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ROS wrapper for the ZED SDK

Home Page: https://www.stereolabs.com/docs/ros/

License: MIT License

CMake 2.40% C++ 96.05% Python 1.55%

zed-camera ros stereo-vision slam ros-wrapper zed zed-mini zed2 ros-packages stereolabs

zed-ros-wrapper's Introduction

Stereolabs ZED Camera - ROS Noetic Ninjemis Integration

This package lets you use the ZED stereo camera with ROS. It outputs the camera left and right images, depth map, point cloud, pose information and supports the use of multiple ZED cameras.

More information

Note: The zed_interfaces package has been removed from this repository and moved to its own zed-ros-interfaces repository for allowing better integration of the ZED Wrapper on remote ground stations that do not require the full package to be installed. To update your repository please follow the new update instructions. For more information please read issue #750.

Getting started

First, download the latest version of the ZED SDK on stereolabs.com
Install the ZED ROS wrapper
For more information, check out our ROS documentation. If you want to customize the wrapper, check the ZED API documentation

Prerequisites

Ubuntu 20.04
ZED SDK v4.1 and its dependency CUDA
ROS Noetic

Build the repository

The zed_ros_wrapper is a catkin package. It depends on the following ROS packages:

roscpp
image_transport
rosconsole
sensor_msgs
stereo_msgs
std_msgs
std_srvs
message_filters
tf2_ros
nodelet
tf2_geometry_msgs
message_generation
diagnostic_updater
dynamic_reconfigure
zed_interfaces

Open a terminal, clone the repository, update the dependencies and build the packages:

$ cd ~/catkin_ws/src
$ git clone --recursive https://github.com/stereolabs/zed-ros-wrapper.git
$ cd ../
$ rosdep install --from-paths src --ignore-src -r -y
$ catkin_make -DCMAKE_BUILD_TYPE=Release
$ source ./devel/setup.bash

Update the local repository

To update the repository to the latest release you must use the following command to retrieve the latest commits of zed-ros-wrapper and of all the submodules:

$ git checkout master # if you are not on the main branch  
$ git pull --recurse-submodules # update recursively all the submodules

Remember to always clean the cache of your catkin workspace before compiling with the catkin_make command to be sure that everything will work as expected:

$ roscd
$ cd ..
$ rm -rf build devel
$ catkin_make -DCMAKE_BUILD_TYPE=Release

Run the ZED wrapper

To launch the ZED node use

ZED camera:

$ roslaunch zed_wrapper zed.launch

ZED Mini camera:

$ roslaunch zed_wrapper zedm.launch

ZED 2 camera:

$ roslaunch zed_wrapper zed2.launch

ZED 2i camera:

$ roslaunch zed_wrapper zed2i.launch

ZED X camera:

$ roslaunch zed_wrapper zedx.launch

ZED X Mini camera:

$ roslaunch zed_wrapper zedxm.launch

To select the camera from its serial number:

 $ roslaunch zed_wrapper zed.launch serial_number:=1010 #replace 1010 with the actual SN

Rviz visualization

Example launch files to start a pre-configured Rviz environment to visualize the data of ZED, ZED Mini, ZED 2, ZED X, and ZED X Mini cameras are provided in the zed-ros-examples repository

SVO recording

SVO recording can be started and stopped while the ZED node is running using the service start_svo_recording and the service stop_svo_recording. More information

Object Detection

The SDK v3.0 introduces the Object Detection and Tracking module. The Object Detection module is available only with a ZED 2 camera.

The Object Detection can be enabled automatically when the node start setting the parameter object_detection/od_enabled to true in the file common.yaml.

The Object Detection can be enabled/disabled manually calling the service enable_object_detection.

Body Tracking

The Body Tracking module is not available for the ZED ROS Wrapper. Please consider migrating to the ZED ROS2 Wrapper if you need it.

Spatial Mapping

The Spatial Mapping can be enabled automatically when the node start setting the parameter mapping/mapping_enabled to true in the file common.yaml. The Spatial Mapping can be enabled/disabled manually calling the services start_3d_mapping and stop_3d_mapping.

Geo Tracking (GNSS Fusion)

The Geo tracking module is not available for the ZED ROS Wrapper. Please consider migrating to the ZED ROS2 Wrapper if you need it.

Diagnostic

The ZED node publishes diagnostic information that can be used by the robotic system using a diagnostic_aggregator node.

With the rqt plugin Runtime monitor, it is possible to retrieve all the diagnostic information, checking that the node is working as expected.

2D mode

For robots moving on a planar surface it is possible to activate the "2D mode" (parameter tracking/two_d_mode in common.yaml). The value of the coordinate Z for odometry and pose will have a fixed value (parameter tracking/fixed_z_value in common.yaml). Roll and pitch and relative velocities will be fixed to zero.

Examples and Tutorials

Examples and tutorials are provided to better understand how to use the ZED wrapper and how to integrate it in the ROS framework. See the zed-ros-examples repository

Examples

Alongside the wrapper itself and the Rviz display, a few examples are provided to interface the ZED with other ROS packages :

RTAB-Map: See zed_rtabmap_example
ROS Nodelet, depthimage_to_laserscan: See zed_nodelet_example
AR Track Alvar: See zed_ar_track_alvar_example

Tutorials

A few tutorials are provided to understand how to use the ZED node in the ROS environment :

zed-ros-wrapper's People

Contributors

Stargazers

Watchers

Forkers

ntnu-arl cldrone zastrix vcmman exception4u vincentrou adamglass mantraes eric-wieser somebodyus tno-ivs durn2000 li--paul nznobody omair18 selenkelan movesense-humanplus simondavid b2220333 giscs yukkysaito naoki-kameyama kathoum tongtybj melshaer sean-mcmahon furushchev easonweng jonpol01 ronalddas iscumd mizmizo ubc-snowbots yxftju gsorf shoemakerlevy9 esaapriaskar takukatayama shivshav maciejmatuszak m-onitsuka amirx96 idscorporation wolfram2012 zhuhaijun753 k-kimura reinzor automodality billhoover suton5 yuki-asano frc900 wangqiang1588 yaoy908 serhatkilicc richlewis007 mrasl cole4 jihobak noda6 arobosys 779688471 v-do mors25 jlowenz wpfhtl yoheikakiuchi tritonsailor kfriesth enwaytech kennedywai rocket-car sutohlab01 madhubabuv adujardin blindnology wonderlost sherlockls ruvu arg-nctu corvidaetech cosama earthrover jamietsai illinoisauv inact1v1ty revolventnu avr-tec tilidaimon awesome1995 dtu-r3 jamezo97 fabolhak abcdelf pratnagone saras152 byteofsoren isakdiaz yonder-dynamics vslamer

zed-ros-wrapper's Issues

Compilation error for zed-ros-wrapper

I have a Jetson TX1 with Sample file 23.2 on it. It has the associated OpenCV4tegra as well. It also carries CUDA 7.0. While I try to install zed-ros-wrapper, it throws the error:

CMake Error at /usr/share/OpenCV/OpenCVConfig.cmake:251 (if):
if given arguments:
"VERSION_LESS" "5.5"

Unknown arguments specified
Call Stack (most recent call first):
zed-ros-wrapper/CMakeLists.txt:32 (find_package)


-- Configuring incomplete, errors occurred!

How do I fix this? I tried editing OpenCVConfig.cmake and added double quotes to VERSION_LESS and it stopped giving me error. But then it gives another error: Invoking "make -j4 -l4" failed
I tried the following solution : https://github.com/stereolabs/zed-ros-wrapper/issues/12
But it didn't fix the issue. Any ideas how to fix this?

ZED NOT AVAILABLE On Ubuntu

Environment On GigabyteBrix *(GB-BXi7G3-760)
CPU i7-4710HQ
GPU NVIDIA GeForce GTX 760

[ INFO] [1457929521.312857351]: Using ZED Camera
ZED SDK >> (Init) Best GPU Found : GeForce GTX 760, ID : 0
ZED SDK >> (Init) Quality mode has been set to Performance mode
[ INFO] [1457929521.860688457]: ZED_NOT_AVAILABLE
ZED SDK >> (Init) Best GPU Found : GeForce GTX 760, ID : 0
ZED SDK >> (Init) Quality mode has been set to Performance mode
[ INFO] [1457929524.325564349]: ZED_NOT_AVAILABLE

i have try following command ,
luvcview -d /dev/video0 -s 2560x720 -i 15
camera is working.

Is there problems about SDK?

