I CAN'T open zed launch file..

Software
1

I installed zed sdk on the docker image, and also installed ros2 foxy.
The main body is jetson orin, and i’m using jetpack 5.1.2.

ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zedxm

The above command was entered to execute the zed node, but an error occurred.

[component_container-2] [ZED-X][Warning] Failed to connect to zed_x_daemon.
[component_container-2] [INFO] [1739356886.936725056] [zed.zed_node]: Advertised on topic: /zed/zed_node/pose
[component_container-2] [INFO] [1739356886.938627340] [zed.zed_node]: Advertised on topic: /zed/zed_node/pose/status
[component_container-2] [INFO] [1739356886.940718970] [zed.zed_node]: Advertised on topic: /zed/zed_node/pose_with_covariance
[component_container-2] [INFO] [1739356886.943451948] [zed.zed_node]: Advertised on topic: /zed/zed_node/odom
[component_container-2] [INFO] [1739356886.946366846] [zed.zed_node]: Advertised on topic: /zed/zed_node/path_map
[component_container-2] [INFO] [1739356886.948761902] [zed.zed_node]: Advertised on topic: /zed/zed_node/path_odom
[component_container-2] [INFO] [1739356886.951692513] [zed.zed_node]: Advertised on topic: /zed/plane_marker
[component_container-2] [INFO] [1739356886.954009520] [zed.zed_node]: Advertised on topic: /zed/plane
[component_container-2] [INFO] [1739356886.956000732] [zed.zed_node]: Advertised on topic: /zed/zed_node/imu/data
[component_container-2] [INFO] [1739356886.957693767] [zed.zed_node]: Advertised on topic: /zed/zed_node/imu/data_raw
[component_container-2] [INFO] [1739356886.959605396] [zed.zed_node]: Advertised on topic: /zed/zed_node/temperature/imu
[component_container-2] [INFO] [1739356886.961347935] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_cam_imu_transform
[component_container-2] [INFO] [1739356886.961870914] [zed.zed_node]: Camera-IMU Translation: 
[component_container-2]  0 -0.034502 -0.004356
[component_container-2] [INFO] [1739356886.962529127] [zed.zed_node]: Camera-IMU Rotation:
[component_container-2] FFFFF130CFB0
[component_container-2] 1.000000 0.000044 -0.000001
[component_container-2] -0.000044 0.999990 -0.004523
[component_container-2] 0.000000 0.004523 0.999990
[component_container-2] 
[component_container-2] [INFO] [1739356886.963681358] [zed.zed_node]: *** Subscribers ***
[component_container-2] terminate called after throwing an instance of 'rclcpp::exceptions::InvalidTopicNameError'
[component_container-2]   what():  Invalid topic name: topic name must not be empty string:
[component_container-2]   ''
[component_container-2]    ^
[component_container-2] 
[ERROR] [component_container-2]: process has died [pid 233, exit code -6, cmd '/opt/ros/foxy/lib/rclcpp_components/component_container --ros-args -r __node:=zed_container -r __ns:=/zed'].

Could you help me …? please…

2

Are you using ROS 2 Foxy?

Please read this:

3

First of all, thank you for your answer.
I’d like to ask if I understand well.

I went to the site and read it
Is it right to modify the demo.yaml file?

But, I can’t find it… ( I don’t have it…)

