zed_rtabmap_example zed_rtabmap.launch won't run
AndreV84 opened this issue · comments
could you provide any solution to run it on the Jetson, jetpack 4.4, please? from within docker, please?
mine did not work
Dockerfile.txt
resolved bu using 3.2.1 sdk version
running with
docker run -it --rm --net=host -e DISPLAY=$DISPLAY --ipc=host --privileged -v /tmp/.X11-unix/:/tmp/.X11-unix/ -v /tmp/argus_socket:/tmp/argus_socket --cap-add SYS_PTRACE zed:latest /bin/bash -c '. /opt/ros/melodic/setup.bash; source devel/setup.bash; roslaunch zed_rtabmap_example zed_rtabmap.launch'
Dockerfile updated https://github.com/stereolabs/zed-ros-wrapper/files/4982972/Dockerfile.txt
docker run -it --rm --runtime nvidia --privileged -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix -v /tmp/argus_socket:/tmp/argus_socket --cap-add SYS_PTRACE zed2:latest /bin/bash -c '. /opt/ros/melodic/setup.bash; source devel/setup.bash; roslaunch zed_rtabmap_example zed_rtabmap.launch'
... logging to /root/.ros/log/72cd535e-d024-11ea-8226-0242ac110002/roslaunch-7a6a546ef6ce-56.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://7a6a546ef6ce:42387/
SUMMARY
========
PARAMETERS
* /rosdistro: melodic
* /rosversion: 1.14.6
* /zed/rtabmap/Grid/3D: True
* /zed/rtabmap/Grid/CellSize: 0.05
* /zed/rtabmap/Grid/ClusterRadius: 0.1
* /zed/rtabmap/Grid/DepthDecimation: 1
* /zed/rtabmap/Grid/DepthRoiRatios: [0.0, 0.0, 0.0, 0.0]
* /zed/rtabmap/Grid/FlatObstacleDetected: True
* /zed/rtabmap/Grid/FootprintHeight: 2.0
* /zed/rtabmap/Grid/FootprintLength: 0.18
* /zed/rtabmap/Grid/FootprintWidth: 0.18
* /zed/rtabmap/Grid/FromDepth: True
* /zed/rtabmap/Grid/GroundIsObstacle: False
* /zed/rtabmap/Grid/MapFrameProjection: False
* /zed/rtabmap/Grid/MaxGroundAngle: 30.0
* /zed/rtabmap/Grid/MaxGroundHeight: -0.4
* /zed/rtabmap/Grid/MaxObstacleHeight: 0.1
* /zed/rtabmap/Grid/MinClusterSize: 3
* /zed/rtabmap/Grid/MinGroundHeight: -0.5
* /zed/rtabmap/Grid/NoiseFilteringMinNeighbors: 5
* /zed/rtabmap/Grid/NoiseFilteringRadius: 0.1
* /zed/rtabmap/Grid/NormalK: 20
* /zed/rtabmap/Grid/NormalsSegmentation: False
* /zed/rtabmap/Grid/PreVoxelFiltering: True
* /zed/rtabmap/Grid/RangeMax: 3.0
* /zed/rtabmap/Grid/RangeMin: 0.7
* /zed/rtabmap/Grid/RayTracing: True
* /zed/rtabmap/GridGlobal/Eroded: False
* /zed/rtabmap/GridGlobal/FootprintRadius: 0.18
* /zed/rtabmap/GridGlobal/FullUpdate: True
* /zed/rtabmap/GridGlobal/MaxNodes: 0
* /zed/rtabmap/GridGlobal/MinSize: 1.0
* /zed/rtabmap/GridGlobal/OccupancyThr: 0.55
* /zed/rtabmap/GridGlobal/ProbClampingMax: 0.971
* /zed/rtabmap/GridGlobal/ProbClampingMin: 0.1192
* /zed/rtabmap/GridGlobal/ProbHit: 0.7
* /zed/rtabmap/GridGlobal/ProbMiss: 0.4
* /zed/rtabmap/GridGlobal/UpdateError: 0.01
* /zed/rtabmap/Mem/IncrementalMemory: true
* /zed/rtabmap/Mem/InitWMWithAllNodes: false
* /zed/rtabmap/approx_sync: True
* /zed/rtabmap/config_path: ~/.ros/rtabmap.cfg
* /zed/rtabmap/database_path: ~/.ros/rtabmap.db
* /zed/rtabmap/frame_id: base_link
* /zed/rtabmap/map_frame_id: map
* /zed/rtabmap/odom_frame_id: odom
* /zed/rtabmap/odom_sensor_sync: False
* /zed/rtabmap/odom_tf_angular_variance: 0.001
* /zed/rtabmap/odom_tf_linear_variance: 0.001
* /zed/rtabmap/publish_tf: False
* /zed/rtabmap/queue_size: 10
* /zed/rtabmap/scan_normal_k: 0
* /zed/rtabmap/subscribe_depth: True
* /zed/rtabmap/subscribe_odom_info: False
* /zed/rtabmap/subscribe_rgbd: False
* /zed/rtabmap/subscribe_scan: False
* /zed/rtabmap/subscribe_scan_cloud: False
* /zed/rtabmap/subscribe_stereo: False
* /zed/rtabmap/subscribe_user_data: False
* /zed/rtabmap/tf_delay: 0.02
* /zed/rtabmap/wait_for_transform_duration: 0.2
* /zed/zed_description: <?xml version="1....
