Difference between Position Tracking GEN1 and GEN2?

skl1g14 · February 26, 2025, 7:11am

Hi,

I’ve recently been testing the latest SDK release, and I wanted to know what causes the difference. Here are the details when running the ROS2 wrapper on a Jetson Orin Nano with JP6.2 with a ZED2i camera:

[component_container_isolated-2] [INFO] [1740553119.887877848] [zed_node]: ZED SDK Version: 4.2.5 - Build 97569_fda16971
[component_container_isolated-2] [2025-02-26 06:58:39 UTC][ZED][INFO] Logging level INFO
[component_container_isolated-2] [INFO] [1740553119.892850659] [zed_node]: *** CAMERA OPENING ***
[component_container_isolated-2] [2025-02-26 06:58:40 UTC][ZED][INFO] Logging level INFO
[component_container_isolated-2] [2025-02-26 06:58:41 UTC][ZED][INFO] [Init]  Depth mode: PERFORMANCE
[component_container_isolated-2] [2025-02-26 06:58:42 UTC][ZED][INFO] [Init]  Camera successfully opened.
[component_container_isolated-2] [2025-02-26 06:58:42 UTC][ZED][INFO] [Init]  Camera FW version: 1523
[component_container_isolated-2] [2025-02-26 06:58:42 UTC][ZED][INFO] [Init]  Video mode: VGA@60

From the graphs, it appears that I’m getting a sub-20Hz odometry rate for GEN2 positional tracking, even though my camera’s grab rate is set to 60Hz. There doesn’t seem to be any issues with bandwidth or the power supply. I also enabled the light computation mode for GEN2, which improved the rate to around 50Hz, but there was no odometry output.

I ran the benchmark for zed-ros2-examples/tools/README.md at master · stereolabs/zed-ros2-examples · GitHub and it is consistent with my findings.

Myzhar · February 26, 2025, 3:00pm

Positional tracking GEN_2 is highly demanding in terms of computing requirements, so performance on Jetson Orin Nano may be reduced.

Can you share the common_stereo.yaml file and the full node log?

skl1g14 · February 28, 2025, 3:03am

Following taken from fresh install of Jetpack and Zed SDK with only zed ros2 wrapper running.

kernel
pkg

common_stereo.yaml (17.6 KB)
zed2i.yaml (495 Bytes)

skl1g14 · February 28, 2025, 3:05am

logs output (split into 2 parts as body text limit reached)

ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zed2i
[INFO] [launch]: All log files can be found below /home/nvidia/.ros/log/2025-02-28-10-35-27-874560-nvidia-53881
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [launch.user]: Using common configuration file: /home/nvidia/Desktop/colcon_ws/install/zed_wrapper/share/zed_wrapper/config/common_stereo.yaml
[INFO] [launch.user]: Using camera configuration file: /home/nvidia/Desktop/colcon_ws/install/zed_wrapper/share/zed_wrapper/config/zed2i.yaml
[INFO] [launch.user]: Using FFMPEG configuration file: /home/nvidia/Desktop/colcon_ws/install/zed_wrapper/share/zed_wrapper/config/ffmpeg.yaml
[INFO] [launch.user]: Loading ZED node `zed_node` in container `/zed/zed_container`
[INFO] [robot_state_publisher-1]: process started with pid [53904]
[INFO] [component_container_isolated-2]: process started with pid [53906]
[robot_state_publisher-1] [INFO] [1740710128.493221191] [zed.zed_state_publisher]: got segment zed_camera_center
[robot_state_publisher-1] [INFO] [1740710128.494484380] [zed.zed_state_publisher]: got segment zed_camera_link
[robot_state_publisher-1] [INFO] [1740710128.494515232] [zed.zed_state_publisher]: got segment zed_left_camera_frame
[robot_state_publisher-1] [INFO] [1740710128.494528993] [zed.zed_state_publisher]: got segment zed_left_camera_optical_frame
[robot_state_publisher-1] [INFO] [1740710128.494539010] [zed.zed_state_publisher]: got segment zed_right_camera_frame
[robot_state_publisher-1] [INFO] [1740710128.494548099] [zed.zed_state_publisher]: got segment zed_right_camera_optical_frame
[component_container_isolated-2] [INFO] [1740710128.694596188] [zed.zed_container]: Load Library: /home/nvidia/Desktop/colcon_ws/install/zed_components/lib/libzed_camera_component.so
[component_container_isolated-2] [INFO] [1740710128.782168735] [zed.zed_container]: Found class: rclcpp_components::NodeFactoryTemplate<stereolabs::ZedCamera>
[component_container_isolated-2] [INFO] [1740710128.782312144] [zed.zed_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<stereolabs::ZedCamera>
[component_container_isolated-2] [INFO] [1740710128.876453336] [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] [1740710128.876541954] [zed.zed_node]:       ZED Camera Component 
[component_container_isolated-2] [INFO] [1740710128.876557060] [zed.zed_node]: ********************************
[component_container_isolated-2] [INFO] [1740710128.876570309] [zed.zed_node]:  * namespace: /zed
[component_container_isolated-2] [INFO] [1740710128.876582759] [zed.zed_node]:  * node name: zed_node
[component_container_isolated-2] [INFO] [1740710128.876591336] [zed.zed_node]: ********************************
[component_container_isolated-2] [INFO] [1740710128.926892040] [zed.zed_node]: *** DEBUG parameters ***
[component_container_isolated-2] [INFO] [1740710128.927360575] [zed.zed_node]:  * SDK Verbose: 1
[component_container_isolated-2] [INFO] [1740710128.927503088] [zed.zed_node]:  * Debug Common: FALSE
[component_container_isolated-2] [INFO] [1740710128.927583353] [zed.zed_node]:  * Debug Simulation: FALSE
[component_container_isolated-2] [INFO] [1740710128.927707432] [zed.zed_node]:  * Debug Video/Depth: FALSE
[component_container_isolated-2] [INFO] [1740710128.927819093] [zed.zed_node]:  * Debug Control settings: FALSE
[component_container_isolated-2] [INFO] [1740710128.927926850] [zed.zed_node]:  * Debug Point Cloud: FALSE
[component_container_isolated-2] [INFO] [1740710128.928156509] [zed.zed_node]:  * Debug GNSS: FALSE
[component_container_isolated-2] [INFO] [1740710128.928316111] [zed.zed_node]:  * Debug Positional Tracking: FALSE
[component_container_isolated-2] [INFO] [1740710128.928426428] [zed.zed_node]:  * Debug sensors: FALSE
[component_container_isolated-2] [INFO] [1740710128.928576462] [zed.zed_node]:  * Debug Mapping: FALSE
[component_container_isolated-2] [INFO] [1740710128.928800264] [zed.zed_node]:  * Debug Object Detection: FALSE
[component_container_isolated-2] [INFO] [1740710128.928934168] [zed.zed_node]:  * Debug Body Tracking: TRUE
[component_container_isolated-2] [INFO] [1740710128.929060967] [zed.zed_node]:  * Debug Streaming: FALSE
[component_container_isolated-2] [INFO] [1740710128.929193047] [zed.zed_node]:  * Debug ROI: FALSE
[component_container_isolated-2] [INFO] [1740710128.929356970] [zed.zed_node]:  * Debug Advanced: FALSE
[component_container_isolated-2] [INFO] [1740710128.929729014] [zed.zed_node]:  + Debug Mode enabled +
[component_container_isolated-2] [INFO] [1740710128.929908939] [zed.zed_node]: *** GENERAL parameters ***
[component_container_isolated-2] [INFO] [1740710128.930472461] [zed.zed_node]:  * Camera model: zed2i - ZED 2i
[component_container_isolated-2] [INFO] [1740710128.930608349] [zed.zed_node]:  * Camera name: zed
[component_container_isolated-2] [INFO] [1740710128.930734252] [zed.zed_node]:  * Camera SN: 0
[component_container_isolated-2] [INFO] [1740710128.930824343] [zed.zed_node]:  * Camera ID: -1
[component_container_isolated-2] [INFO] [1740710128.930938756] [zed.zed_node]:  * Camera timeout [sec]: 5
[component_container_isolated-2] [INFO] [1740710128.931062547] [zed.zed_node]:  * Camera reconnection temptatives: 5
[component_container_isolated-2] [INFO] [1740710128.931176736] [zed.zed_node]:  * Camera framerate: 60
[component_container_isolated-2] [INFO] [1740710128.931295566] [zed.zed_node]:  * GPU ID: -1
[component_container_isolated-2] [INFO] [1740710128.931390841] [zed.zed_node]:  * Asynchronous image retrieval: FALSE
[component_container_isolated-2] [INFO] [1740710128.931571119] [zed.zed_node]:  * Camera resolution: VGA
[component_container_isolated-2] [INFO] [1740710128.931694685] [zed.zed_node]:  * Publishing resolution: NATIVE
[component_container_isolated-2] [INFO] [1740710128.931802602] [zed.zed_node]:  * OpenCV custom calibration: 
[component_container_isolated-2] [INFO] [1740710128.931933049] [zed.zed_node]:  * Camera self calibration: TRUE
[component_container_isolated-2] [INFO] [1740710128.932079754] [zed.zed_node]:  * Camera flip: FALSE
[component_container_isolated-2] [INFO] [1740710128.932248126] [zed.zed_node]:  * [DYN] Publish framerate [Hz]:  60
[component_container_isolated-2] [INFO] [1740710128.932285987] [zed.zed_node]: *** VIDEO parameters ***
[component_container_isolated-2] [INFO] [1740710128.932388655] [zed.zed_node]:  * [DYN] Brightness: 4
