ROS wrapper & Nvidia related error

Software
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1

Hello everyone,

I am trying to use the ZED m model with ROS on Jetson Nano but I get an error regarding the ZED connection.
, I’ve run the SDK installation file (ZED_SDK_Tegra_L4T32.7_v3.8.2.zstd.run) until completion and then I built the catkin workspace, then I sourced the workspace and launched the zed.m file.

I’ve found a similar issue but deleting the build and devel folders did not help me.

Steps to Reproduce

  1. I’ve run the SDK installation file (ZED_SDK_Tegra_L4T32.7_v3.8.2.zstd.run) until completion
  2. Cloned the repository on my workspace
  3. catkin_make
  4. roslaunch zed_wrapper zedm.launch

Expected Result
I expected the node to start up smoothly and publish the desired topics.

Actual Result
The node started but the output I get is the following:

[ INFO] [1669890207.084863231]:  *** Opening ZED-M...
[ INFO] [1669890207.268928840]: ZED connection -> NVIDIA DRIVER OUT OF DATE
CUDA error at Camera.cpp:121 code=35(cudaErrorInsufficientDriver) "void sl::Camera::close()" 
CUDA error at Camera.cpp:149 code=35(cudaErrorInsufficientDriver) "void sl::Camera::close()" 
CUDA error at Camera.cpp:174 code=35(cudaErrorInsufficientDriver) "void sl::Camera::close()" 
CUDA error at Camera.cpp:214 code=35(cudaErrorInsufficientDriver) "void sl::Camera::close()" 
CUDA error at Camera.cpp:219 code=35(cudaErrorInsufficientDriver) "void sl::Camera::close()" 
CUDA error at CameraUtils.hpp:773 code=35(cudaErrorInsufficientDriver) "void sl::ObjectsDetectorHandler::clear()" 
CUDA error at CameraUtils.hpp:789 code=35(cudaErrorInsufficientDriver) "void sl::ObjectsDetectorHandler::clear()" 
CUDA error at CameraUtils.hpp:795 code=35(cudaErrorInsufficientDriver) "void sl::ObjectsDetectorHandler::clear()" 
CUDA error at CameraUtils.hpp:798 code=35(cudaErrorInsufficientDriver) "void sl::ObjectsDetectorHandler::clear()" 
CUDA error at CameraUtils.hpp:800 code=35(cudaErrorInsufficientDriver) "void sl::ObjectsDetectorHandler::clear()" 
CUDA error at CameraUtils.hpp:809 code=35(cudaErrorInsufficientDriver) "void sl::ObjectsDetectorHandler::clear()" 
CUDA error at Camera.cpp:234 code=35(cudaErrorInsufficientDriver) "void sl::Camera::close()" 
[ INFO] [1669890209.269835503]: ZED connection -> NVIDIA DRIVER OUT OF DATE

ZED Camera model
ZED Mini

Environment
OS: 4.9.140-tegra CPU: ARMv8 Processor rev 1 (v8l) × 4
GPU: NVIDIA Tegra X1 (nvgpu)/integrated (Nvidia Jetson Nano)
ZED SDK version: 3.8.2
CUDA version: CUDA 10.2

Any ideas?

2

Hi @Antonis
welcome to the Stereolabs community.

Can you please run the ZED_Diagnostic tool and send the report that it generates?

3

Hello @Myzhar, thank you for your reply and taking the time to check my issue.

Unfortunately as a new user I can not attach a file, but here is the content of the json file.

