I recorded a SVO file and i was able to export it into a sequence of images as per zed-sdk/recording/export/svo/python at 4.0.8 · stereolabs/zed-sdk · GitHub . But when i tried to run zed_node with the SVO file, it shows an error and wont play the topics.
$ ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zedx svo_path:=/home/agrobot/Desktop/SSD4TB/svo_recording/sample.svo2
[INFO] [launch]: All log files can be found below /home/agrobot/.ros/log/2024-11-18-18-46-31-721709-ubuntu-29762
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [29765]
[INFO] [zed_wrapper-2]: process started with pid [29767]
[robot_state_publisher-1] [INFO] [1731951992.427473088] [zed.zed_state_publisher]: got segment zed_camera_center
[robot_state_publisher-1] [INFO] [1731951992.427654946] [zed.zed_state_publisher]: got segment zed_camera_link
[robot_state_publisher-1] [INFO] [1731951992.427672194] [zed.zed_state_publisher]: got segment zed_left_camera_frame
[robot_state_publisher-1] [INFO] [1731951992.427681442] [zed.zed_state_publisher]: got segment zed_left_camera_optical_frame
[robot_state_publisher-1] [INFO] [1731951992.427689186] [zed.zed_state_publisher]: got segment zed_right_camera_frame
[robot_state_publisher-1] [INFO] [1731951992.427695682] [zed.zed_state_publisher]: got segment zed_right_camera_optical_frame
[zed_wrapper-2] [INFO] [1731951992.613170974] [zed.zed_node]: ********************************
[zed_wrapper-2] [INFO] [1731951992.613410880] [zed.zed_node]: ZED Camera Component
[zed_wrapper-2] [INFO] [1731951992.613429280] [zed.zed_node]: ********************************
[zed_wrapper-2] [INFO] [1731951992.613442976] [zed.zed_node]: * namespace: /zed
[zed_wrapper-2] [INFO] [1731951992.613455008] [zed.zed_node]: * node name: zed_node
[zed_wrapper-2] [INFO] [1731951992.613462368] [zed.zed_node]: ********************************
[zed_wrapper-2] [INFO] [1731951992.663679048] [zed.zed_node]: *** DEBUG parameters ***
[zed_wrapper-2] [INFO] [1731951992.664003018] [zed.zed_node]: * SDK Verbose: 1
[zed_wrapper-2] [INFO] [1731951992.664113451] [zed.zed_node]: * Debug Common: FALSE
[zed_wrapper-2] [INFO] [1731951992.664178027] [zed.zed_node]: * Debug Simulation: FALSE
[zed_wrapper-2] [INFO] [1731951992.664230060] [zed.zed_node]: * Debug Video/Depth: FALSE
[zed_wrapper-2] [INFO] [1731951992.664274124] [zed.zed_node]: * Debug Control settings: FALSE
[zed_wrapper-2] [INFO] [1731951992.664320588] [zed.zed_node]: * Debug Point Cloud: FALSE
[zed_wrapper-2] [INFO] [1731951992.664362796] [zed.zed_node]: * Debug GNSS: FALSE
[zed_wrapper-2] [INFO] [1731951992.664409741] [zed.zed_node]: * Debug Positional Tracking: FALSE
[zed_wrapper-2] [INFO] [1731951992.664451213] [zed.zed_node]: * Debug sensors: FALSE
[zed_wrapper-2] [INFO] [1731951992.664496429] [zed.zed_node]: * Debug Mapping: FALSE
[zed_wrapper-2] [INFO] [1731951992.664541774] [zed.zed_node]: * Debug Object Detection: FALSE
[zed_wrapper-2] [INFO] [1731951992.664602542] [zed.zed_node]: * Debug Body Tracking: FALSE
[zed_wrapper-2] [INFO] [1731951992.664657710] [zed.zed_node]: * Debug Streaming: FALSE
[zed_wrapper-2] [INFO] [1731951992.664705327] [zed.zed_node]: * Debug ROI: FALSE
[zed_wrapper-2] [INFO] [1731951992.664756175] [zed.zed_node]: * Debug Advanced: FALSE
[zed_wrapper-2] [INFO] [1731951992.664850960] [zed.zed_node]: *** GENERAL parameters ***
[zed_wrapper-2] [INFO] [1731951992.664927344] [zed.zed_node]: * SVO: '/home/agrobot/Desktop/SSD4TB/svo_recording/sample.svo2'
[zed_wrapper-2] [INFO] [1731951992.664992689] [zed.zed_node]: * SVO Loop: FALSE
[zed_wrapper-2] [INFO] [1731951992.665051153] [zed.zed_node]: * SVO Realtime: TRUE
[zed_wrapper-2] [INFO] [1731951992.665129329] [zed.zed_node]: + Playing an SVO for ZED X camera model.