[component_container_isolated-2] [INFO] [1740710128.932642157] [zed.zed_node]:  * [DYN] Contrast: 4
[component_container_isolated-2] [INFO] [1740710128.932786046] [zed.zed_node]:  * [DYN] Hue: 0
[component_container_isolated-2] [INFO] [1740710128.932898347] [zed.zed_node]:  * [DYN] Saturation: 4
[component_container_isolated-2] [INFO] [1740710128.932990582] [zed.zed_node]:  * [DYN] Sharpness: 4
[component_container_isolated-2] [INFO] [1740710128.933077696] [zed.zed_node]:  * [DYN] Gamma: 8
[component_container_isolated-2] [INFO] [1740710128.933162762] [zed.zed_node]:  * [DYN] Auto Exposure/Gain: TRUE
[component_container_isolated-2] [INFO] [1740710128.933265238] [zed.zed_node]:  * [DYN] Exposure: 80
[component_container_isolated-2] [INFO] [1740710128.933371234] [zed.zed_node]:  * [DYN] Gain: 80
[component_container_isolated-2] [INFO] [1740710128.933463021] [zed.zed_node]:  * [DYN] Auto White Balance: TRUE
[component_container_isolated-2] [INFO] [1740710128.933545015] [zed.zed_node]:  * [DYN] White Balance Temperature: 42
[component_container_isolated-2] [INFO] [1740710128.933699337] [zed.zed_node]: *** DEPTH parameters ***
[component_container_isolated-2] [INFO] [1740710128.933854427] [zed.zed_node]:  * Depth mode: PERFORMANCE [1]
[component_container_isolated-2] [INFO] [1740710128.934080726] [zed.zed_node]:  * Min depth [m]: 0.3
[component_container_isolated-2] [INFO] [1740710128.934285774] [zed.zed_node]:  * Max depth [m]: 10
[component_container_isolated-2] [INFO] [1740710128.934532939] [zed.zed_node]:  * Depth Stabilization: 1
[component_container_isolated-2] [INFO] [1740710128.934700927] [zed.zed_node]:  * OpenNI mode (16bit point cloud): TRUE
[component_container_isolated-2] [INFO] [1740710128.934839311] [zed.zed_node]:  * [DYN] Point cloud rate [Hz]: 30
[component_container_isolated-2] [INFO] [1740710128.934981376] [zed.zed_node]:  * Point cloud resolution: COMPACT
[component_container_isolated-2] [INFO] [1740710128.935086732] [zed.zed_node]:  * [DYN] Depth Confidence: 50
[component_container_isolated-2] [INFO] [1740710128.935178167] [zed.zed_node]:  * [DYN] Depth Texture Confidence: 100
[component_container_isolated-2] [INFO] [1740710128.935270946] [zed.zed_node]:  * [DYN] Remove saturated areas: TRUE
[component_container_isolated-2] [INFO] [1740710128.935305382] [zed.zed_node]: *** GNSS FUSION parameters ***
[component_container_isolated-2] [INFO] [1740710128.935393488] [zed.zed_node]:  * GNSS fusion enabled: FALSE
[component_container_isolated-2] [INFO] [1740710128.935425140] [zed.zed_node]: *** POSITIONAL TRACKING parameters ***
[component_container_isolated-2] [INFO] [1740710128.935525600] [zed.zed_node]:  * Positional tracking enabled: TRUE
[component_container_isolated-2] [INFO] [1740710128.935634445] [zed.zed_node]:  * Positional tracking mode: GEN 2
[component_container_isolated-2] [INFO] [1740710128.935737977] [zed.zed_node]:  * Map frame id: map
[component_container_isolated-2] [INFO] [1740710128.935935344] [zed.zed_node]:  * Odometry frame id: odom
[component_container_isolated-2] [INFO] [1740710128.936224882] [zed.zed_node]:  * Broadcast Odometry TF: FALSE
[component_container_isolated-2] [INFO] [1740710128.936304892] [zed.zed_node]:  * Broadcast Pose TF: FALSE
[component_container_isolated-2] [INFO] [1740710128.936490738] [zed.zed_node]:  * [DYN] Depth minimum range: 0
[component_container_isolated-2] [INFO] [1740710128.936729006] [zed.zed_node]:  * [DYN] TF timestamp offset: 0
[component_container_isolated-2] [INFO] [1740710128.936990156] [zed.zed_node]:  * [DYN] Path publishing rate: 2
[component_container_isolated-2] [INFO] [1740710128.937155552] [zed.zed_node]:  * Path history lenght: -1
[component_container_isolated-2] [INFO] [1740710128.937403261] [zed.zed_node]:  * Initial pose: [0,0,0,0,0,0,]
[component_container_isolated-2] [INFO] [1740710128.937726531] [zed.zed_node]:  * Area Memory: TRUE
[component_container_isolated-2] [INFO] [1740710128.937876117] [zed.zed_node]:  * Area Memory DB: 
[component_container_isolated-2] [INFO] [1740710128.937982689] [zed.zed_node]:  * Camera is static: FALSE
[component_container_isolated-2] [INFO] [1740710128.938081005] [zed.zed_node]:  * Gravity as origin [not for ZED]: TRUE
[component_container_isolated-2] [INFO] [1740710128.938174232] [zed.zed_node]:  * IMU Fusion [not for ZED]: TRUE
[component_container_isolated-2] [INFO] [1740710128.938269763] [zed.zed_node]:  * Floor Alignment: FALSE
[component_container_isolated-2] [INFO] [1740710128.938362734] [zed.zed_node]:  * Reset Odometry with Loop Closure: TRUE
[component_container_isolated-2] [INFO] [1740710128.938451704] [zed.zed_node]:  * 2D mode: FALSE
[component_container_isolated-2] [INFO] [1740710128.938488477] [zed.zed_node]: *** Region of Interest parameters ***
[component_container_isolated-2] [INFO] [1740710128.938609035] [zed.zed_node]:  * Automatic ROI generation: FALSE
[component_container_isolated-2] [INFO] [1740710128.938829349] [zed.zed_node]:  * Manual ROI polygon: []
[component_container_isolated-2] [INFO] [1740710128.938889356] [zed.zed_node]: *** SENSORS STACK parameters ***
[component_container_isolated-2] [INFO] [1740710128.938997113] [zed.zed_node]:  * Broadcast IMU TF [not for ZED]: TRUE
[component_container_isolated-2] [INFO] [1740710128.939093252] [zed.zed_node]:  * Sensors Camera Sync: FALSE
[component_container_isolated-2] [INFO] [1740710128.939191599] [zed.zed_node]:  * Sensors publishing rate: 200 Hz
[component_container_isolated-2] [INFO] [1740710128.939264984] [zed.zed_node]: *** Spatial Mapping parameters ***
[component_container_isolated-2] [INFO] [1740710128.939487890] [zed.zed_node]:  * Spatial Mapping Enabled: FALSE
[component_container_isolated-2] [INFO] [1740710128.939628099] [zed.zed_node]:  * Spatial Mapping resolution [m]: 0.05
[component_container_isolated-2] [INFO] [1740710128.939805240] [zed.zed_node]:  * 3D Max Mapping range [m]: 5
[component_container_isolated-2] [INFO] [1740710128.939932551] [zed.zed_node]:  * Map publishing rate [Hz]: 1
[component_container_isolated-2] [INFO] [1740710128.940051797] [zed.zed_node]:  * Clicked point topic: /clicked_point
[component_container_isolated-2] [INFO] [1740710128.940164962] [zed.zed_node]:  * Plane Det. Max Dist. Thresh.: 0.15
[component_container_isolated-2] [INFO] [1740710128.940258733] [zed.zed_node]:  * Plane Det. Normals Sim. Thresh.: 15
