Hello everybody!!!
I am currently in the depths of docker, zed x mini, zed wrapper and isaac ros. I am trying to do VSLAM with Isaac ros however I am running into many errors. I can echo the zed x topics and I get the expected data; however, once I start to echo the rosout/TF topics I get no data as seen in this TF2 tree:
(JK new users cant upload attachments)
But the TF2 tree says 0 for all of the transformations a if they are not working.
I am working in the Isaac ROS docker container. Going over some of the errors in the output logs, I keeping getting the error Failed to open zed_x services and I am also not seeing any subscribers in the output logs. I saw in some other posts that you want to do --network host when you run the docker container but that is already being run. Help would be greatly appreciated.
Output Log
admin@ubuntu:/workspaces/isaac_ros-dev$ ros2 launch isaac_ros_visual_slam isaac_ros_visual_slam_zed.launch.py
[INFO] [launch]: All log files can be found below /home/admin/.ros/log/2024-02-07-15-01-58-926378-ubuntu-111758
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [111761]
[INFO] [zed_wrapper-2]: process started with pid [111763]
[robot_state_publisher-1] [INFO] [1707336120.192679723] [zed_state_publisher]: got segment zedxm_camera_center
[robot_state_publisher-1] [INFO] [1707336120.192975495] [zed_state_publisher]: got segment zedxm_camera_link
[robot_state_publisher-1] [INFO] [1707336120.193003623] [zed_state_publisher]: got segment zedxm_left_camera_frame
[robot_state_publisher-1] [INFO] [1707336120.193018055] [zed_state_publisher]: got segment zedxm_left_camera_optical_frame
[robot_state_publisher-1] [INFO] [1707336120.193028806] [zed_state_publisher]: got segment zedxm_right_camera_frame
[robot_state_publisher-1] [INFO] [1707336120.193038310] [zed_state_publisher]: got segment zedxm_right_camera_optical_frame
[zed_wrapper-2] [INFO] [1707336120.347088446] [zed_node]: ********************************
[zed_wrapper-2] [INFO] [1707336120.347451705] [zed_node]: ZED Camera Component
[zed_wrapper-2] [INFO] [1707336120.347479641] [zed_node]: ********************************
[zed_wrapper-2] [INFO] [1707336120.347499129] [zed_node]: * namespace: /
[zed_wrapper-2] [INFO] [1707336120.347519097] [zed_node]: * node name: zed_node
[zed_wrapper-2] [INFO] [1707336120.347535640] [zed_node]: ********************************
[zed_wrapper-2] [INFO] [1707336120.348122993] [zed_node]: *** DEBUG parameters ***
[zed_wrapper-2] [INFO] [1707336120.348327215] [zed_node]: * SDK Verbose: 1
[zed_wrapper-2] [INFO] [1707336120.348570412] [zed_node]: * Debug Common: FALSE
[zed_wrapper-2] [INFO] [1707336120.348780553] [zed_node]: * Debug Simulation: FALSE
[zed_wrapper-2] [INFO] [1707336120.348966055] [zed_node]: * Debug Video/Depth: FALSE
[zed_wrapper-2] [INFO] [1707336120.349155813] [zed_node]: * Debug Control settings: FALSE
[zed_wrapper-2] [INFO] [1707336120.349335394] [zed_node]: * Debug Point Cloud: FALSE
[zed_wrapper-2] [INFO] [1707336120.349474561] [zed_node]: * Debug GNSS: FALSE
[zed_wrapper-2] [INFO] [1707336120.349595935] [zed_node]: * Debug Positional Tracking: FALSE
[zed_wrapper-2] [INFO] [1707336120.349790973] [zed_node]: * Debug sensors: FALSE
[zed_wrapper-2] [INFO] [1707336120.349992090] [zed_node]: * Debug Mapping: FALSE
[zed_wrapper-2] [INFO] [1707336120.350128761] [zed_node]: * Debug Object Detection: FALSE
[zed_wrapper-2] [INFO] [1707336120.350283511] [zed_node]: * Debug Body Tracking: FALSE
[zed_wrapper-2] [INFO] [1707336120.350402261] [zed_node]: * Debug Advanced: FALSE
[zed_wrapper-2] [INFO] [1707336120.350539539] [zed_node]: *** GENERAL parameters ***
[zed_wrapper-2] [INFO] [1707336120.350700689] [zed_node]: * SVO: ''
[zed_wrapper-2] [INFO] [1707336120.350837488] [zed_node]: * Camera model: zedxm - ZED X Mini
[zed_wrapper-2] [INFO] [1707336120.350949966] [zed_node]: * Camera name: zedxm
[zed_wrapper-2] [INFO] [1707336120.351079981] [zed_node]: * Camera SN: 0
[zed_wrapper-2] [INFO] [1707336120.351201035] [zed_node]: * Camera timeout [sec]: 5
[zed_wrapper-2] [INFO] [1707336120.351414153] [zed_node]: * Camera reconnection temptatives: 5
[zed_wrapper-2] [INFO] [1707336120.351563143] [zed_node]: * Camera framerate: 60
[zed_wrapper-2] [INFO] [1707336120.351773860] [zed_node]: * GPU ID: -1
[zed_wrapper-2] [WARN] [1707336120.351900003] [zed_node]: Not valid 'general.grab_resolution' value: 'HD720'. Using 'AUTO' setting.
