ZED-Mini Longevity Test Bugs

[annanya-tamu]

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

Hello,

I ran the zed-mini overnight with the zed ros2 wrapper as well. I also opened an instance of rviz2 so the Point Cloud topic and Image topics had subscribers.

After a few hours, I saw this error come up multiple times:
[zed_wrapper-2] [INFO] [1729118881.305305895] [zed.zed_node]: *** Odometry reset for LOOP CLOSURE event ***
and eventually the wrapper threw this error:

[zed_wrapper-2] Sophus ensure failed in function 'static IOFTRACKER_Sophus::SO3<Scalar_> IOFTRACKER_Sophus::SO3<Scalar_, Options>::expAndTheta(const Tangent&, IOFTRACKER_Sophus::SO3<Scalar_, Options>::Scalar*) [with Scalar_ = float; int Options = 0; IOFTRACKER_Sophus::SO3<Scalar_, Options>::Tangent = Eigen::Matrix<float, 3, 1>; IOFTRACKER_Sophus::SO3<Scalar_, Options>::Scalar = float]', file '/builds/sl/ZEDKit/lib/include/sl_core/tracking/Tracker/IOFTracker/sophus/so3.hpp', line 612.
[ERROR] [zed_wrapper-2]: process has died [pid 154202, exit code -6, cmd '/home/ubuntu/Documents/ws/install/zed_wrapper/lib/zed_wrapper/zed_wrapper --ros-args -r __node:=zed_node -r __ns:=/zed --params-file /home/ubuntu/Documents/rad_lab_marsupial_2_ws/install/zed_wrapper/share/zed_wrapper/config/common.yaml --params-file /home/ubuntu/Documents/ws/install/zed_wrapper/share/zed_wrapper/config/zedm.yaml --params-file /home/ubuntu/Documents/ws/install/zed_wrapper/share/zed_wrapper/config/ffmpeg.yaml --params-file /tmp/launch_params_6ht2ei8m'].

Somebody on another project suggested checking for NaN values in that function: UZ-SLAMLab/ORB_SLAM3#439 (comment)

Any help on this would be much appreciated!

Steps to Reproduce

1. Connect zed mini to Orin nano
2. Run zed ros2 wrapper with default parameters
3. Run rviz2 with subscriptions to 1 Point Cloud and Left Image topic

Expected Result

Both pointcloud and image topics to be running at the same frequency no matter how long wrapper has been up.

Actual Result

Zed ros2 wrapper crashed with the error described above.

ZED Camera model

ZED Mini

Environment

OS: Ubuntu 22.04
CPU: ARM
GPU: Nvidia Jetson Orin Nano
ZED SDK version: v4.2.1
ROS2 Distribution: Humble

Anything else?

No response

[Myzhar]

Are you using Positional Tracking GEN_1 or GEN_2?

[annanya-tamu]

GEN_2

[Myzhar]

Please try if the problem persists with GEN_1

[Myzhar]

[zed_wrapper-2] [INFO] [1729118881.305305895] [zed.zed_node]: *** Odometry reset for LOOP CLOSURE event ***
This is not an error. This informs you that a loop closure has been detected and the Odometry was reset to remove drift errors