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stereolabs / zed-ros2-wrapper

ROS 2 wrapper for the ZED SDK
https://www.stereolabs.com/docs/ros2/
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Disabling depth makes zed_wrapper crash. Position tracking cannot be disabled and runs every time. #94

Closed TwardzikTomas closed 2 years ago

TwardzikTomas commented 2 years ago

Preliminary Checks

Description

I have noticed, that whenever I try to disable the depth map computation "commo.yaml->depth:quality", the zed_node crashes without giving any appropriate error message. Also it seems that you cannot disable position tracking with the "common.yaml->pos_tracking_enabled" flag.

Maybe I have misunderstood something in your documentation, there might be some setting in conflict causing all these problems and in that case I sincerely apologize for my incompetence and blindness.

Here is the my "common.yaml" file:

    general:
        svo_file:                   ''
        svo_loop:                   false                               # Enable loop mode when using an SVO as input source
        svo_realtime:               false                               
        camera_timeout_sec:         5
        camera_max_reconnect:       5
        camera_flip:                false
        zed_id:                     0
        serial_number:              0
        resolution:                 3                                   # '0': HD2K, '1': HD1080, '2': HD720, '3': VGA
        sdk_verbose:                true
        grab_frame_rate:            60                                # ZED SDK internal grabbing rate
        pub_frame_rate:             40.0                                # [DYNAMIC] - frequency of publishing of visual images and depth images
        gpu_id:                     -1

    video:
        extrinsic_in_camera_frame:  false                               # if `false` extrinsic parameter in `camera_info` will use ROS native frame (X FORWARD, Z UP) instead of the camera frame (Z FORWARD, Y DOWN) [`true` use old behavior as for version < v3.1]
        img_downsample_factor:      1.0                                 # Resample factor for image data matrices [0.01,1.0] The SDK works with native data sizes, but publishes rescaled matrices
        brightness:                 4                                   # [DYNAMIC]
        contrast:                   4                                   # [DYNAMIC]
        hue:                        0                                   # [DYNAMIC]
        saturation:                 4                                   # [DYNAMIC]
        sharpness:                  4                                   # [DYNAMIC]
        gamma:                      8                                   # [DYNAMIC] - Requires SDK >=v3.1
        auto_exposure_gain:         true                                # [DYNAMIC]
        exposure:                   80                                  # [DYNAMIC]
        gain:                       80                                  # [DYNAMIC]
        auto_whitebalance:          true                                # [DYNAMIC]
        whitebalance_temperature:   42                                  # [DYNAMIC] - [28,65] works only if `auto_whitebalance` is false
        qos_history:                1                                   # '1': KEEP_LAST - '2': KEEP_ALL
        qos_depth:                  1                                   # Queue size if using KEEP_LAST
        qos_reliability:            1                                   # '1': RELIABLE - '2': BEST_EFFORT -
        qos_durability:             1                                   # '1': TRANSIENT_LOCAL - '2': VOLATILE

    depth:
        quality:                    0                                   # '0': NONE, '1': PERFORMANCE, '2': QUALITY, '3': ULTRA - Note: if '0' all the modules that requires depth extraction are disabled by default (Pos. Tracking, Obj. Detection, Mapping, ...)
        sensing_mode:               0                                   # '0': STANDARD, '1': FILL
        depth_stabilization:        false                                # Forces positional tracking to start if 'true'
        openni_depth_mode:          false                               # 'false': 32bit float [meters], 'true': 16bit unsigned int [millimeters]
        depth_downsample_factor:    0.1                                 # Resample factor for depth data matrices [0.01,1.0] The SDK works with native data sizes, but publishes rescaled matrices (depth map, point cloud, ...)
        point_cloud_freq:           0.1                                # [DYNAMIC] - frequency of the pointcloud publishing (equal or less to `grab_frame_rate` value)
        depth_confidence:           50                                  # [DYNAMIC]
        depth_texture_conf:         100                                 # [DYNAMIC]
        remove_saturated_areas:     true                                # [DYNAMIC]
        qos_history:                1                                   # '1': KEEP_LAST - '2': KEEP_ALL
        qos_depth:                  1                                   # Queue size if using KEEP_LAST
        qos_reliability:            1                                   # '1': RELIABLE - '2': BEST_EFFORT -
        qos_durability:             2                                   # '1': TRANSIENT_LOCAL - '2': VOLATILE

    pos_tracking:
        pos_tracking_enabled:       true                               # True to enable positional tracking from start
        publish_tf:                 true                                # publish `odom -> base_link` TF
        publish_map_tf:             true                                # publish `map -> odom` TF
        base_frame:                 'base_link'                         # use the same name as in the URDF file
        map_frame:                  'map'
        odometry_frame:             'vis_odom'
        area_memory_db_path:        ''
        area_memory:                false                                # Enable to detect loop closure
        floor_alignment:            false                                # Enable to automatically calculate camera/floor offset
        initial_base_pose:          [0.0,0.0,0.0, 0.0,0.0,0.0]          # Initial position of the `base_frame` -> [X, Y, Z, R, P, Y]
        init_odom_with_first_valid_pose: true                           # Enable to initialize the odometry with the first valid pose
        path_pub_rate:              10.0                                # [DYNAMIC] - Camera trajectory publishing frequency
        path_max_count:             10                                 # use '-1' for unlimited path size
        two_d_mode:                 false                               # Force navigation on a plane. If true the Z value will be fixed to "fixed_z_value", roll and pitch to zero
        fixed_z_value:              0.00                                # Value to be used for Z coordinate if `two_d_mode` is true
        qos_history:                1                                   # '1': KEEP_LAST - '2': KEEP_ALL
        qos_depth:                  1                                   # Queue size if using KEEP_LAST
        qos_reliability:            1                                   # '1': RELIABLE - '2': BEST_EFFORT -
        qos_durability:             1                                   # '1': TRANSIENT_LOCAL - '2': VOLATILE

    mapping:
        mapping_enabled:            false                               # True to enable mapping and fused point cloud pubblication
        resolution:                 0.1                                # maps resolution in meters [0.01f, 0.2f]
        max_mapping_range:          20.0                                  # maximum depth range while mapping in meters (-1 for automatic calculation) [2.0, 20.0]
        fused_pointcloud_freq:      0.1                                 # frequency of the publishing of the fused colored point cloud
        qos_history:                1                                   # '1': KEEP_LAST - '2': KEEP_ALL
        qos_depth:                  1                                   # Queue size if using KEEP_LAST
        qos_reliability:            1                                   # '1': RELIABLE - '2': BEST_EFFORT -
        qos_durability:             1                                   # '1': TRANSIENT_LOCAL - '2': VOLATILE

    debug:
        debug_general:              false
        debug_sensors:              false

and here is "zed2.yaml":

    general:
        camera_model:               'zed2'
        camera_name:                'zed2'

    depth:
        min_depth:                  0.7            # Min: 0.2, Max: 3.0 - Default 0.7 - Note: reducing this value wil require more computational power and GPU memory
        max_depth:                  20.0            # Max: 40.0

    pos_tracking:
        imu_fusion:                 true            # enable/disable IMU fusion. When set to false, only the optical odometry will be used.
        publish_imu_tf:             true            # enable/disable the static IMU TF broadcasting

    sensors:
        sensors_image_sync:         false           # Synchronize Sensors messages with latest published video/depth message
        sensors_pub_rate:           200.            # frequency of publishing of sensors data. MAX: 400. - MIN: grab rate
        qos_history:                1               # '1': KEEP_LAST - '2': KEEP_ALL
        qos_depth:                  10               # Queue size if using KEEP_LAST
        qos_reliability:            1               # '1': RELIABLE - '2': BEST_EFFORT -
        qos_durability:             2               # '1': TRANSIENT_LOCAL - '2': VOLATILE

