[ WARN] [1681132944.446646287]: Tracking not activated: INVALID ARE FILE

Software ROS1
1

when runing $ roslaunch zed_wrapper zed2.launch
apear several warnings of Tracking not activated: INVALID ARE FILE
how to solve?
I’m using ubuntu18.04.

here are the main problem:
$ roslaunch zed_wrapper zed2.launch
… logging to /home/deepmind/.ros/log/b7902ace-d7a2-11ed-a2ba-7cb5669fcf68/roslaunch-deepmind-Legion-Y9000P-IAH7H-8506.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://Legion-Y9000P-IAH7H:45875/

SUMMARY

PARAMETERS

  • /rosdistro: melodic
  • /rosversion: 1.14.13
  • /zed2/zed2_description: <?xml version="1…
  • /zed2/zed_node/auto_exposure_gain: True
  • /zed2/zed_node/auto_whitebalance: True
  • /zed2/zed_node/brightness: 4
  • /zed2/zed_node/contrast: 4
  • /zed2/zed_node/depth/depth_downsample_factor: 0.5
  • /zed2/zed_node/depth/depth_stabilization: 1
  • /zed2/zed_node/depth/max_depth: 20.0
  • /zed2/zed_node/depth/min_depth: 0.3
  • /zed2/zed_node/depth/openni_depth_mode: False
  • /zed2/zed_node/depth/quality: 1
  • /zed2/zed_node/depth/sensing_mode: 0
  • /zed2/zed_node/depth_confidence: 30
  • /zed2/zed_node/depth_texture_conf: 100
  • /zed2/zed_node/exposure: 100
  • /zed2/zed_node/gain: 100
  • /zed2/zed_node/gamma: 8
  • /zed2/zed_node/general/base_frame: base_link
  • /zed2/zed_node/general/camera_flip: False
  • /zed2/zed_node/general/camera_model: zed2
  • /zed2/zed_node/general/camera_name: zed2
  • /zed2/zed_node/general/gpu_id: -1
  • /zed2/zed_node/general/grab_frame_rate: 15
  • /zed2/zed_node/general/resolution: 2
  • /zed2/zed_node/general/self_calib: True
  • /zed2/zed_node/general/serial_number: 0
  • /zed2/zed_node/general/svo_compression: 2
  • /zed2/zed_node/general/verbose: False
  • /zed2/zed_node/general/zed_id: 0
  • /zed2/zed_node/hue: 0
  • /zed2/zed_node/mapping/clicked_point_topic: /clicked_point
  • /zed2/zed_node/mapping/fused_pointcloud_freq: 1.0
  • /zed2/zed_node/mapping/mapping_enabled: False
  • /zed2/zed_node/mapping/max_mapping_range: -1
  • /zed2/zed_node/mapping/resolution: 0.05
  • /zed2/zed_node/object_detection/body_fitting: False
  • /zed2/zed_node/object_detection/confidence_threshold: 50
  • /zed2/zed_node/object_detection/max_range: 15.0
  • /zed2/zed_node/object_detection/mc_animal: True
  • /zed2/zed_node/object_detection/mc_bag: True
  • /zed2/zed_node/object_detection/mc_electronics: True
  • /zed2/zed_node/object_detection/mc_fruit_vegetable: True
  • /zed2/zed_node/object_detection/mc_people: True
  • /zed2/zed_node/object_detection/mc_sport: True
  • /zed2/zed_node/object_detection/mc_vehicle: True
  • /zed2/zed_node/object_detection/model: 0
  • /zed2/zed_node/object_detection/object_tracking_enabled: True
  • /zed2/zed_node/object_detection/od_enabled: False
  • /zed2/zed_node/point_cloud_freq: 10.0
  • /zed2/zed_node/pos_tracking/area_memory: True
  • /zed2/zed_node/pos_tracking/area_memory_db_path: zed_area_memory.area
  • /zed2/zed_node/pos_tracking/fixed_z_value: 0.0
  • /zed2/zed_node/pos_tracking/floor_alignment: False
  • /zed2/zed_node/pos_tracking/imu_fusion: True
  • /zed2/zed_node/pos_tracking/init_odom_with_first_valid_pose: True
  • /zed2/zed_node/pos_tracking/initial_base_pose: [0.0, 0.0, 0.0, 0…
  • /zed2/zed_node/pos_tracking/map_frame: map
  • /zed2/zed_node/pos_tracking/odometry_frame: odom
  • /zed2/zed_node/pos_tracking/path_max_count: -1
  • /zed2/zed_node/pos_tracking/path_pub_rate: 2.0
  • /zed2/zed_node/pos_tracking/pos_tracking_enabled: True
  • /zed2/zed_node/pos_tracking/publish_map_tf: True
  • /zed2/zed_node/pos_tracking/publish_tf: True
  • /zed2/zed_node/pos_tracking/save_area_memory_db_on_exit: False
  • /zed2/zed_node/pos_tracking/two_d_mode: False
  • /zed2/zed_node/pub_frame_rate: 15.0
  • /zed2/zed_node/saturation: 4
  • /zed2/zed_node/sensors/max_pub_rate: 200.0
  • /zed2/zed_node/sensors/publish_imu_tf: True
  • /zed2/zed_node/sensors/sensors_timestamp_sync: False
  • /zed2/zed_node/sharpness: 4
  • /zed2/zed_node/stream:
  • /zed2/zed_node/svo_file:
  • /zed2/zed_node/video/extrinsic_in_camera_frame: True
  • /zed2/zed_node/video/img_downsample_factor: 0.5
  • /zed2/zed_node/whitebalance_temperature: 42

