I am using the zed 2i with a dockerized ros2 wrapper. The topic appears to be available when I start working, but after about an hour or two, it stops publishing. The depth and image are still available.
Timestamp sync for imu and image is disabled and currently sensor publish rate is set to 200 Hz.
ZED SDK is 3.8.2 and CUDA is v12.2 with driver 535.
Is this related to the configs or something related to the ROS2 rmw?
Hi @ap07
why are you using the old ZED SDK v3.8.2?
Do you have a log of the node showing some kind of error?
Hey @Myzhar
This code was used since before release of sdk 4.0. Do you recommend using SDK 4.0? If it addresses stability fixes, I can try checking that.
The logs don’t show anything out of order as such. No error pops up even if imu stops updating. State publisher is running.
[zed_wrapper-2] [INFO] [1697702343.755423733] [zed2i.central_zed_node]: Advertised on topic: /zed2i/central_zed_node/imu/data
[zed_wrapper-2] [INFO] [1697702343.755702400] [zed2i.central_zed_node]: Advertised on topic: /zed2i/central_zed_node/imu/data_raw
[zed_wrapper-2] [INFO] [1697702343.755953787] [zed2i.central_zed_node]: Advertised on topic: /zed2i/central_zed_node/temperature/imu
[zed_wrapper-2] [INFO] [1697702343.756224376] [zed2i.central_zed_node]: Advertised on topic: /zed2i/central_zed_node/imu/mag
[zed_wrapper-2] [INFO] [1697702343.756459173] [zed2i.central_zed_node]: Advertised on topic: /zed2i/central_zed_node/atm_press
[zed_wrapper-2] [INFO] [1697702343.756676877] [zed2i.central_zed_node]: Advertised on topic: /zed2i/central_zed_node/temperature/left
[zed_wrapper-2] [INFO] [1697702343.756907801] [zed2i.central_zed_node]: Advertised on topic: /zed2i/central_zed_node/temperature/right
[zed_wrapper-2] [INFO] [1697702343.757186025] [zed2i.central_zed_node]: Advertised on topic: /zed2i/central_zed_node/left_cam_imu_transform
[zed_wrapper-2] [INFO] [1697702343.757239771] [zed2i.central_zed_node]: Camera-IMU Translation:
[zed_wrapper-2] -0.002 -0.023 0.00022
[zed_wrapper-2] [INFO] [1697702343.757306581] [zed2i.central_zed_node]: Camera-IMU Rotation:
[zed_wrapper-2] 7FFFACF034B0
[zed_wrapper-2] 0.999977 0.005751 -0.003454
[zed_wrapper-2] -0.005742 0.999980 0.002628
[zed_wrapper-2] 0.003469 -0.002608 0.999991
[zed_wrapper-2]
[zed_wrapper-2] [INFO] [1697702343.757657721] [zed2i.central_zed_node]: *** Plane Detection **
[zed_wrapper-2] [INFO] [1697702343.757707014] [zed2i.central_zed_node]: * Subscribed to topic /clicked_point
[zed_wrapper-2] [INFO] [1697702343.780568964] [zed2i.central_zed_node]: *** Starting Positional Tracking ***
[zed_wrapper-2] [INFO] [1697702343.780704472] [zed2i.central_zed_node]: * Waiting for valid static transformations...
[zed_wrapper-2] [INFO] [1697702343.780769441] [zed2i.central_zed_node]: Static transform Sensor to Base [zed2i_left_camera_frame -> base_link]
[zed_wrapper-2] [INFO] [1697702343.780800007] [zed2i.central_zed_node]: * Translation: {0.000,-0.060,-0.015}
[zed_wrapper-2] [INFO] [1697702343.780822741] [zed2i.central_zed_node]: * Rotation: {0.000,-0.000,0.000}
[zed_wrapper-2] [INFO] [1697702343.780843660] [zed2i.central_zed_node]: Static transform Sensor to Camera Center [zed2i_left_camera_frame -> zed2i_camera_center]
[zed_wrapper-2] [INFO] [1697702343.780878568] [zed2i.central_zed_node]: * Translation: {0.000,-0.060,0.000}
[zed_wrapper-2] [INFO] [1697702343.782560612] [zed2i.central_zed_node]: * Rotation: {0.000,-0.000,0.000}
[zed_wrapper-2] [INFO] [1697702343.782656475] [zed2i.central_zed_node]: Static transform Camera Center to Base [zed2i_camera_center -> base_link]
[zed_wrapper-2] [INFO] [1697702343.782686129] [zed2i.central_zed_node]: * Translation: {0.000,0.000,-0.015}
[zed_wrapper-2] [INFO] [1697702343.782709615] [zed2i.central_zed_node]: * Rotation: {0.000,-0.000,0.000}
[zed_wrapper-2] [INFO] [1697702344.282803398] [zed2i.central_zed_node]: Initial ZED left camera pose (ZED pos. tracking):
[zed_wrapper-2] [INFO] [1697702344.282876028] [zed2i.central_zed_node]: * T: [0,0.06,0.015]
[zed_wrapper-2] [INFO] [1697702344.282900872] [zed2i.central_zed_node]: * Q: [0,0,0,1]
[zed_wrapper-2] [Positionnal Tracking] IMU fusion disabled
[zed_wrapper-2] [INFO] [1697702344.467759898] [zed2i.central_zed_node]: Odometry aligned to last tracking pose
Yes, I recommend using the latest version of the ZED SDK and the latest version of the ZED ROS2 Wrapper in master
Thanks, This is working. Though it seems when i close and reopen the launch file it seems to be unable to restart camera. But I think it may be a different issue.
If the camera is not available after closing the node, it means that the node has not been closed correctly and so is the camera.
You can write a simple Python script that calls the reboot function to recover it without unplugging.