[BUG] Unable to subscribe and display /zed/zed_node/left/image_rect_color Images #40
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Attached below is the terminal output upon running the command cardboardvoice@bastion:~/ros_workspace/zed_ros2_ws$ bash run_zed_camera.bash
[INFO] [launch]: All log files can be found below /home/cardboardvoice/.ros/log/2021-07-04-15-46-21-707813-bastion-19916
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [19918]
[INFO] [zed_wrapper-2]: process started with pid [19920]
[INFO] [rviz2-3]: process started with pid [19922]
[robot_state_publisher-1] 1625384781.782304523 [zed.zed_state_publisher] [WARN] No robot_description parameter, but command-line argument available. Assuming argument is name of URDF file. This backwards compatibility fallback will be removed in the future.
[robot_state_publisher-1] Parsing robot urdf xml string.
[robot_state_publisher-1] Link zed_camera_center had 2 children
[robot_state_publisher-1] Link zed_left_camera_frame had 1 children
[robot_state_publisher-1] Link zed_left_camera_optical_frame had 0 children
[robot_state_publisher-1] Link zed_right_camera_frame had 1 children
[robot_state_publisher-1] Link zed_right_camera_optical_frame had 0 children
[robot_state_publisher-1] 1625384781.783259491 [zed.zed_state_publisher] [INFO] got segment base_link
[robot_state_publisher-1] 1625384781.783272828 [zed.zed_state_publisher] [INFO] got segment zed_camera_center
[robot_state_publisher-1] 1625384781.783277583 [zed.zed_state_publisher] [INFO] got segment zed_left_camera_frame
[robot_state_publisher-1] 1625384781.783281676 [zed.zed_state_publisher] [INFO] got segment zed_left_camera_optical_frame
[robot_state_publisher-1] 1625384781.783285743 [zed.zed_state_publisher] [INFO] got segment zed_right_camera_frame
[robot_state_publisher-1] 1625384781.783289415 [zed.zed_state_publisher] [INFO] got segment zed_right_camera_optical_frame
[zed_wrapper-2] 1625384781.789399166 [zed.zed_node] [INFO] ********************************
[zed_wrapper-2] 1625384781.789462103 [zed.zed_node] [INFO] ZED Camera Component
[zed_wrapper-2] 1625384781.789469611 [zed.zed_node] [INFO] ********************************
[zed_wrapper-2] 1625384781.789474704 [zed.zed_node] [INFO] * namespace: /zed
[zed_wrapper-2] 1625384781.789479890 [zed.zed_node] [INFO] * node name: zed_node
[zed_wrapper-2] 1625384781.789483866 [zed.zed_node] [INFO] ********************************
[zed_wrapper-2] 1625384781.789512103 [zed.zed_node] [INFO] *** GENERAL parameters ***
[zed_wrapper-2] 1625384781.789534464 [zed.zed_node] [INFO] * Camera model: zed - ZED
[zed_wrapper-2] 1625384781.789549530 [zed.zed_node] [INFO] * SDK Verbose: 1
[zed_wrapper-2] 1625384781.789563612 [zed.zed_node] [INFO] * SVO:
[zed_wrapper-2] 1625384781.789575774 [zed.zed_node] [INFO] * SVO Loop: FALSE
[zed_wrapper-2] 1625384781.789586041 [zed.zed_node] [INFO] * SVO Realtime: FALSE
[zed_wrapper-2] 1625384781.789597404 [zed.zed_node] [INFO] * Camera name: zed
[zed_wrapper-2] 1625384781.789614644 [zed.zed_node] [INFO] * Camera ID: 0
[zed_wrapper-2] 1625384781.789626354 [zed.zed_node] [INFO] * Camera SN: 0
[zed_wrapper-2] 1625384781.789638256 [zed.zed_node] [INFO] * Camera timeout [sec]: 5
[zed_wrapper-2] 1625384781.789650035 [zed.zed_node] [INFO] * Camera reconnection temptatives: 5
[zed_wrapper-2] 1625384781.789661683 [zed.zed_node] [INFO] * Camera framerate: 30
[zed_wrapper-2] 1625384781.789675082 [zed.zed_node] [INFO] * GPU ID: -1