NODES
/zed2/
zed2_state_publisher (robot_state_publisher/robot_state_publisher)
zed_node (zed_wrapper/zed_wrapper_node)

auto-starting new master
process[master]: started with pid [8568]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to b7902ace-d7a2-11ed-a2ba-7cb5669fcf68
process[rosout-1]: started with pid [8598]
started core service [/rosout]
process[zed2/zed2_state_publisher-2]: started with pid [8605]
process[zed2/zed_node-3]: started with pid [8606]
[ INFO] [1681132938.938227479]: Initializing nodelet with 20 worker threads.
[ INFO] [1681132938.957835898]: ********** Starting nodelet ‘/zed2/zed_node’ **********
[ INFO] [1681132938.957908617]: SDK version : 3.8.2
[ INFO] [1681132938.957939587]: *** GENERAL PARAMETERS ***
[ INFO] [1681132938.958476222]: * Camera Name → zed2
[ INFO] [1681132938.959200740]: * Camera Resolution → HD720
[ INFO] [1681132938.959940006]: * Camera Grab Framerate → 15
[ INFO] [1681132938.960647157]: * Gpu ID → -1
[ INFO] [1681132938.961084556]: * Camera ID → -1
[ INFO] [1681132938.961796586]: * Verbose → DISABLED
[ INFO] [1681132938.962851945]: * Camera Flip → DISABLED
[ INFO] [1681132938.964121023]: * Self calibration → ENABLED
[ INFO] [1681132938.965187474]: * Camera Model by param → zed2
[ INFO] [1681132938.965205661]: *** VIDEO PARAMETERS ***
[ INFO] [1681132938.965670288]: * Image resample factor → 0.5
[ INFO] [1681132938.966476098]: * Extrinsic param. frame → X RIGHT - Y DOWN - Z FWD
[ INFO] [1681132938.966507799]: *** DEPTH PARAMETERS ***
[ INFO] [1681132938.966849919]: * Depth quality → PERFORMANCE
[ INFO] [1681132938.967112045]: * Depth Sensing mode → STANDARD
[ INFO] [1681132938.967345501]: * OpenNI mode → DISABLED
[ INFO] [1681132938.967583843]: * Depth Stabilization → ENABLED
[ INFO] [1681132938.967829794]: * Minimum depth → 0.3 m
[ INFO] [1681132938.968069428]: * Maximum depth → 20 m
[ INFO] [1681132938.968307180]: * Depth resample factor → 0.5
[ INFO] [1681132938.968322315]: *** POSITIONAL TRACKING PARAMETERS ***
[ INFO] [1681132938.968794844]: * Positional tracking → ENABLED
[ INFO] [1681132938.969039987]: * Path rate → 2 Hz
[ INFO] [1681132938.969281863]: * Path history size → 1
[ INFO] [1681132938.969843277]: * Odometry DB path → /home/deepmind/.ros/zed_area_memory.area
[ INFO] [1681132938.970336587]: * Save Area Memory on closing → DISABLED
[ INFO] [1681132938.970798117]: * Area Memory → ENABLED
[ INFO] [1681132938.971265507]: * IMU Fusion → ENABLED
[ INFO] [1681132938.971712261]: * Floor alignment → DISABLED
[ INFO] [1681132938.972158400]: * Init Odometry with first valid pose data → ENABLED
[ INFO] [1681132938.972579124]: * Two D mode → DISABLED
[ INFO] [1681132938.973014451]: *** MAPPING PARAMETERS ***
[ INFO] [1681132938.973449988]: * Mapping → DISABLED
[ INFO] [1681132938.973894285]: * Clicked point topic → /clicked_point
[ INFO] [1681132938.973911020]: *** OBJECT DETECTION PARAMETERS ***
[ INFO] [1681132938.974342571]: * Object Detection → DISABLED
[ INFO] [1681132938.974359502]: *** SENSORS PARAMETERS ***
