ZED2, ROS2-foxy: compressed image topic not available with errors

[jfinken]

Describe the bug
When launching the zed-ros2-wrapper with the image_transport_plugins installed, the below errors are observed and compressed image topics are not available.

Device information:

• OS: Ubuntu
• OS version: 18.04
• CPU: i7
• GPU Nvidia: Quadro T1000
• CUDA 10.2
• ZED SDK Version: v3.4.2 for CUDA 10.2
• ROS Wrapper version: master, last commit via git log:

commit 11ca6484df8aaf2cc6a0ecb524182c0d93c56c42 (HEAD -> master, origin/master, origin/HEAD)
Merge: f7bb886 ade4cb2
Author: Walter Lucetti <walter.lucetti@stereolabs.com>
Date:   Thu Dec 3 14:17:52 2020 +0100

To Reproduce

1. Build and install the zed-ros2-wrapper, for example:

$ cd ~/my-foxy-workspace/src
$ git clone https://github.com/stereolabs/zed-ros2-wrapper.git
$ cd ~/my-foxy-workspace
$ rosdep install --from-paths src --ignore-src --rosdistro foxy -y --skip-keys "console_bridge fastcdr fastrtps rti-connext-dds-5.3.1 urdfdom_headers"
$ colcon build --symlink-install --cmake-args=-DCMAKE_BUILD_TYPE=Release

2. Build and install image_transport_plugins

$ cd ~/my-foxy-workspace/src
$ git clone git@github.com:ros-perception/image_transport_plugins.git
# this needs to be on the same branch as the image_common dependency
$ cd image_transport_plugins && git checkout ros2 
# hence:
$ cd ~/my-foxy-workspace/src/image_common && git checkout ros2

$ rosdep install --from-paths src --ignore-src --rosdistro foxy -y --skip-keys "console_bridge fastcdr fastrtps rti-connext-dds-5.3.1 urdfdom_headers"
$ colcon build --symlink-install

3. Run the zed-ros2-wrapper, observe errors:

$ ros2 launch zed_wrapper zed2.launch.py
...
[zed_wrapper-2] 1616597777.165880326 [zed2.zed_node] [INFO]  * Right Temperature	-> zed2_right_camera_frame
[zed_wrapper-2] 1616597777.166162383 [zed2.zed_node] [INFO] *** PUBLISHED TOPICS ***
[zed_wrapper-2] 1616597777.288631336 [zed2.zed_node] [ERROR] Failed to load plugin image_transport/compressed_pub, error string: parameter 'format' could not be set: Not supported
[zed_wrapper-2] 
[zed_wrapper-2] 1616597777.299310657 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/rgb/image_rect_color
[zed_wrapper-2] 1616597777.300331471 [zed2.zed_node] [ERROR] Failed to load plugin image_transport/compressed_pub, error string: parameter 'format' has already been declared
[zed_wrapper-2] 
[zed_wrapper-2] 1616597777.301188885 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/rgb/image_rect_gray
[zed_wrapper-2] 1616597777.301215098 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/rgb/camera_info
[zed_wrapper-2] 1616597777.302073967 [zed2.zed_node] [ERROR] Failed to load plugin image_transport/compressed_pub, error string: parameter 'format' has already been declared
[zed_wrapper-2] 
[zed_wrapper-2] 1616597777.302909071 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/rgb_raw/image_raw_color
[zed_wrapper-2] 1616597777.303637059 [zed2.zed_node] [ERROR] Failed to load plugin image_transport/compressed_pub, error string: parameter 'format' has already been declared

4. Now, manually apply this yet-to-be-merged PR from image_transport_plugins:

$ find image_transport_plugins/ -name compressed_publisher.cpp
  image_transport_plugins/compressed_image_transport/src/compressed_publisher.cpp
# Download compressed_publisher.cpp containing the fixes from the MR
# Rebuild your workspace and/or the ws that contains image_transport_plugins

5. Re-run the zed-ros2-wrapper, observe different errors:

$ ros2 launch zed_wrapper zed2.launch.py
...
[zed_wrapper-2] 1616598630.319304068 [zed2.zed_node] [INFO]  * Right Temperature	-> zed2_right_camera_frame
[zed_wrapper-2] 1616598630.319344545 [zed2.zed_node] [INFO] *** PUBLISHED TOPICS ***
[zed_wrapper-2] 1616598630.382450727 [zed2.zed_node] [ERROR] Failed to load plugin image_transport/compressed_pub, error string: parameter 'zed_node.rgb.image_rect_color.format' could not be set: Not supported
[zed_wrapper-2] 
[zed_wrapper-2] 1616598630.388444699 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/rgb/image_rect_color
[zed_wrapper-2] 1616598630.389348695 [zed2.zed_node] [ERROR] Failed to load plugin image_transport/compressed_pub, error string: parameter 'zed_node.rgb.image_rect_gray.format' could not be set: Not supported
[zed_wrapper-2] 
[zed_wrapper-2] 1616598630.390243071 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/rgb/image_rect_gray
[zed_wrapper-2] 1616598630.390296178 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/rgb/camera_info
[zed_wrapper-2] 1616598630.391076111 [zed2.zed_node] [ERROR] Failed to load plugin image_transport/compressed_pub, error string: parameter 'zed_node.rgb_raw.image_raw_color.format' could not be set: Not supported
[zed_wrapper-2] 
[zed_wrapper-2] 1616598630.391579021 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/rgb_raw/image_raw_color
[zed_wrapper-2] 1616598630.392199161 [zed2.zed_node] [ERROR] Failed to load plugin image_transport/compressed_pub, error string: parameter 'zed_node.rgb_raw.image_raw_gray.format' could not be set: Not supported

Expected behavior
We expect to see valid compressed image topics, e.g.

