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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
...
Expected Depth and RGB topics to be publishing data
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
object_detection.body_format
ZED2i
Ubuntu 20.04 Jetson Xaiver AGX ROS2 Foxy ZED SDK JP45 3.7 (No dockers being used)
No response
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Preliminary Checks
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
...
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
Anything else?
No response
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