[ INFO] [1681132938.974571995]: * Sensors timestamp sync → DISABLED
[ INFO] [1681132938.974786389]: * Max sensors rate → 200
[ INFO] [1681132938.974800404]: *** SVO PARAMETERS ***
[ INFO] [1681132938.975203855]: * SVO input file: →
[ INFO] [1681132938.975458476]: * SVO REC compression → H265 (HEVC)
[ INFO] [1681132938.975847701]: *** COORDINATE FRAMES ***
[ INFO] [1681132938.976929788]: * map_frame → map
[ INFO] [1681132938.976944325]: * odometry_frame → odom
[ INFO] [1681132938.976954536]: * base_frame → base_link
[ INFO] [1681132938.976967618]: * camera_frame → zed2_camera_center
[ INFO] [1681132938.976979902]: * imu_link → zed2_imu_link
[ INFO] [1681132938.976997186]: * left_camera_frame → zed2_left_camera_frame
[ INFO] [1681132938.977009508]: * left_camera_optical_frame → zed2_left_camera_optical_frame
[ INFO] [1681132938.977021482]: * right_camera_frame → zed2_right_camera_frame
[ INFO] [1681132938.977035563]: * right_camera_optical_frame → zed2_right_camera_optical_frame
[ INFO] [1681132938.977047619]: * depth_frame → zed2_left_camera_frame
[ INFO] [1681132938.977058120]: * depth_optical_frame → zed2_left_camera_optical_frame
[ INFO] [1681132938.977070081]: * disparity_frame → zed2_left_camera_frame
[ INFO] [1681132938.977082228]: * disparity_optical_frame → zed2_left_camera_optical_frame
[ INFO] [1681132938.977092782]: * confidence_frame → zed2_left_camera_frame
[ INFO] [1681132938.977105927]: * confidence_optical_frame → zed2_left_camera_optical_frame
[ INFO] [1681132938.977456533]: * Broadcast odometry TF → ENABLED
[ INFO] [1681132938.977800441]: * Broadcast map pose TF → ENABLED
[ INFO] [1681132938.978121355]: * Broadcast IMU pose TF → ENABLED
[ INFO] [1681132938.978133501]: *** DYNAMIC PARAMETERS (Init. values) ***
[ INFO] [1681132938.978298973]: * [DYN] Depth confidence → 30
[ INFO] [1681132938.978463608]: * [DYN] Depth texture conf. → 100
[ INFO] [1681132938.978633988]: * [DYN] pub_frame_rate → 15 Hz
[ INFO] [1681132938.978797588]: * [DYN] point_cloud_freq → 10 Hz
[ INFO] [1681132938.978959860]: * [DYN] brightness → 4
[ INFO] [1681132938.979113379]: * [DYN] contrast → 4
[ INFO] [1681132938.979259154]: * [DYN] hue → 0
[ INFO] [1681132938.979403732]: * [DYN] saturation → 4
[ INFO] [1681132938.979546794]: * [DYN] sharpness → 4
[ INFO] [1681132938.979694725]: * [DYN] gamma → 8
[ INFO] [1681132938.979843483]: * [DYN] auto_exposure_gain → ENABLED
[ INFO] [1681132938.980241487]: * [DYN] auto_whitebalance → ENABLED
[ INFO] [1681132938.982353245]: * Camera coordinate system → Right HANDED Z UP and X FORWARD
[ INFO] [1681132938.982516260]: *** Opening ZED 2…
[ INFO] [1681132941.572966288]: ZED connection → SUCCESS
[ INFO] [1681132943.573417897]: … ZED ready
[ INFO] [1681132943.573502095]: ZED SDK running on GPU #0
[ INFO] [1681132943.583410025]: Camera-IMU Transform:
56363EE181F8
0.999949 0.009895 0.001934 -0.002000
-0.009898 0.999949 0.001767 -0.023000
-0.001917 -0.001786 0.999997 0.000220
0.000000 0.000000 0.000000 1.000000

