I encountered a bug while using the zed_multi_cam.launch from the zed-ros-example package

[sdk17586]

I encountered a bug while using the zed_multi_cam.launch from the zed-ros-example package.

good case

[ INFO] [1693355823.558812812]: *** Opening ZED X...
[ INFO] [1693355823.604383824]: * Camera coordinate system -> Right HANDED Z UP and X FORWARD
[ INFO] [1693355823.604560624]: *** Opening ZED X Mini...
[ INFO] [1693355824.034480708]: Stereo is NOT SUPPORTED
[ INFO] [1693355824.034632676]: OpenGL device: NVIDIA Tegra Orin (nvgp
[ INFO] [1693355492.062182718]: OpenGl version: 4.6 (GLSL 4.6).
[ INFO] [1693355497.090045828]: ZED connection -> SUCCESS

bad case

[ INFO] [1693355870.361131585]: *** Opening ZED X Mini...
[ INFO] [1693355870.412381492]: * Camera coordinate system -> Right HANDED Z UP and X FORWARD
[ INFO] [1693355870.412560053]: *** Opening ZED X...
[ INFO] [1693355870.493121089]: ZED connection -> CAMERA NOT DETECTED
[ INFO] [1693355870.543917298]: ZED connection -> CAMERA NOT DETECTED

When opening “zedx” first and then opening “zedxm,” it shows “ZED connection → SUCCESS.” However, when opening “zedxm” first and then opening “zedx,” it displays “ZED connection → CAMERA NOT DETECTED.”

[Myzhar]

Hi @sdk17586
what version of the ZED SDK and ZED X driver are you using?

[sdk17586]

i using jetpack 5.1.1, stereolabs-zedx_0.5.4-MAX96712-L4T35.3.1_arm64.deb, ZED_SDK_Tegra_L4T35.3_v4.0.6.zstd.run*

[Myzhar]

@sdk17586 did you correctly modify the launch file to add the serial number of the cameras in order to open the right camera associated to the model?

[sdk17586]

my camera zedx serial_num=42343965, zedxm=55763947.

this is launch file.

<!-- CAMERA 2 -->
<arg name="node_name_2"          default="zed_node_B" />
<arg name="camera_model_2"       default="zed" />
<arg name="camera_name_2"        default="zedB" />
<arg name="cam_pos_x_2"          default="0.0" /> <!-- Position respect to base frame (i.e. "base_link) -->
<arg name="cam_pos_y_2"          default="-0.28" /> <!-- Position respect to base frame (i.e. "base_link) -->
<arg name="cam_pos_z_2"          default="-0.04" /> <!-- Position respect to base frame (i.e. "base_link) -->
<arg name="cam_roll_2"           default="0.0" /> <!-- Orientation respect to base frame (i.e. "base_link) -->
<arg name="cam_pitch_2"          default="0.0" /> <!-- Orientation respect to base frame (i.e. "base_link) -->
<arg name="cam_yaw_2"            default="0.0" /> <!-- Orientation respect to base frame (i.e. "base_link) -->

<group ns="$(arg camera_name_1)">
    <include file="$(find zed_multicamera_example)/launch/include/zed_camera_mod.launch">
        <arg name="camera_name"         value="$(arg camera_name_1)" />
        <arg name="node_name"           value="$(arg node_name_1)" />
        <arg name="camera_model"        value="$(arg camera_model_1)" />
        <arg name="publish_urdf"        value="$(arg publish_urdf)" />
        <arg name="publish_tf"          value="true" />
        <arg name="camera_id"           value="0" />
    </include>
</group>

<group ns="$(arg camera_name_2)">
    <include file="$(find zed_multicamera_example)/launch/include/zed_camera_mod.launch">
        <arg name="camera_name"         value="$(arg camera_name_2)" />
        <arg name="node_name"           value="$(arg node_name_2)" />
        <arg name="camera_model"        value="$(arg camera_model_2)" />
        <arg name="publish_urdf"        value="true" />
        <arg name="publish_tf"          value="false" /> <!-- Only the main camera must publish TF! -->
        <arg name="camera_id"           value="1" />

        <arg name="cam_pos_x"         value="$(arg cam_pos_x_2)" />
        <arg name="cam_pos_y"         value="$(arg cam_pos_y_2)" />
        <arg name="cam_pos_z"         value="$(arg cam_pos_z_2)" />
        <arg name="cam_roll"          value="$(arg cam_roll_2)" />
        <arg name="cam_pitch"         value="$(arg cam_pitch_2)" />
        <arg name="cam_yaw"           value="$(arg cam_yaw_2)" />
    </include>
</group>

<node name="rviz" pkg="rviz" type="rviz" args="-d $(find zed_multicamera_example)/rviz/multi_cam.rviz" output="screen" />

There is no arg in this code to input serial_num.

[Myzhar]

Please try to set the camera_sn parameters instead of camera_id like in the nodelet example:

stereolabs/zed-ros-examples/blob/master/examples/zed_multicamera_example/launch/zed_multicam_single_nodelet.launch