Compile Zed_ros2_wrapper in another PC instead of Jetson Orin

Eric-nguyen1402 · July 15, 2024, 6:58am

Hi
I am using the ZED X camera with a ZED Box Orin on Ubuntu 22.04. My goal is to retrieve depth and color images to use in another project that requires both depth and RGB images. When I used the zed_ros2_wrappers on the Jetson Orin and subscribed to the camera topic from another PC, I noticed that the frame rate was very low. For example, on the Jetson, the topics can reach 22-28Hz, but on the other PC, it only reaches 10Hz, which is not suitable for my project.

However, the ZED SDK offers an option for streaming while maintaining the original frame rate. Therefore, I wonder if, after streaming to another PC, we can install the zed_ros2_wrapper on that PC and retrieve the streaming information. This way, the Jetson would not have to handle the data processing task and transfer it to the other PC. Is it possible?
Thanks

Myzhar · July 15, 2024, 7:10am

Hi @Eric-nguyen1402
Welcome to the Sterolabs community.

This is a problem due to DDS settings. The ZED ROS2 Wrapper sends large messages and the ROS 2 middleware is not set up to currently handle them.
I recommend you use FastDDS and read these documents that explain how to improve the behaviors:

Yes, this is the purpose of the ZED Local Streaming module.
The ZED ROS 2 Wrapper can indeed open a ZED Local Stream from another PC:
ros2 launch zed_wrapper zed_camera.launch.py camera_model:=<your_camera_model> stream_address:=<stream_ip_addr> stream_port:=<stream_port>

Eric-nguyen1402 · July 15, 2024, 7:42am

Hi @Myzhar
Thank you for replying to me. Actually, I tried to execute the ZED ROS 2 Wrapper on my PC instead of running it on the Jetson, but it did not work and showed the following errors:

[INFO] [launch]: All log files can be found below /root/.ros/log/2024-07-15-09-33-01-630808-cdsrobotlab10-6084
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [6086]
[INFO] [zed_wrapper-2]: process started with pid [6088]
[robot_state_publisher-1] [INFO] [1721028781.707109171] [zed.zed_state_publisher]: got segment zed_camera_center
[robot_state_publisher-1] [INFO] [1721028781.707142566] [zed.zed_state_publisher]: got segment zed_camera_link
[robot_state_publisher-1] [INFO] [1721028781.707146363] [zed.zed_state_publisher]: got segment zed_left_camera_frame
[robot_state_publisher-1] [INFO] [1721028781.707148382] [zed.zed_state_publisher]: got segment zed_left_camera_optical_frame
[robot_state_publisher-1] [INFO] [1721028781.707150236] [zed.zed_state_publisher]: got segment zed_right_camera_frame
[robot_state_publisher-1] [INFO] [1721028781.707151887] [zed.zed_state_publisher]: got segment zed_right_camera_optical_frame
[zed_wrapper-2] [INFO] [1721028781.713598649] [zed.zed_node]: ********************************
[zed_wrapper-2] [INFO] [1721028781.713637881] [zed.zed_node]:       ZED Camera Component 
[zed_wrapper-2] [INFO] [1721028781.713641726] [zed.zed_node]: ********************************
[zed_wrapper-2] [INFO] [1721028781.713643955] [zed.zed_node]:  * namespace: /zed
[zed_wrapper-2] [INFO] [1721028781.713646171] [zed.zed_node]:  * node name: zed_node
[zed_wrapper-2] [INFO] [1721028781.713647779] [zed.zed_node]: ********************************
[zed_wrapper-2] [INFO] [1721028781.713653944] [zed.zed_node]: *** DEBUG parameters ***
[zed_wrapper-2] [INFO] [1721028781.713669247] [zed.zed_node]:  * SDK Verbose: 1
[zed_wrapper-2] [INFO] [1721028781.713678693] [zed.zed_node]:  * Debug Common: FALSE
[zed_wrapper-2] [INFO] [1721028781.713684707] [zed.zed_node]:  * Debug Simulation: FALSE
[zed_wrapper-2] [INFO] [1721028781.713690074] [zed.zed_node]:  * Debug Video/Depth: FALSE
[zed_wrapper-2] [INFO] [1721028781.713695778] [zed.zed_node]:  * Debug Control settings: FALSE
[zed_wrapper-2] [INFO] [1721028781.713700938] [zed.zed_node]:  * Debug Point Cloud: FALSE
[zed_wrapper-2] [INFO] [1721028781.713705813] [zed.zed_node]:  * Debug GNSS: FALSE
[zed_wrapper-2] [INFO] [1721028781.713712324] [zed.zed_node]:  * Debug Positional Tracking: FALSE
[zed_wrapper-2] [INFO] [1721028781.713717605] [zed.zed_node]:  * Debug sensors: FALSE
[zed_wrapper-2] [INFO] [1721028781.713724755] [zed.zed_node]:  * Debug Mapping: FALSE
[zed_wrapper-2] [INFO] [1721028781.713735030] [zed.zed_node]:  * Debug Object Detection: FALSE
[zed_wrapper-2] [INFO] [1721028781.713744840] [zed.zed_node]:  * Debug Body Tracking: FALSE
[zed_wrapper-2] [INFO] [1721028781.713753401] [zed.zed_node]:  * Debug Streaming: FALSE
[zed_wrapper-2] [INFO] [1721028781.713763528] [zed.zed_node]:  * Debug ROI: FALSE
[zed_wrapper-2] [INFO] [1721028781.713772126] [zed.zed_node]:  * Debug Advanced: FALSE
[zed_wrapper-2] [INFO] [1721028781.713786120] [zed.zed_node]: *** GENERAL parameters ***
[zed_wrapper-2] [INFO] [1721028781.713809953] [zed.zed_node]:  * Local stream input: 10.0.0.3:30000
[zed_wrapper-2] [ERROR] [1721028781.713825200] [zed.zed_node]: Camera model ZED X is available only with NVIDIA Jetson devices.
[ERROR] [zed_wrapper-2]: process has died [pid 6088, exit code 1, cmd '/home/cds-robotlab-10/ros2_ws/install/zed_wrapper/lib/zed_wrapper/zed_wrapper --ros-args -r __node:=zed_node -r __ns:=/zed --params-file /home/cds-robotlab-10/ros2_ws/install/zed_wrapper/share/zed_wrapper/config/common.yaml --params-file /home/cds-robotlab-10/ros2_ws/install/zed_wrapper/share/zed_wrapper/config/zedx.yaml --params-file /tmp/launch_params_ij36zl17'].

