Colcon build not working properly especally with zed camera

Robotics & Edge Computing Robotics - Isaac Isaac ROS
1

Hello, when I try and colcon build a lot of pkgs are failing and it wont connect to my ZED camera when I try and do the zed_example.launch.py it wont work. I uploaded a photo of what pkgs are failing when I try and colcon build.

issac_ros_bug
issac_ros_bug1842×764 126 KB

2

Hi @conorspalvieri1

Welcome to the Isaac ROS forum.
Looking at the error, the install and build folders are corrupted.

Cancel these folders and rebuild with colcon build.

Let me know if fix it.
Raffaello

3

Hi Raffaello, I fixed all of the build folders and got it to build with the summary: “Summary: 29 packages finished [22.7s]”

However I am running into issues getting it to work with my zed x mini. I have been running the zed example for live reconstruction with issac ros nvblox but I keep getting this error that I put below, it says the namespace for the example is ZED2 and I am wondering if that is the problem and if I can change it to the zed x mini.

admin@ubuntu:/workspaces/isaac_ros-dev$ source /workspaces/isaac_ros-dev/install/setup.bash && \

ros2 launch nvblox_examples_bringup zed_example.launch.py

[INFO] [launch]: All log files can be found below /home/admin/.ros/log/2024-02-06-18-05-02-377501-ubuntu-11109
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container_mt-1]: process started with pid [11122]
[INFO] [robot_state_publisher-2]: process started with pid [11124]
[INFO] [rviz2-3]: process started with pid [11126]
[robot_state_publisher-2] [INFO] [1707260704.388087646] [zed2.zed_state_publisher]: got segment zed2_baro_link
[robot_state_publisher-2] [INFO] [1707260704.388368805] [zed2.zed_state_publisher]: got segment zed2_camera_center
[robot_state_publisher-2] [INFO] [1707260704.388399045] [zed2.zed_state_publisher]: got segment zed2_camera_link
[robot_state_publisher-2] [INFO] [1707260704.388413958] [zed2.zed_state_publisher]: got segment zed2_left_camera_frame
[robot_state_publisher-2] [INFO] [1707260704.388635851] [zed2.zed_state_publisher]: got segment zed2_left_camera_optical_frame
[robot_state_publisher-2] [INFO] [1707260704.388654316] [zed2.zed_state_publisher]: got segment zed2_mag_link
[robot_state_publisher-2] [INFO] [1707260704.388666956] [zed2.zed_state_publisher]: got segment zed2_right_camera_frame
[robot_state_publisher-2] [INFO] [1707260704.388677164] [zed2.zed_state_publisher]: got segment zed2_right_camera_optical_frame
[robot_state_publisher-2] [INFO] [1707260704.388686540] [zed2.zed_state_publisher]: got segment zed2_temp_left_link
[robot_state_publisher-2] [INFO] [1707260704.388696013] [zed2.zed_state_publisher]: got segment zed2_temp_right_link
[component_container_mt-1] [INFO] [1707260704.419129221] [shared_nvblox_container]: Load Library: /workspaces/isaac_ros-dev/install/nvblox_ros/lib/libnvblox_ros_lib.so
[rviz2-3] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to ‘/tmp/runtime-admin’
[component_container_mt-1] [INFO] [1707260704.686739757] [shared_nvblox_container]: Found class: rclcpp_components::NodeFactoryTemplatenvblox::NvbloxHumanNode
[component_container_mt-1] [INFO] [1707260704.686883408] [shared_nvblox_container]: Found class: rclcpp_components::NodeFactoryTemplatenvblox::NvbloxNode
[component_container_mt-1] [INFO] [1707260704.686903409] [shared_nvblox_container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvblox::NvbloxNode
[component_container_mt-1] [INFO] [1707260704.870070003] [nvblox_node]: NvbloxNode::getParameters()
[component_container_mt-1] WARNING: Logging before InitGoogleLogging() is written to STDERR
[component_container_mt-1] I0206 18:05:04.885038 11142 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_9TsdfVoxelEEE, voxel_size: 0.05, and memory_type: kDevice to LayerCake.
[component_container_mt-1] I0206 18:05:04.885178 11142 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_10ColorVoxelEEE, voxel_size: 0.05, and memory_type: kDevice to LayerCake.
[component_container_mt-1] I0206 18:05:04.885198 11142 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_14FreespaceVoxelEEE, voxel_size: 0.05, and memory_type: kDevice to LayerCake.