[zed_wrapper-2] [INFO] [1707336120.351959906] [zed_node]: * Camera resolution: AUTO
[zed_wrapper-2] [WARN] [1707336120.352160672] [zed_node]: Not valid 'general.pub_resolution' value: 'MEDIUM'. Using default setting instead.
[zed_wrapper-2] [INFO] [1707336120.352211167] [zed_node]: * Publishing resolution: NATIVE
[zed_wrapper-2] [INFO] [1707336120.352344189] [zed_node]: * OpenCV custom calibration:
[zed_wrapper-2] [INFO] [1707336120.352603162] [zed_node]: * Region of interest: []
[zed_wrapper-2] [INFO] [1707336120.352804984] [zed_node]: * Camera self calibration: TRUE
[zed_wrapper-2] [INFO] [1707336120.352938934] [zed_node]: * Camera flip: FALSE
[zed_wrapper-2] [INFO] [1707336120.353118740] [zed_node]: * [DYN] Publish framerate [Hz]: 60
[zed_wrapper-2] [INFO] [1707336120.353154163] [zed_node]: *** VIDEO parameters ***
[zed_wrapper-2] [INFO] [1707336120.353281842] [zed_node]: * [DYN] Saturation: 4
[zed_wrapper-2] [INFO] [1707336120.353425584] [zed_node]: * [DYN] Sharpness: 4
[zed_wrapper-2] [INFO] [1707336120.353550606] [zed_node]: * [DYN] Gamma: 8
[zed_wrapper-2] [INFO] [1707336120.353670541] [zed_node]: * [DYN] Auto Exposure/Gain: TRUE
[zed_wrapper-2] [INFO] [1707336120.353798699] [zed_node]: * [DYN] Exposure: 80
[zed_wrapper-2] [INFO] [1707336120.353991433] [zed_node]: * [DYN] Gain: 80
[zed_wrapper-2] [INFO] [1707336120.354132999] [zed_node]: * [DYN] Auto White Balance: TRUE
[zed_wrapper-2] [INFO] [1707336120.354247110] [zed_node]: * [DYN] White Balance Temperature: 42
[zed_wrapper-2] [INFO] [1707336120.354448419] [zed_node]: * [DYN] ZED X Exposure time: 16666
[zed_wrapper-2] [INFO] [1707336120.354590274] [zed_node]: * [DYN] ZED X Auto Exp. time range min: 28
[zed_wrapper-2] [INFO] [1707336120.354704480] [zed_node]: * [DYN] ZED X Auto Exp. time range max: 30000
[zed_wrapper-2] [INFO] [1707336120.354823615] [zed_node]: * [DYN] ZED X Exposure comp.: 50
[zed_wrapper-2] [INFO] [1707336120.354944477] [zed_node]: * [DYN] ZED X Analog Gain: 8000
[zed_wrapper-2] [INFO] [1707336120.355058652] [zed_node]: * [DYN] ZED X Auto Analog Gain range min: 1000
[zed_wrapper-2] [INFO] [1707336120.355268825] [zed_node]: * [DYN] ZED X Auto Analog Gain range max: 16000
[zed_wrapper-2] [INFO] [1707336120.355421975] [zed_node]: * [DYN] ZED X Digital Gain: 128
[zed_wrapper-2] [INFO] [1707336120.355545718] [zed_node]: * [DYN] ZED X Auto Digital Gain range min: 1
[zed_wrapper-2] [INFO] [1707336120.355746547] [zed_node]: * [DYN] ZED X Auto Digital Gain range max: 256
[zed_wrapper-2] [INFO] [1707336120.356041808] [zed_node]: * [DYN] ZED X Auto Digital Gain range max: 50
[zed_wrapper-2] [INFO] [1707336120.356244845] [zed_node]: * Video QoS History: KEEP_LAST
[zed_wrapper-2] [INFO] [1707336120.356392203] [zed_node]: * Video QoS History depth: 1
[zed_wrapper-2] [INFO] [1707336120.356515434] [zed_node]: * Video QoS Reliability: RELIABLE
[zed_wrapper-2] [INFO] [1707336120.356627977] [zed_node]: * Video QoS Durability: VOLATILE
[zed_wrapper-2] [INFO] [1707336120.356663336] [zed_node]: *** DEPTH parameters ***
[zed_wrapper-2] [INFO] [1707336120.356799110] [zed_node]: * Depth mode: NONE - DEPTH DISABLED
[zed_wrapper-2] [INFO] [1707336120.356837574] [zed_node]: *** SENSORS STACK parameters ***
[zed_wrapper-2] [INFO] [1707336120.356946565] [zed_node]: * Broadcast IMU TF [not for ZED]: FALSE
