INFO] *** POSITIONAL TRACKING parameters ***
[zed_wrapper-2] 1650535729.127187690 [zed.zed_node] [INFO]  * Positional tracking enabled: TRUE
[zed_wrapper-2] 1650535729.127305328 [zed.zed_node] [INFO]  * Base frame id: base_link
[zed_wrapper-2] 1650535729.127429079 [zed.zed_node] [INFO]  * Map frame id: map
[zed_wrapper-2] 1650535729.127504443 [zed.zed_node] [INFO]  * Odometry frame id: odom
[zed_wrapper-2] 1650535729.127626145 [zed.zed_node] [INFO]  * Broadcast Odometry TF: TRUE
[zed_wrapper-2] 1650535729.127739399 [zed.zed_node] [INFO]  * Broadcast Pose TF: TRUE
[zed_wrapper-2] 1650535729.127852973 [zed.zed_node] [INFO]  * Broadcast Static IMU TF [not for ZED]: TRUE
[zed_wrapper-2] 1650535729.127933393 [zed.zed_node] [INFO]  * [DYN] Path publishing rate: 2
[zed_wrapper-2] 1650535729.128006549 [zed.zed_node] [INFO]  * Path history lenght: -1
[zed_wrapper-2] 1650535729.128117754 [zed.zed_node] [INFO]  * Initial pose: [0,0,0,0,0,0,]
[zed_wrapper-2] 1650535729.128251201 [zed.zed_node] [INFO]  * Area Memory: TRUE
[zed_wrapper-2] 1650535729.128358567 [zed.zed_node] [INFO]  * Area Memory DB: 
[zed_wrapper-2] 1650535729.128469100 [zed.zed_node] [INFO]  * IMU Fusion [not for ZED]: TRUE
[zed_wrapper-2] 1650535729.128545584 [zed.zed_node] [INFO]  * Floor Alignment: FALSE
[zed_wrapper-2] 1650535729.128656246 [zed.zed_node] [INFO]  * Init Odometry with first valid pose data: TRUE
[zed_wrapper-2] 1650535729.128813310 [zed.zed_node] [INFO]  * 2D mode: FALSE
[zed_wrapper-2] 1650535729.128901859 [zed.zed_node] [INFO]  * Pose/Odometry QoS History: KEEP_LAST
[zed_wrapper-2] 1650535729.129013320 [zed.zed_node] [INFO]  * Pose/Odometry QoS History depth: 1
[zed_wrapper-2] 1650535729.129119310 [zed.zed_node] [INFO]  * Pose/Odometry QoS Reliability: RELIABLE
[zed_wrapper-2] 1650535729.129331033 [zed.zed_node] [INFO]  * Pose/Odometry QoS Durability: VOLATILE
[zed_wrapper-2] 1650535729.129365627 [zed.zed_node] [INFO] *** Spatial Mapping parameters ***
[zed_wrapper-2] 1650535729.129461856 [zed.zed_node] [INFO]  * Spatial Mapping Enabled: FALSE
[zed_wrapper-2] 1650535729.129556228 [zed.zed_node] [INFO]  * Spatial Mapping resolution [m]: 0.1
[zed_wrapper-2] 1650535729.129677963 [zed.zed_node] [INFO]  * 3D Max Mapping range [m]: 20
[zed_wrapper-2] 1650535729.129759823 [zed.zed_node] [INFO]  * Map publishing rate [Hz]: 0.5
[zed_wrapper-2] 1650535729.129845171 [zed.zed_node] [INFO]  * Sensors QoS History: KEEP_LAST
[zed_wrapper-2] 1650535729.129967194 [zed.zed_node] [INFO]  * Sensors QoS History depth: 1
[zed_wrapper-2] 1650535729.130076575 [zed.zed_node] [INFO]  * Sensors QoS Reliability: RELIABLE
[zed_wrapper-2] 1650535729.130187557 [zed.zed_node] [INFO]  * Sensors QoS Durability: VOLATILE
[zed_wrapper-2] 1650535729.130362606 [zed.zed_node] [INFO] *** SERVICES ***
[zed_wrapper-2] 1650535729.131889437 [zed.zed_node] [INFO]  * '/zed/zed_node/reset_odometry'
[zed_wrapper-2] 1650535729.132647076 [zed.zed_node] [INFO]  * '/zed/zed_node/reset_pos_tracking'
[zed_wrapper-2] 1650535729.135814471 [zed.zed_node] [INFO]  * '/zed/zed_node/set_pose'
[zed_wrapper-2] 1650535729.136770776 [zed.zed_node] [INFO]  * '/zed/zed_node/enable_obj_det'
[zed_wrapper-2] 1650535729.137818607 [zed.zed_node] [INFO]  * '/zed/zed_node/enable_mapping'
[zed_wrapper-2] 1650535729.138631960 [zed.zed_node] [INFO]  * '/zed/zed_node/start_svo_rec'
[zed_wrapper-2] 1650535729.140461175 [zed.zed_node] [INFO]  * '/zed/zed_node/stop_svo_rec'
[zed_wrapper-2] 1650535729.141269600 [zed.zed_node] [INFO]  * '/zed/zed_node/toggle_svo_pause'
[zed_wrapper-2] 1650535729.141410472 [zed.zed_node] [INFO] ***** STARTING CAMERA *****
[zed_wrapper-2] 1650535729.141452106 [zed.zed_node] [INFO] SDK Version: 3.7.2 - Build 44224_5b6e7702
[zed_wrapper-2] 1650535729.147570085 [zed.zed_node] [INFO] *** CAMERA OPENING ***
[zed_wrapper-2] [ZED][INFO] Logging level INFO
[zed_wrapper-2] [ZED][INFO] [Init]  Depth mode: PERFORMANCE
[zed_wrapper-2] [ZED][INFO] [Init]  Camera successfully opened.
