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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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Using ROS integration with multiple ZED? #8

Closed poorboy44 closed 4 years ago

poorboy44 commented 4 years ago

Is it possible to use the ROS integration with multiple ZED cameras? The documentation seems to indicate so, but when I tried to do so, it didn't allow me (launching the second camera caused the first camera to close/abort).

Myzhar commented 4 years ago

@poorboy44 you cannot run a node with the same name in the same namespace, to start the second node you must change the node name (if they must stay in the same namespace) or you must change the namespace.

If you are using the ZED launch files the namespace is the same as the camera name: For example: roslaunch zed_wrapper zed.launch camera_name:=zedB

Instead to change the node name: roslaunch zed_wrapper zed.launch node_name:=zed_node_B

poorboy44 commented 4 years ago

I tried that, and it didn't seem to work. The second camera is unable to launch for some reason.

In the first terminal, I launch the first camera without a problem.

(base) poorboy44@poorboy44-XPS-8930:~/catkin_ws$ roslaunch zed_wrapper zed2.launch serial_number:=27696585 node_name:=new_zed camera_name:=new_zed
... logging to /home/poorboy44/.ros/log/4096e6bc-6fd9-11ea-8f25-5cea1d90be79/roslaunch-poorboy44-XPS-8930-2918.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://poorboy44-XPS-8930:40965/

SUMMARY
========

PARAMETERS
 * /new_zed/new_zed/auto_exposure_gain: True
 * /new_zed/new_zed/auto_whitebalance: True
 * /new_zed/new_zed/brightness: 4
 * /new_zed/new_zed/contrast: 4
 * /new_zed/new_zed/depth/depth_downsample_factor: 1.0
 * /new_zed/new_zed/depth/depth_stabilization: 1
 * /new_zed/new_zed/depth/max_depth: 20.0
 * /new_zed/new_zed/depth/min_depth: 0.7
 * /new_zed/new_zed/depth/openni_depth_mode: 0
 * /new_zed/new_zed/depth/quality: 3
 * /new_zed/new_zed/depth/sensing_mode: 0
 * /new_zed/new_zed/depth_confidence: 50
 * /new_zed/new_zed/depth_texture_conf: 100
 * /new_zed/new_zed/exposure: 100
 * /new_zed/new_zed/gain: 100
 * /new_zed/new_zed/gamma: 8
 * /new_zed/new_zed/general/base_frame: base_link
 * /new_zed/new_zed/general/camera_flip: False
 * /new_zed/new_zed/general/camera_model: zed2
 * /new_zed/new_zed/general/camera_name: new_zed
 * /new_zed/new_zed/general/gpu_id: -1
 * /new_zed/new_zed/general/grab_frame_rate: 30
 * /new_zed/new_zed/general/resolution: 2
 * /new_zed/new_zed/general/self_calib: True
 * /new_zed/new_zed/general/svo_compression: 2
 * /new_zed/new_zed/general/verbose: False
 * /new_zed/new_zed/general/zed_id: 0
 * /new_zed/new_zed/hue: 0
 * /new_zed/new_zed/mapping/fused_pointcloud_freq: 1.0
 * /new_zed/new_zed/mapping/mapping_enabled: False
 * /new_zed/new_zed/mapping/max_mapping_range: -1
 * /new_zed/new_zed/mapping/resolution: 0.05
 * /new_zed/new_zed/object_detection/confidence_threshold: 50
 * /new_zed/new_zed/object_detection/object_tracking_enabled: True
 * /new_zed/new_zed/object_detection/od_enabled: False
 * /new_zed/new_zed/object_detection/people_detection: True
 * /new_zed/new_zed/object_detection/vehicle_detection: False
 * /new_zed/new_zed/point_cloud_freq: 15.0
 * /new_zed/new_zed/pos_tracking/area_memory: True
 * /new_zed/new_zed/pos_tracking/area_memory_db_path: 
 * /new_zed/new_zed/pos_tracking/fixed_z_value: 0.0
 * /new_zed/new_zed/pos_tracking/floor_alignment: False
 * /new_zed/new_zed/pos_tracking/imu_fusion: True
 * /new_zed/new_zed/pos_tracking/init_odom_with_first_valid_pose: True
 * /new_zed/new_zed/pos_tracking/initial_base_pose: [0.0, 0.0, 0.0, 0...
 * /new_zed/new_zed/pos_tracking/map_frame: map
 * /new_zed/new_zed/pos_tracking/odometry_frame: odom
 * /new_zed/new_zed/pos_tracking/path_max_count: -1
 * /new_zed/new_zed/pos_tracking/path_pub_rate: 2.0
 * /new_zed/new_zed/pos_tracking/publish_map_tf: True
 * /new_zed/new_zed/pos_tracking/publish_tf: True
 * /new_zed/new_zed/pos_tracking/two_d_mode: False
 * /new_zed/new_zed/pub_frame_rate: 15.0
 * /new_zed/new_zed/saturation: 4
 * /new_zed/new_zed/sensors/sensors_timestamp_sync: False
 * /new_zed/new_zed/sharpness: 4
 * /new_zed/new_zed/stream: 
 * /new_zed/new_zed/svo_file: 
 * /new_zed/new_zed/video/extrinsic_in_camera_frame: True
 * /new_zed/new_zed/video/img_downsample_factor: 1.0
 * /new_zed/new_zed/whitebalance_temperature: 42
 * /new_zed/new_zed_description: <?xml version="1....
 * /rosdistro: melodic
 * /rosversion: 1.14.5

