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Missing Topics - Depth, RGB #83

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THLL245 opened this issue Mar 14, 2022 · 1 comment
Closed
2 tasks done

Missing Topics - Depth, RGB #83

THLL245 opened this issue Mar 14, 2022 · 1 comment
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@THLL245
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THLL245 commented Mar 14, 2022

Preliminary Checks

  • This issue is not a duplicate. Before opening a new issue, please search existing issues.
  • This issue is not a question, feature request, or anything other than a bug report directly related to this project.

Description

Similar to Issue
Zed2, ROS2, Jetson: Some topics output, but most do not. #56

Attempting to use rtab-mapping ros2, needed at least the following topics

rgb_topic:=/zed/zed_node/rgb/image_rect_color
depth_topic:=/zed/zed_node/depth/depth_registered
camera_info_topic:=/zed/zed_node/rgb/camera_info \

Came to realize when running the zed wrapper these topics are "published" but no data..
Confirmed this with echo and hz commands

Tried:
-Removed the image transports plugins
-Installed the image common (3.0.0)

Makes no difference

Steps to Reproduce

  1. Install wrapper
  2. Launch wrapper

...

Expected Result

Expected Depth and RGB topics to be publishing data

Actual Result

No data is being published

[INFO] [launch]: All log files can be found below /home/rover/.ros/log/2022-03-14-09-36-01-328772-rover-20481
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [20485]
[INFO] [zed_wrapper-2]: process started with pid [20487]
[robot_state_publisher-1] Parsing robot urdf xml string.
[robot_state_publisher-1] Link zed2i_base_link had 1 children
[robot_state_publisher-1] Link zed2i_camera_center had 2 children
[robot_state_publisher-1] Link zed2i_left_camera_frame had 1 children
[robot_state_publisher-1] Link zed2i_left_camera_optical_frame had 0 children
[robot_state_publisher-1] Link zed2i_right_camera_frame had 1 children
[robot_state_publisher-1] Link zed2i_right_camera_optical_frame had 0 children
[robot_state_publisher-1] 1647275761.840861982 [zed2i.zed_state_publisher] [INFO] got segment base_link
[robot_state_publisher-1] 1647275761.841068361 [zed2i.zed_state_publisher] [INFO] got segment zed2i_base_link
[robot_state_publisher-1] 1647275761.841122884 [zed2i.zed_state_publisher] [INFO] got segment zed2i_camera_center
[robot_state_publisher-1] 1647275761.841171775 [zed2i.zed_state_publisher] [INFO] got segment zed2i_left_camera_frame
[robot_state_publisher-1] 1647275761.841196956 [zed2i.zed_state_publisher] [INFO] got segment zed2i_left_camera_optical_frame
[robot_state_publisher-1] 1647275761.841220186 [zed2i.zed_state_publisher] [INFO] got segment zed2i_right_camera_frame
[robot_state_publisher-1] 1647275761.841241815 [zed2i.zed_state_publisher] [INFO] got segment zed2i_right_camera_optical_frame
[zed_wrapper-2] 1647275761.904305055 [zed2i.zed_node] [INFO] ********************************
[zed_wrapper-2] 1647275761.904577667 [zed2i.zed_node] [INFO] ZED Camera Component
[zed_wrapper-2] 1647275761.904635229 [zed2i.zed_node] [INFO] ********************************