It seems to be missing some configuration somewhere. Do you have any ideas on how to resolve this?

Myzhar · July 15, 2024, 9:58am

Hi @Eric-nguyen1402
thank you for reporting the problem.

I just fixed the “bug” and pushed the fix to the master branch of the zed-ros2-wrapper repository.
Please pull the fix and rebuild the packages and let me know if it fixed your issue.

Eric-nguyen1402 · July 15, 2024, 12:35pm

Hi @Myzhar
Thank you for quickly fixing the bug. Now I can stream via the zed-ros2-wrapper on my PC, but I wonder why I cannot see all the topics of the ZED X camera.

If I launch the zed_wrapper from the Jetson, I can see all the camera topics from my PC. However, now when I run the ZED_Streaming_Sender from the Jetson and then launch the zed_wrapper from my PC, I cannot see the camera topics anymore. It only shows:

/diagnostics
/parameter_events
/rosout
/tf
/tf_static
/zed/joint_states
/zed/robot_description

From what I understand, the zed-ros2-wrapper cannot advertise the topics if it is run on a different PC. Is this correct, or did I do something wrong?

Myzhar · July 15, 2024, 1:05pm

The topics that you see are not generated by the ZED Node, but by the robot state publisher node.
This means that the ZED node is not running.

Can you send me the full log and eventually check the node diagnostic with RQT?

Eric-nguyen1402 · July 15, 2024, 1:22pm

Hi @Myzhar
This is the rqt result, which is shown that the ZED node is empty

the log result:

