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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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[ INFO] [1670890576.073082924]: ZED connection -> CAMERA FAILED TO SETUP #876

Closed ArghyaChatterjee closed 1 year ago

ArghyaChatterjee commented 1 year ago

Preliminary Checks

Description

zed2i is giving this error. I have zed, zed2 and zed2i. With the same port, I can launch zed and zed2 camera and they are able to launch without any error but zed2i is showing this error. Also, this isn't exactly a duplicate issue as the other related issue has a specific reason along with the error:

Steps to Reproduce

Just run the wrapper with ros noetic and launch the zed2i launch file. I have just cloned and built the latest zed-ros-wrapper version.

Expected Result

On the same port, when I attach zed2, it shows the following:

rghya@arghya-Pulse-GL66-12UEK:~/catkin_ws$ roslaunch zed_wrapper zed2.launch
... logging to /home/arghya/.ros/log/eb234f34-7a7c-11ed-a393-37361b2976ac/roslaunch-arghya-Pulse-GL66-12UEK-539374.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://127.0.0.1:36827/

SUMMARY
========

PARAMETERS
 * /rosdistro: noetic
 * /rosversion: 1.15.15
 * /zed2/zed2_description: <?xml version="1....
 * /zed2/zed_node/auto_exposure_gain: True
 * /zed2/zed_node/auto_whitebalance: True
 * /zed2/zed_node/brightness: 4
 * /zed2/zed_node/contrast: 4
 * /zed2/zed_node/depth/depth_downsample_factor: 0.5
 * /zed2/zed_node/depth/depth_stabilization: 1
 * /zed2/zed_node/depth/max_depth: 20.0
 * /zed2/zed_node/depth/min_depth: 0.3
 * /zed2/zed_node/depth/openni_depth_mode: False
 * /zed2/zed_node/depth/quality: 1
 * /zed2/zed_node/depth/sensing_mode: 0
 * /zed2/zed_node/depth_confidence: 30
 * /zed2/zed_node/depth_texture_conf: 100
 * /zed2/zed_node/exposure: 100
 * /zed2/zed_node/gain: 100
 * /zed2/zed_node/gamma: 8
 * /zed2/zed_node/general/base_frame: base_link
 * /zed2/zed_node/general/camera_flip: False
 * /zed2/zed_node/general/camera_model: zed2
 * /zed2/zed_node/general/camera_name: zed2
 * /zed2/zed_node/general/gpu_id: -1
 * /zed2/zed_node/general/grab_frame_rate: 15
 * /zed2/zed_node/general/resolution: 2
 * /zed2/zed_node/general/self_calib: True
 * /zed2/zed_node/general/serial_number: 0
 * /zed2/zed_node/general/svo_compression: 2
 * /zed2/zed_node/general/verbose: False
