zed-ros2-wrapper: Error opening camera: NO GPU DETECTED

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’m trying to use the ZED2 camera in a docker container. The docker container has ROS2 Foxy installed and the ZED SDK. The ZED wrapper was built without a problem.

I got the error: “Error opening camera: NO GPU DETECTED” when I try to run ros2 launch zed_wrapper zed2.launch.py.

Steps to Reproduce

1. Run the container

xhost +si:localuser:root docker run --gpus all -it --privileged -e DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix stereolabs/zed:3.8-gl-devel-cuda11.4-ubuntu20.04

1. ros2 launch zed_wrapper zed2.launch.py

Expected Result

Being able to launch the node

Actual Result

ros2 launch zed_wrapper zed2.launch.py

[INFO] [launch]: All log files can be found below /home/ros/.ros/log/2023-02-20-20-01-38-583565-ISR-Desktop-453653 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [robot_state_publisher-1]: process started with pid [453663] [INFO] [zed_wrapper-2]: process started with pid [453665] [robot_state_publisher-1] Parsing robot urdf xml string. [robot_state_publisher-1] Link zed2_base_link had 1 children [robot_state_publisher-1] Link zed2_camera_center had 4 children [robot_state_publisher-1] Link zed2_baro_link had 0 children [robot_state_publisher-1] Link zed2_left_camera_frame had 2 children [robot_state_publisher-1] Link zed2_left_camera_optical_frame had 0 children [robot_state_publisher-1] Link zed2_temp_left_link had 0 children [robot_state_publisher-1] Link zed2_mag_link had 0 children [robot_state_publisher-1] Link zed2_right_camera_frame had 2 children [robot_state_publisher-1] Link zed2_right_camera_optical_frame had 0 children [robot_state_publisher-1] Link zed2_temp_right_link had 0 children [robot_state_publisher-1] [INFO] [1676923298.810269616] [zed2.zed_state_publisher]: got segment base_link [robot_state_publisher-1] [INFO] [1676923298.810340142] [zed2.zed_state_publisher]: got segment zed2_baro_link [robot_state_publisher-1] [INFO] [1676923298.810350758] [zed2.zed_state_publisher]: got segment zed2_base_link [robot_state_publisher-1] [INFO] [1676923298.810358424] [zed2.zed_state_publisher]: got segment zed2_camera_center [robot_state_publisher-1] [INFO] [1676923298.810365561] [zed2.zed_state_publisher]: got segment zed2_left_camera_frame [robot_state_publisher-1] [INFO] [1676923298.810372624] [zed2.zed_state_publisher]: got segment zed2_left_camera_optical_frame [robot_state_publisher-1] [INFO] [1676923298.810379578] [zed2.zed_state_publisher]: got segment zed2_mag_link [robot_state_publisher-1] [INFO] [1676923298.810386440] [zed2.zed_state_publisher]: got segment zed2_right_camera_frame [robot_state_publisher-1] [INFO] [1676923298.810393285] [zed2.zed_state_publisher]: got segment zed2_right_camera_optical_frame [robot_state_publisher-1] [INFO] [1676923298.810400098] [zed2.zed_state_publisher]: got segment zed2_temp_left_link [robot_state_publisher-1] [INFO] [1676923298.810406934] [zed2.zed_state_publisher]: got segment zed2_temp_right_link [zed_wrapper-2] [INFO] [1676923298.823930703] [zed2.zed_node]: ******************************** [zed_wrapper-2] [INFO] [1676923298.824029919] [zed2.zed_node]: ZED Camera Component [zed_wrapper-2] [INFO] [1676923298.824042079] [zed2.zed_node]: ******************************** [zed_wrapper-2] [INFO] [1676923298.824050966] [zed2.zed_node]: * namespace: /zed2 [zed_wrapper-2] [INFO] [1676923298.824059983] [zed2.zed_node]: * node name: zed_node [zed_wrapper-2] [INFO] [1676923298.824067461] [zed2.zed_node]: ******************************** [zed_wrapper-2] [INFO] [1676923298.824085818] [zed2.zed_node]: *** DEBUG parameters *** [zed_wrapper-2] [INFO] [1676923298.824114016] [zed2.zed_node]: * Debug mode: FALSE [zed_wrapper-2] [INFO] [1676923298.824138156] [zed2.zed_node]: * Debug sensors: FALSE [zed_wrapper-2] [INFO] [1676923298.824150443] [zed2.zed_node]: *** GENERAL parameters *** [zed_wrapper-2] [INFO] [1676923298.824178806] [zed2.zed_node]: * Camera model: zed2 - ZED 2 [zed_wrapper-2] [INFO] [1676923298.824206457] [zed2.zed_node]: * SDK Verbose: 1 [zed_wrapper-2] [INFO] [1676923298.824230790] [zed2.zed_node]: * SVO: live [zed_wrapper-2] [INFO] [1676923298.824249800] [zed2.zed_node]: * SVO Loop: FALSE [zed_wrapper-2] [INFO] [1676923298.824266142] [zed2.zed_node]: * SVO Realtime: TRUE [zed_wrapper-2] [INFO] [1676923298.824283309] [zed2.zed_node]: * Camera name: zed2 [zed_wrapper-2] [INFO] [1676923298.824305322] [zed2.zed_node]: * Camera ID: 0 [zed_wrapper-2] [INFO] [1676923298.824323625] [zed2.zed_node]: * Camera SN: 0 [zed_wrapper-2] [INFO] [1676923298.824342191] [zed2.zed_node]: * Camera timeout [sec]: 5 [zed_wrapper-2] [INFO] [1676923298.824365949] [zed2.zed_node]: * Camera reconnection temptatives: 5 [zed_wrapper-2] [INFO] [1676923298.824398422] [zed2.zed_node]: * Camera framerate: 15 [zed_wrapper-2] [INFO] [1676923298.824427591] [zed2.zed_node]: * GPU ID: -1 [zed_wrapper-2] [INFO] [1676923298.824460150] [zed2.zed_node]: * Camera resolution: HD720 [zed_wrapper-2] [INFO] [1676923298.824493553] [zed2.zed_node]: * Publishing resolution: MEDIUM [zed_wrapper-2] [INFO] [1676923298.824541962] [zed2.zed_node]: * Region of interest: [zed_wrapper-2] [INFO] [1676923298.824572842] [zed2.zed_node]: * Camera self calibration: TRUE [zed_wrapper-2] [INFO] [1676923298.824594261] [zed2.zed_node]: * Camera flip: FALSE [zed_wrapper-2] [INFO] [1676923298.824630983] [zed2.zed_node]: * [DYN] Publish framerate [Hz]: 15 [zed_wrapper-2] [INFO] [1676923298.824646140] [zed2.zed_node]: *** VIDEO parameters *** [zed_wrapper-2] [INFO] [1676923298.824670930] [zed2.zed_node]: * Use old extrinsic parameters: 0 [zed_wrapper-2] [INFO] [1676923298.824700691] [zed2.zed_node]: * [DYN] Brightness: 4 [zed_wrapper-2] [INFO] [1676923298.824729581] [zed2.zed_node]: * [DYN] Contrast: 4 [zed_wrapper-2] [INFO] [1676923298.824757239] [zed2.zed_node]: * [DYN] Hue: 0 [zed_wrapper-2] [INFO] [1676923298.824791494] [zed2.zed_node]: * [DYN] Saturation: 4 [zed_wrapper-2] [INFO] [1676923298.824822380] [zed2.zed_node]: * [DYN] Sharpness: 4 [zed_wrapper-2] [INFO] [1676923298.824842339] [zed2.zed_node]: * [DYN] Gamma: 8 [zed_wrapper-2] [INFO] [1676923298.824859750] [zed2.zed_node]: * [DYN] Auto Exposure/Gain: TRUE [zed_wrapper-2] [INFO] [1676923298.824876943] [zed2.zed_node]: * [DYN] Exposure: 80 [zed_wrapper-2] [INFO] [1676923298.824897490] [zed2.zed_node]: * [DYN] Gain: 80 [zed_wrapper-2] [INFO] [1676923298.824914593] [zed2.zed_node]: * [DYN] Auto White Balance: TRUE [zed_wrapper-2] [INFO] [1676923298.824932238] [zed2.zed_node]: * [DYN] White Balance Temperature: 42 [zed_wrapper-2] [INFO] [1676923298.824951825] [zed2.zed_node]: * Video QoS History: KEEP_LAST [zed_wrapper-2] [INFO] [1676923298.824977247] [zed2.zed_node]: * Video QoS History depth: 1 [zed_wrapper-2] [INFO] [1676923298.824994948] [zed2.zed_node]: * Video QoS Reliability: RELIABLE [zed_wrapper-2] [INFO] [1676923298.825011490] [zed2.zed_node]: * Video QoS Durability: VOLATILE [zed_wrapper-2] [INFO] [1676923298.825022784] [zed2.zed_node]: *** DEPTH parameters *** [zed_wrapper-2] [INFO] [1676923298.825042213] [zed2.zed_node]: * Depth quality: 1 - PERFORMANCE [zed_wrapper-2] [INFO] [1676923298.825066092] [zed2.zed_node]: * Min depth [m]: 0.2 [zed_wrapper-2] [INFO] [1676923298.825086462] [zed2.zed_node]: * Max depth [m]: 10 [zed_wrapper-2] [INFO] [1676923298.825107068] [zed2.zed_node]: * Depth Sensing Mode: 0 - STANDARD [zed_wrapper-2] [INFO] [1676923298.825124487] [zed2.zed_node]: * Depth Stabilization: TRUE [zed_wrapper-2] [INFO] [1676923298.825142512] [zed2.zed_node]: * OpenNI mode (16bit point cloud): FALSE [zed_wrapper-2] [INFO] [1676923298.825161851] [zed2.zed_node]: * [DYN] Point cloud rate [Hz]: 15 [zed_wrapper-2] [INFO] [1676923298.825180427] [zed2.zed_node]: * [DYN] Depth Confidence: 50 [zed_wrapper-2] [INFO] [1676923298.825198583] [zed2.zed_node]: * [DYN] Depth Texture Confidence: 100 [zed_wrapper-2] [INFO] [1676923298.825217526] [zed2.zed_node]: * [DYN] Remove saturated areas: TRUE [zed_wrapper-2] [INFO] [1676923298.825266465] [zed2.zed_node]: * Depth QoS History: KEEP_LAST [zed_wrapper-2] [INFO] [1676923298.825290335] [zed2.zed_node]: * Depth QoS History depth: 1 [zed_wrapper-2] [INFO] [1676923298.825317882] [zed2.zed_node]: * Depth QoS Reliability: RELIABLE [zed_wrapper-2] [INFO] [1676923298.825343167] [zed2.zed_node]: * Depth QoS Durability: VOLATILE [zed_wrapper-2] [INFO] [1676923298.825355134] [zed2.zed_node]: *** POSITIONAL TRACKING parameters *** [zed_wrapper-2] [INFO] [1676923298.825376172] [zed2.zed_node]: * Positional tracking enabled: TRUE [zed_wrapper-2] [INFO] [1676923298.825397414] [zed2.zed_node]: * Base frame id: base_link [zed_wrapper-2] [INFO] [1676923298.825419733] [zed2.zed_node]: * Map frame id: map [zed_wrapper-2] [INFO] [1676923298.825443656] [zed2.zed_node]: * Odometry frame id: odom [zed_wrapper-2] [INFO] [1676923298.825464926] [zed2.zed_node]: * Broadcast Odometry TF: TRUE [zed_wrapper-2] [INFO] [1676923298.825486084] [zed2.zed_node]: * Broadcast Pose TF: TRUE [zed_wrapper-2] [INFO] [1676923298.825505221] [zed2.zed_node]: * Broadcast Static IMU TF [not for ZED]: TRUE [zed_wrapper-2] [INFO] [1676923298.825532049] [zed2.zed_node]: * [DYN] Depth minimum range: 0 [zed_wrapper-2] [INFO] [1676923298.825557426] [zed2.zed_node]: * [DYN] TF timestamp offset: 