# Advertised on topic /zed2/zed\_node/left\_cam\_imu\_transform \[LATCHED\] after this message stop

**URL:** <https://community.stereolabs.com/t/advertised-on-topic-zed2-zed-node-left-cam-imu-transform-latched-after-this-message-stop/214>\
**Category:** Uncategorized\
**Created:** [April 28, 2021, 9:42am UTC](https://community.stereolabs.com/t/advertised-on-topic-zed2-zed-node-left-cam-imu-transform-latched-after-this-message-stop/214 "2021-04-28T09:42:57Z")\
**Posts on this page:** 4\
**Page:** 1

<div class="post-metadata">

**Author:** ![sanghwa](https://community.stereolabs.com/letter_avatar_proxy/v4/letter/s/bc79bd/32.png) [@sanghwa](https://community.stereolabs.com/u/sanghwa)\
**Post date:** [April 28, 2021, 9:42am UTC](https://community.stereolabs.com/t/advertised-on-topic-zed2-zed-node-left-cam-imu-transform-latched-after-this-message-stop/214/1 "2021-04-28T09:42:57Z")

</div>

```auto
nvidia@xavier  ~/dconic_nav-melodic  roslaunch zed_wrapper zed2.launch
... logging to /home/nvidia/.ros/log/4cb7ff0e-a7f9-11eb-9515-48b02d0f5382/roslaunch-xavier-16792.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

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
[INFO] [1619601840.533075199]: Advertised on topic /zed2/zed_node/rgb/camera_info
[INFO] [1619601841.035045460]: Advertised on topic /zed2/zed_node/rgb_raw/image_raw_color
[INFO] [1619601841.036266004]: Advertised on topic /zed2/zed_node/rgb_raw/camera_info
[INFO] [1619601841.353753528]: Advertised on topic /zed2/zed_node/left/image_rect_color
[INFO] [1619601841.353943421]: Advertised on topic /zed2/zed_node/left/camera_info
[INFO] [1619601841.556150596]: Advertised on topic /zed2/zed_node/left_raw/image_raw_color
[INFO] [1619601841.556446764]: Advertised on topic /zed2/zed_node/left_raw/camera_info
[INFO] [1619601841.730578215]: Advertised on topic /zed2/zed_node/right/image_rect_color
[INFO] [1619601841.730851150]: Advertised on topic /zed2/zed_node/right/camera_info
[INFO] [1619601841.931741492]: Advertised on topic /zed2/zed_node/right_raw/image_raw_color
[INFO] [1619601841.932337347]: Advertised on topic /zed2/zed_node/right_raw/camera_info
[INFO] [1619601842.115147064]: Advertised on topic /zed2/zed_node/rgb/image_rect_gray
[INFO] [1619601842.115703846]: Advertised on topic /zed2/zed_node/rgb/camera_info
[INFO] [1619601842.316158459]: Advertised on topic /zed2/zed_node/rgb_raw/image_raw_gray
[INFO] [1619601842.316808620]: Advertised on topic /zed2/zed_node/rgb_raw/camera_info
[INFO] [1619601842.634512301]: Advertised on topic /zed2/zed_node/left/image_rect_gray
[INFO] [1619601842.635138109]: Advertised on topic /zed2/zed_node/left/camera_info
[INFO] [1619601843.115339241]: Advertised on topic /zed2/zed_node/left_raw/image_raw_gray
[INFO] [1619601843.116003066]: Advertised on topic /zed2/zed_node/left_raw/camera_info
[INFO] [1619601843.575464683]: Advertised on topic /zed2/zed_node/right/image_rect_gray
[INFO] [1619601843.576118940]: Advertised on topic /zed2/zed_node/right/camera_info
[INFO] [1619601844.056739334]: Advertised on topic /zed2/zed_node/right_raw/image_raw_gray
[INFO] [1619601844.057330677]: Advertised on topic /zed2/zed_node/right_raw/camera_info
[INFO] [1619601844.488675951]: Advertised on topic /zed2/zed_node/depth/depth_registered
[INFO] [1619601844.489477859]: Advertised on topic /zed2/zed_node/depth/camera_info
[INFO] [1619601844.995845616]: Advertised on topic /zed2/zed_node/stereo/image_rect_color
[INFO] [1619601845.407264292]: Advertised on topic /zed2/zed_node/stereo_raw/image_raw_color
[INFO] [1619601845.415751067]: Advertised on topic /zed2/zed_node/confidence/confidence_map
[INFO] [1619601845.424699294]: Advertised on topic /zed2/zed_node/disparity/disparity_image
[INFO] [1619601845.434397141]: Advertised on topic /zed2/zed_node/point_cloud/cloud_registered
[INFO] [1619601845.444180877]: Advertised on topic /zed2/zed_node/pose
[INFO] [1619601845.454787099]: Advertised on topic /zed2/zed_node/pose_with_covariance
[INFO] [1619601845.467089779]: Advertised on topic /zed2/zed_node/odom
[INFO] [1619601845.476489570]: Advertised on topic /zed2/zed_node/path_odom
[INFO] [1619601845.487960453]: Advertised on topic /zed2/zed_node/path_map
[INFO] [1619601845.496015346]: Advertised on topic /zed2/zed_node/imu/data
[INFO] [1619601845.509733359]: Advertised on topic /zed2/zed_node/imu/data_raw
[INFO] [1619601845.516358455]: Advertised on topic /zed2/zed_node/imu/mag
[INFO] [1619601845.526611035]: Advertised on topic /zed2/zed_node/temperature/imu
[INFO] [1619601845.536734268]: Advertised on topic /zed2/zed_node/atm_press
[INFO] [1619601845.546576054]: Advertised on topic /zed2/zed_node/temperature/left
[INFO] [1619601845.556630358]: Advertised on topic /zed2/zed_node/temperature/right
[INFO] [1619601845.568093593]: Advertised on topic /zed2/zed_node/left_cam_imu_transform [LATCHED]

```

After this message nothing comes up.

---

<div class="post-metadata">

**Author:** ![Myzhar](https://community.stereolabs.com/user_avatar/community.stereolabs.com/myzhar/32/11_2.png) [@Myzhar](https://community.stereolabs.com/u/Myzhar)\
**Post date:** [April 28, 2021, 9:46am UTC](https://community.stereolabs.com/t/advertised-on-topic-zed2-zed-node-left-cam-imu-transform-latched-after-this-message-stop/214/2 "2021-04-28T09:46:12Z")

</div>

Hi @sanghwa  
the output that you pasted is correct. The node has started and it’s waiting that other nodes subscribe to camera topics.

What is the behavior that you were expecting?

---

<div class="post-metadata">

**Author:** ![sanghwa](https://community.stereolabs.com/letter_avatar_proxy/v4/letter/s/bc79bd/32.png) [@sanghwa](https://community.stereolabs.com/u/sanghwa)\
**Post date:** [April 28, 2021, 9:52am UTC](https://community.stereolabs.com/t/advertised-on-topic-zed2-zed-node-left-cam-imu-transform-latched-after-this-message-stop/214/3 "2021-04-28T09:52:05Z")

</div>

> [@sanghwa](#):
>
> `Advertised on topic /zed2/zed_node/left_cam_imu_transform [LATCHED]`

Thank you @Myzhar.  
At the end of that message, no further progress.  
There were more messages in use before that.

In rqt, map and odom deosn’t exist. (I’m writing it if this information will help)

---

<div class="post-metadata">

**Author:** ![Myzhar](https://community.stereolabs.com/user_avatar/community.stereolabs.com/myzhar/32/11_2.png) [@Myzhar](https://community.stereolabs.com/u/Myzhar)\
**Post date:** [April 28, 2021, 10:00am UTC](https://community.stereolabs.com/t/advertised-on-topic-zed2-zed-node-left-cam-imu-transform-latched-after-this-message-stop/214/5 "2021-04-28T10:00:09Z")

</div>

To get map and odom you must start the 3D mapping module using the `start_3d_mapping` service:  
[https://www.stereolabs.com/docs/ros/zed-node/#services](https://www.stereolabs.com/docs/ros/zed-node/#services)  
[https://www.stereolabs.com/docs/ros/zed-node/#spatial-mapping](https://www.stereolabs.com/docs/ros/zed-node/#spatial-mapping)