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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] Unable to subscribe and display /zed/zed_node/left/image_rect_color Images #40

Closed cardboardcode closed 2 years ago

cardboardcode commented 3 years ago

Describe the bug

Subscribing to the sensor_msgs/msg/Image topic named /zed/zed_node/left/image_rect_color images fails and does not show images are being published.

Device information:

To Reproduce

Steps to reproduce the behavior:

To Reproduce: Setup
cd $HOME
mkdir -p ~/zed_ros2_ws/src && cd ~/zed_ros2_ws/src
git clone https://github.com/stereolabs/zed-ros2-wrapper.git --single-branch --branch dev_foxy --depth 1
git clone https://github.com/stereolabs/zed-ros2-examples.git --single-branch --branch dev_foxy --depth 1
cd ~/zed_ros2_ws/
source /opt/ros/foxy/setup.bash
colcon build --symlink-install --cmake-args=-DCMAKE_BUILD_TYPE=Release
# Launch zed_display_rviz2
ros2 launch zed_display_rviz2 display_zed.launch.py

Observed that RViz2 is indeed able to display published images from /zed/zed_node/left/image_rect_color. See screenshot attached. However, RGB Image /zed/zed_node/rgb/image_rect_color/ does not show any images.

Run zed_tutorial_video example subscription node taken from this ZED tutorial link.

source /opt/ros/foxy/setup.bash
cd ~/zed_ros2_ws/
source install/setup.bash
ros2 run zed_tutorial_video zed_tutorial_video --ros-args -r left_image:=/zed/zed_node/left/image_rect_color -r right_image:=/zed/zed_node/right/image_rect_color

zed_tutorial_video is unresponsive and does not show anything.

Run ros2 topic echo to check if images are being published.

source /opt/ros/foxy/setup.bash
ros2 topic echo /zed/zed_node/left/image_rect_color

Observed that nothing is being echoed on this topic, even though we confirmed earlier that RVIz2 is able to display the images being published on the same topic. Refer to .gif animation below.

Expected behavior

Expected to run the following commands and observe the sensor_ msgs/msg/Image raw information being published onto terminal while zed_display_rviz2 ROS2 package is running:

source /opt/ros/foxy/setup.bash
ros2 topic echo /zed/zed_node/left/image_rect_color

Screenshots

Screenshot from 2021-07-04 15-25-39 temp

Additional context

Attempting to write my own ROS2 node that subscribes to the images published on this topic to use for subsequent 2D image processing.

Others

Not sure what I am doing wrong or missing here. Will appreciate any help. Thanks.