Graphics Card

Do you know if this package will work with this display driver:
01:00.0 VGA compatible controller [0300]: NVIDIA Corporation GK107GLM [Quadro K1000M] [10de:0ffc](rev a1) (prog-if 00 [VGA controller])
Subsystem: Lenovo Device [17aa:21f5]
Flags: bus master, fast devsel, latency 0, IRQ 16
Memory at f0000000 (32-bit, non-prefetchable) [size=16M]
Memory at c0000000 (64-bit, prefetchable) [size=256M]
Memory at d0000000 (64-bit, prefetchable) [size=32M]
I/O ports at 5000 [size=128]
Expansion ROM at f1000000 [disabled] [size=512K]
Capabilities:
Kernel driver in use: nvidia

NVRM version: NVIDIA UNIX x86_64 Kernel Module 304.128 Wed Aug 26 10:38:05 PDT 2015
GCC version: gcc version 4.8.4 (Ubuntu 4.8.4-2ubuntu1~14.04)

Thanks,

Matt

Stop ZED depth map processing

Is there an option in the ZED ROS wrapper to disable depth map computation? The algorithm I am using does not require the depth map, only the left and right images. If there isn't a parameter to disable this, do you have any suggestions as to how I could go about doing this?

How to interpret data matrix in sensor_msgs/Image?

I am subscribing to the topic /camera/depth/image_rect_color in the package zed-ros-wrapper to obtain depth information using a zed camera. Right now, my subscriber looks at a random pixel and reads the depth information. Is there any way to find out which pixel corresponds to what element(index) in the matrix?

NO_GPU_COMPATIBLE Ubuntu with zed-ros-wrapper, but not Depth Viewer

Hi,

When I run the zed-ros-wrapper, I get NO_GPU_COMPATIBLE error. But Depth Viewer and Explorer work properly.

~/catkin_ws$ optirun roslaunch zed_wrapper zed.launch
... logging to /home/lewis/.ros/log/ba1a638c-1d63-11e6-bf29-185e0f3be61f/roslaunch-lewis-ubuntu-laptop-6232.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://lewis-ubuntu-laptop:37934/

SUMMARY

PARAMETERS

/camera/zed_wrapper_node/cloud_frame_id: /zed_optical_frame
/camera/zed_wrapper_node/depth_cam_info_topic: depth/camera_info
/camera/zed_wrapper_node/depth_frame_id: /zed_optical_frame
/camera/zed_wrapper_node/depth_topic: depth/image_rect_...
/camera/zed_wrapper_node/frame_rate: 30
/camera/zed_wrapper_node/left_cam_info_topic: left/camera_info
/camera/zed_wrapper_node/left_frame_id: /zed_optical_frame
/camera/zed_wrapper_node/left_topic: left/image_rect_c...
/camera/zed_wrapper_node/point_cloud_topic: point_cloud/cloud
/camera/zed_wrapper_node/quality: 2
/camera/zed_wrapper_node/resolution: 2
/camera/zed_wrapper_node/rgb_cam_info_topic: rgb/camera_info
/camera/zed_wrapper_node/rgb_frame_id: /zed_optical_frame
/camera/zed_wrapper_node/rgb_topic: rgb/image_rect_color
/camera/zed_wrapper_node/right_cam_info_topic: right/camera_info
/camera/zed_wrapper_node/right_frame_id: /zed_optical_frame
/camera/zed_wrapper_node/right_topic: right/image_rect_...
/camera/zed_wrapper_node/sensing_mode: 1
/rosdistro: indigo
/rosversion: 1.11.19

NODES
/camera/
zed_wrapper_node (zed_wrapper/zed_wrapper_node)
/
zed_base_link1 (tf2_ros/static_transform_publisher)
zed_base_link2 (tf2_ros/static_transform_publisher)

auto-starting new master
process[master]: started with pid [6244]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to ba1a638c-1d63-11e6-bf29-185e0f3be61f
process[rosout-1]: started with pid [6257]
started core service [/rosout]
process[zed_base_link1-2]: started with pid [6265]
process[zed_base_link2-3]: started with pid [6275]
process[camera/zed_wrapper_node-4]: started with pid [6276]
[ INFO] [1463622484.625181087]: ZED_WRAPPER Node initialized
[ INFO] [1463622484.642889505]: Using ZED Camera : 2 30
ZED SDK >> (Init) Best GPU Found : GeForce GTX 960M , ID : 0
ZED SDK >> (Init) Disparity mode has been set to Quality mode
ZED SDK >> (Init) Creating ZED GPU mem...
ZED SDK >> (Init) Starting Self-Calibration in background...
ZED SDK >> (Init) No compatible NVIDIA device found, disparity map unavailable.
[ INFO] [1463622485.845013341]: NO_GPU_COMPATIBLE
ZED SDK >> (Init) Best GPU Found : GeForce GTX 960M , ID : 0
ZED SDK >> (Init) Disparity mode has been set to Quality mode

ZED SDK >> (Init) Creating ZED GPU mem...
ZED SDK >> (Init) A lot of corrupted frames (frame glitch or invalid size) has been detected. Please check that your ZED is connected to an USB3.0 port, that the USB3.0 chipset driver is up to date...
ZED SDK >> (Init) Starting Self-Calibration in background...
ZED SDK >> (Init) No compatible NVIDIA device found, disparity map unavailable.
[ INFO] [1463622490.150631002]: NO_GPU_COMPATIBLE
ZED SDK >> (Init) Best GPU Found : GeForce GTX 960M , ID : 0
ZED SDK >> (Init) Disparity mode has been set to Quality mode

ZED SDK >> (Init) Creating ZED GPU mem...
^C[ 442.985428] [WARN]Received Interrupt signal.
[camera/zed_wrapper_node-4] killing on exit
[zed_base_link2-3] killing on exit
[zed_base_link1-2] killing on exit
ZED SDK >> (Init) A lot of corrupted frames (frame glitch or invalid size) has been detected. Please check that your ZED is connected to an USB3.0 port, that the USB3.0 chipset driver is up to date...
ZED SDK >> (Init) Starting Self-Calibration in background...
ZED SDK >> (Init) No compatible NVIDIA device found, disparity map unavailable.
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
~/catkin_ws$

System:
Asus ZenBook UX501VW
NVidia 960M GPU
Ubuntu 14.0.4
Cuda 7.5
(Cuda 7.0 is also installed, but not being used by zed-ros-wrapper)
ZED_SDK_Linux_x86_64_v0.9.4e_CUDA75_beta
Nvidia 352.93 binary driver plus Bumblebee

/catkin_ws$ uname -a
Linux lewis-ubuntu-laptop 4.2.0-36-generic #4214.04.1-Ubuntu SMP Fri May 13 17:27:22 UTC 2016 x86_64 x86_64 x86_64 GNU/Linux

ZED_NOT_AVAILABLE on NVIDIA TK1

I tried to run zed_wrapper,
(I sucessfully install ZED SDK and catkin_make was successfull)

but error is as followings:

It seems to me that:

ZED is not accessbile on NVIDIA TK1

I did as the following web indicates:

https://www.stereolabs.com/blog/index.php/2015/09/24/getting-started-with-jetson-tk1-and-zed/

Enabling USB 3.0 on the Jetson TK1

By default the USB 3.0 port is recognized as USB 2.0. You will need to configure it as USB 3.0. To     do this, open the file /boot/extlinux/extlinux.conf as root in a terminal:

ubuntu@tegra-ubuntu:~$ roslaunch zed_wrapper zed_depth.launch

... logging to /home/ubuntu/.ros/log/1223ed94-c401-11e5-8729-7c5cf88de253/roslaunch-tegra-    ubuntu-2651.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://192.168.43.194:59863/

SUMMARY
========

PARAMETERS
 * /camera/zed_wrapper_node/frame_rate: 15
 * /camera/zed_wrapper_node/left_cam_info_topic: rgb/camera_info
 * /camera/zed_wrapper_node/left_frame_id: /zed_optical_frame
 * /camera/zed_wrapper_node/left_topic: rgb/image_rect_color
 * /camera/zed_wrapper_node/quality: 2
 * /camera/zed_wrapper_node/resolution: 2
 * /camera/zed_wrapper_node/second_cam_info_topic: depth/camera_info
 * /camera/zed_wrapper_node/second_frame_id: /zed_optical_frame
 * /camera/zed_wrapper_node/second_topic: depth_registered/...
 * /camera/zed_wrapper_node/sensing_mode: 1
 * /rosdistro: indigo
 * /rosversion: 1.11.16

