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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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[BUG] Weird Behaviour when replaying an ZED2 SVO in `realtime` #35

Closed KevinSchwarzer closed 2 years ago

KevinSchwarzer commented 3 years ago

Describe the bug A clear and concise description of what the bug is.

Device information:

To Reproduce Steps to reproduce the behavior:

  1. Use the following parameters: 
    /**:
  general:
    debug_mode: true
    sdk_verbose: true
    svo_file: path/to/svo_file
    svo_loop: false
    svo_realtime: true
    camera_model: zed2
    camera_name: zed2
    camera_flip: true
    resolution: 2
    self_calib: false
    grab_frame_rate: 30
    pub_frame_rate: 15.0
  video:
    img_downsample_factor: 0.5
  depth:
    quality: 1
    min_depth: 1.0
    max_depth: 10.0
    depth_downsample_factor: 0.5
    point_cloud_freq: 15.0
  pos_tracking:
    publish_tf: false
    publish_map_tf: false
    base_frame: base_link
  2. Launch with 
    ros2 launch zed_wrapper zed2.launch.py
  3. See the log below for when running on a Jetson Xavier NX. When I do the same on my personal laptop, the node initially publishes topics but stops publishing at random. The SVO file is still being replayed, though, as I was able to see from the SVO reached the end. The node has been stopped message in the logs. Note, when I change svo_realtime to True, everything works just fine.

Expected behavior The node starts without camera error.