[zed_wrapper-2] [INFO] [1707336120.357058947] [zed_node]: * Sensors Camera Sync: FALSE
[zed_wrapper-2] [INFO] [1707336120.357191266] [zed_node]: * Sensors publishing rate: 200 Hz
[zed_wrapper-2] [INFO] [1707336120.357311616] [zed_node]: * Sensors QoS History: KEEP_LAST
[zed_wrapper-2] [INFO] [1707336120.357525981] [zed_node]: * Sensors QoS History depth: 1
[zed_wrapper-2] [INFO] [1707336120.357647964] [zed_node]: * Sensors QoS Reliability: RELIABLE
[zed_wrapper-2] [INFO] [1707336120.357745499] [zed_node]: * Sensors QoS Durability: VOLATILE
[zed_wrapper-2] [INFO] [1707336120.357776570] [zed_node]: *** Advanced parameters ***
[zed_wrapper-2] [INFO] [1707336120.357885113] [zed_node]: * Thread sched. policy:
[zed_wrapper-2] [INFO] [1707336120.358017591] [zed_node]: *** SERVICES ***
[zed_wrapper-2] [INFO] [1707336120.361214896] [zed_node]: * '/zed_node/start_svo_rec'
[zed_wrapper-2] [INFO] [1707336120.363019802] [zed_node]: * '/zed_node/stop_svo_rec'
[zed_wrapper-2] [INFO] [1707336120.363896175] [zed_node]: * '/zed_node/set_roi'
[zed_wrapper-2] [INFO] [1707336120.364585639] [zed_node]: * '/zed_node/reset_roi'
[zed_wrapper-2] [INFO] [1707336120.364632102] [zed_node]: ***** STARTING CAMERA *****
[zed_wrapper-2] [INFO] [1707336120.364675045] [zed_node]: ZED SDK Version: 4.0.6 - Build 76737_a80ced01
[zed_wrapper-2] [INFO] [1707336120.373844981] [zed_node]: *** CAMERA OPENING ***
[zed_wrapper-2] [ZED][INFO] Logging level INFO
[zed_wrapper-2] [ZED][INFO] Using GMSL input... Switched to default resolution HD1200
[zed_wrapper-2] [ZED][INFO] [Init] Depth mode: NONE
[zed_wrapper-2] [ZED-X][Warning] Failed to open zed_x service
[zed_wrapper-2] [ZED][INFO] [Init] Camera FW version: 2001
[zed_wrapper-2] [ZED][INFO] [Init] Video mode: HD1200@60
[zed_wrapper-2] [ZED][INFO] [Init] Serial Number: S/N 53432554
[INFO] [component_container-3]: process started with pid [111875]
[component_container-3] [ERROR] [1707336125.516448760] [visual_slam_launch_container]: Could not find requested resource in ament index
[ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node 'image_format_node_left' of type 'nvidia::isaac_ros::image_proc::ImageFormatConverterNode' in container '/visual_slam_launch_container': Could not find requested resource in ament index
[component_container-3] [ERROR] [1707336125.527741648] [visual_slam_launch_container]: Could not find requested resource in ament index
[ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node 'image_format_node_right' of type 'nvidia::isaac_ros::image_proc::ImageFormatConverterNode' in container '/visual_slam_launch_container': Could not find requested resource in ament index
[component_container-3] [INFO] [1707336125.542357471] [visual_slam_launch_container]: Load Library: /workspaces/isaac_ros-dev/install/isaac_ros_visual_slam/lib/libvisual_slam_node.so
[zed_wrapper-2] [INFO] [1707336125.926993755] [zed_node]: ZED SDK running on GPU #0
[zed_wrapper-2] [INFO] [1707336125.927470773] [zed_node]: * Camera Model -> ZED X Mini
[zed_wrapper-2] [INFO] [1707336125.927509396] [zed_node]: * Serial Number -> 53432554
[zed_wrapper-2] [INFO] [1707336125.927547444] [zed_node]: * Focal Lenght -> 2.20579 mm
[zed_wrapper-2] [INFO] [1707336125.927590579] [zed_node]: * Input -> GMSL input type
[zed_wrapper-2] [INFO] [1707336125.927623635] [zed_node]: * Camera FW Version -> 2001