NODES
  /new_zed/
    new_zed (zed_wrapper/zed_wrapper_node)
    new_zed_state_publisher (robot_state_publisher/robot_state_publisher)

auto-starting new master
process[master]: started with pid [2932]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 4096e6bc-6fd9-11ea-8f25-5cea1d90be79
process[rosout-1]: started with pid [2943]
started core service [/rosout]
process[new_zed/new_zed_state_publisher-2]: started with pid [2946]
process[new_zed/new_zed-3]: started with pid [2947]
[ INFO] [1585278950.916355423]: Initializing nodelet with 12 worker threads.
[ INFO] [1585278951.044645432]: ********** Starting nodelet '/new_zed/new_zed' **********
[ INFO] [1585278951.044858297]: SDK version : 3.1.1
[ INFO] [1585278951.044965949]: *** PARAMETERS ***
[ INFO] [1585278951.046314219]:  * Camera Name          -> new_zed
[ INFO] [1585278951.047514283]:  * Camera Resolution        -> HD720
[ INFO] [1585278951.048679814]:  * Camera Grab Framerate    -> 30
[ INFO] [1585278951.049863796]:  * Gpu ID           -> -1
[ INFO] [1585278951.051035133]:  * Camera ID            -> -1
[ INFO] [1585278951.052193931]:  * Verbose          -> DISABLED
[ INFO] [1585278951.054423158]:  * Camera Flip          -> DISABLED
[ INFO] [1585278951.056602030]:  * Self calibration     -> ENABLED
[ INFO] [1585278951.058824364]:  * Camera Model by param    -> zed2
[ INFO] [1585278951.060023960]:  * Image resample factor    -> 1
[ INFO] [1585278951.061160371]:  * Extrinsic param. frame   -> X RIGHT - Y DOWN - Z FWD
[ INFO] [1585278951.062324808]:  * Depth quality        -> ULTRA
[ INFO] [1585278951.063479673]:  * Depth Sensing mode       -> STANDARD
[ INFO] [1585278951.064622402]:  * OpenNI mode          -> DISABLED
[ INFO] [1585278951.065786702]:  * Depth Stabilization      -> ENABLED
[ INFO] [1585278951.066843222]:  * Minimum depth        -> 0.7 m
[ INFO] [1585278951.067863325]:  * Maximum depth        -> 20 m
[ INFO] [1585278951.068881867]:  * Depth resample factor    -> 1
[ INFO] [1585278951.070067655]:  * Path rate            -> 2 Hz
[ INFO] [1585278951.071302817]:  * Path history size        -> 1
[ INFO] [1585278951.073880407]:  * Odometry DB path     -> 
[ INFO] [1585278951.075821696]:  * Spatial Memory       -> ENABLED
[ INFO] [1585278951.079837120]:  * IMU Fusion           -> ENABLED
[ INFO] [1585278951.081839984]:  * Floor alignment      -> DISABLED
[ INFO] [1585278951.083826064]:  * Init Odometry with first valid pose data -> ENABLED
[ INFO] [1585278951.085835598]:  * Two D mode           -> DISABLED
[ INFO] [1585278951.089636326]:  * Mapping          -> DISABLED
[ INFO] [1585278951.091360113]:  * Object Detection     -> DISABLED
[ INFO] [1585278951.092263361]:  * Sensors timestamp sync   -> DISABLED
[ INFO] [1585278951.093177722]:  * Sensors data freq        -> 400 Hz
[ INFO] [1585278951.095467987]:  * SVO input file:      -> 
