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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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Could not convert depth image to laserscan: Depth image has unsupported encoding: mono16 #19

Closed chandailrc closed 3 years ago

chandailrc commented 3 years ago

I am trying to generate a laser scan with the Zed2 camera following the example shown here: link

When I run the nodelete with "roslaunch zed_nodelet_example zed_laserscan_nodelet.launch camera_model:=zed2", everything seems to be fine. But when I subscribe the to topic /zed/scan, I get the error. 

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SUMMARY
========

PARAMETERS
 * /rosdistro: melodic
 * /rosversion: 1.14.9
 * /zed/depthimage_to_laserscan/output_frame_id: zed_left_camera_f...
 * /zed/depthimage_to_laserscan/range_min: 0.1
 * /zed/depthimage_to_laserscan/scan_height: 10
 * /zed/zed_description: <?xml version="1....
 * /zed/zed_nodelet/auto_exposure_gain: True
 * /zed/zed_nodelet/auto_whitebalance: True
 * /zed/zed_nodelet/brightness: 4
 * /zed/zed_nodelet/contrast: 4
 * /zed/zed_nodelet/depth/depth_downsample_factor: 1.0
 * /zed/zed_nodelet/depth/depth_stabilization: 1
 * /zed/zed_nodelet/depth/max_depth: 20.0
 * /zed/zed_nodelet/depth/min_depth: 0.7
 * /zed/zed_nodelet/depth/openni_depth_mode: True
 * /zed/zed_nodelet/depth/quality: 1
 * /zed/zed_nodelet/depth/sensing_mode: 0
 * /zed/zed_nodelet/depth_confidence: 50
 * /zed/zed_nodelet/depth_texture_conf: 100
 * /zed/zed_nodelet/exposure: 100
 * /zed/zed_nodelet/gain: 100
 * /zed/zed_nodelet/gamma: 8
 * /zed/zed_nodelet/general/base_frame: base_link
 * /zed/zed_nodelet/general/camera_flip: False
 * /zed/zed_nodelet/general/camera_model: zed2
 * /zed/zed_nodelet/general/camera_name: zed
 * /zed/zed_nodelet/general/gpu_id: -1
 * /zed/zed_nodelet/general/grab_frame_rate: 15
 * /zed/zed_nodelet/general/resolution: 2
 * /zed/zed_nodelet/general/self_calib: True
 * /zed/zed_nodelet/general/serial_number: 0
 * /zed/zed_nodelet/general/svo_compression: 2
 * /zed/zed_nodelet/general/verbose: False
 * /zed/zed_nodelet/general/zed_id: 0
 * /zed/zed_nodelet/hue: 0
 * /zed/zed_nodelet/mapping/fused_pointcloud_freq: 1.0
 * /zed/zed_nodelet/mapping/mapping_enabled: False
 * /zed/zed_nodelet/mapping/max_mapping_range: -1
 * /zed/zed_nodelet/mapping/resolution: 0.05
 * /zed/zed_nodelet/object_detection/confidence_threshold: 50
 * /zed/zed_nodelet/object_detection/object_tracking_enabled: True
 * /zed/zed_nodelet/object_detection/od_enabled: True
 * /zed/zed_nodelet/object_detection/people_detection: True
 * /zed/zed_nodelet/object_detection/vehicle_detection: False
 * /zed/zed_nodelet/point_cloud_freq: 15.0
 * /zed/zed_nodelet/pos_tracking/area_memory: True
 * /zed/zed_nodelet/pos_tracking/area_memory_db_path: 
 * /zed/zed_nodelet/pos_tracking/fixed_z_value: 0.0
 * /zed/zed_nodelet/pos_tracking/floor_alignment: False
 * /zed/zed_nodelet/pos_tracking/imu_fusion: True
 * /zed/zed_nodelet/pos_tracking/init_odom_with_first_valid_pose: True
 * /zed/zed_nodelet/pos_tracking/initial_base_pose: [0.0, 0.0, 0.0, 0...
 * /zed/zed_nodelet/pos_tracking/map_frame: map
 * /zed/zed_nodelet/pos_tracking/odometry_frame: odom
 * /zed/zed_nodelet/pos_tracking/path_max_count: -1
 * /zed/zed_nodelet/pos_tracking/path_pub_rate: 2.0
 * /zed/zed_nodelet/pos_tracking/publish_map_tf: True
 * /zed/zed_nodelet/pos_tracking/publish_tf: True
 * /zed/zed_nodelet/pos_tracking/two_d_mode: False
 * /zed/zed_nodelet/pub_frame_rate: 15.0
 * /zed/zed_nodelet/saturation: 4
 * /zed/zed_nodelet/sensors/sensors_timestamp_sync: False
 * /zed/zed_nodelet/sharpness: 4
 * /zed/zed_nodelet/stream: 
 * /zed/zed_nodelet/svo_file: 
 * /zed/zed_nodelet/video/extrinsic_in_camera_frame: True
 * /zed/zed_nodelet/video/img_downsample_factor: 1.0
 * /zed/zed_nodelet/whitebalance_temperature: 42