* /zed/zed_node/auto_exposure_gain: True
* /zed/zed_node/auto_whitebalance: True
* /zed/zed_node/brightness: 4
* /zed/zed_node/contrast: 4
* /zed/zed_node/depth/depth_downsample_factor: 1.0
* /zed/zed_node/depth/depth_stabilization: 1
* /zed/zed_node/depth/max_depth: 20.0
* /zed/zed_node/depth/min_depth: 0.7
* /zed/zed_node/depth/openni_depth_mode: True
* /zed/zed_node/depth/quality: 1
* /zed/zed_node/depth/sensing_mode: 0
* /zed/zed_node/depth_confidence: 50
* /zed/zed_node/depth_texture_conf: 100
* /zed/zed_node/exposure: 100
* /zed/zed_node/gain: 100
* /zed/zed_node/gamma: 8
* /zed/zed_node/general/base_frame: base_link
* /zed/zed_node/general/camera_flip: False
* /zed/zed_node/general/camera_model: zed2
* /zed/zed_node/general/camera_name: zed
* /zed/zed_node/general/gpu_id: -1
* /zed/zed_node/general/grab_frame_rate: 15
* /zed/zed_node/general/resolution: 2
* /zed/zed_node/general/self_calib: True
* /zed/zed_node/general/serial_number: 0
* /zed/zed_node/general/svo_compression: 2
* /zed/zed_node/general/verbose: False
* /zed/zed_node/general/zed_id: 0
* /zed/zed_node/hue: 0
* /zed/zed_node/mapping/fused_pointcloud_freq: 1.0
* /zed/zed_node/mapping/mapping_enabled: False
* /zed/zed_node/mapping/max_mapping_range: -1
* /zed/zed_node/mapping/resolution: 0.05
* /zed/zed_node/object_detection/confidence_threshold: 50
* /zed/zed_node/object_detection/object_tracking_enabled: True
* /zed/zed_node/object_detection/od_enabled: False
* /zed/zed_node/object_detection/people_detection: True
* /zed/zed_node/object_detection/vehicle_detection: False
* /zed/zed_node/point_cloud_freq: 15.0
* /zed/zed_node/pos_tracking/area_memory: True
* /zed/zed_node/pos_tracking/area_memory_db_path:
* /zed/zed_node/pos_tracking/fixed_z_value: 0.0
* /zed/zed_node/pos_tracking/floor_alignment: False
* /zed/zed_node/pos_tracking/imu_fusion: True
* /zed/zed_node/pos_tracking/init_odom_with_first_valid_pose: True
* /zed/zed_node/pos_tracking/initial_base_pose: [0.0, 0.0, 0.0, 0...
* /zed/zed_node/pos_tracking/map_frame: map
* /zed/zed_node/pos_tracking/odometry_frame: odom
* /zed/zed_node/pos_tracking/path_max_count: -1
* /zed/zed_node/pos_tracking/path_pub_rate: 2.0
* /zed/zed_node/pos_tracking/publish_map_tf: True
* /zed/zed_node/pos_tracking/publish_tf: True
* /zed/zed_node/pos_tracking/two_d_mode: False
* /zed/zed_node/pub_frame_rate: 15.0
* /zed/zed_node/saturation: 4
* /zed/zed_node/sensors/sensors_timestamp_sync: False
* /zed/zed_node/sharpness: 4
* /zed/zed_node/stream:
* /zed/zed_node/svo_file:
* /zed/zed_node/video/extrinsic_in_camera_frame: True
* /zed/zed_node/video/img_downsample_factor: 1.0
* /zed/zed_node/whitebalance_temperature: 42
NODES
/zed/
rtabmap (rtabmap_ros/rtabmap)
rtabmapviz (rtabmap_ros/rtabmapviz)
rviz (rviz/rviz)
zed_node (zed_wrapper/zed_wrapper_node)
zed_state_publisher (robot_state_publisher/robot_state_publisher)
auto-starting new master
process[master]: started with pid [69]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 72cd535e-d024-11ea-8226-0242ac110002
process[rosout-1]: started with pid [80]
started core service [/rosout]
process[zed/zed_state_publisher-2]: started with pid [87]
process[zed/zed_node-3]: started with pid [88]
[ INFO] [1595866558.967621678]: Initializing nodelet with 8 worker threads.
nvbuf_utils: Could not get EGL display connection
[ INFO] [1595866559.029016864]: ********** Starting nodelet '/zed/zed_node' **********
[ INFO] [1595866559.029210343]: SDK version : 3.2.1
[ INFO] [1595866559.029315467]: *** PARAMETERS ***
[ INFO] [1595866559.030043110]: * Camera Name -> zed
[ INFO] [1595866559.030760065]: * Camera Resolution -> HD720
[ INFO] [1595866559.031491740]: * Camera Grab Framerate -> 15
[ INFO] [1595866559.032143956]: * Gpu ID -> -1
[ INFO] [1595866559.032843406]: * Camera ID -> -1
[ INFO] [1595866559.033461733]: * Verbose -> DISABLED
[ INFO] [1595866559.034707892]: * Camera Flip -> DISABLED
[ INFO] [1595866559.035790524]: * Self calibration -> ENABLED
[ INFO] [1595866559.036901478]: * Camera Model by param -> zed2
[ INFO] [1595866559.037631521]: * Image resample factor -> 1
[ INFO] [1595866559.038310618]: * Extrinsic param. frame -> X RIGHT - Y DOWN - Z FWD
[ INFO] [1595866559.038944466]: * Depth quality -> PERFORMANCE
[ INFO] [1595866559.039819186]: * Depth Sensing mode -> STANDARD
[ INFO] [1595866559.040474475]: * OpenNI mode -> ENABLED
[ INFO] [1595866559.041140676]: * Depth Stabilization -> ENABLED
[ INFO] [1595866559.041851582]: * Minimum depth -> 0.7 m
[ INFO] [1595866559.042507351]: * Maximum depth -> 20 m
[ INFO] [1595866559.043156655]: * Depth resample factor -> 1
[ INFO] [1595866559.043819719]: * Path rate -> 2 Hz
[ INFO] [1595866559.044432158]: * Path history size -> 1
[ INFO] [1595866559.045791313]: * Odometry DB path ->
[ INFO] [1595866559.047016671]: * Spatial Memory -> ENABLED
[ INFO] [1595866559.048143369]: * IMU Fusion -> ENABLED
[ INFO] [1595866559.049244082]: * Floor alignment -> DISABLED
[ INFO] [1595866559.050466431]: * Init Odometry with first valid pose data -> ENABLED
[ INFO] [1595866559.051578921]: * Two D mode -> DISABLED
[ INFO] [1595866559.053849917]: * Mapping -> DISABLED
[ INFO] [1595866559.055030793]: * Object Detection -> DISABLED
[ INFO] [1595866559.055658241]: * Sensors timestamp sync -> DISABLED
