search

stereolabs / zed-ros-wrapper

ROS wrapper for the ZED SDK
https://www.stereolabs.com/docs/ros/
MIT License
441 stars 389 forks source link

roslaunch hangs on "* Waiting for valid static transformations..." #948

Closed amstrudy closed 1 month ago

amstrudy commented 2 months ago

Preliminary Checks

Description

I just installed the ZED SDK and ROS wrapper on my Ubuntu 20.04 machine in order to collect some bags from my ZED2i. I installed the ZED SDK 4.1.1, and the ROS wrapper into a catkin workspace. Building was no issue--it was only upon running roslaunch zed_wrapper zed2i.launch that I had an issue. Everything seems to run normally but then it hangs forever on "Waiting for valid static transformations..."

Steps to Reproduce

  1. Install ZED SDK 4.1.1
  2. Clone zed_ros_wrapper
  3. catkin build -DCMAKE_BUILD_TYPE=Release
  4. roslaunch zed_wrapper zed2i.launch

Expected Result

I'm expecting the topics to start publishing, but they don't because the startup is hanging at this valid static transforms step.

Actual Result

Output of roslaunch:

started roslaunch server http://anjashep-frog-lab:35391/

SUMMARY
========

PARAMETERS
 * /rosdistro: noetic
 * /rosversion: 1.16.0
 * /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_mode: ULTRA
 * /zed2i/zed_node/depth/depth_stabilization: 1
 * /zed2i/zed_node/depth/max_depth: 15.0
 * /zed2i/zed_node/depth/min_depth: 0.3
 * /zed2i/zed_node/depth/openni_depth_mode: False
 * /zed2i/zed_node/depth_confidence: 50
 * /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: AUTO
 * /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: 30
 * /zed2i/zed_node/general/grab_resolution: HD720
 * /zed2i/zed_node/general/pub_downscale_factor: 2.0
 * /zed2i/zed_node/general/pub_frame_rate: 15.0
 * /zed2i/zed_node/general/pub_resolution: CUSTOM
 * /zed2i/zed_node/general/region_of_interest: []
 * /zed2i/zed_node/general/sdk_verbose: 1
 * /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/svo_realtime: True
 * /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/allow_reduced_precision_inference: True
 * /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: MULTI_CLASS_BOX_A...
 * /zed2i/zed_node/object_detection/object_tracking_enabled: True
 * /zed2i/zed_node/object_detection/od_enabled: False
 * /zed2i/zed_node/object_detection/prediction_timeout: 0.5
 * /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: 
 * /zed2i/zed_node/pos_tracking/depth_min_range: 0.0
 * /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/pos_tracking_mode: GEN_2
 * /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/set_as_static: False
 * /zed2i/zed_node/pos_tracking/set_gravity_as_origin: True
 * /zed2i/zed_node/pos_tracking/two_d_mode: False
 * /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/whitebalance_temperature: 42

