nvidia@xavier ~/dconic_nav-melodic roslaunch zed_wrapper zed2.launch
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started roslaunch server http://192.168.0.2:40723/
SUMMARY
========
PARAMETERS
* /rosdistro: melodic
* /rosversion: 1.14.10
* /zed2/zed2_description: <?xml version="1....
* /zed2/zed_node/auto_exposure_gain: True
* /zed2/zed_node/auto_whitebalance: True
* /zed2/zed_node/brightness: 4
* /zed2/zed_node/contrast: 4
* /zed2/zed_node/depth/depth_downsample_factor: 1.0
* /zed2/zed_node/depth/depth_stabilization: 1
* /zed2/zed_node/depth/max_depth: 20.0
* /zed2/zed_node/depth/min_depth: 0.7
* /zed2/zed_node/depth/openni_depth_mode: False
* /zed2/zed_node/depth/quality: 3
* /zed2/zed_node/depth/sensing_mode: 0
* /zed2/zed_node/depth_confidence: 50
* /zed2/zed_node/depth_texture_conf: 100
* /zed2/zed_node/exposure: 100
* /zed2/zed_node/gain: 100
* /zed2/zed_node/gamma: 8
* /zed2/zed_node/general/base_frame: base_link
* /zed2/zed_node/general/camera_flip: False
* /zed2/zed_node/general/camera_model: zed2
* /zed2/zed_node/general/camera_name: zed2
* /zed2/zed_node/general/gpu_id: -1
* /zed2/zed_node/general/grab_frame_rate: 30
* /zed2/zed_node/general/resolution: 2
* /zed2/zed_node/general/self_calib: True
* /zed2/zed_node/general/serial_number: 0
* /zed2/zed_node/general/svo_compression: 2
* /zed2/zed_node/general/verbose: False
* /zed2/zed_node/general/zed_id: 0
* /zed2/zed_node/hue: 0
* /zed2/zed_node/mapping/fused_pointcloud_freq: 1.0
* /zed2/zed_node/mapping/mapping_enabled: False
* /zed2/zed_node/mapping/max_mapping_range: -1
* /zed2/zed_node/mapping/resolution: 0.05
* /zed2/zed_node/object_detection/body_fitting: False
* /zed2/zed_node/object_detection/confidence_threshold: 50
* /zed2/zed_node/object_detection/max_range: 15.0
* /zed2/zed_node/object_detection/mc_animal: True
* /zed2/zed_node/object_detection/mc_bag: True
* /zed2/zed_node/object_detection/mc_electronics: True
* /zed2/zed_node/object_detection/mc_fruit_vegetable: True
* /zed2/zed_node/object_detection/mc_people: True
* /zed2/zed_node/object_detection/mc_vehicle: True
* /zed2/zed_node/object_detection/model: 0
* /zed2/zed_node/object_detection/object_tracking_enabled: True
* /zed2/zed_node/object_detection/od_enabled: False
* /zed2/zed_node/point_cloud_freq: 15.0
* /zed2/zed_node/pos_tracking/area_memory: True
* /zed2/zed_node/pos_tracking/area_memory_db_path:
* /zed2/zed_node/pos_tracking/fixed_z_value: 0.0
* /zed2/zed_node/pos_tracking/floor_alignment: False
* /zed2/zed_node/pos_tracking/imu_fusion: True
* /zed2/zed_node/pos_tracking/init_odom_with_first_valid_pose: True
* /zed2/zed_node/pos_tracking/initial_base_pose: [0.0, 0.0, 0.0, 0...
