Hi,
Is there a way to use the “Area Memory” feature with the ROS2 wrapper? If yes, is there any example for getting started?
If we use the “Area Memory” feature and load an area file, does Zed update the area file with minor new changes that might have occurred after it was created, so the map is up to date?
Can we aid its localization with Aruco/April tags? If yes, are there any examples?
Thanks, all your help is appreciated.
Hi @hey_you
Welcome to the Stereolabs community
Yes, you must set the following parameters:
Concerning the usage, I recommend you read the ZED SDK online documentation.
Yes, that’s what it does.
Sure, you can find it here: zed-ros2-examples/examples/zed_aruco_localization at master · stereolabs/zed-ros2-examples · GitHub
Hi @Myzhar Thank you so much for the warm welcome and the info on all the questions
pos_tracking:
pos_tracking_enabled: true # True to enable positional tracking from start
pos_tracking_mode: 'GEN_3' # Matches the ZED SDK setting: 'GEN_1', 'GEN_2', 'GEN_3'
imu_fusion: true # enable/disable IMU fusion. When set to false, only the optical odometry will be used.
publish_tf: true # [overwritten by launch file options] publish `odom -> camera_link` TF
publish_map_tf: true # [overwritten by launch file options] publish `map -> odom` TF
map_frame: 'map'
odometry_frame: 'odom'
area_memory_db_path: '/home/me/map.area'
area_memory: true # Enable to detect loop closure
reset_odom_with_loop_closure: true # Re-initialize odometry to the last valid pose when loop closure happens (reset camera odometry drift)
depth_min_range: 0.0 # Set this value for removing fixed zones of the robot in the FoV of the camerafrom the visual odometry evaluation
set_as_static: false # If 'true' the camera will be static and not move in the environment
set_gravity_as_origin: true # If 'true' align the positional tracking world to imu gravity measurement. Keep the yaw from the user initial pose.
floor_alignment: false # Enable to automatically calculate camera/floor offset
initial_base_pose: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] # Initial position of the `camera_link` frame in the map -> [X, Y, Z, R, P, Y]
path_pub_rate: 2.0 # [DYNAMIC] - Camera trajectory publishing frequency
path_max_count: -1 # use '-1' for unlimited path size
two_d_mode: true # Force navigation on a plane. If true the Z value will be fixed to 'fixed_z_value', roll and pitch to zero
fixed_z_value: 0.0 # Value to be used for Z coordinate if `two_d_mode` is true
transform_time_offset: 0.0 # The value added to the timestamp of `map->odom` and `odom->camera_link` transform being generated
reset_pose_with_svo_loop: true # Reset the camera pose the `initial_base_pose` when the SVO loop is enabled and the SVO playback reaches the end of the file.
It gives me an error
[component_container_isolated-2] [INFO] [1751294526.828478799] [zed.zed_node]: ===Subscribers ===
[component_container_isolated-2] [INFO] [1751294526.828933175] [zed.zed_node]: * Plane detection: '/clicked_point'
[component_container_isolated-2] [INFO] [1751294526.906252537] [zed.zed_node]: === Starting Positional Tracking ===
[component_container_isolated-2] [INFO] [1751294526.906299778] [zed.zed_node]: * Waiting for valid static transformations...
[component_container_isolated-2] [INFO] [1751294526.906382144] [zed.zed_node]: Static transform ref. CMOS Sensor to Base [zed_left_camera_frame -> zed_camera_link]
[component_container_isolated-2] [INFO] [1751294526.906389448] [zed.zed_node]: * Translation: {0.010,-0.060,-0.015}
[component_container_isolated-2] [INFO] [1751294526.906395568] [zed.zed_node]: * Rotation: {0.000,-0.000,0.000}
[component_container_isolated-2] [INFO] [1751294526.906411204] [zed.zed_node]: Static transform ref. CMOS Sensor to Camera Center [zed_left_camera_frame -> zed_camera_center]
[component_container_isolated-2] [INFO] [1751294526.906415392] [zed.zed_node]: * Translation: {0.010,-0.060,0.000}
[component_container_isolated-2] [INFO] [1751294526.906419885] [zed.zed_node]: * Rotation: {0.000,-0.000,0.000}
[component_container_isolated-2] [INFO] [1751294526.906434808] [zed.zed_node]: Static transform Camera Center to Base [zed_camera_center -> zed_camera_link]
[component_container_isolated-2] [INFO] [1751294526.906438756] [zed.zed_node]: * Translation: {0.000,0.000,-0.015}
[component_container_isolated-2] [INFO] [1751294526.906443240] [zed.zed_node]: * Rotation: {0.000,-0.000,0.000}
[component_container_isolated-2] [INFO] [1751294526.907505236] [zed.zed_node]: Initial ZED left camera pose (ZED pos. tracking):
[component_container_isolated-2] [INFO] [1751294526.907560955] [zed.zed_node]: * T: [-0.01,0.06,0.015]
[component_container_isolated-2] [INFO] [1751294526.907570893] [zed.zed_node]: * Q: [0,0,0,1]
[component_container_isolated-2] [WARN] [1751294526.907607157] [zed.zed_node]: 'area_memory_db_path' path doesn't exist or is unreachable:
And if I create the area file beforehand I get the following error
[component_container_isolated-2] [INFO] [1751294595.436547016] [zed.zed_node]: ===Subscribers ===
[component_container_isolated-2] [INFO] [1751294595.437057212] [zed.zed_node]: * Plane detection: '/clicked_point'
[component_container_isolated-2] [INFO] [1751294595.503436658] [zed.zed_node]: === Starting Positional Tracking ===
[component_container_isolated-2] [INFO] [1751294595.503494136] [zed.zed_node]: * Waiting for valid static transformations...
[component_container_isolated-2] [INFO] [1751294595.503609285] [zed.zed_node]: Static transform ref. CMOS Sensor to Base [zed_left_camera_frame -> zed_camera_link]
[component_container_isolated-2] [INFO] [1751294595.503625559] [zed.zed_node]: * Translation: {0.010,-0.060,-0.015}
[component_container_isolated-2] [INFO] [1751294595.503640320] [zed.zed_node]: * Rotation: {0.000,-0.000,0.000}
[component_container_isolated-2] [INFO] [1751294595.503663226] [zed.zed_node]: Static transform ref. CMOS Sensor to Camera Center [zed_left_camera_frame -> zed_camera_center]
[component_container_isolated-2] [INFO] [1751294595.503674565] [zed.zed_node]: * Translation: {0.010,-0.060,0.000}
[component_container_isolated-2] [INFO] [1751294595.503684827] [zed.zed_node]: * Rotation: {0.000,-0.000,0.000}
[component_container_isolated-2] [INFO] [1751294595.503715770] [zed.zed_node]: Static transform Camera Center to Base [zed_camera_center -> zed_camera_link]
[component_container_isolated-2] [INFO] [1751294595.503725494] [zed.zed_node]: * Translation: {0.000,0.000,-0.015}
[component_container_isolated-2] [INFO] [1751294595.503735483] [zed.zed_node]: * Rotation: {0.000,-0.000,0.000}
[component_container_isolated-2] [INFO] [1751294595.504812826] [zed.zed_node]: Initial ZED left camera pose (ZED pos. tracking):
[component_container_isolated-2] [INFO] [1751294595.504827472] [zed.zed_node]: * T: [-0.01,0.06,0.015]
[component_container_isolated-2] [INFO] [1751294595.504841839] [zed.zed_node]: * Q: [0,0,0,1]
[component_container_isolated-2] [WARN] [1751294596.307794830] [zed.zed_node]: Pos. Tracking not started: INCOMPATIBLE AREA FILE
[component_container_isolated-2] [INFO] [1751294596.324623810] [zed.zed_node]: === Starting Positional Tracking ===
[component_container_isolated-2] [INFO] [1751294596.324655563] [zed.zed_node]: * Waiting for valid static transformations...
