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