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stereolabs / zed-ros-examples

Examples for the ZED SDK ROS wrapper
https://www.stereolabs.com/docs/ros/
MIT License
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Cannot run zed_rtabmap.launch #10

Closed saeedarabi92 closed 4 years ago

saeedarabi92 commented 4 years ago

Hello, I have a zed2 camera and could not run rtabmap example on my Jetson TX2. The rtabmap freezes and does not show anything.

logs and files 

... logging to /home/nvidia/.ros/log/d34fb552-7131-11ea-a696-00044bc73598/roslaunch-nvidia-desktop-32725.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://nvidia-desktop:44019/

SUMMARY
========

PARAMETERS
 * /rosdistro: melodic
 * /rosversion: 1.14.3
 * /zed/rtabmap/Grid/3D: True
 * /zed/rtabmap/Grid/CellSize: 0.05
 * /zed/rtabmap/Grid/ClusterRadius: 0.1
 * /zed/rtabmap/Grid/DepthDecimation: 1
 * /zed/rtabmap/Grid/DepthRoiRatios: [0.0, 0.0, 0.0, 0.0]
 * /zed/rtabmap/Grid/FlatObstacleDetected: True
 * /zed/rtabmap/Grid/FootprintHeight: 2.0
 * /zed/rtabmap/Grid/FootprintLength: 0.18
 * /zed/rtabmap/Grid/FootprintWidth: 0.18
 * /zed/rtabmap/Grid/FromDepth: True
 * /zed/rtabmap/Grid/GroundIsObstacle: False
 * /zed/rtabmap/Grid/MapFrameProjection: False
 * /zed/rtabmap/Grid/MaxGroundAngle: 30.0
 * /zed/rtabmap/Grid/MaxGroundHeight: -0.4
 * /zed/rtabmap/Grid/MaxObstacleHeight: 0.1
 * /zed/rtabmap/Grid/MinClusterSize: 3
 * /zed/rtabmap/Grid/MinGroundHeight: -0.5
 * /zed/rtabmap/Grid/NoiseFilteringMinNeighbors: 5
 * /zed/rtabmap/Grid/NoiseFilteringRadius: 0.1
 * /zed/rtabmap/Grid/NormalK: 20
 * /zed/rtabmap/Grid/NormalsSegmentation: False
 * /zed/rtabmap/Grid/PreVoxelFiltering: True
 * /zed/rtabmap/Grid/RangeMax: 3.0
 * /zed/rtabmap/Grid/RangeMin: 0.7
 * /zed/rtabmap/Grid/RayTracing: True
 * /zed/rtabmap/GridGlobal/Eroded: False
 * /zed/rtabmap/GridGlobal/FootprintRadius: 0.18
 * /zed/rtabmap/GridGlobal/FullUpdate: True
 * /zed/rtabmap/GridGlobal/MaxNodes: 0
 * /zed/rtabmap/GridGlobal/MinSize: 1.0
 * /zed/rtabmap/GridGlobal/OccupancyThr: 0.55
 * /zed/rtabmap/GridGlobal/ProbClampingMax: 0.971
 * /zed/rtabmap/GridGlobal/ProbClampingMin: 0.1192
 * /zed/rtabmap/GridGlobal/ProbHit: 0.7
 * /zed/rtabmap/GridGlobal/ProbMiss: 0.4
 * /zed/rtabmap/GridGlobal/UpdateError: 0.01
 * /zed/rtabmap/Mem/IncrementalMemory: true
 * /zed/rtabmap/Mem/InitWMWithAllNodes: false
 * /zed/rtabmap/approx_sync: True
 * /zed/rtabmap/config_path: ~/.ros/rtabmap.cfg
 * /zed/rtabmap/database_path: ~/.ros/rtabmap.db
 * /zed/rtabmap/frame_id: base_link
 * /zed/rtabmap/map_frame_id: map
 * /zed/rtabmap/odom_frame_id: odom
 * /zed/rtabmap/odom_sensor_sync: False
 * /zed/rtabmap/odom_tf_angular_variance: 0.001
 * /zed/rtabmap/odom_tf_linear_variance: 0.001
 * /zed/rtabmap/publish_tf: True
 * /zed/rtabmap/queue_size: 10
 * /zed/rtabmap/scan_normal_k: 0
 * /zed/rtabmap/subscribe_depth: True
 * /zed/rtabmap/subscribe_odom_info: False
 * /zed/rtabmap/subscribe_rgbd: False
 * /zed/rtabmap/subscribe_scan: False
 * /zed/rtabmap/subscribe_scan_cloud: False
 * /zed/rtabmap/subscribe_stereo: False
 * /zed/rtabmap/subscribe_user_data: False
 * /zed/rtabmap/tf_delay: 0.02
 * /zed/rtabmap/wait_for_transform_duration: 0.2
 * /zed/zed_description: <?xml version="1....
 * /zed/zed_node/auto_exposure_gain: True
 * /zed/zed_node/auto_whitebalance: True
 * /zed/zed_node/brightness: 4
 * /zed/zed_node/contrast: 4
 * /zed/zed_node/depth/depth_downsample_factor: 1.0
 * /zed/zed_node/depth/depth_stabilization: 1
 * /zed/zed_node/depth/max_depth: 5.0
 * /zed/zed_node/depth/min_depth: 0.2
 * /zed/zed_node/depth/openni_depth_mode: 0
 * /zed/zed_node/depth/quality: 3
 * /zed/zed_node/depth/sensing_mode: 0
 * /zed/zed_node/depth_confidence: 50
 * /zed/zed_node/depth_texture_conf: 100
 * /zed/zed_node/exposure: 100
 * /zed/zed_node/gain: 100
 * /zed/zed_node/gamma: 8
 * /zed/zed_node/general/base_frame: base_link
 * /zed/zed_node/general/camera_flip: False
 * /zed/zed_node/general/camera_model: zed2
 * /zed/zed_node/general/camera_name: zed
 * /zed/zed_node/general/gpu_id: -1
 * /zed/zed_node/general/grab_frame_rate: 30
 * /zed/zed_node/general/resolution: 2
 * /zed/zed_node/general/self_calib: True
 * /zed/zed_node/general/serial_number: 0
 * /zed/zed_node/general/svo_compression: 2
 * /zed/zed_node/general/verbose: False
 * /zed/zed_node/general/zed_id: 0
 * /zed/zed_node/hue: 0
 * /zed/zed_node/mapping/fused_pointcloud_freq: 1.0
 * /zed/zed_node/mapping/mapping_enabled: False
 * /zed/zed_node/mapping/max_mapping_range: -1
 * /zed/zed_node/mapping/resolution: 0.05
 * /zed/zed_node/object_detection/confidence_threshold: 50
 * /zed/zed_node/object_detection/object_tracking_enabled: False
 * /zed/zed_node/object_detection/od_enabled: False
 * /zed/zed_node/object_detection/people_detection: False
 * /zed/zed_node/object_detection/vehicle_detection: False
 * /zed/zed_node/point_cloud_freq: 15.0
 * /zed/zed_node/pos_tracking/area_memory: True
 * /zed/zed_node/pos_tracking/area_memory_db_path: 
 * /zed/zed_node/pos_tracking/fixed_z_value: 0.0
 * /zed/zed_node/pos_tracking/floor_alignment: False
 * /zed/zed_node/pos_tracking/imu_fusion: True
 * /zed/zed_node/pos_tracking/init_odom_with_first_valid_pose: True
 * /zed/zed_node/pos_tracking/initial_base_pose: [0.0, 0.0, 0.0, 0...
 * /zed/zed_node/pos_tracking/map_frame: map
 * /zed/zed_node/pos_tracking/odometry_frame: odom
 * /zed/zed_node/pos_tracking/path_max_count: -1
 * /zed/zed_node/pos_tracking/path_pub_rate: 2.0
 * /zed/zed_node/pos_tracking/publish_map_tf: True
 * /zed/zed_node/pos_tracking/publish_tf: True
 * /zed/zed_node/pos_tracking/two_d_mode: False
 * /zed/zed_node/pub_frame_rate: 15.0
 * /zed/zed_node/saturation: 4
 * /zed/zed_node/sensors/sensors_timestamp_sync: False
 * /zed/zed_node/sharpness: 4
 * /zed/zed_node/stream: 
 * /zed/zed_node/svo_file: 
 * /zed/zed_node/video/extrinsic_in_camera_frame: True
 * /zed/zed_node/video/img_downsample_factor: 1.0
 * /zed/zed_node/whitebalance_temperature: 42

