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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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Launch wrapper with Sim Mode occurs error: It's not possible to enable the required Positional Tracking module #251

Closed cocobird231 closed 2 months ago

cocobird231 commented 2 months ago

Preliminary Checks

Description

Trying to launch wrapper with simulation mode, but it occurs an error: It's not possible to enable the required Positional Tracking module. With some trials, I found that the error occurs when the imu_fusion set to true. If I set it to false, the error doesn't occur.

Steps to Reproduce

  1. Start Isaac Sim simulation.
  2. Launch wrapper: ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zedx sim_mode:=true
  3. Error occurs: It's not possible to enable the required Positional Tracking module.
  4. Stop wrapper, set imu_fusion to false under config/common.yaml file.
  5. Launch wrapper: ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zedx sim_mode:=true
  6. Wrapper works without error.

Expected Result

Wrapper should work without error when sim_mode set to true without changing imu_fusion parameter.

Actual Result

FATAL ERROR: It's not possible to enable the required Positional Tracking module.

ZED Camera model

ZED

Environment

OS: Ubuntu 22.04
CPU: 12th Gen Intel(R) Core(TM) i9-12900E
GPU: NVIDIA Corporation GA106 [RTX A2000 12GB] (rev a1)
GPU Driver Version: 550.90.07
CUDA Version: 12.4
ZED SDK Version: v4.1.2
ROS: ROS2 Humble

Isaac SIM Version: 2023.1.1
Isaac Sim ZED Camera Extension v1.1.0

Anything else?

