Dear Community
My Installation with the SDK works fine. When starting ZED_Explorer and ZED_Depth_Viewer I am able to get the sensor data of the camera.
But when I start the ZED ROS Wrapper it is somehow not able to connect with the ZED 2i camera and gets stucked when opening the camera. How can I further debug?
florian@florian-Surface-Book-3:~/catkin_ws$ roslaunch zed_wrapper zed2i.launch
WARNING: Package name "pose_est_3D_ros_pkg" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes.
... logging to /home/florian/.ros/log/ebb0b5de-a059-11ec-acb8-e3342f664c9b/roslaunch-florian-Surface-Book-3-5162.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.
WARNING: Package name "pose_est_3D_ros_pkg" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes.
started roslaunch server http://florian-Surface-Book-3:39215/
SUMMARY
========
PARAMETERS
* /rosdistro: noetic
* /rosversion: 1.15.14
* /zed2i/zed2i_description: <?xml version="1....
* /zed2i/zed_node/auto_exposure_gain: True
* /zed2i/zed_node/auto_whitebalance: True
* /zed2i/zed_node/brightness: 4
* /zed2i/zed_node/contrast: 4
* /zed2i/zed_node/depth/depth_downsample_factor: 1.0
* /zed2i/zed_node/depth/depth_stabilization: 1
* /zed2i/zed_node/depth/max_depth: 20.0
* /zed2i/zed_node/depth/min_depth: 0.3
* /zed2i/zed_node/depth/openni_depth_mode: False
* /zed2i/zed_node/depth/quality: 4
* /zed2i/zed_node/depth/sensing_mode: 0
* /zed2i/zed_node/depth_confidence: 30
* /zed2i/zed_node/depth_texture_conf: 100
* /zed2i/zed_node/exposure: 100
* /zed2i/zed_node/gain: 100
* /zed2i/zed_node/gamma: 8
* /zed2i/zed_node/general/base_frame: base_link
* /zed2i/zed_node/general/camera_flip: False
* /zed2i/zed_node/general/camera_model: zed2i
* /zed2i/zed_node/general/camera_name: zed2i
* /zed2i/zed_node/general/gpu_id: -1
* /zed2i/zed_node/general/grab_frame_rate: 15
* /zed2i/zed_node/general/resolution: 2
* /zed2i/zed_node/general/self_calib: True
* /zed2i/zed_node/general/serial_number: 0
* /zed2i/zed_node/general/svo_compression: 2
* /zed2i/zed_node/general/verbose: False
* /zed2i/zed_node/general/zed_id: 0
* /zed2i/zed_node/hue: 0
* /zed2i/zed_node/mapping/fused_pointcloud_freq: 1.0
* /zed2i/zed_node/mapping/mapping_enabled: False
* /zed2i/zed_node/mapping/max_mapping_range: -1
* /zed2i/zed_node/mapping/resolution: 0.05
* /zed2i/zed_node/object_detection/body_fitting: False
* /zed2i/zed_node/object_detection/confidence_threshold: 50
* /zed2i/zed_node/object_detection/max_range: 15.0
* /zed2i/zed_node/object_detection/mc_animal: True
* /zed2i/zed_node/object_detection/mc_bag: True
* /zed2i/zed_node/object_detection/mc_electronics: True
* /zed2i/zed_node/object_detection/mc_fruit_vegetable: True
* /zed2i/zed_node/object_detection/mc_people: True
* /zed2i/zed_node/object_detection/mc_sport: True
* /zed2i/zed_node/object_detection/mc_vehicle: True
* /zed2i/zed_node/object_detection/model: 1
* /zed2i/zed_node/object_detection/object_tracking_enabled: True
* /zed2i/zed_node/object_detection/od_enabled: False
* /zed2i/zed_node/point_cloud_freq: 10.0
* /zed2i/zed_node/pos_tracking/area_memory: True
* /zed2i/zed_node/pos_tracking/area_memory_db_path: zed_area_memory.area
* /zed2i/zed_node/pos_tracking/fixed_z_value: 0.0
* /zed2i/zed_node/pos_tracking/floor_alignment: False
* /zed2i/zed_node/pos_tracking/imu_fusion: True
* /zed2i/zed_node/pos_tracking/init_odom_with_first_valid_pose: True
* /zed2i/zed_node/pos_tracking/initial_base_pose: [0.0, 0.0, 0.0, 0...
