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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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All ZED data stop published when depth_mode is NOT NONE #230

Closed willSapgreen closed 4 months ago

willSapgreen commented 5 months ago

Preliminary Checks

Description

In the zedx.yaml, when changing depth_mode to any setting other than NONE, all data stop published, even /zed_node/left/image_rect_color or /zed_node/imu/data which is published when depth_mode=NONE.

Steps to Reproduce

1.Create a zed_wrapper node camera_model = 'zedx' config_common = 'config/zedx.yaml' zed_node = Node( package='zed_wrapper', executable='zed_wrapper', output='screen', parameters=[ config_common, {'general.camera_model': camera_model} ] )

return launch.LaunchDescription([ zed_node ])

  1. in zedx.ymal, change depth_mode to PERFORMANCE depth_mode: "PERFORMANCE"

  2. use ros2 topic hz to verify there is no data transmission

  3. if depth_mode is NONE, ros2 topic hz shows data transmission rate

  4. the config file used in my case. Using .txt because Gitlab doesn't accept .yaml zedx.txt

Expected Result

Having zed data transmitted in topics

Actual Result

Output from terminal

root@ubuntu:/ros$ ros2 launch ./launch/record_zed.py [INFO] [launch]: All log files can be found below /data/.ros/2024-05-22-03-01-07-615661-ubuntu-1104 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [zed_wrapper-1]: process started with pid [1106] [zed_wrapper-1] nvbuf_utils: Could not get EGL display connection [zed_wrapper-1] No EGL Display [zed_wrapper-1] nvbufsurftransform: Could not get EGL display connection

[zed_wrapper-1] [INFO] [1716346867.939908498] [zed_node]: ZED Camera Component

[zed_wrapper-1] [INFO] [1716346867.939938450] [zed_node]: namespace: / [zed_wrapper-1] [INFO] [1716346867.939950195] [zed_node]: node name: zed_node

[zed_wrapper-1] [INFO] [1716346867.939990740] [zed_node]: DEBUG parameters [zed_wrapper-1] [INFO] [1716346867.940051157] [zed_node]: SDK Verbose: 1 [zed_wrapper-1] [INFO] [1716346867.940087574] [zed_node]: Debug Common: FALSE [zed_wrapper-1] [INFO] [1716346867.940108023] [zed_node]: Debug Simulation: FALSE [zed_wrapper-1] [INFO] [1716346867.940128311] [zed_node]: Debug Video/Depth: FALSE [zed_wrapper-1] [INFO] [1716346867.940147032] [zed_node]: Debug Control settings: FALSE [zed_wrapper-1] [INFO] [1716346867.940163480] [zed_node]: Debug Point Cloud: FALSE [zed_wrapper-1] [INFO] [1716346867.940181752] [zed_node]: Debug GNSS: FALSE [zed_wrapper-1] [INFO] [1716346867.940198489] [zed_node]: Debug Positional Tracking: TRUE [zed_wrapper-1] [INFO] [1716346867.940214457] [zed_node]: Debug sensors: FALSE [zed_wrapper-1] [INFO] [1716346867.940231898] [zed_node]: Debug Mapping: FALSE [zed_wrapper-1] [INFO] [1716346867.940248090] [zed_node]: Debug Object Detection: FALSE [zed_wrapper-1] [INFO] [1716346867.940263387] [zed_node]: Debug Body Tracking: FALSE [zed_wrapper-1] [INFO] [1716346867.940280955] [zed_node]: Debug Streaming: FALSE [zed_wrapper-1] [INFO] [1716346867.940298171] [zed_node]: Debug ROI: FALSE [zed_wrapper-1] [INFO] [1716346867.940314172] [zed_node]: * Debug Advanced: FALSE [zed_wrapper-1] [INFO] [1716346867.940335004] [zed_node]: + Debug Mode enabled + [zed_wrapper-1] [INFO] [1716346867.940366845] [zed_node]: GENERAL parameters [zed_wrapper-1] [INFO] [1716346867.940423903] [zed_node]: Camera model: zedx - ZED X [zed_wrapper-1] [INFO] [1716346867.940456127] [zed_node]: Camera name: zedx [zed_wrapper-1] [INFO] [1716346867.940478752] [zed_node]: * Camera SN: 0

[zed_wrapper-1] [INFO] [1716346867.940521665] [zed_node]: Camera reconnection temptatives: 5 [zed_wrapper-1] [INFO] [1716346867.940540546] [zed_node]: Camera framerate: 60 [zed_wrapper-1] [INFO] [1716346867.940561666] [zed_node]: GPU ID: -1 [zed_wrapper-1] [INFO] [1716346867.940594755] [zed_node]: Camera resolution: HD1080 [zed_wrapper-1] [INFO] [1716346867.940618435] [zed_node]: Publishing resolution: CUSTOM [zed_wrapper-1] [INFO] [1716346867.940669765] [zed_node]: Publishing downscale factor: 2 [zed_wrapper-1] [INFO] [1716346867.940693477] [zed_node]: OpenCV custom calibration: [zed_wrapper-1] [INFO] [1716346867.940714022] [zed_node]: Camera self calibration: TRUE [zed_wrapper-1] [INFO] [1716346867.940740423] [zed_node]: * Camera flip: FALSE