[INFO] [launch]: All log files can be found below /root/.ros/log/2024-07-15-15-15-43-321675-cdsrobotlab10-3501
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [3503]
[INFO] [zed_wrapper-2]: process started with pid [3505]
[robot_state_publisher-1] [INFO] [1721049343.403857676] [zed.zed_state_publisher]: got segment zed_camera_center
[robot_state_publisher-1] [INFO] [1721049343.403890492] [zed.zed_state_publisher]: got segment zed_camera_link
[robot_state_publisher-1] [INFO] [1721049343.403893508] [zed.zed_state_publisher]: got segment zed_left_camera_frame
[robot_state_publisher-1] [INFO] [1721049343.403895432] [zed.zed_state_publisher]: got segment zed_left_camera_optical_frame
[robot_state_publisher-1] [INFO] [1721049343.403897158] [zed.zed_state_publisher]: got segment zed_right_camera_frame
[robot_state_publisher-1] [INFO] [1721049343.403898843] [zed.zed_state_publisher]: got segment zed_right_camera_optical_frame
[zed_wrapper-2] [INFO] [1721049343.410451521] [zed.zed_node]: ********************************
[zed_wrapper-2] [INFO] [1721049343.410487955] [zed.zed_node]:       ZED Camera Component 
[zed_wrapper-2] [INFO] [1721049343.410493068] [zed.zed_node]: ********************************
[zed_wrapper-2] [INFO] [1721049343.410496430] [zed.zed_node]:  * namespace: /zed
[zed_wrapper-2] [INFO] [1721049343.410499615] [zed.zed_node]:  * node name: zed_node
[zed_wrapper-2] [INFO] [1721049343.410502330] [zed.zed_node]: ********************************
[zed_wrapper-2] [INFO] [1721049343.410511122] [zed.zed_node]: *** DEBUG parameters ***
[zed_wrapper-2] [INFO] [1721049343.410531244] [zed.zed_node]:  * SDK Verbose: 1
[zed_wrapper-2] [INFO] [1721049343.410546511] [zed.zed_node]:  * Debug Common: FALSE
[zed_wrapper-2] [INFO] [1721049343.410557108] [zed.zed_node]:  * Debug Simulation: FALSE
[zed_wrapper-2] [INFO] [1721049343.410566636] [zed.zed_node]:  * Debug Video/Depth: FALSE
[zed_wrapper-2] [INFO] [1721049343.410576856] [zed.zed_node]:  * Debug Control settings: FALSE
[zed_wrapper-2] [INFO] [1721049343.410586435] [zed.zed_node]:  * Debug Point Cloud: FALSE
[zed_wrapper-2] [INFO] [1721049343.410595260] [zed.zed_node]:  * Debug GNSS: FALSE
[zed_wrapper-2] [INFO] [1721049343.410605645] [zed.zed_node]:  * Debug Positional Tracking: FALSE
[zed_wrapper-2] [INFO] [1721049343.410614631] [zed.zed_node]:  * Debug sensors: FALSE
[zed_wrapper-2] [INFO] [1721049343.410624218] [zed.zed_node]:  * Debug Mapping: FALSE
[zed_wrapper-2] [INFO] [1721049343.410634238] [zed.zed_node]:  * Debug Object Detection: FALSE
[zed_wrapper-2] [INFO] [1721049343.410643465] [zed.zed_node]:  * Debug Body Tracking: FALSE
[zed_wrapper-2] [INFO] [1721049343.410652556] [zed.zed_node]:  * Debug Streaming: FALSE
[zed_wrapper-2] [INFO] [1721049343.410663521] [zed.zed_node]:  * Debug ROI: FALSE
[zed_wrapper-2] [INFO] [1721049343.410672863] [zed.zed_node]:  * Debug Advanced: FALSE
[zed_wrapper-2] [INFO] [1721049343.410688207] [zed.zed_node]: *** GENERAL parameters ***
[zed_wrapper-2] [INFO] [1721049343.410716102] [zed.zed_node]:  * Local stream input: 10.0.0.3:30002
[zed_wrapper-2] [INFO] [1721049343.410734357] [zed.zed_node]:  + Playing a network stream from a ZED X camera model.
[zed_wrapper-2] [INFO] [1721049343.410738542] [zed.zed_node]:  * Camera model: zedx - ZED X
[zed_wrapper-2] [INFO] [1721049343.410750430] [zed.zed_node]:  * Camera name: zed
[zed_wrapper-2] [INFO] [1721049343.410762061] [zed.zed_node]:  * Camera SN: 0
[zed_wrapper-2] [INFO] [1721049343.410772790] [zed.zed_node]:  * Camera timeout [sec]: 5
[zed_wrapper-2] [INFO] [1721049343.410784328] [zed.zed_node]:  * Camera reconnection temptatives: 5
[zed_wrapper-2] [INFO] [1721049343.410794854] [zed.zed_node]:  * Camera framerate: 30
[zed_wrapper-2] [INFO] [1721049343.410805304] [zed.zed_node]:  * GPU ID: -1
[zed_wrapper-2] [INFO] [1721049343.410818681] [zed.zed_node]:  * Camera resolution: HD1200
[zed_wrapper-2] [INFO] [1721049343.410830645] [zed.zed_node]:  * Publishing resolution: NATIVE
[zed_wrapper-2] [INFO] [1721049343.410841336] [zed.zed_node]:  * OpenCV custom calibration: 
[zed_wrapper-2] [INFO] [1721049343.410853884] [zed.zed_node]:  * Camera self calibration: TRUE
[zed_wrapper-2] [INFO] [1721049343.410863885] [zed.zed_node]:  * Camera flip: FALSE
[zed_wrapper-2] [INFO] [1721049343.410881234] [zed.zed_node]:  * [DYN] Publish framerate [Hz]:  30
[zed_wrapper-2] [INFO] [1721049343.410885551] [zed.zed_node]: *** VIDEO parameters ***
[zed_wrapper-2] [INFO] [1721049343.410897516] [zed.zed_node]:  * [DYN] Saturation: 4
[zed_wrapper-2] [INFO] [1721049343.410908057] [zed.zed_node]:  * [DYN] Sharpness: 4
[zed_wrapper-2] [INFO] [1721049343.410918176] [zed.zed_node]:  * [DYN] Gamma: 8
[zed_wrapper-2] [INFO] [1721049343.410929398] [zed.zed_node]:  * [DYN] Auto Exposure/Gain: TRUE
[zed_wrapper-2] [INFO] [1721049343.410939966] [zed.zed_node]:  * [DYN] Exposure: 80
[zed_wrapper-2] [INFO] [1721049343.410949570] [zed.zed_node]:  * [DYN] Gain: 80
[zed_wrapper-2] [INFO] [1721049343.410960464] [zed.zed_node]:  * [DYN] Auto White Balance: TRUE
[zed_wrapper-2] [INFO] [1721049343.410975391] [zed.zed_node]:  * [DYN] White Balance Temperature: 42
[zed_wrapper-2] [INFO] [1721049343.410986064] [zed.zed_node]:  * [DYN] ZED X Exposure time: 16000
[zed_wrapper-2] [INFO] [1721049343.410997413] [zed.zed_node]:  * [DYN] ZED X Auto Exp. time range min: 28
[zed_wrapper-2] [INFO] [1721049343.411007494] [zed.zed_node]:  * [DYN] ZED X Auto Exp. time range max: 30000