Log output when error occurs

[INFO] [launch]: All log files can be found below /home/mirdc/.ros/log/2024-09-03-16-39-45-902898-mirdc-3d-29342
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [29344]
[INFO] [zed_wrapper-2]: process started with pid [29346]
[robot_state_publisher-1] [INFO] [1725352786.024594177] [zed.zed_state_publisher]: got segment zed_camera_center
[robot_state_publisher-1] [INFO] [1725352786.024651105] [zed.zed_state_publisher]: got segment zed_camera_link
[robot_state_publisher-1] [INFO] [1725352786.024656558] [zed.zed_state_publisher]: got segment zed_left_camera_frame
[robot_state_publisher-1] [INFO] [1725352786.024659692] [zed.zed_state_publisher]: got segment zed_left_camera_optical_frame
[robot_state_publisher-1] [INFO] [1725352786.024662473] [zed.zed_state_publisher]: got segment zed_right_camera_frame
[robot_state_publisher-1] [INFO] [1725352786.024665188] [zed.zed_state_publisher]: got segment zed_right_camera_optical_frame
[zed_wrapper-2] [INFO] [1725352786.038222792] [zed.zed_node]: ********************************
[zed_wrapper-2] [INFO] [1725352786.038281621] [zed.zed_node]:       ZED Camera Component 
[zed_wrapper-2] [INFO] [1725352786.038287135] [zed.zed_node]: ********************************
[zed_wrapper-2] [INFO] [1725352786.038291421] [zed.zed_node]:  * namespace: /zed
[zed_wrapper-2] [INFO] [1725352786.038295236] [zed.zed_node]:  * node name: zed_node
[zed_wrapper-2] [INFO] [1725352786.038298074] [zed.zed_node]: ********************************
[zed_wrapper-2] [INFO] [1725352786.088539359] [zed.zed_node]: *** DEBUG parameters ***
[zed_wrapper-2] [INFO] [1725352786.088685320] [zed.zed_node]:  * SDK Verbose: 1
[zed_wrapper-2] [INFO] [1725352786.088724099] [zed.zed_node]:  * Debug Common: FALSE
[zed_wrapper-2] [INFO] [1725352786.088757316] [zed.zed_node]:  * Debug Simulation: FALSE
[zed_wrapper-2] [INFO] [1725352786.088791740] [zed.zed_node]:  * Debug Video/Depth: FALSE
[zed_wrapper-2] [INFO] [1725352786.088933474] [zed.zed_node]:  * Debug Control settings: FALSE
[zed_wrapper-2] [INFO] [1725352786.088960308] [zed.zed_node]:  * Debug Point Cloud: FALSE
[zed_wrapper-2] [INFO] [1725352786.088968844] [zed.zed_node]:  * Debug GNSS: FALSE
[zed_wrapper-2] [INFO] [1725352786.088981223] [zed.zed_node]:  * Debug Positional Tracking: FALSE
[zed_wrapper-2] [INFO] [1725352786.088990233] [zed.zed_node]:  * Debug sensors: FALSE
[zed_wrapper-2] [INFO] [1725352786.088997709] [zed.zed_node]:  * Debug Mapping: FALSE
[zed_wrapper-2] [INFO] [1725352786.089005565] [zed.zed_node]:  * Debug Object Detection: FALSE
[zed_wrapper-2] [INFO] [1725352786.089015508] [zed.zed_node]:  * Debug Body Tracking: FALSE
[zed_wrapper-2] [INFO] [1725352786.089023190] [zed.zed_node]:  * Debug Streaming: FALSE
[zed_wrapper-2] [INFO] [1725352786.089032286] [zed.zed_node]:  * Debug ROI: FALSE
[zed_wrapper-2] [INFO] [1725352786.089041436] [zed.zed_node]:  * Debug Advanced: FALSE
[zed_wrapper-2] [INFO] [1725352786.089063811] [zed.zed_node]:  *** SIMULATION MODE ACTIVE ***
[zed_wrapper-2] [INFO] [1725352786.089079738] [zed.zed_node]:  * Sim. server address: 127.0.0.1
[zed_wrapper-2] [INFO] [1725352786.089091319] [zed.zed_node]:  * Sim. server port: 30000
[zed_wrapper-2] [INFO] [1725352786.089094452] [zed.zed_node]:  * Use Sim Time: FALSE
[zed_wrapper-2] [INFO] [1725352786.089097880] [zed.zed_node]: *** GENERAL parameters ***
[zed_wrapper-2] [INFO] [1725352786.089125867] [zed.zed_node]:  + Simulating a ZED X camera model.
[zed_wrapper-2] [INFO] [1725352786.089130590] [zed.zed_node]:  * Camera model: zedx - ZED X
[zed_wrapper-2] [INFO] [1725352786.089140289] [zed.zed_node]:  * Camera name: zed
[zed_wrapper-2] [INFO] [1725352786.089155085] [zed.zed_node]:  * Camera SN: 0
[zed_wrapper-2] [INFO] [1725352786.089165239] [zed.zed_node]:  * Camera timeout [sec]: 5
[zed_wrapper-2] [INFO] [1725352786.089176215] [zed.zed_node]:  * Camera reconnection temptatives: 5
[zed_wrapper-2] [INFO] [1725352786.089179197] [zed.zed_node]: * [Simulation mode] Camera framerate forced to 60 Hz
[zed_wrapper-2] [INFO] [1725352786.089189489] [zed.zed_node]:  * GPU ID: -1
[zed_wrapper-2] [INFO] [1725352786.089192255] [zed.zed_node]: * [Simulation mode] Camera resolution forced to 'HD1080'
[zed_wrapper-2] [INFO] [1725352786.089201308] [zed.zed_node]:  * Publishing resolution: NATIVE
[zed_wrapper-2] [INFO] [1725352786.089212591] [zed.zed_node]:  * OpenCV custom calibration: 
[zed_wrapper-2] [INFO] [1725352786.089223682] [zed.zed_node]:  * Camera self calibration: TRUE