[zed_wrapper-1] [INFO] [1716346867.940781032] [zed_node]: VIDEO parameters [zed_wrapper-1] [INFO] [1716346867.940805896] [zed_node]: [DYN] Saturation: 4 [zed_wrapper-1] [INFO] [1716346867.940826505] [zed_node]: [DYN] Sharpness: 4 [zed_wrapper-1] [INFO] [1716346867.940845545] [zed_node]: [DYN] Gamma: 8 [zed_wrapper-1] [INFO] [1716346867.940864106] [zed_node]: [DYN] Auto Exposure/Gain: TRUE [zed_wrapper-1] [INFO] [1716346867.940885994] [zed_node]: [DYN] Exposure: 80 [zed_wrapper-1] [INFO] [1716346867.940904555] [zed_node]: [DYN] Gain: 80 [zed_wrapper-1] [INFO] [1716346867.940922187] [zed_node]: [DYN] Auto White Balance: TRUE [zed_wrapper-1] [INFO] [1716346867.940944140] [zed_node]: [DYN] White Balance Temperature: 42 [zed_wrapper-1] [INFO] [1716346867.940963468] [zed_node]: [DYN] ZED X Exposure time: 16666 [zed_wrapper-1] [INFO] [1716346867.940985613] [zed_node]: [DYN] ZED X Auto Exp. time range min: 28 [zed_wrapper-1] [INFO] [1716346867.941004877] [zed_node]: [DYN] ZED X Auto Exp. time range max: 30000 [zed_wrapper-1] [INFO] [1716346867.941023918] [zed_node]: [DYN] ZED X Exposure comp.: 50 [zed_wrapper-1] [INFO] [1716346867.941044846] [zed_node]: [DYN] ZED X Analog Gain: 8000 [zed_wrapper-1] [INFO] [1716346867.941063631] [zed_node]: [DYN] ZED X Auto Analog Gain range min: 1000 [zed_wrapper-1] [INFO] [1716346867.941081903] [zed_node]: [DYN] ZED X Auto Analog Gain range max: 16000 [zed_wrapper-1] [INFO] [1716346867.941104272] [zed_node]: [DYN] ZED X Digital Gain: 128 [zed_wrapper-1] [INFO] [1716346867.941132560] [zed_node]: [DYN] ZED X Auto Digital Gain range min: 1 [zed_wrapper-1] [INFO] [1716346867.941152305] [zed_node]: [DYN] ZED X Auto Digital Gain range max: 256 [zed_wrapper-1] [INFO] [1716346867.941188946] [zed_node]: * [DYN] ZED X Auto Digital Gain range max: 50 [zed_wrapper-1] [INFO] [1716346867.941247923] [zed_node]: DEPTH parameters [zed_wrapper-1] [INFO] [1716346867.941284884] [zed_node]: * Depth mode: PERFORMANCE [1]

[zed_wrapper-1] [INFO] [1716346867.941360310] [zed_node]: Depth Stabilization: 1 [zed_wrapper-1] [INFO] [1716346867.941378839] [zed_node]: OpenNI mode (16bit point cloud): FALSE

[zed_wrapper-1] [INFO] [1716346867.941431480] [zed_node]: [DYN] Depth Confidence: 50 [zed_wrapper-1] [INFO] [1716346867.941471193] [zed_node]: [DYN] Depth Texture Confidence: 100 [zed_wrapper-1] [INFO] [1716346867.941495674] [zed_node]: * [DYN] Remove saturated areas: TRUE [zed_wrapper-1] [INFO] [1716346867.941512634] [zed_node]: GNSS FUSION parameters [zed_wrapper-1] [INFO] [1716346867.941538843] [zed_node]: * GNSS fusion enabled: FALSE [zed_wrapper-1] [INFO] [1716346867.941552603] [zed_node]: POSITIONAL TRACKING parameters [zed_wrapper-1] [INFO] [1716346867.941572188] [zed_node]: Positional tracking enabled: TRUE [zed_wrapper-1] [INFO] [1716346867.941599452] [zed_node]: Positional tracking mode: POSITIONAL TRACKING MODE GEN_2 [zed_wrapper-1] [INFO] [1716346867.941627133] [zed_node]: Map frame id: map [zed_wrapper-1] [INFO] [1716346867.941648061] [zed_node]: Odometry frame id: odom [zed_wrapper-1] [INFO] [1716346867.941676382] [zed_node]: Broadcast Odometry TF: TRUE [zed_wrapper-1] [INFO] [1716346867.941697151] [zed_node]: Broadcast Pose TF: TRUE [zed_wrapper-1] [INFO] [1716346867.941719167] [zed_node]: [DYN] Depth minimum range: 0 [zed_wrapper-1] [INFO] [1716346867.941743936] [zed_node]: [DYN] TF timestamp offset: 0 [zed_wrapper-1] [INFO] [1716346867.941764160] [zed_node]: [DYN] Path publishing rate: 2 [zed_wrapper-1] [INFO] [1716346867.941783521] [zed_node]: Path history lenght: -1 [zed_wrapper-1] [INFO] [1716346867.941814466] [zed_node]: Initial pose: [0,0,0,0,0,0,] [zed_wrapper-1] [INFO] [1716346867.941840770] [zed_node]: Area Memory: TRUE [zed_wrapper-1] [INFO] [1716346867.941861603] [zed_node]: Area Memory DB: [zed_wrapper-1] [INFO] [1716346867.941905444] [zed_node]: Camera is static: FALSE

