Issue with Object Detection after SDK and ROS2 wrapper update

KOlCIqwq · March 12, 2026, 2:50pm

I recently purchased your equipment, including the ZED X stereo camera and the ZED Orin NX 16 GB Box, and until now the system has been working very well.

However, after updating the SDK and the ROS2 wrapper, I started experiencing an issue. Specifically, I upgraded the SDK from version 5.0.2 to 5.2 and updated the ROS2 wrapper accordingly, as the previous wrapper version could not compile with the newer SDK.

After launching the camera using the updated wrapper, I noticed that the custom object detection feature is no longer functioning properly. In fact, the system is currently unable to detect any objects.

After several tests and adjustments, I identified that the issue appears to be related to the positional tracking mode. In particular, when using the GEN_3 mode, the system is unable to detect any objects. However, when switching to GEN_1 or GEN_2, object detection works correctly.

Based on my tests, GEN_3 mode is the most suitable option for my use case, and I would therefore like to use it together with custom object detection.

At the moment, I am unable to determine whether this behavior is caused by an internal bug or by an incorrect configuration on my side.

Here’s part 1 of the terminal log:
[INFO] [launch]: All log files can be found below /home/user/.ros/log/2026-03-05-16-21-21-302733-GTW-ONX16-ubuntu-14214
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [launch.user]: Using common configuration file: /home/user/ros2_ws/install/zed_wrapper/share/zed_wrapper/config/common_stereo.yaml
[INFO] [launch.user]: Using camera configuration file: /home/user/ros2_ws/install/zed_wrapper/share/zed_wrapper/config/zedx.yaml
[INFO] [launch.user]: Using Object Detection configuration file: /home/user/ros2_ws/install/zed_wrapper/share/zed_wrapper/config/object_detection.yaml
[INFO] [launch.user]: Using Custom Object Detection configuration file: /home/user/ros2_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 [14228]
[INFO] [component_container_isolated-2]: process started with pid [14230]
[robot_state_publisher-1] [INFO] [1772727681.706122000] [zed.zed_state_publisher]: got segment zed_camera_center
[robot_state_publisher-1] [INFO] [1772727681.706288181] [zed.zed_state_publisher]: got segment zed_camera_link
[robot_state_publisher-1] [INFO] [1772727681.706306294] [zed.zed_state_publisher]: got segment zed_left_camera_frame
[robot_state_publisher-1] [INFO] [1772727681.706316054] [zed.zed_state_publisher]: got segment zed_left_camera_frame_optical
[robot_state_publisher-1] [INFO] [1772727681.706324183] [zed.zed_state_publisher]: got segment zed_right_camera_frame
[robot_state_publisher-1] [INFO] [1772727681.706330871] [zed.zed_state_publisher]: got segment zed_right_camera_frame_optical
[INFO] [1772727681.931545317] [zed.zed_container]: Load Library: /home/user/ros2_ws/install/zed_components/lib/libzed_camera_component.so
[INFO] [1772727682.030691398] [zed.zed_container]: Found class: rclcpp_components::NodeFactoryTemplate<stereolabs::ZedCamera>
[INFO] [1772727682.030822891] [zed.zed_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<stereolabs::ZedCamera>
[INFO] [1772727682.120795947] [zed.zed_node]: ================================
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ‘/zed/zed_node’ in container ‘/zed/zed_container’
[INFO] [1772727682.120879502] [zed.zed_node]: ZED Camera Component
[INFO] [1772727682.120894222] [zed.zed_node]: ================================
[INFO] [1772727682.120903534] [zed.zed_node]: * IPC: disabled
[INFO] [1772727682.171163142] [zed.zed_node]: * namespace: /zed
[INFO] [1772727682.171279594] [zed.zed_node]: * node name: zed_node
[INFO] [1772727682.171294891] [zed.zed_node]: ================================
[INFO] [1772727682.171302955] [zed.zed_node]: Starting node initialization…
[INFO] [1772727682.171353005] [zed.zed_node]: === DEBUG parameters ===
[INFO] [1772727682.171622998] [zed.zed_node]: * SDK Verbose: 1
[INFO] [1772727682.171734202] [zed.zed_node]: * Use Pub Timestamps: FALSE
[INFO] [1772727682.171821341] [zed.zed_node]: * SDK Verbose File:
[INFO] [1772727682.171883999] [zed.zed_node]: * Debug Common: TRUE
[INFO] [1772727682.171944450] [zed.zed_node]: * Debug Grab (low level): FALSE
[INFO] [1772727682.171998243] [zed.zed_node]: * Debug Simulation: FALSE
[INFO] [1772727682.172079750] [zed.zed_node]: * Debug Video/Depth: FALSE
[INFO] [1772727682.172154665] [zed.zed_node]: * Debug Control settings: FALSE
[INFO] [1772727682.172241420] [zed.zed_node]: * Debug Point Cloud: FALSE
[INFO] [1772727682.172333103] [zed.zed_node]: * Debug TF: FALSE
[INFO] [1772727682.172410578] [zed.zed_node]: * Debug Positional Tracking: TRUE
[INFO] [1772727682.172484884] [zed.zed_node]: * Debug GNSS: FALSE
[INFO] [1772727682.172558999] [zed.zed_node]: * Debug sensors: FALSE
[INFO] [1772727682.172628953] [zed.zed_node]: * Debug Mapping: FALSE
[INFO] [1772727682.172696892] [zed.zed_node]: * Debug Object Detection: TRUE
[INFO] [1772727682.172775998] [zed.zed_node]: * Debug Body Tracking: FALSE
[INFO] [1772727682.172842977] [zed.zed_node]: * Debug Streaming: FALSE
[INFO] [1772727682.172911363] [zed.zed_node]: * Debug ROI: FALSE
[INFO] [1772727682.172970341] [zed.zed_node]: * Debug Nitros: FALSE
[INFO] [1772727682.173032743] [zed.zed_node]: * Debug Advanced: TRUE
[INFO] [1772727682.173067241] [zed.zed_node]: + Debug Mode enabled +
[DEBUG] [1772727682.173090185] [zed.zed_node]: [ROS 2] Using RMW_IMPLEMENTATION rmw_fastrtps_cpp
[WARN] [1772727682.173155308] [zed.zed_node]: NITROS is available, but is disabled by ‘debug.disable_nitros’
[INFO] [1772727682.173183949] [zed.zed_node]: === TOPIC selection parameters ===
[INFO] [1772727682.173253647] [zed.zed_node]: * Publish Status: TRUE
[INFO] [1772727682.173336786] [zed.zed_node]: * Image format: BGR 24-bit
[INFO] [1772727682.173411541] [zed.zed_node]: * Publish Left/Right images: FALSE
[INFO] [1772727682.173474519] [zed.zed_node]: * Publish Raw images: FALSE
[INFO] [1772727682.173533945] [zed.zed_node]: * Publish Gray images: FALSE
[INFO] [1772727682.173590011] [zed.zed_node]: * Publish RGB image: TRUE
[INFO] [1772727682.173646077] [zed.zed_node]: * Publish Stereo image: FALSE
[INFO] [1772727682.173710143] [zed.zed_node]: * Publish ROI Mask image: FALSE
[INFO] [1772727682.173775009] [zed.zed_node]: * Publish Depth Map: TRUE
[INFO] [1772727682.173838212] [zed.zed_node]: * Publish Depth Info: FALSE
[INFO] [1772727682.173903174] [zed.zed_node]: * Publish Point Cloud: TRUE
[INFO] [1772727682.173964744] [zed.zed_node]: * Publish Depth Confidence: FALSE
[INFO] [1772727682.174031786] [zed.zed_node]: * Publish Disparity: FALSE
[INFO] [1772727682.174101677] [zed.zed_node]: * Publish IMU: TRUE
[INFO] [1772727682.174171503] [zed.zed_node]: * Publish IMU Raw: FALSE
[INFO] [1772727682.174247474] [zed.zed_node]: * Publish LeftCam/IMU Transf.: FALSE
[INFO] [1772727682.174316980] [zed.zed_node]: * Publish Magnetometer: FALSE
[INFO] [1772727682.174386199] [zed.zed_node]: * Publish Barometer: FALSE
[INFO] [1772727682.174551228] [zed.zed_node]: * Publish Temperature: FALSE
[INFO] [1772727682.174630623] [zed.zed_node]: * Publish Odometry/Pose: TRUE
[INFO] [1772727682.174701090] [zed.zed_node]: * Publish Pose with Covariance: TRUE
[INFO] [1772727682.174772228] [zed.zed_node]: * Publish Camera Path: TRUE
[INFO] [1772727682.174851975] [zed.zed_node]: * Publish Detection Plane: FALSE
[INFO] [1772727682.174939338] [zed.zed_node]: === SVO INPUT parameters ===