 * /zed2/zed_node/general/zed_id: 0
 * /zed2/zed_node/hue: 0
 * /zed2/zed_node/mapping/clicked_point_topic: /clicked_point
 * /zed2/zed_node/mapping/fused_pointcloud_freq: 1.0
 * /zed2/zed_node/mapping/mapping_enabled: False
 * /zed2/zed_node/mapping/max_mapping_range: -1
 * /zed2/zed_node/mapping/resolution: 0.05
 * /zed2/zed_node/object_detection/body_fitting: False
 * /zed2/zed_node/object_detection/confidence_threshold: 50
 * /zed2/zed_node/object_detection/max_range: 15.0
 * /zed2/zed_node/object_detection/mc_animal: True
 * /zed2/zed_node/object_detection/mc_bag: True
 * /zed2/zed_node/object_detection/mc_electronics: True
 * /zed2/zed_node/object_detection/mc_fruit_vegetable: True
 * /zed2/zed_node/object_detection/mc_people: True
 * /zed2/zed_node/object_detection/mc_sport: True
 * /zed2/zed_node/object_detection/mc_vehicle: True
 * /zed2/zed_node/object_detection/model: 0
 * /zed2/zed_node/object_detection/object_tracking_enabled: True
 * /zed2/zed_node/object_detection/od_enabled: False
 * /zed2/zed_node/point_cloud_freq: 10.0
 * /zed2/zed_node/pos_tracking/area_memory: True
 * /zed2/zed_node/pos_tracking/area_memory_db_path: zed_area_memory.area
 * /zed2/zed_node/pos_tracking/fixed_z_value: 0.0
 * /zed2/zed_node/pos_tracking/floor_alignment: False
 * /zed2/zed_node/pos_tracking/imu_fusion: True
 * /zed2/zed_node/pos_tracking/init_odom_with_first_valid_pose: True
 * /zed2/zed_node/pos_tracking/initial_base_pose: [0.0, 0.0, 0.0, 0...
 * /zed2/zed_node/pos_tracking/map_frame: map
 * /zed2/zed_node/pos_tracking/odometry_frame: odom
 * /zed2/zed_node/pos_tracking/path_max_count: -1
 * /zed2/zed_node/pos_tracking/path_pub_rate: 2.0
 * /zed2/zed_node/pos_tracking/pos_tracking_enabled: True
 * /zed2/zed_node/pos_tracking/publish_map_tf: True
 * /zed2/zed_node/pos_tracking/publish_tf: True
 * /zed2/zed_node/pos_tracking/save_area_memory_db_on_exit: False
 * /zed2/zed_node/pos_tracking/two_d_mode: False
 * /zed2/zed_node/pub_frame_rate: 15.0
 * /zed2/zed_node/saturation: 4
 * /zed2/zed_node/sensors/max_pub_rate: 200.0
 * /zed2/zed_node/sensors/publish_imu_tf: True
 * /zed2/zed_node/sensors/sensors_timestamp_sync: False
 * /zed2/zed_node/sharpness: 4
 * /zed2/zed_node/stream: 
 * /zed2/zed_node/svo_file: 
 * /zed2/zed_node/video/extrinsic_in_camera_frame: True
 * /zed2/zed_node/video/img_downsample_factor: 0.5
 * /zed2/zed_node/whitebalance_temperature: 42