* /zed2/zed_node/pos_tracking/map_frame: map
* /zed2/zed_node/pos_tracking/odometry_frame: odom
* /zed2/zed_node/pos_tracking/path_max_count: -1
* /zed2/zed_node/pos_tracking/path_pub_rate: 2.0
* /zed2/zed_node/pos_tracking/publish_map_tf: True
* /zed2/zed_node/pos_tracking/publish_tf: True
* /zed2/zed_node/pos_tracking/two_d_mode: False
* /zed2/zed_node/pub_frame_rate: 15.0
* /zed2/zed_node/saturation: 4
* /zed2/zed_node/sensors/publish_imu_tf: True
* /zed2/zed_node/sensors/sensors_timestamp_sync: False
* /zed2/zed_node/sharpness: 4
* /zed2/zed_node/stream:
* /zed2/zed_node/svo_file:
* /zed2/zed_node/video/extrinsic_in_camera_frame: True
* /zed2/zed_node/video/img_downsample_factor: 1.0
* /zed2/zed_node/whitebalance_temperature: 42
NODES
/zed2/
zed2_state_publisher (robot_state_publisher/robot_state_publisher)
zed_node (zed_wrapper/zed_wrapper_node)
ROS_MASTER_URI=http://192.168.0.22:11311
process[zed2/zed2_state_publisher-1]: started with pid [16805]
process[zed2/zed_node-2]: started with pid [16806]
[ INFO] [1619601834.796205736]: Initializing nodelet with 6 worker threads.
[ INFO] [1619601834.982654658]: ********** Starting nodelet '/zed2/zed_node' **********
[ INFO] [1619601834.983123278]: SDK version : 3.5.0
[ INFO] [1619601834.983686717]: *** GENERAL PARAMETERS ***
[ INFO] [1619601834.987731877]: * Camera Name -> zed2
[ INFO] [1619601834.991232543]: * Camera Resolution -> HD720
[ INFO] [1619601834.994389968]: * Camera Grab Framerate -> 30
[ INFO] [1619601834.999769690]: * Gpu ID -> -1
[ INFO] [1619601835.002785768]: * Camera ID -> -1
[ INFO] [1619601835.008839875]: * Verbose -> DISABLED
[ INFO] [1619601835.012576195]: * Camera Flip -> DISABLED
[ INFO] [1619601835.017679942]: * Self calibration -> ENABLED
[ INFO] [1619601835.021114559]: * Camera Model by param -> zed2
[ INFO] [1619601835.021216001]: *** VIDEO PARAMETERS ***
[ INFO] [1619601835.023122578]: * Image resample factor -> 1
[ INFO] [1619601835.025561393]: * Extrinsic param. frame -> X RIGHT - Y DOWN - Z FWD
[ INFO] [1619601835.025747253]: *** DEPTH PARAMETERS ***
[ INFO] [1619601835.027890861]: * Depth quality -> ULTRA
[ INFO] [1619601835.030111910]: * Depth Sensing mode -> STANDARD
[ INFO] [1619601835.032990832]: * OpenNI mode -> DISABLED
[ INFO] [1619601835.039100076]: * Depth Stabilization -> ENABLED
[ INFO] [1619601835.042015095]: * Minimum depth -> 0.7 m
[ INFO] [1619601835.044902338]: * Maximum depth -> 20 m
[ INFO] [1619601835.049996388]: * Depth resample factor -> 1
[ INFO] [1619601835.050170249]: *** POSITIONAL TRACKING PARAMETERS ***
[ INFO] [1619601835.053546656]: * Path rate -> 2 Hz
[ INFO] [1619601835.058208855]: * Path history size -> 1
[ INFO] [1619601835.069373750]: * Odometry DB path ->
[ INFO] [1619601835.074161233]: * Spatial Memory -> ENABLED
[ INFO] [1619601835.082779406]: * IMU Fusion -> ENABLED
[ INFO] [1619601835.092497832]: * Floor alignment -> DISABLED
[ INFO] [1619601835.100720027]: * Init Odometry with first valid pose data -> ENABLED
[ INFO] [1619601835.110475030]: * Two D mode -> DISABLED
[ INFO] [1619601835.118313503]: *** MAPPING PARAMETERS ***
[ INFO] [1619601835.122727280]: * Mapping -> DISABLED
[ INFO] [1619601835.122834035]: *** OBJECT DETECTION PARAMETERS ***
[ INFO] [1619601835.130395765]: * Object Detection -> DISABLED
[ INFO] [1619601835.130538489]: *** SENSORS PARAMETERS ***
[ INFO] [1619601835.133283072]: * Sensors timestamp sync -> DISABLED
[ INFO] [1619601835.133404227]: *** SVO PARAMETERS ***
