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Invalid topic name error when launching zed_camera.launch.py #282

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creix opened this issue Dec 5, 2024 · 10 comments
Open
2 tasks done

Invalid topic name error when launching zed_camera.launch.py #282

creix opened this issue Dec 5, 2024 · 10 comments
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@creix
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creix commented Dec 5, 2024

Preliminary Checks

  • This issue is not a duplicate. Before opening a new issue, please search existing issues.
  • This issue is not a question, feature request, or anything other than a bug report directly related to this project.

Description

Hello, i have encountered this error when launching the wrapper with the command:
ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zed2i

[component_container-2] [INFO] [1733414829.790032321] [zed.zed_node]: Camera-IMU Translation: 
[component_container-2]  -0.002 -0.023061 0.000217
[component_container-2] [INFO] [1733414829.790224267] [zed.zed_node]: Camera-IMU Rotation:
[component_container-2] FFFFD08A1670
[component_container-2] 0.999985 0.004895 -0.002594
[component_container-2] -0.004901 0.999986 -0.002006
[component_container-2] 0.002584 0.002019 0.999995
[component_container-2] 
[component_container-2] [INFO] [1733414829.790310928] [zed.zed_node]: *** Subscribers ***
[component_container-2] terminate called after throwing an instance of 'rclcpp::exceptions::InvalidTopicNameError'
[component_container-2]   what():  Invalid topic name: topic name must not be empty string:
[component_container-2]   ''
[component_container-2]    ^
[component_container-2] 
[ERROR] [component_container-2]: process has died [pid 102219, exit code -6, cmd '/opt/ros/foxy/lib/rclcpp_components/component_container --ros-args -r __node:=zed_container -r __ns:=/zed'].

Steps to Reproduce

  1. git clone --recursive https://github.com/stereolabs/zed-ros2-wrapper.git
  2. sudo apt update
  3. rosdep update
  4. rosdep install --from-paths src --ignore-src -r -y
  5. colcon build --symlink-install --cmake-args=-DCMAKE_BUILD_TYPE=Release --parallel-workers $(nproc)
  6. source the workspace

Expected Result

The wrapper node is launched correctly

Actual Result

This is the full log of after launching the node:

ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zed2i
[INFO] [launch]: All log files can be found below /home/wrapper/.ros/log/2024-12-05-17-07-03-003395-wrapper-desktop-102203
[INFO] [launch]: Default logging verbosity is set to INFO
Using common configuration file: /home/wrapper/ros2_ws/install/zed_wrapper/share/zed_wrapper/config/common_stereo.yaml
[INFO] [robot_state_publisher-1]: process started with pid [102217]
[INFO] [component_container-2]: process started with pid [102219]
[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] [INFO] [1733414824.703258184] [zed.zed_state_publisher]: got segment zed_camera_center
[robot_state_publisher-1] [INFO] [1733414824.703679550] [zed.zed_state_publisher]: got segment zed_camera_link
[robot_state_publisher-1] [INFO] [1733414824.703799717] [zed.zed_state_publisher]: got segment zed_left_camera_frame
[robot_state_publisher-1] [INFO] [1733414824.703904394] [zed.zed_state_publisher]: got segment zed_left_camera_optical_frame
[robot_state_publisher-1] [INFO] [1733414824.703965294] [zed.zed_state_publisher]: got segment zed_right_camera_frame
[robot_state_publisher-1] [INFO] [1733414824.704017776] [zed.zed_state_publisher]: got segment zed_right_camera_optical_frame
[component_container-2] [INFO] [1733414824.803875680] [zed.zed_container]: Load Library: /home/wrapper/ros2_ws/install/zed_components/lib/libzed_camera_component.so
[component_container-2] [INFO] [1733414825.055269395] [zed.zed_container]: Found class: rclcpp_components::NodeFactoryTemplate<stereolabs::ZedCamera>
[component_container-2] [INFO] [1733414825.055590948] [zed.zed_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<stereolabs::ZedCamera>
[component_container-2] [INFO] [1733414825.517992398] [zed.zed_node]: ********************************
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/zed/zed_node' in container '/zed/zed_container'
[component_container-2] [INFO] [1733414825.518255196] [zed.zed_node]:       ZED Camera Component 
[component_container-2] [INFO] [1733414825.518334464] [zed.zed_node]: ********************************
[component_container-2] [INFO] [1733414825.518396067] [zed.zed_node]:  * namespace: /zed
[component_container-2] [INFO] [1733414825.518506569] [zed.zed_node]:  * node name: zed_node
[component_container-2] [INFO] [1733414825.518602254] [zed.zed_node]: ********************************
[component_container-2] [INFO] [1733414825.569349521] [zed.zed_node]: *** DEBUG parameters ***
[component_container-2] [INFO] [1733414825.569906863] [zed.zed_node]:  * SDK Verbose: 1
[component_container-2] [INFO] [1733414825.570390536] [zed.zed_node]:  * Debug Common: FALSE
[component_container-2] [INFO] [1733414825.570841888] [zed.zed_node]:  * Debug Simulation: FALSE
[component_container-2] [INFO] [1733414825.571222580] [zed.zed_node]:  * Debug Video/Depth: FALSE
[component_container-2] [INFO] [1733414825.571463137] [zed.zed_node]:  * Debug Control settings: FALSE
[component_container-2] [INFO] [1733414825.571703822] [zed.zed_node]:  * Debug Point Cloud: FALSE
[component_container-2] [INFO] [1733414825.572069313] [zed.zed_node]:  * Debug GNSS: FALSE
[component_container-2] [INFO] [1733414825.572307054] [zed.zed_node]:  * Debug Positional Tracking: FALSE
[component_container-2] [INFO] [1733414825.572515225] [zed.zed_node]:  * Debug sensors: FALSE
[component_container-2] [INFO] [1733414825.572690466] [zed.zed_node]:  * Debug Mapping: FALSE
[component_container-2] [INFO] [1733414825.575436756] [zed.zed_node]:  * Debug Object Detection: FALSE
[component_container-2] [INFO] [1733414825.575666432] [zed.zed_node]:  * Debug Body Tracking: FALSE
[component_container-2] [INFO] [1733414825.576306754] [zed.zed_node]:  * Debug Streaming: FALSE
[component_container-2] [INFO] [1733414825.576953060] [zed.zed_node]:  * Debug ROI: FALSE
[component_container-2] [INFO] [1733414825.577516066] [zed.zed_node]:  * Debug Advanced: FALSE
[component_container-2] [INFO] [1733414825.577981403] [zed.zed_node]: *** GENERAL parameters ***
[component_container-2] [INFO] [1733414825.579872351] [zed.zed_node]:  * Camera model: zed2i - ZED 2i
[component_container-2] [INFO] [1733414825.580401531] [zed.zed_node]:  * Camera name: zed
[component_container-2] [INFO] [1733414825.581200742] [zed.zed_node]:  * Camera SN: 0
[component_container-2] [INFO] [1733414825.581484245] [zed.zed_node]:  * Camera timeout [sec]: 5
[component_container-2] [INFO] [1733414825.582211259] [zed.zed_node]:  * Camera reconnection temptatives: 5
[component_container-2] [INFO] [1733414825.582423494] [zed.zed_node]:  * Camera framerate: 15
[component_container-2] [INFO] [1733414825.583201520] [zed.zed_node]:  * GPU ID: -1