[ INFO] [1681132943.583507977]: * CAMERA MODEL → ZED 2
[ INFO] [1681132943.583556651]: * Serial Number → 24304298
[ INFO] [1681132943.583603950]: * Camera FW Version → 1523
[ INFO] [1681132943.583646893]: * Sensors FW Version → 776
[ INFO] [1681132943.695709265]: Advertised on topic /zed2/zed_node/rgb/image_rect_color
[ INFO] [1681132943.695922161]: Advertised on topic /zed2/zed_node/rgb/camera_info
[ INFO] [1681132943.707318647]: Advertised on topic /zed2/zed_node/rgb_raw/image_raw_color
[ INFO] [1681132943.707506022]: Advertised on topic /zed2/zed_node/rgb_raw/camera_info
[ INFO] [1681132943.718744039]: Advertised on topic /zed2/zed_node/left/image_rect_color
[ INFO] [1681132943.718887337]: Advertised on topic /zed2/zed_node/left/camera_info
[ INFO] [1681132943.729969005]: Advertised on topic /zed2/zed_node/left_raw/image_raw_color
[ INFO] [1681132943.729999668]: Advertised on topic /zed2/zed_node/left_raw/camera_info
[ INFO] [1681132943.742671808]: Advertised on topic /zed2/zed_node/right/image_rect_color
[ INFO] [1681132943.742701263]: Advertised on topic /zed2/zed_node/right/camera_info
[ INFO] [1681132943.755847177]: Advertised on topic /zed2/zed_node/right_raw/image_raw_color
[ INFO] [1681132943.755891494]: Advertised on topic /zed2/zed_node/right_raw/camera_info
[ INFO] [1681132943.767093266]: Advertised on topic /zed2/zed_node/rgb/image_rect_gray
[ INFO] [1681132943.767118704]: Advertised on topic /zed2/zed_node/rgb/camera_info
[ INFO] [1681132943.773110362]: Advertised on topic /zed2/zed_node/rgb_raw/image_raw_gray
[ INFO] [1681132943.773137869]: Advertised on topic /zed2/zed_node/rgb_raw/camera_info
[ INFO] [1681132943.779197414]: Advertised on topic /zed2/zed_node/left/image_rect_gray
[ INFO] [1681132943.779210697]: Advertised on topic /zed2/zed_node/left/camera_info
[ INFO] [1681132943.785272188]: Advertised on topic /zed2/zed_node/left_raw/image_raw_gray
[ INFO] [1681132943.785285395]: Advertised on topic /zed2/zed_node/left_raw/camera_info
[ INFO] [1681132943.796043559]: Advertised on topic /zed2/zed_node/right/image_rect_gray
[ INFO] [1681132943.796074434]: Advertised on topic /zed2/zed_node/right/camera_info
[ INFO] [1681132943.806656589]: Advertised on topic /zed2/zed_node/right_raw/image_raw_gray
[ INFO] [1681132943.806676827]: Advertised on topic /zed2/zed_node/right_raw/camera_info
[ INFO] [1681132943.814622885]: Advertised on topic /zed2/zed_node/depth/depth_registered
[ INFO] [1681132943.814664389]: Advertised on topic /zed2/zed_node/depth/camera_info
[ INFO] [1681132943.824493432]: Advertised on topic /zed2/zed_node/stereo/image_rect_color
[ INFO] [1681132943.834141759]: Advertised on topic /zed2/zed_node/stereo_raw/image_raw_color
[ INFO] [1681132943.834396532]: Advertised on topic /zed2/zed_node/confidence/confidence_map
[ INFO] [1681132943.834704048]: Advertised on topic /zed2/zed_node/disparity/disparity_image
[ INFO] [1681132943.834963664]: Advertised on topic /zed2/zed_node/point_cloud/cloud_registered
[ INFO] [1681132943.835184177]: Advertised on topic /zed2/zed_node/pose
[ INFO] [1681132943.835399528]: Advertised on topic /zed2/zed_node/pose_with_covariance
[ INFO] [1681132943.835608323]: Advertised on topic /zed2/zed_node/odom
[ INFO] [1681132943.836153266]: Advertised on topic /zed2/zed_node/path_odom
[ INFO] [1681132943.836349441]: Advertised on topic /zed2/zed_node/path_map
[ INFO] [1681132943.836643292]: Advertised on topic /zed2/zed_node/imu/data