[ INFO] [1595866559.056777835]: * SVO input file: ->
[ INFO] [1595866559.057327103]: * SVO REC compression -> H265 (HEVC)
[ INFO] [1595866559.061112972]: * map_frame -> map
[ INFO] [1595866559.061174479]: * odometry_frame -> odom
[ INFO] [1595866559.061239665]: * base_frame -> base_link
[ INFO] [1595866559.061321620]: * camera_frame -> zed_camera_center
[ INFO] [1595866559.061440792]: * imu_link -> zed_imu_link
[ INFO] [1595866559.061507707]: * left_camera_frame -> zed_left_camera_frame
[ INFO] [1595866559.061553245]: * left_camera_optical_frame -> zed_left_camera_optical_frame
[ INFO] [1595866559.061597342]: * right_camera_frame -> zed_right_camera_frame
[ INFO] [1595866559.061654080]: * right_camera_optical_frame -> zed_right_camera_optical_frame
[ INFO] [1595866559.061700418]: * depth_frame -> zed_left_camera_frame
[ INFO] [1595866559.061735267]: * depth_optical_frame -> zed_left_camera_optical_frame
[ INFO] [1595866559.061768709]: * disparity_frame -> zed_left_camera_frame
[ INFO] [1595866559.061835111]: * disparity_optical_frame -> zed_left_camera_optical_frame
[ INFO] [1595866559.061921546]: * confidence_frame -> zed_left_camera_frame
[ INFO] [1595866559.062062544]: * confidence_optical_frame -> zed_left_camera_optical_frame
[ INFO] [1595866559.063523142]: * Broadcast odometry TF -> ENABLED
[ INFO] [1595866559.064779125]: * Broadcast map pose TF -> ENABLED
[ INFO] [1595866559.065356522]: * [DYN] Depth confidence -> 50
[ INFO] [1595866559.065906399]: * [DYN] Depth texture conf. -> 100
[ INFO] [1595866559.066626202]: * [DYN] pub_frame_rate -> 15 Hz
[ INFO] [1595866559.067405815]: * [DYN] point_cloud_freq -> 15 Hz
[ INFO] [1595866559.068083952]: * [DYN] brightness -> 4
[ INFO] [1595866559.068630917]: * [DYN] contrast -> 4
[ INFO] [1595866559.069273597]: * [DYN] hue -> 0
[ INFO] [1595866559.069854866]: * [DYN] saturation -> 4
[ INFO] [1595866559.070441928]: * [DYN] sharpness -> 4
[ INFO] [1595866559.070965532]: * [DYN] gamma -> 8
[ INFO] [1595866559.071576850]: * [DYN] auto_exposure_gain -> ENABLED
[ INFO] [1595866559.073087435]: * [DYN] auto_whitebalance -> ENABLED
[ INFO] [1595866559.073729507]: Openni depth mode activated -> Units: mm, Encoding: MONO16
[ INFO] [1595866559.082107035]: * Camera coordinate system -> Right HANDED Z UP and X FORWARD
[ INFO] [1595866559.082293026]: *** Opening ZED 2...
in Camera.cpp : void sl::Camera::close() at 84 : cuda error [35]: CUDA driver version is insufficient for CUDA runtime version.
[ INFO] [1595866559.093156311]: ZED connection -> NVIDIA DRIVER OUT OF DATE
process[zed/rtabmapviz-4]: started with pid [95]
process[zed/rtabmap-5]: started with pid [112]
[ INFO] [1595866560.095258731]: Starting node...
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
qt.qpa.screen: QXcbConnection: Could not connect to display
Could not connect to any X display.
process[zed/rviz-6]: started with pid [113]
[zed/rtabmapviz-4] process has died [pid 95, exit code 1, cmd /opt/ros/melodic/lib/rtabmap_ros/rtabmapviz rgb/image:=zed_node/rgb/image_rect_color depth/image:=zed_node/depth/depth_registered rgb/camera_info:=zed_node/rgb/camera_info grid_map:=map odom:=zed_node/odom __name:=rtabmapviz __log:=/root/.ros/log/72cd535e-d024-11ea-8226-0242ac110002/zed-rtabmapviz-4.log].
log file: /root/.ros/log/72cd535e-d024-11ea-8226-0242ac110002/zed-rtabmapviz-4*.log
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
qt.qpa.screen: QXcbConnection: Could not connect to display
Could not connect to any X display.
[ INFO] [1595866560.303488863]: Starting node...
[zed/rviz-6] process has died [pid 113, exit code 1, cmd /opt/ros/melodic/lib/rviz/rviz -d /home/nvidia/ros_ws/src/zed-ros-examples/examples/zed_rtabmap_example/rviz/zed-rtabmap.rviz __name:=rviz __log:=/root/.ros/log/72cd535e-d024-11ea-8226-0242ac110002/zed-rviz-6.log].
log file: /root/.ros/log/72cd535e-d024-11ea-8226-0242ac110002/zed-rviz-6*.log
[ INFO] [1595866560.367579637]: Initializing nodelet with 8 worker threads.
[ INFO] [1595866560.829153007]: /zed/rtabmap(maps): map_filter_radius = 0.000000
[ INFO] [1595866560.829267571]: /zed/rtabmap(maps): map_filter_angle = 30.000000
[ INFO] [1595866560.829335350]: /zed/rtabmap(maps): map_cleanup = true
[ INFO] [1595866560.829431417]: /zed/rtabmap(maps): map_always_update = false
[ INFO] [1595866560.829519005]: /zed/rtabmap(maps): map_empty_ray_tracing = true
[ INFO] [1595866560.829558302]: /zed/rtabmap(maps): cloud_output_voxelized = true
[ INFO] [1595866560.829593119]: /zed/rtabmap(maps): cloud_subtract_filtering = false
[ INFO] [1595866560.829628737]: /zed/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
[ INFO] [1595866560.833336651]: /zed/rtabmap(maps): octomap_tree_depth = 16
[ INFO] [1595866560.871233264]: rtabmap: frame_id = base_link
[ INFO] [1595866560.871455608]: rtabmap: odom_frame_id = odom
[ INFO] [1595866560.871510714]: rtabmap: map_frame_id = map
[ INFO] [1595866560.871566780]: rtabmap: use_action_for_goal = false
[ INFO] [1595866560.871640031]: rtabmap: tf_delay = 0.020000
[ INFO] [1595866560.871682881]: rtabmap: tf_tolerance = 0.100000
[ INFO] [1595866560.871748707]: rtabmap: odom_sensor_sync = false
[ INFO] [1595866560.905416939]: Loading parameters from /root/.ros/rtabmap.cfg
[ WARN] [1595866560.905671284]: Config file doesn't exist! It will be generated...
[ WARN] (2020-07-27 16:16:00.905) Parameters.cpp:1113::readINI() Section "Core" in /root/.ros/rtabmap.cfg doesn't exist... Ignore this warning if the ini file does not exist yet. The ini file will be automatically created when rtabmap will close.
[ INFO] [1595866560.970773839]: Setting RTAB-Map parameter "Grid/3D"="true"
[ INFO] [1595866560.972792667]: Setting RTAB-Map parameter "Grid/CellSize"="0.05"
[ INFO] [1595866560.975004749]: Setting RTAB-Map parameter "Grid/ClusterRadius"="0.1"
[ INFO] [1595866560.976947606]: Setting RTAB-Map parameter "Grid/DepthDecimation"="1"
[ INFO] [1595866560.980332788]: Setting RTAB-Map parameter "Grid/FlatObstacleDetected"="true"
[ INFO] [1595866560.982199769]: Setting RTAB-Map parameter "Grid/FootprintHeight"="2"
[ INFO] [1595866560.984059615]: Setting RTAB-Map parameter "Grid/FootprintLength"="0.18"
[ INFO] [1595866560.985862402]: Setting RTAB-Map parameter "Grid/FootprintWidth"="0.18"
[ INFO] [1595866560.987145202]: Setting RTAB-Map parameter "Grid/FromDepth"="true"
[ INFO] [1595866560.988378240]: Setting RTAB-Map parameter "Grid/GroundIsObstacle"="false"
[ INFO] [1595866560.989593005]: Setting RTAB-Map parameter "Grid/MapFrameProjection"="false"
[ INFO] [1595866560.991431506]: Setting RTAB-Map parameter "Grid/MaxGroundAngle"="30"
[ INFO] [1595866560.993216244]: Setting RTAB-Map parameter "Grid/MaxGroundHeight"="-0.4"
[ INFO] [1595866560.995070329]: Setting RTAB-Map parameter "Grid/MaxObstacleHeight"="0.1"
[ INFO] [1595866560.996842267]: Setting RTAB-Map parameter "Grid/MinClusterSize"="3"
[ INFO] [1595866560.998375925]: Setting RTAB-Map parameter "Grid/MinGroundHeight"="-0.5"
[ INFO] [1595866561.000053107]: Setting RTAB-Map parameter "Grid/NoiseFilteringMinNeighbors"="5"
[ INFO] [1595866561.001679536]: Setting RTAB-Map parameter "Grid/NoiseFilteringRadius"="0.1"
[ INFO] [1595866561.003194504]: Setting RTAB-Map parameter "Grid/NormalK"="20"
[ INFO] [1595866561.004255664]: Setting RTAB-Map parameter "Grid/NormalsSegmentation"="false"
[ INFO] [1595866561.005393594]: Setting RTAB-Map parameter "Grid/PreVoxelFiltering"="true"
[ INFO] [1595866561.007004854]: Setting RTAB-Map parameter "Grid/RangeMax"="3"
[ INFO] [1595866561.008766360]: Setting RTAB-Map parameter "Grid/RangeMin"="0.7"
[ INFO] [1595866561.009836032]: Setting RTAB-Map parameter "Grid/RayTracing"="true"
[ INFO] [1595866561.014800505]: Setting RTAB-Map parameter "GridGlobal/Eroded"="false"
[ INFO] [1595866561.016476567]: Setting RTAB-Map parameter "GridGlobal/FootprintRadius"="0.18"
[ INFO] [1595866561.017720550]: Setting RTAB-Map parameter "GridGlobal/FullUpdate"="true"
[ INFO] [1595866561.019294785]: Setting RTAB-Map parameter "GridGlobal/MaxNodes"="0"
[ INFO] [1595866561.020943678]: Setting RTAB-Map parameter "GridGlobal/MinSize"="1"
[ INFO] [1595866561.022522041]: Setting RTAB-Map parameter "GridGlobal/OccupancyThr"="0.55"
[ INFO] [1595866561.024298299]: Setting RTAB-Map parameter "GridGlobal/ProbClampingMax"="0.971"
[ INFO] [1595866561.026053021]: Setting RTAB-Map parameter "GridGlobal/ProbClampingMin"="0.1192"
[ INFO] [1595866561.028658366]: Setting RTAB-Map parameter "GridGlobal/ProbHit"="0.7"
[ INFO] [1595866561.030670089]: Setting RTAB-Map parameter "GridGlobal/ProbMiss"="0.4"
[ INFO] [1595866561.032490029]: Setting RTAB-Map parameter "GridGlobal/UpdateError"="0.01"
in Camera.cpp : void sl::Camera::close() at 84 : cuda error [35]: CUDA driver version is insufficient for CUDA runtime version.
[ZED]ERROR: sl::Camera::Open has not been called, no Camera instance running.
in Camera.cpp : void sl::Camera::close() at 134 : cuda error [35]: CUDA driver version is insufficient for CUDA runtime version.
in CameraUtils.hpp : void sl::ObjectsDetectorHandler::clear() at 679 : cuda error [35]: CUDA driver version is insufficient for CUDA runtime version.
in CameraUtils.hpp : void sl::ObjectsDetectorHandler::clear() at 703 : cuda error [35]: CUDA driver version is insufficient for CUDA runtime version.
in CameraUtils.hpp : void sl::ObjectsDetectorHandler::clear() at 708 : cuda error [35]: CUDA driver version is insufficient for CUDA runtime version.
in CameraUtils.hpp : void sl::ObjectsDetectorHandler::clear() at 714 : cuda error [35]: CUDA driver version is insufficient for CUDA runtime version.
in CameraUtils.hpp : void sl::ObjectsDetectorHandler::clear() at 717 : cuda error [35]: CUDA driver version is insufficient for CUDA runtime version.
in CameraUtils.hpp : void sl::ObjectsDetectorHandler::clear() at 723 : cuda error [35]: CUDA driver version is insufficient for CUDA runtime version.
in CameraUtils.hpp : void sl::ObjectsDetectorHandler::clear() at 732 : cuda error [35]: CUDA driver version is insufficient for CUDA runtime version.
in CameraUtils.hpp : void sl::SkeletonDetectorHandler::clear() at 831 : cuda error [35]: CUDA driver version is insufficient for CUDA runtime version.
in Camera.cpp : void sl::Camera::close() at 181 : cuda error [35]: CUDA driver version is insufficient for CUDA runtime version.
[ INFO] [1595866561.094033763]: ZED connection -> NVIDIA DRIVER OUT OF DATE
[ INFO] [1595866561.162739557]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="true"
[ INFO] [1595866561.163483393]: Setting RTAB-Map parameter "Mem/InitWMWithAllNodes"="false"
^C[zed/rtabmap-5] killing on exit
[zed/zed_node-3] killing on exit
[zed/zed_state_publisher-2] killing on exit
^Cin Camera.cpp : void sl::Camera::close() at 84 : cuda error [35]: CUDA driver version is insufficient for CUDA runtime version.
[ZED]ERROR: sl::Camera::Open has not been called, no Camera instance running.
in Camera.cpp : void sl::Camera::close() at 134 : cuda error [35]: CUDA driver version is insufficient for CUDA runtime version.
in CameraUtils.hpp : void sl::ObjectsDetectorHandler::clear() at 679 : cuda error [35]: CUDA driver version is insufficient for CUDA runtime version.
in CameraUtils.hpp : void sl::ObjectsDetectorHandler::clear() at 703 : cuda error [35]: CUDA driver version is insufficient for CUDA runtime version.
in CameraUtils.hpp : void sl::ObjectsDetectorHandler::clear() at 708 : cuda error [35]: CUDA driver version is insufficient for CUDA runtime version.
in CameraUtils.hpp : void sl::ObjectsDetectorHandler::clear() at 714 : cuda error [35]: CUDA driver version is insufficient for CUDA runtime version.
in CameraUtils.hpp : void sl::ObjectsDetectorHandler::clear() at 717 : cuda error [35]: CUDA driver version is insufficient for CUDA runtime version.
in CameraUtils.hpp : void sl::ObjectsDetectorHandler::clear() at 723 : cuda error [35]: CUDA driver version is insufficient for CUDA runtime version.
in CameraUtils.hpp : void sl::ObjectsDetectorHandler::clear() at 732 : cuda error [35]: CUDA driver version is insufficient for CUDA runtime version.
in CameraUtils.hpp : void sl::SkeletonDetectorHandler::clear() at 831 : cuda error [35]: CUDA driver version is insufficient for CUDA runtime version.
in Camera.cpp : void sl::Camera::close() at 181 : cuda error [35]: CUDA driver version is insufficient for CUDA runtime version.
in Camera.cpp : void sl::Camera::close() at 84 : cuda error [35]: CUDA driver version is insufficient for CUDA runtime version.
Saving parameters to /root/.ros/rtabmap.cfg
Config file doesn't exist, a new one will be created.
rtabmap: Saving database/long-term memory... (located at /root/.ros/rtabmap.db)
rtabmap: Saving database/long-term memory...done! (located at /root/.ros/rtabmap.db, 0 MB)
^Z^X^C^Z^X^C[rosout-1] killing on exit
[master] killing on exit
^Ashutting down processing monitor...
... shutting down processing monitor complete
docker run -it --rm --net=host -e DISPLAY=$DISPLAY --ipc=host --privileged -v /tmp/.X11-unix/:/tmp/.X11-unix/ -v /tmp/argus_socket:/tmp/argus_socket --cap-add SYS_PTRACE zed:latest /bin/bash -c '. /opt/ros/melodic/setup.bash; source devel/setup.bash; roslaunch zed_rtabmap_example zed_rtabmap.launch'
... logging to /root/.ros/log/bc2832bc-d024-11ea-8bd2-00044bcb9a37/roslaunch-jetson-agx001-54.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://jetson-agx001:32985/
SUMMARY
========
PARAMETERS
* /rosdistro: melodic
* /rosversion: 1.14.6
* /zed/rtabmap/Grid/3D: True
* /zed/rtabmap/Grid/CellSize: 0.05
* /zed/rtabmap/Grid/ClusterRadius: 0.1
* /zed/rtabmap/Grid/DepthDecimation: 1
* /zed/rtabmap/Grid/DepthRoiRatios: [0.0, 0.0, 0.0, 0.0]
* /zed/rtabmap/Grid/FlatObstacleDetected: True
* /zed/rtabmap/Grid/FootprintHeight: 2.0
* /zed/rtabmap/Grid/FootprintLength: 0.18
* /zed/rtabmap/Grid/FootprintWidth: 0.18
* /zed/rtabmap/Grid/FromDepth: True
* /zed/rtabmap/Grid/GroundIsObstacle: False
* /zed/rtabmap/Grid/MapFrameProjection: False
* /zed/rtabmap/Grid/MaxGroundAngle: 30.0
* /zed/rtabmap/Grid/MaxGroundHeight: -0.4
* /zed/rtabmap/Grid/MaxObstacleHeight: 0.1
* /zed/rtabmap/Grid/MinClusterSize: 3
* /zed/rtabmap/Grid/MinGroundHeight: -0.5
* /zed/rtabmap/Grid/NoiseFilteringMinNeighbors: 5
* /zed/rtabmap/Grid/NoiseFilteringRadius: 0.1
* /zed/rtabmap/Grid/NormalK: 20
* /zed/rtabmap/Grid/NormalsSegmentation: False
* /zed/rtabmap/Grid/PreVoxelFiltering: True
* /zed/rtabmap/Grid/RangeMax: 3.0
* /zed/rtabmap/Grid/RangeMin: 0.7
* /zed/rtabmap/Grid/RayTracing: True
* /zed/rtabmap/GridGlobal/Eroded: False
* /zed/rtabmap/GridGlobal/FootprintRadius: 0.18
* /zed/rtabmap/GridGlobal/FullUpdate: True
* /zed/rtabmap/GridGlobal/MaxNodes: 0
* /zed/rtabmap/GridGlobal/MinSize: 1.0
* /zed/rtabmap/GridGlobal/OccupancyThr: 0.55
* /zed/rtabmap/GridGlobal/ProbClampingMax: 0.971
* /zed/rtabmap/GridGlobal/ProbClampingMin: 0.1192
* /zed/rtabmap/GridGlobal/ProbHit: 0.7
* /zed/rtabmap/GridGlobal/ProbMiss: 0.4
* /zed/rtabmap/GridGlobal/UpdateError: 0.01
* /zed/rtabmap/Mem/IncrementalMemory: true
* /zed/rtabmap/Mem/InitWMWithAllNodes: false
* /zed/rtabmap/approx_sync: True
* /zed/rtabmap/config_path: ~/.ros/rtabmap.cfg
* /zed/rtabmap/database_path: ~/.ros/rtabmap.db
* /zed/rtabmap/frame_id: base_link
* /zed/rtabmap/map_frame_id: map
* /zed/rtabmap/odom_frame_id: odom
* /zed/rtabmap/odom_sensor_sync: False
* /zed/rtabmap/odom_tf_angular_variance: 0.001
* /zed/rtabmap/odom_tf_linear_variance: 0.001
* /zed/rtabmap/publish_tf: False
* /zed/rtabmap/queue_size: 10
* /zed/rtabmap/scan_normal_k: 0
* /zed/rtabmap/subscribe_depth: True
* /zed/rtabmap/subscribe_odom_info: False
* /zed/rtabmap/subscribe_rgbd: False
* /zed/rtabmap/subscribe_scan: False
* /zed/rtabmap/subscribe_scan_cloud: False
* /zed/rtabmap/subscribe_stereo: False
* /zed/rtabmap/subscribe_user_data: False
* /zed/rtabmap/tf_delay: 0.02
* /zed/rtabmap/wait_for_transform_duration: 0.2
* /zed/zed_description: <?xml version="1....
* /zed/zed_node/auto_exposure_gain: True
* /zed/zed_node/auto_whitebalance: True
* /zed/zed_node/brightness: 4
* /zed/zed_node/contrast: 4
* /zed/zed_node/depth/depth_downsample_factor: 1.0
* /zed/zed_node/depth/depth_stabilization: 1
* /zed/zed_node/depth/max_depth: 20.0
* /zed/zed_node/depth/min_depth: 0.7
* /zed/zed_node/depth/openni_depth_mode: True
* /zed/zed_node/depth/quality: 1
* /zed/zed_node/depth/sensing_mode: 0
* /zed/zed_node/depth_confidence: 50
* /zed/zed_node/depth_texture_conf: 100
* /zed/zed_node/exposure: 100
* /zed/zed_node/gain: 100
* /zed/zed_node/gamma: 8
* /zed/zed_node/general/base_frame: base_link
* /zed/zed_node/general/camera_flip: False
* /zed/zed_node/general/camera_model: zed2
* /zed/zed_node/general/camera_name: zed
* /zed/zed_node/general/gpu_id: -1
* /zed/zed_node/general/grab_frame_rate: 15
* /zed/zed_node/general/resolution: 2
* /zed/zed_node/general/self_calib: True
* /zed/zed_node/general/serial_number: 0
* /zed/zed_node/general/svo_compression: 2
* /zed/zed_node/general/verbose: False
* /zed/zed_node/general/zed_id: 0
* /zed/zed_node/hue: 0
* /zed/zed_node/mapping/fused_pointcloud_freq: 1.0
* /zed/zed_node/mapping/mapping_enabled: False
* /zed/zed_node/mapping/max_mapping_range: -1
* /zed/zed_node/mapping/resolution: 0.05
* /zed/zed_node/object_detection/confidence_threshold: 50
* /zed/zed_node/object_detection/object_tracking_enabled: True
* /zed/zed_node/object_detection/od_enabled: False
* /zed/zed_node/object_detection/people_detection: True
* /zed/zed_node/object_detection/vehicle_detection: False
* /zed/zed_node/point_cloud_freq: 15.0
* /zed/zed_node/pos_tracking/area_memory: True
* /zed/zed_node/pos_tracking/area_memory_db_path:
* /zed/zed_node/pos_tracking/fixed_z_value: 0.0
* /zed/zed_node/pos_tracking/floor_alignment: False
* /zed/zed_node/pos_tracking/imu_fusion: True
* /zed/zed_node/pos_tracking/init_odom_with_first_valid_pose: True
* /zed/zed_node/pos_tracking/initial_base_pose: [0.0, 0.0, 0.0, 0...
* /zed/zed_node/pos_tracking/map_frame: map
* /zed/zed_node/pos_tracking/odometry_frame: odom
* /zed/zed_node/pos_tracking/path_max_count: -1
* /zed/zed_node/pos_tracking/path_pub_rate: 2.0
* /zed/zed_node/pos_tracking/publish_map_tf: True
* /zed/zed_node/pos_tracking/publish_tf: True
* /zed/zed_node/pos_tracking/two_d_mode: False
* /zed/zed_node/pub_frame_rate: 15.0
* /zed/zed_node/saturation: 4
* /zed/zed_node/sensors/sensors_timestamp_sync: False
* /zed/zed_node/sharpness: 4
* /zed/zed_node/stream:
* /zed/zed_node/svo_file:
* /zed/zed_node/video/extrinsic_in_camera_frame: True
* /zed/zed_node/video/img_downsample_factor: 1.0
* /zed/zed_node/whitebalance_temperature: 42
NODES
/zed/
rtabmap (rtabmap_ros/rtabmap)
rtabmapviz (rtabmap_ros/rtabmapviz)
rviz (rviz/rviz)
zed_node (zed_wrapper/zed_wrapper_node)
zed_state_publisher (robot_state_publisher/robot_state_publisher)
auto-starting new master
process[master]: started with pid [67]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to bc2832bc-d024-11ea-8bd2-00044bcb9a37
process[rosout-1]: started with pid [78]
started core service [/rosout]
process[zed/zed_state_publisher-2]: started with pid [85]
process[zed/zed_node-3]: started with pid [86]
[ INFO] [1595866682.036781078]: Initializing nodelet with 8 worker threads.
[ERROR] [1595866682.067779067]: Failed to load nodelet [/zed/zed_node] of type [zed_nodelets/ZEDWrapperNodelet] even after refreshing the cache: Failed to load library /home/nvidia/ros_ws/devel/lib//libZEDNodelets.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library (Poco exception = libcuda.so.1: cannot open shared object file: No such file or directory)
[ERROR] [1595866682.067900544]: The error before refreshing the cache was: Failed to load library /home/nvidia/ros_ws/devel/lib//libZEDNodelets.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library (Poco exception = libcuda.so.1: cannot open shared object file: No such file or directory)
process[zed/rtabmapviz-4]: started with pid [93]
process[zed/rtabmap-5]: started with pid [109]
[ INFO] [1595866683.138914829]: Starting node...
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
qt.qpa.screen: QXcbConnection: Could not connect to display
Could not connect to any X display.
process[zed/rviz-6]: started with pid [110]
[zed/rtabmapviz-4] process has died [pid 93, exit code 1, cmd /opt/ros/melodic/lib/rtabmap_ros/rtabmapviz rgb/image:=zed_node/rgb/image_rect_color depth/image:=zed_node/depth/depth_registered rgb/camera_info:=zed_node/rgb/camera_info grid_map:=map odom:=zed_node/odom __name:=rtabmapviz __log:=/root/.ros/log/bc2832bc-d024-11ea-8bd2-00044bcb9a37/zed-rtabmapviz-4.log].
log file: /root/.ros/log/bc2832bc-d024-11ea-8bd2-00044bcb9a37/zed-rtabmapviz-4*.log
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
qt.qpa.screen: QXcbConnection: Could not connect to display
Could not connect to any X display.
[ INFO] [1595866683.366041356]: Starting node...
[zed/rviz-6] process has died [pid 110, exit code 1, cmd /opt/ros/melodic/lib/rviz/rviz -d /home/nvidia/ros_ws/src/zed-ros-examples/examples/zed_rtabmap_example/rviz/zed-rtabmap.rviz __name:=rviz __log:=/root/.ros/log/bc2832bc-d024-11ea-8bd2-00044bcb9a37/zed-rviz-6.log].
log file: /root/.ros/log/bc2832bc-d024-11ea-8bd2-00044bcb9a37/zed-rviz-6*.log
[ INFO] [1595866683.486205682]: Initializing nodelet with 8 worker threads.
[ INFO] [1595866683.840045579]: /zed/rtabmap(maps): map_filter_radius = 0.000000
[ INFO] [1595866683.840249171]: /zed/rtabmap(maps): map_filter_angle = 30.000000
[ INFO] [1595866683.840381015]: /zed/rtabmap(maps): map_cleanup = true
[ INFO] [1595866683.840437882]: /zed/rtabmap(maps): map_always_update = false
[ INFO] [1595866683.840484123]: /zed/rtabmap(maps): map_empty_ray_tracing = true
[ INFO] [1595866683.840517629]: /zed/rtabmap(maps): cloud_output_voxelized = true
[ INFO] [1595866683.840549310]: /zed/rtabmap(maps): cloud_subtract_filtering = false
[ INFO] [1595866683.840583647]: /zed/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
[ INFO] [1595866683.843608208]: /zed/rtabmap(maps): octomap_tree_depth = 16
[ INFO] [1595866683.881626843]: rtabmap: frame_id = base_link
[ INFO] [1595866683.881789185]: rtabmap: odom_frame_id = odom
[ INFO] [1595866683.881848420]: rtabmap: map_frame_id = map
[ INFO] [1595866683.881983689]: rtabmap: use_action_for_goal = false
[ INFO] [1595866683.882050347]: rtabmap: tf_delay = 0.020000
[ INFO] [1595866683.882096781]: rtabmap: tf_tolerance = 0.100000
[ INFO] [1595866683.882149231]: rtabmap: odom_sensor_sync = false
[ INFO] [1595866683.914822514]: Loading parameters from /root/.ros/rtabmap.cfg
[ WARN] [1595866683.915061947]: Config file doesn't exist! It will be generated...
[ WARN] (2020-07-27 16:18:03.915) Parameters.cpp:1113::readINI() Section "Core" in /root/.ros/rtabmap.cfg doesn't exist... Ignore this warning if the ini file does not exist yet. The ini file will be automatically created when rtabmap will close.
[ INFO] [1595866683.985018959]: Setting RTAB-Map parameter "Grid/3D"="true"
[ INFO] [1595866683.986740943]: Setting RTAB-Map parameter "Grid/CellSize"="0.05"
[ INFO] [1595866683.988478672]: Setting RTAB-Map parameter "Grid/ClusterRadius"="0.1"
[ INFO] [1595866683.990027978]: Setting RTAB-Map parameter "Grid/DepthDecimation"="1"
[ INFO] [1595866683.993543949]: Setting RTAB-Map parameter "Grid/FlatObstacleDetected"="true"
[ INFO] [1595866683.995289422]: Setting RTAB-Map parameter "Grid/FootprintHeight"="2"
[ INFO] [1595866683.997059216]: Setting RTAB-Map parameter "Grid/FootprintLength"="0.18"
[ INFO] [1595866683.998776049]: Setting RTAB-Map parameter "Grid/FootprintWidth"="0.18"
[ INFO] [1595866683.999929468]: Setting RTAB-Map parameter "Grid/FromDepth"="true"
[ INFO] [1595866684.000963618]: Setting RTAB-Map parameter "Grid/GroundIsObstacle"="false"
[ INFO] [1595866684.001999689]: Setting RTAB-Map parameter "Grid/MapFrameProjection"="false"
[ INFO] [1595866684.003518946]: Setting RTAB-Map parameter "Grid/MaxGroundAngle"="30"
[ INFO] [1595866684.005075452]: Setting RTAB-Map parameter "Grid/MaxGroundHeight"="-0.4"
[ INFO] [1595866684.006755162]: Setting RTAB-Map parameter "Grid/MaxObstacleHeight"="0.1"
[ INFO] [1595866684.008341814]: Setting RTAB-Map parameter "Grid/MinClusterSize"="3"
[ INFO] [1595866684.009982291]: Setting RTAB-Map parameter "Grid/MinGroundHeight"="-0.5"
[ INFO] [1595866684.011667474]: Setting RTAB-Map parameter "Grid/NoiseFilteringMinNeighbors"="5"
[ INFO] [1595866684.013267341]: Setting RTAB-Map parameter "Grid/NoiseFilteringRadius"="0.1"
[ INFO] [1595866684.014857225]: Setting RTAB-Map parameter "Grid/NormalK"="20"
[ INFO] [1595866684.016138169]: Setting RTAB-Map parameter "Grid/NormalsSegmentation"="false"
[ INFO] [1595866684.017307108]: Setting RTAB-Map parameter "Grid/PreVoxelFiltering"="true"
[ INFO] [1595866684.018931233]: Setting RTAB-Map parameter "Grid/RangeMax"="3"
[ INFO] [1595866684.020636929]: Setting RTAB-Map parameter "Grid/RangeMin"="0.7"
[ INFO] [1595866684.021723817]: Setting RTAB-Map parameter "Grid/RayTracing"="true"
[ INFO] [1595866684.027280185]: Setting RTAB-Map parameter "GridGlobal/Eroded"="false"
[ INFO] [1595866684.029377543]: Setting RTAB-Map parameter "GridGlobal/FootprintRadius"="0.18"
[ INFO] [1595866684.030792284]: Setting RTAB-Map parameter "GridGlobal/FullUpdate"="true"
[ INFO] [1595866684.032754053]: Setting RTAB-Map parameter "GridGlobal/MaxNodes"="0"
[ INFO] [1595866684.034796625]: Setting RTAB-Map parameter "GridGlobal/MinSize"="1"
[ INFO] [1595866684.036868063]: Setting RTAB-Map parameter "GridGlobal/OccupancyThr"="0.55"
[ INFO] [1595866684.038872169]: Setting RTAB-Map parameter "GridGlobal/ProbClampingMax"="0.971"
[ INFO] [1595866684.040743215]: Setting RTAB-Map parameter "GridGlobal/ProbClampingMin"="0.1192"
[ INFO] [1595866684.042329034]: Setting RTAB-Map parameter "GridGlobal/ProbHit"="0.7"
[ INFO] [1595866684.044126221]: Setting RTAB-Map parameter "GridGlobal/ProbMiss"="0.4"
[ INFO] [1595866684.045806476]: Setting RTAB-Map parameter "GridGlobal/UpdateError"="0.01"
[ INFO] [1595866684.181478165]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="true"
[ INFO] [1595866684.182293331]: Setting RTAB-Map parameter "Mem/InitWMWithAllNodes"="false"
[ INFO] [1595866685.086250021]: RTAB-Map detection rate = 1.000000 Hz
[ INFO] [1595866685.086528432]: rtabmap: Using database from "/root/.ros/rtabmap.db" (0 MB).
[ INFO] [1595866685.279288396]: rtabmap: Database version = "0.19.3".
[ INFO] [1595866685.313666479]: /zed/rtabmap: subscribe_depth = true
[ INFO] [1595866685.313827221]: /zed/rtabmap: subscribe_rgb = true
[ INFO] [1595866685.314091679]: /zed/rtabmap: subscribe_stereo = false
[ INFO] [1595866685.314172802]: /zed/rtabmap: subscribe_rgbd = false (rgbd_cameras=1)
[ INFO] [1595866685.314243141]: /zed/rtabmap: subscribe_odom_info = false
[ INFO] [1595866685.314291590]: /zed/rtabmap: subscribe_user_data = false
[ INFO] [1595866685.314423979]: /zed/rtabmap: subscribe_scan = false
[ INFO] [1595866685.314483822]: /zed/rtabmap: subscribe_scan_cloud = false
[ INFO] [1595866685.314528047]: /zed/rtabmap: queue_size = 10
[ INFO] [1595866685.314568369]: /zed/rtabmap: approx_sync = true
[ INFO] [1595866685.314668916]: Setup depth callback
[ INFO] [1595866685.341159377]:
/zed/rtabmap subscribed to (approx sync):
/zed/zed_node/rgb/image_rect_color,
/zed/zed_node/depth/depth_registered,
/zed/zed_node/rgb/camera_info
[ INFO] [1595866685.357490195]: rtabmap 0.19.3 started...
[ WARN] [1595866690.341498883]: /zed/rtabmap: Did not receive data since 5 seconds! Make sure the input topics are published ("$ rostopic hz my_topic") and the timestamps in their header are set. If topics are coming from different computers, make sure the clocks of the computers are synchronized ("ntpdate"). If topics are not published at the same rate, you could increase "queue_size" parameter (current=10).
/zed/rtabmap subscribed to (approx sync):
/zed/zed_node/rgb/image_rect_color,
/zed/zed_node/depth/depth_registered,
/zed/zed_node/rgb/camera_info
[ WARN] [1595866695.342467221]: /zed/rtabmap: Did not receive data since 5 seconds! Make sure the input topics are published ("$ rostopic hz my_topic") and the timestamps in their header are set. If topics are coming from different computers, make sure the clocks of the computers are synchronized ("ntpdate"). If topics are not published at the same rate, you could increase "queue_size" parameter (current=10).
/zed/rtabmap subscribed to (approx sync):
/zed/zed_node/rgb/image_rect_color,
/zed/zed_node/depth/depth_registered,
/zed/zed_node/rgb/camera_info
^C[zed/rtabmap-5] killing on exit
[zed/zed_node-3] killing on exit
[zed/zed_state_publisher-2] killing on exit
Saving parameters to /root/.ros/rtabmap.cfg
Config file doesn't exist, a new one will be created.
rtabmap: Saving database/long-term memory... (located at /root/.ros/rtabmap.db)
rtabmap: Saving database/long-term memory...done! (located at /root/.ros/rtabmap.db, 0 MB)
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete