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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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Launchin 2 ZEDX Cams doesn't work #209

Closed adriandavidauer closed 3 weeks ago

adriandavidauer commented 2 months ago

Preliminary Checks

Description

I tried to start to camera nodes with ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zedx zed_id:=0 camera_name:=zed_0 and ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zedx zed_id:=1 camera_name:=zed_1 and the first node always comes up without any problems but when I start the second node it causes the first node (almost always) to stop with this error : [zed_wrapper-2] [ERROR] [1709824226.481411052] [zed.zed_node]: Critical camera error: CAMERA NOT INITIALIZED. Node stopped. On very rare occasions I can start both cameras but it is not reproducible :disappointed:

I tried this on a Jetson AGX Orin with ROS2 Foxy as well as on the same Jetson with a Docker Container with Humble.

I'm also aware of this tutorial but on Humble it didn't build and on Foxy it failed with RuntimeError: Included launch description missing required argument 'cam_poses' (description: 'An array containing the array of the pose of the cameras with respect to the base frame link, e.g. [[0.5,0.0,0.0,0.0,0.0,0.0],[0.0,0.2,0.0,0.0,1.571,0.0]],[0.0,-0.2,0.0,0.0,-1.571,0.0],[-0.5,0.0,0.0,0.0,0.0,3.142]]]'), given: [cam_names, cam_models, cam_serials] and including this argument was not possible because it always resulted in [INFO] [launch.user]: The size of theposesparam array must be equal to the size ofnames` even after I adjusted the example to the righ amount of brackets.

Steps to Reproduce

  1. Get a Jetson AGX Orin
  2. Install Foxy or Humble
  3. Install zed-ros2-wrapper
  4. run ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zedx zed_id:=0 camera_name:=zed_0 and ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zedx zed_id:=1 camera_name:=zed_1

Expected Result

Both cameras should start and don't stop until I stop the node.

Actual Result

One camera starts and the second camera starts but it crashes the first one.

ZED Camera model

ZED

Environment

OS: UBUNTU 20.04.6 LTS
CPU: ARM
GPU: 2048-core NVIDIA Ampere architecture GPU with 64 Tensor Cores
ZED SDK Version: 4.0.8
ROS: ROS2 Foxy / Humble

Anything else?

I cannot specify ZEDx camera in the drop down.

Myzhar commented 2 months ago

Hi @adriandavidauer Please use serial_number instead of zed_id in a multi-camera configuration

adriandavidauer commented 2 months ago

@Myzhar thanks for the quick response! I tried that already with the same result. 😔

adriandavidauer commented 2 months ago

@Myzhar Do you have any other suggestions? Additional sidenote: A colleague of mine used two cameras with the Python API on the same system without problems. Seems to be a ROS-specific issue. Would really appreciate the help! Thanks

Myzhar commented 2 months ago

You must be sure that each node is correctly opening "its" camera. This means that the serial number setting must be correctly propagated. You can check the node log to verify it, the information is printed in the list of parameters

adriandavidauer commented 2 months ago

@Myzhar First node shows

.
.
.
[zed_wrapper-2] [INFO] [1709896210.817555971] [zed_0.zed_node]: *** CAMERA OPENING ***
[zed_wrapper-2] [ZED-X][Warning] Failed to verify the match between the L4T version of the host and the container. If you are indeed in a container, be sure to run the same L4T version on both.
[zed_wrapper-2] [INFO] [1709896218.949574412] [zed_0.zed_node]: ZED SDK running on GPU #0
[zed_wrapper-2] [INFO] [1709896218.949687409] [zed_0.zed_node]:  * Camera Model  -> ZED X
[zed_wrapper-2] [INFO] [1709896218.949704913] [zed_0.zed_node]:  * Serial Number -> 42546479
.
.
.

Second node shows

.
.
.
[zed_wrapper-2] [INFO] [1709896219.208237041] [zed_1.zed_node]: *** CAMERA OPENING ***
[zed_wrapper-2] [ZED-X][Warning] Failed to connect to zed_x_daemon.
[zed_wrapper-2] [ZED-X][Warning] Failed to verify the match between the L4T version of the host and the container. If you are indeed in a container, be sure to run the same L4T version on both.
[zed_wrapper-2] [INFO] [1709896227.016400009] [zed_1.zed_node]: ZED SDK running on GPU #0
[zed_wrapper-2] [INFO] [1709896227.016518990] [zed_1.zed_node]:  * Camera Model  -> ZED X
[zed_wrapper-2] [INFO] [1709896227.016538191] [zed_1.zed_node]:  * Serial Number -> 48345682
.
.
.

So this is not the problem. I have the feeling it could have something to do with the zed_x_deamon...maybe some locking mechanism?

Myzhar commented 2 months ago

What does it happen if you add a latency between the two openings?

PS What is your problem with building the multi-camera tutorial in Humble? I've never heard of something similar

adriandavidauer commented 2 months ago

Building the example has some problems with angles:

--- stderr: angles                    
failed to create symbolic link '/root/ros2_ws/build/angles/ament_cmake_python/angles/angles' because existing path cannot be removed: Is a directory
make[2]: *** [CMakeFiles/ament_cmake_python_symlink_angles.dir/build.make:70: CMakeFiles/ament_cmake_python_symlink_angles] Error 1
make[1]: *** [CMakeFiles/Makefile2:138: CMakeFiles/ament_cmake_python_symlink_angles.dir/all] Error 2
make: *** [Makefile:146: all] Error 2
---
Failed   <<< angles [3.13s, exited with code 2]
Aborted  <<< ament_cppcheck [3.59s]  
Aborted  <<< ament_pycodestyle [3.07s]
Aborted  <<< ament_lint [3.74s]
Aborted  <<< xacro [2.16s]           
Aborted  <<< zed_tutorial_video [6.51s]
Aborted  <<< nmea_msgs [12.3s]        
Aborted  <<< geographic_msgs [12.4s]  

Summary: 1 package finished [16.2s]
  1 package failed: angles
  7 packages aborted: ament_cppcheck ament_lint ament_pycodestyle geographic_msgs nmea_msgs xacro zed_tutorial_video
  3 packages had stderr output: angles geographic_msgs nmea_msgs
  47 packages not processed

And starting the second node a minute later does not have any positive effect.

adriandavidauer commented 2 months ago

If I build without --symlink-install I end up with this:

--- stderr: rviz_plugin_zed_od               
CMake Error at CMakeLists.txt:100 (find_package):
  By not providing "Findrviz_common.cmake" in CMAKE_MODULE_PATH this project
  has asked CMake to find a package configuration file provided by
  "rviz_common", but CMake did not find one.

  Could not find a package configuration file provided by "rviz_common" with
  any of the following names:

    rviz_commonConfig.cmake
    rviz_common-config.cmake

  Add the installation prefix of "rviz_common" to CMAKE_PREFIX_PATH or set
  "rviz_common_DIR" to a directory containing one of the above files.  If
  "rviz_common" provides a separate development package or SDK, be sure it
  has been installed.

---
Failed   <<< rviz_plugin_zed_od [4.30s, exited with code 1]
Aborted  <<< self_test [2.46s]              
Aborted  <<< zed_topic_benchmark_component [4.93s]
Aborted  <<< robot_localization [9.05s]     
Aborted  <<< zed_tutorial_pos_tracking [37.4s]

Summary: 41 packages finished [1min 21s]
  1 package failed: rviz_plugin_zed_od
  4 packages aborted: robot_localization self_test zed_topic_benchmark_component zed_tutorial_pos_tracking
  23 packages had stderr output: ament_clang_format ament_clang_tidy ament_copyright ament_cppcheck ament_cpplint ament_flake8 ament_lint ament_lint_cmake ament_mypy ament_pclint ament_pep257 ament_pycodestyle ament_pyflakes ament_uncrustify ament_xmllint diagnostic_aggregator geographic_msgs nmea_msgs robot_localization rviz_plugin_zed_od xacro zed_interfaces zed_topic_benchmark_interfaces
  10 packages not processed
Myzhar commented 2 months ago

OK, they all are dependencies to be satisfied

adriandavidauer commented 2 months ago

I realized the container in which I was building was based on ros-base and not ros-desktop so rviz dependencies were missing. Now I can build a step further until it crashes with the following error 

CMake Error at cmake_install.cmake:69 (file):
  file INSTALL cannot find
  "/root/ros2_ws/src/zed-ros2-examples/examples/zed_aruco_localization/DIRECTORY":
  No such file or directory.

I still don't think the multi cam example in the container will get me anywhere because on the host system it was not working either... It is really frustrating because the error when the camera is shut down is not really telling me something. Any other advises on how to start the nodes that they won't crash?

Myzhar commented 2 months ago

I would recommend to re-create the example in your single package instead of cloning the full zed-ros2-examples repository to not be forced to satisfy all the dependencies that it requires.

anuj-neuralzome commented 2 months ago

Hi @Myzhar , I have exact same issue what @adriandavidauer mentioned. In my case, I even tried multi-camera tutorial,issue persists there as well , I'm getting data from only one ZedX

anuj-neuralzome commented 2 months ago

Here is my log output from multi-camera tutorial- root@GTW-ONX1-E16SUV6C:~/zed_ws# ros2 launch zed_multi_camera zed_multi_camera.launch.py cam_names:='[zed_front,zed_back]' cam_models:='[zedx,zedx]' cam_serials:='[40070159,42786307]' [INFO] [launch]: All log files can be found below /root/.ros/log/2024-03-15-08-43-23-883313-GTW-ONX1-E16SUV6C-23477 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [launch.user]: Starting a ZED ROS2 node for camera zed_front(zedx/40070159) [WARNING] [launch_ros.actions.node]: Parameter file path is not a file: . [INFO] [launch.user]: Starting a ZED ROS2 node for camera zed_back(zedx/42786307) [WARNING] [launch_ros.actions.node]: Parameter file path is not a file: . [INFO] [robot_state_publisher-1]: process started with pid [23482] [INFO] [robot_state_publisher-2]: process started with pid [23484] [INFO] [zed_wrapper-3]: process started with pid [23486] [INFO] [robot_state_publisher-4]: process started with pid [23488] [INFO] [zed_wrapper-5]: process started with pid [23490] [robot_state_publisher-2] [INFO] [1710488605.402347180] [zed_front.zed_state_publisher]: got segment zed_front_camera_center [robot_state_publisher-2] [INFO] [1710488605.402523603] [zed_front.zed_state_publisher]: got segment zed_front_camera_link [robot_state_publisher-2] [INFO] [1710488605.402544435] [zed_front.zed_state_publisher]: got segment zed_front_left_camera_frame [robot_state_publisher-2] [INFO] [1710488605.402555316] [zed_front.zed_state_publisher]: got segment zed_front_left_camera_optical_frame [robot_state_publisher-2] [INFO] [1710488605.402564180] [zed_front.zed_state_publisher]: got segment zed_front_right_camera_frame [robot_state_publisher-2] [INFO] [1710488605.402572437] [zed_front.zed_state_publisher]: got segment zed_front_right_camera_optical_frame [robot_state_publisher-4] [INFO] [1710488605.402347052] [zed_back.zed_state_publisher]: got segment zed_back_camera_center [robot_state_publisher-4] [INFO] [1710488605.402521395] [zed_back.zed_state_publisher]: got segment zed_back_camera_link [robot_state_publisher-4] [INFO] [1710488605.402540371] [zed_back.zed_state_publisher]: got segment zed_back_left_camera_frame [robot_state_publisher-4] [INFO] [1710488605.402552820] [zed_back.zed_state_publisher]: got segment zed_back_left_camera_optical_frame [robot_state_publisher-4] [INFO] [1710488605.402561620] [zed_back.zed_state_publisher]: got segment zed_back_right_camera_frame [robot_state_publisher-4] [INFO] [1710488605.402570036] [zed_back.zed_state_publisher]: got segment zed_back_right_camera_optical_frame [robot_state_publisher-1] [INFO] [1710488605.409451742] [zed_multi.zed_multi_state_publisher]: got segment zed_front_camera_link [robot_state_publisher-1] [INFO] [1710488605.409643910] [zed_multi.zed_multi_state_publisher]: got segment zed_multi_link [robot_state_publisher-1] [INFO] [1710488605.409666662] [zed_multi.zed_multi_state_publisher]: got segment zed_rear_camera_link