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 [605253]
process[zed2i/zed_node-2]: started with pid [605254]
[ INFO] [1716472238.849098756]: Initializing nodelet with 16 worker threads.
[ INFO] [1716472238.885164673]: ********** Starting nodelet '/zed2i/zed_node' **********
[ INFO] [1716472238.885246380]: SDK version: 4.1.1
[ INFO] [1716472238.885297022]: *** GENERAL PARAMETERS ***
[ INFO] [1716472238.885845490]:  * Camera Model by param    -> zed2i
[ INFO] [1716472238.886449557]:  * Camera Name          -> zed2i
[ INFO] [1716472238.887178289]:  * Camera resolution        -> HD720
[ INFO] [1716472238.888013398]:  * Camera Grab Framerate    -> 30
[ INFO] [1716472238.888809316]:  * Grab compute capping FPS -> 15 Hz
[ INFO] [1716472238.889499229]:  * Publishing resolution    -> CUSTOM
[ INFO] [1716472238.890702795]:  * Publishing downscale factor  -> 2
[ INFO] [1716472238.891477715]:  * Gpu ID           -> -1
[ INFO] [1716472238.892053952]:  * Camera ID            -> 0
[ INFO] [1716472238.893068836]:  * SDK Verbose level        -> 1
[ INFO] [1716472238.893597294]:  * Camera Flip          -> AUTO
[ INFO] [1716472238.894109030]:  * Self calibration     -> ENABLED
[ INFO] [1716472238.895065660]:  * Region of interest       -> []
[ INFO] [1716472238.895088807]: *** DEPTH PARAMETERS ***
[ INFO] [1716472238.895570510]:  * Depth mode           -> ULTRA [3]
[ INFO] [1716472238.896057960]:  * OpenNI mode          -> DISABLED
[ INFO] [1716472238.896576227]:  * Depth Stabilization      -> 1
[ INFO] [1716472238.897077585]:  * Minimum depth        -> 0.3 m
[ INFO] [1716472238.897583051]:  * Maximum depth        -> 15 m
[ INFO] [1716472238.897615221]: *** POSITIONAL TRACKING PARAMETERS ***
[ INFO] [1716472238.898161114]:  * Positional tracking      -> ENABLED
[ INFO] [1716472238.898691487]:  * Positional tracking mode -> POSITIONAL TRACKING MODE GEN_2
[ INFO] [1716472238.899434460]:  * Set gravity as origin    -> ENABLED
[ INFO] [1716472238.900049228]:  * Path rate            -> 2 Hz
[ INFO] [1716472238.900582484]:  * Path history size        -> INFINITE
[ INFO] [1716472238.901607692]:  * Odometry DB path     -> 
[ INFO] [1716472238.902124340]:  * Save Area Memory on closing  -> DISABLED
[ INFO] [1716472238.902622701]:  * Area Memory          -> ENABLED
[ INFO] [1716472238.903113605]:  * IMU Fusion           -> ENABLED
[ INFO] [1716472238.903615703]:  * Floor alignment      -> DISABLED
[ INFO] [1716472238.904115058]:  * Init Odometry with first valid pose data -> ENABLED
[ INFO] [1716472238.904615555]:  * Force 2D mode        -> DISABLED
[ INFO] [1716472238.905102087]:  * Broadcast odometry TF    -> ENABLED
[ INFO] [1716472238.905587011]:  * Broadcast map pose TF    -> ENABLED
[ INFO] [1716472238.906092714]:  * Camera is static     -> DISABLED
[ INFO] [1716472238.906599211]:  * Depth minimum range      -> 0
[ INFO] [1716472238.906626737]: *** MAPPING PARAMETERS ***
[ INFO] [1716472238.907116184]:  * Mapping          -> DISABLED
[ INFO] [1716472238.907603860]:  * Clicked point topic      -> /clicked_point
[ INFO] [1716472238.907631077]: *** OBJECT DETECTION PARAMETERS ***
[ INFO] [1716472238.908116145]:  * Object Detection     -> DISABLED
[ INFO] [1716472238.908632236]:  * Object confidence        -> 50
[ INFO] [1716472238.909115212]:  * Object tracking      -> ENABLED
[ INFO] [1716472238.909602301]:  * Detection max range      -> 15
[ INFO] [1716472238.910124085]:  * Allow reduced precision  -> ENABLED