[component_container-2] [WARN] [1733414825.584166467] [zed.zed_node]: Not valid 'general.pub_resolution' value: 'MEDIUM'. Using default setting instead.
[component_container-2] [INFO] [1733414825.584296714] [zed.zed_node]:  * Publishing resolution: NATIVE
[component_container-2] [INFO] [1733414825.584733921] [zed.zed_node]:  * OpenCV custom calibration: 
[component_container-2] [INFO] [1733414825.585346881] [zed.zed_node]:  * Camera self calibration: TRUE
[component_container-2] [INFO] [1733414825.585781657] [zed.zed_node]:  * Camera flip: FALSE
[component_container-2] [INFO] [1733414825.586578563] [zed.zed_node]:  * [DYN] Publish framerate [Hz]:  15
[component_container-2] [INFO] [1733414825.586758604] [zed.zed_node]: *** VIDEO parameters ***
[component_container-2] [INFO] [1733414825.586957527] [zed.zed_node]:  * [DYN] Brightness: 4
[component_container-2] [INFO] [1733414825.587604313] [zed.zed_node]:  * [DYN] Contrast: 4
[component_container-2] [INFO] [1733414825.587938955] [zed.zed_node]:  * [DYN] Hue: 0
[component_container-2] [INFO] [1733414825.588495624] [zed.zed_node]:  * [DYN] Saturation: 4
[component_container-2] [INFO] [1733414825.589077095] [zed.zed_node]:  * [DYN] Sharpness: 4
[component_container-2] [INFO] [1733414825.589265809] [zed.zed_node]:  * [DYN] Gamma: 8
[component_container-2] [INFO] [1733414825.589874482] [zed.zed_node]:  * [DYN] Auto Exposure/Gain: TRUE
[component_container-2] [INFO] [1733414825.590395565] [zed.zed_node]:  * [DYN] Exposure: 80
[component_container-2] [INFO] [1733414825.590824740] [zed.zed_node]:  * [DYN] Gain: 80
[component_container-2] [INFO] [1733414825.591349728] [zed.zed_node]:  * [DYN] Auto White Balance: TRUE
[component_container-2] [INFO] [1733414825.591619982] [zed.zed_node]:  * [DYN] White Balance Temperature: 42
[component_container-2] [INFO] [1733414825.591717139] [zed.zed_node]: *** DEPTH parameters ***
[component_container-2] [INFO] [1733414825.592089703] [zed.zed_node]:  * Depth mode: ULTRA [3]
[component_container-2] [INFO] [1733414825.592279921] [zed.zed_node]:  * Min depth [m]: 0.2
[component_container-2] [INFO] [1733414825.592707464] [zed.zed_node]:  * Max depth [m]: 10
[component_container-2] [INFO] [1733414825.592925523] [zed.zed_node]:  * Depth Stabilization: 1
[component_container-2] [INFO] [1733414825.593204194] [zed.zed_node]:  * OpenNI mode (16bit point cloud): FALSE
[component_container-2] [INFO] [1733414825.593519091] [zed.zed_node]:  * [DYN] Point cloud rate [Hz]: 15
[component_container-2] [INFO] [1733414825.593748447] [zed.zed_node]:  * [DYN] Depth Confidence: 50
[component_container-2] [INFO] [1733414825.593916744] [zed.zed_node]:  * [DYN] Depth Texture Confidence: 100
[component_container-2] [INFO] [1733414825.594197783] [zed.zed_node]:  * [DYN] Remove saturated areas: TRUE
[component_container-2] [INFO] [1733414825.594330942] [zed.zed_node]: *** GNSS FUSION parameters ***
[component_container-2] [INFO] [1733414825.594496775] [zed.zed_node]:  * GNSS fusion enabled: FALSE
[component_container-2] [INFO] [1733414825.594581131] [zed.zed_node]: *** POSITIONAL TRACKING parameters ***
[component_container-2] [INFO] [1733414825.594721459] [zed.zed_node]:  * Positional tracking enabled: FALSE
[component_container-2] [WARN] [1733414825.594982528] [zed.zed_node]: 'pos_tracking.pos_tracking_mode' not valid (''). Using default value.
[component_container-2] [INFO] [1733414825.595216717] [zed.zed_node]:  * Positional tracking mode: GEN 2
[component_container-2] [INFO] [1733414825.595395734] [zed.zed_node]:  * Map frame id: map
[component_container-2] [INFO] [1733414825.595605442] [zed.zed_node]:  * Odometry frame id: odom
[component_container-2] [INFO] [1733414825.595893841] [zed.zed_node]:  * Broadcast Odometry TF: TRUE
[component_container-2] [INFO] [1733414825.596157887] [zed.zed_node]:  * Broadcast Pose TF: TRUE
[component_container-2] [INFO] [1733414825.596433581] [zed.zed_node]:  * [DYN] Depth minimum range: 0
[component_container-2] [INFO] [1733414825.597170516] [zed.zed_node]:  * [DYN] TF timestamp offset: 0.05
[component_container-2] [INFO] [1733414825.597504550] [zed.zed_node]:  * [DYN] Path publishing rate: 2
[component_container-2] [INFO] [1733414825.597870778] [zed.zed_node]:  * Path history lenght: -1
[component_container-2] [INFO] [1733414825.598497819] [zed.zed_node]:  * Initial pose: [0,0,0,0,0,0,]
[component_container-2] [INFO] [1733414825.599015606] [zed.zed_node]:  * Area Memory: TRUE
[component_container-2] [INFO] [1733414825.599577588] [zed.zed_node]:  * Area Memory DB: 
[component_container-2] [INFO] [1733414825.600182900] [zed.zed_node]:  * Camera is static: FALSE
[component_container-2] [INFO] [1733414825.600693679] [zed.zed_node]:  * Gravity as origin [not for ZED]: FALSE
[component_container-2] [INFO] [1733414825.601176201] [zed.zed_node]:  * IMU Fusion [not for ZED]: TRUE