[zed_wrapper-2] [INFO] [1731951992.665147794] [zed.zed_node]: * Camera model: zedx - ZED X
[zed_wrapper-2] [INFO] [1731951992.665213042] [zed.zed_node]: * Camera name: zed
[zed_wrapper-2] [INFO] [1731951992.665278546] [zed.zed_node]: * Camera SN: 0
[zed_wrapper-2] [INFO] [1731951992.665335699] [zed.zed_node]: * Camera timeout [sec]: 5
[zed_wrapper-2] [INFO] [1731951992.665389171] [zed.zed_node]: * Camera reconnection temptatives: 5
[zed_wrapper-2] [INFO] [1731951992.665455700] [zed.zed_node]: * Camera framerate: 30
[zed_wrapper-2] [INFO] [1731951992.665516820] [zed.zed_node]: * GPU ID: -1
[zed_wrapper-2] [INFO] [1731951992.665621749] [zed.zed_node]: * Camera resolution: HD1200
[zed_wrapper-2] [INFO] [1731951992.665688181] [zed.zed_node]: * Publishing resolution: CUSTOM
[zed_wrapper-2] [INFO] [1731951992.665770902] [zed.zed_node]: * Publishing downscale factor: 2
[zed_wrapper-2] [INFO] [1731951992.665832342] [zed.zed_node]: * OpenCV custom calibration:
[zed_wrapper-2] [INFO] [1731951992.665890806] [zed.zed_node]: * Camera self calibration: TRUE
[zed_wrapper-2] [INFO] [1731951992.665950967] [zed.zed_node]: * Camera flip: FALSE
[zed_wrapper-2] [INFO] [1731951992.666018647] [zed.zed_node]: * [DYN] Publish framerate [Hz]: 30
[zed_wrapper-2] [INFO] [1731951992.666040343] [zed.zed_node]: *** VIDEO parameters ***
[zed_wrapper-2] [INFO] [1731951992.666098392] [zed.zed_node]: * [DYN] Saturation: 4
[zed_wrapper-2] [INFO] [1731951992.666157976] [zed.zed_node]: * [DYN] Sharpness: 4
[zed_wrapper-2] [INFO] [1731951992.666218617] [zed.zed_node]: * [DYN] Gamma: 8
[zed_wrapper-2] [INFO] [1731951992.666278361] [zed.zed_node]: * [DYN] Auto Exposure/Gain: TRUE
[zed_wrapper-2] [INFO] [1731951992.666338009] [zed.zed_node]: * [DYN] Exposure: 80
[zed_wrapper-2] [INFO] [1731951992.666394586] [zed.zed_node]: * [DYN] Gain: 80
[zed_wrapper-2] [INFO] [1731951992.666449178] [zed.zed_node]: * [DYN] Auto White Balance: TRUE
[zed_wrapper-2] [INFO] [1731951992.666506426] [zed.zed_node]: * [DYN] White Balance Temperature: 42
[zed_wrapper-2] [INFO] [1731951992.666564251] [zed.zed_node]: * [DYN] ZED X Exposure time: 16000
[zed_wrapper-2] [INFO] [1731951992.666629403] [zed.zed_node]: * [DYN] ZED X Auto Exp. time range min: 28
[zed_wrapper-2] [INFO] [1731951992.666690108] [zed.zed_node]: * [DYN] ZED X Auto Exp. time range max: 30000
[zed_wrapper-2] [INFO] [1731951992.666747548] [zed.zed_node]: * [DYN] ZED X Exposure comp.: 50
[zed_wrapper-2] [INFO] [1731951992.666804508] [zed.zed_node]: * [DYN] ZED X Analog Gain: 1255
[zed_wrapper-2] [INFO] [1731951992.666947549] [zed.zed_node]: * [DYN] ZED X Auto Analog Gain range min: 1000
[zed_wrapper-2] [INFO] [1731951992.667011198] [zed.zed_node]: * [DYN] ZED X Auto Analog Gain range max: 16000
[zed_wrapper-2] [INFO] [1731951992.667069150] [zed.zed_node]: * [DYN] ZED X Digital Gain: 1