[zed_wrapper-2] [INFO] [1725352786.089232684] [zed.zed_node]:  * Camera flip: FALSE
[zed_wrapper-2] [INFO] [1725352786.089235240] [zed.zed_node]: * [Simulation mode] Publish framerate forced to 60 Hz
[zed_wrapper-2] [INFO] [1725352786.089238679] [zed.zed_node]: *** VIDEO parameters ***
[zed_wrapper-2] [INFO] [1725352786.089248865] [zed.zed_node]:  * [DYN] Saturation: 4
[zed_wrapper-2] [INFO] [1725352786.089259419] [zed.zed_node]:  * [DYN] Sharpness: 4
[zed_wrapper-2] [INFO] [1725352786.089267930] [zed.zed_node]:  * [DYN] Gamma: 8
[zed_wrapper-2] [INFO] [1725352786.089278240] [zed.zed_node]:  * [DYN] Auto Exposure/Gain: TRUE
[zed_wrapper-2] [INFO] [1725352786.089287276] [zed.zed_node]:  * [DYN] Exposure: 80
[zed_wrapper-2] [INFO] [1725352786.089295143] [zed.zed_node]:  * [DYN] Gain: 80
[zed_wrapper-2] [INFO] [1725352786.089303909] [zed.zed_node]:  * [DYN] Auto White Balance: TRUE
[zed_wrapper-2] [INFO] [1725352786.089315420] [zed.zed_node]:  * [DYN] White Balance Temperature: 42
[zed_wrapper-2] [INFO] [1725352786.089323998] [zed.zed_node]:  * [DYN] ZED X Exposure time: 16000
[zed_wrapper-2] [INFO] [1725352786.089334145] [zed.zed_node]:  * [DYN] ZED X Auto Exp. time range min: 28
[zed_wrapper-2] [INFO] [1725352786.089343007] [zed.zed_node]:  * [DYN] ZED X Auto Exp. time range max: 30000
[zed_wrapper-2] [INFO] [1725352786.089352204] [zed.zed_node]:  * [DYN] ZED X Exposure comp.: 50
[zed_wrapper-2] [INFO] [1725352786.089361925] [zed.zed_node]:  * [DYN] ZED X Analog Gain: 1255
[zed_wrapper-2] [INFO] [1725352786.089389208] [zed.zed_node]:  * [DYN] ZED X Auto Analog Gain range min: 1000
[zed_wrapper-2] [INFO] [1725352786.089398551] [zed.zed_node]:  * [DYN] ZED X Auto Analog Gain range max: 16000
[zed_wrapper-2] [INFO] [1725352786.089408443] [zed.zed_node]:  * [DYN] ZED X Digital Gain: 1
[zed_wrapper-2] [INFO] [1725352786.089419698] [zed.zed_node]:  * [DYN] ZED X Auto Digital Gain range min: 1
[zed_wrapper-2] [INFO] [1725352786.089426874] [zed.zed_node]:  * [DYN] ZED X Auto Digital Gain range max: 256
[zed_wrapper-2] [INFO] [1725352786.089435185] [zed.zed_node]:  * [DYN] ZED X Auto Digital Gain range max: 50
[zed_wrapper-2] [INFO] [1725352786.089442413] [zed.zed_node]: *** DEPTH parameters ***
[zed_wrapper-2] [INFO] [1725352786.089456843] [zed.zed_node]:  * Depth mode: ULTRA [3]
[zed_wrapper-2] [INFO] [1725352786.089477758] [zed.zed_node]:  * Min depth [m]: 0.3
[zed_wrapper-2] [INFO] [1725352786.089488343] [zed.zed_node]:  * Max depth [m]: 10
[zed_wrapper-2] [INFO] [1725352786.089496957] [zed.zed_node]:  * Depth Stabilization: 1
[zed_wrapper-2] [INFO] [1725352786.089504204] [zed.zed_node]:  * OpenNI mode (16bit point cloud): FALSE
[zed_wrapper-2] [INFO] [1725352786.089514570] [zed.zed_node]:  * [DYN] Point cloud rate [Hz]: 10
[zed_wrapper-2] [INFO] [1725352786.089523707] [zed.zed_node]:  * [DYN] Depth Confidence: 50
[zed_wrapper-2] [INFO] [1725352786.089532123] [zed.zed_node]:  * [DYN] Depth Texture Confidence: 100
[zed_wrapper-2] [INFO] [1725352786.089541168] [zed.zed_node]:  * [DYN] Remove saturated areas: TRUE
[zed_wrapper-2] [INFO] [1725352786.089544883] [zed.zed_node]: *** GNSS FUSION parameters ***
[zed_wrapper-2] [INFO] [1725352786.089555962] [zed.zed_node]:  * GNSS fusion enabled: FALSE
[zed_wrapper-2] [INFO] [1725352786.089559427] [zed.zed_node]: *** POSITIONAL TRACKING parameters ***
[zed_wrapper-2] [INFO] [1725352786.089569724] [zed.zed_node]:  * Positional tracking enabled: TRUE
[zed_wrapper-2] [INFO] [1725352786.089579953] [zed.zed_node]:  * Positional tracking mode: POSITIONAL TRACKING MODE GEN_2
[zed_wrapper-2] [INFO] [1725352786.089589417] [zed.zed_node]:  * Map frame id: map
[zed_wrapper-2] [INFO] [1725352786.089598529] [zed.zed_node]:  * Odometry frame id: odom
[zed_wrapper-2] [INFO] [1725352786.089615771] [zed.zed_node]:  * Broadcast Odometry TF: TRUE
[zed_wrapper-2] [INFO] [1725352786.089626674] [zed.zed_node]:  * Broadcast Pose TF: TRUE
[zed_wrapper-2] [INFO] [1725352786.089635879] [zed.zed_node]:  * [DYN] Depth minimum range: 0
[zed_wrapper-2] [INFO] [1725352786.089646210] [zed.zed_node]:  * [DYN] TF timestamp offset: 0
[zed_wrapper-2] [INFO] [1725352786.089656841] [zed.zed_node]:  * [DYN] Path publishing rate: 2
[zed_wrapper-2] [INFO] [1725352786.089667409] [zed.zed_node]:  * Path history lenght: -1
[zed_wrapper-2] [INFO] [1725352786.089679898] [zed.zed_node]:  * Initial pose: [0,0,0,0,0,0,]
[zed_wrapper-2] [INFO] [1725352786.089691299] [zed.zed_node]:  * Area Memory: TRUE
[zed_wrapper-2] [INFO] [1725352786.089700814] [zed.zed_node]:  * Area Memory DB: 