    object_detection:
        od_enabled:                 false           # True to enable Object Detection [only ZED 2]
        confidence_threshold:       50.0            # [DYNAMIC] - Minimum value of the detection confidence of an object [0,100]
        model:                      0               # '0': MULTI_CLASS_BOX - '1': MULTI_CLASS_BOX_ACCURATE - '2': HUMAN_BODY_FAST - '3': HUMAN_BODY_ACCURATE - '4': MULTI_CLASS_BOX_MEDIUM - '5': HUMAN_BODY_MEDIUM - '6': PERSON_HEAD_BOX 
        filtering_mode:             1               # '0': NONE - '1': NMS3D - '2': NMS3D_PER_CLASS
        mc_people:                  true            # [DYNAMIC] - Enable/disable the detection of persons for 'MULTI_CLASS_X' models
        mc_vehicle:                 true            # [DYNAMIC] - Enable/disable the detection of vehicles for 'MULTI_CLASS_X' models
        mc_bag:                     true            # [DYNAMIC] - Enable/disable the detection of bags for 'MULTI_CLASS_X' models
        mc_animal:                  true            # [DYNAMIC] - Enable/disable the detection of animals for 'MULTI_CLASS_X' models
        mc_electronics:             true            # [DYNAMIC] - Enable/disable the detection of electronic devices for 'MULTI_CLASS_X' models
        mc_fruit_vegetable:         true            # [DYNAMIC] - Enable/disable the detection of fruits and vegetables for 'MULTI_CLASS_X' models
        mc_sport:                   true            # [DYNAMIC] - Enable/disable the detection of sport-related objects for 'MULTI_CLASS_X' models
        body_fitting:               false           # Enable/disable body fitting for 'HUMAN_BODY_FAST' and 'HUMAN_BODY_ACCURATE' models
        body_format:                1               # '0': POSE_18 - '1': POSE_34 [Only if `HUMAN_BODY_*` model is selected]
        qos_history:                1               # '1': KEEP_LAST - '2': KEEP_ALL
        qos_depth:                  1               # Queue size if using KEEP_LAST
        qos_reliability:            2               # '1': RELIABLE - '2': BEST_EFFORT
        qos_durability:             2               # '1': TRANSIENT_LOCAL - '2': VOLATILE

Steps to Reproduce

  1. run docker image
  2. launch zed wrapper with "ros2 launch zed_wrapper zed2.launch.py"

Steps to reproduce are the same for both instances, however with some differences in the "common.yaml". Depth crashes with "depth:quality:0" setting, and position tracking is running even though "pos_tracking:pos_tracking_enabled:0" is set.

Expected Result

I don't really know how would the correct console output look like for either one of these options.

Actual Result

For the setting with depth turned off:

ros2 launch zed_wrapper zed2.launch.py [INFO] [launch]: All log files can be found below /root/.ros/log/2022-06-08-16-07-55-121876-ubuntu-5393 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [robot_state_publisher-1]: process started with pid [5399] [INFO] [zed_wrapper-2]: process started with pid [5400] [robot_state_publisher-1] Parsing robot urdf xml string. [robot_state_publisher-1] Link zed2_base_link had 1 children [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] 1654704475.615523391 [zed2.zed_state_publisher] [INFO] got segment base_link [robot_state_publisher-1] 1654704475.615771529 [zed2.zed_state_publisher] [INFO] got segment zed2_baro_link [robot_state_publisher-1] 1654704475.615827724 [zed2.zed_state_publisher] [INFO] got segment zed2_base_link [robot_state_publisher-1] 1654704475.615870734 [zed2.zed_state_publisher] [INFO] got segment zed2_camera_center [robot_state_publisher-1] 1654704475.615905903 [zed2.zed_state_publisher] [INFO] got segment zed2_left_camera_frame [robot_state_publisher-1] 1654704475.615951217 [zed2.zed_state_publisher] [INFO] got segment zed2_left_camera_optical_frame [robot_state_publisher-1] 1654704475.615976242 [zed2.zed_state_publisher] [INFO] got segment zed2_mag_link [robot_state_publisher-1] 1654704475.615999763 [zed2.zed_state_publisher] [INFO] got segment zed2_right_camera_frame [robot_state_publisher-1] 1654704475.616020916 [zed2.zed_state_publisher] [INFO] got segment zed2_right_camera_optical_frame [robot_state_publisher-1] 1654704475.616041941 [zed2.zed_state_publisher] [INFO] got segment zed2_temp_left_link [robot_state_publisher-1] 1654704475.616063190 [zed2.zed_state_publisher] [INFO] got segment zed2_temp_right_link [zed_wrapper-2] 1654704475.681843919 [zed2.zed_node] [INFO] **** [zed_wrapper-2] 1654704475.682205470 [zed2.zed_node] [INFO] ZED Camera Component [zed_wrapper-2] 1654704475.682248256 [zed2.zed_node] [INFO] **** [zed_wrapper-2] 1654704475.682315235 [zed2.zed_node] [INFO] namespace: /zed2 [zed_wrapper-2] 1654704475.682338980 [zed2.zed_node] [INFO] node name: zed_node [zed_wrapper-2] 1654704475.682359685 [zed2.zed_node] [INFO] **** [zed_wrapper-2] 1654704475.682395046 [zed2.zed_node] [INFO] DEBUG parameters [zed_wrapper-2] 1654704475.682545357 [zed2.zed_node] [INFO] * Debug mode: FALSE [zed_wrapper-2] 1654704475.682591983 [zed2.zed_node] [INFO] GENERAL parameters [zed_wrapper-2] 1654704475.682684883 [zed2.zed_node] [INFO] Camera model: zed2 - ZED 2 [zed_wrapper-2] 1654704475.682766102 [zed2.zed_node] [INFO] SDK Verbose: 1 [zed_wrapper-2] 1654704475.682846618 [zed2.zed_node] [INFO] SVO: live [zed_wrapper-2] 1654704475.682950974 [zed2.zed_node] [INFO] SVO Loop: FALSE [zed_wrapper-2] 1654704475.683007744 [zed2.zed_node] [INFO] SVO Realtime: FALSE [zed_wrapper-2] 1654704475.683065507 [zed2.zed_node] [INFO] Camera name: zed2 [zed_wrapper-2] 1654704475.683209257 [zed2.zed_node] [INFO] Camera ID: 0 [zed_wrapper-2] 1654704475.683271020 [zed2.zed_node] [INFO] Camera SN: 0

[zed_wrapper-2] 1654704475.683395441 [zed2.zed_node] [INFO] Camera reconnection temptatives: 5 [zed_wrapper-2] 1654704475.683496053 [zed2.zed_node] [INFO] Camera framerate: 60 [zed_wrapper-2] 1654704475.683573273 [zed2.zed_node] [INFO] GPU ID: -1 [zed_wrapper-2] 1654704475.683652252 [zed2.zed_node] [INFO] Camera resolution: 3 - VGA [zed_wrapper-2] 1654704475.683711455 [zed2.zed_node] [INFO] Camera self calibration: TRUE [zed_wrapper-2] 1654704475.683769761 [zed2.zed_node] [INFO] Camera flip: FALSE