NODES
  /camera/
    zed_wrapper_node (zed_wrapper/zed_wrapper_node)
  /
    zed_base_link1 (tf/static_transform_publisher)
    zed_base_link2 (tf/static_transform_publisher)

auto-starting new master
process[master]: started with pid [2676]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 1223ed94-c401-11e5-8729-7c5cf88de253
process[rosout-1]: started with pid [2689]
started core service [/rosout]
process[zed_base_link1-2]: started with pid [2692]
process[zed_base_link2-3]: started with pid [2693]
process[camera/zed_wrapper_node-4]: started with pid [2694]
[ INFO] [1453794460.112419415]: ZED_WRAPPER Node initialized
[ INFO] [1453794460.163718610]: Using ZED Camera
ZED SDK >> (Init) Best GPU Found : GK20A, ID : 0 
ZED SDK >> (Init) Quality mode has been set to Quality mode
[ INFO] [1453794460.212136763]: ZED_NOT_AVAILABLE
[camera/zed_wrapper_node-4] process has died [pid 2694, exit code 1, cmd /home/ubuntu    /catkin_ws/devel/lib/zed_wrapper/zed_wrapper_node 1 __name:=zed_wrapper_node __log:=/home    /ubuntu/.ros/log/1223ed94-c401-11e5-8729-7c5cf88de253/camera-zed_wrapper_node-4.log].
log file: /home/ubuntu/.ros/log/1223ed94-c401-11e5-8729-7c5cf88de253/camera-zed_wrapper_node-4*.log

Deactivation of tf tracking

I am trying to use the ZED pointclouds on a robot that is already handling odom. How can the launch file be manipulated to have the zed pointclouds be transformable from the zed frame back to a base_link frame?

Streamline Install

Hi,

Thank you for writing the ROS wrapper.

It would be great to streamline the install. I had a number of problems finding opencv2 for ROS and trying to install the dependencies from rosdep install. I wasn't able to install Cuda without the -override switch. And I am stuck on not finding libcuda.so.1.

Most people using ROS will choose sensors that have ROS packages. Maybe making it easier to install will allow more people to use zed.

Matt

zed_wrapper_node crashes after point_cloud/image_rect is first published

After subscribing to #19's point_cloud/image_rect topic, I get exactly one message before the zed launch file dies

stdout:

SUMMARY
========

PARAMETERS
 * /camera/zed/zed_wrapper_node/frame_rate: 15
 * /camera/zed/zed_wrapper_node/left_cam_info_topic: rgb/camera_info
 * /camera/zed/zed_wrapper_node/left_frame_id: /zed_optical_frame
 * /camera/zed/zed_wrapper_node/left_topic: rgb/image_rect_color
 * /camera/zed/zed_wrapper_node/quality: 2
 * /camera/zed/zed_wrapper_node/resolution: 3
 * /camera/zed/zed_wrapper_node/second_cam_info_topic: depth/camera_info
 * /camera/zed/zed_wrapper_node/second_frame_id: /zed_optical_frame
 * /camera/zed/zed_wrapper_node/second_topic: depth_registered/...
 * /camera/zed/zed_wrapper_node/sensing_mode: 1
 * /rosdistro: indigo
 * /rosversion: 1.11.16

NODES
  /camera/zed/
    zed_wrapper_node (zed_wrapper/zed_wrapper_node)
  /
    zed_base_link1 (tf/static_transform_publisher)
    zed_base_link2 (tf/static_transform_publisher)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[zed_base_link1-1]: started with pid [16249]
process[zed_base_link2-2]: started with pid [16250]
process[camera/zed/zed_wrapper_node-3]: started with pid [16251]
[ INFO] [1456717432.735849340]: ZED_WRAPPER Node initialized
[ INFO] [1456717432.788498337]: Using ZED Camera
ZED SDK >> (Init) Best GPU Found : GM20B, ID : 0 
ZED SDK >> (Init) Quality mode has been set to Quality mode
ZED SDK >> (Init) Creating ZED GPU mem...
ZED SDK >> (Init) Trying self calibration... 
ZED SDK >> (Init) Done...
[ INFO] [1456717437.278710947]: SUCCESS
[ INFO] [1456717439.328094330]: Reconfigure confidence : 80
[ INFO] [1456717439.566147235]: Advertized on topic rgb/image_rect
[ INFO] [1456717439.568182066]: Advertized on topic rgb/image_rect_color
[ INFO] [1456717439.570107002]: Advertized on topic right/image_rect
[ INFO] [1456717439.572015897]: Advertized on topic depth/image_rect
[ INFO] [1456717439.574672599]: Advertized on topic point_cloud/image_rect
[ INFO] [1456717439.576888419]: Advertized on topic rgb/camera_info
[ INFO] [1456717439.577281645]: Advertized on topic rgb/camera_info
[ INFO] [1456717439.578923198]: Advertized on topic right/camera_info
[ INFO] [1456717439.580648239]: Advertized on topic depth/camera_info
[camera/zed/zed_wrapper_node-3] process has died [pid 16251, exit code -11, cmd /home/racecar/racecar_team5_ws/devel/lib/zed_wrapper/zed_wrapper_node __name:=zed_wrapper_node __log:=/home/racecar/.ros/log/aa2acb02-de8d-11e5-b9a7-00044b580bc9/camera-zed-zed_wrapper_node-3.log].
log file: /home/racecar/.ros/log/aa2acb02-de8d-11e5-b9a7-00044b580bc9/camera-zed-zed_wrapper_node-3*.log

There seem to be no further log files

CMake ALWAYS Building debug code = Slow Performace

I've been using this wrapper for some time and only JUST realised that I had been always building debug code (Would explain a lot of issues regarding speed!). But the issue is:

Changing the option in the CMakeLists doesn't work. In specific:

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 0ab3e18..7356259 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -4,17 +4,17 @@ project(zed_wrapper)

 ###############################################################################
 ## Options
-option( DEBUG_ACTIVE "Enable Debug build" ON )
+option( DEBUG_ACTIVE "Enable Debug build")

Note: Cmake defines that if left blank, an option defaults to OFF. I've tried writing OFF in there too, no luck.

In order to build release I had to manually override this option:

-if(DEBUG_ACTIVE)
-    MESSAGE( "Debug compilation active" )
-    set(ROS_BUILD_TYPE Debug)
-    set(CMAKE_BUILD_TYPE Debug)
-else()
+#if(DEBUG_ACTIVE)
+    #MESSAGE( "Debug compilation active" )
+    #set(ROS_BUILD_TYPE Debug)
+    #set(CMAKE_BUILD_TYPE Debug)
+#else()
     MESSAGE( "Release compilation active" )
     set(ROS_BUILD_TYPE Release)
     set(CMAKE_BUILD_TYPE Release)
-endif()
+#endif()

And not the tracking and Pointcloud publishing works a lot faster! (To quantify this; publishing with quality=2 and resolution=3 went form 10 FPS with debug to 16 FPS with release. Also I used to be able to loose tracking with a quick jerk of ZED. Now it keeps up)

Whilst this isn't a 'Issue' per say, I would recommend letting the values filter through if already set, allowing user set values to prevail. Example:

IF(NOT CMAKE_BUILD_TYPE)
    SET(CMAKE_BUILD_TYPE Release)
ENDIF(NOT CMAKE_BUILD_TYPE)

Because I use the catkin_make -DCMAKE_BUILD_TYPE=xxx usually so this went un-noticed.

Or at least point out this behavior in your README, and maybe default to Release.

Cheers!

[ WARN]: Wait for a new image to proceed

Hi,

I am a software engineer in Transcend Robotics.
I am trying to use ZED as our vision camera to do SLAM.

When I use algorithm like rtabmap_ros, zed_wapper_node keep sending warning of wait for new images.
With rivz showing the image, it also have this warning.
Is this happening because of computation power? or maybe the image pointer published being occupied by other program or something like that?

Thanks.
Di Zeng

unable to compile zed wrapper on jetson tk1 XinittTreads

I just downloaded the new zed ros wrapper on to my Jetson TK1 ( though I did not a system general update via software center) and now I can not compile the wrapper even though I include X11 in the CMakeLists as has worked in the past. Any ideas on how to proceed?

say libsl_zed.so undefined reference to XInitTreads.

Further doing a "nm -C libsl_zed.so | grep XInit " returns U XInitTreads

I was able to download and compile zed-pcl with any problems ...I also tried changing the std=c++ to that used in zed-pcl to no effect. So these seems to be related to catkin_make.