[component_container_mt-1] I0206 18:05:04.885210 11142 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_14OccupancyVoxelEEE, voxel_size: 0.05, and memory_type: kDevice to LayerCake.
[component_container_mt-1] I0206 18:05:04.885221 11142 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_9EsdfVoxelEEE, voxel_size: 0.05, and memory_type: kDevice to LayerCake.
[component_container_mt-1] I0206 18:05:04.885229 11142 layer_cake_impl.h:32] Adding Layer with type: N6nvblox10BlockLayerINS_9MeshBlockEEE, voxel_size: 0.05, and memory_type: kDevice to LayerCake.
[component_container_mt-1] I0206 18:05:04.885368 11142 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_9TsdfVoxelEEE, voxel_size: 0.05, and memory_type: kDevice to LayerCake.
[component_container_mt-1] I0206 18:05:04.885385 11142 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_10ColorVoxelEEE, voxel_size: 0.05, and memory_type: kDevice to LayerCake.
[component_container_mt-1] I0206 18:05:04.885391 11142 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_14FreespaceVoxelEEE, voxel_size: 0.05, and memory_type: kDevice to LayerCake.
[component_container_mt-1] I0206 18:05:04.885396 11142 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_14OccupancyVoxelEEE, voxel_size: 0.05, and memory_type: kDevice to LayerCake.
[component_container_mt-1] I0206 18:05:04.885401 11142 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_9EsdfVoxelEEE, voxel_size: 0.05, and memory_type: kDevice to LayerCake.
[component_container_mt-1] I0206 18:05:04.885406 11142 layer_cake_impl.h:32] Adding Layer with type: N6nvblox10BlockLayerINS_9MeshBlockEEE, voxel_size: 0.05, and memory_type: kDevice to LayerCake.
[component_container_mt-1] [INFO] [1707260704.913587781] [nvblox_node]: Initialize Mapper:
[component_container_mt-1] [INFO] [1707260704.913729256] [nvblox_node]: static_mapper.do_depth_preprocessing: 0
[component_container_mt-1] [INFO] [1707260704.913771209] [nvblox_node]: static_mapper.depth_preprocessing_num_dilations: 3
[component_container_mt-1] [INFO] [1707260704.913816682] [nvblox_node]: static_mapper.projective_integrator_max_integration_distance_m: 7
[component_container_mt-1] [INFO] [1707260704.913839627] [nvblox_node]: static_mapper.lidar_projective_integrator_max_integration_distance_m: 10
[component_container_mt-1] [INFO] [1707260704.913856491] [nvblox_node]: static_mapper.projective_integrator_truncation_distance_vox: 4
[component_container_mt-1] [INFO] [1707260704.913883596] [nvblox_node]: static_mapper.weighting_mode: inverse_square_tsdf_distance_penalty
[component_container_mt-1] [INFO] [1707260704.913938413] [nvblox_node]: static_mapper.projective_integrator_max_weight: 5
[component_container_mt-1] [INFO] [1707260704.913957805] [nvblox_node]: static_mapper.free_region_occupancy_probability: 0.45
[component_container_mt-1] [INFO] [1707260704.913972462] [nvblox_node]: static_mapper.occupied_region_occupancy_probability: 0.55
[component_container_mt-1] [INFO] [1707260704.913986702] [nvblox_node]: static_mapper.unobserved_region_occupancy_probability: 0.5
[component_container_mt-1] [INFO] [1707260704.914002927] [nvblox_node]: static_mapper.occupied_region_half_width_m: 0.1
[component_container_mt-1] [INFO] [1707260704.914018799] [nvblox_node]: static_mapper.esdf_integrator_min_weight: 0.0001
[component_container_mt-1] [INFO] [1707260704.914033359] [nvblox_node]: static_mapper.esdf_integrator_max_site_distance_vox: 5
[component_container_mt-1] [INFO] [1707260704.914046480] [nvblox_node]: static_mapper.esdf_integrator_max_distance_m: 2
[component_container_mt-1] [INFO] [1707260704.914060592] [nvblox_node]: static_mapper.mesh_integrator_min_weight: 0.0001
[component_container_mt-1] [INFO] [1707260704.914074832] [nvblox_node]: static_mapper.mesh_integrator_weld_vertices: 1
[component_container_mt-1] [INFO] [1707260704.914088593] [nvblox_node]: static_mapper.tsdf_decay_factor: 0.95
[component_container_mt-1] [INFO] [1707260704.914106193] [nvblox_node]: Initialize Mapper:
[component_container_mt-1] [INFO] [1707260704.914238100] [nvblox_node]: NvbloxNode::subscribeToTopics()