[zed_wrapper-2] 1625384781.789687758 [zed.zed_node] [INFO] * Camera resolution: 2 - HD720
[zed_wrapper-2] 1625384781.789699141 [zed.zed_node] [INFO] * Camera self calibration: TRUE
[zed_wrapper-2] 1625384781.789709615 [zed.zed_node] [INFO] * Camera flip: FALSE
[zed_wrapper-2] 1625384781.789721960 [zed.zed_node] [INFO] * [DYN] Publish framerate [Hz]: 15
[zed_wrapper-2] 1625384781.789731509 [zed.zed_node] [INFO] *** VIDEO parameters ***
[zed_wrapper-2] 1625384781.789745016 [zed.zed_node] [INFO] * Use old extrinsic parameters: 0
[zed_wrapper-2] 1625384781.789756856 [zed.zed_node] [INFO] * [DYN] Image downsample factor: 0.5
[zed_wrapper-2] 1625384781.789769387 [zed.zed_node] [INFO] * [DYN] Brightness: 4
[zed_wrapper-2] 1625384781.789780962 [zed.zed_node] [INFO] * [DYN] Contrast: 4
[zed_wrapper-2] 1625384781.789791994 [zed.zed_node] [INFO] * [DYN] Hue: 0
[zed_wrapper-2] 1625384781.789803007 [zed.zed_node] [INFO] * [DYN] Saturation: 4
[zed_wrapper-2] 1625384781.789815899 [zed.zed_node] [INFO] * [DYN] Sharpness: 4
[zed_wrapper-2] 1625384781.789827011 [zed.zed_node] [INFO] * [DYN] Gamma: 8
[zed_wrapper-2] 1625384781.789838077 [zed.zed_node] [INFO] * [DYN] Auto Exposure/Gain: TRUE
[zed_wrapper-2] 1625384781.789849334 [zed.zed_node] [INFO] * [DYN] Exposure: 80
[zed_wrapper-2] 1625384781.789860558 [zed.zed_node] [INFO] * [DYN] Gain: 80
[zed_wrapper-2] 1625384781.789870893 [zed.zed_node] [INFO] * [DYN] Auto White Balance: TRUE
[zed_wrapper-2] 1625384781.789884062 [zed.zed_node] [INFO] * [DYN] White Balance Temperature: 42
[zed_wrapper-2] 1625384781.789897435 [zed.zed_node] [INFO] * Video QoS History: KEEP_LAST
[zed_wrapper-2] 1625384781.789908664 [zed.zed_node] [INFO] * Video QoS History depth: 1
[zed_wrapper-2] 1625384781.789919963 [zed.zed_node] [INFO] * Video QoS Reliability: Unknown QoS value
[zed_wrapper-2] 1625384781.789931112 [zed.zed_node] [INFO] * Video QoS Durability: VOLATILE
[zed_wrapper-2] 1625384781.789936792 [zed.zed_node] [INFO] *** DEPTH parameters ***
[zed_wrapper-2] 1625384781.789949230 [zed.zed_node] [INFO] * Depth downsample factor: 0.5
[zed_wrapper-2] 1625384781.789962932 [zed.zed_node] [INFO] * Depth quality: 1 - PERFORMANCE
[zed_wrapper-2] 1625384781.789978547 [zed.zed_node] [INFO] * Min depth [m]: 0.3
[zed_wrapper-2] 1625384781.789991476 [zed.zed_node] [INFO] * Max depth [m]: 20
[zed_wrapper-2] 1625384781.790004656 [zed.zed_node] [INFO] * Depth Sensing Mode: 0 - STANDARD
[zed_wrapper-2] 1625384781.790015693 [zed.zed_node] [INFO] * Depth Stabilization: TRUE
[zed_wrapper-2] 1625384781.790027883 [zed.zed_node] [INFO] * OpenNI mode (16bit point cloud): FALSE
[zed_wrapper-2] 1625384781.790041504 [zed.zed_node] [INFO] * [DYN] Point cloud rate [Hz]: 10
[zed_wrapper-2] 1625384781.790053828 [zed.zed_node] [INFO] * [DYN] Depth Confidence: 50
[zed_wrapper-2] 1625384781.790065541 [zed.zed_node] [INFO] * [DYN] Depth Texture Confidence: 100
[zed_wrapper-2] 1625384781.790076379 [zed.zed_node] [INFO] * Depth QoS History: KEEP_LAST
[zed_wrapper-2] 1625384781.790088617 [zed.zed_node] [INFO] * Depth QoS History depth: 1
[zed_wrapper-2] 1625384781.790099066 [zed.zed_node] [INFO] * Depth QoS Reliability: Unknown QoS value
[zed_wrapper-2] 1625384781.790109299 [zed.zed_node] [INFO] * Depth QoS Durability: VOLATILE
[zed_wrapper-2] 1625384781.790115086 [zed.zed_node] [INFO] *** POSITIONAL TRACKING parameters ***
[zed_wrapper-2] 1625384781.790127390 [zed.zed_node] [INFO] * Positional tracking enabled: TRUE