[zed_wrapper-2] [INFO] [1707336125.927648179] [zed_node]: * Sensors FW Version -> 1000
[zed_wrapper-2] [INFO] [1707336125.927673906] [zed_node]: * Camera grab frame size -> 1920x1200
[zed_wrapper-2] [INFO] [1707336125.927697394] [zed_node]: * Publishing frame size -> 1920x1200
[zed_wrapper-2] [INFO] [1707336125.927750097] [zed_node]: *** TF FRAMES ***
[zed_wrapper-2] [INFO] [1707336125.927775345] [zed_node]: * Map -> map
[zed_wrapper-2] [INFO] [1707336125.927795025] [zed_node]: * Odometry -> odom
[zed_wrapper-2] [INFO] [1707336125.928060686] [zed_node]: * Base ->
[zed_wrapper-2] [INFO] [1707336125.928091341] [zed_node]: * Camera -> zedxm_camera_center
[zed_wrapper-2] [INFO] [1707336125.928116237] [zed_node]: * Left -> zedxm_left_camera_frame
[zed_wrapper-2] [INFO] [1707336125.928151341] [zed_node]: * Left Optical -> zedxm_left_camera_optical_frame
[zed_wrapper-2] [INFO] [1707336125.928176748] [zed_node]: * RGB -> zedxm_left_camera_frame
[zed_wrapper-2] [INFO] [1707336125.928201004] [zed_node]: * RGB Optical -> zedxm_left_camera_frame
[zed_wrapper-2] [INFO] [1707336125.928225228] [zed_node]: * Right -> zedxm_right_camera_frame
[zed_wrapper-2] [INFO] [1707336125.928651719] [zed_node]: * Right Optical -> zedxm_right_camera_optical_frame
[zed_wrapper-2] [INFO] [1707336125.928714310] [zed_node]: * IMU -> zedxm_imu_link
[zed_wrapper-2] [INFO] [1707336125.929143585] [zed_node]: *** PUBLISHED TOPICS ***
[component_container-3] [INFO] [1707336126.022708856] [visual_slam_launch_container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::visual_slam::VisualSlamNode>
[component_container-3] [INFO] [1707336126.023238481] [visual_slam_launch_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::visual_slam::VisualSlamNode>
[component_container-3] [INFO] [1707336126.141197158] [visual_slam_node]: cuVSLAM version: 11.4
[zed_wrapper-2] [INFO] [1707336126.777757213] [zed_node]: Advertised on topic: /zed_node/rgb/image_rect_color
[zed_wrapper-2] [INFO] [1707336126.777891964] [zed_node]: Advertised on topic: /zed_node/rgb/camera_info
[zed_wrapper-2] [INFO] [1707336126.816243470] [zed_node]: Advertised on topic: /zed_node/rgb_gray/image_rect_gray
[zed_wrapper-2] [INFO] [1707336126.816352237] [zed_node]: Advertised on topic: /zed_node/rgb_gray/camera_info
[zed_wrapper-2] [INFO] [1707336126.839688404] [zed_node]: Advertised on topic: /zed_node/rgb_raw/image_raw_color
[zed_wrapper-2] [INFO] [1707336126.841504542] [zed_node]: Advertised on topic: /zed_node/rgb_raw/camera_info
[zed_wrapper-2] [INFO] [1707336126.869446286] [zed_node]: Advertised on topic: /zed_node/rgb_raw_gray/image_raw_gray
[zed_wrapper-2] [INFO] [1707336126.873767386] [zed_node]: Advertised on topic: /zed_node/rgb_raw_gray/camera_info
[zed_wrapper-2] [INFO] [1707336126.910347682] [zed_node]: Advertised on topic: /zed_node/left/image_rect_color
[zed_wrapper-2] [INFO] [1707336126.912521320] [zed_node]: Advertised on topic: /zed_node/left/camera_info
[zed_wrapper-2] [INFO] [1707336126.940669654] [zed_node]: Advertised on topic: /zed_node/left_gray/image_rect_gray
[zed_wrapper-2] [INFO] [1707336126.942856603] [zed_node]: Advertised on topic: /zed_node/left_gray/camera_info
[zed_wrapper-2] [INFO] [1707336126.974643549] [zed_node]: Advertised on topic: /zed_node/left_raw/image_raw_color