[zed_wrapper-2] [INFO] [1721049343.411018089] [zed.zed_node]:  * [DYN] ZED X Exposure comp.: 50
[zed_wrapper-2] [INFO] [1721049343.411027939] [zed.zed_node]:  * [DYN] ZED X Analog Gain: 1255
[zed_wrapper-2] [INFO] [1721049343.411059131] [zed.zed_node]:  * [DYN] ZED X Auto Analog Gain range min: 1000
[zed_wrapper-2] [INFO] [1721049343.411089164] [zed.zed_node]:  * [DYN] ZED X Auto Analog Gain range max: 16000
[zed_wrapper-2] [INFO] [1721049343.411100366] [zed.zed_node]:  * [DYN] ZED X Digital Gain: 1
[zed_wrapper-2] [INFO] [1721049343.411124759] [zed.zed_node]:  * [DYN] ZED X Auto Digital Gain range min: 1
[zed_wrapper-2] [INFO] [1721049343.411132273] [zed.zed_node]:  * [DYN] ZED X Auto Digital Gain range max: 256
[zed_wrapper-2] [INFO] [1721049343.411144287] [zed.zed_node]:  * [DYN] ZED X Auto Digital Gain range max: 50
[zed_wrapper-2] [INFO] [1721049343.411148654] [zed.zed_node]: *** DEPTH parameters ***
[zed_wrapper-2] [INFO] [1721049343.411163063] [zed.zed_node]:  * Depth mode: ULTRA [3]
[zed_wrapper-2] [INFO] [1721049343.411174072] [zed.zed_node]:  * Min depth [m]: 0.3
[zed_wrapper-2] [INFO] [1721049343.411184944] [zed.zed_node]:  * Max depth [m]: 10
[zed_wrapper-2] [INFO] [1721049343.411192464] [zed.zed_node]:  * Depth Stabilization: 1
[zed_wrapper-2] [INFO] [1721049343.411199111] [zed.zed_node]:  * OpenNI mode (16bit point cloud): FALSE
[zed_wrapper-2] [INFO] [1721049343.411206876] [zed.zed_node]:  * [DYN] Point cloud rate [Hz]: 10
[zed_wrapper-2] [INFO] [1721049343.411213097] [zed.zed_node]:  * [DYN] Depth Confidence: 50
[zed_wrapper-2] [INFO] [1721049343.411219385] [zed.zed_node]:  * [DYN] Depth Texture Confidence: 100
[zed_wrapper-2] [INFO] [1721049343.411226276] [zed.zed_node]:  * [DYN] Remove saturated areas: TRUE
[zed_wrapper-2] [INFO] [1721049343.411228909] [zed.zed_node]: *** GNSS FUSION parameters ***
[zed_wrapper-2] [INFO] [1721049343.411236507] [zed.zed_node]:  * GNSS fusion enabled: FALSE
[zed_wrapper-2] [INFO] [1721049343.411238896] [zed.zed_node]: *** POSITIONAL TRACKING parameters ***
[zed_wrapper-2] [INFO] [1721049343.411245651] [zed.zed_node]:  * Positional tracking enabled: TRUE
[zed_wrapper-2] [INFO] [1721049343.411253887] [zed.zed_node]:  * Positional tracking mode: POSITIONAL TRACKING MODE GEN_2
[zed_wrapper-2] [INFO] [1721049343.411260352] [zed.zed_node]:  * Map frame id: map
[zed_wrapper-2] [INFO] [1721049343.411266890] [zed.zed_node]:  * Odometry frame id: odom
[zed_wrapper-2] [INFO] [1721049343.411274064] [zed.zed_node]:  * Broadcast Odometry TF: TRUE
[zed_wrapper-2] [INFO] [1721049343.411280334] [zed.zed_node]:  * Broadcast Pose TF: TRUE
[zed_wrapper-2] [INFO] [1721049343.411287254] [zed.zed_node]:  * [DYN] Depth minimum range: 0
[zed_wrapper-2] [INFO] [1721049343.411294781] [zed.zed_node]:  * [DYN] TF timestamp offset: 0
[zed_wrapper-2] [INFO] [1721049343.411300930] [zed.zed_node]:  * [DYN] Path publishing rate: 2
[zed_wrapper-2] [INFO] [1721049343.411306811] [zed.zed_node]:  * Path history lenght: -1
[zed_wrapper-2] [INFO] [1721049343.411316979] [zed.zed_node]:  * Initial pose: [0,0,0,0,0,0,]
[zed_wrapper-2] [INFO] [1721049343.411324779] [zed.zed_node]:  * Area Memory: TRUE
[zed_wrapper-2] [INFO] [1721049343.411331594] [zed.zed_node]:  * Area Memory DB: 
[zed_wrapper-2] [INFO] [1721049343.411342246] [zed.zed_node]:  * Camera is static: FALSE
[zed_wrapper-2] [INFO] [1721049343.411348966] [zed.zed_node]:  * Gravity as origin [not for ZED]: TRUE
[zed_wrapper-2] [INFO] [1721049343.411355847] [zed.zed_node]:  * IMU Fusion [not for ZED]: TRUE
[zed_wrapper-2] [INFO] [1721049343.411363999] [zed.zed_node]:  * Floor Alignment: FALSE
[zed_wrapper-2] [INFO] [1721049343.411370485] [zed.zed_node]:  * Reset Odometry with Loop Closure: TRUE
[zed_wrapper-2] [INFO] [1721049343.411377161] [zed.zed_node]:  * 2D mode: FALSE
[zed_wrapper-2] [INFO] [1721049343.411379577] [zed.zed_node]: *** Region of Interest parameters ***
[zed_wrapper-2] [INFO] [1721049343.411386652] [zed.zed_node]:  * Automatic ROI generation: FALSE
[zed_wrapper-2] [INFO] [1721049343.411397620] [zed.zed_node]:  * Manual ROI polygon: []
[zed_wrapper-2] [INFO] [1721049343.411400486] [zed.zed_node]: *** SENSORS STACK parameters ***
[zed_wrapper-2] [INFO] [1721049343.411406583] [zed.zed_node]:  * Broadcast IMU TF [not for ZED]: TRUE
[zed_wrapper-2] [INFO] [1721049343.411412979] [zed.zed_node]:  * Sensors Camera Sync: FALSE
[zed_wrapper-2] [INFO] [1721049343.411420481] [zed.zed_node]:  * Sensors publishing rate: 200 Hz
[zed_wrapper-2] [INFO] [1721049343.411423114] [zed.zed_node]: *** Spatial Mapping parameters ***
[zed_wrapper-2] [INFO] [1721049343.411429273] [zed.zed_node]:  * Spatial Mapping Enabled: FALSE
[zed_wrapper-2] [INFO] [1721049343.411437702] [zed.zed_node]:  * Spatial Mapping resolution [m]: 0.05
[zed_wrapper-2] [INFO] [1721049343.411445137] [zed.zed_node]:  * 3D Max Mapping range [m]: 5
[zed_wrapper-2] [INFO] [1721049343.411452697] [zed.zed_node]:  * Map publishing rate [Hz]: 1
[zed_wrapper-2] [INFO] [1721049343.411461837] [zed.zed_node]:  * Clicked point topic: /clicked_point
[zed_wrapper-2] [INFO] [1721049343.411469814] [zed.zed_node]:  * Plane Det. Max Dist. Thresh.: 0.15
[zed_wrapper-2] [INFO] [1721049343.411476479] [zed.zed_node]:  * Plane Det. Normals Sim. Thresh.: 15
[zed_wrapper-2] [INFO] [1721049343.411478765] [zed.zed_node]: *** Object Det. parameters ***
[zed_wrapper-2] [INFO] [1721049343.411485094] [zed.zed_node]:  * Object Det. enabled: FALSE
