search

stereolabs / zed-ros-wrapper

ROS wrapper for the ZED SDK
https://www.stereolabs.com/docs/ros/
MIT License
447 stars 391 forks source link

zed2i Object Detection Error: INVALID FUNCTION CALL #885

Closed jamesheatonrdm closed 1 year ago

jamesheatonrdm commented 1 year ago

Preliminary Checks

Description

running roslaunch zed_wrapper zed2i.launch with object detection enables gives the error: Object detection error: INVALID FUNCTION CALL. This repeats continuously as long as the node is running: [ERROR] [1681727374.816097548]: Object detection error: INVALID FUNCTION CALL [ INFO] [1681727374.882696006]: Starting Object Detection [ERROR] [1681727374.882742133]: Object detection error: INVALID FUNCTION CALL [ INFO] [1681727374.949369186]: Starting Object Detection [ERROR] [1681727374.949422627]: Object detection error: INVALID FUNCTION CALL [ INFO] [1681727375.016026506]: Starting Object Detection [ERROR] [1681727375.016087341]: Object detection error: INVALID FUNCTION CALL

Steps to Reproduce

  1. Install zed-ros-examples
  2. Set object_detection.od_enabled to True in zed2i.yaml
  3. Launch zed wrapper node

Expected Result

Object detection is performed successfully

Actual Result

Object detection error: INVALID FUNCTION CALL

ZED Camera model

ZED2i

Environment

Ubuntu 20.04
ROS Noetic
NVIDIA RTX A4000

Anything else?

No response

Myzhar commented 1 year ago

What version of the ZED SDK and ROS Wrapper are you using?

jamesheatonrdm commented 1 year ago

ZED SDK Version 3.8.2 Unsure of ROS wrapper version - how do I find it? The changelog file has 3.8.x at the top if that helps.

Myzhar commented 1 year ago

If you are using the latest version of the master branch, then you must upgrade to ZED SDK v4.0.x. Otherwise if you want to use ZED SDK v3.8.2 you can use the latest release: https://github.com/stereolabs/zed-ros-wrapper/releases/tag/v3.8.x

jamesheatonrdm commented 1 year ago

Thanks. I have upgraded to the most recent versions of both ZED SDK and ROS Wrapper. And have installed zed-ros-examples. The error goes away, and object detection seems to be working however I still cannot see the /zed2/zed_node/obj_det/objects topic available in RVIZ. I can echo the topic successfully in the command line.

Is this visualisation only available in ROS2? Or am I missing something to get it to work in ROS?

Myzhar commented 1 year ago

No, you must install the RVIZ plugin that is available in the ZED ROS Examples repository

jamesheatonrdm commented 1 year ago

I see, I had installed it, but it was not made clear on the documentation (https://www.stereolabs.com/docs/ros/object-detection/) that I had to run roslaunch zed_display_rviz display_zed2.launch.

Thanks for your help, everything seems to work fine now.