This is the cmakelist I am using that is not working:


cmake_minimum_required(VERSION 2.8.7)

project(zed_wrapper)

###############################################################################
## Options
option( DEBUG_ACTIVE "Enable Debug build" ON )

if(DEBUG_ACTIVE)
    MESSAGE( "Debug compilation active" )
    set(ROS_BUILD_TYPE Debug)
    set(CMAKE_BUILD_TYPE Debug)
else()
    MESSAGE( "Release compilation active" )
    set(ROS_BUILD_TYPE Release)
    set(CMAKE_BUILD_TYPE Release)
endif()
###############################################################################

find_package(ZED 0.9 REQUIRED)
find_package(X11 REQUIRED)
find_package(CUDA REQUIRED)
find_package(OpenCV 2.4 COMPONENTS core highgui imgproc REQUIRED)
find_package(PCL REQUIRED)

find_package(catkin REQUIRED COMPONENTS
  image_transport
  roscpp
  rosconsole
  sensor_msgs
  cv_bridge
  dynamic_reconfigure
)

generate_dynamic_reconfigure_options(
  cfg/Zed.cfg
)

catkin_package(
  CATKIN_DEPENDS
    roscpp
    rosconsole
    sensor_msgs
    opencv2
    cv_bridge
    image_transport
    dynamic_reconfigure
)

###############################################################################
# INCLUDES

# Specify locations of header files.
include_directories(
    ${catkin_INCLUDE_DIRS} 
    ${CUDA_INCLUDE_DIRS}
    ${ZED_INCLUDE_DIRS}
    ${OpenCV_INCLUDE_DIRS}
    ${PCL_INCLUDE_DIRS}
)

link_directories(${X11_LIBRARY_DIR})
link_directories(${ZED_LIBRARY_DIR})
link_directories(${CUDA_LIBRARY_DIRS})
link_directories(${OpenCV_LIBRARY_DIRS})
link_directories(${PCL_LIBRARY_DIRS})

###############################################################################

###############################################################################
# EXECUTABLE

add_definitions(-std=c++11)# -m64) #-Wall)


add_executable(
  zed_wrapper_node
  src/zed_wrapper_node.cpp
)

target_link_libraries(
        zed_wrapper_node
        ${catkin_LIBRARIES}
        ${X11_LIBRARIES}
        ${ZED_LIBRARIES}
    ${CUDA_LIBRARIES} ${CUDA_nppi_LIBRARY} ${CUDA_npps_LIBRARY}
        ${OpenCV_LIBS}
        ${PCL_LIBRARIES}  
    )

add_dependencies(zed_wrapper_node ${PROJECT_NAME}_gencfg)
###############################################################################

#Add all files in subdirectories of the project in
# a dummy_target so qtcreator have access to all files
FILE(GLOB_RECURSE extra_files ${CMAKE_SOURCE_DIR}/*)
add_custom_target(dummy_${PROJECT_NAME} SOURCES ${extra_files})

ZED utilities work without GPU, why doesn't this code?

So a number of the ZED utilities including the Explorer and the recorder work without a GPU. There is clearly support for getting an image via CPU in the header file. I don't see why the GPU is involved here at all -- it's just a camera. I don't want ZED processing the data at all.

Odom Topic and visual odometry

Hi,
What algorithm is used in tracking the camera?
Can you add a parameters to disable this function just in case we have our own visual odometry to save computation power.

Nvidia TK1 & ZED ROS : Wait for a new image to proceed

I am using ZED Stereo Camera with Nvidia TK1(DJI Manifold)

I was able to successfully run the following commands:

ubuntu@tegra-ubuntu:~/catkin_ws$ roslaunch zed_wrapper zed.launch

process[camera/zed_wrapper_node-4]: started with pid [4558]
[ INFO] [1466473776.466851120]: ZED_WRAPPER Node initialized
[ INFO] [1466473776.520543168]: Using ZED Camera
ZED SDK >> (Init) Best GPU Found : GK20A, ID : 0 
ZED SDK >> (Init) Quality mode has been set to Quality mode
ZED SDK >> (Init) Creating ZED GPU mem...
ZED SDK >> (Init) Trying self calibration... 
ZED SDK >> (Init) Done...
[ INFO] [1466473781.749374004]: SUCCESS
[ INFO] [1466473783.766500542]: Reconfigure confidence : 80
[ INFO] [1466473784.003238084]: Advertized on topic rgb/image_rect_color
[ INFO] [1466473784.007348780]: Advertized on topic left/image_rect_color
[ INFO] [1466473784.010071021]: Advertized on topic right/image_rect_color
[ INFO] [1466473784.012525504]: Advertized on topic depth/image_rect_color
[ INFO] [1466473784.015019822]: Advertized on topic point_cloud/cloud
[ INFO] [1466473784.016921541]: Advertized on topic rgb/camera_info
[ INFO] [1466473784.018865177]: Advertized on topic left/camera_info
[ INFO] [1466473784.020766646]: Advertized on topic right/camera_info
[ INFO] [1466473784.022737616]: Advertized on topic depth/camera_info

But the problem is that

When I run rviz in order to see the point cloud, launch rviz, select zed_optical_frame in Displays->Global Options->Fixed Frame->zed_optical_frame. Then click on 'add' (bottom left), select the 'By Topic' tab, select point_cloud->cloud->PointCloud2 and click 'OK'.

Then following messages occurs continuously, and the ZED was reinitialized

[WARN] [1466473700.636144984]: Wait for a new image to proceed
[ WARN] [1466473700.638489631]: Wait for a new image to proceed
[ WARN] [1466473700.640739776]: Wait for a new image to proceed
[ WARN] [1466473700.643201010]: Wait for a new image to proceed
[ INFO] [1466473701.058440423]: Using ZED Camera
[ INFO] [1466473701.058901936]: Reinit camera
ZED SDK >> (Init) Best GPU Found : GK20A, ID : 0 
ZED SDK >> (Init) Quality mode has been set to Quality mode
ZED SDK >> (Init) Creating ZED GPU mem...

Depth unit

One of the problem I had using ZED under ROS was about Depth measurement unit.

Since the baseline is in millimeters, also the depth image is in millimeters, but ROS uses meters as lenght unit.

Speaking about this problem with Olivier (@sl-braun ) he told me to set Baseline to 0.12 in the camera parameters, meanwhile a parameter to set depth unit will be added in the SDK APIs.

How have you handled this problem in the zed-ros-wrapper?

@adujardin

New launch file passes `1` as `svo_file` argument

Camera Calibration Parameters and Rectification

Hello,

I am trying to use my ZED camera with an algorithm that accepts rectified images and also needs the camera calibration parameters to do some depth related processing. I am running zed.launch file. Are the topics "left/image_rect_color" and "right/image_rect_color" rectified images? I used ROS stereo camera calibration node and the parameters that I get for VGA are different from the ones that I downloaded from the Stereolab's database. For example my calibration is giving me

[narrow_stereo/left]
camera matrix
741.613868 0.000000 325.273949
0.000000 736.184966 253.435234
0.000000 0.000000 1.000000

and my downloaded calibration file says

[LEFT_CAM_VGA]
fx=699.417
fy=699.417
cx=297.493
cy=243.168

Would somebody please help me to understand if I am doing something wrong in the calibration process or actually calibration parameters change after rectification and my calibration may be correct.

Thank You,
Ahmad

Fail after Using ZED Camera

Hi,

I think I am close to getting ZED up and running. When I run the lauch script I am getting:
process[zed_wrapper_node-2]: started with pid [10885]
[ INFO] [1445443609.787001051]: ZED_WRAPPER Node initialized
[ INFO] [1445443609.796179599]: Using ZED Camera
[zed_wrapper_node-2] process has died [pid 10885, exit code -11, cmd /home/matt/catkin_ws/devel/lib/zed_wrapper/zed_wrapper_node 0 __name:=zed_wrapper_node __log:=/home/matt/.ros/log/bbe0d8be-780d-11e5-930e-3ca9f41e22f4/zed_wrapper_node-2.log].
log file: /home/matt/.ros/log/bbe0d8be-780d-11e5-930e-3ca9f41e22f4/zed_wrapper_node-2*.log

Has anyone seen this before? I looked for the camera in /dev/ but didn't find where it is coming in.

Thanks for your help,

Matt

opencv2

Hi,

I am trying to install the zed ros wrapper and I am not able to install the opencv2. It looks like ros has moved to opencv3. I also tried to install the dependancies using rosdep install -i -y --from-paths ~/catkin_ws/src/zed-ros-wrapper but that didn't work.

I downloaded the ZED and CUDA drivers from stereolabs.com and have them installed but having some build problems with opencv2.