[zed_wrapper-2] [INFO] [1721049343.411497790] [zed.zed_node]:  * Object Det. model: MULTI CLASS BOX MEDIUM
[zed_wrapper-2] [INFO] [1721049343.411508940] [zed.zed_node]:  * Object Det. allow reduced precision: TRUE
[zed_wrapper-2] [INFO] [1721049343.411519825] [zed.zed_node]:  * Object Det. maximum range [m]: 20
[zed_wrapper-2] [INFO] [1721049343.411528721] [zed.zed_node]:  * Object Det. min. confidence: 50
[zed_wrapper-2] [INFO] [1721049343.411537280] [zed.zed_node]:  * Object Det. prediction timeout [sec]: 0.5
[zed_wrapper-2] [INFO] [1721049343.411546153] [zed.zed_node]:  * Object Det. tracking: TRUE
[zed_wrapper-2] [INFO] [1721049343.411555277] [zed.zed_node]:  * Object Filtering mode: 1 - NMS 3D
[zed_wrapper-2] [INFO] [1721049343.411564397] [zed.zed_node]:  * MultiClassBox people: TRUE
[zed_wrapper-2] [INFO] [1721049343.411571690] [zed.zed_node]:  * MultiClassBox vehicles: TRUE
[zed_wrapper-2] [INFO] [1721049343.411579084] [zed.zed_node]:  * MultiClassBox bags: TRUE
[zed_wrapper-2] [INFO] [1721049343.411586795] [zed.zed_node]:  * MultiClassBox animals: TRUE
[zed_wrapper-2] [INFO] [1721049343.411595051] [zed.zed_node]:  * MultiClassBox electronics: TRUE
[zed_wrapper-2] [INFO] [1721049343.411603690] [zed.zed_node]:  * MultiClassBox fruits and vegetables: TRUE
[zed_wrapper-2] [INFO] [1721049343.411613594] [zed.zed_node]:  * MultiClassBox sport-related objects: TRUE
[zed_wrapper-2] [INFO] [1721049343.411615867] [zed.zed_node]: *** Body Track. parameters ***
[zed_wrapper-2] [INFO] [1721049343.411624161] [zed.zed_node]:  * Body Track. enabled: FALSE
[zed_wrapper-2] [INFO] [1721049343.411633648] [zed.zed_node]:  * Body Track. model: HUMAN BODY MEDIUM
[zed_wrapper-2] [INFO] [1721049343.411642019] [zed.zed_node]:  * Body Track. format: BODY_38
[zed_wrapper-2] [INFO] [1721049343.411648964] [zed.zed_node]:  * Body Track. allow reduced precision: TRUE
[zed_wrapper-2] [INFO] [1721049343.411657252] [zed.zed_node]:  * Body Track. maximum range [m]: 20
[zed_wrapper-2] [INFO] [1721049343.411667222] [zed.zed_node]:  * Body Track. KP selection: FULL
[zed_wrapper-2] [INFO] [1721049343.411677336] [zed.zed_node]:  * Body fitting: FALSE
[zed_wrapper-2] [INFO] [1721049343.411686816] [zed.zed_node]:  * Body joints tracking: TRUE
[zed_wrapper-2] [INFO] [1721049343.411697507] [zed.zed_node]:  * Body Track. prediction timeout [sec]: 0.5
[zed_wrapper-2] [INFO] [1721049343.411710090] [zed.zed_node]:  * Body Track. confidence thresh.: 50
[zed_wrapper-2] [INFO] [1721049343.411718119] [zed.zed_node]:  * Body Track. min. KP thresh.: 5
[zed_wrapper-2] [INFO] [1721049343.411720759] [zed.zed_node]: *** Streaming Server parameters ***
[zed_wrapper-2] [INFO] [1721049343.411728858] [zed.zed_node]:  * Streaming Server enabled: FALSE
[zed_wrapper-2] [INFO] [1721049343.411739388] [zed.zed_node]:  * Stream codec: H264
[zed_wrapper-2] [INFO] [1721049343.411748790] [zed.zed_node]:  * Stream port:30000
[zed_wrapper-2] [INFO] [1721049343.411757103] [zed.zed_node]:  * Stream bitrate: 12500
[zed_wrapper-2] [INFO] [1721049343.411765360] [zed.zed_node]:  * Stream GOP size: -1
[zed_wrapper-2] [INFO] [1721049343.411773116] [zed.zed_node]:  * Stream Chunk size: 16084
[zed_wrapper-2] [INFO] [1721049343.411781007] [zed.zed_node]:  * Adaptive bitrate: FALSE
[zed_wrapper-2] [INFO] [1721049343.411793721] [zed.zed_node]:  * Target frame rate:0
[zed_wrapper-2] [INFO] [1721049343.411796631] [zed.zed_node]: *** Advanced parameters ***
[zed_wrapper-2] [INFO] [1721049343.411804958] [zed.zed_node]:  * Thread sched. policy: SCHED_BATCH
[zed_wrapper-2] [INFO] [1721049343.411820111] [zed.zed_node]: *** SERVICES ***
[zed_wrapper-2] [INFO] [1721049343.412032274] [zed.zed_node]:  * '/zed/zed_node/reset_odometry'
[zed_wrapper-2] [INFO] [1721049343.412133046] [zed.zed_node]:  * '/zed/zed_node/reset_pos_tracking'
[zed_wrapper-2] [INFO] [1721049343.412398015] [zed.zed_node]:  * '/zed/zed_node/set_pose'
[zed_wrapper-2] [INFO] [1721049343.412492300] [zed.zed_node]:  * '/zed/zed_node/enable_obj_det'
[zed_wrapper-2] [INFO] [1721049343.412572407] [zed.zed_node]:  * '/zed/zed_node/enable_body_trk'
[zed_wrapper-2] [INFO] [1721049343.412651977] [zed.zed_node]:  * '/zed/zed_node/enable_mapping'
[zed_wrapper-2] [INFO] [1721049343.412724155] [zed.zed_node]:  * '/zed/zed_node/enable_streaming'
[zed_wrapper-2] [INFO] [1721049343.412812103] [zed.zed_node]:  * '/zed/zed_node/start_svo_rec'
[zed_wrapper-2] [INFO] [1721049343.412886527] [zed.zed_node]:  * '/zed/zed_node/stop_svo_rec'
[zed_wrapper-2] [INFO] [1721049343.412976677] [zed.zed_node]:  * '/zed/zed_node/set_roi'
[zed_wrapper-2] [INFO] [1721049343.413062643] [zed.zed_node]:  * '/zed/zed_node/reset_roi'
[zed_wrapper-2] [INFO] [1721049343.413069629] [zed.zed_node]: ***** STARTING CAMERA *****
[zed_wrapper-2] [INFO] [1721049343.413073851] [zed.zed_node]: ZED SDK Version: 4.1.2 - Build 88406_f27a1ebf
[zed_wrapper-2] [INFO] [1721049343.414276878] [zed.zed_node]: *** LOCAL STREAMING OPENING ***
[zed_wrapper-2] [2024-07-15 13:15:44 UTC][ZED][INFO] Logging level INFO
[zed_wrapper-2] [Streaming] Warning : receiving port 30002 is not available (already used)... switching to port 30004. Retrying...
[zed_wrapper-2] [Streaming] No backward compatibility required.
[zed_wrapper-2] [2024-07-15 13:15:44 UTC][ZED][INFO] [Init]  Depth mode: ULTRA
[zed_wrapper-2] [2024-07-15 13:15:44 UTC][ZED][INFO] [Init]  Serial Number: S/N 43222580
[zed_wrapper-2] [Streaming] Warning: Corrupted frame chunk received (recv: 196 / expect 16100)  from ip : 10.0.0.3 at ts 1721049344366(ms)