[zed_wrapper-2] [INFO] [1731951992.667132703] [zed.zed_node]: * [DYN] ZED X Auto Digital Gain range min: 1
[zed_wrapper-2] [INFO] [1731951992.667195455] [zed.zed_node]: * [DYN] ZED X Auto Digital Gain range max: 256
[zed_wrapper-2] [INFO] [1731951992.667252351] [zed.zed_node]: * [DYN] ZED X Auto Digital Gain range max: 50
[zed_wrapper-2] [INFO] [1731951992.667273151] [zed.zed_node]: *** DEPTH parameters ***
[zed_wrapper-2] [INFO] [1731951992.667368640] [zed.zed_node]: * Depth mode: NEURAL PLUS [5]
[zed_wrapper-2] [INFO] [1731951992.667456225] [zed.zed_node]: * Min depth [m]: 0.3
[zed_wrapper-2] [INFO] [1731951992.667524513] [zed.zed_node]: * Max depth [m]: 10
[zed_wrapper-2] [INFO] [1731951992.667581729] [zed.zed_node]: * Depth Stabilization: 1
[zed_wrapper-2] [INFO] [1731951992.667636770] [zed.zed_node]: * OpenNI mode (16bit point cloud): FALSE
[zed_wrapper-2] [INFO] [1731951992.667693122] [zed.zed_node]: * [DYN] Point cloud rate [Hz]: 10
[zed_wrapper-2] [INFO] [1731951992.667754307] [zed.zed_node]: * [DYN] Depth Confidence: 50
[zed_wrapper-2] [INFO] [1731951992.667811459] [zed.zed_node]: * [DYN] Depth Texture Confidence: 100
[zed_wrapper-2] [INFO] [1731951992.667862435] [zed.zed_node]: * [DYN] Remove saturated areas: TRUE
[zed_wrapper-2] [INFO] [1731951992.667878659] [zed.zed_node]: *** GNSS FUSION parameters ***
[zed_wrapper-2] [INFO] [1731951992.667938148] [zed.zed_node]: * GNSS fusion enabled: FALSE
[zed_wrapper-2] [INFO] [1731951992.667956996] [zed.zed_node]: *** POSITIONAL TRACKING parameters ***
[zed_wrapper-2] [INFO] [1731951992.668035908] [zed.zed_node]: * Positional tracking enabled: TRUE
[zed_wrapper-2] [INFO] [1731951992.668111109] [zed.zed_node]: * Positional tracking mode: GEN 2
[zed_wrapper-2] [INFO] [1731951992.668173637] [zed.zed_node]: * Map frame id: map
[zed_wrapper-2] [INFO] [1731951992.668235718] [zed.zed_node]: * Odometry frame id: odom
[zed_wrapper-2] [INFO] [1731951992.668293190] [zed.zed_node]: * Broadcast Odometry TF: TRUE
[zed_wrapper-2] [INFO] [1731951992.668364295] [zed.zed_node]: * Broadcast Pose TF: TRUE
[zed_wrapper-2] [INFO] [1731951992.668428519] [zed.zed_node]: * [DYN] Depth minimum range: 0
[zed_wrapper-2] [INFO] [1731951992.668493511] [zed.zed_node]: * [DYN] TF timestamp offset: 0
[zed_wrapper-2] [INFO] [1731951992.668555336] [zed.zed_node]: * [DYN] Path publishing rate: 2
[zed_wrapper-2] [INFO] [1731951992.668629576] [zed.zed_node]: * Path history lenght: -1
[zed_wrapper-2] [INFO] [1731951992.668694249] [zed.zed_node]: * Initial pose: [0,0,0,0,0,0,]
[zed_wrapper-2] [INFO] [1731951992.668754313] [zed.zed_node]: * Area Memory: TRUE
[zed_wrapper-2] [INFO] [1731951992.668812810] [zed.zed_node]: * Area Memory DB:
[zed_wrapper-2] [INFO] [1731951992.668879242] [zed.zed_node]: * Camera is static: FALSE
[zed_wrapper-2] [INFO] [1731951992.668936010] [zed.zed_node]: * Gravity as origin [not for ZED]: TRUE