NODES
  /zed2/
    zed2_state_publisher (robot_state_publisher/robot_state_publisher)
    zed_node (zed_wrapper/zed_wrapper_node)

auto-starting new master
process[master]: started with pid [539422]
ROS_MASTER_URI=http://127.0.0.1:11311

setting /run_id to eb234f34-7a7c-11ed-a393-37361b2976ac
process[rosout-1]: started with pid [539451]
started core service [/rosout]
process[zed2/zed2_state_publisher-2]: started with pid [539458]
process[zed2/zed_node-3]: started with pid [539459]
[ INFO] [1670891246.457024085]: Initializing nodelet with 20 worker threads.
[ INFO] [1670891246.468569979]: ********** Starting nodelet '/zed2/zed_node' **********
[ INFO] [1670891246.468612318]: SDK version : 3.8.1
[ INFO] [1670891246.468631072]: *** GENERAL PARAMETERS ***
[ INFO] [1670891246.469031717]:  * Camera Name          -> zed2
[ INFO] [1670891246.469256084]:  * Camera Resolution        -> HD720
[ INFO] [1670891246.469651469]:  * Camera Grab Framerate    -> 15
[ INFO] [1670891246.470018787]:  * Gpu ID           -> -1
[ INFO] [1670891246.470557491]:  * Camera ID            -> -1
[ INFO] [1670891246.470999917]:  * Verbose          -> DISABLED
[ INFO] [1670891246.471717932]:  * Camera Flip          -> DISABLED
[ INFO] [1670891246.472575190]:  * Self calibration     -> ENABLED
[ INFO] [1670891246.473411773]:  * Camera Model by param    -> zed2
[ INFO] [1670891246.473421564]: *** VIDEO PARAMETERS ***
[ INFO] [1670891246.473928105]:  * Image resample factor    -> 0.5
[ INFO] [1670891246.474216136]:  * Extrinsic param. frame   -> X RIGHT - Y DOWN - Z FWD
[ INFO] [1670891246.474228730]: *** DEPTH PARAMETERS ***
[ INFO] [1670891246.474436977]:  * Depth quality        -> PERFORMANCE
[ INFO] [1670891246.474717263]:  * Depth Sensing mode       -> STANDARD
[ INFO] [1670891246.474927763]:  * OpenNI mode          -> DISABLED
[ INFO] [1670891246.475095419]:  * Depth Stabilization      -> ENABLED
[ INFO] [1670891246.475265504]:  * Minimum depth        -> 0.3 m
[ INFO] [1670891246.475478002]:  * Maximum depth        -> 20 m
[ INFO] [1670891246.475652715]:  * Depth resample factor    -> 0.5
[ INFO] [1670891246.475662893]: *** POSITIONAL TRACKING PARAMETERS ***
[ INFO] [1670891246.475999724]:  * Positional tracking      -> ENABLED
[ INFO] [1670891246.476161362]:  * Path rate            -> 2 Hz
[ INFO] [1670891246.476327746]:  * Path history size        -> 1
[ INFO] [1670891246.476709968]:  * Odometry DB path     -> /home/arghya/.ros/zed_area_memory.area
[ INFO] [1670891246.476997244]:  * Save Area Memory on closing  -> DISABLED
[ INFO] [1670891246.477276735]:  * Area Memory          -> ENABLED
[ INFO] [1670891246.477556599]:  * IMU Fusion           -> ENABLED
[ INFO] [1670891246.477834912]:  * Floor alignment      -> DISABLED
[ INFO] [1670891246.478162888]:  * Init Odometry with first valid pose data -> ENABLED
[ INFO] [1670891246.478485684]:  * Two D mode           -> DISABLED
[ INFO] [1670891246.478750661]: *** MAPPING PARAMETERS ***
[ INFO] [1670891246.479004850]:  * Mapping          -> DISABLED
[ INFO] [1670891246.479247394]:  * Clicked point topic      -> /clicked_point