[zed_wrapper-2] [INFO] [1707336126.974776219] [zed_node]: Advertised on topic: /zed_node/left_raw/camera_info
[zed_wrapper-2] [INFO] [1707336126.999712303] [zed_node]: Advertised on topic: /zed_node/left_raw_gray/image_raw_gray
[zed_wrapper-2] [INFO] [1707336127.000143498] [zed_node]: Advertised on topic: /zed_node/left_raw_gray/camera_info
[zed_wrapper-2] [INFO] [1707336127.028262393] [zed_node]: Advertised on topic: /zed_node/right/image_rect_color
[zed_wrapper-2] [INFO] [1707336127.028549430] [zed_node]: Advertised on topic: /zed_node/right/camera_info
[zed_wrapper-2] [INFO] [1707336127.044275513] [zed_node]: Advertised on topic: /zed_node/right_gray/image_rect_gray
[zed_wrapper-2] [INFO] [1707336127.044403512] [zed_node]: Advertised on topic: /zed_node/right_gray/camera_info
[zed_wrapper-2] [INFO] [1707336127.056886274] [zed_node]: Advertised on topic: /zed_node/right_raw/image_raw_color
[zed_wrapper-2] [INFO] [1707336127.057004865] [zed_node]: Advertised on topic: /zed_node/right_raw/camera_info
[zed_wrapper-2] [INFO] [1707336127.066101940] [zed_node]: Advertised on topic: /zed_node/right_raw_gray/image_raw_gray
[zed_wrapper-2] [INFO] [1707336127.066211634] [zed_node]: Advertised on topic: /zed_node/right_raw_gray/camera_info
[zed_wrapper-2] [INFO] [1707336127.077161519] [zed_node]: Advertised on topic: /zed_node/stereo/image_rect_color
[zed_wrapper-2] [INFO] [1707336127.087086136] [zed_node]: Advertised on topic: /zed_node/stereo_raw/image_raw_color
[zed_wrapper-2] [INFO] [1707336127.092051965] [zed_node]: Advertised on topic: /zed_node/imu/data
[zed_wrapper-2] [INFO] [1707336127.097616730] [zed_node]: Advertised on topic: /zed_node/imu/data_raw
[zed_wrapper-2] [INFO] [1707336127.105844311] [zed_node]: Advertised on topic: /zed_node/temperature/imu
[zed_wrapper-2] [INFO] [1707336127.111963982] [zed_node]: Advertised on topic: /zed_node/left_cam_imu_transform
[zed_wrapper-2] [INFO] [1707336127.114506256] [zed_node]: Camera-IMU Translation:
[zed_wrapper-2] -0.002 -0.023 0.00022
[zed_wrapper-2] [INFO] [1707336127.116829556] [zed_node]: Camera-IMU Rotation:
[zed_wrapper-2] FFFFE43F6580
[zed_wrapper-2] 0.999986 -0.005202 0.000491
[zed_wrapper-2] 0.005202 0.999986 -0.001091
[zed_wrapper-2] -0.000485 0.001093 0.999999
[zed_wrapper-2]
[zed_wrapper-2] [INFO] [1707336127.119728817] [zed_node]: *** Subscribers ***
[zed_wrapper-2] [WARN] [1707336127.166398978] [zed_node]: ! Failed to set thread params! - Policy not supported
[zed_wrapper-2] [WARN] [1707336127.166857916] [zed_node]: ! Failed to set thread params! - Policy not supported
[component_container-3] [INFO] [1707336135.340187672] [visual_slam_node]: Time taken by CUVSLAM_WarmUpGPU(): 9.196180
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/visual_slam_node' in container '/visual_slam_launch_container'
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[zed_wrapper-2] [INFO] [1707336213.647565902] [rclcpp]: signal_handler(signum=2)
[INFO] [robot_state_publisher-1]: process has finished cleanly [pid 111761]
[INFO] [component_container-3]: process has finished cleanly [pid 111875]
[component_container-3] [INFO] [1707336213.647514478] [rclcpp]: signal_handler(signum=2)
[robot_state_publisher-1] [INFO] [1707336213.647932875] [rclcpp]: signal_handler(signum=2)
[INFO] [zed_wrapper-2]: process has finished cleanly [pid 111763]