[component_container_isolated-2] [INFO] [1740710128.940295537] [zed.zed_node]: *** Object Det. parameters ***
[component_container_isolated-2] [INFO] [1740710128.940381563] [zed.zed_node]:  * Object Det. enabled: FALSE
[component_container_isolated-2] [INFO] [1740710128.940534221] [zed.zed_node]:  * Object Det. model: MULTI CLASS BOX FAST
[component_container_isolated-2] [INFO] [1740710128.940647515] [zed.zed_node]:  * Object Det. allow reduced precision: TRUE
[component_container_isolated-2] [INFO] [1740710128.940737733] [zed.zed_node]:  * Object Det. maximum range [m]: 20
[component_container_isolated-2] [INFO] [1740710128.940913434] [zed.zed_node]:  * Object Det. min. confidence: 75
[component_container_isolated-2] [INFO] [1740710128.941002021] [zed.zed_node]:  * Object Det. prediction timeout [sec]: 0.5
[component_container_isolated-2] [INFO] [1740710128.941095087] [zed.zed_node]:  * Object Det. tracking: TRUE
[component_container_isolated-2] [INFO] [1740710128.941201020] [zed.zed_node]:  * Object Filtering mode: 1 - NMS3D
[component_container_isolated-2] [INFO] [1740710128.941293191] [zed.zed_node]:  * MultiClassBox people: TRUE
[component_container_isolated-2] [INFO] [1740710128.941364815] [zed.zed_node]:  * MultiClassBox vehicles: TRUE
[component_container_isolated-2] [INFO] [1740710128.941436408] [zed.zed_node]:  * MultiClassBox bags: TRUE
[component_container_isolated-2] [INFO] [1740710128.941519777] [zed.zed_node]:  * MultiClassBox animals: TRUE
[component_container_isolated-2] [INFO] [1740710128.941592554] [zed.zed_node]:  * MultiClassBox electronics: TRUE
[component_container_isolated-2] [INFO] [1740710128.941772287] [zed.zed_node]:  * MultiClassBox fruits and vegetables: TRUE
[component_container_isolated-2] [INFO] [1740710128.941924817] [zed.zed_node]:  * MultiClassBox sport-related objects: TRUE
[component_container_isolated-2] [INFO] [1740710128.941961717] [zed.zed_node]: *** Body Track. parameters ***
[component_container_isolated-2] [INFO] [1740710128.942063297] [zed.zed_node]:  * Body Track. enabled: FALSE
[component_container_isolated-2] [INFO] [1740710128.942215027] [zed.zed_node]:  * Body Track. model: HUMAN BODY MEDIUM
[component_container_isolated-2] [INFO] [1740710128.942351491] [zed.zed_node]:  * Body Track. format: BODY 38
[component_container_isolated-2] [INFO] [1740710128.942448783] [zed.zed_node]:  * Body Track. allow reduced precision: TRUE
[component_container_isolated-2] [INFO] [1740710128.942544250] [zed.zed_node]:  * Body Track. maximum range [m]: 20
[component_container_isolated-2] [INFO] [1740710128.942625892] [zed.zed_node]:  * Body Track. KP selection: FULL
[component_container_isolated-2] [DEBUG] [1740710128.942653095] [zed.zed_node]: body_selection.body_kp_selection: FULL
[component_container_isolated-2] [DEBUG] [1740710128.942690059] [zed.zed_node]:  Comparing 'FULL' to 'FULL'
[component_container_isolated-2] [INFO] [1740710128.942772213] [zed.zed_node]:  * Body fitting: FALSE
[component_container_isolated-2] [INFO] [1740710128.942874913] [zed.zed_node]:  * Body joints tracking: TRUE
[component_container_isolated-2] [INFO] [1740710128.942999728] [zed.zed_node]:  * Body Track. prediction timeout [sec]: 0.5
[component_container_isolated-2] [INFO] [1740710128.943105020] [zed.zed_node]:  * Body Track. confidence thresh.: 50
[component_container_isolated-2] [INFO] [1740710128.943199495] [zed.zed_node]:  * Body Track. min. KP thresh.: 5
[component_container_isolated-2] [INFO] [1740710128.943235691] [zed.zed_node]: *** Streaming Server parameters ***
[component_container_isolated-2] [INFO] [1740710128.943326422] [zed.zed_node]:  * Streaming Server enabled: FALSE
[component_container_isolated-2] [INFO] [1740710128.943419905] [zed.zed_node]:  * Stream codec: H264
[component_container_isolated-2] [INFO] [1740710128.943506187] [zed.zed_node]:  * Stream port: 30000
[component_container_isolated-2] [INFO] [1740710128.943607319] [zed.zed_node]:  * Stream bitrate: 12500
[component_container_isolated-2] [INFO] [1740710128.943703106] [zed.zed_node]:  * Stream GOP size: -1
[component_container_isolated-2] [INFO] [1740710128.943794989] [zed.zed_node]:  * Stream Chunk size: 16084
[component_container_isolated-2] [INFO] [1740710128.943888760] [zed.zed_node]:  * Adaptive bitrate: FALSE
[component_container_isolated-2] [INFO] [1740710128.944196476] [zed.zed_node]:  * Target frame rate:0
[component_container_isolated-2] [INFO] [1740710128.944300233] [zed.zed_node]: *** Advanced parameters ***
[component_container_isolated-2] [INFO] [1740710128.945866497] [zed.zed_node]:  * Thread sched. policy: SCHED_BATCH
[component_container_isolated-2] [INFO] [1740710128.946699683] [zed.zed_node]: *** SERVICES ***
[component_container_isolated-2] [INFO] [1740710128.952803922] [zed.zed_node]:  * '/zed/zed_node/reset_odometry'
[component_container_isolated-2] [INFO] [1740710128.955036536] [zed.zed_node]:  * '/zed/zed_node/reset_pos_tracking'
[component_container_isolated-2] [INFO] [1740710128.958154567] [zed.zed_node]:  * '/zed/zed_node/set_pose'
[component_container_isolated-2] [INFO] [1740710128.959408731] [zed.zed_node]:  * '/zed/zed_node/enable_obj_det'
[component_container_isolated-2] [INFO] [1740710128.960361035] [zed.zed_node]:  * '/zed/zed_node/enable_body_trk'
[component_container_isolated-2] [INFO] [1740710128.961299321] [zed.zed_node]:  * '/zed/zed_node/enable_mapping'
[component_container_isolated-2] [INFO] [1740710128.963668048] [zed.zed_node]:  * '/zed/zed_node/enable_streaming'
[component_container_isolated-2] [INFO] [1740710128.966163478] [zed.zed_node]:  * '/zed/zed_node/start_svo_rec'
[component_container_isolated-2] [INFO] [1740710128.967980812] [zed.zed_node]:  * '/zed/zed_node/stop_svo_rec'
[component_container_isolated-2] [INFO] [1740710128.970050943] [zed.zed_node]:  * '/zed/zed_node/set_roi'
[component_container_isolated-2] [INFO] [1740710128.971695489] [zed.zed_node]:  * '/zed/zed_node/reset_roi'
[component_container_isolated-2] [INFO] [1740710128.971808110] [zed.zed_node]: ***** STARTING CAMERA *****
[component_container_isolated-2] [INFO] [1740710129.103477553] [zed.zed_node]: ZED SDK Version: 4.2.5 - Build 97569_fda16971
[component_container_isolated-2] [2025-02-28 02:35:29 UTC][ZED][INFO] Logging level INFO
[component_container_isolated-2] [INFO] [1740710129.115904035]