[component_container_isolated-2] [INFO] [1751294596.325748783] [zed.zed_node]: Initial ZED left camera pose (ZED pos. tracking):
[component_container_isolated-2] [INFO] [1751294596.325797745] [zed.zed_node]: * T: [-0.01,0.06,0.015]
[component_container_isolated-2] [INFO] [1751294596.325808370] [zed.zed_node]: * Q: [0,0,0,1]
[component_container_isolated-2] [WARN] [1751294597.056974644] [zed.zed_node]: Pos. Tracking not started: INCOMPATIBLE AREA FILE
[component_container_isolated-2] [INFO] [1751294597.073419943] [zed.zed_node]: === Starting Positional Tracking ===
[component_container_isolated-2] [INFO] [1751294597.073475626] [zed.zed_node]: * Waiting for valid static transformations...
[component_container_isolated-2] [INFO] [1751294597.074541796] [zed.zed_node]: Initial ZED left camera pose (ZED pos. tracking):
[component_container_isolated-2] [INFO] [1751294597.074563252] [zed.zed_node]: * T: [-0.01,0.06,0.015]
[component_container_isolated-2] [INFO] [1751294597.074574060] [zed.zed_node]: * Q: [0,0,0,1]
[component_container_isolated-2] [WARN] [1751294597.822470365] [zed.zed_node]: Pos. Tracking not started: INCOMPATIBLE AREA FILE
[component_container_isolated-2] [FATAL] [1751294597.822515590] [zed.zed_node]: It's not possible to enable the required Positional Tracking module.
[ERROR] [component_container_isolated-2]: process has died [pid 638584, exit code -11, cmd '/opt/ros/humble/lib/rclcpp_components/component_container_isolated --use_multi_threaded_executor --ros-args --log-level info --ros-args -r __node:=zed_container -r __ns:=/zed'].
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[robot_state_publisher-1] [INFO] [1751294599.984375165] [rclcpp]: signal_handler(signum=2)
[INFO] [robot_state_publisher-1]: process has finished cleanly [pid 638582]
Once again, thanks for your quick response, and all your help and support are appreciated.
Concerning the Area File handling, we need to fix it because it’s using the old ZED SDK 4 mode.
The fix will be deployed in a few days.
That’s awesome! I look forward to it. After the fix, will the above-mentioned process to save and load the map work with ROS2, or would it be different?
Thanks!
It will be the most automatic as possible.
Hi @hey_you
you can test the new Area File handling with this GitHub PR:
You can file details on the modifications in the change log.
Any comment will be appreciated
perfect! Thank you so much for the prompt response and the solution. I appreciate it a lot. I will test the setup and let you know if there’s any feedback.
Thanks again!
Hi,
I have 2 questions:
pos_tracking:
pos_tracking_enabled: true # True to enable positional tracking from start
pos_tracking_mode: 'GEN_3' # Matches the ZED SDK setting: 'GEN_1', 'GEN_2', 'GEN_3'
imu_fusion: true # enable/disable IMU fusion. When set to false, only the optical odometry will be used.
publish_tf: true # [overwritten by launch file options] publish `odom -> camera_link` TF
publish_map_tf: true # [overwritten by launch file options] publish `map -> odom` TF
map_frame: 'map'
odometry_frame: 'odom'
area_memory: true # Enable to detect loop closure
area_file_path: '~/test_empty_srv.area' # Path to the area memory file. If empty, the area memory will not be saved on camera closing
save_area_memory_on_closing: true # Save Area memory before closing the camera if `area_file_path` is not empty
reset_odom_with_loop_closure: true # Re-initialize odometry to the last valid pose when loop closure happens (reset camera odometry drift)
depth_min_range: 0.0 # Set this value for removing fixed zones of the robot in the FoV of the camerafrom the visual odometry evaluation
set_as_static: false # If 'true' the camera will be static and not move in the environment
set_gravity_as_origin: true # If 'true' align the positional tracking world to imu gravity measurement. Keep the yaw from the user initial pose.
floor_alignment: false # Enable to automatically calculate camera/floor offset
initial_base_pose: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] # Initial position of the `camera_link` frame in the map -> [X, Y, Z, R, P, Y]
path_pub_rate: 2.0 # [DYNAMIC] - Camera trajectory publishing frequency
path_max_count: -1 # use '-1' for unlimited path size
two_d_mode: true # Force navigation on a plane. If true the Z value will be fixed to 'fixed_z_value', roll and pitch to zero
fixed_z_value: 0.0 # Value to be used for Z coordinate if `two_d_mode` is true
transform_time_offset: 0.0 # The value added to the timestamp of `map->odom` and `odom->camera_link` transform being generated
reset_pose_with_svo_loop: true # Reset the camera pose the `initial_base_pose` when the SVO loop is enabled and the SVO playback reaches the end of the file.
Do I need to set some parameters to ensure the position tracker is using the saved area file from the previous run?
Is it required to keep the depth mode to “neural_plus” to get possible position tracking? (I am aware that it is a function of environment too) but from parameters perspective, I’d love to know your thoughts on below posted params to get the most accurate position tracking
depth:
depth_mode: 'NEURAL_PLUS' # Matches the ZED SDK setting: 'NONE', 'PERFORMANCE', 'QUALITY', 'ULTRA', 'NEURAL', 'NEURAL_PLUS' - Note: if 'NONE' all the modules that requires depth extraction are disabled by default (Pos. Tracking, Obj. Detection, Mapping, ...)
depth_stabilization: 30 # Forces positional tracking to start if major than 0 - Range: [0,100]
openni_depth_mode: false # 'false': 32bit float [meters], 'true': 16bit unsigned int [millimeters]
point_cloud_freq: 10.0 # [DYNAMIC] Frequency of the pointcloud publishing. This value must be equal or less than the camera framerate.
point_cloud_res: 'COMPACT' # The resolution used for point cloud publishing - 'COMPACT'-Standard resolution. Optimizes processing and bandwidth, 'REDUCED'-Half resolution. Low processing and bandwidth requirements
depth_confidence: 95 # [DYNAMIC]
depth_texture_conf: 100 # [DYNAMIC]
remove_saturated_areas: true # [DYNAMIC]
# Other parameters are defined, according to the camera model, in the 'zed.yaml', 'zedm.yaml', 'zed2.yaml', 'zed2i.yaml'
# 'zedx.yaml', 'zedxmini.yaml', 'virtual.yaml' files
pos_tracking:
pos_tracking_enabled: true # True to enable positional tracking from start
pos_tracking_mode: 'GEN_3' # Matches the ZED SDK setting: 'GEN_1', 'GEN_2', 'GEN_3'
imu_fusion: true # enable/disable IMU fusion. When set to false, only the optical odometry will be used.
publish_tf: true # [overwritten by launch file options] publish `odom -> camera_link` TF
publish_map_tf: true # [overwritten by launch file options] publish `map -> odom` TF
map_frame: 'map'
odometry_frame: 'odom'
area_memory: true # Enable to detect loop closure
area_file_path: '~/test_empty_srv.area' # Path to the area memory file. If empty, the area memory will not be saved on camera closing
save_area_memory_on_closing: true # Save Area memory before closing the camera if `area_file_path` is not empty
reset_odom_with_loop_closure: true # Re-initialize odometry to the last valid pose when loop closure happens (reset camera odometry drift)
depth_min_range: 0.0 # Set this value for removing fixed zones of the robot in the FoV of the camerafrom the visual odometry evaluation
set_as_static: false # If 'true' the camera will be static and not move in the environment
set_gravity_as_origin: true # If 'true' align the positional tracking world to imu gravity measurement. Keep the yaw from the user initial pose.
floor_alignment: false # Enable to automatically calculate camera/floor offset
initial_base_pose: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] # Initial position of the `camera_link` frame in the map -> [X, Y, Z, R, P, Y]
path_pub_rate: 2.0 # [DYNAMIC] - Camera trajectory publishing frequency
path_max_count: -1 # use '-1' for unlimited path size
two_d_mode: true # Force navigation on a plane. If true the Z value will be fixed to 'fixed_z_value', roll and pitch to zero
fixed_z_value: 0.0 # Value to be used for Z coordinate if `two_d_mode` is true
transform_time_offset: 0.0 # The value added to the timestamp of `map->odom` and `odom->camera_link` transform being generated
reset_pose_with_svo_loop: true # Reset the camera pose the `initial_base_pose` when the SVO loop is enabled and the SVO playback reaches the end of the file.
thanks!