[INFO] [1772727682.175019117] [zed.zed_node]: === LOCAL STREAMING parameters ===
[INFO] [1772727682.175095023] [zed.zed_node]: === GENERAL parameters ===
[INFO] [1772727682.175192627] [zed.zed_node]: * Camera model: zedx - ZED X
[INFO] [1772727682.175275894] [zed.zed_node]: * Camera name: zed
[INFO] [1772727682.175358072] [zed.zed_node]: * Camera SN: 0
[INFO] [1772727682.175427899] [zed.zed_node]: * Camera ID: -1
[INFO] [1772727682.175504382] [zed.zed_node]: * Camera timeout [sec]: 5
[INFO] [1772727682.175570016] [zed.zed_node]: * Camera reconnection temptatives: 5
[INFO] [1772727682.175642530] [zed.zed_node]: * Camera framerate: 15
[INFO] [1772727682.175716677] [zed.zed_node]: * GPU ID: -1
[INFO] [1772727682.175790248] [zed.zed_node]: * Asynchronous image retrieval: FALSE
[INFO] [1772727682.175872554] [zed.zed_node]: * Image Validity Check: 1
[INFO] [1772727682.175995535] [zed.zed_node]: * Camera resolution: HD1080
[INFO] [1772727682.176138260] [zed.zed_node]: * Publishing resolution: CUSTOM
[INFO] [1772727682.176296889] [zed.zed_node]: * Publishing downscale factor: 2
[INFO] [1772727682.176381084] [zed.zed_node]: * OpenCV custom calibration:
[INFO] [1772727682.176458719] [zed.zed_node]: * Camera self calibration: TRUE
[INFO] [1772727682.176544578] [zed.zed_node]: * Camera flip: FALSE
[INFO] [1772727682.176648709] [zed.zed_node]: * Publish framerate [Hz]: 15
[INFO] [1772727682.176693255] [zed.zed_node]: === VIDEO parameters ===
[INFO] [1772727682.176794795] [zed.zed_node]: * Saturation: 4 [DYNAMIC]
[INFO] [1772727682.176874669] [zed.zed_node]: * Sharpness: 4 [DYNAMIC]
[INFO] [1772727682.176958896] [zed.zed_node]: * Gamma: 8 [DYNAMIC]
[INFO] [1772727682.177054484] [zed.zed_node]: * Auto Exposure/Gain: TRUE [DYNAMIC]
[INFO] [1772727682.177134422] [zed.zed_node]: * Exposure: 80 [DYNAMIC]
[INFO] [1772727682.177216537] [zed.zed_node]: * Gain: 80 [DYNAMIC]
[INFO] [1772727682.177297372] [zed.zed_node]: * Auto White Balance: TRUE [DYNAMIC]
[INFO] [1772727682.177373951] [zed.zed_node]: * White Balance Temperature: 42 [DYNAMIC]
[INFO] [1772727682.177466082] [zed.zed_node]: * ZED X Exposure time: 16000 [DYNAMIC]
[INFO] [1772727682.177550821] [zed.zed_node]: * ZED X Auto Exp. time range min: 28 [DYNAMIC]
[INFO] [1772727682.177632328] [zed.zed_node]: * ZED X Auto Exp. time range max: 30000 [DYNAMIC]
[INFO] [1772727682.177713867] [zed.zed_node]: * ZED X Exposure comp.: 50 [DYNAMIC]
[INFO] [1772727682.177796461] [zed.zed_node]: * ZED X Analog Gain: 1255 [DYNAMIC]
[INFO] [1772727682.177874672] [zed.zed_node]: * ZED X Auto Analog Gain range min: 1000 [DYNAMIC]
[INFO] [1772727682.177965555] [zed.zed_node]: * ZED X Auto Analog Gain range max: 16000 [DYNAMIC]
[INFO] [1772727682.178048310] [zed.zed_node]: * ZED X Digital Gain: 1 [DYNAMIC]
[INFO] [1772727682.178124985] [zed.zed_node]: * ZED X Auto Digital Gain range min: 1 [DYNAMIC]
[INFO] [1772727682.178207740] [zed.zed_node]: * ZED X Auto Digital Gain range max: 256 [DYNAMIC]
[INFO] [1772727682.178282078] [zed.zed_node]: * ZED X Auto Digital Gain range max: 50 [DYNAMIC]
[INFO] [1772727682.178310175] [zed.zed_node]: === DEPTH parameters ===
[INFO] [1772727682.178442820] [zed.zed_node]: * Depth mode: NEURAL LIGHT [4]
[INFO] [1772727682.178542439] [zed.zed_node]: * Min depth [m]: 0.01
[INFO] [1772727682.178622186] [zed.zed_node]: * Max depth [m]: 40
[INFO] [1772727682.178697261] [zed.zed_node]: * Depth Stabilization: 30
[INFO] [1772727682.178775600] [zed.zed_node]: * OpenNI mode (16bit depth): FALSE
[INFO] [1772727682.178879283] [zed.zed_node]: * Point cloud rate [Hz]: 10
[INFO] [1772727682.178965046] [zed.zed_node]: * Point cloud resolution: COMPACT
[INFO] [1772727682.179102171] [zed.zed_node]: * Depth Confidence: 30 [DYNAMIC]
[INFO] [1772727682.179187294] [zed.zed_node]: * Depth Texture Confidence: 30 [DYNAMIC]
[INFO] [1772727682.179267073] [zed.zed_node]: * Remove saturated areas: FALSE [DYNAMIC]
[INFO] [1772727682.179294690] [zed.zed_node]: === GNSS FUSION parameters ===
[INFO] [1772727682.179374244] [zed.zed_node]: * GNSS fusion enabled: FALSE
[INFO] [1772727682.179398085] [zed.zed_node]: === POSITIONAL TRACKING parameters ===
[INFO] [1772727682.179465832] [zed.zed_node]: * Positional tracking enabled: TRUE
[DEBUG] [1772727682.179558603] [zed.zed_node]: Comparing ‘GEN_1’ to ‘GEN_3’
[DEBUG] [1772727682.179581900] [zed.zed_node]: Comparing ‘GEN_2’ to ‘GEN_3’
[DEBUG] [1772727682.179598092] [zed.zed_node]: Comparing ‘GEN_3’ to ‘GEN_3’
[INFO] [1772727682.179615437] [zed.zed_node]: * Positional tracking mode: GEN 3
[INFO] [1772727682.179692496] [zed.zed_node]: * Map frame id: map
[INFO] [1772727682.179770738] [zed.zed_node]: * Odometry frame id: odom
[INFO] [1772727682.179877910] [zed.zed_node]: * Broadcast Odometry TF: TRUE
[INFO] [1772727682.179989274] [zed.zed_node]: * Broadcast Pose TF: TRUE
[INFO] [1772727682.180135487] [zed.zed_node]: * Depth minimum range: 0
[INFO] [1772727682.180279876] [zed.zed_node]: * TF timestamp offset: 0 [DYNAMIC]
[INFO] [1772727682.180389096] [zed.zed_node]: * Path publishing rate: 2 [DYNAMIC]
[INFO] [1772727682.180482955] [zed.zed_node]: * Path history lenght: -1
[INFO] [1772727682.180590191] [zed.zed_node]: * Initial pose: [0,0,0,0,0,0,]
[INFO] [1772727682.180720851] [zed.zed_node]: * Area Memory: TRUE
[INFO] [1772727682.180831095] [zed.zed_node]: * Area Memory File:
[INFO] [1772727682.180933435] [zed.zed_node]: * Enable Localization Only: FALSE
[INFO] [1772727682.181064447] [zed.zed_node]: * Save Area Memory on closing: FALSE
[INFO] [1772727682.181164995] [zed.zed_node]: * Camera is static: FALSE
[INFO] [1772727682.181253990] [zed.zed_node]: * Gravity as origin: FALSE
[INFO] [1772727682.181339817] [zed.zed_node]: * IMU Fusion: TRUE
[INFO] [1772727682.181424588] [zed.zed_node]: * Floor Alignment: FALSE
[INFO] [1772727682.181521327] [zed.zed_node]: * Reset Odometry with Loop Closure: TRUE
[INFO] [1772727682.181625459] [zed.zed_node]: * Publish 3D Landmarks: FALSE
[INFO] [1772727682.181724374] [zed.zed_node]: * Publish Landmark Skip Frame:
[INFO] [1772727682.181813882] [zed.zed_node]: * 2D mode: FALSE
[INFO] [1772727682.181910653] [zed.zed_node]: * Reset pose with SVO loop: TRUE
[INFO] [1772727682.181940670] [zed.zed_node]: === Region of Interest parameters ===
[INFO] [1772727682.182045218] [zed.zed_node]: * Automatic ROI generation: FALSE
[INFO] [1772727682.182184262] [zed.zed_node]: * Manual ROI polygon:
[INFO] [1772727682.182220392] [zed.zed_node]: === SENSORS STACK parameters ===
[INFO] [1772727682.182340364] [zed.zed_node]: * Broadcast IMU TF [not for ZED]: FALSE
[INFO] [1772727682.182461520] [zed.zed_node]: * Sensors Camera Sync: FALSE
[INFO] [1772727682.182606933] [zed.zed_node]: * Sensors publishing rate [Hz]: 100 [DYNAMIC]
[INFO] [1772727682.182641910] [zed.zed_node]: === Spatial Mapping parameters ===
[INFO] [1772727682.182761467] [zed.zed_node]: * Spatial Mapping Enabled: FALSE
[INFO] [1772727682.182869854] [zed.zed_node]: * Spatial Mapping resolution [m]: 0.05
[INFO] [1772727682.182959169] [zed.zed_node]: * 3D Max Mapping range [m]: 5
[INFO] [1772727682.183055141] [zed.zed_node]: * Map publishing rate [Hz]: 1 [DYNAMIC]
[INFO] [1772727682.183167145] [zed.zed_node]: * Clicked point topic: /clicked_point
[INFO] [1772727682.183287853] [zed.zed_node]: * Plane Det. Max Dist. Thresh.: 0.15
[INFO] [1772727682.183409617] [zed.zed_node]: * Plane Det. Normals Sim. Thresh.: 15
[INFO] [1772727682.183456243] [zed.zed_node]: === OBJECT DETECTION parameters ===
[INFO] [1772727682.183569815] [zed.zed_node]: * Object Det. enabled: TRUE
[INFO] [1772727682.183684315] [zed.zed_node]: * Object Det. allow reduced precision: FALSE
