camera type: ZedX mini
hardware: Jetson Orin NX Developer kit
i am following the example in the github page for ROS2 wrapper. I have built the zed_ros2_wrapper package as a colcon package i followed
mkdir -p ~/ros2_ws/src/ # create your workspace if it does not exist
cd ~/ros2_ws/src/ #use your current ros2 workspace folder
git clone --recursive https://github.com/stereolabs/zed-ros2-wrapper.git
cd ..
sudo apt update
rosdep install --from-paths src --ignore-src -r -y # install dependencies
colcon build --symlink-install --cmake-args=-DCMAKE_BUILD_TYPE=Release --parallel-workers $(nproc) # build the workspace
echo source $(pwd)/install/local_setup.bash >> ~/.bashrc # automatically source the installation in every new bash (optional)
source ~/.bashrc
and i built it succesfully with some warnings:
airbud@airbud-desktop:~/ros2_ws$ colcon build --symlink-install --cmake-args=-DCMAKE_BUILD_TYPE=Release --parallel-workers $(nproc)
[5.068s] WARNING:colcon.colcon_ros.prefix_path.ament:The path '/home/airbud/ros2_ws/install/zed_ros2' in the environment variable AMENT_PREFIX_PATH doesn't exist
[5.068s] WARNING:colcon.colcon_ros.prefix_path.ament:The path '/home/airbud/ros2_ws/install/zed_wrapper' in the environment variable AMENT_PREFIX_PATH doesn't exist
[5.068s] WARNING:colcon.colcon_ros.prefix_path.ament:The path '/home/airbud/ros2_ws/install/zed_components' in the environment variable AMENT_PREFIX_PATH doesn't exist
[5.068s] WARNING:colcon.colcon_ros.prefix_path.ament:The path '/home/airbud/ros2_ws/install/zed_interfaces' in the environment variable AMENT_PREFIX_PATH doesn't exist
[5.069s] WARNING:colcon.colcon_ros.prefix_path.catkin:The path '/home/airbud/ros2_ws/install/zed_ros2' in the environment variable CMAKE_PREFIX_PATH doesn't exist
[5.069s] WARNING:colcon.colcon_ros.prefix_path.catkin:The path '/home/airbud/ros2_ws/install/zed_wrapper' in the environment variable CMAKE_PREFIX_PATH doesn't exist
[5.069s] WARNING:colcon.colcon_ros.prefix_path.catkin:The path '/home/airbud/ros2_ws/install/zed_components' in the environment variable CMAKE_PREFIX_PATH doesn't exist
[5.069s] WARNING:colcon.colcon_ros.prefix_path.catkin:The path '/home/airbud/ros2_ws/install/zed_interfaces' in the environment variable CMAKE_PREFIX_PATH doesn't exist
Starting >>> zed_interfaces
[Processing: zed_interfaces]
Finished <<< zed_interfaces [31.4s]
Starting >>> zed_components
[Processing: zed_components]
[Processing: zed_components]
[Processing: zed_components]
[Processing: zed_components]
--- stderr: zed_components
In file included from /home/airbud/ros2_ws/src/zed-ros2-wrapper/zed_components/src/zed_camera/include/zed_camera_component.hpp:19,
from /home/airbud/ros2_ws/src/zed-ros2-wrapper/zed_components/src/zed_camera/src/zed_camera_component.cpp:22:
/usr/local/zed/include/sl/Fusion.hpp:68:64: note: #pragma message: ~ FUSION SDK is distributed in Early Access ~
68 | #pragma message("~ FUSION SDK is distributed in Early Access ~")
| ^
---
Finished <<< zed_components [2min 18s]
Starting >>> zed_wrapper
--- stderr: zed_wrapper
In file included from /home/airbud/ros2_ws/install/zed_components/include/zed_components/zed_camera_component.hpp:19,
from /home/airbud/ros2_ws/src/zed-ros2-wrapper/zed_wrapper/src/zed_wrapper.cpp:17:
/usr/local/zed/include/sl/Fusion.hpp:68:64: note: #pragma message: ~ FUSION SDK is distributed in Early Access ~
68 | #pragma message("~ FUSION SDK is distributed in Early Access ~")
| ^
---
Finished <<< zed_wrapper [18.8s]
Starting >>> zed_ros2
Finished <<< zed_ros2 [1.40s]
Summary: 4 packages finished [3min 13s]
2 packages had stderr output: zed_components zed_wrapper
and when i try to start the zed node i get this error and i am not able to proceed:
airbud@airbud-desktop:~/ros2_ws$ ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zedxm
/opt/ros/humble/bin/ros2:6: DeprecationWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html
from pkg_resources import load_entry_point
[INFO] [launch]: All log files can be found below /home/airbud/.ros/log/2024-01-30-15-40-52-802472-airbud-desktop-9962
[INFO] [launch]: Default logging verbosity is set to INFO
[ERROR] [launch]: Caught exception in launch (see debug for traceback): executed command showed stderr output. Command: xacro /home/airbud/ros2_ws/install/zed_wrapper/share/zed_wrapper/urdf/zed_descr.urdf.xacro camera_name:=zed camera_model:=zedxm
Captured stderr output:
/opt/ros/humble/bin/xacro:6: DeprecationWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html
from pkg_resources import load_entry_point