When you set area_file_path the Wrapper checks if the file exists or not.
If it exists and it’s valid, it’s used during Positional Tracking processing for relocalization.
If it does not exist and save_area_memory_on_closing is true, when you close the node (Ctrl+C) a new area file is created.
No, I think this is not written anywhere. NEURAL_LIGHT can be a good choice to improve processing performance.
PS I noticed that I pushed the parameters of my latest tests. The default values for the parameters in the finala version will be:
area_memory: true # Enable to detect loop closure
area_file_path: '' # Path to the area memory file. If empty, the area memory will not be saved on camera closing
save_area_memory_on_closing: false # Save Area memory before closing the camera if `area_file_path` is not empty
Hi,
Thank you so much for the info; your quick responses are helping us a lot. I appreciate it.
I lack clarity on the situation mentioned below. I’d love to know your thoughts.
I am planning to track a couple of vehicles on the floor throughout the day, and they may start and stop anywhere on the floor. And I am willing to ensure that even in those situations, I’d like to maintain a reference/ world frame for all the vehicles on that floor. My initial idea was to use the Zed Aruco package, where I’d place the marker that denotes the start of the “world” frame, and even if the vehicle starts somewhere else, as soon as it passes by the marker, it resets its pose based on the marker. So I have 3 questions,
Please let me know if you need more information.
Thanks for all your help!
This is a good method.
No, because every time the ArUco tag is detected, the positional tracking module is reset and the area memory file is reloaded.
By design, the area file can be reloaded by the same camera that generated it. If you try to load an area file generated with another camera, you will get an error.
Area file sharing is on our roadmap, together with multi-camera localization, but we do not have yet a release date for those features.
Awesome! I’ll go ahead and get some test results for the setup we discussed.
Please let me know if I should post this question as a separate topic, but I thought it is still relevant to this discussion, so I will ask here. I have attached the picture of the Aruco marker I printed. In the ZED_aruco_localization package package in config/aruco_loc.yml, there is a param “marker_size” param, which size is it referring to? The red annotation or the green annotation (as annotated in the image), or something else?
It refers to the red quote
Thank you so much!
I was checking the “/zed/zed_node/odom topic” sample output during motion
---
header:
stamp:
sec: 1751398042
nanosec: 145455753
frame_id: odom
child_frame_id: zed_camera_link
pose:
pose:
position:
x: -2.28940942047097
y: 34.920319396417106
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.15648974350097605
w: 0.9876795837613526
covariance:
- 0.0023225094191730022
- 0.0011709891259670258
- 0.0
- 0.0
- 0.0
- 3.0517112463712692e-06
- 0.0011709926184266806
- 0.007804036606103182
- 0.0
- 0.0
- 0.0
- -0.0005505408043973148
- 0.0
- 0.0
- 1.0e-09
- 0.0
- 0.0
- -6.34300522506237e-05
- 0.0
- 0.0
- 0.0
- 1.0e-09
- 0.0
- 1.538968353997916e-05
- 0.0
- 0.0
- 0.0
- 0.0
- 1.0e-09
- -1.450978288630722e-06
- 3.0517112463712692e-06
- -0.0005505407461896539
- -6.34300522506237e-05
- 1.5389679902000353e-05
- -1.450978288630722e-06
- 6.296347419265658e-05
twist:
twist:
linear:
x: 0.0
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 0.0
covariance:
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
---
is there a way to get the velocity as well?
Thanks!
No, this feature is not yet available.
ROS 2 does not provide a method for easy twist frame conversion that is required to add the Twist info to the odometry topic in the zed_camera_link frame.
We explored the Sophus library for SO3 calculations, but we have not yet obtained reliable transforms
ohh, okay, I will try to fuse it with robot_localization and see if that works.
Also, can you please share some insights/documentation to understand the Axes orientation/frame convention for the Aruco marker to better understand how its X, ,Y and Z axes are placed and oriented
Thanks!
Hi,
I tried this PR, and I got the “File Error”
[component_container_isolated-2] [INFO] [1751671955.566538879] [zed.zed_node]: === Odometry reset for LOOP CLOSURE event ===
[component_container_isolated-2] [INFO] [1751671955.602486061] [zed.zed_node]: === Odometry reset for LOOP CLOSURE event ===
[component_container_isolated-2] [INFO] [1751671956.134321864] [zed.zed_node]: === Odometry reset for LOOP CLOSURE event ===
[component_container_isolated-2] [INFO] [1751671956.166026404] [zed.zed_node]: === Odometry reset for LOOP CLOSURE event ===
[component_container_isolated-2] [INFO] [1751671982.936697237] [zed.zed_node]: === Odometry reset for LOOP CLOSURE event ===
[component_container_isolated-2] [INFO] [1751671983.269849827] [zed.zed_node]: === Odometry reset for LOOP CLOSURE event ===
[component_container_isolated-2] [INFO] [1751671987.837844642] [zed.zed_node]: === Odometry reset for LOOP CLOSURE event ===
[component_container_isolated-2] [INFO] [1751671988.509565958] [zed.zed_node]: === Odometry reset for LOOP CLOSURE event ===
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[component_container_isolated-2] [INFO] [1751671992.522951294] [rclcpp]: signal_handler(signum=2)
[INFO] [robot_state_publisher-1]: process has finished cleanly [pid 3837]
[robot_state_publisher-1] [INFO] [1751671992.522985439] [rclcpp]: signal_handler(signum=2)
[component_container_isolated-2] [INFO] [1751671992.875849064] [zed.zed_node]: === CLOSING CAMERA ===
[component_container_isolated-2] [INFO] [1751671992.875921956] [zed.zed_node]: Saving area memory to: '/home/me/test_empty_srv.area' ...
[component_container_isolated-2] [WARN] [1751671993.590603273] [zed.zed_node]: Failed to save area memory: 'FILE ERROR'
[INFO] [component_container_isolated-2]: process has finished cleanly [pid 3839]
Please let me know your thoughts on probable causes
Thanks!
Hi,
I was working with the zed_aruco_localization package it works file until it sees a marker and then gives a segfault as soon as it sees a marker I tried to attach GDB and get the stack trace, below is the log
[gdb-3] [INFO] [1751749196.085465074] [zed.aruco_node]: *****************************
[gdb-3] [INFO] [1751749196.085619411] [zed.aruco_node]: ArUco detection
[gdb-3] [INFO] [1751749196.086057526] [zed.aruco_node]: * Color conversion: 0.000368226 sec
[gdb-3] [INFO] [1751749196.098128679] [zed.aruco_node]: * Marker detection: 0.0119503 sec
[gdb-3] [INFO] [1751749196.098285352] [zed.aruco_node]: No Markers in view
[gdb-3] [INFO] [1751749196.098325000] [zed.aruco_node]: *****************************
[gdb-3] [New Thread 0xffff6d02e8e0 (LWP 8576)]
[gdb-3] [Thread 0xffff6d02e8e0 (LWP 8576) exited]
[gdb-3] [New Thread 0xffff6d02e8e0 (LWP 8577)]
[gdb-3] [Thread 0xffff6d02e8e0 (LWP 8577) exited]
[gdb-3] [New Thread 0xffff6e86e8e0 (LWP 8578)]
[gdb-3] [INFO] [1751749196.156610478] [zed.aruco_node]: *****************************
[gdb-3] [INFO] [1751749196.156746543] [zed.aruco_node]: ArUco detection
[gdb-3] [INFO] [1751749196.157173458] [zed.aruco_node]: * Color conversion: 0.000362531 sec
[gdb-3] [INFO] [1751749196.164408642] [zed.aruco_node]: * Marker detection: 0.00711912 sec
[gdb-3] [INFO] [1751749196.164561091] [zed.aruco_node]: * Detected tags: 1
[gdb-3] [Thread 0xffff6e86e8e0 (LWP 8578) exited]
[gdb-3] [INFO] [1751749196.169079298] [zed.aruco_node]: * Marker poses estimation: 0.00443011 sec
[gdb-3] [INFO] [1751749196.169372356] [zed.aruco_node]: * Nearest marker: 1 -> 0.892516m
[gdb-3] [INFO] [1751749196.169421124] [zed.aruco_node]: * ArUco marker #1 in range: 0.892516 m
[gdb-3] [INFO] [1751749196.169528389] [zed.aruco_node]: pose_aruco -> Pos: [0.243,0.294,0.807] - Or: [143.837°,-52.757°,31.459°]
[gdb-3] [INFO] [1751749196.169640165] [zed.aruco_node]: pose_img -> Pos: [-0.861,-0.018,0.236] - Or: [161.032°,58.892°,-177.711°]
[gdb-3] [INFO] [1751749196.169690950] [zed.aruco_node]: pose_marker -> Pos: [0.236,-0.861,-0.018] - Or: [-1.266°,-20.923°,121.540°]
[gdb-3] [INFO] [1751749196.169727558] [zed.aruco_node]: pose_marker -> Pos: [0.280,-0.817,-0.028] - Or: [-1.266°,-20.923°,121.540°]
[gdb-3] [INFO] [1751749196.169785094] [zed.aruco_node]: *** Calling ZED 'set_pose' service ***
[gdb-3] [INFO] [1751749196.169967752] [zed.aruco_node]: * New camera pose [map]-> Pos:[0.280,-0.817,-0.028] Or:[-1.266°,-20.923°,121.540°]
[gdb-3] [New Thread 0xffff6e86e8e0 (LWP 8579)]
[gdb-3] [INFO] [1751749196.174714631] [zed.aruco_node]: [getTransformFromTf] canTransform 'zed_left_aruco' -> 'zed_base_aruco':. canTransform returned after 9.7089e-05 timeout was 0.. canTransform returned after 0.000114049 timeout was 1.
