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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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How to launch zed2i description node only with rosbags? #877

Closed vocdex closed 1 year ago

vocdex commented 1 year ago

Preliminary Checks

Description

I have couple of rosbags, recorded with ZED2i camera but I don't have access to the physical camera itself. After playing a rosbags, I am trying to launch zed2i description launch files but it requires connection to the physical camera.

Steps to Reproduce

Launch zed2i:

roslaunch zed_wrapper zed2i.launch

Launch rtabmap node:

roslaunch zed_rtabmap_example zed_rtabmap.launch

Expected Result

I guess zed2i.launch should publish all tfs and URDF of the camera and this info is later used for rtabmap.

Actual Result

SUMMARY

PARAMETERS

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

ROS_MASTER_URI=http://localhost:11311

process[zed2i/zed2i_state_publisher-1]: started with pid [19465] process[zed2i/zed_node-2]: started with pid [19466] [ INFO] [1672315838.711385972]: Initializing nodelet with 16 worker threads. [ INFO] [1672315838.720128241]: ** Starting nodelet '/zed2i/zed_node' ** [ INFO] [1672315838.720156471]: SDK version : 3.8.2 [ INFO] [1672315838.720169834]: GENERAL PARAMETERS [ INFO] [1672315838.720380396]: Camera Name -> zed2i [ INFO] [1672315838.720601552]: Camera Resolution -> HD720 [ INFO] [1672315838.720757009]: Camera Grab Framerate -> 15 [ INFO] [1672315838.720907711]: Gpu ID -> -1 [ INFO] [1672315838.721059194]: Camera ID -> -1 [ INFO] [1672315838.721209194]: Verbose -> DISABLED [ INFO] [1672315838.721532233]: Camera Flip -> DISABLED [ INFO] [1672315838.721894445]: Self calibration -> ENABLED [ INFO] [1672315838.722264430]: * Camera Model by param -> zed2i [ INFO] [1672315838.722279625]: VIDEO PARAMETERS [ INFO] [1672315838.722473652]: Image resample factor -> 0.5 [ INFO] [1672315838.722738427]: Extrinsic param. frame -> X RIGHT - Y DOWN - Z FWD [ INFO] [1672315838.722752787]: DEPTH PARAMETERS [ INFO] [1672315838.722999800]: Depth quality -> PERFORMANCE [ INFO] [1672315838.723218699]: Depth Sensing mode -> STANDARD [ INFO] [1672315838.723433855]: OpenNI mode -> DISABLED [ INFO] [1672315838.723589248]: Depth Stabilization -> ENABLED [ INFO] [1672315838.723863855]: Minimum depth -> 0.3 m [ INFO] [1672315838.724047659]: Maximum depth -> 5 m [ INFO] [1672315838.724357956]: * Depth resample factor -> 0.5 [ INFO] [1672315838.724368246]: POSITIONAL TRACKING PARAMETERS [ INFO] [1672315838.724659434]: Positional tracking -> ENABLED [ INFO] [1672315838.724869740]: Path rate -> 2 Hz [ INFO] [1672315838.725150559]: Path history size -> 1 [ INFO] [1672315838.725709090]: Odometry DB path -> /home/shuk/.ros/zed_area_memory.area [ INFO] [1672315838.726153410]: Save Area Memory on closing -> DISABLED [ INFO] [1672315838.726441807]: Area Memory -> ENABLED [ INFO] [1672315838.726723515]: IMU Fusion -> ENABLED [ INFO] [1672315838.727005048]: Floor alignment -> DISABLED [ INFO] [1672315838.727286916]: Init Odometry with first valid pose data -> ENABLED [ INFO] [1672315838.727564767]: Two D mode -> DISABLED [ INFO] [1672315838.727864127]: MAPPING PARAMETERS [ INFO] [1672315838.728144013]: Mapping -> DISABLED [ INFO] [1672315838.728423232]: Clicked point topic -> /clicked_point [ INFO] [1672315838.728433130]: OBJECT DETECTION PARAMETERS [ INFO] [1672315838.728710597]: * Object Detection -> DISABLED [ INFO] [1672315838.728720535]: SENSORS PARAMETERS [ INFO] [1672315838.728863579]: Sensors timestamp sync -> DISABLED [ INFO] [1672315838.729012395]: Max sensors rate -> 200 [ INFO] [1672315838.729022457]: SVO PARAMETERS [ INFO] [1672315838.729298343]: SVO input file: -> [ INFO] [1672315838.729447202]: SVO REC compression -> H265 (HEVC) [ INFO] [1672315838.729757183]: COORDINATE FRAMES [ INFO] [1672315838.730581783]: map_frame -> map [ INFO] [1672315838.730597205]: odometry_frame -> odom [ INFO] [1672315838.730606755]: base_frame -> base_link [ INFO] [1672315838.730615536]: camera_frame -> zed2i_camera_center [ INFO] [1672315838.730624037]: imu_link -> zed2i_imu_link [ INFO] [1672315838.730632201]: left_camera_frame -> zed2i_left_camera_frame [ INFO] [1672315838.730640373]: left_camera_optical_frame -> zed2i_left_camera_optical_frame [ INFO] [1672315838.730648111]: right_camera_frame -> zed2i_right_camera_frame [ INFO] [1672315838.730656104]: right_camera_optical_frame -> zed2i_right_camera_optical_frame [ INFO] [1672315838.730663824]: depth_frame -> zed2i_left_camera_frame [ INFO] [1672315838.730671540]: depth_optical_frame -> zed2i_left_camera_optical_frame [ INFO] [1672315838.730679356]: disparity_frame -> zed2i_left_camera_frame [ INFO] [1672315838.730687299]: disparity_optical_frame -> zed2i_left_camera_optical_frame [ INFO] [1672315838.730694875]: confidence_frame -> zed2i_left_camera_frame [ INFO] [1672315838.730701815]: confidence_optical_frame -> zed2i_left_camera_optical_frame [ INFO] [1672315838.730983683]: Broadcast odometry TF -> ENABLED [ INFO] [1672315838.731262735]: Broadcast map pose TF -> ENABLED [ INFO] [1672315838.731539502]: Broadcast IMU pose TF -> ENABLED [ INFO] [1672315838.731549200]: DYNAMIC PARAMETERS (Init. values) [ INFO] [1672315838.731691977]: [DYN] Depth confidence -> 30 [ INFO] [1672315838.731836413]: [DYN] Depth texture conf. -> 100 [ INFO] [1672315838.731985711]: [DYN] pub_frame_rate -> 15 Hz [ INFO] [1672315838.732133395]: [DYN] point_cloud_freq -> 10 Hz [ INFO] [1672315838.732278623]: [DYN] brightness -> 4 [ INFO] [1672315838.732421937]: [DYN] contrast -> 4 [ INFO] [1672315838.732564972]: [DYN] hue -> 0 [ INFO] [1672315838.732707687]: [DYN] saturation -> 4 [ INFO] [1672315838.732850854]: [DYN] sharpness -> 4 [ INFO] [1672315838.732993114]: [DYN] gamma -> 8 [ INFO] [1672315838.733137525]: [DYN] auto_exposure_gain -> ENABLED [ INFO] [1672315838.733541373]: [DYN] auto_whitebalance -> ENABLED [ INFO] [1672315838.735605296]: * Camera coordinate system -> Right HANDED Z UP and X FORWARD [ INFO] [1672315838.735632323]: *** Opening ZED 2i... [ INFO] [1672315844.493539667]: ZED connection -> CAMERA NOT DETECTED [ INFO] [1672315851.550113754]: ZED connection -> CAMERA NOT DETECTED [ INFO] [1672315859.047870100]: ZED connection -> CAMERA NOT DETECTED

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

Anything else?

No response

Myzhar commented 1 year ago

@vocdex the ZED node can be launched only using ZED SDK input, hence with a live camera, an SVO, or a ZED SDK local stream. It's not possible to use data from a rosbag.