[zed_wrapper-2] [ZED][INFO] [Init]  Camera FW version: 1523
[zed_wrapper-2] [ZED][INFO] [Init]  Video mode: HD720@15
[zed_wrapper-2] [ZED][WARNING] [Init]  Requested depth_minimum_distance: 0.2METER is too close, clamped to 0.3METER.
[zed_wrapper-2] 1650535730.877240826 [zed.zed_node] [INFO] ZED SDK running on GPU #0
[zed_wrapper-2] 1650535730.877429060 [zed.zed_node] [INFO]  * Camera Model  -> ZED
[zed_wrapper-2] 1650535730.877498151 [zed.zed_node] [INFO]  * Serial Number -> -----000-----redacted manually---
[zed_wrapper-2] 1650535730.877578315 [zed.zed_node] [INFO]  * Input type    -> USB input type
[zed_wrapper-2] 1650535730.877629870 [zed.zed_node] [INFO]  * Camera FW Version -> 1523
[zed_wrapper-2] 1650535730.877848569 [zed.zed_node] [INFO] *** TF FRAMES ***
[zed_wrapper-2] 1650535730.877891708 [zed.zed_node] [INFO]  * Map       -> map
[zed_wrapper-2] 1650535730.877953279 [zed.zed_node] [INFO]  * Odometry      -> odom
[zed_wrapper-2] 1650535730.878015010 [zed.zed_node] [INFO]  * Base      -> base_link
[zed_wrapper-2] 1650535730.878082661 [zed.zed_node] [INFO]  * Camera        -> zed_camera_center
[zed_wrapper-2] 1650535730.878126376 [zed.zed_node] [INFO]  * Left      -> zed_left_camera_frame
[zed_wrapper-2] 1650535730.878165130 [zed.zed_node] [INFO]  * Left Optical  -> zed_left_camera_optical_frame
[zed_wrapper-2] 1650535730.878295600 [zed.zed_node] [INFO]  * RGB       -> zed_left_camera_frame
[zed_wrapper-2] 1650535730.878344243 [zed.zed_node] [INFO]  * RGB Optical   -> zed_left_camera_frame
[zed_wrapper-2] 1650535730.878381109 [zed.zed_node] [INFO]  * Right     -> zed_right_camera_frame
[zed_wrapper-2] 1650535730.878416087 [zed.zed_node] [INFO]  * Right Optical -> zed_right_camera_optical_frame
[zed_wrapper-2] 1650535730.878451705 [zed.zed_node] [INFO]  * Depth     -> zed_left_camera_frame
[zed_wrapper-2] 1650535730.878487034 [zed.zed_node] [INFO]  * Depth Optical -> zed_left_camera_optical_frame
[zed_wrapper-2] 1650535730.878552414 [zed.zed_node] [INFO]  * Point Cloud   -> zed_left_camera_optical_frame
[zed_wrapper-2] 1650535730.878616001 [zed.zed_node] [INFO]  * Disparity     -> zed_left_camera_frame
[zed_wrapper-2] 1650535730.878670852 [zed.zed_node] [INFO]  * Disparity Optical-> zed_left_camera_optical_frame
[zed_wrapper-2] 1650535730.878709542 [zed.zed_node] [INFO]  * Confidence    -> zed_left_camera_frame
[zed_wrapper-2] 1650535730.878752712 [zed.zed_node] [INFO]  * Confidence Optical-> zed_left_camera_optical_frame
[zed_wrapper-2] 1650535730.878787274 [zed.zed_node] [INFO] *** PUBLISHED TOPICS ***
[zed_wrapper-2] 1650535730.886420724 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/rgb/image_rect_color
[zed_wrapper-2] 1650535730.887770169 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/rgb/image_rect_gray
[zed_wrapper-2] 1650535730.887892831 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/rgb/camera_info
[zed_wrapper-2] 1650535730.889168609 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/rgb_raw/image_raw_color
[zed_wrapper-2] 1650535730.890088945 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/rgb_raw/image_raw_gray
[zed_wrapper-2] 1650535730.890162037 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/rgb_raw/camera_info
[zed_wrapper-2] 1650535730.890982943 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/left/image_rect_color
[zed_wrapper-2] 1650535730.891718117 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/left/image_rect_gray
[zed_wrapper-2] 1650535730.891789192 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/left/camera_info
[zed_wrapper-2] 1650535730.892473548 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/left_raw/image_raw_color
[zed_wrapper-2] 1650535730.893325816 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/left_raw/image_raw_gray
[zed_wrapper-2] 1650535730.893400412 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/left_raw/camera_info
[zed_wrapper-2] 1650535730.894061662 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/right/image_rect_color
[zed_wrapper-2] 1650535730.894799620 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/right/image_rect_gray
