I’m trying to get floor alignment to work to no avail. When I launch default rviz visualization roslaunch zed_display_rviz display_zed2.launch I get global status error saying that [map] frame does not exist. I know I can switch to base_link and visualize the point cloud. However this is not what I’m after. I need camera to correctly detect floor plane and provide transform from base_link or camera_center to map (using odometry). I’m a little confused on why default RViz example does not provide map or odom tf publishers.
I enabled floor alignment in params/zed2.yaml file and this is the console output:
[ INFO] [1636650035.554796016]: Initializing nodelet with 16 worker threads.
[ INFO] [1636650035.563932727]: ********** Starting nodelet '/zed2/zed_node' **********
[ INFO] [1636650035.563974480]: SDK version : 3.6.1
[ INFO] [1636650035.564014605]: *** GENERAL PARAMETERS ***
[ INFO] [1636650035.564302738]: * Camera Name -> zed2
[ INFO] [1636650035.564652849]: * Camera Resolution -> HD720
[ INFO] [1636650035.564939580]: * Camera Grab Framerate -> 30
[ INFO] [1636650035.565116067]: * Gpu ID -> -1
[ INFO] [1636650035.565348882]: * Camera ID -> -1
[ INFO] [1636650035.565576127]: * Verbose -> DISABLED
[ INFO] [1636650035.566028060]: * Camera Flip -> DISABLED
[ INFO] [1636650035.566423521]: * Self calibration -> ENABLED
[ INFO] [1636650035.566781965]: * Camera Model by param -> zed2
[ INFO] [1636650035.566793136]: *** VIDEO PARAMETERS ***
[ INFO] [1636650035.566990274]: * Image resample factor -> 1
[ INFO] [1636650035.567155647]: * Extrinsic param. frame -> X RIGHT - Y DOWN - Z FWD
[ INFO] [1636650035.567166681]: *** DEPTH PARAMETERS ***
[ INFO] [1636650035.567330357]: * Depth quality -> PERFORMANCE
[ INFO] [1636650035.567494115]: * Depth Sensing mode -> STANDARD
[ INFO] [1636650035.567660128]: * OpenNI mode -> DISABLED
[ INFO] [1636650035.567826199]: * Depth Stabilization -> ENABLED
[ INFO] [1636650035.567994944]: * Minimum depth -> 0.3 m
[ INFO] [1636650035.568161899]: * Maximum depth -> 20 m
[ INFO] [1636650035.568328525]: * Depth resample factor -> 1
[ INFO] [1636650035.568339276]: *** POSITIONAL TRACKING PARAMETERS ***
[ INFO] [1636650035.568645606]: * Positional tracking -> ENABLED
[ INFO] [1636650035.568807786]: * Path rate -> 2 Hz
[ INFO] [1636650035.568967792]: * Path history size -> 1
[ INFO] [1636650035.569291448]: * Odometry DB path ->
[ INFO] [1636650035.569588701]: * Spatial Memory -> ENABLED
[ INFO] [1636650035.569882537]: * IMU Fusion -> ENABLED
[ INFO] [1636650035.570176120]: * Floor alignment -> ENABLED
[ INFO] [1636650035.570470349]: * Init Odometry with first valid pose data -> ENABLED
[ INFO] [1636650035.570762522]: * Two D mode -> DISABLED
[ INFO] [1636650035.571056668]: *** MAPPING PARAMETERS ***
[ INFO] [1636650035.571396395]: * Mapping -> DISABLED
[ INFO] [1636650035.571407028]: *** OBJECT DETECTION PARAMETERS ***
[ INFO] [1636650035.571729886]: * Object Detection -> DISABLED
[ INFO] [1636650035.571739760]: *** SENSORS PARAMETERS ***
[ INFO] [1636650035.571922162]: * Sensors timestamp sync -> DISABLED
[ INFO] [1636650035.571931508]: *** SVO PARAMETERS ***
[ INFO] [1636650035.572290630]: * SVO input file: ->
[ INFO] [1636650035.572512257]: * SVO REC compression -> H265 (HEVC)
[ INFO] [1636650035.572807666]: *** COORDINATE FRAMES ***
[ INFO] [1636650035.573978463]: * map_frame -> map
[ INFO] [1636650035.573990033]: * odometry_frame -> odom
[ INFO] [1636650035.574017887]: * base_frame -> base_link
[ INFO] [1636650035.574027088]: * camera_frame -> zed2_camera_center
[ INFO] [1636650035.574039477]: * imu_link -> zed2_imu_link
[ INFO] [1636650035.574054277]: * left_camera_frame -> zed2_left_camera_frame
[ INFO] [1636650035.574063930]: * left_camera_optical_frame -> zed2_left_camera_optical_frame
[ INFO] [1636650035.574073801]: * right_camera_frame -> zed2_right_camera_frame
[ INFO] [1636650035.574084955]: * right_camera_optical_frame -> zed2_right_camera_optical_frame