ROS log

[robot_state_publisher-1] Initialize urdf model from file: /workspaces/eloquent/install/zed_wrapper/share/zed_wrapper/urdf/zed2.urdf
[robot_state_publisher-1] Parsing robot urdf xml string.
[robot_state_publisher-1] Link zed2_camera_center had 2 children
[robot_state_publisher-1] Link zed2_left_camera_frame had 1 children
[robot_state_publisher-1] Link zed2_left_camera_optical_frame had 0 children
[robot_state_publisher-1] Link zed2_right_camera_frame had 1 children
[robot_state_publisher-1] Link zed2_right_camera_optical_frame had 0 children
[robot_state_publisher-1] got segment base_link
[robot_state_publisher-1] got segment zed2_camera_center
[robot_state_publisher-1] got segment zed2_left_camera_frame
[robot_state_publisher-1] got segment zed2_left_camera_optical_frame
[robot_state_publisher-1] got segment zed2_right_camera_frame
[robot_state_publisher-1] got segment zed2_right_camera_optical_frame
[robot_state_publisher-1] Adding fixed segment from base_link to zed2_camera_center
[robot_state_publisher-1] Adding fixed segment from zed2_camera_center to zed2_left_camera_frame
[robot_state_publisher-1] Adding fixed segment from zed2_left_camera_frame to zed2_left_camera_optical_frame
[robot_state_publisher-1] Adding fixed segment from zed2_camera_center to zed2_right_camera_frame
[robot_state_publisher-1] Adding fixed segment from zed2_right_camera_frame to zed2_right_camera_optical_frame
[zed_wrapper-2] 1620226849.148992223 [zed24388529.zed_node] [INFO] ********************************
[zed_wrapper-2] 1620226849.149339584 [zed24388529.zed_node] [INFO]       ZED Camera Component 
[zed_wrapper-2] 1620226849.149460801 [zed24388529.zed_node] [INFO] ********************************
[zed_wrapper-2] 1620226849.149567649 [zed24388529.zed_node] [INFO]  * namespace: /zed24388529
[zed_wrapper-2] 1620226849.149644513 [zed24388529.zed_node] [INFO]  * node name: zed_node
[zed_wrapper-2] 1620226849.149700833 [zed24388529.zed_node] [INFO] ********************************
[zed_wrapper-2] 1620226849.150225667 [zed24388529.zed_node] [INFO] *** Debug Mode enabled ***
[zed_wrapper-2] 1620226849.150917317 [zed24388529.zed_node] [DEBUG] [ROS2] Using RMW_IMPLEMENTATION = rmw_cyclonedds_cpp
[zed_wrapper-2] 1620226849.151105414 [zed24388529.zed_node] [INFO] *** GENERAL parameters ***
[zed_wrapper-2] 1620226849.151439911 [zed24388529.zed_node] [INFO]  * Camera model: zed2 - ZED 2
[zed_wrapper-2] 1620226849.151724551 [zed24388529.zed_node] [INFO]  * SDK Verbose: 1
[zed_wrapper-2] 1620226849.151975432 [zed24388529.zed_node] [INFO]  * SVO: /workspaces/ssd/recording/ds20210409_sn24388529_ts052613.svo
[zed_wrapper-2] 1620226849.152241193 [zed24388529.zed_node] [INFO]  * SVO Loop: TRUE
[zed_wrapper-2] 1620226849.152446058 [zed24388529.zed_node] [INFO]  * SVO Realtime: TRUE
[zed_wrapper-2] 1620226849.152643274 [zed24388529.zed_node] [INFO]  * Camera name: zed2
[zed_wrapper-2] 1620226849.152902539 [zed24388529.zed_node] [INFO]  * Camera ID: 0
[zed_wrapper-2] 1620226849.153110316 [zed24388529.zed_node] [INFO]  * Camera SN: 0
[zed_wrapper-2] 1620226849.153302316 [zed24388529.zed_node] [INFO]  * Camera timeout [sec]: 5
[zed_wrapper-2] 1620226849.153503597 [zed24388529.zed_node] [INFO]  * Camera reconnection temptatives: 5
[zed_wrapper-2] 1620226849.153704173 [zed24388529.zed_node] [INFO]  * Camera framerate: 30
[zed_wrapper-2] 1620226849.153912526 [zed24388529.zed_node] [INFO]  * GPU ID: -1
[zed_wrapper-2] 1620226849.154190351 [zed24388529.zed_node] [INFO]  * Camera resolution: 2 - HD720
[zed_wrapper-2] 1620226849.154393935 [zed24388529.zed_node] [INFO]  * Camera self calibration: FALSE
[zed_wrapper-2] 1620226849.154624048 [zed24388529.zed_node] [INFO]  * Camera flip: TRUE
[zed_wrapper-2] 1620226849.154810193 [zed24388529.zed_node] [INFO]  * [DYN] Publish framerate [Hz]: 15 
[zed_wrapper-2] 1620226849.154898481 [zed24388529.zed_node] [INFO] *** VIDEO parameters ***
[zed_wrapper-2] 1620226849.155074322 [zed24388529.zed_node] [INFO]  * Use old extrinsic parameters: 0
[zed_wrapper-2] 1620226849.155255378 [zed24388529.zed_node] [INFO]  * [DYN] Image downsample factor: 0.5 