skl1g14 · February 28, 2025, 3:05am

[zed.zed_node]: *** CAMERA OPENING ***
[component_container_isolated-2] [2025-02-28 02:35:29 UTC][ZED][INFO] Logging level INFO
[component_container_isolated-2] [2025-02-28 02:35:30 UTC][ZED][INFO] [Init]  Depth mode: PERFORMANCE
[component_container_isolated-2] [2025-02-28 02:35:31 UTC][ZED][INFO] [Init]  Camera successfully opened.
[component_container_isolated-2] [2025-02-28 02:35:31 UTC][ZED][INFO] [Init]  Camera FW version: 1523
[component_container_isolated-2] [2025-02-28 02:35:31 UTC][ZED][INFO] [Init]  Video mode: VGA@60
[component_container_isolated-2] [2025-02-28 02:35:31 UTC][ZED][INFO] [Init]  Serial Number: S/N 31384613
[component_container_isolated-2] [INFO] [1740710131.505042597] [zed.zed_node]: ZED SDK running on GPU #0
[component_container_isolated-2] [INFO] [1740710131.505225275] [zed.zed_node]:  * Camera Model  -> ZED 2i
[component_container_isolated-2] [INFO] [1740710131.505259903] [zed.zed_node]:  * Serial Number -> 31384613
[component_container_isolated-2] [INFO] [1740710131.505390702] [zed.zed_node]:  * Focal Lenght -> 2.0735 mm
[component_container_isolated-2] [INFO] [1740710131.505446132] [zed.zed_node]:  * Input  -> USB
[component_container_isolated-2] [INFO] [1740710131.505486041] [zed.zed_node]:  * Camera FW Version  -> 1523
[component_container_isolated-2] [INFO] [1740710131.505526686] [zed.zed_node]:  * Sensors FW Version -> 777
[component_container_isolated-2] [INFO] [1740710131.505556417] [zed.zed_node]:  * Camera grab size -> 672x376
[component_container_isolated-2] [INFO] [1740710131.505573955] [zed.zed_node]:  * Color/Depth publishing size -> 672x376
[component_container_isolated-2] [INFO] [1740710131.505590149] [zed.zed_node]:  * Point Cloud publishing size -> 448x256
[component_container_isolated-2] [INFO] [1740710131.505631914] [zed.zed_node]: *** TF FRAMES ***
[component_container_isolated-2] [INFO] [1740710131.505650220] [zed.zed_node]:  * Map                   -> map
[component_container_isolated-2] [INFO] [1740710131.505664110] [zed.zed_node]:  * Odometry              -> odom
[component_container_isolated-2] [INFO] [1740710131.505677903] [zed.zed_node]:  * Base                  -> zed_camera_link
[component_container_isolated-2] [INFO] [1740710131.505691601] [zed.zed_node]:  * Camera                -> zed_camera_center
[component_container_isolated-2] [INFO] [1740710131.505705074] [zed.zed_node]:  * Left                  -> zed_left_camera_frame
[component_container_isolated-2] [INFO] [1740710131.505755416] [zed.zed_node]:  * Left Optical          -> zed_left_camera_optical_frame
[component_container_isolated-2] [INFO] [1740710131.505773723] [zed.zed_node]:  * RGB                   -> zed_left_camera_frame
[component_container_isolated-2] [INFO] [1740710131.505789276] [zed.zed_node]:  * RGB Optical           -> zed_left_camera_optical_frame
[component_container_isolated-2] [INFO] [1740710131.505803998] [zed.zed_node]:  * Right                 -> zed_right_camera_frame
[component_container_isolated-2] [INFO] [1740710131.505817568] [zed.zed_node]:  * Right Optical         -> zed_right_camera_optical_frame
[component_container_isolated-2] [INFO] [1740710131.505831361] [zed.zed_node]:  * Depth                 -> zed_left_camera_frame
[component_container_isolated-2] [INFO] [1740710131.505844515] [zed.zed_node]:  * Depth Optical         -> zed_left_camera_optical_frame
[component_container_isolated-2] [INFO] [1740710131.505858404] [zed.zed_node]:  * Point Cloud           -> zed_left_camera_optical_frame
[component_container_isolated-2] [INFO] [1740710131.505871910] [zed.zed_node]:  * Disparity             -> zed_left_camera_frame
[component_container_isolated-2] [INFO] [1740710131.505886120] [zed.zed_node]:  * Disparity Optical     -> zed_left_camera_optical_frame
[component_container_isolated-2] [INFO] [1740710131.505899945] [zed.zed_node]:  * Confidence            -> zed_left_camera_frame
[component_container_isolated-2] [INFO] [1740710131.505913163] [zed.zed_node]:  * Confidence Optical    -> zed_left_camera_optical_frame
[component_container_isolated-2] [INFO] [1740710131.505937454] [zed.zed_node]:  * IMU                   -> zed_imu_link
[component_container_isolated-2] [INFO] [1740710131.505959024] [zed.zed_node]:  * Barometer             -> zed_camera_center
[component_container_isolated-2] [INFO] [1740710131.505974386] [zed.zed_node]:  * Magnetometer          -> zed_imu_link
[component_container_isolated-2] [INFO] [1740710131.505988308] [zed.zed_node]:  * Left Temperature      -> zed_left_camera_frame
[component_container_isolated-2] [INFO] [1740710131.506001717] [zed.zed_node]:  * Right Temperature     -> zed_right_camera_frame
[component_container_isolated-2] [INFO] [1740710131.506069309] [zed.zed_node]: *** PUBLISHED TOPICS ***
[component_container_isolated-2] [INFO] [1740710131.506107617] [zed.zed_node]: Openni depth mode activated -> Units: mm, Encoding: MONO16
[component_container_isolated-2] [DEBUG] [1740710131.676881379] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/rgb/image_rect_color/compressed
[component_container_isolated-2] [DEBUG] [1740710131.687436113] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/rgb/image_rect_color/compressedDepth
[component_container_isolated-2] [INFO] [1740710131.732790551] [FFMPEGEncoder]: enc: libx264 prof:  preset: 
[component_container_isolated-2] [INFO] [1740710131.732868192] [FFMPEGEncoder]: qmax: 0 bitrate: 4194304 gop: 10
[component_container_isolated-2] [DEBUG] [1740710131.733130399] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/rgb/image_rect_color/ffmpeg
[component_container_isolated-2] [DEBUG] [1740710131.737135090] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/rgb/image_rect_color
[component_container_isolated-2] [DEBUG] [1740710131.744454471] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/rgb/image_rect_color/theora
[component_container_isolated-2] [INFO] [1740710131.747804653] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb/image_rect_color
[component_container_isolated-2] [INFO] [1740710131.747891991] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb/camera_info
[component_container_isolated-2] [DEBUG] [1740710131.748300007] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/rgb_gray/image_rect_gray/compressed
[component_container_isolated-2] [DEBUG] [1740710131.749841339] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/rgb_gray/image_rect_gray/compressedDepth
[component_container_isolated-2] [INFO] [1740710131.750505320] [FFMPEGEncoder]: enc: libx264 prof:  preset: 
[component_container_isolated-2] [INFO] [1740710131.750541644] [FFMPEGEncoder]: qmax: 0 bitrate: 4194304 gop: 10
[component_container_isolated-2] [DEBUG] [1740710131.750557582] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/rgb_gray/image_rect_gray/ffmpeg
[component_container_isolated-2] [DEBUG] [1740710131.751087148] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/rgb_gray/image_rect_gray
[component_container_isolated-2] [DEBUG] [1740710131.751660143] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/rgb_gray/image_rect_gray/theora
[component_container_isolated-2] [INFO] [1740710131.754888423] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_gray/image_rect_gray
[component_container_isolated-2] [INFO] [1740710131.754981618] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_gray/camera_info
[component_container_isolated-2] [DEBUG] [1740710131.755363358] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/rgb_raw/image_raw_color/compressed
[component_container_isolated-2] [DEBUG] [1740710131.756742271] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/rgb_raw/image_raw_color/compressedDepth
[component_container_isolated-2] [INFO] [1740710131.757302976] [FFMPEGEncoder]: enc: libx264 prof:  preset: 
[component_container_isolated-2] [INFO] [1740710131.757335140] [FFMPEGEncoder]: qmax: 0 bitrate: 4194304 gop: 10
[component_container_isolated-2] [DEBUG] [1740710131.757351622] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/rgb_raw/image_raw_color/ffmpeg
[component_container_isolated-2] [DEBUG] [1740710131.757889253] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/rgb_raw/image_raw_color
[component_container_isolated-2] [DEBUG] [1740710131.758434500] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/rgb_raw/image_raw_color/theora
[component_container_isolated-2] [INFO] [1740710131.759349199] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_raw/image_raw_color
[component_container_isolated-2] [INFO] [1740710131.759399829] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_raw/camera_info
[component_container_isolated-2] [DEBUG] [1740710131.759707545] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/rgb_raw_gray/image_raw_gray/compressed
[component_container_isolated-2] [DEBUG] [1740710131.761033779] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/rgb_raw_gray/image_raw_gray/compressedDepth