[ INFO] [1716472238.910629664]:  * Prediction Timeout       -> 0.5
[ INFO] [1716472238.911129707]:  * Object Det. model        ->MULTI CLASS BOX ACCURATE
[ INFO] [1716472238.911609996]:  * Detect people        -> ENABLED
[ INFO] [1716472238.912090980]:  * Detect vehicles      -> ENABLED
[ INFO] [1716472238.912576045]:  * Detect bags          -> ENABLED
[ INFO] [1716472238.913057401]:  * Detect animals       -> ENABLED
[ INFO] [1716472238.913537320]:  * Detect electronics       -> ENABLED
[ INFO] [1716472238.914034070]:  * Detect fruit and vegetables  -> ENABLED
[ INFO] [1716472238.914533445]:  * Detect sport-related objects -> ENABLED
[ INFO] [1716472238.914562812]: *** SENSORS PARAMETERS ***
[ INFO] [1716472238.915066103]:  * Sensors timestamp sync   -> DISABLED
[ INFO] [1716472238.915469440]:  * Max sensors rate     -> 200
[ INFO] [1716472238.915864041]:  * Broadcast IMU pose TF    -> ENABLED
[ INFO] [1716472238.915893568]: *** SVO PARAMETERS ***
[ INFO] [1716472238.916286968]:  * SVO input file:      -> 
[ INFO] [1716472238.916685715]:  * SVO REC compression      -> H265 (HEVC)
[ INFO] [1716472238.917071684]: *** COORDINATE FRAMES ***
[ INFO] [1716472238.918391196]:  * camera_frame         -> zed2i_camera_center
[ INFO] [1716472238.918416110]:  * imu_link         -> zed2i_imu_link
[ INFO] [1716472238.918438340]:  * left_camera_frame        -> zed2i_left_camera_frame
[ INFO] [1716472238.918458620]:  * left_camera_optical_frame    -> zed2i_left_camera_optical_frame
[ INFO] [1716472238.918478169]:  * right_camera_frame       -> zed2i_right_camera_frame
[ INFO] [1716472238.918499694]:  * right_camera_optical_frame   -> zed2i_right_camera_optical_frame
[ INFO] [1716472238.918520619]:  * map_frame            -> map
[ INFO] [1716472238.918541176]:  * odometry_frame       -> odom
[ INFO] [1716472238.918560342]:  * base_frame           -> base_link
[ INFO] [1716472238.918579701]:  * depth_frame          -> zed2i_left_camera_frame
[ INFO] [1716472238.918601156]:  * depth_optical_frame      -> zed2i_left_camera_optical_frame
[ INFO] [1716472238.918621078]:  * disparity_frame      -> zed2i_left_camera_frame
[ INFO] [1716472238.918641384]:  * disparity_optical_frame  -> zed2i_left_camera_optical_frame
[ INFO] [1716472238.918661465]:  * confidence_frame     -> zed2i_left_camera_frame
[ INFO] [1716472238.918681546]:  * confidence_optical_frame -> zed2i_left_camera_optical_frame
[ INFO] [1716472238.926227299]:  * Camera coordinate system -> Right HANDED Z UP and X FORWARD
[ INFO] [1716472239.495937186]:  *** Opening ZED 2i - LIVE CAMERA with ID 0 ***
[2024-05-23 13:50:39 UTC][ZED][INFO] Logging level INFO
[2024-05-23 13:50:39 UTC][ZED][INFO] [Init]  Depth mode: ULTRA
[2024-05-23 13:50:40 UTC][ZED][INFO] [Init]  Camera successfully opened.
[2024-05-23 13:50:40 UTC][ZED][INFO] [Init]  Sensors FW version: 777
[2024-05-23 13:50:40 UTC][ZED][INFO] [Init]  Camera FW version: 1523
[2024-05-23 13:50:40 UTC][ZED][INFO] [Init]  Video mode: HD720@30
[2024-05-23 13:50:40 UTC][ZED][INFO] [Init]  Serial Number: S/N 33833116
[ INFO] [1716472240.757106109]: ZED connection [LIVE CAMERA with ID 0]: SUCCESS
[ INFO] [1716472242.757339419]:  ...  ZED ready
[ INFO] [1716472242.757425669]: ZED SDK running on GPU #0
[ INFO] [1716472242.766069287]: Camera-IMU Transform: 
 561E1E6393B8
0.999892 0.014494 -0.002290 -0.002000
-0.014492 0.999894 0.000954 -0.023061
0.002304 -0.000921 0.999997 0.000217
0.000000 0.000000 0.000000 1.000000