[zed_wrapper-5] [INFO] [1710488605.468793362] [zed_back.zed_node_1]: ZED Camera Component

[zed_wrapper-5] [INFO] [1710488605.468828563] [zed_back.zed_node_1]: namespace: /zed_back [zed_wrapper-5] [INFO] [1710488605.468840308] [zed_back.zed_node_1]: node name: zed_node_1

[zed_wrapper-5] [INFO] [1710488605.468876341] [zed_back.zed_node_1]: DEBUG parameters [zed_wrapper-5] [INFO] [1710488605.468930199] [zed_back.zed_node_1]: Debug Common: FALSE [zed_wrapper-5] [INFO] [1710488605.468955576] [zed_back.zed_node_1]: Debug Simulation: FALSE [zed_wrapper-5] [INFO] [1710488605.468975801] [zed_back.zed_node_1]: Debug Video/Depth: FALSE [zed_wrapper-5] [INFO] [1710488605.468994298] [zed_back.zed_node_1]: Debug Control settings: FALSE [zed_wrapper-5] [INFO] [1710488605.469011674] [zed_back.zed_node_1]: Debug Point Cloud: FALSE [zed_wrapper-5] [INFO] [1710488605.469028827] [zed_back.zed_node_1]: Debug GNSS: FALSE [zed_wrapper-5] [INFO] [1710488605.469047196] [zed_back.zed_node_1]: Debug Positional Tracking: FALSE [zed_wrapper-5] [INFO] [1710488605.469065532] [zed_back.zed_node_1]: Debug sensors: FALSE [zed_wrapper-5] [INFO] [1710488605.469082845] [zed_back.zed_node_1]: Debug Mapping: FALSE [zed_wrapper-5] [INFO] [1710488605.469099902] [zed_back.zed_node_1]: Debug Object Detection: FALSE [zed_wrapper-5] [INFO] [1710488605.469116830] [zed_back.zed_node_1]: Debug Body Tracking: FALSE [zed_wrapper-5] [INFO] [1710488605.469134687] [zed_back.zed_node_1]: Debug Advanced: FALSE [zed_wrapper-5] [INFO] [1710488605.469181025] [zed_back.zed_node_1]: GENERAL parameters [zed_wrapper-5] [INFO] [1710488605.469230979] [zed_back.zed_node_1]: SVO: '' [zed_wrapper-5] [INFO] [1710488605.469360648] [zed_back.zed_node_1]: Camera model: zedx - ZED X [zed_wrapper-5] [INFO] [1710488605.469459340] [zed_back.zed_node_1]: SDK Verbose: 1 [zed_wrapper-5] [INFO] [1710488605.469540847] [zed_back.zed_node_1]: Camera name: zed_back [zed_wrapper-5] [INFO] [1710488605.469610449] [zed_back.zed_node_1]: * Camera SN: 42786307

[zed_wrapper-5] [INFO] [1710488605.469746839] [zed_back.zed_node_1]: Camera reconnection temptatives: 5 [zed_wrapper-5] [INFO] [1710488605.469816505] [zed_back.zed_node_1]: Camera framerate: 30 [zed_wrapper-5] [INFO] [1710488605.469875772] [zed_back.zed_node_1]: GPU ID: -1 [zed_wrapper-5] [INFO] [1710488605.469956927] [zed_back.zed_node_1]: Camera resolution: HD1200 [zed_wrapper-5] [INFO] [1710488605.470026914] [zed_back.zed_node_1]: * Publishing resolution: CUSTOM

[zed_wrapper-3] [INFO] [1710488605.469648051] [zed_front.zed_node_0]: ZED Camera Component

[zed_wrapper-3] [INFO] [1710488605.469681172] [zed_front.zed_node_0]: namespace: /zed_front [zed_wrapper-3] [INFO] [1710488605.469692597] [zed_front.zed_node_0]: node name: zed_node_0

[zed_wrapper-3] [INFO] [1710488605.469722038] [zed_front.zed_node_0]: DEBUG parameters [zed_wrapper-3] [INFO] [1710488605.469758807] [zed_front.zed_node_0]: Debug Common: FALSE [zed_wrapper-3] [INFO] [1710488605.469783352] [zed_front.zed_node_0]: Debug Simulation: FALSE [zed_wrapper-3] [INFO] [1710488605.469803353] [zed_front.zed_node_0]: Debug Video/Depth: FALSE [zed_wrapper-3] [INFO] [1710488605.469820570] [zed_front.zed_node_0]: Debug Control settings: FALSE [zed_wrapper-3] [INFO] [1710488605.469836986] [zed_front.zed_node_0]: Debug Point Cloud: FALSE [zed_wrapper-3] [INFO] [1710488605.469852987] [zed_front.zed_node_0]: Debug GNSS: FALSE [zed_wrapper-3] [INFO] [1710488605.469870491] [zed_front.zed_node_0]: Debug Positional Tracking: FALSE [zed_wrapper-3] [INFO] [1710488605.469886140] [zed_front.zed_node_0]: Debug sensors: FALSE [zed_wrapper-3] [INFO] [1710488605.469902365] [zed_front.zed_node_0]: Debug Mapping: FALSE [zed_wrapper-3] [INFO] [1710488605.469936542] [zed_front.zed_node_0]: Debug Object Detection: FALSE [zed_wrapper-3] [INFO] [1710488605.469956159] [zed_front.zed_node_0]: Debug Body Tracking: FALSE [zed_wrapper-3] [INFO] [1710488605.469973183] [zed_front.zed_node_0]: Debug Advanced: FALSE [zed_wrapper-3] [INFO] [1710488605.470013249] [zed_front.zed_node_0]: GENERAL parameters [zed_wrapper-3] [INFO] [1710488605.470051650] [zed_front.zed_node_0]: SVO: '' [zed_wrapper-3] [INFO] [1710488605.470089604] [zed_front.zed_node_0]: Camera model: zedx - ZED X [zed_wrapper-5] [INFO] [1710488605.470114149] [zed_back.zed_node_1]: Publishing downscale factor: 2 [zed_wrapper-5] [INFO] [1710488605.470223945] [zed_back.zed_node_1]: Region of interest: [] [zed_wrapper-5] [INFO] [1710488605.470301356] [zed_back.zed_node_1]: Camera self calibration: TRUE [zed_wrapper-3] [INFO] [1710488605.470133254] [zed_front.zed_node_0]: SDK Verbose: 1 [zed_wrapper-3] [INFO] [1710488605.470163143] [zed_front.zed_node_0]: Camera name: zed_front [zed_wrapper-3] [INFO] [1710488605.470205448] [zed_front.zed_node_0]: Camera SN: 40070159

[zed_wrapper-3] [INFO] [1710488605.470254250] [zed_front.zed_node_0]: Camera reconnection temptatives: 5 [zed_wrapper-3] [INFO] [1710488605.470277867] [zed_front.zed_node_0]: Camera framerate: 30 [zed_wrapper-3] [INFO] [1710488605.470298796] [zed_front.zed_node_0]: GPU ID: -1 [zed_wrapper-3] [INFO] [1710488605.470326573] [zed_front.zed_node_0]: Camera resolution: HD1200 [zed_wrapper-3] [INFO] [1710488605.470363278] [zed_front.zed_node_0]: Publishing resolution: CUSTOM [zed_wrapper-3] [INFO] [1710488605.470398736] [zed_front.zed_node_0]: Publishing downscale factor: 2 [zed_wrapper-3] [INFO] [1710488605.470430609] [zed_front.zed_node_0]: Region of interest: [] [zed_wrapper-3] [INFO] [1710488605.470460818] [zed_front.zed_node_0]: Camera self calibration: TRUE [zed_wrapper-3] [INFO] [1710488605.470483699] [zed_front.zed_node_0]: * Camera flip: FALSE

[zed_wrapper-3] [INFO] [1710488605.470524725] [zed_front.zed_node_0]: VIDEO parameters [zed_wrapper-3] [INFO] [1710488605.470546838] [zed_front.zed_node_0]: [DYN] Saturation: 4 [zed_wrapper-3] [INFO] [1710488605.470568950] [zed_front.zed_node_0]: [DYN] Sharpness: 4 [zed_wrapper-3] [INFO] [1710488605.470588599] [zed_front.zed_node_0]: [DYN] Gamma: 8 [zed_wrapper-3] [INFO] [1710488605.470610360] [zed_front.zed_node_0]: [DYN] Auto Exposure/Gain: TRUE [zed_wrapper-3] [INFO] [1710488605.470632281] [zed_front.zed_node_0]: [DYN] Exposure: 80 [zed_wrapper-3] [INFO] [1710488605.470653274] [zed_front.zed_node_0]: [DYN] Gain: 80 [zed_wrapper-3] [INFO] [1710488605.470676187] [zed_front.zed_node_0]: [DYN] Auto White Balance: TRUE [zed_wrapper-3] [INFO] [1710488605.470697691] [zed_front.zed_node_0]: [DYN] White Balance Temperature: 42 [zed_wrapper-3] [INFO] [1710488605.470718684] [zed_front.zed_node_0]: [DYN] ZED X Exposure time: 16000 [zed_wrapper-3] [INFO] [1710488605.470742813] [zed_front.zed_node_0]: [DYN] ZED X Auto Exp. time range min: 28 [zed_wrapper-3] [INFO] [1710488605.470764574] [zed_front.zed_node_0]: [DYN] ZED X Auto Exp. time range max: 30000 [zed_wrapper-3] [INFO] [1710488605.470785375] [zed_front.zed_node_0]: [DYN] ZED X Exposure comp.: 50 [zed_wrapper-3] [INFO] [1710488605.470809472] [zed_front.zed_node_0]: [DYN] ZED X Analog Gain: 1255 [zed_wrapper-3] [INFO] [1710488605.470910820] [zed_front.zed_node_0]: [DYN] ZED X Auto Analog Gain range min: 1000 [zed_wrapper-3] [INFO] [1710488605.470939557] [zed_front.zed_node_0]: [DYN] ZED X Auto Analog Gain range max: 16000 [zed_wrapper-3] [INFO] [1710488605.470962214] [zed_front.zed_node_0]: [DYN] ZED X Digital Gain: 1 [zed_wrapper-3] [INFO] [1710488605.470982598] [zed_front.zed_node_0]: [DYN] ZED X Auto Digital Gain range min: 1 [zed_wrapper-3] [INFO] [1710488605.471006567] [zed_front.zed_node_0]: [DYN] ZED X Auto Digital Gain range max: 256 [zed_wrapper-3] [INFO] [1710488605.471028616] [zed_front.zed_node_0]: [DYN] ZED X Auto Digital Gain range max: 50 [zed_wrapper-3] [INFO] [1710488605.471053641] [zed_front.zed_node_0]: Video QoS History: KEEP_LAST [zed_wrapper-3] [INFO] [1710488605.471079210] [zed_front.zed_node_0]: Video QoS History depth: 1 [zed_wrapper-3] [INFO] [1710488605.471100619] [zed_front.zed_node_0]: Video QoS Reliability: RELIABLE [zed_wrapper-3] [INFO] [1710488605.471120396] [zed_front.zed_node_0]: * Video QoS Durability: VOLATILE [zed_wrapper-3] [INFO] [1710488605.471138284] [zed_front.zed_node_0]: DEPTH parameters [zed_wrapper-3] [INFO] [1710488605.471173422] [zed_front.zed_node_0]: * Depth mode: ULTRA [3]