Thanks for your help,

Matt

fatal error: Eigen/Core: No such file or directory

I get the following error when I use catkin_make
I have the latest zed sdk on a Nvidia Jetson TX1 flashed with Jetpack 2.1 32bit OS.
I have eigen installed (used sudo apt-get install libeigen3-dev)

In file included from /home/ubuntu/catkin_ws/src/zed-ros-wrapper/src/zed_wrapper_node.cpp:54:0:
/usr/local/zed/include/zed/Camera.hpp:73:22: fatal error: Eigen/Core: No such file or directory
#include <Eigen/Core>
^
compilation terminated.
make[2]: *** [zed-ros-wrapper/CMakeFiles/zed_wrapper_node.dir/src/zed_wrapper_node.cpp.o] Error 1
make[1]: *** [zed-ros-wrapper/CMakeFiles/zed_wrapper_node.dir/all] Error 2
make: *** [all] Error 2

I fixed it by changing Eigen/Core to eigen3/Eigen/Core
Then I get the following error

/home/ubuntu/catkin_ws/src/zed-ros-wrapper/src/zed_wrapper_node.cpp: In function ‘int main(int, char*)’:
/home/ubuntu/catkin_ws/src/zed-ros-wrapper/src/zed_wrapper_node.cpp:170:24: error: ‘RAW’ is not a member of ‘sl::zed::SENSING_MODE’
int sensing_mode = sl::zed::SENSING_MODE::RAW;
^
/home/ubuntu/catkin_ws/src/zed-ros-wrapper/src/zed_wrapper_node.cpp:216:61: error: no matching function for call to ‘sl::zed::Camera::init(sl::zed::MODE)’
err = zed->init(static_castsl::zed::MODE (quality));
^
/home/ubuntu/catkin_ws/src/zed-ros-wrapper/src/zed_wrapper_node.cpp:216:61: note: candidate is:
In file included from /home/ubuntu/catkin_ws/src/zed-ros-wrapper/src/zed_wrapper_node.cpp:54:0:
/usr/local/zed/include/zed/Camera.hpp:174:21: note: sl::zed::ERRCODE sl::zed::Camera::init(sl::zed::InitParams&)
ERRCODE init(InitParams &parameters);
^
/usr/local/zed/include/zed/Camera.hpp:174:21: note: no known conversion for argument 1 from ‘sl::zed::MODE’ to ‘sl::zed::InitParams&’
/home/ubuntu/catkin_ws/src/zed-ros-wrapper/src/zed_wrapper_node.cpp:218:44: error: no matching function for call to ‘sl::zed::Camera::init(sl::zed::MODE)’
err = zed->init(sl::zed::MODE::NONE);
^
/home/ubuntu/catkin_ws/src/zed-ros-wrapper/src/zed_wrapper_node.cpp:218:44: note: candidate is:
In file included from /home/ubuntu/catkin_ws/src/zed-ros-wrapper/src/zed_wrapper_node.cpp:54:0:
/usr/local/zed/include/zed/Camera.hpp:174:21: note: sl::zed::ERRCODE sl::zed::Camera::init(sl::zed::InitParams&)
ERRCODE init(InitParams &parameters);
^
/usr/local/zed/include/zed/Camera.hpp:174:21: note: no known conversion for argument 1 from ‘sl::zed::MODE’ to ‘sl::zed::InitParams&’
make[2]: ** [zed-ros-wrapper/CMakeFiles/zed_wrapper_node.dir/src/zed_wrapper_node.cpp.o] Error 1
make[1]: *** [zed-ros-wrapper/CMakeFiles/zed_wrapper_node.dir/all] Error 2
make: *** [all] Error 2
Invoking "make -j4 -l4" failed

Frame Transforms seem wrong when publishing zed_tracked_frame

Hey, novice here so please let me know if I've missed something here.

System: Jetson TX1, L4T 23.2, ROS-Jade

Issue: It appears that when populating the StampedTransform, the values are copied wrongly from the passed eigen vector. This results in the transform moving in the opposite direction to the odometry when viewed in rviz. Some of the axis are swapped and some where negated.

The Fix:
Changing the following results in the odom_frame and the zed_tracked_frame move identically.

diff --git a/src/zed_wrapper_node.cpp b/src/zed_wrapper_node.cpp
index 6a6dfba..f998fbb 100644
--- a/src/zed_wrapper_node.cpp
+++ b/src/zed_wrapper_node.cpp
@@ -128,9 +128,9 @@ void publishTrackedFrame(Eigen::Matrix4f Path, tf2_ros::TransformBroadcaster &tr
     transformStamped.header.stamp = ros::Time::now();
     transformStamped.header.frame_id = "zed_initial_frame";
     transformStamped.child_frame_id = odometry_transform_frame_id;
-    transformStamped.transform.translation.x = -Path(0, 3);
-    transformStamped.transform.translation.y = Path(1, 3);
-    transformStamped.transform.translation.z = -Path(2, 3);
+    transformStamped.transform.translation.x = -Path(2, 3);
+    transformStamped.transform.translation.y = -Path(0, 3);
+    transformStamped.transform.translation.z = Path(1, 3);
     Eigen::Quaternionf quat(Path.block<3, 3>(0, 0));
     transformStamped.transform.rotation.x = -quat.z();
     transformStamped.transform.rotation.y = -quat.x();

Cheers

catkin_make problem

I tried to catkin_make ZED-ros-wrapper,

and I already installed ZED_SDK_Linux_JTK1_v0.9.2_alpha.run sucessfully,

and dependency is also satistifed.

it is related to "No rule to make target `/usr/local/zed/lib/libcudpp.so"

ubuntu@tegra-ubuntu:~/catkin_ws$ cm

make[2]: *** No rule to make target `/usr/local/zed/lib/libcudpp.so', needed by `/home/ubuntu    /catkin_ws/devel/lib/zed_wrapper/zed_wrapper_node'.  Stop.
make[2]: *** Waiting for unfinished jobs....
[100%] Building CXX object zed-ros-wrapper/CMakeFiles/zed_wrapper_node.dir    /src/zed_wrapper_node.cpp.o
Linking CXX executable /home/ubuntu/catkin_ws/devel/lib/opencv_ros/opencv_ros_node
make[2]: warning:  Clock skew detected.  Your build may be incomplete.
[100%] Built target opencv_ros_node
make[1]: *** [zed-ros-wrapper/CMakeFiles/zed_wrapper_node.dir/all] Error 2
make: *** [all] Error 2




Base path: /home/ubuntu/catkin_ws

Source space: /home/ubuntu/catkin_ws/src
Build space: /home/ubuntu/catkin_ws/build
Devel space: /home/ubuntu/catkin_ws/devel
Install space: /home/ubuntu/catkin_ws/install

Running command: "make cmake_check_build_system" in "/home/ubuntu/catkin_ws/build"

Running command: "make -j4 -l4" in "/home/ubuntu/catkin_ws/build"