cardboardcode commented 3 years ago

Attached below is the terminal output upon running the command $ ros2 launch zed_display_rviz2 display_zed.launch.py:

```bash cardboardvoice@bastion:~/ros_workspace/zed_ros2_ws$ bash run_zed_camera.bash [INFO] [launch]: All log files can be found below /home/cardboardvoice/.ros/log/2021-07-04-15-46-21-707813-bastion-19916 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [robot_state_publisher-1]: process started with pid [19918] [INFO] [zed_wrapper-2]: process started with pid [19920] [INFO] [rviz2-3]: process started with pid [19922] [robot_state_publisher-1] 1625384781.782304523 [zed.zed_state_publisher] [WARN] No robot_description parameter, but command-line argument available. Assuming argument is name of URDF file. This backwards compatibility fallback will be removed in the future. [robot_state_publisher-1] Parsing robot urdf xml string. [robot_state_publisher-1] Link zed_camera_center had 2 children [robot_state_publisher-1] Link zed_left_camera_frame had 1 children [robot_state_publisher-1] Link zed_left_camera_optical_frame had 0 children [robot_state_publisher-1] Link zed_right_camera_frame had 1 children [robot_state_publisher-1] Link zed_right_camera_optical_frame had 0 children [robot_state_publisher-1] 1625384781.783259491 [zed.zed_state_publisher] [INFO] got segment base_link [robot_state_publisher-1] 1625384781.783272828 [zed.zed_state_publisher] [INFO] got segment zed_camera_center [robot_state_publisher-1] 1625384781.783277583 [zed.zed_state_publisher] [INFO] got segment zed_left_camera_frame [robot_state_publisher-1] 1625384781.783281676 [zed.zed_state_publisher] [INFO] got segment zed_left_camera_optical_frame [robot_state_publisher-1] 1625384781.783285743 [zed.zed_state_publisher] [INFO] got segment zed_right_camera_frame [robot_state_publisher-1] 1625384781.783289415 [zed.zed_state_publisher] [INFO] got segment zed_right_camera_optical_frame [zed_wrapper-2] 1625384781.789399166 [zed.zed_node] [INFO] ******************************** [zed_wrapper-2] 1625384781.789462103 [zed.zed_node] [INFO] ZED Camera Component [zed_wrapper-2] 1625384781.789469611 [zed.zed_node] [INFO] ******************************** [zed_wrapper-2] 1625384781.789474704 [zed.zed_node] [INFO] * namespace: /zed [zed_wrapper-2] 1625384781.789479890 [zed.zed_node] [INFO] * node name: zed_node [zed_wrapper-2] 1625384781.789483866 [zed.zed_node] [INFO] ******************************** [zed_wrapper-2] 1625384781.789512103 [zed.zed_node] [INFO] *** GENERAL parameters *** [zed_wrapper-2] 1625384781.789534464 [zed.zed_node] [INFO] * Camera model: zed - ZED [zed_wrapper-2] 1625384781.789549530 [zed.zed_node] [INFO] * SDK Verbose: 1 [zed_wrapper-2] 1625384781.789563612 [zed.zed_node] [INFO] * SVO: [zed_wrapper-2] 1625384781.789575774 [zed.zed_node] [INFO] * SVO Loop: FALSE [zed_wrapper-2] 1625384781.789586041 [zed.zed_node] [INFO] * SVO Realtime: FALSE [zed_wrapper-2] 1625384781.789597404 [zed.zed_node] [INFO] * Camera name: zed [zed_wrapper-2] 1625384781.789614644 [zed.zed_node] [INFO] * Camera ID: 0 [zed_wrapper-2] 1625384781.789626354 [zed.zed_node] [INFO] * Camera SN: 0 [zed_wrapper-2] 1625384781.789638256 [zed.zed_node] [INFO] * Camera timeout [sec]: 5 [zed_wrapper-2] 1625384781.789650035 [zed.zed_node] [INFO] * Camera reconnection temptatives: 5 [zed_wrapper-2] 1625384781.789661683 [zed.zed_node] [INFO] * Camera framerate: 30 [zed_wrapper-2] 1625384781.789675082 [zed.zed_node] [INFO] * GPU ID: -1 [zed_wrapper-2] 1625384781.789687758 [zed.zed_node] [INFO] * Camera resolution: 2 - HD720 [zed_wrapper-2] 1625384781.789699141 [zed.zed_node] [INFO] * Camera self calibration: TRUE [zed_wrapper-2] 1625384781.789709615 [zed.zed_node] [INFO] * Camera flip: FALSE [zed_wrapper-2] 1625384781.789721960 [zed.zed_node] [INFO] * [DYN] Publish framerate [Hz]: 15 [zed_wrapper-2] 1625384781.789731509 [zed.zed_node] [INFO] *** VIDEO parameters *** [zed_wrapper-2] 1625384781.789745016 [zed.zed_node] [INFO] * Use old extrinsic parameters: 0 [zed_wrapper-2] 1625384781.789756856 [zed.zed_node] [INFO] * [DYN] Image downsample factor: 0.5 [zed_wrapper-2] 1625384781.789769387 [zed.zed_node] [INFO] * [DYN] Brightness: 4 [zed_wrapper-2] 1625384781.789780962 [zed.zed_node] [INFO] * [DYN] Contrast: 4 [zed_wrapper-2] 1625384781.789791994 [zed.zed_node] [INFO] * [DYN] Hue: 0 [zed_wrapper-2] 1625384781.789803007 [zed.zed_node] [INFO] * [DYN] Saturation: 4 [zed_wrapper-2] 1625384781.789815899 [zed.zed_node] [INFO] * [DYN] Sharpness: 4 [zed_wrapper-2] 1625384781.789827011 [zed.zed_node] [INFO] * [DYN] Gamma: 8 [zed_wrapper-2] 1625384781.789838077 [zed.zed_node] [INFO] * [DYN] Auto Exposure/Gain: TRUE [zed_wrapper-2] 1625384781.789849334 [zed.zed_node] [INFO] * [DYN] Exposure: 80 [zed_wrapper-2] 1625384781.789860558 [zed.zed_node] [INFO] * [DYN] Gain: 80 [zed_wrapper-2] 1625384781.789870893 [zed.zed_node] [INFO] * [DYN] Auto White Balance: TRUE [zed_wrapper-2] 1625384781.789884062 [zed.zed_node] [INFO] * [DYN] White Balance Temperature: 42 [zed_wrapper-2] 1625384781.789897435 [zed.zed_node] [INFO] * Video QoS History: KEEP_LAST [zed_wrapper-2] 1625384781.789908664 [zed.zed_node] [INFO] * Video QoS History depth: 1 [zed_wrapper-2] 1625384781.789919963 [zed.zed_node] [INFO] * Video QoS Reliability: Unknown QoS value [zed_wrapper-2] 1625384781.789931112 [zed.zed_node] [INFO] * Video QoS Durability: VOLATILE [zed_wrapper-2] 1625384781.789936792 [zed.zed_node] [INFO] *** DEPTH parameters *** [zed_wrapper-2] 1625384781.789949230 [zed.zed_node] [INFO] * Depth downsample factor: 0.5 [zed_wrapper-2] 1625384781.789962932 [zed.zed_node] [INFO] * Depth quality: 1 - PERFORMANCE [zed_wrapper-2] 1625384781.789978547 [zed.zed_node] [INFO] * Min depth [m]: 0.3 [zed_wrapper-2] 1625384781.789991476 [zed.zed_node] [INFO] * Max depth [m]: 20 [zed_wrapper-2] 1625384781.790004656 [zed.zed_node] [INFO] * Depth Sensing Mode: 0 - STANDARD [zed_wrapper-2] 1625384781.790015693 [zed.zed_node] [INFO] * Depth Stabilization: TRUE [zed_wrapper-2] 1625384781.790027883 [zed.zed_node] [INFO] * OpenNI mode (16bit point cloud): FALSE [zed_wrapper-2] 1625384781.790041504 [zed.zed_node] [INFO] * [DYN] Point cloud rate [Hz]: 10 [zed_wrapper-2] 1625384781.790053828 [zed.zed_node] [INFO] * [DYN] Depth Confidence: 50 [zed_wrapper-2] 1625384781.790065541 [zed.zed_node] [INFO] * [DYN] Depth Texture Confidence: 100 [zed_wrapper-2] 1625384781.790076379 [zed.zed_node] [INFO] * Depth QoS History: KEEP_LAST [zed_wrapper-2] 1625384781.790088617 [zed.zed_node] [INFO] * Depth QoS History depth: 1 [zed_wrapper-2] 1625384781.790099066 [zed.zed_node] [INFO] * Depth QoS Reliability: Unknown QoS value [zed_wrapper-2] 1625384781.790109299 [zed.zed_node] [INFO] * Depth QoS Durability: VOLATILE [zed_wrapper-2] 1625384781.790115086 [zed.zed_node] [INFO] *** POSITIONAL TRACKING parameters *** [zed_wrapper-2] 1625384781.790127390 [zed.zed_node] [INFO] * Positional tracking enabled: TRUE [zed_wrapper-2] 1625384781.790157292 [zed.zed_node] [INFO] * Base frame id: base_link [zed_wrapper-2] 1625384781.790178132 [zed.zed_node] [INFO] * Map frame id: map [zed_wrapper-2] 1625384781.790193022 [zed.zed_node] [INFO] * Odometry frame id: odom [zed_wrapper-2] 1625384781.790204951 [zed.zed_node] [INFO] * Broadcast Odometry TF: TRUE [zed_wrapper-2] 1625384781.790216525 [zed.zed_node] [INFO] * Broadcast Pose TF: TRUE [zed_wrapper-2] 1625384781.790227788 [zed.zed_node] [INFO] * Broadcast Static IMU TF [not for ZED]: TRUE [zed_wrapper-2] 1625384781.790240661 [zed.zed_node] [INFO] * [DYN] Path publishing rate: 2 [zed_wrapper-2] 1625384781.790255012 [zed.zed_node] [INFO] * Path history lenght: -1 [zed_wrapper-2] 1625384781.790269989 [zed.zed_node] [INFO] * Initial pose: [0,0,0,0,0,0,] [zed_wrapper-2] 1625384781.790284328 [zed.zed_node] [INFO] * Area Memory: TRUE [zed_wrapper-2] 1625384781.790296714 [zed.zed_node] [INFO] * Area Memory DB: [zed_wrapper-2] 1625384781.790310455 [zed.zed_node] [INFO] * IMU Fusion [not for ZED]: TRUE [zed_wrapper-2] 1625384781.790322254 [zed.zed_node] [INFO] * Floor Alignment: FALSE [zed_wrapper-2] 1625384781.790334363 [zed.zed_node] [INFO] * Init Odometry with first valid pose data: TRUE [zed_wrapper-2] 1625384781.790345974 [zed.zed_node] [INFO] * 2D mode: FALSE [zed_wrapper-2] 1625384781.790356874 [zed.zed_node] [INFO] * Pose/Odometry QoS History: KEEP_LAST [zed_wrapper-2] 1625384781.790372444 [zed.zed_node] [INFO] * Pose/Odometry QoS History depth: 1 [zed_wrapper-2] 1625384781.790385822 [zed.zed_node] [INFO] * Pose/Odometry QoS Reliability: Unknown QoS value [zed_wrapper-2] 1625384781.790397177 [zed.zed_node] [INFO] * Pose/Odometry QoS Durability: VOLATILE [zed_wrapper-2] 1625384781.790403232 [zed.zed_node] [INFO] *** SENSORS STACK parameters *** [zed_wrapper-2] 1625384781.790408260 [zed.zed_node] [WARN] !!! SENSORS parameters are not used with ZED !!! [zed_wrapper-2] 1625384781.790419494 [zed.zed_node] [INFO] * Sensors Camera Sync: FALSE [zed_wrapper-2] 1625384781.790444807 [zed.zed_node] [INFO] * Sensors publishing rate: 400 Hz [zed_wrapper-2] 1625384781.790465970 [zed.zed_node] [INFO] * Sensors QoS History: KEEP_LAST [zed_wrapper-2] 1625384781.790487716 [zed.zed_node] [INFO] * Sensors QoS History depth: 1 [zed_wrapper-2] 1625384781.790505296 [zed.zed_node] [INFO] * Sensors QoS Reliability: RELIABLE [zed_wrapper-2] 1625384781.790525535 [zed.zed_node] [INFO] * Sensors QoS Durability: VOLATILE [zed_wrapper-2] 1625384781.790532638 [zed.zed_node] [INFO] *** Spatial Mapping parameters *** [zed_wrapper-2] 1625384781.790547212 [zed.zed_node] [INFO] * Spatial Mapping Enabled: FALSE [zed_wrapper-2] 1625384781.790562663 [zed.zed_node] [INFO] * Spatial Mapping resolution [m]: 0.1 [zed_wrapper-2] 1625384781.790581483 [zed.zed_node] [INFO] * 3D Max Mapping range [m]: 20 [zed_wrapper-2] 1625384781.790594550 [zed.zed_node] [INFO] * Map publishing rate [Hz]: 0.5 [zed_wrapper-2] 1625384781.790614555 [zed.zed_node] [INFO] * Sensors QoS History: KEEP_LAST [zed_wrapper-2] 1625384781.790632982 [zed.zed_node] [INFO] * Sensors QoS History depth: 1 [zed_wrapper-2] 1625384781.790653477 [zed.zed_node] [INFO] * Sensors QoS Reliability: Unknown QoS value [zed_wrapper-2] 1625384781.790674531 [zed.zed_node] [INFO] * Sensors QoS Durability: VOLATILE [zed_wrapper-2] 1625384781.790682826 [zed.zed_node] [INFO] *** OBJECT DETECTION parameters *** [zed_wrapper-2] 1625384781.790687562 [zed.zed_node] [WARN] !!! OD parameters are not used with ZED and ZED Mini !!! [zed_wrapper-2] 1625384781.790698207 [zed.zed_node] [INFO] * Object Detection enabled: FALSE [zed_wrapper-2] 1625384781.790719093 [zed.zed_node] [INFO] * OD min. confidence: 40 [zed_wrapper-2] 1625384781.790740678 [zed.zed_node] [INFO] * Object Detection model: 0 - MULTI CLASS BOX FAST [zed_wrapper-2] 1625384781.790759596 [zed.zed_node] [INFO] * MultiClassBox people: TRUE [zed_wrapper-2] 1625384781.790780224 [zed.zed_node] [INFO] * MultiClassBox vehicles: TRUE [zed_wrapper-2] 1625384781.790795175 [zed.zed_node] [INFO] * MultiClassBox bags: TRUE [zed_wrapper-2] 1625384781.790811463 [zed.zed_node] [INFO] * MultiClassBox animals: TRUE [zed_wrapper-2] 1625384781.790828989 [zed.zed_node] [INFO] * MultiClassBox electronics: TRUE [zed_wrapper-2] 1625384781.790849840 [zed.zed_node] [INFO] * MultiClassBox fruits and vegetables: TRUE [zed_wrapper-2] 1625384781.790866175 [zed.zed_node] [INFO] * Skeleton fitting: FALSE [zed_wrapper-2] 1625384781.790885771 [zed.zed_node] [INFO] * Obj. Det. QoS History: KEEP_LAST [zed_wrapper-2] 1625384781.790906207 [zed.zed_node] [INFO] * Obj. Det. QoS History depth: 1 [zed_wrapper-2] 1625384781.790928162 [zed.zed_node] [INFO] * Obj. Det. QoS Reliability: RELIABLE [zed_wrapper-2] 1625384781.790949479 [zed.zed_node] [INFO] * Obj. Det. QoS Durability: VOLATILE [zed_wrapper-2] 1625384781.790956397 [zed.zed_node] [INFO] *** SERVICES *** [zed_wrapper-2] 1625384781.791205241 [zed.zed_node] [INFO] * '/zed/zed_node/reset_odometry' [zed_wrapper-2] 1625384781.791341612 [zed.zed_node] [INFO] * '/zed/zed_node/reset_pos_tracking' [zed_wrapper-2] 1625384781.791651126 [zed.zed_node] [INFO] * '/zed/zed_node/set_pose' [zed_wrapper-2] 1625384781.791811294 [zed.zed_node] [INFO] * '/zed/zed_node/enable_obj_det' [zed_wrapper-2] 1625384781.791958920 [zed.zed_node] [INFO] * '/zed/zed_node/enable_mapping' [zed_wrapper-2] 1625384781.792152609 [zed.zed_node] [INFO] * '/zed/zed_node/start_svo_rec' [zed_wrapper-2] 1625384781.792308335 [zed.zed_node] [INFO] * '/zed/zed_node/stop_svo_rec' [zed_wrapper-2] 1625384781.792465287 [zed.zed_node] [INFO] * '/zed/zed_node/toggle_svo_pause' [zed_wrapper-2] 1625384781.792479004 [zed.zed_node] [INFO] ***** STARTING CAMERA ***** [zed_wrapper-2] 1625384781.792488694 [zed.zed_node] [INFO] SDK Version: 3.5.0 - Build 24184_2d27c82a [zed_wrapper-2] 1625384781.793803061 [zed.zed_node] [INFO] *** CAMERA OPENING *** [zed_wrapper-2] [ZED][Init] Depth mode: PERFORMANCE [rviz2-3] 1625384782.523576677 [rviz2] [INFO] Stereo is NOT SUPPORTED [rviz2-3] 1625384782.523660910 [rviz2] [INFO] OpenGl version: 4.6 (GLSL 4.6) [rviz2-3] 1625384782.630401939 [rviz2] [INFO] Stereo is NOT SUPPORTED [rviz2-3] 1625384782.750526876 [rviz2] [INFO] Stereo is NOT SUPPORTED [rviz2-3] 1625384782.765913072 [rviz2] [INFO] Stereo is NOT SUPPORTED [rviz2-3] 1625384782.783984331 [rviz2] [INFO] Stereo is NOT SUPPORTED [rviz2-3] Parsing robot urdf xml string. [zed_wrapper-2] [ZED][Init] Video mode: HD720@30 [zed_wrapper-2] 1625384782.945590303 [zed.zed_node] [INFO] ZED SDK running on GPU #0 [zed_wrapper-2] 1625384782.945634324 [zed.zed_node] [INFO] * Camera Model -> ZED [zed_wrapper-2] 1625384782.945641406 [zed.zed_node] [INFO] * Serial Number -> 25390 [zed_wrapper-2] 1625384782.945654938 [zed.zed_node] [INFO] * Input type -> USB input type [zed_wrapper-2] 1625384782.945662844 [zed.zed_node] [INFO] * Camera FW Version -> 1523 [zed_wrapper-2] 1625384782.945703037 [zed.zed_node] [INFO] *** TF FRAMES *** [zed_wrapper-2] 1625384782.945711821 [zed.zed_node] [INFO] * Map -> map [zed_wrapper-2] 1625384782.945717024 [zed.zed_node] [INFO] * Odometry -> odom [zed_wrapper-2] 1625384782.945721820 [zed.zed_node] [INFO] * Base -> base_link [zed_wrapper-2] 1625384782.945726346 [zed.zed_node] [INFO] * Camera -> zed_camera_center [zed_wrapper-2] 1625384782.945731239 [zed.zed_node] [INFO] * Left -> zed_left_camera_frame [zed_wrapper-2] 1625384782.945736010 [zed.zed_node] [INFO] * Left Optical -> zed_left_camera_optical_frame [zed_wrapper-2] 1625384782.945741004 [zed.zed_node] [INFO] * RGB -> zed_left_camera_frame [zed_wrapper-2] 1625384782.945745718 [zed.zed_node] [INFO] * RGB Optical -> zed_left_camera_frame [zed_wrapper-2] 1625384782.945750386 [zed.zed_node] [INFO] * Right -> zed_right_camera_frame [zed_wrapper-2] 1625384782.945755005 [zed.zed_node] [INFO] * Right Optical -> zed_right_camera_optical_frame [zed_wrapper-2] 1625384782.945759709 [zed.zed_node] [INFO] * Depth -> zed_left_camera_frame [zed_wrapper-2] 1625384782.945764171 [zed.zed_node] [INFO] * Depth Optical -> zed_left_camera_optical_frame [zed_wrapper-2] 1625384782.945768744 [zed.zed_node] [INFO] * Point Cloud -> zed_left_camera_optical_frame [zed_wrapper-2] 1625384782.945773277 [zed.zed_node] [INFO] * Disparity -> zed_left_camera_frame [zed_wrapper-2] 1625384782.945777975 [zed.zed_node] [INFO] * Disparity Optical -> zed_left_camera_optical_frame [zed_wrapper-2] 1625384782.945782607 [zed.zed_node] [INFO] * Confidence -> zed_left_camera_frame [zed_wrapper-2] 1625384782.945787272 [zed.zed_node] [INFO] * Confidence Optical -> zed_left_camera_optical_frame [zed_wrapper-2] 1625384782.945796562 [zed.zed_node] [INFO] *** PUBLISHED TOPICS *** [zed_wrapper-2] 1625384783.041507356 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/rgb/image_rect_color [zed_wrapper-2] 1625384783.042918617 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/rgb/image_rect_gray [zed_wrapper-2] 1625384783.043387485 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/rgb/camera_info [zed_wrapper-2] 1625384783.045493228 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/rgb_raw/image_raw_color [zed_wrapper-2] 1625384783.046910297 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/rgb_raw/image_raw_gray [zed_wrapper-2] 1625384783.047308201 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/rgb_raw/camera_info [zed_wrapper-2] 1625384783.048853181 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/left/image_rect_color [zed_wrapper-2] 1625384783.050880110 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/left/image_rect_gray [zed_wrapper-2] 1625384783.051261742 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/left/camera_info [zed_wrapper-2] 1625384783.053535508 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/left_raw/image_raw_color [zed_wrapper-2] 1625384783.055418736 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/left_raw/image_raw_gray [zed_wrapper-2] 1625384783.055858689 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/left_raw/camera_info [zed_wrapper-2] 1625384783.057097961 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/right/image_rect_color [zed_wrapper-2] 1625384783.058825290 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/right/image_rect_gray [zed_wrapper-2] 1625384783.059240835 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/right/camera_info [zed_wrapper-2] 1625384783.061589011 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/right_raw/image_raw_color [zed_wrapper-2] 1625384783.063167021 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/right_raw/image_raw_gray [zed_wrapper-2] 1625384783.063195665 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/right_raw/camera_info [zed_wrapper-2] 1625384783.064514283 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/depth/depth_registered [zed_wrapper-2] 1625384783.064541248 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/depth/camera_info [zed_wrapper-2] 1625384783.065607018 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/stereo/image_rect_color [zed_wrapper-2] 1625384783.066871004 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/stereo_raw/image_raw_color [zed_wrapper-2] 1625384783.067902734 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/confidence/confidence_map [zed_wrapper-2] 1625384783.069487218 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/disparity/disparity_image [zed_wrapper-2] 1625384783.070636198 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/point_cloud/cloud_registered [zed_wrapper-2] 1625384783.071838465 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/pose [zed_wrapper-2] 1625384783.072725745 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/pose_with_covariance [zed_wrapper-2] 1625384783.073548908 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/odom [zed_wrapper-2] 1625384783.074181590 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/path_map [zed_wrapper-2] 1625384783.075297487 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/path_odom [zed_wrapper-2] 1625384783.102394411 [zed.zed_node] [INFO] *** Starting Positional Tracking *** [zed_wrapper-2] 1625384783.102443671 [zed.zed_node] [INFO] * Waiting for valid static transformations... [zed_wrapper-2] 1625384783.102495172 [zed.zed_node] [INFO] Static transform Sensor to Base [zed_left_camera_frame -> base_link] [zed_wrapper-2] 1625384783.102509341 [zed.zed_node] [INFO] * Translation: {0.000,-0.060,0.000} [zed_wrapper-2] 1625384783.102523235 [zed.zed_node] [INFO] * Rotation: {0.000,-0.000,0.000} [zed_wrapper-2] 1625384783.102535753 [zed.zed_node] [INFO] Static transform Sensor to Camera Center [zed_left_camera_frame -> zed_camera_center] [zed_wrapper-2] 1625384783.102541982 [zed.zed_node] [INFO] * Translation: {0.000,-0.060,0.000} [zed_wrapper-2] 1625384783.102548007 [zed.zed_node] [INFO] * Rotation: {0.000,-0.000,0.000} [zed_wrapper-2] 1625384783.102556222 [zed.zed_node] [INFO] Static transform Camera Center to Base [zed_camera_center -> base_link] [zed_wrapper-2] 1625384783.102561812 [zed.zed_node] [INFO] * Translation: {0.000,0.000,0.000} [zed_wrapper-2] 1625384783.102567518 [zed.zed_node] [INFO] * Rotation: {0.000,-0.000,0.000} [zed_wrapper-2] 1625384783.202645976 [zed.zed_node] [INFO] Initial ZED left camera pose (ZED pos. tracking): [zed_wrapper-2] 1625384783.202709534 [zed.zed_node] [INFO] * T: [0,0.06,0] [zed_wrapper-2] 1625384783.202737813 [zed.zed_node] [INFO] * Q: [0,0,0,1] [zed_wrapper-2] 1625384783.274375093 [zed.zed_node] [INFO] Odometry aligned to last tracking pose ```

Hope this sheds more light on the issue.

Myzhar commented 3 years ago

ROS2 requires a bit of attention when subscribing to topics. The Quality of Service (QoS) profiles for publisher and subscriber must be compatible. You can read more in the online documentation: https://www.stereolabs.com/docs/ros2/zed-node/#published-topics

cardboardcode commented 3 years ago

Hi @Myzhar, thanks for prompt clarification.

Checking out this section, QOS Profiles, and noting this relevant section:

In order for a connection to be made, all of the policies that affect compatibility must be compatible. For instance, if a publisher-subscriber pair has compatible reliability QoS profiles, but incompatible durability QoS profiles, the connection will not be made.

Will continue debugging on my side and update once I have resolved it. No actions required.

Myzhar commented 3 years ago

Can you try to subscribe to the pose or odom topic in a second console window to see if the image topics are published. I remember to have fixed a similar issue, but I guess that the fix has not yet been propagated from the dev_foxy branch to the master branch (see https://github.com/stereolabs/zed-ros2-wrapper/issues/31)

cardboardcode commented 3 years ago

Can you try to subscribe to the pose or odom topic in a second console window to see if the image topics are published. I remember to have fixed a similar issue, but I guess that the fix has not yet been propagated from the dev_foxy branch to the master branch (see #31)

Subscribing to /zed/zed_node/pose by running the commands produce the following terminal output:

source /opt/ros/foxy/setup.bash
ros2 topic echo /zed/zed_node/pose

Results

---
header:
  stamp:
    sec: 1625387715
    nanosec: 434199578
  frame_id: map
pose:
  position:
    x: 0.00027193161196812304
    y: 6.463974714278342e-05
    z: 0.00016781841342351252
  orientation:
    x: 0.0
    y: 0.0002441406286379786
    z: -0.0001726334911185649
    w: 0.9999999552965145
---

Subscribing to /zed/zed_node/odom by running the commands produce the following terminal output:

source /opt/ros/foxy/setup.bash
ros2 topic echo /zed/zed_node/pose

Results