[ INFO] [1619601835.140931524]: * SVO input file: ->
[ INFO] [1619601835.143993939]: * SVO REC compression -> H265 (HEVC)
[ INFO] [1619601835.152181669]: *** COORDINATE FRAMES ***
[ INFO] [1619601835.178476904]: * map_frame -> map
[ INFO] [1619601835.178575595]: * odometry_frame -> odom
[ INFO] [1619601835.178670221]: * base_frame -> base_link
[ INFO] [1619601835.178913268]: * camera_frame -> zed2_camera_center
[ INFO] [1619601835.179094744]: * imu_link -> zed2_imu_link
[ INFO] [1619601835.179572421]: * left_camera_frame -> zed2_left_camera_frame
[ INFO] [1619601835.179654023]: * left_camera_optical_frame -> zed2_left_camera_optical_frame
[ INFO] [1619601835.179752329]: * right_camera_frame -> zed2_right_camera_frame
[ INFO] [1619601835.179931182]: * right_camera_optical_frame -> zed2_right_camera_optical_frame
[ INFO] [1619601835.179995567]: * depth_frame -> zed2_left_camera_frame
[ INFO] [1619601835.180132851]: * depth_optical_frame -> zed2_left_camera_optical_frame
[ INFO] [1619601835.180201269]: * disparity_frame -> zed2_left_camera_frame
[ INFO] [1619601835.180264470]: * disparity_optical_frame -> zed2_left_camera_optical_frame
[ INFO] [1619601835.180446171]: * confidence_frame -> zed2_left_camera_frame
[ INFO] [1619601835.180563390]: * confidence_optical_frame -> zed2_left_camera_optical_frame
[ INFO] [1619601835.189379744]: * Broadcast odometry TF -> ENABLED
[ INFO] [1619601835.200088596]: * Broadcast map pose TF -> ENABLED
[ INFO] [1619601835.209640521]: * Broadcast IMU pose TF -> ENABLED
[ INFO] [1619601835.209781996]: *** DYNAMIC PARAMETERS (Init. values) ***
[ INFO] [1619601835.212954174]: * [DYN] Depth confidence -> 50
[ INFO] [1619601835.217509651]: * [DYN] Depth texture conf. -> 100
[ INFO] [1619601835.220827336]: * [DYN] pub_frame_rate -> 15 Hz
[ INFO] [1619601835.223591503]: * [DYN] point_cloud_freq -> 15 Hz
[ INFO] [1619601835.228297736]: * [DYN] brightness -> 4
[ INFO] [1619601835.231033902]: * [DYN] contrast -> 4
[ INFO] [1619601835.233863895]: * [DYN] hue -> 0
[ INFO] [1619601835.238836791]: * [DYN] saturation -> 4
[ INFO] [1619601835.241414297]: * [DYN] sharpness -> 4
[ INFO] [1619601835.245011029]: * [DYN] gamma -> 8
[ INFO] [1619601835.250542563]: * [DYN] auto_exposure_gain -> ENABLED
[ INFO] [1619601835.260231612]: * [DYN] auto_whitebalance -> ENABLED
[ INFO] [1619601835.308853053]: * Camera coordinate system -> Right HANDED Z UP and X FORWARD
[ INFO] [1619601835.309023490]: *** Opening ZED 2...
[ INFO] [1619601836.799964130]: ZED connection -> SUCCESS
[ INFO] [1619601838.800572602]: ... ZED ready
[ INFO] [1619601838.801185897]: ZED SDK running on GPU #0
[ INFO] [1619601838.811109735]: Camera-IMU Transform:
5580A03540
0.999918 0.012762 0.001218 -0.002000
-0.012764 0.999917 0.001631 -0.023000
-0.001197 -0.001647 0.999998 -0.002000
0.000000 0.000000 0.000000 1.000000
[ INFO] [1619601838.813020088]: * CAMERA MODEL -> ZED 2
[ INFO] [1619601838.814525631]: * Serial Number -> 27114546
[ INFO] [1619601838.814943818]: * Camera FW Version -> 1523
[ INFO] [1619601838.815540825]: * Sensors FW Version -> 776
[ INFO] [1619601840.532858778]: Advertised on topic /zed2/zed_node/rgb/image_rect_color
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[ INFO] [1619601845.516358455]: Advertised on topic /zed2/zed_node/imu/mag
[ INFO] [1619601845.526611035]: Advertised on topic /zed2/zed_node/temperature/imu
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