[zed_wrapper-2] [INFO] [1725352786.089710020] [zed.zed_node]:  * Camera is static: FALSE
[zed_wrapper-2] [INFO] [1725352786.089719096] [zed.zed_node]:  * Gravity as origin [not for ZED]: TRUE
[zed_wrapper-2] [INFO] [1725352786.089728584] [zed.zed_node]:  * IMU Fusion [not for ZED]: TRUE
[zed_wrapper-2] [INFO] [1725352786.089737106] [zed.zed_node]:  * Floor Alignment: FALSE
[zed_wrapper-2] [INFO] [1725352786.089747655] [zed.zed_node]:  * Reset Odometry with Loop Closure: TRUE
[zed_wrapper-2] [INFO] [1725352786.089756892] [zed.zed_node]:  * 2D mode: FALSE
[zed_wrapper-2] [INFO] [1725352786.089760301] [zed.zed_node]: *** Region of Interest parameters ***
[zed_wrapper-2] [INFO] [1725352786.089768595] [zed.zed_node]:  * Automatic ROI generation: FALSE
[zed_wrapper-2] [INFO] [1725352786.089788377] [zed.zed_node]:  * Manual ROI polygon: []
[zed_wrapper-2] [INFO] [1725352786.089791919] [zed.zed_node]: *** SENSORS STACK parameters ***
[zed_wrapper-2] [INFO] [1725352786.089803872] [zed.zed_node]:  * Broadcast IMU TF [not for ZED]: TRUE
[zed_wrapper-2] [INFO] [1725352786.089812480] [zed.zed_node]:  * Sensors Camera Sync: FALSE
[zed_wrapper-2] [INFO] [1725352786.089821542] [zed.zed_node]:  * Sensors publishing rate: 200 Hz
[zed_wrapper-2] [INFO] [1725352786.089825075] [zed.zed_node]: *** Spatial Mapping parameters ***
[zed_wrapper-2] [INFO] [1725352786.089838141] [zed.zed_node]:  * Spatial Mapping Enabled: FALSE
[zed_wrapper-2] [INFO] [1725352786.089854689] [zed.zed_node]:  * Spatial Mapping resolution [m]: 0.05
[zed_wrapper-2] [INFO] [1725352786.089869039] [zed.zed_node]:  * 3D Max Mapping range [m]: 5
[zed_wrapper-2] [INFO] [1725352786.089882581] [zed.zed_node]:  * Map publishing rate [Hz]: 1
[zed_wrapper-2] [INFO] [1725352786.089894444] [zed.zed_node]:  * Clicked point topic: /clicked_point
[zed_wrapper-2] [INFO] [1725352786.089907988] [zed.zed_node]:  * Plane Det. Max Dist. Thresh.: 0.15
[zed_wrapper-2] [INFO] [1725352786.089917895] [zed.zed_node]:  * Plane Det. Normals Sim. Thresh.: 15
[zed_wrapper-2] [INFO] [1725352786.089922026] [zed.zed_node]: *** Object Det. parameters ***
[zed_wrapper-2] [INFO] [1725352786.089931396] [zed.zed_node]:  * Object Det. enabled: FALSE
[zed_wrapper-2] [INFO] [1725352786.089944272] [zed.zed_node]:  * Object Det. model: MULTI CLASS BOX MEDIUM
[zed_wrapper-2] [INFO] [1725352786.089953011] [zed.zed_node]:  * Object Det. allow reduced precision: TRUE
[zed_wrapper-2] [INFO] [1725352786.089967689] [zed.zed_node]:  * Object Det. maximum range [m]: 20
[zed_wrapper-2] [INFO] [1725352786.089991299] [zed.zed_node]:  * Object Det. min. confidence: 50
[zed_wrapper-2] [INFO] [1725352786.090005018] [zed.zed_node]:  * Object Det. prediction timeout [sec]: 0.5
[zed_wrapper-2] [INFO] [1725352786.090017951] [zed.zed_node]:  * Object Det. tracking: TRUE
[zed_wrapper-2] [INFO] [1725352786.090031064] [zed.zed_node]:  * Object Filtering mode: 1 - NMS 3D
[zed_wrapper-2] [INFO] [1725352786.090041591] [zed.zed_node]:  * MultiClassBox people: TRUE
[zed_wrapper-2] [INFO] [1725352786.090051349] [zed.zed_node]:  * MultiClassBox vehicles: TRUE
[zed_wrapper-2] [INFO] [1725352786.090064395] [zed.zed_node]:  * MultiClassBox bags: TRUE
[zed_wrapper-2] [INFO] [1725352786.090076763] [zed.zed_node]:  * MultiClassBox animals: TRUE
[zed_wrapper-2] [INFO] [1725352786.090091218] [zed.zed_node]:  * MultiClassBox electronics: TRUE
[zed_wrapper-2] [INFO] [1725352786.090104229] [zed.zed_node]:  * MultiClassBox fruits and vegetables: TRUE
[zed_wrapper-2] [INFO] [1725352786.090115412] [zed.zed_node]:  * MultiClassBox sport-related objects: TRUE
[zed_wrapper-2] [INFO] [1725352786.090118826] [zed.zed_node]: *** Body Track. parameters ***
[zed_wrapper-2] [INFO] [1725352786.090131509] [zed.zed_node]:  * Body Track. enabled: FALSE
[zed_wrapper-2] [INFO] [1725352786.090144793] [zed.zed_node]:  * Body Track. model: HUMAN BODY MEDIUM
[zed_wrapper-2] [INFO] [1725352786.090159573] [zed.zed_node]:  * Body Track. format: BODY_38
[zed_wrapper-2] [INFO] [1725352786.090169961] [zed.zed_node]:  * Body Track. allow reduced precision: TRUE
[zed_wrapper-2] [INFO] [1725352786.090181991] [zed.zed_node]:  * Body Track. maximum range [m]: 20
[zed_wrapper-2] [INFO] [1725352786.090193277] [zed.zed_node]:  * Body Track. KP selection: FULL
[zed_wrapper-2] [INFO] [1725352786.090209736] [zed.zed_node]:  * Body fitting: FALSE
[zed_wrapper-2] [INFO] [1725352786.090220996] [zed.zed_node]:  * Body joints tracking: TRUE
[zed_wrapper-2] [INFO] [1725352786.090232400] [zed.zed_node]:  * Body Track. prediction timeout [sec]: 0.5