[ INFO] [1670891246.479254728]: *** OBJECT DETECTION PARAMETERS ***
[ INFO] [1670891246.479495931]:  * Object Detection     -> DISABLED
[ INFO] [1670891246.479504877]: *** SENSORS PARAMETERS ***
[ INFO] [1670891246.479631767]:  * Sensors timestamp sync   -> DISABLED
[ INFO] [1670891246.479783323]:  * Max sensors rate     -> 200
[ INFO] [1670891246.479794611]: *** SVO PARAMETERS ***
[ INFO] [1670891246.480030891]:  * SVO input file:      -> 
[ INFO] [1670891246.480155237]:  * SVO REC compression      -> H265 (HEVC)
[ INFO] [1670891246.480508741]: *** COORDINATE FRAMES ***
[ INFO] [1670891246.481154491]:  * map_frame            -> map
[ INFO] [1670891246.481164858]:  * odometry_frame       -> odom
[ INFO] [1670891246.481171807]:  * base_frame           -> base_link
[ INFO] [1670891246.481179749]:  * camera_frame         -> zed2_camera_center
[ INFO] [1670891246.481191148]:  * imu_link         -> zed2_imu_link
[ INFO] [1670891246.481202009]:  * left_camera_frame        -> zed2_left_camera_frame
[ INFO] [1670891246.481209815]:  * left_camera_optical_frame    -> zed2_left_camera_optical_frame
[ INFO] [1670891246.481218707]:  * right_camera_frame       -> zed2_right_camera_frame
[ INFO] [1670891246.481225460]:  * right_camera_optical_frame   -> zed2_right_camera_optical_frame
[ INFO] [1670891246.481232318]:  * depth_frame          -> zed2_left_camera_frame
[ INFO] [1670891246.481239839]:  * depth_optical_frame      -> zed2_left_camera_optical_frame
[ INFO] [1670891246.481246349]:  * disparity_frame      -> zed2_left_camera_frame
[ INFO] [1670891246.481252789]:  * disparity_optical_frame  -> zed2_left_camera_optical_frame
[ INFO] [1670891246.481259388]:  * confidence_frame     -> zed2_left_camera_frame
[ INFO] [1670891246.481265823]:  * confidence_optical_frame -> zed2_left_camera_optical_frame
[ INFO] [1670891246.481472493]:  * Broadcast odometry TF    -> ENABLED
[ INFO] [1670891246.481667097]:  * Broadcast map pose TF    -> ENABLED
[ INFO] [1670891246.481867707]:  * Broadcast IMU pose TF    -> ENABLED
[ INFO] [1670891246.481875447]: *** DYNAMIC PARAMETERS (Init. values) ***
[ INFO] [1670891246.481978375]:  * [DYN] Depth confidence   -> 30
[ INFO] [1670891246.482077856]:  * [DYN] Depth texture conf.    -> 100
[ INFO] [1670891246.482179351]:  * [DYN] pub_frame_rate     -> 15 Hz
[ INFO] [1670891246.482280692]:  * [DYN] point_cloud_freq   -> 10 Hz
[ INFO] [1670891246.482406600]:  * [DYN] brightness     -> 4
[ INFO] [1670891246.482516506]:  * [DYN] contrast       -> 4
[ INFO] [1670891246.482618327]:  * [DYN] hue            -> 0
[ INFO] [1670891246.482719882]:  * [DYN] saturation     -> 4
[ INFO] [1670891246.482822074]:  * [DYN] sharpness      -> 4
[ INFO] [1670891246.482914716]:  * [DYN] gamma          -> 8
[ INFO] [1670891246.483006304]:  * [DYN] auto_exposure_gain -> ENABLED
[ INFO] [1670891246.483268103]:  * [DYN] auto_whitebalance  -> ENABLED
[ INFO] [1670891246.484723376]:  * Camera coordinate system -> Right HANDED Z UP and X FORWARD
[ INFO] [1670891246.484748692]:  *** Opening ZED 2...
[ INFO] [1670891248.984494054]: ZED connection -> SUCCESS

