search

stereolabs / zed-ros-examples

Examples for the ZED SDK ROS wrapper
https://www.stereolabs.com/docs/ros/
MIT License
84 stars 51 forks source link

zed/rtabmapviz and zed/rtabmap crash as soon as it starts #45

Closed khuechuong closed 1 year ago

khuechuong commented 1 year ago

Preliminary Checks

Description

I just got the zed mini so I installed zed wrapper and example to test the 3D mapping. Every time I run the roslaunch zed_rtabmap_example zed_rtabmap.launch command, both rtabmapviz and rtabmap would crash and die:

[zed/rtabmapviz-4] process has died [pid 298360, exit code 127, cmd /opt/ros/noetic/lib/rtabmap_ros/rtabmapviz rgb/image:=zed_node/rgb/image_rect_color depth/image:=zed_node/depth/depth_registered rgb/camera_info:=zed_node/rgb/camera_info grid_map:=map odom:=zed_node/odom name:=rtabmapviz log:=/home/aralab/.ros/log/c6a67130-96fc-11ed-9433-7f66a2ef98e8/zed-rtabmapviz-4.log]. log file: /home/aralab/.ros/log/c6a67130-96fc-11ed-9433-7f66a2ef98e8/zed-rtabmapviz-4*.log [zed/rtabmap-5] process has died [pid 298361, exit code 127, cmd /opt/ros/noetic/lib/rtabmap_ros/rtabmap --delete_db_on_start rgb/image:=zed_node/rgb/image_rect_color depth/image:=zed_node/depth/depth_registered rgb/camera_info:=zed_node/rgb/camera_info grid_map:=map odom:=zed_node/odom name:=rtabmap log:=/home/aralab/.ros/log/c6a67130-96fc-11ed-9433-7f66a2ef98e8/zed-rtabmap-5.log].

I am not sure how to fix this.

zed_rtabmap.launch <?xml version="1.0"?>

Steps to Reproduce

roslaunch zed_rtabmap_example zed_rtabmap.launch ... logging to /home/aralab/.ros/log/c6a67130-96fc-11ed-9433-7f66a2ef98e8/roslaunch-aralab-Alienware-Aurora-R7-298293.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://aralab-Alienware-Aurora-R7:37007/

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 [298330] ROS_MASTER_URI=http://localhost:11311