[zed_wrapper-2] [INFO] [1731951992.668991915] [zed.zed_node]: * IMU Fusion [not for ZED]: TRUE
[zed_wrapper-2] [INFO] [1731951992.669048875] [zed.zed_node]: * Floor Alignment: FALSE
[zed_wrapper-2] [INFO] [1731951992.669107467] [zed.zed_node]: * Reset Odometry with Loop Closure: TRUE
[zed_wrapper-2] [INFO] [1731951992.669160972] [zed.zed_node]: * 2D mode: FALSE
[zed_wrapper-2] [INFO] [1731951992.669182444] [zed.zed_node]: *** Region of Interest parameters ***
[zed_wrapper-2] [INFO] [1731951992.669237036] [zed.zed_node]: * Automatic ROI generation: FALSE
[zed_wrapper-2] [INFO] [1731951992.669327437] [zed.zed_node]: * Manual ROI polygon: []
[zed_wrapper-2] [INFO] [1731951992.669345517] [zed.zed_node]: *** SENSORS STACK parameters ***
[zed_wrapper-2] [INFO] [1731951992.669404877] [zed.zed_node]: * Broadcast IMU TF [not for ZED]: TRUE
[zed_wrapper-2] [INFO] [1731951992.669466094] [zed.zed_node]: * Sensors Camera Sync: FALSE
[zed_wrapper-2] [INFO] [1731951992.669535342] [zed.zed_node]: * Sensors publishing rate: 200 Hz
[zed_wrapper-2] [INFO] [1731951992.669553358] [zed.zed_node]: *** Spatial Mapping parameters ***
[zed_wrapper-2] [INFO] [1731951992.669641743] [zed.zed_node]: * Spatial Mapping Enabled: FALSE
[zed_wrapper-2] [INFO] [1731951992.669722063] [zed.zed_node]: * Spatial Mapping resolution [m]: 0.05
[zed_wrapper-2] [INFO] [1731951992.669784560] [zed.zed_node]: * 3D Max Mapping range [m]: 5
[zed_wrapper-2] [INFO] [1731951992.669845680] [zed.zed_node]: * Map publishing rate [Hz]: 1
[zed_wrapper-2] [INFO] [1731951992.669904177] [zed.zed_node]: * Clicked point topic: /clicked_point
[zed_wrapper-2] [INFO] [1731951992.669974545] [zed.zed_node]: * Plane Det. Max Dist. Thresh.: 0.15
[zed_wrapper-2] [INFO] [1731951992.670078834] [zed.zed_node]: * Plane Det. Normals Sim. Thresh.: 15
[zed_wrapper-2] [INFO] [1731951992.670100114] [zed.zed_node]: *** Object Det. parameters ***
[zed_wrapper-2] [INFO] [1731951992.670159026] [zed.zed_node]: * Object Det. enabled: FALSE
[zed_wrapper-2] [INFO] [1731951992.670251635] [zed.zed_node]: * Object Det. model: MULTI CLASS BOX FAST
[zed_wrapper-2] [INFO] [1731951992.670321875] [zed.zed_node]: * Object Det. allow reduced precision: TRUE
[zed_wrapper-2] [INFO] [1731951992.670381716] [zed.zed_node]: * Object Det. maximum range [m]: 20
[zed_wrapper-2] [INFO] [1731951992.670443476] [zed.zed_node]: * Object Det. min. confidence: 75
[zed_wrapper-2] [INFO] [1731951992.670501173] [zed.zed_node]: * Object Det. prediction timeout [sec]: 0.5
[zed_wrapper-2] [INFO] [1731951992.670581589] [zed.zed_node]: * Object Det. tracking: TRUE
[zed_wrapper-2] [INFO] [1731951992.670690806] [zed.zed_node]: * Object Filtering mode: 1 - NMS3D
[zed_wrapper-2] [INFO] [1731951992.670777110] [zed.zed_node]: * MultiClassBox people: TRUE