root@fb048dde5aec:/usr/local/zed# find / -type f -name “*.yaml”
/root/ros2_ws/src/zed-ros2-examples/examples/zed_aruco_localization/config/aruco_loc.yaml
/root/ros2_ws/src/zed-ros2-examples/examples/zed_depth_to_laserscan/config/zed_depth_to_laserscan.yaml
/root/ros2_ws/src/zed-ros2-wrapper/zed_wrapper/config/zedm.yaml
/root/ros2_ws/src/zed-ros2-wrapper/zed_wrapper/config/virtual.yaml
/root/ros2_ws/src/zed-ros2-wrapper/zed_wrapper/config/zedxone4k.yaml
/root/ros2_ws/src/zed-ros2-wrapper/zed_wrapper/config/zedxm.yaml
/root/ros2_ws/src/zed-ros2-wrapper/zed_wrapper/config/zedx.yaml
/root/ros2_ws/src/zed-ros2-wrapper/zed_wrapper/config/zed2i.yaml
/root/ros2_ws/src/zed-ros2-wrapper/zed_wrapper/config/zedxonegs.yaml
/root/ros2_ws/src/zed-ros2-wrapper/zed_wrapper/config/ffmpeg.yaml
/root/ros2_ws/src/zed-ros2-wrapper/zed_wrapper/config/common_mono.yaml
/root/ros2_ws/src/zed-ros2-wrapper/zed_wrapper/config/zed2.yaml
/root/ros2_ws/src/zed-ros2-wrapper/zed_wrapper/config/common_stereo.yaml
/root/ros2_ws/src/zed-ros2-wrapper/zed_wrapper/config/zed.yaml
/tmp/binarydeb/ros-foxy-rclcpp-2.4.3/.obj-aarch64-linux-gnu/test/resources/test_node/test_parameters.yaml
/tmp/binarydeb/ros-foxy-rcl-1.1.14/obj-aarch64-linux-gnu/test/resources/test_arguments/test_parameters.2.yaml
/tmp/binarydeb/ros-foxy-rcl-1.1.14/obj-aarch64-linux-gnu/test/resources/test_arguments/test_parameters.1.yaml
/opt/ros/foxy/share/rcl_interfaces/mapping_rules.yaml
/opt/ros/foxy/share/joy/config/joy-params.yaml
/opt/ros/foxy/share/example_interfaces/mapping_rules.yaml
/opt/ros/foxy/share/teleop_twist_joy/config/xbox.config.yaml
/opt/ros/foxy/share/teleop_twist_joy/config/atk3.config.yaml
/opt/ros/foxy/share/teleop_twist_joy/config/xd3.config.yaml
/opt/ros/foxy/share/teleop_twist_joy/config/ps3.config.yaml
/opt/ros/foxy/share/teleop_twist_joy/config/ps3-holonomic.config.yaml
/opt/ros/foxy/share/dummy_robot_bringup/launch/dummy_robot_bringup_launch.yaml
/opt/ros/foxy/share/tf2_msgs/tfmessage_bridge_mapping_rule.yaml
/opt/ros/foxy/share/unique_identifier_msgs/mapping_rules.yaml
/opt/ros/foxy/share/depthimage_to_laserscan/cfg/param.yaml
/opt/ros/foxy/share/geographic_msgs/geographic_msgs_mapping_rule.yaml
/opt/ros/foxy/share/robot_localization/test/test_ekf_localization_node_interfaces.yaml
/opt/ros/foxy/share/robot_localization/test/test_ros_robot_localization_listener.yaml
/opt/ros/foxy/share/robot_localization/test/test_filter_base_diagnostics_timestamps.yaml
/opt/ros/foxy/share/robot_localization/test/test_ekf_localization_node_bag2.yaml
/opt/ros/foxy/share/robot_localization/test/test_ekf_localization_node_bag3.yaml
/opt/ros/foxy/share/robot_localization/test/test_ukf_localization_node_bag1.yaml
/opt/ros/foxy/share/robot_localization/test/test_ukf_localization_node_interfaces.yaml
/opt/ros/foxy/share/robot_localization/test/test_ukf_localization_node_bag2.yaml
/opt/ros/foxy/share/robot_localization/test/test_ekf_localization_node_bag1.yaml
/opt/ros/foxy/share/robot_localization/test/test_ukf_localization_node_bag3.yaml
/opt/ros/foxy/share/robot_localization/params/dual_ekf_navsat_example.yaml
/opt/ros/foxy/share/robot_localization/params/ukf.yaml
/opt/ros/foxy/share/robot_localization/params/navsat_transform.yaml
/opt/ros/foxy/share/robot_localization/params/ekf.yaml

OR I have to edit ComposableNode in zed_camera.launch.py ??

what should i do… also i can’t understand well…
please teach me easily

4

In my opinion, the better solution is to migrate to Jetpack 6 which is based on Ubuntu 22.04. You can then install ROS 2 Humble and use newer software.

ROS 2 Foxy is now EOL.

5

Thank you so much for your reply.
I think so too. I will try it. Thank you! Have a nice day~