In addition, I run the Zed-ros2-wrapper in my docker container. It could be the problem, I assume. Besides, I already checked the ros communication between my PC and Jetson, and it’s working fine.

Myzhar · July 15, 2024, 1:50pm

This is not the Diagnostic, but the dynamic parameter configuration.

Please try to open the stream with ZED Explorer before to be sure that it’s correctly transmitted in the Docker container network.

Eric-nguyen1402 · July 16, 2024, 10:10am

Hi @Myzhar
It took me some time to identify the problem. I suspect the root cause might be related to the Docker container. Additionally, I was unable to open ZED_Explore due to this error:

 ** [SVO] Hardware compression (NVENC) not available **
Stack trace (most recent call last):
#20   Object "[0xffffffffffffffff]", at 0xffffffffffffffff, in 
#19   Object "ZED_Explorer", at 0x48f2d4, in 
#18   Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7883782b2e3f, in __libc_start_main
#17   Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7883782b2d8f, in 
#16   Object "ZED_Explorer", at 0x47446e, in 
#15   Object "/usr/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x788378aa6cf3, in QCoreApplication::exec()
#14   Object "/usr/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x788378a9e75a, in QEventLoop::exec(QFlags<QEventLoop::ProcessEventsFlag>)
#13   Object "/usr/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x788378af90b7, in QEventDispatcherGlib::processEvents(QFlags<QEventLoop::ProcessEventsFlag>)
#12   Object "/usr/lib/x86_64-linux-gnu/libglib-2.0.so.0", at 0x7883778513e2, in g_main_context_iteration
#11   Object "/usr/lib/x86_64-linux-gnu/libglib-2.0.so.0", at 0x7883778a92b7, in 
#10   Object "/usr/lib/x86_64-linux-gnu/libglib-2.0.so.0", at 0x788377853d3a, in g_main_context_dispatch
#9    Object "/usr/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x788378af8ceb, in 
#8    Object "/usr/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x788378af83ea, in QTimerInfoList::activateTimers()
#7    Object "/usr/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x788378a9fe39, in QCoreApplication::notifyInternal2(QObject*, QEvent*)
#6    Object "/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5", at 0x788379625712, in QApplicationPrivate::notify_helper(QObject*, QEvent*)
#5    Object "/usr/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x788378acd33e, in QObject::event(QEvent*)
#4    Object "/usr/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x788378adb7fd, in QTimer::timeout(QTimer::QPrivateSignal)
#3    Object "/usr/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x788378ad77c7, in 
#2    Object "ZED_Explorer", at 0x4e5c8a, in 
#1    Object "ZED_Explorer", at 0x4cbb24, in 
#0    Object "/usr/lib/x86_64-linux-gnu/libQt5OpenGL.so.5", at 0x788379c3ccee, in 
Segmentation fault (Address not mapped to object [(nil)])
Segmentation fault (core dumped)