```bash --- header: stamp: sec: 1625387812 nanosec: 442366578 frame_id: odom child_frame_id: base_link pose: pose: position: x: 0.004224781797693515 y: 0.009861260627486601 z: 0.007599379259835867 orientation: x: -0.002352972971777034 y: -0.0011238760447997464 z: -0.0023442516879424043 w: 0.9999938524335289 covariance: - 2.2090580387157388e-07 - -2.606017446282749e-08 - -1.1616376305312315e-08 - -3.019323013830899e-09 - 8.043928856338312e-10 - -7.591679285212649e-09 - -2.6060169133756972e-08 - 2.2970036184233322e-07 - -5.4664841542262366e-08 - -4.452547130995299e-08 - -2.3207821442383647e-08 - -1.2158380968685378e-07 - -1.1616370088063377e-08 - -5.46648522004034e-08 - 3.1767746122568497e-07 - 7.791960143777032e-08 - 1.954197728082363e-07 - 2.40120936467747e-08 - -3.0193181288495907e-09 - -4.452546420452563e-08 - 7.791963696490711e-08 - 1.3098947704293096e-07 - 2.781641761373521e-08 - 1.7875056101956943e-08 - 8.04398603282408e-10 - -2.320784453502256e-08 - 1.9542002860362118e-07 - 2.781642649551941e-08 - 1.453214224511612e-07 - 9.875265938319444e-09 - -7.591679285212649e-09 - -1.2158368178916135e-07 - 2.4012079435919986e-08 - 1.7875045443815907e-08 - 9.87525083928631e-09 - 7.876673180362559e-08 twist: twist: linear: x: 0.0 y: 0.0 z: 0.0 angular: x: 0.0 y: 0.0 z: 0.0 covariance: - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 --- ```

:warning:

Subscribing to /zed/zed_node/left/image_rect_color still shows no image being published on it.

cardboardcode commented 3 years ago

Hi @Myzhar, thanks for prompt clarification.

Checking out this section, QOS Profiles, and noting this relevant section:

In order for a connection to be made, all of the policies that affect compatibility must be compatible. For instance, if a publisher-subscriber pair has compatible reliability QoS profiles, but incompatible durability QoS profiles, the connection will not be made.

Will continue debugging on my side and update once I have resolved it. No actions required.

Attempted Solution [Making QOS Policies Compatible]

The following shows an example simple ROS2 subscriber node that subscribes to /zed/zed_node/left/image_rect_color with a compatible QOS Policy.

ZED QOS Policy Description

[[Referenced from ZED docs]()]

History: KEEP_LAST Depth: 1 Reliability: RELIABLE Durability: VOLATILE

Running $ ros2 topic info /zed/zed_node/left/image_rect_color --verbose produces this terminal output:

Type: sensor_msgs/msg/Image

Publisher count: 1

Node name: zed_node
Node namespace: /zed
Topic type: sensor_msgs/msg/Image
Endpoint type: PUBLISHER
GID: 01.0f.d4.06.d3.64.00.00.01.00.00.00.00.00.34.03.00.00.00.00.00.00.00.00
QoS profile:
  Reliability: RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT
  Durability: RMW_QOS_POLICY_DURABILITY_VOLATILE
  Lifespan: 2147483651294967295 nanoseconds
  Deadline: 2147483651294967295 nanoseconds
  Liveliness: RMW_QOS_POLICY_LIVELINESS_AUTOMATIC
  Liveliness lease duration: 2147483651294967295 nanoseconds

Subscription count: 0

Writing simple ROS2 Subscriber Node with custom QOS Policy

Follow the instructions below to create this.

  1. Copy and paste the following commands to create the package with default subscriber node: [Reference]

    cd $HOME
source /opt/ros/foxy/setup.bash
mkdir -p test_zed_ws/src && cd test_zed_ws/src
ros2 pkg create --build-type ament_cmake cpp_pubsub
cd cpp_pubsub/src
wget -O subscriber_member_function.cpp https://raw.githubusercontent.com/ros2/examples/foxy/rclcpp/topics/minimal_subscriber/member_function.cpp

  2. Replace subscriber_member_function.cpp's content with the code attached below.

#include <functional>
#include <memory>

#include "rmw/types.h"
#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/string.hpp"
#include "sensor_msgs/msg/image.hpp"

static const rmw_qos_profile_t my_custom_qos_profile =
{
    RMW_QOS_POLICY_HISTORY_KEEP_LAST,
    1,
    RMW_QOS_POLICY_RELIABILITY_RELIABLE,
    RMW_QOS_POLICY_DURABILITY_VOLATILE,
    RMW_QOS_DEADLINE_DEFAULT,
    RMW_QOS_LIFESPAN_DEFAULT,
    RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT,
    RMW_QOS_LIVELINESS_LEASE_DURATION_DEFAULT,
    false
};

class MinimalSubscriber : public rclcpp::Node
{
public:
  MinimalSubscriber()
  : Node("minimal_subscriber")
  {
    auto qos = rclcpp::QoS(
    rclcpp::QoSInitialization::from_rmw(my_custom_qos_profile),
    my_custom_qos_profile);

    auto callback =
      [this](const sensor_msgs::msg::Image::SharedPtr msg) {
        RCLCPP_INFO(this->get_logger(), "Image Received.");
      };

    subscription_ = create_subscription<sensor_msgs::msg::Image>("/zed/zed_node/left/image_rect_color", qos, callback);
  }

private:
  rclcpp::Subscription<sensor_msgs::msg::Image>::SharedPtr subscription_;
};

int main(int argc, char * argv[])
{
  rclcpp::init(argc, argv);
  rclcpp::spin(std::make_shared<MinimalSubscriber>());
  rclcpp::shutdown();
  return 0;
}
  1. Replace the CMakeLists.txt's content with the following content: 
    
cmake_minimum_required(VERSION 3.5)
project(cpp_pubsub)

Default to C99

if(NOT CMAKE_C_STANDARD) set(CMAKE_C_STANDARD 99) endif()

Default to C++14

if(NOT CMAKE_CXX_STANDARD) set(CMAKE_CXX_STANDARD 14) endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") add_compile_options(-Wall -Wextra -Wpedantic) endif()

find dependencies

find_package(ament_cmake REQUIRED) find_package(rclcpp REQUIRED) find_package(std_msgs REQUIRED) find_package(sensor_msgs REQUIRED) find_package(rmw REQUIRED)

include_directories( include )

if(BUILD_TESTING) find_package(ament_lint_auto REQUIRED)

ament_lint_auto_find_test_dependencies() endif()

add_executable(listener src/subscriber_member_function.cpp) ament_target_dependencies(listener rclcpp std_msgs sensor_msgs rmw)

install(TARGETS listener DESTINATION lib/${PROJECT_NAME})

ament_package()