[component_container-2] [INFO] [1733414825.601592575] [zed.zed_node]:  * Floor Alignment: FALSE
[component_container-2] [INFO] [1733414825.602012277] [zed.zed_node]:  * Reset Odometry with Loop Closure: TRUE
[component_container-2] [INFO] [1733414825.602467373] [zed.zed_node]:  * 2D mode: FALSE
[component_container-2] [INFO] [1733414825.602857378] [zed.zed_node]: *** Region of Interest parameters ***
[component_container-2] [INFO] [1733414825.603050636] [zed.zed_node]:  * Automatic ROI generation: FALSE
[component_container-2] [INFO] [1733414825.603692846] [zed.zed_node]:  * Manual ROI polygon: []
[component_container-2] [INFO] [1733414825.603807540] [zed.zed_node]: *** SENSORS STACK parameters ***
[component_container-2] [INFO] [1733414825.604193641] [zed.zed_node]:  * Broadcast IMU TF [not for ZED]: TRUE
[component_container-2] [INFO] [1733414825.604362642] [zed.zed_node]:  * Sensors Camera Sync: FALSE
[component_container-2] [INFO] [1733414825.604514426] [zed.zed_node]:  * Sensors publishing rate: 400 Hz
[component_container-2] [INFO] [1733414825.604603359] [zed.zed_node]: *** Spatial Mapping parameters ***
[component_container-2] [INFO] [1733414825.604783272] [zed.zed_node]:  * Spatial Mapping Enabled: FALSE
[component_container-2] [INFO] [1733414825.604949585] [zed.zed_node]:  * Spatial Mapping resolution [m]: 0.05
[component_container-2] [INFO] [1733414825.605089592] [zed.zed_node]:  * 3D Max Mapping range [m]: 10
[component_container-2] [INFO] [1733414825.605222976] [zed.zed_node]:  * Map publishing rate [Hz]: 1
[component_container-2] [INFO] [1733414825.605391720] [zed.zed_node]:  * Clicked point topic: 
[component_container-2] [INFO] [1733414825.605531216] [zed.zed_node]:  * Plane Det. Max Dist. Thresh.: 0.15
[component_container-2] [INFO] [1733414825.605673207] [zed.zed_node]:  * Plane Det. Normals Sim. Thresh.: 15
[component_container-2] [INFO] [1733414825.605752860] [zed.zed_node]: *** Object Det. parameters ***
[component_container-2] [INFO] [1733414825.605871618] [zed.zed_node]:  * Object Det. enabled: FALSE
[component_container-2] [WARN] [1733414825.606188243] [zed.zed_node]: The value of the parameter 'object_detection.model' is not valid: ''. Using the default value.
[component_container-2] [INFO] [1733414825.606283736] [zed.zed_node]:  * Object Det. model: MULTI CLASS BOX FAST
[component_container-2] [INFO] [1733414825.606416511] [zed.zed_node]:  * Object Det. allow reduced precision: FALSE
[component_container-2] [INFO] [1733414825.606590184] [zed.zed_node]:  * Object Det. maximum range [m]: 15
[component_container-2] [INFO] [1733414825.606972092] [zed.zed_node]:  * Object Det. min. confidence: 40
[component_container-2] [INFO] [1733414825.607220489] [zed.zed_node]:  * Object Det. prediction timeout [sec]: 0.5
[component_container-2] [INFO] [1733414825.607421044] [zed.zed_node]:  * Object Det. tracking: TRUE
[component_container-2] [INFO] [1733414825.607595389] [zed.zed_node]:  * Object Filtering mode: 1 - NMS3D
[component_container-2] [INFO] [1733414825.608377063] [zed.zed_node]:  * MultiClassBox people: TRUE
[component_container-2] [INFO] [1733414825.608567793] [zed.zed_node]:  * MultiClassBox vehicles: TRUE
[component_container-2] [INFO] [1733414825.608700216] [zed.zed_node]:  * MultiClassBox bags: TRUE
[component_container-2] [INFO] [1733414825.608824414] [zed.zed_node]:  * MultiClassBox animals: TRUE
[component_container-2] [INFO] [1733414825.608945701] [zed.zed_node]:  * MultiClassBox electronics: TRUE
[component_container-2] [INFO] [1733414825.609071948] [zed.zed_node]:  * MultiClassBox fruits and vegetables: TRUE
[component_container-2] [INFO] [1733414825.609196466] [zed.zed_node]:  * MultiClassBox sport-related objects: TRUE
[component_container-2] [INFO] [1733414825.609269398] [zed.zed_node]: *** Body Track. parameters ***
[component_container-2] [INFO] [1733414825.609421630] [zed.zed_node]:  * Body Track. enabled: FALSE
[component_container-2] [INFO] [1733414825.610081281] [zed.zed_node]:  * Body Track. model: HUMAN BODY FAST
[component_container-2] [INFO] [1733414825.610342927] [zed.zed_node]:  * Body Track. format: BODY 38
[component_container-2] [INFO] [1733414825.610705666] [zed.zed_node]:  * Body Track. allow reduced precision: FALSE
[component_container-2] [INFO] [1733414825.610902125] [zed.zed_node]:  * Body Track. maximum range [m]: 15
[component_container-2] [INFO] [1733414825.611563120] [zed.zed_node]:  * Body Track. KP selection: FULL
[component_container-2] [INFO] [1733414825.611804957] [zed.zed_node]:  * Body fitting: TRUE
[component_container-2] [INFO] [1733414825.612096524] [zed.zed_node]:  * Body joints tracking: TRUE
[component_container-2] [INFO] [1733414825.612435262] [zed.zed_node]:  * Body Track. prediction timeout [sec]: 0.5
[component_container-2] [INFO] [1733414825.612824403] [zed.zed_node]:  * Body Track. confidence thresh.: 50
[component_container-2] [INFO] [1733414825.613165061] [zed.zed_node]:  * Body Track. min. KP thresh.: 10
[component_container-2] [INFO] [1733414825.613265066] [zed.zed_node]: *** Streaming Server parameters ***
[component_container-2] [INFO] [1733414825.613511511] [zed.zed_node]:  * Streaming Server enabled: FALSE
[component_container-2] [INFO] [1733414825.613882763] [zed.zed_node]:  * Stream codec: H264
[component_container-2] [INFO] [1733414825.614180955] [zed.zed_node]:  * Stream port:30000
[component_container-2] [INFO] [1733414825.614480490] [zed.zed_node]:  * Stream bitrate: 12500
[component_container-2] [INFO] [1733414825.614785851] [zed.zed_node]:  * Stream GOP size: -1
[component_container-2] [INFO] [1733414825.614957156] [zed.zed_node]:  * Stream Chunk size: 16084
[component_container-2] [INFO] [1733414825.615235955] [zed.zed_node]:  * Adaptive bitrate: FALSE
[component_container-2] [INFO] [1733414825.615685066] [zed.zed_node]:  * Target frame rate:0
[component_container-2] [INFO] [1733414825.615768303] [zed.zed_node]: *** Advanced parameters ***
[component_container-2] [INFO] [1733414825.616024316] [zed.zed_node]:  * Thread sched. policy: 
[component_container-2] [INFO] [1733414825.616458323] [zed.zed_node]: *** SERVICES ***
[component_container-2] [INFO] [1733414825.619690495] [zed.zed_node]:  * '/zed/zed_node/reset_odometry'
[component_container-2] [INFO] [1733414825.621548993] [zed.zed_node]:  * '/zed/zed_node/reset_pos_tracking'
[component_container-2] [INFO] [1733414825.626276220] [zed.zed_node]:  * '/zed/zed_node/set_pose'
[component_container-2] [INFO] [1733414825.628981579] [zed.zed_node]:  * '/zed/zed_node/enable_obj_det'
[component_container-2] [INFO] [1733414825.630900817] [zed.zed_node]:  * '/zed/zed_node/enable_body_trk'
[component_container-2] [INFO] [1733414825.632879354] [zed.zed_node]:  * '/zed/zed_node/enable_mapping'
[component_container-2] [INFO] [1733414825.634644376] [zed.zed_node]:  * '/zed/zed_node/enable_streaming'
[component_container-2] [INFO] [1733414825.637241505] [zed.zed_node]:  * '/zed/zed_node/start_svo_rec'
[component_container-2] [INFO] [1733414825.639028032] [zed.zed_node]:  * '/zed/zed_node/stop_svo_rec'
[component_container-2] [INFO] [1733414825.641396574] [zed.zed_node]:  * '/zed/zed_node/set_roi'
[component_container-2] [INFO] [1733414825.643201566] [zed.zed_node]:  * '/zed/zed_node/reset_roi'
[component_container-2] [INFO] [1733414825.643632532] [zed.zed_node]: ***** STARTING CAMERA *****
[component_container-2] [INFO] [1733414825.777592596] [zed.zed_node]: ZED SDK Version: 4.2.2 - Build 95990_fb77e75e
[component_container-2] [2024-12-05 16:07:05 UTC][ZED][INFO] Logging level INFO
[component_container-2] [INFO] [1733414825.791615228] [zed.zed_node]: *** CAMERA OPENING ***
[component_container-2] [2024-12-05 16:07:06 UTC][ZED][INFO] Logging level INFO
[component_container-2] [2024-12-05 16:07:07 UTC][ZED][INFO] Using USB input... Switched to default resolution HD720
[component_container-2] [2024-12-05 16:07:07 UTC][ZED][INFO] [Init]  Depth mode: ULTRA
[component_container-2] [2024-12-05 16:07:08 UTC][ZED][INFO] [Init]  Camera successfully opened.
[component_container-2] [2024-12-05 16:07:08 UTC][ZED][INFO] [Init]  Camera FW version: 1523
[component_container-2] [2024-12-05 16:07:08 UTC][ZED][INFO] [Init]  Video mode: HD720@15
[component_container-2] [2024-12-05 16:07:08 UTC][ZED][INFO] [Init]  Serial Number: S/N 36513009
[component_container-2] [2024-12-05 16:07:08 UTC][ZED][WARNING] [Init]  Self-calibration failed. Point the camera towards a more textured and brighter area. Avoid objects closer than 1 meter (Error code: 0x01) 
[component_container-2] [INFO] [1733414829.010677840] [zed.zed_node]: ZED SDK running on GPU #0
[component_container-2] [INFO] [1733414829.010948222] [zed.zed_node]:  * Camera Model  -> ZED 2i
[component_container-2] [INFO] [1733414829.011062884] [zed.zed_node]:  * Serial Number -> 36513009
[component_container-2] [INFO] [1733414829.011427544] [zed.zed_node]:  * Focal Lenght -> 2.09102 mm
[component_container-2] [INFO] [1733414829.011550110] [zed.zed_node]:  * Input	 -> USB
[component_container-2] [INFO] [1733414829.011688741] [zed.zed_node]:  * Camera FW Version  -> 1523
[component_container-2] [INFO] [1733414829.011761225] [zed.zed_node]:  * Sensors FW Version -> 777
[component_container-2] [INFO] [1733414829.011881840] [zed.zed_node]:  * Camera grab frame size -> 1280x720
[component_container-2] [INFO] [1733414829.011991733] [zed.zed_node]:  * Publishing frame size  -> 1280x720
[component_container-2] [INFO] [1733414829.012233474] [zed.zed_node]: *** TF FRAMES ***
[component_container-2] [INFO] [1733414829.012305510] [zed.zed_node]:  * Map			-> map
[component_container-2] [INFO] [1733414829.012370634] [zed.zed_node]:  * Odometry		-> odom
[component_container-2] [INFO] [1733414829.012435693] [zed.zed_node]:  * Base			-> zed_camera_link
[component_container-2] [INFO] [1733414829.012501136] [zed.zed_node]:  * Camera			-> zed_camera_center
[component_container-2] [INFO] [1733414829.012565492] [zed.zed_node]:  * Left			-> zed_left_camera_frame
[component_container-2] [INFO] [1733414829.012629911] [zed.zed_node]:  * Left Optical		-> zed_left_camera_optical_frame
[component_container-2] [INFO] [1733414829.012695291] [zed.zed_node]:  * RGB			-> zed_left_camera_frame
[component_container-2] [INFO] [1733414829.012787840] [zed.zed_node]:  * RGB Optical		-> zed_left_camera_optical_frame
[component_container-2] [INFO] [1733414829.012856323] [zed.zed_node]:  * Right			-> zed_right_camera_frame
[component_container-2] [INFO] [1733414829.012920903] [zed.zed_node]:  * Right Optical		-> zed_right_camera_optical_frame
[component_container-2] [INFO] [1733414829.013034861] [zed.zed_node]:  * Depth			-> zed_left_camera_frame
[component_container-2] [INFO] [1733414829.013142482] [zed.zed_node]:  * Depth Optical		-> zed_left_camera_optical_frame
[component_container-2] [INFO] [1733414829.013212406] [zed.zed_node]:  * Point Cloud		-> zed_left_camera_optical_frame
[component_container-2] [INFO] [1733414829.013315452] [zed.zed_node]:  * Disparity		-> zed_left_camera_frame
[component_container-2] [INFO] [1733414829.013380767] [zed.zed_node]:  * Disparity Optical	-> zed_left_camera_optical_frame
[component_container-2] [INFO] [1733414829.013475204] [zed.zed_node]:  * Confidence		-> zed_left_camera_frame
[component_container-2] [INFO] [1733414829.013542472] [zed.zed_node]:  * Confidence Optical	-> zed_left_camera_optical_frame
[component_container-2] [INFO] [1733414829.013607019] [zed.zed_node]:  * IMU			-> zed_imu_link
[component_container-2] [INFO] [1733414829.013676303] [zed.zed_node]:  * Barometer		-> zed_camera_center
[component_container-2] [INFO] [1733414829.013742770] [zed.zed_node]:  * Magnetometer		-> zed_imu_link
[component_container-2] [INFO] [1733414829.013808278] [zed.zed_node]:  * Left Temperature	-> zed_left_camera_frame
[component_container-2] [INFO] [1733414829.013872313] [zed.zed_node]:  * Right Temperature	-> zed_right_camera_frame
[component_container-2] [INFO] [1733414829.014006944] [zed.zed_node]: *** PUBLISHED TOPICS ***
[component_container-2] [INFO] [1733414829.467506161] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb/image_rect_color
[component_container-2] [INFO] [1733414829.467741950] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb/camera_info
[component_container-2] [INFO] [1733414829.482124601] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_gray/image_rect_gray
[component_container-2] [INFO] [1733414829.482315299] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_gray/camera_info
[component_container-2] [INFO] [1733414829.495767052] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_raw/image_raw_color
[component_container-2] [INFO] [1733414829.495965271] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_raw/camera_info
[component_container-2] [INFO] [1733414829.511638358] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_raw_gray/image_raw_gray
[component_container-2] [INFO] [1733414829.511835840] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_raw_gray/camera_info
[component_container-2] [INFO] [1733414829.531952107] [zed.zed_node]: Advertised on topic: /zed/zed_node/left/image_rect_color
[component_container-2] [INFO] [1733414829.532155254] [zed.zed_node]: Advertised on topic: /zed/zed_node/left/camera_info
[component_container-2] [INFO] [1733414829.550110030] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_gray/image_rect_gray
[component_container-2] [INFO] [1733414829.550319961] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_gray/camera_info
[component_container-2] [INFO] [1733414829.569081724] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_raw/image_raw_color
[component_container-2] [INFO] [1733414829.569282823] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_raw/camera_info
[component_container-2] [INFO] [1733414829.587852736] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_raw_gray/image_raw_gray
[component_container-2] [INFO] [1733414829.588074283] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_raw_gray/camera_info
[component_container-2] [INFO] [1733414829.607608951] [zed.zed_node]: Advertised on topic: /zed/zed_node/right/image_rect_color
[component_container-2] [INFO] [1733414829.607881414] [zed.zed_node]: Advertised on topic: /zed/zed_node/right/camera_info
[component_container-2] [INFO] [1733414829.626536067] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_gray/image_rect_gray
[component_container-2] [INFO] [1733414829.626734989] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_gray/camera_info
[component_container-2] [INFO] [1733414829.645109532] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_raw/image_raw_color
[component_container-2] [INFO] [1733414829.645320903] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_raw/camera_info
[component_container-2] [INFO] [1733414829.664779663] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_raw_gray/image_raw_gray
[component_container-2] [INFO] [1733414829.664988282] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_raw_gray/camera_info
[component_container-2] [INFO] [1733414829.682111846] [zed.zed_node]: Advertised on topic: /zed/zed_node/depth/depth_registered
[component_container-2] [INFO] [1733414829.682313009] [zed.zed_node]: Advertised on topic: /zed/zed_node/depth/camera_info
[component_container-2] [INFO] [1733414829.687258487] [zed.zed_node]: Advertised on topic: /zed/zed_node/depth/depth_info
[component_container-2] [INFO] [1733414829.701147160] [zed.zed_node]: Advertised on topic: /zed/zed_node/stereo/image_rect_color
[component_container-2] [INFO] [1733414829.715993995] [zed.zed_node]: Advertised on topic: /zed/zed_node/stereo_raw/image_raw_color
[component_container-2] [INFO] [1733414829.718679961] [zed.zed_node]: Advertised on topic: /zed/zed_node/confidence/confidence_map
[component_container-2] [INFO] [1733414829.724795614] [zed.zed_node]: Advertised on topic: /zed/zed_node/disparity/disparity_image
[component_container-2] [INFO] [1733414829.729157733] [zed.zed_node]: Advertised on topic: /zed/zed_node/point_cloud/cloud_registered
[component_container-2] [INFO] [1733414829.733111063] [zed.zed_node]: Advertised on topic: /zed/zed_node/pose
[component_container-2] [INFO] [1733414829.735987055] [zed.zed_node]: Advertised on topic: /zed/zed_node/pose/status
[component_container-2] [INFO] [1733414829.739439526] [zed.zed_node]: Advertised on topic: /zed/zed_node/pose_with_covariance
[component_container-2] [INFO] [1733414829.743911891] [zed.zed_node]: Advertised on topic: /zed/zed_node/odom
[component_container-2] [INFO] [1733414829.748014285] [zed.zed_node]: Advertised on topic: /zed/zed_node/path_map
[component_container-2] [INFO] [1733414829.751840472] [zed.zed_node]: Advertised on topic: /zed/zed_node/path_odom
[component_container-2] [INFO] [1733414829.756601300] [zed.zed_node]: Advertised on topic: /zed/plane_marker
[component_container-2] [INFO] [1733414829.760196083] [zed.zed_node]: Advertised on topic: /zed/plane
[component_container-2] [INFO] [1733414829.763840148] [zed.zed_node]: Advertised on topic: /zed/zed_node/imu/data
[component_container-2] [INFO] [1733414829.766367258] [zed.zed_node]: Advertised on topic: /zed/zed_node/imu/data_raw
[component_container-2] [INFO] [1733414829.770057502] [zed.zed_node]: Advertised on topic: /zed/zed_node/temperature/imu
[component_container-2] [INFO] [1733414829.773978190] [zed.zed_node]: Advertised on topic: /zed/zed_node/imu/mag
[component_container-2] [INFO] [1733414829.778009540] [zed.zed_node]: Advertised on topic: /zed/zed_node/atm_press
[component_container-2] [INFO] [1733414829.781007523] [zed.zed_node]: Advertised on topic: /zed/zed_node/temperature/left
[component_container-2] [INFO] [1733414829.785315975] [zed.zed_node]: Advertised on topic: /zed/zed_node/temperature/right
[component_container-2] [INFO] [1733414829.789749938] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_cam_imu_transform
[component_container-2] [INFO] [1733414829.790032321] [zed.zed_node]: Camera-IMU Translation: 
[component_container-2]  -0.002 -0.023061 0.000217
[component_container-2] [INFO] [1733414829.790224267] [zed.zed_node]: Camera-IMU Rotation:
[component_container-2] FFFFD08A1670
[component_container-2] 0.999985 0.004895 -0.002594
[component_container-2] -0.004901 0.999986 -0.002006
[component_container-2] 0.002584 0.002019 0.999995
[component_container-2] 
[component_container-2] [INFO] [1733414829.790310928] [zed.zed_node]: *** Subscribers ***
[component_container-2] terminate called after throwing an instance of 'rclcpp::exceptions::InvalidTopicNameError'
[component_container-2]   what():  Invalid topic name: topic name must not be empty string:
[component_container-2]   ''
[component_container-2]    ^
[component_container-2] 
[ERROR] [component_container-2]: process has died [pid 102219, exit code -6, cmd '/opt/ros/foxy/lib/rclcpp_components/component_container --ros-args -r __node:=zed_container -r __ns:=/zed'].

ZED Camera model

ZED2i

Environment

OS: Ubuntu 20 - L4T 35.4.1 - Jetpack 5.1.2
ZED SDK Version: v4.2.2
GPU: Nvidian Jetson Xavier
ROS: ROS2 Foxy

Anything else?

No response
@creix creix added the bug Something isn't working label Dec 5, 2024
@Myzhar
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Myzhar commented Dec 5, 2024

Hi @creix
the problem is caused by a problem with ROS 2 Foxy when loading parameters from the YAML files.
I recommend you read this GitHub thread and modify the YAML files to solve the problem.

@creix
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creix commented Dec 9, 2024

Hi @creix the problem is caused by a problem with ROS 2 Foxy when loading parameters from the YAML files. I recommend you read this GitHub thread and modify the YAML files to solve the problem.

Hello, I read the thread and saw also your reply on the thread. What of the two approaches explained would you suggest to apply, the one with remapping or having plain YAML files? Will there be anything else that i have to modify in order to have everything functioning?

@Myzhar
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Myzhar commented Dec 9, 2024

Other users successfully solved the problem with "plain" YAML files.

@creix
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creix commented Dec 9, 2024

I tried right now to remove all the nestings from the YAML files and rebuilding the package but i'm still having the same error. Do you have any other suggestion?

@kamdkslansgka
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I tried right now to remove all the nestings from the YAML files and rebuilding the package but i'm still having the same error. Do you have any other suggestion?我现在试图从YAML文件中删除所有嵌套并重建包，但我仍然有同样的错误。你还有其他建议吗？
Have you solved this problem? I also encountered this problem.

[component_container-2] [INFO] [1733895069.607470620] [zed.zed_node]: Camera-IMU Translation:
[component_container-2] -0.002 -0.023061 0.000217
[component_container-2] [INFO] [1733895069.607649215] [zed.zed_node]: Camera-IMU Rotation:
[component_container-2] 7FFF506D40F0
[component_container-2] 0.999985 0.005382 -0.000591
[component_container-2] -0.005386 0.999967 -0.006086
[component_container-2] 0.000558 0.006089 0.999981
[component_container-2]
[component_container-2] [INFO] [1733895069.607899644] [zed.zed_node]: *** Subscribers ***
[component_container-2] terminate called after throwing an instance of 'rclcpp::exceptions::InvalidTopicNameError'
[component_container-2] what(): Invalid topic name: topic name must not be empty string:
[component_container-2] ''
[component_container-2] ^
[component_container-2]
[ERROR] [component_container-2]: process has died [pid 140342, exit code -6, cmd '/opt/ros/foxy/lib/rclcpp_components/component_container --ros-args -r __node:=zed_container -r __ns:=/zed'].

@creix
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creix commented Dec 11, 2024

Hello @kamdkslansgka , currently i was not able to solve this specific error. The workaround i've adopted is to use the docker container running Ubuntu 22 and ROS2 Humble.

@ketill1
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ketill1 commented Dec 17, 2024 •
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@kamdkslansgka I had simular issue on humble. I solved it by updating the YAML files to the ones provided in the repo. Some missing parameter can make the topic name empty.

@kamdkslansgka
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Hello @kamdkslansgka , currently i was not able to solve this specific error. The workaround i've adopted is to use the docker container running Ubuntu 22 and ROS2 Humble.

OK, thank you for your reply

@kamdkslansgka
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@kamdkslansgka I had simular issue on humble. I solved it by updating the YAML files to the ones provided in the repo. Some missing parameter can make the topic name empty.

Thanks for your suggestion, I'll try it out.

@Ad18756544864
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I also encountered the same problem

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@Myzhar @ketill1 @creix @kamdkslansgka @Ad18756544864