NODES
  /zed/
    rtabmap (rtabmap_ros/rtabmap)
    rtabmapviz (rtabmap_ros/rtabmapviz)
    rviz (rviz/rviz)
    zed_node (zed_wrapper/zed_wrapper_node)
    zed_state_publisher (robot_state_publisher/robot_state_publisher)

auto-starting new master
process[master]: started with pid [32743]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to d34fb552-7131-11ea-a696-00044bc73598
process[rosout-1]: started with pid [32756]
started core service [/rosout]
process[zed/zed_state_publisher-2]: started with pid [32764]
process[zed/zed_node-3]: started with pid [32765]
process[zed/rtabmapviz-4]: started with pid [304]
[ INFO] [1585426946.272446131]: Initializing nodelet with 6 worker threads.
process[zed/rtabmap-5]: started with pid [306]
process[zed/rviz-6]: started with pid [320]
[ INFO] [1585426946.426357238]: ********** Starting nodelet '/zed/zed_node' **********
[ INFO] [1585426946.426549172]: SDK version : 3.1.0
[ INFO] [1585426946.426636115]: *** PARAMETERS ***
[ INFO] [1585426946.427668840]:  * Camera Name          -> zed
[ INFO] [1585426946.428679742]:  * Camera Resolution        -> HD720
[ INFO] [1585426946.429616244]:  * Camera Grab Framerate    -> 30
[ INFO] [1585426946.430686601]:  * Gpu ID           -> -1
[ INFO] [1585426946.438856340]:  * Camera ID            -> -1
[ INFO] [1585426946.440303141]:  * Verbose          -> DISABLED
[ INFO] [1585426946.443690754]:  * Camera Flip          -> DISABLED
[ INFO] [1585426946.446549860]:  * Self calibration     -> ENABLED
[ INFO] [1585426946.449329032]:  * Camera Model by param    -> zed2
[ INFO] [1585426946.450694233]:  * Image resample factor    -> 1
[ INFO] [1585426946.452348616]:  * Extrinsic param. frame   -> X RIGHT - Y DOWN - Z FWD
[ INFO] [1585426946.453967383]:  * Depth quality        -> ULTRA
[ INFO] [1585426946.455581639]:  * Depth Sensing mode       -> STANDARD
[ INFO] [1585426946.459921178]:  * OpenNI mode          -> DISABLED
[ INFO] [1585426946.461392362]:  * Depth Stabilization      -> ENABLED
[ INFO] [1585426946.462448735]:  * Minimum depth        -> 0.2 m
[ INFO] [1585426946.463553300]:  * Maximum depth        -> 5 m
[ INFO] [1585426946.464913030]:  * Depth resample factor    -> 1
[ INFO] [1585426946.466586420]:  * Path rate            -> 2 Hz
[ INFO] [1585426946.468055653]:  * Path history size        -> 1
[ INFO] [1585426946.470683754]:  * Odometry DB path     -> 
[ INFO] [1585426946.475689654]:  * Spatial Memory       -> ENABLED
[ INFO] [1585426946.477368965]:  * IMU Fusion           -> ENABLED
[ INFO] [1585426946.479122738]:  * Floor alignment      -> DISABLED
[ INFO] [1585426946.480738338]:  * Init Odometry with first valid pose data -> ENABLED
[ INFO] [1585426946.482512079]:  * Two D mode           -> DISABLED
[ INFO] [1585426946.485945388]:  * Mapping          -> DISABLED
[ INFO] [1585426946.487921751]:  * Object Detection     -> DISABLED
[ INFO] [1585426946.488981324]:  * Sensors timestamp sync   -> DISABLED
[ INFO] [1585426946.490289823]:  * Sensors data freq        -> 400 Hz
[ INFO] [1585426946.492159051]:  * SVO input file:      -> 
[ INFO] [1585426946.493149057]:  * SVO REC compression      -> H265 (HEVC)
[ INFO] [1585426946.501393099]:  * map_frame            -> map
[ INFO] [1585426946.501486890]:  * odometry_frame       -> odom
[ INFO] [1585426946.501543306]:  * base_frame           -> base_link
[ INFO] [1585426946.501587273]:  * camera_frame         -> zed_camera_center
[ INFO] [1585426946.501630953]:  * imu_link         -> zed_imu_link
[ INFO] [1585426946.501678824]:  * left_camera_frame        -> zed_left_camera_frame
[ INFO] [1585426946.501720008]:  * left_camera_optical_frame    -> zed_left_camera_optical_frame
[ INFO] [1585426946.501755880]:  * right_camera_frame       -> zed_right_camera_frame
[ INFO] [1585426946.501841735]:  * right_camera_optical_frame   -> zed_right_camera_optical_frame
[ INFO] [1585426946.501881670]:  * depth_frame          -> zed_left_camera_frame
[ INFO] [1585426946.501925510]:  * depth_optical_frame      -> zed_left_camera_optical_frame
[ INFO] [1585426946.501960805]:  * disparity_frame      -> zed_left_camera_frame
[ INFO] [1585426946.501994789]:  * disparity_optical_frame  -> zed_left_camera_optical_frame
[ INFO] [1585426946.502039205]:  * confidence_frame     -> zed_left_camera_frame
[ INFO] [1585426946.502078116]:  * confidence_optical_frame -> zed_left_camera_optical_frame
[ INFO] [1585426946.503930961]:  * Broadcast odometry TF    -> ENABLED
[ INFO] [1585426946.505803326]:  * Broadcast map pose TF    -> ENABLED
[ INFO] [1585426946.506935314]:  * [DYN] Depth confidence   -> 50
[ INFO] [1585426946.507927752]:  * [DYN] Depth texture conf.    -> 100
[ INFO] [1585426946.508882750]:  * [DYN] pub_frame_rate     -> 15 Hz
[ INFO] [1585426946.509857875]:  * [DYN] point_cloud_freq   -> 15 Hz
[ INFO] [1585426946.510816010]:  * [DYN] brightness     -> 4
[ INFO] [1585426946.511728192]:  * [DYN] contrast       -> 4
[ INFO] [1585426946.512679862]:  * [DYN] hue            -> 0
[ INFO] [1585426946.513733611]:  * [DYN] saturation     -> 4
[ INFO] [1585426946.514792736]:  * [DYN] sharpness      -> 4
[ INFO] [1585426946.515769238]:  * [DYN] gamma          -> 8
[ INFO] [1585426946.516711980]:  * [DYN] auto_exposure_gain -> ENABLED
[ INFO] [1585426946.519322225]:  * [DYN] auto_whitebalance  -> ENABLED
[ INFO] [1585426946.539806973]:  * Camera coordinate system -> Right HANDED Z UP and X FORWARD
[ INFO] [1585426946.540100218]:  *** Opening ZED 2...
[ INFO] [1585426946.797916806]: rviz version 1.13.7
[ INFO] [1585426946.798037637]: compiled against Qt version 5.9.5
[ INFO] [1585426946.798075205]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1585426946.809321808]: Forcing OpenGl version 0.
[ INFO] [1585426947.543908334]: Starting node...
[ INFO] [1585426947.789287358]: Starting node...
[ INFO] [1585426947.862852388]: Stereo is NOT SUPPORTED
[ INFO] [1585426947.863174944]: OpenGl version: 4.6 (GLSL 4.6).
[ INFO] [1585426948.000277107]: Initializing nodelet with 6 worker threads.
[ INFO] [1585426948.348939159]: ZED connection -> SUCCESS
[ INFO] [1585426948.888108805]: /zed/rtabmap(maps): map_filter_radius          = 0.000000
[ INFO] [1585426948.888239364]: /zed/rtabmap(maps): map_filter_angle           = 30.000000
[ INFO] [1585426948.888721407]: /zed/rtabmap(maps): map_cleanup                = true
[ INFO] [1585426948.888926397]: /zed/rtabmap(maps): map_always_update          = false
[ INFO] [1585426948.889126587]: /zed/rtabmap(maps): map_empty_ray_tracing      = true
[ INFO] [1585426948.889305945]: /zed/rtabmap(maps): cloud_output_voxelized     = true
[ INFO] [1585426948.889490583]: /zed/rtabmap(maps): cloud_subtract_filtering   = false
[ INFO] [1585426948.889676629]: /zed/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
[ INFO] [1585426948.894533699]: /zed/rtabmap(maps): octomap_tree_depth         = 16
[ INFO] [1585426948.949716519]: rtabmap: frame_id      = base_link
[ INFO] [1585426948.949858374]: rtabmap: odom_frame_id = odom
[ INFO] [1585426948.949903621]: rtabmap: map_frame_id  = map
[ INFO] [1585426948.949940837]: rtabmap: use_action_for_goal  = false
[ INFO] [1585426948.949977412]: rtabmap: tf_delay      = 0.020000
[ INFO] [1585426948.950017028]: rtabmap: tf_tolerance  = 0.100000
[ INFO] [1585426948.950071811]: rtabmap: odom_sensor_sync   = false
[ERROR] [1585426948.970965099]: Header from subscriber did not have the required elements: md5sum, topic, callerid
[ INFO] [1585426948.991696116]: Loading parameters from /home/nvidia/.ros/rtabmap.cfg
[ INFO] [1585426949.137313617]: Setting RTAB-Map parameter "Grid/3D"="true"
[ INFO] [1585426949.143376914]: Setting RTAB-Map parameter "Grid/CellSize"="0.05"
[ INFO] [1585426949.151529022]: Setting RTAB-Map parameter "Grid/ClusterRadius"="0.1"
[ INFO] [1585426949.159254958]: Setting RTAB-Map parameter "Grid/DepthDecimation"="1"
[ INFO] [1585426949.183931598]: Setting RTAB-Map parameter "Grid/FlatObstacleDetected"="true"
[ INFO] [1585426949.193022672]: rtabmapviz: Using configuration from "/home/nvidia/.ros/rtabmapGUI.ini"
[ INFO] [1585426949.200239621]: Setting RTAB-Map parameter "Grid/FootprintHeight"="2"
[ INFO] [1585426949.205078739]: Setting RTAB-Map parameter "Grid/FootprintLength"="0.18"
[ INFO] [1585426949.212675685]: Setting RTAB-Map parameter "Grid/FootprintWidth"="0.18"
[ INFO] [1585426949.217233813]: Setting RTAB-Map parameter "Grid/FromDepth"="true"
[ INFO] [1585426949.220544563]: Setting RTAB-Map parameter "Grid/GroundIsObstacle"="false"
[ INFO] [1585426949.227604714]: Setting RTAB-Map parameter "Grid/MapFrameProjection"="false"
[ INFO] [1585426949.237177927]: Setting RTAB-Map parameter "Grid/MaxGroundAngle"="30"
[ INFO] [1585426949.246989409]: Setting RTAB-Map parameter "Grid/MaxGroundHeight"="-0.4"
[ INFO] [1585426949.252919396]: Setting RTAB-Map parameter "Grid/MaxObstacleHeight"="0.1"
[ INFO] [1585426949.262384866]: Setting RTAB-Map parameter "Grid/MinClusterSize"="3"
[ INFO] [1585426949.272835158]: Setting RTAB-Map parameter "Grid/MinGroundHeight"="-0.5"
[ INFO] [1585426949.282190421]: Setting RTAB-Map parameter "Grid/NoiseFilteringMinNeighbors"="5"
[ INFO] [1585426949.289135501]: Setting RTAB-Map parameter "Grid/NoiseFilteringRadius"="0.1"
[ INFO] [1585426949.297040155]: Setting RTAB-Map parameter "Grid/NormalK"="20"
[ INFO] [1585426949.301122737]: Setting RTAB-Map parameter "Grid/NormalsSegmentation"="false"
[ INFO] [1585426949.304339120]: Setting RTAB-Map parameter "Grid/PreVoxelFiltering"="true"
[ INFO] [1585426949.312175903]: Setting RTAB-Map parameter "Grid/RangeMax"="3"
[ INFO] [1585426949.321436575]: Setting RTAB-Map parameter "Grid/RangeMin"="0.7"
[ INFO] [1585426949.324734717]: Setting RTAB-Map parameter "Grid/RayTracing"="true"
[ INFO] [1585426949.340365371]: Setting RTAB-Map parameter "GridGlobal/Eroded"="false"
[ INFO] [1585426949.343492603]: Setting RTAB-Map parameter "GridGlobal/FootprintRadius"="0.18"
[ INFO] [1585426949.346692505]: Setting RTAB-Map parameter "GridGlobal/FullUpdate"="true"
[ INFO] [1585426949.351020269]: Setting RTAB-Map parameter "GridGlobal/MaxNodes"="0"
[ INFO] [1585426949.355949786]: Setting RTAB-Map parameter "GridGlobal/MinSize"="1"
[ INFO] [1585426949.360626633]: Setting RTAB-Map parameter "GridGlobal/OccupancyThr"="0.55"
[ INFO] [1585426949.364278243]: Setting RTAB-Map parameter "GridGlobal/ProbClampingMax"="0.971"
[ INFO] [1585426949.367933630]: Setting RTAB-Map parameter "GridGlobal/ProbClampingMin"="0.1192"
[ INFO] [1585426949.372032531]: Setting RTAB-Map parameter "GridGlobal/ProbHit"="0.7"
[ INFO] [1585426949.374898229]: Setting RTAB-Map parameter "GridGlobal/ProbMiss"="0.4"
[ INFO] [1585426949.378927532]: Setting RTAB-Map parameter "GridGlobal/UpdateError"="0.01"
[ERROR] [1585426949.444898849]: Header from subscriber did not have the required elements: md5sum, topic, callerid
[ERROR] [1585426949.445193950]: Header from subscriber did not have the required elements: md5sum, topic, callerid
[ INFO] [1585426949.656163830]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="true"
[ INFO] [1585426949.657284619]: Setting RTAB-Map parameter "Mem/InitWMWithAllNodes"="false"
[ INFO] [1585426950.352882701]:  ...  ZED ready
[ INFO] [1585426950.353022092]: ZED SDK running on GPU #0
[ INFO] [1585426950.367437943]: Camera-IMU Transform: 
 5590BC0AB0
0.999951 0.009705 0.001980 -0.002000
-0.009708 0.999952 0.001471 -0.023000
-0.001966 -0.001490 0.999997 -0.002000
0.000000 0.000000 0.000000 1.000000