[component_container_isolated-2] [INFO] [1740710131.761568562] [FFMPEGEncoder]: enc: libx264 prof:  preset: 
[component_container_isolated-2] [INFO] [1740710131.761599381] [FFMPEGEncoder]: qmax: 0 bitrate: 4194304 gop: 10
[component_container_isolated-2] [DEBUG] [1740710131.761614679] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/rgb_raw_gray/image_raw_gray/ffmpeg
[component_container_isolated-2] [DEBUG] [1740710131.762108913] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/rgb_raw_gray/image_raw_gray
[component_container_isolated-2] [DEBUG] [1740710131.762610731] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/rgb_raw_gray/image_raw_gray/theora
[component_container_isolated-2] [INFO] [1740710131.763524309] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_raw_gray/image_raw_gray
[component_container_isolated-2] [INFO] [1740710131.763572507] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_raw_gray/camera_info
[component_container_isolated-2] [DEBUG] [1740710131.763951079] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/left/image_rect_color/compressed
[component_container_isolated-2] [DEBUG] [1740710131.765330120] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/left/image_rect_color/compressedDepth
[component_container_isolated-2] [INFO] [1740710131.766009175] [FFMPEGEncoder]: enc: libx264 prof:  preset: 
[component_container_isolated-2] [INFO] [1740710131.766046908] [FFMPEGEncoder]: qmax: 0 bitrate: 4194304 gop: 10
[component_container_isolated-2] [DEBUG] [1740710131.766063645] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/left/image_rect_color/ffmpeg
[component_container_isolated-2] [DEBUG] [1740710131.766609693] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/left/image_rect_color
[component_container_isolated-2] [DEBUG] [1740710131.767152348] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/left/image_rect_color/theora
[component_container_isolated-2] [INFO] [1740710131.768111660] [zed.zed_node]: Advertised on topic: /zed/zed_node/left/image_rect_color
[component_container_isolated-2] [INFO] [1740710131.768159378] [zed.zed_node]: Advertised on topic: /zed/zed_node/left/camera_info
[component_container_isolated-2] [DEBUG] [1740710131.768461141] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/left_gray/image_rect_gray/compressed
[component_container_isolated-2] [DEBUG] [1740710131.769932032] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/left_gray/image_rect_gray/compressedDepth
[component_container_isolated-2] [INFO] [1740710131.770645332] [FFMPEGEncoder]: enc: libx264 prof:  preset: 
[component_container_isolated-2] [INFO] [1740710131.770686712] [FFMPEGEncoder]: qmax: 0 bitrate: 4194304 gop: 10
[component_container_isolated-2] [DEBUG] [1740710131.770700922] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/left_gray/image_rect_gray/ffmpeg
[component_container_isolated-2] [DEBUG] [1740710131.771258523] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/left_gray/image_rect_gray
[component_container_isolated-2] [DEBUG] [1740710131.771794745] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/left_gray/image_rect_gray/theora
[component_container_isolated-2] [INFO] [1740710131.772739400] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_gray/image_rect_gray
[component_container_isolated-2] [INFO] [1740710131.772796974] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_gray/camera_info
[component_container_isolated-2] [DEBUG] [1740710131.773097841] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/left_raw/image_raw_color/compressed
[component_container_isolated-2] [DEBUG] [1740710131.774408682] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/left_raw/image_raw_color/compressedDepth
[component_container_isolated-2] [INFO] [1740710131.774952938] [FFMPEGEncoder]: enc: libx264 prof:  preset: 
[component_container_isolated-2] [INFO] [1740710131.774985389] [FFMPEGEncoder]: qmax: 0 bitrate: 4194304 gop: 10
[component_container_isolated-2] [DEBUG] [1740710131.775000047] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/left_raw/image_raw_color/ffmpeg
[component_container_isolated-2] [DEBUG] [1740710131.775513867] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/left_raw/image_raw_color
[component_container_isolated-2] [DEBUG] [1740710131.776043913] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/left_raw/image_raw_color/theora
[component_container_isolated-2] [INFO] [1740710131.776985559] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_raw/image_raw_color
[component_container_isolated-2] [INFO] [1740710131.777031324] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_raw/camera_info
[component_container_isolated-2] [DEBUG] [1740710131.777310652] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/left_raw_gray/image_raw_gray/compressed
[component_container_isolated-2] [DEBUG] [1740710131.778677852] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/left_raw_gray/image_raw_gray/compressedDepth
[component_container_isolated-2] [INFO] [1740710131.779327495] [FFMPEGEncoder]: enc: libx264 prof:  preset: 
[component_container_isolated-2] [INFO] [1740710131.779367020] [FFMPEGEncoder]: qmax: 0 bitrate: 4194304 gop: 10
[component_container_isolated-2] [DEBUG] [1740710131.779382382] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/left_raw_gray/image_raw_gray/ffmpeg
[component_container_isolated-2] [DEBUG] [1740710131.779928462] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/left_raw_gray/image_raw_gray
[component_container_isolated-2] [DEBUG] [1740710131.780607837] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/left_raw_gray/image_raw_gray/theora
[component_container_isolated-2] [INFO] [1740710131.781588239] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_raw_gray/image_raw_gray
[component_container_isolated-2] [INFO] [1740710131.781641973] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_raw_gray/camera_info
[component_container_isolated-2] [DEBUG] [1740710131.781965947] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/right/image_rect_color/compressed
[component_container_isolated-2] [DEBUG] [1740710131.783329370] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/right/image_rect_color/compressedDepth
[component_container_isolated-2] [INFO] [1740710131.783978982] [FFMPEGEncoder]: enc: libx264 prof:  preset: 
[component_container_isolated-2] [INFO] [1740710131.784043341] [FFMPEGEncoder]: qmax: 0 bitrate: 4194304 gop: 10
[component_container_isolated-2] [DEBUG] [1740710131.784059311] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/right/image_rect_color/ffmpeg
[component_container_isolated-2] [DEBUG] [1740710131.784635186] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/right/image_rect_color
[component_container_isolated-2] [DEBUG] [1740710131.785189491] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/right/image_rect_color/theora
[component_container_isolated-2] [INFO] [1740710131.786356155] [zed.zed_node]: Advertised on topic: /zed/zed_node/right/image_rect_color
[component_container_isolated-2] [INFO] [1740710131.786418466] [zed.zed_node]: Advertised on topic: /zed/zed_node/right/camera_info
[component_container_isolated-2] [DEBUG] [1740710131.786773835] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/right_gray/image_rect_gray/compressed
[component_container_isolated-2] [DEBUG] [1740710131.788246423] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/right_gray/image_rect_gray/compressedDepth
[component_container_isolated-2] [INFO] [1740710131.788888322] [FFMPEGEncoder]: enc: libx264 prof:  preset: 
[component_container_isolated-2] [INFO] [1740710131.788929095] [FFMPEGEncoder]: qmax: 0 bitrate: 4194304 gop: 10
[component_container_isolated-2] [DEBUG] [1740710131.788944456] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/right_gray/image_rect_gray/ffmpeg
[component_container_isolated-2] [DEBUG] [1740710131.789564817] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/right_gray/image_rect_gray
[component_container_isolated-2] [DEBUG] [1740710131.790132851] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/right_gray/image_rect_gray/theora
[component_container_isolated-2] [INFO] [1740710131.791302843] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_gray/image_rect_gray
[component_container_isolated-2] [INFO] [1740710131.791364963] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_gray/camera_info
[component_container_isolated-2] [DEBUG] [1740710131.791717324] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/right_raw/image_raw_color/compressed
[component_container_isolated-2] [DEBUG] [1740710131.793153075] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/right_raw/image_raw_color/compressedDepth
[component_container_isolated-2] [INFO] [1740710131.793771323] [FFMPEGEncoder]: enc: libx264 prof:  preset: 
[component_container_isolated-2] [INFO] [1740710131.793814976] [FFMPEGEncoder]: qmax: 0 bitrate: 4194304 gop: 10
[component_container_isolated-2] [DEBUG] [1740710131.793831234] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/right_raw/image_raw_color/ffmpeg