4. Run the commands below to build and run this simple ROS2 package.
```bash
cd  ~/test_zed_ws
source /opt/ros/foxy/setup.bash
colcon build
source install/setup.bash
ros2 run cpp_pubsub listener

:warning: Results/Conclusion

Even with compatible QOS policies, the connection still cannot be made and thus unable to subscribe to /zed/zed_node/left/image_rect_color.

@Myzhar Please advise and let me know if you require further details.

Myzhar commented 3 years ago

I will test it in the next hours and I will be back to you with a solution 👍

jkquigley commented 3 years ago

Hi. I'm having the exact same problem. Would be great to know if there are any updates :)

Edit: It seems to be that all publishers created using image_transport::create_camera_publisher are those that are not publishing their topics.

Myzhar commented 3 years ago

@kquigley29 I'm working on the fix. It should be available in the master branch (Eloquent) in a few hours. It is already available for the Foxy distribution in the dev_foxy branch

Myzhar commented 3 years ago

@cardboardcode @kquigley29 I just merged an important update in the master branch that should solve this issue and it adds a few other features. Can you please test if and confirm that your issue is solved? Thank you

cardboardcode commented 3 years ago

@Myzhar

It still does not work for Foxy distribution. :sob:

I redid the steps to reproduce the error but with the latest dev_foxy branch codebase for zed_ros2_wrapper.

Steps Taken ## Setup ```bash cd $HOME mkdir -p ~/zed_ros2_ws/src && cd ~/zed_ros2_ws/src git clone https://github.com/stereolabs/zed-ros2-wrapper.git --single-branch --branch dev_foxy --depth 1 git clone https://github.com/stereolabs/zed-ros2-examples.git --single-branch --branch dev_foxy --depth 1 cd ~/zed_ros2_ws/ source /opt/ros/foxy/setup.bash colcon build --symlink-install --cmake-args=-DCMAKE_BUILD_TYPE=Release # Launch zed_wrapper ros2 launch zed_wrapper zed.launch.py ``` ## Verify if issue is fixed. ```bash #Open up new terminal source /opt/ros/foxy/setup.bash ros2 topic echo /zed/zed_node/left/image_rect_color ```

Tried it with the simple ROS2 Subscriber Node with custom QOS Policy example as well. Same results.

Results :warning:

ros2 topic echo /zed/zed_node/left/image_rect_color still shows no image being published.

Others

I can confirm that I am using the latest commit on dev_foxy branch.

The commit number is 1debf24f5ae2aa5f51758f8d57882628c0257df5. Screenshot from 2021-07-05 23-59-57

Myzhar commented 3 years ago

@cardboardcode I just noticed that you are using a ZED camera. I tested it with a ZED2 and it worked correctly. I will test it with a ZED in the next few hours and I will fix the eventual issue with it.

griz1112 commented 3 years ago

I had the same issue change the reliability from Reliable to Best Effort in rviz2 under the topic pull down.

cardboardcode commented 3 years ago

Hi @griz1112,

Thanks for the suggestion. Gonna try it out and verify if it works for my setup.

Update (as of 14th July 2021)

Verified that the Reliability of image topics in rviz2 has already been set to Best Effort, as shown by the screenshot below. Screenshot from 2021-07-14 00-14-16 Still unable to see images published on /zed/zed_node/left/image_rect_color.

griz1112 commented 3 years ago

If you do a ros2 topic list do you see the topics? If not do ros2 daemon stop ros2 daemon start.

an99990 commented 3 years ago

Hi @griz1112 I am able to see the topics but like @cardboardcode, Screenshot from 2021-07-19 16-05-26

I have the same issue with the ZED2 @Myzhar. Screenshot from 2021-07-19 16-02-22

Also i did ros2 topic echo /zed2/zed_node/rgb/image_rect_color but there is nothing.. However I get outputs for ros2 topic echo /zed2/zed_node/stereo/image_rect_color : 

header:
  stamp:
    sec: 1626725363
    nanosec: 177944621
  frame_id: zed2_camera_center
height: 360
width: 1280
encoding: bgra8
is_bigendian: 0
step: 5120
data:
- 25
- 76
- 119
- 255
- 25
- 77
- 119
- 255
- 26
- 76
- 119
- 255
- 27
- 78
- 121
- 255
- 23
- 78
- 120
- 255
- 24
- 78
- 121
- 255
- 23
- 77
- 120
- 255
- 23
- 77
- 120
- 255
- 28
- 81
- 127
- 255
- 26
- 79
- 125
- 255
- 27
- 79
- 125
- 255
- 27
- 80
- 126
- 255
- 30
- 83
- 129
- 255
- 27
- 80
- 126
- 255
- 30
- 82
- 128
- 255
- 31
- 83
- 130
- 255
- 33
- 85
- 132
- 255
- 31
- 83
- 130
- 255
- 29
- 82
- 130
- 255
- 32
- 84
- 132
- 255
- 33
- 85
- 133
- 255
- 32
- 84
- 132
- 255
- 33
- 85
- 133
- 255
- 33
- 86
- 133
- 255
- 34
- 87
- 134
- 255
- 33
- 86
- 134
- 255
- 34
- 86
- 133
- 255
- 36
- 88
- 136
- 255
- 35
- 89
- 136
- 255
- 34
- 89
- 136
- 255
- 36
- 91
- 138
- 255
- 36
- 91
- 138
- 255
- '...'
---
header:
  stamp:
    sec: 1626725363
    nanosec: 244859621
  frame_id: zed2_camera_center
height: 360
width: 1280
encoding: bgra8
is_bigendian: 0
step: 5120
data:
- 24
- 73
- 117
- 255
- 25
- 73
- 118
- 255
- 27
- 76
- 121
- 255
- 26
- 76
- 120
- 255
- 26
- 77
- 121
- 255
- 25
- 75
- 119
- 255
- 30
- 81
- 125
- 255
- 27
- 79
- 122
- 255
- 26
- 76
- 122
- 255
- 28
- 78
- 125
- 255
- 29
- 79
- 126
- 255
- 28
- 79
- 125
- 255
- 28
- 79
- 126
- 255
- 31
- 81
- 127
- 255
- 32
- 83
- 129
- 255
- 33
- 84
- 130
- 255
- 31
- 82
- 128
- 255
- 31
- 82
- 129
- 255
- 29
- 83
- 129
- 255
- 31
- 84
- 130
- 255
- 31
- 84
- 130
- 255
- 30
- 83
- 129
- 255
- 32
- 84
- 131
- 255
- 32
- 85
- 132
- 255
- 32
- 88
- 133
- 255
- 32
- 87
- 133
- 255
- 31
- 87
- 131
- 255
- 31
- 86
- 133
- 255
- 31
- 87
- 135
- 255
- 32
- 88
- 136
- 255
- 34
- 90
- 137
- 255
- 33
- 90
- 138
- 255
- '...'
---
header:
  stamp:
    sec: 1626725363
    nanosec: 377844621
  frame_id: zed2_camera_center
height: 360
width: 1280
encoding: bgra8
is_bigendian: 0
step: 5120
data:
- 28
- 75
- 119
- 255
- 30
- 78
- 122
- 255
- 29
- 77
- 121
- 255
- 29
- 76
- 120
- 255
- 28
- 78
- 122
- 255
- 30
- 79
- 125
- 255
- 27
- 77
- 124
- 255
- 28
- 78
- 124
- 255
- 28
- 76
- 125
- 255
- 28
- 77
- 125
- 255
- 28
- 77
- 126
- 255
- 30
- 79
- 127
- 255
- 28
- 77
- 126
- 255
- 30
- 78
- 127
- 255
- 29
- 82
- 129
- 255
- 29
- 82
- 130
- 255
- 29
- 81
- 129
- 255
- 28
- 80
- 128
- 255
- 31
- 83
- 131
- 255
- 30
- 83
- 131
- 255
- 30
- 85
- 131
- 255
- 30
- 85
- 130
- 255
- 32
- 87
- 133
- 255
- 30
- 86
- 131
- 255
- 31
- 87
- 132
- 255
- 32
- 88
- 133
- 255
- 31
- 87
- 133
- 255
- 33
- 87
- 134
- 255
- 32
- 87
- 134
- 255
- 33
- 87
- 135
- 255
- 34
- 89
- 136
- 255
- 35
- 90
- 137
- 255
- '...'

I tried subscribing to that topic but unsuccessful. I have checked and both are the same type sensors_msg/Image

Specifications: Linux : Foxy Cuda : 11.0 ZED SDK : 3.5

Please advise.

griz1112 commented 3 years ago

Try resetting the daemon. Ros2 daemon stop ros2 daemon start

an99990 commented 3 years ago

Thank you for the reply @griz1112.

I just tried. Doesnt change anything. Screenshot from 2021-07-19 18-47-00

Screenshot from 2021-07-19 18-46-05

I just noticed that ros2 topic list isnt always the same: Screenshot from 2021-07-19 18-44-36

Please advise @Myzhar

griz1112 commented 3 years ago

Do you have ROS_DOMAIN_ID set on both machines?

Myzhar commented 3 years ago

@an99990 I just tested the master branch and everything works as expected. The dev_foxy branch is no more available and it has been merged into the master branch that now is Foxy compatible and working. A new devel_foxy branch is currently under development, but it's not stable because we are adding new features.

an99990 commented 3 years ago

Hi @Myzhar, I just build from master and I am still unavailable to ros2 topic echo /zed2/zed_node/left/image_rect_color message from the camera when it opens:

_node] [INFO]  * OpenNI mode (16bit point cloud): FALSE
[zed_wrapper-2] 1626783204.972984088 [zed2.zed_node] [INFO]  * [DYN] Point cloud rate [Hz]: 10
[zed_wrapper-2] 1626783204.972997564 [zed2.zed_node] [INFO]  * [DYN] Depth Confidence: 50
[zed_wrapper-2] 1626783204.973015056 [zed2.zed_node] [INFO]  * [DYN] Depth Texture Confidence: 100
[zed_wrapper-2] 1626783204.973026047 [zed2.zed_node] [INFO]  * Depth QoS History: KEEP_LAST
[zed_wrapper-2] 1626783204.973042257 [zed2.zed_node] [INFO]  * Depth QoS History depth: 1
[zed_wrapper-2] 1626783204.973053288 [zed2.zed_node] [INFO]  * Depth QoS Reliability: BEST_EFFORT
[zed_wrapper-2] 1626783204.973065471 [zed2.zed_node] [INFO]  * Depth QoS Durability: VOLATILE
[zed_wrapper-2] 1626783204.973071853 [zed2.zed_node] [INFO] *** POSITIONAL TRACKING parameters ***
[zed_wrapper-2] 1626783204.973105696 [zed2.zed_node] [INFO]  * Positional tracking enabled: TRUE
[zed_wrapper-2] 1626783204.973119673 [zed2.zed_node] [INFO]  * Base frame id: base_link
[zed_wrapper-2] 1626783204.973135582 [zed2.zed_node] [INFO]  * Map frame id: map
[zed_wrapper-2] 1626783204.973151222 [zed2.zed_node] [INFO]  * Odometry frame id: odom
[zed_wrapper-2] 1626783204.973167162 [zed2.zed_node] [INFO]  * Broadcast Odometry TF: TRUE
[zed_wrapper-2] 1626783204.973181499 [zed2.zed_node] [INFO]  * Broadcast Pose TF: TRUE
[zed_wrapper-2] 1626783204.973194854 [zed2.zed_node] [INFO]  * Broadcast Static IMU TF [not for ZED]: TRUE
[zed_wrapper-2] 1626783204.973213358 [zed2.zed_node] [INFO]  * [DYN] Path publishing rate: 2
[zed_wrapper-2] 1626783204.973225822 [zed2.zed_node] [INFO]  * Path history lenght: -1
[zed_wrapper-2] 1626783204.973242864 [zed2.zed_node] [INFO]  * Initial pose: [0,0,0,0,0,0,]
[zed_wrapper-2] 1626783204.973259254 [zed2.zed_node] [INFO]  * Area Memory: TRUE
[zed_wrapper-2] 1626783204.973271267 [zed2.zed_node] [INFO]  * Area Memory DB: 
[zed_wrapper-2] 1626783204.973289090 [zed2.zed_node] [INFO]  * IMU Fusion [not for ZED]: TRUE
[zed_wrapper-2] 1626783204.973306603 [zed2.zed_node] [INFO]  * Floor Alignment: FALSE
[zed_wrapper-2] 1626783204.973318716 [zed2.zed_node] [INFO]  * Init Odometry with first valid pose data: TRUE
[zed_wrapper-2] 1626783204.973331089 [zed2.zed_node] [INFO]  * 2D mode: FALSE
[zed_wrapper-2] 1626783204.973350495 [zed2.zed_node] [INFO]  * Pose/Odometry QoS History: KEEP_LAST
[zed_wrapper-2] 1626783204.973361516 [zed2.zed_node] [INFO]  * Pose/Odometry QoS History depth: 1
[zed_wrapper-2] 1626783204.973372106 [zed2.zed_node] [INFO]  * Pose/Odometry QoS Reliability: BEST_EFFORT
[zed_wrapper-2] 1626783204.973383768 [zed2.zed_node] [INFO]  * Pose/Odometry QoS Durability: VOLATILE
[zed_wrapper-2] 1626783204.973390360 [zed2.zed_node] [INFO] *** SENSORS STACK parameters ***
[zed_wrapper-2] 1626783204.973401541 [zed2.zed_node] [INFO]  * Sensors Camera Sync: FALSE
[zed_wrapper-2] 1626783204.973414816 [zed2.zed_node] [INFO]  * Sensors publishing rate: 200 Hz
[zed_wrapper-2] 1626783204.973431036 [zed2.zed_node] [INFO]  * Sensors QoS History: KEEP_LAST
[zed_wrapper-2] 1626783204.973440675 [zed2.zed_node] [INFO]  * Sensors QoS History depth: 1
[zed_wrapper-2] 1626783204.973452086 [zed2.zed_node] [INFO]  * Sensors QoS Reliability: BEST_EFFORT
[zed_wrapper-2] 1626783204.973463557 [zed2.zed_node] [INFO]  * Sensors QoS Durability: VOLATILE
[zed_wrapper-2] 1626783204.973471733 [zed2.zed_node] [INFO] *** Spatial Mapping parameters ***
[zed_wrapper-2] 1626783204.973483455 [zed2.zed_node] [INFO]  * Spatial Mapping Enabled: FALSE
[zed_wrapper-2] 1626783204.973498984 [zed2.zed_node] [INFO]  * Spatial Mapping resolution [m]: 0.1
[zed_wrapper-2] 1626783204.973515094 [zed2.zed_node] [INFO]  * 3D Max Mapping range [m]: 20