-- Using CATKIN_DEVEL_PREFIX: /home/ubuntu/catkin_ws/devel
-- Using CMAKE_PREFIX_PATH: /home/ubuntu/jetsonbot/devel;/home/ubuntu/catkin_ws/devel;/opt/ros/indigo
-- This workspace overlays: /home/ubuntu/jetsonbot/devel;/home/ubuntu/catkin_ws/devel;/opt/ros/indigo
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/ubuntu/catkin_ws/build/test_results
-- Found gtest sources under '/usr/src/gtest': gtests will be built
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.6.16
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~ traversing 11 packages in topological order:
-- ~~ - camera_umd (metapackage)
-- ~~ - opencv_tests
-- ~~ - image_geometry
-- ~~ - vision_opencv (metapackage)
-- ~~ - cv_bridge
-- ~~ - jpeg_streamer
-- ~~ - opencv_ros
-- ~~ - opencv_apps
-- ~~ - urg_node
-- ~~ - uvc_camera
-- ~~ - zed_wrapper
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin metapackage: 'camera_umd'
-- ==> add_subdirectory(camera_umd/camera_umd)
-- +++ processing catkin package: 'opencv_tests'
-- ==> add_subdirectory(vision_opencv/opencv_tests)
-- +++ processing catkin package: 'image_geometry'
-- ==> add_subdirectory(vision_opencv/image_geometry)
-- +++ processing catkin metapackage: 'vision_opencv'
-- ==> add_subdirectory(vision_opencv/vision_opencv)
-- +++ processing catkin package: 'cv_bridge'
-- ==> add_subdirectory(vision_opencv/cv_bridge)
-- Boost version: 1.54.0
-- Found the following Boost libraries:
-- python
-- +++ processing catkin package: 'jpeg_streamer'
-- ==> add_subdirectory(camera_umd/jpeg_streamer)
-- Boost version: 1.54.0
-- Found the following Boost libraries:
-- system
-- thread
-- +++ processing catkin package: 'opencv_ros'
-- ==> add_subdirectory(opencv_ros)
-- Boost version: 1.54.0
-- Found the following Boost libraries:
-- system
-- +++ processing catkin package: 'opencv_apps'
-- ==> add_subdirectory(vision_opencv/opencv_apps)
-- Using these message generators: gencpp;genlisp;genpy
-- opencv_apps: 32 messages, 0 services
-- +++ processing catkin package: 'urg_node'
-- ==> add_subdirectory(urg_node)
-- Using these message generators: gencpp;genlisp;genpy
-- +++ processing catkin package: 'uvc_camera'
-- ==> add_subdirectory(camera_umd/uvc_camera)
-- Boost version: 1.54.0
-- Found the following Boost libraries:
-- thread
-- system
-- +++ processing catkin package: 'zed_wrapper'
-- ==> add_subdirectory(zed-ros-wrapper)
Debug compilation active
-- Configuring done
WARNING: Target "opencv_ros_node" requests linking to directory "/usr/include/opencv". Targets may link only to libraries. CMake is dropping the item.
WARNING: Target "opencv_ros_node" requests linking to directory "/usr/include". Targets may link only to libraries. CMake is dropping the item.
-- Generating done
-- Build files have been written to: /home/ubuntu/catkin_ws/build
[ 0%] Built target std_msgs_generate_messages_lisp
[ 0%] [ 0%] Built target sensor_msgs_generate_messages_lisp
Built target sensor_msgs_generate_messages_cpp
[ 0%] Built target sensor_msgs_generate_messages_py
[ 0%] Built target geometry_msgs_generate_messages_lisp
[ 0%] [ 0%] Built target geometry_msgs_generate_messages_cpp
Built target geometry_msgs_generate_messages_py
[ 0%] Built target std_msgs_generate_messages_py
[ 0%] Built target std_msgs_generate_messages_cpp
[ 1%] Built target jpeg_streamer
[ 1%] Built target _opencv_apps_generate_messages_check_deps_RectArray
[ 1%] Built target _opencv_apps_generate_messages_check_deps_FlowArrayStamped
[ 1%] Built target _opencv_apps_generate_messages_check_deps_FaceArrayStamped
[ 1%] Built target _opencv_apps_generate_messages_check_deps_Circle
[ 1%] Built target _opencv_apps_generate_messages_check_deps_Point2DArray
[ 1%] Built target _opencv_apps_generate_messages_check_deps_Point2D
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Built target _opencv_apps_generate_messages_check_deps_CircleArray
[ 1%] [ 1%] Built target _opencv_apps_generate_messages_check_deps_RotatedRectArray
Built target _opencv_apps_generate_messages_check_deps_MomentArray
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Built target _opencv_apps_generate_messages_check_deps_Flow
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[ 1%] Built target _opencv_apps_generate_messages_check_deps_ContourArrayStamped
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[ 1%] Built target _opencv_apps_generate_messages_check_deps_Point2DStamped
[ 1%] [ 1%] Built target _opencv_apps_generate_messages_check_deps_Moment
Built target _opencv_apps_generate_messages_check_deps_LineArray
[ 1%] Built target _opencv_apps_generate_messages_check_deps_Point2DArrayStamped
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[ 10%] Built target opencv_apps_gencfg
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[ 12%] Built target urg_c_wrapper
[ 13%] Built target nodelet_uvc_camera
Scanning dependencies of target zed_wrapper_gencfg
[ 13%] [ 16%] Built target uvc_camera_node
[ 17%] Built target uvc_stereo_node
Generating dynamic reconfigure files from cfg/Zed.cfg: /home/ubuntu/catkin_ws/devel/include/zed_wrapper/ZedConfig.h /home/ubuntu/catkin_ws/devel/lib/python2.7/dist-packages/zed_wrapper/cfg/ZedConfig.py
[ 19%] [ 36%] Built target image_geometry
Built target opencv_apps_generate_messages_cpp
[ 38%] Built target cv_bridge
[ 56%] [ 72%] Built target opencv_apps_generate_messages_lisp
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Built target getID
Generating reconfiguration files for Zed in zed_ros_wrapper
Wrote header file in /home/ubuntu/catkin_ws/devel/include/zed_wrapper/ZedConfig.h
Scanning dependencies of target opencv_ros_node
[ 72%] Built target zed_wrapper_gencfg
make[2]: Warning: File `/home/ubuntu/catkin_ws/src/opencv_ros/src/image_converter.cpp' has modification time 2.4e+04 s in the future
[ 73%] [ 75%] Built target cv_bridge_boost
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Built target urg_node
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Scanning dependencies of target zed_wrapper_node
[ 97%] Built target simple_flow_exe
[ 98%] Built target watershed_segmentation_exe
ZED_SDK_Linux_JTK1_v0.9.2_alpha

URDF for ZED camera

I find the urdf for ZED camera is currently unavailable online. Could you please provide the same with the transformation between left, right cameras and the PCL? Also, it would be great if you can make the stl model of your camera available too. Thanks in advance.

>> Detected S/N for ZED Camera : -1

I'm trying to install th ZED SDK in a Nvdia TX1 and I hav this message

Detected S/N for ZED Camera : -1

USB is setup to be 3.0 and I using the most recent version of the ZDK,

please help

Support for Ubuntu 16.04 and ROS kinetic

It would be nice to have the ZED SDK on ubuntu 16.04 since it is the new LTS release.
I installed the ZED SDK 1.0 and try to compile the zed_wrapper but I get link errors :

/home/romea/catkin_ws/src/zed-ros-wrapper/src/zed_wrapper_node.cpp:388: undefined reference to `sl::zed::Camera::Camera(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)'
/home/romea/catkin_ws/src/zed-ros-wrapper/src/zed_wrapper_node.cpp:499: undefined reference to `sl::zed::Camera::enableTracking(Eigen::Matrix<float, 4, 4, 0, 4, 4>&, bool, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)'
/home/romea/catkin_ws/src/zed-ros-wrapper/src/zed_wrapper_node.cpp:524: undefined reference to `sl::zed::Camera::Camera(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)'
/home/romea/catkin_ws/src/zed-ros-wrapper/src/zed_wrapper_node.cpp:544: undefined reference to `sl::zed::Camera::enableTracking(Eigen::Matrix<float, 4, 4, 0, 4, 4>&, bool, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)'
collect2: error: ld returned 1 exit status

But the cmake variable ${ZED_LIBRARIES} seems well set :
/usr/local/zed/lib/libsl_zed.so/usr/local/zed/lib/libsl_depthcore.so/usr/local/zed/lib/libsl_calibration.so/usr/local/zed/lib/libsl_tracking.so/usr/local/zed/lib/libsl_svorw.so/usr/local/zed/lib/libcudpp.so/usr/local/zed/lib/libcudpp_hash.so

ZED not Detected

Hello, I was previously using the ZED ROS wrapper on a previous computer for a project. Since we are moving the application to a different computer, we need to migrate the code and applications over.

During the setup of the ZED, I keep experiencing issues with it being able to connect to the internet. it says that it can connect to the ZED, but that there was no internet connection (although I can browse through a browser and ping through terminal without any issues). I did try some of the following suggested code:

/usr/local/zed/tools/ZED\ Settings\ App -sn {YourZEDSerialNumber}

because I kept getting the same error when I tried to run:

/usr/local/zed/tools/ZED\ Settings\ App -factory and got the same error. That it can connect to the ZED, but not connect to the camera to validate the SN I think?
I do have a .conf file in the settings folder. It just won't open up the Depth Viewer or any of the other tools.

I have no idea what's going on or why it was so painless when I installed it last.

Thanks in advance!

Odometry TF Frame

Hello, I am having issues understanding and working with the odometry frame transforms.
Please view the full question with loads of information HERE - ROS ANSWERS. I am not sure if this is a code issue or not, nor who is responsible for the problems (most likely me) but I thought I'd raise awareness. I simply cannot handle an initial offset from the ZED camera to my robot's base_link in a proper manner. I either get no transform, or wrong ones.

Regards,

catkin_make error (ubuntu 14.04, ROS indigo)

Dear all,

I encounter the following catkin_make error:
Is it required to install ZED drive first in my system?
(My system ubuntu 14.04, ROS indigo)

-- +++ processing catkin package: 'zed_wrapper'
-- ==> add_subdirectory(zed-ros-wrapper)
Debug compilation active
CMake Error at zed-ros-wrapper/CMakeLists.txt:20 (find_package):
By not providing "FindZED.cmake" in CMAKE_MODULE_PATH this project has
asked CMake to find a package configuration file provided by "ZED", but
CMake did not find one.