[zed_wrapper-2] 1625384781.790157292 [zed.zed_node] [INFO] * Base frame id: base_link
[zed_wrapper-2] 1625384781.790178132 [zed.zed_node] [INFO] * Map frame id: map
[zed_wrapper-2] 1625384781.790193022 [zed.zed_node] [INFO] * Odometry frame id: odom
[zed_wrapper-2] 1625384781.790204951 [zed.zed_node] [INFO] * Broadcast Odometry TF: TRUE
[zed_wrapper-2] 1625384781.790216525 [zed.zed_node] [INFO] * Broadcast Pose TF: TRUE
[zed_wrapper-2] 1625384781.790227788 [zed.zed_node] [INFO] * Broadcast Static IMU TF [not for ZED]: TRUE
[zed_wrapper-2] 1625384781.790240661 [zed.zed_node] [INFO] * [DYN] Path publishing rate: 2
[zed_wrapper-2] 1625384781.790255012 [zed.zed_node] [INFO] * Path history lenght: -1
[zed_wrapper-2] 1625384781.790269989 [zed.zed_node] [INFO] * Initial pose: [0,0,0,0,0,0,]
[zed_wrapper-2] 1625384781.790284328 [zed.zed_node] [INFO] * Area Memory: TRUE
[zed_wrapper-2] 1625384781.790296714 [zed.zed_node] [INFO] * Area Memory DB:
[zed_wrapper-2] 1625384781.790310455 [zed.zed_node] [INFO] * IMU Fusion [not for ZED]: TRUE
[zed_wrapper-2] 1625384781.790322254 [zed.zed_node] [INFO] * Floor Alignment: FALSE
[zed_wrapper-2] 1625384781.790334363 [zed.zed_node] [INFO] * Init Odometry with first valid pose data: TRUE
[zed_wrapper-2] 1625384781.790345974 [zed.zed_node] [INFO] * 2D mode: FALSE
[zed_wrapper-2] 1625384781.790356874 [zed.zed_node] [INFO] * Pose/Odometry QoS History: KEEP_LAST
[zed_wrapper-2] 1625384781.790372444 [zed.zed_node] [INFO] * Pose/Odometry QoS History depth: 1
[zed_wrapper-2] 1625384781.790385822 [zed.zed_node] [INFO] * Pose/Odometry QoS Reliability: Unknown QoS value
[zed_wrapper-2] 1625384781.790397177 [zed.zed_node] [INFO] * Pose/Odometry QoS Durability: VOLATILE
[zed_wrapper-2] 1625384781.790403232 [zed.zed_node] [INFO] *** SENSORS STACK parameters ***
[zed_wrapper-2] 1625384781.790408260 [zed.zed_node] [WARN] !!! SENSORS parameters are not used with ZED !!!
[zed_wrapper-2] 1625384781.790419494 [zed.zed_node] [INFO] * Sensors Camera Sync: FALSE
[zed_wrapper-2] 1625384781.790444807 [zed.zed_node] [INFO] * Sensors publishing rate: 400 Hz
[zed_wrapper-2] 1625384781.790465970 [zed.zed_node] [INFO] * Sensors QoS History: KEEP_LAST
[zed_wrapper-2] 1625384781.790487716 [zed.zed_node] [INFO] * Sensors QoS History depth: 1
[zed_wrapper-2] 1625384781.790505296 [zed.zed_node] [INFO] * Sensors QoS Reliability: RELIABLE
[zed_wrapper-2] 1625384781.790525535 [zed.zed_node] [INFO] * Sensors QoS Durability: VOLATILE
[zed_wrapper-2] 1625384781.790532638 [zed.zed_node] [INFO] *** Spatial Mapping parameters ***
[zed_wrapper-2] 1625384781.790547212 [zed.zed_node] [INFO] * Spatial Mapping Enabled: FALSE
[zed_wrapper-2] 1625384781.790562663 [zed.zed_node] [INFO] * Spatial Mapping resolution [m]: 0.1
[zed_wrapper-2] 1625384781.790581483 [zed.zed_node] [INFO] * 3D Max Mapping range [m]: 20
[zed_wrapper-2] 1625384781.790594550 [zed.zed_node] [INFO] * Map publishing rate [Hz]: 0.5
[zed_wrapper-2] 1625384781.790614555 [zed.zed_node] [INFO] * Sensors QoS History: KEEP_LAST
[zed_wrapper-2] 1625384781.790632982 [zed.zed_node] [INFO] * Sensors QoS History depth: 1
[zed_wrapper-2] 1625384781.790653477 [zed.zed_node] [INFO] * Sensors QoS Reliability: Unknown QoS value
[zed_wrapper-2] 1625384781.790674531 [zed.zed_node] [INFO] * Sensors QoS Durability: VOLATILE
[zed_wrapper-2] 1625384781.790682826 [zed.zed_node] [INFO] *** OBJECT DETECTION parameters ***
[zed_wrapper-2] 1625384781.790687562 [zed.zed_node] [WARN] !!! OD parameters are not used with ZED and ZED Mini !!!