[ INFO] [1585426950.367551702]:  * CAMERA MODEL  -> ZED 2
[ INFO] [1585426950.367668372]:  * Serial Number -> 28477986
[ INFO] [1585426950.367745524]:  * Camera FW Version -> 1523
[ INFO] [1585426950.367824339]:  * Sensors FW Version -> 776
libpng warning: iCCP: known incorrect sRGB profile
libpng warning: iCCP: known incorrect sRGB profile
[ INFO] [1585426951.311111961]: Advertised on topic /zed/zed_node/rgb/image_rect_color
[ INFO] [1585426951.311245080]: Advertised on topic /zed/zed_node/rgb/camera_info
Error:   Received an invalid TCPROS header.  Each line must have an equals sign.
         at line 103 in /tmp/binarydeb/ros-melodic-cpp-common-0.6.13/src/header.cpp
[ INFO] [1585426951.521295901]: Advertised on topic /zed/zed_node/rgb_raw/image_raw_color
[ INFO] [1585426951.521391260]: Advertised on topic /zed/zed_node/rgb_raw/camera_info
[ INFO] [1585426951.646806540]: Advertised on topic /zed/zed_node/left/image_rect_color
[ INFO] [1585426951.646960107]: Advertised on topic /zed/zed_node/left/camera_info
[ INFO] [1585426951.832532621]: Advertised on topic /zed/zed_node/left_raw/image_raw_color
[ INFO] [1585426951.832833322]: Advertised on topic /zed/zed_node/left_raw/camera_info
[ INFO] [1585426951.963406948]: Advertised on topic /zed/zed_node/right/image_rect_color
[ INFO] [1585426951.963491524]: Advertised on topic /zed/zed_node/right/camera_info
[ INFO] [1585426952.115912637]: Advertised on topic /zed/zed_node/right_raw/image_raw_color
[ INFO] [1585426952.116008092]: Advertised on topic /zed/zed_node/right_raw/camera_info
[ INFO] [1585426952.275555661]: Advertised on topic /zed/zed_node/rgb/image_rect_gray
[ INFO] [1585426952.275772363]: Advertised on topic /zed/zed_node/rgb/camera_info
[ INFO] [1585426952.393683657]: RTAB-Map detection rate = 1.000000 Hz
[ INFO] [1585426952.416485214]: Reading parameters from the ROS server...
[ INFO] [1585426952.435812790]: rtabmap: Deleted database "/home/nvidia/.ros/rtabmap.db" (--delete_db_on_start or -d are set).
[ INFO] [1585426952.435943925]: rtabmap: Using database from "/home/nvidia/.ros/rtabmap.db" (0 MB).
[ INFO] [1585426952.443132267]: Advertised on topic /zed/zed_node/rgb_raw/image_raw_gray
[ INFO] [1585426952.443222570]: Advertised on topic /zed/zed_node/rgb_raw/camera_info
[ INFO] [1585426952.585798953]: rtabmap: Database version = "0.19.3".
[ INFO] [1585426952.684514702]: Advertised on topic /zed/zed_node/left/image_rect_gray
[ INFO] [1585426952.684599629]: Advertised on topic /zed/zed_node/left/camera_info
[ INFO] [1585426952.909330749]: /zed/rtabmap: subscribe_depth = true
[ INFO] [1585426952.910001078]: /zed/rtabmap: subscribe_rgb = true
[ INFO] [1585426952.910179828]: /zed/rtabmap: subscribe_stereo = false
[ INFO] [1585426952.910241587]: /zed/rtabmap: subscribe_rgbd = false (rgbd_cameras=1)
[ INFO] [1585426952.910373778]: /zed/rtabmap: subscribe_odom_info = false
[ INFO] [1585426952.910441297]: /zed/rtabmap: subscribe_user_data = false
[ INFO] [1585426952.910512176]: /zed/rtabmap: subscribe_scan = false
[ INFO] [1585426952.910565488]: /zed/rtabmap: subscribe_scan_cloud = false
[ INFO] [1585426952.910617519]: /zed/rtabmap: queue_size    = 10
[ INFO] [1585426952.910670671]: /zed/rtabmap: approx_sync   = true
[ INFO] [1585426952.910858669]: Setup depth callback
[ INFO] [1585426952.928226234]: Advertised on topic /zed/zed_node/left_raw/image_raw_gray
[ INFO] [1585426952.928352536]: Advertised on topic /zed/zed_node/left_raw/camera_info
[ INFO] [1585426953.025819338]: 
/zed/rtabmap subscribed to (approx sync):
   /zed/zed_node/rgb/image_rect_color,
   /zed/zed_node/depth/depth_registered,
   /zed/zed_node/rgb/camera_info
[ INFO] [1585426953.115764874]: rtabmap 0.19.3 started...
[ INFO] [1585426953.136668850]: Advertised on topic /zed/zed_node/right/image_rect_gray
[ INFO] [1585426953.137064654]: Advertised on topic /zed/zed_node/right/camera_info
[ INFO] [1585426953.279867181]: Advertised on topic /zed/zed_node/right_raw/image_raw_gray
[ INFO] [1585426953.279984588]: Advertised on topic /zed/zed_node/right_raw/camera_info
[ INFO] [1585426953.396436762]: Advertised on topic /zed/zed_node/depth/depth_registered
[ INFO] [1585426953.396526297]: Advertised on topic /zed/zed_node/depth/camera_info
[ INFO] [1585426953.492813080]: Advertised on topic /zed/zed_node/stereo/image_rect_color
[ INFO] [1585426953.580642606]: Advertised on topic /zed/zed_node/stereo_raw/image_raw_color
[ INFO] [1585426953.583849005]: Advertised on topic /zed/zed_node/confidence/confidence_map
[ INFO] [1585426953.585609274]: Advertised on topic /zed/zed_node/disparity/disparity_image
[ INFO] [1585426953.589831599]: Advertised on topic /zed/zed_node/point_cloud/cloud_registered
[ INFO] [1585426953.591704444]: Advertised on topic /zed/zed_node/pose
[ INFO] [1585426953.594285025]: Advertised on topic /zed/zed_node/pose_with_covariance
[ INFO] [1585426953.598159257]: Advertised on topic /zed/zed_node/odom
[ INFO] [1585426953.602385389]: Advertised on topic /zed/zed_node/path_odom
[ INFO] [1585426953.604939475]: Advertised on topic /zed/zed_node/path_map
[ INFO] [1585426953.607441529]: Advertised on topic /zed/zed_node/imu/data @ 400 Hz
[ INFO] [1585426953.611449968]: Advertised on topic /zed/zed_node/imu/data_raw @ 400 Hz
[ INFO] [1585426953.615284680]: Advertised on topic /zed/zed_node/imu/mag @ 50 Hz
[ INFO] [1585426953.620912206]: Advertised on topic /zed/zed_node/temperature/imu @ 400 Hz
[ INFO] [1585426953.624417930]: Advertised on topic /zed/zed_node/atm_press @ 25 Hz
[ INFO] [1585426953.629184537]: Advertised on topic /zed/zed_node/temperature/left @ 25 Hz
[ INFO] [1585426953.632245817]: Advertised on topic /zed/zed_node/temperature/right @ 25 Hz
[ INFO] [1585426953.636580205]: Advertised on topic /zed/zed_node/left_cam_imu_transform [LATCHED]
[ INFO] [1585426953.687689373]: Parameters read = 311
[ INFO] [1585426953.687790300]: Parameters successfully read.
[ERROR] [1585426953.698609709]: Header from subscriber did not have the required elements: md5sum, topic, callerid
[ INFO] [1585426953.711410089]: Static transform Sensor to Base [zed_left_camera_frame -> base_link]
[ INFO] [1585426953.711552487]:  * Translation: {0.000,-0.060,0.000}
[ INFO] [1585426953.711623910]:  * Rotation: {0.000,-0.000,0.000}
[ INFO] [1585426953.711707589]: Static transform Sensor to Camera Center [zed_left_camera_frame -> zed_camera_center]
[ INFO] [1585426953.711766213]:  * Translation: {0.000,-0.060,0.000}
[ INFO] [1585426953.711930115]:  * Rotation: {0.000,-0.000,0.000}
[ INFO] [1585426953.712075554]: Static transform Camera Center to Base [zed_camera_center -> base_link]
[ INFO] [1585426953.712155201]:  * Translation: {0.000,0.000,0.000}
[ INFO] [1585426953.712268448]:  * Rotation: {0.000,-0.000,0.000}
[ INFO] [1585426953.714363114]: *** Starting Positional Tracking ***
[ INFO] [1585426953.714460137]:  * Waiting for valid static transformations...
[ INFO] [1585426953.815046363]: Initial ZED left camera pose (ZED pos. tracking): 
[ INFO] [1585426953.815409880]:  * T: [0,0.06,0]
[ INFO] [1585426953.815590198]:  * Q: [0,0,0,1]
[ INFO] [1585426954.010053983]: Odometry aligned to last tracking pose
[ INFO] [1585426954.441073508]: rtabmap (1): Rate=1.00s, Limit=0.000s, RTAB-Map=0.6086s, Maps update=0.0003s pub=0.0002s (local map=1, WM=1)
[ INFO] [1585426954.745213253]: /zed/rtabmapviz: subscribe_depth = false
[ INFO] [1585426954.745344771]: /zed/rtabmapviz: subscribe_rgb = false
[ INFO] [1585426954.745663296]: /zed/rtabmapviz: subscribe_stereo = false
[ INFO] [1585426954.745731775]: /zed/rtabmapviz: subscribe_rgbd = false (rgbd_cameras=1)
[ INFO] [1585426954.745864350]: /zed/rtabmapviz: subscribe_odom_info = false
[ INFO] [1585426954.746130107]: /zed/rtabmapviz: subscribe_user_data = false
[ INFO] [1585426954.746976050]: /zed/rtabmapviz: subscribe_scan = false
[ INFO] [1585426954.747054354]: /zed/rtabmapviz: subscribe_scan_cloud = false
[ INFO] [1585426954.747093489]: /zed/rtabmapviz: queue_size    = 10
[ INFO] [1585426954.747124785]: /zed/rtabmapviz: approx_sync   = true
[ INFO] [1585426954.747232560]: Setup scan callback
[ INFO] [1585426954.753088115]: 
/zed/rtabmapviz subscribed to:
   /zed/zed_node/odom
[ INFO] [1585426954.753418928]: rtabmapviz started.
[ INFO] [1585426955.354111170]: rtabmap (2): Rate=1.00s, Limit=0.000s, RTAB-Map=0.5025s, Maps update=0.0212s pub=0.0001s (local map=1, WM=1)
[ INFO] [1585426956.413327111]: rtabmap (3): Rate=1.00s, Limit=0.000s, RTAB-Map=0.5165s, Maps update=0.0085s pub=0.0000s (local map=1, WM=1)
[ INFO] [1585426957.595936064]: rtabmap (4): Rate=1.00s, Limit=0.000s, RTAB-Map=0.5897s, Maps update=0.0076s pub=0.0000s (local map=1, WM=1)
[ INFO] [1585426958.571186488]: rtabmap (5): Rate=1.00s, Limit=0.000s, RTAB-Map=0.5290s, Maps update=0.0086s pub=0.0000s (local map=1, WM=1)
[ INFO] [1585426959.635672866]: rtabmap (6): Rate=1.00s, Limit=0.000s, RTAB-Map=0.6084s, Maps update=0.0081s pub=0.0000s (local map=1, WM=1)
[ INFO] [1585426960.585699853]: rtabmap (7): Rate=1.00s, Limit=0.000s, RTAB-Map=0.5313s, Maps update=0.0082s pub=0.0000s (local map=1, WM=1)
[ INFO] [1585426961.603676134]: rtabmap (8): Rate=1.00s, Limit=0.000s, RTAB-Map=0.5038s, Maps update=0.0081s pub=0.0000s (local map=1, WM=1)
[ INFO] [1585426962.664763151]: rtabmap (9): Rate=1.00s, Limit=0.000s, RTAB-Map=0.5370s, Maps update=0.0093s pub=0.0001s (local map=1, WM=1)
[ INFO] [1585426963.634575142]: rtabmap (10): Rate=1.00s, Limit=0.000s, RTAB-Map=0.4597s, Maps update=0.0087s pub=0.0000s (local map=1, WM=1)
[ INFO] [1585426964.733464318]: rtabmap (11): Rate=1.00s, Limit=0.000s, RTAB-Map=0.5637s, Maps update=0.0090s pub=0.0000s (local map=1, WM=1)
[ INFO] [1585426965.794250885]: rtabmap (12): Rate=1.00s, Limit=0.000s, RTAB-Map=0.5838s, Maps update=0.0102s pub=0.0000s (local map=1, WM=1)
[ INFO] [1585426966.800608608]: rtabmap (13): Rate=1.00s, Limit=0.000s, RTAB-Map=0.5732s, Maps update=0.0087s pub=0.0000s (local map=1, WM=1)
[ INFO] [1585426967.749048979]: rtabmap (14): Rate=1.00s, Limit=0.000s, RTAB-Map=0.4959s, Maps update=0.0078s pub=0.0001s (local map=1, WM=1)
[ INFO] [1585426968.744456558]: rtabmap (15): Rate=1.00s, Limit=0.000s, RTAB-Map=0.5037s, Maps update=0.0091s pub=0.0000s (local map=1, WM=1)
^C[zed/rviz-6] killing on exit
[zed/rtabmap-5] killing on exit
[zed/rtabmapviz-4] killing on exit
[ INFO] [1585426969.156333481]: rtabmapviz: ctrl-c catched! Exiting Qt app...
[zed/zed_node-3] killing on exit
[zed/zed_state_publisher-2] killing on exit
[ INFO] [1585426969.374495547]: rtabmapviz stopping spinner...
Saving parameters to /home/nvidia/.ros/rtabmap.cfg
rtabmap: Saving database/long-term memory... (located at /home/nvidia/.ros/rtabmap.db)
rtabmap: Saving database/long-term memory...done! (located at /home/nvidia/.ros/rtabmap.db, 31 MB)
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

