Isaac ros visual slam isn't starting subscribers for stereo camera

Robotics & Edge Computing Robotics - Isaac Isaac ROS
, ,
13

Hello @Raffaello, thanks for the fast reply. I did different moves, none of them worked :c

  1. With ZED SDK 4.0.5
  • Change
wget -q --no-check-certificate -O ZED_SDK_Linux.run https://stereolabs.sfo2.digitaloceanspaces.com/zedsdk/QA/JP5.1.2/ZED_SDK_Tegra_L4T35.4_v4.0.5.zstd.run
  • And execute
rosdep install --from-paths src --ignore-src -r -y 
colcon build --symlink-install --cmake-args=-DCMAKE_BUILD_TYPE=Release
  • Got this error
CMake Error at CMakeLists.txt:78 (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 3) 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.
  • Same error with both zed-wrapper download:
    • git clone https://github.com/stereolabs/zed-ros2-wrapper.git -b foxy-humble-v4.0.5
    • From release notes
  1. Leave ZED SDK 4.0.6, and download from release notes foxy-humble-v4.0.5
  • colcon build
CMake Warning at CMakeLists.txt:116 (find_package):
  By not providing "Findzed_interfaces.cmake" in CMAKE_MODULE_PATH this
  project has asked CMake to find a package configuration file provided by
  "zed_interfaces", but CMake did not find one.

  Could not find a package configuration file provided by "zed_interfaces"
  with any of the following names:

    zed_interfacesConfig.cmake
    zed_interfaces-config.cmake

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


CMake Error at /opt/ros/humble/share/ament_cmake_target_dependencies/cmake/ament_target_dependencies.cmake:77 (message):
  ament_target_dependencies() the passed package name 'zed_interfaces' was
  not found before
Call Stack (most recent call first):
  CMakeLists.txt:209 (ament_target_dependencies)
  1. Leave ZED SDK 4.0.6, and cloned from Repository
  • From repository
git clone https://github.com/stereolabs/zed-ros2-wrapper.git -b foxy-humble-v4.0.5 --recurse-submodules
  • Output
[Processing: isaac_ros_visual_slam, zed_components]                               
--- stderr: zed_components                                                            
In file included from /workspaces/isaac_ros-dev/src/WHOX_Autonomy_stack/zed-ros2-wrapper/zed_components/src/zed_camera/include/zed_camera_component.hpp:19,
                 from /workspaces/isaac_ros-dev/src/WHOX_Autonomy_stack/zed-ros2-wrapper/zed_components/src/zed_camera/src/zed_camera_component.cpp:20:
/usr/local/zed/include/sl/Fusion.hpp:68:64: note: #pragma message: ~ FUSION SDK is distributed in Early Access ~
   68 | #pragma message("~ FUSION SDK is distributed in Early Access ~")
      |                                                                ^
/workspaces/isaac_ros-dev/src/WHOX_Autonomy_stack/zed-ros2-wrapper/zed_components/src/zed_camera/src/zed_camera_component.cpp: In member function ‘bool stereolabs::ZedCamera::startPosTracking()’:
/workspaces/isaac_ros-dev/src/WHOX_Autonomy_stack/zed-ros2-wrapper/zed_components/src/zed_camera/src/zed_camera_component.cpp:4042:12: error: ‘struct sl::PositionalTrackingFusionParameters’ has no member named ‘gnss_initialisation_distance’
 4042 |     params.gnss_initialisation_distance = mGnssInitDistance;
      |            ^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/workspaces/isaac_ros-dev/src/WHOX_Autonomy_stack/zed-ros2-wrapper/zed_components/src/zed_camera/src/zed_camera_component.cpp: In member function ‘void stereolabs::ZedCamera::processGeoPose()’:
/workspaces/isaac_ros-dev/src/WHOX_Autonomy_stack/zed-ros2-wrapper/zed_components/src/zed_camera/src/zed_camera_component.cpp:6546:38: error: cannot convert ‘sl::GNSS_CALIBRATION_STATE’ to ‘sl::POSITIONAL_TRACKING_STATE’ in assignment
 6546 |   mGeoPoseStatus = mFusion.getGeoPose(mLastGeoPose);
      |                    ~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~
      |                                      |
      |                                      sl::GNSS_CALIBRATION_STATE
make[2]: *** [CMakeFiles/zed_camera_component.dir/build.make:104: CMakeFiles/zed_camera_component.dir/src/zed_camera/src/zed_camera_component.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:164: CMakeFiles/zed_camera_component.dir/all] Error 2
make: *** [Makefile:146: all] Error 2
---
Failed   <<< zed_components [51.7s, exited with code 2]

Help please c’:

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