[INFO] [1772727682.183791166] [zed.zed_node]: * Object Det. maximum range [m]: 20
[INFO] [1772727682.183890978] [zed.zed_node]: * Object Det. prediction timeout [sec]: 2
[INFO] [1772727682.183979589] [zed.zed_node]: * Object Det. tracking: TRUE
[DEBUG] [1772727682.184175980] [zed.zed_node]: Comparing ‘NONE’ to ‘NONE’
[INFO] [1772727682.184210637] [zed.zed_node]: * Object Filtering mode: NONE
[DEBUG] [1772727682.184309488] [zed.zed_node]: ‘object_detection.detection_model’: CUSTOM_YOLOLIKE_BOX_OBJECTS
[DEBUG] [1772727682.184352786] [zed.zed_node]: Comparing ‘MULTI_CLASS_BOX_FAST’ to ‘CUSTOM_YOLOLIKE_BOX_OBJECTS’
[DEBUG] [1772727682.184376851] [zed.zed_node]: Comparing ‘MULTI_CLASS_BOX_MEDIUM’ to ‘CUSTOM_YOLOLIKE_BOX_OBJECTS’
[DEBUG] [1772727682.184396628] [zed.zed_node]: Comparing ‘MULTI_CLASS_BOX_ACCURATE’ to ‘CUSTOM_YOLOLIKE_BOX_OBJECTS’
[DEBUG] [1772727682.184414196] [zed.zed_node]: Comparing ‘PERSON_HEAD_BOX_FAST’ to ‘CUSTOM_YOLOLIKE_BOX_OBJECTS’
[DEBUG] [1772727682.184430741] [zed.zed_node]: Comparing ‘PERSON_HEAD_BOX_ACCURATE’ to ‘CUSTOM_YOLOLIKE_BOX_OBJECTS’
[DEBUG] [1772727682.184444981] [zed.zed_node]: Comparing ‘CUSTOM_BOX_OBJECTS’ to ‘CUSTOM_YOLOLIKE_BOX_OBJECTS’
[DEBUG] [1772727682.184458518] [zed.zed_node]: Comparing ‘CUSTOM_YOLOLIKE_BOX_OBJECTS’ to ‘CUSTOM_YOLOLIKE_BOX_OBJECTS’
[INFO] [1772727682.184475574] [zed.zed_node]: * Object Det. model: CUSTOM YOLOLIKE BOX OBJECTS
[INFO] [1772727682.184571194] [zed.zed_node]: * Custom ONNX file: /home/user/best.onnx
[INFO] [1772727682.184677245] [zed.zed_node]: * Custom ONNX input size: 1280
[INFO] [1772727682.184774529] [zed.zed_node]: * Custom ONNX class count: 5
[INFO] [1772727682.184870788] [zed.zed_node]: * object_detection.class_000.label: cone0
[INFO] [1772727682.184960327] [zed.zed_node]: * object_detection.class_000.model_class_id: 0
[DEBUG] [1772727682.185004393] [zed.zed_node]: Mapped ‘class_000’ to ID ‘0’
[DEBUG] [1772727682.185033482] [zed.zed_node]: Mapped ID ‘0’ to ‘cone0’
[INFO] [1772727682.185129357] [zed.zed_node]: * object_detection.class_000.enabled: TRUE [DYNAMIC]
[INFO] [1772727682.185270770] [zed.zed_node]: * object_detection.class_000.confidence_threshold: 70 [DYNAMIC]
[INFO] [1772727682.185383798] [zed.zed_node]: * object_detection.class_000.is_grounded: FALSE [DYNAMIC]
[INFO] [1772727682.185500890] [zed.zed_node]: * object_detection.class_000.is_static: TRUE [DYNAMIC]
[INFO] [1772727682.185614942] [zed.zed_node]: * object_detection.class_000.tracking_timeout: 10 [DYNAMIC]
[INFO] [1772727682.185722754] [zed.zed_node]: * object_detection.class_000.tracking_max_dist: -1 [DYNAMIC]
[INFO] [1772727682.185831942] [zed.zed_node]: * object_detection.class_000.max_box_width_normalized: -1 [DYNAMIC]
[INFO] [1772727682.185943209] [zed.zed_node]: * object_detection.class_000.min_box_width_normalized: -1 [DYNAMIC]
[INFO] [1772727682.186053101] [zed.zed_node]: * object_detection.class_000.max_box_height_normalized: -1 [DYNAMIC]
[INFO] [1772727682.186159025] [zed.zed_node]: * object_detection.class_000.min_box_height_normalized: -1 [DYNAMIC]
[INFO] [1772727682.186255732] [zed.zed_node]: * object_detection.class_000.max_box_width_meters: -1 [DYNAMIC]
[INFO] [1772727682.186362776] [zed.zed_node]: * object_detection.class_000.min_box_width_meters: -1 [DYNAMIC]
[INFO] [1772727682.186468988] [zed.zed_node]: * object_detection.class_000.max_box_height_meters: -1 [DYNAMIC]
[INFO] [1772727682.186572895] [zed.zed_node]: * object_detection.class_000.max_allowed_acceleration: 100000 [DYNAMIC]
[INFO] [1772727682.186681731] [zed.zed_node]: * object_detection.class_000.velocity_smoothing_factor: 0.5 [DYNAMIC]
[INFO] [1772727682.186806792] [zed.zed_node]: * object_detection.class_000.min_velocity_threshold: 0.2 [DYNAMIC]
[INFO] [1772727682.187164980] [zed.zed_node]: * object_detection.class_000.prediction_timeout_s: 2 [DYNAMIC]
[INFO] [1772727682.187276696] [zed.zed_node]: * object_detection.class_000.min_confirmation_time_s: 0 [DYNAMIC]
[DEBUG] [1772727682.187391932] [zed.zed_node]: Comparing ‘DEFAULT’ to ‘DEFAULT’
[INFO] [1772727682.187428605] [zed.zed_node]: * object_detection.class_000.object_acceleration_preset: DEFAULT
[INFO] [1772727682.187555554] [zed.zed_node]: * object_detection.class_001.label: cone1
[INFO] [1772727682.187666406] [zed.zed_node]: * object_detection.class_001.model_class_id: 1
[DEBUG] [1772727682.187707495] [zed.zed_node]: Mapped ‘class_001’ to ID ‘1’
[DEBUG] [1772727682.187727624] [zed.zed_node]: Mapped ID ‘1’ to ‘cone1’
[INFO] [1772727682.187819531] [zed.zed_node]: * object_detection.class_001.enabled: TRUE [DYNAMIC]
[INFO] [1772727682.187923758] [zed.zed_node]: * object_detection.class_001.confidence_threshold: 70 [DYNAMIC]
[INFO] [1772727682.188022290] [zed.zed_node]: * object_detection.class_001.is_grounded: FALSE [DYNAMIC]
[INFO] [1772727682.188147030] [zed.zed_node]: * object_detection.class_001.is_static: TRUE [DYNAMIC]
[INFO] [1772727682.188266330] [zed.zed_node]: * object_detection.class_001.tracking_timeout: 10 [DYNAMIC]
[INFO] [1772727682.188370142] [zed.zed_node]: * object_detection.class_001.tracking_max_dist: -1 [DYNAMIC]
[INFO] [1772727682.188500163] [zed.zed_node]: * object_detection.class_001.max_box_width_normalized: -1 [DYNAMIC]
[INFO] [1772727682.188619271] [zed.zed_node]: * object_detection.class_001.min_box_width_normalized: -1 [DYNAMIC]
[INFO] [1772727682.188730955] [zed.zed_node]: * object_detection.class_001.max_box_height_normalized: -1 [DYNAMIC]
[INFO] [1772727682.188835694] [zed.zed_node]: * object_detection.class_001.min_box_height_normalized: -1 [DYNAMIC]
[INFO] [1772727682.188934802] [zed.zed_node]: * object_detection.class_001.max_box_width_meters: -1 [DYNAMIC]
[INFO] [1772727682.189085463] [zed.zed_node]: * object_detection.class_001.min_box_width_meters: -1 [DYNAMIC]
[INFO] [1772727682.189183098] [zed.zed_node]: * object_detection.class_001.max_box_height_meters: -1 [DYNAMIC]
[INFO] [1772727682.189300446] [zed.zed_node]: * object_detection.class_001.max_allowed_acceleration: 100000 [DYNAMIC]
[INFO] [1772727682.189415650] [zed.zed_node]: * object_detection.class_001.velocity_smoothing_factor: 0.5 [DYNAMIC]
[INFO] [1772727682.189528198] [zed.zed_node]: * object_detection.class_001.min_velocity_threshold: 0.2 [DYNAMIC]
[INFO] [1772727682.189677516] [zed.zed_node]: * object_detection.class_001.prediction_timeout_s: 2 [DYNAMIC]
[INFO] [1772727682.189792816] [zed.zed_node]: * object_detection.class_001.min_confirmation_time_s: 0 [DYNAMIC]
[DEBUG] [1772727682.189906868] [zed.zed_node]: Comparing ‘DEFAULT’ to ‘DEFAULT’
[INFO] [1772727682.189941589] [zed.zed_node]: * object_detection.class_001.object_acceleration_preset: DEFAULT
[INFO] [1772727682.190053049] [zed.zed_node]: * object_detection.class_002.label: cone2
[INFO] [1772727682.190167133] [zed.zed_node]: * object_detection.class_002.model_class_id: 2
[DEBUG] [1772727682.190198910] [zed.zed_node]: Mapped ‘class_002’ to ID ‘2’
[DEBUG] [1772727682.190218974] [zed.zed_node]: Mapped ID ‘2’ to ‘cone2’
[INFO] [1772727682.190315010] [zed.zed_node]: * object_detection.class_002.enabled: TRUE [DYNAMIC]
[INFO] [1772727682.190428934] [zed.zed_node]: * object_detection.class_002.confidence_threshold: 70 [DYNAMIC]
[INFO] [1772727682.190532425] [zed.zed_node]: * object_detection.class_002.is_grounded: FALSE [DYNAMIC]
[INFO] [1772727682.190635501] [zed.zed_node]: * object_detection.class_002.is_static: FALSE [DYNAMIC]
[INFO] [1772727682.190985113] [zed.zed_node]: * object_detection.class_002.tracking_timeout: 1 [DYNAMIC]
[INFO] [1772727682.191148191] [zed.zed_node]: * object_detection.class_002.tracking_max_dist: -1 [DYNAMIC]