These are my launch files:

zed_rtabmap.launch (I changed this line: <include file="$(find zed_wrapper)/launch/include/zed_camera.launch.xml"> )

<?xml version="1.0"?>
<!--
Copyright (c) 2018, STEREOLABS.

All rights reserved.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-->
<launch>
    <arg name="zed_namespace"               default="zed" />

    <arg name="svo_file"                        default="" /> <!-- <arg name="svo_file" default="path/to/svo/file.svo"> -->

    <arg name="zed_node_name"                   default="zed_node" />
    <arg name="camera_model"                    default="zed2" /> <!-- 'zed' or 'zedm' or 'zed2' -->
    <arg name="publish_urdf"                    default="true" />

    <group ns="$(arg zed_namespace)">
        <!-- ZED Wrapper Node-->
        <include file="$(find zed_wrapper)/launch/include/zed_camera.launch.xml">
            <arg name="svo_file"            value="$(arg svo_file)" />
            <arg name="node_name"           value="$(arg zed_node_name)" />
            <arg name="camera_model"        value="$(arg camera_model)" />
            <arg name="publish_urdf"        value="$(arg publish_urdf)" />
        </include>

        <!-- RTAB-Map -->
        <arg name="custom_rtabmap_launch_file" default="$(find zed_rtabmap_example)/launch/include/sl_rtabmap.launch.xml"/>
        <include file="$(arg custom_rtabmap_launch_file)">
            <arg name="odom_topic"              default="zed_node/odom" />
            <arg name="rgb_topic"               default="zed_node/rgb/image_rect_color" />
            <arg name="depth_topic"             default="zed_node/depth/depth_registered" />
            <arg name="camera_info_topic"       default="zed_node/rgb/camera_info" />
            <arg name="depth_camera_info_topic" default="zed_node/depth/camera_info" />
        </include>   

        <!-- Rviz -->
        <node name="rviz" pkg="rviz" type="rviz" args="-d $(find zed_rtabmap_example)/rviz/zed-rtabmap.rviz" output="screen" /> 
    </group>
</launch>

zed_camera.launch.xml

<?xml version="1.0"?>
<!--
Copyright (c) 2020, STEREOLABS.

All rights reserved.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-->
<launch>
    <!-- Camera Model and Name -->
    <arg name="camera_name"           default="zed" /> <!-- The name you want -->
    <arg name="camera_model"          default="zed2" /> <!-- 'zed' or 'zedm' or 'zed2' -->
    <arg name="node_name"             default="zed_node" />

    <!-- Load SVO file -->
    <arg name="svo_file"              default="" /><!-- <arg name="svo_file" default="path/to/svo/file.svo"> -->
    <!-- Remote stream -->
    <arg name="stream"                default="" /> <!-- <arg name="stream" default="<ip_address>:<port>"> -->

    <!-- Base frame -->
    <arg name="base_frame"            default="base_link" />

    <!-- Publish ZED urdf -->
    <arg name="publish_urdf"          default="true" />

    <arg name="camera_id"             default="0" />
    <arg name="gpu_id"                default="-1" />

    <!-- Position respect to base frame (i.e. "base_link) -->
    <arg name="cam_pos_x"             default="0.0" />
    <arg name="cam_pos_y"             default="0.0" />
    <arg name="cam_pos_z"             default="0.0" />

    <!-- Orientation respect to base frame (i.e. "base_link) -->
    <arg name="cam_roll"              default="0.0" />
    <arg name="cam_pitch"             default="0.0" />
    <arg name="cam_yaw"               default="0.0" />

    <!-- ROS URDF description of the ZED -->
    <group if="$(arg publish_urdf)">
        <param name="$(arg camera_name)_description"
               command="$(find xacro)/xacro '$(find zed_wrapper)/urdf/zed_descr.urdf.xacro'
                        camera_name:=$(arg camera_name)
                        camera_model:=$(arg camera_model)
                        base_frame:=$(arg base_frame)
                        cam_pos_x:=$(arg cam_pos_x)
                        cam_pos_y:=$(arg cam_pos_y)
                        cam_pos_z:=$(arg cam_pos_z)
                        cam_roll:=$(arg cam_roll)
                        cam_pitch:=$(arg cam_pitch)
                        cam_yaw:=$(arg cam_yaw)"
        />

        <node name="$(arg camera_name)_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" output="screen" required="true">
            <remap from="robot_description" to="$(arg camera_name)_description" />
        </node>
    </group>

    <node name="$(arg node_name)" pkg="zed_wrapper" type="zed_wrapper_node" output="screen" required="true"><!-- launch-prefix="valgrind" -->
        <rosparam file="$(find zed_wrapper)/params/common.yaml" command="load" />
        <rosparam file="$(find zed_wrapper)/params/$(arg camera_model).yaml" command="load" />

        <!-- Camera name -->
        <param name="general/camera_name"               value="$(arg camera_name)" />

        <!-- Base frame -->
        <param name="general/base_frame"                value="$(arg base_frame)" />

        <!-- SVO file path -->
        <param name="svo_file"                          value="$(arg svo_file)" />

        <!-- Remote stream -->
        <param name="stream"                            value="$(arg stream)" />

        <!-- Camera ID -->
        <param name="general/zed_id"                    value="$(arg camera_id)" />

        <!-- GPU ID -->
        <param name="general/gpu_id"                    value="$(arg gpu_id)" />
    </node>
</launch>

sl_rtabmap.launch.xml

<!-- RTAB-Map launcher -->

<launch>
    <!-- Localization-only mode -->
    <arg name="localization"            default="false"/>

    <arg     if="$(arg localization)" name="args" default=""/>
    <arg unless="$(arg localization)" name="args" default="--delete_db_on_start"/>

    <!-- RGB-D related topics -->
    <arg name="rgb_topic"               default="zed2/zed_node/rgb/image_rect_color" />
    <arg name="depth_topic"             default="zed2/zed_node/depth/depth_registered" />
    <arg name="camera_info_topic"       default="zed2/zed_node/rgb/camera_info" />
    <arg name="depth_camera_info_topic" default="zed2/zed_node/depth/camera_info" />

    <arg name="odom_topic"              default="zed2/zed_node/odom" />    <!-- Odometry topic name -->
    <!--<arg name="odom_topic"              default="odom" />-->

    <!-- Visual Odometry -->
    <!--
    <node name="rtabmap_stereo_odometry" pkg="rtabmap_ros" type="stereo_odometry" output="screen" args="" launch-prefix="">    
        <remap from="/left/image_rect"      to="zed/zed_node/left/image_rect_color"/>
        <remap from="/right/image_rect"     to="zed/zed_node/right/image_rect_color"/>
        <remap from="/left/camera_info"     to="zed/zed_node/left/camera_info"/>
        <remap from="/right/camera_info"    to="zed/zed_node/right/camera_info"/>
    </node>
    -->

    <!-- RTABmapviz -->
    <node name="rtabmapviz" pkg="rtabmap_ros" type="rtabmapviz" output="screen" args="" launch-prefix="">    
        <remap from="rgb/image"         to="$(arg rgb_topic)"/>
        <remap from="depth/image"       to="$(arg depth_topic)"/>
        <remap from="rgb/camera_info"   to="$(arg camera_info_topic)"/>

        <remap from="grid_map"          to="map" />
        <remap from="odom"              to="$(arg odom_topic)"/>
    </node> 

    <!-- RTABmap -->
    <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg args)" launch-prefix="">
        <rosparam command="load" file="$(find zed_rtabmap_example)/params/rtabmap.yaml" />

        <remap from="rgb/image"         to="$(arg rgb_topic)"/>
        <remap from="depth/image"       to="$(arg depth_topic)"/>
        <remap from="rgb/camera_info"   to="$(arg camera_info_topic)"/>

        <remap from="grid_map"          to="map" />
        <remap from="odom"              to="$(arg odom_topic)"/>

        <!-- localization mode -->
        <param     if="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="false"/>
        <param unless="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="true"/>
        <param name="Mem/InitWMWithAllNodes" type="string" value="$(arg localization)"/>
    </node>

</launch>

rtabmap version

0.19.3
nvidia@nvidia-desktop:~/.ros$ rosversion rtabmap_ros
0.19.3

rviz and rtabviz images: Screenshot from 2020-03-28 15-28-30 Screenshot from 2020-03-28 15-29-22

Thank you.

