No point cloud information is displayed in Rviz

Software ROS1
1

When I used the command "roslaunch zed_display_rviz display_zed.launch ",no point cloud information is displayed in Rviz, as shown in figure:

35433aebb3e1484ddc3b73e0db9af6b
35433aebb3e1484ddc3b73e0db9af6b1702Ă—1276 157 KB

When I used the command "rostopic echo /zed/zed_node/point_cloud/cloud_registered ",the result is shown in figure:

2

When I used the command "rostopic echo /zed/zed_node/point_cloud/cloud_registered ",the result is shown in figure:

c08d54c026588333550ffd346f6f587
c08d54c026588333550ffd346f6f5871276Ă—1702 302 KB

3

Hi @Wangbo
your camera is too near to any surface to create a valid depth map.
Have you tried to move it?

4

Yes, I have tried to move it, and when I used zed_SDK, I can see the point cloud information and depth image.

1d0278f8216f3cf57e143a8c0af10f2
1d0278f8216f3cf57e143a8c0af10f21702Ă—1276 258 KB

5

Can you enable the Depth Map topic in Rviz and show me the result?
What is the fixed frame value in Global Options?
Can you also run the roswtf command in a new console while the nodes are running and post here the output?

9

hi, every fixed frame, I have tried, but it doesn’t work:
Processing: 40dbb664480bf60193f25bd4f1deb36.jpg…

10

rostopic echo /zed/zed_node/depth/depth_registered
Processing: c88d2dfd0dcea29c37346169a5cbb59.jpg…
roswtf
Processing: 663e9632a9195c55c59b2f4d1ae1d57.jpg…

11

Sorry, I don’t know why the photos I uploaded can’t be displayed.
When I used command “rostopic echo /zed/zed_node/depth/depth_registered”, the result is similar to that of point cloud :255, 255, 255, 127, 255, 255, 255, 127, 255, 255, 255, 127, 255, 255, 255, 127, 255, 255, 255, 127, 255, 255, 255, 127, 255, 255, 255, 127, 255, 255, 255, 127, 255, 255, 255, 127, 255, 255, 255, 127, 255, 255, 255, 127, 255, 255, 255, 127, 255, 255, 255, 127, 255, 255, 255, 127, 255, 255, 255, 127, 255, 255, 255, 127, 255, 255, 255, 127, 255, 255, 255, 127, 255, 255, 255, 127, 255, 255, 255, 127, 255, 255, 255, 127, 255, 255, 255, 127, 255, 255, 255, 127, 255, 255, 255, 127]
When I used command “roswtf”, it gives the result as follows:
Loaded plugin tf.tfwtf
No package or stack in the current directory

Static checks summary:

No errors or warnings

Beginning tests of your ROS graph. These may take a while…
analyzing graph…
… done analyzing graph
running graph rules…
… done running graph rules
running tf checks, this will take a second…
… tf checks complete

Online checks summary:

Found 1 warning(s).
Warnings are things that may be just fine, but are sometimes at fault

WARNING The following node subscriptions are unconnected:

  • /rviz:
    • /zed/zed_node/mapping/fused_cloud
  • /zed/zed_state_publisher:
    • /zed/joint_states
12

rostopic echo /zed/zed_node/depth/depth_registered
is not the good way to display depth map information that are in float32, not in uint8.

Try to use rqt instead and the image viewer tool.

13

sorry, I am not familiar to rqt, how would you like me to operate it?

3389ace964a97dcbf2ef0ace7b9ebf0
3389ace964a97dcbf2ef0ace7b9ebf01151Ă—698 226 KB

14

I use the image viewer tool, but there is nothing.

9893f66e5dcb7587a659bcdb8198c7a
9893f66e5dcb7587a659bcdb8198c7a947Ă—656 44.9 KB

15

Do you already figure out the solution? I encountered the same issue when I use the neural depth mode in ROS Melodic, while all the other depth modes work well. Tyvm

16

I haven’t figure out it, I do not find a good method.

17

@Wangbo Thank you for your reply. Are you running the SDK or ROS node inside the docker containers? I encounter this issue only inside the docker container but works fine on the host instead. I guess it results from the deployment of the neural inference model inside the container.

1 Like
18

@lidingGK good question. We are indeed fixing the Docker containers for this problem

19

Did anyone figure this issue out? we are still having the same issue.