[zed_wrapper-2] 1650535730.894858343 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/right/camera_info
[zed_wrapper-2] 1650535730.895512872 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/right_raw/image_raw_color
[zed_wrapper-2] 1650535730.896298993 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/right_raw/image_raw_gray
[zed_wrapper-2] 1650535730.896359700 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/right_raw/camera_info
[zed_wrapper-2] 1650535730.897121627 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/depth/depth_registered
[zed_wrapper-2] 1650535730.897210144 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/depth/camera_info
[zed_wrapper-2] 1650535730.897774653 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/depth/depth_info
[zed_wrapper-2] 1650535730.898168401 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/stereo/image_rect_color
[zed_wrapper-2] 1650535730.898568806 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/stereo_raw/image_raw_color
[zed_wrapper-2] 1650535730.898896791 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/confidence/confidence_map
[zed_wrapper-2] 1650535730.900526795 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/disparity/disparity_image
[zed_wrapper-2] 1650535730.901165580 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/point_cloud/cloud_registered
[zed_wrapper-2] 1650535730.901913011 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/pose
[zed_wrapper-2] 1650535730.902504497 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/pose_with_covariance
[zed_wrapper-2] 1650535730.904313390 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/odom
[zed_wrapper-2] 1650535730.904989841 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/path_map
[zed_wrapper-2] 1650535730.905398918 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/path_odom
[zed_wrapper-2] 1650535730.933655480 [zed.zed_node] [INFO] *** Starting Positional Tracking ***
[zed_wrapper-2] 1650535730.933897700 [zed.zed_node] [INFO]  * Waiting for valid static transformations...
[zed_wrapper-2] 1650535730.934101679 [zed.zed_node] [INFO] Static transform Sensor to Base [zed_left_camera_frame -> base_link]
[zed_wrapper-2] 1650535730.934153265 [zed.zed_node] [INFO]  * Translation: {0.001,-0.060,-0.015}
[zed_wrapper-2] 1650535730.934204884 [zed.zed_node] [INFO]  * Rotation: {0.000,-2.865,0.000}
[zed_wrapper-2] 1650535730.934290616 [zed.zed_node] [INFO] Static transform Sensor to Camera Center [zed_left_camera_frame -> zed_camera_center]
[zed_wrapper-2] 1650535730.934354236 [zed.zed_node] [INFO]  * Translation: {0.000,-0.060,0.000}
[zed_wrapper-2] 1650535730.934412095 [zed.zed_node] [INFO]  * Rotation: {0.000,-0.000,0.000}
[zed_wrapper-2] 1650535730.934463937 [zed.zed_node] [INFO] Static transform Camera Center to Base [zed_camera_center -> base_link]
[zed_wrapper-2] 1650535730.934499011 [zed.zed_node] [INFO]  * Translation: {0.001,0.000,-0.015}
[zed_wrapper-2] 1650535730.934536837 [zed.zed_node] [INFO]  * Rotation: {0.000,-2.865,0.000}
[zed_wrapper-2] 1650535731.034702100 [zed.zed_node] [INFO] Initial ZED left camera pose (ZED pos. tracking): 
[zed_wrapper-2] 1650535731.034881853 [zed.zed_node] [INFO]  * T: [-1.66741e-19,0.06,0.015]
[zed_wrapper-2] 1650535731.034993283 [zed.zed_node] [INFO]  * Q: [0,0.0249967,0,0.999687]
[zed_wrapper-2] 1650535731.225245304 [zed.zed_node] [INFO] Odometry aligned to last tracking pose

@AndreV84 as you can see in the ZED Wrapper console log you have all the information that you need: TF frames, name of the published topics, ecc The node is working as expected and all the TF are published.

@Myzhar What exactly do you mean by saying to set zed node parameter to false? do you mean that I have to execute zed ros node with custom parameters? which exactly parameters? Could you specify please? I could interpret your message something like

ros2 launch zed_wrapper zed.launch.py --ros-args -r publish_tf=false

but it is not a working command; what exactly is the command you suggest to execute to set the parameter to false?