Myzhar commented 4 years ago

Hi @saeedarabi92 thank you for reporting the problem. It will be fixed as soon as possible.

dxdpmdx commented 4 years ago

i have the same issue with latest code: roslaunch zed_rtabmap_example zed_rtabmap.launch ... logging to /home/nvidia/.ros/log/c6c117cc-941d-11ea-8410-00044bcbee62/roslaunch-miivii-tegra-11760.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://127.0.0.1:44643/

SUMMARY

PARAMETERS

NODES /zed/ rtabmap (rtabmap_ros/rtabmap) rtabmapviz (rtabmap_ros/rtabmapviz) rviz (rviz/rviz) zed_node (zed_wrapper/zed_wrapper_node) zed_state_publisher (robot_state_publisher/robot_state_publisher)

auto-starting new master process[master]: started with pid [11773] ROS_MASTER_URI=http://127.0.0.1:11311

setting /run_id to c6c117cc-941d-11ea-8410-00044bcbee62 process[rosout-1]: started with pid [11784] started core service [/rosout] process[zed/zed_state_publisher-2]: started with pid [11791] process[zed/zed_node-3]: started with pid [11792] process[zed/rtabmapviz-4]: started with pid [11798] process[zed/rtabmap-5]: started with pid [11800] process[zed/rviz-6]: started with pid [11801] [ INFO] [1589266622.688079190]: Initializing nodelet with 8 worker threads. [ INFO] [1589266622.758651785]: ** Starting nodelet '/zed/zed_node' ** [ INFO] [1589266622.758831582]: SDK version : 3.1.2 [ INFO] [1589266622.758919352]: PARAMETERS [ INFO] [1589266622.759789571]: Camera Name -> zed [ INFO] [1589266622.760830114]: Camera Resolution -> HD720 [ INFO] [1589266622.761753257]: Camera Grab Framerate -> 30 [ INFO] [1589266622.762566647]: Gpu ID -> -1 [ INFO] [1589266622.763294954]: Camera ID -> -1 [ INFO] [1589266622.764063322]: Verbose -> DISABLED [ INFO] [1589266622.765460036]: Camera Flip -> DISABLED [ INFO] [1589266622.766653242]: Self calibration -> ENABLED [ INFO] [1589266622.767911116]: Camera Model by param -> zed2 [ INFO] [1589266622.768889360]: Image resample factor -> 1 [ INFO] [1589266622.769828982]: Extrinsic param. frame -> X RIGHT - Y DOWN - Z FWD [ INFO] [1589266622.770607526]: Depth quality -> ULTRA [ INFO] [1589266622.771409108]: Depth Sensing mode -> STANDARD [ INFO] [1589266622.772172261]: OpenNI mode -> DISABLED [ INFO] [1589266622.773121514]: Depth Stabilization -> ENABLED [ INFO] [1589266622.774499573]: Minimum depth -> 0.7 m [ INFO] [1589266622.775537173]: Maximum depth -> 20 m [ INFO] [1589266622.776264872]: Depth resample factor -> 1 [ INFO] [1589266622.776940862]: Path rate -> 2 Hz [ INFO] [1589266622.777642514]: Path history size -> 1 [ INFO] [1589266622.779080057]: Odometry DB path -> [ INFO] [1589266622.781273586]: Spatial Memory -> ENABLED [ INFO] [1589266622.784357459]: IMU Fusion -> ENABLED [ INFO] [1589266622.785727166]: Floor alignment -> DISABLED [ INFO] [1589266622.787068619]: Init Odometry with first valid pose data -> ENABLED [ INFO] [1589266622.788226724]: Two D mode -> DISABLED [ INFO] [1589266622.790793701]: Mapping -> DISABLED [ INFO] [1589266622.792432224]: Object Detection -> DISABLED [ INFO] [1589266622.793408387]: Sensors timestamp sync -> DISABLED [ INFO] [1589266622.794688276]: SVO input file: -> [ INFO] [1589266622.795378953]: SVO REC compression -> H265 (HEVC) [ INFO] [1589266622.799878867]: map_frame -> map [ INFO] [1589266622.800013803]: odometry_frame -> odom [ INFO] [1589266622.800056840]: base_frame -> base_link [ INFO] [1589266622.800106725]: camera_frame -> zed_camera_center [ INFO] [1589266622.800146211]: imu_link -> zed_imu_link [ INFO] [1589266622.800237437]: left_camera_frame -> zed_left_camera_frame [ INFO] [1589266622.800297977]: left_camera_optical_frame -> zed_left_camera_optical_frame [ INFO] [1589266622.800391923]: right_camera_frame -> zed_right_camera_frame [ INFO] [1589266622.800459215]: right_camera_optical_frame -> zed_right_camera_optical_frame [ INFO] [1589266622.800532235]: depth_frame -> zed_left_camera_frame [ INFO] [1589266622.800635108]: depth_optical_frame -> zed_left_camera_optical_frame [ INFO] [1589266622.800701248]: disparity_frame -> zed_left_camera_frame [ INFO] [1589266622.800774748]: disparity_optical_frame -> zed_left_camera_optical_frame [ INFO] [1589266622.800817401]: confidence_frame -> zed_left_camera_frame [ INFO] [1589266622.800912659]: confidence_optical_frame -> zed_left_camera_optical_frame [ INFO] [1589266622.802384760]: Broadcast odometry TF -> ENABLED [ INFO] [1589266622.803602829]: Broadcast map pose TF -> ENABLED [ INFO] [1589266622.804223654]: [DYN] Depth confidence -> 50 [ INFO] [1589266622.804818018]: [DYN] Depth texture conf. -> 100 [ INFO] [1589266622.805469881]: [DYN] pub_frame_rate -> 15 Hz [ INFO] [1589266622.806189069]: [DYN] point_cloud_freq -> 15 Hz [ INFO] [1589266622.806777160]: [DYN] brightness -> 4 [ INFO] [1589266622.807351397]: [DYN] contrast -> 4 [ INFO] [1589266622.807860389]: [DYN] hue -> 0 [ INFO] [1589266622.808630678]: [DYN] saturation -> 4 [ INFO] [1589266622.809290317]: [DYN] sharpness -> 4 [ INFO] [1589266622.809863849]: [DYN] gamma -> 8 [ INFO] [1589266622.810473348]: [DYN] auto_exposure_gain -> ENABLED [ INFO] [1589266622.811974247]: [DYN] auto_whitebalance -> ENABLED [ INFO] [1589266622.821861763]: * Camera coordinate system -> Right HANDED Z UP and X FORWARD [ INFO] [1589266622.822097237]: *** Opening ZED 2... [ INFO] [1589266622.962720059]: rviz version 1.13.9 [ INFO] [1589266622.962829940]: compiled against Qt version 5.9.5 [ INFO] [1589266622.962868690]: compiled against OGRE version 1.9.0 (Ghadamon) [ INFO] [1589266622.972733936]: Forcing OpenGl version 0. [ INFO] [1589266623.387790504]: Starting node... [ INFO] [1589266623.475492312]: Initializing nodelet with 8 worker threads. [ INFO] [1589266623.672535420]: Starting node... [ INFO] [1589266623.750113886]: Stereo is NOT SUPPORTED [ INFO] [1589266623.750325873]: OpenGl version: 4.6 (GLSL 4.6). [ INFO] [1589266624.052043435]: /zed/rtabmap(maps): map_filter_radius = 0.000000 [ INFO] [1589266624.052155812]: /zed/rtabmap(maps): map_filter_angle = 30.000000 [ INFO] [1589266624.052225856]: /zed/rtabmap(maps): map_cleanup = true [ INFO] [1589266624.052288156]: /zed/rtabmap(maps): map_always_update = false [ INFO] [1589266624.052339449]: /zed/rtabmap(maps): map_empty_ray_tracing = true [ INFO] [1589266624.052384214]: /zed/rtabmap(maps): cloud_output_voxelized = true [ INFO] [1589266624.052432179]: /zed/rtabmap(maps): cloud_subtract_filtering = false [ INFO] [1589266624.052480976]: /zed/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2 [ INFO] [1589266624.054961719]: rtabmapviz: Using configuration from "/home/nvidia/.ros/rtabmapGUI.ini" [ INFO] [1589266624.055675883]: /zed/rtabmap(maps): octomap_tree_depth = 16 [ INFO] [1589266624.103942785]: ZED connection -> SUCCESS [ INFO] [1589266624.108982602]: rtabmap: frame_id = base_link [ INFO] [1589266624.109116641]: rtabmap: odom_frame_id = odom [ INFO] [1589266624.109169342]: rtabmap: map_frame_id = map [ INFO] [1589266624.109292854]: rtabmap: use_action_for_goal = false [ INFO] [1589266624.109370738]: rtabmap: tf_delay = 0.020000 [ INFO] [1589266624.109430030]: rtabmap: tf_tolerance = 0.100000 [ INFO] [1589266624.109515785]: rtabmap: odom_sensor_sync = false [ INFO] [1589266624.142764896]: Loading parameters from /home/nvidia/.ros/rtabmap.cfg [ INFO] [1589266624.241734167]: Setting RTAB-Map parameter "Grid/3D"="true" [ INFO] [1589266624.243659104]: Setting RTAB-Map parameter "Grid/CellSize"="0.05" [ INFO] [1589266624.245498638]: Setting RTAB-Map parameter "Grid/ClusterRadius"="0.1" [ INFO] [1589266624.247236546]: Setting RTAB-Map parameter "Grid/DepthDecimation"="1" [ INFO] [1589266624.251569270]: Setting RTAB-Map parameter "Grid/FlatObstacleDetected"="true" [ INFO] [1589266624.253236303]: Setting RTAB-Map parameter "Grid/FootprintHeight"="2" [ INFO] [1589266624.254931366]: Setting RTAB-Map parameter "Grid/FootprintLength"="0.18" [ INFO] [1589266624.256504229]: Setting RTAB-Map parameter "Grid/FootprintWidth"="0.18" [ INFO] [1589266624.257641663]: Setting RTAB-Map parameter "Grid/FromDepth"="true" [ INFO] [1589266624.258701789]: Setting RTAB-Map parameter "Grid/GroundIsObstacle"="false" [ INFO] [1589266624.259853750]: Setting RTAB-Map parameter "Grid/MapFrameProjection"="false" [ INFO] [1589266624.261488305]: Setting RTAB-Map parameter "Grid/MaxGroundAngle"="30" [ INFO] [1589266624.263121932]: Setting RTAB-Map parameter "Grid/MaxGroundHeight"="-0.4" [ INFO] [1589266624.264726921]: Setting RTAB-Map parameter "Grid/MaxObstacleHeight"="0.1" [ INFO] [1589266624.266478524]: Setting RTAB-Map parameter "Grid/MinClusterSize"="3" [ INFO] [1589266624.268151829]: Setting RTAB-Map parameter "Grid/MinGroundHeight"="-0.5" [ INFO] [1589266624.271450409]: Setting RTAB-Map parameter "Grid/NoiseFilteringMinNeighbors"="5" [ INFO] [1589266624.275947955]: Setting RTAB-Map parameter "Grid/NoiseFilteringRadius"="0.1" [ INFO] [1589266624.277820191]: Setting RTAB-Map parameter "Grid/NormalK"="20" [ INFO] [1589266624.279792645]: Setting RTAB-Map parameter "Grid/NormalsSegmentation"="false" [ INFO] [1589266624.281075829]: Setting RTAB-Map parameter "Grid/PreVoxelFiltering"="true" [ INFO] [1589266624.282979744]: Setting RTAB-Map parameter "Grid/RangeMax"="3" [ INFO] [1589266624.284835853]: Setting RTAB-Map parameter "Grid/RangeMin"="0.7" [ INFO] [1589266624.286315761]: Setting RTAB-Map parameter "Grid/RayTracing"="true" [ INFO] [1589266624.292651145]: Setting RTAB-Map parameter "GridGlobal/Eroded"="false" [ INFO] [1589266624.294563155]: Setting RTAB-Map parameter "GridGlobal/FootprintRadius"="0.18" [ INFO] [1589266624.295890273]: Setting RTAB-Map parameter "GridGlobal/FullUpdate"="true" [ INFO] [1589266624.297791500]: Setting RTAB-Map parameter "GridGlobal/MaxNodes"="0" [ INFO] [1589266624.299674423]: Setting RTAB-Map parameter "GridGlobal/MinSize"="1" [ INFO] [1589266624.306849531]: Setting RTAB-Map parameter "GridGlobal/OccupancyThr"="0.55" [ INFO] [1589266624.308683722]: Setting RTAB-Map parameter "GridGlobal/ProbClampingMax"="0.971" [ INFO] [1589266624.310906080]: Setting RTAB-Map parameter "GridGlobal/ProbClampingMin"="0.1192" [ INFO] [1589266624.312985280]: Setting RTAB-Map parameter "GridGlobal/ProbHit"="0.7" [ INFO] [1589266624.315466982]: Setting RTAB-Map parameter "GridGlobal/ProbMiss"="0.4" [ INFO] [1589266624.317186556]: Setting RTAB-Map parameter "GridGlobal/UpdateError"="0.01" [ INFO] [1589266624.512582438]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="true" [ INFO] [1589266624.514120615]: Setting RTAB-Map parameter "Mem/InitWMWithAllNodes"="false" libpng warning: iCCP: known incorrect sRGB profile libpng warning: iCCP: known incorrect sRGB profile [ INFO] [1589266625.484326975]: RTAB-Map detection rate = 1.000000 Hz [ INFO] [1589266625.485664780]: rtabmap: Deleted database "/home/nvidia/.ros/rtabmap.db" (--delete_db_on_start or -d are set). [ INFO] [1589266625.485905053]: rtabmap: Using database from "/home/nvidia/.ros/rtabmap.db" (0 MB). [ INFO] [1589266625.610075005]: rtabmap: Database version = "0.19.3". [ INFO] [1589266625.657032389]: /zed/rtabmap: subscribe_depth = true [ INFO] [1589266625.657426637]: /zed/rtabmap: subscribe_rgb = true [ INFO] [1589266625.657481001]: /zed/rtabmap: subscribe_stereo = false [ INFO] [1589266625.657525606]: /zed/rtabmap: subscribe_rgbd = false (rgbd_cameras=1) [ INFO] [1589266625.657692156]: /zed/rtabmap: subscribe_odom_info = false [ INFO] [1589266625.657800022]: /zed/rtabmap: subscribe_user_data = false [ INFO] [1589266625.657945421]: /zed/rtabmap: subscribe_scan = false [ INFO] [1589266625.658040839]: /zed/rtabmap: subscribe_scan_cloud = false [ INFO] [1589266625.658180766]: /zed/rtabmap: queue_size = 10 [ INFO] [1589266625.658286007]: /zed/rtabmap: approx_sync = true [ INFO] [1589266625.658477548]: Setup depth callback [ INFO] [1589266625.696876741]: /zed/rtabmap subscribed to (approx sync): /zed/zed_node/rgb/image_rect_color, /zed/zed_node/depth/depth_registered, /zed/zed_node/rgb/camera_info [ INFO] [1589266625.714880395]: rtabmap 0.19.3 started... [ INFO] [1589266625.895763319]: Reading parameters from the ROS server... [ INFO] [1589266626.104413038]: ... ZED ready [ INFO] [1589266626.104526311]: ZED SDK running on GPU #0 [ INFO] [1589266626.113507612]: Camera-IMU Transform: 559EC95250 0.999977 0.006447 0.002025 -0.002000 -0.006448 0.999979 0.000390 -0.023000 -0.002022 -0.000403 0.999998 -0.002000 0.000000 0.000000 0.000000 1.000000

