CUDA illegal memory allocation error when setting ROI

Software ROS2
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1

System Description:
NVIDIA AGX Orin 64GB Dev kit L4T36.5
ZED SDK version 5.2.3
Latest version of ZED ROS2 wrapper.
ZEDX GMSL2 camera.

Error Logs:

[component_container_isolated-1] [INFO] [1781571316.819200787] [zed.zed_node]:  * Setting ROI
[component_container_isolated-1] [INFO] [1781571316.862509041] [zed.zed_node]:   * Region of Interest correctly set.
[component_container_isolated-1] [INFO] [1781571317.339115641] [zed.zed_node]: ** Set ROI service called **
[component_container_isolated-1] [INFO] [1781571317.339200371] [zed.zed_node]:  * ROI string: [[0.45208333333333334, 0.49833333333333335], [0.5854166666666667, 0.49833333333333335], [0.5854166666666667, 0.7116666666666667], [0.45208333333333334, 0.7116666666666667]]
[component_container_isolated-1] [INFO] [1781571317.339245264] [zed.zed_node]:  * Setting ROI
[component_container_isolated-1] in make_cuda_mapped_shared<unsigned char>(unsigned char*, std::shared_ptr<unsigned char>&, bool)::<lambda(unsigned char*)> : Err [700]: an illegal memory access was encountered.
[component_container_isolated-1] [2026-06-16 02:55:17 UTC][ZED][WARNING] [Grab]  A CUDA error occurred: an illegal memory access was encountered (700). Please check your CUDA environment or GPU configuration.
[component_container_isolated-1] in make_cuda_mapped_shared<unsigned char>(unsigned char*, std::shared_ptr<unsigned char>&, bool)::<lambda(unsigned char*)> : Err [700]: an illegal memory access was encountered.
[component_container_isolated-1] in make_cuda_mapped_shared<unsigned char>(unsigned char*, std::shared_ptr<unsigned char>&, bool)::<lambda(unsigned char*)> : Err [700]: an illegal memory access was encountered.
[component_container_isolated-1] in make_cuda_mapped_shared<unsigned char>(unsigned char*, std::shared_ptr<unsigned char>&, bool)::<lambda(unsigned char*)> : Err [700]: an illegal memory access was encountered.
[component_container_isolated-1] [2026-06-16 02:55:17 UTC][ZED][ERROR] CUDA ERROR in sl::ERROR_CODE sl::Camera::grab(sl::RuntimeParameters)
[component_container_isolated-1] [ERROR] [1781571317.385628351] [zed.zed_node]: Critical camera error: CUDA ERROR. NODE KILLED.
[component_container_isolated-1] CUDA error at /builds/sl/ZEDKit/lib/src/sl_core/utils/util.cu:534 code=700(cudaErrorIllegalAddress) "cudaCreateTextureObject(tex, &resDesc, &texDesc, NULL)" 
[component_container_isolated-1] CUDA error at /builds/sl/ZEDKit/lib/src/sl_core/utils/util.cu:534 code=700(cudaErrorIllegalAddress) "cudaCreateTextureObject(tex, &resDesc, &texDesc, NULL)" 
[component_container_isolated-1] CUDA error at /builds/sl/ZEDKit/lib/src/sl_core/utils/util.cu:534 code=700(cudaErrorIllegalAddress) "cudaCreateTextureObject(tex, &resDesc, &texDesc, NULL)"

This error came up during normal operation of my software stack. Any ideas what it could be related to?

It appears to have appeared after trying to set the Depth ROI which I constantly do due to my particular application. I have been running with this setup for a few weeks now and this is the first time I see this error show up.

2

Hi @withcargocam
Thank you for reporting this issue.

Can you please confirm that it’s also happening with the latest ZED SDK v5.3.1 and the latest ZED ROS2 Wrapper?

3

Thanks for the prompt response.

ZED SDK Version: 5.2.3 - Build 112767_50a3dc68_3019828
ROS2 Wrapper commit: c3cb8127f4cddccdff20be7c11c09a5bacb96403

That is 4 commits behind master. I upgraded to this version of the ROS wrapper maybe a month ago when the SDK version 5.3 was not yet supported by the ROS wrapper. Unlucky, it seems like the following week you published fixes to support 5.3.

Can you confirm that this is an issue that was addressed during that SDK upgrade?

4

Upgraded to ZED SDK 5.3.1 and latest ROS2 wrapper. Error persists. Node still crashes. Sometimes with the error above and sometimes without an error. ZED X Daemon is clean.

[component_container_isolated-1] [INFO] [1781730102.553222333] [zed.zed_node]: * Setting ROI
[component_container_isolated-1] [INFO] [1781730102.674718829] [zed.zed_node]: * Region of Interest correctly set.
[component_container_isolated-1] [INFO] [1781730103.945997023] [zed.zed_node]: ** Set ROI service called **
[component_container_isolated-1] [INFO] [1781730103.946091056] [zed.zed_node]: * ROI string: [[0.2916666666666667, 0.19583333333333333], [0.6197916666666666, 0.19583333333333333], [0.6197916666666666, 0.835], [0.2916666666666667, 0.835]]
[component_container_isolated-1] [INFO] [1781730103.946136456] [zed.zed_node]: * Setting ROI
[ERROR] [component_container_isolated-1]: process has died [pid 430723, exit code -11, cmd ‘/opt/ros/jazzy/install/lib/rclcpp_components/component_container_isolated --use_multi_threaded_executor --ros-args --log-level info --ros-args -r __node:=cargo_zed_container -r __ns:=/zed_cameras’].
[INFO] [component_container_isolated-1]: process started with pid [445507]

5

Hi @withcargocam
I’ve reported this bug to the ZED SDK team.
It will be fixed in one of the next patch releases.

I would like to announce that we have just released ZED SDK v5.4.0, and the ZED ROS2 Wrapper already supports it.

6

To clarify. Is this particular issue fixed on v5.4.0 or will it be addressed in a future patch?

7

I’ve just reported it, so it will probably be fixed with v5.4.1

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