@helenol stereolab folks point out their driver works as expected maybe it is an issue in nvblox code side? what else? AV

-r publish_tf=false this does not work. You must change the common.yaml file: https://github.com/stereolabs/zed-ros2-wrapper/blob/master/zed_wrapper/config/common.yaml#L60

so I just add it at the end of ros parameters in the yaml file like that?

/**:
    ros__parameters:
        general:
            svo_file:                   ''
            svo_loop:                   false                               # Enable loop mode when using an SVO as input source
            svo_realtime:               false                               # if true SVO will be played trying to respect the original framerate eventually skipp>
            camera_timeout_sec:         5
            camera_max_reconnect:       5
            camera_flip:                false
            zed_id:                     0
            serial_number:              0
            resolution:                 2                                   # '0': HD2K, '1': HD1080, '2': HD720, '3': VGA
            sdk_verbose:                true
            grab_frame_rate:            15                                  # ZED SDK internal grabbing rate
            pub_frame_rate:             15.0                                # [DYNAMIC] - frequency of publishing of visual images and depth images
            gpu_id:                     -1
            publish_tf:                 false

how then I make sure the changes got applied?

has it got applied as per the attached output?


ros2 launch zed_wrapper zed.launch.py
[INFO] [launch]: All log files can be found below /home/nvidia/.ros/log/2022-04-21-09-25-54-156369-agx-10056
[INFO] [launch]: Default logging verbosity is set to INFO
[WARNING] [launch_ros.actions.node]: Parameter file path is not a file: .
[INFO] [robot_state_publisher-1]: process started with pid [10059]
[INFO] [zed_wrapper-2]: process started with pid [10061]
[robot_state_publisher-1] Parsing robot urdf xml string.
[robot_state_publisher-1] Link zed_base_link had 1 children
[robot_state_publisher-1] Link zed_camera_center had 2 children
[robot_state_publisher-1] Link zed_left_camera_frame had 1 children
[robot_state_publisher-1] Link zed_left_camera_optical_frame had 0 children
[robot_state_publisher-1] Link zed_right_camera_frame had 1 children
[robot_state_publisher-1] Link zed_right_camera_optical_frame had 0 children
[robot_state_publisher-1] 1650547554.785883122 [zed.zed_state_publisher] [INFO] got segment base_link
[robot_state_publisher-1] 1650547554.786100990 [zed.zed_state_publisher] [INFO] got segment zed_base_link
[robot_state_publisher-1] 1650547554.786143552 [zed.zed_state_publisher] [INFO] got segment zed_camera_center
[robot_state_publisher-1] 1650547554.786187042 [zed.zed_state_publisher] [INFO] got segment zed_left_camera_frame
[robot_state_publisher-1] 1650547554.786238309 [zed.zed_state_publisher] [INFO] got segment zed_left_camera_optical_frame
[robot_state_publisher-1] 1650547554.786266023 [zed.zed_state_publisher] [INFO] got segment zed_right_camera_frame
[robot_state_publisher-1] 1650547554.786317769 [zed.zed_state_publisher] [INFO] got segment zed_right_camera_optical_frame
[zed_wrapper-2] 1650547554.881028724 [zed.zed_node] [INFO] ********************************
[zed_wrapper-2] 1650547554.881671863 [zed.zed_node] [INFO]       ZED Camera Component 
[zed_wrapper-2] 1650547554.881713977 [zed.zed_node] [INFO] ********************************
[zed_wrapper-2] 1650547554.881766140 [zed.zed_node] [INFO]  * namespace: /zed
[zed_wrapper-2] 1650547554.881794942 [zed.zed_node] [INFO]  * node name: zed_node
[zed_wrapper-2] 1650547554.881820351 [zed.zed_node] [INFO] ********************************
[zed_wrapper-2] 1650547554.881891523 [zed.zed_node] [INFO] *** DEBUG parameters ***
[zed_wrapper-2] 1650547554.882007657 [zed.zed_node] [INFO]  * Debug mode: FALSE
[zed_wrapper-2] 1650547554.882055660 [zed.zed_node] [INFO] *** GENERAL parameters ***