* /zed2i/zed_node/pos_tracking/map_frame: map
* /zed2i/zed_node/pos_tracking/odometry_frame: odom
* /zed2i/zed_node/pos_tracking/path_max_count: -1
* /zed2i/zed_node/pos_tracking/path_pub_rate: 2.0
* /zed2i/zed_node/pos_tracking/pos_tracking_enabled: True
* /zed2i/zed_node/pos_tracking/publish_map_tf: True
* /zed2i/zed_node/pos_tracking/publish_tf: True
* /zed2i/zed_node/pos_tracking/save_area_memory_db_on_exit: False
* /zed2i/zed_node/pos_tracking/two_d_mode: False
* /zed2i/zed_node/pub_frame_rate: 15.0
* /zed2i/zed_node/saturation: 4
* /zed2i/zed_node/sensors/publish_imu_tf: True
* /zed2i/zed_node/sensors/sensors_timestamp_sync: False
* /zed2i/zed_node/sharpness: 4
* /zed2i/zed_node/stream:
* /zed2i/zed_node/svo_file:
* /zed2i/zed_node/video/extrinsic_in_camera_frame: True
* /zed2i/zed_node/video/img_downsample_factor: 1.0
* /zed2i/zed_node/whitebalance_temperature: 42
NODES
/zed2i/
zed2i_state_publisher (robot_state_publisher/robot_state_publisher)
zed_node (zed_wrapper/zed_wrapper_node)
auto-starting new master
process[master]: started with pid [5186]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to ebb0b5de-a059-11ec-acb8-e3342f664c9b
WARNING: Package name "pose_est_3D_ros_pkg" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes.
process[rosout-1]: started with pid [5203]
started core service [/rosout]
process[zed2i/zed2i_state_publisher-2]: started with pid [5210]
process[zed2i/zed_node-3]: started with pid [5211]
[ INFO] [1646906861.695112071]: Initializing nodelet with 8 worker threads.
[ INFO] [1646906861.707855278]: ********** Starting nodelet '/zed2i/zed_node' **********
[ INFO] [1646906861.707917539]: SDK version : 3.7.0
[ INFO] [1646906861.707947089]: *** GENERAL PARAMETERS ***
[ INFO] [1646906861.708158936]: * Camera Name -> zed2i
[ INFO] [1646906861.708362053]: * Camera Resolution -> HD720
[ INFO] [1646906861.708631100]: * Camera Grab Framerate -> 15
[ INFO] [1646906861.708848295]: * Gpu ID -> -1
[ INFO] [1646906861.709014988]: * Camera ID -> -1
[ INFO] [1646906861.709175930]: * Verbose -> DISABLED
[ INFO] [1646906861.709623108]: * Camera Flip -> DISABLED
[ INFO] [1646906861.709922504]: * Self calibration -> ENABLED
[ INFO] [1646906861.710224131]: * Camera Model by param -> zed2i
[ INFO] [1646906861.710246236]: *** VIDEO PARAMETERS ***
[ INFO] [1646906861.710433518]: * Image resample factor -> 1
[ INFO] [1646906861.710591995]: * Extrinsic param. frame -> X RIGHT - Y DOWN - Z FWD
[ INFO] [1646906861.710604747]: *** DEPTH PARAMETERS ***
[ INFO] [1646906861.710766427]: * Depth quality -> NEURAL
[ INFO] [1646906861.710924873]: * Depth Sensing mode -> STANDARD
[ INFO] [1646906861.711080976]: * OpenNI mode -> DISABLED
[ INFO] [1646906861.711236698]: * Depth Stabilization -> ENABLED
[ INFO] [1646906861.711398848]: * Minimum depth -> 0.3 m
[ INFO] [1646906861.712012131]: * Maximum depth -> 20 m
[ INFO] [1646906861.712261783]: * Depth resample factor -> 1
[ INFO] [1646906861.712279769]: *** POSITIONAL TRACKING PARAMETERS ***
[ INFO] [1646906861.712629870]: * Positional tracking -> ENABLED
[ INFO] [1646906861.712814260]: * Path rate -> 2 Hz
[ INFO] [1646906861.712995899]: * Path history size -> 1
[ INFO] [1646906861.713492511]: * Odometry DB path -> /home/florian/.ros/zed_area_memory.area
[ INFO] [1646906861.713892248]: * Save Area Memory on closing -> DISABLED
[ INFO] [1646906861.714215241]: * Area Memory -> ENABLED
