roslaunch hangs on "* Waiting for valid static transformations..."
Closed this issue · 2 comments
anja-sheppard commented
Preliminary Checks
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- This issue is not a question, feature request, or anything other than a bug report directly related to this project.
Description
I just installed the ZED SDK and ROS wrapper on my Ubuntu 20.04 machine in order to collect some bags from my ZED2i. I installed the ZED SDK 4.1.1, and the ROS wrapper into a catkin workspace. Building was no issue--it was only upon running roslaunch zed_wrapper zed2i.launch that I had an issue. Everything seems to run normally but then it hangs forever on "Waiting for valid static transformations..."
Steps to Reproduce
- Install ZED SDK 4.1.1
- Clone
zed_ros_wrapper catkin build -DCMAKE_BUILD_TYPE=Releaseroslaunch zed_wrapper zed2i.launch
Expected Result
I'm expecting the topics to start publishing, but they don't because the startup is hanging at this valid static transforms step.
Actual Result
Output of roslaunch:
started roslaunch server http://anjashep-frog-lab:35391/
SUMMARY
========
PARAMETERS
* /rosdistro: noetic
* /rosversion: 1.16.0
* /zed2i/zed2i_description: <?xml version="1....
* /zed2i/zed_node/auto_exposure_gain: True
* /zed2i/zed_node/auto_whitebalance: True
* /zed2i/zed_node/brightness: 4
* /zed2i/zed_node/contrast: 4
* /zed2i/zed_node/depth/depth_mode: ULTRA
* /zed2i/zed_node/depth/depth_stabilization: 1
* /zed2i/zed_node/depth/max_depth: 15.0
* /zed2i/zed_node/depth/min_depth: 0.3
* /zed2i/zed_node/depth/openni_depth_mode: False
* /zed2i/zed_node/depth_confidence: 50
* /zed2i/zed_node/depth_texture_conf: 100
* /zed2i/zed_node/exposure: 100
* /zed2i/zed_node/gain: 100
* /zed2i/zed_node/gamma: 8
* /zed2i/zed_node/general/base_frame: base_link
* /zed2i/zed_node/general/camera_flip: AUTO
* /zed2i/zed_node/general/camera_model: zed2i
* /zed2i/zed_node/general/camera_name: zed2i
* /zed2i/zed_node/general/gpu_id: -1
* /zed2i/zed_node/general/grab_frame_rate: 30
* /zed2i/zed_node/general/grab_resolution: HD720
* /zed2i/zed_node/general/pub_downscale_factor: 2.0
* /zed2i/zed_node/general/pub_frame_rate: 15.0
* /zed2i/zed_node/general/pub_resolution: CUSTOM
* /zed2i/zed_node/general/region_of_interest: []
* /zed2i/zed_node/general/sdk_verbose: 1
* /zed2i/zed_node/general/self_calib: True
* /zed2i/zed_node/general/serial_number: 0
* /zed2i/zed_node/general/svo_compression: 2
* /zed2i/zed_node/general/svo_realtime: True
* /zed2i/zed_node/general/zed_id: 0
* /zed2i/zed_node/hue: 0
* /zed2i/zed_node/mapping/clicked_point_topic: /clicked_point
* /zed2i/zed_node/mapping/fused_pointcloud_freq: 1.0
* /zed2i/zed_node/mapping/mapping_enabled: False
* /zed2i/zed_node/mapping/max_mapping_range: -1
* /zed2i/zed_node/mapping/resolution: 0.05
* /zed2i/zed_node/object_detection/allow_reduced_precision_inference: True
* /zed2i/zed_node/object_detection/max_range: 15.0
* /zed2i/zed_node/object_detection/mc_animal: True
* /zed2i/zed_node/object_detection/mc_bag: True
* /zed2i/zed_node/object_detection/mc_electronics: True
* /zed2i/zed_node/object_detection/mc_fruit_vegetable: True
* /zed2i/zed_node/object_detection/mc_people: True
* /zed2i/zed_node/object_detection/mc_sport: True
* /zed2i/zed_node/object_detection/mc_vehicle: True
* /zed2i/zed_node/object_detection/model: MULTI_CLASS_BOX_A...