Could not find a package configuration file provided by "ZED" (requested
version 0.9) with any of the following names:

ZEDConfig.cmake
zed-config.cmake

Add the installation prefix of "ZED" to CMAKE_PREFIX_PATH or set "ZED_DIR"
to a directory containing one of the above files. If "ZED" provides a
separate development package or SDK, be sure it has been installed.

-- Configuring incomplete, errors occurred!
See also "/root/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/root/catkin_ws/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed
root@milton-OptiPlex-9010:~/catkin_ws#

Linux Version of the SDK and ZED-ROS-Wrapper: Cuda 6.5 and 7.5 mix

Hi,
I installed the ZED SDK 1.0. It relies on Cuda 7.5 and will abort the installation if Cuda 7.5 is not installed. However, if I try to run, e.g. ZED Explorer it complains that Cuda 6.5 is not installed.

During installation of the SDK:

ERROR : the installer failed to detect the CUDA version (CUDA 7.5 required)

During execution of installed tool:

error while loading shared libraries: libcudart.so.6.5: cannot open shared object file: No such file or directory

This mix up continues in the ZED-ROS-Wrapper. Running catkin results in

CMake Error at /usr/share/cmake-2.8/Modules/FindPackageHandleStandardArgs.cmake:108 (message): Could NOT find CUDA: Found unsuitable version "7.5", but required is exact version "6.5" (found /usr/local/cuda-7.5)

If SET(CUDA_VERSION "7.5") is changed in the CMakeLists.txt to SET(CUDA_VERSION "6.5") it compiles but depth calculation results in a segmentation fault. Segmentation fault also occurs by running the tool ZED Depth Viewer. To reach this point I installed cuda 6.5 alongside with 7.5 and played around with the order how the paths are set in PATH and LD_LIBRARY_PATH.

Anyway, please let me know if I missed something. Otherwise, please clear up the dependencies of the SDK and the wrapper.

How to run zed_wrapper in ros indigo with OCV3.1 dependencies?

Hi ,
I have Ros Indigo, Ubuntu 14.04, recently updated to ZED driver version SDK 1.0b which requires Opencv 3.1 for dependencies. I have managed to compile by creating symbolic links with a OCV3.1 build which is located in a non-standard directory, The main issue when it runs it requires cv_bridge , which is compiled with 2.4.8. I get the following error after running zed.launch :

ZED SDK >> (Init) Best GPU Found : GeForce GTX 660M , ID : 0
ZED SDK >> (Init) Disparity mode has been set to QUALITY
ZED SDK >> (Init) Creating ZED GPU mem...
[camera/zed_wrapper_node-3] process has died [pid 8586, exit code -11, cmd /home/xepost/catkin_ws/devel/lib/zed_wrapper/zed_wrapper_node __name:=zed_ome/xepost/.ros/log/0d91d35e-3ba2-11e6-a3fe-8c89a5070cef/camera-zed_wrapper_node-3.log].
log file: /home/xepost/.ros/log/0d91d35e-3ba2-11e6-a3fe-8c89a5070cef/camera-zed_wrapper_node-3*.log

Any suggestions how to make this package work?

rviz Fixed Frame should be zed_point_cloud, not zed_optical_frame

HI,

I believe this section of the readme is incorrect:

If you want to see the point cloud, launch rviz, select zed_optical_frame in Displays->Global Options->Fixed Frame->zed_optical_frame. Then click on 'add' (bottom left), select the 'By Topic' tab, select point_cloud->cloud->PointCloud2 and click 'OK'.

Instead, it should be:

If you want to see the point cloud, launch rviz, select zed_optical_frame in Displays->Global Options->Fixed Frame->zed_point_cloud. Then click on 'add' (bottom left), select the 'By Topic' tab, select point_cloud->cloud->PointCloud2 and click 'OK'.

This is tested on a recent install following all the instructions. If I follow the current Readme steps, I get an error in RViz saying:
Transform [sender=unknown_publisher]
For frame [/zed_point_cloud]: Fixed Frame [zed_opticalFrame] does not exist

However, if I use zed_point_cloud as the frame, I get no error and the point cloud shows up.

unable to compile zed wrapper on jetson tk1

I am trying to install zed_wrapper_node for ros on my jetson tk1.
After installing libopencv4tegra and libopencv4tegra-dev

I was unable to install cv_bridge and image_transport because the installer wanted to uninstall the opencv4tegra lbs.

So I downloaded the source for them ros vision_opencv and image_common and compiled them.

I removed "/usr/local/zed/lib/libcudpp_hash.so" and "/usr/local/zed/lib/libcudpp.so" from'/usr/local/zed/zed-config.cmake' as is recommend in a blog post that these are needed only for zed on the desktop.

Now I am left with following error:

Linking CXX executable /home/ubuntu/catkin_ws/devel/lib/zed_wrapper/zed_wrapper_node
/usr/local/zed/lib/libsl_zed.so: undefined reference to `XInitThreads'

What is the issue or issues ... Is zed ros wrapper not for the jetson tk1?

NO_GPU_COMPATIBLE: GeForce 980ti in Ubuntu 14.04

When ever I follow the method shown on the wiki for installing cuda, the Nvidia driver sends my installation into a login loop. Because of this I had to switch to installing cuda w apt-get. All of 6.5 was installed fine and catkin_make finally worked to build the package. Now when I run the launch, the SDK tells me that my 980 is not compatible even though this exact build works fine on the windows side.

My exact error is the following:

ZED SDK >> (Init) No compatible device found, disparity map unavailable8 - 0
[ INFO] [1444375194.755167596]: NO_GPU_COMPATIBLE

Stereo images with no GPU

Hello! Thanks for creating such an awesome camera!

Currently, the wrapper only builds with ZED SKD which only installs itself if CUDA is present. Is there any way to publish stereo images (no depth) without the need for a GPU?

The motivation behind this is that GPU is a huge energy monster, we would like to use the camera on a drone, and we have our own algorithm for depth estimation, so essentially we just need two streams of rectified images.

zed does not initialize to use GPU

I'm trying to run the wrapper on my GPU rather than my CPU, but every time I run the node in ROS, everything is run on my CPU.

I am running off of a Nvidia GeForce GTX 980, and I have cuda_6.5.19 toolkit installed, and the ROS node is launching just fine. I see that the way ZED works is it initializes everything through the zed->init function, which has it's device parameter default set to -1, indicating it should search for and utilize the fastest device for its computation. It seems unrealistic that my CPU is faster than my GPU, so is this function broken? Or perhaps is the wrapper set up in a way to restrict to only CPU usage?

depth image is very imprecise

In my testing, I only ever get integers in [0, 10] for the pixels of the depth image. Is this measured in meters?

Is the issue that this is being incorrectly rounded in this line?

Catkin build broken?

I tried to build the package, but slMat2cvMat wasn't defined in the node source or any imported files, so I had to find it in one of the samples from the sdk and copy-paste it over. It built fine after that, but that seems like a less-than-ideal solution. Not sure whether this is somehow only a problem on my setup and not for anybody else, but either way I figured you would want to know.

Trying to create point cloud using depth_image_proc_xyzrgb

Trying to create point cloud using depth_image_proc_xyzrgb. Not sure what the issues is but does not seem to work with messages published. Link below to bag file from zed-ros-wapper. Camera and depth image show in rviz but not point cloud.

https://www.dropbox.com/s/70av8talgn5rcak/2016-02-14-12-43-12.bag?dl=0

catkin_make fail on jetson tk1

I can not seem to build the ROS wrapper on the Jetson TK1. It is saying that it needs lubcudpp.so and I checked the zed libs and it is not there. I did find it installed and ROS worked on my desktop machine.

[ 50%] Built target zed_wrapper_gencfg make[2]: *** No rule to make target/usr/local/zed/lib/libcudpp.so', needed by /home/ubuntu/Documents/ros_ws/ros_zed/devel/lib/zed_wrapper/zed_wrapper_node'. Stop. make[1]: *** [zed-ros-wrapper/CMakeFiles/zed_wrapper_node.dir/all] Error 2 make: *** [all] Error 2 Invoking "make -j4 -l4" failed

Also this is on a clean install of Jetpack on the TK1.

Cant open ZED after 0.9.3 update.

Hi, I run into a problem while updating to the newest version of the ZED SDK. I couldn't find a general issues place to post-it, and there is not information about this error in Support web page. Is there any place to put this kind of issues?

Basically, I installed CUDA 7.5 for the newest version, and the ran the ZED installer. Every seems to be fine until the calibration. Then this message appears: *** Download Factory Calibration *** ZED Detected, but cannot open Camera. Please check that you don't have another camera connected....

