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stereolabs / zed-ros-wrapper

ROS wrapper for the ZED SDK
https://www.stereolabs.com/docs/ros/
MIT License
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[BUG] Duplicate timestamps on imu_raw #670

Closed precyon closed 3 years ago

precyon commented 3 years ago

Describe the bug A clear and concise description of what the bug is.

I am mostly interested in the raw imu and image data from the ZED.

I see duplicate timestamps in the imu/data_raw topic. The following plot from PlotJuggler helps visualize this (the software let's you compute and plot differences between fields in the topic). Notice the frequent jumps to 0. This trend continues throughout the rest of the bag. image

And this, of course, is verified by visually inspecting the timestamp field. image

The bag file, for your inspection, is here.

Also as I understand, the IMU publish rate should be 400 Hz as defined by the mSensPubRate variable but I see the actual publish rate to be close 600Hz for raw data (and 550Hz for filtered IMU data), some of which are duplicates. I am therefore struggling to understand the actual publish rate of the unique IMU values.

I did look at #577 which is closed. I am using the latest master which has these changes and still see this particular issue.

Device information:

To Reproduce Nothing special. Just run the zedm.launch

Expected behavior A clear and concise description of what you expected to happen.

Unique timestamps

Screenshots If applicable, add screenshots to help explain your problem. (already added above)

Additional context

  1. common.yaml 
    
# params/common_yaml
# Common parameters to Stereolabs ZED and ZED mini cameras
---

Dynamic parameters cannot have a namespace

brightness: 4 # Dynamic contrast: 4 # Dynamic hue: 0 # Dynamic saturation: 4 # Dynamic sharpness: 4 # Dynamic gamma: 8 # Dynamic - Requires SDK >=v3.1 auto_exposure_gain: true # Dynamic gain: 100 # Dynamic - works only if auto_exposure_gain is false exposure: 100 # Dynamic - works only if auto_exposure_gain is false auto_whitebalance: true # Dynamic whitebalance_temperature: 42 # Dynamic - works only if auto_whitebalance is false depth_confidence: 50 # Dynamic depth_texture_conf: 100 # Dynamic pub_frame_rate: 15.0 # Dynamic - frequency of publishing of video and depth data point_cloud_freq: 15.0 # Dynamic - frequency of the pointcloud publishing (equal or less to grab_frame_rate value)

general: camera_name: zed # A name for the camera (can be different from camera model and node name) zed_id: 0 serial_number: 0 resolution: 2 # '0': HD2K, '1': HD1080, '2': HD720, '3': VGA grab_frame_rate: 30 # Frequency of frame grabbing for internal SDK operations gpu_id: -1 base_frame: 'base_link' # must be equal to the frame_id used in the URDF file verbose: false # Enable info message by the ZED SDK svo_compression: 2 # 0: LOSSLESS, 1: AVCHD, 2: HEVC self_calib: true # enable/disable self calibration at starting camera_flip: false

video: img_downsample_factor: 1.0 # Resample factor for images [0.01,1.0] The SDK works with native image sizes, but publishes rescaled image. extrinsic_in_camera_frame: true # if false extrinsic parameter in camera_info will use ROS native frame (X FORWARD, Z UP) instead of the camera frame (Z FORWARD, Y DOWN) [true use old behavior as for version < v3.1]

depth: quality: 1 # '0': NONE, '1': PERFORMANCE, '2': QUALITY, '3': ULTRA sensing_mode: 0 # '0': STANDARD, '1': FILL (not use FILL for robotic applications) depth_stabilization: 1 # 0: disabled, 1: enabled openni_depth_mode: false # 'false': 32bit float meters, 'true': 16bit uchar millimeters depth_downsample_factor: 1.0 # Resample factor for depth data matrices [0.01,1.0] The SDK works with native data sizes, but publishes rescaled matrices (depth map, point cloud, ...)

pos_tracking: publish_tf: true # publish odom -> base_link TF publish_map_tf: true # publish map -> odom TF map_frame: 'map' odometry_frame: 'odom' area_memory_db_path: '' area_memory: true # Enable to detect loop closure floor_alignment: false # Enable to automatically calculate camera/floor offset initial_base_pose: [0.0,0.0,0.0, 0.0,0.0,0.0] # Initial position of the base_frame -> [X, Y, Z, R, P, Y] init_odom_with_first_valid_pose: true # Enable to initialize the odometry with the first valid pose path_pub_rate: 2.0 # Camera trajectory publishing frequency path_max_count: -1 # use '-1' for unlimited path size two_d_mode: false # Force navigation on a plane. If true the Z value will be fixed to "fixed_z_value", roll and pitch to zero fixed_z_value: 0.00 # Value to be used for Z coordinate if two_d_mode is true

mapping: mapping_enabled: false # True to enable mapping and fused point cloud pubblication resolution: 0.05 # maps resolution in meters [0.01f, 0.2f] max_mapping_range: -1 # maximum depth range while mapping in meters (-1 for automatic calculation) [2.0, 20.0] fused_pointcloud_freq: 1.0 # frequency of the publishing of the fused colored point cloud


2. `zedm.yaml`

params/zedm_yaml

Parameters for Stereolabs ZED mini camera

general: camera_model: 'zedm'

depth: min_depth: 0.35 # Min: 0.1, Max: 3.0 - Default 0.3 - Note: reducing this value wil require more computational power and GPU memory max_depth: 10.0 # Max: 20.0

pos_tracking: imu_fusion: true # enable/disable IMU fusion. When set to false, only the optical odometry will be used.

sensors: sensors_timestamp_sync: false # Synchronize Sensors messages timestamp with latest received frame publish_imu_tf: true # publish IMU -> <cam_name>_left_camera_frame TF

Myzhar commented 3 years ago

Hi @precyon thank you for reporting this problem. Can you please verify if both imu and imu_raw are affected? Like you mentioned we already worked on this in the past and I want to understand if there was some kind of regression. Thank you

precyon commented 3 years ago

Thanks for the response @Myzhar. I literally have 15 bag files that show is error but I didn't record imu in any of them. And unfortunately (or may be fortunately), I just can not reproduce this on my system today. The timestamps look fine.

I'll am recording imu in my future bags and will continue to monitor this one.