Issue Running Isaac VSLAM with ZED Wrapper on Isaac ROS 3.1

Robotics & Edge Computing Robotics - Isaac Isaac ROS
1

Hello everyone,

I have followed the official ZED camera setup instructions from NVIDIA’s Isaac ROS documentation:
ZED Setup for Isaac ROS

I’m using Isaac ROS version 3.1 and trying to run Isaac VSLAM based on this guide:
Isaac ROS Visual SLAM

What Works:

  • The build process completes without errors for both the ZED wrapper and Isaac VSLAM.
  • The ZED Explorer launches, and I can open the cameras successfully.

The Issue:

When running the following launch command for Isaac VSLAM:

ros2 launch isaac_ros_examples isaac_ros_examples.launch.py \
launch_fragments:=zed_stereo_rect,visual_slam \
base_frame:=zed2_camera_center camera_optical_frames:="['zed2_left_camera_optical_frame', 'zed2_right_camera_optical_frame']" \
interface_specs_file:=${ISAAC_ROS_WS}/isaac_ros_assets/isaac_ros_visual_slam/zedx_quickstart_interface_specs.json

I get this error:

[INFO] [launch]: All log files can be found below /home/admin/.ros/log/2025-01-29-13-02-41-371529-GTW-ONX2-ubuntu-13025
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [1738155761.518415355] [isaac_ros_examples]: Info: Interface spec "camera_model" is overridden. The value from the overriding file will be used
[INFO] [1738155761.519713525] [isaac_ros_examples]: Info: Interface spec "camera_frame" is overridden. The value from the overriding file will be used
[INFO] [1738155761.520897324] [isaac_ros_examples]: Info: Interface spec "camera_resolution" is overridden. The value from the overriding file will be used
[ERROR] [launch]: Caught exception in launch (see debug for traceback): package 'zed_wrapper' found at '/workspaces/isaac_ros-dev/install/zed_wrapper', but libexec directory '/workspaces/isaac_ros-dev/install/zed_wrapper/lib/zed_wrapper' does not exist

Additional Observations:

  • When launching ZED Explorer manually using:
/usr/local/zed/tools/ZED_Explorer

I see the following message in the terminal:

QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-admin'
** [SVO] Hardware compression (NVENC) available **
[ZED-X][Warning] Failed to connect to zed_x_daemon.

Inside the ZED Explorer interface, I also notice a message indicating:

Disk Free space 0GB on /home/admin/Documents/ZED

I suspect this could be related to either a missing component in the ZED wrapper installation or an issue with the expected directory structure. Any insights on how to resolve this would be appreciated.

2

Hi @koenvanwijlick1

Looking this message seems the zed_wrapper is not installed or your didn’t import the sources.

For this issue, follow the ZED documentation: How to use ZED X with Docker - Stereolabs

Best,
Raffaello

4

Hi @koenvanwijlick1

About ZED camera setup instructions in Isaac ROS 3.1, please add branch humble-v4.1.4 for zed-ros2-wrapper if you’re using Orin platform.

cd ${ISAAC_ROS_WS} && rm -rf zed-ros2-wrapper &&
git clone --recurse-submodules -b humble-v4.1.4 https://github.com/stereolabs/zed-ros2-wrapper

For that libexec error, I assume that you may have changed zed sdk version. If so, please revert it back.

Let me know,
Best,
Ahung

5

Hello thank you for your reply, after checking out the given version and reverting back to the correct SDK version i get the following warning

user@GTW-ONX2-ubuntu:~/workspaces/isaac_ros-dev/src/isaac_ros_common$ cd ${ISAAC_ROS_WS}/src/isaac_ros_common && ./scripts/run_dev.sh
Attaching to running container: isaac_ros_dev-aarch64-container
admin@GTW-ONX2-ubuntu:/workspaces/isaac_ros-dev$ /usr/local/zed/tools/ZED_Explorer
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to ‘/tmp/runtime-admin’
** [SVO] Hardware compression (NVENC) available **
[ZED-X][Warning] Failed to connect to zed_x_daemon.
[ZED-X][Warning] Failed to verify the match between the L4T version of the host and the container. If you are indeed in a container, be sure to run the same L4T version on both.