NODES
  /zed/
    depthimage_to_laserscan (nodelet/nodelet)
    zed_nodelet (nodelet/nodelet)
    zed_nodelet_manager (nodelet/nodelet)
    zed_state_publisher (robot_state_publisher/robot_state_publisher)

auto-starting new master
process[master]: started with pid [8407]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 8742d8ca-13c4-11eb-8997-5c879c278670
WARNING: Package name "IMU_reader" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes.
process[rosout-1]: started with pid [8418]
started core service [/rosout]
process[zed/zed_nodelet_manager-2]: started with pid [8425]
process[zed/zed_state_publisher-3]: started with pid [8426]
process[zed/zed_nodelet-4]: started with pid [8427]
process[zed/depthimage_to_laserscan-5]: started with pid [8428]
[ INFO] [1603302039.035217512]: Loading nodelet /zed/zed_nodelet of type zed_nodelets/ZEDWrapperNodelet to manager zed_nodelet_manager with the following remappings:
[ INFO] [1603302039.037947784]: waitForService: Service [/zed/zed_nodelet_manager/load_nodelet] has not been advertised, waiting...
[ INFO] [1603302039.071768485]: Initializing nodelet with 12 worker threads.
[ INFO] [1603302039.079082447]: waitForService: Service [/zed/zed_nodelet_manager/load_nodelet] is now available.
[ INFO] [1603302039.090234210]: ********** Starting nodelet '/zed/zed_nodelet' **********
[ INFO] [1603302039.090266333]: SDK version : 3.2.2
[ INFO] [1603302039.090281924]: *** PARAMETERS ***
[ INFO] [1603302039.090602725]:  * Camera Name          -> zed
[ INFO] [1603302039.090908771]:  * Camera Resolution        -> HD720
[ INFO] [1603302039.091230293]:  * Camera Grab Framerate    -> 15
[ INFO] [1603302039.091524590]:  * Gpu ID           -> -1
[ INFO] [1603302039.091831116]:  * Camera ID            -> -1
[ INFO] [1603302039.092124889]:  * Verbose          -> DISABLED
[ INFO] [1603302039.092509312]:  * Camera Flip          -> DISABLED
[ INFO] [1603302039.092877320]:  * Self calibration     -> ENABLED
[ INFO] [1603302039.093246315]:  * Camera Model by param    -> zed2
[ INFO] [1603302039.093469429]:  * Image resample factor    -> 1
[ INFO] [1603302039.093678243]:  * Extrinsic param. frame   -> X RIGHT - Y DOWN - Z FWD
[ INFO] [1603302039.093920393]:  * Depth quality        -> PERFORMANCE
[ INFO] [1603302039.094208662]:  * Depth Sensing mode       -> STANDARD
[ INFO] [1603302039.094465789]:  * OpenNI mode          -> ENABLED
[ INFO] [1603302039.094754194]:  * Depth Stabilization      -> ENABLED
[ INFO] [1603302039.095018735]:  * Minimum depth        -> 0.7 m
[ INFO] [1603302039.095316685]:  * Maximum depth        -> 20 m
[ INFO] [1603302039.095602751]:  * Depth resample factor    -> 1
[ INFO] [1603302039.095922476]:  * Path rate            -> 2 Hz
[ INFO] [1603302039.096213218]:  * Path history size        -> 1
[ INFO] [1603302039.096666746]:  * Odometry DB path     -> 
[ INFO] [1603302039.097109032]:  * Spatial Memory       -> ENABLED
[ INFO] [1603302039.097531740]:  * IMU Fusion           -> ENABLED
[ INFO] [1603302039.097887195]:  * Floor alignment      -> DISABLED
[ INFO] [1603302039.098236019]:  * Init Odometry with first valid pose data -> ENABLED
[ INFO] [1603302039.098656163]:  * Two D mode           -> DISABLED
[ INFO] [1603302039.099386095]:  * Mapping          -> DISABLED