[zed_wrapper-2] 1625384781.790698207 [zed.zed_node] [INFO] * Object Detection enabled: FALSE
[zed_wrapper-2] 1625384781.790719093 [zed.zed_node] [INFO] * OD min. confidence: 40
[zed_wrapper-2] 1625384781.790740678 [zed.zed_node] [INFO] * Object Detection model: 0 - MULTI CLASS BOX FAST
[zed_wrapper-2] 1625384781.790759596 [zed.zed_node] [INFO] * MultiClassBox people: TRUE
[zed_wrapper-2] 1625384781.790780224 [zed.zed_node] [INFO] * MultiClassBox vehicles: TRUE
[zed_wrapper-2] 1625384781.790795175 [zed.zed_node] [INFO] * MultiClassBox bags: TRUE
[zed_wrapper-2] 1625384781.790811463 [zed.zed_node] [INFO] * MultiClassBox animals: TRUE
[zed_wrapper-2] 1625384781.790828989 [zed.zed_node] [INFO] * MultiClassBox electronics: TRUE
[zed_wrapper-2] 1625384781.790849840 [zed.zed_node] [INFO] * MultiClassBox fruits and vegetables: TRUE
[zed_wrapper-2] 1625384781.790866175 [zed.zed_node] [INFO] * Skeleton fitting: FALSE
[zed_wrapper-2] 1625384781.790885771 [zed.zed_node] [INFO] * Obj. Det. QoS History: KEEP_LAST
[zed_wrapper-2] 1625384781.790906207 [zed.zed_node] [INFO] * Obj. Det. QoS History depth: 1
[zed_wrapper-2] 1625384781.790928162 [zed.zed_node] [INFO] * Obj. Det. QoS Reliability: RELIABLE
[zed_wrapper-2] 1625384781.790949479 [zed.zed_node] [INFO] * Obj. Det. QoS Durability: VOLATILE
[zed_wrapper-2] 1625384781.790956397 [zed.zed_node] [INFO] *** SERVICES ***
[zed_wrapper-2] 1625384781.791205241 [zed.zed_node] [INFO] * '/zed/zed_node/reset_odometry'
[zed_wrapper-2] 1625384781.791341612 [zed.zed_node] [INFO] * '/zed/zed_node/reset_pos_tracking'
[zed_wrapper-2] 1625384781.791651126 [zed.zed_node] [INFO] * '/zed/zed_node/set_pose'
[zed_wrapper-2] 1625384781.791811294 [zed.zed_node] [INFO] * '/zed/zed_node/enable_obj_det'
[zed_wrapper-2] 1625384781.791958920 [zed.zed_node] [INFO] * '/zed/zed_node/enable_mapping'
[zed_wrapper-2] 1625384781.792152609 [zed.zed_node] [INFO] * '/zed/zed_node/start_svo_rec'
[zed_wrapper-2] 1625384781.792308335 [zed.zed_node] [INFO] * '/zed/zed_node/stop_svo_rec'
[zed_wrapper-2] 1625384781.792465287 [zed.zed_node] [INFO] * '/zed/zed_node/toggle_svo_pause'
[zed_wrapper-2] 1625384781.792479004 [zed.zed_node] [INFO] ***** STARTING CAMERA *****
[zed_wrapper-2] 1625384781.792488694 [zed.zed_node] [INFO] SDK Version: 3.5.0 - Build 24184_2d27c82a
[zed_wrapper-2] 1625384781.793803061 [zed.zed_node] [INFO] *** CAMERA OPENING ***
[zed_wrapper-2] [ZED][Init] Depth mode: PERFORMANCE
[rviz2-3] 1625384782.523576677 [rviz2] [INFO] Stereo is NOT SUPPORTED
[rviz2-3] 1625384782.523660910 [rviz2] [INFO] OpenGl version: 4.6 (GLSL 4.6)
[rviz2-3] 1625384782.630401939 [rviz2] [INFO] Stereo is NOT SUPPORTED
[rviz2-3] 1625384782.750526876 [rviz2] [INFO] Stereo is NOT SUPPORTED
[rviz2-3] 1625384782.765913072 [rviz2] [INFO] Stereo is NOT SUPPORTED
[rviz2-3] 1625384782.783984331 [rviz2] [INFO] Stereo is NOT SUPPORTED
[rviz2-3] Parsing robot urdf xml string.