$ ros2 topic list
/zed2/zed_node/rgb/image_rect_color
/zed2/zed_node/rgb/image_rect_color/compressed
/zed2/zed_node/rgb/image_rect_color/compressedDepth

Additional context
Walter from Stereolabs reports that the parameters around JPEG compression do not exist in ROS2-eloquent when running:

# in eloquent...
$ ros2 param list

[Myzhar]

This is a ROS2 Foxy bug that they have just solved but it has not yet been merged in the repository.
To avoid the problems you must compile the image_transport package by source.

However the master branch of the ZED ROS2 Wrapper is not ready to work with ROS2 Foxy, we are currently working on a Foxy release, you can checkout the dev_foxy branch.

[Myzhar]

Recompiling the image_transport_plugins package the new error
[ERROR] Failed to load plugin image_transport/compressed_pub, error string: parameter 'zed_node.xxxxxx.yyyyyyyyyyyyy.format' could not be set: Not supported
comes out.
I suppose that this is caused by the wrong handling of the params namespace by the applied patch.

I'm working on it to try to fix the problem, waiting for a solution by the ROS developers

[Myzhar]

I reverted to the "original" image_transport_plugins package available with sudo apt install ros-foxy-image-transport-plugins to verify what happens when advertizing the image topics and I noticed this:

[zed_wrapper-2] 1616604958.106023291 [zed2.zed_node] [INFO] *** PUBLISHED TOPICS ***
[zed_wrapper-2] 1616604958.210126809 [zed2.zed_node] [ERROR] Failed to load plugin image_transport/compressed_pub, error string: parameter 'format' could not be set: Not supported
[zed_wrapper-2] 
[zed_wrapper-2] 1616604958.215524369 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/rgb/image_rect_color
[zed_wrapper-2] 1616604958.216225843 [zed2.zed_node] [ERROR] Failed to load plugin image_transport/compressed_pub, error string: parameter 'format' has already been declared
[zed_wrapper-2] 
[zed_wrapper-2] 1616604958.216975911 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/rgb/image_rect_gray
[zed_wrapper-2] 1616604958.216997175 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/rgb/camera_info
[zed_wrapper-2] 1616604958.217617106 [zed2.zed_node] [ERROR] Failed to load plugin image_transport/compressed_pub, error string: parameter 'format' has already been declared
[zed_wrapper-2] 
[zed_wrapper-2] 1616604958.218326287 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/rgb_raw/image_raw_color
[zed_wrapper-2] 1616604958.219129885 [zed2.zed_node] [ERROR] Failed to load plugin image_transport/compressed_pub, error string: parameter 'format' has already been declared

at the very beginning, the error is not supported then it becomes parameter 'format' has already been declared, indeed if you look in the params list there is a format parameter.

I can say that there are two problems generated by the same cause: the image_transport plugin does not correctly handle the namespace of the node.

I continue to investigate the problem to try to understand if it is possible to fix it

[jfinken]

Yes, I have tried all of the above as well (as per the Description):

• compile image_transport_plugins from source
• applying PR58 manually, then recompiling.
• observe all of the above errors with both attempts.

I can say that there are two problems generated by the same cause: the image_transport plugin does not correctly handle the namespace of the node. I continue to investigate the problem to try to understand if it is possible to fix it

Great thank you so much Walter.

[laszloturanyi]

This has been merged.
ros-perception/image_transport_plugins#58
I tried to compile image_transport_plugins from source and it worked fine.

[Myzhar]

Good news, thank you

[jfinken]

Note that I have previously applied PR58 manually and still observed the issue with the ZED2/zed_ros2_wrapper/ROS2-foxy. Do you observe the same @Myzhar?

Thanks in advance.

[Rayman]

I've tried to run the zed driver on foxy, but I'm still seeing the errors reported in this issue. I'm running the following branches:

• zed-ros2-wrapper on dev_foxy 4ccb6ea
• image_transport_plugins on ros2 ros-perception/image_transport_plugins@7cedbf0

PR58 has been merged into the ros2 branch.

[Bmoradi93]

to use image_transport package in foxy:
mkdir -p foxy_ws/src

cd foxy_ws/src

fit clone https://github.com/ros-perception/image_common.git

cd image_common && git checkout galactic

cd .. && git clone https://github.com/ros-perception/image_transport_plugins.git

cd image_transport_plugins && git checkout foxy-devel

cd ../..

source /opt/ros/foxy/setup.bash && colcon build

source install/setup.bash

ros2 run image_transport republish compressed --ros-args -r in/compressed:=image_compressed -r out:=image_raw