[ INFO] [1603302039.099728459]:  * Object Detection     -> ENABLED
[ INFO] [1603302039.099965631]:  * Object confidence        -> 50
[ INFO] [1603302039.100201007]:  * Object tracking      -> ENABLED
[ INFO] [1603302039.100394583]:  * People detection     -> ENABLED
[ INFO] [1603302039.100626561]:  * Vehicles detection       -> DISABLED
[ INFO] [1603302039.100823941]:  * Sensors timestamp sync   -> DISABLED
[ INFO] [1603302039.101213260]:  * SVO input file:      -> 
[ INFO] [1603302039.101475745]:  * SVO REC compression      -> H265 (HEVC)
[ INFO] [1603302039.102786020]:  * map_frame            -> map
[ INFO] [1603302039.102836007]:  * odometry_frame       -> odom
[ INFO] [1603302039.102874949]:  * base_frame           -> base_link
[ INFO] [1603302039.102917390]:  * camera_frame         -> zed_camera_center
[ INFO] [1603302039.102951276]:  * imu_link         -> zed_imu_link
[ INFO] [1603302039.102966334]:  * left_camera_frame        -> zed_left_camera_frame
[ INFO] [1603302039.102981761]:  * left_camera_optical_frame    -> zed_left_camera_optical_frame
[ INFO] [1603302039.102997379]:  * right_camera_frame       -> zed_right_camera_frame
[ INFO] [1603302039.103011974]:  * right_camera_optical_frame   -> zed_right_camera_optical_frame
[ INFO] [1603302039.103027016]:  * depth_frame          -> zed_left_camera_frame
[ INFO] [1603302039.103043705]:  * depth_optical_frame      -> zed_left_camera_optical_frame
[ INFO] [1603302039.103059035]:  * disparity_frame      -> zed_left_camera_frame
[ INFO] [1603302039.103074164]:  * disparity_optical_frame  -> zed_left_camera_optical_frame
[ INFO] [1603302039.103091320]:  * confidence_frame     -> zed_left_camera_frame
[ INFO] [1603302039.103106160]:  * confidence_optical_frame -> zed_left_camera_optical_frame
[ INFO] [1603302039.103493128]:  * Broadcast odometry TF    -> ENABLED
[ INFO] [1603302039.103833619]:  * Broadcast map pose TF    -> ENABLED
[ INFO] [1603302039.104033514]:  * [DYN] Depth confidence   -> 50
[ INFO] [1603302039.104219457]:  * [DYN] Depth texture conf.    -> 100
[ INFO] [1603302039.104381035]:  * [DYN] pub_frame_rate     -> 15 Hz
[ INFO] [1603302039.104540813]:  * [DYN] point_cloud_freq   -> 15 Hz
[ INFO] [1603302039.104725369]:  * [DYN] brightness     -> 4
[ INFO] [1603302039.104881217]:  * [DYN] contrast       -> 4
[ INFO] [1603302039.105035109]:  * [DYN] hue            -> 0
[ INFO] [1603302039.105241598]:  * [DYN] saturation     -> 4
[ INFO] [1603302039.105400488]:  * [DYN] sharpness      -> 4
[ INFO] [1603302039.105561332]:  * [DYN] gamma          -> 8
[ INFO] [1603302039.105721699]:  * [DYN] auto_exposure_gain -> ENABLED
[ INFO] [1603302039.106169730]:  * [DYN] auto_whitebalance  -> ENABLED
[ INFO] [1603302039.106374301]: Openni depth mode activated -> Units: mm, Encoding: MONO16
[ INFO] [1603302039.109033386]:  * Camera coordinate system -> Right HANDED Z UP and X FORWARD
[ INFO] [1603302039.109062493]:  *** Opening ZED 2...
[ INFO] [1603302040.284936864]: ZED connection -> SUCCESS
[ INFO] [1603302042.285333852]:  ...  ZED ready
[ INFO] [1603302042.285430338]: ZED SDK running on GPU #0
[ INFO] [1603302042.297278920]: Camera-IMU Transform: 
 559466E8EE50
0.999960 0.008412 0.003170 -0.002000
-0.008420 0.999962 0.002433 -0.023000
-0.003149 -0.002460 0.999992 -0.002000
0.000000 0.000000 0.000000 1.000000