[ INFO] [1646906861.714512272]: * IMU Fusion -> ENABLED
[ INFO] [1646906861.714868438]: * Floor alignment -> DISABLED
[ INFO] [1646906861.715181048]: * Init Odometry with first valid pose data -> ENABLED
[ INFO] [1646906861.715503104]: * Two D mode -> DISABLED
[ INFO] [1646906861.715802672]: *** MAPPING PARAMETERS ***
[ INFO] [1646906861.716098976]: * Mapping -> DISABLED
[ INFO] [1646906861.716112874]: *** OBJECT DETECTION PARAMETERS ***
[ INFO] [1646906861.716418862]: * Object Detection -> DISABLED
[ INFO] [1646906861.716434280]: *** SENSORS PARAMETERS ***
[ INFO] [1646906861.716595639]: * Sensors timestamp sync -> DISABLED
[ INFO] [1646906861.716605165]: *** SVO PARAMETERS ***
[ INFO] [1646906861.716891567]: * SVO input file: ->
[ INFO] [1646906861.717053347]: * SVO REC compression -> H265 (HEVC)
[ INFO] [1646906861.717374625]: *** COORDINATE FRAMES ***
[ INFO] [1646906861.718221515]: * map_frame -> map
[ INFO] [1646906861.718232657]: * odometry_frame -> odom
[ INFO] [1646906861.718240738]: * base_frame -> base_link
[ INFO] [1646906861.718248053]: * camera_frame -> zed2i_camera_center
[ INFO] [1646906861.718255645]: * imu_link -> zed2i_imu_link
[ INFO] [1646906861.718263285]: * left_camera_frame -> zed2i_left_camera_frame
[ INFO] [1646906861.718276933]: * left_camera_optical_frame -> zed2i_left_camera_optical_frame
[ INFO] [1646906861.718287401]: * right_camera_frame -> zed2i_right_camera_frame
[ INFO] [1646906861.718295711]: * right_camera_optical_frame -> zed2i_right_camera_optical_frame
[ INFO] [1646906861.718303066]: * depth_frame -> zed2i_left_camera_frame
[ INFO] [1646906861.718310563]: * depth_optical_frame -> zed2i_left_camera_optical_frame
[ INFO] [1646906861.718317737]: * disparity_frame -> zed2i_left_camera_frame
[ INFO] [1646906861.718325406]: * disparity_optical_frame -> zed2i_left_camera_optical_frame
[ INFO] [1646906861.718332237]: * confidence_frame -> zed2i_left_camera_frame
[ INFO] [1646906861.718339733]: * confidence_optical_frame -> zed2i_left_camera_optical_frame
[ INFO] [1646906861.718635513]: * Broadcast odometry TF -> ENABLED
[ INFO] [1646906861.718923565]: * Broadcast map pose TF -> ENABLED
[ INFO] [1646906861.719222983]: * Broadcast IMU pose TF -> ENABLED
[ INFO] [1646906861.719234582]: *** DYNAMIC PARAMETERS (Init. values) ***
[ INFO] [1646906861.719392601]: * [DYN] Depth confidence -> 30
[ INFO] [1646906861.719546555]: * [DYN] Depth texture conf. -> 100
[ INFO] [1646906861.719709164]: * [DYN] pub_frame_rate -> 15 Hz
[ INFO] [1646906861.719868421]: * [DYN] point_cloud_freq -> 10 Hz
[ INFO] [1646906861.720023759]: * [DYN] brightness -> 4
[ INFO] [1646906861.720178701]: * [DYN] contrast -> 4
[ INFO] [1646906861.720334151]: * [DYN] hue -> 0
[ INFO] [1646906861.720489938]: * [DYN] saturation -> 4
[ INFO] [1646906861.720645550]: * [DYN] sharpness -> 4
[ INFO] [1646906861.720800713]: * [DYN] gamma -> 8
[ INFO] [1646906861.720955315]: * [DYN] auto_exposure_gain -> ENABLED
[ INFO] [1646906861.721391476]: * [DYN] auto_whitebalance -> ENABLED
[ INFO] [1646906861.723868391]: * Camera coordinate system -> Right HANDED Z UP and X FORWARD
[ INFO] [1646906861.723910936]: *** Opening ZED 2i...
|^C[zed2i/zed_node-3] killing on exit
[zed2i/zed2i_state_publisher-2] killing on exit
\^|^/^-^\^|^/^-^\^\[zed2i/zed_node-3] escalating to SIGTERM
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done