[zed_wrapper-2] 1626783204.973528569 [zed2.zed_node] [INFO]  * Map publishing rate [Hz]: 0.5
[zed_wrapper-2] 1626783204.973544780 [zed2.zed_node] [INFO]  * Sensors QoS History: KEEP_LAST
[zed_wrapper-2] 1626783204.973559357 [zed2.zed_node] [INFO]  * Sensors QoS History depth: 1
[zed_wrapper-2] 1626783204.973570017 [zed2.zed_node] [INFO]  * Sensors QoS Reliability: BEST_EFFORT
[zed_wrapper-2] 1626783204.973580667 [zed2.zed_node] [INFO]  * Sensors QoS Durability: VOLATILE
[zed_wrapper-2] 1626783204.973595725 [zed2.zed_node] [INFO] *** OBJECT DETECTION parameters ***
[zed_wrapper-2] 1626783204.973607808 [zed2.zed_node] [INFO]  * Object Detection enabled: FALSE
[zed_wrapper-2] 1626783204.973622726 [zed2.zed_node] [INFO]  * OD min. confidence: 50
[zed_wrapper-2] 1626783204.973637343 [zed2.zed_node] [INFO]  * Object Detection model: 0 - MULTI CLASS BOX FAST
[zed_wrapper-2] 1626783204.973649436 [zed2.zed_node] [INFO]  * MultiClassBox people: TRUE
[zed_wrapper-2] 1626783204.973667430 [zed2.zed_node] [INFO]  * MultiClassBox vehicles: TRUE
[zed_wrapper-2] 1626783204.973682278 [zed2.zed_node] [INFO]  * MultiClassBox bags: TRUE
[zed_wrapper-2] 1626783204.973699179 [zed2.zed_node] [INFO]  * MultiClassBox animals: TRUE
[zed_wrapper-2] 1626783204.973717073 [zed2.zed_node] [INFO]  * MultiClassBox electronics: TRUE
[zed_wrapper-2] 1626783204.973736800 [zed2.zed_node] [INFO]  * MultiClassBox fruits and vegetables: TRUE
[zed_wrapper-2] 1626783204.973748963 [zed2.zed_node] [INFO]  * Skeleton fitting: FALSE
[zed_wrapper-2] 1626783204.973765003 [zed2.zed_node] [INFO]  * Obj. Det. QoS History: KEEP_LAST
[zed_wrapper-2] 1626783204.973775442 [zed2.zed_node] [INFO]  * Obj. Det. QoS History depth: 1
[zed_wrapper-2] 1626783204.973794077 [zed2.zed_node] [INFO]  * Obj. Det. QoS Reliability: BEST_EFFORT
[zed_wrapper-2] 1626783204.973804627 [zed2.zed_node] [INFO]  * Obj. Det. QoS Durability: VOLATILE
[zed_wrapper-2] 1626783204.973810829 [zed2.zed_node] [INFO] *** SERVICES ***
[zed_wrapper-2] 1626783204.974129015 [zed2.zed_node] [INFO]  * '/zed2/zed_node/reset_odometry'
[zed_wrapper-2] 1626783204.974295457 [zed2.zed_node] [INFO]  * '/zed2/zed_node/reset_pos_tracking'
[zed_wrapper-2] 1626783204.974602152 [zed2.zed_node] [INFO]  * '/zed2/zed_node/set_pose'
[zed_wrapper-2] 1626783204.974881366 [zed2.zed_node] [INFO]  * '/zed2/zed_node/enable_obj_det'
[zed_wrapper-2] 1626783204.975041416 [zed2.zed_node] [INFO]  * '/zed2/zed_node/enable_mapping'
[zed_wrapper-2] 1626783204.975245980 [zed2.zed_node] [INFO]  * '/zed2/zed_node/start_svo_rec'
[zed_wrapper-2] 1626783204.975417621 [zed2.zed_node] [INFO]  * '/zed2/zed_node/stop_svo_rec'
[zed_wrapper-2] 1626783204.975593471 [zed2.zed_node] [INFO]  * '/zed2/zed_node/toggle_svo_pause'
[zed_wrapper-2] 1626783204.975612236 [zed2.zed_node] [INFO] ***** STARTING CAMERA *****
[zed_wrapper-2] 1626783204.975619179 [zed2.zed_node] [INFO] SDK Version: 3.5.0 - Build 24184_2d27c82a
[zed_wrapper-2] 1626783204.976967567 [zed2.zed_node] [INFO] *** CAMERA OPENING ***
[zed_wrapper-2] [ZED][Init] Depth mode: PERFORMANCE
[zed_wrapper-2] [ZED] [ERROR] Cannot initialize the camera. Try another resolution
[zed_wrapper-2] ** Opening Camera. Attempt 0 ...
[zed_wrapper-2] [ZED] [ERROR] Cannot initialize the camera. Try another resolution
[zed_wrapper-2] ** Opening Camera. Attempt 1 ...
[zed_wrapper-2] ** Opening Camera. Attempt 2 ...
[zed_wrapper-2] ** Opening Camera. Attempt 3 ...
[zed_wrapper-2] ** Opening Camera. Attempt 4 ...
[zed_wrapper-2] ** Opening Camera. Attempt 5 ...
[zed_wrapper-2] ** Opening Camera. Attempt 6 ...
[zed_wrapper-2] ** Opening Camera. Attempt 7 ...
[zed_wrapper-2] ** Opening Camera. Attempt 8 ...
[zed_wrapper-2] ** Opening Camera. Attempt 9 ...
[zed_wrapper-2] ** Opening Camera. Attempt 10 ...
[zed_wrapper-2] ** Opening Camera. Attempt 11 ...
[zed_wrapper-2] ** Opening Camera. Attempt 12 ...
[zed_wrapper-2] ** Opening Camera. Attempt 13 ...
[zed_wrapper-2] ** Opening Camera. Attempt 14 ...
[zed_wrapper-2] ** Opening Camera. Attempt 15 ...
[zed_wrapper-2] [ZED] [ERROR] Cannot initialize the camera. Try another resolution
[zed_wrapper-2] ** Opening Camera. Attempt 16 ...
[zed_wrapper-2] [ZED] [ERROR] Cannot initialize the camera. Try another resolution
[zed_wrapper-2] ** Opening Camera. Attempt 17 ...
[zed_wrapper-2] ** Opening Camera. Attempt 18 ...
[zed_wrapper-2] ** Opening Camera. Attempt 19 ...
[zed_wrapper-2] ** Opening Camera. Attempt 20 ...
[zed_wrapper-2] 1626783210.276025043 [zed2.zed_node] [WARN] Error opening camera: CAMERA NOT DETECTED
[zed_wrapper-2] 1626783210.276069096 [zed2.zed_node] [INFO] Please verify the USB3 connection
[zed_wrapper-2] [ZED][Init] Depth mode: PERFORMANCE
[zed_wrapper-2] [ZED][Init] Video mode: HD720@30
[zed_wrapper-2] 1626783216.710011430 [zed2.zed_node] [INFO] ZED SDK running on GPU #0
[zed_wrapper-2] 1626783216.710076672 [zed2.zed_node] [INFO]  * Camera Model -> ZED 2
[zed_wrapper-2] 1626783216.710087934 [zed2.zed_node] [INFO]  * Serial Number    -> 29352887
[zed_wrapper-2] 1626783216.710111568 [zed2.zed_node] [INFO]  * Input type   -> USB input type
[zed_wrapper-2] 1626783216.710124562 [zed2.zed_node] [INFO]  * Camera FW Version -> 1523
[zed_wrapper-2] 1626783216.710134030 [zed2.zed_node] [INFO]  * Sensors FW Version -> 776
[zed_wrapper-2] 1626783216.710191808 [zed2.zed_node] [INFO] *** TF FRAMES ***
[zed_wrapper-2] 1626783216.710203220 [zed2.zed_node] [INFO]  * Map          -> map
[zed_wrapper-2] 1626783216.710212517 [zed2.zed_node] [INFO]  * Odometry         -> odom
[zed_wrapper-2] 1626783216.710221764 [zed2.zed_node] [INFO]  * Base         -> base_link
[zed_wrapper-2] 1626783216.710230601 [zed2.zed_node] [INFO]  * Camera           -> zed2_camera_center
[zed_wrapper-2] 1626783216.710240520 [zed2.zed_node] [INFO]  * Left         -> zed2_left_camera_frame
[zed_wrapper-2] 1626783216.710249687 [zed2.zed_node] [INFO]  * Left Optical     -> zed2_left_camera_optical_frame
[zed_wrapper-2] 1626783216.710258984 [zed2.zed_node] [INFO]  * RGB          -> zed2_left_camera_frame
[zed_wrapper-2] 1626783216.710268041 [zed2.zed_node] [INFO]  * RGB Optical      -> zed2_left_camera_frame
[zed_wrapper-2] 1626783216.710277058 [zed2.zed_node] [INFO]  * Right            -> zed2_right_camera_frame
[zed_wrapper-2] 1626783216.710289351 [zed2.zed_node] [INFO]  * Right Optical        -> zed2_right_camera_optical_frame
[zed_wrapper-2] 1626783216.710298558 [zed2.zed_node] [INFO]  * Depth            -> zed2_left_camera_frame
[zed_wrapper-2] 1626783216.710307515 [zed2.zed_node] [INFO]  * Depth Optical        -> zed2_left_camera_optical_frame
[zed_wrapper-2] 1626783216.710316512 [zed2.zed_node] [INFO]  * Point Cloud      -> zed2_left_camera_optical_frame
[zed_wrapper-2] 1626783216.710325699 [zed2.zed_node] [INFO]  * Disparity        -> zed2_left_camera_frame
[zed_wrapper-2] 1626783216.710334977 [zed2.zed_node] [INFO]  * Disparity Optical    -> zed2_left_camera_optical_frame
[zed_wrapper-2] 1626783216.710347470 [zed2.zed_node] [INFO]  * Confidence       -> zed2_left_camera_frame
[zed_wrapper-2] 1626783216.710359513 [zed2.zed_node] [INFO]  * Confidence Optical   -> zed2_left_camera_optical_frame
[zed_wrapper-2] 1626783216.710368850 [zed2.zed_node] [INFO]  * IMU          -> zed2_imu_link
[zed_wrapper-2] 1626783216.710380232 [zed2.zed_node] [INFO]  * Barometer        -> zed2_camera_center
[zed_wrapper-2] 1626783216.710392174 [zed2.zed_node] [INFO]  * Magnetometer     -> zed2_imu_link
[zed_wrapper-2] 1626783216.710401712 [zed2.zed_node] [INFO]  * Left Temperature     -> zed2_left_camera_frame
[zed_wrapper-2] 1626783216.710412011 [zed2.zed_node] [INFO]  * Right Temperature    -> zed2_right_camera_frame
[zed_wrapper-2] 1626783216.710424344 [zed2.zed_node] [INFO] *** PUBLISHED TOPICS ***
[zed_wrapper-2] 1626783216.712255869 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/rgb/image_rect_color
[zed_wrapper-2] 1626783216.712593502 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/rgb/image_rect_gray
[zed_wrapper-2] 1626783216.712614752 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/rgb/camera_info
[zed_wrapper-2] 1626783216.712956923 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/rgb_raw/image_raw_color
[zed_wrapper-2] 1626783216.713281642 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/rgb_raw/image_raw_gray
[zed_wrapper-2] 1626783216.713306378 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/rgb_raw/camera_info
[zed_wrapper-2] 1626783216.713614196 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/left/image_rect_color
[zed_wrapper-2] 1626783216.713998596 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/left/image_rect_gray
[zed_wrapper-2] 1626783216.714037790 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/left/camera_info
[zed_wrapper-2] 1626783216.714636974 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/left_raw/image_raw_color
[zed_wrapper-2] 1626783216.714955601 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/left_raw/image_raw_gray
[zed_wrapper-2] 1626783216.714988703 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/left_raw/camera_info
[zed_wrapper-2] 1626783216.715348598 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/right/image_rect_color
[zed_wrapper-2] 1626783216.715710076 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/right/image_rect_gray
[zed_wrapper-2] 1626783216.715725975 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/right/camera_info
[zed_wrapper-2] 1626783216.716114684 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/right_raw/image_raw_color
[zed_wrapper-2] 1626783216.716501179 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/right_raw/image_raw_gray
[zed_wrapper-2] 1626783216.716519203 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/right_raw/camera_info
[zed_wrapper-2] 1626783216.716957514 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/depth/depth_registered
[zed_wrapper-2] 1626783216.716976490 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/depth/camera_info
[zed_wrapper-2] 1626783216.717200770 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/stereo/image_rect_color
[zed_wrapper-2] 1626783216.717444688 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/stereo_raw/image_raw_color
[zed_wrapper-2] 1626783216.717668237 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/confidence/confidence_map
[zed_wrapper-2] 1626783216.718149690 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/disparity/disparity_image
[zed_wrapper-2] 1626783216.718428623 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/point_cloud/cloud_registered
[zed_wrapper-2] 1626783216.718790832 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/pose
[zed_wrapper-2] 1626783216.719032795 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/pose_with_covariance
[zed_wrapper-2] 1626783216.719369056 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/odom
[zed_wrapper-2] 1626783216.719583779 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/path_map
[zed_wrapper-2] 1626783216.719767343 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/path_odom
[zed_wrapper-2] 1626783216.719977236 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/imu/data
[zed_wrapper-2] 1626783216.720156994 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/imu/data_raw
