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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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ros2 launch zed_wrapper Failed #214

Closed JiaqiangZhang closed 1 month ago

JiaqiangZhang commented 1 month ago

Preliminary Checks

Description

I successfully installed SDK and built the zed ros2 wrapper, but when I run launch file I had following error. I do have foxy and galactic installed on my computer at the same time.

Steps to Reproduce

  1. source /opt/ros/foxy/setup.bash
  2. source ./install/setup.bash
  3. ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zed2i ...

Expected Result

run zed2i with launch file

Actual Result

/opt/ros/foxy/bin/ros2:6: DeprecationWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html
  from pkg_resources import load_entry_point
[INFO] [launch]: All log files can be found below /home/ /.ros/log/2024-04-05-19-39-22-032167-
[INFO] [launch]: Default logging verbosity is set to INFO
[WARNING] [launch_ros.actions.node]: Parameter file path is not a file: .
[INFO] [robot_state_publisher-1]: process started with pid [127271]
[INFO] [zed_wrapper-2]: process started with pid [127273]
[robot_state_publisher-1] /opt/ros/foxy/lib/robot_state_publisher/robot_state_publisher: symbol lookup error: /opt/ros/galactic/lib/librmw_cyclonedds_cpp.so: undefined symbol: rmw_time_equal
[zed_wrapper-2] /home/FILES/Research/workspace/zed2i_ros2_ws/install/zed_wrapper/lib/zed_wrapper/zed_wrapper: symbol lookup error: /opt/ros/galactic/lib/librmw_cyclonedds_cpp.so: undefined symbol: rmw_time_equal
[ERROR] [robot_state_publisher-1]: process has died [pid 127271, exit code 127, cmd '/opt/ros/foxy/lib/robot_state_publisher/robot_state_publisher --ros-args -r __node:=zed_state_publisher -r __ns:=/zed --params-file /tmp/launch_params_fekorx92'].
[ERROR] [zed_wrapper-2]: process has died [pid 127273, exit code 127, cmd '/home/FILES/Research/workspace/zed2i_ros2_ws/install/zed_wrapper/lib/zed_wrapper/zed_wrapper --ros-args -r __node:=zed_node -r __ns:=/zed --params-file /home/FILES/Research/workspace/zed2i_ros2_ws/install/zed_wrapper/share/zed_wrapper/config/common.yaml --params-file /home/FILES/Research/workspace/zed2i_ros2_ws/install/zed_wrapper/share/zed_wrapper/config/zed2i.yaml --params-file /tmp/launch_params_lvymligq'].

ZED Camera model

ZED2i

Environment

OS: UBUNTU 20.04
CPU: AMD 5000
GPU: nvidia 3060
ZED SDK: 4.0.8
ROS2: FOXY

Anything else?

No response

Myzhar commented 1 month ago

Hi @JiaqiangZhang are you using Foxy or Galactic?

The error message shows that the linker is searching for libs in /opt/ros/galactic/lib: symbol lookup error: /opt/ros/galactic/lib/librmw_cyclonedds_cpp.so: undefined symbol: rmw_time_equal

Please check your environment settings

JiaqiangZhang commented 1 month ago

Hi, @Myzhar Thanks for the reply. I have both foxy and galactic installed on my computer. I did source foxy before ros2 launch.

JiaqiangZhang commented 1 month ago

Hi, @Myzhar I think the reason that caused this error (/opt/ros/galactic/lib:symbol lookup error: /opt/ros/galactic/lib/librmw_cyclonedds_cpp.so: undefined symbol: rmw_time_equal) was that I didn't install cyclonedds on foxy. After I install cyclonedds, the error was gone (sudo apt-get install -y ros-foxy-rmw-cyclonedds-cpp). But I have another error as follow:

[INFO] [launch]: All log files can be found below /home/.ros/log/2024-04-08-11-36-01-548913-*-15824
[INFO] [launch]: Default logging verbosity is set to INFO
[WARNING] [launch_ros.actions.node]: Parameter file path is not a file: .
[INFO] [robot_state_publisher-1]: process started with pid [15827]
[INFO] [zed_wrapper-2]: process started with pid [15829]
[robot_state_publisher-1] Link zed_camera_center had 2 children
[robot_state_publisher-1] Link zed_left_camera_frame had 1 children
[robot_state_publisher-1] Link zed_left_camera_optical_frame had 0 children
[robot_state_publisher-1] Link zed_right_camera_frame had 1 children
[robot_state_publisher-1] Link zed_right_camera_optical_frame had 0 children
[robot_state_publisher-1] [INFO] [1712565361.817728821] [zed.zed_state_publisher]: got segment zed_camera_center
[robot_state_publisher-1] [INFO] [1712565361.817794616] [zed.zed_state_publisher]: got segment zed_camera_link
[robot_state_publisher-1] [INFO] [1712565361.817809004] [zed.zed_state_publisher]: got segment zed_left_camera_frame
[robot_state_publisher-1] [INFO] [1712565361.817820528] [zed.zed_state_publisher]: got segment zed_left_camera_optical_frame
[robot_state_publisher-1] [INFO] [1712565361.817831843] [zed.zed_state_publisher]: got segment zed_right_camera_frame
[robot_state_publisher-1] [INFO] [1712565361.817842390] [zed.zed_state_publisher]: got segment zed_right_camera_optical_frame
[ERROR] [zed_wrapper-2]: process has died [pid 15829, exit code -11, cmd '/home/FILES/Research/workspace/zed2i_ros2_ws/install/zed_wrapper/lib/zed_wrapper/zed_wrapper --ros-args -r __node:=zed_node -r __ns:=/zed --params-file /home/FILES/Research/workspace/zed2i_ros2_ws/install/zed_wrapper/share/zed_wrapper/config/common.yaml --params-file /home/FILES/Research/workspace/zed2i_ros2_ws/install/zed_wrapper/share/zed_wrapper/config/zed2i.yaml --params-file /tmp/launch_params_xug9pm6b'].
Myzhar commented 1 month ago

I think this crash happens because when building you are using Foxy, while Galactic binaries are retrieved when running the nodes. I recommend you check the environment variables to find eventual conflicts.

JiaqiangZhang commented 1 month ago

I checked the issue,

The -11 code means Invalid access to storage., check if the ROS log folder has not filled the TX2 system space.

Is this the problem?

Myzhar commented 1 month ago

You can try to clean the log folder to see if it solves the problem

JiaqiangZhang commented 1 month ago

I think this crash happens because when building you are using Foxy, while Galactic binaries are retrieved when running the nodes. I recommend you check the environment variables to find eventual conflicts.

I will uninstall galactic and try again.

JiaqiangZhang commented 1 month ago

You can try to clean the log folder to see if it solves the problem

I tried clean the .ros/log folder with rosclean purge, I still get the error [ERROR] [zed_wrapper-2]: process has died [pid 20339, exit code -11.

After uninstalling galactic, the problem is gone, and I can run the zed2i with launch file.