[component_container_mt-1] [INFO] [1707260704.937922507] [nvblox_node]: NvbloxNode::setupTimers()
[component_container_mt-1] [INFO] [1707260704.938091791] [nvblox_node]: NvbloxNode::advertiseTopics()
[component_container_mt-1] [INFO] [1707260704.986942625] [nvblox_node]: NvbloxNode::advertiseServices()
[component_container_mt-1] [INFO] [1707260704.998479477] [nvblox_node]: Started up nvblox node in frame odom and voxel size 0.05
[component_container_mt-1] [INFO] [1707260704.998587960] [nvblox_node]: Mapping type: kStaticTsdf
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ‘/nvblox_node’ in container ‘shared_nvblox_container’
[component_container_mt-1] [INFO] [1707260705.005430876] [shared_nvblox_container]: Load Library: /workspaces/isaac_ros-dev/install/zed_components/lib/libzed_camera_component.so
[component_container_mt-1] [INFO] [1707260705.247473772] [shared_nvblox_container]: Found class: rclcpp_components::NodeFactoryTemplatestereolabs::ZedCamera
[component_container_mt-1] [INFO] [1707260705.249564798] [shared_nvblox_container]: Instantiate class: rclcpp_components::NodeFactoryTemplatestereolabs::ZedCamera
[component_container_mt-1] [INFO] [1707260705.306968280] [zed2.zed_node]: ********************************
[component_container_mt-1] [INFO] [1707260705.308617919] [zed2.zed_node]: ZED Camera Component
[component_container_mt-1] [INFO] [1707260705.309178541] [zed2.zed_node]: ********************************
[component_container_mt-1] [INFO] [1707260705.309758875] [zed2.zed_node]: * namespace: /zed2
[component_container_mt-1] [INFO] [1707260705.310250310] [zed2.zed_node]: * node name: zed_node
[component_container_mt-1] [INFO] [1707260705.311535525] [zed2.zed_node]: ********************************
[component_container_mt-1] [INFO] [1707260705.312216853] [zed2.zed_node]: *** DEBUG parameters ***
[component_container_mt-1] [INFO] [1707260705.313365073] [zed2.zed_node]: * SDK Verbose: 1
[component_container_mt-1] [INFO] [1707260705.314991992] [zed2.zed_node]: * Debug Common: FALSE
[component_container_mt-1] [INFO] [1707260705.316203668] [zed2.zed_node]: * Debug Simulation: FALSE
[component_container_mt-1] [INFO] [1707260705.317953822] [zed2.zed_node]: * Debug Video/Depth: TRUE
[component_container_mt-1] [INFO] [1707260705.319359168] [zed2.zed_node]: * Debug Control settings: FALSE
[component_container_mt-1] [INFO] [1707260705.321071337] [zed2.zed_node]: * Debug Point Cloud: FALSE
[component_container_mt-1] [INFO] [1707260705.322396776] [zed2.zed_node]: * Debug GNSS: FALSE
[component_container_mt-1] [INFO] [1707260705.326207011] [zed2.zed_node]: * Debug Positional Tracking: FALSE
[component_container_mt-1] [INFO] [1707260705.327663782] [zed2.zed_node]: * Debug sensors: FALSE
[component_container_mt-1] [INFO] [1707260705.329315821] [zed2.zed_node]: * Debug Mapping: FALSE
[component_container_mt-1] [INFO] [1707260705.330643661] [zed2.zed_node]: * Debug Object Detection: FALSE
[component_container_mt-1] [INFO] [1707260705.331901163] [zed2.zed_node]: * Debug Body Tracking: FALSE
[component_container_mt-1] [INFO] [1707260705.333216426] [zed2.zed_node]: * Debug Advanced: TRUE
[component_container_mt-1] [INFO] [1707260705.333786712] [zed2.zed_node]: + Debug Mode enabled +
[component_container_mt-1] [INFO] [1707260705.335052310] [zed2.zed_node]: *** GENERAL parameters ***
[component_container_mt-1] [INFO] [1707260705.336783392] [zed2.zed_node]: * SVO: ‘’
[component_container_mt-1] [INFO] [1707260705.338658188] [zed2.zed_node]: * Camera model: zed2 - ZED 2
[component_container_mt-1] [INFO] [1707260705.342752110] [zed2.zed_node]: * Camera name: zed2
[component_container_mt-1] [INFO] [1707260705.344667164] [zed2.zed_node]: * Camera SN: 0
[component_container_mt-1] [INFO] [1707260705.348955042] [zed2.zed_node]: * Camera timeout [sec]: 5
[component_container_mt-1] [INFO] [1707260705.350170495] [zed2.zed_node]: * Camera reconnection temptatives: 5
[component_container_mt-1] [INFO] [1707260705.351196088] [zed2.zed_node]: * Camera framerate: 60
[component_container_mt-1] [INFO] [1707260705.352181199] [zed2.zed_node]: * GPU ID: -1