[zed_wrapper-3] [INFO] [1710488605.471250801] [zed_front.zed_node_0]: Depth Stabilization: 1 [zed_wrapper-3] [INFO] [1710488605.471277746] [zed_front.zed_node_0]: OpenNI mode (16bit point cloud): FALSE

[zed_wrapper-3] [INFO] [1710488605.471327124] [zed_front.zed_node_0]: [DYN] Depth Confidence: 50 [zed_wrapper-3] [INFO] [1710488605.471365653] [zed_front.zed_node_0]: [DYN] Depth Texture Confidence: 100 [zed_wrapper-3] [INFO] [1710488605.471384758] [zed_front.zed_node_0]: [DYN] Remove saturated areas: TRUE [zed_wrapper-3] [INFO] [1710488605.471405879] [zed_front.zed_node_0]: Depth QoS History: KEEP_LAST [zed_wrapper-3] [INFO] [1710488605.471424247] [zed_front.zed_node_0]: Depth QoS History depth: 1 [zed_wrapper-3] [INFO] [1710488605.471441464] [zed_front.zed_node_0]: Depth QoS Reliability: RELIABLE [zed_wrapper-3] [INFO] [1710488605.471464953] [zed_front.zed_node_0]: * Depth QoS Durability: VOLATILE [zed_wrapper-3] [INFO] [1710488605.471479578] [zed_front.zed_node_0]: GNSS FUSION parameters [zed_wrapper-3] [INFO] [1710488605.471503035] [zed_front.zed_node_0]: * GNSS fusion enabled: FALSE [zed_wrapper-3] [INFO] [1710488605.471517691] [zed_front.zed_node_0]: POSITIONAL TRACKING parameters [zed_wrapper-3] [INFO] [1710488605.471542492] [zed_front.zed_node_0]: Positional tracking enabled: TRUE [zed_wrapper-3] [INFO] [1710488605.471570621] [zed_front.zed_node_0]: Positional tracking mode: POSITIONAL TRACKING MODE STANDARD [zed_wrapper-3] [INFO] [1710488605.471597886] [zed_front.zed_node_0]: Map frame id: map [zed_wrapper-3] [INFO] [1710488605.471622879] [zed_front.zed_node_0]: Odometry frame id: odom [zed_wrapper-3] [INFO] [1710488605.471644416] [zed_front.zed_node_0]: Broadcast Odometry TF: TRUE [zed_wrapper-3] [INFO] [1710488605.471664417] [zed_front.zed_node_0]: Broadcast Pose TF: TRUE [zed_wrapper-3] [INFO] [1710488605.471691266] [zed_front.zed_node_0]: [DYN] Depth minimum range: 0 [zed_wrapper-3] [INFO] [1710488605.471714211] [zed_front.zed_node_0]: [DYN] TF timestamp offset: 0 [zed_wrapper-3] [INFO] [1710488605.471735395] [zed_front.zed_node_0]: [DYN] Path publishing rate: 2 [zed_wrapper-3] [INFO] [1710488605.471758884] [zed_front.zed_node_0]: Path history lenght: -1 [zed_wrapper-3] [INFO] [1710488605.471786725] [zed_front.zed_node_0]: Initial pose: [0,0,0,0,0,0,] [zed_wrapper-3] [INFO] [1710488605.471816519] [zed_front.zed_node_0]: Area Memory: TRUE [zed_wrapper-3] [INFO] [1710488605.471841832] [zed_front.zed_node_0]: Area Memory DB: [zed_wrapper-3] [INFO] [1710488605.471863944] [zed_front.zed_node_0]: Camera is static: FALSE

[zed_wrapper-3] [INFO] [1710488605.471937387] [zed_front.zed_node_0]: Floor Alignment: FALSE [zed_wrapper-3] [INFO] [1710488605.471962156] [zed_front.zed_node_0]: Init Odometry with first valid pose data: TRUE [zed_wrapper-3] [INFO] [1710488605.471983149] [zed_front.zed_node_0]: 2D mode: FALSE [zed_wrapper-3] [INFO] [1710488605.472001518] [zed_front.zed_node_0]: Pose/Odometry QoS History: KEEP_LAST [zed_wrapper-3] [INFO] [1710488605.472060560] [zed_front.zed_node_0]: Pose/Odometry QoS History depth: 1 [zed_wrapper-3] [INFO] [1710488605.472085105] [zed_front.zed_node_0]: Pose/Odometry QoS Reliability: RELIABLE [zed_wrapper-3] [INFO] [1710488605.472105906] [zed_front.zed_node_0]: * Pose/Odometry QoS Durability: VOLATILE [zed_wrapper-3] [INFO] [1710488605.472121554] [zed_front.zed_node_0]: SENSORS STACK parameters

[zed_wrapper-3] [INFO] [1710488605.472336219] [zed_front.zed_node_0]: Sensors Camera Sync: FALSE [zed_wrapper-3] [INFO] [1710488605.472413950] [zed_front.zed_node_0]: Sensors publishing rate: 200 Hz [zed_wrapper-3] [INFO] [1710488605.472480640] [zed_front.zed_node_0]: Sensors QoS History: KEEP_LAST [zed_wrapper-3] [INFO] [1710488605.472561443] [zed_front.zed_node_0]: Sensors QoS History depth: 1 [zed_wrapper-3] [INFO] [1710488605.472624166] [zed_front.zed_node_0]: Sensors QoS Reliability: RELIABLE [zed_wrapper-3] [INFO] [1710488605.472688712] [zed_front.zed_node_0]: Sensors QoS Durability: VOLATILE [zed_wrapper-3] [INFO] [1710488605.472711177] [zed_front.zed_node_0]: Spatial Mapping parameters [zed_wrapper-3] [INFO] [1710488605.472778220] [zed_front.zed_node_0]: * Spatial Mapping Enabled: FALSE

[zed_wrapper-3] [INFO] [1710488605.473063159] [zed_front.zed_node_0]: Clicked point topic: /clicked_point [zed_wrapper-3] [INFO] [1710488605.473137178] [zed_front.zed_node_0]: Plane Det. Max Dist. Thresh.: 0.15 [zed_wrapper-5] [INFO] [1710488605.470372527] [zed_back.zed_node_1]: * Camera flip: FALSE

[zed_wrapper-5] [INFO] [1710488605.470466898] [zed_back.zed_node_1]: VIDEO parameters [zed_wrapper-5] [INFO] [1710488605.470534229] [zed_back.zed_node_1]: [DYN] Saturation: 4 [zed_wrapper-5] [INFO] [1710488605.470599224] [zed_back.zed_node_1]: [DYN] Sharpness: 4 [zed_wrapper-5] [INFO] [1710488605.470674331] [zed_back.zed_node_1]: [DYN] Gamma: 8 [zed_wrapper-5] [INFO] [1710488605.470748381] [zed_back.zed_node_1]: [DYN] Auto Exposure/Gain: TRUE [zed_wrapper-5] [INFO] [1710488605.470810496] [zed_back.zed_node_1]: [DYN] Exposure: 80 [zed_wrapper-5] [INFO] [1710488605.470877634] [zed_back.zed_node_1]: [DYN] Gain: 80 [zed_wrapper-5] [INFO] [1710488605.470937189] [zed_back.zed_node_1]: [DYN] Auto White Balance: TRUE [zed_wrapper-5] [INFO] [1710488605.471001799] [zed_back.zed_node_1]: [DYN] White Balance Temperature: 42 [zed_wrapper-5] [INFO] [1710488605.471064074] [zed_back.zed_node_1]: [DYN] ZED X Exposure time: 16000 [zed_wrapper-5] [INFO] [1710488605.471129420] [zed_back.zed_node_1]: [DYN] ZED X Auto Exp. time range min: 28 [zed_wrapper-5] [INFO] [1710488605.471190990] [zed_back.zed_node_1]: [DYN] ZED X Auto Exp. time range max: 30000 [zed_wrapper-5] [INFO] [1710488605.471262929] [zed_back.zed_node_1]: [DYN] ZED X Exposure comp.: 50 [zed_wrapper-5] [INFO] [1710488605.471327092] [zed_back.zed_node_1]: [DYN] ZED X Analog Gain: 1255 [zed_wrapper-5] [INFO] [1710488605.471413367] [zed_back.zed_node_1]: [DYN] ZED X Auto Analog Gain range min: 1000 [zed_wrapper-5] [INFO] [1710488605.471577789] [zed_back.zed_node_1]: [DYN] ZED X Auto Analog Gain range max: 16000 [zed_wrapper-5] [INFO] [1710488605.471684450] [zed_back.zed_node_1]: [DYN] ZED X Digital Gain: 1 [zed_wrapper-5] [INFO] [1710488605.472251159] [zed_back.zed_node_1]: [DYN] ZED X Auto Digital Gain range min: 1 [zed_wrapper-5] [INFO] [1710488605.472573604] [zed_back.zed_node_1]: [DYN] ZED X Auto Digital Gain range max: 256 [zed_wrapper-5] [INFO] [1710488605.472972915] [zed_back.zed_node_1]: [DYN] ZED X Auto Digital Gain range max: 50 [zed_wrapper-5] [INFO] [1710488605.473150202] [zed_back.zed_node_1]: Video QoS History: KEEP_LAST [zed_wrapper-3] [INFO] [1710488605.473212253] [zed_front.zed_node_0]: Plane Det. Normals Sim. Thresh.: 15 [zed_wrapper-5] [INFO] [1710488605.473280191] [zed_back.zed_node_1]: Video QoS History depth: 1 [zed_wrapper-5] [INFO] [1710488605.473381859] [zed_back.zed_node_1]: Video QoS Reliability: RELIABLE [zed_wrapper-5] [INFO] [1710488605.473793619] [zed_back.zed_node_1]: Video QoS Durability: VOLATILE [zed_wrapper-5] [INFO] [1710488605.473851861] [zed_back.zed_node_1]: DEPTH parameters [zed_wrapper-5] [INFO] [1710488605.474024508] [zed_back.zed_node_1]: * Depth mode: ULTRA [3]

[zed_wrapper-5] [INFO] [1710488605.474639988] [zed_back.zed_node_1]: Depth Stabilization: 1 [zed_wrapper-5] [INFO] [1710488605.474743896] [zed_back.zed_node_1]: OpenNI mode (16bit point cloud): FALSE

