Docker Isaac Ros Visualisation Rviz problem

Software
1

I went through the setup of isaac ros: Setting up Isaac™ ROS to work with ZED Cameras in ROS 2 - Stereolabs

When I wanted to test the ros2 wrapper I executed on the x86 system.

First docker Terminal I executed

ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zed2i enable_ipc:=false

In the second terminal I enter docker exec -it containername bash

There I build the example file and executed:

ros2 launch zed_display_rviz2 display_zed_cam.launch.py camera_model:=zed2i enable_ipc:=false

Afterwards the Figure below showed up. Camera was connected but no image was displayed.

Can you help me with this connection?

Also when doing ros2 topic echo any topic does not respond. The Explorer and Depth images build in testing applications does work. The wrapper and isaac ros connetions not.

ros2 topic echo /zed/zed_node/imu/data

image
image1855×1017 76.2 KB

2

In this case, I think that you have two Docker containers that are not communicating.

I recommend you ask the NVIDIA Developer Forum because they created the scripts to start the images, and they should know what to modify to fix this problem.

3

Thanks for your answer,

I am doing this in a single Docker container, following Setting up Isaac™ ROS to work with ZED Cameras in ROS 2 - Stereolabs . My workflow is as follows:

  1. I start the Isaac ROS dev container with
    cd ${ISAAC_ROS_WS}/src/isaac_ros_common
    ./scripts/run_dev.sh -i ros2_humble.zed

  2. Inside that same container, I use two terminals attached to the same container (second one with docker exec -it <container_name> bash, but it’s the same running container, not a new one).

  3. In terminal 1 (inside the container) I run:
    ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zed2i enable_ipc:=false

  4. In terminal 2 (also inside the same container) I run:
    ros2 launch zed_display_rviz2 display_zed_cam.launch.py camera_model:=zed2i enable_ipc:=false

    Since both launch files run in the same container, do you have any suggestions on how I can verify that this connection is being made correctly? Any clues would be greatly appreciated.

4

Dear support Team, I have the same error on the jetson. I have only one Docker container for sure that I am accessing where I run rviz and your ros2 node internally. I think it must have to do with the driver connection to the host which is defined in your sdk. Explorer opening works but every topic concerning Ros2 does not get any data:
I followed this tutorial: Setting up Isaac™ ROS to work with ZED Cameras in ROS 2 - Stereolabs

I also payed attention on the jetson to put the flag

enable_ipc:=false

in my ros2 run commands like it is described there. The Wrapper Examples doesn’t work in the docker container.

What can be a solution there?

5

This is wrong because it tries to restart the node. You must start RViz2 without the ZED node:

ros2 launch zed_display_rviz2 display_zed_cam.launch.py start_zed_node:=false camera_model:=zed2i

Otherwise, it’s even simpler if you start directly node and RViz2 in a single terminal:

ros2 launch zed_display_rviz2 display_zed_cam.launch.py camera_model:=zed2i enable_ipc:=false
6

Ok and how is it possible only with one terminal and one command possible to do a ros2 topic echo in this dockerized version?

7

Try to launch the wrapper with an “&” at the end of the command.
This will allow you to launch other commands while the node runs in the background:

ros2 launch zed_display_rviz2 display_zed_cam.launch.py camera_model:=zed2i enable_ipc:=false &

Please note that the node continues to output the log in the same window, so it may not be simple to get what you need.

8

Thanks for the reply.

It is still not working with the ‘&’ at the end

root@student2-aut:/workspaces/isaac_ros-dev# source install/setup.bash
root@student2-aut:/workspaces/isaac_ros-dev# ros2 topic list
/clicked_point
/diagnostics
/goal_pose
/initialpose
/parameter_events
/rosout
/tf
/tf_static
/zed/joint_states
/zed/plane_marker
/zed/plane_marker_array
/zed/waypoints
/zed/zed_description
/zed/zed_node/body_trk/skeletons
/zed/zed_node/depth/camera_info
/zed/zed_node/depth/depth_registered
/zed/zed_node/depth/depth_registered/camera_info
/zed/zed_node/depth/depth_registered/nitros
/zed/zed_node/imu/data
/zed/zed_node/mapping/fused_cloud
/zed/zed_node/obj_det/objects
/zed/zed_node/odom
/zed/zed_node/path_map
/zed/zed_node/path_odom
/zed/zed_node/point_cloud/cloud_registered
/zed/zed_node/pose
/zed/zed_node/pose/landmarks
/zed/zed_node/pose/status
/zed/zed_node/rgb/color/rect/camera_info
/zed/zed_node/rgb/color/rect/image
/zed/zed_node/rgb/color/rect/image/camera_info
/zed/zed_node/rgb/color/rect/image/nitros
/zed/zed_node/status/health
/zed/zed_node/status/heartbeat
root@student2-aut:/workspaces/isaac_ros-dev# ros2 topic echo /zed/zed_node/imu/data

Data ist not comming out of any topic.