[zed_wrapper-2] 1626783216.720355245 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/temperature/imu
[zed_wrapper-2] 1626783216.720551623 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/imu/mag
[zed_wrapper-2] 1626783216.720749474 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/atm_press
[zed_wrapper-2] 1626783216.720919593 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/temperature/left
[zed_wrapper-2] 1626783216.721091085 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/temperature/right
[zed_wrapper-2] 1626783216.721336876 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/left_cam_imu_transform [LATCHED]
[zed_wrapper-2] 1626783216.721350682 [zed2.zed_node] [INFO] Camera-IMU Translation: 
[zed_wrapper-2]  -0.002 -0.023 -0.002
[zed_wrapper-2] 1626783216.721371721 [zed2.zed_node] [INFO] Camera-IMU Rotation: 
[zed_wrapper-2]  7FFDBADCF180
[zed_wrapper-2] 0.999995 0.003136 -0.000548
[zed_wrapper-2] -0.003136 0.999994 -0.001484
[zed_wrapper-2] 0.000544 0.001486 0.999999
[zed_wrapper-2] 
[zed_wrapper-2] 1626783216.721421144 [zed2.zed_node] [INFO] Published static TF: 'zed2_imu_link' -> 'zed2_left_camera_frame'
[zed_wrapper-2] 1626783216.738183434 [zed2.zed_node] [INFO] *** Starting Positional Tracking ***
[zed_wrapper-2] 1626783216.738251872 [zed2.zed_node] [INFO]  * Waiting for valid static transformations...
[zed_wrapper-2] 1626783216.738333535 [zed2.zed_node] [INFO] Static transform Sensor to Base [zed2_left_camera_frame -> base_link]
[zed_wrapper-2] 1626783216.738346530 [zed2.zed_node] [INFO]  * Translation: {0.000,-0.060,0.000}
[zed_wrapper-2] 1626783216.738358071 [zed2.zed_node] [INFO]  * Rotation: {0.000,-0.000,0.000}
[zed_wrapper-2] 1626783216.738373841 [zed2.zed_node] [INFO] Static transform Sensor to Camera Center [zed2_left_camera_frame -> zed2_camera_center]
[zed_wrapper-2] 1626783216.738383319 [zed2.zed_node] [INFO]  * Translation: {0.000,-0.060,0.000}
[zed_wrapper-2] 1626783216.738390793 [zed2.zed_node] [INFO]  * Rotation: {0.000,-0.000,0.000}
[zed_wrapper-2] 1626783216.738426840 [zed2.zed_node] [INFO] Static transform Camera Center to Base [zed2_camera_center -> base_link]
[zed_wrapper-2] 1626783216.738434244 [zed2.zed_node] [INFO]  * Translation: {0.000,0.000,0.000}
[zed_wrapper-2] 1626783216.738441408 [zed2.zed_node] [INFO]  * Rotation: {0.000,-0.000,0.000}
[zed_wrapper-2] 1626783216.838521661 [zed2.zed_node] [INFO] Initial ZED left camera pose (ZED pos. tracking): 
[zed_wrapper-2] 1626783216.838570754 [zed2.zed_node] [INFO]  * T: [0,0.06,0]
[zed_wrapper-2] 1626783216.838589449 [zed2.zed_node] [INFO]  * Q: [0,0,0,1]
[zed_wrapper-2] 1626783216.961827614 [zed2.zed_node] [INFO] Odometry aligned to last tracking pose

Steps : I build from master following the installation instruction $ cd ~/ros2_ws/src/ #use your current ros2 workspace folder $ git clone https://github.com/stereolabs/zed-ros2-wrapper.git $ cd .. $ rosdep install --from-paths src --ignore-src -r -y $ colcon build --symlink-install --cmake-args=-DCMAKE_BUILD_TYPE=Release $ echo source $(pwd)/install/local_setup.bash >> ~/.bashrc $ source ~/.bashrc

ros2 launch zed_wrapper zed2.launch.py

Myzhar commented 3 years ago

@an99990 I just replicated the steps above and everything works correctly. Please try by deleting the install build and log folders before compiling. After compiling close the terminal and open it again, then start the nodes

an99990 commented 3 years ago

@Myzhar by deleting install i cant source ~/.bashrc and cant call ros2 launch zed_wrapper zed2.launch.py I am confused with the steps you are asking me. I try deleting everything recompiling , deleting .. Was I suppose to download the image transport zip ? @cardboardcode any updates on your end ?

Update After updating image_commons, ros2 topic echo works for rgb topics.

XDGFX commented 3 years ago

I'm having the same issue.

Using the Dockerfile mentioned in https://github.com/stereolabs/zed-ros2-wrapper/issues/48#issuecomment-892700306, running on a Jetson Xavier NX.

Steps to reproduce:

Logs look fine:

root@d05ae10340fd:/# ros2 launch zed_wrapper zed2.launch.py 
[INFO] [launch]: All log files can be found below /root/.ros/log/2021-08-06-13-58-03-135339-d05ae10340fd-69
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [73]
[INFO] [zed_wrapper-2]: process started with pid [74]
[robot_state_publisher-1] Parsing robot urdf xml string.
[robot_state_publisher-1] Link zed2_camera_center had 4 children
[robot_state_publisher-1] Link zed2_baro_link had 0 children
[robot_state_publisher-1] Link zed2_left_camera_frame had 2 children
[robot_state_publisher-1] Link zed2_left_camera_optical_frame had 0 children
[robot_state_publisher-1] Link zed2_temp_left_link had 0 children
[robot_state_publisher-1] Link zed2_mag_link had 0 children
[robot_state_publisher-1] Link zed2_right_camera_frame had 2 children
[robot_state_publisher-1] Link zed2_right_camera_optical_frame had 0 children
[robot_state_publisher-1] Link zed2_temp_right_link had 0 children
[robot_state_publisher-1] 1628258284.473839233 [zed2.zed_state_publisher] [INFO] got segment base_link
[robot_state_publisher-1] 1628258284.474306472 [zed2.zed_state_publisher] [INFO] got segment zed2_baro_link
[robot_state_publisher-1] 1628258284.474384745 [zed2.zed_state_publisher] [INFO] got segment zed2_camera_center
[robot_state_publisher-1] 1628258284.474437162 [zed2.zed_state_publisher] [INFO] got segment zed2_left_camera_frame
[robot_state_publisher-1] 1628258284.474485898 [zed2.zed_state_publisher] [INFO] got segment zed2_left_camera_optical_frame
[robot_state_publisher-1] 1628258284.474535083 [zed2.zed_state_publisher] [INFO] got segment zed2_mag_link
[robot_state_publisher-1] 1628258284.474583628 [zed2.zed_state_publisher] [INFO] got segment zed2_right_camera_frame
[robot_state_publisher-1] 1628258284.474675725 [zed2.zed_state_publisher] [INFO] got segment zed2_right_camera_optical_frame
[robot_state_publisher-1] 1628258284.474752782 [zed2.zed_state_publisher] [INFO] got segment zed2_temp_left_link
[robot_state_publisher-1] 1628258284.474827887 [zed2.zed_state_publisher] [INFO] got segment zed2_temp_right_link
[zed_wrapper-2] 1628258284.609498586 [zed2.zed_node] [INFO] ********************************
[zed_wrapper-2] 1628258284.610072451 [zed2.zed_node] [INFO]       ZED Camera Component 
[zed_wrapper-2] 1628258284.610151748 [zed2.zed_node] [INFO] ********************************
[zed_wrapper-2] 1628258284.610207301 [zed2.zed_node] [INFO]  * namespace: /zed2
[zed_wrapper-2] 1628258284.610257765 [zed2.zed_node] [INFO]  * node name: zed_node
[zed_wrapper-2] 1628258284.610305062 [zed2.zed_node] [INFO] ********************************
[zed_wrapper-2] 1628258284.610870318 [zed2.zed_node] [INFO] *** DEBUG parameters ***
[zed_wrapper-2] 1628258284.610975120 [zed2.zed_node] [INFO] *** GENERAL parameters ***
[zed_wrapper-2] 1628258284.611556024 [zed2.zed_node] [INFO]  * Camera model: zed2 - ZED 2
[zed_wrapper-2] 1628258284.612071488 [zed2.zed_node] [INFO]  * SDK Verbose: 1
[zed_wrapper-2] 1628258284.612644392 [zed2.zed_node] [INFO]  * SVO: 
[zed_wrapper-2] 1628258284.612979981 [zed2.zed_node] [INFO]  * SVO Loop: FALSE
[zed_wrapper-2] 1628258284.613374899 [zed2.zed_node] [INFO]  * SVO Realtime: FALSE
[zed_wrapper-2] 1628258284.613681879 [zed2.zed_node] [INFO]  * Camera name: zed2
[zed_wrapper-2] 1628258284.614314784 [zed2.zed_node] [INFO]  * Camera ID: 0
[zed_wrapper-2] 1628258284.614642085 [zed2.zed_node] [INFO]  * Camera SN: 0
[zed_wrapper-2] 1628258284.615059243 [zed2.zed_node] [INFO]  * Camera timeout [sec]: 5
[zed_wrapper-2] 1628258284.615361232 [zed2.zed_node] [INFO]  * Camera reconnection temptatives: 5
[zed_wrapper-2] 1628258284.615661940 [zed2.zed_node] [INFO]  * Camera framerate: 30
[zed_wrapper-2] 1628258284.615969048 [zed2.zed_node] [INFO]  * GPU ID: -1
[zed_wrapper-2] 1628258284.616286973 [zed2.zed_node] [INFO]  * Camera resolution: 2 - HD720
[zed_wrapper-2] 1628258284.616666947 [zed2.zed_node] [INFO]  * Camera self calibration: TRUE
[zed_wrapper-2] 1628258284.616977319 [zed2.zed_node] [INFO]  * Camera flip: FALSE
[zed_wrapper-2] 1628258284.617282220 [zed2.zed_node] [INFO]  * [DYN] Publish framerate [Hz]: 15 
[zed_wrapper-2] 1628258284.617375245 [zed2.zed_node] [INFO] *** VIDEO parameters ***
[zed_wrapper-2] 1628258284.617673169 [zed2.zed_node] [INFO]  * Use old extrinsic parameters: 0
[zed_wrapper-2] 1628258284.618012854 [zed2.zed_node] [INFO]  * [DYN] Image downsample factor: 0.5 
[zed_wrapper-2] 1628258284.618339163 [zed2.zed_node] [INFO]  * [DYN] Brightness: 4
[zed_wrapper-2] 1628258284.618680256 [zed2.zed_node] [INFO]  * [DYN] Contrast: 4
[zed_wrapper-2] 1628258284.618977028 [zed2.zed_node] [INFO]  * [DYN] Hue: 0
[zed_wrapper-2] 1628258284.619313321 [zed2.zed_node] [INFO]  * [DYN] Saturation: 4
[zed_wrapper-2] 1628258284.619606701 [zed2.zed_node] [INFO]  * [DYN] Sharpness: 4
[zed_wrapper-2] 1628258284.619928274 [zed2.zed_node] [INFO]  * [DYN] Gamma: 8
[zed_wrapper-2] 1628258284.620232503 [zed2.zed_node] [INFO]  * [DYN] Auto Exposure/Gain: TRUE
[zed_wrapper-2] 1628258284.620604316 [zed2.zed_node] [INFO]  * [DYN] Exposure: 80
[zed_wrapper-2] 1628258284.620912097 [zed2.zed_node] [INFO]  * [DYN] Gain: 80
[zed_wrapper-2] 1628258284.621405000 [zed2.zed_node] [INFO]  * [DYN] Auto White Balance: TRUE
[zed_wrapper-2] 1628258284.621745133 [zed2.zed_node] [INFO]  * [DYN] White Balance Temperature: 42
[zed_wrapper-2] 1628258284.622078354 [zed2.zed_node] [INFO]  * Video QoS History: KEEP_LAST
[zed_wrapper-2] 1628258284.622417270 [zed2.zed_node] [INFO]  * Video QoS History depth: 1
[zed_wrapper-2] 1628258284.622724859 [zed2.zed_node] [INFO]  * Video QoS Reliability: RELIABLE
[zed_wrapper-2] 1628258284.623044544 [zed2.zed_node] [INFO]  * Video QoS Durability: VOLATILE
[zed_wrapper-2] 1628258284.623124705 [zed2.zed_node] [INFO] *** DEPTH parameters ***
[zed_wrapper-2] 1628258284.624398803 [zed2.zed_node] [INFO]  * Depth quality: 1 - PERFORMANCE
[zed_wrapper-2] 1628258284.624957851 [zed2.zed_node] [INFO]  * Depth downsample factor: 0.5 
[zed_wrapper-2] 1628258284.625441315 [zed2.zed_node] [INFO]  * Min depth [m]: 0.2
[zed_wrapper-2] 1628258284.625846952 [zed2.zed_node] [INFO]  * Max depth [m]: 20
[zed_wrapper-2] 1628258284.626263983 [zed2.zed_node] [INFO]  * Depth Sensing Mode: 0 - STANDARD
[zed_wrapper-2] 1628258284.626661236 [zed2.zed_node] [INFO]  * Depth Stabilization: TRUE
[zed_wrapper-2] 1628258284.627042298 [zed2.zed_node] [INFO]  * OpenNI mode (16bit point cloud): FALSE
[zed_wrapper-2] 1628258284.627531041 [zed2.zed_node] [INFO]  * [DYN] Point cloud rate [Hz]: 10
[zed_wrapper-2] 1628258284.627932167 [zed2.zed_node] [INFO]  * [DYN] Depth Confidence: 50
[zed_wrapper-2] 1628258284.628348109 [zed2.zed_node] [INFO]  * [DYN] Depth Texture Confidence: 100
[zed_wrapper-2] 1628258284.628796019 [zed2.zed_node] [INFO]  * Depth QoS History: KEEP_LAST
[zed_wrapper-2] 1628258284.629170329 [zed2.zed_node] [INFO]  * Depth QoS History depth: 1
[zed_wrapper-2] 1628258284.629578719 [zed2.zed_node] [INFO]  * Depth QoS Reliability: RELIABLE
[zed_wrapper-2] 1628258284.629958628 [zed2.zed_node] [INFO]  * Depth QoS Durability: VOLATILE
[zed_wrapper-2] 1628258284.630043462 [zed2.zed_node] [INFO] *** POSITIONAL TRACKING parameters ***
[zed_wrapper-2] 1628258284.630550349 [zed2.zed_node] [INFO]  * Positional tracking enabled: TRUE