[ INFO] [1716472242.766135901]:  * CAMERA MODEL -> ZED 2i
[ INFO] [1716472242.766184071]:  * Serial Number: 33833116
[ INFO] [1716472242.766209628]:  * Camera FW Version: 1523
[ INFO] [1716472242.766235204]:  * Sensors FW Version: 777
[ INFO] [1716472242.806285603]: *** PUBLISHERS ***
[ INFO] [1716472242.926458358]:  * Advertised on topic /zed2i/zed_node/rgb/image_rect_color
[ INFO] [1716472242.926657877]:  * Advertised on topic /zed2i/zed_node/rgb/camera_info
[ INFO] [1716472242.947171183]:  * Advertised on topic /zed2i/zed_node/rgb_raw/image_raw_color
[ INFO] [1716472242.947327393]:  * Advertised on topic /zed2i/zed_node/rgb_raw/camera_info
[ INFO] [1716472242.961184126]:  * Advertised on topic /zed2i/zed_node/left/image_rect_color
[ INFO] [1716472242.961206685]:  * Advertised on topic /zed2i/zed_node/left/camera_info
[ INFO] [1716472242.974062539]:  * Advertised on topic /zed2i/zed_node/left_raw/image_raw_color
[ INFO] [1716472242.974081840]:  * Advertised on topic /zed2i/zed_node/left_raw/camera_info
[ INFO] [1716472242.986860241]:  * Advertised on topic /zed2i/zed_node/right/image_rect_color
[ INFO] [1716472242.986879939]:  * Advertised on topic /zed2i/zed_node/right/camera_info
[ INFO] [1716472243.001842417]:  * Advertised on topic /zed2i/zed_node/right_raw/image_raw_color
[ INFO] [1716472243.001867113]:  * Advertised on topic /zed2i/zed_node/right_raw/camera_info
[ INFO] [1716472243.014450745]:  * Advertised on topic /zed2i/zed_node/rgb/image_rect_gray
[ INFO] [1716472243.014474743]:  * Advertised on topic /zed2i/zed_node/rgb/camera_info
[ INFO] [1716472243.027005679]:  * Advertised on topic /zed2i/zed_node/rgb_raw/image_raw_gray
[ INFO] [1716472243.027027872]:  * Advertised on topic /zed2i/zed_node/rgb_raw/camera_info
[ INFO] [1716472243.039585910]:  * Advertised on topic /zed2i/zed_node/left/image_rect_gray
[ INFO] [1716472243.039610367]:  * Advertised on topic /zed2i/zed_node/left/camera_info
[ INFO] [1716472243.067777336]:  * Advertised on topic /zed2i/zed_node/left_raw/image_raw_gray
[ INFO] [1716472243.067814516]:  * Advertised on topic /zed2i/zed_node/left_raw/camera_info
[ INFO] [1716472243.098692994]:  * Advertised on topic /zed2i/zed_node/right/image_rect_gray
[ INFO] [1716472243.098766658]:  * Advertised on topic /zed2i/zed_node/right/camera_info
[ INFO] [1716472243.118910496]:  * Advertised on topic /zed2i/zed_node/right_raw/image_raw_gray
[ INFO] [1716472243.119002218]:  * Advertised on topic /zed2i/zed_node/right_raw/camera_info
[ INFO] [1716472243.149781118]:  * Advertised on topic /zed2i/zed_node/stereo/image_rect_color
[ INFO] [1716472243.171897297]:  * Advertised on topic /zed2i/zed_node/stereo_raw/image_raw_color
[ INFO] [1716472243.192641219]:  * Advertised on topic /zed2i/zed_node/depth/depth_registered
[ INFO] [1716472243.192728109]:  * Advertised on topic /zed2i/zed_node/depth/camera_info
[ INFO] [1716472243.193245276]:  * Advertised on topic /zed2i/zed_node/confidence/confidence_map
[ INFO] [1716472243.193669278]:  * Advertised on topic /zed2i/zed_node/disparity/disparity_image
[ INFO] [1716472243.194126332]:  * Advertised on topic /zed2i/zed_node/point_cloud/cloud_registered
[ INFO] [1716472243.194559466]:  * Advertised on topic /zed2i/zed_node/pose
[ INFO] [1716472243.195004265]:  * Advertised on topic /zed2i/zed_node/pose_with_covariance
