zed_stereo.launch doesn't work on jetson TK1

[stereolabs]

zed_stereo.launch doesn't work on jetson TK1

[adujardin]

Hi,
Unfortunately, this is a bug caused by the disparity mode NONE.
The only solution right know is to set the disparity mode to PERFORMANCE, even if you don't use it.
This bug has been identified and will be fixed in the next release. Sorry about that.

[mos127]

You mean by setting "quality" to "PERFORMANCE"?
Doesn't help with this solution even!

[mos127]

What I did, I change this line (line 227) in the "zed_wrapper_node.cpp" :

        err = zed->init(sl::zed::MODE::NONE, -1, true);

to

        err = zed->init(sl::zed::MODE::PERFORMANCE, -1, true);

and now it works fine!

Thanks

[adujardin]

Yes, that's what I meant.
Good, glad to hear it!

[atomoclast]

I tried to change line 227 in the source code, couldn't find the line specified. The closest I could find was err = zed->init(static_cast<sl::zed::MODE> (quality), -1, true);

Tried to change it to no avail. Any suggestions?

[adujardin]

The variable quality which sets the sl::zed::MODE is an argument set by the launch file, if you want you can change it there or directly into the code (as in the comment above).
Does that address your issue?

[atomoclast]

I tried to change the line:

<param name="quality" value="2" />

to

<param name="quality" value="PERFORMANCE" />

I don't know if I understood you properly.

[adujardin]

You have to put an integer in the launch file. So to get the PERFORMANCE mode you should put 1 <param name="quality" value="1" /> (or 0 for NONE, doc)

[atomoclast]

I figured I'd have to have a different int. before trying "PERFORMANCE". I tried both "0" and "1" before hand with no luck.

this is what was in my Terminal:

`started roslaunch server http://ultron:58273/

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: 1
• /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: 1.11.16

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

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[zed_base_link1-1]: started with pid [11955]
process[zed_base_link2-2]: started with pid [11956]
process[camera/zed_wrapper_node-3]: started with pid [11957]
[ INFO] [1456943152.078205075]: ZED_WRAPPER Node initialized
[ INFO] [1456943152.097578424]: Using ZED Camera
ZED SDK >> (Init) Best GPU Found : GeForce GTX 970, ID : 0
ZED SDK >> (Init) Quality mode has been set to
ZED SDK >> (Init) Creating ZED GPU mem...
ZED SDK >> (Init) Trying self calibration...
[camera/zed_wrapper_node-3] process has died [pid 11957, exit code -11, cmd /home/hmi/catkin_ws/devel/lib/zed_wrapper/zed_wrapper_node __name:=zed_wrapper_node __log:=/home/hmi/.ros/log/1a90a430-e0a4-11e5-aed6-64006a646a5f/camera-zed_wrapper_node-3.log].
log file: /home/hmi/.ros/log/1a90a430-e0a4-11e5-aed6-64006a646a5f/camera-zed_wrapper_node-3*.log
`