setting /run_id to c6a67130-96fc-11ed-9433-7f66a2ef98e8 process[rosout-1]: started with pid [298351] started core service [/rosout] process[zed/zed_state_publisher-2]: started with pid [298358] process[zed/zed_node-3]: started with pid [298359] process[zed/rtabmapviz-4]: started with pid [298360] /opt/ros/noetic/lib/rtabmap_ros/rtabmapviz: error while loading shared libraries: librtabmap_core.so.0.20: cannot open shared object file: No such file or directory /opt/ros/noetic/lib/rtabmap_ros/rtabmap: error while loading shared libraries: librtabmap_core.so.0.20: cannot open shared object file: No such file or directory process[zed/rtabmap-5]: started with pid [298361] process[zed/rviz-6]: started with pid [298366] [zed/rtabmapviz-4] process has died [pid 298360, exit code 127, cmd /opt/ros/noetic/lib/rtabmap_ros/rtabmapviz rgb/image:=zed_node/rgb/image_rect_color depth/image:=zed_node/depth/depth_registered rgb/camera_info:=zed_node/rgb/camera_info grid_map:=map odom:=zed_node/odom name:=rtabmapviz log:=/home/aralab/.ros/log/c6a67130-96fc-11ed-9433-7f66a2ef98e8/zed-rtabmapviz-4.log]. log file: /home/aralab/.ros/log/c6a67130-96fc-11ed-9433-7f66a2ef98e8/zed-rtabmapviz-4.log [zed/rtabmap-5] process has died [pid 298361, exit code 127, cmd /opt/ros/noetic/lib/rtabmap_ros/rtabmap --delete_db_on_start rgb/image:=zed_node/rgb/image_rect_color depth/image:=zed_node/depth/depth_registered rgb/camera_info:=zed_node/rgb/camera_info grid_map:=map odom:=zed_node/odom name:=rtabmap log:=/home/aralab/.ros/log/c6a67130-96fc-11ed-9433-7f66a2ef98e8/zed-rtabmap-5.log]. log file: /home/aralab/.ros/log/c6a67130-96fc-11ed-9433-7f66a2ef98e8/zed-rtabmap-5.log [ INFO] [1674024793.417374525]: Initializing nodelet with 12 worker threads. [ INFO] [1674024793.429619813]: ** Starting nodelet '/zed/zed_node' ** [ INFO] [1674024793.429661706]: SDK version : 3.8.2 [ INFO] [1674024793.429680089]: GENERAL PARAMETERS [ INFO] [1674024793.429948535]: Camera Name -> zed [ INFO] [1674024793.430168143]: Camera Resolution -> HD720 [ INFO] [1674024793.430351067]: Camera Grab Framerate -> 15 [ INFO] [1674024793.430557069]: Gpu ID -> -1 [ INFO] [1674024793.430766331]: Camera ID -> 0 [ INFO] [1674024793.430942264]: Verbose -> DISABLED [ INFO] [1674024793.431301752]: Camera Flip -> DISABLED [ INFO] [1674024793.431714705]: Self calibration -> ENABLED [ INFO] [1674024793.432155074]: * Camera Model by param -> zedm [ INFO] [1674024793.432166191]: VIDEO PARAMETERS [ INFO] [1674024793.432372063]: Image resample factor -> 0.5 [ INFO] [1674024793.432536593]: Extrinsic param. frame -> X RIGHT - Y DOWN - Z FWD [ INFO] [1674024793.432546314]: DEPTH PARAMETERS [ INFO] [1674024793.432709342]: Depth quality -> PERFORMANCE [ INFO] [1674024793.432871642]: Depth Sensing mode -> STANDARD [ INFO] [1674024793.433071583]: OpenNI mode -> DISABLED [ INFO] [1674024793.433269323]: Depth Stabilization -> ENABLED [ INFO] [1674024793.433489112]: Minimum depth -> 0.35 m [ INFO] [1674024793.433703253]: Maximum depth -> 10 m [ INFO] [1674024793.433931568]: * Depth resample factor -> 0.5 [ INFO] [1674024793.433946221]: POSITIONAL TRACKING PARAMETERS [ INFO] [1674024793.434375539]: Positional tracking -> ENABLED [ INFO] [1674024793.434580375]: Path rate -> 2 Hz [ INFO] [1674024793.434856567]: Path history size -> 1 [ INFO] [1674024793.435466118]: Odometry DB path -> /home/aralab/.ros/zed_area_memory.area [ INFO] [1674024793.436002953]: Save Area Memory on closing -> DISABLED [ INFO] [1674024793.436563955]: Area Memory -> ENABLED [ INFO] [1674024793.437073950]: IMU Fusion -> ENABLED [ INFO] [1674024793.437592753]: Floor alignment -> DISABLED [ INFO] [1674024793.438205958]: Init Odometry with first valid pose data -> ENABLED [ INFO] [1674024793.438806816]: Two D mode -> DISABLED [ INFO] [1674024793.439446357]: MAPPING PARAMETERS [ INFO] [1674024793.440081279]: Mapping -> DISABLED [ INFO] [1674024793.440616385]: Clicked point topic -> /clicked_point [ INFO] [1674024793.440635264]: OBJECT DETECTION PARAMETERS [ INFO] [1674024793.441111470]: * Object Detection -> DISABLED [ INFO] [1674024793.441129037]: SENSORS PARAMETERS [ INFO] [1674024793.441375517]: Sensors timestamp sync -> DISABLED [ INFO] [1674024793.441636312]: Max sensors rate -> 200 [ INFO] [1674024793.441656776]: SVO PARAMETERS [ INFO] [1674024793.442154919]: SVO input file: -> [ INFO] [1674024793.442411500]: SVO REC compression -> H265 (HEVC) [ INFO] [1674024793.442885474]: COORDINATE FRAMES [ INFO] [1674024793.444257681]: map_frame -> map [ INFO] [1674024793.444280777]: odometry_frame -> odom [ INFO] [1674024793.444300284]: base_frame -> base_link [ INFO] [1674024793.444317699]: camera_frame -> zed_camera_center [ INFO] [1674024793.444338860]: imu_link -> zed_imu_link [ INFO] [1674024793.444359983]: left_camera_frame -> zed_left_camera_frame [ INFO] [1674024793.444381351]: left_camera_optical_frame -> zed_left_camera_optical_frame [ INFO] [1674024793.444402058]: right_camera_frame -> zed_right_camera_frame [ INFO] [1674024793.444423698]: right_camera_optical_frame -> zed_right_camera_optical_frame [ INFO] [1674024793.444444533]: depth_frame -> zed_left_camera_frame [ INFO] [1674024793.444465739]: depth_optical_frame -> zed_left_camera_optical_frame [ INFO] [1674024793.444486503]: disparity_frame -> zed_left_camera_frame [ INFO] [1674024793.444507626]: disparity_optical_frame -> zed_left_camera_optical_frame [ INFO] [1674024793.444528280]: confidence_frame -> zed_left_camera_frame [ INFO] [1674024793.444548791]: confidence_optical_frame -> zed_left_camera_optical_frame [ INFO] [1674024793.445019004]: Broadcast odometry TF -> ENABLED [ INFO] [1674024793.445486282]: Broadcast map pose TF -> ENABLED [ INFO] [1674024793.445929552]: Broadcast IMU pose TF -> ENABLED [ INFO] [1674024793.445946178]: DYNAMIC PARAMETERS (Init. values) [ INFO] [1674024793.446146427]: [DYN] Depth confidence -> 30 [ INFO] [1674024793.446344012]: [DYN] Depth texture conf. -> 100 [ INFO] [1674024793.446557162]: [DYN] pub_frame_rate -> 15 Hz [ INFO] [1674024793.446744026]: [DYN] point_cloud_freq -> 10 Hz [ INFO] [1674024793.446925292]: [DYN] brightness -> 4 [ INFO] [1674024793.447131522]: [DYN] contrast -> 4 [ INFO] [1674024793.447311679]: [DYN] hue -> 0 [ INFO] [1674024793.447494155]: [DYN] saturation -> 4 [ INFO] [1674024793.447673748]: [DYN] sharpness -> 4 [ INFO] [1674024793.447852789]: [DYN] gamma -> 8 [ INFO] [1674024793.448048471]: [DYN] auto_exposure_gain -> ENABLED [ INFO] [1674024793.448609329]: [DYN] auto_whitebalance -> ENABLED [ INFO] [1674024793.451460617]: * Camera coordinate system -> Right HANDED Z UP and X FORWARD [ INFO] [1674024793.451504173]: *** Opening ZED-M... [ INFO] [1674024793.532569233]: rviz version 1.14.19 [ INFO] [1674024793.532610783]: compiled against Qt version 5.12.8 [ INFO] [1674024793.532622841]: compiled against OGRE version 1.9.0 (Ghadamon) [ INFO] [1674024793.539978597]: Forcing OpenGl version 0. [ INFO] [1674024794.099362219]: Stereo is NOT SUPPORTED [ INFO] [1674024794.099420535]: OpenGL device: NVIDIA GeForce GTX 1080 Ti/PCIe/SSE2 [ INFO] [1674024794.099446574]: OpenGl version: 4.6 (GLSL 4.6). [ INFO] [1674024794.706197971]: ZED connection -> SUCCESS [ INFO] [1674024796.706362145]: ... ZED ready [ INFO] [1674024796.706416375]: ZED SDK running on GPU #0 [ INFO] [1674024796.714962031]: Camera-IMU Transform: 559DA4E5A848 0.999969 -0.007029 -0.003532 -0.002000 0.007053 0.999951 0.006983 -0.015000 0.003483 -0.007008 0.999969 -0.001710 0.000000 0.000000 0.000000 1.000000

[ INFO] [1674024796.714982662]: CAMERA MODEL -> ZED-M [ INFO] [1674024796.714999975]: Serial Number -> 11274322 [ INFO] [1674024796.715014967]: Camera FW Version -> 1523 [ INFO] [1674024796.715044104]: Sensors FW Version -> 517 [ INFO] [1674024796.861797202]: Advertised on topic /zed/zed_node/rgb/image_rect_color [ INFO] [1674024796.861872747]: Advertised on topic /zed/zed_node/rgb/camera_info [ INFO] [1674024796.885284237]: Advertised on topic /zed/zed_node/rgb_raw/image_raw_color [ INFO] [1674024796.885318075]: Advertised on topic /zed/zed_node/rgb_raw/camera_info [ INFO] [1674024796.900361419]: Advertised on topic /zed/zed_node/left/image_rect_color [ INFO] [1674024796.900393245]: Advertised on topic /zed/zed_node/left/camera_info [ INFO] [1674024796.916251447]: Advertised on topic /zed/zed_node/left_raw/image_raw_color [ INFO] [1674024796.916285299]: Advertised on topic /zed/zed_node/left_raw/camera_info [ INFO] [1674024796.931586222]: Advertised on topic /zed/zed_node/right/image_rect_color [ INFO] [1674024796.931621844]: Advertised on topic /zed/zed_node/right/camera_info [ INFO] [1674024796.947231245]: Advertised on topic /zed/zed_node/right_raw/image_raw_color [ INFO] [1674024796.947269785]: Advertised on topic /zed/zed_node/right_raw/camera_info [ INFO] [1674024796.962274781]: Advertised on topic /zed/zed_node/rgb/image_rect_gray [ INFO] [1674024796.962309315]: Advertised on topic /zed/zed_node/rgb/camera_info [ INFO] [1674024796.978086756]: Advertised on topic /zed/zed_node/rgb_raw/image_raw_gray [ INFO] [1674024796.978123264]: Advertised on topic /zed/zed_node/rgb_raw/camera_info [ INFO] [1674024796.993367011]: Advertised on topic /zed/zed_node/left/image_rect_gray [ INFO] [1674024796.993405993]: Advertised on topic /zed/zed_node/left/camera_info [ INFO] [1674024797.008521783]: Advertised on topic /zed/zed_node/left_raw/image_raw_gray [ INFO] [1674024797.008562089]: Advertised on topic /zed/zed_node/left_raw/camera_info [ INFO] [1674024797.023328804]: Advertised on topic /zed/zed_node/right/image_rect_gray [ INFO] [1674024797.023367883]: Advertised on topic /zed/zed_node/right/camera_info [ INFO] [1674024797.038262380]: Advertised on topic /zed/zed_node/right_raw/image_raw_gray [ INFO] [1674024797.038312517]: Advertised on topic /zed/zed_node/right_raw/camera_info [ INFO] [1674024797.052919697]: Advertised on topic /zed/zed_node/depth/depth_registered [ INFO] [1674024797.052962245]: Advertised on topic /zed/zed_node/depth/camera_info [ INFO] [1674024797.067310627]: Advertised on topic /zed/zed_node/stereo/image_rect_color [ INFO] [1674024797.081816646]: Advertised on topic /zed/zed_node/stereo_raw/image_raw_color [ INFO] [1674024797.082136777]: Advertised on topic /zed/zed_node/confidence/confidence_map [ INFO] [1674024797.082512963]: Advertised on topic /zed/zed_node/disparity/disparity_image [ INFO] [1674024797.082820191]: Advertised on topic /zed/zed_node/point_cloud/cloud_registered [ INFO] [1674024797.083104855]: Advertised on topic /zed/zed_node/pose [ INFO] [1674024797.083384756]: Advertised on topic /zed/zed_node/pose_with_covariance [ INFO] [1674024797.083665314]: Advertised on topic /zed/zed_node/odom [ INFO] [1674024797.084578600]: Advertised on topic /zed/zed_node/path_odom [ INFO] [1674024797.084886428]: Advertised on topic /zed/zed_node/path_map [ INFO] [1674024797.085311049]: Advertised on topic /zed/zed_node/imu/data [ INFO] [1674024797.085609531]: Advertised on topic /zed/zed_node/imu/data_raw [ INFO] [1674024797.085938965]: Advertised on topic /zed/zed_node/imu/mag [ INFO] [1674024797.086237365]: Advertised on topic /zed/zed_node/left_cam_imu_transform [LATCHED] [ INFO] [1674024797.087610056]: Subscribed to topic /clicked_point [ INFO] [1674024797.092233883]: Published static transform 'zed_imu_link' -> 'zed_left_camera_frame' [ INFO] [1674024797.092286503]: Starting Positional Tracking [ INFO] [1674024797.092328586]: Waiting for valid static transformations... [ INFO] [1674024797.092405960]: Static transform Sensor to Base [zed_left_camera_frame -> base_link] [ INFO] [1674024797.092449551]: Translation: {0.000,-0.030,-0.013} [ INFO] [1674024797.092489659]: Rotation: {0.000,-0.000,0.000} [ INFO] [1674024797.092544933]: Static transform Sensor to Camera Center [zed_left_camera_frame -> zed_camera_center] [ INFO] [1674024797.092586188]: Translation: {0.000,-0.030,0.000} [ INFO] [1674024797.092626044]: Rotation: {0.000,-0.000,0.000} [ INFO] [1674024797.092674194]: Static transform Camera Center to Base [zed_camera_center -> base_link] [ INFO] [1674024797.092714815]: Translation: {0.000,0.000,-0.013} [ INFO] [1674024797.092755055]: Rotation: {0.000,-0.000,0.000} [ INFO] [1674024797.192917494]: Initial ZED left camera pose (ZED pos. tracking): [ INFO] [1674024797.193007486]: T: [0,0.03,0.01325] [ INFO] [1674024797.193084956]: * Q: [0,0,0,1] [ WARN] [1674024797.193200147]: area_memory_db_path [/home/aralab/.ros/zed_area_memory.area] doesn't exist or is unreachable. [ INFO] [1674024797.304786054]: Positional tracking -> Searching for a known position [SEARCHING] [ INFO] [1674024797.304925446]: Odometry aligned to last tracking pose [ INFO] [1674024797.378662971]: Positional tracking -> OK [OK] [ INFO] [1674024797.838836277]: Positional tracking -> Searching for a known position [SEARCHING] [ INFO] [1674024797.971166892]: Positional tracking -> OK [OK] [ INFO] [1674024798.038422210]: Positional tracking -> Searching for a known position [SEARCHING] [ INFO] [1674024798.107091801]: Positional tracking -> OK [OK] [ INFO] [1674024798.506264843]: Positional tracking -> Searching for a known position [SEARCHING] [ INFO] [1674024798.573056383]: Positional tracking -> OK [OK] ...

Expected Result

I expect the zed mini to start mapping the environment with rtabmap

Actual Result

All it did was just show standard zed cam info in rviz and no rtabmap pop up.

ZED Camera model

ZED Mini

Environment

ROS noetic
rtabmap v0.20.22 (not sure how to downgrade it to 0.19.3)
rtabmap_ros v0.20.22 (not sure how to downgrade it to 0.19.3)

Anything else?

No response