[component_container_isolated-2] [DEBUG] [1740710131.794396644] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/right_raw/image_raw_color
[component_container_isolated-2] [DEBUG] [1740710131.794970567] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/right_raw/image_raw_color/theora
[component_container_isolated-2] [INFO] [1740710131.796509850] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_raw/image_raw_color
[component_container_isolated-2] [INFO] [1740710131.796576482] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_raw/camera_info
[component_container_isolated-2] [DEBUG] [1740710131.796914889] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/right_raw_gray/image_raw_gray/compressed
[component_container_isolated-2] [DEBUG] [1740710131.798319981] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/right_raw_gray/image_raw_gray/compressedDepth
[component_container_isolated-2] [INFO] [1740710131.799076869] [FFMPEGEncoder]: enc: libx264 prof:  preset: 
[component_container_isolated-2] [INFO] [1740710131.799121675] [FFMPEGEncoder]: qmax: 0 bitrate: 4194304 gop: 10
[component_container_isolated-2] [DEBUG] [1740710131.799136332] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/right_raw_gray/image_raw_gray/ffmpeg
[component_container_isolated-2] [DEBUG] [1740710131.799737074] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/right_raw_gray/image_raw_gray
[component_container_isolated-2] [DEBUG] [1740710131.800349082] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/right_raw_gray/image_raw_gray/theora
[component_container_isolated-2] [INFO] [1740710131.801479101] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_raw_gray/image_raw_gray
[component_container_isolated-2] [INFO] [1740710131.801537860] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_raw_gray/camera_info
[component_container_isolated-2] [DEBUG] [1740710131.801835335] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/depth/depth_registered/compressed
[component_container_isolated-2] [DEBUG] [1740710131.803339158] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/depth/depth_registered/compressedDepth
[component_container_isolated-2] [INFO] [1740710131.804136467] [FFMPEGEncoder]: enc: libx264 prof:  preset: 
[component_container_isolated-2] [INFO] [1740710131.804182969] [FFMPEGEncoder]: qmax: 0 bitrate: 4194304 gop: 10
[component_container_isolated-2] [DEBUG] [1740710131.804197178] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/depth/depth_registered/ffmpeg
[component_container_isolated-2] [DEBUG] [1740710131.804791360] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/depth/depth_registered
[component_container_isolated-2] [DEBUG] [1740710131.805362946] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/depth/depth_registered/theora
[component_container_isolated-2] [INFO] [1740710131.806440224] [zed.zed_node]: Advertised on topic: /zed/zed_node/depth/depth_registered
[component_container_isolated-2] [INFO] [1740710131.806492742] [zed.zed_node]: Advertised on topic: /zed/zed_node/depth/camera_info
[component_container_isolated-2] [INFO] [1740710131.809520167] [zed.zed_node]: Advertised on topic: /zed/zed_node/depth/depth_info
[component_container_isolated-2] [DEBUG] [1740710131.809922326] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/stereo/image_rect_color/compressed
[component_container_isolated-2] [DEBUG] [1740710131.811436230] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/stereo/image_rect_color/compressedDepth
[component_container_isolated-2] [INFO] [1740710131.812223426] [FFMPEGEncoder]: enc: libx264 prof:  preset: 
[component_container_isolated-2] [INFO] [1740710131.812268455] [FFMPEGEncoder]: qmax: 0 bitrate: 4194304 gop: 10
[component_container_isolated-2] [DEBUG] [1740710131.812283689] 
[zed.zed_node]: getTopicToAdvertise: /zed/zed_node/stereo/image_rect_color/ffmpeg
[component_container_isolated-2] [DEBUG] [1740710131.812916275] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/stereo/image_rect_color
[component_container_isolated-2] [DEBUG] [1740710131.813518809] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/stereo/image_rect_color/theora
[component_container_isolated-2] [INFO] [1740710131.814817424] [zed.zed_node]: Advertised on topic: /zed/zed_node/stereo/image_rect_color
[component_container_isolated-2] [DEBUG] [1740710131.815215231] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/stereo_raw/image_raw_color/compressed
[component_container_isolated-2] [DEBUG] [1740710131.816739984] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/stereo_raw/image_raw_color/compressedDepth
[component_container_isolated-2] [INFO] [1740710131.817430177] [FFMPEGEncoder]: enc: libx264 prof:  preset: 
[component_container_isolated-2] [INFO] [1740710131.817469605] [FFMPEGEncoder]: qmax: 0 bitrate: 4194304 gop: 10
[component_container_isolated-2] [DEBUG] [1740710131.817485799] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/stereo_raw/image_raw_color/ffmpeg
[component_container_isolated-2] [DEBUG] [1740710131.818125522] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/stereo_raw/image_raw_color
[component_container_isolated-2] [DEBUG] [1740710131.819902785] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/stereo_raw/image_raw_color/theora
[component_container_isolated-2] [INFO] [1740710131.820684220] [zed.zed_node]: Advertised on topic: /zed/zed_node/stereo_raw/image_raw_color
[component_container_isolated-2] [INFO] [1740710131.821335112] [zed.zed_node]: Advertised on topic: /zed/zed_node/confidence/confidence_map
[component_container_isolated-2] [INFO] [1740710131.824367241] [zed.zed_node]: Advertised on topic: /zed/zed_node/disparity/disparity_image
[component_container_isolated-2] [DEBUG] [1740710131.828601527] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/point_cloud/cloud_registered/draco
[component_container_isolated-2] [DEBUG] [1740710131.837234885] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/point_cloud/cloud_registered
[component_container_isolated-2] [DEBUG] [1740710131.841466130] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/point_cloud/cloud_registered/zlib
[component_container_isolated-2] [DEBUG] [1740710131.845723234] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/point_cloud/cloud_registered/zstd
[component_container_isolated-2] [INFO] [1740710131.847709002] [zed.zed_node]: Advertised on topic: /zed/zed_node/point_cloud/cloud_registered
[component_container_isolated-2] [INFO] [1740710131.849732406] [zed.zed_node]: Advertised on topic: /zed/zed_node/pose
[component_container_isolated-2] [INFO] [1740710131.851413722] [zed.zed_node]: Advertised on topic: /zed/zed_node/pose/status
[component_container_isolated-2] [INFO] [1740710131.853298197] [zed.zed_node]: Advertised on topic: /zed/zed_node/pose_with_covariance
[component_container_isolated-2] [INFO] [1740710131.856196167] [zed.zed_node]: Advertised on topic: /zed/zed_node/odom
[component_container_isolated-2] [INFO] [1740710131.857950228] [zed.zed_node]: Advertised on topic: /zed/zed_node/path_map
[component_container_isolated-2] [INFO] [1740710131.859225256] [zed.zed_node]: Advertised on topic: /zed/zed_node/path_odom
[component_container_isolated-2] [INFO] [1740710131.864258643] [zed.zed_node]: Advertised on topic: /zed/plane_marker
[component_container_isolated-2] [INFO] [1740710131.867088733] [zed.zed_node]: Advertised on topic: /zed/plane
[component_container_isolated-2] [INFO] [1740710131.869044161] [zed.zed_node]: Advertised on topic: /zed/zed_node/imu/data
[component_container_isolated-2] [INFO] [1740710131.870547440] [zed.zed_node]: Advertised on topic: /zed/zed_node/imu/data_raw
[component_container_isolated-2] [INFO] [1740710131.872136713] [zed.zed_node]: Advertised on topic: /zed/zed_node/temperature/imu
[component_container_isolated-2] [INFO] [1740710131.873724994] [zed.zed_node]: Advertised on topic: /zed/zed_node/imu/mag
[component_container_isolated-2] [INFO] [1740710131.876487428] [zed.zed_node]: Advertised on topic: /zed/zed_node/atm_press
[component_container_isolated-2] [INFO] [1740710131.877810591] [zed.zed_node]: Advertised on topic: /zed/zed_node/temperature/left
[component_container_isolated-2] [INFO] [1740710131.879021356] [zed.zed_node]: Advertised on topic: /zed/zed_node/temperature/right
[component_container_isolated-2] [INFO] [1740710131.880539069] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_cam_imu_transform
[component_container_isolated-2] [INFO] [1740710131.880637416] [zed.zed_node]: Camera-IMU Translation: 
[component_container_isolated-2]  -0.002 -0.023061 0.000217
[component_container_isolated-2] [INFO] [1740710131.880721362] [zed.zed_node]: Camera-IMU Rotation:
[component_container_isolated-2] FFFF759AC630
[component_container_isolated-2] 0.999932 0.011392 -0.002444
[component_container_isolated-2] -0.011409 0.999912 -0.006752
[component_container_isolated-2] 0.002367 0.006780 0.999974