* /zed2i/zed_node/object_detection/object_tracking_enabled: True
* /zed2i/zed_node/object_detection/od_enabled: False
* /zed2i/zed_node/object_detection/prediction_timeout: 0.5
* /zed2i/zed_node/point_cloud_freq: 10.0
* /zed2i/zed_node/pos_tracking/area_memory: True
* /zed2i/zed_node/pos_tracking/area_memory_db_path:
* /zed2i/zed_node/pos_tracking/depth_min_range: 0.0
* /zed2i/zed_node/pos_tracking/fixed_z_value: 0.0
* /zed2i/zed_node/pos_tracking/floor_alignment: False
* /zed2i/zed_node/pos_tracking/imu_fusion: True
* /zed2i/zed_node/pos_tracking/init_odom_with_first_valid_pose: True
* /zed2i/zed_node/pos_tracking/initial_base_pose: [0.0, 0.0, 0.0, 0...
* /zed2i/zed_node/pos_tracking/map_frame: map
* /zed2i/zed_node/pos_tracking/odometry_frame: odom
* /zed2i/zed_node/pos_tracking/path_max_count: -1
* /zed2i/zed_node/pos_tracking/path_pub_rate: 2.0
* /zed2i/zed_node/pos_tracking/pos_tracking_enabled: True
* /zed2i/zed_node/pos_tracking/pos_tracking_mode: GEN_2
* /zed2i/zed_node/pos_tracking/publish_map_tf: True
* /zed2i/zed_node/pos_tracking/publish_tf: True
* /zed2i/zed_node/pos_tracking/save_area_memory_db_on_exit: False
* /zed2i/zed_node/pos_tracking/set_as_static: False
* /zed2i/zed_node/pos_tracking/set_gravity_as_origin: True
* /zed2i/zed_node/pos_tracking/two_d_mode: False
* /zed2i/zed_node/saturation: 4
* /zed2i/zed_node/sensors/max_pub_rate: 200.0
* /zed2i/zed_node/sensors/publish_imu_tf: True
* /zed2i/zed_node/sensors/sensors_timestamp_sync: False
* /zed2i/zed_node/sharpness: 4
* /zed2i/zed_node/stream:
* /zed2i/zed_node/svo_file:
* /zed2i/zed_node/whitebalance_temperature: 42
NODES
/zed2i/
zed2i_state_publisher (robot_state_publisher/robot_state_publisher)
zed_node (zed_wrapper/zed_wrapper_node)
ROS_MASTER_URI=http://localhost:11311
process[zed2i/zed2i_state_publisher-1]: started with pid [605253]
process[zed2i/zed_node-2]: started with pid [605254]
[ INFO] [1716472238.849098756]: Initializing nodelet with 16 worker threads.