[zed_wrapper-2] 1650547554.882149649 [zed.zed_node] [INFO]  * Camera model: zed - ZED
[zed_wrapper-2] 1650547554.882243606 [zed.zed_node] [INFO]  * SDK Verbose: 1
[zed_wrapper-2] 1650547554.882361532 [zed.zed_node] [INFO]  * SVO: live
[zed_wrapper-2] 1650547554.882519429 [zed.zed_node] [INFO]  * SVO Loop: FALSE
[zed_wrapper-2] 1650547554.882629547 [zed.zed_node] [INFO]  * SVO Realtime: FALSE
[zed_wrapper-2] 1650547554.882754033 [zed.zed_node] [INFO]  * Camera name: zed
[zed_wrapper-2] 1650547554.882833078 [zed.zed_node] [INFO]  * Camera ID: 0
[zed_wrapper-2] 1650547554.882901849 [zed.zed_node] [INFO]  * Camera SN: 0
[zed_wrapper-2] 1650547554.883120037 [zed.zed_node] [INFO]  * Camera timeout [sec]: 5
[zed_wrapper-2] 1650547554.883864781 [zed.zed_node] [INFO]  * Camera reconnection temptatives: 5
[zed_wrapper-2] 1650547554.884008213 [zed.zed_node] [INFO]  * Camera framerate: 15
[zed_wrapper-2] 1650547554.884271811 [zed.zed_node] [INFO]  * GPU ID: -1
[zed_wrapper-2] 1650547554.884352071 [zed.zed_node] [INFO]  * Camera resolution: 2 - HD720
[zed_wrapper-2] 1650547554.884630838 [zed.zed_node] [INFO]  * Camera self calibration: TRUE
[zed_wrapper-2] 1650547554.884885892 [zed.zed_node] [INFO]  * Camera flip: FALSE
[zed_wrapper-2] 1650547554.884997482 [zed.zed_node] [INFO]  * [DYN] Publish framerate [Hz]: 15 
[zed_wrapper-2] 1650547554.885119921 [zed.zed_node] [INFO] *** VIDEO parameters ***
[zed_wrapper-2] 1650547554.885196821 [zed.zed_node] [INFO]  * Use old extrinsic parameters: 0
[zed_wrapper-2] 1650547554.885355933 [zed.zed_node] [INFO]  * [DYN] Image downsample factor: 1 
[zed_wrapper-2] 1650547554.885531655 [zed.zed_node] [INFO]  * [DYN] Brightness: 4
[zed_wrapper-2] 1650547554.885687215 [zed.zed_node] [INFO]  * [DYN] Contrast: 4
[zed_wrapper-2] 1650547554.885850200 [zed.zed_node] [INFO]  * [DYN] Hue: 0
[zed_wrapper-2] 1650547554.885986687 [zed.zed_node] [INFO]  * [DYN] Saturation: 4
[zed_wrapper-2] 1650547554.886111878 [zed.zed_node] [INFO]  * [DYN] Sharpness: 4
[zed_wrapper-2] 1650547554.886354451 [zed.zed_node] [INFO]  * [DYN] Gamma: 8
[zed_wrapper-2] 1650547554.886485690 [zed.zed_node] [INFO]  * [DYN] Auto Exposure/Gain: TRUE
[zed_wrapper-2] 1650547554.886628258 [zed.zed_node] [INFO]  * [DYN] Exposure: 80
[zed_wrapper-2] 1650547554.886733448 [zed.zed_node] [INFO]  * [DYN] Gain: 80
[zed_wrapper-2] 1650547554.886838221 [zed.zed_node] [INFO]  * [DYN] Auto White Balance: TRUE
[zed_wrapper-2] 1650547554.887053945 [zed.zed_node] [INFO]  * [DYN] White Balance Temperature: 42
[zed_wrapper-2] 1650547554.887183072 [zed.zed_node] [INFO]  * Video QoS History: KEEP_LAST
[zed_wrapper-2] 1650547554.887314215 [zed.zed_node] [INFO]  * Video QoS History depth: 1
[zed_wrapper-2] 1650547554.887461263 [zed.zed_node] [INFO]  * Video QoS Reliability: RELIABLE
[zed_wrapper-2] 1650547554.887592758 [zed.zed_node] [INFO]  * Video QoS Durability: VOLATILE
[zed_wrapper-2] 1650547554.887629176 [zed.zed_node] [INFO] *** DEPTH parameters ***
[zed_wrapper-2] 1650547554.887721245 [zed.zed_node] [INFO]  * Depth quality: 1 - PERFORMANCE
[zed_wrapper-2] 1650547554.887881477 [zed.zed_node] [INFO]  * Depth downsample factor: 1 
[zed_wrapper-2] 1650547554.888012780 [zed.zed_node] [INFO]  * Min depth [m]: 0.2
[zed_wrapper-2] 1650547554.888116562 [zed.zed_node] [INFO]  * Max depth [m]: 10
[zed_wrapper-2] 1650547554.888388225 [zed.zed_node] [INFO]  * Depth Sensing Mode: 0 - STANDARD
[zed_wrapper-2] 1650547554.888510791 [zed.zed_node] [INFO]  * Depth Stabilization: TRUE
[zed_wrapper-2] 1650547554.888633486 [zed.zed_node] [INFO]  * OpenNI mode (16bit point cloud): FALSE
[zed_wrapper-2] 1650547554.888848281 [zed.zed_node] [INFO]  * [DYN] Point cloud rate [Hz]: 10
[zed_wrapper-2] 1650547554.889029027 [zed.zed_node] [INFO]  * [DYN] Depth Confidence: 50
[zed_wrapper-2] 1650547554.889189260 [zed.zed_node] [INFO]  * [DYN] Depth Texture Confidence: 100
[zed_wrapper-2] 1650547554.889353429 [zed.zed_node] [INFO]  * [DYN] Remove saturated areas: TRUE