[zed_wrapper-1] [INFO] [1716346867.941967878] [zed_node]: Floor Alignment: FALSE [zed_wrapper-1] [INFO] [1716346867.941988006] [zed_node]: Reset Odometry with Loop Closure: TRUE [zed_wrapper-1] [INFO] [1716346867.942009927] [zed_node]: * 2D mode: FALSE [zed_wrapper-1] [INFO] [1716346867.942024455] [zed_node]: Region of Interest parameters [zed_wrapper-1] [INFO] [1716346867.942041415] [zed_node]: Automatic ROI generation: FALSE [zed_wrapper-1] [INFO] [1716346867.942077224] [zed_node]: Manual ROI polygon: [] [zed_wrapper-1] [INFO] [1716346867.942091753] [zed_node]: SENSORS STACK parameters

[zed_wrapper-1] [INFO] [1716346867.942133482] [zed_node]: Sensors Camera Sync: FALSE [zed_wrapper-1] [INFO] [1716346867.942157386] [zed_node]: Sensors publishing rate: 200 Hz [zed_wrapper-1] [INFO] [1716346867.942172619] [zed_node]: Spatial Mapping parameters [zed_wrapper-1] [INFO] [1716346867.942192075] [zed_node]: * Spatial Mapping Enabled: FALSE

[zed_wrapper-1] [INFO] [1716346867.942285806] [zed_node]: Clicked point topic: /clicked_point [zed_wrapper-1] [INFO] [1716346867.942310094] [zed_node]: Plane Det. Max Dist. Thresh.: 0.15 [zed_wrapper-1] [INFO] [1716346867.942331631] [zed_node]: * Plane Det. Normals Sim. Thresh.: 15 [zed_wrapper-1] [INFO] [1716346867.942347407] [zed_node]: Object Det. parameters [zed_wrapper-1] [INFO] [1716346867.942369936] [zed_node]: Object Det. enabled: FALSE [zed_wrapper-1] [INFO] [1716346867.942397808] [zed_node]: Object Det. model: MULTI CLASS BOX MEDIUM [zed_wrapper-1] [INFO] [1716346867.942423089] [zed_node]: * Object Det. allow reduced precision: TRUE

[zed_wrapper-1] [INFO] [1716346867.942473266] [zed_node]: * Object Det. min. confidence: 50

[zed_wrapper-1] [INFO] [1716346867.942544276] [zed_node]: Object Det. tracking: TRUE [zed_wrapper-1] [INFO] [1716346867.942572725] [zed_node]: Object Filtering mode: 1 - NMS 3D [zed_wrapper-1] [INFO] [1716346867.942600854] [zed_node]: MultiClassBox people: FALSE [zed_wrapper-1] [INFO] [1716346867.942627254] [zed_node]: MultiClassBox vehicles: TRUE [zed_wrapper-1] [INFO] [1716346867.942648503] [zed_node]: MultiClassBox bags: TRUE [zed_wrapper-1] [INFO] [1716346867.942668439] [zed_node]: MultiClassBox animals: TRUE [zed_wrapper-1] [INFO] [1716346867.942694200] [zed_node]: MultiClassBox electronics: TRUE [zed_wrapper-1] [INFO] [1716346867.942714424] [zed_node]: MultiClassBox fruits and vegetables: TRUE [zed_wrapper-1] [INFO] [1716346867.942733625] [zed_node]: * MultiClassBox sport-related objects: TRUE [zed_wrapper-1] [INFO] [1716346867.942756217] [zed_node]: Body Track. parameters [zed_wrapper-1] [INFO] [1716346867.942777050] [zed_node]: Body Track. enabled: FALSE [zed_wrapper-1] [INFO] [1716346867.942804155] [zed_node]: Body Track. model: HUMAN BODY MEDIUM [zed_wrapper-1] [INFO] [1716346867.942836347] [zed_node]: Body Track. format: BODY_38 [zed_wrapper-1] [INFO] [1716346867.942858876] [zed_node]: Body Track. allow reduced precision: TRUE