[zed_wrapper-2] [ZED][Init] Video mode: HD720@30
[zed_wrapper-2] 1625384782.945590303 [zed.zed_node] [INFO] ZED SDK running on GPU #0
[zed_wrapper-2] 1625384782.945634324 [zed.zed_node] [INFO] * Camera Model -> ZED
[zed_wrapper-2] 1625384782.945641406 [zed.zed_node] [INFO] * Serial Number -> 25390
[zed_wrapper-2] 1625384782.945654938 [zed.zed_node] [INFO] * Input type -> USB input type
[zed_wrapper-2] 1625384782.945662844 [zed.zed_node] [INFO] * Camera FW Version -> 1523
[zed_wrapper-2] 1625384782.945703037 [zed.zed_node] [INFO] *** TF FRAMES ***
[zed_wrapper-2] 1625384782.945711821 [zed.zed_node] [INFO] * Map -> map
[zed_wrapper-2] 1625384782.945717024 [zed.zed_node] [INFO] * Odometry -> odom
[zed_wrapper-2] 1625384782.945721820 [zed.zed_node] [INFO] * Base -> base_link
[zed_wrapper-2] 1625384782.945726346 [zed.zed_node] [INFO] * Camera -> zed_camera_center
[zed_wrapper-2] 1625384782.945731239 [zed.zed_node] [INFO] * Left -> zed_left_camera_frame
[zed_wrapper-2] 1625384782.945736010 [zed.zed_node] [INFO] * Left Optical -> zed_left_camera_optical_frame
[zed_wrapper-2] 1625384782.945741004 [zed.zed_node] [INFO] * RGB -> zed_left_camera_frame
[zed_wrapper-2] 1625384782.945745718 [zed.zed_node] [INFO] * RGB Optical -> zed_left_camera_frame
[zed_wrapper-2] 1625384782.945750386 [zed.zed_node] [INFO] * Right -> zed_right_camera_frame
[zed_wrapper-2] 1625384782.945755005 [zed.zed_node] [INFO] * Right Optical -> zed_right_camera_optical_frame
[zed_wrapper-2] 1625384782.945759709 [zed.zed_node] [INFO] * Depth -> zed_left_camera_frame
[zed_wrapper-2] 1625384782.945764171 [zed.zed_node] [INFO] * Depth Optical -> zed_left_camera_optical_frame
[zed_wrapper-2] 1625384782.945768744 [zed.zed_node] [INFO] * Point Cloud -> zed_left_camera_optical_frame
[zed_wrapper-2] 1625384782.945773277 [zed.zed_node] [INFO] * Disparity -> zed_left_camera_frame
[zed_wrapper-2] 1625384782.945777975 [zed.zed_node] [INFO] * Disparity Optical -> zed_left_camera_optical_frame
[zed_wrapper-2] 1625384782.945782607 [zed.zed_node] [INFO] * Confidence -> zed_left_camera_frame
[zed_wrapper-2] 1625384782.945787272 [zed.zed_node] [INFO] * Confidence Optical -> zed_left_camera_optical_frame
[zed_wrapper-2] 1625384782.945796562 [zed.zed_node] [INFO] *** PUBLISHED TOPICS ***
[zed_wrapper-2] 1625384783.041507356 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/rgb/image_rect_color
[zed_wrapper-2] 1625384783.042918617 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/rgb/image_rect_gray
[zed_wrapper-2] 1625384783.043387485 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/rgb/camera_info
[zed_wrapper-2] 1625384783.045493228 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/rgb_raw/image_raw_color
[zed_wrapper-2] 1625384783.046910297 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/rgb_raw/image_raw_gray
[zed_wrapper-2] 1625384783.047308201 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/rgb_raw/camera_info
[zed_wrapper-2] 1625384783.048853181 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/left/image_rect_color
[zed_wrapper-2] 1625384783.050880110 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/left/image_rect_gray
[zed_wrapper-2] 1625384783.051261742 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/left/camera_info
[zed_wrapper-2] 1625384783.053535508 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/left_raw/image_raw_color
[zed_wrapper-2] 1625384783.055418736 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/left_raw/image_raw_gray
[zed_wrapper-2] 1625384783.055858689 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/left_raw/camera_info
[zed_wrapper-2] 1625384783.057097961 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/right/image_rect_color
[zed_wrapper-2] 1625384783.058825290 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/right/image_rect_gray
[zed_wrapper-2] 1625384783.059240835 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/right/camera_info
[zed_wrapper-2] 1625384783.061589011 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/right_raw/image_raw_color
[zed_wrapper-2] 1625384783.063167021 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/right_raw/image_raw_gray
[zed_wrapper-2] 1625384783.063195665 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/right_raw/camera_info
[zed_wrapper-2] 1625384783.064514283 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/depth/depth_registered
[zed_wrapper-2] 1625384783.064541248 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/depth/camera_info
[zed_wrapper-2] 1625384783.065607018 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/stereo/image_rect_color
[zed_wrapper-2] 1625384783.066871004 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/stereo_raw/image_raw_color
[zed_wrapper-2] 1625384783.067902734 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/confidence/confidence_map
[zed_wrapper-2] 1625384783.069487218 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/disparity/disparity_image
[zed_wrapper-2] 1625384783.070636198 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/point_cloud/cloud_registered
[zed_wrapper-2] 1625384783.071838465 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/pose
[zed_wrapper-2] 1625384783.072725745 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/pose_with_covariance
[zed_wrapper-2] 1625384783.073548908 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/odom
[zed_wrapper-2] 1625384783.074181590 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/path_map
[zed_wrapper-2] 1625384783.075297487 [zed.zed_node] [INFO] Advertised on topic: /zed/zed_node/path_odom
[zed_wrapper-2] 1625384783.102394411 [zed.zed_node] [INFO] *** Starting Positional Tracking ***
[zed_wrapper-2] 1625384783.102443671 [zed.zed_node] [INFO] * Waiting for valid static transformations...