[ INFO] [1603302042.297388154]:  * CAMERA MODEL  -> ZED 2
[ INFO] [1603302042.297483262]:  * Serial Number -> 20368669
[ INFO] [1603302042.297573179]:  * Camera FW Version -> 1523
[ INFO] [1603302042.297652363]:  * Sensors FW Version -> 776
[ INFO] [1603302042.477956288]: Advertised on topic /zed/zed_nodelet/rgb/image_rect_color
[ INFO] [1603302042.478127089]: Advertised on topic /zed/zed_nodelet/rgb/camera_info
[ INFO] [1603302042.499401604]: Advertised on topic /zed/zed_nodelet/rgb_raw/image_raw_color
[ INFO] [1603302042.499447835]: Advertised on topic /zed/zed_nodelet/rgb_raw/camera_info
[ INFO] [1603302042.520975667]: Advertised on topic /zed/zed_nodelet/left/image_rect_color
[ INFO] [1603302042.521003167]: Advertised on topic /zed/zed_nodelet/left/camera_info
[ INFO] [1603302042.532534141]: Advertised on topic /zed/zed_nodelet/left_raw/image_raw_color
[ INFO] [1603302042.532573171]: Advertised on topic /zed/zed_nodelet/left_raw/camera_info
[ INFO] [1603302042.543721472]: Advertised on topic /zed/zed_nodelet/right/image_rect_color
[ INFO] [1603302042.543761463]: Advertised on topic /zed/zed_nodelet/right/camera_info
[ INFO] [1603302042.554168920]: Advertised on topic /zed/zed_nodelet/right_raw/image_raw_color
[ INFO] [1603302042.554187450]: Advertised on topic /zed/zed_nodelet/right_raw/camera_info
[ INFO] [1603302042.564928219]: Advertised on topic /zed/zed_nodelet/rgb/image_rect_gray
[ INFO] [1603302042.564979586]: Advertised on topic /zed/zed_nodelet/rgb/camera_info
[ INFO] [1603302042.576533285]: Advertised on topic /zed/zed_nodelet/rgb_raw/image_raw_gray
[ INFO] [1603302042.576594933]: Advertised on topic /zed/zed_nodelet/rgb_raw/camera_info
[ INFO] [1603302042.588150945]: Advertised on topic /zed/zed_nodelet/left/image_rect_gray
[ INFO] [1603302042.588183780]: Advertised on topic /zed/zed_nodelet/left/camera_info
[ INFO] [1603302042.599784434]: Advertised on topic /zed/zed_nodelet/left_raw/image_raw_gray
[ INFO] [1603302042.599805550]: Advertised on topic /zed/zed_nodelet/left_raw/camera_info
[ INFO] [1603302042.610689826]: Advertised on topic /zed/zed_nodelet/right/image_rect_gray
[ INFO] [1603302042.610714236]: Advertised on topic /zed/zed_nodelet/right/camera_info
[ INFO] [1603302042.621160967]: Advertised on topic /zed/zed_nodelet/right_raw/image_raw_gray
[ INFO] [1603302042.621182537]: Advertised on topic /zed/zed_nodelet/right_raw/camera_info
[ INFO] [1603302042.632117642]: Advertised on topic /zed/zed_nodelet/depth/depth_registered
[ INFO] [1603302042.632152135]: Advertised on topic /zed/zed_nodelet/depth/camera_info
[ INFO] [1603302042.642659789]: Advertised on topic /zed/zed_nodelet/stereo/image_rect_color
[ INFO] [1603302042.653048415]: Advertised on topic /zed/zed_nodelet/stereo_raw/image_raw_color
[ INFO] [1603302042.653356283]: Advertised on topic /zed/zed_nodelet/confidence/confidence_map
[ INFO] [1603302042.653653323]: Advertised on topic /zed/zed_nodelet/disparity/disparity_image
[ INFO] [1603302042.653938997]: Advertised on topic /zed/zed_nodelet/point_cloud/cloud_registered
[ INFO] [1603302042.654224862]: Advertised on topic /zed/zed_nodelet/obj_det/objects
[ INFO] [1603302042.654520796]: Advertised on topic /zed/zed_nodelet/obj_det/object_markers
[ INFO] [1603302042.654803882]: Advertised on topic /zed/zed_nodelet/pose
[ INFO] [1603302042.655093114]: Advertised on topic /zed/zed_nodelet/pose_with_covariance
[ INFO] [1603302042.655414218]: Advertised on topic /zed/zed_nodelet/odom
[ INFO] [1603302042.655713278]: Advertised on topic /zed/zed_nodelet/path_odom
[ INFO] [1603302042.656013496]: Advertised on topic /zed/zed_nodelet/path_map
[ INFO] [1603302042.656381069]: Advertised on topic /zed/zed_nodelet/imu/data @ 400 Hz
[ INFO] [1603302042.656685090]: Advertised on topic /zed/zed_nodelet/imu/data_raw @ 400 Hz
[ INFO] [1603302042.656981428]: Advertised on topic /zed/zed_nodelet/imu/mag @ 50 Hz
[ INFO] [1603302042.657266547]: Advertised on topic /zed/zed_nodelet/temperature/imu @ 400 Hz
[ INFO] [1603302042.657551478]: Advertised on topic /zed/zed_nodelet/atm_press @ 25 Hz
[ INFO] [1603302042.657915365]: Advertised on topic /zed/zed_nodelet/temperature/left @ 25 Hz
[ INFO] [1603302042.658281003]: Advertised on topic /zed/zed_nodelet/temperature/right @ 25 Hz
[ INFO] [1603302042.658624628]: Advertised on topic /zed/zed_nodelet/left_cam_imu_transform [LATCHED]
[ INFO] [1603302042.662128808]: *** Starting Positional Tracking ***
[ INFO] [1603302042.662159463]:  * Waiting for valid static transformations...
[ INFO] [1603302042.662215942]: Static transform Sensor to Base [zed_left_camera_frame -> base_link]
[ INFO] [1603302042.662240664]:  * Translation: {0.000,-0.060,0.000}
[ INFO] [1603302042.662289163]:  * Rotation: {0.000,-0.000,0.000}
[ INFO] [1603302042.662328582]: Static transform Sensor to Camera Center [zed_left_camera_frame -> zed_camera_center]
[ INFO] [1603302042.662360519]:  * Translation: {0.000,-0.060,0.000}
[ INFO] [1603302042.662376608]:  * Rotation: {0.000,-0.000,0.000}
[ INFO] [1603302042.662401803]: Static transform Camera Center to Base [zed_camera_center -> base_link]
[ INFO] [1603302042.662432433]:  * Translation: {0.000,0.000,0.000}
[ INFO] [1603302042.662466421]:  * Rotation: {0.000,-0.000,0.000}
[ INFO] [1603302042.762691378]: Initial ZED left camera pose (ZED pos. tracking): 
[ INFO] [1603302042.762873260]:  * T: [0,0.06,0]
[ INFO] [1603302042.763006178]:  * Q: [0,0,0,1]
[ INFO] [1603302042.890842565]: *** Starting Object Detection ***
[ INFO] [1603302044.591286487]: Odometry aligned to last tracking pose
[ERROR] [1603302063.393170735]: Could not convert depth image to laserscan: Depth image has unsupported encoding: mono16
[ERROR] [1603302064.443880618]: Could not convert depth image to laserscan: Depth image has unsupported encoding: mono16
[ERROR] [1603302065.451435041]: Could not convert depth image to laserscan: Depth image has unsupported encoding: mono16

Not sure why this is happening or where to go next. Kindly help.

chandailrc commented 3 years ago

I just found my mistake/misunderstanding. Turns out, it was as simple as setting the openni_depth_mode to "false".