[zed_wrapper-1] [INFO] [1716346867.942908349] [zed_node]: Body Track. KP selection: FULL [zed_wrapper-1] [INFO] [1716346867.942933246] [zed_node]: Body fitting: FALSE [zed_wrapper-1] [INFO] [1716346867.942964063] [zed_node]: * Body joints tracking: TRUE

[zed_wrapper-1] [INFO] [1716346867.943014112] [zed_node]: Body Track. confidence thresh.: 50 [zed_wrapper-1] [INFO] [1716346867.943035520] [zed_node]: Body Track. min. KP thresh.: 5 [zed_wrapper-1] [INFO] [1716346867.943051393] [zed_node]: Streaming Server parameters [zed_wrapper-1] [INFO] [1716346867.943072385] [zed_node]: Streaming Server enabled: FALSE [zed_wrapper-1] [INFO] [1716346867.943095970] [zed_node]: Stream codec: H264 [zed_wrapper-1] [INFO] [1716346867.943116163] [zed_node]: Stream port:30000 [zed_wrapper-1] [INFO] [1716346867.943136419] [zed_node]: Stream bitrate: 12500 [zed_wrapper-1] [INFO] [1716346867.943159908] [zed_node]: Stream GOP size: -1 [zed_wrapper-1] [INFO] [1716346867.943179076] [zed_node]: Stream Chunk size: 16084 [zed_wrapper-1] [INFO] [1716346867.943198341] [zed_node]: Adaptive bitrate: FALSE [zed_wrapper-1] [INFO] [1716346867.943221925] [zed_node]: Target frame rate:0 [zed_wrapper-1] [INFO] [1716346867.943236134] [zed_node]: Advanced parameters [zed_wrapper-1] [INFO] [1716346867.943254118] [zed_node]: * Thread sched. policy: [zed_wrapper-1] [INFO] [1716346867.943333192] [zed_node]: SERVICES