[zed_wrapper-2] 1654704475.683858533 [zed2.zed_node] [INFO] VIDEO parameters [zed_wrapper-2] 1654704475.683916167 [zed2.zed_node] [INFO] Use old extrinsic parameters: 0 [zed_wrapper-2] 1654704475.683988938 [zed2.zed_node] [INFO] [DYN] Image downsample factor: 1 [zed_wrapper-2] 1654704475.684087503 [zed2.zed_node] [INFO] [DYN] Brightness: 4 [zed_wrapper-2] 1654704475.684144561 [zed2.zed_node] [INFO] [DYN] Contrast: 4 [zed_wrapper-2] 1654704475.684220564 [zed2.zed_node] [INFO] [DYN] Hue: 0 [zed_wrapper-2] 1654704475.684275543 [zed2.zed_node] [INFO] [DYN] Saturation: 4 [zed_wrapper-2] 1654704475.684337049 [zed2.zed_node] [INFO] [DYN] Sharpness: 4 [zed_wrapper-2] 1654704475.684390172 [zed2.zed_node] [INFO] [DYN] Gamma: 8 [zed_wrapper-2] 1654704475.684440158 [zed2.zed_node] [INFO] [DYN] Auto Exposure/Gain: TRUE [zed_wrapper-2] 1654704475.684490400 [zed2.zed_node] [INFO] [DYN] Exposure: 80 [zed_wrapper-2] 1654704475.684541506 [zed2.zed_node] [INFO] [DYN] Gain: 80 [zed_wrapper-2] 1654704475.684603013 [zed2.zed_node] [INFO] [DYN] Auto White Balance: TRUE [zed_wrapper-2] 1654704475.684654951 [zed2.zed_node] [INFO] [DYN] White Balance Temperature: 42 [zed_wrapper-2] 1654704475.684709609 [zed2.zed_node] [INFO] Video QoS History: KEEP_LAST [zed_wrapper-2] 1654704475.684757099 [zed2.zed_node] [INFO] Video QoS History depth: 1 [zed_wrapper-2] 1654704475.685904060 [zed2.zed_node] [INFO] Video QoS Reliability: RELIABLE [zed_wrapper-2] 1654704475.686051106 [zed2.zed_node] [INFO] * Video QoS Durability: VOLATILE [zed_wrapper-2] 1654704475.686086084 [zed2.zed_node] [INFO] DEPTH parameters [zed_wrapper-2] 1654704475.686152295 [zed2.zed_node] [INFO] * Depth quality: 0 - NONE - DEPTH DISABLED [zed_wrapper-2] 1654704475.686206953 [zed2.zed_node] [INFO] POSITIONAL TRACKING parameters [zed_wrapper-2] 1654704475.686265932 [zed2.zed_node] [INFO] Positional tracking enabled: TRUE [zed_wrapper-2] 1654704475.686342415 [zed2.zed_node] [INFO] Base frame id: base_link [zed_wrapper-2] 1654704475.686403473 [zed2.zed_node] [INFO] Map frame id: map [zed_wrapper-2] 1654704475.686605146 [zed2.zed_node] [INFO] Odometry frame id: vis_odom [zed_wrapper-2] 1654704475.686661308 [zed2.zed_node] [INFO] Broadcast Odometry TF: TRUE [zed_wrapper-2] 1654704475.686721087 [zed2.zed_node] [INFO] Broadcast Pose TF: TRUE

[zed_wrapper-2] 1654704475.686923304 [zed2.zed_node] [INFO] [DYN] Path publishing rate: 10 [zed_wrapper-2] 1654704475.686988778 [zed2.zed_node] [INFO] Path history lenght: 10 [zed_wrapper-2] 1654704475.687053773 [zed2.zed_node] [INFO] Initial pose: [0,0,0,0,0,0,] [zed_wrapper-2] 1654704475.687137073 [zed2.zed_node] [INFO] Area Memory: FALSE [zed_wrapper-2] 1654704475.687195507 [zed2.zed_node] [INFO] * Area Memory DB:

[zed_wrapper-2] 1654704475.687406588 [zed2.zed_node] [INFO] Floor Alignment: FALSE [zed_wrapper-2] 1654704475.687459455 [zed2.zed_node] [INFO] Init Odometry with first valid pose data: TRUE [zed_wrapper-2] 1654704475.687516929 [zed2.zed_node] [INFO] 2D mode: FALSE [zed_wrapper-2] 1654704475.687567811 [zed2.zed_node] [INFO] Pose/Odometry QoS History: KEEP_LAST [zed_wrapper-2] 1654704475.687608165 [zed2.zed_node] [INFO] Pose/Odometry QoS History depth: 1 [zed_wrapper-2] 1654704475.687647815 [zed2.zed_node] [INFO] Pose/Odometry QoS Reliability: RELIABLE [zed_wrapper-2] 1654704475.687699785 [zed2.zed_node] [INFO] * Pose/Odometry QoS Durability: TRANSIENT_LOCAL [zed_wrapper-2] 1654704475.687727274 [zed2.zed_node] [INFO] SENSORS STACK parameters [zed_wrapper-2] 1654704475.687777804 [zed2.zed_node] [INFO] Sensors Camera Sync: FALSE [zed_wrapper-2] 1654704475.687842415 [zed2.zed_node] [INFO] Sensors publishing rate: 200 Hz [zed_wrapper-2] 1654704475.687892049 [zed2.zed_node] [INFO] Sensors QoS History: KEEP_LAST [zed_wrapper-2] 1654704475.687932083 [zed2.zed_node] [INFO] Sensors QoS History depth: 10 [zed_wrapper-2] 1654704475.687993333 [zed2.zed_node] [INFO] Sensors QoS Reliability: RELIABLE [zed_wrapper-2] 1654704475.688033879 [zed2.zed_node] [INFO] Sensors QoS Durability: VOLATILE [zed_wrapper-2] 1654704475.688059256 [zed2.zed_node] [INFO] Spatial Mapping parameters [zed_wrapper-2] 1654704475.688101530 [zed2.zed_node] [INFO] * Spatial Mapping Enabled: FALSE