[gdb-3] [INFO] [1751749196.178041790] [zed.aruco_node]: [getTransformFromTf] 'zed_base_aruco' -> 'zed_left_aruco':
[gdb-3] [0.010,-0.060,-0.015] - [-0.000°,0.000°,0.000°]
[gdb-3] [INFO] [1751749196.178153118] [zed.aruco_node]: test TF -> Pos: [0.010,-0.060,-0.015] - Or: [-1.266°,-20.923°,121.540°]
[gdb-3] [INFO] [1751749196.180549198] [zed.aruco_node]: * Publish image result: 0.00231909 sec
[gdb-3] [INFO] [1751749196.180766416] [zed.aruco_node]: *****************************
[gdb-3] [INFO] [1751749196.182709661] [zed.zed_node]: ** Set Pose service called **
[gdb-3] [INFO] [1751749196.182884382] [zed.zed_node]: New pose: [0.279907,-0.816894,-0.0276957, -0.0220942,-0.365179,2.12128]
[gdb-3] [INFO] [1751749196.182949918] [zed.zed_node]: === Starting Positional Tracking ===
[gdb-3] [INFO] [1751749196.182969247] [zed.zed_node]: * Waiting for valid static transformations...
[gdb-3] [INFO] [1751749196.184145254] [zed.zed_node]: Initial ZED left camera pose (ZED pos. tracking):
[gdb-3] [INFO] [1751749196.184218823] [zed.zed_node]: * T: [0.235941,-0.860567,-0.0184975]
[gdb-3] [INFO] [1751749196.184247431] [zed.zed_node]: * Q: [0.153142,-0.0981413,0.857129,0.481919]
[gdb-3] [Thread 0xffff78fbe8e0 (LWP 7067) exited]
[gdb-3]
[gdb-3] Thread 1552 "component_conta" received signal SIGSEGV, Segmentation fault.
[gdb-3] [Switching to Thread 0xffff6e86e8e0 (LWP 8579)]
[gdb-3] 0x0000ffffd24c8ab0 in hybrid_tracker::SlamManager::isLoopClosureOccured() () from /usr/local/zed/lib/libsl_zed.so
bt
Platform details:
Model: Nvidia Jetson Orin NX
software:
jetson@jetson:~/fg_ws$ cat /etc/nv_tegra_release
# R36 (release), REVISION: 4.3, GCID: 38968081, BOARD: generic, EABI: aarch64, DATE: Wed Jan 8 01:49:37 UTC 2025
# KERNEL_VARIANT: oot
TARGET_USERSPACE_LIB_DIR=nvidia
TARGET_USERSPACE_LIB_DIR_PATH=usr/lib/aarch64-linux-gnu/nvidia
ZED SDK Version: 5.0.3 - Build 102179_b86b37e0
could it be because of package versions like OpenCV version.
Please let me know if you need more details. All your help is appreciated.
Thanks!
I was trying to dig deeper into the issue and it seems like the aruco detection is fine.
I tried running
jetson@jetson:~$ ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zed2i
[INFO] [launch]: All log files can be found below /home/jetson/.ros/log/2025-07-05-19-51-22-316526-jetson-9499
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [launch.user]: Using common configuration file: /home/jetson/fg_ws/install/zed_wrapper/share/zed_wrapper/config/common_stereo.yaml
[INFO] [launch.user]: Using camera configuration file: /home/jetson/fg_ws/install/zed_wrapper/share/zed_wrapper/config/zed2i.yaml
[INFO] [launch.user]: Using FFMPEG configuration file:
[INFO] [launch.user]: Using Custom Object Detection configuration file: /home/jetson/fg_ws/install/zed_wrapper/share/zed_wrapper/config/custom_object_detection.yaml
[INFO] [launch.user]: Loading ZED node `zed_node` in container `/zed/zed_container`
[INFO] [robot_state_publisher-1]: process started with pid [9512]
[INFO] [component_container_isolated-2]: process started with pid [9514]
[robot_state_publisher-1] [INFO] [1751759483.243945879] [zed.zed_state_publisher]: got segment zed_camera_center
[robot_state_publisher-1] [INFO] [1751759483.244136664] [zed.zed_state_publisher]: got segment zed_camera_link
[robot_state_publisher-1] [INFO] [1751759483.244152632] [zed.zed_state_publisher]: got segment zed_left_camera_frame
[robot_state_publisher-1] [INFO] [1751759483.244161400] [zed.zed_state_publisher]: got segment zed_left_camera_optical_frame
[robot_state_publisher-1] [INFO] [1751759483.244168440] [zed.zed_state_publisher]: got segment zed_right_camera_frame
[robot_state_publisher-1] [INFO] [1751759483.244175096] [zed.zed_state_publisher]: got segment zed_right_camera_optical_frame
[component_container_isolated-2] [INFO] [1751759483.489437151] [zed.zed_container]: Load Library: /home/jetson/fg_ws/install/zed_components/lib/libzed_camera_component.so
[component_container_isolated-2] [INFO] [1751759483.565125652] [zed.zed_container]: Found class: rclcpp_components::NodeFactoryTemplate<stereolabs::ZedCamera>
[component_container_isolated-2] [INFO] [1751759483.565255156] [zed.zed_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<stereolabs::ZedCamera>
[component_container_isolated-2] [INFO] [1751759483.681467565] [zed.zed_node]: ================================
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/zed/zed_node' in container '/zed/zed_container'
[component_container_isolated-2] [INFO] [1751759483.681549294] [zed.zed_node]: ZED Camera Component
[component_container_isolated-2] [INFO] [1751759483.681562990] [zed.zed_node]: ================================
[component_container_isolated-2] [INFO] [1751759483.681574382] [zed.zed_node]: * namespace: /zed
[component_container_isolated-2] [INFO] [zed.zed_node]: * node name: zed_node
[component_container_isolated-2] [INFO] [zed.zed_node]: ================================
[component_container_isolated-2] [INFO] [zed.zed_node]: === DEBUG parameters ===
[component_container_isolated-2] [INFO] [1751759483.732621406] [zed.zed_node]: * SDK Verbose: 1
[component_container_isolated-2] [INFO] [1751759483.732762430] [zed.zed_node]: * SDK Verbose File:
[component_container_isolated-2] [INFO] [1751759483.732869759] [zed.zed_node]: * Debug Common: FALSE
[component_container_isolated-2] [INFO] [1751759483.732951935] [zed.zed_node]: * Debug Simulation: FALSE
[component_container_isolated-2] [INFO] [1751759483.733016031] [zed.zed_node]: * Debug Video/Depth: FALSE
[component_container_isolated-2] [INFO] [1751759483.733104032] [zed.zed_node]: * Debug Control settings: FALSE
[component_container_isolated-2] [INFO] [1751759483.733163168] [zed.zed_node]: * Debug Point Cloud: %sFALSE