[zed_wrapper-2] 1620226849.155514323 [zed24388529.zed_node] [INFO]  * [DYN] Brightness: 4
[zed_wrapper-2] 1620226849.155703315 [zed24388529.zed_node] [INFO]  * [DYN] Contrast: 4
[zed_wrapper-2] 1620226849.155886388 [zed24388529.zed_node] [INFO]  * [DYN] Hue: 0
[zed_wrapper-2] 1620226849.157565593 [zed24388529.zed_node] [INFO]  * [DYN] Saturation: 4
[zed_wrapper-2] 1620226849.157825178 [zed24388529.zed_node] [INFO]  * [DYN] Sharpness: 4
[zed_wrapper-2] 1620226849.158121051 [zed24388529.zed_node] [INFO]  * [DYN] Gamma: 8
[zed_wrapper-2] 1620226849.158326043 [zed24388529.zed_node] [INFO]  * [DYN] Auto Exposure/Gain: TRUE
[zed_wrapper-2] 1620226849.158569084 [zed24388529.zed_node] [INFO]  * [DYN] Exposure: 80
[zed_wrapper-2] 1620226849.158781757 [zed24388529.zed_node] [INFO]  * [DYN] Gain: 80
[zed_wrapper-2] 1620226849.158982685 [zed24388529.zed_node] [INFO]  * [DYN] Auto White Balance: TRUE
[zed_wrapper-2] 1620226849.159200222 [zed24388529.zed_node] [INFO]  * [DYN] White Balance Temperature: 42
[zed_wrapper-2] 1620226849.159403839 [zed24388529.zed_node] [INFO]  * Video QoS History: KEEP_LAST
[zed_wrapper-2] 1620226849.159617311 [zed24388529.zed_node] [INFO]  * Video QoS History depth: 1
[zed_wrapper-2] 1620226849.159810976 [zed24388529.zed_node] [INFO]  * Video QoS Reliability: RELIABLE
[zed_wrapper-2] 1620226849.159989632 [zed24388529.zed_node] [INFO]  * Video QoS Durability: VOLATILE
[zed_wrapper-2] 1620226849.160074689 [zed24388529.zed_node] [INFO] *** DEPTH parameters ***
[zed_wrapper-2] 1620226849.160265409 [zed24388529.zed_node] [INFO]  * Depth downsample factor: 0.5 
[zed_wrapper-2] 1620226849.160481634 [zed24388529.zed_node] [INFO]  * Depth quality: 1 - PERFORMANCE
[zed_wrapper-2] 1620226849.160699267 [zed24388529.zed_node] [INFO]  * Min depth [m]: 1
[zed_wrapper-2] 1620226849.161513189 [zed24388529.zed_node] [INFO]  * Max depth [m]: 10
[zed_wrapper-2] 1620226849.161732678 [zed24388529.zed_node] [INFO]  * Depth Sensing Mode: 0 - STANDARD
[zed_wrapper-2] 1620226849.161907718 [zed24388529.zed_node] [INFO]  * Depth Stabilization: TRUE
[zed_wrapper-2] 1620226849.162087655 [zed24388529.zed_node] [INFO]  * OpenNI mode (16bit point cloud): FALSE
[zed_wrapper-2] 1620226849.162598152 [zed24388529.zed_node] [INFO]  * [DYN] Point cloud rate [Hz]: 15
[zed_wrapper-2] 1620226849.162899689 [zed24388529.zed_node] [INFO]  * [DYN] Depth Confidence: 50
[zed_wrapper-2] 1620226849.163102090 [zed24388529.zed_node] [INFO]  * [DYN] Depth Texture Confidence: 100
[zed_wrapper-2] 1620226849.163282250 [zed24388529.zed_node] [INFO]  * Depth QoS History: KEEP_LAST
[zed_wrapper-2] 1620226849.163450123 [zed24388529.zed_node] [INFO]  * Depth QoS History depth: 1
[zed_wrapper-2] 1620226849.163660364 [zed24388529.zed_node] [INFO]  * Depth QoS Reliability: RELIABLE
[zed_wrapper-2] 1620226849.163837196 [zed24388529.zed_node] [INFO]  * Depth QoS Durability: VOLATILE
[zed_wrapper-2] 1620226849.163907340 [zed24388529.zed_node] [INFO] *** POSITIONAL TRACKING parameters ***
[zed_wrapper-2] 1620226849.164083501 [zed24388529.zed_node] [INFO]  * Base frame id: base_link
[zed_wrapper-2] 1620226849.164272141 [zed24388529.zed_node] [INFO]  * Map frame id: map
[zed_wrapper-2] 1620226849.164465838 [zed24388529.zed_node] [INFO]  * Odometry frame id: odom
[zed_wrapper-2] 1620226849.164679055 [zed24388529.zed_node] [INFO]  * Broadcast Odometry TF: FALSE
[zed_wrapper-2] 1620226849.164880815 [zed24388529.zed_node] [INFO]  * [DYN] Path publishing rate: 2
[zed_wrapper-2] 1620226849.165063504 [zed24388529.zed_node] [INFO]  * Path history lenght: -1
[zed_wrapper-2] 1620226849.165267184 [zed24388529.zed_node] [INFO]  * Initial pose: [0,0,0,0,0,0,]
[zed_wrapper-2] 1620226849.165474193 [zed24388529.zed_node] [INFO]  * Area Memory: TRUE
[zed_wrapper-2] 1620226849.165667154 [zed24388529.zed_node] [INFO]  * Area Memory DB: 
[zed_wrapper-2] 1620226849.165846738 [zed24388529.zed_node] [INFO]  * IMU Fusion [not for ZED]: TRUE
[zed_wrapper-2] 1620226849.166071187 [zed24388529.zed_node] [INFO]  * Floor Alignment: FALSE