I use a laptop, so I thought it was related with the embedded camera. I disabled it temporary running echo '3-1.3:1.0' | sudo tee /sys/bus/usb/drivers/uvcvideo/unbind. But the error keept.

The config file was not downloaded too. I downloaded it manually using in this page http://calib.stereolabs.com/ and using the reference number of the camera, and tried to run the ZED Explorer. But the application crashed and showed these lines:

     ZED Explorer : Failed to setup device
     Segmentation fault (core dumped)

I couldn't find any reference of that message, did anybody encounter this problem too?

Example launch file to visualize pointcloud in rviz

I was trying to do the following in a ros launch file:

Use zed-ros-wrapper to publish rgb + depth images
Generate pointcloud (xyzrgb) with depth_image_proc
Visualize pointcloud in rviz

Your wrapper is working fine but unfortunately I cant figure out how 2.) can subscribe to 1.). I know its not really an issue but a small example launch file would be really awesome.

P.S.: Im new to ros ;-)

cheers

zed_stereo.launch doesn't work on jetson TK1

Hi,

zed_depth.launch works perfectly fine but zed_stereo.launch doesn't: this is the screen output:

... logging to /home/ubuntu/.ros/log/561992e4-c562-11e5-a71f-b8aeed732665/roslaunch-tegra-ubuntu-3352.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://192.168.0.2:45186/

SUMMARY
========

PARAMETERS
 * /camera/zed_wrapper_node/frame_rate: 15
 * /camera/zed_wrapper_node/left_cam_info_topic: left/camera_info
 * /camera/zed_wrapper_node/left_frame_id: /zed_optical_frame
 * /camera/zed_wrapper_node/left_topic: left/image_raw
 * /camera/zed_wrapper_node/quality: 1
 * /camera/zed_wrapper_node/resolution: 2
 * /camera/zed_wrapper_node/second_cam_info_topic: right/camera_info
 * /camera/zed_wrapper_node/second_frame_id: /zed_optical_frame
 * /camera/zed_wrapper_node/second_topic: right/image_raw
 * /camera/zed_wrapper_node/sensing_mode: 1
 * /rosdistro: indigo
 * /rosversion: 1.11.16

NODES
  /camera/
    zed_wrapper_node (zed_wrapper/zed_wrapper_node)
  /
    zed_base_link (tf/static_transform_publisher)

ROS_MASTER_URI=http://192.168.0.1:11311

core service [/rosout] found
process[zed_base_link-1]: started with pid [3361]
process[camera/zed_wrapper_node-2]: started with pid [3362]
[ INFO] [1453960811.714012251]: ZED_WRAPPER Node initialized
[ INFO] [1453960811.741991418]: Using ZED Camera
ZED SDK >> (Init) Best GPU Found : GK20A, ID : 0 
ZED SDK >> (Init) Quality mode has been set to None -- no disparity map
ZED SDK >> (Init) Creating ZED GPU mem...
[ INFO] [1453960811.927280585]: NO_GPU_COMPATIBLE
[camera/zed_wrapper_node-2] process has died [pid 3362, exit code 1, cmd /home/ubuntu/catkin_ws/devel/lib/zed_wrapper/zed_wrapper_node 0 __name:=zed_wrapper_node __log:=/home/ubuntu/.ros/log/561992e4-c562-11e5-a71f-b8aeed732665/camera-zed_wrapper_node-2.log].
log file: /home/ubuntu/.ros/log/561992e4-c562-11e5-a71f-b8aeed732665/camera-zed_wrapper_node-2*.log

What can be the solution to this?!

Thanks

zed_optical_frame doesnt show up in drop down and poitn cloud doesnt form

hello i am a starter using zed wrapper
i have managed to install zede sdk and zed wrapper for ros and i ran

roslaunch zed_wrapper zed.launch
and in other terminal
rosrun rviz rviz

the rviz opens but in the fixed frame i get only three options but no zed_optical_frame

by choosing map or any other option in fixed frame
i get this which is not atall clear and image doesnt stitch

and if i try to manually input it
it throws an error like this

please help me to get right option to get good point cloud image

Process keeps dying on launch (Non-TK1 Nvidia GPU)

Hello, I'm currently trying to use the Zed-ROS-Wrapper on my desktop with a GeForce GTX 970. As you can see in the attached file, it seems the find the GPU and almost launch, then crash while self-calibrating.

I have searched through github and seen that changing the

to "1" in the zed.launch file has helped (at least for the TK1). We still are experiencing issues.

Please see attached screenshot.

Impossible to open camera

Hi to all,

Yesterday I received my first ZED camera :)! I am trying to working with it. In Windwos everything work perfectly but now I am trying to use Zed applications for Linux.

Following the steps reported on the website to start to operate with this camera, I installed opencv 2.4 and Cuda 7.5.
Sadly when I try to install the SDK I got this error (or I think that is an error):

ZED Detected, but cannot open Camera. Please check that you don't have another camera connected...
rm: cannot remove ‘/usr/local/zed/tools/ZED Settings App’: No such file or directory
ZED SDK installation complete !

As consequences, the /usr/local/zed/settings is empty. Following another issue post, I manually downloaded the configuration file SN1010.conf. But, in any case, all ZED samples crashes with segmentation fault. In addition, I tried the ros wrapper package. Even this way crash:

[ INFO] [1462864745.884115015]: ZED_WRAPPER Node initialized
[ INFO] [1462864745.898097528]: Using ZED Camera
ZED SDK >> (Init) Best GPU Found : GeForce GT 630 , ID : 0
ZED SDK >> (Init) Disparity mode has been set to Quality mode
[camera/zed_wrapper_node-4] process has died

Just to provide you more information: I have not the directory /usr/local/zed/tools/ZED\ Settings\ App (I found it in the other issue post).

Can you suggest me how to solve this problem?

Regards

How to increase frame rate

I am running zed on nvidia jetson TK1 . The frame rate which i am getting is around 4hz which is too low for processing real time algorithms . How do we increase the frame rate .

please provide with optimal parameters .

Subscribing to the Odometry topic

I am trying to create a ROS (Indigo) package to subscribe to the topic /camera/odom. My subscriber and the problem has been explained in detail here.

I believe I am missing some dependencies or libraries. I tried adding #include "pcl_ros/point_cloud.h". It threw an error asking for pcl/point_cloud.h file. I don't think I need any new library to be installed, because rostopic echo /camera/odom works fine. Any suggestions? What am I missing?

ROS launch wrapper cannot initiate the ZED SDK

I am using Ubuntu 14.04 with Nvidia Quadro K1100M
I installed CUDA 7.5 with Nvidia driver 364

I can run Depth viewer and other ZED tools properly. But when I launched the ROS wrapper (last master branch), the process has been killed after Creating ZED GPU mem ...

core service [/rosout] found
process[zed_base_link1-1]: started with pid [8969]
process[zed_base_link2-2]: started with pid [8970]
process[camera/zed_wrapper_node-3]: started with pid [8971]
[ INFO] [1464060430.789109043]: ZED_WRAPPER Node initialized
[ INFO] [1464060430.807173093]: Using ZED Camera
ZED SDK >> (Init) Best GPU Found : Quadro K1100M , ID : 0
ZED SDK >> (Init) Disparity mode has been set to Quality mode
ZED SDK >> (Init) Creating ZED GPU mem...
[camera/zed_wrapper_node-3] process has died [pid 8971, exit code -11, cmd /home/XXX/XXX/catkin_ws_3d/devel/lib/zed_wrapper/zed_wrapper_node __name:=zed_wrapper_node __log:=/home/XXX/.ros/log/3876594a-215e-11e6-b9c4-a4c49451bf4e/camera-zed_wrapper_node-3.log].
log file: /home/XXX/.ros/log/3876594a-215e-11e6-b9c4-a4c49451bf4e/camera-zed_wrapper_node-3*.log

I checked the zed_wrapper_node.cpp code. The process was killed in the zed->init() function
err = zed->init(static_castsl::zed::MODE (quality), -1, true);

Do you have any suggest for us where to check ?
Thank you for your kind support.

stereolabs / zed-ros-wrapper Goto Github PK

zed-ros-wrapper's Introduction

Stereolabs ZED Camera - ROS Noetic Ninjemis Integration

Getting started

Prerequisites

Build the repository

Update the local repository

Run the ZED wrapper

Rviz visualization

SVO recording

Object Detection

Body Tracking

Spatial Mapping

Geo Tracking (GNSS Fusion)

Diagnostic

2D mode

Examples and Tutorials

Examples

Tutorials

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Running command: "make cmake_check_build_system" in "/home/ubuntu/catkin_ws/build"

Running command: "make -j4 -l4" in "/home/ubuntu/catkin_ws/build"

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