[zed_wrapper-5] [INFO] [1710488605.474967488] [zed_back.zed_node_1]: [DYN] Depth Confidence: 50 [zed_wrapper-5] [INFO] [1710488605.475137703] [zed_back.zed_node_1]: [DYN] Depth Texture Confidence: 100 [zed_wrapper-5] [INFO] [1710488605.475269100] [zed_back.zed_node_1]: [DYN] Remove saturated areas: TRUE [zed_wrapper-5] [INFO] [1710488605.475380656] [zed_back.zed_node_1]: Depth QoS History: KEEP_LAST [zed_wrapper-5] [INFO] [1710488605.475499733] [zed_back.zed_node_1]: Depth QoS History depth: 1 [zed_wrapper-5] [INFO] [1710488605.475613273] [zed_back.zed_node_1]: Depth QoS Reliability: RELIABLE [zed_wrapper-5] [INFO] [1710488605.475720733] [zed_back.zed_node_1]: * Depth QoS Durability: VOLATILE [zed_wrapper-5] [INFO] [1710488605.475747454] [zed_back.zed_node_1]: GNSS FUSION parameters [zed_wrapper-5] [INFO] [1710488605.475849410] [zed_back.zed_node_1]: * GNSS fusion enabled: FALSE [zed_wrapper-5] [INFO] [1710488605.475873891] [zed_back.zed_node_1]: POSITIONAL TRACKING parameters [zed_wrapper-5] [INFO] [1710488605.475978215] [zed_back.zed_node_1]: Positional tracking enabled: TRUE [zed_wrapper-5] [INFO] [1710488605.476127085] [zed_back.zed_node_1]: Positional tracking mode: POSITIONAL TRACKING MODE STANDARD [zed_wrapper-5] [INFO] [1710488605.476266770] [zed_back.zed_node_1]: Map frame id: map [zed_wrapper-5] [INFO] [1710488605.476436665] [zed_back.zed_node_1]: Odometry frame id: odom [zed_wrapper-5] [INFO] [1710488605.476562974] [zed_back.zed_node_1]: Broadcast Odometry TF: FALSE [zed_wrapper-5] [INFO] [1710488605.476586495] [zed_back.zed_node_1]: Broadcast Pose TF: FALSE [zed_wrapper-5] [INFO] [1710488605.476692643] [zed_back.zed_node_1]: [DYN] Depth minimum range: 0 [zed_wrapper-5] [INFO] [1710488605.476803975] [zed_back.zed_node_1]: [DYN] TF timestamp offset: 0 [zed_wrapper-5] [INFO] [1710488605.476919212] [zed_back.zed_node_1]: [DYN] Path publishing rate: 2 [zed_wrapper-5] [INFO] [1710488605.477035664] [zed_back.zed_node_1]: Path history lenght: -1 [zed_wrapper-5] [INFO] [1710488605.477153397] [zed_back.zed_node_1]: Initial pose: [0,0,0,0,0,0,] [zed_wrapper-5] [INFO] [1710488605.477287130] [zed_back.zed_node_1]: Area Memory: TRUE [zed_wrapper-5] [INFO] [1710488605.477410303] [zed_back.zed_node_1]: Area Memory DB: [zed_wrapper-5] [INFO] [1710488605.477525219] [zed_back.zed_node_1]: Camera is static: FALSE

[zed_wrapper-5] [INFO] [1710488605.477842415] [zed_back.zed_node_1]: Floor Alignment: FALSE [zed_wrapper-5] [INFO] [1710488605.477943923] [zed_back.zed_node_1]: Init Odometry with first valid pose data: TRUE [zed_wrapper-5] [INFO] [1710488605.478048855] [zed_back.zed_node_1]: 2D mode: FALSE [zed_wrapper-5] [INFO] [1710488605.478150523] [zed_back.zed_node_1]: Pose/Odometry QoS History: KEEP_LAST [zed_wrapper-5] [INFO] [1710488605.478261152] [zed_back.zed_node_1]: Pose/Odometry QoS History depth: 1 [zed_wrapper-5] [INFO] [1710488605.478423846] [zed_back.zed_node_1]: Pose/Odometry QoS Reliability: RELIABLE [zed_wrapper-5] [INFO] [1710488605.478518281] [zed_back.zed_node_1]: * Pose/Odometry QoS Durability: VOLATILE [zed_wrapper-5] [INFO] [1710488605.478542090] [zed_back.zed_node_1]: SENSORS STACK parameters

[zed_wrapper-5] [INFO] [1710488605.479054782] [zed_back.zed_node_1]: Sensors Camera Sync: FALSE [zed_wrapper-5] [INFO] [1710488605.479236901] [zed_back.zed_node_1]: Sensors publishing rate: 200 Hz [zed_wrapper-5] [INFO] [1710488605.479489071] [zed_back.zed_node_1]: Sensors QoS History: KEEP_LAST [zed_wrapper-5] [INFO] [1710488605.479757913] [zed_back.zed_node_1]: Sensors QoS History depth: 1 [zed_wrapper-5] [INFO] [1710488605.480003427] [zed_back.zed_node_1]: Sensors QoS Reliability: RELIABLE [zed_wrapper-5] [INFO] [1710488605.480270861] [zed_back.zed_node_1]: Sensors QoS Durability: VOLATILE [zed_wrapper-5] [INFO] [1710488605.480302606] [zed_back.zed_node_1]: Spatial Mapping parameters [zed_wrapper-5] [INFO] [1710488605.480552568] [zed_back.zed_node_1]: * Spatial Mapping Enabled: FALSE

[zed_wrapper-5] [INFO] [1710488605.481619105] [zed_back.zed_node_1]: Clicked point topic: /clicked_point [zed_wrapper-5] [INFO] [1710488605.481838314] [zed_back.zed_node_1]: Plane Det. Max Dist. Thresh.: 0.15 [zed_wrapper-5] [INFO] [1710488605.482192119] [zed_back.zed_node_1]: Plane Det. Normals Sim. Thresh.: 15 [zed_wrapper-5] [INFO] [1710488605.482618184] [zed_back.zed_node_1]: Sensors QoS History: KEEP_LAST [zed_wrapper-5] [INFO] [1710488605.482933716] [zed_back.zed_node_1]: Sensors QoS History depth: 1 [zed_wrapper-5] [INFO] [1710488605.483290274] [zed_back.zed_node_1]: Sensors QoS Reliability: RELIABLE [zed_wrapper-5] [INFO] [1710488605.483519147] [zed_back.zed_node_1]: * Sensors QoS Durability: VOLATILE [zed_wrapper-5] [INFO] [1710488605.483554828] [zed_back.zed_node_1]: Object Det. parameters [zed_wrapper-5] [INFO] [1710488605.483884409] [zed_back.zed_node_1]: Object Det. enabled: FALSE [zed_wrapper-5] [INFO] [1710488605.484304265] [zed_back.zed_node_1]: Object Det. model: MULTI CLASS BOX MEDIUM [zed_wrapper-5] [INFO] [1710488605.484525265] [zed_back.zed_node_1]: * Object Det. allow reduced precision: TRUE

[zed_wrapper-3] [INFO] [1710488605.478788756] [zed_front.zed_node_0]: Sensors QoS History: KEEP_LAST [zed_wrapper-3] [INFO] [1710488605.478970779] [zed_front.zed_node_0]: Sensors QoS History depth: 1 [zed_wrapper-3] [INFO] [1710488605.479612404] [zed_front.zed_node_0]: Sensors QoS Reliability: RELIABLE [zed_wrapper-3] [INFO] [1710488605.479833564] [zed_front.zed_node_0]: Sensors QoS Durability: VOLATILE [zed_wrapper-3] [INFO] [1710488605.479876958] [zed_front.zed_node_0]: Object Det. parameters [zed_wrapper-3] [INFO] [1710488605.480080070] [zed_front.zed_node_0]: Object Det. enabled: FALSE [zed_wrapper-3] [INFO] [1710488605.480318223] [zed_front.zed_node_0]: Object Det. model: MULTI CLASS BOX MEDIUM [zed_wrapper-3] [INFO] [1710488605.480501206] [zed_front.zed_node_0]: * Object Det. allow reduced precision: TRUE

[zed_wrapper-3] [INFO] [1710488605.480920550] [zed_front.zed_node_0]: * Object Det. min. confidence: 50

[zed_wrapper-3] [INFO] [1710488605.481370168] [zed_front.zed_node_0]: Object Det. tracking: TRUE [zed_wrapper-3] [INFO] [1710488605.481642338] [zed_front.zed_node_0]: Object Filtering mode: 1 - NMS 3D [zed_wrapper-3] [INFO] [1710488605.481870571] [zed_front.zed_node_0]: MultiClassBox people: TRUE [zed_wrapper-3] [INFO] [1710488605.482122645] [zed_front.zed_node_0]: MultiClassBox vehicles: TRUE [zed_wrapper-3] [INFO] [1710488605.482357918] [zed_front.zed_node_0]: MultiClassBox bags: TRUE [zed_wrapper-3] [INFO] [1710488605.482572806] [zed_front.zed_node_0]: MultiClassBox animals: TRUE [zed_wrapper-3] [INFO] [1710488605.482741453] [zed_front.zed_node_0]: MultiClassBox electronics: TRUE [zed_wrapper-3] [INFO] [1710488605.482903827] [zed_front.zed_node_0]: MultiClassBox fruits and vegetables: TRUE [zed_wrapper-3] [INFO] [1710488605.483059001] [zed_front.zed_node_0]: MultiClassBox sport-related objects: TRUE [zed_wrapper-3] [INFO] [1710488605.483265345] [zed_front.zed_node_0]: Obj. Det. QoS History: KEEP_LAST [zed_wrapper-3] [INFO] [1710488605.483434823] [zed_front.zed_node_0]: Obj. Det. QoS History depth: 1 [zed_wrapper-3] [INFO] [1710488605.483650960] [zed_front.zed_node_0]: Obj. Det. QoS Reliability: RELIABLE [zed_wrapper-3] [INFO] [1710488605.483804022] [zed_front.zed_node_0]: * Obj. Det. QoS Durability: VOLATILE [zed_wrapper-3] [INFO] [1710488605.483897593] [zed_front.zed_node_0]: Body Track. parameters [zed_wrapper-3] [INFO] [1710488605.484051519] [zed_front.zed_node_0]: Body Track. enabled: FALSE [zed_wrapper-3] [INFO] [1710488605.484274504] [zed_front.zed_node_0]: Body Track. model: HUMAN BODY MEDIUM [zed_wrapper-3] [INFO] [1710488605.484571699] [zed_front.zed_node_0]: Body Track. format: BODY_38 [zed_wrapper-3] [INFO] [1710488605.484777595] [zed_front.zed_node_0]: Body Track. allow reduced precision: TRUE

[zed_wrapper-3] [INFO] [1710488605.485219148] [zed_front.zed_node_0]: Body Track. KP selection: FULL [zed_wrapper-5] [INFO] [1710488605.485296015] [zed_back.zed_node_1]: Object Det. min. confidence: 50

[zed_wrapper-3] [INFO] [1710488605.485451829] [zed_front.zed_node_0]: Body fitting: FALSE [zed_wrapper-3] [INFO] [1710488605.485653021] [zed_front.zed_node_0]: Body joints tracking: TRUE

