ISAAC ROS Docker package zed_wrapper not found

[castej10]

Hello, Im going through ISAAC ROS tutorials, specifically on VSLAM. when i try the command to use the zed camera it says that zed_wrapper was not found. ive followed the procedure to get the zed wrapper in the src directory before i built the docker container so the dockerfile should have built it.

admin@airbud-desktop:/workspaces/isaac_ros-dev$ ros2 launch isaac_ros_visual_slam isaac_ros_visual_slam_zed.launch.py
[INFO] [launch]: All log files can be found below /home/admin/.ros/log/2024-02-08-17-48-49-249345-airbud-desktop-32473
[INFO] [launch]: Default logging verbosity is set to INFO
[ERROR] [launch]: Caught exception in launch (see debug for traceback): Caught exception when trying to load file of format [py]: "package 'zed_wrapper' not found, searching: ['/opt/ros/humble']"

[hemals]

Is the procedure you followed to setup ZED this one? The error message seems to indicate you may have zed_wrapper in your ROS workspace but perhaps it has not yet been sourced into your environment?

[castej10]

yes it was that procedure. i followed everything it says on there, how could i source it into my environment?

[hemals]

Where did you happen to git clone GitHub - stereolabs/zed-ros2-wrapper: ROS 2 wrapper for the ZED SDK? You would need to have it in your ROS workspace and run colcon build/source install/setup.bash from that directory.

[castej10]

since im using docker container i cloned it into the ROS workspace src directory ( ~/workspaces/isaac_ros_ws/src/) and then according to the procedure in here i just build the docker container. it does not mention anything about using colcon build. so i should colcon build / source the install before running the docker container??

[hemals]

The instructions just ensure you have ZED setup in your environment (the endpoint being you can run Stereolab’s tools). You’ll still need to build your ROS workspace and source it to run anything of the launch files. Any suggestion on where we could node that you’ll need to build your ROS workspace before running a launch file?

[castej10]

perhaps in the isaac ROS ZED Setup page, after you run the check of

/usr/local/zed/tools/ZED_Explorer

[jim.fabian]

Hello, @hemals for the colcon build of Zed-wrapper there are certain configurations. If I have other packages like isaac ros visual slam or Isaac ROS Nvblox, is it ok if I build all the packages with that configuration?

This is the commands according to ZED

# Install the required dependencies
rosdep install --from-paths src --ignore-src -r -y
# Build the wrapper
colcon build --symlink-install --cmake-args=-DCMAKE_BUILD_TYPE=Release

[Raffaello]

Hi @jim.fabian

To enable the ZED driver, follow the documentation here: Isaac ROS ZED Setup — isaac_ros_docs documentation

[jim.fabian]

Hello @Raffaello

I followed the steps according the link you sent, and when I tried to open “ZED_Explorer” I got this output:

admin@ubuntu:/workspaces/isaac_ros-dev$ /usr/local/zed/tools/ZED_Explorer | tee ZED_ex.txt

QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-admin'
 ** [SVO] Hardware compression (NVENC) not available **
[ZED][WARNING] libhid error: -3
[ZED][WARNING] [Sensors] MCU module not responding. Attempt module reboot
[ZED][MCU] Permissions denied : can't open device. Make sure you have installed udev rules or use sudo
[ZED][WARNING] libhid error: -3
[ZED][WARNING] libhid error: -3

I found out in the documentation of ZED-Docker (Dockerfile.zed is based on it as it is mentioned in the beginning of the code) that this issue arises when there are no udev rules, meaning there is no -v /dev:/dev or --privileged parameters when docker run is used.

However, run_dev.sh is adding those parameters. I used this script to solve it and now is working, but it seems contradictory, as the permissions for using the camera and ports are already given in the docker run command.