[component_container_isolated-2] [INFO] [1751759483.733225088] [zed.zed_node]: * Debug GNSS: FALSE
[component_container_isolated-2] [INFO] [1751759483.733291520] [zed.zed_node]: * Debug Positional Tracking: FALSE
[component_container_isolated-2] [INFO] [1751759483.733353697] [zed.zed_node]: * Debug sensors: FALSE
[component_container_isolated-2] [INFO] [1751759483.733408321] [zed.zed_node]: * Debug Mapping: FALSE
[component_container_isolated-2] [INFO] [1751759483.733460641] [zed.zed_node]: * Debug Object Detection: FALSE
[component_container_isolated-2] [INFO] [1751759483.733515969] [zed.zed_node]: * Debug Body Tracking: FALSE
[component_container_isolated-2] [INFO] [1751759483.733570242] [zed.zed_node]: * Debug Streaming: FALSE
[component_container_isolated-2] [INFO] [1751759483.733625474] [zed.zed_node]: * Debug ROI: FALSE
[component_container_isolated-2] [INFO] [1751759483.733676258] [zed.zed_node]: * Debug Advanced: FALSE
[component_container_isolated-2] [INFO] [1751759483.733773890] [zed.zed_node]: === SVO INPUT parameters ===
[component_container_isolated-2] [INFO] [1751759483.733847171] [zed.zed_node]: === LOCAL STREAMING parameters ===
[component_container_isolated-2] [INFO] [1751759483.733906339] [zed.zed_node]: === GENERAL parameters ===
[component_container_isolated-2] [INFO] [1751759483.733989347] [zed.zed_node]: * Camera model: zed2i - ZED 2i
[component_container_isolated-2] [INFO] [1751759483.734061732] [zed.zed_node]: * Camera name: zed
[component_container_isolated-2] [INFO] [1751759483.734314245] [zed.zed_node]: * Camera reconnection temptatives: 5
[component_container_isolated-2] [INFO] [1751759483.734376581] [zed.zed_node]: * Camera framerate: 30
[component_container_isolated-2] [INFO] [1751759483.734430885] [zed.zed_node]: * GPU ID: -1
[component_container_isolated-2] [INFO] [1751759483.734506213] [zed.zed_node]: * Asynchronous image retrieval: FALSE
[component_container_isolated-2] [INFO] [1751759483.734574758] [zed.zed_node]: * Image Validity Check: 1
[component_container_isolated-2] [INFO] [1751759483.734665542] [zed.zed_node]: * Camera resolution: HD720
[component_container_isolated-2] [INFO] [1751759483.734746598] [zed.zed_node]: * Publishing resolution: CUSTOM
[component_container_isolated-2] [INFO] [1751759483.734860583] [zed.zed_node]: * Publishing downscale factor: 2
[component_container_isolated-2] [INFO] [1751759483.734928871] [zed.zed_node]: * OpenCV custom calibration:
[component_container_isolated-2] [INFO] [1751759483.734988871] [zed.zed_node]: * Camera self calibration: TRUE
[component_container_isolated-2] [INFO] [1751759483.735044936] [zed.zed_node]: * Camera flip: FALSE
[component_container_isolated-2] [INFO] [1751759483.735115880] [zed.zed_node]: * Publish framerate [Hz]: 30
[component_container_isolated-2] [INFO] [1751759483.735146696] [zed.zed_node]: === VIDEO parameters ===
[component_container_isolated-2] [INFO] [1751759483.735226056] [zed.zed_node]: * Brightness: 4 [DYNAMIC]
[component_container_isolated-2] [INFO] [1751759483.735289705] [zed.zed_node]: * Contrast: 4 [DYNAMIC]
[component_container_isolated-2] [INFO] [1751759483.735351657] [zed.zed_node]: * Hue: 0 [DYNAMIC]
[component_container_isolated-2] [INFO] [1751759483.735407881] [zed.zed_node]: * Saturation: 4 [DYNAMIC]
[component_container_isolated-2] [INFO] [1751759483.735470377] [zed.zed_node]: * Sharpness: 4 [DYNAMIC]
[component_container_isolated-2] [INFO] [1751759483.735534250] [zed.zed_node]: * Gamma: 8 [DYNAMIC]
[component_container_isolated-2] [INFO] [1751759483.735585482] [zed.zed_node]: * Auto Exposure/Gain: TRUE [DYNAMIC]
[component_container_isolated-2] [INFO] [1751759483.735725802] [zed.zed_node]: * Exposure: 80 [DYNAMIC]
[component_container_isolated-2] [INFO] [1751759483.735786187] [zed.zed_node]: * Gain: 80 [DYNAMIC]
[component_container_isolated-2] [INFO] [1751759483.735848267] [zed.zed_node]: * Auto White Balance: TRUE [DYNAMIC]
[component_container_isolated-2] [INFO] [1751759483.735902539] [zed.zed_node]: * White Balance Temperature: 42 [DYNAMIC]
[component_container_isolated-2] [INFO] [zed.zed_node]: === DEPTH parameters ===
[component_container_isolated-2] [INFO] [zed.zed_node]: * Depth mode: NEURAL LIGHT [4]
[component_container_isolated-2] [INFO] [1751759483.736116620] [zed.zed_node]: * Min depth [m]: 0.3
[component_container_isolated-2] [INFO] [zed.zed_node]: * Max depth [m]: 10
[component_container_isolated-2] [INFO] [zed.zed_node]: * Depth Stabilization: 30
[component_container_isolated-2] [INFO] [1751759483.736290605] [zed.zed_node]: * OpenNI mode (16bit point cloud): FALSE
[component_container_isolated-2] [INFO] [zed.zed_node]: * Point cloud rate [Hz]: 10
[component_container_isolated-2] [INFO] [1751759483.736417197] [zed.zed_node]: * Point cloud resolution: COMPACT
[component_container_isolated-2] [INFO] [1751759483.736475821] [zed.zed_node]: * Depth Confidence: 95 [DYNAMIC]
[component_container_isolated-2] [INFO] [1751759483.736532750] [zed.zed_node]: * Depth Texture Confidence: 100 [DYNAMIC]
[component_container_isolated-2] [INFO] [1751759483.736583566] [zed.zed_node]: * Remove saturated areas: TRUE [DYNAMIC]
[component_container_isolated-2] [INFO] [1751759483.736603630] [zed.zed_node]: === GNSS FUSION parameters ===
[component_container_isolated-2] [INFO] [1751759483.736681774] [zed.zed_node]: * GNSS fusion enabled: FALSE
[component_container_isolated-2] [INFO] [1751759483.736704334] [zed.zed_node]: === POSITIONAL TRACKING parameters ===
[component_container_isolated-2] [INFO] [1751759483.736762031] [zed.zed_node]: * Positional tracking enabled: TRUE
[component_container_isolated-2] [INFO] [1751759483.736841295] [zed.zed_node]: * Positional tracking mode: GEN 3
[component_container_isolated-2] [INFO] [1751759483.736906223] [zed.zed_node]: * Map frame id: map