[zed_wrapper-2] 1650547554.889456602 [zed.zed_node] [INFO]  * Depth QoS History: KEEP_LAST
[zed_wrapper-2] 1650547554.889606786 [zed.zed_node] [INFO]  * Depth QoS History depth: 1
[zed_wrapper-2] 1650547554.889710440 [zed.zed_node] [INFO]  * Depth QoS Reliability: RELIABLE
[zed_wrapper-2] 1650547554.889827182 [zed.zed_node] [INFO]  * Depth QoS Durability: VOLATILE
[zed_wrapper-2] 1650547554.889996343 [zed.zed_node] [INFO] *** POSITIONAL TRACKING parameters ***
[zed_wrapper-2] 1650547554.890094589 [zed.zed_node] [INFO]  * Positional tracking enabled: TRUE
[zed_wrapper-2] 1650547554.890315688 [zed.zed_node] [INFO]  * Base frame id: base_link
[zed_wrapper-2] 1650547554.890419566 [zed.zed_node] [INFO]  * Map frame id: map
[zed_wrapper-2] 1650547554.890533684 [zed.zed_node] [INFO]  * Odometry frame id: odom
[zed_wrapper-2] 1650547554.890672156 [zed.zed_node] [INFO]  * Broadcast Odometry TF: TRUE
[zed_wrapper-2] 1650547554.890821732 [zed.zed_node] [INFO]  * Broadcast Pose TF: TRUE
[zed_wrapper-2] 1650547554.890951595 [zed.zed_node] [INFO]  * Broadcast Static IMU TF [not for ZED]: TRUE
[zed_wrapper-2] 1650547554.891126356 [zed.zed_node] [INFO]  * [DYN] Path publishing rate: 2
[zed_wrapper-2] 1650547554.891267900 [zed.zed_node] [INFO]  * Path history lenght: -1
[zed_wrapper-2] 1650547554.891419652 [zed.zed_node] [INFO]  * Initial pose: [0,0,0,0,0,0,]
[zed_wrapper-2] 1650547554.891567404 [zed.zed_node] [INFO]  * Area Memory: TRUE
[zed_wrapper-2] 1650547554.891699347 [zed.zed_node] [INFO]  * Area Memory DB: 
[zed_wrapper-2] 1650547554.891821242 [zed.zed_node] [INFO]  * IMU Fusion [not for ZED]: TRUE
[zed_wrapper-2] 1650547554.891952705 [zed.zed_node] [INFO]  * Floor Alignment: FALSE
[zed_wrapper-2] 1650547554.892096200 [zed.zed_node] [INFO]  * Init Odometry with first valid pose data: TRUE
[zed_wrapper-2] 1650547554.892321652 [zed.zed_node] [INFO]  * 2D mode: FALSE
[zed_wrapper-2] 1650547554.892507614 [zed.zed_node] [INFO]  * Pose/Odometry QoS History: KEEP_LAST
[zed_wrapper-2] 1650547554.892667239 [zed.zed_node] [INFO]  * Pose/Odometry QoS History depth: 1
[zed_wrapper-2] 1650547554.892844625 [zed.zed_node] [INFO]  * Pose/Odometry QoS Reliability: RELIABLE
[zed_wrapper-2] 1650547554.892983928 [zed.zed_node] [INFO]  * Pose/Odometry QoS Durability: VOLATILE
[zed_wrapper-2] 1650547554.893116895 [zed.zed_node] [INFO] *** Spatial Mapping parameters ***
[zed_wrapper-2] 1650547554.893204420 [zed.zed_node] [INFO]  * Spatial Mapping Enabled: FALSE
[zed_wrapper-2] 1650547554.893388942 [zed.zed_node] [INFO]  * Spatial Mapping resolution [m]: 0.1
[zed_wrapper-2] 1650547554.893525237 [zed.zed_node] [INFO]  * 3D Max Mapping range [m]: 20
[zed_wrapper-2] 1650547554.893675869 [zed.zed_node] [INFO]  * Map publishing rate [Hz]: 0.5
[zed_wrapper-2] 1650547554.893826373 [zed.zed_node] [INFO]  * Sensors QoS History: KEEP_LAST
[zed_wrapper-2] 1650547554.894102036 [zed.zed_node] [INFO]  * Sensors QoS History depth: 1
[zed_wrapper-2] 1650547554.894246812 [zed.zed_node] [INFO]  * Sensors QoS Reliability: RELIABLE
[zed_wrapper-2] 1650547554.894349666 [zed.zed_node] [INFO]  * Sensors QoS Durability: VOLATILE
[zed_wrapper-2] 1650547554.894534668 [zed.zed_node] [INFO] *** SERVICES ***
[zed_wrapper-2] 1650547554.896666782 [zed.zed_node] [INFO]  * '/zed/zed_node/reset_odometry'
[zed_wrapper-2] 1650547554.898195761 [zed.zed_node] [INFO]  * '/zed/zed_node/reset_pos_tracking'
[zed_wrapper-2] 1650547554.900784252 [zed.zed_node] [INFO]  * '/zed/zed_node/set_pose'
[zed_wrapper-2] 1650547554.902152166 [zed.zed_node] [INFO]  * '/zed/zed_node/enable_obj_det'
[zed_wrapper-2] 1650547554.905379475 [zed.zed_node] [INFO]  * '/zed/zed_node/enable_mapping'
[zed_wrapper-2] 1650547554.907323484 [zed.zed_node] [INFO]  * '/zed/zed_node/start_svo_rec'
[zed_wrapper-2] 1650547554.908747561 [zed.zed_node] [INFO]  * '/zed/zed_node/stop_svo_rec'
[zed_wrapper-2] 1650547554.910028558 [zed.zed_node] [INFO]  * '/zed/zed_node/toggle_svo_pause'
[zed_wrapper-2] 1650547554.910140692 [zed.zed_node] [INFO] ***** STARTING CAMERA *****