[ INFO] [1589266626.113737133]: CAMERA MODEL -> ZED 2 [ INFO] [1589266626.114008189]: Serial Number -> 27882312 [ INFO] [1589266626.114160755]: Camera FW Version -> 1523 [ INFO] [1589266626.114500510]: Sensors FW Version -> 776 [ INFO] [1589266626.266893100]: Parameters read = 311 [ INFO] [1589266626.267144413]: Parameters successfully read. [ INFO] [1589266626.497420250]: Advertised on topic /zed/zed_node/rgb/image_rect_color [ INFO] [1589266626.497523284]: Advertised on topic /zed/zed_node/rgb/camera_info [ INFO] [1589266626.570710469]: Advertised on topic /zed/zed_node/rgb_raw/image_raw_color [ INFO] [1589266626.570809695]: Advertised on topic /zed/zed_node/rgb_raw/camera_info [ INFO] [1589266626.632870720]: Advertised on topic /zed/zed_node/left/image_rect_color [ INFO] [1589266626.633294790]: Advertised on topic /zed/zed_node/left/camera_info [ INFO] [1589266626.692780327]: Advertised on topic /zed/zed_node/left_raw/image_raw_color [ INFO] [1589266626.692905279]: Advertised on topic /zed/zed_node/left_raw/camera_info [ INFO] [1589266626.734874203]: Advertised on topic /zed/zed_node/right/image_rect_color [ INFO] [1589266626.734994804]: Advertised on topic /zed/zed_node/right/camera_info [ INFO] [1589266626.772969159]: Advertised on topic /zed/zed_node/right_raw/image_raw_color [ INFO] [1589266626.773106495]: Advertised on topic /zed/zed_node/right_raw/camera_info [ INFO] [1589266626.809983862]: Advertised on topic /zed/zed_node/rgb/image_rect_gray [ INFO] [1589266626.810226087]: Advertised on topic /zed/zed_node/rgb/camera_info [ INFO] [1589266626.850635235]: Advertised on topic /zed/zed_node/rgb_raw/image_raw_gray [ INFO] [1589266626.850929137]: Advertised on topic /zed/zed_node/rgb_raw/camera_info [ INFO] [1589266626.886783784]: Advertised on topic /zed/zed_node/left/image_rect_gray [ INFO] [1589266626.887107763]: Advertised on topic /zed/zed_node/left/camera_info [ INFO] [1589266626.955361046]: Advertised on topic /zed/zed_node/left_raw/image_raw_gray [ INFO] [1589266626.955493102]: Advertised on topic /zed/zed_node/left_raw/camera_info [ INFO] [1589266626.983275895]: /zed/rtabmapviz: subscribe_depth = false [ INFO] [1589266626.983455084]: /zed/rtabmapviz: subscribe_rgb = false [ INFO] [1589266626.983620898]: /zed/rtabmapviz: subscribe_stereo = false [ INFO] [1589266626.983757850]: /zed/rtabmapviz: subscribe_rgbd = false (rgbd_cameras=1) [ INFO] [1589266626.983899537]: /zed/rtabmapviz: subscribe_odom_info = false [ INFO] [1589266626.984122211]: /zed/rtabmapviz: subscribe_user_data = false [ INFO] [1589266626.984421713]: /zed/rtabmapviz: subscribe_scan = false [ INFO] [1589266626.984560328]: /zed/rtabmapviz: subscribe_scan_cloud = false [ INFO] [1589266626.984669089]: /zed/rtabmapviz: queue_size = 10 [ INFO] [1589266626.984784794]: /zed/rtabmapviz: approx_sync = true [ INFO] [1589266626.985063657]: Setup scan callback [ INFO] [1589266626.993517214]: /zed/rtabmapviz subscribed to: /zed/zed_node/odom [ INFO] [1589266626.993829067]: rtabmapviz started. [ INFO] [1589266627.015791356]: Advertised on topic /zed/zed_node/right/image_rect_gray [ INFO] [1589266627.015938547]: Advertised on topic /zed/zed_node/right/camera_info [ INFO] [1589266627.053740753]: Advertised on topic /zed/zed_node/right_raw/image_raw_gray [ INFO] [1589266627.054065693]: Advertised on topic /zed/zed_node/right_raw/camera_info [ INFO] [1589266627.097081912]: Advertised on topic /zed/zed_node/depth/depth_registered [ INFO] [1589266627.097299851]: Advertised on topic /zed/zed_node/depth/camera_info [ INFO] [1589266627.145632669]: Advertised on topic /zed/zed_node/stereo/image_rect_color [ INFO] [1589266627.188290799]: Advertised on topic /zed/zed_node/stereo_raw/image_raw_color [ INFO] [1589266627.190015812]: Advertised on topic /zed/zed_node/confidence/confidence_map [ INFO] [1589266627.191538630]: Advertised on topic /zed/zed_node/disparity/disparity_image [ INFO] [1589266627.193036937]: Advertised on topic /zed/zed_node/point_cloud/cloud_registered [ INFO] [1589266627.194636295]: Advertised on topic /zed/zed_node/pose [ INFO] [1589266627.195907288]: Advertised on topic /zed/zed_node/pose_with_covariance [ INFO] [1589266627.197105934]: Advertised on topic /zed/zed_node/odom [ INFO] [1589266627.198399390]: Advertised on topic /zed/zed_node/path_odom [ INFO] [1589266627.199616146]: Advertised on topic /zed/zed_node/path_map [ INFO] [1589266627.201474816]: Advertised on topic /zed/zed_node/imu/data @ 400 Hz [ INFO] [1589266627.202977859]: Advertised on topic /zed/zed_node/imu/data_raw @ 400 Hz [ INFO] [1589266627.204383052]: Advertised on topic /zed/zed_node/imu/mag @ 50 Hz [ INFO] [1589266627.205932492]: Advertised on topic /zed/zed_node/temperature/imu @ 400 Hz [ INFO] [1589266627.207681024]: Advertised on topic /zed/zed_node/atm_press @ 25 Hz [ INFO] [1589266627.209301147]: Advertised on topic /zed/zed_node/temperature/left @ 25 Hz [ INFO] [1589266627.210735715]: Advertised on topic /zed/zed_node/temperature/right @ 25 Hz [ INFO] [1589266627.212328320]: Advertised on topic /zed/zed_node/left_cam_imu_transform [LATCHED] [ INFO] [1589266627.237062598]: Static transform Sensor to Base [zed_left_camera_frame -> base_link] [ INFO] [1589266627.237374483]: Translation: {0.000,-0.060,0.000} [ INFO] [1589266627.237523338]: Rotation: {0.000,-0.000,0.000} [ INFO] [1589266627.237659649]: Static transform Sensor to Camera Center [zed_left_camera_frame -> zed_camera_center] [ INFO] [1589266627.237780634]: Translation: {0.000,-0.060,0.000} [ INFO] [1589266627.237887027]: Rotation: {0.000,-0.000,0.000} [ INFO] [1589266627.238030251]: Static transform Camera Center to Base [zed_camera_center -> base_link] [ INFO] [1589266627.238120293]: Translation: {0.000,0.000,0.000} [ INFO] [1589266627.238292602]: Rotation: {0.000,-0.000,0.000} [ INFO] [1589266627.364597814]: Starting Positional Tracking [ INFO] [1589266627.364881541]: Waiting for valid static transformations... [ INFO] [1589266627.465276291]: Initial ZED left camera pose (ZED pos. tracking): [ INFO] [1589266627.465580368]: T: [0,0.06,0] [ INFO] [1589266627.465758917]: * Q: [0,0,0,1] [ INFO] [1589266627.613752708]: Odometry aligned to last tracking pose [ WARN] (2020-05-12 14:57:08.192) MapsManager.cpp:980::publishMaps() Graph has changed! The whole cloud is regenerated. [ INFO] [1589266628.193551343]: Assembled 1 obstacle and 1 ground clouds (2769 points, 0.001161s)