[zed_wrapper-2] 1647275761.904685752 [zed2i.zed_node] [INFO] * namespace: /zed2i
[zed_wrapper-2] 1647275761.904710517 [zed2i.zed_node] [INFO] * node name: zed_node
[zed_wrapper-2] 1647275761.904731187 [zed2i.zed_node] [INFO] ********************************
[zed_wrapper-2] 1647275761.904769295 [zed2i.zed_node] [INFO] *** DEBUG parameters ***
[zed_wrapper-2] 1647275761.904865125 [zed2i.zed_node] [INFO] * Debug mode: FALSE
[zed_wrapper-2] 1647275761.904919072 [zed2i.zed_node] [INFO] *** GENERAL parameters ***
[zed_wrapper-2] 1647275761.905009110 [zed2i.zed_node] [INFO] * Camera model: zed2i - ZED 2i
[zed_wrapper-2] 1647275761.905081359 [zed2i.zed_node] [INFO] * SDK Verbose: 1
[zed_wrapper-2] 1647275761.905140265 [zed2i.zed_node] [INFO] * SVO: live
[zed_wrapper-2] 1647275761.905264860 [zed2i.zed_node] [INFO] * SVO Loop: FALSE
[zed_wrapper-2] 1647275761.905350867 [zed2i.zed_node] [INFO] * SVO Realtime: FALSE
[zed_wrapper-2] 1647275761.905412141 [zed2i.zed_node] [INFO] * Camera name: zed2i
[zed_wrapper-2] 1647275761.905478886 [zed2i.zed_node] [INFO] * Camera ID: 0
[zed_wrapper-2] 1647275761.905539232 [zed2i.zed_node] [INFO] * Camera SN: 0
[zed_wrapper-2] 1647275761.905598938 [zed2i.zed_node] [INFO] * Camera timeout [sec]: 5
[zed_wrapper-2] 1647275761.905674482 [zed2i.zed_node] [INFO] * Camera reconnection temptatives: 5
[zed_wrapper-2] 1647275761.905734508 [zed2i.zed_node] [INFO] * Camera framerate: 15
[zed_wrapper-2] 1647275761.905819011 [zed2i.zed_node] [INFO] * GPU ID: -1
[zed_wrapper-2] 1647275761.905924536 [zed2i.zed_node] [INFO] * Camera resolution: 2 - HD720
[zed_wrapper-2] 1647275761.905987378 [zed2i.zed_node] [INFO] * Camera self calibration: TRUE
[zed_wrapper-2] 1647275761.906043244 [zed2i.zed_node] [INFO] * Camera flip: FALSE
[zed_wrapper-2] 1647275761.906179358 [zed2i.zed_node] [INFO] * [DYN] Publish framerate [Hz]: 15
[zed_wrapper-2] 1647275761.906222490 [zed2i.zed_node] [INFO] *** VIDEO parameters ***
[zed_wrapper-2] 1647275761.906279636 [zed2i.zed_node] [INFO] * Use old extrinsic parameters: 0
[zed_wrapper-2] 1647275761.906334126 [zed2i.zed_node] [INFO] * [DYN] Image downsample factor: 1
[zed_wrapper-2] 1647275761.906399143 [zed2i.zed_node] [INFO] * [DYN] Brightness: 4
[zed_wrapper-2] 1647275761.906480639 [zed2i.zed_node] [INFO] * [DYN] Contrast: 4
[zed_wrapper-2] 1647275761.906571894 [zed2i.zed_node] [INFO] * [DYN] Hue: 0
[zed_wrapper-2] 1647275761.906651565 [zed2i.zed_node] [INFO] * [DYN] Saturation: 4
[zed_wrapper-2] 1647275761.906708456 [zed2i.zed_node] [INFO] * [DYN] Sharpness: 4
[zed_wrapper-2] 1647275761.906763362 [zed2i.zed_node] [INFO] * [DYN] Gamma: 8
[zed_wrapper-2] 1647275761.906817308 [zed2i.zed_node] [INFO] * [DYN] Auto Exposure/Gain: TRUE
[zed_wrapper-2] 1647275761.906871831 [zed2i.zed_node] [INFO] * [DYN] Exposure: 80
[zed_wrapper-2] 1647275761.906938992 [zed2i.zed_node] [INFO] * [DYN] Gain: 80
[zed_wrapper-2] 1647275761.907002761 [zed2i.zed_node] [INFO] * [DYN] Auto White Balance: TRUE
[zed_wrapper-2] 1647275761.907095808 [zed2i.zed_node] [INFO] * [DYN] White Balance Temperature: 42
[zed_wrapper-2] 1647275761.907199573 [zed2i.zed_node] [INFO] * Video QoS History: KEEP_LAST
[zed_wrapper-2] 1647275761.907254255 [zed2i.zed_node] [INFO] * Video QoS History depth: 1
[zed_wrapper-2] 1647275761.907310698 [zed2i.zed_node] [INFO] * Video QoS Reliability: RELIABLE
[zed_wrapper-2] 1647275761.907378499 [zed2i.zed_node] [INFO] * Video QoS Durability: VOLATILE
[zed_wrapper-2] 1647275761.907405632 [zed2i.zed_node] [INFO] *** DEPTH parameters ***
[zed_wrapper-2] 1647275761.907467258 [zed2i.zed_node] [INFO] * Depth quality: 4 - NEURAL
[zed_wrapper-2] 1647275761.907525428 [zed2i.zed_node] [INFO] * Depth downsample factor: 1
[zed_wrapper-2] 1647275761.907601132 [zed2i.zed_node] [INFO] * Min depth [m]: 0.3
[zed_wrapper-2] 1647275761.907685667 [zed2i.zed_node] [INFO] * Max depth [m]: 20
[zed_wrapper-2] 1647275761.907767739 [zed2i.zed_node] [INFO] * Depth Sensing Mode: 0 - STANDARD
[zed_wrapper-2] 1647275761.907850898 [zed2i.zed_node] [INFO] * Depth Stabilization: TRUE
[zed_wrapper-2] 1647275761.907904045 [zed2i.zed_node] [INFO] * OpenNI mode (16bit point cloud): FALSE
[zed_wrapper-2] 1647275761.907961223 [zed2i.zed_node] [INFO] * [DYN] Point cloud rate [Hz]: 10
[zed_wrapper-2] 1647275761.908015905 [zed2i.zed_node] [INFO] * [DYN] Depth Confidence: 30
[zed_wrapper-2] 1647275761.908074907 [zed2i.zed_node] [INFO] * [DYN] Depth Texture Confidence: 100
[zed_wrapper-2] 1647275761.908142484 [zed2i.zed_node] [INFO] * [DYN] Remove saturated areas: TRUE
[zed_wrapper-2] 1647275761.908194479 [zed2i.zed_node] [INFO] * Depth QoS History: KEEP_LAST
[zed_wrapper-2] 1647275761.908268679 [zed2i.zed_node] [INFO] * Depth QoS History depth: 1
[zed_wrapper-2] 1647275761.908411704 [zed2i.zed_node] [INFO] * Depth QoS Reliability: RELIABLE
[zed_wrapper-2] 1647275761.908467923 [zed2i.zed_node] [INFO] * Depth QoS Durability: VOLATILE
[zed_wrapper-2] 1647275761.908496016 [zed2i.zed_node] [INFO] *** POSITIONAL TRACKING parameters ***
[zed_wrapper-2] 1647275761.908566504 [zed2i.zed_node] [INFO] * Positional tracking enabled: TRUE
[zed_wrapper-2] 1647275761.908628962 [zed2i.zed_node] [INFO] * Base frame id: base_link
[zed_wrapper-2] 1647275761.908686428 [zed2i.zed_node] [INFO] * Map frame id: map
[zed_wrapper-2] 1647275761.908743094 [zed2i.zed_node] [INFO] * Odometry frame id: odom
[zed_wrapper-2] 1647275761.908801936 [zed2i.zed_node] [INFO] * Broadcast Odometry TF: TRUE
[zed_wrapper-2] 1647275761.908863754 [zed2i.zed_node] [INFO] * Broadcast Pose TF: TRUE
[zed_wrapper-2] 1647275761.908939650 [zed2i.zed_node] [INFO] * Broadcast Static IMU TF [not for ZED]: TRUE
[zed_wrapper-2] 1647275761.909004155 [zed2i.zed_node] [INFO] * [DYN] Path publishing rate: 2
[zed_wrapper-2] 1647275761.909060374 [zed2i.zed_node] [INFO] * Path history lenght: -1
[zed_wrapper-2] 1647275761.909125455 [zed2i.zed_node] [INFO] * Initial pose: [0,0,0,0,0,0,]
[zed_wrapper-2] 1647275761.909223269 [zed2i.zed_node] [INFO] * Area Memory: TRUE
[zed_wrapper-2] 1647275761.909299741 [zed2i.zed_node] [INFO] * Area Memory DB:
[zed_wrapper-2] 1647275761.909358615 [zed2i.zed_node] [INFO] * IMU Fusion [not for ZED]: TRUE
[zed_wrapper-2] 1647275761.909416465 [zed2i.zed_node] [INFO] * Floor Alignment: FALSE
[zed_wrapper-2] 1647275761.909474379 [zed2i.zed_node] [INFO] * Init Odometry with first valid pose data: TRUE
[zed_wrapper-2] 1647275761.909532037 [zed2i.zed_node] [INFO] * 2D mode: FALSE
[zed_wrapper-2] 1647275761.909600286 [zed2i.zed_node] [INFO] * Pose/Odometry QoS History: KEEP_LAST
[zed_wrapper-2] 1647275761.909651385 [zed2i.zed_node] [INFO] * Pose/Odometry QoS History depth: 1
[zed_wrapper-2] 1647275761.909706643 [zed2i.zed_node] [INFO] * Pose/Odometry QoS Reliability: RELIABLE
[zed_wrapper-2] 1647275761.909819687 [zed2i.zed_node] [INFO] * Pose/Odometry QoS Durability: VOLATILE
[zed_wrapper-2] 1647275761.909851460 [zed2i.zed_node] [INFO] *** SENSORS STACK parameters ***
[zed_wrapper-2] 1647275761.909907102 [zed2i.zed_node] [INFO] * Sensors Camera Sync: FALSE
[zed_wrapper-2] 1647275761.909986198 [zed2i.zed_node] [INFO] * Sensors publishing rate: 200 Hz
[zed_wrapper-2] 1647275761.910041585 [zed2i.zed_node] [INFO] * Sensors QoS History: KEEP_LAST
[zed_wrapper-2] 1647275761.910142278 [zed2i.zed_node] [INFO] * Sensors QoS History depth: 1
[zed_wrapper-2] 1647275761.910233981 [zed2i.zed_node] [INFO] * Sensors QoS Reliability: RELIABLE
[zed_wrapper-2] 1647275761.910309237 [zed2i.zed_node] [INFO] * Sensors QoS Durability: VOLATILE
[zed_wrapper-2] 1647275761.910337714 [zed2i.zed_node] [INFO] *** Spatial Mapping parameters ***
[zed_wrapper-2] 1647275761.910391053 [zed2i.zed_node] [INFO] * Spatial Mapping Enabled: FALSE
[zed_wrapper-2] 1647275761.910470916 [zed2i.zed_node] [INFO] * Spatial Mapping resolution [m]: 0.1
[zed_wrapper-2] 1647275761.910536190 [zed2i.zed_node] [INFO] * 3D Max Mapping range [m]: 20
[zed_wrapper-2] 1647275761.910598487 [zed2i.zed_node] [INFO] * Map publishing rate [Hz]: 0.5
[zed_wrapper-2] 1647275761.910651122 [zed2i.zed_node] [INFO] * Sensors QoS History: KEEP_LAST
[zed_wrapper-2] 1647275761.910700301 [zed2i.zed_node] [INFO] * Sensors QoS History depth: 1
[zed_wrapper-2] 1647275761.910815233 [zed2i.zed_node] [INFO] * Sensors QoS Reliability: RELIABLE
[zed_wrapper-2] 1647275761.910900568 [zed2i.zed_node] [INFO] * Sensors QoS Durability: VOLATILE
[zed_wrapper-2] 1647275761.910950963 [zed2i.zed_node] [INFO] *** OBJECT DETECTION parameters ***
[zed_wrapper-2] 1647275761.911006573 [zed2i.zed_node] [INFO] * Object Detection enabled: FALSE
[zed_wrapper-2] 1647275761.911070183 [zed2i.zed_node] [INFO] * OD min. confidence: 50
[zed_wrapper-2] 1647275761.911129921 [zed2i.zed_node] [INFO] * OD tracking: TRUE
[zed_wrapper-2] 1647275761.911193754 [zed2i.zed_node] [INFO] * Object Detection model: 0 - MULTI CLASS BOX FAST
[zed_wrapper-2] 1647275761.911302575 [zed2i.zed_node] [INFO] * Object Filtering mode: 1 - NMS 3D
[zed_wrapper-2] 1647275761.911379687 [zed2i.zed_node] [INFO] * MultiClassBox people: TRUE
[zed_wrapper-2] 1647275761.911467710 [zed2i.zed_node] [INFO] * MultiClassBox vehicles: TRUE
[zed_wrapper-2] 1647275761.911558197 [zed2i.zed_node] [INFO] * MultiClassBox bags: TRUE
[zed_wrapper-2] 1647275761.911636237 [zed2i.zed_node] [INFO] * MultiClassBox animals: TRUE
[zed_wrapper-2] 1647275761.911691655 [zed2i.zed_node] [INFO] * MultiClassBox electronics: TRUE
[zed_wrapper-2] 1647275761.911749089 [zed2i.zed_node] [INFO] * MultiClassBox fruits and vegetables: TRUE
[zed_wrapper-2] 1647275761.911807867 [zed2i.zed_node] [INFO] * MultiClassBox sport-related objects: TRUE
[zed_wrapper-2] 1647275761.911934382 [zed2i.zed_node] [INFO] * Body format: 1 - POSE_34
[zed_wrapper-2] 1647275761.911965611 [zed2i.zed_node] [INFO] * Skeleton fitting: TRUE (forced by object_detection.body_format)
[zed_wrapper-2] 1647275761.912016357 [zed2i.zed_node] [INFO] * Obj. Det. QoS History: KEEP_LAST
[zed_wrapper-2] 1647275761.912109820 [zed2i.zed_node] [INFO] * Obj. Det. QoS History depth: 1
[zed_wrapper-2] 1647275761.912185076 [zed2i.zed_node] [INFO] * Obj. Det. QoS Reliability: RELIABLE
[zed_wrapper-2] 1647275761.912248078 [zed2i.zed_node] [INFO] * Obj. Det. QoS Durability: VOLATILE
[zed_wrapper-2] 1647275761.912426363 [zed2i.zed_node] [INFO] *** SERVICES ***
[zed_wrapper-2] 1647275761.913661468 [zed2i.zed_node] [INFO] * '/zed2i/zed_node/reset_odometry'
[zed_wrapper-2] 1647275761.914379442 [zed2i.zed_node] [INFO] * '/zed2i/zed_node/reset_pos_tracking'
[zed_wrapper-2] 1647275761.915595669 [zed2i.zed_node] [INFO] * '/zed2i/zed_node/set_pose'
[zed_wrapper-2] 1647275761.916394691 [zed2i.zed_node] [INFO] * '/zed2i/zed_node/enable_obj_det'
[zed_wrapper-2] 1647275761.916972999 [zed2i.zed_node] [INFO] * '/zed2i/zed_node/enable_mapping'
[zed_wrapper-2] 1647275761.917726522 [zed2i.zed_node] [INFO] * '/zed2i/zed_node/start_svo_rec'
[zed_wrapper-2] 1647275761.918345210 [zed2i.zed_node] [INFO] * '/zed2i/zed_node/stop_svo_rec'
[zed_wrapper-2] 1647275761.918919103 [zed2i.zed_node] [INFO] * '/zed2i/zed_node/toggle_svo_pause'
[zed_wrapper-2] 1647275761.918966650 [zed2i.zed_node] [INFO] ***** STARTING CAMERA *****
[zed_wrapper-2] 1647275761.919005046 [zed2i.zed_node] [INFO] SDK Version: 3.7.0 - Build 40976_c89a574c
[zed_wrapper-2] 1647275761.924083084 [zed2i.zed_node] [INFO] *** CAMERA OPENING ***
[zed_wrapper-2] [ZED][INFO] Logging level INFO
[zed_wrapper-2] [ZED][INFO] [Init] Depth mode: NEURAL
[zed_wrapper-2] [ZED][ERROR] [ZED] A ZED camera has been detected but the sensors device has failed to open. Please try to unplug/plug the camera again.
[zed_wrapper-2] [ZED][INFO] [Init] Failed to open camera. Trying to re-open for 5 seconds.
[zed_wrapper-2] [ZED][INFO] [Init] Random wait interval before consecutive openings: [250], [1500] msec.
[zed_wrapper-2] [ZED][INFO] [Init] Waiting 1079 msec before next opening attempt.
[zed_wrapper-2] [ZED][INFO] [Init] Trying to force a device reboot to recover the video module.
[zed_wrapper-2] [ZED][INFO] [Init] Timeout in 682msec
[zed_wrapper-2] [ZED][INFO] [Init] Opening Camera. Attempt #2
[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: HD720@15
[zed_wrapper-2] 1647275771.171513009 [zed2i.zed_node] [INFO] ZED SDK running on GPU #0
[zed_wrapper-2] 1647275771.173876958 [zed2i.zed_node] [INFO] * Camera Model -> ZED 2i
[zed_wrapper-2] 1647275771.174014384 [zed2i.zed_node] [INFO] * Serial Number -> 35434633
[zed_wrapper-2] 1647275771.174354509 [zed2i.zed_node] [INFO] * Input type -> USB input type
[zed_wrapper-2] 1647275771.174517404 [zed2i.zed_node] [INFO] * Camera FW Version -> 1523
[zed_wrapper-2] 1647275771.174597780 [zed2i.zed_node] [INFO] * Sensors FW Version -> 777
[zed_wrapper-2] 1647275771.174859353 [zed2i.zed_node] [INFO] *** TF FRAMES ***
[zed_wrapper-2] 1647275771.174915539 [zed2i.zed_node] [INFO] * Map -> map
[zed_wrapper-2] 1647275771.174996811 [zed2i.zed_node] [INFO] * Odometry -> odom
[zed_wrapper-2] 1647275771.175297484 [zed2i.zed_node] [INFO] * Base -> base_link
[zed_wrapper-2] 1647275771.175373124 [zed2i.zed_node] [INFO] * Camera -> zed2i_camera_center
[zed_wrapper-2] 1647275771.175420096 [zed2i.zed_node] [INFO] * Left -> zed2i_left_camera_frame
[zed_wrapper-2] 1647275771.175454940 [zed2i.zed_node] [INFO] * Left Optical -> zed2i_left_camera_optical_frame
[zed_wrapper-2] 1647275771.175487385 [zed2i.zed_node] [INFO] * RGB -> zed2i_left_camera_frame
[zed_wrapper-2] 1647275771.175542483 [zed2i.zed_node] [INFO] * RGB Optical -> zed2i_left_camera_frame
[zed_wrapper-2] 1647275771.175577263 [zed2i.zed_node] [INFO] * Right -> zed2i_right_camera_frame
[zed_wrapper-2] 1647275771.175609196 [zed2i.zed_node] [INFO] * Right Optical -> zed2i_right_camera_optical_frame
[zed_wrapper-2] 1647275771.175641353 [zed2i.zed_node] [INFO] * Depth -> zed2i_left_camera_frame
[zed_wrapper-2] 1647275771.175671334 [zed2i.zed_node] [INFO] * Depth Optical -> zed2i_left_camera_optical_frame
[zed_wrapper-2] 1647275771.175806104 [zed2i.zed_node] [INFO] * Point Cloud -> zed2i_left_camera_optical_frame
[zed_wrapper-2] 1647275771.175854611 [zed2i.zed_node] [INFO] * Disparity -> zed2i_left_camera_frame
[zed_wrapper-2] 1647275771.175935563 [zed2i.zed_node] [INFO] * Disparity Optical -> zed2i_left_camera_optical_frame
[zed_wrapper-2] 1647275771.176008195 [zed2i.zed_node] [INFO] * Confidence -> zed2i_left_camera_frame
[zed_wrapper-2] 1647275771.176042400 [zed2i.zed_node] [INFO] * Confidence Optical -> zed2i_left_camera_optical_frame
[zed_wrapper-2] 1647275771.176076988 [zed2i.zed_node] [INFO] * IMU -> zed2i_imu_link
[zed_wrapper-2] 1647275771.176125463 [zed2i.zed_node] [INFO] * Barometer -> zed2i_camera_center
[zed_wrapper-2] 1647275771.176159923 [zed2i.zed_node] [INFO] * Magnetometer -> zed2i_imu_link
[zed_wrapper-2] 1647275771.176205263 [zed2i.zed_node] [INFO] * Left Temperature -> zed2i_left_camera_frame
[zed_wrapper-2] 1647275771.176238635 [zed2i.zed_node] [INFO] * Right Temperature -> zed2i_right_camera_frame
[zed_wrapper-2] 1647275771.176308804 [zed2i.zed_node] [INFO] *** PUBLISHED TOPICS ***
[zed_wrapper-2] 1647275771.443806248 [zed2i.zed_node] [INFO] Advertised on topic: /zed2i/zed_node/rgb/image_rect_color
[zed_wrapper-2] 1647275771.445267633 [zed2i.zed_node] [INFO] Advertised on topic: /zed2i/zed_node/rgb/image_rect_gray
[zed_wrapper-2] 1647275771.445408387 [zed2i.zed_node] [INFO] Advertised on topic: /zed2i/zed_node/rgb/camera_info
[zed_wrapper-2] 1647275771.446924359 [zed2i.zed_node] [INFO] Advertised on topic: /zed2i/zed_node/rgb_raw/image_raw_color
[zed_wrapper-2] 1647275771.448356276 [zed2i.zed_node] [INFO] Advertised on topic: /zed2i/zed_node/rgb_raw/image_raw_gray
[zed_wrapper-2] 1647275771.448418125 [zed2i.zed_node] [INFO] Advertised on topic: /zed2i/zed_node/rgb_raw/camera_info
[zed_wrapper-2] 1647275771.449657166 [zed2i.zed_node] [INFO] Advertised on topic: /zed2i/zed_node/left/image_rect_color