[zed_wrapper-2] 1650547554.910178998 [zed.zed_node] [INFO] SDK Version: 3.7.2 - Build 44224_5b6e7702
[zed_wrapper-2] 1650547554.917737453 [zed.zed_node] [INFO] *** CAMERA OPENING ***
[zed_wrapper-2] [ZED][INFO] Logging level INFO
[zed_wrapper-2] [ZED][INFO] [Init]  Depth mode: PERFORMANCE
[zed_wrapper-2] [ZED][INFO] [Init]  Camera successfully opened.
[zed_wrapper-2] [ZED][INFO] [Init]  Camera FW version: 1523
[zed_wrapper-2] [ZED][INFO] [Init]  Video mode: HD720@15
[zed_wrapper-2] [ZED][WARNING] [Init]  Requested depth_minimum_distance: 0.2METER is too close, clamped to 0.3METER.
[zed_wrapper-2] 1650547556.663178877 [zed.zed_node] [INFO] ZED SDK running on GPU #0
[zed_wrapper-2] 1650547556.663359015 [zed.zed_node] [INFO]  * Camera Model  -> ZED
[zed_wrapper-2] 1650547556.663434091 [zed.zed_node] [INFO]  * Serial Number -> -----redacted----
[zed_wrapper-2] 1650547556.663537232 [zed.zed_node] [INFO]  * Input type    -> USB input type
[zed_wrapper-2] 1650547556.663604308 [zed.zed_node] [INFO]  * Camera FW Version -> 1523
[zed_wrapper-2] 1650547556.663759388 [zed.zed_node] [INFO] *** TF FRAMES ***
[zed_wrapper-2] 1650547556.663798751 [zed.zed_node] [INFO]  * Map           -> map
[zed_wrapper-2] 1650547556.663832160 [zed.zed_node] [INFO]  * Odometry          -> odom
[zed_wrapper-2] 1650547556.663863522 [zed.zed_node] [INFO]  * Base          -> base_link
[zed_wrapper-2] 1650547556.663894692 [zed.zed_node] [INFO]  * Camera            -> zed_camera_center
[zed_wrapper-2] 1650547556.663926405 [zed.zed_node] [INFO]  * Left          -> zed_left_camera_frame
[zed_wrapper-2] 1650547556.663983144 [zed.zed_node] [INFO]  * Left Optical      -> zed_left_camera_optical_frame
[zed_wrapper-2] 1650547556.665505146 [zed.zed_node] [INFO]  * RGB           -> zed_left_camera_frame
[zed_wrapper-2] 1650547556.665577598 [zed.zed_node] [INFO]  * RGB Optical       -> zed_left_camera_frame
[zed_wrapper-2] 1650547556.665613248 [zed.zed_node] [INFO]  * Right         -> zed_right_camera_frame
[zed_wrapper-2] 1650547556.665645858 [zed.zed_node] [INFO]  * Right Optical     -> zed_right_camera_optical_frame
[zed_wrapper-2] 1650547556.665677764 [zed.zed_node] [INFO]  * Depth         -> zed_left_camera_frame
[zed_wrapper-2] 1650547556.665709349 [zed.zed_node] [INFO]  * Depth Optical     -> zed_left_camera_optical_frame
[zed_wrapper-2] 1650547556.665741287 [zed.zed_node] [INFO]  * Point Cloud       -> zed_left_camera_optical_frame
[zed_wrapper-2] 1650547556.665772361 [zed.zed_node] [INFO]  * Disparity     -> zed_left_camera_frame
[zed_wrapper-2] 1650547556.665812395 [zed.zed_node] [INFO]  * Disparity Optical -> zed_left_camera_optical_frame
[zed_wrapper-2] 1650547556.665847341 [zed.zed_node] [INFO]  * Confidence        -> zed_left_camera_frame
[zed_wrapper-2] 1650547556.665885487 [zed.zed_node] [INFO]  * Confidence Optical    -> zed_left_camera_optical_frame
[zed_wrapper-2] 1650547556.665917073 [zed.zed_node] [INFO] *** PUBLISHED TOPICS ***
[zed_wrapper-2] 1650547556.671257040 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/rgb/image_rect_color
[zed_wrapper-2] 1650547556.672265382 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/rgb/image_rect_gray
[zed_wrapper-2] 1650547556.672359723 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/rgb/camera_info
[zed_wrapper-2] 1650547556.673312223 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/rgb_raw/image_raw_color
[zed_wrapper-2] 1650547556.674549793 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/rgb_raw/image_raw_gray
[zed_wrapper-2] 1650547556.674661287 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/rgb_raw/camera_info
[zed_wrapper-2] 1650547556.675565176 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/left/image_rect_color
[zed_wrapper-2] 1650547556.676518603 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/left/image_rect_gray
[zed_wrapper-2] 1650547556.676593199 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/left/camera_info
[zed_wrapper-2] 1650547556.677504480 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/left_raw/image_raw_color