[component_container_mt-1] [INFO] [1707260705.353213800] [zed2.zed_node]: * Camera resolution: HD720
[component_container_mt-1] [INFO] [1707260705.354204127] [zed2.zed_node]: * Publishing resolution: CUSTOM
[component_container_mt-1] [INFO] [1707260705.355184215] [zed2.zed_node]: * Publishing downscale factor: 2
[component_container_mt-1] [INFO] [1707260705.356129357] [zed2.zed_node]: * OpenCV custom calibration:
[component_container_mt-1] [INFO] [1707260705.357184326] [zed2.zed_node]: * Region of interest:
[component_container_mt-1] [INFO] [1707260705.358362147] [zed2.zed_node]: * Camera self calibration: TRUE
[component_container_mt-1] [INFO] [1707260705.360417396] [zed2.zed_node]: * Camera flip: FALSE
[component_container_mt-1] [INFO] [1707260705.362607912] [zed2.zed_node]: * [DYN] Publish framerate [Hz]: 30
[component_container_mt-1] [INFO] [1707260705.362669353] [zed2.zed_node]: *** VIDEO parameters ***
[component_container_mt-1] [INFO] [1707260705.364193006] [zed2.zed_node]: * [DYN] Brightness: 4
[component_container_mt-1] [INFO] [1707260705.365104995] [zed2.zed_node]: * [DYN] Contrast: 4
[component_container_mt-1] [INFO] [1707260705.366279103] [zed2.zed_node]: * [DYN] Hue: 0
[component_container_mt-1] [INFO] [1707260705.367303448] [zed2.zed_node]: * [DYN] Saturation: 4
[component_container_mt-1] [INFO] [1707260705.367907526] [zed2.zed_node]: * [DYN] Sharpness: 4
[component_container_mt-1] [INFO] [1707260705.369397418] [zed2.zed_node]: * [DYN] Gamma: 8
[component_container_mt-1] [INFO] [1707260705.372569974] [zed2.zed_node]: * [DYN] Auto Exposure/Gain: TRUE
[component_container_mt-1] [INFO] [1707260705.374631975] [zed2.zed_node]: * [DYN] Exposure: 80
[component_container_mt-1] [INFO] [1707260705.375370072] [zed2.zed_node]: * [DYN] Gain: 80
[component_container_mt-1] [INFO] [1707260705.376793498] [zed2.zed_node]: * [DYN] Auto White Balance: TRUE
[component_container_mt-1] [INFO] [1707260705.377448170] [zed2.zed_node]: * [DYN] White Balance Temperature: 42
[component_container_mt-1] [INFO] [1707260705.378231901] [zed2.zed_node]: * Video QoS History: KEEP_LAST
[component_container_mt-1] [INFO] [1707260705.378647239] [zed2.zed_node]: * Video QoS History depth: 1
[component_container_mt-1] [INFO] [1707260705.380452050] [zed2.zed_node]: * Video QoS Reliability: RELIABLE
[component_container_mt-1] [INFO] [1707260705.381356839] [zed2.zed_node]: * Video QoS Durability: VOLATILE
[component_container_mt-1] [INFO] [1707260705.381414921] [zed2.zed_node]: *** DEPTH parameters ***
[component_container_mt-1] [INFO] [1707260705.382187451] [zed2.zed_node]: * Depth mode: NEURAL [4]
[component_container_mt-1] [INFO] [1707260705.383464090] [zed2.zed_node]: * Min depth [m]: 0.5
[component_container_mt-1] [INFO] [1707260705.383973638] [zed2.zed_node]: * Max depth [m]: 5
[component_container_mt-1] [INFO] [1707260705.384378479] [zed2.zed_node]: * Depth Stabilization: 1
[component_container_mt-1] [INFO] [1707260705.385987382] [zed2.zed_node]: * OpenNI mode (16bit point cloud): FALSE
[component_container_mt-1] [INFO] [1707260705.387797249] [zed2.zed_node]: * [DYN] Point cloud rate [Hz]: 10
[component_container_mt-1] [INFO] [1707260705.388282541] [zed2.zed_node]: * [DYN] Depth Confidence: 10
[component_container_mt-1] [INFO] [1707260705.388880155] [zed2.zed_node]: * [DYN] Depth Texture Confidence: 100
[component_container_mt-1] [INFO] [1707260705.389284933] [zed2.zed_node]: * [DYN] Remove saturated areas: TRUE
[component_container_mt-1] [INFO] [1707260705.391087824] [zed2.zed_node]: * Depth QoS History: KEEP_LAST
[component_container_mt-1] [INFO] [1707260705.391546715] [zed2.zed_node]: * Depth QoS History depth: 1
[component_container_mt-1] [INFO] [1707260705.392790872] [zed2.zed_node]: * Depth QoS Reliability: RELIABLE
[component_container_mt-1] [INFO] [1707260705.394437151] [zed2.zed_node]: * Depth QoS Durability: VOLATILE
[component_container_mt-1] [INFO] [1707260705.394506913] [zed2.zed_node]: *** GNSS FUSION parameters ***
[component_container_mt-1] [INFO] [1707260705.394955212] [zed2.zed_node]: * GNSS fusion enabled: FALSE
[component_container_mt-1] [INFO] [1707260705.395004397] [zed2.zed_node]: *** POSITIONAL TRACKING parameters ***
[component_container_mt-1] [INFO] [1707260705.395584411] [zed2.zed_node]: * Positional tracking enabled: TRUE
[component_container_mt-1] [INFO] [1707260705.396568850] [zed2.zed_node]: * Positional tracking mode: POSITIONAL TRACKING MODE STANDARD
[component_container_mt-1] [INFO] [1707260705.399670460] [zed2.zed_node]: * Map frame id: map
[component_container_mt-1] [INFO] [1707260705.401324644] [zed2.zed_node]: * Odometry frame id: odom
[component_container_mt-1] [INFO] [1707260705.401825680] [zed2.zed_node]: * Broadcast Odometry TF: TRUE
[component_container_mt-1] [INFO] [1707260705.402615811] [zed2.zed_node]: * Broadcast Pose TF: TRUE
[component_container_mt-1] [INFO] [1707260705.406178936] [zed2.zed_node]: * [DYN] Depth minimum range: 0
[component_container_mt-1] [INFO] [1707260705.406683108] [zed2.zed_node]: * [DYN] TF timestamp offset: 0
[component_container_mt-1] [INFO] [1707260705.407115726] [zed2.zed_node]: * [DYN] Path publishing rate: 2
[component_container_mt-1] [INFO] [1707260705.407490263] [zed2.zed_node]: * Path history lenght: -1
[component_container_mt-1] [INFO] [1707260705.407911393] [zed2.zed_node]: * Initial pose: [0,0,0,0,0,0,]
[component_container_mt-1] [INFO] [1707260705.409136478] [zed2.zed_node]: * Area Memory: TRUE
[component_container_mt-1] [INFO] [1707260705.410876840] [zed2.zed_node]: * Area Memory DB:
[component_container_mt-1] [INFO] [1707260705.411907104] [zed2.zed_node]: * Camera is static: FALSE
[component_container_mt-1] [INFO] [1707260705.412343563] [zed2.zed_node]: * Gravity as origin [not for ZED]: TRUE
[component_container_mt-1] [INFO] [1707260705.413309890] [zed2.zed_node]: * IMU Fusion [not for ZED]: TRUE
[component_container_mt-1] [INFO] [1707260705.414956489] [zed2.zed_node]: * Floor Alignment: FALSE
[component_container_mt-1] [INFO] [1707260705.415567544] [zed2.zed_node]: * Init Odometry with first valid pose data: TRUE
[component_container_mt-1] [INFO] [1707260705.416053795] [zed2.zed_node]: * 2D mode: FALSE
[component_container_mt-1] [INFO] [1707260705.417260864] [zed2.zed_node]: * Pose/Odometry QoS History: KEEP_LAST
[component_container_mt-1] [INFO] [1707260705.418254072] [zed2.zed_node]: * Pose/Odometry QoS History depth: 1
[component_container_mt-1] [INFO] [1707260705.419295793] [zed2.zed_node]: * Pose/Odometry QoS Reliability: RELIABLE
[component_container_mt-1] [INFO] [1707260705.420577519] [zed2.zed_node]: * Pose/Odometry QoS Durability: VOLATILE
[component_container_mt-1] [INFO] [1707260705.420643377] [zed2.zed_node]: *** SENSORS STACK parameters ***
[component_container_mt-1] [INFO] [1707260705.421136509] [zed2.zed_node]: * Broadcast IMU TF [not for ZED]: TRUE
[component_container_mt-1] [INFO] [1707260705.421534950] [zed2.zed_node]: * Sensors Camera Sync: FALSE
[component_container_mt-1] [INFO] [1707260705.423195758] [zed2.zed_node]: * Sensors publishing rate: 200 Hz
[component_container_mt-1] [INFO] [1707260705.423958656] [zed2.zed_node]: * Sensors QoS History: KEEP_LAST
[component_container_mt-1] [INFO] [1707260705.425501925] [zed2.zed_node]: * Sensors QoS History depth: 1
[component_container_mt-1] [INFO] [1707260705.426304952] [zed2.zed_node]: * Sensors QoS Reliability: RELIABLE
[component_container_mt-1] [INFO] [1707260705.427152748] [zed2.zed_node]: * Sensors QoS Durability: VOLATILE
[component_container_mt-1] [INFO] [1707260705.427215246] [zed2.zed_node]: *** Spatial Mapping parameters ***
[component_container_mt-1] [INFO] [1707260705.427752891] [zed2.zed_node]: * Spatial Mapping Enabled: FALSE
[component_container_mt-1] [INFO] [1707260705.428834580] [zed2.zed_node]: * Spatial Mapping resolution [m]: 0.05
[component_container_mt-1] [INFO] [1707260705.429565062] [zed2.zed_node]: * 3D Max Mapping range [m]: 5
[component_container_mt-1] [INFO] [1707260705.431493524] [zed2.zed_node]: * Map publishing rate [Hz]: 1
[component_container_mt-1] [INFO] [1707260705.432036897] [zed2.zed_node]: * Clicked point topic: /clicked_point
[component_container_mt-1] [INFO] [1707260705.432849524] [zed2.zed_node]: * Plane Det. Max Dist. Thresh.: 0.15
[component_container_mt-1] [INFO] [1707260705.434344600] [zed2.zed_node]: * Plane Det. Normals Sim. Thresh.: 15