[zed_wrapper-2] 1620226849.166250547 [zed24388529.zed_node] [INFO]  * Init Odometry with first valid pose data: TRUE
[zed_wrapper-2] 1620226849.166429684 [zed24388529.zed_node] [INFO]  * 2D mode: FALSE
[zed_wrapper-2] 1620226849.166698517 [zed24388529.zed_node] [INFO]  * Pose/Odometry QoS History: KEEP_LAST
[zed_wrapper-2] 1620226849.166867669 [zed24388529.zed_node] [INFO]  * Pose/Odometry QoS History depth: 1
[zed_wrapper-2] 1620226849.167026486 [zed24388529.zed_node] [INFO]  * Pose/Odometry QoS Reliability: RELIABLE
[zed_wrapper-2] 1620226849.167195830 [zed24388529.zed_node] [INFO]  * Pose/Odometry QoS Durability: VOLATILE
[zed_wrapper-2] 1620226849.167287382 [zed24388529.zed_node] [INFO] *** SENSORS STACK parameters ***
[zed_wrapper-2] 1620226849.168104633 [zed24388529.zed_node] [INFO]  * Sensors Camera Sync: FALSE
[zed_wrapper-2] 1620226849.168321786 [zed24388529.zed_node] [INFO]  * Sensors publishing rate: 400 Hz
[zed_wrapper-2] 1620226849.168508986 [zed24388529.zed_node] [INFO]  * Sensors QoS History: KEEP_LAST
[zed_wrapper-2] 1620226849.168681979 [zed24388529.zed_node] [INFO]  * Sensors QoS History depth: 1
[zed_wrapper-2] 1620226849.168866427 [zed24388529.zed_node] [INFO]  * Sensors QoS Reliability: RELIABLE
[zed_wrapper-2] 1620226849.169041884 [zed24388529.zed_node] [INFO]  * Sensors QoS Durability: VOLATILE
[zed_wrapper-2] 1620226849.169110716 [zed24388529.zed_node] [INFO] *** Spatial Mapping parameters ***
[zed_wrapper-2] 1620226849.169286813 [zed24388529.zed_node] [INFO]  * Spatial Mapping Enabled: FALSE
[zed_wrapper-2] 1620226849.169491357 [zed24388529.zed_node] [INFO]  * Spatial Mapping resolution [m]: 0.05
[zed_wrapper-2] 1620226849.169687518 [zed24388529.zed_node] [INFO]  * 3D Max Mapping range [m]: 10
[zed_wrapper-2] 1620226849.170536256 [zed24388529.zed_node] [INFO]  * Map publishing rate [Hz]: 1
[zed_wrapper-2] 1620226849.170746593 [zed24388529.zed_node] [INFO]  * Sensors QoS History: KEEP_LAST
[zed_wrapper-2] 1620226849.170938338 [zed24388529.zed_node] [INFO]  * Sensors QoS History depth: 1
[zed_wrapper-2] 1620226849.171114562 [zed24388529.zed_node] [INFO]  * Sensors QoS Reliability: RELIABLE
[zed_wrapper-2] 1620226849.171284899 [zed24388529.zed_node] [INFO]  * Sensors QoS Durability: VOLATILE
[zed_wrapper-2] 1620226849.171363107 [zed24388529.zed_node] [INFO] *** OBJECT DETECTION parameters ***
[zed_wrapper-2] 1620226849.171546787 [zed24388529.zed_node] [INFO]  * Object Detection enabled: FALSE
[zed_wrapper-2] 1620226849.171739588 [zed24388529.zed_node] [INFO]  * OD min. confidence: 40
[zed_wrapper-2] 1620226849.171943237 [zed24388529.zed_node] [INFO]  * Object Detection model: 0 - MULTI CLASS BOX
[zed_wrapper-2] 1620226849.172127941 [zed24388529.zed_node] [INFO]  * MultiClassBox people: TRUE
[zed_wrapper-2] 1620226849.172308134 [zed24388529.zed_node] [INFO]  * MultiClassBox vehicles: TRUE
[zed_wrapper-2] 1620226849.172490278 [zed24388529.zed_node] [INFO]  * MultiClassBox bags: TRUE
[zed_wrapper-2] 1620226849.172683239 [zed24388529.zed_node] [INFO]  * MultiClassBox animals: TRUE
[zed_wrapper-2] 1620226849.172872583 [zed24388529.zed_node] [INFO]  * MultiClassBox electronics: TRUE
[zed_wrapper-2] 1620226849.173157064 [zed24388529.zed_node] [INFO]  * MultiClassBox fruits and vegetables: TRUE
[zed_wrapper-2] 1620226849.173348297 [zed24388529.zed_node] [INFO]  * Skeleton fitting: FALSE
[zed_wrapper-2] 1620226849.173523113 [zed24388529.zed_node] [INFO]  * Obj. Det. QoS History: KEEP_LAST
[zed_wrapper-2] 1620226849.173744682 [zed24388529.zed_node] [INFO]  * Obj. Det. QoS History depth: 1
[zed_wrapper-2] 1620226849.173953547 [zed24388529.zed_node] [INFO]  * Obj. Det. QoS Reliability: RELIABLE
[zed_wrapper-2] 1620226849.174168011 [zed24388529.zed_node] [INFO]  * Obj. Det. QoS Durability: VOLATILE
[zed_wrapper-2] 1620226849.174267468 [zed24388529.zed_node] [INFO] *** SERVICES ***
[zed_wrapper-2] 1620226849.176047441 [zed24388529.zed_node] [INFO]  * '/zed24388529/zed_node/reset_odometry'
[zed_wrapper-2] 1620226849.177686038 [zed24388529.zed_node] [INFO]  * '/zed24388529/zed_node/reset_pos_tracking'
[zed_wrapper-2] 1620226849.180907776 [zed24388529.zed_node] [INFO]  * '/zed24388529/zed_node/set_pose'