[ INFO] [1585278951.096515459]:  * SVO REC compression      -> H265 (HEVC)
[ INFO] [1585278951.103759317]:  * map_frame            -> map
[ INFO] [1585278951.103845847]:  * odometry_frame       -> odom
[ INFO] [1585278951.103893976]:  * base_frame           -> base_link
[ INFO] [1585278951.103941613]:  * camera_frame         -> new_zed_camera_center
[ INFO] [1585278951.103991296]:  * imu_link         -> new_zed_imu_link
[ INFO] [1585278951.104033093]:  * left_camera_frame        -> new_zed_left_camera_frame
[ INFO] [1585278951.104076386]:  * left_camera_optical_frame    -> new_zed_left_camera_optical_frame
[ INFO] [1585278951.104140322]:  * right_camera_frame       -> new_zed_right_camera_frame
[ INFO] [1585278951.104184349]:  * right_camera_optical_frame   -> new_zed_right_camera_optical_frame
[ INFO] [1585278951.104224767]:  * depth_frame          -> new_zed_left_camera_frame
[ INFO] [1585278951.104272736]:  * depth_optical_frame      -> new_zed_left_camera_optical_frame
[ INFO] [1585278951.104311141]:  * disparity_frame      -> new_zed_left_camera_frame
[ INFO] [1585278951.104351247]:  * disparity_optical_frame  -> new_zed_left_camera_optical_frame
[ INFO] [1585278951.104400107]:  * confidence_frame     -> new_zed_left_camera_frame
[ INFO] [1585278951.104440204]:  * confidence_optical_frame -> new_zed_left_camera_optical_frame
[ INFO] [1585278951.106256622]:  * Broadcast odometry TF    -> ENABLED
[ INFO] [1585278951.107905118]:  * Broadcast map pose TF    -> ENABLED
[ INFO] [1585278951.108788646]:  * [DYN] Depth confidence   -> 50
[ INFO] [1585278951.109756526]:  * [DYN] Depth texture conf.    -> 100
[ INFO] [1585278951.110797501]:  * [DYN] pub_frame_rate     -> 15 Hz
[ INFO] [1585278951.111841213]:  * [DYN] point_cloud_freq   -> 15 Hz
[ INFO] [1585278951.112864247]:  * [DYN] brightness     -> 4
[ INFO] [1585278951.113920677]:  * [DYN] contrast       -> 4
[ INFO] [1585278951.114995419]:  * [DYN] hue            -> 0
[ INFO] [1585278951.116144086]:  * [DYN] saturation     -> 4
[ INFO] [1585278951.117314838]:  * [DYN] sharpness      -> 4
[ INFO] [1585278951.118366399]:  * [DYN] gamma          -> 8
[ INFO] [1585278951.119394766]:  * [DYN] auto_exposure_gain -> ENABLED
[ INFO] [1585278951.121685111]:  * [DYN] auto_whitebalance  -> ENABLED
[ INFO] [1585278951.129542355]:  * Camera coordinate system -> Right HANDED Z UP and X FORWARD
[ INFO] [1585278951.129912255]:  *** Opening ZED 2...
[ INFO] [1585278952.023946247]: ZED connection -> SUCCESS
[ INFO] [1585278954.024330487]:  ...  ZED ready
[ INFO] [1585278954.024448715]: ZED SDK running on GPU #0
[ INFO] [1585278954.033702381]: Camera-IMU Transform: 
 561F4AB18DC0
0.999940 0.010641 -0.002456 -0.002000
-0.010642 0.999943 -0.000377 -0.023000
0.002452 0.000404 0.999997 -0.002000
0.000000 0.000000 0.000000 1.000000