[zed_wrapper-3] [INFO] [1710488605.486050476] [zed_front.zed_node_0]: Body Track. confidence thresh.: 50 [zed_wrapper-3] [INFO] [1710488605.486239604] [zed_front.zed_node_0]: Body Track. min. KP thresh.: 5 [zed_wrapper-3] [INFO] [1710488605.486407162] [zed_front.zed_node_0]: Body Track. QoS History: KEEP_LAST [zed_wrapper-3] [INFO] [1710488605.486568000] [zed_front.zed_node_0]: Body Track. QoS History depth: 1 [zed_wrapper-3] [INFO] [1710488605.486745895] [zed_front.zed_node_0]: Body Track. QoS Reliability: RELIABLE [zed_wrapper-5] [INFO] [1710488605.485899494] [zed_back.zed_node_1]: Object Det. tracking: TRUE [zed_wrapper-5] [INFO] [1710488605.486325591] [zed_back.zed_node_1]: Object Filtering mode: 1 - NMS 3D [zed_wrapper-5] [INFO] [1710488605.486844395] [zed_back.zed_node_1]: MultiClassBox people: TRUE [zed_wrapper-3] [INFO] [1710488605.486919886] [zed_front.zed_node_0]: * Body Track. QoS Durability: VOLATILE [zed_wrapper-3] [INFO] [1710488605.486950799] [zed_front.zed_node_0]: Advanced parameters [zed_wrapper-3] [INFO] [1710488605.487100597] [zed_front.zed_node_0]: Thread sched. policy: SCHED_BATCH [zed_wrapper-5] [INFO] [1710488605.487141174] [zed_back.zed_node_1]: MultiClassBox vehicles: TRUE [zed_wrapper-3] [INFO] [1710488605.487235578] [zed_front.zed_node_0]: SERVICES [zed_wrapper-5] [INFO] [1710488605.487446050] [zed_back.zed_node_1]: MultiClassBox bags: TRUE [zed_wrapper-5] [INFO] [1710488605.487681867] [zed_back.zed_node_1]: MultiClassBox animals: TRUE [zed_wrapper-5] [INFO] [1710488605.487902036] [zed_back.zed_node_1]: MultiClassBox electronics: TRUE [zed_wrapper-5] [INFO] [1710488605.488251713] [zed_back.zed_node_1]: MultiClassBox fruits and vegetables: TRUE [zed_wrapper-5] [INFO] [1710488605.488603119] [zed_back.zed_node_1]: * MultiClassBox sport-related objects: TRUE

[zed_wrapper-5] [INFO] [1710488605.489439983] [zed_back.zed_node_1]: Obj. Det. QoS History: KEEP_LAST [zed_wrapper-5] [INFO] [1710488605.489851519] [zed_back.zed_node_1]: Obj. Det. QoS History depth: 1 [zed_wrapper-5] [INFO] [1710488605.490130666] [zed_back.zed_node_1]: Obj. Det. QoS Reliability: RELIABLE [zed_wrapper-5] [INFO] [1710488605.490573659] [zed_back.zed_node_1]: Obj. Det. QoS Durability: VOLATILE [zed_wrapper-5] [INFO] [1710488605.490612861] [zed_back.zed_node_1]: Body Track. parameters [zed_wrapper-5] [INFO] [1710488605.491144721] [zed_back.zed_node_1]: Body Track. enabled: FALSE [zed_wrapper-5] [INFO] [1710488605.491820939] [zed_back.zed_node_1]: Body Track. model: HUMAN BODY MEDIUM

[zed_wrapper-5] [INFO] [1710488605.492174425] [zed_back.zed_node_1]: Body Track. format: BODY_38 [zed_wrapper-5] [INFO] [1710488605.493275395] [zed_back.zed_node_1]: Body Track. allow reduced precision: TRUE

[zed_wrapper-5] [INFO] [1710488605.493891483] [zed_back.zed_node_1]: * Body Track. KP selection: FULL

[zed_wrapper-5] [INFO] [1710488605.494382798] [zed_back.zed_node_1]: * Body fitting: FALSE

[zed_wrapper-5] [INFO] [1710488605.494658809] [zed_back.zed_node_1]: * Body joints tracking: TRUE

[zed_wrapper-5] [INFO] [1710488605.495136907] [zed_back.zed_node_1]: Body Track. confidence thresh.: 50 [zed_wrapper-5] [INFO] [1710488605.495414230] [zed_back.zed_node_1]: Body Track. min. KP thresh.: 5 [zed_wrapper-5] [INFO] [1710488605.495732418] [zed_back.zed_node_1]: Body Track. QoS History: KEEP_LAST [zed_wrapper-5] [INFO] [1710488605.495947755] [zed_back.zed_node_1]: Body Track. QoS History depth: 1

[zed_wrapper-5] [INFO] [1710488605.496384507] [zed_back.zed_node_1]: Body Track. QoS Reliability: RELIABLE [zed_wrapper-5] [INFO] [1710488605.496627685] [zed_back.zed_node_1]: Body Track. QoS Durability: VOLATILE [zed_wrapper-5] [INFO] [1710488605.496664646] [zed_back.zed_node_1]: Advanced parameters [zed_wrapper-5] [INFO] [1710488605.497018100] [zed_back.zed_node_1]: * Thread sched. policy: SCHED_BATCH [zed_wrapper-5] [INFO] [1710488605.497210267] [zed_back.zed_node_1]: SERVICES

[zed_wrapper-3] [INFO] [1710488605.499770046] [zed_front.zed_node_0]: STARTING CAMERA [zed_wrapper-3] [INFO] [1710488605.499821920] [zed_front.zed_node_0]: ZED SDK Version: 4.0.8 - Build 80393_b12da209