[zed_wrapper-2] 1620226849.181757250 [zed24388529.zed_node] [INFO]  * '/zed24388529/zed_node/enable_obj_det'
[zed_wrapper-2] 1620226849.182249572 [zed24388529.zed_node] [INFO]  * '/zed24388529/zed_node/enable_mapping'
[zed_wrapper-2] 1620226849.184054793 [zed24388529.zed_node] [INFO]  * '/zed24388529/zed_node/start_svo_rec'
[zed_wrapper-2] 1620226849.184750059 [zed24388529.zed_node] [INFO]  * '/zed24388529/zed_node/stop_svo_rec'
[zed_wrapper-2] 1620226849.185279309 [zed24388529.zed_node] [INFO]  * '/zed24388529/zed_node/toggle_svo_pause'
[zed_wrapper-2] 1620226849.185401901 [zed24388529.zed_node] [INFO] ***** STARTING CAMERA *****
[zed_wrapper-2] 1620226849.185475309 [zed24388529.zed_node] [INFO] SDK Version: 3.3.3 - Build 21849_cf84d4fa
[zed_wrapper-2] 1620226849.196785872 [zed24388529.zed_node] [INFO] *** SVO OPENING ***
[zed_wrapper-2] Opening in BLOCKING MODE 
[zed_wrapper-2] NvMMLiteOpen : Block : BlockType = 261 
[zed_wrapper-2] NVMEDIA: Reading vendor.tegra.display-size : status: 6 
[zed_wrapper-2] NvMMLiteBlockCreate : Block : BlockType = 261 
[zed_wrapper-2] [ZED][Init] Depth mode: PERFORMANCE
[zed_wrapper-2] libv4l2_nvvidconv (0):(802) (INFO) : Allocating (11) OUTPUT PLANE BUFFERS Layout=1
[zed_wrapper-2] libv4l2_nvvidconv (0):(818) (INFO) : Allocating (11) CAPTURE PLANE BUFFERS Layout=0
[zed_wrapper-2] [ZED][Init] Self-calibration disabled
[zed_wrapper-2] 1620226851.299870919 [zed24388529.zed_node] [DEBUG] Opening successfull
[zed_wrapper-2] 1620226851.300253640 [zed24388529.zed_node] [INFO] ZED SDK running on GPU #0
[zed_wrapper-2] 1620226851.300377256 [zed24388529.zed_node] [INFO]  * Camera Model      -> ZED 2
[zed_wrapper-2] 1620226851.300454025 [zed24388529.zed_node] [INFO]  * Serial Number     -> 24388529
[zed_wrapper-2] 1620226851.300578793 [zed24388529.zed_node] [INFO]  * Input type        -> SVO input type
[zed_wrapper-2] 1620226851.300790058 [zed24388529.zed_node] [INFO]  * SVO resolution    -> 1280x720
[zed_wrapper-2] 1620226851.300948490 [zed24388529.zed_node] [INFO]  * SVO framerate     -> 30
[zed_wrapper-2] 1620226851.301085963 [zed24388529.zed_node] [DEBUG] Camera-IMU Transform: 
[zed_wrapper-2]  55A7879C60
[zed_wrapper-2] 1.000000 0.000000 0.000000 0.000000
[zed_wrapper-2] 0.000000 1.000000 0.000000 0.000000
[zed_wrapper-2] 0.000000 0.000000 1.000000 0.000000
[zed_wrapper-2] 0.000000 0.000000 0.000000 1.000000
[zed_wrapper-2] 
[zed_wrapper-2] 1620226851.301172587 [zed24388529.zed_node] [DEBUG] Camera Frame size : 1280x720
[zed_wrapper-2] 1620226851.301246763 [zed24388529.zed_node] [DEBUG] Image Mat size : 640x360
[zed_wrapper-2] 1620226851.301350059 [zed24388529.zed_node] [DEBUG] Depth Mat size : 640x360
[zed_wrapper-2] 1620226851.301600044 [zed24388529.zed_node] [INFO] *** TF FRAMES ***
[zed_wrapper-2] 1620226851.301674252 [zed24388529.zed_node] [INFO]  * Map                       -> map
[zed_wrapper-2] 1620226851.301745645 [zed24388529.zed_node] [INFO]  * Odometry                  -> odom
[zed_wrapper-2] 1620226851.301796557 [zed24388529.zed_node] [INFO]  * Base                      -> base_link
[zed_wrapper-2] 1620226851.301846093 [zed24388529.zed_node] [INFO]  * Camera                    -> zed2_camera_center
[zed_wrapper-2] 1620226851.301897837 [zed24388529.zed_node] [INFO]  * Left                      -> zed2_left_camera_frame
[zed_wrapper-2] 1620226851.301985517 [zed24388529.zed_node] [INFO]  * Left Optical              -> zed2_left_camera_optical_frame
[zed_wrapper-2] 1620226851.302075694 [zed24388529.zed_node] [INFO]  * RGB                       -> zed2_left_camera_frame
[zed_wrapper-2] 1620226851.302168078 [zed24388529.zed_node] [INFO]  * RGB Optical               -> zed2_left_camera_frame
[zed_wrapper-2] 1620226851.302266798 [zed24388529.zed_node] [INFO]  * Right                     -> zed2_right_camera_frame
[zed_wrapper-2] 1620226851.302322254 [zed24388529.zed_node] [INFO]  * Right Optical             -> zed2_right_camera_optical_frame
[zed_wrapper-2] 1620226851.302373294 [zed24388529.zed_node] [INFO]  * Depth                     -> zed2_left_camera_frame