[ INFO] [1681132943.836846621]: Advertised on topic /zed2/zed_node/imu/data_raw
[ INFO] [1681132943.837044929]: Advertised on topic /zed2/zed_node/imu/mag
[ INFO] [1681132943.837246804]: Advertised on topic /zed2/zed_node/temperature/imu
[ INFO] [1681132943.837465976]: Advertised on topic /zed2/zed_node/atm_press
[ INFO] [1681132943.837692049]: Advertised on topic /zed2/zed_node/temperature/left
[ INFO] [1681132943.838052400]: Advertised on topic /zed2/zed_node/temperature/right
[ INFO] [1681132943.838492451]: Advertised on topic /zed2/zed_node/left_cam_imu_transform [LATCHED]
[ INFO] [1681132943.839871419]: Subscribed to topic /clicked_point
[ INFO] [1681132943.845199933]: Published static transform ‘zed2_imu_link’ → ‘zed2_left_camera_frame’
[ INFO] [1681132943.845293657]: *** Starting Positional Tracking ***
[ INFO] [1681132943.845356417]: * Waiting for valid static transformations…
[ INFO] [1681132943.845515421]: Static transform Sensor to Base [zed2_left_camera_frame → base_link]
[ INFO] [1681132943.845578346]: * Translation: {0.001,-0.060,-0.015}
[ INFO] [1681132943.845633252]: * Rotation: {0.000,-2.865,0.000}
[ INFO] [1681132943.845706361]: Static transform Sensor to Camera Center [zed2_left_camera_frame → zed2_camera_center]
[ INFO] [1681132943.845755683]: * Translation: {0.000,-0.060,0.000}
[ INFO] [1681132943.845806672]: * Rotation: {0.000,-0.000,0.000}
[ INFO] [1681132943.845868961]: Static transform Camera Center to Base [zed2_camera_center → base_link]
[ INFO] [1681132943.845928499]: * Translation: {0.001,0.000,-0.015}
[ INFO] [1681132943.845987604]: * Rotation: {0.000,-2.865,0.000}
[ INFO] [1681132943.946203458]: Initial ZED left camera pose (ZED pos. tracking):
[ INFO] [1681132943.946439130]: * T: [0,0.06,0.015]
[ INFO] [1681132943.946535294]: * Q: [0,0.0249979,0,0.999687]
[ WARN] [1681132944.112383218]: Tracking not activated: INVALID ARE FILE
[ INFO] [1681132944.172306834]: *** Starting Positional Tracking ***
[ INFO] [1681132944.172408208]: * Waiting for valid static transformations…
[ INFO] [1681132944.272754285]: Initial ZED left camera pose (ZED pos. tracking):
[ INFO] [1681132944.273131245]: * T: [0,0.06,0.015]
[ INFO] [1681132944.273217387]: * Q: [0,0.0249979,0,0.999687]
[ WARN] [1681132944.446646287]: Tracking not activated: INVALID ARE FILE
[ INFO] [1681132944.504012037]: *** Starting Positional Tracking ***
[ INFO] [1681132944.504134309]: * Waiting for valid static transformations…
[ INFO] [1681132944.604429358]: Initial ZED left camera pose (ZED pos. tracking):
[ INFO] [1681132944.604693453]: * T: [0,0.06,0.015]
[ INFO] [1681132944.604769973]: * Q: [0,0.0249979,0,0.999687]
[ WARN] [1681132944.778827512]: Tracking not activated: INVALID ARE FILE
[ INFO] [1681132944.837198474]: *** Starting Positional Tracking ***
[ INFO] [1681132944.837257941]: * Waiting for valid static transformations…
[ INFO] [1681132944.937496657]: Initial ZED left camera pose (ZED pos. tracking):
[ INFO] [1681132944.937683825]: * T: [0,0.06,0.015]
[ INFO] [1681132944.937740945]: * Q: [0,0.0249979,0,0.999687]

2

Up.

Same problem here.

3

Is the problem solved if you delete the zed_area_memory.area file?

4

problems still not to be solved

------------------ 原始邮件 ------------------
发件人: “Stereolabs” <support@stereolabs.com>;
发送时间: 2023年4月12日(星期三) 晚上8:16
收件人: “ice panda”<1689858621@qq.com>;

主题: Re: [ WARN] [1681132944.446646287]: Tracking not activated: INVALID ARE FILE

5

What are the values of the following parameters?

Did you modify them?