0 [zed_wrapper-2] [INFO] [1676923298.825589509] [zed2.zed_node]: * [DYN] Path publishing rate: 2 [zed_wrapper-2] [INFO] [1676923298.825621405] [zed2.zed_node]: * Path history lenght: -1 [zed_wrapper-2] [INFO] [1676923298.825658958] [zed2.zed_node]: * Initial pose: [0,0,0,0,0,0,] [zed_wrapper-2] [INFO] [1676923298.825698458] [zed2.zed_node]: * Area Memory: TRUE [zed_wrapper-2] [INFO] [1676923298.825730501] [zed2.zed_node]: * Area Memory DB: [zed_wrapper-2] [INFO] [1676923298.825762343] [zed2.zed_node]: * Camera is static: FALSE [zed_wrapper-2] [INFO] [1676923298.825801449] [zed2.zed_node]: * Gravity as origin [not for ZED]: FALSE [zed_wrapper-2] [INFO] [1676923298.825827852] [zed2.zed_node]: * IMU Fusion [not for ZED]: TRUE [zed_wrapper-2] [INFO] [1676923298.825851364] [zed2.zed_node]: * Floor Alignment: FALSE [zed_wrapper-2] [INFO] [1676923298.825870038] [zed2.zed_node]: * Init Odometry with first valid pose data: TRUE [zed_wrapper-2] [INFO] [1676923298.825891517] [zed2.zed_node]: * 2D mode: FALSE [zed_wrapper-2] [INFO] [1676923298.825908706] [zed2.zed_node]: * Pose/Odometry QoS History: KEEP_LAST [zed_wrapper-2] [INFO] [1676923298.825924477] [zed2.zed_node]: * Pose/Odometry QoS History depth: 1 [zed_wrapper-2] [INFO] [1676923298.825941538] [zed2.zed_node]: * Pose/Odometry QoS Reliability: RELIABLE [zed_wrapper-2] [INFO] [1676923298.825973421] [zed2.zed_node]: * Pose/Odometry QoS Durability: VOLATILE [zed_wrapper-2] [INFO] [1676923298.825994642] [zed2.zed_node]: *** SENSORS STACK parameters *** [zed_wrapper-2] [INFO] [1676923298.826026680] [zed2.zed_node]: * Sensors Camera Sync: FALSE [zed_wrapper-2] [INFO] [1676923298.826063617] [zed2.zed_node]: * Sensors publishing rate: 200 Hz [zed_wrapper-2] [INFO] [1676923298.826099731] [zed2.zed_node]: * Sensors QoS History: KEEP_LAST [zed_wrapper-2] [INFO] [1676923298.826130406] [zed2.zed_node]: * Sensors QoS History depth: 1 [zed_wrapper-2] [INFO] [1676923298.826161802] [zed2.zed_node]: * Sensors QoS Reliability: RELIABLE [zed_wrapper-2] [INFO] [1676923298.826191922] [zed2.zed_node]: * Sensors QoS Durability: VOLATILE [zed_wrapper-2] [INFO] [1676923298.826229822] [zed2.zed_node]: *** Spatial Mapping parameters *** [zed_wrapper-2] [INFO] [1676923298.826266048] [zed2.zed_node]: * Spatial Mapping Enabled: FALSE [zed_wrapper-2] [INFO] [1676923298.826309084] [zed2.zed_node]: * Spatial Mapping resolution [m]: 0.1 [zed_wrapper-2] [INFO] [1676923298.826348326] [zed2.zed_node]: * 3D Max Mapping range [m]: 20 [zed_wrapper-2] [INFO] [1676923298.826386563] [zed2.zed_node]: * Map publishing rate [Hz]: 0.5 [zed_wrapper-2] [INFO] [1676923298.826426421] [zed2.zed_node]: * Clicked point topic: /clicked_point [zed_wrapper-2] [INFO] [1676923298.826458697] [zed2.zed_node]: * Sensors QoS History: KEEP_LAST [zed_wrapper-2] [INFO] [1676923298.826489268] [zed2.zed_node]: * Sensors QoS History depth: 1 [zed_wrapper-2] [INFO] [1676923298.826520157] [zed2.zed_node]: * Sensors QoS Reliability: RELIABLE [zed_wrapper-2] [INFO] [1676923298.826568690] [zed2.zed_node]: * Sensors QoS Durability: VOLATILE [zed_wrapper-2] [INFO] [1676923298.826599713] [zed2.zed_node]: *** OBJECT DETECTION parameters *** [zed_wrapper-2] [INFO] [1676923298.826632856] [zed2.zed_node]: * Object Detection enabled: FALSE [zed_wrapper-2] [INFO] [1676923298.826675161] [zed2.zed_node]: * OD min. confidence: 50 [zed_wrapper-2] [INFO] [1676923298.826714362] [zed2.zed_node]: * OD prediction timeout [sec]: 0.5 [zed_wrapper-2] [INFO] [1676923298.826972231] [zed2.zed_node]: * OD tracking: TRUE [zed_wrapper-2] [INFO] [1676923298.827046747] [zed2.zed_node]: * Object Detection model: 0 - MULTI CLASS BOX FAST [zed_wrapper-2] [INFO] [1676923298.827091715] [zed2.zed_node]: * Object Filtering mode: 1 - NMS 3D [zed_wrapper-2] [INFO] [1676923298.827127952] [zed2.zed_node]: * MultiClassBox people: TRUE [zed_wrapper-2] [INFO] [1676923298.827163310] [zed2.zed_node]: * MultiClassBox vehicles: TRUE [zed_wrapper-2] [INFO] [1676923298.827200526] [zed2.zed_node]: * MultiClassBox bags: TRUE [zed_wrapper-2] [INFO] [1676923298.827230361] [zed2.zed_node]: * MultiClassBox animals: TRUE [zed_wrapper-2] [INFO] [1676923298.827265553] [zed2.zed_node]: * MultiClassBox electronics: TRUE [zed_wrapper-2] [INFO] [1676923298.827301162] [zed2.zed_node]: * MultiClassBox fruits and vegetables: TRUE [zed_wrapper-2] [INFO] [1676923298.827341283] [zed2.zed_node]: * MultiClassBox sport-related objects: TRUE [zed_wrapper-2] [INFO] [1676923298.827378407] [zed2.zed_node]: * Body format: 1 - POSE_34 [zed_wrapper-2] [INFO] [1676923298.827398239] [zed2.zed_node]: * Skeleton fitting: TRUE (forced by object_detection.body_format) [zed_wrapper-2] [INFO] [1676923298.827419670] [zed2.zed_node]: * Obj. Det. QoS History: KEEP_LAST [zed_wrapper-2] [INFO] [1676923298.827436392] [zed2.zed_node]: * Obj. Det. QoS History depth: 1 [zed_wrapper-2] [INFO] [1676923298.827455392] [zed2.zed_node]: * Obj. Det. QoS Reliability: RELIABLE [zed_wrapper-2] [INFO] [1676923298.827483499] [zed2.zed_node]: * Obj. Det. QoS Durability: VOLATILE [zed_wrapper-2] [INFO] [1676923298.827573202] [zed2.zed_node]: *** SERVICES *** [zed_wrapper-2] [INFO] [1676923298.828303338] [zed2.zed_node]: * ‘/zed2/zed_node/reset_odometry’ [zed_wrapper-2] [INFO] [1676923298.828591173] [zed2.zed_node]: * ‘/zed2/zed_node/reset_pos_tracking’ [zed_wrapper-2] [INFO] [1676923298.829356935] [zed2.zed_node]: * ‘/zed2/zed_node/set_pose’ [zed_wrapper-2] [INFO] [1676923298.829694994] [zed2.zed_node]: * ‘/zed2/zed_node/enable_obj_det’ [zed_wrapper-2] [INFO] [1676923298.829956044] [zed2.zed_node]: * ‘/zed2/zed_node/enable_mapping’ [zed_wrapper-2] [INFO] [1676923298.830302913] [zed2.zed_node]: * ‘/zed2/zed_node/start_svo_rec’ [zed_wrapper-2] [INFO] [1676923298.830609065] [zed2.zed_node]: * ‘/zed2/zed_node/stop_svo_rec’ [zed_wrapper-2] [INFO] [1676923298.830921887] [zed2.zed_node]: * ‘/zed2/zed_node/toggle_svo_pause’ [zed_wrapper-2] [INFO] [1676923298.831484073] [zed2.zed_node]: ***** STARTING CAMERA ***** [zed_wrapper-2] [INFO] [1676923298.831508028] [zed2.zed_node]: SDK Version: 3.8.2 - Build 63211_622b02a5 [zed_wrapper-2] [INFO] [1676923298.833911852] [zed2.zed_node]: *** CAMERA OPENING *** [zed_wrapper-2] [ZED][INFO] Logging level INFO [zed_wrapper-2] in void sl::Mat::alloc(size_t, size_t, sl::MAT_TYPE, sl::MEM) : Err [100]: no CUDA-capable device is detected. [zed_wrapper-2] [WARN] [1676923299.491832752] [zed2.zed_node]: Error opening camera: NO GPU DETECTED [zed_wrapper-2] [INFO] [1676923299.491890886] [zed2.zed_node]: Please verify the USB3 connection [zed_wrapper-2] No NVIDIA graphics card detected. Install an NVIDIA GPU, CUDA and restart your computer after completing installation. ^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) [robot_state_publisher-1] [INFO] [1676923302.059927361] [rclcpp]: signal_handler(signal_value=2) [zed_wrapper-2] [INFO] [1676923302.059948697] [rclcpp]: signal_handler(signal_value=2) [INFO] [robot_state_publisher-1]: process has finished cleanly [pid 453663] [zed_wrapper-2] CUDA error at Camera.cpp:121 code=100(cudaErrorNoDevice) “void sl::Camera::close()” [zed_wrapper-2] CUDA error at Camera.cpp:149 code=100(cudaErrorNoDevice) “void sl::Camera::close()” [zed_wrapper-2] CUDA error at Camera.cpp:174 code=100(cudaErrorNoDevice) “void sl::Camera::close()” [zed_wrapper-2] CUDA error at Camera.cpp:214 code=100(cudaErrorNoDevice) “void sl::Camera::close()” [zed_wrapper-2] CUDA error at Camera.cpp:219 code=100(cudaErrorNoDevice) “void sl::Camera::close()” [zed_wrapper-2] CUDA error at CameraUtils.hpp:773 code=100(cudaErrorNoDevice) “void sl::ObjectsDetectorHandler::clear()” [zed_wrapper-2] CUDA error at CameraUtils.hpp:789 code=100(cudaErrorNoDevice) “void sl::ObjectsDetectorHandler::clear()” [zed_wrapper-2] CUDA error at CameraUtils.hpp:795 code=100(cudaErrorNoDevice) “void sl::ObjectsDetectorHandler::clear()” [zed_wrapper-2] CUDA error at CameraUtils.hpp:798 code=100(cudaErrorNoDevice) “void sl::ObjectsDetectorHandler::clear()” [zed_wrapper-2] CUDA error at CameraUtils.hpp:800 code=100(cudaErrorNoDevice) “void sl::ObjectsDetectorHandler::clear()” [zed_wrapper-2] CUDA error at CameraUtils.hpp:809 code=100(cudaErrorNoDevice) “void sl::ObjectsDetectorHandler::clear()” [zed_wrapper-2] CUDA error at Camera.cpp:234 code=100(cudaErrorNoDevice) “void sl::Camera::close()” [zed_wrapper-2] [ZED][INFO] Logging level INFO [zed_wrapper-2] in void sl::Mat::alloc(size_t, size_t, sl::MAT_TYPE, sl::MEM) : Err [100]: no CUDA-capable device is detected. [zed_wrapper-2] No NVIDIA graphics card detected. Install an NVIDIA GPU, CUDA and restart your computer after completing installation. [zed_wrapper-2] [WARN] [1676923302.560481240] [zed2.zed_node]: Error opening camera: NO GPU DETECTED [zed_wrapper-2] [INFO] [1676923302.560494229] [zed2.zed_node]: Please verify the USB3 connection

ZED Camera model

ZED2

Environment

OS: Ubuntu 20.04
CPU: Intel(R) Core(TM) i7-3770
GPU: 2x GTX 780

Docker: 23.0.1
ROS: Foxy

NVIDIA-SMI 470.161.03   Driver Version: 470.161.03   CUDA Version: 11.7


nvcc: NVIDIA (R) Cuda compiler driver
Copyright (c) 2005-2022 NVIDIA Corporation
Built on Wed_Jun__8_16:49:14_PDT_2022
Cuda compilation tools, release 11.7, V11.7.99
Build cuda_11.7.r11.7/compiler.31442593_0

Anything else?

Inside the container, I was able to execute applications using the GPU like OpengGL apps.