Unable to Visualize Object Detection in RViz2: Empty and Uneditable Topic in ZedOdDisplay

Software ROS2
1

Hello, I am new to the world of computer vision and am experimenting with your ‘Robotics Perception Kit - Dual’. I’m ‘playing’ with the detection provided by the ros2_ZED_wrapper.
When I launch the ROS node of the ZED X camera with the command:
ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zedx serial_number:=XXXXXXXX node_name:=zed_camera_2 namespace:=ZEDX
No errors or warnings occur, and I can subscribe to the object detection topic:
ros2 topic echo /zed/zed_camera_2/obj_det/objects | tee -a ~/Documents/output.txt
However, the problem arises when I try to visualize object detection in the RViz2 app. I have previously installed the plugin as explained here:

But when I launch RViz2:
ros2 launch zed_display_rviz2 display_zed_cam.launch.py camera_model:=zedx
Everything displayed in the console seems correct except for this error message related to ‘AerialMap’:

[rviz2-1] [ERROR] [1727096225.964193503] [rviz2]: PluginlibFactory: The plugin for class ‘rviz_satellite/AerialMap’ failed to load. Error: According to the loaded plugin descriptions the class rviz_satellite/AerialMap with base class type rviz_common::Display does not exist. Declared types are grid_map_rviz_plugin/GridMap rviz_default_plugins/AccelStamped rviz_default_plugins/Axes rviz_default_plugins/Camera rviz_default_plugins/DepthCloud rviz_default_plugins/Effort rviz_default_plugins/FluidPressure rviz_default_plugins/Grid rviz_default_plugins/GridCells rviz_default_plugins/Illuminance rviz_default_plugins/Image rviz_default_plugins/InteractiveMarkers rviz_default_plugins/LaserScan rviz_default_plugins/Map rviz_default_plugins/Marker rviz_default_plugins/MarkerArray rviz_default_plugins/Odometry rviz_default_plugins/Path rviz_default_plugins/PointCloud rviz_default_plugins/PointCloud2 rviz_default_plugins/PointStamped rviz_default_plugins/Polygon rviz_default_plugins/Pose rviz_default_plugins/PoseArray rviz_default_plugins/PoseWithCovariance rviz_default_plugins/Range rviz_default_plugins/RelativeHumidity rviz_default_plugins/RobotModel rviz_default_plugins/TF rviz_default_plugins/Temperature rviz_default_plugins/TwistStamped rviz_default_plugins/Wrench rviz_plugin_zed_od/ZedOdDisplay
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However, when I add the ‘ZedOdDisplay’, it gives an error because the topic is empty, and I cannot manually enter the topic address.
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How can I solve this?
Thank you

2

Hi @franmartin
welcome to the Stereolabs community.

Did you follow the Object Detection online documentation to learn how to enable the module?

You can find it here.

3

Hello Myzhar! Thank you for your help. Yes, I have followed the tutorial and I believe I did it correctly. In fact, the detection works properly. I can verify it by subscribing to the object detection topic, viewing it in the console, and saving it to a file, as I explained earlier. I have tried changing the different detections by configuring the common.yaml file. The problem is that I want to visualize it in RViz2, and it’s not possible. I have followed the steps to install the ZedOdDisplay plugin, but I have the error that I described to you earlier. Thanks and best regards.

4

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You miss the OD topic here: /zed/zed_node/obj_det/objects

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5

As I mentioned in the first post, I know the topic field is empty, but the problem is that it won’t let me edit it. I can edit the topic of all the displays: the topic for RGB_Image, the topic for RobotModel, etc., but just not that one. I’ll try cleaning everything and recompiling again. Thanks

6

What’s the output of the command ros2 topic hz /zed/zed_node/obj_det/objects?