[component_container_isolated-2] [INFO] [1751759483.736967535] [zed.zed_node]: * Odometry frame id: odom
[component_container_isolated-2] [INFO] [1751759483.737021168] [zed.zed_node]: * Broadcast Odometry TF: TRUE
[component_container_isolated-2] [INFO] [1751759483.737086992] [zed.zed_node]: * Broadcast Pose TF: TRUE
[component_container_isolated-2] [INFO] [1751759483.737174448] [zed.zed_node]: * Depth minimum range: 0
[component_container_isolated-2] [INFO] [1751759483.737244337] [zed.zed_node]: * TF timestamp offset: 0 [DYNAMIC]
[component_container_isolated-2] [INFO] [1751759483.737294961] [zed.zed_node]: * Path publishing rate: 2 [DYNAMIC]
[component_container_isolated-2] [INFO] [1751759483.737497490] [zed.zed_node]: * Path history lenght: -1
[component_container_isolated-2] [INFO] [1751759483.737580274] [zed.zed_node]: * Initial pose: [0,0,0,0,0,0,]
[component_container_isolated-2] [INFO] [1751759483.737655218] [zed.zed_node]: * Area Memory: TRUE
[component_container_isolated-2] [INFO] [1751759483.737715282] [zed.zed_node]: * Area Memory DB:
[component_container_isolated-2] [INFO] [1751759483.737773523] [zed.zed_node]: * Camera is static: FALSE
[component_container_isolated-2] [INFO] [1751759483.737828083] [zed.zed_node]: * Gravity as origin: TRUE
[component_container_isolated-2] [INFO] [1751759483.737888147] [zed.zed_node]: * IMU Fusion: TRUE
[component_container_isolated-2] [INFO] [1751759483.737942483] [zed.zed_node]: * Floor Alignment: FALSE
[component_container_isolated-2] [INFO] [1751759483.737984948] [zed.zed_node]: * Reset Odometry with Loop Closure: TRUE
[component_container_isolated-2] [INFO] [1751759483.738045780] [zed.zed_node]: * 2D mode: TRUE
[component_container_isolated-2] [INFO] [1751759483.738106932] [zed.zed_node]: * Fixed Z value: 0
[component_container_isolated-2] [INFO] [1751759483.738151060] [zed.zed_node]: * Reset pose with SVO loop: TRUE
[component_container_isolated-2] [INFO] [1751759483.738170420] [zed.zed_node]: === Region of Interest parameters ===
[component_container_isolated-2] [INFO] [1751759483.738237493] [zed.zed_node]: * Automatic ROI generation: FALSE
[component_container_isolated-2] [INFO] [1751759483.738329173] [zed.zed_node]: * Manual ROI polygon: []
[component_container_isolated-2] [INFO] [1751759483.738353717] [zed.zed_node]: === SENSORS STACK parameters ===
[component_container_isolated-2] [INFO] [1751759483.738411989] [zed.zed_node]: * Broadcast IMU TF [not for ZED]: FALSE
[component_container_isolated-2] [INFO] [1751759483.738465430] [zed.zed_node]: * Sensors Camera Sync: FALSE
[component_container_isolated-2] [INFO] [1751759483.738530006] [zed.zed_node]: * Sensors publishing rate [Hz]: 100 [DYNAMIC]
[component_container_isolated-2] [INFO] [1751759483.738550998] [zed.zed_node]: === Spatial Mapping parameters ===
[component_container_isolated-2] [INFO] [1751759483.738615862] [zed.zed_node]: * Spatial Mapping Enabled: FALSE
[component_container_isolated-2] [INFO] [1751759483.738677814] [zed.zed_node]: * Spatial Mapping resolution [m]: 0.05
[component_container_isolated-2] [INFO] [1751759483.738743063] [zed.zed_node]: * 3D Max Mapping range [m]: 5
[component_container_isolated-2] [INFO] [1751759483.738909303] [zed.zed_node]: * Map publishing rate [Hz]: 1 [DYNAMIC]
[component_container_isolated-2] [INFO] [1751759483.739007992] [zed.zed_node]: * Clicked point topic: /clicked_point
[component_container_isolated-2] [INFO] [1751759483.739087160] [zed.zed_node]: * Plane Det. Max Dist. Thresh.: 0.15
[component_container_isolated-2] [INFO] [1751759483.739260441] [zed.zed_node]: * Plane Det. Normals Sim. Thresh.: 15
[component_container_isolated-2] [INFO] [1751759483.739307545] [zed.zed_node]: === ADVANCED parameters ===
[component_container_isolated-2] [INFO] [1751759483.743835083] [zed.zed_node]: * Thread sched. policy: SCHED_BATCH
[component_container_isolated-2] [INFO] [1751759483.744001356] [zed.zed_node]: === SERVICES ===
[component_container_isolated-2] [INFO] [1751759483.746165877] [zed.zed_node]: * '/zed/zed_node/reset_odometry'
[component_container_isolated-2] [INFO] [1751759483.747393722] [zed.zed_node]: * '/zed/zed_node/reset_pos_tracking'
[component_container_isolated-2] [INFO] [1751759483.750035909] [zed.zed_node]: * '/zed/zed_node/set_pose'
[component_container_isolated-2] [INFO] [1751759483.751535275] [zed.zed_node]: * '/zed/zed_node/enable_obj_det'
[component_container_isolated-2] [INFO] [1751759483.752627759] [zed.zed_node]: * '/zed/zed_node/enable_body_trk'
[component_container_isolated-2] [INFO] [1751759483.753858900] [zed.zed_node]: * '/zed/zed_node/enable_mapping'
[component_container_isolated-2] [INFO] [1751759483.754779800] [zed.zed_node]: * '/zed/zed_node/enable_streaming'
[component_container_isolated-2] [INFO] [1751759483.755583675] [zed.zed_node]: * '/zed/zed_node/start_svo_rec'
[component_container_isolated-2] [INFO] [1751759483.756420191] [zed.zed_node]: * '/zed/zed_node/stop_svo_rec'
[component_container_isolated-2] [INFO] [1751759483.757193826] [zed.zed_node]: * '/zed/zed_node/set_roi'
[component_container_isolated-2] [INFO] [1751759483.758110566] [zed.zed_node]: * '/zed/zed_node/reset_roi'
[component_container_isolated-2] [INFO] [1751759483.758201862] [zed.zed_node]: === STARTING CAMERA ===
[component_container_isolated-2] [INFO] [1751759483.889120987] [zed.zed_node]: ZED SDK Version: 5.0.3 - Build 102179_b86b37e0
[component_container_isolated-2] [INFO] [1751759483.907325797] [zed.zed_node]: === CAMERA OPENING ===
[component_container_isolated-2] [2025-07-05 23:51:24 UTC][ZED][INFO] Logging level INFO
[component_container_isolated-2] [2025-07-05 23:51:25 UTC][ZED][INFO] [Init] Depth mode: NEURAL LIGHT
[component_container_isolated-2] [2025-07-05 23:51:26 UTC][ZED][INFO] [Init] Camera successfully opened.