[ INFO] [1585278954.033721732]:  * CAMERA MODEL  -> ZED 2
[ INFO] [1585278954.033758386]:  * Serial Number -> 27696585
[ INFO] [1585278954.033810869]:  * Camera FW Version -> 1523
[ INFO] [1585278954.033826983]:  * Sensors FW Version -> 776
[ INFO] [1585278956.354133682]: Advertised on topic /new_zed/new_zed/rgb/image_rect_color
[ INFO] [1585278956.354165770]: Advertised on topic /new_zed/new_zed/rgb/camera_info
[ INFO] [1585278956.364830888]: Advertised on topic /new_zed/new_zed/rgb_raw/image_raw_color
[ INFO] [1585278956.364849064]: Advertised on topic /new_zed/new_zed/rgb_raw/camera_info
[ INFO] [1585278956.375395246]: Advertised on topic /new_zed/new_zed/left/image_rect_color
[ INFO] [1585278956.375421143]: Advertised on topic /new_zed/new_zed/left/camera_info
[ INFO] [1585278956.385051344]: Advertised on topic /new_zed/new_zed/left_raw/image_raw_color
[ INFO] [1585278956.385072278]: Advertised on topic /new_zed/new_zed/left_raw/camera_info
[ INFO] [1585278956.394880335]: Advertised on topic /new_zed/new_zed/right/image_rect_color
[ INFO] [1585278956.394901853]: Advertised on topic /new_zed/new_zed/right/camera_info
[ INFO] [1585278956.404663284]: Advertised on topic /new_zed/new_zed/right_raw/image_raw_color
[ INFO] [1585278956.404688785]: Advertised on topic /new_zed/new_zed/right_raw/camera_info
[ INFO] [1585278956.414305651]: Advertised on topic /new_zed/new_zed/rgb/image_rect_gray
[ INFO] [1585278956.414328468]: Advertised on topic /new_zed/new_zed/rgb/camera_info
[ INFO] [1585278956.424102579]: Advertised on topic /new_zed/new_zed/rgb_raw/image_raw_gray
[ INFO] [1585278956.424125932]: Advertised on topic /new_zed/new_zed/rgb_raw/camera_info
[ INFO] [1585278956.433762758]: Advertised on topic /new_zed/new_zed/left/image_rect_gray
[ INFO] [1585278956.433788109]: Advertised on topic /new_zed/new_zed/left/camera_info
[ INFO] [1585278956.443291350]: Advertised on topic /new_zed/new_zed/left_raw/image_raw_gray
[ INFO] [1585278956.443320975]: Advertised on topic /new_zed/new_zed/left_raw/camera_info
[ INFO] [1585278956.453025710]: Advertised on topic /new_zed/new_zed/right/image_rect_gray
[ INFO] [1585278956.453049972]: Advertised on topic /new_zed/new_zed/right/camera_info
[ INFO] [1585278956.462710293]: Advertised on topic /new_zed/new_zed/right_raw/image_raw_gray
[ INFO] [1585278956.462736930]: Advertised on topic /new_zed/new_zed/right_raw/camera_info
[ INFO] [1585278956.472442896]: Advertised on topic /new_zed/new_zed/depth/depth_registered
