Spatial Mapping Fused Point Cloud Not Populating

[liamcarlos]

Preliminary Checks

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

Description

Hello there, I've trying to use the spatial mapping feature with my ZED One by making a service call to ~/enable_mapping but it doesn't seem to be working.

Steps to Reproduce

1. Run rviz display launch file:

ros2 launch zed_display_rviz2 display_zed_cam.launch.py camera_model:=zed

2. Make service call to enable mapping:

ros2 service call /zed/zed_node/enable_mapping std_srvs/srv/SetBool data:\ true\

Expected Result

I expected to see the ~/fused_cloud pointcloud topic populate and show feedback in RViz

Actual Result

Instead, nothing appears in RViz, the service call responds with:

waiting for service to become available...
requester: making request: std_srvs.srv.SetBool_Request(data=True)

response:
std_srvs.srv.SetBool_Response(success=True, message='Spatial Mapping started')

and when ~/fused_cloud is echoed the data field remains empty:

---
header:
  stamp:
    sec: 0
    nanosec: 0
  frame_id: map
height: 1
width: 0
fields:
- name: x
  offset: 0
  datatype: 7
  count: 1
- name: y
  offset: 4
  datatype: 7
  count: 1
- name: z
  offset: 8
  datatype: 7
  count: 1
- name: rgb
  offset: 12
  datatype: 7
  count: 1
is_bigendian: false
point_step: 16
row_step: 0
data: []
is_dense: false
---

ZED Camera model

ZED

Environment

OS: Ubuntu 22.04 Jammy
CPU: x86_64
GPU: Nvidia GA106 [RTX A2000 12GB]
ZED SDK version: v4.2.1
Other info: ROS Iron

Anything else?

The spatial_mapping.py sample that comes with the ZED SDK works fine.