[ INFO] [1589266628.212320262]: Creating 1 swatches [ INFO] [1589266629.003472704]: Assembled 0 obstacle and 0 ground clouds (2769 points, 0.000013s)

[ INFO] [1589266630.232951827]: Assembled 0 obstacle and 0 ground clouds (2769 points, 0.000005s)

[ INFO] [1589266631.085088530]: Assembled 0 obstacle and 0 ground clouds (2769 points, 0.000005s)

[ INFO] [1589266632.294908294]: Assembled 0 obstacle and 0 ground clouds (2769 points, 0.000005s)

[ INFO] [1589266633.274930146]: Assembled 0 obstacle and 0 ground clouds (2769 points, 0.000005s)

[ INFO] [1589266634.182802189]: Assembled 0 obstacle and 0 ground clouds (2769 points, 0.000005s)

[ INFO] [1589266635.264114353]: Assembled 0 obstacle and 0 ground clouds (2769 points, 0.000005s)

[ INFO] [1589266636.312317396]: Assembled 0 obstacle and 0 ground clouds (2769 points, 0.000006s)

Screenshot from 2020-05-12 15-17-48

git log: commit e4b925f41ae08838b0ae8ccfa624080af395418a (HEAD -> master, origin/master, origin/HEAD) Author: Walter Lucetti walter.lucetti@stereolabs.com Date: Mon Mar 30 09:46:41 2020 +0200

Fix RTABmap example (#12)

commit ecfd996ee3b0471771ea7c25f7733d45b8489be3 Author: Walter Lucetti walter.lucetti@stereolabs.com Date: Sun Mar 29 13:42:45 2020 +0200

Delete zed_nodelet_laserscan.launch

commit 7e9e62d64e28ff300b7c71b5a9968f6c0692341c Author: Walter Lucetti walter.lucetti@stereolabs.com Date: Wed Mar 25 22:30:13 2020 +0100

Update zed_obj_det_sub_tutorial.cpp

commit 2f6b555a2b571cf0702effbb019670bab90d96d9 Author: Walter Lucetti walter.lucetti@stereolabs.com Date: Fri Mar 20 20:04:45 2020 +0100

Myzhar commented 4 years ago

Hi @dxdpmdx can you please copy and paste the result of the roswtf command while running the nodes?

dxdpmdx commented 4 years ago

nvidia@miivii-tegra:~$ roswtf Loaded plugin tf.tfwtf No package or stack in the current directory

Static checks summary:

No errors or warnings

Beginning tests of your ROS graph. These may take a while... analyzing graph... ... done analyzing graph running graph rules... ... done running graph rules running tf checks, this will take a second... ... tf checks complete

Online checks summary:

Found 1 warning(s). Warnings are things that may be just fine, but are sometimes at fault

WARNING The following node subscriptions are unconnected:

Found 1 error(s).

ERROR TF multiple authority contention:

Myzhar commented 4 years ago

Ok, the problem is with the odom topic. Have you updated both the zed-ros-examples and the zed-ros-wrapper repositories to the latest version and recompiled?

dxdpmdx commented 4 years ago

yes, i have updated both of the repositories to the latest version and recompiled, but the issue still exists

Myzhar commented 4 years ago

OK, I'm checking it

dxdpmdx commented 4 years ago

thank you very much

Myzhar commented 4 years ago

Fixed with commit https://github.com/stereolabs/zed-ros-examples/pull/16/commits/487085c840e2a1792bd8e3bb2753b8784768399c