[BUG] Empty fused_cloud when setting a non-zero translation with the set_pose service

flabrosse commented 3 years ago

Describe the bug

When I set_pose with a non-zero translation, the fused_cloud is empty. Note that setting an orientation does not seem to affect the mapping.

Device information:

OS: Ubuntu
OS version: 18.04
CPU: Jeston Xavier
GPU Nvidia: Xavier
ZED SDK Version: 3.5.0
ROS Wrapper version: latest master

To Reproduce

Stop the mapping
Set a translation to, eg, 427568.79 5807824.26 150.50
Start the mapping
You get a fused_cloud that has an empty data field.

Expected behavior

We should get a point cloud as when not setting a translation.

Additional context

The pose is coming for RTK GPS converted to UTM. When this is happening, the depth and point clouds are published as normal. It is only the fused cloud from mapping that is empty. So far the only way I have found to recover from this is to reboot the jetson.

It is possible obviously that the bug is not with the ros wrapper but with the ZED SDK.

github-actions[bot] commented 2 years ago

This issue is stale because it has been open 30 days with no activity. Remove stale label or comment or this will be closed in 5 days

flabrosse commented 2 years ago

As far as I know, this is still an issue.

Myzhar commented 2 years ago

This is a limitation of the SDK. We noted this behavior and we are going to fix it in one of the next releases of the SDK.

stereolabs / zed-ros-wrapper

[BUG] Empty fused_cloud when setting a non-zero translation with the set_pose service #754