[ INFO] [1716472238.885164673]: ********** Starting nodelet '/zed2i/zed_node' **********
[ INFO] [1716472238.885246380]: SDK version: 4.1.1
[ INFO] [1716472238.885297022]: *** GENERAL PARAMETERS ***
[ INFO] [1716472238.885845490]: * Camera Model by param -> zed2i
[ INFO] [1716472238.886449557]: * Camera Name -> zed2i
[ INFO] [1716472238.887178289]: * Camera resolution -> HD720
[ INFO] [1716472238.888013398]: * Camera Grab Framerate -> 30
[ INFO] [1716472238.888809316]: * Grab compute capping FPS -> 15 Hz
[ INFO] [1716472238.889499229]: * Publishing resolution -> CUSTOM
[ INFO] [1716472238.890702795]: * Publishing downscale factor -> 2
[ INFO] [1716472238.891477715]: * Gpu ID -> -1
[ INFO] [1716472238.892053952]: * Camera ID -> 0
[ INFO] [1716472238.893068836]: * SDK Verbose level -> 1
[ INFO] [1716472238.893597294]: * Camera Flip -> AUTO
[ INFO] [1716472238.894109030]: * Self calibration -> ENABLED
[ INFO] [1716472238.895065660]: * Region of interest -> []
[ INFO] [1716472238.895088807]: *** DEPTH PARAMETERS ***
[ INFO] [1716472238.895570510]: * Depth mode -> ULTRA [3]
[ INFO] [1716472238.896057960]: * OpenNI mode -> DISABLED
[ INFO] [1716472238.896576227]: * Depth Stabilization -> 1
[ INFO] [1716472238.897077585]: * Minimum depth -> 0.3 m
[ INFO] [1716472238.897583051]: * Maximum depth -> 15 m
[ INFO] [1716472238.897615221]: *** POSITIONAL TRACKING PARAMETERS ***
[ INFO] [1716472238.898161114]: * Positional tracking -> ENABLED
[ INFO] [1716472238.898691487]: * Positional tracking mode -> POSITIONAL TRACKING MODE GEN_2
[ INFO] [1716472238.899434460]: * Set gravity as origin -> ENABLED
[ INFO] [1716472238.900049228]: * Path rate -> 2 Hz
[ INFO] [1716472238.900582484]: * Path history size -> INFINITE
[ INFO] [1716472238.901607692]: * Odometry DB path ->
[ INFO] [1716472238.902124340]: * Save Area Memory on closing -> DISABLED
[ INFO] [1716472238.902622701]: * Area Memory -> ENABLED
[ INFO] [1716472238.903113605]: * IMU Fusion -> ENABLED
[ INFO] [1716472238.903615703]: * Floor alignment -> DISABLED
[ INFO] [1716472238.904115058]: * Init Odometry with first valid pose data -> ENABLED
[ INFO] [1716472238.904615555]: * Force 2D mode -> DISABLED
[ INFO] [1716472238.905102087]: * Broadcast odometry TF -> ENABLED
[ INFO] [1716472238.905587011]: * Broadcast map pose TF -> ENABLED
[ INFO] [1716472238.906092714]: * Camera is static -> DISABLED
[ INFO] [1716472238.906599211]: * Depth minimum range -> 0
[ INFO] [1716472238.906626737]: *** MAPPING PARAMETERS ***
[ INFO] [1716472238.907116184]: * Mapping -> DISABLED
[ INFO] [1716472238.907603860]: * Clicked point topic -> /clicked_point
[ INFO] [1716472238.907631077]: *** OBJECT DETECTION PARAMETERS ***
[ INFO] [1716472238.908116145]: * Object Detection -> DISABLED
[ INFO] [1716472238.908632236]: * Object confidence -> 50
[ INFO] [1716472238.909115212]: * Object tracking -> ENABLED
[ INFO] [1716472238.909602301]: * Detection max range -> 15
[ INFO] [1716472238.910124085]: * Allow reduced precision -> ENABLED
[ INFO] [1716472238.910629664]: * Prediction Timeout -> 0.5
[ INFO] [1716472238.911129707]: * Object Det. model ->MULTI CLASS BOX ACCURATE
[ INFO] [1716472238.911609996]: * Detect people -> ENABLED
[ INFO] [1716472238.912090980]: * Detect vehicles -> ENABLED
[ INFO] [1716472238.912576045]: * Detect bags -> ENABLED
[ INFO] [1716472238.913057401]: * Detect animals -> ENABLED
[ INFO] [1716472238.913537320]: * Detect electronics -> ENABLED
[ INFO] [1716472238.914034070]: * Detect fruit and vegetables -> ENABLED
[ INFO] [1716472238.914533445]: * Detect sport-related objects -> ENABLED
[ INFO] [1716472238.914562812]: *** SENSORS PARAMETERS ***
[ INFO] [1716472238.915066103]: * Sensors timestamp sync -> DISABLED
[ INFO] [1716472238.915469440]: * Max sensors rate -> 200
[ INFO] [1716472238.915864041]: * Broadcast IMU pose TF -> ENABLED
[ INFO] [1716472238.915893568]: *** SVO PARAMETERS ***
[ INFO] [1716472238.916286968]: * SVO input file: ->
[ INFO] [1716472238.916685715]: * SVO REC compression -> H265 (HEVC)
[ INFO] [1716472238.917071684]: *** COORDINATE FRAMES ***
[ INFO] [1716472238.918391196]: * camera_frame -> zed2i_camera_center
[ INFO] [1716472238.918416110]: * imu_link -> zed2i_imu_link
[ INFO] [1716472238.918438340]: * left_camera_frame -> zed2i_left_camera_frame
[ INFO] [1716472238.918458620]: * left_camera_optical_frame -> zed2i_left_camera_optical_frame
[ INFO] [1716472238.918478169]: * right_camera_frame -> zed2i_right_camera_frame
[ INFO] [1716472238.918499694]: * right_camera_optical_frame -> zed2i_right_camera_optical_frame
[ INFO] [1716472238.918520619]: * map_frame -> map
[ INFO] [1716472238.918541176]: * odometry_frame -> odom
[ INFO] [1716472238.918560342]: * base_frame -> base_link
[ INFO] [1716472238.918579701]: * depth_frame -> zed2i_left_camera_frame
[ INFO] [1716472238.918601156]: * depth_optical_frame -> zed2i_left_camera_optical_frame
[ INFO] [1716472238.918621078]: * disparity_frame -> zed2i_left_camera_frame
[ INFO] [1716472238.918641384]: * disparity_optical_frame -> zed2i_left_camera_optical_frame
[ INFO] [1716472238.918661465]: * confidence_frame -> zed2i_left_camera_frame
[ INFO] [1716472238.918681546]: * confidence_optical_frame -> zed2i_left_camera_optical_frame
[ INFO] [1716472238.926227299]: * Camera coordinate system -> Right HANDED Z UP and X FORWARD
[ INFO] [1716472239.495937186]: *** Opening ZED 2i - LIVE CAMERA with ID 0 ***
[2024-05-23 13:50:39 UTC][ZED][INFO] Logging level INFO
[2024-05-23 13:50:39 UTC][ZED][INFO] [Init] Depth mode: ULTRA
[2024-05-23 13:50:40 UTC][ZED][INFO] [Init] Camera successfully opened.
[2024-05-23 13:50:40 UTC][ZED][INFO] [Init] Sensors FW version: 777
[2024-05-23 13:50:40 UTC][ZED][INFO] [Init] Camera FW version: 1523
[2024-05-23 13:50:40 UTC][ZED][INFO] [Init] Video mode: HD720@30
[2024-05-23 13:50:40 UTC][ZED][INFO] [Init] Serial Number: S/N 33833116
[ INFO] [1716472240.757106109]: ZED connection [LIVE CAMERA with ID 0]: SUCCESS
[ INFO] [1716472242.757339419]: ... ZED ready
[ INFO] [1716472242.757425669]: ZED SDK running on GPU #0
[ INFO] [1716472242.766069287]: Camera-IMU Transform:
561E1E6393B8
0.999892 0.014494 -0.002290 -0.002000
-0.014492 0.999894 0.000954 -0.023061
0.002304 -0.000921 0.999997 0.000217
0.000000 0.000000 0.000000 1.000000
[ INFO] [1716472242.766135901]: * CAMERA MODEL -> ZED 2i
[ INFO] [1716472242.766184071]: * Serial Number: 33833116
[ INFO] [1716472242.766209628]: * Camera FW Version: 1523
[ INFO] [1716472242.766235204]: * Sensors FW Version: 777
[ INFO] [1716472242.806285603]: *** PUBLISHERS ***
[ INFO] [1716472242.926458358]: * Advertised on topic /zed2i/zed_node/rgb/image_rect_color
[ INFO] [1716472242.926657877]: * Advertised on topic /zed2i/zed_node/rgb/camera_info
[ INFO] [1716472242.947171183]: * Advertised on topic /zed2i/zed_node/rgb_raw/image_raw_color
[ INFO] [1716472242.947327393]: * Advertised on topic /zed2i/zed_node/rgb_raw/camera_info
[ INFO] [1716472242.961184126]: * Advertised on topic /zed2i/zed_node/left/image_rect_color
[ INFO] [1716472242.961206685]: * Advertised on topic /zed2i/zed_node/left/camera_info
[ INFO] [1716472242.974062539]: * Advertised on topic /zed2i/zed_node/left_raw/image_raw_color
[ INFO] [1716472242.974081840]: * Advertised on topic /zed2i/zed_node/left_raw/camera_info
[ INFO] [1716472242.986860241]: * Advertised on topic /zed2i/zed_node/right/image_rect_color
[ INFO] [1716472242.986879939]: * Advertised on topic /zed2i/zed_node/right/camera_info
[ INFO] [1716472243.001842417]: * Advertised on topic /zed2i/zed_node/right_raw/image_raw_color
[ INFO] [1716472243.001867113]: * Advertised on topic /zed2i/zed_node/right_raw/camera_info
[ INFO] [1716472243.014450745]: * Advertised on topic /zed2i/zed_node/rgb/image_rect_gray
[ INFO] [1716472243.014474743]: * Advertised on topic /zed2i/zed_node/rgb/camera_info
[ INFO] [1716472243.027005679]: * Advertised on topic /zed2i/zed_node/rgb_raw/image_raw_gray
[ INFO] [1716472243.027027872]: * Advertised on topic /zed2i/zed_node/rgb_raw/camera_info
[ INFO] [1716472243.039585910]: * Advertised on topic /zed2i/zed_node/left/image_rect_gray
[ INFO] [1716472243.039610367]: * Advertised on topic /zed2i/zed_node/left/camera_info
[ INFO] [1716472243.067777336]: * Advertised on topic /zed2i/zed_node/left_raw/image_raw_gray
[ INFO] [1716472243.067814516]: * Advertised on topic /zed2i/zed_node/left_raw/camera_info
[ INFO] [1716472243.098692994]: * Advertised on topic /zed2i/zed_node/right/image_rect_gray
[ INFO] [1716472243.098766658]: * Advertised on topic /zed2i/zed_node/right/camera_info
[ INFO] [1716472243.118910496]: * Advertised on topic /zed2i/zed_node/right_raw/image_raw_gray
[ INFO] [1716472243.119002218]: * Advertised on topic /zed2i/zed_node/right_raw/camera_info
[ INFO] [1716472243.149781118]: * Advertised on topic /zed2i/zed_node/stereo/image_rect_color
[ INFO] [1716472243.171897297]: * Advertised on topic /zed2i/zed_node/stereo_raw/image_raw_color
[ INFO] [1716472243.192641219]: * Advertised on topic /zed2i/zed_node/depth/depth_registered
[ INFO] [1716472243.192728109]: * Advertised on topic /zed2i/zed_node/depth/camera_info
[ INFO] [1716472243.193245276]: * Advertised on topic /zed2i/zed_node/confidence/confidence_map
[ INFO] [1716472243.193669278]: * Advertised on topic /zed2i/zed_node/disparity/disparity_image
[ INFO] [1716472243.194126332]: * Advertised on topic /zed2i/zed_node/point_cloud/cloud_registered
[ INFO] [1716472243.194559466]: * Advertised on topic /zed2i/zed_node/pose
[ INFO] [1716472243.195004265]: * Advertised on topic /zed2i/zed_node/pose_with_covariance
[ INFO] [1716472243.195437789]: * Advertised on topic /zed2i/zed_node/odom
[ INFO] [1716472243.195866989]: * Advertised on topic /zed2i/zed_node/odom/status
[ INFO] [1716472243.196290448]: * Advertised on topic /zed2i/zed_node/pose/status
[ INFO] [1716472243.197079252]: * Advertised on topic /zed2i/zed_node/path_odom
[ INFO] [1716472243.197519793]: * Advertised on topic /zed2i/zed_node/path_map
[ INFO] [1716472243.198140816]: * Advertised on topic /zed2i/zed_node/imu/data
[ INFO] [1716472243.198610454]: * Advertised on topic /zed2i/zed_node/imu/data_raw
[ INFO] [1716472243.199771911]: * Advertised on topic /zed2i/zed_node/temperature/imu
[ INFO] [1716472243.201149161]: * Advertised on topic /zed2i/zed_node/imu/mag
[ INFO] [1716472243.202581259]: * Advertised on topic /zed2i/zed_node/atm_press
[ INFO] [1716472243.204265211]: * Advertised on topic /zed2i/zed_node/temperature/left
[ INFO] [1716472243.205283452]: * Advertised on topic /zed2i/zed_node/temperature/right
[ INFO] [1716472243.206769911]: * Advertised on topic /zed2i/zed_node/left_cam_imu_transform [LATCHED]
[ INFO] [1716472243.206840319]: *** SUBSCRIBERS ***
[ INFO] [1716472243.210541392]: * Subscribed to topic /clicked_point
[ INFO] [1716472243.210624702]: *** SERVICES ***
[ INFO] [1716472243.211541605]: * Advertised on service /zed2i/zed_node/set_pose
[ INFO] [1716472243.212433583]: * Advertised on service /zed2i/zed_node/reset_odometry
[ INFO] [1716472243.213302308]: * Advertised on service /zed2i/zed_node/reset_tracking
[ INFO] [1716472243.214344881]: * Advertised on service /zed2i/zed_node/save_area_memory
[ INFO] [1716472243.215255756]: * Advertised on service /zed2i/zed_node/start_3d_mapping
[ INFO] [1716472243.216141071]: * Advertised on service /zed2i/zed_node/stop_3d_mapping
[ INFO] [1716472243.216992736]: * Advertised on service /zed2i/zed_node/save_3d_map
[ INFO] [1716472243.217886874]: * Advertised on service /zed2i/zed_node/enable_object_detection
[ INFO] [1716472243.218868478]: * Advertised on service /zed2i/zed_node/start_svo_recording
[ INFO] [1716472243.219827500]: * Advertised on service /zed2i/zed_node/stop_svo_recording
[ INFO] [1716472243.220894816]: * Advertised on service /zed2i/zed_node/set_led_status
[ INFO] [1716472243.221873117]: * Advertised on service /zed2i/zed_node/toggle_led
[ INFO] [1716472243.222779914]: * Advertised on service /zed2i/zed_node/start_remote_stream
[ INFO] [1716472243.223605528]: * Advertised on service /zed2i/zed_node/stop_remote_stream
[ INFO] [1716472243.224499665]: * Advertised on service /zed2i/zed_node/set_roi
[ INFO] [1716472243.225385450]: * Advertised on service /zed2i/zed_node/set_roi
[ INFO] [1716472243.225637906]: +++ ZED Node started +++
[ INFO] [1716472243.225883516]: Published static transform 'zed2i_imu_link' -> 'zed2i_left_camera_frame'
[ INFO] [1716472243.226120783]: *** Starting Positional Tracking ***
[ INFO] [1716472243.226206772]: * Waiting for valid static transformations...
ZED Camera model
ZED
Environment
OS: Ubuntu 20.04
ZED SDK: 4.1.1
ROS NoeticAnything else?
No response
Myzhar commented
Hi @amstrudy
can you please send me the TF tree? (you can use rtq to save it as an image)
anja-sheppard commented
@Myzhar Somehow this resolved itself after a few days... not sure what the issue was but I can't reproduce the problem now.