[zed_wrapper-2] 1654704475.688356229 [zed2.zed_node] [INFO] Sensors QoS History: KEEP_LAST [zed_wrapper-2] 1654704475.688394919 [zed2.zed_node] [INFO] Sensors QoS History depth: 1 [zed_wrapper-2] 1654704475.688437064 [zed2.zed_node] [INFO] Sensors QoS Reliability: RELIABLE [zed_wrapper-2] 1654704475.688486250 [zed2.zed_node] [INFO] Sensors QoS Durability: TRANSIENT_LOCAL [zed_wrapper-2] 1654704475.688512492 [zed2.zed_node] [INFO] OBJECT DETECTION parameters [zed_wrapper-2] 1654704475.688561934 [zed2.zed_node] [INFO] Object Detection enabled: FALSE [zed_wrapper-2] 1654704475.688643697 [zed2.zed_node] [INFO] OD min. confidence: 50 [zed_wrapper-2] 1654704475.688725653 [zed2.zed_node] [INFO] OD tracking: TRUE [zed_wrapper-2] 1654704475.688822169 [zed2.zed_node] [INFO] Object Detection model: 0 - MULTI CLASS BOX FAST [zed_wrapper-2] 1654704475.688919197 [zed2.zed_node] [INFO] Object Filtering mode: 1 - NMS 3D [zed_wrapper-2] 1654704475.689009761 [zed2.zed_node] [INFO] MultiClassBox people: TRUE [zed_wrapper-2] 1654704475.689082596 [zed2.zed_node] [INFO] MultiClassBox vehicles: TRUE [zed_wrapper-2] 1654704475.689169320 [zed2.zed_node] [INFO] MultiClassBox bags: TRUE [zed_wrapper-2] 1654704475.689226090 [zed2.zed_node] [INFO] MultiClassBox animals: TRUE [zed_wrapper-2] 1654704475.689279820 [zed2.zed_node] [INFO] MultiClassBox electronics: TRUE [zed_wrapper-2] 1654704475.689360976 [zed2.zed_node] [INFO] MultiClassBox fruits and vegetables: TRUE [zed_wrapper-2] 1654704475.689431123 [zed2.zed_node] [INFO] MultiClassBox sport-related objects: TRUE [zed_wrapper-2] 1654704475.689519895 [zed2.zed_node] [INFO] Body format: 1 - POSE_34 [zed_wrapper-2] 1654704475.689548344 [zed2.zed_node] [INFO] Skeleton fitting: TRUE (forced by object_detection.body_format) [zed_wrapper-2] 1654704475.689599450 [zed2.zed_node] [INFO] Obj. Det. QoS History: KEEP_LAST [zed_wrapper-2] 1654704475.689650972 [zed2.zed_node] [INFO] Obj. Det. QoS History depth: 1 [zed_wrapper-2] 1654704475.689702302 [zed2.zed_node] [INFO] Obj. Det. QoS Reliability: BEST_EFFORT [zed_wrapper-2] 1654704475.689807235 [zed2.zed_node] [INFO] Obj. Det. QoS Durability: VOLATILE [zed_wrapper-2] 1654704475.690048525 [zed2.zed_node] [INFO] SERVICES [zed_wrapper-2] 1654704475.691438408 [zed2.zed_node] [INFO] '/zed2/zed_node/reset_odometry' [zed_wrapper-2] 1654704475.692501750 [zed2.zed_node] [INFO] '/zed2/zed_node/reset_pos_tracking' [zed_wrapper-2] 1654704475.694138812 [zed2.zed_node] [INFO] '/zed2/zed_node/set_pose' [zed_wrapper-2] 1654704475.695380945 [zed2.zed_node] [INFO] '/zed2/zed_node/enable_obj_det' [zed_wrapper-2] 1654704475.696264695 [zed2.zed_node] [INFO] '/zed2/zed_node/enable_mapping' [zed_wrapper-2] 1654704475.696990198 [zed2.zed_node] [INFO] '/zed2/zed_node/start_svo_rec' [zed_wrapper-2] 1654704475.697824025 [zed2.zed_node] [INFO] '/zed2/zed_node/stop_svo_rec' [zed_wrapper-2] 1654704475.698523575 [zed2.zed_node] [INFO] '/zed2/zed_node/toggle_svo_pause' [zed_wrapper-2] 1654704475.698606779 [zed2.zed_node] [INFO] STARTING CAMERA [zed_wrapper-2] 1654704475.698636924 [zed2.zed_node] [INFO] SDK Version: 3.7.2 - Build 43767_1578be58 [zed_wrapper-2] 1654704475.703901597 [zed2.zed_node] [INFO] CAMERA OPENING [zed_wrapper-2] [ZED][INFO] Logging level INFO [zed_wrapper-2] [ZED][INFO] [Init] Depth mode: NONE [zed_wrapper-2] [ZED][WARNING] libhid error: -4 [zed_wrapper-2] [ZED][WARNING] [Sensors] MCU module not responding. Attempt module reboot [zed_wrapper-2] [ZED][MCU] Permissions denied : can't open device. Make sure you have installed udev rules or use sudo [zed_wrapper-2] [ZED][WARNING] [ZED] Sensors could not be initialized. Some modules (AI-based) might not work correctly. [zed_wrapper-2] [ZED][INFO] [Init] Camera successfully opened. [zed_wrapper-2] [ZED][INFO] [Init] Camera FW version: 1523 [zed_wrapper-2] [ZED][INFO] [Init] Video mode: VGA@60 [zed_wrapper-2] 1654704476.999105480 [zed2.zed_node] [INFO] ZED SDK running on GPU #0 [zed_wrapper-2] 1654704476.999275215 [zed2.zed_node] [INFO] Camera Model -> ZED 2 [zed_wrapper-2] 1654704476.999319761 [zed2.zed_node] [INFO] Serial Number -> 28813151 [zed_wrapper-2] 1654704476.999394388 [zed2.zed_node] [INFO] Input type -> USB input type [zed_wrapper-2] 1654704476.999435190 [zed2.zed_node] [INFO] Camera FW Version -> 1523 [zed_wrapper-2] 1654704476.999489400 [zed2.zed_node] [INFO] * Sensors FW Version -> 0 [zed_wrapper-2] 1654704476.999676320 [zed2.zed_node] [INFO] TF FRAMES [zed_wrapper-2] 1654704476.999713826 [zed2.zed_node] [INFO] Map -> map [zed_wrapper-2] 1654704476.999740931 [zed2.zed_node] [INFO] Odometry -> vis_odom [zed_wrapper-2] 1654704476.999766532 [zed2.zed_node] [INFO] Base -> base_link [zed_wrapper-2] 1654704476.999821478 [zed2.zed_node] [INFO] Camera -> zed2_camera_center [zed_wrapper-2] 1654704476.999848392 [zed2.zed_node] [INFO] Left -> zed2_left_camera_frame [zed_wrapper-2] 1654704476.999905834 [zed2.zed_node] [INFO] Left Optical -> zed2_left_camera_optical_frame [zed_wrapper-2] 1654704476.999952684 [zed2.zed_node] [INFO] RGB -> zed2_left_camera_frame [zed_wrapper-2] 1654704477.000003278 [zed2.zed_node] [INFO] RGB Optical -> zed2_left_camera_frame [zed_wrapper-2] 1654704477.000049616 [zed2.zed_node] [INFO] Right -> zed2_right_camera_frame [zed_wrapper-2] 1654704477.000077009 [zed2.zed_node] [INFO] Right Optical -> zed2_right_camera_optical_frame [zed_wrapper-2] 1654704477.000103730 [zed2.zed_node] [INFO] Depth -> zed2_left_camera_frame [zed_wrapper-2] 1654704477.000128467 [zed2.zed_node] [INFO] Depth Optical -> zed2_left_camera_optical_frame [zed_wrapper-2] 1654704477.000153013 [zed2.zed_node] [INFO] Point Cloud -> zed2_left_camera_optical_frame [zed_wrapper-2] 1654704477.000178198 [zed2.zed_node] [INFO] Disparity -> zed2_left_camera_frame [zed_wrapper-2] 1654704477.000202551 [zed2.zed_node] [INFO] Disparity Optical -> zed2_left_camera_optical_frame [zed_wrapper-2] 1654704477.000226552 [zed2.zed_node] [INFO] Confidence -> zed2_left_camera_frame [zed_wrapper-2] 1654704477.000251609 [zed2.zed_node] [INFO] Confidence Optical -> zed2_left_camera_optical_frame [zed_wrapper-2] 1654704477.000302075 [zed2.zed_node] [INFO] IMU -> zed2_imu_link [zed_wrapper-2] 1654704477.000356221 [zed2.zed_node] [INFO] Barometer -> zed2_camera_center [zed_wrapper-2] 1654704477.000404607 [zed2.zed_node] [INFO] Magnetometer -> zed2_imu_link [zed_wrapper-2] 1654704477.000430624 [zed2.zed_node] [INFO] Left Temperature -> zed2_left_camera_frame [zed_wrapper-2] 1654704477.000456737 [zed2.zed_node] [INFO] Right Temperature -> zed2_right_camera_frame [zed_wrapper-2] 1654704477.000490147 [zed2.zed_node] [INFO] PUBLISHED TOPICS [zed_wrapper-2] 1654704477.008524442 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/rgb/image_rect_color [zed_wrapper-2] 1654704477.009803633 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/rgb/image_rect_gray [zed_wrapper-2] 1654704477.009889684 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/rgb/camera_info [zed_wrapper-2] 1654704477.012620169 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/rgb_raw/image_raw_color [zed_wrapper-2] 1654704477.013817596 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/rgb_raw/image_raw_gray [zed_wrapper-2] 1654704477.013912608 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/rgb_raw/camera_info [zed_wrapper-2] 1654704477.015314812 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/left/image_rect_color [zed_wrapper-2] 1654704477.016625204 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/left/image_rect_gray [zed_wrapper-2] 1654704477.016719320 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/left/camera_info [zed_wrapper-2] 1654704477.019271813 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/left_raw/image_raw_color [zed_wrapper-2] 1654704477.020378452 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/left_raw/image_raw_gray [zed_wrapper-2] 1654704477.020453207 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/left_raw/camera_info [zed_wrapper-2] 1654704477.021672779 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/right/image_rect_color [zed_wrapper-2] 1654704477.022970179 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/right/image_rect_gray [zed_wrapper-2] 1654704477.023096776 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/right/camera_info [zed_wrapper-2] 1654704477.024331037 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/right_raw/image_raw_color [zed_wrapper-2] 1654704477.025462029 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/right_raw/image_raw_gray [zed_wrapper-2] 1654704477.025529200 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/right_raw/camera_info [zed_wrapper-2] 1654704477.026111113 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/stereo/image_rect_color [zed_wrapper-2] 1654704477.026614878 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/stereo_raw/image_raw_color [zed_wrapper-2] 1654704477.027281275 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/imu/data [zed_wrapper-2] 1654704477.027765840 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/imu/data_raw [zed_wrapper-2] 1654704477.028418956 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/temperature/imu [zed_wrapper-2] 1654704477.029173132 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/imu/mag [zed_wrapper-2] 1654704477.029818951 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/atm_press [zed_wrapper-2] 1654704477.030282939 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/temperature/left [zed_wrapper-2] 1654704477.030759951 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/temperature/right [zed_wrapper-2] 1654704477.031760666 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/left_cam_imu_transform [LATCHED] [zed_wrapper-2] 1654704477.031849950 [zed2.zed_node] [INFO] Camera-IMU Translation: [zed_wrapper-2] 0 0 0 [zed_wrapper-2] 1654704477.031928481 [zed2.zed_node] [INFO] Camera-IMU Rotation: [zed_wrapper-2] 7FD95DDB78 [zed_wrapper-2] 1.000000 0.000000 0.000000 [zed_wrapper-2] 0.000000 1.000000 0.000000 [zed_wrapper-2] 0.000000 0.000000 1.000000 [zed_wrapper-2] [zed_wrapper-2] 1654704477.032022597 [zed2.zed_node] [INFO] Published static TF: 'zed2_imu_link' -> 'zed2_left_camera_frame' [ERROR] [zed_wrapper-2]: process has died [pid 5400, exit code -11, cmd '/code/ros2_ws/install/zed_wrapper/lib/zed_wrapper/zed_wrapper --ros-args -r __node:=zed_node -r __ns:=/zed2 --params-file /code/ros2_ws/install/zed_wrapper/share/zed_wrapper/config/common.yaml --params-file /code/ros2_ws/install/zed_wrapper/share/zed_wrapper/config/zed2.yaml --params-file /tmp/launch_params_shgbxu9a'].

As for the position tracking problem:

ros2 launch zed_wrapper zed2.launch.py [INFO] [launch]: All log files can be found below /root/.ros/log/2022-06-08-16-31-09-403505-ubuntu-8280 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [robot_state_publisher-1]: process started with pid [8284] [INFO] [zed_wrapper-2]: process started with pid [8285] [robot_state_publisher-1] Parsing robot urdf xml string. [robot_state_publisher-1] Link zed2_base_link had 1 children [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] 1654705869.905225481 [zed2.zed_state_publisher] [INFO] got segment base_link [robot_state_publisher-1] 1654705869.905502101 [zed2.zed_state_publisher] [INFO] got segment zed2_baro_link [robot_state_publisher-1] 1654705869.905539638 [zed2.zed_state_publisher] [INFO] got segment zed2_base_link [robot_state_publisher-1] 1654705869.905566167 [zed2.zed_state_publisher] [INFO] got segment zed2_camera_center [robot_state_publisher-1] 1654705869.905588632 [zed2.zed_state_publisher] [INFO] got segment zed2_left_camera_frame [robot_state_publisher-1] 1654705869.905612185 [zed2.zed_state_publisher] [INFO] got segment zed2_left_camera_optical_frame [robot_state_publisher-1] 1654705869.905634586 [zed2.zed_state_publisher] [INFO] got segment zed2_mag_link [robot_state_publisher-1] 1654705869.905670044 [zed2.zed_state_publisher] [INFO] got segment zed2_right_camera_frame [robot_state_publisher-1] 1654705869.905693213 [zed2.zed_state_publisher] [INFO] got segment zed2_right_camera_optical_frame [robot_state_publisher-1] 1654705869.905715102 [zed2.zed_state_publisher] [INFO] got segment zed2_temp_left_link [robot_state_publisher-1] 1654705869.905737119 [zed2.zed_state_publisher] [INFO] got segment zed2_temp_right_link [zed_wrapper-2] 1654705869.980049918 [zed2.zed_node] [INFO] **** [zed_wrapper-2] 1654705869.980391661 [zed2.zed_node] [INFO] ZED Camera Component [zed_wrapper-2] 1654705869.980453904 [zed2.zed_node] [INFO] **** [zed_wrapper-2] 1654705869.980486257 [zed2.zed_node] [INFO] namespace: /zed2 [zed_wrapper-2] 1654705869.980533203 [zed2.zed_node] [INFO] node name: zed_node [zed_wrapper-2] 1654705869.980555540 [zed2.zed_node] [INFO] **** [zed_wrapper-2] 1654705869.980596982 [zed2.zed_node] [INFO] DEBUG parameters [zed_wrapper-2] 1654705869.980675641 [zed2.zed_node] [INFO] * Debug mode: FALSE [zed_wrapper-2] 1654705869.980718875 [zed2.zed_node] [INFO] GENERAL parameters [zed_wrapper-2] 1654705869.980805439 [zed2.zed_node] [INFO] Camera model: zed2 - ZED 2 [zed_wrapper-2] 1654705869.980875202 [zed2.zed_node] [INFO] SDK Verbose: 1 [zed_wrapper-2] 1654705869.980938373 [zed2.zed_node] [INFO] SVO: live [zed_wrapper-2] 1654705869.981034889 [zed2.zed_node] [INFO] SVO Loop: FALSE [zed_wrapper-2] 1654705869.981127757 [zed2.zed_node] [INFO] SVO Realtime: FALSE [zed_wrapper-2] 1654705869.981208145 [zed2.zed_node] [INFO] Camera name: zed2 [zed_wrapper-2] 1654705869.981271539 [zed2.zed_node] [INFO] Camera ID: 0 [zed_wrapper-2] 1654705869.981336438 [zed2.zed_node] [INFO] Camera SN: 0

[zed_wrapper-2] 1654705869.981455323 [zed2.zed_node] [INFO] Camera reconnection temptatives: 5 [zed_wrapper-2] 1654705869.981563584 [zed2.zed_node] [INFO] Camera framerate: 60 [zed_wrapper-2] 1654705869.981640355 [zed2.zed_node] [INFO] GPU ID: -1 [zed_wrapper-2] 1654705869.981735048 [zed2.zed_node] [INFO] Camera resolution: 3 - VGA [zed_wrapper-2] 1654705869.981790410 [zed2.zed_node] [INFO] Camera self calibration: TRUE [zed_wrapper-2] 1654705869.981840908 [zed2.zed_node] [INFO] Camera flip: FALSE

[zed_wrapper-2] 1654705869.981931760 [zed2.zed_node] [INFO] VIDEO parameters [zed_wrapper-2] 1654705869.981993235 [zed2.zed_node] [INFO] Use old extrinsic parameters: 0 [zed_wrapper-2] 1654705869.982057174 [zed2.zed_node] [INFO] [DYN] Image downsample factor: 1 [zed_wrapper-2] 1654705869.982148570 [zed2.zed_node] [INFO] [DYN] Brightness: 4 [zed_wrapper-2] 1654705869.982249950 [zed2.zed_node] [INFO] [DYN] Contrast: 4 [zed_wrapper-2] 1654705869.982311105 [zed2.zed_node] [INFO] [DYN] Hue: 0 [zed_wrapper-2] 1654705869.982382948 [zed2.zed_node] [INFO] [DYN] Saturation: 4 [zed_wrapper-2] 1654705869.982489768 [zed2.zed_node] [INFO] [DYN] Sharpness: 4 [zed_wrapper-2] 1654705869.982554123 [zed2.zed_node] [INFO] [DYN] Gamma: 8 [zed_wrapper-2] 1654705869.982611758 [zed2.zed_node] [INFO] [DYN] Auto Exposure/Gain: TRUE [zed_wrapper-2] 1654705869.982665424 [zed2.zed_node] [INFO] [DYN] Exposure: 80 [zed_wrapper-2] 1654705869.982761236 [zed2.zed_node] [INFO] [DYN] Gain: 80 [zed_wrapper-2] 1654705869.982836951 [zed2.zed_node] [INFO] [DYN] Auto White Balance: TRUE [zed_wrapper-2] 1654705869.982920955 [zed2.zed_node] [INFO] [DYN] White Balance Temperature: 42 [zed_wrapper-2] 1654705869.982977502 [zed2.zed_node] [INFO] Video QoS History: KEEP_LAST [zed_wrapper-2] 1654705869.983029984 [zed2.zed_node] [INFO] Video QoS History depth: 1 [zed_wrapper-2] 1654705869.983096867 [zed2.zed_node] [INFO] Video QoS Reliability: RELIABLE [zed_wrapper-2] 1654705869.983148869 [zed2.zed_node] [INFO] * Video QoS Durability: VOLATILE [zed_wrapper-2] 1654705869.983174950 [zed2.zed_node] [INFO] DEPTH parameters [zed_wrapper-2] 1654705869.983227848 [zed2.zed_node] [INFO] Depth quality: 1 - PERFORMANCE [zed_wrapper-2] 1654705869.983302124 [zed2.zed_node] [INFO] Depth downsample factor: 0.1

[zed_wrapper-2] 1654705869.983513653 [zed2.zed_node] [INFO] Depth Sensing Mode: 0 - STANDARD [zed_wrapper-2] 1654705869.983593176 [zed2.zed_node] [INFO] Depth Stabilization: FALSE [zed_wrapper-2] 1654705869.983648059 [zed2.zed_node] [INFO] * OpenNI mode (16bit point cloud): FALSE

[zed_wrapper-2] 1654705869.983770560 [zed2.zed_node] [INFO] [DYN] Depth Confidence: 50 [zed_wrapper-2] 1654705869.983828163 [zed2.zed_node] [INFO] [DYN] Depth Texture Confidence: 100 [zed_wrapper-2] 1654705869.983882021 [zed2.zed_node] [INFO] [DYN] Remove saturated areas: TRUE [zed_wrapper-2] 1654705869.983933191 [zed2.zed_node] [INFO] Depth QoS History: KEEP_LAST [zed_wrapper-2] 1654705869.983998410 [zed2.zed_node] [INFO] Depth QoS History depth: 1 [zed_wrapper-2] 1654705869.984050284 [zed2.zed_node] [INFO] Depth QoS Reliability: RELIABLE [zed_wrapper-2] 1654705869.984172306 [zed2.zed_node] [INFO] * Depth QoS Durability: VOLATILE [zed_wrapper-2] 1654705869.984200467 [zed2.zed_node] [INFO] POSITIONAL TRACKING parameters [zed_wrapper-2] 1654705869.984274262 [zed2.zed_node] [INFO] Positional tracking enabled: FALSE [zed_wrapper-2] 1654705869.984350841 [zed2.zed_node] [INFO] Base frame id: base_link [zed_wrapper-2] 1654705869.984412636 [zed2.zed_node] [INFO] Map frame id: map [zed_wrapper-2] 1654705869.984469758 [zed2.zed_node] [INFO] Odometry frame id: vis_odom [zed_wrapper-2] 1654705869.984534913 [zed2.zed_node] [INFO] Broadcast Odometry TF: TRUE [zed_wrapper-2] 1654705869.984593956 [zed2.zed_node] [INFO] Broadcast Pose TF: TRUE

[zed_wrapper-2] 1654705869.984721897 [zed2.zed_node] [INFO] [DYN] Path publishing rate: 10 [zed_wrapper-2] 1654705869.984781196 [zed2.zed_node] [INFO] Path history lenght: 10 [zed_wrapper-2] 1654705869.984844719 [zed2.zed_node] [INFO] Initial pose: [0,0,0,0,0,0,] [zed_wrapper-2] 1654705869.984921778 [zed2.zed_node] [INFO] Area Memory: FALSE [zed_wrapper-2] 1654705869.984990261 [zed2.zed_node] [INFO] * Area Memory DB:

[zed_wrapper-2] 1654705869.985106522 [zed2.zed_node] [INFO] Floor Alignment: FALSE [zed_wrapper-2] 1654705869.985178973 [zed2.zed_node] [INFO] Init Odometry with first valid pose data: TRUE [zed_wrapper-2] 1654705869.985295906 [zed2.zed_node] [INFO] 2D mode: FALSE [zed_wrapper-2] 1654705869.985350309 [zed2.zed_node] [INFO] Pose/Odometry QoS History: KEEP_LAST [zed_wrapper-2] 1654705869.985398919 [zed2.zed_node] [INFO] Pose/Odometry QoS History depth: 1 [zed_wrapper-2] 1654705869.985448777 [zed2.zed_node] [INFO] Pose/Odometry QoS Reliability: RELIABLE [zed_wrapper-2] 1654705869.985504139 [zed2.zed_node] [INFO] * Pose/Odometry QoS Durability: TRANSIENT_LOCAL [zed_wrapper-2] 1654705869.985534221 [zed2.zed_node] [INFO] SENSORS STACK parameters [zed_wrapper-2] 1654705869.985607408 [zed2.zed_node] [INFO] Sensors Camera Sync: FALSE [zed_wrapper-2] 1654705869.985663762 [zed2.zed_node] [INFO] Sensors publishing rate: 200 Hz [zed_wrapper-2] 1654705869.985761303 [zed2.zed_node] [INFO] Sensors QoS History: KEEP_LAST [zed_wrapper-2] 1654705869.985825273 [zed2.zed_node] [INFO] Sensors QoS History depth: 10 [zed_wrapper-2] 1654705869.985872987 [zed2.zed_node] [INFO] Sensors QoS Reliability: RELIABLE [zed_wrapper-2] 1654705869.985957695 [zed2.zed_node] [INFO] Sensors QoS Durability: VOLATILE [zed_wrapper-2] 1654705869.985986272 [zed2.zed_node] [INFO] Spatial Mapping parameters [zed_wrapper-2] 1654705869.986032354 [zed2.zed_node] [INFO] * Spatial Mapping Enabled: FALSE

[zed_wrapper-2] 1654705869.986320111 [zed2.zed_node] [INFO] Sensors QoS History: KEEP_LAST [zed_wrapper-2] 1654705869.986370033 [zed2.zed_node] [INFO] Sensors QoS History depth: 1 [zed_wrapper-2] 1654705869.986489654 [zed2.zed_node] [INFO] Sensors QoS Reliability: RELIABLE [zed_wrapper-2] 1654705869.986544377 [zed2.zed_node] [INFO] Sensors QoS Durability: TRANSIENT_LOCAL [zed_wrapper-2] 1654705869.986572506 [zed2.zed_node] [INFO] OBJECT DETECTION parameters [zed_wrapper-2] 1654705869.986625244 [zed2.zed_node] [INFO] Object Detection enabled: FALSE [zed_wrapper-2] 1654705869.986693183 [zed2.zed_node] [INFO] OD min. confidence: 50 [zed_wrapper-2] 1654705869.986780387 [zed2.zed_node] [INFO] OD tracking: TRUE [zed_wrapper-2] 1654705869.986866855 [zed2.zed_node] [INFO] Object Detection model: 0 - MULTI CLASS BOX FAST [zed_wrapper-2] 1654705869.986953354 [zed2.zed_node] [INFO] Object Filtering mode: 1 - NMS 3D [zed_wrapper-2] 1654705869.987043278 [zed2.zed_node] [INFO] MultiClassBox people: TRUE [zed_wrapper-2] 1654705869.987099985 [zed2.zed_node] [INFO] MultiClassBox vehicles: TRUE [zed_wrapper-2] 1654705869.987163604 [zed2.zed_node] [INFO] MultiClassBox bags: TRUE [zed_wrapper-2] 1654705869.987219222 [zed2.zed_node] [INFO] MultiClassBox animals: TRUE [zed_wrapper-2] 1654705869.987276153 [zed2.zed_node] [INFO] MultiClassBox electronics: TRUE [zed_wrapper-2] 1654705869.987331611 [zed2.zed_node] [INFO] MultiClassBox fruits and vegetables: TRUE [zed_wrapper-2] 1654705869.987399262 [zed2.zed_node] [INFO] MultiClassBox sport-related objects: TRUE [zed_wrapper-2] 1654705869.987466017 [zed2.zed_node] [INFO] Body format: 1 - POSE_34 [zed_wrapper-2] 1654705869.987542372 [zed2.zed_node] [INFO] Skeleton fitting: TRUE (forced by object_detection.body_format) [zed_wrapper-2] 1654705869.987597478 [zed2.zed_node] [INFO] Obj. Det. QoS History: KEEP_LAST [zed_wrapper-2] 1654705869.987653641 [zed2.zed_node] [INFO] Obj. Det. QoS History depth: 1 [zed_wrapper-2] 1654705869.987730412 [zed2.zed_node] [INFO] Obj. Det. QoS Reliability: BEST_EFFORT [zed_wrapper-2] 1654705869.987782735 [zed2.zed_node] [INFO] Obj. Det. QoS Durability: VOLATILE [zed_wrapper-2] 1654705869.987976023 [zed2.zed_node] [INFO] SERVICES [zed_wrapper-2] 1654705869.989368051 [zed2.zed_node] [INFO] '/zed2/zed_node/reset_odometry' [zed_wrapper-2] 1654705869.989972014 [zed2.zed_node] [INFO] '/zed2/zed_node/reset_pos_tracking' [zed_wrapper-2] 1654705869.991067293 [zed2.zed_node] [INFO] '/zed2/zed_node/set_pose' [zed_wrapper-2] 1654705869.991764156 [zed2.zed_node] [INFO] '/zed2/zed_node/enable_obj_det' [zed_wrapper-2] 1654705869.992255153 [zed2.zed_node] [INFO] '/zed2/zed_node/enable_mapping' [zed_wrapper-2] 1654705869.992872844 [zed2.zed_node] [INFO] '/zed2/zed_node/start_svo_rec' [zed_wrapper-2] 1654705869.993334560 [zed2.zed_node] [INFO] '/zed2/zed_node/stop_svo_rec' [zed_wrapper-2] 1654705869.993814261 [zed2.zed_node] [INFO] '/zed2/zed_node/toggle_svo_pause' [zed_wrapper-2] 1654705869.993857207 [zed2.zed_node] [INFO] STARTING CAMERA [zed_wrapper-2] 1654705869.993887160 [zed2.zed_node] [INFO] SDK Version: 3.7.2 - Build 43767_1578be58 [zed_wrapper-2] 1654705869.998612165 [zed2.zed_node] [INFO] CAMERA OPENING [zed_wrapper-2] [ZED][INFO] Logging level INFO [zed_wrapper-2] [ZED][INFO] [Init] Depth mode: PERFORMANCE [zed_wrapper-2] [ZED][WARNING] libhid error: -4 [zed_wrapper-2] [ZED][WARNING] [Sensors] MCU module not responding. Attempt module reboot [zed_wrapper-2] [ZED][MCU] Permissions denied : can't open device. Make sure you have installed udev rules or use sudo [zed_wrapper-2] [ZED][WARNING] [ZED] Sensors could not be initialized. Some modules (AI-based) might not work correctly. [zed_wrapper-2] [ZED][INFO] [Init] Camera successfully opened. [zed_wrapper-2] [ZED][INFO] [Init] Camera FW version: 1523 [zed_wrapper-2] [ZED][INFO] [Init] Video mode: VGA@60 [zed_wrapper-2] 1654705871.301208166 [zed2.zed_node] [INFO] ZED SDK running on GPU #0 [zed_wrapper-2] 1654705871.301351564 [zed2.zed_node] [INFO] Camera Model -> ZED 2 [zed_wrapper-2] 1654705871.301384109 [zed2.zed_node] [INFO] Serial Number -> 28813151 [zed_wrapper-2] 1654705871.301449840 [zed2.zed_node] [INFO] Input type -> USB input type [zed_wrapper-2] 1654705871.301488530 [zed2.zed_node] [INFO] Camera FW Version -> 1523 [zed_wrapper-2] 1654705871.301541460 [zed2.zed_node] [INFO] * Sensors FW Version -> 0 [zed_wrapper-2] 1654705871.301719452 [zed2.zed_node] [INFO] TF FRAMES [zed_wrapper-2] 1654705871.301754557 [zed2.zed_node] [INFO] Map -> map [zed_wrapper-2] 1654705871.301779710 [zed2.zed_node] [INFO] Odometry -> vis_odom [zed_wrapper-2] 1654705871.301804224 [zed2.zed_node] [INFO] Base -> base_link [zed_wrapper-2] 1654705871.301828129 [zed2.zed_node] [INFO] Camera -> zed2_camera_center [zed_wrapper-2] 1654705871.301852450 [zed2.zed_node] [INFO] Left -> zed2_left_camera_frame [zed_wrapper-2] 1654705871.301878755 [zed2.zed_node] [INFO] Left Optical -> zed2_left_camera_optical_frame [zed_wrapper-2] 1654705871.301929669 [zed2.zed_node] [INFO] RGB -> zed2_left_camera_frame [zed_wrapper-2] 1654705871.301976871 [zed2.zed_node] [INFO] RGB Optical -> zed2_left_camera_frame [zed_wrapper-2] 1654705871.302032041 [zed2.zed_node] [INFO] Right -> zed2_right_camera_frame [zed_wrapper-2] 1654705871.302058891 [zed2.zed_node] [INFO] Right Optical -> zed2_right_camera_optical_frame [zed_wrapper-2] 1654705871.302085580 [zed2.zed_node] [INFO] Depth -> zed2_left_camera_frame [zed_wrapper-2] 1654705871.302111629 [zed2.zed_node] [INFO] Depth Optical -> zed2_left_camera_optical_frame [zed_wrapper-2] 1654705871.302148623 [zed2.zed_node] [INFO] Point Cloud -> zed2_left_camera_optical_frame [zed_wrapper-2] 1654705871.302174000 [zed2.zed_node] [INFO] Disparity -> zed2_left_camera_frame [zed_wrapper-2] 1654705871.302199761 [zed2.zed_node] [INFO] Disparity Optical -> zed2_left_camera_optical_frame [zed_wrapper-2] 1654705871.302224530 [zed2.zed_node] [INFO] Confidence -> zed2_left_camera_frame [zed_wrapper-2] 1654705871.302249971 [zed2.zed_node] [INFO] Confidence Optical -> zed2_left_camera_optical_frame [zed_wrapper-2] 1654705871.302300597 [zed2.zed_node] [INFO] IMU -> zed2_imu_link [zed_wrapper-2] 1654705871.302355192 [zed2.zed_node] [INFO] Barometer -> zed2_camera_center [zed_wrapper-2] 1654705871.302405210 [zed2.zed_node] [INFO] Magnetometer -> zed2_imu_link [zed_wrapper-2] 1654705871.302481853 [zed2.zed_node] [INFO] Left Temperature -> zed2_left_camera_frame [zed_wrapper-2] 1654705871.302508926 [zed2.zed_node] [INFO] Right Temperature -> zed2_right_camera_frame [zed_wrapper-2] 1654705871.302548000 [zed2.zed_node] [INFO] PUBLISHED TOPICS [zed_wrapper-2] 1654705871.310350067 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/rgb/image_rect_color [zed_wrapper-2] 1654705871.311942424 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/rgb/image_rect_gray [zed_wrapper-2] 1654705871.312035356 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/rgb/camera_info [zed_wrapper-2] 1654705871.313178958 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/rgb_raw/image_raw_color [zed_wrapper-2] 1654705871.314628685 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/rgb_raw/image_raw_gray [zed_wrapper-2] 1654705871.314709937 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/rgb_raw/camera_info [zed_wrapper-2] 1654705871.316035978 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/left/image_rect_color [zed_wrapper-2] 1654705871.317235007 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/left/image_rect_gray [zed_wrapper-2] 1654705871.317306242 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/left/camera_info [zed_wrapper-2] 1654705871.318370192 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/left_raw/image_raw_color [zed_wrapper-2] 1654705871.319713642 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/left_raw/image_raw_gray [zed_wrapper-2] 1654705871.319792398 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/left_raw/camera_info [zed_wrapper-2] 1654705871.320759672 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/right/image_rect_color [zed_wrapper-2] 1654705871.321668223 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/right/image_rect_gray [zed_wrapper-2] 1654705871.321739682 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/right/camera_info [zed_wrapper-2] 1654705871.322891988 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/right_raw/image_raw_color [zed_wrapper-2] 1654705871.324126442 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/right_raw/image_raw_gray [zed_wrapper-2] 1654705871.324186957 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/right_raw/camera_info [zed_wrapper-2] 1654705871.325267612 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/depth/depth_registered [zed_wrapper-2] 1654705871.325335231 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/depth/camera_info [zed_wrapper-2] 1654705871.325959226 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/depth/depth_info [zed_wrapper-2] 1654705871.326778749 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/stereo/image_rect_color [zed_wrapper-2] 1654705871.327405177 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/stereo_raw/image_raw_color [zed_wrapper-2] 1654705871.327917679 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/confidence/confidence_map [zed_wrapper-2] 1654705871.329223720 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/disparity/disparity_image [zed_wrapper-2] 1654705871.329844931 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/point_cloud/cloud_registered [zed_wrapper-2] 1654705871.330609252 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/pose [zed_wrapper-2] 1654705871.331261696 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/pose_with_covariance [zed_wrapper-2] 1654705871.332426803 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/odom [zed_wrapper-2] 1654705871.333049646 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/path_map [zed_wrapper-2] 1654705871.333632552 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/path_odom [zed_wrapper-2] 1654705871.334475788 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/imu/data [zed_wrapper-2] 1654705871.335021764 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/imu/data_raw [zed_wrapper-2] 1654705871.335754948 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/temperature/imu [zed_wrapper-2] 1654705871.336258906 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/imu/mag [zed_wrapper-2] 1654705871.336894837 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/atm_press [zed_wrapper-2] 1654705871.337346729 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/temperature/left [zed_wrapper-2] 1654705871.337807421 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/temperature/right [zed_wrapper-2] 1654705871.338554142 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/left_cam_imu_transform [LATCHED] [zed_wrapper-2] 1654705871.338606400 [zed2.zed_node] [INFO] Camera-IMU Translation: [zed_wrapper-2] 0 0 0 [zed_wrapper-2] 1654705871.338700484 [zed2.zed_node] [INFO] Camera-IMU Rotation: [zed_wrapper-2] 7FD3B8C568 [zed_wrapper-2] 1.000000 0.000000 0.000000 [zed_wrapper-2] 0.000000 1.000000 0.000000 [zed_wrapper-2] 0.000000 0.000000 1.000000 [zed_wrapper-2] [zed_wrapper-2] 1654705871.338811145 [zed2.zed_node] [INFO] Published static TF: 'zed2_imu_link' -> 'zed2_left_camera_frame' [zed_wrapper-2] 1654705871.356482921 [zed2.zed_node] [INFO] Starting Positional Tracking [zed_wrapper-2] 1654705871.356963614 [zed2.zed_node] [INFO] Waiting for valid static transformations... [zed_wrapper-2] 1654705871.357472756 [zed2.zed_node] [INFO] Static transform Sensor to Base [zed2_left_camera_frame -> base_link] [zed_wrapper-2] 1654705871.357755424 [zed2.zed_node] [INFO] Translation: {-0.109,-0.060,-0.397} [zed_wrapper-2] 1654705871.357896583 [zed2.zed_node] [INFO] Rotation: {0.000,-15.041,0.000} [zed_wrapper-2] 1654705871.357989163 [zed2.zed_node] [INFO] Static transform Sensor to Camera Center [zed2_left_camera_frame -> zed2_camera_center] [zed_wrapper-2] 1654705871.358025516 [zed2.zed_node] [INFO] Translation: {0.000,-0.060,0.000} [zed_wrapper-2] 1654705871.358153106 [zed2.zed_node] [INFO] Rotation: {0.000,-0.000,0.000} [zed_wrapper-2] 1654705871.358252662 [zed2.zed_node] [INFO] Static transform Camera Center to Base [zed2_camera_center -> base_link] [zed_wrapper-2] 1654705871.358342938 [zed2.zed_node] [INFO] Translation: {-0.109,0.000,-0.397} [zed_wrapper-2] 1654705871.358389276 [zed2.zed_node] [INFO] Rotation: {0.000,-15.041,0.000} [zed_wrapper-2] 1654705871.458715270 [zed2.zed_node] [INFO] Initial ZED left camera pose (ZED pos. tracking): [zed_wrapper-2] 1654705871.459129080 [zed2.zed_node] [INFO] T: [0.208164,0.06,0.354663] [zed_wrapper-2] 1654705871.459296064 [zed2.zed_node] [INFO] * Q: [0,0.130878,0,0.991398] [zed_wrapper-2] 1654705871.478307962 [zed2.zed_node] [INFO] Odometry aligned to last tracking pose

Which clearly starts the position tracking.

ZED Camera model

ZED2

Environment

OS: nvidia l4t32.7
HardWare: Nvidia Jetson Xavier AGX
ZED SDK: 3.7
ROS version: Foxy
Running in docker image

Anything else?

No response

Myzhar commented 2 years ago

Hi @TwardzikTomas to disable positional tracking you must also set publish_tf to false.

Please note that with this configuration the TF tree is no more valid and you need other nodes to publish the required TF chain: map -> odom -> base_link -> <zed>_base_link

TwardzikTomas commented 2 years ago

Hello @Myzhar, thank you for your suggestion. Nevertheless, all the position tracking topics are still advertised and once you request any of the messages, the position tracking resumes its action, but with the caveat you have mentioned, the TF tree is disconnected.

On the other note, have you been able to reproduce depth disabling crash?

Myzhar commented 2 years ago

Not yet, I'm going to check the problem next week

TwardzikTomas commented 2 years ago

I have a minor update. Switching debug mode on, gives me following log before the crash:

[zed_wrapper-2] 1654866903.598805564 [zed2.zed_node] [INFO] Published static TF: 'zed2_imu_link' -> 'zed2_left_camera_frame' [zed_wrapper-2] 1654866903.609808227 [zed2.zed_node] [DEBUG] Grab thread started [zed_wrapper-2] 1654866903.615226804 [zed2.zed_node] [DEBUG] Sensors callback called [zed_wrapper-2] 1654866903.615446013 [zed2.zed_node] [DEBUG] Sensors callback: counting subscribers [zed_wrapper-2] 1654866903.616069817 [zed2.zed_node] [DEBUG] Sensors callback: Grab data and setup timestamps [zed_wrapper-2] 1654866903.620841292 [zed2.zed_node] [DEBUG] Video Depth callback called [ERROR] [zed_wrapper-2]: process has died [pid 12998, exit code -11, cmd '/code/ros2_ws/install/zed_wrapper/lib/zed_wrapper/zed_wrapper --ros-args -r __node:=zed_node -r __ns:=/zed2 --params-file /code/ros2_ws/install/zed_wrapper/share/zed_wrapper/config/common.yaml --params-file /code/ros2_ws/install/zed_wrapper/share/zed_wrapper/config/zed2.yaml --params-file /tmp/launch_params_9tbb9o12']

So it seems that the major issue might arise somewhere within the Video Depth CB.

Myzhar commented 2 years ago

It should not be created if the depth extraction is disabled. I noted this. Thank you

Myzhar commented 2 years ago

You can check the return value of this function to understand if the depth extraction is correctly disabled: https://github.com/stereolabs/zed-ros2-wrapper/blob/master/zed_components/src/zed_camera/src/zed_camera_component.cpp#L5117-L5146

Myzhar commented 2 years ago

Hi @TwardzikTomas I just pushed the test_no_depth branch that should fix the "no depth" behavior.

By setting depth/quality to 0 the depth extraction and all the sub-modules depending on it should be automatically correctly disabled by now.

Please test the branch and send me feedback. In case it will work as expected also for you I merge it into the master branch

Myzhar commented 2 years ago

@TwardzikTomas did you have the opportunity to test the fix?

TwardzikTomas commented 2 years ago

Hello, unfortunately I was not, I hope to get to it by the end of the week.

TwardzikTomas commented 2 years ago

Hello, I just came to work, so I'll get right on to it. I don't want to spam you at all, I just wanted to show that this is not a dead thread.

Myzhar commented 2 years ago

OK @TwardzikTomas I'm waiting for your feedback before merging the patch into the master branch

TwardzikTomas commented 2 years ago

Ok @Myzhar, the bug seems to be fixed. I reckon you can do the merge:]