Do i need to add the rules of the docker to the launching of the run dev script of isaac ros? I can open the ZED_Explorer and see the camera connections. For note i do use two Zed X cameras

6

Okay,

I posted something to early adding it as an addition doesnt work but directly adding it to the launch works:

docker run -it --rm
–privileged
–network host
${DOCKER_ARGS[@]}
-v $ISAAC_ROS_DEV_DIR:/workspaces/isaac_ros-dev
-v /etc/localtime:/etc/localtime:ro
–name “$CONTAINER_NAME”
–runtime nvidia
–user=“admin”
–entrypoint /usr/local/bin/scripts/workspace-entrypoint.sh
–workdir /workspaces/isaac_ros-dev
-v /dev/:/dev/
-v /tmp/:/tmp/
-v /var/nvidia/nvcam/settings/:/var/nvidia/nvcam/settings/
-v /etc/systemd/system/zed_x_daemon.service:/etc/systemd/system/zed_x_daemon.service
-v ${HOME}/zed_docker_ai/:/usr/local/zed/resources/
$BASE_NAME
/bin/bash

7

Hi, I am running into similar issues with my ZED2i where i keep getting

admin@ubuntu:/workspaces/isaac_ros-dev$ /usr/local/zed/tools/ZED_Explorer
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-admin'
 ** [SVO] Hardware compression (NVENC) available **
[2025-06-29 05:50:29 UTC][ZED][WARNING] Warning: Recover MCU returns ECx-3
[2025-06-29 05:50:29 UTC][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
[2025-06-29 05:50:29 UTC][ZED][WARNING] Warning: Recover MCU returns ECx-3
[2025-06-29 05:50:29 UTC][ZED][WARNING] Warning: Recover MCU returns ECx-3
[2025-06-29 05:50:29 UTC][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
[2025-06-29 05:50:29 UTC][ZED][WARNING] Warning: Recover MCU returns ECx-3
[2025-06-29 05:50:30 UTC][ZED][WARNING] Warning: Recover MCU returns ECx-3
[2025-06-29 05:50:30 UTC][ZED][WARNING] [Sensors] MCU module not responding. Attempt module reboot

So I tried what you had done in the last step but its saying admin doesnt exist\

+ docker run -it --rm --privileged --network host --ipc=host -v /tmp/.X11-unix:/tmp/.X11-unix -v /home/student/.Xauthority:/home/admin/.Xauthority:rw -e DISPLAY -e NVIDIA_VISIBLE_DEVICES=all -e NVIDIA_DRIVER_CAPABILITIES=all -e ROS_DOMAIN_ID -e USER -e ISAAC_ROS_WS=/workspaces/isaac_ros-dev -e HOST_USER_UID=1000 -e HOST_USER_GID=1000 -v /run/user/1000/keyring/ssh:/ssh-agent -e SSH_AUTH_SOCK=/ssh-agent -e NVIDIA_VISIBLE_DEVICES=nvidia.com/gpu=all,nvidia.com/pva=all -v /usr/bin/tegrastats:/usr/bin/tegrastats -v /tmp/:/tmp/ -v /usr/lib/aarch64-linux-gnu/tegra:/usr/lib/aarch64-linux-gnu/tegra -v /usr/src/jetson_multimedia_api:/usr/src/jetson_multimedia_api --pid=host -v /usr/share/vpi3:/usr/share/vpi3 -v /dev/input:/dev/input -v /home/student/workspaces/isaac_ros-dev/:/workspaces/isaac_ros-dev -v /etc/localtime:/etc/localtime:ro --name isaac_ros_dev-aarch64-container --runtime nvidia --user=“admin” --entrypoint /usr/local/bin/scripts/workspace-entrypoint.sh --workdir /workspaces/isaac_ros-dev -v /dev/:/dev/ -v /tmp/:/tmp/ -v /var/nvidia/nvcam/settings/:/var/nvidia/nvcam/settings/ -v /etc/systemd/system/zed_x_daemon.service:/etc/systemd/system/zed_x_daemon.service -v /home/student/zed_docker_ai/:/usr/local/zed/resources/ isaac_ros_dev-aarch64 /bin/bash
docker: Error response from daemon: unable to find user “admin”: no matching entries in passwd file

Run 'docker run --help' for more information
+ cleanup
+ for command in "${ON_EXIT[@]}"
+ popd
~/workspaces/isaac_ros-dev/src/isaac_ros_common

Any suggestion would help.

Best,
Ambarish

8

this is within the docker file for the command run_dev.sh so add it there instead of directly running this within a terminal

9

Hi all,

We are currently working to fix this issue, and a minor update will be released soon.

Best,
Raffafello

10

Thanks! I appreciate the help but I did run into few issues while trying that as docker couldn’t find few env variables. So added the snippet from this post in my run_dev.sh before the docker run command. And it fixed it.

1 Like