[zed_wrapper-2] 1620226851.302424655 [zed24388529.zed_node] [INFO]  * Depth Optical             -> zed2_left_camera_optical_frame
[zed_wrapper-2] 1620226851.302531407 [zed24388529.zed_node] [INFO]  * Point Cloud               -> zed2_left_camera_optical_frame
[zed_wrapper-2] 1620226851.302588719 [zed24388529.zed_node] [INFO]  * Disparity         -> zed2_left_camera_frame
[zed_wrapper-2] 1620226851.302646031 [zed24388529.zed_node] [INFO]  * Disparity Optical -> zed2_left_camera_optical_frame
[zed_wrapper-2] 1620226851.302697199 [zed24388529.zed_node] [INFO]  * Confidence                -> zed2_left_camera_frame
[zed_wrapper-2] 1620226851.302864944 [zed24388529.zed_node] [INFO]  * Confidence Optical        -> zed2_left_camera_optical_frame
[zed_wrapper-2] 1620226851.302928240 [zed24388529.zed_node] [INFO]  * IMU                       -> zed2_imu_link
[zed_wrapper-2] 1620226851.303032784 [zed24388529.zed_node] [INFO]  * Barometer         -> zed2_camera_center
[zed_wrapper-2] 1620226851.303095409 [zed24388529.zed_node] [INFO]  * Magnetometer              -> zed2_imu_link
[zed_wrapper-2] 1620226851.303161969 [zed24388529.zed_node] [INFO]  * Left Temperature          -> zed2_left_camera_frame
[zed_wrapper-2] 1620226851.303236689 [zed24388529.zed_node] [INFO]  * Right Temperature -> zed2_right_camera_frame
[zed_wrapper-2] 1620226851.304430133 [zed24388529.zed_node] [INFO] *** PUBLISHED TOPICS ***
[zed_wrapper-2] 1620226851.308419201 [zed24388529.zed_node] [DEBUG] getTopicToAdvertise: /zed24388529/zed_node/rgb/image_rect_color
[zed_wrapper-2] 1620226851.312610125 [zed24388529.zed_node] [INFO] Advertised on topic: /zed24388529/zed_node/rgb/image_rect_color
[zed_wrapper-2] 1620226851.312834766 [zed24388529.zed_node] [DEBUG] getTopicToAdvertise: /zed24388529/zed_node/rgb/image_rect_gray
[zed_wrapper-2] 1620226851.313903761 [zed24388529.zed_node] [INFO] Advertised on topic: /zed24388529/zed_node/rgb/image_rect_gray
[zed_wrapper-2] 1620226851.314061298 [zed24388529.zed_node] [INFO] Advertised on topic: /zed24388529/zed_node/rgb/camera_info
[zed_wrapper-2] 1620226851.314251634 [zed24388529.zed_node] [DEBUG] getTopicToAdvertise: /zed24388529/zed_node/rgb_raw/image_raw_color
[zed_wrapper-2] 1620226851.316396921 [zed24388529.zed_node] [INFO] Advertised on topic: /zed24388529/zed_node/rgb_raw/image_raw_color
[zed_wrapper-2] 1620226851.316659642 [zed24388529.zed_node] [DEBUG] getTopicToAdvertise: /zed24388529/zed_node/rgb_raw/image_raw_gray
[zed_wrapper-2] 1620226851.317699101 [zed24388529.zed_node] [INFO] Advertised on topic: /zed24388529/zed_node/rgb_raw/image_raw_gray
[zed_wrapper-2] 1620226851.317792189 [zed24388529.zed_node] [INFO] Advertised on topic: /zed24388529/zed_node/rgb_raw/camera_info
[zed_wrapper-2] 1620226851.317939613 [zed24388529.zed_node] [DEBUG] getTopicToAdvertise: /zed24388529/zed_node/left/image_rect_color
[zed_wrapper-2] 1620226851.318955873 [zed24388529.zed_node] [INFO] Advertised on topic: /zed24388529/zed_node/left/image_rect_color
[zed_wrapper-2] 1620226851.319102113 [zed24388529.zed_node] [DEBUG] getTopicToAdvertise: /zed24388529/zed_node/left/image_rect_gray
[zed_wrapper-2] 1620226851.322751404 [zed24388529.zed_node] [INFO] Advertised on topic: /zed24388529/zed_node/left/image_rect_gray
[zed_wrapper-2] 1620226851.322991565 [zed24388529.zed_node] [INFO] Advertised on topic: /zed24388529/zed_node/left/camera_info
[zed_wrapper-2] 1620226851.323145325 [zed24388529.zed_node] [DEBUG] getTopicToAdvertise: /zed24388529/zed_node/left_raw/image_raw_color
[zed_wrapper-2] 1620226851.324184080 [zed24388529.zed_node] [INFO] Advertised on topic: /zed24388529/zed_node/left_raw/image_raw_color
[zed_wrapper-2] 1620226851.324343921 [zed24388529.zed_node] [DEBUG] getTopicToAdvertise: /zed24388529/zed_node/left_raw/image_raw_gray
[zed_wrapper-2] 1620226851.326366391 [zed24388529.zed_node] [INFO] Advertised on topic: /zed24388529/zed_node/left_raw/image_raw_gray
[zed_wrapper-2] 1620226851.326568216 [zed24388529.zed_node] [INFO] Advertised on topic: /zed24388529/zed_node/left_raw/camera_info