[INFO] [1772727682.191246978] [zed.zed_node]: * object_detection.class_002.max_box_width_normalized: -1 [DYNAMIC]
[INFO] [1772727682.191335397] [zed.zed_node]: * object_detection.class_002.min_box_width_normalized: -1 [DYNAMIC]
[INFO] [1772727682.191433705] [zed.zed_node]: * object_detection.class_002.max_box_height_normalized: -1 [DYNAMIC]
[INFO] [1772727682.191515116] [zed.zed_node]: * object_detection.class_002.min_box_height_normalized: -1 [DYNAMIC]
[INFO] [1772727682.191608207] [zed.zed_node]: * object_detection.class_002.max_box_width_meters: -1 [DYNAMIC]
[INFO] [1772727682.191709330] [zed.zed_node]: * object_detection.class_002.min_box_width_meters: -1 [DYNAMIC]
[INFO] [1772727682.191790293] [zed.zed_node]: * object_detection.class_002.max_box_height_meters: -1 [DYNAMIC]
[INFO] [1772727682.191887929] [zed.zed_node]: * object_detection.class_002.max_allowed_acceleration: 100000 [DYNAMIC]
[INFO] [1772727682.191967035] [zed.zed_node]: * object_detection.class_002.velocity_smoothing_factor: 0.5 [DYNAMIC]
[INFO] [1772727682.192059455] [zed.zed_node]: * object_detection.class_002.min_velocity_threshold: 0.2 [DYNAMIC]
[INFO] [1772727682.192151874] [zed.zed_node]: * object_detection.class_002.prediction_timeout_s: 0.5 [DYNAMIC]
[INFO] [1772727682.192228805] [zed.zed_node]: * object_detection.class_002.min_confirmation_time_s: 0 [DYNAMIC]
[DEBUG] [1772727682.192307847] [zed.zed_node]: Comparing ‘DEFAULT’ to ‘DEFAULT’
[INFO] [1772727682.192333256] [zed.zed_node]: * object_detection.class_002.object_acceleration_preset: DEFAULT
[INFO] [1772727682.192410059] [zed.zed_node]: * object_detection.class_003.label: cone3
[INFO] [1772727682.192493134] [zed.zed_node]: * object_detection.class_003.model_class_id: 3
[DEBUG] [1772727682.192515759] [zed.zed_node]: Mapped ‘class_003’ to ID ‘3’
[DEBUG] [1772727682.192528943] [zed.zed_node]: Mapped ID ‘3’ to ‘cone3’
[INFO] [1772727682.192594801] [zed.zed_node]: * object_detection.class_003.enabled: TRUE [DYNAMIC]
[INFO] [1772727682.192674228] [zed.zed_node]: * object_detection.class_003.confidence_threshold: 70 [DYNAMIC]
[INFO] [1772727682.192746679] [zed.zed_node]: * object_detection.class_003.is_grounded: FALSE [DYNAMIC]
[INFO] [1772727682.192828249] [zed.zed_node]: * object_detection.class_003.is_static: FALSE [DYNAMIC]
[INFO] [1772727682.192903484] [zed.zed_node]: * object_detection.class_003.tracking_timeout: 1 [DYNAMIC]
[INFO] [1772727682.192976799] [zed.zed_node]: * object_detection.class_003.tracking_max_dist: -1 [DYNAMIC]
[INFO] [1772727682.193132132] [zed.zed_node]: * object_detection.class_003.max_box_width_normalized: -1 [DYNAMIC]
[INFO] [1772727682.193270985] [zed.zed_node]: * object_detection.class_003.min_box_width_normalized: -1 [DYNAMIC]
[INFO] [1772727682.193413774] [zed.zed_node]: * object_detection.class_003.max_box_height_normalized: -1 [DYNAMIC]
[INFO] [1772727682.193523314] [zed.zed_node]: * object_detection.class_003.min_box_height_normalized: -1 [DYNAMIC]
[INFO] [1772727682.193635446] [zed.zed_node]: * object_detection.class_003.max_box_width_meters: -1 [DYNAMIC]
[INFO] [1772727682.193762746] [zed.zed_node]: * object_detection.class_003.min_box_width_meters: -1 [DYNAMIC]
[INFO] [1772727682.193886750] [zed.zed_node]: * object_detection.class_003.max_box_height_meters: -1 [DYNAMIC]
[INFO] [1772727682.194006978] [zed.zed_node]: * object_detection.class_003.max_allowed_acceleration: 100000 [DYNAMIC]
[INFO] [1772727682.194108006] [zed.zed_node]: * object_detection.class_003.velocity_smoothing_factor: 0.5 [DYNAMIC]
[INFO] [1772727682.194206889] [zed.zed_node]: * object_detection.class_003.min_velocity_threshold: 0.2 [DYNAMIC]
[INFO] [1772727682.194305325] [zed.zed_node]: * object_detection.class_003.prediction_timeout_s: 0.5 [DYNAMIC]
[INFO] [1772727682.194402576] [zed.zed_node]: * object_detection.class_003.min_confirmation_time_s: 0 [DYNAMIC]
[DEBUG] [1772727682.194512884] [zed.zed_node]: Comparing ‘DEFAULT’ to ‘DEFAULT’
[INFO] [1772727682.194545525] [zed.zed_node]: * object_detection.class_003.object_acceleration_preset: DEFAULT
[INFO] [1772727682.194637400] [zed.zed_node]: * object_detection.class_004.label: cone4
[INFO] [1772727682.194755613] [zed.zed_node]: * object_detection.class_004.model_class_id: 4
[DEBUG] [1772727682.194786910] [zed.zed_node]: Mapped ‘class_004’ to ID ‘4’
[DEBUG] [1772727682.194805918] [zed.zed_node]: Mapped ID ‘4’ to ‘cone4’
[INFO] [1772727682.194891521] [zed.zed_node]: * object_detection.class_004.enabled: TRUE [DYNAMIC]
[INFO] [1772727682.194998757] [zed.zed_node]: * object_detection.class_004.confidence_threshold: 70 [DYNAMIC]
[INFO] [1772727682.195089416] [zed.zed_node]: * object_detection.class_004.is_grounded: FALSE [DYNAMIC]
[INFO] [1772727682.195175883] [zed.zed_node]: * object_detection.class_004.is_static: FALSE [DYNAMIC]
[INFO] [1772727682.195271343] [zed.zed_node]: * object_detection.class_004.tracking_timeout: 1 [DYNAMIC]
[INFO] [1772727682.195364146] [zed.zed_node]: * object_detection.class_004.tracking_max_dist: -1 [DYNAMIC]
[INFO] [1772727682.195458517] [zed.zed_node]: * object_detection.class_004.max_box_width_normalized: -1 [DYNAMIC]
[INFO] [1772727682.195554392] [zed.zed_node]: * object_detection.class_004.min_box_width_normalized: -1 [DYNAMIC]
[INFO] [1772727682.195648892] [zed.zed_node]: * object_detection.class_004.max_box_height_normalized: -1 [DYNAMIC]
[INFO] [1772727682.195756671] [zed.zed_node]: * object_detection.class_004.min_box_height_normalized: -1 [DYNAMIC]
[INFO] [1772727682.195853795] [zed.zed_node]: * object_detection.class_004.max_box_width_meters: -1 [DYNAMIC]
[INFO] [1772727682.195951686] [zed.zed_node]: * object_detection.class_004.min_box_width_meters: -1 [DYNAMIC]
[INFO] [1772727682.196085419] [zed.zed_node]: * object_detection.class_004.max_box_height_meters: -1 [DYNAMIC]
[INFO] [1772727682.196210031] [zed.zed_node]: * object_detection.class_004.max_allowed_acceleration: 100000 [DYNAMIC]
[INFO] [1772727682.196353556] [zed.zed_node]: * object_detection.class_004.velocity_smoothing_factor: 0.5 [DYNAMIC]
[INFO] [1772727682.196466360] [zed.zed_node]: * object_detection.class_004.min_velocity_threshold: 0.2 [DYNAMIC]
[INFO] [1772727682.196572764] [zed.zed_node]: * object_detection.class_004.prediction_timeout_s: 0.5 [DYNAMIC]
[INFO] [1772727682.196668095] [zed.zed_node]: * object_detection.class_004.min_confirmation_time_s: 0 [DYNAMIC]
[DEBUG] [1772727682.196770595] [zed.zed_node]: Comparing ‘DEFAULT’ to ‘DEFAULT’
[INFO] [1772727682.196802788] [zed.zed_node]: * object_detection.class_004.object_acceleration_preset: DEFAULT
[INFO] [1772727682.196837093] [zed.zed_node]: === Body Track. parameters ===
[INFO] [1772727682.196929640] [zed.zed_node]: * Body Track. enabled: FALSE
[INFO] [1772727682.197050381] [zed.zed_node]: * Body Track. model: HUMAN BODY MEDIUM
[INFO] [1772727682.197186289] [zed.zed_node]: * Body Track. format: BODY 38
[INFO] [1772727682.197346199] [zed.zed_node]: * Body Track. allow reduced precision: FALSE
[INFO] [1772727682.197478684] [zed.zed_node]: * Body Track. maximum range [m]: 15
[INFO] [1772727682.197597632] [zed.zed_node]: * Body Track. KP selection: FULL
[INFO] [1772727682.197723076] [zed.zed_node]: * Body fitting: FALSE
[INFO] [1772727682.197831176] [zed.zed_node]: * Body joints tracking: TRUE
[INFO] [1772727682.197945996] [zed.zed_node]: * Body Track. prediction timeout [sec]: 0.5
[INFO] [1772727682.198079728] [zed.zed_node]: * Body Track. confidence thresh.: 50 [DYNAMIC]
[INFO] [1772727682.198186420] [zed.zed_node]: * Body Track. min. KP thresh.: 5 [DYNAMIC]