[zed_wrapper-1] [INFO] [1716346867.949861197] [zed_node]: STARTING CAMERA [zed_wrapper-1] [INFO] [1716346867.949889709] [zed_node]: ZED SDK Version: 4.1.1 - Build 87698_eabbbf25 [zed_wrapper-1] [INFO] [1716346867.953664461] [zed_node]: CAMERA OPENING [zed_wrapper-1] [2024-05-22 03:01:08 UTC][ZED][INFO] Logging level INFO [zed_wrapper-1] [2024-05-22 03:01:09 UTC][ZED][INFO] [Init] Depth mode: PERFORMANCE [zed_wrapper-1] [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-1] [2024-05-22 03:01:11 UTC][ZED][INFO] [Init] Camera FW version: 2001 [zed_wrapper-1] [2024-05-22 03:01:11 UTC][ZED][INFO] [Init] Video mode: HD1080@60 [zed_wrapper-1] [2024-05-22 03:01:11 UTC][ZED][INFO] [Init] Serial Number: S/N 40816613 [zed_wrapper-1] [2024-05-22 03:01:11 UTC][ZED][WARNING] [Init] Requested depth_minimum_distance: 0.2METER is too close, clamped to 0.4METER. [zed_wrapper-1] [INFO] [1716346872.045252431] [zed_node]: ZED SDK running on GPU #0 [zed_wrapper-1] [INFO] [1716346872.045370834] [zed_node]: Camera Model -> ZED X [zed_wrapper-1] [INFO] [1716346872.045390674] [zed_node]: Serial Number -> 40816613 [zed_wrapper-1] [INFO] [1716346872.045413971] [zed_node]: Focal Lenght -> 3.83042 mm [zed_wrapper-1] [INFO] [1716346872.045473140] [zed_node]: Input -> GMSL input type [zed_wrapper-1] [INFO] [1716346872.045512821] [zed_node]: Camera FW Version -> 2001 [zed_wrapper-1] [INFO] [1716346872.045529814] [zed_node]: Sensors FW Version -> 1000 [zed_wrapper-1] [INFO] [1716346872.045545078] [zed_node]: Camera grab frame size -> 1920x1080 [zed_wrapper-1] [INFO] [1716346872.045556631] [zed_node]: Publishing frame size -> 960x540 [zed_wrapper-1] [INFO] [1716346872.045644345] [zed_node]: TF FRAMES [zed_wrapper-1] [INFO] [1716346872.045670873] [zed_node]: Map -> map [zed_wrapper-1] [INFO] [1716346872.045683898] [zed_node]: Odometry -> odom [zed_wrapper-1] [INFO] [1716346872.045695194] [zed_node]: Base -> zedx_camera_link [zed_wrapper-1] [INFO] [1716346872.045705306] [zed_node]: Camera -> zedx_camera_center [zed_wrapper-1] [INFO] [1716346872.045715419] [zed_node]: Left -> zedx_left_camera_frame [zed_wrapper-1] [INFO] [1716346872.045727387] [zed_node]: Left Optical -> zedx_left_camera_optical_frame [zed_wrapper-1] [INFO] [1716346872.045738651] [zed_node]: RGB -> zedx_left_camera_frame [zed_wrapper-1] [INFO] [1716346872.045747867] [zed_node]: RGB Optical -> zedx_left_camera_optical_frame [zed_wrapper-1] [INFO] [1716346872.045756988] [zed_node]: Right -> zedx_right_camera_frame [zed_wrapper-1] [INFO] [1716346872.045765980] [zed_node]: Right Optical -> zedx_right_camera_optical_frame [zed_wrapper-1] [INFO] [1716346872.045774940] [zed_node]: Depth -> zedx_left_camera_frame [zed_wrapper-1] [INFO] [1716346872.045783868] [zed_node]: Depth Optical -> zedx_left_camera_optical_frame [zed_wrapper-1] [INFO] [1716346872.045793277] [zed_node]: Point Cloud -> zedx_left_camera_optical_frame [zed_wrapper-1] [INFO] [1716346872.045805117] [zed_node]: Disparity -> zedx_left_camera_frame [zed_wrapper-1] [INFO] [1716346872.045815037] [zed_node]: Disparity Optical -> zedx_left_camera_optical_frame [zed_wrapper-1] [INFO] [1716346872.045824445] [zed_node]: Confidence -> zedx_left_camera_frame [zed_wrapper-1] [INFO] [1716346872.045833630] [zed_node]: Confidence Optical -> zedx_left_camera_optical_frame [zed_wrapper-1] [INFO] [1716346872.045843198] [zed_node]: IMU -> zedx_imu_link [zed_wrapper-1] [INFO] [1716346872.045890591] [zed_node]: PUBLISHED TOPICS [zed_wrapper-1] [DEBUG] [1716346872.078238669] [zed_node]: getTopicToAdvertise: /zed_node/rgb/image_rect_color/compressedDepth [zed_wrapper-1] [DEBUG] [1716346872.095455007] [zed_node]: getTopicToAdvertise: /zed_node/rgb/image_rect_color/compressed [zed_wrapper-1] [DEBUG] [1716346872.108954163] [zed_node]: getTopicToAdvertise: /zed_node/rgb/image_rect_color [zed_wrapper-1] [INFO] [1716346872.111109385] [zed_node]: Advertised on topic: /zed_node/rgb/image_rect_color [zed_wrapper-1] [INFO] [1716346872.111239532] [zed_node]: Advertised on topic: /zed_node/rgb/camera_info [zed_wrapper-1] [DEBUG] [1716346872.111461650] [zed_node]: getTopicToAdvertise: /zed_node/rgb_gray/image_rect_gray/compressedDepth [zed_wrapper-1] [DEBUG] [1716346872.112236069] [zed_node]: getTopicToAdvertise: /zed_node/rgb_gray/image_rect_gray/compressed [zed_wrapper-1] [DEBUG] [1716346872.113383682] [zed_node]: getTopicToAdvertise: /zed_node/rgb_gray/image_rect_gray [zed_wrapper-1] [INFO] [1716346872.114598113] [zed_node]: Advertised on topic: /zed_node/rgb_gray/image_rect_gray [zed_wrapper-1] [INFO] [1716346872.114628130] [zed_node]: Advertised on topic: /zed_node/rgb_gray/camera_info [zed_wrapper-1] [DEBUG] [1716346872.114749989] [zed_node]: getTopicToAdvertise: /zed_node/rgb_raw/image_raw_color/compressedDepth [zed_wrapper-1] [DEBUG] [1716346872.115280114] [zed_node]: getTopicToAdvertise: /zed_node/rgb_raw/image_raw_color/compressed [zed_wrapper-1] [DEBUG] [1716346872.116253675] [zed_node]: getTopicToAdvertise: /zed_node/rgb_raw/image_raw_color [zed_wrapper-1] [INFO] [1716346872.117241699] [zed_node]: Advertised on topic: /zed_node/rgb_raw/image_raw_color [zed_wrapper-1] [INFO] [1716346872.117266404] [zed_node]: Advertised on topic: /zed_node/rgb_raw/camera_info [zed_wrapper-1] [DEBUG] [1716346872.117381671] [zed_node]: getTopicToAdvertise: /zed_node/rgb_raw_gray/image_raw_gray/compressedDepth [zed_wrapper-1] [DEBUG] [1716346872.117857907] [zed_node]: getTopicToAdvertise: /zed_node/rgb_raw_gray/image_raw_gray/compressed [zed_wrapper-1] [DEBUG] [1716346872.118721161] [zed_node]: getTopicToAdvertise: /zed_node/rgb_raw_gray/image_raw_gray [zed_wrapper-1] [INFO] [1716346872.119692897] [zed_node]: Advertised on topic: /zed_node/rgb_raw_gray/image_raw_gray [zed_wrapper-1] [INFO] [1716346872.119723746] [zed_node]: Advertised on topic: /zed_node/rgb_raw_gray/camera_info [zed_wrapper-1] [DEBUG] [1716346872.119839877] [zed_node]: getTopicToAdvertise: /zed_node/left/image_rect_color/compressedDepth [zed_wrapper-1] [DEBUG] [1716346872.120374450] [zed_node]: getTopicToAdvertise: /zed_node/left/image_rect_color/compressed [zed_wrapper-1] [DEBUG] [1716346872.121758805] [zed_node]: getTopicToAdvertise: /zed_node/left/image_rect_color [zed_wrapper-1] [INFO] [1716346872.123326941] [zed_node]: Advertised on topic: /zed_node/left/image_rect_color [zed_wrapper-1] [INFO] [1716346872.123387038] [zed_node]: Advertised on topic: /zed_node/left/camera_info [zed_wrapper-1] [DEBUG] [1716346872.123724903] [zed_node]: getTopicToAdvertise: /zed_node/left_gray/image_rect_gray/compressedDepth [zed_wrapper-1] [DEBUG] [1716346872.124486170] [zed_node]: getTopicToAdvertise: /zed_node/left_gray/image_rect_gray/compressed [zed_wrapper-1] [DEBUG] [1716346872.125594326] [zed_node]: getTopicToAdvertise: /zed_node/left_gray/image_rect_gray [zed_wrapper-1] [INFO] [1716346872.126623760] [zed_node]: Advertised on topic: /zed_node/left_gray/image_rect_gray [zed_wrapper-1] [INFO] [1716346872.126728018] [zed_node]: Advertised on topic: /zed_node/left_gray/camera_info [zed_wrapper-1] [DEBUG] [1716346872.126852789] [zed_node]: getTopicToAdvertise: /zed_node/left_raw/image_raw_color/compressedDepth [zed_wrapper-1] [DEBUG] [1716346872.127357506] [zed_node]: getTopicToAdvertise: /zed_node/left_raw/image_raw_color/compressed [zed_wrapper-1] [DEBUG] [1716346872.128272889] [zed_node]: getTopicToAdvertise: /zed_node/left_raw/image_raw_color [zed_wrapper-1] [INFO] [1716346872.129440791] [zed_node]: Advertised on topic: /zed_node/left_raw/image_raw_color [zed_wrapper-1] [INFO] [1716346872.129548217] [zed_node]: Advertised on topic: /zed_node/left_raw/camera_info [zed_wrapper-1] [DEBUG] [1716346872.129663772] [zed_node]: getTopicToAdvertise: /zed_node/left_raw_gray/image_raw_gray/compressedDepth [zed_wrapper-1] [DEBUG] [1716346872.130201994] [zed_node]: getTopicToAdvertise: /zed_node/left_raw_gray/image_raw_gray/compressed [zed_wrapper-1] [DEBUG] [1716346872.131086464] [zed_node]: getTopicToAdvertise: /zed_node/left_raw_gray/image_raw_gray [zed_wrapper-1] [INFO] [1716346872.132768298] [zed_node]: Advertised on topic: /zed_node/left_raw_gray/image_raw_gray [zed_wrapper-1] [INFO] [1716346872.132796299] [zed_node]: Advertised on topic: /zed_node/left_raw_gray/camera_info [zed_wrapper-1] [DEBUG] [1716346872.132833356] [zed_node]: getTopicToAdvertise: /zed_node/right/image_rect_color/compressedDepth [zed_wrapper-1] [DEBUG] [1716346872.133087730] [zed_node]: getTopicToAdvertise: /zed_node/right/image_rect_color/compressed [zed_wrapper-1] [DEBUG] [1716346872.133466716] [zed_node]: getTopicToAdvertise: /zed_node/right/image_rect_color [zed_wrapper-1] [INFO] [1716346872.134340786] [zed_node]: Advertised on topic: /zed_node/right/image_rect_color [zed_wrapper-1] [INFO] [1716346872.134369107] [zed_node]: Advertised on topic: /zed_node/right/camera_info [zed_wrapper-1] [DEBUG] [1716346872.134404788] [zed_node]: getTopicToAdvertise: /zed_node/right_gray/image_rect_gray/compressedDepth [zed_wrapper-1] [DEBUG] [1716346872.134899264] [zed_node]: getTopicToAdvertise: /zed_node/right_gray/image_rect_gray/compressed [zed_wrapper-1] [DEBUG] [1716346872.135221704] [zed_node]: getTopicToAdvertise: /zed_node/right_gray/image_rect_gray [zed_wrapper-1] [INFO] [1716346872.136498472] [zed_node]: Advertised on topic: /zed_node/right_gray/image_rect_gray [zed_wrapper-1] [INFO] [1716346872.136527209] [zed_node]: Advertised on topic: /zed_node/right_gray/camera_info [zed_wrapper-1] [DEBUG] [1716346872.136564202] [zed_node]: getTopicToAdvertise: /zed_node/right_raw/image_raw_color/compressedDepth [zed_wrapper-1] [DEBUG] [1716346872.137111672] [zed_node]: getTopicToAdvertise: /zed_node/right_raw/image_raw_color/compressed [zed_wrapper-1] [DEBUG] [1716346872.137739112] [zed_node]: getTopicToAdvertise: /zed_node/right_raw/image_raw_color [zed_wrapper-1] [INFO] [1716346872.138910757] [zed_node]: Advertised on topic: /zed_node/right_raw/image_raw_color [zed_wrapper-1] [INFO] [1716346872.138939654] [zed_node]: Advertised on topic: /zed_node/right_raw/camera_info [zed_wrapper-1] [DEBUG] [1716346872.138975207] [zed_node]: getTopicToAdvertise: /zed_node/right_raw_gray/image_raw_gray/compressedDepth [zed_wrapper-1] [DEBUG] [1716346872.139513204] [zed_node]: getTopicToAdvertise: /zed_node/right_raw_gray/image_raw_gray/compressed [zed_wrapper-1] [DEBUG] [1716346872.140149188] [zed_node]: getTopicToAdvertise: /zed_node/right_raw_gray/image_raw_gray [zed_wrapper-1] [INFO] [1716346872.141387075] [zed_node]: Advertised on topic: /zed_node/right_raw_gray/image_raw_gray [zed_wrapper-1] [INFO] [1716346872.141794478] [zed_node]: Advertised on topic: /zed_node/right_raw_gray/camera_info [zed_wrapper-1] [DEBUG] [1716346872.141875248] [zed_node]: getTopicToAdvertise: /zed_node/depth/depth_registered/compressedDepth [zed_wrapper-1] [DEBUG] [1716346872.143123343] [zed_node]: getTopicToAdvertise: /zed_node/depth/depth_registered/compressed [zed_wrapper-1] [DEBUG] [1716346872.144288108] [zed_node]: getTopicToAdvertise: /zed_node/depth/depth_registered [zed_wrapper-1] [INFO] [1716346872.146483812] [zed_node]: Advertised on topic: /zed_node/depth/depth_registered [zed_wrapper-1] [INFO] [1716346872.147135028] [zed_node]: Advertised on topic: /zed_node/depth/camera_info [zed_wrapper-1] [INFO] [1716346872.148665211] [zed_node]: Advertised on topic: /zed_node/depth/depth_info [zed_wrapper-1] [DEBUG] [1716346872.148744573] [zed_node]: getTopicToAdvertise: /zed_node/stereo/image_rect_color/compressedDepth [zed_wrapper-1] [DEBUG] [1716346872.150253059] [zed_node]: getTopicToAdvertise: /zed_node/stereo/image_rect_color/compressed [zed_wrapper-1] [DEBUG] [1716346872.151500738] [zed_node]: getTopicToAdvertise: /zed_node/stereo/image_rect_color [zed_wrapper-1] [INFO] [1716346872.152785730] [zed_node]: Advertised on topic: /zed_node/stereo/image_rect_color [zed_wrapper-1] [DEBUG] [1716346872.152846436] [zed_node]: getTopicToAdvertise: /zed_node/stereo_raw/image_raw_color/compressedDepth [zed_wrapper-1] [DEBUG] [1716346872.154066947] [zed_node]: getTopicToAdvertise: /zed_node/stereo_raw/image_raw_color/compressed [zed_wrapper-1] [DEBUG] [1716346872.155610570] [zed_node]: getTopicToAdvertise: /zed_node/stereo_raw/image_raw_color [zed_wrapper-1] [INFO] [1716346872.157535098] [zed_node]: Advertised on topic: /zed_node/stereo_raw/image_raw_color [zed_wrapper-1] [INFO] [1716346872.158942173] [zed_node]: Advertised on topic: /zed_node/confidence/confidence_map [zed_wrapper-1] [INFO] [1716346872.162297554] [zed_node]: Advertised on topic: /zed_node/disparity/disparity_image [zed_wrapper-1] [INFO] [1716346872.164076383] [zed_node]: Advertised on topic: /zed_node/point_cloud/cloud_registered [zed_wrapper-1] [INFO] [1716346872.165687111] [zed_node]: Advertised on topic: /zed_node/pose [zed_wrapper-1] [INFO] [1716346872.167085995] [zed_node]: Advertised on topic: /zed_node/pose/status [zed_wrapper-1] [INFO] [1716346872.168501294] [zed_node]: Advertised on topic: /zed_node/pose_with_covariance [zed_wrapper-1] [INFO] [1716346872.172379600] [zed_node]: Advertised on topic: /zed_node/odom [zed_wrapper-1] [INFO] [1716346872.174642025] [zed_node]: Advertised on topic: /zed_node/path_map [zed_wrapper-1] [INFO] [1716346872.176095373] [zed_node]: Advertised on topic: /zed_node/path_odom [zed_wrapper-1] [INFO] [1716346872.180463035] [zed_node]: Advertised on topic: /plane_marker [zed_wrapper-1] [INFO] [1716346872.182180647] [zed_node]: Advertised on topic: /plane [zed_wrapper-1] [INFO] [1716346872.183792271] [zed_node]: Advertised on topic: /zed_node/imu/data [zed_wrapper-1] [INFO] [1716346872.185106128] [zed_node]: Advertised on topic: /zed_node/imu/data_raw [zed_wrapper-1] [INFO] [1716346872.186496947] [zed_node]: Advertised on topic: /zed_node/temperature/imu [zed_wrapper-1] [INFO] [1716346872.188296353] [zed_node]: Advertised on topic: /zed_node/left_cam_imu_transform [zed_wrapper-1] [INFO] [1716346872.188905520] [zed_node]: Camera-IMU Translation: [zed_wrapper-1] 0 -0.035649 -0.000147 [zed_wrapper-1] [INFO] [1716346872.189583777] [zed_node]: Camera-IMU Rotation: [zed_wrapper-1] FFFFC26169B0 [zed_wrapper-1] 0.999960 -0.007862 0.004298 [zed_wrapper-1] 0.007877 0.999963 -0.003392 [zed_wrapper-1] -0.004271 0.003426 0.999985 [zed_wrapper-1] [zed_wrapper-1] [INFO] [1716346872.189621922] [zed_node]: Subscribers [zed_wrapper-1] [INFO] [1716346872.192457257] [zed_node]: * Plane detection: '/clicked_point' [zed_wrapper-1] [WARN] [1716346872.211706542] [zed_node]: ! Failed to set thread params! - Policy not supported [zed_wrapper-1] [WARN] [1716346872.218041005] [zed_node]: ! Failed to set thread params! - Policy not supported [zed_wrapper-1] [WARN] [1716346872.219727320] [zed_node]: ! Failed to set thread params! - Policy not supported [zed_wrapper-1] [DEBUG] [1716346872.220100993] [zed_node]: POS. TRACKING required: enabled by param. [zed_wrapper-1] [INFO] [1716346872.245419839] [zed_node]: Starting Positional Tracking [zed_wrapper-1] [INFO] [1716346872.245531298] [zed_node]: * Waiting for valid static transformations... [zed_wrapper-1] [DEBUG] [1716346872.245575587] [zed_node]: Getting static TF from 'zedx_left_camera_frame' to 'zedx_camera_link' [INFO] [ros2-2]: process started with pid [1169] [zed_wrapper-1] [DEBUG] [1716346873.253651174] [zed_node]: Getting static TF from 'zedx_left_camera_frame' to 'zedx_camera_center' [ros2-2] stdin is not a terminal device. Keyboard handling disabled.[INFO] [1716346873.809733137] [rosbag2_recorder]: Press SPACE for pausing/resuming [ros2-2] [INFO] [1716346873.813008099] [rosbag2_recorder]: Listening for topics... [ros2-2] [INFO] [1716346873.815797193] [rosbag2_recorder]: Event publisher thread: Starting [ros2-2] [INFO] [1716346874.112435666] [rosbag2_recorder]: Subscribed to topic '/zed_node/imu/data' [ros2-2] [INFO] [1716346874.120270231] [rosbag2_recorder]: Subscribed to topic '/zed_node/left/camera_info' [ros2-2] [INFO] [1716346874.127276007] [rosbag2_recorder]: Subscribed to topic '/zed_node/left/image_rect_color' [ros2-2] [INFO] [1716346874.130771039] [rosbag2_recorder]: Subscribed to topic '/zed_node/right/camera_info' [ros2-2] [INFO] [1716346874.135243183] [rosbag2_recorder]: Subscribed to topic '/zed_node/right/image_rect_color' [ros2-2] [INFO] [1716346874.135299249] [rosbag2_recorder]: All requested topics are subscribed. Stopping discovery... [zed_wrapper-1] [DEBUG] [1716346874.256518842] [zed_node]: Getting static TF from 'zedx_camera_center' to 'zedx_camera_link' [zed_wrapper-1] [DEBUG] [1716346875.257979648] [zed_node]: Getting static TF from 'zedx_left_camera_frame' to 'zedx_camera_link' [zed_wrapper-1] [DEBUG] [1716346876.259313143] [zed_node]: Getting static TF from 'zedx_left_camera_frame' to 'zedx_camera_center'

ZED Camera model

ZED

Environment

OS: Jetson Orin NX 16G
Docker image

Anything else?

To whom it may concern, Please let me know if you need more details for my issue. Thank you for your precious time on this.

github-actions[bot] commented 4 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