{
    "AI Models": {
        "info": [
            "MULTI CLASS DETECTION is not optimized",
            "MULTI CLASS MEDIUM DETECTION is not optimized",
            "MULTI CLASS ACCURATE DETECTION is not optimized",
            "HUMAN BODY FAST DETECTION is not optimized",
            "HUMAN BODY MEDIUM DETECTION is not optimized",
            "HUMAN BODY ACCURATE DETECTION is not optimized",
            "PERSON HEAD DETECTION is not optimized",
            "PERSON HEAD ACCURATE DETECTION is not optimized",
            "REID ASSOCIATION is not optimized",
            "NEURAL DEPTH is not optimized"
        ]
    },
    "Camera Test": {
        "InternalDevicesCount": 2,
        "ZEDCount": 1,
        "camera": {
            "Device ID": 0,
            "Firmware": 1523,
            "Init Output": "OK",
            "Model": "ZED Mini",
            "Serial Number": 13203688,
            "valid": [
                "<b>Camera: </b>ZED Mini",
                "<b>Firmware: </b>1523"
            ]
        },
        "error": [
            "<b>Specific resolutions are not available</b> <br/> Replug your device or connect the camera to another <b>USB 3.0</b> port."
        ],
        "resolutions": {
            "HD1080@15": {
                "fps (input)": 15,
                "fps (output)": 15,
                "height (input)": 1080,
                "height (output)": 1080,
                "initialization": "OK",
                "status": true,
                "width (input)": 1920,
                "width (output)": 1920
            },
            "HD1080@30": {
                "initCode": true
            },
            "HD2K@15": {
                "initCode": true
            },
            "HD720@15": {
                "fps (input)": 15,
                "fps (output)": 15,
                "height (input)": 720,
                "height (output)": 720,
                "initialization": "OK",
                "status": true,
                "width (input)": 1280,
                "width (output)": 1280
            },
            "HD720@30": {
                "dropCount": 5,
                "fps (input)": 30,
                "fps (output)": 30,
                "height (input)": 720,
                "height (output)": 720,
                "imageCount": 245,
                "initialization": "OK",
                "status": true,
                "tearingCount": 0,
                "width (input)": 1280,
                "width (output)": 1280
            },
            "HD720@60": {
                "initCode": true
            },
            "VGA@100": {
                "initCode": true
            },
            "VGA@15": {
                "fps (input)": 15,
                "fps (output)": 15,
                "height (input)": 376,
                "height (output)": 376,
                "initialization": "OK",
                "status": true,
                "width (input)": 672,
                "width (output)": 672
            },
            "VGA@30": {
                "fps (input)": 30,
                "fps (output)": 30,
                "height (input)": 376,
                "height (output)": 376,
                "initialization": "OK",
                "status": true,
                "width (input)": 672,
                "width (output)": 672
            },
            "VGA@60": {
                "fps (input)": 60,
                "fps (output)": 60,
                "height (input)": 376,
                "height (output)": 376,
                "initialization": "OK",
                "status": true,
                "width (input)": 672,
                "width (output)": 672
            }
        },
        "sensors": {
            "Firmware": 517,
            "Init Output": "OK",
            "Model": "ZED Mini (MCU)",
            "Serial Number": 13203688
        }
    },
    "Graphics Card": {
        "deviceCount": 1,
        "deviceDriverVersion": 10020,
        "devices": [
            {
                "arch": "Maxwell",
                "computeCapability": "5.3",
                "cores": 128,
                "name": "NVIDIA Tegra X1",
                "totalMemoryBytes": "2066948096",
                "totalMemoryMB": 1971.1953125
            }
        ],
        "initResult": 0,
        "valid": [
            "<b>Graphics card: </b> NVIDIA Tegra X1"
        ]
    },
    "Processor": {
        "OS": "Ubuntu 18.04.6 LTS ",
        "avxSupported": false,
        "coreCount": "4",
        "cpu": " ARMv8 Processor rev 1 (v8l)",
        "datetime": "2022-12-01 01:31:40 μμ",
        "hyperThreading": "0",
        "motherboard": ", ",
        "ramCapacity": "2,066948",
        "ramUsage": "",
        "ramUsed": "1,622995",
        "threadCount": "4",
        "valid": [
            "<b>Processor: </b>  ARMv8 Processor rev 1 (v8l)"
        ]
    },
    "USB": {
        "CorruptedFirmware": false,
        "MCUDetected": true,
        "USBList": [
            {
                "USBMode": 3,
                "USB_path": "/1",
                "bDescriptorType": 1,
                "bDeviceProtocol": 1,
                "bLength": 18,
                "bMaxPacketSize0": 9,
                "bNumConfigurations": 1,
                "bcdDevice": "1.0",
                "bcdUSB": "3.0",
                "bcdUSBClass": 239,
                "bcdUSBSubClass": 2,
                "busNumber": 2,
                "device": "ZED mini",
                "iManufacturer": 1,
                "iProduct": 2,
                "iSerial": 0,
                "idProduct": "0xf682",
                "idVendor": "0x2b03"
            },
            {
                "USB_path": "/3/2",
                "idProduct": "0xc53f",
                "idVendor": "0x046d"
            },
            {
                "USB_path": "/3/1",
                "idProduct": "0x07f8",
                "idVendor": "0x045e"
            },
            {
                "USB_path": "/3",
                "idProduct": "0x0801",
                "idVendor": "0x1a40"
            },
            {
                "USBMode": 2,
                "USB_path": "/2",
                "bDescriptorType": 1,
                "bDeviceProtocol": 0,
                "bLength": 18,
                "bMaxPacketSize0": 64,
                "bNumConfigurations": 1,
                "bcdDevice": "2.5",
                "bcdUSB": "2.0",
                "bcdUSBClass": 0,
                "bcdUSBSubClass": 0,
                "busNumber": 1,
                "device": "ZED mini MCU",
                "iManufacturer": 1,
                "iProduct": 2,
                "iSerial": 3,
                "idProduct": "0xf681",
                "idVendor": "0x2b03"
            }
        ],
        "USBMode": 3,
        "ZED Camera Module Detected": 63106,
        "ZED MCU Module Detected": 63105,
        "ZEDDetected": true,
        "valid": [
            "<b>USB Bandwidth: </b> OK"
        ]
    },
    "ZED SDK": {
        "CUDA Toolkit version": "V10.2.89 -->located in /usr/local/cuda-10.2/bin/nvcc",
        "ZED SDK Version (Diag)": "3.8.2",
        "ZED SDK Version (RT)": "3.8.2",
        "ai": {
            "checkAI": false,
            "cudaVersion": 10020,
            "cudnnCudartVersion": 10020,
            "cudnnVersion": 8000,
            "cudnnVersionExpected": 8000,
            "loadAI": "SL AI NOT FOUND",
            "tensorVersion": 7103
        },
        "binFiles": [
            "libsl_ai.so",
            "libsl_zed.so",
            "libsl_zed_static.a"
        ],
        "resourcesFiles": [
        ],
        "resourcesFilesExpected": [
            "objects_performance_2.2"
        ],
        "valid": [
            "<b>ZED SDK version:</b> 3.8.2",
            "<b>CUDA version:</b> V10.2.89"
        ]
    }
}
4

I found out that I 've installed an SDK that does not match my L4T version. That SDK was looking for a more recent nvidia driver which of course did not exist in my L4T.

Solution: Install the legacy SDK that matches the L4T version.