Myzhar · February 28, 2025, 8:58am

A few advice for good settings when working with an Orin Nano:

reduce grab rate from 60 to 30 in zed2i.yaml
raise resolution to HD720 in zed2i.yaml
set pub_resolution to CUSTOM in common_stereo.yaml
set pub_downscale_factor to 2.0 in common_stereo.yaml
set enable_image_validity_check to 0 in common_stereo.yaml to not waste resources
set point_cloud_freq to 5 or 10 in common_stereo.yaml
set point_cloud_res to REDUCED in common_stereo.yaml

I recommend using MAXN power mode and running jetson_clocks to boost the Orin Nano performance.

ba2sakal · March 27, 2025, 10:29am

Hey @skl1g14 ,

The plot that you shared is exactly what I looked to create.

Could you share me which tool or script did you use to create them?

Thanks!

Myzhar · March 27, 2025, 11:30am

It’s included in all the Jetpack by clicking on the power mode on the top right of the top bar

skl1g14 · March 27, 2025, 11:35am

Dear @ba2sakal ,

Short answer: python and matplotlib

If you are using ROS, you can just record a ROS bag.
As for my case, I am comparing the odometry output from ZED SDK Pos tracking with PX4 mavros after the EKF imu fusion along with the topic publish rate.

You can check here for more details on how to plot the topics

ba2sakal · March 27, 2025, 2:37pm

This is perfect, thanks a lot!