ROS2 - Unable to launch Zed_Wrapper

Worked great until I did a update & upgrade today…

Linux 20.04
Jetson Xavier (Jetpack 4.5)
ROS2 Foxy

tyler@tyler:~/ros_ws$ ros2 launch zed_wrapper zed2i.launch.py
[INFO] [launch]: All log files can be found below /home/tyler/.ros/log/2022-02-12-15-19-39-065977-tyler-28816
[INFO] [launch]: Default logging verbosity is set to INFO
Task exception was never retrieved
future: <Task finished name=‘Task-2’ coro=<LaunchService._process_one_event() done, defined at /opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py:226> exception=TypeError(“Allowed value types are bytes, bool, int, float, str, Sequence[bool], Sequence[int], Sequence[float], Sequence[str]. Got <class ‘NoneType’>.If the parameter is meant to be a string, try wrapping it in launch_ros.parameter_descriptions.ParameterValue(value, value_type=str)”)>
Traceback (most recent call last):
File “/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py”, line 228, in _process_one_event
await self.__process_event(next_event)
File “/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py”, line 248, in __process_event
visit_all_entities_and_collect_futures(entity, self.__context))
File “/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py”, line 45, in visit_all_entities_and_collect_futures
futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
File “/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py”, line 45, in visit_all_entities_and_collect_futures
futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
File “/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py”, line 45, in visit_all_entities_and_collect_futures
futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
[Previous line repeated 3 more times]
File “/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py”, line 38, in visit_all_entities_and_collect_futures
sub_entities = entity.visit(context)
File “/opt/ros/foxy/lib/python3.8/site-packages/launch/action.py”, line 108, in visit
return self.execute(context)
File “/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/actions/node.py”, line 444, in execute
self._perform_substitutions(context)
File “/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/actions/node.py”, line 399, in _perform_substitutions
evaluated_parameters = evaluate_parameters(context, self.__parameters)
File “/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/utilities/evaluate_parameters.py”, line 160, in evaluate_parameters
output_params.append(evaluate_parameter_dict(context, param))
File “/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/utilities/evaluate_parameters.py”, line 95, in evaluate_parameter_dict
raise TypeError(
TypeError: Allowed value types are bytes, bool, int, float, str, Sequence[bool], Sequence[int], Sequence[float], Sequence[str]. Got <class ‘NoneType’>.If the parameter is meant to be a string, try wrapping it in launch_ros.parameter_descriptions.ParameterValue(value, value_type=str)
Task exception was never retrieved
future: <Task finished name=‘Task-8’ coro=<LaunchService._process_one_event() done, defined at /opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py:226> exception=RuntimeError(‘Signal event received before subprocess transport available.’)>
Traceback (most recent call last):
File “/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py”, line 228, in _process_one_event
await self.__process_event(next_event)
File “/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py”, line 248, in __process_event
visit_all_entities_and_collect_futures(entity, self.__context))
File “/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py”, line 38, in visit_all_entities_and_collect_futures
sub_entities = entity.visit(context)
File “/opt/ros/foxy/lib/python3.8/site-packages/launch/action.py”, line 108, in visit
return self.execute(context)
File “/opt/ros/foxy/lib/python3.8/site-packages/launch/actions/opaque_function.py”, line 75, in execute
return self.__function(context, *self.__args, **self.__kwargs)
File “/opt/ros/foxy/lib/python3.8/site-packages/launch/actions/execute_process.py”, line 443, in __on_signal_process_event
raise RuntimeError(‘Signal event received before subprocess transport available.’)
RuntimeError: Signal event received before subprocess transport available.
[INFO] [robot_state_publisher-1]: process started with pid [28819]
[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] 1644707979.529803626 [zed2i.zed_state_publisher] [INFO] got segment base_link
[robot_state_publisher-1] 1644707979.529967897 [zed2i.zed_state_publisher] [INFO] got segment zed2i_base_link
[robot_state_publisher-1] 1644707979.529997436 [zed2i.zed_state_publisher] [INFO] got segment zed2i_camera_center
[robot_state_publisher-1] 1644707979.530038623 [zed2i.zed_state_publisher] [INFO] got segment zed2i_left_camera_frame
[robot_state_publisher-1] 1644707979.530064930 [zed2i.zed_state_publisher] [INFO] got segment zed2i_left_camera_optical_frame
[robot_state_publisher-1] 1644707979.530105125 [zed2i.zed_state_publisher] [INFO] got segment zed2i_right_camera_frame
[robot_state_publisher-1] 1644707979.530147145 [zed2i.zed_state_publisher] [INFO] got segment zed2i_right_camera_optical_frame
[ERROR] [robot_state_publisher-1]: process[robot_state_publisher-1] failed to terminate ‘5’ seconds after receiving ‘SIGINT’, escalating to ‘SIGTERM’
[INFO] [robot_state_publisher-1]: sending signal ‘SIGTERM’ to process[robot_state_publisher-1]
[ERROR] [robot_state_publisher-1]: process has died [pid 28819, exit code -15, cmd ‘/opt/ros/foxy/lib/robot_state_publisher/robot_state_publisher --ros-args -r __node:=zed_state_publisher -r __ns:=/zed2i --params-file /tmp/launch_params_5pmiec_h’].
tyler@tyler:~/ros_ws$ <

Reinstalled Wrapper, ROS2, & Reinstalled SDK (3.6). Camera works fine when using the ZED Explorer
Camera works fine, able to launch it with ZED_Explorer

The latest patch commit in the master branch fixed this problem

works now thank you!