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stereolabs / zed-ros2-wrapper

ROS 2 wrapper for the ZED SDK
https://www.stereolabs.com/docs/ros2/
Apache License 2.0
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ZED X configuration, missing parameter #234

Closed pawelirh closed 5 months ago

pawelirh commented 5 months ago

Preliminary Checks

Description

When launching the node with zed_camera.launch.py and your predefined config for the ZED X camera, initialization fails. The camera component tries to create a subscription but the topic name is neither defined with the mapping.clicked_point_topic param in the config file, nor the default value is provided. To be precise, refer to this line

My camera model is ZEDX (can't select this model from your drop-down list)

Steps to Reproduce

  1. Launch the camera node with zedx.yaml
  2. Verify if the subscription was created, omitted, or failed.

Expected Result

Driver initializes with zedx.yaml config file.

Actual Result

Driver fails initialization with zedx.yaml config file.

ZED Camera model

ZED

Environment

OS: Ubuntu 20.04
Computer: ZED Box Orin NX 16GB / 1TB GMSL@ (RTK & antenna)
ROS: Humble

Anything else?

No response

Myzhar commented 5 months ago

The parameter is defined in common.yaml: https://github.com/stereolabs/zed-ros2-wrapper/blob/master/zed_wrapper/config/common.yaml#L107

pawelirh commented 5 months ago

Yes, that's right, and driver with common.yaml works fine.

The problem is, that it doesn't work while using zedx.yaml config file as explained in the issue description. I assume the goal behind creating this config file was to provide param values dedicated to the ZEDX camera. Because of that, it seems to me natural to launch ZEDX with zedx.yaml.

Myzhar commented 5 months ago

You must load both the configuration file with the node, in the same way it's done in our launch files:

pawelirh commented 5 months ago

Unfortunately, I have no longer access to the ZED X camera so, can't test the proposed solution. Anyway, thanks a lot for your quick assistance, I'll keep that in mind while playing with your camera next time! 📷