[ INFO] [1716472243.195437789]:  * Advertised on topic /zed2i/zed_node/odom
[ INFO] [1716472243.195866989]:  * Advertised on topic /zed2i/zed_node/odom/status
[ INFO] [1716472243.196290448]:  * Advertised on topic /zed2i/zed_node/pose/status
[ INFO] [1716472243.197079252]:  * Advertised on topic /zed2i/zed_node/path_odom
[ INFO] [1716472243.197519793]:  * Advertised on topic /zed2i/zed_node/path_map
[ INFO] [1716472243.198140816]:  * Advertised on topic /zed2i/zed_node/imu/data
[ INFO] [1716472243.198610454]:  * Advertised on topic /zed2i/zed_node/imu/data_raw
[ INFO] [1716472243.199771911]:  * Advertised on topic /zed2i/zed_node/temperature/imu
[ INFO] [1716472243.201149161]:  * Advertised on topic /zed2i/zed_node/imu/mag
[ INFO] [1716472243.202581259]:  * Advertised on topic /zed2i/zed_node/atm_press
[ INFO] [1716472243.204265211]:  * Advertised on topic /zed2i/zed_node/temperature/left
[ INFO] [1716472243.205283452]:  * Advertised on topic /zed2i/zed_node/temperature/right
[ INFO] [1716472243.206769911]:  * Advertised on topic /zed2i/zed_node/left_cam_imu_transform [LATCHED]
[ INFO] [1716472243.206840319]: *** SUBSCRIBERS ***
[ INFO] [1716472243.210541392]:  * Subscribed to topic /clicked_point
[ INFO] [1716472243.210624702]: *** SERVICES ***
[ INFO] [1716472243.211541605]:  * Advertised on service /zed2i/zed_node/set_pose
[ INFO] [1716472243.212433583]:  * Advertised on service /zed2i/zed_node/reset_odometry
[ INFO] [1716472243.213302308]:  * Advertised on service /zed2i/zed_node/reset_tracking
[ INFO] [1716472243.214344881]:  * Advertised on service /zed2i/zed_node/save_area_memory
[ INFO] [1716472243.215255756]:  * Advertised on service /zed2i/zed_node/start_3d_mapping
[ INFO] [1716472243.216141071]:  * Advertised on service /zed2i/zed_node/stop_3d_mapping
[ INFO] [1716472243.216992736]:  * Advertised on service /zed2i/zed_node/save_3d_map
[ INFO] [1716472243.217886874]:  * Advertised on service /zed2i/zed_node/enable_object_detection
[ INFO] [1716472243.218868478]:  * Advertised on service /zed2i/zed_node/start_svo_recording
[ INFO] [1716472243.219827500]:  * Advertised on service /zed2i/zed_node/stop_svo_recording
[ INFO] [1716472243.220894816]:  * Advertised on service /zed2i/zed_node/set_led_status
[ INFO] [1716472243.221873117]:  * Advertised on service /zed2i/zed_node/toggle_led
[ INFO] [1716472243.222779914]:  * Advertised on service /zed2i/zed_node/start_remote_stream
[ INFO] [1716472243.223605528]:  * Advertised on service /zed2i/zed_node/stop_remote_stream
[ INFO] [1716472243.224499665]:  * Advertised on service /zed2i/zed_node/set_roi
[ INFO] [1716472243.225385450]:  * Advertised on service /zed2i/zed_node/set_roi
[ INFO] [1716472243.225637906]: +++ ZED Node started +++
[ INFO] [1716472243.225883516]: Published static transform 'zed2i_imu_link' -> 'zed2i_left_camera_frame'
[ INFO] [1716472243.226120783]: *** Starting Positional Tracking ***
[ INFO] [1716472243.226206772]:  * Waiting for valid static transformations...

ZED Camera model

ZED

Environment

OS: Ubuntu 20.04
ZED SDK: 4.1.1
ROS Noetic

Anything else?

No response

Myzhar commented 2 months ago

Hi @amstrudy can you please send me the TF tree? (you can use rtq to save it as an image)

amstrudy commented 1 month ago

@Myzhar Somehow this resolved itself after a few days... not sure what the issue was but I can't reproduce the problem now.