[component_container_isolated-2] [2025-07-05 23:51:26 UTC][ZED][INFO] [Init] Camera FW version: 1523
[component_container_isolated-2] [2025-07-05 23:51:26 UTC][ZED][INFO] [Init] Video mode: HD720@30
[component_container_isolated-2] [2025-07-05 23:51:26 UTC][ZED][INFO] [Init] Serial Number: S/N 36784393
[component_container_isolated-2] [INFO] [1751759486.565151391] [zed.zed_node]: * ZED SDK running on GPU #0
[component_container_isolated-2] [INFO] [1751759486.565337505] [zed.zed_node]: * Camera Model -> ZED 2i
[component_container_isolated-2] [INFO] [1751759486.565378785] [zed.zed_node]: * Serial Number -> 36784393
[component_container_isolated-2] [INFO] [1751759486.565626371] [zed.zed_node]: * Focal Lenght -> 2.13128 mm
[component_container_isolated-2] [INFO] [1751759486.565700548] [zed.zed_node]: * Input -> USB
[component_container_isolated-2] [INFO] [1751759486.565742884] [zed.zed_node]: * Camera FW Version -> 1523
[component_container_isolated-2] [INFO] [zed.zed_node]: * Sensors FW Version -> 777
[component_container_isolated-2] [INFO] [zed.zed_node]: * Camera grab size -> 1280x720
[component_container_isolated-2] [INFO] [zed.zed_node]: * Color/Depth publishing size -> 640x360
[component_container_isolated-2] [INFO] [zed.zed_node]: * Point Cloud publishing size -> 448x256
[component_container_isolated-2] [INFO] [zed.zed_node]: === TF FRAMES ===
[component_container_isolated-2] [INFO] [1751759486.565985286] [zed.zed_node]: * Map -> map
[component_container_isolated-2] [INFO] [zed.zed_node]: * Odometry -> odom
[component_container_isolated-2] [INFO] [1751759486.566024327] [zed.zed_node]: * Base -> zed_camera_link
[component_container_isolated-2] [INFO] [zed.zed_node]: * Camera -> zed_camera_center
[component_container_isolated-2] [INFO] [zed.zed_node]: * Left -> zed_left_camera_frame
[component_container_isolated-2] [INFO] [zed.zed_node]: * Left Optical -> zed_left_camera_optical_frame
[component_container_isolated-2] [INFO] [zed.zed_node]: * RGB -> zed_left_camera_frame
[component_container_isolated-2] [INFO] [1751759486.566117127] [zed.zed_node]: * RGB Optical -> zed_left_camera_optical_frame
[component_container_isolated-2] [INFO] [1751759486.566135623] [zed.zed_node]: * Right -> zed_right_camera_frame
[component_container_isolated-2] [INFO] [1751759486.566152840] [zed.zed_node]: * Right Optical -> zed_right_camera_optical_frame
[component_container_isolated-2] [INFO] [1751759486.566185960] [zed.zed_node]: * Depth -> zed_left_camera_frame
[component_container_isolated-2] [INFO] [1751759486.566206664] [zed.zed_node]: * Depth Optical -> zed_left_camera_optical_frame
[component_container_isolated-2] [INFO] [1751759486.566224840] [zed.zed_node]: * Point Cloud -> zed_left_camera_optical_frame
[component_container_isolated-2] [INFO] [1751759486.566242920] [zed.zed_node]: * Disparity -> zed_left_camera_frame
[component_container_isolated-2] [INFO] [1751759486.566262217] [zed.zed_node]: * Disparity Optical -> zed_left_camera_optical_frame
[component_container_isolated-2] [INFO] [1751759486.566279689] [zed.zed_node]: * Confidence -> zed_left_camera_frame
[component_container_isolated-2] [INFO] [1751759486.566297961] [zed.zed_node]: * Confidence Optical -> zed_left_camera_optical_frame
[component_container_isolated-2] [INFO] [zed.zed_node]: * IMU -> zed_imu_link
[component_container_isolated-2] [INFO] [1751759486.566334857] [zed.zed_node]: * Barometer -> zed_camera_center
[component_container_isolated-2] [INFO] [1751759486.566353673] [zed.zed_node]: * Magnetometer -> zed_imu_link
[component_container_isolated-2] [INFO] [1751759486.566371913] [zed.zed_node]: * Left Temperature -> zed_left_camera_frame
[component_container_isolated-2] [INFO] [1751759486.566389258] [zed.zed_node]: * Right Temperature -> zed_right_camera_frame
[component_container_isolated-2] [INFO] [1751759486.566514219] [zed.zed_node]: === PUBLISHED TOPICS ===
[component_container_isolated-2] [INFO] [1751759486.570197194] [zed.zed_node]: Advertised on topic: /zed/zed_node/status/health
[component_container_isolated-2] [INFO] [1751759486.573002657] [zed.zed_node]: Advertised on topic: /zed/zed_node/status/heartbeat
[component_container_isolated-2] [INFO] [FFMPEGPublisher]: using encoder: libx264
[component_container_isolated-2] [INFO] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb/image_rect_color
[component_container_isolated-2] [INFO] [FFMPEGPublisher]: using encoder: libx264
[component_container_isolated-2] [INFO] [1751759486.775450059] [FFMPEGPublisher]: using encoder: libx264
[component_container_isolated-2] [INFO] [1751759486.778095457] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_raw_gray/image_raw_gray
[component_container_isolated-2] [INFO] [1751759486.778152513] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_raw_gray/camera_info
[component_container_isolated-2] [INFO] [FFMPEGPublisher]: using encoder: libx264
[component_container_isolated-2] [INFO] [1751759486.783107819] [zed.zed_node]: Advertised on topic: /zed/zed_node/left/image_rect_color
[component_container_isolated-2] [INFO] [1751759486.783164300] [zed.zed_node]: Advertised on topic: /zed/zed_node/left/camera_info
[component_container_isolated-2] [INFO] [1751759486.785197053] [FFMPEGPublisher]: using encoder: libx264
[component_container_isolated-2] [INFO] [1751759486.787988212] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_gray/image_rect_gray
[component_container_isolated-2] [INFO] [1751759486.788040565] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_gray/camera_info
[component_container_isolated-2] [INFO] [1751759486.790120006] [FFMPEGPublisher]: using encoder: libx264
[component_container_isolated-2] [INFO] [1751759486.792904222] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_raw/image_raw_color
[component_container_isolated-2] [INFO] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_raw/camera_info
[component_container_isolated-2] [INFO] [1751759486.794963855] [FFMPEGPublisher]: using encoder: libx264
[component_container_isolated-2] [INFO] [1751759486.797744006] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_raw_gray/image_raw_gray
[component_container_isolated-2] [INFO] [1751759486.797809031] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_raw_gray/camera_info
[component_container_isolated-2] [INFO] [1751759486.799853528] [FFMPEGPublisher]: using encoder: libx264
[component_container_isolated-2] [INFO] [1751759486.802789905] [zed.zed_node]: Advertised on topic: /zed/zed_node/right/image_rect_color
[component_container_isolated-2] [INFO] [1751759486.802851217] [zed.zed_node]: Advertised on topic: /zed/zed_node/right/camera_info
[component_container_isolated-2] [INFO] [1751759486.804933859] [FFMPEGPublisher]: using encoder: libx264
[component_container_isolated-2] [INFO] [1751759486.807876220] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_gray/image_rect_gray
[component_container_isolated-2] [INFO] [1751759486.807932764] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_gray/camera_info
[component_container_isolated-2] [INFO] [1751759486.810126959] [FFMPEGPublisher]: using encoder: libx264
[component_container_isolated-2] [INFO] [1751759486.813095400] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_raw/image_raw_color
[component_container_isolated-2] [INFO] [1751759486.813156360] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_raw/camera_info
[component_container_isolated-2] [INFO] [1751759486.815315034] [FFMPEGPublisher]: using encoder: libx264
[component_container_isolated-2] [INFO] [1751759486.818435093] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_raw_gray/image_raw_gray
[component_container_isolated-2] [INFO] [1751759486.818494389] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_raw_gray/camera_info
[component_container_isolated-2] [INFO] [FFMPEGPublisher]: using encoder: libx264
[component_container_isolated-2] [INFO] [1751759486.823659105] [zed.zed_node]: Advertised on topic: /zed/zed_node/depth/depth_registered
[component_container_isolated-2] [INFO] [1751759486.823721441] [zed.zed_node]: Advertised on topic: /zed/zed_node/depth/camera_info