I tried to fix this but had no success. Therefore, I believe I cannot run the stream from Docker on my PC. Instead, whenever I execute the launch file for streaming, I consistently receive this warning:

[zed_wrapper-2] [WARN] [1721122313.335696138] [zed.zed_node]: Error setting EXPOSURE COMPENSATION: INVALID FUNCTION PARAMETERS
[zed_wrapper-2] [WARN] [1721122313.335782387] [zed.zed_node]: Error setting DENOISING: INVALID FUNCTION PARAMETERS
[zed_wrapper-2] [WARN] [1721122313.496522287] [zed.zed_node]: Error setting EXPOSURE COMPENSATION: INVALID FUNCTION PARAMETERS
[zed_wrapper-2] [WARN] [1721122313.496590839] [zed.zed_node]: Error setting DENOISING: INVALID FUNCTION PARAMETERS
[zed_wrapper-2] [WARN] [1721122313.674618354] [zed.zed_node]: Error setting EXPOSURE COMPENSATION: INVALID FUNCTION PARAMETERS
[zed_wrapper-2] [WARN] [1721122313.674709504] [zed.zed_node]: Error setting DENOISING: INVALID FUNCTION PARAMETERS
[zed_wrapper-2] [WARN] [1721122313.841750843] [zed.zed_node]: Error setting EXPOSURE COMPENSATION: INVALID FUNCTION PARAMETERS
[zed_wrapper-2] [WARN] [1721122313.841827497] [zed.zed_node]: Error setting DENOISING: INVALID FUNCTION PARAMETERS
[zed_wrapper-2] [WARN] [1721122313.993417503] [zed.zed_node]: Error setting EXPOSURE COMPENSATION: INVALID FUNCTION PARAMETERS
[zed_wrapper-2] [WARN] [1721122313.993499512] [zed.zed_node]: Error setting DENOISING: INVALID FUNCTION PARAMETERS
[zed_wrapper-2] [WARN] [1721122314.170328865] [zed.zed_node]: Error setting EXPOSURE COMPENSATION: INVALID FUNCTION PARAMETERS
[zed_wrapper-2] [WARN] [1721122314.170403127] [zed.zed_node]: Error setting DENOISING: INVALID FUNCTION PARAMETERS
[zed_wrapper-2] [WARN] [1721122314.339495872] [zed.zed_node]: Error setting EXPOSURE COMPENSATION: INVALID FUNCTION PARAMETERS
[zed_wrapper-2] [WARN] [1721122314.339574436] [zed.zed_node]: Error setting DENOISING: INVALID FUNCTION PARAMETERS
[zed_wrapper-2] [WARN] [1721122314.496567822] [zed.zed_node]: Error setting EXPOSURE COMPENSATION: INVALID FUNCTION PARAMETERS
[zed_wrapper-2] [WARN] [1721122314.496649561] [zed.zed_node]: Error setting DENOISING: INVALID FUNCTION PARAMETERS
[zed_wrapper-2] [WARN] [1721122314.672483886] [zed.zed_node]: Error setting EXPOSURE COMPENSATION: INVALID FUNCTION PARAMETERS
[zed_wrapper-2] [WARN] [1721122314.672561450] [zed.zed_node]: Error setting DENOISING: INVALID FUNCTION PARAMETERS
[zed_wrapper-2] [WARN] [1721122314.833931792] [zed.zed_node]: Error setting EXPOSURE COMPENSATION: INVALID FUNCTION PARAMETERS
[zed_wrapper-2] [WARN] [1721122314.834009423] [zed.zed_node]: Error setting DENOISING: INVALID FUNCTION PARAMETERS
[zed_wrapper-2] [WARN] [1721122314.994822331] [zed.zed_node]: Error setting EXPOSURE COMPENSATION: INVALID FUNCTION PARAMETERS
[zed_wrapper-2] [WARN] [1721122314.994908277] [zed.zed_node]: Error setting DENOISING: INVALID FUNCTION PARAMETERS
[zed_wrapper-2] [WARN] [1721122315.169935309] [zed.zed_node]: Error setting EXPOSURE COMPENSATION: INVALID FUNCTION PARAMETERS
[zed_wrapper-2] [WARN] [1721122315.170008938] [zed.zed_node]: Error setting DENOISING: INVALID FUNCTION PARAMETERS
[zed_wrapper-2] [WARN] [1721122315.340103817] [zed.zed_node]: Error setting EXPOSURE COMPENSATION: INVALID FUNCTION PARAMETERS
[zed_wrapper-2] [WARN] [1721122315.340180489] [zed.zed_node]: Error setting DENOISING: INVALID FUNCTION PARAMETERS
[zed_wrapper-2] [WARN] [1721122315.495518709] [zed.zed_node]: Error setting EXPOSURE COMPENSATION: INVALID FUNCTION PARAMETERS
[zed_wrapper-2] [WARN] [1721122315.495596286] [zed.zed_node]: Error setting DENOISING: INVALID FUNCTION PARAMETERS
[zed_wrapper-2] [WARN] [1721122315.672682396] [zed.zed_node]: Error setting EXPOSURE COMPENSATION: INVALID FUNCTION PARAMETERS
[zed_wrapper-2] [WARN] [1721122315.672763755] [zed.zed_node]: Error setting DENOISING: INVALID FUNCTION PARAMETERS
[zed_wrapper-2] [WARN] [1721122315.841021725] [zed.zed_node]: Error setting EXPOSURE COMPENSATION: INVALID FUNCTION PARAMETERS
[zed_wrapper-2] [WARN] [1721122315.841098087] [zed.zed_node]: Error setting DENOISING: INVALID FUNCTION PARAMETERS
[zed_wrapper-2] [WARN] [1721122315.995396897] [zed.zed_node]: Error setting EXPOSURE COMPENSATION: INVALID FUNCTION PARAMETERS
[zed_wrapper-2] [WARN] [1721122315.995471387] [zed.zed_node]: Error setting DENOISING: INVALID FUNCTION PARAMETERS

