zed-ros2-wrapper
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stereolabs
Disabling depth causes the right image to not publish. The image and camera_info of the right camera are not being published
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Description
I had a problem disabling the depth parameter. Disabling depth caused zed_wrapper to crash. This issue was fixed by downloading the new version from the repository.
However, now I encounter another error. When I disable depth, the camera_info and image topics are not being published.
Here is the my "common.yaml" file:
ros__parameters:
general:
svo_file: "" # usually overwritten by launch file
svo_loop: false # Enable loop mode when using an SVO as input source
svo_realtime: false # if true SVO will be played trying to respect the original framerate eventually skipping frames, otherwise every frame will be processed respecting the `pub_frame_rate` setting
camera_timeout_sec: 5
camera_max_reconnect: 5
camera_flip: false
zed_id: 0
serial_number: 0
resolution: 2 # '0': HD2K, '1': HD1080, '2': HD720, '3': VGA
sdk_verbose: true
grab_frame_rate: 15 # ZED SDK internal grabbing rate
pub_frame_rate: 15.0 # [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: 0.5 # 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: 2 # '1': TRANSIENT_LOCAL - '2': VOLATILE
depth:
quality: 0 # '0': NONE, '1': PERFORMANCE, '2': QUALITY, '3': ULTRA - '4': NEURAL - 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: 1.0 # 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: 10.0 # [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: false # True to enable positional tracking from start
publish_tf: false # publish `odom -> base_link` TF
publish_map_tf: false # publish `map -> odom` TF
base_frame: "base_link" # use the same name as in the URDF file
map_frame: "map"
odometry_frame: "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: false # Enable to initialize the odometry with the first valid pose
path_pub_rate: 2.0 # [DYNAMIC] - Camera trajectory publishing frequency
path_max_count: -1 # 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: 2 # '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: 0.5 # frequency of the publishing of the fused colored point cloud
clicked_point_topic: "/clicked_point" # Topic published by Rviz when a point of the cloud is clicked. Used for plane detection
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
debug:
debug_mode: false
debug_sensors: false
and here is "zed2.yaml":
ros__parameters:
general:
camera_model: 'zed2'
camera_name: 'zed2'
depth:
min_depth: 0.2 # 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: 1 # 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: true # 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: 1 # '1': RELIABLE - '2': BEST_EFFORT
qos_durability: 2 # '1': TRANSIENT_LOCAL - '2': VOLATILE
Steps to Reproduce
- Install Ros2 foxy in a Jetson nano, Ubuntu 18.04, from source.
- Install/compile Zed_ros2_wrapper and its dependences from source / repository
- Install image_common v3.0.0
- launch zed wrapper with "ros2 launch zed_wrapper zed2.launch.py" ...
Expected Result
The images and camera_info of both camera being published
Actual Result
Left camera
desktop:~$ ros2 topic echo /zed2/zed_node/left/image_rect_color header: stamp: sec: 1660251822 nanosec: 19731453 frame_id: zed2_left_camera_optical_frame height: 360 width: 640 encoding: bgra8 is_bigendian: 0 step: 2560 data:
- 69
- 82
- 84
- 255
- 71 .............
desktop:~$ ros2 topic echo /zed2/zed_node/left/camera_info header: stamp: sec: 1660252940 nanosec: 317953453 frame_id: '' height: 360 width: 640 distortion_model: plumb_bob d:
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0 k:
- 269.8431091308594
- 0.0
- 307.20635986328125
- 0.0
- 269.8431091308594
- 173.54483032226562
- 0.0
- 0.0
- 1.0 r:
- 1.0
- 0.0
- 0.0
- 0.0
- 1.0
- 0.0
- 0.0
- 0.0
- 1.0 p:
- 269.8431091308594
- 0.0
- 307.20635986328125
- 0.0
- 0.0
- 269.8431091308594
- 173.54483032226562
- 0.0
- 0.0
- 0.0
- 1.0
- 0.0 binning_x: 0 binning_y: 0 roi: x_offset: 0 y_offset: 0 height: 0 width: 0 do_rectify: false
Right camera
desktop:~ros2 topic echo /zed2/zed_node/right/image_rect_color
desktop:~$ ros2 topic echo /zed2/zed_node/right/camera_info
(do not show anything)
ZED Camera model
ZED2
Environment
OS: nvidia l4t32.7.1
HardWare: Nvidia Jetson Nano
ZED SDK: 3.7
ROS version: Foxy
Anything else?
No response