[component_container_isolated-2] [INFO] [1751759486.825157613] [zed.zed_node]: Advertised on topic: /zed/zed_node/depth/depth_info
[component_container_isolated-2] [INFO] [1751759486.827534657] [FFMPEGPublisher]: using encoder: libx264
[component_container_isolated-2] [INFO] [1751759486.830293337] [zed.zed_node]: Advertised on topic: /zed/zed_node/stereo/image_rect_color
[component_container_isolated-2] [INFO] [1751759486.832571628] [FFMPEGPublisher]: using encoder: libx264
[component_container_isolated-2] [INFO] [1751759486.836407788] [zed.zed_node]: Advertised on topic: /zed/zed_node/stereo_raw/image_raw_color
[component_container_isolated-2] [INFO] [1751759486.836942417] [zed.zed_node]: Advertised on topic: /zed/zed_node/confidence/confidence_map
[component_container_isolated-2] [INFO] [1751759486.839595591] [zed.zed_node]: Advertised on topic: /zed/zed_node/disparity/disparity_image
[component_container_isolated-2] [INFO] [1751759486.856547158] [zed.zed_node]: Advertised on topic: /zed/zed_node/point_cloud/cloud_registered
[component_container_isolated-2] [INFO] [zed.zed_node]: Advertised on topic: /zed/zed_node/pose
[component_container_isolated-2] [INFO] [1751759486.859684560] [zed.zed_node]: Advertised on topic: /zed/zed_node/pose/status
[component_container_isolated-2] [INFO] [1751759486.861269981] [zed.zed_node]: Advertised on topic: /zed/zed_node/pose_with_covariance
[component_container_isolated-2] [INFO] [1751759486.864064149] [zed.zed_node]: Advertised on topic: /zed/zed_node/odom
[component_container_isolated-2] [1751759486.866508458] [zed.zed_node]: Advertised on topic: /zed/zed_node/path_map
[component_container_isolated-2] [INFO] [1751759486.867801236] [zed.zed_node]: Advertised on topic: /zed/zed_node/path_odom
[component_container_isolated-2] [INFO] [1751759486.870809998] [zed.zed_node]: Advertised on topic: /zed/plane_marker
[component_container_isolated-2] [INFO] [1751759486.872807551] [zed.zed_node]: Advertised on topic: /zed/plane
[component_container_isolated-2] [INFO] [1751759486.874499629] [zed.zed_node]: Advertised on topic: /zed/zed_node/imu/data
[component_container_isolated-2] [INFO] [1751759486.875742135] [zed.zed_node]: Advertised on topic: /zed/zed_node/imu/data_raw
[component_container_isolated-2] [INFO] [1751759486.877283396] [zed.zed_node]: Advertised on topic: /zed/zed_node/temperature/imu
[component_container_isolated-2] [INFO] [1751759486.878890482] [zed.zed_node]: Advertised on topic: /zed/zed_node/imu/mag
[component_container_isolated-2] [INFO] [1751759486.880398911] [zed.zed_node]: Advertised on topic: /zed/zed_node/atm_press
[component_container_isolated-2] [INFO] [1751759486.881687945] [zed.zed_node]: Advertised on topic: /zed/zed_node/temperature/left
[component_container_isolated-2] [INFO] [1751759486.882896596] [zed.zed_node]: Advertised on topic: /zed/zed_node/temperature/right
[component_container_isolated-2] [INFO] [1751759486.884254111] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_cam_imu_transform
[component_container_isolated-2] [INFO] [1751759486.884327360] [zed.zed_node]: Camera-IMU Translation:
[component_container_isolated-2] -0.002 -0.023061 0.000217
[component_container_isolated-2] [INFO] [1751759486.884414816] [zed.zed_node]: Camera-IMU Rotation:
[component_container_isolated-2] FFFF7EFDC740
[component_container_isolated-2] 0.999842 -0.015940 -0.007903
[component_container_isolated-2] 0.016039 0.999792 0.012614
[component_container_isolated-2] 0.007700 -0.012739 0.999889
[component_container_isolated-2]
[component_container_isolated-2] [INFO] [1751759486.884450945] [zed.zed_node]: ===Subscribers ===
[component_container_isolated-2] [INFO] [1751759486.886439569] [zed.zed_node]: * Plane detection: '/clicked_point'
[component_container_isolated-2] [INFO] [1751759487.075321195] [zed.zed_node]: === Starting Positional Tracking ===
[component_container_isolated-2] [INFO] [1751759487.075453837] [zed.zed_node]: * Waiting for valid static transformations...
[component_container_isolated-2] [INFO] [1751759487.075649102] [zed.zed_node]: Static transform ref. CMOS Sensor to Base [zed_left_camera_frame -> zed_camera_link]
[component_container_isolated-2] [INFO] [1751759487.075674543] [zed.zed_node]: * Translation: {0.010,-0.060,-0.015}
[component_container_isolated-2] [INFO] [1751759487.075688495] [zed.zed_node]: * Rotation: {0.000,-0.000,0.000}
[component_container_isolated-2] [INFO] [1751759487.075721231] [zed.zed_node]: Static transform ref. CMOS Sensor to Camera Center [zed_left_camera_frame -> zed_camera_center]
[component_container_isolated-2] [INFO] [1751759487.075736751] [zed.zed_node]: * Translation: {0.010,-0.060,0.000}
[component_container_isolated-2] [INFO] [1751759487.075749551] [zed.zed_node]: * Rotation: {0.000,-0.000,0.000}
[component_container_isolated-2] [INFO] [1751759487.075797680] [zed.zed_node]: Static transform Camera Center to Base [zed_camera_center -> zed_camera_link]
[component_container_isolated-2] [INFO] [zed.zed_node]: * Translation: {0.000,0.000,-0.015}
[component_container_isolated-2] [INFO] [zed.zed_node]: * Rotation: {0.000,-0.000,0.000}
[component_container_isolated-2] [INFO] [1751759487.076941691] [zed.zed_node]: Initial ZED left camera pose (ZED pos. tracking):
[component_container_isolated-2] [INFO] [1751759487.076992540] [zed.zed_node]: * T: [-0.01,0.06,0.015]
[component_container_isolated-2] [INFO] [1751759487.077019612] [zed.zed_node]: * Q: [0,0,0,1]
[component_container_isolated-2] [INFO] [1751759502.423804187] [zed.zed_node]: ** Set Pose service called **
[component_container_isolated-2] [INFO] [1751759502.423975392] [zed.zed_node]: New pose: [0,0,0, 0,0,0]
[component_container_isolated-2] [INFO] [1751759502.424012673] [zed.zed_node]: === Starting Positional Tracking ===
[component_container_isolated-2] [INFO] [1751759502.424037314] [zed.zed_node]: * Waiting for valid static transformations...
[component_container_isolated-2] [INFO] [1751759502.425471243] [zed.zed_node]: Initial ZED left camera pose (ZED pos. tracking):
[component_container_isolated-2] [INFO] [1751759502.425556621] [zed.zed_node]: * T: [-0.01,0.06,0.015]
[component_container_isolated-2] [1751759502.425609199] [zed.zed_node]: * Q: [0,0,0,1]
[component_container_isolated-2] [INFO] [zed.zed_node]: ** Set Pose service called **
[component_container_isolated-2] [INFO] [zed.zed_node]: New pose: [0,0,0, 0,0,0]
[component_container_isolated-2] [INFO] [zed.zed_node]: === Starting Positional Tracking ===
[component_container_isolated-2] [INFO] [zed.zed_node]: * Waiting for valid static transformations...
[component_container_isolated-2] [INFO] [1751759516.928626679] [zed.zed_node]: Initial ZED left camera pose (ZED pos. tracking):
[component_container_isolated-2] [INFO] [1751759516.928683577] [zed.zed_node]: * T: [-0.01,0.06,0.015]
[component_container_isolated-2] [INFO] [zed.zed_node]: * Q: [0,0,0,1]
[ERROR] [component_container_isolated-2]: process has died [pid 9514, exit code -11, cmd '/opt/ros/humble/lib/rclcpp_components/component_container_isolated --use_multi_threaded_executor --ros-args --log-level info --ros-args -r __node:=zed_container -r __ns:=/zed'].
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[robot_state_publisher-1] [INFO] [1751759527.638053118] [rclcpp]: signal_handler(signum=2)
[INFO] [robot_state_publisher-1]: process has finished cleanly [pid 9512]
While it was running, I ran
jetson@jetson:~$ ros2 service call /zed/zed_node/set_pose zed_msgs/srv/SetPose '{pos: [0.0, 0.0, 0.0], orient: [0.0, 0.0, 0.0]}'
requester: making request: zed_msgs.srv.SetPose_Request(pos=array([0., 0., 0.], dtype=float32), orient=array([0., 0., 0.], dtype=float32))
response:
zed_msgs.srv.SetPose_Response(success=True, message='Positional Tracking new pose OK')
jetson@jetson:~$ ros2 service call /zed/zed_node/set_pose zed_msgs/srv/SetPose '{pos: [0.0, 0.0, 0.0], orient: [0.0, 0.0, 0.0]}'
waiting for service to become available...
requester: making request: zed_msgs.srv.SetPose_Request(pos=array([0., 0., 0.], dtype=float32), orient=array([0., 0., 0.], dtype=float32))
The first service call was successful was as soon as I did the second one, the node crashed