[component_container_mt-1] [INFO] [1707260705.434997992] [zed2.zed_node]: * Sensors QoS History: KEEP_LAST
[component_container_mt-1] [INFO] [1707260705.438904837] [zed2.zed_node]: * Sensors QoS History depth: 1
[component_container_mt-1] [INFO] [1707260705.439712600] [zed2.zed_node]: * Sensors QoS Reliability: RELIABLE
[component_container_mt-1] [INFO] [1707260705.440351975] [zed2.zed_node]: * Sensors QoS Durability: VOLATILE
[component_container_mt-1] [INFO] [1707260705.440410537] [zed2.zed_node]: *** Object Det. parameters ***
[component_container_mt-1] [INFO] [1707260705.441495235] [zed2.zed_node]: * Object Det. enabled: FALSE
[component_container_mt-1] [INFO] [1707260705.442902148] [zed2.zed_node]: * Object Det. model: MULTI CLASS BOX MEDIUM
[component_container_mt-1] [INFO] [1707260705.443898780] [zed2.zed_node]: * Object Det. allow reduced precision: TRUE
[component_container_mt-1] [INFO] [1707260705.445446017] [zed2.zed_node]: * Object Det. maximum range [m]: 20
[component_container_mt-1] [INFO] [1707260705.446388567] [zed2.zed_node]: * Object Det. min. confidence: 50
[component_container_mt-1] [INFO] [1707260705.447187914] [zed2.zed_node]: * Object Det. prediction timeout [sec]: 0.5
[component_container_mt-1] [INFO] [1707260705.448467273] [zed2.zed_node]: * Object Det. tracking: TRUE
[component_container_mt-1] [INFO] [1707260705.448940532] [zed2.zed_node]: * Object Filtering mode: 1 - NMS 3D
[component_container_mt-1] [INFO] [1707260705.449367582] [zed2.zed_node]: * MultiClassBox people: TRUE
[component_container_mt-1] [INFO] [1707260705.450282356] [zed2.zed_node]: * MultiClassBox vehicles: TRUE
[component_container_mt-1] [INFO] [1707260705.450723455] [zed2.zed_node]: * MultiClassBox bags: TRUE
[component_container_mt-1] [INFO] [1707260705.451637589] [zed2.zed_node]: * MultiClassBox animals: TRUE
[component_container_mt-1] [INFO] [1707260705.452549802] [zed2.zed_node]: * MultiClassBox electronics: TRUE
[component_container_mt-1] [INFO] [1707260705.453711974] [zed2.zed_node]: * MultiClassBox fruits and vegetables: TRUE
[component_container_mt-1] [INFO] [1707260705.454239283] [zed2.zed_node]: * MultiClassBox sport-related objects: TRUE
[component_container_mt-1] [INFO] [1707260705.455198538] [zed2.zed_node]: * Obj. Det. QoS History: KEEP_LAST
[component_container_mt-1] [INFO] [1707260705.456275939] [zed2.zed_node]: * Obj. Det. QoS History depth: 1
[component_container_mt-1] [INFO] [1707260705.457316764] [zed2.zed_node]: * Obj. Det. QoS Reliability: RELIABLE
[component_container_mt-1] [INFO] [1707260705.457893994] [zed2.zed_node]: * Obj. Det. QoS Durability: VOLATILE
[component_container_mt-1] [INFO] [1707260705.457948907] [zed2.zed_node]: *** Body Track. parameters ***
[component_container_mt-1] [INFO] [1707260705.459420974] [zed2.zed_node]: * Body Track. enabled: FALSE
[component_container_mt-1] [INFO] [1707260705.459977724] [zed2.zed_node]: * Body Track. model: HUMAN BODY MEDIUM
[component_container_mt-1] [INFO] [1707260705.460402854] [zed2.zed_node]: * Body Track. format: BODY_38
[component_container_mt-1] [INFO] [1707260705.461486880] [zed2.zed_node]: * Body Track. allow reduced precision: TRUE
[component_container_mt-1] [INFO] [1707260705.462275538] [zed2.zed_node]: * Body Track. maximum range [m]: 20
[component_container_mt-1] [INFO] [1707260705.463896281] [zed2.zed_node]: * Body Track. KP selection: FULL
[component_container_mt-1] [INFO] [1707260705.464746829] [zed2.zed_node]: * Body fitting: FALSE
[component_container_mt-1] [INFO] [1707260705.465920009] [zed2.zed_node]: * Body joints tracking: TRUE
[component_container_mt-1] [INFO] [1707260705.467105574] [zed2.zed_node]: * Body Track. prediction timeout [sec]: 0.5
[component_container_mt-1] [INFO] [1707260705.467624594] [zed2.zed_node]: * Body Track. confidence thresh.: 50
[component_container_mt-1] [INFO] [1707260705.468447270] [zed2.zed_node]: * Body Track. min. KP thresh.: 5
[component_container_mt-1] [INFO] [1707260705.471665683] [zed2.zed_node]: * Body Track. QoS History: KEEP_LAST
[component_container_mt-1] [INFO] [1707260705.473101269] [zed2.zed_node]: * Body Track. QoS History depth: 1
