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stereolabs / zed-ros2-wrapper

ROS 2 wrapper for the ZED SDK
https://www.stereolabs.com/docs/ros2/
Apache License 2.0
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Zed Wrapper randomly dies when set pose service is called #145

Closed coalman321 closed 8 months ago

coalman321 commented 1 year ago

Preliminary Checks

Description

On our robot, we launch the zed wrapper with all of our other sensors. We then launch our navigation with a pose converter that calls the Set Pose service in order to get a position and orientation relative to our own odometry frame. Occasionally, when we call the Set Pose service (1 in 10-12 times), the zed wrapper dies with error code -11.

Steps to Reproduce

  1. Launch ZED ROS 2 wrapper
  2. Call set pose 10-20 times until it dies

Expected Result

Set pose works

Actual Result

[ERROR] [zed_wrapper-11]: process has died [pid 54022, exit code -11, cmd '/home/ros/colcon_deploy/install/zed_wrapper/lib/zed_wrapper/zed_wrapper --ros-args -r __node:=zed_node -r __ns:=/puddles/zed2i --params-file /home/ros/colcon_deploy/install/zed_wrapper/share/zed_wrapper/config/common.yaml --params-file /home/ros/colcon_deploy/install/zed_wrapper/share/zed_wrapper/config/zed2i.yaml --params-file /tmp/launch_params_77eslm20'].

ZED Camera model

ZED2i

Environment

OS: Ubuntu 20.04
CPU: ARM
GPU: NVIDIA Jetson AGX Orin
ZED SDK: 3.8
Jetpack SDK: 5.1
ROS 2 Humble

Anything else?

No response

github-actions[bot] commented 1 year ago

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

coalman321 commented 1 year ago

This still has not been resolved.

IzzyCoder commented 1 year ago

Same issue on Jetson NX with ZED SDK 3.8.2 (but not with SDK 3.8.1!) and ZED Mini . In our case the issue seem to happen only, when running the wrapper as a composable node (with component_container_mt). Which makes me think that this might a race condition issue.

github-actions[bot] commented 11 months ago

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

markcfong561 commented 11 months ago

This has not been fixed yet

github-actions[bot] commented 10 months ago

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

markcfong561 commented 10 months ago

@Myzhar could this be looked at?

andystoeggle commented 9 months ago

Same issue here when calling the stop_svo_rec service on my Laptop (Thinkpad T490) as well as on the Jetson Xavier AGX:

[zed_wrapper-2] [INFO] [1691742368.031871536] [zed2i.zed_node]: SVO Recording started: 
[zed_wrapper-2] [INFO] [1691742368.031941371] [zed2i.zed_node]:  * Bitrate: 0
[zed_wrapper-2] [INFO] [1691742368.031966139] [zed2i.zed_node]:  * Compression: LOSSLESS
[zed_wrapper-2] [INFO] [1691742368.031984120] [zed2i.zed_node]:  * Framerate: 0
[zed_wrapper-2] [INFO] [1691742368.031998830] [zed2i.zed_node]:  * Input Transcode: FALSE
[zed_wrapper-2] [INFO] [1691742368.032015174] [zed2i.zed_node]:  * Filename: /media/andy/e44cb8f2-cfe8-4644-9e05-9b290aa899961/test_01.svo
[zed_wrapper-2] [ERROR] [1691742368.032048026] [zed2i.zed_node]: Error saving frame to SVO
[zed_wrapper-2] [ERROR] [1691742368.219456540] [zed2i.zed_node]: Error saving frame to SVO
[zed_wrapper-2] [INFO] [1691742376.345337048] [zed2i.zed_node]: ** Stop SVO Recording service called **
[zed_wrapper-2] [WARN] [1691742376.415200856] [zed2i.zed_node]: SVO Recording stopped
[ERROR] [zed_wrapper-2]: process has died [pid 7031, exit code -11, cmd '/home/andy/zhaw/ba/AutonomousSystem_ROS/install/zed_wrapper/lib/zed_wrapper/zed_wrapper --ros-args -r __node:=zed_node -r __ns:=/zed2i --params-file /home/andy/zhaw/ba/AutonomousSystem_ROS/install/zed_wrapper/share/zed_wrapper/config/common.yaml --params-file /home/andy/zhaw/ba/AutonomousSystem_ROS/install/zed_wrapper/share/zed_wrapper/config/zed2i.yaml --params-file /tmp/launch_params_cqwfebvn'].
Myzhar commented 9 months ago

Please update to the latest ZED SDK. The bug should have been fixed.

andystoeggle commented 9 months ago

@Myzhar tried it and you're right, works fine with SDK 4.0.6 and the latest version of the ROS2 wrapper. Thank you so much for your fast reply and please excuse the circumstances.

github-actions[bot] commented 8 months ago

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