[zed_wrapper-2] 1628258284.630960275 [zed2.zed_node] [INFO]  * Base frame id: base_link
[zed_wrapper-2] 1628258284.631357369 [zed2.zed_node] [INFO]  * Map frame id: map
[zed_wrapper-2] 1628258284.631778655 [zed2.zed_node] [INFO]  * Odometry frame id: odom
[zed_wrapper-2] 1628258284.632175909 [zed2.zed_node] [INFO]  * Broadcast Odometry TF: TRUE
[zed_wrapper-2] 1628258284.632620363 [zed2.zed_node] [INFO]  * Broadcast Pose TF: TRUE
[zed_wrapper-2] 1628258284.633023825 [zed2.zed_node] [INFO]  * Broadcast Static IMU TF [not for ZED]: TRUE
[zed_wrapper-2] 1628258284.633445495 [zed2.zed_node] [INFO]  * [DYN] Path publishing rate: 2
[zed_wrapper-2] 1628258284.633865405 [zed2.zed_node] [INFO]  * Path history lenght: -1
[zed_wrapper-2] 1628258284.634281955 [zed2.zed_node] [INFO]  * Initial pose: [0,0,0,0,0,0,]
[zed_wrapper-2] 1628258284.634717610 [zed2.zed_node] [INFO]  * Area Memory: TRUE
[zed_wrapper-2] 1628258284.635124752 [zed2.zed_node] [INFO]  * Area Memory DB: 
[zed_wrapper-2] 1628258284.635522293 [zed2.zed_node] [INFO]  * IMU Fusion [not for ZED]: TRUE
[zed_wrapper-2] 1628258284.635951644 [zed2.zed_node] [INFO]  * Floor Alignment: FALSE
[zed_wrapper-2] 1628258284.636344737 [zed2.zed_node] [INFO]  * Init Odometry with first valid pose data: TRUE
[zed_wrapper-2] 1628258284.637962265 [zed2.zed_node] [INFO]  * 2D mode: FALSE
[zed_wrapper-2] 1628258284.638416384 [zed2.zed_node] [INFO]  * Pose/Odometry QoS History: KEEP_LAST
[zed_wrapper-2] 1628258284.638814597 [zed2.zed_node] [INFO]  * Pose/Odometry QoS History depth: 1
[zed_wrapper-2] 1628258284.639245868 [zed2.zed_node] [INFO]  * Pose/Odometry QoS Reliability: RELIABLE
[zed_wrapper-2] 1628258284.639637393 [zed2.zed_node] [INFO]  * Pose/Odometry QoS Durability: VOLATILE
[zed_wrapper-2] 1628258284.639732339 [zed2.zed_node] [INFO] *** SENSORS STACK parameters ***
[zed_wrapper-2] 1628258284.640112248 [zed2.zed_node] [INFO]  * Sensors Camera Sync: FALSE
[zed_wrapper-2] 1628258284.640646784 [zed2.zed_node] [INFO]  * Sensors publishing rate: 200 Hz
[zed_wrapper-2] 1628258284.641075686 [zed2.zed_node] [INFO]  * Sensors QoS History: KEEP_LAST
[zed_wrapper-2] 1628258284.641479244 [zed2.zed_node] [INFO]  * Sensors QoS History depth: 1
[zed_wrapper-2] 1628258284.641876370 [zed2.zed_node] [INFO]  * Sensors QoS Reliability: RELIABLE
[zed_wrapper-2] 1628258284.642274232 [zed2.zed_node] [INFO]  * Sensors QoS Durability: VOLATILE
[zed_wrapper-2] 1628258284.642362841 [zed2.zed_node] [INFO] *** Spatial Mapping parameters ***
[zed_wrapper-2] 1628258284.642747903 [zed2.zed_node] [INFO]  * Spatial Mapping Enabled: FALSE
[zed_wrapper-2] 1628258284.643204133 [zed2.zed_node] [INFO]  * Spatial Mapping resolution [m]: 0.1
[zed_wrapper-2] 1628258284.643625196 [zed2.zed_node] [INFO]  * 3D Max Mapping range [m]: 20
[zed_wrapper-2] 1628258284.644041202 [zed2.zed_node] [INFO]  * Map publishing rate [Hz]: 0.5
[zed_wrapper-2] 1628258284.644531833 [zed2.zed_node] [INFO]  * Sensors QoS History: KEEP_LAST
[zed_wrapper-2] 1628258284.644939391 [zed2.zed_node] [INFO]  * Sensors QoS History depth: 1
[zed_wrapper-2] 1628258284.645364293 [zed2.zed_node] [INFO]  * Sensors QoS Reliability: RELIABLE
[zed_wrapper-2] 1628258284.645768459 [zed2.zed_node] [INFO]  * Sensors QoS Durability: VOLATILE
[zed_wrapper-2] 1628258284.645857292 [zed2.zed_node] [INFO] *** OBJECT DETECTION parameters ***
[zed_wrapper-2] 1628258284.646255634 [zed2.zed_node] [INFO]  * Object Detection enabled: FALSE
[zed_wrapper-2] 1628258284.646669912 [zed2.zed_node] [INFO]  * OD min. confidence: 50
[zed_wrapper-2] 1628258284.647101214 [zed2.zed_node] [INFO]  * Object Detection model: 0 - MULTI CLASS BOX FAST
[zed_wrapper-2] 1628258284.647530596 [zed2.zed_node] [INFO]  * MultiClassBox people: TRUE
[zed_wrapper-2] 1628258284.647940970 [zed2.zed_node] [INFO]  * MultiClassBox vehicles: TRUE
[zed_wrapper-2] 1628258284.648353040 [zed2.zed_node] [INFO]  * MultiClassBox bags: TRUE
[zed_wrapper-2] 1628258284.648870072 [zed2.zed_node] [INFO]  * MultiClassBox animals: TRUE
[zed_wrapper-2] 1628258284.649285758 [zed2.zed_node] [INFO]  * MultiClassBox electronics: TRUE
[zed_wrapper-2] 1628258284.649690628 [zed2.zed_node] [INFO]  * MultiClassBox fruits and vegetables: TRUE
[zed_wrapper-2] 1628258284.650111178 [zed2.zed_node] [INFO]  * Skeleton fitting: FALSE
[zed_wrapper-2] 1628258284.650507280 [zed2.zed_node] [INFO]  * Obj. Det. QoS History: KEEP_LAST
[zed_wrapper-2] 1628258284.650895990 [zed2.zed_node] [INFO]  * Obj. Det. QoS History depth: 1
[zed_wrapper-2] 1628258284.653979842 [zed2.zed_node] [INFO]  * Obj. Det. QoS Reliability: RELIABLE
[zed_wrapper-2] 1628258284.658337986 [zed2.zed_node] [INFO]  * Obj. Det. QoS Durability: VOLATILE
[zed_wrapper-2] 1628258284.658890794 [zed2.zed_node] [INFO] *** SERVICES ***
[zed_wrapper-2] 1628258284.664821792 [zed2.zed_node] [INFO]  * '/zed2/zed_node/reset_odometry'
[zed_wrapper-2] 1628258284.668390900 [zed2.zed_node] [INFO]  * '/zed2/zed_node/reset_pos_tracking'
[zed_wrapper-2] 1628258284.674469133 [zed2.zed_node] [INFO]  * '/zed2/zed_node/set_pose'
[zed_wrapper-2] 1628258284.678614890 [zed2.zed_node] [INFO]  * '/zed2/zed_node/enable_obj_det'
[zed_wrapper-2] 1628258284.683326958 [zed2.zed_node] [INFO]  * '/zed2/zed_node/enable_mapping'
[zed_wrapper-2] 1628258284.686854978 [zed2.zed_node] [INFO]  * '/zed2/zed_node/start_svo_rec'
[zed_wrapper-2] 1628258284.689246724 [zed2.zed_node] [INFO]  * '/zed2/zed_node/stop_svo_rec'
[zed_wrapper-2] 1628258284.691282722 [zed2.zed_node] [INFO]  * '/zed2/zed_node/toggle_svo_pause'
[zed_wrapper-2] 1628258284.691465925 [zed2.zed_node] [INFO] ***** STARTING CAMERA *****
[zed_wrapper-2] 1628258284.691530438 [zed2.zed_node] [INFO] SDK Version: 3.5.1 - Build 26368_03ef6906
[zed_wrapper-2] 1628258284.716598323 [zed2.zed_node] [INFO] *** CAMERA OPENING ***
[zed_wrapper-2] [ZED][Init] Depth mode: PERFORMANCE
[zed_wrapper-2] [ZED][Init] Video mode: HD720@30
[zed_wrapper-2] [ZED][Init] No calibration file found for SN29867557. Downloading... 
[zed_wrapper-2] [ZED][Init] Calibration file downloaded.
[zed_wrapper-2] 1628258287.281279958 [zed2.zed_node] [INFO] ZED SDK running on GPU #0
[zed_wrapper-2] 1628258287.281632955 [zed2.zed_node] [INFO]  * Camera Model     -> ZED 2
[zed_wrapper-2] 1628258287.281756637 [zed2.zed_node] [INFO]  * Serial Number    -> 29867557
[zed_wrapper-2] 1628258287.281933791 [zed2.zed_node] [INFO]  * Input type       -> USB input type
[zed_wrapper-2] 1628258287.282049153 [zed2.zed_node] [INFO]  * Camera FW Version -> 1523
[zed_wrapper-2] 1628258287.282147554 [zed2.zed_node] [INFO]  * Sensors FW Version -> 776
[zed_wrapper-2] 1628258287.282407462 [zed2.zed_node] [INFO] *** TF FRAMES ***
[zed_wrapper-2] 1628258287.282499624 [zed2.zed_node] [INFO]  * Map                      -> map
[zed_wrapper-2] 1628258287.282561192 [zed2.zed_node] [INFO]  * Odometry                 -> odom
[zed_wrapper-2] 1628258287.282628137 [zed2.zed_node] [INFO]  * Base                     -> base_link
[zed_wrapper-2] 1628258287.282716971 [zed2.zed_node] [INFO]  * Camera                   -> zed2_camera_center
[zed_wrapper-2] 1628258287.282803948 [zed2.zed_node] [INFO]  * Left                     -> zed2_left_camera_frame
[zed_wrapper-2] 1628258287.282891501 [zed2.zed_node] [INFO]  * Left Optical             -> zed2_left_camera_optical_frame
[zed_wrapper-2] 1628258287.282953870 [zed2.zed_node] [INFO]  * RGB                      -> zed2_left_camera_frame
[zed_wrapper-2] 1628258287.283011055 [zed2.zed_node] [INFO]  * RGB Optical              -> zed2_left_camera_frame
[zed_wrapper-2] 1628258287.283069360 [zed2.zed_node] [INFO]  * Right                    -> zed2_right_camera_frame
[zed_wrapper-2] 1628258287.283127089 [zed2.zed_node] [INFO]  * Right Optical            -> zed2_right_camera_optical_frame
[zed_wrapper-2] 1628258287.283185810 [zed2.zed_node] [INFO]  * Depth                    -> zed2_left_camera_frame
[zed_wrapper-2] 1628258287.283243314 [zed2.zed_node] [INFO]  * Depth Optical            -> zed2_left_camera_optical_frame
[zed_wrapper-2] 1628258287.283331540 [zed2.zed_node] [INFO]  * Point Cloud              -> zed2_left_camera_optical_frame
[zed_wrapper-2] 1628258287.283418933 [zed2.zed_node] [INFO]  * Disparity                -> zed2_left_camera_frame
[zed_wrapper-2] 1628258287.283505558 [zed2.zed_node] [INFO]  * Disparity Optical        -> zed2_left_camera_optical_frame
[zed_wrapper-2] 1628258287.283565399 [zed2.zed_node] [INFO]  * Confidence               -> zed2_left_camera_frame
[zed_wrapper-2] 1628258287.283647096 [zed2.zed_node] [INFO]  * Confidence Optical       -> zed2_left_camera_optical_frame
[zed_wrapper-2] 1628258287.283711289 [zed2.zed_node] [INFO]  * IMU                      -> zed2_imu_link
[zed_wrapper-2] 1628258287.283813115 [zed2.zed_node] [INFO]  * Barometer                -> zed2_camera_center
[zed_wrapper-2] 1628258287.283876092 [zed2.zed_node] [INFO]  * Magnetometer             -> zed2_imu_link
[zed_wrapper-2] 1628258287.283933116 [zed2.zed_node] [INFO]  * Left Temperature         -> zed2_left_camera_frame
[zed_wrapper-2] 1628258287.284020094 [zed2.zed_node] [INFO]  * Right Temperature        -> zed2_right_camera_frame
[zed_wrapper-2] 1628258287.284109471 [zed2.zed_node] [INFO] *** PUBLISHED TOPICS ***
[zed_wrapper-2] 1628258287.305661241 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/rgb/image_rect_color
[zed_wrapper-2] 1628258287.309722708 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/rgb/image_rect_gray
[zed_wrapper-2] 1628258287.311137385 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/rgb/camera_info
[zed_wrapper-2] 1628258287.314338744 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/rgb_raw/image_raw_color
[zed_wrapper-2] 1628258287.317250114 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/rgb_raw/image_raw_gray
[zed_wrapper-2] 1628258287.317431205 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/rgb_raw/camera_info
[zed_wrapper-2] 1628258287.320217037 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/left/image_rect_color
[zed_wrapper-2] 1628258287.324200871 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/left/image_rect_gray
[zed_wrapper-2] 1628258287.324414218 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/left/camera_info
[zed_wrapper-2] 1628258287.328026527 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/left_raw/image_raw_color
[zed_wrapper-2] 1628258287.333900693 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/left_raw/image_raw_gray
[zed_wrapper-2] 1628258287.334087671 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/left_raw/camera_info
[zed_wrapper-2] 1628258287.337514313 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/right/image_rect_color
[zed_wrapper-2] 1628258287.342378992 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/right/image_rect_gray
[zed_wrapper-2] 1628258287.342559827 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/right/camera_info
[zed_wrapper-2] 1628258287.346563885 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/right_raw/image_raw_color
[zed_wrapper-2] 1628258287.350033376 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/right_raw/image_raw_gray
[zed_wrapper-2] 1628258287.350215714 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/right_raw/camera_info
[zed_wrapper-2] 1628258287.355153706 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/depth/depth_registered