[zed_wrapper-2] 1647275771.450853683 [zed2i.zed_node] [INFO] Advertised on topic: /zed2i/zed_node/left/image_rect_gray
[zed_wrapper-2] 1647275771.450932683 [zed2i.zed_node] [INFO] Advertised on topic: /zed2i/zed_node/left/camera_info
[zed_wrapper-2] 1647275771.453379503 [zed2i.zed_node] [INFO] Advertised on topic: /zed2i/zed_node/left_raw/image_raw_color
[zed_wrapper-2] 1647275771.454854135 [zed2i.zed_node] [INFO] Advertised on topic: /zed2i/zed_node/left_raw/image_raw_gray
[zed_wrapper-2] 1647275771.454930959 [zed2i.zed_node] [INFO] Advertised on topic: /zed2i/zed_node/left_raw/camera_info
[zed_wrapper-2] 1647275771.456219787 [zed2i.zed_node] [INFO] Advertised on topic: /zed2i/zed_node/right/image_rect_color
[zed_wrapper-2] 1647275771.457360086 [zed2i.zed_node] [INFO] Advertised on topic: /zed2i/zed_node/right/image_rect_gray
[zed_wrapper-2] 1647275771.457419727 [zed2i.zed_node] [INFO] Advertised on topic: /zed2i/zed_node/right/camera_info
[zed_wrapper-2] 1647275771.458576280 [zed2i.zed_node] [INFO] Advertised on topic: /zed2i/zed_node/right_raw/image_raw_color
[zed_wrapper-2] 1647275771.459798075 [zed2i.zed_node] [INFO] Advertised on topic: /zed2i/zed_node/right_raw/image_raw_gray
[zed_wrapper-2] 1647275771.459843446 [zed2i.zed_node] [INFO] Advertised on topic: /zed2i/zed_node/right_raw/camera_info
[zed_wrapper-2] 1647275771.461228360 [zed2i.zed_node] [INFO] Advertised on topic: /zed2i/zed_node/depth/depth_registered
[zed_wrapper-2] 1647275771.461310847 [zed2i.zed_node] [INFO] Advertised on topic: /zed2i/zed_node/depth/camera_info
[zed_wrapper-2] 1647275771.461975227 [zed2i.zed_node] [INFO] Advertised on topic: /zed2i/zed_node/depth/depth_info
[zed_wrapper-2] 1647275771.462947479 [zed2i.zed_node] [INFO] Advertised on topic: /zed2i/zed_node/stereo/image_rect_color
[zed_wrapper-2] 1647275771.463954895 [zed2i.zed_node] [INFO] Advertised on topic: /zed2i/zed_node/stereo_raw/image_raw_color
[zed_wrapper-2] 1647275771.464448668 [zed2i.zed_node] [INFO] Advertised on topic: /zed2i/zed_node/confidence/confidence_map
[zed_wrapper-2] 1647275771.465672990 [zed2i.zed_node] [INFO] Advertised on topic: /zed2i/zed_node/disparity/disparity_image
[zed_wrapper-2] 1647275771.466361208 [zed2i.zed_node] [INFO] Advertised on topic: /zed2i/zed_node/point_cloud/cloud_registered
[zed_wrapper-2] 1647275771.467206081 [zed2i.zed_node] [INFO] Advertised on topic: /zed2i/zed_node/pose
[zed_wrapper-2] 1647275771.467954740 [zed2i.zed_node] [INFO] Advertised on topic: /zed2i/zed_node/pose_with_covariance
[zed_wrapper-2] 1647275771.469117468 [zed2i.zed_node] [INFO] Advertised on topic: /zed2i/zed_node/odom
[zed_wrapper-2] 1647275771.469825811 [zed2i.zed_node] [INFO] Advertised on topic: /zed2i/zed_node/path_map
[zed_wrapper-2] 1647275771.470363644 [zed2i.zed_node] [INFO] Advertised on topic: /zed2i/zed_node/path_odom
[zed_wrapper-2] 1647275771.471017529 [zed2i.zed_node] [INFO] Advertised on topic: /zed2i/zed_node/imu/data
[zed_wrapper-2] 1647275771.471611548 [zed2i.zed_node] [INFO] Advertised on topic: /zed2i/zed_node/imu/data_raw
[zed_wrapper-2] 1647275771.472388076 [zed2i.zed_node] [INFO] Advertised on topic: /zed2i/zed_node/temperature/imu