KOlCIqwq · March 12, 2026, 2:58pm

[INFO] [1772727682.198220597] [zed.zed_node]: === STREAMING SERVER parameters ===
[INFO] [1772727682.198313049] [zed.zed_node]:  * Streaming Server enabled: FALSE
[INFO] [1772727682.198406492] [zed.zed_node]:  * Stream codec: H265
[INFO] [1772727682.198519072] [zed.zed_node]:  * Stream port: 30000
[INFO] [1772727682.198617955] [zed.zed_node]:  * Stream bitrate: 12500
[INFO] [1772727682.198737159] [zed.zed_node]:  * Stream GOP size: -1
[INFO] [1772727682.198837995] [zed.zed_node]:  * Stream Chunk size: 16084
[INFO] [1772727682.198952015] [zed.zed_node]:  * Adaptive bitrate: FALSE
[INFO] [1772727682.199051122] [zed.zed_node]:  * Target frame rate:0
[INFO] [1772727682.199082707] [zed.zed_node]: === ADVANCED parameters ===
[INFO] [1772727682.199177687] [zed.zed_node]:  * Change thread priority: FALSE
[INFO] [1772727682.199350941] [zed.zed_node]: === SERVICES ===
[INFO] [1772727682.200929748] [zed.zed_node]:  * Advertised on service: ‘/zed/zed_node/reset_odometry’
[INFO] [1772727682.201621004] [zed.zed_node]:  * Advertised on service: ‘/zed/zed_node/reset_pos_tracking’
[INFO] [1772727682.203043421] [zed.zed_node]:  * Advertised on service: ‘/zed/zed_node/set_pose’
[INFO] [1772727682.203798200] [zed.zed_node]:  * Advertised on service: ‘/zed/zed_node/save_area_memory’
[INFO] [1772727682.205193576] [zed.zed_node]:  * Advertised on service: ‘/zed/zed_node/enable_obj_det’
[INFO] [1772727682.205874528] [zed.zed_node]:  * Advertised on service: ‘/zed/zed_node/enable_body_trk’
[INFO] [1772727682.207002151] [zed.zed_node]:  * Advertised on service: ‘/zed/zed_node/enable_mapping’
[INFO] [1772727682.207817156] [zed.zed_node]:  * Advertised on service: ‘/zed/zed_node/enable_streaming’
[INFO] [1772727682.208868969] [zed.zed_node]:  * Advertised on service: ‘/zed/zed_node/start_svo_rec’
[INFO] [1772727682.209752839] [zed.zed_node]:  * Advertised on service: ‘/zed/zed_node/stop_svo_rec’
[INFO] [1772727682.210706345] [zed.zed_node]:  * Advertised on service: ‘/zed/zed_node/set_roi’
[INFO] [1772727682.211549830] [zed.zed_node]:  * Advertised on service: ‘/zed/zed_node/reset_roi’
[INFO] [1772727682.211606440] [zed.zed_node]: === STARTING CAMERA ===
[INFO] [1772727682.211885266] [zed.zed_node]: ZED SDK Version: 5.2.0 - Build 110529_227f4589_2898479
[INFO] [1772727682.220087792] [zed.zed_node]: === CAMERA OPENING ===
[2026-03-05 16:21:22 UTC][ZED][INFO] Logging level INFO
[2026-03-05 16:21:25 UTC][ZED][INFO] [Init]  Camera FW version: 2001
[2026-03-05 16:21:25 UTC][ZED][INFO] [Init]  Video mode: HD1080@15
[2026-03-05 16:21:25 UTC][ZED][INFO] [Init]  Serial Number: S/N 43764871
[2026-03-05 16:21:25 UTC][ZED][INFO] [Init]  Depth mode selected: NEURAL LIGHT. Ensure this mode matches your application’s performance and accuracy requirements. See https://www.stereolabs.com/docs/depth-sensing/depth-modes for help.
[DEBUG] [1772727687.317007181] [zed.zed_node]: Opening successfull
[INFO] [1772727687.317134897] [zed.zed_node]:  * ZED SDK running on GPU #0
[INFO] [1772727687.317166899] [zed.zed_node]:  * Camera Model  → ZED X
[INFO] [1772727687.317180499] [zed.zed_node]:  * Serial Number → 43764871
[DEBUG] [1772727687.317220596] [zed.zed_node]: === Update Diagnostic ===
[INFO] [1772727687.317347737] [zed.zed_node]:  * Focal Length → 2.21544 mm
[INFO] [1772727687.317399515] [zed.zed_node]:  * Input → GMSL
[INFO] [1772727687.317421275] [zed.zed_node]:  * Camera FW Version  → 2001
[INFO] [1772727687.317434204] [zed.zed_node]:  * Sensors FW Version → 1000
[INFO] [1772727687.317449532] [zed.zed_node]:  * Camera grab size → 1920x1080
[INFO] [1772727687.317459101] [zed.zed_node]:  * Color/Depth publishing size → 960x540
[INFO] [1772727687.317467709] [zed.zed_node]:  * Point Cloud publishing size → 448x256
[INFO] [1772727687.317484542] [zed.zed_node]: === TF FRAMES ===
[INFO] [1772727687.317493502] [zed.zed_node]:  * Map		 → map
[INFO] [1772727687.317501022] [zed.zed_node]:  * Odometry	 → odom
[INFO] [1772727687.317508414] [zed.zed_node]:  * Base		 → zed_camera_link
[INFO] [1772727687.317579553] [zed.zed_node]:  * Camera	 → zed_camera_center
[INFO] [1772727687.317590849] [zed.zed_node]:  * Left		 → zed_left_camera_frame
[INFO] [1772727687.317599586] [zed.zed_node]:  * Left Optical	 → zed_left_camera_frame_optical
[INFO] [1772727687.317607298] [zed.zed_node]:  * Right	 → zed_right_camera_frame
[INFO] [1772727687.317614338] [zed.zed_node]:  * Right Optical → zed_right_camera_frame_optical
[INFO] [1772727687.317621474] [zed.zed_node]:  * Depth	 → zed_left_camera_frame
[INFO] [1772727687.317628643] [zed.zed_node]:  * Depth Optical → zed_left_camera_frame_optical
[INFO] [1772727687.317636067] [zed.zed_node]:  * Point Cloud	 → zed_left_camera_frame
[INFO] [1772727687.317643299] [zed.zed_node]:  * IMU		 → zed_imu_link
[INFO] [1772727687.317683781] [zed.zed_node]: === PUBLISHED TOPICS ===
[INFO] [1772727687.320509063] [zed.zed_node]:  * Advertised on topic: /zed/zed_node/status/health
[INFO] [1772727687.321390565] [zed.zed_node]:  * Advertised on topic: /zed/zed_node/status/heartbeat
[DEBUG] [1772727687.428927712] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/rgb/color/rect/image/compressed
[DEBUG] [1772727687.436384707] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/rgb/color/rect/image/compressedDepth
[INFO] [1772727687.462036862] [FFMPEGPublisher]: using encoder: libx264
[DEBUG] [1772727687.462992160] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/rgb/color/rect/image/ffmpeg
[DEBUG] [1772727687.465610043] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/rgb/color/rect/image
[DEBUG] [1772727687.471448006] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/rgb/color/rect/image/theora
[INFO] [1772727687.472627439] [zed.zed_node]:  * Advertised on topic: /zed/zed_node/rgb/color/rect/image
[INFO] [1772727687.473192802] [zed.zed_node]:  * Advertised on topic: /zed/zed_node/rgb/color/rect/image/compressedDepth [image_transport]
[INFO] [1772727687.473224291] [zed.zed_node]:  * Advertised on topic: /zed/zed_node/rgb/color/rect/image/compressed [image_transport]
[INFO] [1772727687.473239652] [zed.zed_node]:  * Advertised on topic: /zed/zed_node/rgb/color/rect/image/ffmpeg [image_transport]
[INFO] [1772727687.473250116] [zed.zed_node]:  * Advertised on topic: /zed/zed_node/rgb/color/rect/image/raw [image_transport]
[INFO] [1772727687.473258789] [zed.zed_node]:  * Advertised on topic: /zed/zed_node/rgb/color/rect/image/theora [image_transport]
[DEBUG] [1772727687.473503373] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/depth/depth_registered/compressed
[DEBUG] [1772727687.474673974] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/depth/depth_registered/compressedDepth
[INFO] [1772727687.475351821] [FFMPEGPublisher]: using encoder: libx264
[DEBUG] [1772727687.476282350] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/depth/depth_registered/ffmpeg
[DEBUG] [1772727687.476809728] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/depth/depth_registered
[DEBUG] [1772727687.477304529] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/depth/depth_registered/theora
[INFO] [1772727687.477749473] [zed.zed_node]:  * Advertised on topic: /zed/zed_node/depth/depth_registered
[INFO] [1772727687.477869925] [zed.zed_node]:  * Advertised on topic: /zed/zed_node/depth/depth_registered/compressedDepth [image_transport]
[INFO] [1772727687.477890278] [zed.zed_node]:  * Advertised on topic: /zed/zed_node/depth/depth_registered/compressed [image_transport]
[INFO] [1772727687.477904326] [zed.zed_node]:  * Advertised on topic: /zed/zed_node/depth/depth_registered/ffmpeg [image_transport]
[INFO] [1772727687.477916870] [zed.zed_node]:  * Advertised on topic: /zed/zed_node/depth/depth_registered/raw [image_transport]
[INFO] [1772727687.477926631] [zed.zed_node]:  * Advertised on topic: /zed/zed_node/depth/depth_registered/theora [image_transport]
[INFO] [1772727687.478710946] [zed.zed_node]:  * Advertised on topic: /zed/zed_node/rgb/color/rect/camera_info
[INFO] [1772727687.479111984] [zed.zed_node]:  * Advertised on topic: /zed/zed_node/rgb/color/rect/image/camera_info
[INFO] [1772727687.479478717] [zed.zed_node]:  * Advertised on topic: /zed/zed_node/depth/camera_info
[INFO] [1772727687.479830441] [zed.zed_node]:  * Advertised on topic: /zed/zed_node/depth/depth_registered/camera_info
[DEBUG] [1772727687.482231836] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/point_cloud/cloud_registered/draco
[DEBUG] [1772727687.485398667] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/point_cloud/cloud_registered
[DEBUG] [1772727687.487445874] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/point_cloud/cloud_registered/zlib
[DEBUG] [1772727687.489555387] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/point_cloud/cloud_registered/zstd
[INFO] [1772727687.490377784] [zed.zed_node]:  * Advertised on topic: /zed/zed_node/point_cloud/cloud_registered
[INFO] [1772727687.491384859] [zed.zed_node]:  * Advertised on topic: /zed/zed_node/pose
[INFO] [1772727687.492277146] [zed.zed_node]:  * Advertised on topic: /zed/zed_node/pose_with_covariance
[INFO] [1772727687.493056821] [zed.zed_node]:  * Advertised on topic: /zed/zed_node/pose/status
[INFO] [1772727687.494594474] [zed.zed_node]:  * Advertised on topic: /zed/zed_node/odom
[INFO] [1772727687.495487305] [zed.zed_node]:  * Advertised on topic: /zed/zed_node/path_map
[INFO] [1772727687.496150080] [zed.zed_node]:  * Advertised on topic: /zed/zed_node/path_odom
[INFO] [1772727687.497036543] [zed.zed_node]:  * Advertised on topic: /zed/zed_node/imu/data
[INFO] [1772727687.497096577] [zed.zed_node]: Camera-IMU Translation:
0 -0.035649 -0.000147
[INFO] [1772727687.497149987] [zed.zed_node]: Camera-IMU Rotation:
FFFF777EBF28
0.999874 0.000147 0.015886
0.000147 0.999828 -0.018525
-0.015886 0.018525 0.999702