Actual Result

On the same USB 3.0 port, when I attach zed2i, it shows the following:

arghya@arghya-Pulse-GL66-12UEK:~/catkin_ws$ roslaunch zed_wrapper zed2i.launch
... logging to /home/arghya/.ros/log/57ac4374-7a7b-11ed-a393-37361b2976ac/roslaunch-arghya-Pulse-GL66-12UEK-531355.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://127.0.0.1:46751/

SUMMARY
========

PARAMETERS
 * /rosdistro: noetic
 * /rosversion: 1.15.15
 * /zed2i/zed2i_description: <?xml version="1....
 * /zed2i/zed_node/auto_exposure_gain: True
 * /zed2i/zed_node/auto_whitebalance: True
 * /zed2i/zed_node/brightness: 4
 * /zed2i/zed_node/contrast: 4
 * /zed2i/zed_node/depth/depth_downsample_factor: 0.5
 * /zed2i/zed_node/depth/depth_stabilization: 1
 * /zed2i/zed_node/depth/max_depth: 5.0
 * /zed2i/zed_node/depth/min_depth: 0.3
 * /zed2i/zed_node/depth/openni_depth_mode: False
 * /zed2i/zed_node/depth/quality: 1
 * /zed2i/zed_node/depth/sensing_mode: 0
 * /zed2i/zed_node/depth_confidence: 30
 * /zed2i/zed_node/depth_texture_conf: 100
 * /zed2i/zed_node/exposure: 100
 * /zed2i/zed_node/gain: 100
 * /zed2i/zed_node/gamma: 8
 * /zed2i/zed_node/general/base_frame: base_link
 * /zed2i/zed_node/general/camera_flip: False
 * /zed2i/zed_node/general/camera_model: zed2i
 * /zed2i/zed_node/general/camera_name: zed2i
 * /zed2i/zed_node/general/gpu_id: -1
 * /zed2i/zed_node/general/grab_frame_rate: 15
 * /zed2i/zed_node/general/resolution: 2
 * /zed2i/zed_node/general/self_calib: True
 * /zed2i/zed_node/general/serial_number: 0
 * /zed2i/zed_node/general/svo_compression: 2
 * /zed2i/zed_node/general/verbose: False
 * /zed2i/zed_node/general/zed_id: 0
 * /zed2i/zed_node/hue: 0
 * /zed2i/zed_node/mapping/clicked_point_topic: /clicked_point
 * /zed2i/zed_node/mapping/fused_pointcloud_freq: 1.0
 * /zed2i/zed_node/mapping/mapping_enabled: False
 * /zed2i/zed_node/mapping/max_mapping_range: -1
 * /zed2i/zed_node/mapping/resolution: 0.05
 * /zed2i/zed_node/object_detection/body_fitting: False
 * /zed2i/zed_node/object_detection/confidence_threshold: 50
 * /zed2i/zed_node/object_detection/max_range: 15.0
 * /zed2i/zed_node/object_detection/mc_animal: True
 * /zed2i/zed_node/object_detection/mc_bag: True
 * /zed2i/zed_node/object_detection/mc_electronics: True
 * /zed2i/zed_node/object_detection/mc_fruit_vegetable: True
 * /zed2i/zed_node/object_detection/mc_people: True
 * /zed2i/zed_node/object_detection/mc_sport: True
 * /zed2i/zed_node/object_detection/mc_vehicle: True
 * /zed2i/zed_node/object_detection/model: 0
 * /zed2i/zed_node/object_detection/object_tracking_enabled: True
 * /zed2i/zed_node/object_detection/od_enabled: False
 * /zed2i/zed_node/point_cloud_freq: 10.0
 * /zed2i/zed_node/pos_tracking/area_memory: True
 * /zed2i/zed_node/pos_tracking/area_memory_db_path: zed_area_memory.area
 * /zed2i/zed_node/pos_tracking/fixed_z_value: 0.0
 * /zed2i/zed_node/pos_tracking/floor_alignment: False
 * /zed2i/zed_node/pos_tracking/imu_fusion: True
 * /zed2i/zed_node/pos_tracking/init_odom_with_first_valid_pose: True
 * /zed2i/zed_node/pos_tracking/initial_base_pose: [0.0, 0.0, 0.0, 0...
 * /zed2i/zed_node/pos_tracking/map_frame: map
 * /zed2i/zed_node/pos_tracking/odometry_frame: odom
 * /zed2i/zed_node/pos_tracking/path_max_count: -1
 * /zed2i/zed_node/pos_tracking/path_pub_rate: 2.0
 * /zed2i/zed_node/pos_tracking/pos_tracking_enabled: True
 * /zed2i/zed_node/pos_tracking/publish_map_tf: True
 * /zed2i/zed_node/pos_tracking/publish_tf: True
 * /zed2i/zed_node/pos_tracking/save_area_memory_db_on_exit: False
 * /zed2i/zed_node/pos_tracking/two_d_mode: False
 * /zed2i/zed_node/pub_frame_rate: 15.0
 * /zed2i/zed_node/saturation: 4
 * /zed2i/zed_node/sensors/max_pub_rate: 200.0
 * /zed2i/zed_node/sensors/publish_imu_tf: True
 * /zed2i/zed_node/sensors/sensors_timestamp_sync: False
 * /zed2i/zed_node/sharpness: 4
 * /zed2i/zed_node/stream: 
 * /zed2i/zed_node/svo_file: 
 * /zed2i/zed_node/video/extrinsic_in_camera_frame: True
 * /zed2i/zed_node/video/img_downsample_factor: 0.5
 * /zed2i/zed_node/whitebalance_temperature: 42