[zed_wrapper-2] 1647275771.472987694 [zed2i.zed_node] [INFO] Advertised on topic: /zed2i/zed_node/imu/mag
[zed_wrapper-2] 1647275771.473716291 [zed2i.zed_node] [INFO] Advertised on topic: /zed2i/zed_node/atm_press
[zed_wrapper-2] 1647275771.474227439 [zed2i.zed_node] [INFO] Advertised on topic: /zed2i/zed_node/temperature/left
[zed_wrapper-2] 1647275771.475979610 [zed2i.zed_node] [INFO] Advertised on topic: /zed2i/zed_node/temperature/right
[zed_wrapper-2] 1647275771.476752011 [zed2i.zed_node] [INFO] Advertised on topic: /zed2i/zed_node/left_cam_imu_transform [LATCHED]
[zed_wrapper-2] 1647275771.476794726 [zed2i.zed_node] [INFO] Camera-IMU Translation:
[zed_wrapper-2] -0.002 -0.023 0.00022
[zed_wrapper-2] 1647275771.476868063 [zed2i.zed_node] [INFO] Camera-IMU Rotation:
[zed_wrapper-2] 7FCE259790
[zed_wrapper-2] 0.999981 0.005233 -0.003289
[zed_wrapper-2] -0.005228 0.999985 0.001664
[zed_wrapper-2] 0.003298 -0.001647 0.999993
[zed_wrapper-2]
[zed_wrapper-2] 1647275771.477020431 [zed2i.zed_node] [INFO] Published static TF: 'zed2i_imu_link' -> 'zed2i_left_camera_frame'
[zed_wrapper-2] 1647275772.227429256 [zed2i.zed_node] [INFO] Static transform Sensor to Base [zed2i_left_camera_frame -> base_link]
[zed_wrapper-2] 1647275772.228787676 [zed2i.zed_node] [INFO] * Translation: {0.000,-0.060,-0.015}
[zed_wrapper-2] 1647275772.229449944 [zed2i.zed_node] [INFO] * Rotation: {0.000,-0.000,0.000}
[zed_wrapper-2] 1647275772.230185132 [zed2i.zed_node] [INFO] Static transform Sensor to Camera Center [zed2i_left_camera_frame -> zed2i_camera_center]
[zed_wrapper-2] 1647275772.230846376 [zed2i.zed_node] [INFO] * Translation: {0.000,-0.060,0.000}
[zed_wrapper-2] 1647275772.232494751 [zed2i.zed_node] [INFO] * Rotation: {0.000,-0.000,0.000}
[zed_wrapper-2] 1647275772.233143516 [zed2i.zed_node] [INFO] Static transform Camera Center to Base [zed2i_camera_center -> base_link]
[zed_wrapper-2] 1647275772.233771035 [zed2i.zed_node] [INFO] * Translation: {0.000,0.000,-0.015}
[zed_wrapper-2] 1647275772.234399419 [zed2i.zed_node] [INFO] * Rotation: {0.000,-0.000,0.000}
[zed_wrapper-2] 1647275772.265398694 [zed2i.zed_node] [INFO] *** Starting Positional Tracking ***
[zed_wrapper-2] 1647275772.265537080 [zed2i.zed_node] [INFO] * Waiting for valid static transformations...
[zed_wrapper-2] 1647275772.365717239 [zed2i.zed_node] [INFO] Initial ZED left camera pose (ZED pos. tracking):
[zed_wrapper-2] 1647275772.365839754 [zed2i.zed_node] [INFO] * T: [0,0.06,0.015]
[zed_wrapper-2] 1647275772.365890469 [zed2i.zed_node] [INFO] * Q: [0,0,0,1]
[zed_wrapper-2] 1647275772.763740296 [zed2i.zed_node] [INFO] Odometry aligned to last tracking pose

ZED Camera model

ZED2i

Environment

Ubuntu 20.04
Jetson Xaiver AGX
ROS2 Foxy
ZED SDK JP45 3.7
(No dockers being used)

Anything else?

No response

@THLL245 THLL245 added the bug Something isn't working label Mar 14, 2022
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THLL245 commented Mar 15, 2022

Recompiled after cleaning colcon space then everything worked

@THLL245 THLL245 closed this as completed Mar 15, 2022
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