[zed_wrapper-5] [INFO] [1710488605.506043984] [zed_back.zed_node_1]: STARTING CAMERA [zed_wrapper-5] [INFO] [1710488605.506060337] [zed_back.zed_node_1]: ZED SDK Version: 4.0.8 - Build 80393_b12da209 [zed_wrapper-3] [INFO] [1710488605.511877842] [zed_front.zed_node_0]: CAMERA OPENING [zed_wrapper-5] [INFO] [1710488605.514326576] [zed_back.zed_node_1]: CAMERA OPENING [zed_wrapper-3] [2024-03-15 07:43:26 UTC][ZED][INFO] Logging level INFO [zed_wrapper-3] [2024-03-15 07:43:26 UTC][ZED][INFO] [Init] Depth mode: ULTRA [zed_wrapper-5] [2024-03-15 07:43:27 UTC][ZED][INFO] Logging level INFO [zed_wrapper-3] [ZED-X][Warning] Failed to verify the match between the L4T version of the host and the container. If you are indeed in a container, be sure to run the same L4T version on both. [zed_wrapper-3] [2024-03-15 07:43:27 UTC][ZED][ERROR] [ZED] Cannot initialize the camera. Try another resolution [zed_wrapper-3] [WARN] [1710488607.174609990] [zed_front.zed_node_0]: Error opening camera: CAMERA FAILED TO SETUP [zed_wrapper-3] [INFO] [1710488607.174757260] [zed_front.zed_node_0]: Please verify the camera connection [zed_wrapper-3] [2024-03-15 07:43:27 UTC][ZED][WARNING] CAMERA FAILED TO SETUP in sl::ERROR_CODE sl::Camera::open(sl::InitParameters) [zed_wrapper-5] [2024-03-15 07:43:27 UTC][ZED][INFO] [Init] Depth mode: ULTRA [zed_wrapper-5] [ZED-X][Warning] Failed to connect to zed_x_daemon. [zed_wrapper-5] [ZED-X][Warning] Failed to verify the match between the L4T version of the host and the container. If you are indeed in a container, be sure to run the same L4T version on both. [zed_wrapper-3] [2024-03-15 07:43:32 UTC][ZED][INFO] Logging level INFO [zed_wrapper-3] [2024-03-15 07:43:32 UTC][ZED][ERROR] [ZED] sl::Camera::Open has not been called, no Camera instance running. [zed_wrapper-3] [2024-03-15 07:43:32 UTC][ZED][ERROR] [ZED] sl::Camera::Open has not been called, no Camera instance running. [zed_wrapper-5] [2024-03-15 07:43:32 UTC][ZED][INFO] [Init] Camera FW version: 2001 [zed_wrapper-5] [2024-03-15 07:43:32 UTC][ZED][INFO] [Init] Video mode: HD1200@30 [zed_wrapper-5] [2024-03-15 07:43:32 UTC][ZED][INFO] [Init] Serial Number: S/N 42786307 [zed_wrapper-5] [2024-03-15 07:43:32 UTC][ZED][INFO] [Init] No calibration file found for SN 42786307. Downloading... [zed_wrapper-3] [2024-03-15 07:43:33 UTC][ZED][INFO] [Init] Depth mode: ULTRA [zed_wrapper-5] [2024-03-15 07:43:34 UTC][ZED][INFO] [Init] Calibration file downloaded. [zed_wrapper-5] [INFO] [1710488618.266322882] [zed_back.zed_node_1]: ZED SDK running on GPU #0 [zed_wrapper-5] [INFO] [1710488618.266469800] [zed_back.zed_node_1]: Camera Model -> ZED X [zed_wrapper-5] [INFO] [1710488618.266491240] [zed_back.zed_node_1]: Serial Number -> 42786307 [zed_wrapper-5] [INFO] [1710488618.266516937] [zed_back.zed_node_1]: Focal Lenght -> 2.20385 mm [zed_wrapper-5] [INFO] [1710488618.266549227] [zed_back.zed_node_1]: Input -> GMSL input type [zed_wrapper-5] [INFO] [1710488618.266569131] [zed_back.zed_node_1]: Camera FW Version -> 2001 [zed_wrapper-5] [INFO] [1710488618.266582892] [zed_back.zed_node_1]: Sensors FW Version -> 1000 [zed_wrapper-5] [INFO] [1710488618.266600653] [zed_back.zed_node_1]: Camera grab frame size -> 1920x1200 [zed_wrapper-5] [INFO] [1710488618.266613357] [zed_back.zed_node_1]: Publishing frame size -> 960x600 [zed_wrapper-5] [INFO] [1710488618.266650222] [zed_back.zed_node_1]: TF FRAMES [zed_wrapper-5] [INFO] [1710488618.266667855] [zed_back.zed_node_1]: Map -> map [zed_wrapper-5] [INFO] [1710488618.266679888] [zed_back.zed_node_1]: Odometry -> odom [zed_wrapper-5] [INFO] [1710488618.266691024] [zed_back.zed_node_1]: Base -> zed_back_camera_link [zed_wrapper-5] [INFO] [1710488618.266702257] [zed_back.zed_node_1]: Camera -> zed_back_camera_center [zed_wrapper-5] [INFO] [1710488618.266712561] [zed_back.zed_node_1]: Left -> zed_back_left_camera_frame [zed_wrapper-5] [INFO] [1710488618.266722833] [zed_back.zed_node_1]: Left Optical -> zed_back_left_camera_optical_frame [zed_wrapper-5] [INFO] [1710488618.266733266] [zed_back.zed_node_1]: RGB -> zed_back_left_camera_frame [zed_wrapper-5] [INFO] [1710488618.266744050] [zed_back.zed_node_1]: RGB Optical -> zed_back_left_camera_frame [zed_wrapper-5] [INFO] [1710488618.266754483] [zed_back.zed_node_1]: Right -> zed_back_right_camera_frame [zed_wrapper-5] [INFO] [1710488618.266828277] [zed_back.zed_node_1]: Right Optical -> zed_back_right_camera_optical_frame [zed_wrapper-5] [INFO] [1710488618.266844214] [zed_back.zed_node_1]: Depth -> zed_back_left_camera_frame [zed_wrapper-5] [INFO] [1710488618.266854838] [zed_back.zed_node_1]: Depth Optical -> zed_back_left_camera_optical_frame [zed_wrapper-5] [INFO] [1710488618.266864887] [zed_back.zed_node_1]: Point Cloud -> zed_back_left_camera_optical_frame [zed_wrapper-5] [INFO] [1710488618.266874711] [zed_back.zed_node_1]: Disparity -> zed_back_left_camera_frame [zed_wrapper-5] [INFO] [1710488618.266884376] [zed_back.zed_node_1]: Disparity Optical -> zed_back_left_camera_optical_frame [zed_wrapper-5] [INFO] [1710488618.266894968] [zed_back.zed_node_1]: Confidence -> zed_back_left_camera_frame [zed_wrapper-5] [INFO] [1710488618.266905592] [zed_back.zed_node_1]: Confidence Optical -> zed_back_left_camera_optical_frame [zed_wrapper-5] [INFO] [1710488618.266915929] [zed_back.zed_node_1]: IMU -> zed_back_imu_link [zed_wrapper-5] [INFO] [1710488618.266976731] [zed_back.zed_node_1]: PUBLISHED TOPICS [zed_wrapper-5] [INFO] [1710488618.296006044] [zed_back.zed_node_1]: Advertised on topic: /zed_back/zed_node_1/rgb/image_rect_color [zed_wrapper-5] [INFO] [1710488618.296088735] [zed_back.zed_node_1]: Advertised on topic: /zed_back/zed_node_1/rgb/camera_info [zed_wrapper-5] [INFO] [1710488618.303128399] [zed_back.zed_node_1]: Advertised on topic: /zed_back/zed_node_1/rgb_gray/image_rect_gray [zed_wrapper-5] [INFO] [1710488618.303210162] [zed_back.zed_node_1]: Advertised on topic: /zed_back/zed_node_1/rgb_gray/camera_info [zed_wrapper-5] [INFO] [1710488618.307880679] [zed_back.zed_node_1]: Advertised on topic: /zed_back/zed_node_1/rgb_raw/image_raw_color [zed_wrapper-5] [INFO] [1710488618.308049709] [zed_back.zed_node_1]: Advertised on topic: /zed_back/zed_node_1/rgb_raw/camera_info [zed_wrapper-5] [INFO] [1710488618.311060386] [zed_back.zed_node_1]: Advertised on topic: /zed_back/zed_node_1/rgb_raw_gray/image_raw_gray [zed_wrapper-5] [INFO] [1710488618.311166822] [zed_back.zed_node_1]: Advertised on topic: /zed_back/zed_node_1/rgb_raw_gray/camera_info [zed_wrapper-5] [INFO] [1710488618.315437291] [zed_back.zed_node_1]: Advertised on topic: /zed_back/zed_node_1/left/image_rect_color [zed_wrapper-5] [INFO] [1710488618.315526830] [zed_back.zed_node_1]: Advertised on topic: /zed_back/zed_node_1/left/camera_info [zed_wrapper-5] [INFO] [1710488618.319270719] [zed_back.zed_node_1]: Advertised on topic: /zed_back/zed_node_1/left_gray/image_rect_gray [zed_wrapper-5] [INFO] [1710488618.319358146] [zed_back.zed_node_1]: Advertised on topic: /zed_back/zed_node_1/left_gray/camera_info [zed_wrapper-5] [INFO] [1710488618.322009640] [zed_back.zed_node_1]: Advertised on topic: /zed_back/zed_node_1/left_raw/image_raw_color [zed_wrapper-5] [INFO] [1710488618.322072235] [zed_back.zed_node_1]: Advertised on topic: /zed_back/zed_node_1/left_raw/camera_info [zed_wrapper-5] [INFO] [1710488618.326625339] [zed_back.zed_node_1]: Advertised on topic: /zed_back/zed_node_1/left_raw_gray/image_raw_gray [zed_wrapper-5] [INFO] [1710488618.326699870] [zed_back.zed_node_1]: Advertised on topic: /zed_back/zed_node_1/left_raw_gray/camera_info [zed_wrapper-5] [INFO] [1710488618.332457788] [zed_back.zed_node_1]: Advertised on topic: /zed_back/zed_node_1/right/image_rect_color [zed_wrapper-5] [INFO] [1710488618.332535167] [zed_back.zed_node_1]: Advertised on topic: /zed_back/zed_node_1/right/camera_info [zed_wrapper-5] [INFO] [1710488618.338054804] [zed_back.zed_node_1]: Advertised on topic: /zed_back/zed_node_1/right_gray/image_rect_gray [zed_wrapper-5] [INFO] [1710488618.338155928] [zed_back.zed_node_1]: Advertised on topic: /zed_back/zed_node_1/right_gray/camera_info [zed_wrapper-5] [INFO] [1710488618.342717288] [zed_back.zed_node_1]: Advertised on topic: /zed_back/zed_node_1/right_raw/image_raw_color [zed_wrapper-5] [INFO] [1710488618.342791851] [zed_back.zed_node_1]: Advertised on topic: /zed_back/zed_node_1/right_raw/camera_info [zed_wrapper-5] [INFO] [1710488618.345783807] [zed_back.zed_node_1]: Advertised on topic: /zed_back/zed_node_1/right_raw_gray/image_raw_gray [zed_wrapper-5] [INFO] [1710488618.345985734] [zed_back.zed_node_1]: Advertised on topic: /zed_back/zed_node_1/right_raw_gray/camera_info [zed_wrapper-5] [INFO] [1710488618.348877046] [zed_back.zed_node_1]: Advertised on topic: /zed_back/zed_node_1/depth/depth_registered [zed_wrapper-5] [INFO] [1710488618.349011867] [zed_back.zed_node_1]: Advertised on topic: /zed_back/zed_node_1/depth/camera_info [zed_wrapper-5] [INFO] [1710488618.349529519] [zed_back.zed_node_1]: Advertised on topic: /zed_back/zed_node_1/depth/depth_info [zed_wrapper-5] [INFO] [1710488618.351904875] [zed_back.zed_node_1]: Advertised on topic: /zed_back/zed_node_1/stereo/image_rect_color [zed_wrapper-5] [INFO] [1710488618.355048356] [zed_back.zed_node_1]: Advertised on topic: /zed_back/zed_node_1/stereo_raw/image_raw_color [zed_wrapper-5] [INFO] [1710488618.355804898] [zed_back.zed_node_1]: Advertised on topic: /zed_back/zed_node_1/confidence/confidence_map [zed_wrapper-5] [INFO] [1710488618.357103284] [zed_back.zed_node_1]: Advertised on topic: /zed_back/zed_node_1/disparity/disparity_image [zed_wrapper-5] [INFO] [1710488618.357733836] [zed_back.zed_node_1]: Advertised on topic: /zed_back/zed_node_1/point_cloud/cloud_registered [zed_wrapper-5] [INFO] [1710488618.358396678] [zed_back.zed_node_1]: Advertised on topic: /zed_back/zed_node_1/pose [zed_wrapper-5] [INFO] [1710488618.359030686] [zed_back.zed_node_1]: Advertised on topic: /zed_back/zed_node_1/pose/status [zed_wrapper-5] [INFO] [1710488618.359759962] [zed_back.zed_node_1]: Advertised on topic: /zed_back/zed_node_1/pose_with_covariance [zed_wrapper-5] [INFO] [1710488618.361079053] [zed_back.zed_node_1]: Advertised on topic: /zed_back/zed_node_1/odom [zed_wrapper-5] [INFO] [1710488618.361463356] [zed_back.zed_node_1]: Advertised on topic: /zed_back/zed_node_1/odom/status [zed_wrapper-5] [INFO] [1710488618.361841547] [zed_back.zed_node_1]: Advertised on topic: /zed_back/zed_node_1/path_map [zed_wrapper-5] [INFO] [1710488618.362277499] [zed_back.zed_node_1]: Advertised on topic: /zed_back/zed_node_1/path_odom [zed_wrapper-5] [INFO] [1710488618.364520946] [zed_back.zed_node_1]: Advertised on topic: /zed_back/plane_marker [zed_wrapper-5] [INFO] [1710488618.365615868] [zed_back.zed_node_1]: Advertised on topic: /zed_back/plane [zed_wrapper-5] [INFO] [1710488618.366418875] [zed_back.zed_node_1]: Advertised on topic: /zed_back/zed_node_1/imu/data [zed_wrapper-5] [INFO] [1710488618.367059444] [zed_back.zed_node_1]: Advertised on topic: /zed_back/zed_node_1/imu/data_raw [zed_wrapper-5] [INFO] [1710488618.367780272] [zed_back.zed_node_1]: Advertised on topic: /zed_back/zed_node_1/temperature/imu [zed_wrapper-5] [INFO] [1710488618.368538253] [zed_back.zed_node_1]: Advertised on topic: /zed_back/zed_node_1/left_cam_imu_transform [zed_wrapper-5] [INFO] [1710488618.368619856] [zed_back.zed_node_1]: Camera-IMU Translation: [zed_wrapper-5] 0 -0.035649 -0.000147 [zed_wrapper-5] [INFO] [1710488618.368687891] [zed_back.zed_node_1]: Camera-IMU Rotation: [zed_wrapper-5] FFFFD6077C00 [zed_wrapper-5] 1.000000 0.000000 -0.000000 [zed_wrapper-5] -0.000000 0.999994 -0.003383 [zed_wrapper-5] 0.000000 0.003383 0.999994 [zed_wrapper-5] [zed_wrapper-5] [INFO] [1710488618.368715892] [zed_back.zed_node_1]: Subscribers [zed_wrapper-5] [INFO] [1710488618.369740604] [zed_back.zed_node_1]: * Plane detection: '/clicked_point' [zed_wrapper-3] [2024-03-15 07:43:38 UTC][ZED][INFO] [Init] Camera FW version: 2001 [zed_wrapper-3] [2024-03-15 07:43:38 UTC][ZED][INFO] [Init] Video mode: HD1200@30 [zed_wrapper-3] [2024-03-15 07:43:38 UTC][ZED][INFO] [Init] Serial Number: S/N 40070159 [zed_wrapper-5] [INFO] [1710488619.127039706] [zed_back.zed_node_1]: Starting Positional Tracking [zed_wrapper-5] [INFO] [1710488619.127186815] [zed_back.zed_node_1]: Waiting for valid static transformations... [zed_wrapper-5] [INFO] [1710488619.127343141] [zed_back.zed_node_1]: Static transform Sensor to Base [zed_back_left_camera_frame -> zed_back_camera_link] [zed_wrapper-5] [INFO] [1710488619.127363974] [zed_back.zed_node_1]: Translation: {0.010,-0.060,-0.016} [zed_wrapper-5] [INFO] [1710488619.127388903] [zed_back.zed_node_1]: Rotation: {0.000,-0.000,0.000} [zed_wrapper-5] [INFO] [1710488619.127436265] [zed_back.zed_node_1]: Static transform Sensor to Camera Center [zed_back_left_camera_frame -> zed_back_camera_center] [zed_wrapper-5] [INFO] [1710488619.127451081] [zed_back.zed_node_1]: Translation: {0.010,-0.060,0.000} [zed_wrapper-5] [INFO] [1710488619.127463274] [zed_back.zed_node_1]: Rotation: {0.000,-0.000,0.000} [zed_wrapper-5] [INFO] [1710488619.127478347] [zed_back.zed_node_1]: Static transform Camera Center to Base [zed_back_camera_center -> zed_back_camera_link] [zed_wrapper-5] [INFO] [1710488619.127493899] [zed_back.zed_node_1]: Translation: {0.000,0.000,-0.016} [zed_wrapper-5] [INFO] [1710488619.127505964] [zed_back.zed_node_1]: Rotation: {0.000,-0.000,0.000} [zed_wrapper-5] [INFO] [1710488619.128589845] [zed_back.zed_node_1]: Initial ZED left camera pose (ZED pos. tracking): [zed_wrapper-5] [INFO] [1710488619.128642776] [zed_back.zed_node_1]: T: [-0.01,0.06,0.016] [zed_wrapper-5] [INFO] [1710488619.128671289] [zed_back.zed_node_1]: Q: [0,0,0,1] [zed_wrapper-5] [WARN] [1710488619.144189168] [zed_back.zed_node_1]: sl::getSensorsData error: CAMERA NOT DETECTED [zed_wrapper-5] [WARN] [1710488619.149445563] [zed_back.zed_node_1]: sl::getSensorsData error: CAMERA NOT DETECTED [zed_wrapper-5] [INFO] [1710488619.294659139] [zed_back.zed_node_1]: Odometry aligned to last tracking pose [zed_wrapper-5] [INFO] [1710488619.294757063] [zed_back.zed_node_1]: Initial odometry [odom -> zed_back_camera_link] - {-0.002,-0.001,0.002} {-2.769,6.684,0.023} [zed_wrapper-3] [INFO] [1710488619.497190448] [zed_front.zed_node_0]: ZED SDK running on GPU #0 [zed_wrapper-3] [INFO] [1710488619.497344406] [zed_front.zed_node_0]: Camera Model -> ZED X [zed_wrapper-3] [INFO] [1710488619.497365015] [zed_front.zed_node_0]: Serial Number -> 40070159 [zed_wrapper-3] [INFO] [1710488619.497391000] [zed_front.zed_node_0]: Focal Lenght -> 2.20636 mm [zed_wrapper-3] [INFO] [1710488619.497419705] [zed_front.zed_node_0]: Input -> GMSL input type [zed_wrapper-3] [INFO] [1710488619.497439066] [zed_front.zed_node_0]: Camera FW Version -> 2001 [zed_wrapper-3] [INFO] [1710488619.497453691] [zed_front.zed_node_0]: Sensors FW Version -> 1000 [zed_wrapper-3] [INFO] [1710488619.497469659] [zed_front.zed_node_0]: Camera grab frame size -> 1920x1200 [zed_wrapper-3] [INFO] [1710488619.497484188] [zed_front.zed_node_0]: Publishing frame size -> 960x600 [zed_wrapper-3] [INFO] [1710488619.497517469] [zed_front.zed_node_0]: TF FRAMES [zed_wrapper-3] [INFO] [1710488619.497534078] [zed_front.zed_node_0]: Map -> map [zed_wrapper-3] [INFO] [1710488619.497545854] [zed_front.zed_node_0]: Odometry -> odom [zed_wrapper-3] [INFO] [1710488619.497556094] [zed_front.zed_node_0]: Base -> zed_front_camera_link [zed_wrapper-3] [INFO] [1710488619.497566719] [zed_front.zed_node_0]: Camera -> zed_front_camera_center [zed_wrapper-3] [INFO] [1710488619.497577247] [zed_front.zed_node_0]: Left -> zed_front_left_camera_frame [zed_wrapper-3] [INFO] [1710488619.497646850] [zed_front.zed_node_0]: Left Optical -> zed_front_left_camera_optical_frame [zed_wrapper-3] [INFO] [1710488619.497662979] [zed_front.zed_node_0]: RGB -> zed_front_left_camera_frame [zed_wrapper-3] [INFO] [1710488619.497674979] [zed_front.zed_node_0]: RGB Optical -> zed_front_left_camera_frame [zed_wrapper-3] [INFO] [1710488619.497685475] [zed_front.zed_node_0]: Right -> zed_front_right_camera_frame [zed_wrapper-3] [INFO] [1710488619.497695460] [zed_front.zed_node_0]: Right Optical -> zed_front_right_camera_optical_frame [zed_wrapper-3] [INFO] [1710488619.497705956] [zed_front.zed_node_0]: Depth -> zed_front_left_camera_frame [zed_wrapper-3] [INFO] [1710488619.497715813] [zed_front.zed_node_0]: Depth Optical -> zed_front_left_camera_optical_frame [zed_wrapper-3] [INFO] [1710488619.497726021] [zed_front.zed_node_0]: Point Cloud -> zed_front_left_camera_optical_frame [zed_wrapper-3] [INFO] [1710488619.497736421] [zed_front.zed_node_0]: Disparity -> zed_front_left_camera_frame [zed_wrapper-3] [INFO] [1710488619.497746758] [zed_front.zed_node_0]: Disparity Optical -> zed_front_left_camera_optical_frame [zed_wrapper-3] [INFO] [1710488619.497756998] [zed_front.zed_node_0]: Confidence -> zed_front_left_camera_frame [zed_wrapper-3] [INFO] [1710488619.497767175] [zed_front.zed_node_0]: Confidence Optical -> zed_front_left_camera_optical_frame [zed_wrapper-3] [INFO] [1710488619.497777447] [zed_front.zed_node_0]: IMU -> zed_front_imu_link [zed_wrapper-3] [INFO] [1710488619.497829033] [zed_front.zed_node_0]: PUBLISHED TOPICS [zed_wrapper-3] [INFO] [1710488619.526146223] [zed_front.zed_node_0]: Advertised on topic: /zed_front/zed_node_0/rgb/image_rect_color [zed_wrapper-3] [INFO] [1710488619.526249075] [zed_front.zed_node_0]: Advertised on topic: /zed_front/zed_node_0/rgb/camera_info [zed_wrapper-3] [INFO] [1710488619.529269351] [zed_front.zed_node_0]: Advertised on topic: /zed_front/zed_node_0/rgb_gray/image_rect_gray [zed_wrapper-3] [INFO] [1710488619.529323529] [zed_front.zed_node_0]: Advertised on topic: /zed_front/zed_node_0/rgb_gray/camera_info [zed_wrapper-3] [INFO] [1710488619.532263355] [zed_front.zed_node_0]: Advertised on topic: /zed_front/zed_node_0/rgb_raw/image_raw_color [zed_wrapper-3] [INFO] [1710488619.532320637] [zed_front.zed_node_0]: Advertised on topic: /zed_front/zed_node_0/rgb_raw/camera_info [zed_wrapper-3] [INFO] [1710488619.537014610] [zed_front.zed_node_0]: Advertised on topic: /zed_front/zed_node_0/rgb_raw_gray/image_raw_gray [zed_wrapper-3] [INFO] [1710488619.537096725] [zed_front.zed_node_0]: Advertised on topic: /zed_front/zed_node_0/rgb_raw_gray/camera_info [zed_wrapper-3] [INFO] [1710488619.540307185] [zed_front.zed_node_0]: Advertised on topic: /zed_front/zed_node_0/left/image_rect_color [zed_wrapper-3] [INFO] [1710488619.540374516] [zed_front.zed_node_0]: Advertised on topic: /zed_front/zed_node_0/left/camera_info [zed_wrapper-3] [INFO] [1710488619.543127294] [zed_front.zed_node_0]: Advertised on topic: /zed_front/zed_node_0/left_gray/image_rect_gray [zed_wrapper-3] [INFO] [1710488619.543183169] [zed_front.zed_node_0]: Advertised on topic: /zed_front/zed_node_0/left_gray/camera_info [zed_wrapper-3] [INFO] [1710488619.546307481] [zed_front.zed_node_0]: Advertised on topic: /zed_front/zed_node_0/left_raw/image_raw_color [zed_wrapper-3] [INFO] [1710488619.546363387] [zed_front.zed_node_0]: Advertised on topic: /zed_front/zed_node_0/left_raw/camera_info [zed_wrapper-3] [INFO] [1710488619.549234058] [zed_front.zed_node_0]: Advertised on topic: /zed_front/zed_node_0/left_raw_gray/image_raw_gray [zed_wrapper-3] [INFO] [1710488619.549299629] [zed_front.zed_node_0]: Advertised on topic: /zed_front/zed_node_0/left_raw_gray/camera_info [zed_wrapper-3] [INFO] [1710488619.553115712] [zed_front.zed_node_0]: Advertised on topic: /zed_front/zed_node_0/right/image_rect_color [zed_wrapper-3] [INFO] [1710488619.553194435] [zed_front.zed_node_0]: Advertised on topic: /zed_front/zed_node_0/right/camera_info [zed_wrapper-3] [INFO] [1710488619.556664937] [zed_front.zed_node_0]: Advertised on topic: /zed_front/zed_node_0/right_gray/image_rect_gray [zed_wrapper-3] [INFO] [1710488619.556768845] [zed_front.zed_node_0]: Advertised on topic: /zed_front/zed_node_0/right_gray/camera_info [zed_wrapper-3] [INFO] [1710488619.560770536] [zed_front.zed_node_0]: Advertised on topic: /zed_front/zed_node_0/right_raw/image_raw_color [zed_wrapper-3] [INFO] [1710488619.560849227] [zed_front.zed_node_0]: Advertised on topic: /zed_front/zed_node_0/right_raw/camera_info [zed_wrapper-3] [INFO] [1710488619.564237134] [zed_front.zed_node_0]: Advertised on topic: /zed_front/zed_node_0/right_raw_gray/image_raw_gray [zed_wrapper-3] [INFO] [1710488619.564307216] [zed_front.zed_node_0]: Advertised on topic: /zed_front/zed_node_0/right_raw_gray/camera_info [zed_wrapper-3] [INFO] [1710488619.567247458] [zed_front.zed_node_0]: Advertised on topic: /zed_front/zed_node_0/depth/depth_registered [zed_wrapper-3] [INFO] [1710488619.567327461] [zed_front.zed_node_0]: Advertised on topic: /zed_front/zed_node_0/depth/camera_info [zed_wrapper-3] [INFO] [1710488619.568032640] [zed_front.zed_node_0]: Advertised on topic: /zed_front/zed_node_0/depth/depth_info [zed_wrapper-3] [INFO] [1710488619.571651788] [zed_front.zed_node_0]: Advertised on topic: /zed_front/zed_node_0/stereo/image_rect_color [zed_wrapper-3] [INFO] [1710488619.575922001] [zed_front.zed_node_0]: Advertised on topic: /zed_front/zed_node_0/stereo_raw/image_raw_color [zed_wrapper-3] [INFO] [1710488619.576508552] [zed_front.zed_node_0]: Advertised on topic: /zed_front/zed_node_0/confidence/confidence_map [zed_wrapper-3] [INFO] [1710488619.577607634] [zed_front.zed_node_0]: Advertised on topic: /zed_front/zed_node_0/disparity/disparity_image [zed_wrapper-3] [INFO] [1710488619.578354383] [zed_front.zed_node_0]: Advertised on topic: /zed_front/zed_node_0/point_cloud/cloud_registered [zed_wrapper-3] [INFO] [1710488619.579211024] [zed_front.zed_node_0]: Advertised on topic: /zed_front/zed_node_0/pose [zed_wrapper-3] [INFO] [1710488619.579863305] [zed_front.zed_node_0]: Advertised on topic: /zed_front/zed_node_0/pose/status [zed_wrapper-3] [INFO] [1710488619.580500066] [zed_front.zed_node_0]: Advertised on topic: /zed_front/zed_node_0/pose_with_covariance [zed_wrapper-3] [INFO] [1710488619.581701360] [zed_front.zed_node_0]: Advertised on topic: /zed_front/zed_node_0/odom [zed_wrapper-3] [INFO] [1710488619.582270662] [zed_front.zed_node_0]: Advertised on topic: /zed_front/zed_node_0/odom/status [zed_wrapper-3] [INFO] [1710488619.582950720] [zed_front.zed_node_0]: Advertised on topic: /zed_front/zed_node_0/path_map [zed_wrapper-3] [INFO] [1710488619.583589849] [zed_front.zed_node_0]: Advertised on topic: /zed_front/zed_node_0/path_odom [zed_wrapper-3] [INFO] [1710488619.585647080] [zed_front.zed_node_0]: Advertised on topic: /zed_front/plane_marker [zed_wrapper-3] [INFO] [1710488619.586293569] [zed_front.zed_node_0]: Advertised on topic: /zed_front/plane [zed_wrapper-3] [INFO] [1710488619.586905113] [zed_front.zed_node_0]: Advertised on topic: /zed_front/zed_node_0/imu/data [zed_wrapper-3] [INFO] [1710488619.587296104] [zed_front.zed_node_0]: Advertised on topic: /zed_front/zed_node_0/imu/data_raw [zed_wrapper-3] [INFO] [1710488619.587708760] [zed_front.zed_node_0]: Advertised on topic: /zed_front/zed_node_0/temperature/imu [zed_wrapper-3] [INFO] [1710488619.588124136] [zed_front.zed_node_0]: Advertised on topic: /zed_front/zed_node_0/left_cam_imu_transform [zed_wrapper-3] [INFO] [1710488619.588191595] [zed_front.zed_node_0]: Camera-IMU Translation: [zed_wrapper-3] 0 -0.035649 -0.000147 [zed_wrapper-3] [INFO] [1710488619.588266286] [zed_front.zed_node_0]: Camera-IMU Rotation: [zed_wrapper-3] FFFFF5747660 [zed_wrapper-3] 0.999995 -0.000902 0.003168 [zed_wrapper-3] 0.000925 0.999974 -0.007216 [zed_wrapper-3] -0.003161 0.007219 0.999969 [zed_wrapper-3] [zed_wrapper-3] [INFO] [1710488619.588297647] [zed_front.zed_node_0]: Subscribers [zed_wrapper-3] [INFO] [1710488619.588999946] [zed_front.zed_node_0]: * Plane detection: '/clicked_point' [zed_wrapper-3] [INFO] [1710488619.624750543] [zed_front.zed_node_0]: Starting Positional Tracking [zed_wrapper-3] [INFO] [1710488619.624898036] [zed_front.zed_node_0]: Waiting for valid static transformations... [zed_wrapper-3] [INFO] [1710488619.625059130] [zed_front.zed_node_0]: Static transform Sensor to Base [zed_front_left_camera_frame -> zed_front_camera_link] [zed_wrapper-3] [INFO] [1710488619.625083067] [zed_front.zed_node_0]: Translation: {0.010,-0.060,-0.016} [zed_wrapper-3] [INFO] [1710488619.625108028] [zed_front.zed_node_0]: Rotation: {0.000,-0.000,0.000} [zed_wrapper-3] [INFO] [1710488619.625137117] [zed_front.zed_node_0]: Static transform Sensor to Camera Center [zed_front_left_camera_frame -> zed_front_camera_center] [zed_wrapper-3] [INFO] [1710488619.625154878] [zed_front.zed_node_0]: Translation: {0.010,-0.060,0.000} [zed_wrapper-3] [INFO] [1710488619.625168575] [zed_front.zed_node_0]: Rotation: {0.000,-0.000,0.000} [zed_wrapper-3] [INFO] [1710488619.625184863] [zed_front.zed_node_0]: Static transform Camera Center to Base [zed_front_camera_center -> zed_front_camera_link] [zed_wrapper-3] [INFO] [1710488619.625205888] [zed_front.zed_node_0]: Translation: {0.000,0.000,-0.016} [zed_wrapper-3] [INFO] [1710488619.625308132] [zed_front.zed_node_0]: Rotation: {0.000,-0.000,0.000} [zed_wrapper-3] [INFO] [1710488619.628458110] [zed_front.zed_node_0]: Initial ZED left camera pose (ZED pos. tracking): [zed_wrapper-3] [INFO] [1710488619.628541953] [zed_front.zed_node_0]: T: [-0.01,0.06,0.016] [zed_wrapper-3] [INFO] [1710488619.628580034] [zed_front.zed_node_0]: Q: [0,0,0,1] [zed_wrapper-3] [WARN] [1710488619.667450688] [zed_front.zed_node_0]: sl::getSensorsData error: CAMERA NOT DETECTED [zed_wrapper-3] [INFO] [1710488619.820730271] [zed_front.zed_node_0]: Odometry aligned to last tracking pose [zed_wrapper-3] [INFO] [1710488619.820836995] [zed_front.zed_node_0]: Initial odometry [odom -> zed_front_camera_link] - {0.003,0.000,0.002} {0.145,-10.183,-0.077}