NODES
  /zed2i/
    zed2i_state_publisher (robot_state_publisher/robot_state_publisher)
    zed_node (zed_wrapper/zed_wrapper_node)

auto-starting new master
process[master]: started with pid [531405]
ROS_MASTER_URI=http://127.0.0.1:11311

setting /run_id to 57ac4374-7a7b-11ed-a393-37361b2976ac
process[rosout-1]: started with pid [531434]
started core service [/rosout]
process[zed2i/zed2i_state_publisher-2]: started with pid [531441]
process[zed2i/zed_node-3]: started with pid [531442]
[ INFO] [1670890569.528317432]: Initializing nodelet with 20 worker threads.
[ INFO] [1670890569.536315082]: ********** Starting nodelet '/zed2i/zed_node' **********
[ INFO] [1670890569.536367797]: SDK version : 3.8.1
[ INFO] [1670890569.536378585]: *** GENERAL PARAMETERS ***
[ INFO] [1670890569.536526206]:  * Camera Name          -> zed2i
[ INFO] [1670890569.536662429]:  * Camera Resolution        -> HD720
[ INFO] [1670890569.536787058]:  * Camera Grab Framerate    -> 15
[ INFO] [1670890569.536897826]:  * Gpu ID           -> -1
[ INFO] [1670890569.537001924]:  * Camera ID            -> -1
[ INFO] [1670890569.537108725]:  * Verbose          -> DISABLED
[ INFO] [1670890569.537296131]:  * Camera Flip          -> DISABLED
[ INFO] [1670890569.537480682]:  * Self calibration     -> ENABLED
[ INFO] [1670890569.537674300]:  * Camera Model by param    -> zed2i
[ INFO] [1670890569.537682320]: *** VIDEO PARAMETERS ***
[ INFO] [1670890569.537795655]:  * Image resample factor    -> 0.5
[ INFO] [1670890569.537895921]:  * Extrinsic param. frame   -> X RIGHT - Y DOWN - Z FWD
[ INFO] [1670890569.537904496]: *** DEPTH PARAMETERS ***
[ INFO] [1670890569.538001759]:  * Depth quality        -> PERFORMANCE
[ INFO] [1670890569.538100589]:  * Depth Sensing mode       -> STANDARD
[ INFO] [1670890569.538195322]:  * OpenNI mode          -> DISABLED
[ INFO] [1670890569.538289099]:  * Depth Stabilization      -> ENABLED
[ INFO] [1670890569.538387187]:  * Minimum depth        -> 0.3 m
[ INFO] [1670890569.538483473]:  * Maximum depth        -> 5 m
[ INFO] [1670890569.538579469]:  * Depth resample factor    -> 0.5
[ INFO] [1670890569.538586002]: *** POSITIONAL TRACKING PARAMETERS ***
[ INFO] [1670890569.538766923]:  * Positional tracking      -> ENABLED
[ INFO] [1670890569.538862707]:  * Path rate            -> 2 Hz
[ INFO] [1670890569.538958790]:  * Path history size        -> 1
[ INFO] [1670890569.539194474]:  * Odometry DB path     -> /home/arghya/.ros/zed_area_memory.area
[ INFO] [1670890569.539398159]:  * Save Area Memory on closing  -> DISABLED
[ INFO] [1670890569.539586416]:  * Area Memory          -> ENABLED
[ INFO] [1670890569.539861388]:  * IMU Fusion           -> ENABLED
[ INFO] [1670890569.540159451]:  * Floor alignment      -> DISABLED
[ INFO] [1670890569.540490948]:  * Init Odometry with first valid pose data -> ENABLED
[ INFO] [1670890569.540886093]:  * Two D mode           -> DISABLED
[ INFO] [1670890569.541251850]: *** MAPPING PARAMETERS ***
[ INFO] [1670890569.541565013]:  * Mapping          -> DISABLED
[ INFO] [1670890569.541761934]:  * Clicked point topic      -> /clicked_point
[ INFO] [1670890569.541768491]: *** OBJECT DETECTION PARAMETERS ***
[ INFO] [1670890569.541939839]:  * Object Detection     -> DISABLED
[ INFO] [1670890569.541947102]: *** SENSORS PARAMETERS ***
[ INFO] [1670890569.542036037]:  * Sensors timestamp sync   -> DISABLED