[component_container_mt-1] [INFO] [1707260705.473824742] [zed2.zed_node]: * Body Track. QoS Reliability: RELIABLE
[component_container_mt-1] [INFO] [1707260705.474704059] [zed2.zed_node]: * Body Track. QoS Durability: VOLATILE
[component_container_mt-1] [INFO] [1707260705.475095428] [zed2.zed_node]: *** Advanced parameters ***
[component_container_mt-1] [INFO] [1707260705.476125629] [zed2.zed_node]: * Thread sched. policy: SCHED_BATCH
[component_container_mt-1] [INFO] [1707260705.476346050] [zed2.zed_node]: *** SERVICES ***
[component_container_mt-1] [INFO] [1707260705.483530990] [zed2.zed_node]: * ‘/zed2/zed_node/reset_odometry’
[component_container_mt-1] [INFO] [1707260705.486720602] [zed2.zed_node]: * ‘/zed2/zed_node/reset_pos_tracking’
[component_container_mt-1] [INFO] [1707260705.498280718] [zed2.zed_node]: * ‘/zed2/zed_node/set_pose’
[component_container_mt-1] [INFO] [1707260705.502706551] [zed2.zed_node]: * ‘/zed2/zed_node/enable_obj_det’
[component_container_mt-1] [INFO] [1707260705.508647621] [zed2.zed_node]: * ‘/zed2/zed_node/enable_body_trk’
[component_container_mt-1] [INFO] [1707260705.511272292] [zed2.zed_node]: * ‘/zed2/zed_node/enable_mapping’
[component_container_mt-1] [INFO] [1707260705.514341517] [zed2.zed_node]: * ‘/zed2/zed_node/start_svo_rec’
[component_container_mt-1] [INFO] [1707260705.516883018] [zed2.zed_node]: * ‘/zed2/zed_node/stop_svo_rec’
[component_container_mt-1] [INFO] [1707260705.519775951] [zed2.zed_node]: * ‘/zed2/zed_node/set_roi’
[component_container_mt-1] [INFO] [1707260705.525428790] [zed2.zed_node]: * ‘/zed2/zed_node/reset_roi’
[component_container_mt-1] [INFO] [1707260705.525502007] [zed2.zed_node]: ***** STARTING CAMERA *****
[component_container_mt-1] [INFO] [1707260705.525521912] [zed2.zed_node]: ZED SDK Version: 4.0.6 - Build 76737_a80ced01
[component_container_mt-1] [INFO] [1707260705.536446877] [zed2.zed_node]: *** CAMERA OPENING ***
[rviz2-3] [INFO] [1707260705.767489479] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-3] [INFO] [1707260705.769408884] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[component_container_mt-1] [INFO] [1707260705.938450839] [nvblox_node]: Tried to clear map outside of radius but couldn’t look up frame: camera_link
[rviz2-3] [INFO] [1707260705.963516717] [rviz2]: Stereo is NOT SUPPORTED
[component_container_mt-1] [ZED][INFO] Logging level INFO
[component_container_mt-1] [INFO] [1707260706.338516840] [nvblox_node]: Got a new subscriber, sending entire map.
[rviz2-3] [INFO] [1707260706.622431274] [rviz2]: Stereo is NOT SUPPORTED
[component_container_mt-1] [WARN] [1707260706.722341043] [zed2.zed_node]: Error opening camera: INVALID RESOLUTION
[component_container_mt-1] [INFO] [1707260706.722481750] [zed2.zed_node]: Please verify the camera connection
[component_container_mt-1] [ZED][WARNING] INVALID RESOLUTION in sl::ERROR_CODE sl::Camera::open(sl::InitParameters)
[rviz2-3] [INFO] [1707260706.723843542] [rviz2]: Stereo is NOT SUPPORTED
[component_container_mt-1] [INFO] [1707260706.938550666] [nvblox_node]: Tried to clear map outside of radius but couldn’t look up frame: camera_link
[component_container_mt-1] [INFO] [1707260707.941867100] [nvblox_node]: Tried to clear map outside of radius but couldn’t look up frame: camera_link
[component_container_mt-1] [INFO] [1707260708.939970341] [nvblox_node]: Tried to clear map outside of radius but couldn’t look up frame: camera_link
[component_container_mt-1] [INFO] [1707260709.939277215] [nvblox_node]: Tried to clear map outside of radius but couldn’t look up frame: camera_link
[component_container_mt-1] [INFO] [1707260710.938882068] [nvblox_node]: Tried to clear map outside of radius but couldn’t look up frame: camera_link
[component_container_mt-1] [INFO] [1707260711.940203878] [nvblox_node]: Tried to clear map outside of radius but couldn’t look up frame: camera_link
[component_container_mt-1] [ZED][INFO] Logging level INFO
[component_container_mt-1] [ZED][ERROR] [ZED] sl::Camera::Open has not been called, no Camera instance running.
[component_container_mt-1] [ZED][ERROR] [ZED] sl::Camera::Open has not been called, no Camera instance running.