[zed_wrapper-2] 1650547556.678181733 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/left_raw/image_raw_gray
[zed_wrapper-2] 1650547556.678249417 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/left_raw/camera_info
[zed_wrapper-2] 1650547556.678960015 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/right/image_rect_color
[zed_wrapper-2] 1650547556.679809501 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/right/image_rect_gray
[zed_wrapper-2] 1650547556.679869152 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/right/camera_info
[zed_wrapper-2] 1650547556.680864309 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/right_raw/image_raw_color
[zed_wrapper-2] 1650547556.681788103 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/right_raw/image_raw_gray
[zed_wrapper-2] 1650547556.681854763 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/right_raw/camera_info
[zed_wrapper-2] 1650547556.682775388 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/depth/depth_registered
[zed_wrapper-2] 1650547556.682840512 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/depth/camera_info
[zed_wrapper-2] 1650547556.683429311 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/depth/depth_info
[zed_wrapper-2] 1650547556.685150684 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/stereo/image_rect_color
[zed_wrapper-2] 1650547556.685624566 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/stereo_raw/image_raw_color
[zed_wrapper-2] 1650547556.686118320 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/confidence/confidence_map
[zed_wrapper-2] 1650547556.687561662 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/disparity/disparity_image
[zed_wrapper-2] 1650547556.688660153 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/point_cloud/cloud_registered
[zed_wrapper-2] 1650547556.689594635 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/pose
[zed_wrapper-2] 1650547556.690330419 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/pose_with_covariance
[zed_wrapper-2] 1650547556.691687964 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/odom
[zed_wrapper-2] 1650547556.692333663 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/path_map
[zed_wrapper-2] 1650547556.692843962 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/path_odom
[zed_wrapper-2] 1650547556.718698538 [zed.zed_node] [INFO] *** Starting Positional Tracking ***
[zed_wrapper-2] 1650547556.718961880 [zed.zed_node] [INFO]  * Waiting for valid static transformations...
[zed_wrapper-2] 1650547556.719134594 [zed.zed_node] [INFO] Static transform Sensor to Base [zed_left_camera_frame -> base_link]
[zed_wrapper-2] 1650547556.719178116 [zed.zed_node] [INFO]  * Translation: {0.001,-0.060,-0.015}
[zed_wrapper-2] 1650547556.719221478 [zed.zed_node] [INFO]  * Rotation: {0.000,-2.865,0.000}
[zed_wrapper-2] 1650547556.719281418 [zed.zed_node] [INFO] Static transform Sensor to Camera Center [zed_left_camera_frame -> zed_camera_center]
[zed_wrapper-2] 1650547556.719318348 [zed.zed_node] [INFO]  * Translation: {0.000,-0.060,0.000}
[zed_wrapper-2] 1650547556.719354733 [zed.zed_node] [INFO]  * Rotation: {0.000,-0.000,0.000}
[zed_wrapper-2] 1650547556.719423505 [zed.zed_node] [INFO] Static transform Camera Center to Base [zed_camera_center -> base_link]
[zed_wrapper-2] 1650547556.719481492 [zed.zed_node] [INFO]  * Translation: {0.001,0.000,-0.015}
[zed_wrapper-2] 1650547556.719538359 [zed.zed_node] [INFO]  * Rotation: {0.000,-2.865,0.000}
[zed_wrapper-2] 1650547556.819683623 [zed.zed_node] [INFO] Initial ZED left camera pose (ZED pos. tracking): 
[zed_wrapper-2] 1650547556.819855024 [zed.zed_node] [INFO]  * T: [-1.66741e-19,0.06,0.015]
[zed_wrapper-2] 1650547556.819978743 [zed.zed_node] [INFO]  * Q: [0,0.0249967,0,0.999687]
[zed_wrapper-2] 1650547556.961484857 [zed.zed_node] [INFO] Odometry aligned to last tracking pose

NVIDIA-ISAAC-ROS / isaac_ros_nvblox

issues at jetson #6