[INFO] [1772727687.497221158] [zed.zed_node]: === Subscribers ===
[INFO] [1772727687.498179943] [zed.zed_node]:  * Plane detection: ‘/clicked_point’
[DEBUG] [1772727687.594396024] [zed.zed_node]: Grab thread started
[DEBUG] [1772727687.594573630] [zed.zed_node]: POS. TRACKING required: enabled by param.
[DEBUG] [1772727687.594615455] [zed.zed_node]: Depth processing disabled
[DEBUG] [1772727687.594605503] [zed.zed_node]: === Update Diagnostic ===
[INFO] [1772727687.596888942] [zed.zed_node]: === Starting Positional Tracking ===
[INFO] [1772727687.596946992] [zed.zed_node]:  * Waiting for valid static transformations…
[INFO] [1772727687.597090933] [zed.zed_node]:  Static transform ref. CMOS Sensor to Base [zed_left_camera_frame → zed_camera_link]
[INFO] [1772727687.597122358] [zed.zed_node]:   * Translation: {0.010,-0.060,-0.016}
[INFO] [1772727687.597136951] [zed.zed_node]:   * Rotation: {0.000,-0.000,0.000}
[INFO] [1772727687.597166168] [zed.zed_node]:  Static transform ref. CMOS Sensor to Camera Center [zed_left_camera_frame → zed_camera_center]
[INFO] [1772727687.597177816] [zed.zed_node]:   * Translation: {0.010,-0.060,0.000}
[INFO] [1772727687.597187545] [zed.zed_node]:   * Rotation: {0.000,-0.000,0.000}
[INFO] [1772727687.597207577] [zed.zed_node]:  Static transform Camera Center to Base [zed_camera_center → zed_camera_link]
[INFO] [1772727687.597218266] [zed.zed_node]:   * Translation: {0.000,0.000,-0.016}
[INFO] [1772727687.597226490] [zed.zed_node]:   * Rotation: {0.000,-0.000,0.000}
[DEBUG] [1772727687.598330144] [zed.zed_node]: Time required to get valid static transforms: 2.93866e-07 sec
[INFO] [1772727687.598367842] [zed.zed_node]: Initial ZED left camera pose (ZED pos. tracking):
[INFO] [1772727687.598383938] [zed.zed_node]:  * T: [-0.01,0.06,0.016]
[INFO] [1772727687.598401923] [zed.zed_node]:  * Q: [0,0,0,1]
[DEBUG] [1772727687.598440420] [zed.zed_node]:  * Positional Tracking parameters:
[DEBUG] [1772727687.598544840] [zed.zed_node]: {
“PositionalTrackingParameters”: {
“area_file_path”: “”,
“depth_min_range”: 0.0,
“enable_area_memory”: true,
“enable_imu_fusion”: true,
“enable_pose_smoothing”: false,
“initial_world_transform”: “1.000000 0.000000 0.000000 -0.010000 0.000000 1.000000 0.000000 0.060000 0.000000 0.000000 1.000000 0.016000 0.000000 0.000000 0.000000 1.000000”,
“mode”: “GEN 3”,
“set_as_static”: false,
“set_floor_as_origin”: false,
“set_gravity_as_origin”: false
}
}
[DEBUG] [1772727688.120989687] [zed.zed_node]: === Update Diagnostic ===
[DEBUG] [1772727688.404019360] [zed.zed_node]: Positional Tracking started
[DEBUG] [1772727688.404144708] [zed.zed_node]: Starting path pub. timer
[DEBUG] [1772727688.404199878] [zed.zed_node]: startObjDetect
[INFO] [1772727688.404224007] [zed.zed_node]: === Starting Object Detection ===
[DEBUG] [1772727688.559164462] [zed.zed_node]: Parameter change callback
[DEBUG] [1772727688.559272338] [zed.zed_node]: Modifying 1 parameters
[DEBUG] [1772727688.559318164] [zed.zed_node]: Param #1: qos_overrides./zed/zed_node/obj_det/objects.publisher.history
[DEBUG] [1772727688.559351157] [zed.zed_node]: handleCustomOdDynamicParams
[DEBUG] [1772727688.559363381] [zed.zed_node]: handleCustomOdDynamicParams: Parameter name: qos_overrides./zed/zed_node/obj_det/objects.publisher.history
[DEBUG] [1772727688.559375830] [zed.zed_node]: handleCustomOdDynamicParams: Parameter ‘qos_overrides./zed/zed_node/obj_det/objects.publisher.history’ is not a custom object detection parameter
[DEBUG] [1772727688.559390326] [zed.zed_node]: Correctly set 1/1 parameters
[DEBUG] [1772727688.559599677] [zed.zed_node]: Parameter change callback
[DEBUG] [1772727688.559629950] [zed.zed_node]: Modifying 1 parameters
[DEBUG] [1772727688.559642207] [zed.zed_node]: Param #1: qos_overrides./zed/zed_node/obj_det/objects.publisher.depth
[DEBUG] [1772727688.559651967] [zed.zed_node]: handleCustomOdDynamicParams
[DEBUG] [1772727688.559659679] [zed.zed_node]: handleCustomOdDynamicParams: Parameter name: qos_overrides./zed/zed_node/obj_det/objects.publisher.depth
[DEBUG] [1772727688.559667584] [zed.zed_node]: handleCustomOdDynamicParams: Parameter ‘qos_overrides./zed/zed_node/obj_det/objects.publisher.depth’ is not a custom object detection parameter
[DEBUG] [1772727688.559676192] [zed.zed_node]: Correctly set 1/1 parameters
[DEBUG] [1772727688.559752515] [zed.zed_node]: Parameter change callback
[DEBUG] [1772727688.559778500] [zed.zed_node]: Modifying 1 parameters
[DEBUG] [1772727688.559789412] [zed.zed_node]: Param #1: qos_overrides./zed/zed_node/obj_det/objects.publisher.reliability
[DEBUG] [1772727688.559799012] [zed.zed_node]: handleCustomOdDynamicParams
[DEBUG] [1772727688.559806885] [zed.zed_node]: handleCustomOdDynamicParams: Parameter name: qos_overrides./zed/zed_node/obj_det/objects.publisher.reliability
[DEBUG] [1772727688.559814853] [zed.zed_node]: handleCustomOdDynamicParams: Parameter ‘qos_overrides./zed/zed_node/obj_det/objects.publisher.reliability’ is not a custom object detection parameter
[DEBUG] [1772727688.559823141] [zed.zed_node]: Correctly set 1/1 parameters
[INFO] [1772727688.561645124] [zed.zed_node]:  * Advertised on topic /zed/zed_node/obj_det/objects
[DEBUG] [1772727688.572906988] [zed.zed_node]: ================================================================
[DEBUG] [1772727688.573004207] [zed.zed_node]: === Positional Tracking status ===
[DEBUG] [1772727688.573061393] [zed.zed_node]:  * Odometry: OK
[DEBUG] [1772727688.573084370] [zed.zed_node]:  * Spatial Memory: INITIALIZING
[DEBUG] [1772727688.573101682] [zed.zed_node]:  * Tracking fusion: VISUAL INERTIAL
[DEBUG] [1772727688.573111955] [zed.zed_node]: === processOdometry ===
[DEBUG] [1772727688.573142516] [zed.zed_node]: MAP → Odometry Status: OK
[DEBUG] [1772727688.573178965] [zed.zed_node]: delta ODOM - [OK]:
FFFEEA1AC998
1.000000 0.000000 0.000000 0.000000
0.000000 1.000000 0.000000 0.000000
0.000000 0.000000 1.000000 0.000000
0.000000 0.000000 0.000000 1.000000