[ INFO] [1636650035.574097455]: * depth_frame -> zed2_left_camera_frame
[ INFO] [1636650035.574110508]: * depth_optical_frame -> zed2_left_camera_optical_frame
[ INFO] [1636650035.574123769]: * disparity_frame -> zed2_left_camera_frame
[ INFO] [1636650035.574136953]: * disparity_optical_frame -> zed2_left_camera_optical_frame
[ INFO] [1636650035.574149858]: * confidence_frame -> zed2_left_camera_frame
[ INFO] [1636650035.574162971]: * confidence_optical_frame -> zed2_left_camera_optical_frame
[ INFO] [1636650035.574634968]: * Broadcast odometry TF -> ENABLED
[ INFO] [1636650035.575082403]: * Broadcast map pose TF -> ENABLED
[ INFO] [1636650035.575419764]: * Broadcast IMU pose TF -> ENABLED
[ INFO] [1636650035.575432818]: *** DYNAMIC PARAMETERS (Init. values) ***
[ INFO] [1636650035.575615304]: * [DYN] Depth confidence -> 50
[ INFO] [1636650035.575793900]: * [DYN] Depth texture conf. -> 100
[ INFO] [1636650035.576003278]: * [DYN] pub_frame_rate -> 15 Hz
[ INFO] [1636650035.576199887]: * [DYN] point_cloud_freq -> 15 Hz
[ INFO] [1636650035.576368969]: * [DYN] brightness -> 4
[ INFO] [1636650035.576532480]: * [DYN] contrast -> 4
[ INFO] [1636650035.576693189]: * [DYN] hue -> 0
[ INFO] [1636650035.576853146]: * [DYN] saturation -> 4
[ INFO] [1636650035.577010648]: * [DYN] sharpness -> 4
[ INFO] [1636650035.577165668]: * [DYN] gamma -> 8
[ INFO] [1636650035.577342849]: * [DYN] auto_exposure_gain -> ENABLED
[ INFO] [1636650035.577819297]: * [DYN] auto_whitebalance -> ENABLED
[ INFO] [1636650035.580006002]: * Camera coordinate system -> Right HANDED Z UP and X FORWARD
[ INFO] [1636650035.580066256]: *** Opening ZED 2...
process[rviz-4]: started with pid [13972]
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
[ INFO] [1636650035.640578005]: rviz version 1.13.4
[ INFO] [1636650035.640621180]: compiled against Qt version 5.9.5
[ INFO] [1636650035.640653585]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1636650035.647216038]: Forcing OpenGl version 0.
[ZED][Sensors] MCU module not responding. Attempt module reboot
[ZED][MCU] Permissions denied : can't open device. Make sure you have installed udev rules or use sudo
[ INFO] [1636650036.029504196]: Stereo is NOT SUPPORTED
[ INFO] [1636650036.029589416]: OpenGl version: 4.6 (GLSL 4.6).
[ INFO] [1636650036.224382318]: ZED connection -> SUCCESS
[ INFO] [1636650038.224520503]: ... ZED ready
[ INFO] [1636650038.224546147]: ZED SDK running on GPU #0
[ INFO] [1636650038.232971942]: Camera-IMU Transform:
561DD3146138
1.000000 0.000000 0.000000 0.000000
0.000000 1.000000 0.000000 0.000000
0.000000 0.000000 1.000000 0.000000
0.000000 0.000000 0.000000 1.000000
[ INFO] [1636650038.233004011]: * CAMERA MODEL -> ZED 2
[ INFO] [1636650038.233068951]: * Serial Number -> 28845337
[ INFO] [1636650038.233088898]: * Camera FW Version -> 1523
[ INFO] [1636650038.233107786]: * Sensors FW Version -> 0
[ INFO] [1636650038.320103694]: Advertised on topic /zed2/zed_node/rgb/image_rect_color
[ INFO] [1636650038.320150919]: Advertised on topic /zed2/zed_node/rgb/camera_info
[ INFO] [1636650038.336849233]: Advertised on topic /zed2/zed_node/rgb_raw/image_raw_color
[ INFO] [1636650038.337127417]: Advertised on topic /zed2/zed_node/rgb_raw/camera_info
[ INFO] [1636650038.354461606]: Advertised on topic /zed2/zed_node/left/image_rect_color
[ INFO] [1636650038.354881090]: Advertised on topic /zed2/zed_node/left/camera_info
[ INFO] [1636650038.371793986]: Advertised on topic /zed2/zed_node/left_raw/image_raw_color
[ INFO] [1636650038.372090806]: Advertised on topic /zed2/zed_node/left_raw/camera_info
[ INFO] [1636650038.382967325]: Advertised on topic /zed2/zed_node/right/image_rect_color
[ INFO] [1636650038.382989152]: Advertised on topic /zed2/zed_node/right/camera_info
[ INFO] [1636650038.392375769]: Advertised on topic /zed2/zed_node/right_raw/image_raw_color
[ INFO] [1636650038.392416551]: Advertised on topic /zed2/zed_node/right_raw/camera_info