[ INFO] [1585278956.472479849]: Advertised on topic /new_zed/new_zed/depth/camera_info
[ INFO] [1585278956.482254949]: Advertised on topic /new_zed/new_zed/stereo/image_rect_color
[ INFO] [1585278956.491941924]: Advertised on topic /new_zed/new_zed/stereo_raw/image_raw_color
[ INFO] [1585278956.492202842]: Advertised on topic /new_zed/new_zed/confidence/confidence_map
[ INFO] [1585278956.492458904]: Advertised on topic /new_zed/new_zed/disparity/disparity_image
[ INFO] [1585278956.492716930]: Advertised on topic /new_zed/new_zed/point_cloud/cloud_registered
[ INFO] [1585278956.493014665]: Advertised on topic /new_zed/new_zed/pose
[ INFO] [1585278956.493273577]: Advertised on topic /new_zed/new_zed/pose_with_covariance
[ INFO] [1585278956.493562378]: Advertised on topic /new_zed/new_zed/odom
[ INFO] [1585278956.493824214]: Advertised on topic /new_zed/new_zed/path_odom
[ INFO] [1585278956.494094904]: Advertised on topic /new_zed/new_zed/path_map
[ INFO] [1585278956.494395851]: Advertised on topic /new_zed/new_zed/imu/data @ 400 Hz
[ INFO] [1585278956.494653799]: Advertised on topic /new_zed/new_zed/imu/data_raw @ 400 Hz
[ INFO] [1585278956.494932721]: Advertised on topic /new_zed/new_zed/imu/mag @ 50 Hz
[ INFO] [1585278956.495186114]: Advertised on topic /new_zed/new_zed/temperature/imu @ 400 Hz
[ INFO] [1585278956.495440726]: Advertised on topic /new_zed/new_zed/atm_press @ 25 Hz
[ INFO] [1585278956.495708415]: Advertised on topic /new_zed/new_zed/temperature/left @ 25 Hz
[ INFO] [1585278956.496008708]: Advertised on topic /new_zed/new_zed/temperature/right @ 25 Hz
[ INFO] [1585278956.496280481]: Advertised on topic /new_zed/new_zed/left_cam_imu_transform [LATCHED]
[ INFO] [1585278956.499510291]: Static transform Sensor to Base [new_zed_left_camera_frame -> base_link]
[ INFO] [1585278956.499536228]:  * Translation: {0.000,-0.060,0.000}
[ INFO] [1585278956.499550916]:  * Rotation: {0.000,-0.000,0.000}
[ INFO] [1585278956.499580897]: Static transform Sensor to Camera Center [new_zed_left_camera_frame -> new_zed_camera_center]
[ INFO] [1585278956.499607336]:  * Translation: {0.000,-0.060,0.000}
[ INFO] [1585278956.499626267]:  * Rotation: {0.000,-0.000,0.000}
[ INFO] [1585278956.499661180]: Static transform Camera Center to Base [new_zed_camera_center -> base_link]
[ INFO] [1585278956.499701077]:  * Translation: {0.000,0.000,0.000}
[ INFO] [1585278956.499739616]:  * Rotation: {0.000,-0.000,0.000}

In a second terminal, I run this, but it won't open the second camera. 

(base) poorboy44@poorboy44-XPS-8930:~/catkin_ws$ roslaunch zed_wrapper zed.launch serial_number:=18385 node_name:=old_zed camera_name:=old_zed
... logging to /home/poorboy44/.ros/log/4096e6bc-6fd9-11ea-8f25-5cea1d90be79/roslaunch-poorboy44-XPS-8930-5105.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://poorboy44-XPS-8930:33633/

SUMMARY
========

PARAMETERS
 * /old_zed/old_zed/auto_exposure_gain: True
 * /old_zed/old_zed/auto_whitebalance: True
 * /old_zed/old_zed/brightness: 4
 * /old_zed/old_zed/contrast: 4
 * /old_zed/old_zed/depth/depth_downsample_factor: 1.0
 * /old_zed/old_zed/depth/depth_stabilization: 1
 * /old_zed/old_zed/depth/max_depth: 10.0
 * /old_zed/old_zed/depth/min_depth: 0.7
 * /old_zed/old_zed/depth/openni_depth_mode: 0
 * /old_zed/old_zed/depth/quality: 3
 * /old_zed/old_zed/depth/sensing_mode: 0
 * /old_zed/old_zed/depth_confidence: 50
 * /old_zed/old_zed/depth_texture_conf: 100
 * /old_zed/old_zed/exposure: 100
 * /old_zed/old_zed/gain: 100
 * /old_zed/old_zed/gamma: 8
 * /old_zed/old_zed/general/base_frame: base_link
 * /old_zed/old_zed/general/camera_flip: False
 * /old_zed/old_zed/general/camera_model: zed
 * /old_zed/old_zed/general/camera_name: old_zed
 * /old_zed/old_zed/general/gpu_id: -1
 * /old_zed/old_zed/general/grab_frame_rate: 30
 * /old_zed/old_zed/general/resolution: 2
 * /old_zed/old_zed/general/self_calib: True
 * /old_zed/old_zed/general/svo_compression: 2
 * /old_zed/old_zed/general/verbose: False
 * /old_zed/old_zed/general/zed_id: 0
 * /old_zed/old_zed/hue: 0
 * /old_zed/old_zed/mapping/fused_pointcloud_freq: 1.0
 * /old_zed/old_zed/mapping/mapping_enabled: False
 * /old_zed/old_zed/mapping/max_mapping_range: -1
 * /old_zed/old_zed/mapping/resolution: 0.05
 * /old_zed/old_zed/point_cloud_freq: 15.0
 * /old_zed/old_zed/pos_tracking/area_memory: True
 * /old_zed/old_zed/pos_tracking/area_memory_db_path: 
 * /old_zed/old_zed/pos_tracking/fixed_z_value: 0.0
 * /old_zed/old_zed/pos_tracking/floor_alignment: False
 * /old_zed/old_zed/pos_tracking/init_odom_with_first_valid_pose: True
 * /old_zed/old_zed/pos_tracking/initial_base_pose: [0.0, 0.0, 0.0, 0...
 * /old_zed/old_zed/pos_tracking/map_frame: map
 * /old_zed/old_zed/pos_tracking/odometry_frame: odom
 * /old_zed/old_zed/pos_tracking/path_max_count: -1
 * /old_zed/old_zed/pos_tracking/path_pub_rate: 2.0
 * /old_zed/old_zed/pos_tracking/publish_map_tf: True
 * /old_zed/old_zed/pos_tracking/publish_tf: True
 * /old_zed/old_zed/pos_tracking/two_d_mode: False
 * /old_zed/old_zed/pub_frame_rate: 15.0
 * /old_zed/old_zed/saturation: 4
 * /old_zed/old_zed/sharpness: 4
 * /old_zed/old_zed/stream: 
 * /old_zed/old_zed/svo_file: 
 * /old_zed/old_zed/video/extrinsic_in_camera_frame: True
 * /old_zed/old_zed/video/img_downsample_factor: 1.0
 * /old_zed/old_zed/whitebalance_temperature: 42
 * /old_zed/old_zed_description: <?xml version="1....
 * /rosdistro: melodic
 * /rosversion: 1.14.5

NODES
  /old_zed/
    old_zed (zed_wrapper/zed_wrapper_node)
    old_zed_state_publisher (robot_state_publisher/robot_state_publisher)