[DEBUG] [1772727688.573242071] [zed.zed_node]: Delta ODOM Twist - Linear:0,0,0 - Angular:0,0,0
[DEBUG] [1772727688.573260600] [zed.zed_node]: Delta ODOM Twist - Transformed Linear:0,0,0 - Transformed Angular:0,0,0
[DEBUG] [1772727688.573273912] [zed.zed_node]: +++ Odometry [odom → zed_camera_link] - {0.000,0.000,0.000} {0.000,-0.000,0.000}
[DEBUG] [1772727688.573312314] [zed.zed_node]: === processPose ===
[DEBUG] [1772727688.573350107] [zed.zed_node]: MAP → Tracking Status: INITIALIZING
[DEBUG] [1772727688.573375676] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame → map]:
AAAAE3C25898
1.000000 -0.000000 0.000000 -0.010000
0.000000 1.000000 -0.000000 0.060000
0.000000 -0.000000 1.000000 0.016000
0.000000 0.000000 0.000000 1.000000
}
[DEBUG] [1772727688.573390492] [zed.zed_node]: === Base POSE [map → zed_camera_link] - {-0.000,-0.000,0.000} {0.000,0.000,0.000}
[DEBUG] [1772727688.573405821] [zed.zed_node]: +++ Diff [map → odom] - {-0.000,-0.000,0.000} {0.000,0.000,0.000}
[DEBUG] [1772727688.573430910] [zed.zed_node]: === publishTFs ===
[DEBUG] [1772727688.573705031] [zed.zed_node]: Depth processing disabled
[DEBUG] [1772727688.602380748] [zed.zed_node]: ================================================================
[DEBUG] [1772727688.602465295] [zed.zed_node]: === Positional Tracking status ===
[DEBUG] [1772727688.602506416] [zed.zed_node]:  * Odometry: OK
[DEBUG] [1772727688.602529233] [zed.zed_node]:  * Spatial Memory: INITIALIZING
[DEBUG] [1772727688.602545649] [zed.zed_node]:  * Tracking fusion: VISUAL INERTIAL
[DEBUG] [1772727688.602557042] [zed.zed_node]: === processOdometry ===
[DEBUG] [1772727688.602579443] [zed.zed_node]: MAP → Odometry Status: OK
[DEBUG] [1772727688.602610068] [zed.zed_node]: delta ODOM - [OK]:
FFFEEA1AC998
1.000000 0.000067 0.000121 -0.000673
-0.000067 1.000000 0.000078 0.000244
-0.000121 -0.000078 1.000000 0.000338
0.000000 0.000000 0.000000 1.000000

[DEBUG] [1772727688.602639413] [zed.zed_node]: Delta ODOM Twist - Linear:-0.0100453,0.00364334,0.00504699 - Angular:-0.00116129,0.00180872,-0.00100636
[DEBUG] [1772727688.602657269] [zed.zed_node]: Delta ODOM Twist - Transformed Linear:-0.0101346,0.0036147,0.00509858 - Transformed Angular:-0.00116129,0.00180872,-0.00100636
[DEBUG] [1772727688.602671414] [zed.zed_node]: +++ Odometry [odom → zed_camera_link] - {-0.001,0.000,0.000} {-0.004,0.007,-0.004}
[DEBUG] [1772727688.602699543] [zed.zed_node]: === processPose ===
[DEBUG] [1772727688.602728088] [zed.zed_node]: MAP → Tracking Status: INITIALIZING
[DEBUG] [1772727688.602750137] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame → map]:
AAAAE3C25898
1.000000 0.000066 0.000117 -0.010668
-0.000066 1.000000 0.000073 0.060246
-0.000117 -0.000073 1.000000 0.016333
0.000000 0.000000 0.000000 1.000000
}
[DEBUG] [1772727688.602763737] [zed.zed_node]: === Base POSE [map → zed_camera_link] - {-0.001,0.000,0.000} {-0.004,0.007,-0.004}
[DEBUG] [1772727688.602785050] [zed.zed_node]: +++ Diff [map → odom] - {0.000,0.000,-0.000} {0.000,-0.000,0.000}
[DEBUG] [1772727688.602808187] [zed.zed_node]: === publishTFs ===
[DEBUG] [1772727688.602930879] [zed.zed_node]: Depth processing disabled
[DEBUG] [1772727688.644684649] [zed.zed_node]: ================================================================
[DEBUG] [1772727688.644776877] [zed.zed_node]: === Positional Tracking status ===
[DEBUG] [1772727688.644814894] [zed.zed_node]:  * Odometry: OK
[DEBUG] [1772727688.644833167] [zed.zed_node]:  * Spatial Memory: INITIALIZING
[DEBUG] [1772727688.644846895] [zed.zed_node]:  * Tracking fusion: VISUAL INERTIAL
[DEBUG] [1772727688.644856399] [zed.zed_node]: === processOdometry ===
[DEBUG] [1772727688.644876432] [zed.zed_node]: MAP → Odometry Status: OK
[DEBUG] [1772727688.644902993] [zed.zed_node]: delta ODOM - [OK]:
FFFEEA1AC998
1.000000 0.000002 0.000093 -0.000582
-0.000002 1.000000 0.000276 0.000035
-0.000093 -0.000276 1.000000 0.000173
0.000000 0.000000 0.000000 1.000000

[DEBUG] [1772727688.644928242] [zed.zed_node]: Delta ODOM Twist - Linear:-0.00881481,0.000528298,0.00262159 - Angular:-0.00418243,0.0014156,-2.36701e-05
[DEBUG] [1772727688.644942514] [zed.zed_node]: Delta ODOM Twist - Transformed Linear:-0.00883888,0.000461142,0.00285838 - Transformed Angular:-0.00418243,0.0014156,-2.36701e-05
[DEBUG] [1772727688.644954259] [zed.zed_node]: +++ Odometry [odom → zed_camera_link] - {-0.001,0.000,0.001} {-0.020,0.012,-0.004}
[DEBUG] [1772727688.644979668] [zed.zed_node]: === processPose ===
[DEBUG] [1772727688.645006805] [zed.zed_node]: MAP → Tracking Status: INITIALIZING
[DEBUG] [1772727688.645028853] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame → map]:
AAAAE3C25898
1.000000 0.000061 0.000150 -0.011065
-0.000061 1.000000 0.000249 0.060367
-0.000150 -0.000249 1.000000 0.016458
0.000000 0.000000 0.000000 1.000000
}
[DEBUG] [1772727688.645041782] [zed.zed_node]: === Base POSE [map → zed_camera_link] - {-0.001,0.000,0.000} {-0.014,0.009,-0.003}
[DEBUG] [1772727688.645055638] [zed.zed_node]: +++ Diff [map → odom] - {0.000,0.000,-0.000} {0.006,-0.004,0.000}
[DEBUG] [1772727688.645079607] [zed.zed_node]: Publishing POSE NO COV message
[DEBUG] [1772727688.645265150] [zed.zed_node]: === publishTFs ===
[DEBUG] [1772727688.645478693] [zed.zed_node]: No new detected objects
[DEBUG] [1772727688.645535175] [zed.zed_node]: Depth processing disabled
[DEBUG] [1772727688.713429822] [zed.zed_node]: ================================================================
[DEBUG] [1772727688.713529377] [zed.zed_node]: === Positional Tracking status ===
[DEBUG] [1772727688.713573955] [zed.zed_node]:  * Odometry: OK
[DEBUG] [1772727688.713599268] [zed.zed_node]:  * Spatial Memory: INITIALIZING
[DEBUG] [1772727688.713618372] [zed.zed_node]:  * Tracking fusion: VISUAL INERTIAL
[DEBUG] [1772727688.713635653] [zed.zed_node]: === processOdometry ===
[DEBUG] [1772727688.713662310] [zed.zed_node]: MAP → Odometry Status: OK
[DEBUG] [1772727688.713700423] [zed.zed_node]: delta ODOM - [OK]:
FFFEEA1AC998
1.000000 0.000002 0.000093 -0.000582
-0.000002 1.000000 0.000276 0.000035
-0.000093 -0.000276 1.000000 0.000173
0.000000 0.000000 0.000000 1.000000