adriandavidauer commented 2 months ago

For me it worked after building the multi_cam tutorial without the other examples. Still not sure why because to my understanding it just starts two different cam nodes with the correct parameters. If I do it manually it still crashes. @anuj-neuralzome the sl::getSensorsData error: CAMERA NOT DETECTED can be ignored. This dockerfile works for me:

ARG IMAGE_NAME=dustynv/ros:humble-ros-base-l4t-r35.2.1

FROM ${IMAGE_NAME}

ARG ZED_SDK_MAJOR=4
ARG ZED_SDK_MINOR=0
ARG ZED_SDK_PATCH=8
ARG JETPACK_MAJOR=5
ARG JETPACK_MINOR=0
ARG L4T_MAJOR=35
ARG L4T_MINOR=2

ARG ROS2_DIST=humble       # ROS2 distribution

# ZED ROS2 Wrapper dependencies version
ARG XACRO_VERSION=2.0.8
ARG DIAGNOSTICS_VERSION=3.0.0
ARG AMENT_LINT_VERSION=0.12.4
ARG GEOGRAPHIC_INFO_VERSION=1.0.4
ARG ROBOT_LOCALIZATION_VERSION=3.4.2
ENV DEBIAN_FRONTEND noninteractive

# Disable apt-get warnings
RUN apt-key adv --keyserver keyserver.ubuntu.com --recv-keys 42D5A192B819C5DA || true && \
  apt-get update || true && apt-get install -y --no-install-recommends apt-utils dialog && \
  rm -rf /var/lib/apt/lists/*

ENV TZ=Europe/Paris

RUN ln -snf /usr/share/zoneinfo/$TZ /etc/localtime && echo $TZ > /etc/timezone && \ 
  apt-get update && \
  apt-get install --yes lsb-release wget less udev sudo build-essential cmake python3 python3-dev python3-pip python3-wheel git jq libpq-dev zstd usbutils && \    
  rm -rf /var/lib/apt/lists/*

# Install the ZED SDK
RUN echo "# R${L4T_MAJOR} (release), REVISION: ${L4T_MINOR}" > /etc/nv_tegra_release && \
  apt-get update -y || true && \
  apt-get install -y --no-install-recommends zstd wget less cmake curl gnupg2 \
  build-essential python3 python3-pip python3-dev python3-setuptools libusb-1.0-0-dev -y && \
  pip install protobuf && \
  wget -q --no-check-certificate -O ZED_SDK_Linux_JP.run \
  https://download.stereolabs.com/zedsdk/${ZED_SDK_MAJOR}.${ZED_SDK_MINOR}/l4t${L4T_MAJOR}.${L4T_MINOR}/jetsons && \
  chmod +x ZED_SDK_Linux_JP.run ; ./ZED_SDK_Linux_JP.run silent skip_tools && \
  rm -rf /usr/local/zed/resources/* && \
  rm -rf ZED_SDK_Linux_JP.run && \
  rm -rf /var/lib/apt/lists/*

# Install the ZED ROS2 Wrapper
ENV ROS_DISTRO ${ROS2_DIST}

# Install the ZED ROS2 Wrapper
WORKDIR /root/ros2_ws/src
RUN git clone --recursive https://github.com/stereolabs/zed-ros2-wrapper.git

# Install missing dependencies
WORKDIR /root/ros2_ws/src
RUN wget https://github.com/ros/xacro/archive/refs/tags/${XACRO_VERSION}.tar.gz -O - | tar -xvz && mv xacro-${XACRO_VERSION} xacro && \
  wget https://github.com/ros/diagnostics/archive/refs/tags/${DIAGNOSTICS_VERSION}.tar.gz -O - | tar -xvz && mv diagnostics-${DIAGNOSTICS_VERSION} diagnostics && \
  wget https://github.com/ament/ament_lint/archive/refs/tags/${AMENT_LINT_VERSION}.tar.gz -O - | tar -xvz && mv ament_lint-${AMENT_LINT_VERSION} ament-lint && \
  wget https://github.com/cra-ros-pkg/robot_localization/archive/refs/tags/${ROBOT_LOCALIZATION_VERSION}.tar.gz -O - | tar -xvz && mv robot_localization-${ROBOT_LOCALIZATION_VERSION} robot-localization && \
  wget https://github.com/ros-geographic-info/geographic_info/archive/refs/tags/${GEOGRAPHIC_INFO_VERSION}.tar.gz -O - | tar -xvz && mv geographic_info-${GEOGRAPHIC_INFO_VERSION} geographic-info && \
  cp -r geographic-info/geographic_msgs/ . && \
  rm -rf geographic-info && \
  git clone https://github.com/ros-drivers/nmea_msgs.git --branch ros2 && \  
  git clone https://github.com/ros/angles.git --branch humble-devel 

# Check that all the dependencies are satisfied
WORKDIR /root/ros2_ws
RUN apt-get update -y || true && rosdep update && \
  rosdep install --from-paths src --ignore-src -r -y && \
  rm -rf /var/lib/apt/lists/*

# Install cython
RUN python3 -m pip install --upgrade cython

# Build the dependencies and the ZED ROS2 Wrapper
RUN /bin/bash -c "source /opt/ros/$ROS_DISTRO/install/setup.bash && \
  colcon build --parallel-workers $(nproc) \
  --event-handlers console_direct+ --base-paths src \
  --cmake-args ' -DCMAKE_BUILD_TYPE=Release' \
  ' -DCMAKE_LIBRARY_PATH=/usr/local/cuda/lib64/stubs' \
  ' -DCMAKE_CXX_FLAGS="-Wl,--allow-shlib-undefined"' \
  ' --no-warn-unused-cli' "

# Setup environment variables
COPY ros_entrypoint_jetson.sh /sbin/ros_entrypoint.sh
RUN sudo chmod 755 /sbin/ros_entrypoint.sh

# Install examples
WORKDIR /root
RUN git clone https://github.com/stereolabs/zed-ros2-examples.git
RUN cp -r zed-ros2-examples/tutorials/zed_multi_camera /root/ros2_ws/src/
WORKDIR /root/ros2_ws
RUN apt update
RUN rosdep update
RUN rosdep install --from-paths src --ignore-src -r -y
RUN . /sbin/ros_entrypoint.sh && colcon build --cmake-args=-DCMAKE_BUILD_TYPE=Release 

ENTRYPOINT ["/sbin/ros_entrypoint.sh"]

And I start the container with

`docker run --rm -it -d --gpus all --runtime nvidia --privileged --network host -e DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix -v /dev:/dev -v /tmp/:/tmp/ -v /var/nvidia/nvcam/settings/:/var/nvidia/nvcam/settings/ -v /etc/systemd/system/zed_x_daemon.service:/etc/systemd/system/zed_x_daemon.service -e NVIDIA_DRIVER_CAPABILITIES=all d-reg.hb.dfki.de/smartrecyclingup/zedbot:zed-ros2-wrapper_l4t35_2_humble_base ros2 launch zed_multi_camera zed_multi_camera.launch.py cam_names:='[zed_front, zed_back]' cam_models:='[zedx, zedx]' cam_serials:='[42546479,48345682]'`

Hope that helps

anuj-neuralzome commented 2 months ago

hey @adriandavidauer ,thanks for that dockerfile,I'll test and see. Are you able to install & run rviz in the very same container?

adriandavidauer commented 2 months ago

If you want to use rviz2 in the same container you need to use dustynv/ros:humble-desktop-l4t-r35.2.1 as base image and make sure that the l4t version is the same for the image and your Jetson. Maybe you need a different version. Note that the command I gave you will start the container detached. You could probably start rviz2 with docker exec or you start a new container for rviz2 or you can just run rviz2 on your host system if already installed. If you havn't set up a URDF file for the Cams make sure to use Image instead of Camera in rviz otherwise it won't show because it does not know the tf of teh cams.

anuj-neuralzome commented 1 month ago

Hey @adriandavidauer ,thanks very much,your solution worked out for me! Getting data from 2 zedx cams simultaneously.

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