[zed_wrapper-2] [INFO] [1725352786.090244238] [zed.zed_node]:  * Body Track. confidence thresh.: 50
[zed_wrapper-2] [INFO] [1725352786.090260166] [zed.zed_node]:  * Body Track. min. KP thresh.: 5
[zed_wrapper-2] [INFO] [1725352786.090263942] [zed.zed_node]: *** Streaming Server parameters ***
[zed_wrapper-2] [INFO] [1725352786.090277270] [zed.zed_node]:  * Streaming Server enabled: FALSE
[zed_wrapper-2] [INFO] [1725352786.090291281] [zed.zed_node]:  * Stream codec: H264
[zed_wrapper-2] [INFO] [1725352786.090304498] [zed.zed_node]:  * Stream port:30000
[zed_wrapper-2] [INFO] [1725352786.090316522] [zed.zed_node]:  * Stream bitrate: 12500
[zed_wrapper-2] [INFO] [1725352786.090327666] [zed.zed_node]:  * Stream GOP size: -1
[zed_wrapper-2] [INFO] [1725352786.090340570] [zed.zed_node]:  * Stream Chunk size: 16084
[zed_wrapper-2] [INFO] [1725352786.090352795] [zed.zed_node]:  * Adaptive bitrate: FALSE
[zed_wrapper-2] [INFO] [1725352786.090362948] [zed.zed_node]:  * Target frame rate:0
[zed_wrapper-2] [INFO] [1725352786.090366278] [zed.zed_node]: *** Advanced parameters ***
[zed_wrapper-2] [INFO] [1725352786.090381816] [zed.zed_node]:  * Thread sched. policy: SCHED_BATCH
[zed_wrapper-2] [INFO] [1725352786.090403525] [zed.zed_node]: *** SERVICES ***
[zed_wrapper-2] [INFO] [1725352786.090762232] [zed.zed_node]:  * '/zed/zed_node/reset_odometry'
[zed_wrapper-2] [INFO] [1725352786.090907212] [zed.zed_node]:  * '/zed/zed_node/reset_pos_tracking'
[zed_wrapper-2] [INFO] [1725352786.091310564] [zed.zed_node]:  * '/zed/zed_node/set_pose'
[zed_wrapper-2] [INFO] [1725352786.091460940] [zed.zed_node]:  * '/zed/zed_node/enable_obj_det'
[zed_wrapper-2] [INFO] [1725352786.091572233] [zed.zed_node]:  * '/zed/zed_node/enable_body_trk'
[zed_wrapper-2] [INFO] [1725352786.091674537] [zed.zed_node]:  * '/zed/zed_node/enable_mapping'
[zed_wrapper-2] [INFO] [1725352786.091777678] [zed.zed_node]:  * '/zed/zed_node/enable_streaming'
[zed_wrapper-2] [INFO] [1725352786.091911361] [zed.zed_node]:  * '/zed/zed_node/start_svo_rec'
[zed_wrapper-2] [INFO] [1725352786.092020866] [zed.zed_node]:  * '/zed/zed_node/stop_svo_rec'
[zed_wrapper-2] [INFO] [1725352786.092160055] [zed.zed_node]:  * '/zed/zed_node/set_roi'
[zed_wrapper-2] [INFO] [1725352786.092314655] [zed.zed_node]:  * '/zed/zed_node/reset_roi'
[zed_wrapper-2] [INFO] [1725352786.092323949] [zed.zed_node]: ***** STARTING CAMERA *****
[zed_wrapper-2] [INFO] [1725352786.092332494] [zed.zed_node]: ZED SDK Version: 4.1.2 - Build 88406_f27a1ebf
[zed_wrapper-2] [INFO] [1725352786.094196629] [zed.zed_node]: *** CONNECTING TO THE SIMULATION SERVER [127.0.0.1:30000] ***
[zed_wrapper-2] [2024-09-03 08:39:46 UTC][ZED][INFO] Logging level INFO
[zed_wrapper-2] [Streaming] Warning : receiving port 30000 is not available (already used)... switching to port 30002. Retrying...
[zed_wrapper-2] [Streaming] Metadata timeout. the size is equal to 196 instead of 21960. Skipping.
[zed_wrapper-2] [Streaming] No backward compatibility required.
[zed_wrapper-2] [Streaming] Warning: Corrupted frame chunk received (recv: 196 / expect 4112)  from ip : 127.0.0.1 at ts 1725352786919(ms)
[zed_wrapper-2] [Streaming] Metadata timeout. the size is equal to 196 instead of 21960. Skipping.
[zed_wrapper-2] [Streaming] Metadata timeout. the size is equal to 196 instead of 21960. Skipping.
[zed_wrapper-2] [2024-09-03 08:39:47 UTC][ZED][INFO] [Init]  Depth mode: ULTRA
[zed_wrapper-2] [2024-09-03 08:39:47 UTC][ZED][INFO] [Init]  Serial Number: S/N 40976320
[zed_wrapper-2] [2024-09-03 08:39:47 UTC][ZED][WARNING] Simulated ZED camera used.
[zed_wrapper-2] [2024-09-03 08:39:47 UTC][ZED][WARNING] [Init]  Invalid calibration file. On Linux, call export LC_ALL="C" and restart your application.
[zed_wrapper-2] [2024-09-03 08:39:47 UTC][ZED][WARNING] Self Calibration Disabled.
[zed_wrapper-2] [2024-09-03 08:39:47 UTC][ZED][WARNING] [Init]  Requested depth_minimum_distance: 0.3METER is too close, clamped to 0.4METER.
[zed_wrapper-2] [WARN] [1725352787.457559374] [zed.zed_node]: !!! `general.grab_frame_rate` value is not valid: '60'. Automatically replaced with '30'. Please fix the parameter !!!
[zed_wrapper-2] [INFO] [1725352787.457604523] [zed.zed_node]: ZED SDK running on GPU #0
[zed_wrapper-2] [INFO] [1725352787.457610225] [zed.zed_node]:  * Camera Model  -> ZED X
[zed_wrapper-2] [INFO] [1725352787.457613546] [zed.zed_node]:  * Serial Number -> 40976320
[zed_wrapper-2] [INFO] [1725352787.457617420] [zed.zed_node]:  * Focal Lenght -> 4.4496 mm
[zed_wrapper-2] [INFO] [1725352787.457625954] [zed.zed_node]:  * Input   -> STREAM input type
[zed_wrapper-2] [INFO] [1725352787.457630464] [zed.zed_node]:  * Camera FW Version  -> 1523
[zed_wrapper-2] [INFO] [1725352787.457634914] [zed.zed_node]:  * Sensors FW Version -> 0
[zed_wrapper-2] [INFO] [1725352787.457639129] [zed.zed_node]:  * Camera grab frame size -> 1280x720
[zed_wrapper-2] [INFO] [1725352787.457649887] [zed.zed_node]:  * Publishing frame size  -> 1280x720
[zed_wrapper-2] [INFO] [1725352787.457659754] [zed.zed_node]: *** TF FRAMES ***
[zed_wrapper-2] [INFO] [1725352787.457663928] [zed.zed_node]:  * Map            -> map
[zed_wrapper-2] [INFO] [1725352787.457667092] [zed.zed_node]:  * Odometry       -> odom
[zed_wrapper-2] [INFO] [1725352787.457670039] [zed.zed_node]:  * Base           -> zed_camera_link
[zed_wrapper-2] [INFO] [1725352787.457673291] [zed.zed_node]:  * Camera         -> zed_camera_center
[zed_wrapper-2] [INFO] [1725352787.457676430] [zed.zed_node]:  * Left           -> zed_left_camera_frame
[zed_wrapper-2] [INFO] [1725352787.457679365] [zed.zed_node]:  * Left Optical       -> zed_left_camera_optical_frame
[zed_wrapper-2] [INFO] [1725352787.457682681] [zed.zed_node]:  * RGB            -> zed_left_camera_frame
[zed_wrapper-2] [INFO] [1725352787.457685616] [zed.zed_node]:  * RGB Optical        -> zed_left_camera_optical_frame
[zed_wrapper-2] [INFO] [1725352787.457690724] [zed.zed_node]:  * Right          -> zed_right_camera_frame
[zed_wrapper-2] [INFO] [1725352787.457693727] [zed.zed_node]:  * Right Optical      -> zed_right_camera_optical_frame
[zed_wrapper-2] [INFO] [1725352787.457696692] [zed.zed_node]:  * Depth          -> zed_left_camera_frame
[zed_wrapper-2] [INFO] [1725352787.457699607] [zed.zed_node]:  * Depth Optical      -> zed_left_camera_optical_frame
[zed_wrapper-2] [INFO] [1725352787.457702504] [zed.zed_node]:  * Point Cloud        -> zed_left_camera_optical_frame
[zed_wrapper-2] [INFO] [1725352787.457705297] [zed.zed_node]:  * Disparity      -> zed_left_camera_frame
[zed_wrapper-2] [INFO] [1725352787.457708150] [zed.zed_node]:  * Disparity Optical  -> zed_left_camera_optical_frame
[zed_wrapper-2] [INFO] [1725352787.457711037] [zed.zed_node]:  * Confidence     -> zed_left_camera_frame
[zed_wrapper-2] [INFO] [1725352787.457714081] [zed.zed_node]:  * Confidence Optical -> zed_left_camera_optical_frame
[zed_wrapper-2] [INFO] [1725352787.457716931] [zed.zed_node]:  * IMU            -> zed_imu_link
[zed_wrapper-2] [INFO] [1725352787.457734570] [zed.zed_node]: *** PUBLISHED TOPICS ***
[zed_wrapper-2] [INFO] [1725352787.585558531] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb/image_rect_color
[zed_wrapper-2] [INFO] [1725352787.585607390] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb/camera_info
[zed_wrapper-2] [INFO] [1725352787.588704612] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_gray/image_rect_gray
[zed_wrapper-2] [INFO] [1725352787.588741161] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_gray/camera_info
[zed_wrapper-2] [INFO] [1725352787.594057392] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_raw/image_raw_color
[zed_wrapper-2] [INFO] [1725352787.594099595] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_raw/camera_info
[zed_wrapper-2] [INFO] [1725352787.598481991] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_raw_gray/image_raw_gray
[zed_wrapper-2] [INFO] [1725352787.598516285] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_raw_gray/camera_info
[zed_wrapper-2] [INFO] [1725352787.601888495] [zed.zed_node]: Advertised on topic: /zed/zed_node/left/image_rect_color
[zed_wrapper-2] [INFO] [1725352787.601930738] [zed.zed_node]: Advertised on topic: /zed/zed_node/left/camera_info
[zed_wrapper-2] [INFO] [1725352787.606491725] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_gray/image_rect_gray
[zed_wrapper-2] [INFO] [1725352787.606526469] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_gray/camera_info
[zed_wrapper-2] [INFO] [1725352787.610612948] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_raw/image_raw_color
[zed_wrapper-2] [INFO] [1725352787.610647067] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_raw/camera_info
[zed_wrapper-2] [INFO] [1725352787.612103487] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_raw_gray/image_raw_gray
[zed_wrapper-2] [INFO] [1725352787.612128547] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_raw_gray/camera_info
[zed_wrapper-2] [INFO] [1725352787.617199389] [zed.zed_node]: Advertised on topic: /zed/zed_node/right/image_rect_color
[zed_wrapper-2] [INFO] [1725352787.617231428] [zed.zed_node]: Advertised on topic: /zed/zed_node/right/camera_info
[zed_wrapper-2] [INFO] [1725352787.618956104] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_gray/image_rect_gray
[zed_wrapper-2] [INFO] [1725352787.618981235] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_gray/camera_info
[zed_wrapper-2] [INFO] [1725352787.620000127] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_raw/image_raw_color
[zed_wrapper-2] [INFO] [1725352787.620020445] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_raw/camera_info
[zed_wrapper-2] [INFO] [1725352787.620946374] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_raw_gray/image_raw_gray
[zed_wrapper-2] [INFO] [1725352787.620964847] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_raw_gray/camera_info
[zed_wrapper-2] [INFO] [1725352787.621875643] [zed.zed_node]: Advertised on topic: /zed/zed_node/depth/depth_registered
[zed_wrapper-2] [INFO] [1725352787.621894700] [zed.zed_node]: Advertised on topic: /zed/zed_node/depth/camera_info
[zed_wrapper-2] [INFO] [1725352787.622971711] [zed.zed_node]: Advertised on topic: /zed/zed_node/depth/depth_info
[zed_wrapper-2] [INFO] [1725352787.623869689] [zed.zed_node]: Advertised on topic: /zed/zed_node/stereo/image_rect_color
[zed_wrapper-2] [INFO] [1725352787.624787091] [zed.zed_node]: Advertised on topic: /zed/zed_node/stereo_raw/image_raw_color
[zed_wrapper-2] [INFO] [1725352787.624945666] [zed.zed_node]: Advertised on topic: /zed/zed_node/confidence/confidence_map
[zed_wrapper-2] [INFO] [1725352787.625799867] [zed.zed_node]: Advertised on topic: /zed/zed_node/disparity/disparity_image
[zed_wrapper-2] [INFO] [1725352787.633215314] [zed.zed_node]: Advertised on topic: /zed/zed_node/point_cloud/cloud_registered
[zed_wrapper-2] [INFO] [1725352787.633695419] [zed.zed_node]: Advertised on topic: /zed/zed_node/pose
[zed_wrapper-2] [INFO] [1725352787.634009861] [zed.zed_node]: Advertised on topic: /zed/zed_node/pose/status
[zed_wrapper-2] [INFO] [1725352787.634454793] [zed.zed_node]: Advertised on topic: /zed/zed_node/pose_with_covariance
[zed_wrapper-2] [INFO] [1725352787.635279700] [zed.zed_node]: Advertised on topic: /zed/zed_node/odom
[zed_wrapper-2] [INFO] [1725352787.635617852] [zed.zed_node]: Advertised on topic: /zed/zed_node/path_map
[zed_wrapper-2] [INFO] [1725352787.635833524] [zed.zed_node]: Advertised on topic: /zed/zed_node/path_odom
[zed_wrapper-2] [INFO] [1725352787.636908041] [zed.zed_node]: Advertised on topic: /zed/plane_marker
[zed_wrapper-2] [INFO] [1725352787.637473947] [zed.zed_node]: Advertised on topic: /zed/plane
[zed_wrapper-2] [INFO] [1725352787.637802639] [zed.zed_node]: Advertised on topic: /zed/zed_node/imu/data
[zed_wrapper-2] [INFO] [1725352787.638032440] [zed.zed_node]: Advertised on topic: /zed/zed_node/imu/data_raw
[zed_wrapper-2] [INFO] [1725352787.638322986] [zed.zed_node]: Advertised on topic: /zed/zed_node/temperature/imu
[zed_wrapper-2] [INFO] [1725352787.638555469] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_cam_imu_transform
[zed_wrapper-2] [INFO] [1725352787.638574500] [zed.zed_node]: Camera-IMU Translation: 
[zed_wrapper-2]  0 0 0
[zed_wrapper-2] [INFO] [1725352787.638599405] [zed.zed_node]: Camera-IMU Rotation:
[zed_wrapper-2] 78993E9FA040
[zed_wrapper-2] 1.000000 0.000000 0.000000
[zed_wrapper-2] 0.000000 1.000000 0.000000
[zed_wrapper-2] 0.000000 0.000000 1.000000
[zed_wrapper-2] 
[zed_wrapper-2] [INFO] [1725352787.638607231] [zed.zed_node]: *** Subscribers ***
[zed_wrapper-2] [INFO] [1725352787.638962500] [zed.zed_node]:  * Plane detection: '/clicked_point'
[zed_wrapper-2] [INFO] [1725352787.639270139] [zed.zed_node]: *** Starting Positional Tracking ***
[zed_wrapper-2] [INFO] [1725352787.639312309] [zed.zed_node]:  * Waiting for valid static transformations...
[zed_wrapper-2] [INFO] [1725352787.639405060] [zed.zed_node]:  Static transform ref. CMOS Sensor to Base [zed_left_camera_frame -> zed_camera_link]
[zed_wrapper-2] [INFO] [1725352787.639421692] [zed.zed_node]:   * Translation: {0.010,-0.060,-0.016}
[zed_wrapper-2] [INFO] [1725352787.639437215] [zed.zed_node]:   * Rotation: {0.000,-0.000,0.000}
[zed_wrapper-2] [INFO] [1725352787.639488456] [zed.zed_node]:  Static transform ref. CMOS Sensor to Camera Center [zed_left_camera_frame -> zed_camera_center]
[zed_wrapper-2] [INFO] [1725352787.639502942] [zed.zed_node]:   * Translation: {0.010,-0.060,0.000}
[zed_wrapper-2] [INFO] [1725352787.639516443] [zed.zed_node]:   * Rotation: {0.000,-0.000,0.000}
[zed_wrapper-2] [INFO] [1725352787.639540175] [zed.zed_node]:  Static transform Camera Center to Base [zed_camera_center -> zed_camera_link]
[zed_wrapper-2] [INFO] [1725352787.639552551] [zed.zed_node]:   * Translation: {0.000,0.000,-0.016}
[zed_wrapper-2] [INFO] [1725352787.639570004] [zed.zed_node]:   * Rotation: {0.000,-0.000,0.000}
[zed_wrapper-2] [INFO] [1725352787.640656929] [zed.zed_node]: Initial ZED left camera pose (ZED pos. tracking): 
[zed_wrapper-2] [INFO] [1725352787.640683394] [zed.zed_node]:  * T: [-0.01,0.06,0.016]
[zed_wrapper-2] [INFO] [1725352787.640702335] [zed.zed_node]:  * Q: [0,0,0,1]
[zed_wrapper-2] [2024-09-03 08:39:47 UTC][ZED][WARNING] Positional Tracking GEN2 with IMU fusion enabled requires high frequency sensors data (available with Streaming version 2, with ZED SDK >=4.1). IMU Fusion will be disabled, performance will be degraded.
[zed_wrapper-2] [WARN] [1725352788.148846624] [zed.zed_node]: Pos. Tracking not started: SENSORS DATA REQUIRED FOR THIS MODULE
[zed_wrapper-2] [INFO] [1725352788.182228014] [zed.zed_node]: *** Starting Positional Tracking ***
[zed_wrapper-2] [INFO] [1725352788.182263133] [zed.zed_node]:  * Waiting for valid static transformations...
[zed_wrapper-2] [INFO] [1725352788.183335947] [zed.zed_node]: Initial ZED left camera pose (ZED pos. tracking): 
[zed_wrapper-2] [INFO] [1725352788.183354934] [zed.zed_node]:  * T: [-0.01,0.06,0.016]
[zed_wrapper-2] [INFO] [1725352788.183369711] [zed.zed_node]:  * Q: [0,0,0,1]
[zed_wrapper-2] [2024-09-03 08:39:48 UTC][ZED][WARNING] Positional Tracking GEN2 with IMU fusion enabled requires high frequency sensors data (available with Streaming version 2, with ZED SDK >=4.1). IMU Fusion will be disabled, performance will be degraded.
[zed_wrapper-2] [WARN] [1725352788.658049115] [zed.zed_node]: Pos. Tracking not started: SENSORS DATA REQUIRED FOR THIS MODULE
[zed_wrapper-2] [INFO] [1725352788.659302610] [zed.zed_node]: *** Starting Positional Tracking ***
[zed_wrapper-2] [INFO] [1725352788.659318402] [zed.zed_node]:  * Waiting for valid static transformations...
[zed_wrapper-2] [INFO] [1725352788.660378596] [zed.zed_node]: Initial ZED left camera pose (ZED pos. tracking): 
[zed_wrapper-2] [INFO] [1725352788.660382786] [zed.zed_node]:  * T: [-0.01,0.06,0.016]
[zed_wrapper-2] [INFO] [1725352788.660391890] [zed.zed_node]:  * Q: [0,0,0,1]
[zed_wrapper-2] [2024-09-03 08:39:48 UTC][ZED][WARNING] Positional Tracking GEN2 with IMU fusion enabled requires high frequency sensors data (available with Streaming version 2, with ZED SDK >=4.1). IMU Fusion will be disabled, performance will be degraded.
[zed_wrapper-2] [WARN] [1725352789.124746789] [zed.zed_node]: Pos. Tracking not started: SENSORS DATA REQUIRED FOR THIS MODULE
[zed_wrapper-2] [FATAL] [1725352789.124791410] [zed.zed_node]: It's not possible to enable the required Positional Tracking module.
[ERROR] [zed_wrapper-2]: process has died [pid 29346, exit code 1, cmd '/home/mirdc/ros2_ws/install/zed_wrapper/lib/zed_wrapper/zed_wrapper --ros-args -r __node:=zed_node -r __ns:=/zed --params-file /home/mirdc/ros2_ws/install/zed_wrapper/share/zed_wrapper/config/common.yaml --params-file /home/mirdc/ros2_ws/install/zed_wrapper/share/zed_wrapper/config/zedx.yaml --params-file /tmp/launch_params_jsi69bs5'].
Myzhar commented 2 months ago

Hi @cocobird231 What simulation engine are you using?

nirty-fai commented 2 months ago

I had filed a similar issue earlier and possibly a duplicate - https://github.com/stereolabs/zed-ros2-wrapper/issues/247

Myzhar commented 2 months ago

If the simulator does not provide IMU data it's not possible to use GEN_2 positional tracking. What simulator are you using?

cocobird231 commented 2 months ago

I'm using Isaac Sim 2023.1.1 with ZED Camera extension v1.1.0, and stream the ZED with ZED camera streamer provided by ZED Camera extension.

I had try default the common.yaml and set pos_tracking_mode to GEN_1 and it works, but the topic /zed/zed_node/imu/data and /zed/zed_node/imu/data_raw not publishing. I'm not sure the IMU data support sim mode or not.

Myzhar commented 2 months ago

That's expected. It's not a ROS 2 Wrapper issue, but a limitation of the ZED Camera Extension for ISAAC Sim that does not yet publish simulated IMU data.

Myzhar commented 2 months ago

I recommend you open a Feature Request issue to the ISAAC Sim repository: https://github.com/stereolabs/zed-isaac-sim/issues