ROS_MASTER_URI=http://localhost:11311

process[old_zed/old_zed_state_publisher-1]: started with pid [5124]
process[old_zed/old_zed-2]: started with pid [5125]
[ INFO] [1585279299.676770628]: Initializing nodelet with 12 worker threads.
[ INFO] [1585279299.684122966]: ********** Starting nodelet '/old_zed/old_zed' **********
[ INFO] [1585279299.684159917]: SDK version : 3.1.1
[ INFO] [1585279299.684176298]: *** PARAMETERS ***
[ INFO] [1585279299.684362191]:  * Camera Name          -> old_zed
[ INFO] [1585279299.684565797]:  * Camera Resolution        -> HD720
[ INFO] [1585279299.684777773]:  * Camera Grab Framerate    -> 30
[ INFO] [1585279299.684971426]:  * Gpu ID           -> -1
[ INFO] [1585279299.685129238]:  * Camera ID            -> -1
[ INFO] [1585279299.685300731]:  * Verbose          -> DISABLED
[ INFO] [1585279299.685615145]:  * Camera Flip          -> DISABLED
[ INFO] [1585279299.685909569]:  * Self calibration     -> ENABLED
[ INFO] [1585279299.686243757]:  * Camera Model by param    -> zed
[ INFO] [1585279299.686444938]:  * Image resample factor    -> 1
[ INFO] [1585279299.686630127]:  * Extrinsic param. frame   -> X RIGHT - Y DOWN - Z FWD
[ INFO] [1585279299.686790742]:  * Depth quality        -> ULTRA
[ INFO] [1585279299.686962295]:  * Depth Sensing mode       -> STANDARD
[ INFO] [1585279299.687113465]:  * OpenNI mode          -> DISABLED
[ INFO] [1585279299.687262339]:  * Depth Stabilization      -> ENABLED
[ INFO] [1585279299.687416246]:  * Minimum depth        -> 0.7 m
[ INFO] [1585279299.687566399]:  * Maximum depth        -> 10 m
[ INFO] [1585279299.687715251]:  * Depth resample factor    -> 1
[ INFO] [1585279299.687864085]:  * Path rate            -> 2 Hz
[ INFO] [1585279299.688012405]:  * Path history size        -> 1
[ INFO] [1585279299.688303650]:  * Odometry DB path     -> 
[ INFO] [1585279299.688607260]:  * Spatial Memory       -> ENABLED
[ INFO] [1585279299.688757266]:  * IMU Fusion           -> ENABLED
[ INFO] [1585279299.689034584]:  * Floor alignment      -> DISABLED
[ INFO] [1585279299.689317182]:  * Init Odometry with first valid pose data -> ENABLED
[ INFO] [1585279299.689696691]:  * Two D mode           -> DISABLED
[ INFO] [1585279299.690235297]:  * Mapping          -> DISABLED
[ INFO] [1585279299.690383965]:  * Object Detection     -> DISABLED
[ INFO] [1585279299.690531988]:  * Sensors timestamp sync   -> DISABLED
[ INFO] [1585279299.690680092]:  * Sensors data freq        -> 400 Hz
[ INFO] [1585279299.690961512]:  * SVO input file:      -> 
[ INFO] [1585279299.691111503]:  * SVO REC compression      -> H265 (HEVC)
[ INFO] [1585279299.692175569]:  * map_frame            -> map
[ INFO] [1585279299.692187011]:  * odometry_frame       -> odom
[ INFO] [1585279299.692195891]:  * base_frame           -> base_link
[ INFO] [1585279299.692203172]:  * camera_frame         -> old_zed_camera_center
[ INFO] [1585279299.692212798]:  * imu_link         -> old_zed_imu_link
[ INFO] [1585279299.692221459]:  * left_camera_frame        -> old_zed_left_camera_frame
[ INFO] [1585279299.692230057]:  * left_camera_optical_frame    -> old_zed_left_camera_optical_frame
[ INFO] [1585279299.692239491]:  * right_camera_frame       -> old_zed_right_camera_frame
[ INFO] [1585279299.692248080]:  * right_camera_optical_frame   -> old_zed_right_camera_optical_frame
[ INFO] [1585279299.692257115]:  * depth_frame          -> old_zed_left_camera_frame
[ INFO] [1585279299.692266169]:  * depth_optical_frame      -> old_zed_left_camera_optical_frame
[ INFO] [1585279299.692275006]:  * disparity_frame      -> old_zed_left_camera_frame
[ INFO] [1585279299.692283452]:  * disparity_optical_frame  -> old_zed_left_camera_optical_frame
[ INFO] [1585279299.692291983]:  * confidence_frame     -> old_zed_left_camera_frame
[ INFO] [1585279299.692300416]:  * confidence_optical_frame -> old_zed_left_camera_optical_frame
[ INFO] [1585279299.692575898]:  * Broadcast odometry TF    -> ENABLED
[ INFO] [1585279299.692853157]:  * Broadcast map pose TF    -> ENABLED
[ INFO] [1585279299.692997917]:  * [DYN] Depth confidence   -> 50
[ INFO] [1585279299.693141555]:  * [DYN] Depth texture conf.    -> 100
[ INFO] [1585279299.693289972]:  * [DYN] pub_frame_rate     -> 15 Hz
[ INFO] [1585279299.693488858]:  * [DYN] point_cloud_freq   -> 15 Hz
[ INFO] [1585279299.693671494]:  * [DYN] brightness     -> 4
[ INFO] [1585279299.693849366]:  * [DYN] contrast       -> 4
[ INFO] [1585279299.694023480]:  * [DYN] hue            -> 0
[ INFO] [1585279299.694197628]:  * [DYN] saturation     -> 4
[ INFO] [1585279299.694368637]:  * [DYN] sharpness      -> 4
[ INFO] [1585279299.694539420]:  * [DYN] gamma          -> 8
[ INFO] [1585279299.694686512]:  * [DYN] auto_exposure_gain -> ENABLED
[ INFO] [1585279299.695091873]:  * [DYN] auto_whitebalance  -> ENABLED
[ INFO] [1585279299.697333045]:  * Camera coordinate system -> Right HANDED Z UP and X FORWARD
[ INFO] [1585279299.697361382]:  *** Opening ZED...
[ INFO] [1585279300.964569775]: ZED connection -> CAMERA STREAM FAILED TO START
[ZED]ERROR: sl::Camera::Open has not been called, no Camera instance running.
[ INFO] [1585279304.303267556]: ZED connection -> CAMERA STREAM FAILED TO START
[ZED]ERROR: sl::Camera::Open has not been called, no Camera instance running.
[ INFO] [1585279307.599037171]: ZED connection -> CAMERA STREAM FAILED TO START
[ZED]ERROR: sl::Camera::Open has not been called, no Camera instance running.
[ INFO] [1585279310.904646302]: ZED connection -> CAMERA STREAM FAILED TO START
[ZED]ERROR: sl::Camera::Open has not been called, no Camera instance running.
[ INFO] [1585279314.222635764]: ZED connection -> CAMERA STREAM FAILED TO START
[ZED]ERROR: sl::Camera::Open has not been called, no Camera instance running.
[ INFO] [1585279317.516227772]: ZED connection -> CAMERA STREAM FAILED TO START
[ZED]ERROR: sl::Camera::Open has not been called, no Camera instance running.
[ INFO] [1585279320.800369212]: ZED connection -> CAMERA STREAM FAILED TO START
[ZED]ERROR: sl::Camera::Open has not been called, no Camera instance running.
[ INFO] [1585279324.103824622]: ZED connection -> CAMERA STREAM FAILED TO START
[ZED]ERROR: sl::Camera::Open has not been called, no Camera instance running.
[ INFO] [1585279327.471401387]: ZED connection -> CAMERA STREAM FAILED TO START
Myzhar commented 4 years ago

Sorry @poorboy44, you are right. You must not only change camera_name and/or node_name, but you must discriminate the two cameras using their camera_id or serial_number.

There is an example that helps you: https://github.com/stereolabs/zed-ros-examples/tree/master/examples/zed_multicamera_example

You can start two cameras and Rviz with the command: $ roslaunch zed_multicamera_example zed_multicamera.launch that uses a modified launch file that allows you to correctly change all the required parameters: https://github.com/stereolabs/zed-ros-examples/blob/master/examples/zed_multicamera_example/launch/zed_camera_mod.launch