Could you tell me where the problem lies? Is it with the ZED_sender settings or the launch file settings?
Thank you so much

Myzhar · July 16, 2024, 10:23am

This is your problem. What is the GPU installed on the receiver?

Eric-nguyen1402 · July 16, 2024, 10:30am

I am using the NVIDIA GeForce RTX 4080 with driver version 555.52.04 and CUDA 11.8. I have configured the same settings both inside and outside the Docker container. However, it only works outside the Docker container.

Myzhar · July 16, 2024, 10:36am

This means that the SDK cannot use the hardware encoder of the GPU. Are you using a docker image CUDA-enabled?

Eric-nguyen1402 · July 16, 2024, 10:38am

I’m using the Nvidia docker image: nvidia/cuda:11.8.0-devel-ubuntu22.04

Myzhar · July 16, 2024, 10:46am

Are you using these launch options?
--runtime=nvidia --privileged --network host -e NVIDIA_VISIBLE_DEVICES=all -e NVIDIA_DRIVER_CAPABILITIES=compute,utility,video

Eric-nguyen1402 · July 16, 2024, 10:53am

After adding the `NVIDIA_DRIVER_CAPABILITIES=compute,utility,video, I got:

 ** [SVO] Hardware compression (NVENC) available **
Stack trace (most recent call last):
#20   Object "[0xffffffffffffffff]", at 0xffffffffffffffff, in 
#19   Object "ZED_Explorer", at 0x48f2d4, in 
#18   Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7826a99e3e3f, in __libc_start_main
#17   Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7826a99e3d8f, in 
#16   Object "ZED_Explorer", at 0x47446e, in 
#15   Object "/usr/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7826aa1d7cf3, in QCoreApplication::exec()
#14   Object "/usr/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7826aa1cf75a, in QEventLoop::exec(QFlags<QEventLoop::ProcessEventsFlag>)
#13   Object "/usr/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7826aa22a0b7, in QEventDispatcherGlib::processEvents(QFlags<QEventLoop::ProcessEventsFlag>)
#12   Object "/usr/lib/x86_64-linux-gnu/libglib-2.0.so.0", at 0x7826a8f823e2, in g_main_context_iteration
#11   Object "/usr/lib/x86_64-linux-gnu/libglib-2.0.so.0", at 0x7826a8fda2b7, in 
#10   Object "/usr/lib/x86_64-linux-gnu/libglib-2.0.so.0", at 0x7826a8f84d3a, in g_main_context_dispatch
#9    Object "/usr/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7826aa229ceb, in 
#8    Object "/usr/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7826aa2293ea, in QTimerInfoList::activateTimers()
#7    Object "/usr/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7826aa1d0e39, in QCoreApplication::notifyInternal2(QObject*, QEvent*)
#6    Object "/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5", at 0x7826aad56712, in QApplicationPrivate::notify_helper(QObject*, QEvent*)
#5    Object "/usr/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7826aa1fe33e, in QObject::event(QEvent*)
#4    Object "/usr/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7826aa20c7fd, in QTimer::timeout(QTimer::QPrivateSignal)
#3    Object "/usr/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7826aa2087c7, in 
#2    Object "ZED_Explorer", at 0x4e5c8a, in 
#1    Object "ZED_Explorer", at 0x4cbb24, in 
#0    Object "/usr/lib/x86_64-linux-gnu/libQt5OpenGL.so.5", at 0x7826ab36dcee, in 
Segmentation fault (Address not mapped to object [(nil)])
Segmentation fault (core dumped)

This is a command of my docker:

xhost +  && docker run --gpus all --env NVIDIA_DISABLE_REQUIRE=1 --env ROS_DOMAIN_ID=0 -it --network=host --env NVIDIA_DRIVER_CAPABILITIES=compute,utility,video --ipc=host --pid=host --name foundationpose  --cap-add=SYS_PTRACE --security-opt seccomp=unconfined --privileged -v /home/:/home/ -v /etc/udev/rules.d/:/etc/udev/rules.d/ -v $HOME/.Xauthority:/.Xauthority:rw -v /tmp/.X11-unix:/tmp/.X11-unix -v /dev/shm:/dev/shm --runtime=nvidia --ipc=host -e DISPLAY=${DISPLAY} -e QT_X11_NO_MITSHM=1 -e GIT_INDEX_FILE foundationpose:latest bash

Myzhar · July 16, 2024, 1:17pm

This has changed now

The problem seems that you do not have a Graphic environment, so you cannot open ZED Explorer

Eric-nguyen1402 · July 16, 2024, 1:21pm

Yes. Thank you for your help