[ INFO] [1670890569.542129536]:  * Max sensors rate     -> 200
[ INFO] [1670890569.542135364]: *** SVO PARAMETERS ***
[ INFO] [1670890569.542308173]:  * SVO input file:      -> 
[ INFO] [1670890569.542402516]:  * SVO REC compression      -> H265 (HEVC)
[ INFO] [1670890569.542572443]: *** COORDINATE FRAMES ***
[ INFO] [1670890569.543070081]:  * map_frame            -> map
[ INFO] [1670890569.543079132]:  * odometry_frame       -> odom
[ INFO] [1670890569.543085329]:  * base_frame           -> base_link
[ INFO] [1670890569.543092148]:  * camera_frame         -> zed2i_camera_center
[ INFO] [1670890569.543100355]:  * imu_link         -> zed2i_imu_link
[ INFO] [1670890569.543117537]:  * left_camera_frame        -> zed2i_left_camera_frame
[ INFO] [1670890569.543124727]:  * left_camera_optical_frame    -> zed2i_left_camera_optical_frame
[ INFO] [1670890569.543129884]:  * right_camera_frame       -> zed2i_right_camera_frame
[ INFO] [1670890569.543136209]:  * right_camera_optical_frame   -> zed2i_right_camera_optical_frame
[ INFO] [1670890569.543141860]:  * depth_frame          -> zed2i_left_camera_frame
[ INFO] [1670890569.543147353]:  * depth_optical_frame      -> zed2i_left_camera_optical_frame
[ INFO] [1670890569.543153091]:  * disparity_frame      -> zed2i_left_camera_frame
[ INFO] [1670890569.543158153]:  * disparity_optical_frame  -> zed2i_left_camera_optical_frame
[ INFO] [1670890569.543163822]:  * confidence_frame     -> zed2i_left_camera_frame
[ INFO] [1670890569.543169287]:  * confidence_optical_frame -> zed2i_left_camera_optical_frame
[ INFO] [1670890569.543339316]:  * Broadcast odometry TF    -> ENABLED
[ INFO] [1670890569.543506815]:  * Broadcast map pose TF    -> ENABLED
[ INFO] [1670890569.543675429]:  * Broadcast IMU pose TF    -> ENABLED
[ INFO] [1670890569.543680783]: *** DYNAMIC PARAMETERS (Init. values) ***
[ INFO] [1670890569.543775837]:  * [DYN] Depth confidence   -> 30
[ INFO] [1670890569.543863990]:  * [DYN] Depth texture conf.    -> 100
[ INFO] [1670890569.543952770]:  * [DYN] pub_frame_rate     -> 15 Hz
[ INFO] [1670890569.544041104]:  * [DYN] point_cloud_freq   -> 10 Hz
[ INFO] [1670890569.544130081]:  * [DYN] brightness     -> 4
[ INFO] [1670890569.544215957]:  * [DYN] contrast       -> 4
[ INFO] [1670890569.544302775]:  * [DYN] hue            -> 0
[ INFO] [1670890569.544387971]:  * [DYN] saturation     -> 4
[ INFO] [1670890569.544475977]:  * [DYN] sharpness      -> 4
[ INFO] [1670890569.544563981]:  * [DYN] gamma          -> 8
[ INFO] [1670890569.544649946]:  * [DYN] auto_exposure_gain -> ENABLED
[ INFO] [1670890569.544897083]:  * [DYN] auto_whitebalance  -> ENABLED
[ INFO] [1670890569.546285163]:  * Camera coordinate system -> Right HANDED Z UP and X FORWARD
[ INFO] [1670890569.546316059]:  *** Opening ZED 2i...
[ INFO] [1670890576.073082924]: ZED connection -> CAMERA FAILED TO SETUP
[ INFO] [1670890583.275597808]: ZED connection -> CAMERA FAILED TO SETUP

ZED Camera model

ZED2i

Environment

OS: Ubuntu 20.04
ROS: Noetic
Nvidia graphics: RTX 3060 Ti
Nvidia driver: 470
Cuda: 11.4
Using USB c to USB 3.0 connector.
Zed SDK version: ZED_SDK_Ubuntu20_cuda11.7_v3.8.1.zstd.run
In the same port, I can connect the zed and zed2 and both of them are able to launch without any error.

Anything else?

No response

github-actions[bot] commented 1 year ago

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