[zed_wrapper-2] 1628258287.355473743 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/depth/camera_info
[zed_wrapper-2] 1628258287.358427546 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/stereo/image_rect_color
[zed_wrapper-2] 1628258287.361398149 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/stereo_raw/image_raw_color
[zed_wrapper-2] 1628258287.362624471 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/confidence/confidence_map
[zed_wrapper-2] 1628258287.365631427 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/disparity/disparity_image
[zed_wrapper-2] 1628258287.367469278 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/point_cloud/cloud_registered
[zed_wrapper-2] 1628258287.370031971 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/pose
[zed_wrapper-2] 1628258287.374038270 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/pose_with_covariance
[zed_wrapper-2] 1628258287.379918995 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/odom
[zed_wrapper-2] 1628258287.381748654 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/path_map
[zed_wrapper-2] 1628258287.382834686 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/path_odom
[zed_wrapper-2] 1628258287.384541847 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/imu/data
[zed_wrapper-2] 1628258287.385576422 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/imu/data_raw
[zed_wrapper-2] 1628258287.387168253 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/temperature/imu
[zed_wrapper-2] 1628258287.389448062 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/imu/mag
[zed_wrapper-2] 1628258287.392077189 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/atm_press
[zed_wrapper-2] 1628258287.393522842 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/temperature/left
[zed_wrapper-2] 1628258287.394826189 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/temperature/right
[zed_wrapper-2] 1628258287.397445587 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/left_cam_imu_transform [LATCHED]
[zed_wrapper-2] 1628258287.397589877 [zed2.zed_node] [INFO] Camera-IMU Translation: 
[zed_wrapper-2]  -0.002 -0.023 -0.002
[zed_wrapper-2] 1628258287.397733911 [zed2.zed_node] [INFO] Camera-IMU Rotation: 
[zed_wrapper-2]  7FF82CC848
[zed_wrapper-2] 0.999991 0.003518 -0.002321
[zed_wrapper-2] -0.003524 0.999990 -0.002769
[zed_wrapper-2] 0.002311 0.002777 0.999994
[zed_wrapper-2] 
[zed_wrapper-2] 1628258287.398365504 [zed2.zed_node] [INFO] Published static TF: 'zed2_imu_link' -> 'zed2_left_camera_frame'
[zed_wrapper-2] 1628258287.462258403 [zed2.zed_node] [INFO] Static transform Sensor to Base [zed2_left_camera_frame -> base_link]
[zed_wrapper-2] 1628258287.462532423 [zed2.zed_node] [INFO]  * Translation: {0.000,-0.060,0.000}
[zed_wrapper-2] 1628258287.462632521 [zed2.zed_node] [INFO]  * Rotation: {0.000,-0.000,0.000}
[zed_wrapper-2] 1628258287.462958606 [zed2.zed_node] [INFO] Static transform Sensor to Camera Center [zed2_left_camera_frame -> zed2_camera_center]
[zed_wrapper-2] 1628258287.463115760 [zed2.zed_node] [INFO]  * Translation: {0.000,-0.060,0.000}
[zed_wrapper-2] 1628258287.463247186 [zed2.zed_node] [INFO]  * Rotation: {0.000,-0.000,0.000}
[zed_wrapper-2] 1628258287.463529302 [zed2.zed_node] [INFO] Static transform Camera Center to Base [zed2_camera_center -> base_link]
[zed_wrapper-2] 1628258287.463616151 [zed2.zed_node] [INFO]  * Translation: {0.000,0.000,0.000}
[zed_wrapper-2] 1628258287.463679032 [zed2.zed_node] [INFO]  * Rotation: {0.000,-0.000,0.000}
[zed_wrapper-2] 1628258287.480399692 [zed2.zed_node] [INFO] *** Starting Positional Tracking ***
[zed_wrapper-2] 1628258287.482352680 [zed2.zed_node] [INFO]  * Waiting for valid static transformations...
[zed_wrapper-2] 1628258287.582909090 [zed2.zed_node] [INFO] Initial ZED left camera pose (ZED pos. tracking): 
[zed_wrapper-2] 1628258287.583228199 [zed2.zed_node] [INFO]  * T: [0,0.06,0]
[zed_wrapper-2] 1628258287.583346760 [zed2.zed_node] [INFO]  * Q: [0,0,0,1]
[zed_wrapper-2] 1628258288.111635452 [zed2.zed_node] [INFO] Odometry aligned to last tracking pose

I also can't see images published on /zed/zed_node/left/image_rect_color I can see images on /zed2/zed_node/stereo/image_rect_color

@an99990 Have you got it working completely? I built my container two days ago, using the versions shown below:

- git:
    local-name: image_common/camera_calibration_parsers
    uri: https://github.com/ros2-gbp/image_common-release.git
    version: release/foxy/camera_calibration_parsers/2.3.0-1
- git:
    local-name: image_common/camera_info_manager
    uri: https://github.com/ros2-gbp/image_common-release.git
    version: release/foxy/camera_info_manager/2.3.0-1
- git:
    local-name: image_common/image_transport
    uri: https://github.com/ros2-gbp/image_common-release.git
    version: release/foxy/image_transport/2.3.0-1
Myzhar commented 3 years ago

This is an old issue that was fixed in the latest versions of the ZED ROS2 wrapper. Are you using the latest version available in the master branch?

XDGFX commented 3 years ago

I just re-built the container to make sure it wasn't caching an old version of the repo but same issue.

Myzhar commented 3 years ago

Is the problem "inside" or "outside" the container? Have you checked the network configuration?

XDGFX commented 3 years ago

Inside this time :)

I've tried host and bridge networking in testing, but shouldn't affect it as inside the container I can echo /zed2/zed_node/stereo/image_rect_color

XDGFX commented 3 years ago

After some more testing it seems that this isn't confined to image topics, I also can't echo /zed2/zed_node/left/camera_info.

Maybe this is a separate issue? It can detect the publishers and topic type when using ros2 topic info

root@d34f757e4b5a:/# ros2 topic info /zed2/zed_node/left/camera_info --verbose
Type: sensor_msgs/msg/CameraInfo

Publisher count: 2

Node name: zed_node
Node namespace: /zed2
Topic type: sensor_msgs/msg/CameraInfo
Endpoint type: PUBLISHER
GID: 01.0f.70.b7.57.00.00.00.01.00.00.00.00.00.32.03.00.00.00.00.00.00.00.00
QoS profile:
  Reliability: RMW_QOS_POLICY_RELIABILITY_RELIABLE
  Durability: RMW_QOS_POLICY_DURABILITY_VOLATILE
  Lifespan: 2147483651294967295 nanoseconds
  Deadline: 2147483651294967295 nanoseconds
  Liveliness: RMW_QOS_POLICY_LIVELINESS_AUTOMATIC
  Liveliness lease duration: 2147483651294967295 nanoseconds

Node name: zed_node
Node namespace: /zed2
Topic type: sensor_msgs/msg/CameraInfo
Endpoint type: PUBLISHER
GID: 01.0f.70.b7.57.00.00.00.01.00.00.00.00.00.34.03.00.00.00.00.00.00.00.00
QoS profile:
  Reliability: RMW_QOS_POLICY_RELIABILITY_RELIABLE
  Durability: RMW_QOS_POLICY_DURABILITY_VOLATILE
  Lifespan: 2147483651294967295 nanoseconds
  Deadline: 2147483651294967295 nanoseconds
  Liveliness: RMW_QOS_POLICY_LIVELINESS_AUTOMATIC
  Liveliness lease duration: 2147483651294967295 nanoseconds

Subscription count: 0

I've pushed the container to Dockerhub if it's any help: https://hub.docker.com/repository/docker/xdgfx/zed_ros2_node_testing. arm only as I'm running on a Jetson.

I'm open to try different thing to see if I can get it working, maybe something doesn't build correctly with the current setup?

grassjelly commented 2 years ago

Hi,

I think I'm having the same issue on Zed Camera. Is there a fix available yet?

Thank you!

grassjelly commented 2 years ago

Hi,

I think I'm having the same issue on Zed Camera. Is there a fix available yet?

Thank you!

This solved my issue: https://github.com/stereolabs/zed-ros2-wrapper#image-transport-and-topic-subscriptions. Thanks

xjw1996 commented 2 years ago

Until now, the problem of not being able to display images remains unresolved.(Inside the container) I use a zed2i camera. Ros2 version for foxy. I clone the latest version of the repository.(Latest version of master) The topic is /zed2i/zed_node/right_raw/image_raw_color noimages .

Myzhar commented 2 years ago

Have you installed image_common 3.0.0 as described in the Readme?

xjw1996 commented 2 years ago

Mr. Myzhar Thank you for your patience and quick reply! I installed image_common 3.0.0 as you said, and it compiled successfully！ Hope you have a great new day at work! image_common3 0 0 成功

cardboardcode commented 2 years ago

@Myzhar Thank you for the fix. Apologies for the extremely late follow-up. I can verify that the fix has resolved this issue on my side as well, as of 4th June 2022.

Solution :v:

Follow the instructions below to set up, run and display the ZED2 Camera:

Dependencies

  1. Ubuntu 20.04 [Operating System] [Link]
  2. CUDA 11.5 [Nvidia GPU] [Link]
  3. CUDNN 8.2.0 [Nvidia GPU] [Rely on the installation of the ZED SDK below to do this for you automatically.]
  4. ZED SDK 3.7.4 [SDK][Link]
  5. ROS2 Foxy

:warning:

Please ensure that, when installing the ZED SDK, PLEASE INSTALL THE AI MODULES FOR DEPTH TO WORK.

Build

cd $HOME
mkdir -p ~/zed_ros2_ws/src
cd ~/zed_ros2_ws/src
source /opt/ros/foxy/setup.bash

# Install and build recommended image-common==3.0.0
git clone https://github.com/ros-perception/image_common.git --branch ros2
cd image_common
git reset --hard a62ab876da2599627fe6a86bbc79040c62509422 # Reset to Release Tag: 3.0.0
cd ~/zed_ros2_ws/
colcon build --symlink-install
source install/setup.bash

# Install and build zed_ros2_wrapper
cd ~/zed_ros2_ws/src
git clone  --recursive https://github.com/stereolabs/zed-ros2-wrapper.git --branch master 
cd zed-ros2-wrapper 
git reset --hard 55a4302c6365ab2742e61f4cbfbd34960d3955b2 # Reset to the Release Tag: Foxy-v3.7
cd ~/zed_ros2_ws/
sudo apt-get install ros-foxy-launch --upgrade # Ensure that the latest version of ros-foxy-launch is being used to prevent errors concerning type_utils.py.
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install --cmake-args=-DCMAKE_BUILD_TYPE=Release

# Install and build zed-ros2-examples
cd ~/zed_ros2_ws/src
git clone https://github.com/stereolabs/zed-ros2-examples.git --branch master
rosdep install --from-paths src --ignore-src -r -y
cd ~/zed_ros2_ws
colcon build --symlink-install --cmake-args=-DCMAKE_BUILD_TYPE=Release

Run

cd ~/zed_ros2_ws
source install/setup.bash
ros2 launch zed_display_rviz2 display_zed2.launch.py

Verify

After completing steps under Run section, you should see RViz2 interface displaying something similar to what is shown below: temp

In contrast to the original issue given at the top of this thread, the topic to subscribe has changed over time. Verified that this issue has been resolved by running the following terminal command and seeing the following image result appear:

source /opt/ros/foxy/setup.bash
ros2 topic echo /zed2/zed_node/rgb/image_rect_color
# It is working because I am able to subscribe and display the image stream from ZED2 Camera.

Others

You might notice that the pointcloud generated in the screenshot above is quite bad. Note that calibration has not been done. Please reduce the brightness of your room and do the calibration by using the provided inbuilt tool:

cd /usr/local/zed/tools
./ZED_Calibration
# Follow the on-screen instructions to calibrate and have better depth estimation from ZED2 Camera.

Screenshot from 2022-06-04 14-26-44

Hope these instructions prove helpful to you, whoever you may be. Please have a nice day. :blush: