NO_GPU_COMPATIBLE Ubuntu with zed-ros-wrapper, but not Depth Viewer

[lewisanderson]

Hi,

When I run the zed-ros-wrapper, I get NO_GPU_COMPATIBLE error. But Depth Viewer and Explorer work properly.

~/catkin_ws$ optirun roslaunch zed_wrapper zed.launch
... logging to /home/lewis/.ros/log/ba1a638c-1d63-11e6-bf29-185e0f3be61f/roslaunch-lewis-ubuntu-laptop-6232.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://lewis-ubuntu-laptop:37934/

SUMMARY

PARAMETERS

• /camera/zed_wrapper_node/cloud_frame_id: /zed_optical_frame
• /camera/zed_wrapper_node/depth_cam_info_topic: depth/camera_info
• /camera/zed_wrapper_node/depth_frame_id: /zed_optical_frame
• /camera/zed_wrapper_node/depth_topic: depth/image_rect_...
• /camera/zed_wrapper_node/frame_rate: 30
• /camera/zed_wrapper_node/left_cam_info_topic: left/camera_info
• /camera/zed_wrapper_node/left_frame_id: /zed_optical_frame
• /camera/zed_wrapper_node/left_topic: left/image_rect_c...
• /camera/zed_wrapper_node/point_cloud_topic: point_cloud/cloud
• /camera/zed_wrapper_node/quality: 2
• /camera/zed_wrapper_node/resolution: 2
• /camera/zed_wrapper_node/rgb_cam_info_topic: rgb/camera_info
• /camera/zed_wrapper_node/rgb_frame_id: /zed_optical_frame
• /camera/zed_wrapper_node/rgb_topic: rgb/image_rect_color
• /camera/zed_wrapper_node/right_cam_info_topic: right/camera_info
• /camera/zed_wrapper_node/right_frame_id: /zed_optical_frame
• /camera/zed_wrapper_node/right_topic: right/image_rect_...
• /camera/zed_wrapper_node/sensing_mode: 1
• /rosdistro: indigo
• /rosversion: 1.11.19

NODES
/camera/
zed_wrapper_node (zed_wrapper/zed_wrapper_node)
/
zed_base_link1 (tf2_ros/static_transform_publisher)
zed_base_link2 (tf2_ros/static_transform_publisher)

auto-starting new master
process[master]: started with pid [6244]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to ba1a638c-1d63-11e6-bf29-185e0f3be61f
process[rosout-1]: started with pid [6257]
started core service [/rosout]
process[zed_base_link1-2]: started with pid [6265]
process[zed_base_link2-3]: started with pid [6275]
process[camera/zed_wrapper_node-4]: started with pid [6276]
[ INFO] [1463622484.625181087]: ZED_WRAPPER Node initialized
[ INFO] [1463622484.642889505]: Using ZED Camera : 2 30
ZED SDK >> (Init) Best GPU Found : GeForce GTX 960M , ID : 0
ZED SDK >> (Init) Disparity mode has been set to Quality mode
ZED SDK >> (Init) Creating ZED GPU mem...
ZED SDK >> (Init) Starting Self-Calibration in background...
ZED SDK >> (Init) No compatible NVIDIA device found, disparity map unavailable.
[ INFO] [1463622485.845013341]: NO_GPU_COMPATIBLE
ZED SDK >> (Init) Best GPU Found : GeForce GTX 960M , ID : 0
ZED SDK >> (Init) Disparity mode has been set to Quality mode

ZED SDK >> (Init) Creating ZED GPU mem...
ZED SDK >> (Init) A lot of corrupted frames (frame glitch or invalid size) has been detected. Please check that your ZED is connected to an USB3.0 port, that the USB3.0 chipset driver is up to date...
ZED SDK >> (Init) Starting Self-Calibration in background...
ZED SDK >> (Init) No compatible NVIDIA device found, disparity map unavailable.
[ INFO] [1463622490.150631002]: NO_GPU_COMPATIBLE
ZED SDK >> (Init) Best GPU Found : GeForce GTX 960M , ID : 0
ZED SDK >> (Init) Disparity mode has been set to Quality mode

ZED SDK >> (Init) Creating ZED GPU mem...
^C[ 442.985428] [WARN]Received Interrupt signal.
[camera/zed_wrapper_node-4] killing on exit
[zed_base_link2-3] killing on exit
[zed_base_link1-2] killing on exit
ZED SDK >> (Init) A lot of corrupted frames (frame glitch or invalid size) has been detected. Please check that your ZED is connected to an USB3.0 port, that the USB3.0 chipset driver is up to date...
ZED SDK >> (Init) Starting Self-Calibration in background...
ZED SDK >> (Init) No compatible NVIDIA device found, disparity map unavailable.
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
~/catkin_ws$

System:
Asus ZenBook UX501VW
NVidia 960M GPU
Ubuntu 14.0.4
Cuda 7.5
(Cuda 7.0 is also installed, but not being used by zed-ros-wrapper)
ZED_SDK_Linux_x86_64_v0.9.4e_CUDA75_beta
Nvidia 352.93 binary driver plus Bumblebee

/catkin_ws$ uname -a
Linux lewis-ubuntu-laptop 4.2.0-36-generic #4214.04.1-Ubuntu SMP Fri May 13 17:27:22 UTC 2016 x86_64 x86_64 x86_64 GNU/Linux

[lewisanderson]

I tried running the samples provided with the ZED sdk.

ZED right image disparity works properly for me, when I use the version downloaded as part of the SDK. But when I build it myself (using CMake), it builds correctly but encounters the same runtime issue as the zed-ros-wrapper.

Therefore I have concluded that the issue is with my ZED sdk installation, or build procedure, and is probably not a bug in zed-ros-wrapper itself.

The exact error:
~/git/rightimagedisparity/build$ optirun ./ZED\ right\ image\ disparity
ZED SDK >> (Init) Best GPU Found : GeForce GTX 960M , ID : 0
ZED SDK >> (Init) Disparity mode has been set to Quality mode
ZED SDK >> (Init) Creating ZED GPU mem...
ZED SDK >> (Init) Starting Self-Calibration in background...
ZED SDK >> (Init) No compatible NVIDIA device found, disparity map unavailable.
NO_GPU_COMPATIBLE

[lewisanderson]

I figured it out! I have both cuda 7.0 and cuda 7.5 installed on this machine. It was finding 7.0 by default, but the latest version of the ZED sdk requires cuda 7.5. If you use the wrong one, you get the weird failure above.

My workaround is to add this line to my zed_wrapper/CMakeLists.txt:
SET(CUDA_TOOLKIT_ROOT_DIR /usr/local/cuda-7.5)
find_package(CUDA 7.5 REQUIRED)

With that workaround, zed_wrapper runs succesfully for me! I'm not sure what the proper solution is, I am open to suggestions.

I need both versions because I use another tool which relies on cuda 7.0. :(