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stereolabs / zed-ros2-wrapper

ROS 2 wrapper for the ZED SDK
https://www.stereolabs.com/docs/ros2/
Apache License 2.0
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zed_interfaces error after invoking rosdep #90

Closed AndreV84 closed 2 years ago

AndreV84 commented 2 years ago

Preliminary Checks

Description

updated cache in /root/.ros/rosdep/sources.cache
ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
zed_ros2: Cannot locate rosdep definition for [zed_interfaces]
zed_components: Cannot locate rosdep definition for [zed_interfaces]

Steps to Reproduce

-

Expected Result

-

Actual Result

The command '/bin/sh -c mkdir src &&  git clone https://github.com/stereolabs/zed-ros2-wrapper src/zed-ros2-wrapper &&     apt-get install -y python3-rosdep  &&  rosdep init && rosdep update && rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y &&     apt-get update &&     rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y --skip-keys "rtabmap find_object_2d Pangolin libopencv-dev libopencv-contrib-dev libopencv-imgproc-dev python-opencv python3-opencv" &&     rm -rf /var/lib/apt/lists/* &&     apt-get clean &&     colcon build --symlink-install --base-paths src/zed-ros2-wrapper --cmake-args=-DCMAKE_BUILD_TYPE=Release' returned a non-zero code: 1

ZED Camera model

ZED

Environment

jetson docker 20.04

Anything else?

No response

Myzhar commented 2 years ago

Hi @AndreV84 this is not a bug. There is an error in your clone command: git clone https://github.com/stereolabs/zed-ros2-wrapper the zed-ros2-wrapper repository includes the zed-ros2-interfaces repository as a submodule. To correctly integrate the submodule code you must use the following command, as illustrated in the README: git clone --recursive https://github.com/stereolabs/zed-ros2-wrapper.git

AndreV84 commented 2 years ago

after adding recursive cloning it would show different error

E: Unable to locate package ros-foxy-diagnostic-updater
executing command [apt-get install -y ros-foxy-diagnostic-updater]
ERROR: the following rosdeps failed to install
  apt: command [apt-get install -y ros-foxy-diagnostic-updater] failed

E: Unable to locate package ros-foxy-diagnostic-updater
executing command [apt-get install -y ros-foxy-diagnostic-updater]
ERROR: the following rosdeps failed to install
  apt: command [apt-get install -y ros-foxy-diagnostic-updater] failed
The command '/bin/sh -c mkdir src &&  git clone --recursive  https://github.com/stereolabs/zed-ros2-wrapper src/zed-ros2-wrapper &&     apt-get install -y python3-rosdep  &&  rosdep init && rosdep update && rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y &&     apt-get update &&     rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y --skip-keys "rtabmap find_object_2d Pangolin libopencv-dev libopencv-contrib-dev libopencv-imgproc-dev python-opencv python3-opencv" &&     rm -rf /var/lib/apt/lists/* &&     apt-get clean &&     colcon build --symlink-install --base-paths src/zed-ros2-wrapper --cmake-args=-DCMAKE_BUILD_TYPE=Release' returned a non-zero code: 1
Myzhar commented 2 years ago

This means that the diagnostic-updater package is not installed or it's not available in the Docker container that you are using. In this case, you must add that package by cloning it from sources: https://index.ros.org/p/diagnostic_updater/

AndreV84 commented 2 years ago

now after adding missed source argument it would throw another missed package though 


ERROR: the following rosdeps failed to install
  apt: command [apt-get install -y ros-foxy-xacro] failed
Myzhar commented 2 years ago

This means that the xacro package is not installed or it's not available in the Docker container that you are using. In this case, you must add that package by cloning it from sources: https://index.ros.org/p/xacro/

AndreV84 commented 2 years ago

trying to add manually which seems installeable with http://packages.ros.org/ros2/ubuntu/pool/main/r/ros-foxy-xacro/ros-foxy-xacro_2.0.7-1focal.20210904.001036_arm64.deb

AndreV84 commented 2 years ago

diagnostic updater also installed from http://packages.ros.org/ros2/ubuntu/pool/main/r/ros-foxy-diagnostic-updater/ros-foxy-diagnostic-updater_2.0.8-2focal.20220204.173057_arm64.deb manually now the issue is 

Fetched 19.7 MB in 7s (3018 kB/s)
Reading package lists...
#All required rosdeps installed successfully
Starting >>> zed_interfaces
--- stderr: zed_interfaces
CMake Error at CMakeLists.txt:12 (find_package):
  By not providing "Findament_cmake.cmake" in CMAKE_MODULE_PATH this project
  has asked CMake to find a package configuration file provided by
  "ament_cmake", but CMake did not find one.

  Could not find a package configuration file provided by "ament_cmake" with
  any of the following names:

    ament_cmakeConfig.cmake
    ament_cmake-config.cmake

  Add the installation prefix of "ament_cmake" to CMAKE_PREFIX_PATH or set
  "ament_cmake_DIR" to a directory containing one of the above files.  If
  "ament_cmake" provides a separate development package or SDK, be sure it
  has been installed.

---
Failed   <<< zed_interfaces [1.01s, exited with code 1]

Summary: 0 packages finished [1.32s]
  1 package failed: zed_interfaces
  1 package had stderr output: zed_interfaces
  3 packages not processed

---
Failed   <<< zed_interfaces [1.01s, exited with code 1]

step executed


Step 52/52 : RUN /bin/bash -c '. /opt/ros/foxy/setup.bash' && rosdep init && rosdep update && rosdep install -i --from-path src --rosdistro $ROS_DISTRO  -r -y &&     apt-get update &&     rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y --skip-keys "rtabmap find_object_2d Pangolin libopencv-dev libopencv-contrib-dev libopencv-imgproc-dev python-opencv python3-opencv" &&     rm -rf /var/lib/apt/lists/* &&     apt-get clean &&     colcon build --symlink-install --base-paths src/zed-ros2-wrapper --cmake-args=-DCMAKE_BUILD_TYPE=Release
AndreV84 commented 2 years ago

it does work from opened docker container but it wouldn't get processed from dockerfile build


 install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y --skip-keys "rtabmap find_object_2d Pangolin libopencv-dev libopencv-contrib-dev libopencv-imgproc-dev python-opencv python3-opencv" &&     rm -rf /var/lib/apt/lists/* &&     apt-get clean &&     colcon build --symlink-install --base-paths src/zed-ros2-wrapper --cmake-args=-DCMAKE_BUILD_TYPE=Release
#All required rosdeps installed successfully
Starting >>> zed_interfaces
[Processing: zed_interfaces]                             
Finished <<< zed_interfaces [38.7s]                       
Starting >>> zed_components
[Processing: zed_components]                                 
[Processing: zed_components]                                      
[Processing: zed_components]                                       
Finished <<< zed_components [1min 39s]                              
Starting >>> zed_wrapper
--- stderr: zed_wrapper                                     
In file included from /home/nvidia/ws/install/zed_components/include/zed_components/sl_tools.h:50,
                 from /home/nvidia/ws/install/zed_components/include/zed_components/zed_camera_component.hpp:29,
                 from /home/nvidia/ws/src/zed-ros2-wrapper/zed_wrapper/src/zed_wrapper.cpp:26:
/usr/local/zed/include/sl/Camera.hpp:820:13: warning: ISO C++ prohibits anonymous structs [-Wpedantic]
             };
             ^
/usr/local/zed/include/sl/Camera.hpp:973:13: warning: ISO C++ prohibits anonymous structs [-Wpedantic]
             };
             ^
/usr/local/zed/include/sl/Camera.hpp:1150:13: warning: ISO C++ prohibits anonymous structs [-Wpedantic]
             };
             ^
/usr/local/zed/include/sl/Camera.hpp:1314:13: warning: ISO C++ prohibits anonymous structs [-Wpedantic]
             };
             ^
/usr/local/zed/include/sl/Camera.hpp:1318:13: warning: ISO C++ prohibits anonymous structs [-Wpedantic]
             };
             ^
/usr/local/zed/include/sl/Camera.hpp:1322:13: warning: ISO C++ prohibits anonymous structs [-Wpedantic]
             };
             ^
/usr/local/zed/include/sl/Camera.hpp:1562:13: warning: ISO C++ prohibits anonymous structs [-Wpedantic]
             };
             ^
/usr/local/zed/include/sl/Camera.hpp:1566:13: warning: ISO C++ prohibits anonymous structs [-Wpedantic]
             };
             ^
/usr/local/zed/include/sl/Camera.hpp:1570:13: warning: ISO C++ prohibits anonymous structs [-Wpedantic]
             };
             ^
/usr/local/zed/include/sl/Camera.hpp: In function ‘cudaError sl::__cudaSafeCall(cudaError, const char*, const char*, int)’:
/usr/local/zed/include/sl/Camera.hpp:2080:89: warning: unused parameter ‘file’ [-Wunused-parameter]
     static inline cudaError __cudaSafeCall(cudaError err, const char *func, const char *file, const int line) {
                                                                             ~~~~~~~~~~~~^~~~
/usr/local/zed/include/sl/Camera.hpp:2080:105: warning: unused parameter ‘line’ [-Wunused-parameter]
     static inline cudaError __cudaSafeCall(cudaError err, const char *func, const char *file, const int line) {
                                                                                               ~~~~~~~~~~^~~~
In file included from /home/nvidia/ws/install/zed_components/include/zed_components/sl_tools.h:50,
                 from /home/nvidia/ws/install/zed_components/include/zed_components/zed_camera_component.hpp:29,
                 from /home/nvidia/ws/src/zed-ros2-wrapper/zed_wrapper/src/zed_wrapper.cpp:26:
/usr/local/zed/include/sl/Camera.hpp: At global scope:
/usr/local/zed/include/sl/Camera.hpp:5410:12: warning: type qualifiers ignored on function return type [-Wignored-qualifiers]
     inline const void /*@cond SHOWHIDDEN*/SL_SDK_EXPORT/*@endcond*/ getZEDSDKBuildVersion(int &major, int& minor, int& patch) {
            ^~~~~
In file included from /home/nvidia/ws/install/zed_components/include/zed_components/sl_tools.h:50,
                 from /home/nvidia/ws/install/zed_components/include/zed_components/zed_camera_component.hpp:29,
                 from /home/nvidia/ws/src/zed-ros2-wrapper/zed_wrapper/src/zed_wrapper.cpp:26:
/usr/local/zed/include/sl/Camera.hpp:5802:2: warning: extra ‘;’ [-Wpedantic]
 };
  ^
---
Finished <<< zed_wrapper [17.0s]
Starting >>> zed_ros2
Finished <<< zed_ros2 [1.24s]                        

Summary: 4 packages finished [2min 36s]
  1 package had stderr output: zed_wrapper
Myzhar commented 2 years ago

The package has been correctly compiled. These are only warnings, not errors.

AndreV84 commented 2 years ago

but it doesn't get compilled at all using Dockerfile sript the success above is only if I open interactively a container then source then build but Dockerfile won't build


#All required rosdeps installed successfully
Starting >>> zed_interfaces
--- stderr: zed_interfaces
CMake Error at CMakeLists.txt:12 (find_package):
  By not providing "Findament_cmake.cmake" in CMAKE_MODULE_PATH this project
  has asked CMake to find a package configuration file provided by
  "ament_cmake", but CMake did not find one.

  Could not find a package configuration file provided by "ament_cmake" with
  any of the following names:

    ament_cmakeConfig.cmake
    ament_cmake-config.cmake

  Add the installation prefix of "ament_cmake" to CMAKE_PREFIX_PATH or set
  "ament_cmake_DIR" to a directory containing one of the above files.  If
  "ament_cmake" provides a separate development package or SDK, be sure it
  has been installed.

---
Failed   <<< zed_interfaces [0.78s, exited with code 1]

Summary: 0 packages finished [1.10s]
  1 package failed: zed_interfaces
  1 package had stderr output: zed_interfaces
  3 packages not processed
AndreV84 commented 2 years ago

seems I can build it in dockerfile too adfter adding a line


RUN . /opt/ros/${ROS_DISTRO}/setup.sh && other_commands
AndreV84 commented 2 years ago

as the container got buil last question would be which argument to pass to docker run command to fire up zed node for zed 1 camera

AndreV84 commented 2 years ago

I can run the node with

 docker run -it --rm --net=host --runtime nvidia -e DISPLAY=$DISPLAY -v  /usr/lib/aarch64-linux-gnu/gstreamer-1.0/:/usr/lib/aarch64-linux-gnu/gstreamer-1.0 -v /tmp/.X11-unix/:/tmp/.X11-unix -v /tmp/argus_socket:/tmp/argus_socket --cap-add SYS_PTRACE --device /dev/video0:/dev/video0 --device /dev/video1:/dev/video1zed_ros2_jetson:latest /bin/bash -c '.  /opt/ros/foxy/setup.bash; source install/local_setup.bash;  ros2 launch zed_wrapper zed.launch.py'
AndreV84 commented 2 years ago

but I can not see any topic but

 ros2 topic list
/parameter_events
/rosout

despite another terminal running 


 docker run -it --rm --net=host --runtime nvidia -e DISPLAY=$DISPLAY -v  /usr/lib/aarch64-linux-gnu/gstreamer-1.0/:/usr/lib/aarch64-linux-gnu/gstreamer-1.0 -v /tmp/.X11-unix/:/tmp/.X11-unix -v /tmp/argus_socket:/tmp/argus_socket --cap-add SYS_PTRACE --device /dev/video0:/dev/video0 --device /dev/video1:/dev/video1 zed_ros2_jetson:latest /bin/bash -c '.  /opt/ros/foxy/setup.bash; source install/local_setup.bash;  ros2 launch zed_wrapper zed.launch.py'

[INFO] [launch]: All log files can be found below /root/.ros/log/2022-04-07-07-15-47-293653-nvidia-desktop-34
[INFO] [launch]: Default logging verbosity is set to INFO
[WARNING] [launch_ros.actions.node]: Parameter file path is not a file: .
[INFO] [robot_state_publisher-1]: process started with pid [37]
[INFO] [zed_wrapper-2]: process started with pid [39]
[zed_wrapper-2] nvbuf_utils: Could not get EGL display connection
[robot_state_publisher-1] Parsing robot urdf xml string.
[robot_state_publisher-1] Link zed_base_link had 1 children
[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] 1649340947.949175848 [zed.zed_state_publisher] [INFO] got segment base_link
[robot_state_publisher-1] 1649340947.949401652 [zed.zed_state_publisher] [INFO] got segment zed_base_link
[robot_state_publisher-1] 1649340947.949437750 [zed.zed_state_publisher] [INFO] got segment zed_camera_center
[robot_state_publisher-1] 1649340947.949464696 [zed.zed_state_publisher] [INFO] got segment zed_left_camera_frame
[robot_state_publisher-1] 1649340947.949513211 [zed.zed_state_publisher] [INFO] got segment zed_left_camera_optical_frame
[robot_state_publisher-1] 1649340947.949541084 [zed.zed_state_publisher] [INFO] got segment zed_right_camera_frame
[robot_state_publisher-1] 1649340947.949565085 [zed.zed_state_publisher] [INFO] got segment zed_right_camera_optical_frame
[zed_wrapper-2] 1649340947.994009355 [zed.zed_node] [INFO] ********************************
[zed_wrapper-2] 1649340947.994383423 [zed.zed_node] [INFO]       ZED Camera Component 
[zed_wrapper-2] 1649340947.994423361 [zed.zed_node] [INFO] ********************************
[zed_wrapper-2] 1649340947.994453251 [zed.zed_node] [INFO]  * namespace: /zed
[zed_wrapper-2] 1649340947.994499654 [zed.zed_node] [INFO]  * node name: zed_node
[zed_wrapper-2] 1649340947.994525095 [zed.zed_node] [INFO] ********************************
[zed_wrapper-2] 1649340947.994568649 [zed.zed_node] [INFO] *** DEBUG parameters ***
[zed_wrapper-2] 1649340947.994665039 [zed.zed_node] [INFO]  * Debug mode: FALSE
[zed_wrapper-2] 1649340947.994711441 [zed.zed_node] [INFO] *** GENERAL parameters ***
[zed_wrapper-2] 1649340947.994804694 [zed.zed_node] [INFO]  * Camera model: zed - ZED
[zed_wrapper-2] 1649340947.994940062 [zed.zed_node] [INFO]  * SDK Verbose: 1
[zed_wrapper-2] 1649340947.995042787 [zed.zed_node] [INFO]  * SVO: live
[zed_wrapper-2] 1649340947.995106023 [zed.zed_node] [INFO]  * SVO Loop: FALSE
[zed_wrapper-2] 1649340947.995166154 [zed.zed_node] [INFO]  * SVO Realtime: FALSE
[zed_wrapper-2] 1649340947.995243983 [zed.zed_node] [INFO]  * Camera name: zed
[zed_wrapper-2] 1649340947.995321011 [zed.zed_node] [INFO]  * Camera ID: 0
[zed_wrapper-2] 1649340947.995408376 [zed.zed_node] [INFO]  * Camera SN: 0
[zed_wrapper-2] 1649340947.995472891 [zed.zed_node] [INFO]  * Camera timeout [sec]: 5
[zed_wrapper-2] 1649340947.995542271 [zed.zed_node] [INFO]  * Camera reconnection temptatives: 5
[zed_wrapper-2] 1649340947.995622499 [zed.zed_node] [INFO]  * Camera framerate: 15
[zed_wrapper-2] 1649340947.995681575 [zed.zed_node] [INFO]  * GPU ID: -1
[zed_wrapper-2] 1649340947.995747498 [zed.zed_node] [INFO]  * Camera resolution: 2 - HD720
[zed_wrapper-2] 1649340947.995805101 [zed.zed_node] [INFO]  * Camera self calibration: TRUE
[zed_wrapper-2] 1649340947.995859280 [zed.zed_node] [INFO]  * Camera flip: FALSE
[zed_wrapper-2] 1649340947.995914579 [zed.zed_node] [INFO]  * [DYN] Publish framerate [Hz]: 15 
[zed_wrapper-2] 1649340947.995955734 [zed.zed_node] [INFO] *** VIDEO parameters ***
[zed_wrapper-2] 1649340947.996026938 [zed.zed_node] [INFO]  * Use old extrinsic parameters: 0
[zed_wrapper-2] 1649340947.996084125 [zed.zed_node] [INFO]  * [DYN] Image downsample factor: 1 
[zed_wrapper-2] 1649340947.996149056 [zed.zed_node] [INFO]  * [DYN] Brightness: 4
[zed_wrapper-2] 1649340947.996207524 [zed.zed_node] [INFO]  * [DYN] Contrast: 4
[zed_wrapper-2] 1649340947.996264263 [zed.zed_node] [INFO]  * [DYN] Hue: 0
[zed_wrapper-2] 1649340947.996352300 [zed.zed_node] [INFO]  * [DYN] Saturation: 4
[zed_wrapper-2] 1649340947.996425008 [zed.zed_node] [INFO]  * [DYN] Sharpness: 4
[zed_wrapper-2] 1649340947.996483187 [zed.zed_node] [INFO]  * [DYN] Gamma: 8
[zed_wrapper-2] 1649340947.996539126 [zed.zed_node] [INFO]  * [DYN] Auto Exposure/Gain: TRUE
[zed_wrapper-2] 1649340947.996598105 [zed.zed_node] [INFO]  * [DYN] Exposure: 80
[zed_wrapper-2] 1649340947.996658844 [zed.zed_node] [INFO]  * [DYN] Gain: 80
[zed_wrapper-2] 1649340947.996718880 [zed.zed_node] [INFO]  * [DYN] Auto White Balance: TRUE
[zed_wrapper-2] 1649340947.996804132 [zed.zed_node] [INFO]  * [DYN] White Balance Temperature: 42
[zed_wrapper-2] 1649340947.996873000 [zed.zed_node] [INFO]  * Video QoS History: KEEP_LAST
[zed_wrapper-2] 1649340947.996938636 [zed.zed_node] [INFO]  * Video QoS History depth: 1
[zed_wrapper-2] 1649340947.997003631 [zed.zed_node] [INFO]  * Video QoS Reliability: RELIABLE
[zed_wrapper-2] 1649340947.997066739 [zed.zed_node] [INFO]  * Video QoS Durability: VOLATILE
[zed_wrapper-2] 1649340947.997097044 [zed.zed_node] [INFO] *** DEPTH parameters ***
[zed_wrapper-2] 1649340947.997169976 [zed.zed_node] [INFO]  * Depth quality: 1 - PERFORMANCE
[zed_wrapper-2] 1649340947.997228380 [zed.zed_node] [INFO]  * Depth downsample factor: 1 
[zed_wrapper-2] 1649340947.997303168 [zed.zed_node] [INFO]  * Min depth [m]: 0.2
[zed_wrapper-2] 1649340947.997393573 [zed.zed_node] [INFO]  * Max depth [m]: 10
[zed_wrapper-2] 1649340947.997709526 [zed.zed_node] [INFO]  * Depth Sensing Mode: 0 - STANDARD
[zed_wrapper-2] 1649340947.997789787 [zed.zed_node] [INFO]  * Depth Stabilization: TRUE
[zed_wrapper-2] 1649340947.997867071 [zed.zed_node] [INFO]  * OpenNI mode (16bit point cloud): FALSE
[zed_wrapper-2] 1649340947.997935779 [zed.zed_node] [INFO]  * [DYN] Point cloud rate [Hz]: 10
[zed_wrapper-2] 1649340947.998000870 [zed.zed_node] [INFO]  * [DYN] Depth Confidence: 50
[zed_wrapper-2] 1649340947.998075210 [zed.zed_node] [INFO]  * [DYN] Depth Texture Confidence: 100
[zed_wrapper-2] 1649340947.998135278 [zed.zed_node] [INFO]  * [DYN] Remove saturated areas: TRUE
[zed_wrapper-2] 1649340947.998200593 [zed.zed_node] [INFO]  * Depth QoS History: KEEP_LAST
[zed_wrapper-2] 1649340947.998258260 [zed.zed_node] [INFO]  * Depth QoS History depth: 1
[zed_wrapper-2] 1649340947.998333657 [zed.zed_node] [INFO]  * Depth QoS Reliability: RELIABLE
[zed_wrapper-2] 1649340947.998386907 [zed.zed_node] [INFO]  * Depth QoS Durability: VOLATILE
[zed_wrapper-2] 1649340947.998494369 [zed.zed_node] [INFO] *** POSITIONAL TRACKING parameters ***
[zed_wrapper-2] 1649340947.998578246 [zed.zed_node] [INFO]  * Positional tracking enabled: TRUE
[zed_wrapper-2] 1649340947.998646122 [zed.zed_node] [INFO]  * Base frame id: base_link
[zed_wrapper-2] 1649340947.998729486 [zed.zed_node] [INFO]  * Map frame id: map
[zed_wrapper-2] 1649340947.998820659 [zed.zed_node] [INFO]  * Odometry frame id: odom
[zed_wrapper-2] 1649340947.998884823 [zed.zed_node] [INFO]  * Broadcast Odometry TF: TRUE
[zed_wrapper-2] 1649340947.998945658 [zed.zed_node] [INFO]  * Broadcast Pose TF: TRUE
[zed_wrapper-2] 1649340947.999010846 [zed.zed_node] [INFO]  * Broadcast Static IMU TF [not for ZED]: TRUE
[zed_wrapper-2] 1649340947.999088322 [zed.zed_node] [INFO]  * [DYN] Path publishing rate: 2
[zed_wrapper-2] 1649340947.999157286 [zed.zed_node] [INFO]  * Path history lenght: -1
[zed_wrapper-2] 1649340947.999222793 [zed.zed_node] [INFO]  * Initial pose: [0,0,0,0,0,0,]
[zed_wrapper-2] 1649340947.999296878 [zed.zed_node] [INFO]  * Area Memory: TRUE
[zed_wrapper-2] 1649340947.999358705 [zed.zed_node] [INFO]  * Area Memory DB: 
[zed_wrapper-2] 1649340947.999427893 [zed.zed_node] [INFO]  * IMU Fusion [not for ZED]: TRUE
[zed_wrapper-2] 1649340947.999489624 [zed.zed_node] [INFO]  * Floor Alignment: FALSE
[zed_wrappe
Myzhar commented 2 years ago

Did you expose the container network to the extern?

AndreV84 commented 2 years ago

this time I just opened another terminal in the same docker container to check if ther eare published topics my objective is however, to get topics retrieved by another container but at that point ther is no even topics listed within the same zed ocntainer can that indicate error [ from sdk installation 


Requirement already satisfied: numpy in /usr/lib/python3/dist-packages (1.17.4)
-> Downloading to '/tmp/selfgz590'
Traceback (most recent call last):
  File "/usr/local/zed/get_python_api.py", line 188, in <module>
    with open("/etc/nv_tegra_release", "r", encoding="utf-8") as myfile:
FileNotFoundError: [Errno 2] No such file or directory: '/etc/nv_tegra_release'

WARNING! Python API failed to install

Failed to send reload request: No such file or directory

ZED SDK installation complete, with 1 warning(s)

root@nvidia-desktop:/home/nvidia/ws#
AndreV84 commented 2 years ago

Moreover, it only lists these outputs regardless if I move the camera no new outputs will appear 


.zed_node] [INFO] Advertised on topic: /zed/zed_node/path_odom
[zed_wrapper-2] 1649343314.545046472 [zed.zed_node] [INFO] *** Starting Positional Tracking ***
[zed_wrapper-2] 1649343314.545372569 [zed.zed_node] [INFO]  * Waiting for valid static transformations...
[zed_wrapper-2] 1649343314.545624999 [zed.zed_node] [INFO] Static transform Sensor to Base [zed_left_camera_frame -> base_link]
[zed_wrapper-2] 1649343314.545958425 [zed.zed_node] [INFO]  * Translation: {0.001,-0.060,-0.015}
[zed_wrapper-2] 1649343314.546031421 [zed.zed_node] [INFO]  * Rotation: {0.000,-2.865,0.000}
[zed_wrapper-2] 1649343314.546114210 [zed.zed_node] [INFO] Static transform Sensor to Camera Center [zed_left_camera_frame -> zed_camera_center]
[zed_wrapper-2] 1649343314.546158500 [zed.zed_node] [INFO]  * Translation: {0.000,-0.060,0.000}
[zed_wrapper-2] 1649343314.546214855 [zed.zed_node] [INFO]  * Rotation: {0.000,-0.000,0.000}
[zed_wrapper-2] 1649343314.547220542 [zed.zed_node] [INFO] Static transform Camera Center to Base [zed_camera_center -> base_link]
[zed_wrapper-2] 1649343314.547365990 [zed.zed_node] [INFO]  * Translation: {0.001,0.000,-0.015}
[zed_wrapper-2] 1649343314.547428809 [zed.zed_node] [INFO]  * Rotation: {0.000,-2.865,0.000}
[zed_wrapper-2] 1649343314.649894064 [zed.zed_node] [INFO] Initial ZED left camera pose (ZED pos. tracking): 
[zed_wrapper-2] 1649343314.650115612 [zed.zed_node] [INFO]  * T: [-1.66741e-19,0.06,0.015]
[zed_wrapper-2] 1649343314.650259779 [zed.zed_node] [INFO]  * Q: [0,0.0249967,0,0.999687]
[zed_wrapper-2] 1649343314.861489287 [zed.zed_node] [INFO] Odometry aligned to last tracking pose
AndreV84 commented 2 years ago

there are some topics listed but they are from broadcast of another container zed node itself doesn't seem publishing anything enen within the same container, neither it updates the terminal outputs on moving zed camera device how to troubleshoot it? if you can test at your end I can share Dockerfile for testing @Myzhar

AndreV84 commented 2 years ago

Did you expose the container network to the extern?

I am using network=host that will share the networking with host hosted containers

AndreV84 commented 2 years ago

I tried rebooting; now there are topics but they seem empty?


 ros2 topic list
/diagnostics
/parameter_events
/rosout
/tf
/tf_static
/zed/joint_states
/zed/robot_description
/zed/zed_node/confidence/confidence_map
/zed/zed_node/depth/camera_info
/zed/zed_node/depth/depth_info
/zed/zed_node/depth/depth_registered
/zed/zed_node/disparity/disparity_image
/zed/zed_node/left/camera_info
/zed/zed_node/left/image_rect_color
/zed/zed_node/left/image_rect_gray
/zed/zed_node/left_raw/camera_info
/zed/zed_node/left_raw/image_raw_color
/zed/zed_node/left_raw/image_raw_gray
/zed/zed_node/odom
/zed/zed_node/path_map
/zed/zed_node/path_odom
/zed/zed_node/point_cloud/cloud_registered
/zed/zed_node/pose
/zed/zed_node/pose_with_covariance
/zed/zed_node/rgb/camera_info
/zed/zed_node/rgb/image_rect_color
/zed/zed_node/rgb/image_rect_gray
/zed/zed_node/rgb_raw/camera_info
/zed/zed_node/rgb_raw/image_raw_color
/zed/zed_node/rgb_raw/image_raw_gray
/zed/zed_node/right/camera_info
/zed/zed_node/right/image_rect_color
/zed/zed_node/right/image_rect_gray
/zed/zed_node/right_raw/camera_info
/zed/zed_node/right_raw/image_raw_color
/zed/zed_node/right_raw/image_raw_gray
/zed/zed_node/stereo/image_rect_color
/zed/zed_node/stereo_raw/image_raw_color
admin@nvidia-desktop:/workspaces/isaac_ros-dev$ ros2 topic hz /zed/zed_node/left/camera_info
WARNING: topic [/zed/zed_node/left/camera_info] does not appear to be published yet
^Cadmin@nvidia-desktop:/workspaces/isaac_ros-dev$ ros2 topic hz /zed/zed_node/depth/camera_info
WARNING: topic [/zed/zed_node/depth/camera_info] does not appear to be published yet
^[[A^Cadmin@nvidia-desktop:/workspaces/isaac_ros-dev$ ros2 topic hz /zed/zed_node/pose
WARNING: topic [/zed/zed_node/pose] does not appear to be published yet
^[[A^Cadmin@nvidia-desktop:/workspaces/isaac_ros-dev$ ros2 topic hz /zed/zed_node/rgb/camera_info
WARNING: topic [/zed/zed_node/rgb/camera_info] does not appear to be published yet
^Cadmin@nvidia-desktop:/workspaces/isaac_ros-dev$ ros2 topic hz /zed/zed_node/rgb_raw/camera_info
WARNING: topic [/zed/zed_node/rgb_raw/camera_info] does not appear to be published yet
AndreV84 commented 2 years ago 
root@nvidia-desktop:/home/nvidia/ws# ros2 topic list
/diagnostics
/parameter_events
/rosout
/tf
/tf_static
/zed/joint_states
/zed/robot_description
/zed/zed_node/confidence/confidence_map
/zed/zed_node/depth/camera_info
/zed/zed_node/depth/depth_info
/zed/zed_node/depth/depth_registered
/zed/zed_node/disparity/disparity_image
/zed/zed_node/left/camera_info
/zed/zed_node/left/image_rect_color
/zed/zed_node/left/image_rect_gray
/zed/zed_node/left_raw/camera_info
/zed/zed_node/left_raw/image_raw_color
/zed/zed_node/left_raw/image_raw_gray
/zed/zed_node/odom
/zed/zed_node/path_map
/zed/zed_node/path_odom
/zed/zed_node/point_cloud/cloud_registered
/zed/zed_node/pose
/zed/zed_node/pose_with_covariance
/zed/zed_node/rgb/camera_info
/zed/zed_node/rgb/image_rect_color
/zed/zed_node/rgb/image_rect_gray
/zed/zed_node/rgb_raw/camera_info
/zed/zed_node/rgb_raw/image_raw_color
/zed/zed_node/rgb_raw/image_raw_gray
/zed/zed_node/right/camera_info
/zed/zed_node/right/image_rect_color
/zed/zed_node/right/image_rect_gray
/zed/zed_node/right_raw/camera_info
/zed/zed_node/right_raw/image_raw_color
/zed/zed_node/right_raw/image_raw_gray
/zed/zed_node/stereo/image_rect_color
/zed/zed_node/stereo_raw/image_raw_color
root@nvidia-desktop:/home/nvidia/ws# ros2 topic list
/diagnostics
/parameter_events
/rosout
/tf
/tf_static
/zed/joint_states
/zed/robot_description
/zed/zed_node/confidence/confidence_map
/zed/zed_node/depth/camera_info
/zed/zed_node/depth/depth_info
/zed/zed_node/depth/depth_registered
/zed/zed_node/disparity/disparity_image
/zed/zed_node/left/camera_info
/zed/zed_node/left/image_rect_color
/zed/zed_node/left/image_rect_gray
/zed/zed_node/left_raw/camera_info
/zed/zed_node/left_raw/image_raw_color
/zed/zed_node/left_raw/image_raw_gray
/zed/zed_node/odom
/zed/zed_node/path_map
/zed/zed_node/path_odom
/zed/zed_node/point_cloud/cloud_registered
/zed/zed_node/pose
/zed/zed_node/pose_with_covariance
/zed/zed_node/rgb/camera_info
/zed/zed_node/rgb/image_rect_color
/zed/zed_node/rgb/image_rect_gray
/zed/zed_node/rgb_raw/camera_info
/zed/zed_node/rgb_raw/image_raw_color
/zed/zed_node/rgb_raw/image_raw_gray
/zed/zed_node/right/camera_info
/zed/zed_node/right/image_rect_color
/zed/zed_node/right/image_rect_gray
/zed/zed_node/right_raw/camera_info
/zed/zed_node/right_raw/image_raw_color
/zed/zed_node/right_raw/image_raw_gray
/zed/zed_node/stereo/image_rect_color
/zed/zed_node/stereo_raw/image_raw_color
root@nvidia-desktop:/home/nvidia/ws# ros2 topoic hz ros2 topic hz /zed/zed_node/rgb_raw/camera_info^C
root@nvidia-desktop:/home/nvidia/ws# ros2 topic hz /zed/zed_node/rgb_raw/camera_info
^Croot@nvidia-desktop:/home/nvidia/ws# ros2 topic hz /zed/zed_node/left/camera_iofo

from local container

AndreV84 commented 2 years ago

everything seems empty

AndreV84 commented 2 years ago

at local container I get

 ros2 topic hz /zed/zed_node/pose
average rate: 14.945
    min: 0.054s max: 0.083s std dev: 0.00524s window: 16
average rate: 14.996
    min: 0.054s max: 0.083s std dev: 0.00455s window: 32
AndreV84 commented 2 years ago

but other topics return nothing 


ros2 topic echo /zed/zed_node/left/camera_info
^Croot@nvidia-desktop:/home/nvidia/ws# ros2 topic echo /zed/zed_node/left/image_ct_color
AndreV84 commented 2 years ago

going to try https://github.com/stereolabs/zed-ros2-wrapper/issues/66#issuecomment-982410883

AndreV84 commented 2 years ago

now I am getting new error


Finished <<< zed_components [1min 41s]
Starting >>> zed_wrapper
--- stderr: zed_wrapper
In file included from /home/nvidia/ws/install/zed_components/include/zed_components/sl_tools.h:50,
                 from /home/nvidia/ws/install/zed_components/include/zed_components/zed_camera_component.hpp:29,
                 from /home/nvidia/ws/src/zed-ros2-wrapper/zed_wrapper/src/zed_wrapper.cpp:26:
/usr/local/zed/include/sl/Camera.hpp:820:13: warning: ISO C++ prohibits anonymous structs [-Wpedantic]
             };
             ^
/usr/local/zed/include/sl/Camera.hpp:973:13: warning: ISO C++ prohibits anonymous structs [-Wpedantic]
             };
             ^
/usr/local/zed/include/sl/Camera.hpp:1150:13: warning: ISO C++ prohibits anonymous structs [-Wpedantic]
             };
             ^
/usr/local/zed/include/sl/Camera.hpp:1314:13: warning: ISO C++ prohibits anonymous structs [-Wpedantic]
             };
             ^
/usr/local/zed/include/sl/Camera.hpp:1318:13: warning: ISO C++ prohibits anonymous structs [-Wpedantic]
             };
             ^
/usr/local/zed/include/sl/Camera.hpp:1322:13: warning: ISO C++ prohibits anonymous structs [-Wpedantic]
             };
             ^
/usr/local/zed/include/sl/Camera.hpp:1562:13: warning: ISO C++ prohibits anonymous structs [-Wpedantic]
             };
             ^
/usr/local/zed/include/sl/Camera.hpp:1566:13: warning: ISO C++ prohibits anonymous structs [-Wpedantic]
             };
             ^
/usr/local/zed/include/sl/Camera.hpp:1570:13: warning: ISO C++ prohibits anonymous structs [-Wpedantic]
             };
             ^
/usr/local/zed/include/sl/Camera.hpp: In function ‘cudaError sl::__cudaSafeCall(cudaError, const char*, const char*, int)’:
/usr/local/zed/include/sl/Camera.hpp:2080:89: warning: unused parameter ‘file’ [-Wunused-parameter]
     static inline cudaError __cudaSafeCall(cudaError err, const char *func, const char *file, const int line) {
                                                                             ~~~~~~~~~~~~^~~~
/usr/local/zed/include/sl/Camera.hpp:2080:105: warning: unused parameter ‘line’ [-Wunused-parameter]
     static inline cudaError __cudaSafeCall(cudaError err, const char *func, const char *file, const int line) {
                                                                                               ~~~~~~~~~~^~~~
In file included from /home/nvidia/ws/install/zed_components/include/zed_components/sl_tools.h:50,
                 from /home/nvidia/ws/install/zed_components/include/zed_components/zed_camera_component.hpp:29,
                 from /home/nvidia/ws/src/zed-ros2-wrapper/zed_wrapper/src/zed_wrapper.cpp:26:
/usr/local/zed/include/sl/Camera.hpp: At global scope:
/usr/local/zed/include/sl/Camera.hpp:5410:12: warning: type qualifiers ignored on function return type [-Wignored-qualifiers]
     inline const void /*@cond SHOWHIDDEN*/SL_SDK_EXPORT/*@endcond*/ getZEDSDKBuildVersion(int &major, int& minor, int& patch) {
            ^~~~~
In file included from /home/nvidia/ws/install/zed_components/include/zed_components/sl_tools.h:50,
                 from /home/nvidia/ws/install/zed_components/include/zed_components/zed_camera_component.hpp:29,
                 from /home/nvidia/ws/src/zed-ros2-wrapper/zed_wrapper/src/zed_wrapper.cpp:26:
/usr/local/zed/include/sl/Camera.hpp:5802:2: warning: extra ‘;’ [-Wpedantic]
 };
  ^
---
Finished <<< zed_wrapper [15.6s]
AndreV84 commented 2 years ago

after adding the image _common 3.0.0 there are no topics at all at the same container


ros2 topic list
/parameter_events
/rosout
AndreV84 commented 2 years ago

when I remove ros-foxy-imagetransport it removes rois-foxy-desktop

  librhash0
Use 'apt autoremove' to remove it.
The following additional packages will be installed:
  ros-foxy-image-transport ros-foxy-rqt-common-plugins ros-foxy-rqt-image-view
The following NEW packages will be installed:
  ros-foxy-desktop ros-foxy-image-transport ros-foxy-rqt-common-plugins
  ros-foxy-rqt-image-view

if I install tyhe desktop back it installs the image transport again

AndreV84 commented 2 years ago

now after trying various ports/ many reboots in a local container i can see

root@nvidia-desktop:/home/nvidia/ws# ros2 topic hz /zed/zed_node/left/image_rect_gray
average rate: 10.715
    min: 0.065s max: 0.366s std dev: 0.07476s window: 15
average rate: 10.142
    min: 0.065s max: 0.366s std dev: 0.07728s window: 25
average rate: 8.304
    min: 0.065s max: 0.467s std dev: 0.10860s window: 31

but a remote container [ on the same host] does see the topic listted, but without data; does the remote container also need the 3.0.0.image_common patch?

Myzhar commented 2 years ago

but a remote container [ on the same host] does see the topic listted, but without data; does the remote container also need the 3.0.0.image_common patch?

Yes, it's required everywhere

AndreV84 commented 2 years ago

I added it at the other container - but it still just shows listed topics but empty

AndreV84 commented 2 years ago

@Myzhar I installed systemwide[without docker] zed sdk with this zed wrapper but the issue seem sthe same on 20.04 there are no topics published I built manually 3.0.0. immage common

AndreV84 commented 2 years ago

seems there is conflict of ros-foxy-desktop with image_common patch which i snot the casae for ros nase