Closed ManChrys closed 3 years ago
matlabbe
commented
3 years ago How did you launch data_recorder.launch? You would have to start zed2 wrapper launch file too and remap the correct topic you want to record.
Note also that data_recorder.launch is used to record raw frames without any odometry/slam, it just fills a database with camera data. That database can be then used as source in RTAB-Map standalone.
ManChrys
commented
3 years ago Hi @matlabbe,
that would be my second question. When im running roslaunch zed_wrapper zed2.launch this happens
PARAMETERS
NODES /zed2/ zed2_state_publisher (robot_state_publisher/robot_state_publisher) zed_node (zed_wrapper/zed_wrapper_node)
auto-starting new master process[master]: started with pid [8288]
process[rosout-1]: started with pid [8299] started core service [/rosout] process[zed2/zed2_state_publisher-2]: started with pid [8306] process[zed2/zed_node-3]: started with pid [8307] [ INFO] [1609398970.512612871]: Initializing nodelet with 8 worker threads. [ INFO] [1609398970.522516681]: ** Starting nodelet '/zed2/zed_node' ** [ INFO] [1609398970.522559918]: SDK version : 3.3.3 [ INFO] [1609398970.522615440]: PARAMETERS [ INFO] [1609398970.522994282]: Camera Name -> zed2 [ INFO] [1609398970.523326235]: Camera Resolution -> HD720 [ INFO] [1609398970.523632776]: Camera Grab Framerate -> 30 [ INFO] [1609398970.523884744]: Gpu ID -> -1 [ INFO] [1609398970.524185571]: Camera ID -> -1 [ INFO] [1609398970.524505835]: Verbose -> DISABLED [ INFO] [1609398970.525088663]: Camera Flip -> DISABLED [ INFO] [1609398970.525593429]: Self calibration -> ENABLED [ INFO] [1609398970.526052454]: Camera Model by param -> zed2 [ INFO] [1609398970.526324203]: Image resample factor -> 1 [ INFO] [1609398970.526581527]: Extrinsic param. frame -> X RIGHT - Y DOWN - Z FWD [ INFO] [1609398970.526812690]: Depth quality -> PERFORMANCE [ INFO] [1609398970.527042642]: Depth Sensing mode -> STANDARD [ INFO] [1609398970.527294473]: OpenNI mode -> DISABLED [ INFO] [1609398970.527547657]: Depth Stabilization -> ENABLED [ INFO] [1609398970.527805805]: Minimum depth -> 0.7 m [ INFO] [1609398970.528044525]: Maximum depth -> 20 m [ INFO] [1609398970.528305105]: Depth resample factor -> 1 [ INFO] [1609398970.528563912]: Path rate -> 2 Hz [ INFO] [1609398970.528794010]: Path history size -> 1 [ INFO] [1609398970.529198259]: Odometry DB path -> [ INFO] [1609398970.529607167]: Spatial Memory -> ENABLED [ INFO] [1609398970.530097357]: IMU Fusion -> ENABLED [ INFO] [1609398970.530524265]: Floor alignment -> DISABLED [ INFO] [1609398970.530875542]: Init Odometry with first valid pose data -> ENABLED [ INFO] [1609398970.531305740]: Two D mode -> DISABLED [ INFO] [1609398970.531965534]: Mapping -> DISABLED [ INFO] [1609398970.532424462]: Object Detection -> DISABLED [ INFO] [1609398970.533130637]: Sensors timestamp sync -> DISABLED [ INFO] [1609398970.533631035]: SVO input file: -> [ INFO] [1609398970.534060423]: SVO REC compression -> H265 (HEVC) [ INFO] [1609398970.535827329]: map_frame -> map [ INFO] [1609398970.535844350]: odometry_frame -> odom [ INFO] [1609398970.535871266]: base_frame -> base_link [ INFO] [1609398970.535882286]: camera_frame -> zed2_camera_center [ INFO] [1609398970.535892422]: imu_link -> zed2_imu_link [ INFO] [1609398970.535902735]: left_camera_frame -> zed2_left_camera_frame [ INFO] [1609398970.535913058]: left_camera_optical_frame -> zed2_left_camera_optical_frame [ INFO] [1609398970.535922968]: right_camera_frame -> zed2_right_camera_frame [ INFO] [1609398970.535933410]: right_camera_optical_frame -> zed2_right_camera_optical_frame [ INFO] [1609398970.535943181]: depth_frame -> zed2_left_camera_frame [ INFO] [1609398970.535953717]: depth_optical_frame -> zed2_left_camera_optical_frame [ INFO] [1609398970.535964270]: disparity_frame -> zed2_left_camera_frame [ INFO] [1609398970.535975566]: disparity_optical_frame -> zed2_left_camera_optical_frame [ INFO] [1609398970.535985445]: confidence_frame -> zed2_left_camera_frame [ INFO] [1609398970.535995421]: confidence_optical_frame -> zed2_left_camera_optical_frame [ INFO] [1609398970.536360648]: Broadcast odometry TF -> ENABLED [ INFO] [1609398970.536717536]: Broadcast map pose TF -> ENABLED [ INFO] [1609398970.537070801]: Broadcast IMU pose TF -> ENABLED [ INFO] [1609398970.537308674]: [DYN] Depth confidence -> 50 [ INFO] [1609398970.537516180]: [DYN] Depth texture conf. -> 100 [ INFO] [1609398970.537726138]: [DYN] pub_frame_rate -> 15 Hz [ INFO] [1609398970.537933133]: [DYN] point_cloud_freq -> 15 Hz [ INFO] [1609398970.538139424]: [DYN] brightness -> 4 [ INFO] [1609398970.538345650]: [DYN] contrast -> 4 [ INFO] [1609398970.538544376]: [DYN] hue -> 0 [ INFO] [1609398970.538721102]: [DYN] saturation -> 4 [ INFO] [1609398970.538894597]: [DYN] sharpness -> 4 [ INFO] [1609398970.539072067]: [DYN] gamma -> 8 [ INFO] [1609398970.539251473]: [DYN] auto_exposure_gain -> ENABLED [ INFO] [1609398970.539743248]: [DYN] auto_whitebalance -> ENABLED [ INFO] [1609398970.542290481]: Camera coordinate system -> Right HANDED Z UP and X FORWARD [ INFO] [1609398970.542326312]: *** Opening ZED 2... [ INFO] [1609398971.461610142]: ZED connection -> SUCCESS [ INFO] [1609398973.462024243]: ... ZED ready [ INFO] [1609398973.462114507]: ZED SDK running on GPU #0 [ INFO] [1609398973.471832262]: Camera-IMU Transform: 560716F6E130 0.999914 0.012858 0.002612 -0.002000 -0.012857 0.999917 -0.000305 -0.023000 -0.002616 0.000271 0.999997 -0.002000 0.000000 0.000000 0.000000 1.000000
[ INFO] [1609398973.471927330]: CAMERA MODEL -> ZED 2 [ INFO] [1609398973.472075704]: Serial Number -> 23744362 [ INFO] [1609398973.472203101]: Camera FW Version -> 1523 [ INFO] [1609398973.472324097]: Sensors FW Version -> 776 [ INFO] [1609398973.625612142]: Advertised on topic /zed2/zed_node/rgb/image_rect_color [ INFO] [1609398973.625769370]: Advertised on topic /zed2/zed_node/rgb/camera_info [ INFO] [1609398973.646805923]: Advertised on topic /zed2/zed_node/rgb_raw/image_raw_color [ INFO] [1609398973.646938372]: Advertised on topic /zed2/zed_node/rgb_raw/camera_info [ INFO] [1609398973.669402640]: Advertised on topic /zed2/zed_node/left/image_rect_color [ INFO] [1609398973.669431271]: Advertised on topic /zed2/zed_node/left/camera_info [ INFO] [1609398973.681252246]: Advertised on topic /zed2/zed_node/left_raw/image_raw_color [ INFO] [1609398973.681281624]: Advertised on topic /zed2/zed_node/left_raw/camera_info [ INFO] [1609398973.693390206]: Advertised on topic /zed2/zed_node/right/image_rect_color [ INFO] [1609398973.693418404]: Advertised on topic /zed2/zed_node/right/camera_info [ INFO] [1609398973.704485594]: Advertised on topic /zed2/zed_node/right_raw/image_raw_color [ INFO] [1609398973.704535701]: Advertised on topic /zed2/zed_node/right_raw/camera_info [ INFO] [1609398973.715737590]: Advertised on topic /zed2/zed_node/rgb/image_rect_gray [ INFO] [1609398973.715772040]: Advertised on topic /zed2/zed_node/rgb/camera_info [ INFO] [1609398973.727959730]: Advertised on topic /zed2/zed_node/rgb_raw/image_raw_gray [ INFO] [1609398973.727999600]: Advertised on topic /zed2/zed_node/rgb_raw/camera_info [ INFO] [1609398973.740331734]: Advertised on topic /zed2/zed_node/left/image_rect_gray [ INFO] [1609398973.740369398]: Advertised on topic /zed2/zed_node/left/camera_info [ INFO] [1609398973.752727529]: Advertised on topic /zed2/zed_node/left_raw/image_raw_gray [ INFO] [1609398973.752777743]: Advertised on topic /zed2/zed_node/left_raw/camera_info [ INFO] [1609398973.764900260]: Advertised on topic /zed2/zed_node/right/image_rect_gray [ INFO] [1609398973.764942500]: Advertised on topic /zed2/zed_node/right/camera_info [ INFO] [1609398973.776662227]: Advertised on topic /zed2/zed_node/right_raw/image_raw_gray [ INFO] [1609398973.776706524]: Advertised on topic /zed2/zed_node/right_raw/camera_info [ INFO] [1609398973.789809013]: Advertised on topic /zed2/zed_node/depth/depth_registered [ INFO] [1609398973.789877943]: Advertised on topic /zed2/zed_node/depth/camera_info [ INFO] [1609398973.800535595]: Advertised on topic /zed2/zed_node/stereo/image_rect_color [ INFO] [1609398973.812627310]: Advertised on topic /zed2/zed_node/stereo_raw/image_raw_color [ INFO] [1609398973.813045292]: Advertised on topic /zed2/zed_node/confidence/confidence_map [ INFO] [1609398973.813367070]: Advertised on topic /zed2/zed_node/disparity/disparity_image [ INFO] [1609398973.813722164]: Advertised on topic /zed2/zed_node/point_cloud/cloud_registered [ INFO] [1609398973.814059196]: Advertised on topic /zed2/zed_node/pose [ INFO] [1609398973.814377577]: Advertised on topic /zed2/zed_node/pose_with_covariance [ INFO] [1609398973.814704363]: Advertised on topic /zed2/zed_node/odom [ INFO] [1609398973.815044589]: Advertised on topic /zed2/zed_node/path_odom [ INFO] [1609398973.815397595]: Advertised on topic /zed2/zed_node/path_map [ INFO] [1609398973.815792700]: Advertised on topic /zed2/zed_node/imu/data [ INFO] [1609398973.816101305]: Advertised on topic /zed2/zed_node/imu/data_raw [ INFO] [1609398973.816436387]: Advertised on topic /zed2/zed_node/imu/mag [ INFO] [1609398973.816745634]: Advertised on topic /zed2/zed_node/temperature/imu [ INFO] [1609398973.817059725]: Advertised on topic /zed2/zed_node/atm_press [ INFO] [1609398973.817383920]: Advertised on topic /zed2/zed_node/temperature/left [ INFO] [1609398973.817677939]: Advertised on topic /zed2/zed_node/temperature/right [ INFO] [1609398973.818050090]: Advertised on topic /zed2/zed_node/left_cam_imu_transform [LATCHED]
What does that LATCHED means? :/ As i can see it says
[ INFO] [1609398971.461610142]: ZED connection -> SUCCESS [ INFO] [1609398973.462024243]: ... ZED ready
Thank you again guys. And i wish to all of you guys happiness, love and health in the new year.
ManChrys
commented
3 years ago UPDATE i fixed this.
Zed-ros-wrapper --> zed-wrapper--> params --> zed2.yaml
i just make objection detection/od_enabled true instead of false.
Hello again guys!!
As you can see im trying all of your projects and im very excited you did great job :D
I'm using ZED2. Zed_rtabmap_example from the other repo works fine i dont know if that helps .
When im using all launch files i have this error :
SUMMARY
PARAMETERS
NODES / data_recorder (rtabmap_ros/rtabmap)
auto-starting new master process[master]: started with pid [22563]
setting /run_id to 9abce1b0-4a93-11eb-97e8-3c6aa7d21fc7 process[rosout-1]: started with pid [22574] started core service [/rosout] process[data_recorder-2]: started with pid [22581] [ INFO] [1609328339.099298945]: Starting node... [ INFO] [1609328339.133459902]: Initializing nodelet with 8 worker threads. [ INFO] [1609328339.224079067]: /data_recorder(maps): map_filter_radius = 0.000000 [ INFO] [1609328339.224102660]: /data_recorder(maps): map_filter_angle = 30.000000 [ INFO] [1609328339.224126351]: /data_recorder(maps): map_cleanup = true [ INFO] [1609328339.224138948]: /data_recorder(maps): map_always_update = false [ INFO] [1609328339.224146264]: /data_recorder(maps): map_empty_ray_tracing = true [ INFO] [1609328339.224153291]: /data_recorder(maps): cloud_output_voxelized = true [ INFO] [1609328339.224160367]: /data_recorder(maps): cloud_subtract_filtering = false [ INFO] [1609328339.224168308]: /data_recorder(maps): cloud_subtract_filtering_min_neighbors = 2 [ INFO] [1609328339.224642926]: /data_recorder(maps): octomap_tree_depth = 16 [ INFO] [1609328339.238962718]: rtabmap: frame_id = camera_link [ INFO] [1609328339.238983218]: rtabmap: odom_frame_id = camera_link [ INFO] [1609328339.238992851]: rtabmap: map_frame_id = map [ INFO] [1609328339.239000894]: rtabmap: use_action_for_goal = false [ INFO] [1609328339.239010506]: rtabmap: tf_delay = 0.050000 [ INFO] [1609328339.239019012]: rtabmap: tf_tolerance = 0.100000 [ INFO] [1609328339.239026542]: rtabmap: odom_sensor_sync = false [ INFO] [1609328339.257778845]: Setting RTAB-Map parameter "DbSqlite3/InMemory"="false" [ INFO] [1609328339.333544904]: Setting RTAB-Map parameter "Kp/MaxFeatures"="-1" [ INFO] [1609328339.360288142]: Setting RTAB-Map parameter "Mem/MapLabelsAdded"="false" [ INFO] [1609328339.363943739]: Setting RTAB-Map parameter "Mem/RehearsalSimilarity"="1.0" [ INFO] [1609328339.364967500]: Setting RTAB-Map parameter "Mem/STMSize"="1" [ INFO] [1609328339.384212220]: Setting RTAB-Map parameter "RGBD/AngularUpdate"="0" [ INFO] [1609328339.384485525]: Setting RTAB-Map parameter "RGBD/CreateOccupancyGrid"="false" [ INFO] [1609328339.384747864]: Setting RTAB-Map parameter "RGBD/Enabled"="false" [ INFO] [1609328339.387082485]: Setting RTAB-Map parameter "RGBD/LinearUpdate"="0" [ INFO] [1609328339.391750980]: Setting RTAB-Map parameter "RGBD/MaxLocalRetrieved"="0" [ INFO] [1609328339.399043859]: Setting RTAB-Map parameter "RGBD/ProximityBySpace"="false" [ INFO] [1609328339.409238038]: Setting RTAB-Map parameter "Rtabmap/DetectionRate"="0" [ INFO] [1609328339.413177992]: Setting RTAB-Map parameter "Rtabmap/MaxRetrieved"="0" [ INFO] [1609328339.413438313]: Setting RTAB-Map parameter "Rtabmap/MemoryThr"="2" [ INFO] [1609328339.586146188]: RTAB-Map detection rate = 0.000000 Hz [ INFO] [1609328339.586267862]: rtabmap: Using database from "/home/geo/.ros/output.db" (0 MB). [ INFO] [1609328339.617371623]: rtabmap: Database version = "0.20.7". [ INFO] [1609328339.637447080]: /data_recorder: subscribe_depth = true [ INFO] [1609328339.637491895]: /data_recorder: subscribe_rgb = true [ INFO] [1609328339.637512911]: /data_recorder: subscribe_stereo = false [ INFO] [1609328339.637528664]: /data_recorder: subscribe_rgbd = false (rgbd_cameras=1) [ INFO] [1609328339.637544813]: /data_recorder: subscribe_odom_info = false [ INFO] [1609328339.637560217]: /data_recorder: subscribe_user_data = false [ INFO] [1609328339.637578758]: /data_recorder: subscribe_scan = false [ INFO] [1609328339.637593583]: /data_recorder: subscribe_scan_cloud = false [ INFO] [1609328339.637609970]: /data_recorder: subscribe_scan_descriptor = false [ INFO] [1609328339.637625719]: /data_recorder: queue_size = 10 [ INFO] [1609328339.637641920]: /data_recorder: approx_sync = true [ INFO] [1609328339.637677960]: Setup depth callback [ INFO] [1609328339.650792194]: /data_recorder subscribed to (approx sync): /camera/rgb/image_rect_color \ /camera/depth_registered/image_raw \ /camera/rgb/camera_info [ INFO] [1609328339.746673772]: rtabmap 0.20.7 started... [ WARN] [1609328344.651272034]: /data_recorder: Did not receive data since 5 seconds! Make sure the input topics are published ("$ rostopic hz my_topic") and the timestamps in their header are set. If topics are coming from different computers, make sure the clocks of the computers are synchronized ("ntpdate"). If topics are not published at the same rate, you could increase "queue_size" parameter (current=10). /data_recorder subscribed to (approx sync): /camera/rgb/image_rect_color \ /camera/depth_registered/image_raw \ /camera/rgb/camera_info [ WARN] [1609328349.651731294]: /data_recorder: Did not receive data since 5 seconds! Make sure the input topics are published ("$ rostopic hz my_topic") and the timestamps in their header are set. If topics are coming from different computers, make sure the clocks of the computers are synchronized ("ntpdate"). If topics are not published at the same rate, you could increase "queue_size" parameter (current=10). /data_recorder subscribed to (approx sync): /camera/rgb/image_rect_color \ /camera/depth_registered/image_raw \ /camera/rgb/camera_info /rtabmap/odom_info
geo@geo:~$ rostopic hz my_topic WARNING: topic [/my_topic] does not appear to be published yet
geo@geo:~$ rostopic list /camera/depth_registered/image_raw /camera/rgb/camera_info /camera/rgb/image_rect_color /gps/fix /imu/data /rosout /rosout_agg /rtabmap/cloud_ground /rtabmap/cloud_map /rtabmap/cloud_obstacles /rtabmap/global_path /rtabmap/global_path_nodes /rtabmap/global_pose /rtabmap/goal /rtabmap/goal_node /rtabmap/goal_out /rtabmap/goal_reached /rtabmap/grid_map /rtabmap/grid_prob_map /rtabmap/info /rtabmap/initialpose /rtabmap/labels /rtabmap/landmarks /rtabmap/local_grid_empty /rtabmap/local_grid_ground /rtabmap/local_grid_obstacle /rtabmap/local_path /rtabmap/local_path_nodes /rtabmap/localization_pose /rtabmap/mapData /rtabmap/mapGraph /rtabmap/mapPath /rtabmap/octomap_binary /rtabmap/octomap_empty_space /rtabmap/octomap_full /rtabmap/octomap_global_frontier_space /rtabmap/octomap_grid /rtabmap/octomap_ground /rtabmap/octomap_obstacles /rtabmap/octomap_occupied_space /rtabmap/odom /rtabmap/odom_info /rtabmap/odom_last_frame /rtabmap/odom_local_map /rtabmap/odom_local_scan_map /rtabmap/odom_rgbd_image /rtabmap/proj_map /rtabmap/scan_map /tf /tf_static /user_data_async
EDIT:
i dont know if this helps too
[ INFO] [1609328339.637512911]: /data_recorder: subscribe_stereo = false
Thank you again guys.