[ INFO] [1636650038.401974082]: Advertised on topic /zed2/zed_node/rgb/image_rect_gray
[ INFO] [1636650038.401994474]: Advertised on topic /zed2/zed_node/rgb/camera_info
[ INFO] [1636650038.410713922]: Advertised on topic /zed2/zed_node/rgb_raw/image_raw_gray
[ INFO] [1636650038.410732783]: Advertised on topic /zed2/zed_node/rgb_raw/camera_info
[ INFO] [1636650038.419540823]: Advertised on topic /zed2/zed_node/left/image_rect_gray
[ INFO] [1636650038.419555151]: Advertised on topic /zed2/zed_node/left/camera_info
[ INFO] [1636650038.428841867]: Advertised on topic /zed2/zed_node/left_raw/image_raw_gray
[ INFO] [1636650038.428863063]: Advertised on topic /zed2/zed_node/left_raw/camera_info
[ INFO] [1636650038.438055153]: Advertised on topic /zed2/zed_node/right/image_rect_gray
[ INFO] [1636650038.438074828]: Advertised on topic /zed2/zed_node/right/camera_info
[ INFO] [1636650038.447033995]: Advertised on topic /zed2/zed_node/right_raw/image_raw_gray
[ INFO] [1636650038.447052136]: Advertised on topic /zed2/zed_node/right_raw/camera_info
[ INFO] [1636650038.455934564]: Advertised on topic /zed2/zed_node/depth/depth_registered
[ INFO] [1636650038.455951011]: Advertised on topic /zed2/zed_node/depth/camera_info
[ INFO] [1636650038.464508507]: Advertised on topic /zed2/zed_node/stereo/image_rect_color
[ INFO] [1636650038.473427623]: Advertised on topic /zed2/zed_node/stereo_raw/image_raw_color
[ INFO] [1636650038.474027069]: Advertised on topic /zed2/zed_node/confidence/confidence_map
[ INFO] [1636650038.474347806]: Advertised on topic /zed2/zed_node/disparity/disparity_image
[ INFO] [1636650038.474620903]: Advertised on topic /zed2/zed_node/point_cloud/cloud_registered
[ INFO] [1636650038.474972710]: Advertised on topic /zed2/zed_node/pose
[ INFO] [1636650038.475283709]: Advertised on topic /zed2/zed_node/pose_with_covariance
[ INFO] [1636650038.475587719]: Advertised on topic /zed2/zed_node/odom
[ INFO] [1636650038.475915041]: Advertised on topic /zed2/zed_node/path_odom
[ INFO] [1636650038.476211012]: Advertised on topic /zed2/zed_node/path_map
[ INFO] [1636650038.476648835]: Advertised on topic /zed2/zed_node/imu/data
[ INFO] [1636650038.476961955]: Advertised on topic /zed2/zed_node/imu/data_raw
[ INFO] [1636650038.477254908]: Advertised on topic /zed2/zed_node/imu/mag
[ INFO] [1636650038.477552908]: Advertised on topic /zed2/zed_node/temperature/imu
[ INFO] [1636650038.477843454]: Advertised on topic /zed2/zed_node/atm_press
[ INFO] [1636650038.478094744]: Advertised on topic /zed2/zed_node/temperature/left
[ INFO] [1636650038.478340286]: Advertised on topic /zed2/zed_node/temperature/right
[ INFO] [1636650038.478619189]: Advertised on topic /zed2/zed_node/left_cam_imu_transform [LATCHED]
[ INFO] [1636650038.481732648]: *** Starting Positional Tracking ***
[ INFO] [1636650038.481748931]: * Waiting for valid static transformations...
[ INFO] [1636650038.481797638]: Static transform Sensor to Base [zed2_left_camera_frame -> base_link]
[ INFO] [1636650038.481810924]: * Translation: {0.000,-0.060,0.000}
[ INFO] [1636650038.481820584]: * Rotation: {0.000,-0.000,0.000}
[ INFO] [1636650038.481835767]: Static transform Sensor to Camera Center [zed2_left_camera_frame -> zed2_camera_center]
[ INFO] [1636650038.481844386]: * Translation: {0.000,-0.060,0.000}
[ INFO] [1636650038.481856959]: * Rotation: {0.000,-0.000,0.000}
[ INFO] [1636650038.481879748]: Static transform Camera Center to Base [zed2_camera_center -> base_link]
[ INFO] [1636650038.481894834]: * Translation: {0.000,0.000,0.000}
[ INFO] [1636650038.481905842]: * Rotation: {0.000,-0.000,0.000}
[ INFO] [1636650038.582007961]: Initial ZED left camera pose (ZED pos. tracking):
[ INFO] [1636650038.582037149]: * T: [0,0.06,0]
[ INFO] [1636650038.582051017]: * Q: [0,0,0,1]
[ WARN] [1636650038.697563146]: Odometry will be published as soon as the floor as been detected for the first time
[ INFO] [1636650038.733025697]: Odometry aligned to last tracking pose