[component_container_mt-1] [WARN] [1707260712.645369616] [zed2.zed_node]: Error opening camera: INVALID RESOLUTION
[component_container_mt-1] [INFO] [1707260712.645503859] [zed2.zed_node]: Please verify the camera connection
[component_container_mt-1] [ZED][WARNING] INVALID RESOLUTION in sl::ERROR_CODE sl::Camera::open(sl::InitParameters)
[component_container_mt-1] [INFO] [1707260712.939106389] [nvblox_node]: Tried to clear map outside of radius but couldn’t look up frame: camera_link
[component_container_mt-1] [INFO] [1707260713.939335642] [nvblox_node]: Tried to clear map outside of radius but couldn’t look up frame: camera_link
[component_container_mt-1] [INFO] [1707260714.939337615] [nvblox_node]: Tried to clear map outside of radius but couldn’t look up frame: camera_link
[component_container_mt-1] [INFO] [1707260715.938840305] [nvblox_node]: Tried to clear map outside of radius but couldn’t look up frame: camera_link
[component_container_mt-1] [INFO] [1707260716.939438116] [nvblox_node]: Tried to clear map outside of radius but couldn’t look up frame: camera_link
[component_container_mt-1] [INFO] [1707260717.939350975] [nvblox_node]: Tried to clear map outside of radius but couldn’t look up frame: camera_link
[component_container_mt-1] [ZED][INFO] Logging level INFO
[component_container_mt-1] [ZED][ERROR] [ZED] sl::Camera::Open has not been called, no Camera instance running.
[component_container_mt-1] [ZED][ERROR] [ZED] sl::Camera::Open has not been called, no Camera instance running.
[component_container_mt-1] [WARN] [1707260718.288861350] [zed2.zed_node]: Error opening camera: INVALID RESOLUTION
[component_container_mt-1] [INFO] [1707260718.289003530] [zed2.zed_node]: Please verify the camera connection
[component_container_mt-1] [ZED][WARNING] INVALID RESOLUTION in sl::ERROR_CODE sl::Camera::open(sl::InitParameters)
[component_container_mt-1] [INFO] [1707260718.939592539] [nvblox_node]: Tried to clear map outside of radius but couldn’t look up frame: camera_link
[component_container_mt-1] [INFO] [1707260719.940221209] [nvblox_node]: Tried to clear map outside of radius but couldn’t look up frame: camera_link
[component_container_mt-1] [INFO] [1707260720.939780184] [nvblox_node]: Tried to clear map outside of radius but couldn’t look up frame: camera_link
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[rviz2-3] [INFO] [1707260721.794098131] [rclcpp]: signal_handler(signum=2)
[INFO] [robot_state_publisher-2]: process has finished cleanly [pid 11124]
[robot_state_publisher-2] [INFO] [1707260721.794185397] [rclcpp]: signal_handler(signum=2)
[component_container_mt-1] [INFO] [1707260721.794355641] [rclcpp]: signal_handler(signum=2)
[component_container_mt-1] [ZED][INFO] Logging level INFO
[component_container_mt-1] [ZED][ERROR] [ZED] sl::Camera::Open has not been called, no Camera instance running.
[component_container_mt-1] [ZED][ERROR] [ZED] sl::Camera::Open has not been called, no Camera instance running.
[component_container_mt-1] [WARN] [1707260722.451320692] [zed2.zed_node]: Error opening camera: INVALID RESOLUTION
[component_container_mt-1] [INFO] [1707260722.451369141] [zed2.zed_node]: Please verify the camera connection
[component_container_mt-1] [INFO] [1707260722.451392213] [zed2.zed_node]: ZED activation interrupted by user.
[component_container_mt-1] [ZED][WARNING] INVALID RESOLUTION in sl::ERROR_CODE sl::Camera::open(sl::InitParameters)
[WARNING] [launch_ros.actions.load_composable_nodes]: Abandoning wait for the ‘shared_nvblox_container/_container/load_node’ service response, due to shutdown.
[ERROR] [component_container_mt-1]: process has died [pid 11122, exit code 1, cmd ‘/opt/ros/humble/lib/rclcpp_components/component_container_mt --ros-args -r __node:=shared_nvblox_container’].
[INFO] [rviz2-3]: process has finished cleanly [pid 11126]

4

Hi @conorspalvieri1, these lines highlighted make me worried. Seems your ZED is not working.
I suggest contacting the Stereolabs to find out why your camera is not connecting.

The email vendor is support@stereolabs.com, and share with them the report generated from ZED Diagnostic.

Best,
Raffaello