[DEBUG] [1772727688.713734344] [zed.zed_node]: Delta ODOM Twist - Linear:-0.00868337,0.00052042,0.00258249 - Angular:-0.00412006,0.00139449,-2.33171e-05
[DEBUG] [1772727688.713755305] [zed.zed_node]: Delta ODOM Twist - Transformed Linear:-0.00870708,0.000454266,0.00281575 - Transformed Angular:-0.00412006,0.00139449,-2.33171e-05
[DEBUG] [1772727688.713769194] [zed.zed_node]: +++ Odometry [odom → zed_camera_link] - {-0.002,0.000,0.001} {-0.036,0.018,-0.004}
[DEBUG] [1772727688.713801739] [zed.zed_node]: === processPose ===
[DEBUG] [1772727688.713835468] [zed.zed_node]: MAP → Tracking Status: INITIALIZING
[DEBUG] [1772727688.713862125] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame → map]:
AAAAE3C25898
1.000000 0.000084 0.000255 -0.011682
-0.000084 1.000000 0.000538 0.060432
-0.000255 -0.000538 1.000000 0.016646
0.000000 0.000000 0.000000 1.000000
}
[DEBUG] [1772727688.713877965] [zed.zed_node]: === Base POSE [map → zed_camera_link] - {-0.002,0.000,0.001} {-0.031,0.015,-0.005}
[DEBUG] [1772727688.713894638] [zed.zed_node]: +++ Diff [map → odom] - {0.000,0.000,-0.000} {0.005,-0.003,-0.001}
[DEBUG] [1772727688.713922991] [zed.zed_node]: Publishing POSE NO COV message
[DEBUG] [1772727688.714054196] [zed.zed_node]: === publishTFs ===
[DEBUG] [1772727688.714210521] [zed.zed_node]: No new detected objects
[DEBUG] [1772727688.714253627] [zed.zed_node]: Depth processing disabled
[DEBUG] [1772727688.781701570] [zed.zed_node]: ================================================================
[DEBUG] [1772727688.781820454] [zed.zed_node]: === Positional Tracking status ===
[DEBUG] [1772727688.781878280] [zed.zed_node]:  * Odometry: OK
[DEBUG] [1772727688.781913897] [zed.zed_node]:  * Spatial Memory: INITIALIZING
[DEBUG] [1772727688.781941610] [zed.zed_node]:  * Tracking fusion: VISUAL INERTIAL
[DEBUG] [1772727688.781961163] [zed.zed_node]: === processOdometry ===
[DEBUG] [1772727688.781993228] [zed.zed_node]: MAP → Odometry Status: OK
[DEBUG] [1772727688.782044654] [zed.zed_node]: delta ODOM - [OK]:
FFFEEA1AC998
1.000000 0.000448 -0.000019 0.000017
-0.000448 1.000000 -0.000048 0.001892
0.000019 0.000048 1.000000 -0.000205
0.000000 0.000000 0.000000 1.000000

[DEBUG] [1772727688.782087759] [zed.zed_node]: Delta ODOM Twist - Linear:0.000253722,0.0282427,-0.00305949 - Angular:0.000713566,-0.000283789,-0.00668121
[DEBUG] [1772727688.782118768] [zed.zed_node]: Delta ODOM Twist - Transformed Linear:-0.00014261,0.0281873,-0.00309947 - Transformed Angular:0.000713566,-0.000283789,-0.00668121
[DEBUG] [1772727688.782140785] [zed.zed_node]: +++ Odometry [odom → zed_camera_link] - {-0.002,0.002,0.001} {-0.033,0.017,-0.030}
[DEBUG] [1772727688.782188787] [zed.zed_node]: === processPose ===
[DEBUG] [1772727688.782242325] [zed.zed_node]: MAP → Tracking Status: INITIALIZING
[DEBUG] [1772727688.782283286] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame → map]:
AAAAE3C25898
1.000000 0.000290 0.000316 -0.012189
-0.000290 1.000000 0.000643 0.061559
-0.000316 -0.000643 1.000000 0.016485
0.000000 0.000000 0.000000 1.000000
}
[DEBUG] [1772727688.782310647] [zed.zed_node]: === Base POSE [map → zed_camera_link] - {-0.002,0.002,0.001} {-0.037,0.018,-0.017}
[DEBUG] [1772727688.782339512] [zed.zed_node]: +++ Diff [map → odom] - {-0.000,-0.001,0.000} {-0.003,0.002,0.013}
[DEBUG] [1772727688.782404122] [zed.zed_node]: Publishing POSE NO COV message
[DEBUG] [1772727688.782609825] [zed.zed_node]: === publishTFs ===
[DEBUG] [1772727688.782830825] [zed.zed_node]: No new detected objects
[DEBUG] [1772727688.782898763] [zed.zed_node]: Depth processing disabled
[DEBUG] [1772727688.854800686] [zed.zed_node]: ================================================================
[DEBUG] [1772727688.854937426] [zed.zed_node]: === Positional Tracking status ===
[DEBUG] [1772727688.855012405] [zed.zed_node]:  * Odometry: OK
[DEBUG] [1772727688.855053846] [zed.zed_node]:  * Spatial Memory: INITIALIZING
[DEBUG] [1772727688.855087640] [zed.zed_node]:  * Tracking fusion: VISUAL INERTIAL
[DEBUG] [1772727688.855112280] [zed.zed_node]: === processOdometry ===
[DEBUG] [1772727688.855151258] [zed.zed_node]: MAP → Odometry Status: OK
[DEBUG] [1772727688.855213340] [zed.zed_node]: delta ODOM - [OK]:
FFFEEA1AC998
1.000000 0.000848 0.000082 0.001253
-0.000848 1.000000 -0.000048 0.002998
-0.000082 0.000048 1.000000 0.000635
0.000000 0.000000 0.000000 1.000000

[DEBUG] [1772727688.855263582] [zed.zed_node]: Delta ODOM Twist - Linear:0.018987,0.0454225,0.00961422 - Angular:0.000726485,0.00124527,-0.0128559
[DEBUG] [1772727688.855297247] [zed.zed_node]: Delta ODOM Twist - Transformed Linear:0.0181957,0.0453056,0.00955818 - Transformed Angular:0.000726485,0.00124527,-0.0128559
[DEBUG] [1772727688.855322112] [zed.zed_node]: +++ Odometry [odom → zed_camera_link] - {-0.001,0.005,0.001} {-0.031,0.021,-0.078}
[DEBUG] [1772727688.855374562] [zed.zed_node]: === processPose ===
[DEBUG] [1772727688.855435588] [zed.zed_node]: MAP → Tracking Status: INITIALIZING
[DEBUG] [1772727688.855484453] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame → map]:
AAAAE3C25898
0.999999 0.001033 0.000387 -0.011412
-0.001033 0.999999 0.000647 0.064236
-0.000386 -0.000647 1.000000 0.016887
0.000000 0.000000 0.000000 1.000000
}
[DEBUG] [1772727688.855513382] [zed.zed_node]: === Base POSE [map → zed_camera_link] - {-0.001,0.004,0.001} {-0.037,0.022,-0.059}
[DEBUG] [1772727688.855545063] [zed.zed_node]: +++ Diff [map → odom] - {-0.001,-0.001,-0.000} {-0.006,0.001,0.019}
[DEBUG] [1772727688.855599849] [zed.zed_node]: Publishing POSE NO COV message
[DEBUG] [1772727688.855822481] [zed.zed_node]: === publishTFs ===
[DEBUG] [1772727688.856092858] [zed.zed_node]: No new detected objects
[DEBUG] [1772727688.856182590] [zed.zed_node]: Depth processing disabled
[DEBUG] [1772727688.904580815] [zed.zed_node]: Publishing MAP PATH message
[DEBUG] [1772727688.915985627] [zed.zed_node]: ================================================================
[DEBUG] [1772727688.916150337] [zed.zed_node]: === Positional Tracking status ===
[DEBUG] [1772727688.916237604] [zed.zed_node]:  * Odometry: OK
[DEBUG] [1772727688.916290182] [zed.zed_node]:  * Spatial Memory: INITIALIZING
[DEBUG] [1772727688.916330791] [zed.zed_node]:  * Tracking fusion: VISUAL INERTIAL
[DEBUG] [1772727688.916358760] [zed.zed_node]: === processOdometry ===
[DEBUG] [1772727688.916402282] [zed.zed_node]: MAP → Odometry Status: OK
[DEBUG] [1772727688.916472972] [zed.zed_node]: delta ODOM - [OK]:
FFFEEA1AC998
1.000000 0.000294 0.000146 -0.000179
-0.000294 0.999999 0.001345 0.000881
-0.000145 -0.001345 0.999999 0.000808
0.000000 0.000000 0.000000 1.000000

[DEBUG] [1772727688.916534670] [zed.zed_node]: Delta ODOM Twist - Linear:-0.00267466,0.0131462,0.0120619 - Angular:-0.0200744,0.00217177,-0.00439039
[DEBUG] [1772727688.916575920] [zed.zed_node]: Delta ODOM Twist - Transformed Linear:-0.00297283,0.0127811,0.0132446 - Transformed Angular:-0.0200744,0.00217177,-0.00439039
[DEBUG] [1772727688.916602001] [zed.zed_node]: +++ Odometry [odom → zed_camera_link] - {-0.001,0.006,0.002} {-0.108,0.030,-0.095}
[DEBUG] [1772727688.916665715] [zed.zed_node]: === processPose ===
[DEBUG] [1772727688.916729365] [zed.zed_node]: MAP → Tracking Status: INITIALIZING
[DEBUG] [1772727688.916786711] [zed.zed_node]: Sensor POSE - [zed_left_camera_frame → map]:
AAAAE3C25898
0.999999 0.001617 0.000446 -0.010780
-0.001617 0.999997 0.001645 0.066064
-0.000443 -0.001646 0.999999 0.017754
0.000000 0.000000 0.000000 1.000000
}
[DEBUG] [1772727688.916818712] [zed.zed_node]: === Base POSE [map → zed_camera_link] - {-0.001,0.006,0.002} {-0.094,0.025,-0.093}
[DEBUG] [1772727688.916854298] [zed.zed_node]: +++ Diff [map → odom] - {-0.000,-0.000,-0.000} {0.013,-0.004,0.002}
[DEBUG] [1772727688.916912380] [zed.zed_node]: Publishing POSE NO COV message
[DEBUG] [1772727688.917125763] [zed.zed_node]: === publishTFs ===
[DEBUG] [1772727688.917375468] [zed.zed_node]: No new detected objects
[DEBUG] [1772727688.917447342] [zed.zed_node]: Depth processing disabled

mattrouss · March 16, 2026, 5:41pm

Hi @KOlCIqwq,

We have indeed detected an issue with Custom Object detection with GEN_3 positional tracking mode in 5.2.0, which was resolved in 5.2.1.

Can you please update to the latest ZED SDK (5.2.2) and try again?