[zed_wrapper-2] 1620226851.326723192 [zed24388529.zed_node] [DEBUG] getTopicToAdvertise: /zed24388529/zed_node/right/image_rect_color
[zed_wrapper-2] 1620226851.327696891 [zed24388529.zed_node] [INFO] Advertised on topic: /zed24388529/zed_node/right/image_rect_color
[zed_wrapper-2] 1620226851.327842203 [zed24388529.zed_node] [DEBUG] getTopicToAdvertise: /zed24388529/zed_node/right/image_rect_gray
[zed_wrapper-2] 1620226851.328709438 [zed24388529.zed_node] [INFO] Advertised on topic: /zed24388529/zed_node/right/image_rect_gray
[zed_wrapper-2] 1620226851.328807486 [zed24388529.zed_node] [INFO] Advertised on topic: /zed24388529/zed_node/right/camera_info
[zed_wrapper-2] 1620226851.328913663 [zed24388529.zed_node] [DEBUG] getTopicToAdvertise: /zed24388529/zed_node/right_raw/image_raw_color
[zed_wrapper-2] 1620226851.329860354 [zed24388529.zed_node] [INFO] Advertised on topic: /zed24388529/zed_node/right_raw/image_raw_color
[zed_wrapper-2] 1620226851.330021634 [zed24388529.zed_node] [DEBUG] getTopicToAdvertise: /zed24388529/zed_node/right_raw/image_raw_gray
[zed_wrapper-2] 1620226851.331021253 [zed24388529.zed_node] [INFO] Advertised on topic: /zed24388529/zed_node/right_raw/image_raw_gray
[zed_wrapper-2] 1620226851.331124325 [zed24388529.zed_node] [INFO] Advertised on topic: /zed24388529/zed_node/right_raw/camera_info
[zed_wrapper-2] 1620226851.331292998 [zed24388529.zed_node] [DEBUG] getTopicToAdvertise: /zed24388529/zed_node/depth/depth_registered
[zed_wrapper-2] 1620226851.332356585 [zed24388529.zed_node] [INFO] Advertised on topic: /zed24388529/zed_node/depth/depth_registered
[zed_wrapper-2] 1620226851.332474281 [zed24388529.zed_node] [INFO] Advertised on topic: /zed24388529/zed_node/depth/camera_info
[zed_wrapper-2] 1620226851.332589610 [zed24388529.zed_node] [DEBUG] getTopicToAdvertise: /zed24388529/zed_node/stereo/image_rect_color
[zed_wrapper-2] 1620226851.333052363 [zed24388529.zed_node] [INFO] Advertised on topic: /zed24388529/zed_node/stereo/image_rect_color
[zed_wrapper-2] 1620226851.333163948 [zed24388529.zed_node] [DEBUG] getTopicToAdvertise: /zed24388529/zed_node/stereo_raw/image_raw_color
[zed_wrapper-2] 1620226851.333612109 [zed24388529.zed_node] [INFO] Advertised on topic: /zed24388529/zed_node/stereo_raw/image_raw_color
[zed_wrapper-2] 1620226851.334049198 [zed24388529.zed_node] [INFO] Advertised on topic: /zed24388529/zed_node/confidence/confidence_map
[zed_wrapper-2] 1620226851.335707571 [zed24388529.zed_node] [INFO] Advertised on topic: /zed24388529/zed_node/disparity/disparity_image
[zed_wrapper-2] 1620226851.337702233 [zed24388529.zed_node] [INFO] Advertised on topic: /zed24388529/zed_node/point_cloud/cloud_registered
[zed_wrapper-2] 1620226851.339099453 [zed24388529.zed_node] [INFO] Advertised on topic: /zed24388529/zed_node/pose
[zed_wrapper-2] 1620226851.340114369 [zed24388529.zed_node] [INFO] Advertised on topic: /zed24388529/zed_node/pose_with_covariance
[zed_wrapper-2] 1620226851.342530184 [zed24388529.zed_node] [INFO] Advertised on topic: /zed24388529/zed_node/odom
[zed_wrapper-2] 1620226851.343433323 [zed24388529.zed_node] [INFO] Advertised on topic: /zed24388529/zed_node/path_map
[zed_wrapper-2] 1620226851.344353741 [zed24388529.zed_node] [INFO] Advertised on topic: /zed24388529/zed_node/path_odom
[zed_wrapper-2] 1620226851.345354864 [zed24388529.zed_node] [INFO] Advertised on topic: /zed24388529/zed_node/imu/data
[zed_wrapper-2] 1620226851.346147091 [zed24388529.zed_node] [INFO] Advertised on topic: /zed24388529/zed_node/imu/data_raw
[zed_wrapper-2] 1620226851.347230582 [zed24388529.zed_node] [INFO] Advertised on topic: /zed24388529/zed_node/temperature/imu
[zed_wrapper-2] 1620226851.347961816 [zed24388529.zed_node] [INFO] Advertised on topic: /zed24388529/zed_node/imu/mag
[zed_wrapper-2] 1620226851.348830011 [zed24388529.zed_node] [INFO] Advertised on topic: /zed24388529/zed_node/atm_press
[zed_wrapper-2] 1620226851.350619520 [zed24388529.zed_node] [INFO] Advertised on topic: /zed24388529/zed_node/temperature/left
[zed_wrapper-2] 1620226851.351304130 [zed24388529.zed_node] [INFO] Advertised on topic: /zed24388529/zed_node/temperature/right
[zed_wrapper-2] 1620226851.352423782 [zed24388529.zed_node] [INFO] Advertised on topic: /zed24388529/zed_node/left_cam_imu_transform [LATCHED]
[zed_wrapper-2] 1620226851.352505094 [zed24388529.zed_node] [INFO] Camera-IMU Translation: 
[zed_wrapper-2]  0 0 0
[zed_wrapper-2] 1620226851.352617318 [zed24388529.zed_node] [INFO] Camera-IMU Rotation: 
[zed_wrapper-2]  7FF68A1138
[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] 1620226851.352797063 [zed24388529.zed_node] [INFO] Published static TF: 'zed2_imu_link' -> 'zed2_left_camera_frame'
[zed_wrapper-2] 1620226851.422183929 [zed24388529.zed_node] [DEBUG] Point Cloud thread started
[zed_wrapper-2] 1620226851.422624250 [zed24388529.zed_node] [DEBUG] Grab thread started
[zed_wrapper-2] 1620226851.433411675 [zed24388529.zed_node] [INFO] *** Starting Positional Tracking ***
[zed_wrapper-2] 1620226851.433633691 [zed24388529.zed_node] [INFO]  * Waiting for valid static transformations...
[zed_wrapper-2] 1620226851.433733596 [zed24388529.zed_node] [DEBUG] Getting static TF from 'zed2_left_camera_frame' to 'base_link'
[zed_wrapper-2] 1620226851.433980732 [zed24388529.zed_node] [INFO] Static transform Sensor to Base [zed2_left_camera_frame -> base_link]
[zed_wrapper-2] 1620226851.434067581 [zed24388529.zed_node] [INFO]  * Translation: {0.000,-0.060,0.000}
[zed_wrapper-2] 1620226851.434171517 [zed24388529.zed_node] [INFO]  * Rotation: {0.000,-0.000,0.000}
[zed_wrapper-2] 1620226851.434283709 [zed24388529.zed_node] [DEBUG] Getting static TF from 'zed2_left_camera_frame' to 'zed2_camera_center'
[zed_wrapper-2] 1620226851.434531646 [zed24388529.zed_node] [INFO] Static transform Sensor to Camera Center [zed2_left_camera_frame -> zed2_camera_center]
[zed_wrapper-2] 1620226851.434658078 [zed24388529.zed_node] [INFO]  * Translation: {0.000,-0.060,0.000}
[zed_wrapper-2] 1620226851.435311648 [zed24388529.zed_node] [INFO]  * Rotation: {0.000,-0.000,0.000}
[zed_wrapper-2] 1620226851.435883426 [zed24388529.zed_node] [DEBUG] Getting static TF from 'zed2_camera_center' to 'base_link'
[zed_wrapper-2] 1620226851.435994050 [zed24388529.zed_node] [INFO] Static transform Camera Center to Base [zed2_camera_center -> base_link]
[zed_wrapper-2] 1620226851.436051555 [zed24388529.zed_node] [INFO]  * Translation: {0.000,0.000,0.000}
[zed_wrapper-2] 1620226851.436111523 [zed24388529.zed_node] [INFO]  * Rotation: {0.000,-0.000,0.000}
[zed_wrapper-2] 1620226851.488482977 [zed24388529.zed_node] [DEBUG] Video Depth callback called
[zed_wrapper-2] 1620226851.536341938 [zed24388529.zed_node] [DEBUG] Time required to get valid static transforms: 0.002 sec
[zed_wrapper-2] 1620226851.536644243 [zed24388529.zed_node] [INFO] Initial ZED left camera pose (ZED pos. tracking): 
[zed_wrapper-2] 1620226851.536779699 [zed24388529.zed_node] [INFO]  * T: [0,0.06,0]
[zed_wrapper-2] 1620226851.536919668 [zed24388529.zed_node] [INFO]  * Q: [0,0,0,1]
[zed_wrapper-2] 1620226854.915591036 [zed24388529.zed_node] [ERROR] Camera error: CAMERA NOT INITIALIZED
[zed_wrapper-2] 1620226854.915790972 [zed24388529.zed_node] [DEBUG] Grab thread finished
Myzhar commented 3 years ago

Hi @kevinanschau I'm sorry, but it's not clear when the error Camera error: CAMERA NOT INITIALIZED appears. Can you explain better what happens on the Xavier NX and what happens instead on the laptop PC?

KevinSchwarzer commented 3 years ago

Hi @Myzhar Sure. I previously recorded an SVO file with my ZED2 camera. Now I wanted to replay said SVO file with the zed_wrapper node on a Jetson Xavier NX. I set the general.svo_file to the SVO file path and also set the parameter general.svo_realtime to True because I wanted a replay in real-time. Unfortunately, this results in the Camera error: CAMERA NOT INITIALIZED.

On my laptop PC, though, when general.svo_realtime is True, the node starts without any error but stops publishing messages after some time (randomly).

In contrast, when I set general.svo_realtime to False, the node starts without any issues on both devices and replays the SVO till the end.

github-actions[bot] commented 2 years 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