[zed_wrapper-2] 1625384783.102495172 [zed.zed_node] [INFO] Static transform Sensor to Base [zed_left_camera_frame -> base_link]
[zed_wrapper-2] 1625384783.102509341 [zed.zed_node] [INFO] * Translation: {0.000,-0.060,0.000}
[zed_wrapper-2] 1625384783.102523235 [zed.zed_node] [INFO] * Rotation: {0.000,-0.000,0.000}
[zed_wrapper-2] 1625384783.102535753 [zed.zed_node] [INFO] Static transform Sensor to Camera Center [zed_left_camera_frame -> zed_camera_center]
[zed_wrapper-2] 1625384783.102541982 [zed.zed_node] [INFO] * Translation: {0.000,-0.060,0.000}
[zed_wrapper-2] 1625384783.102548007 [zed.zed_node] [INFO] * Rotation: {0.000,-0.000,0.000}
[zed_wrapper-2] 1625384783.102556222 [zed.zed_node] [INFO] Static transform Camera Center to Base [zed_camera_center -> base_link]
[zed_wrapper-2] 1625384783.102561812 [zed.zed_node] [INFO] * Translation: {0.000,0.000,0.000}
[zed_wrapper-2] 1625384783.102567518 [zed.zed_node] [INFO] * Rotation: {0.000,-0.000,0.000}
[zed_wrapper-2] 1625384783.202645976 [zed.zed_node] [INFO] Initial ZED left camera pose (ZED pos. tracking):
[zed_wrapper-2] 1625384783.202709534 [zed.zed_node] [INFO] * T: [0,0.06,0]
[zed_wrapper-2] 1625384783.202737813 [zed.zed_node] [INFO] * Q: [0,0,0,1]
[zed_wrapper-2] 1625384783.274375093 [zed.zed_node] [INFO] Odometry aligned to last tracking poseHope this sheds more light on the issue. |
|
ROS2 requires a bit of attention when subscribing to topics. The Quality of Service (QoS) profiles for publisher and subscriber must be compatible. |
|
Hi @Myzhar, thanks for prompt clarification. Checking out this section, QOS Profiles, and noting this relevant section:
Will continue debugging on my side and update once I have resolved it. No actions required. |
|
Can you try to subscribe to the pose or odom topic in a second console window to see if the image topics are published. |
Subscribing to source /opt/ros/foxy/setup.bash
ros2 topic echo /zed/zed_node/poseResults---
header:
stamp:
sec: 1625387715
nanosec: 434199578
frame_id: map
pose:
position:
x: 0.00027193161196812304
y: 6.463974714278342e-05
z: 0.00016781841342351252
orientation:
x: 0.0
y: 0.0002441406286379786
z: -0.0001726334911185649
w: 0.9999999552965145
---Subscribing to source /opt/ros/foxy/setup.bash
ros2 topic echo /zed/zed_node/poseResults---
header:
stamp:
sec: 1625387812
nanosec: 442366578
frame_id: odom
child_frame_id: base_link
pose:
pose:
position:
x: 0.004224781797693515
y: 0.009861260627486601
z: 0.007599379259835867
orientation:
x: -0.002352972971777034
y: -0.0011238760447997464
z: -0.0023442516879424043
w: 0.9999938524335289
covariance:
- 2.2090580387157388e-07
- -2.606017446282749e-08
- -1.1616376305312315e-08
- -3.019323013830899e-09
- 8.043928856338312e-10
- -7.591679285212649e-09
- -2.6060169133756972e-08
- 2.2970036184233322e-07
- -5.4664841542262366e-08
- -4.452547130995299e-08
- -2.3207821442383647e-08
- -1.2158380968685378e-07
- -1.1616370088063377e-08
- -5.46648522004034e-08
- 3.1767746122568497e-07
- 7.791960143777032e-08
- 1.954197728082363e-07
- 2.40120936467747e-08
- -3.0193181288495907e-09
- -4.452546420452563e-08
- 7.791963696490711e-08
- 1.3098947704293096e-07
- 2.781641761373521e-08
- 1.7875056101956943e-08
- 8.04398603282408e-10
- -2.320784453502256e-08
- 1.9542002860362118e-07
- 2.781642649551941e-08
- 1.453214224511612e-07
- 9.875265938319444e-09
- -7.591679285212649e-09
- -1.2158368178916135e-07
- 2.4012079435919986e-08
- 1.7875045443815907e-08
- 9.87525083928631e-09
- 7.876673180362559e-08
twist:
twist:
linear:
x: 0.0
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 0.0
covariance:
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
---
|
Attempted Solution [Making QOS Policies Compatible]The following shows an example simple ROS2 subscriber node that subscribes to ZED QOS Policy Description
Running Type: sensor_msgs/msg/Image
Publisher count: 1
Node name: zed_node
Node namespace: /zed
Topic type: sensor_msgs/msg/Image
Endpoint type: PUBLISHER
GID: 01.0f.d4.06.d3.64.00.00.01.00.00.00.00.00.34.03.00.00.00.00.00.00.00.00
QoS profile:
Reliability: RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT
Durability: RMW_QOS_POLICY_DURABILITY_VOLATILE
Lifespan: 2147483651294967295 nanoseconds
Deadline: 2147483651294967295 nanoseconds
Liveliness: RMW_QOS_POLICY_LIVELINESS_AUTOMATIC
Liveliness lease duration: 2147483651294967295 nanoseconds
Subscription count: 0Writing simple ROS2 Subscriber Node with custom QOS PolicyFollow the instructions below to create this.
cd $HOME
source /opt/ros/foxy/setup.bash
mkdir -p test_zed_ws/src && cd test_zed_ws/src
ros2 pkg create --build-type ament_cmake cpp_pubsub
cd cpp_pubsub/src
wget -O subscriber_member_function.cpp https://raw.githubusercontent.com/ros2/examples/foxy/rclcpp/topics/minimal_subscriber/member_function.cpp
#include <functional>
#include <memory>
#include "rmw/types.h"
#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/string.hpp"
#include "sensor_msgs/msg/image.hpp"
static const rmw_qos_profile_t my_custom_qos_profile =
{
RMW_QOS_POLICY_HISTORY_KEEP_LAST,
1,
RMW_QOS_POLICY_RELIABILITY_RELIABLE,
RMW_QOS_POLICY_DURABILITY_VOLATILE,
RMW_QOS_DEADLINE_DEFAULT,
RMW_QOS_LIFESPAN_DEFAULT,
RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT,
RMW_QOS_LIVELINESS_LEASE_DURATION_DEFAULT,
false
};
class MinimalSubscriber : public rclcpp::Node
{
public:
MinimalSubscriber()
: Node("minimal_subscriber")
{
auto qos = rclcpp::QoS(
rclcpp::QoSInitialization::from_rmw(my_custom_qos_profile),
my_custom_qos_profile);
auto callback =
[this](const sensor_msgs::msg::Image::SharedPtr msg) {
RCLCPP_INFO(this->get_logger(), "Image Received.");
};
subscription_ = create_subscription<sensor_msgs::msg::Image>("/zed/zed_node/left/image_rect_color", qos, callback);
}
private:
rclcpp::Subscription<sensor_msgs::msg::Image>::SharedPtr subscription_;
};
int main(int argc, char * argv[])
{
rclcpp::init(argc, argv);
rclcpp::spin(std::make_shared<MinimalSubscriber>());
rclcpp::shutdown();
return 0;
}
cmake_minimum_required(VERSION 3.5)
project(cpp_pubsub)
# Default to C99
if(NOT CMAKE_C_STANDARD)
set(CMAKE_C_STANDARD 99)
endif()
# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 14)
endif()
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(rmw REQUIRED)
include_directories(
include
)
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
ament_lint_auto_find_test_dependencies()
endif()
add_executable(listener src/subscriber_member_function.cpp)
ament_target_dependencies(listener rclcpp std_msgs sensor_msgs rmw)
install(TARGETS
listener
DESTINATION lib/${PROJECT_NAME})
ament_package()
cd ~/test_zed_ws
source /opt/ros/foxy/setup.bash
colcon build
source install/setup.bash
ros2 run cpp_pubsub listener
|
|
I will test it in the next hours and I will be back to you with a solution 👍 |
|
Hi. I'm having the exact same problem. Would be great to know if there are any updates :) Edit: It seems to be that all publishers created using |
|
@kquigley29 I'm working on the fix. It should be available in the |
|
@cardboardcode @kquigley29 I just merged an important update in the master branch that should solve this issue and it adds a few other features. |
|
It still does not work for Foxy distribution. 😭 I redid the steps to reproduce the error but with the latest dev_foxy branch codebase for zed_ros2_wrapper. Steps TakenSetupcd $HOME
mkdir -p ~/zed_ros2_ws/src && cd ~/zed_ros2_ws/src
git clone https://github.com/stereolabs/zed-ros2-wrapper.git --single-branch --branch dev_foxy --depth 1
git clone https://github.com/stereolabs/zed-ros2-examples.git --single-branch --branch dev_foxy --depth 1
cd ~/zed_ros2_ws/
source /opt/ros/foxy/setup.bash
colcon build --symlink-install --cmake-args=-DCMAKE_BUILD_TYPE=Release
# Launch zed_wrapper
ros2 launch zed_wrapper zed.launch.pyVerify if issue is fixed.#Open up new terminal
source /opt/ros/foxy/setup.bash
ros2 topic echo /zed/zed_node/left/image_rect_colorTried it with the simple ROS2 Subscriber Node with custom QOS Policy example as well. Same results. Results
|
|
@cardboardcode I just noticed that you are using a ZED camera. I tested it with a ZED2 and it worked correctly. |
|
I had the same issue change the reliability from Reliable to Best Effort in rviz2 under the topic pull down. |
|
Hi @griz1112, Thanks for the suggestion. Gonna try it out and verify if it works for my setup. Update (as of 14th July 2021)Verified that the Reliability of image topics in |
|
If you do a ros2 topic list do you see the topics? If not do ros2 daemon stop ros2 daemon start. |
|
Hi @griz1112 I have the same issue with the ZED2 @Myzhar. Also i did I tried subscribing to that topic but unsuccessful. I have checked and both are the same type sensors_msg/Image Specifications: Please advise. |
|
Try resetting the daemon. Ros2 daemon stop ros2 daemon start |
|
Do you have ROS_DOMAIN_ID set on both machines? |
|
@an99990 I just tested the |
|
Hi @Myzhar, Steps : ros2 launch zed_wrapper zed2.launch.py |
|
@an99990 I just replicated the steps above and everything works correctly. |
|
@Myzhar Update |
|
I'm having the same issue. Using the Dockerfile mentioned in #48 (comment), running on a Jetson Xavier NX. Steps to reproduce:
Logs look fine:
I also can't see images published on @an99990 Have you got it working completely? I built my container two days ago, using the versions shown below: |
|
This is an old issue that was fixed in the latest versions of the ZED ROS2 wrapper. |
|
I just re-built the container to make sure it wasn't caching an old version of the repo but same issue. |
|
Is the problem "inside" or "outside" the container? |
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Inside this time :) I've tried host and bridge networking in testing, but shouldn't affect it as inside the container I can echo |
|
After some more testing it seems that this isn't confined to image topics, I also can't echo Maybe this is a separate issue? It can detect the publishers and topic type when using I've pushed the container to Dockerhub if it's any help: https://hub.docker.com/repository/docker/xdgfx/zed_ros2_node_testing. arm only as I'm running on a Jetson. I'm open to try different thing to see if I can get it working, maybe something doesn't build correctly with the current setup? |
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This solved my issue: https://github.com/stereolabs/zed-ros2-wrapper#image-transport-and-topic-subscriptions. Thanks |
|
Until now, the problem of not being able to display images remains unresolved.(Inside the container) |
|
Have you installed |
|
Mr. Myzhar |
|
@Myzhar Solution ✌️Follow the instructions below to set up, run and display the ZED2 Camera: Dependencies
|
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Describe the bug
Subscribing to the
sensor_msgs/msg/Imagetopic named /zed/zed_node/left/image_rect_color images fails and does not show images are being published.Device information:
To Reproduce
Steps to reproduce the behavior:
To Reproduce: Setup
Observed that RViz2 is indeed able to display published images from
/zed/zed_node/left/image_rect_color. See screenshot attached. However, RGB Image/zed/zed_node/rgb/image_rect_color/does not show any images.Run zed_tutorial_video example subscription node taken from this ZED tutorial link.
zed_tutorial_video is unresponsive and does not show anything.
Run
ros2 topic echoto check if images are being published.Observed that nothing is being echoed on this topic, even though we confirmed earlier that RVIz2 is able to display the images being published on the same topic. Refer to
.gifanimation below.Expected behavior
Expected to run the following commands and observe the sensor_ msgs/msg/Image raw information being published onto terminal while zed_display_rviz2 ROS2 package is running:
Screenshots
Additional context
Attempting to write my own ROS2 node that subscribes to the images published on this topic to use for subsequent 2D image processing.
Others
Not sure what I am doing wrong or missing here. Will appreciate any help. Thanks.
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