[zed_wrapper-2] [INFO] [1731951992.670859767] [zed.zed_node]: * MultiClassBox vehicles: TRUE
[zed_wrapper-2] [INFO] [1731951992.670937751] [zed.zed_node]: * MultiClassBox bags: TRUE
[zed_wrapper-2] [INFO] [1731951992.671007320] [zed.zed_node]: * MultiClassBox animals: TRUE
[zed_wrapper-2] [INFO] [1731951992.671085528] [zed.zed_node]: * MultiClassBox electronics: TRUE
[zed_wrapper-2] [INFO] [1731951992.671155545] [zed.zed_node]: * MultiClassBox fruits and vegetables: TRUE
[zed_wrapper-2] [INFO] [1731951992.671250649] [zed.zed_node]: * MultiClassBox sport-related objects: TRUE
[zed_wrapper-2] [INFO] [1731951992.671272154] [zed.zed_node]: *** Body Track. parameters ***
[zed_wrapper-2] [INFO] [1731951992.671335482] [zed.zed_node]: * Body Track. enabled: FALSE
[zed_wrapper-2] [INFO] [1731951992.671435931] [zed.zed_node]: * Body Track. model: HUMAN BODY MEDIUM
[zed_wrapper-2] [INFO] [1731951992.671524955] [zed.zed_node]: * Body Track. format: BODY 38
[zed_wrapper-2] [INFO] [1731951992.671597692] [zed.zed_node]: * Body Track. allow reduced precision: TRUE
[zed_wrapper-2] [INFO] [1731951992.671672700] [zed.zed_node]: * Body Track. maximum range [m]: 20
[zed_wrapper-2] [INFO] [1731951992.671750333] [zed.zed_node]: * Body Track. KP selection: FULL
[zed_wrapper-2] [INFO] [1731951992.671837021] [zed.zed_node]: * Body fitting: FALSE
[zed_wrapper-2] [INFO] [1731951992.671906238] [zed.zed_node]: * Body joints tracking: TRUE
[zed_wrapper-2] [INFO] [1731951992.671982878] [zed.zed_node]: * Body Track. prediction timeout [sec]: 0.5
[zed_wrapper-2] [INFO] [1731951992.672060223] [zed.zed_node]: * Body Track. confidence thresh.: 50
[zed_wrapper-2] [INFO] [1731951992.672134527] [zed.zed_node]: * Body Track. min. KP thresh.: 5
[zed_wrapper-2] [INFO] [1731951992.672155199] [zed.zed_node]: *** Streaming Server parameters ***
[zed_wrapper-2] [INFO] [1731951992.672222336] [zed.zed_node]: * Streaming Server enabled: FALSE
[zed_wrapper-2] [INFO] [1731951992.672302176] [zed.zed_node]: * Stream codec: H264
[zed_wrapper-2] [INFO] [1731951992.672384769] [zed.zed_node]: * Stream port:30000
[zed_wrapper-2] [INFO] [1731951992.672465729] [zed.zed_node]: * Stream bitrate: 12500
[zed_wrapper-2] [INFO] [1731951992.672549602] [zed.zed_node]: * Stream GOP size: -1
[zed_wrapper-2] [INFO] [1731951992.672639907] [zed.zed_node]: * Stream Chunk size: 16084
[zed_wrapper-2] [INFO] [1731951992.672720547] [zed.zed_node]: * Adaptive bitrate: FALSE
[zed_wrapper-2] [INFO] [1731951992.672793700] [zed.zed_node]: * Target frame rate:0
[zed_wrapper-2] [INFO] [1731951992.672814052] [zed.zed_node]: *** Advanced parameters ***
[zed_wrapper-2] [INFO] [1731951992.672894628] [zed.zed_node]: * Thread sched. policy: SCHED_BATCH
[zed_wrapper-2] [INFO] [1731951992.672992357] [zed.zed_node]: *** SERVICES ***
[zed_wrapper-2] [INFO] [1731951992.674376302] [zed.zed_node]: * '/zed/zed_node/reset_odometry'
[zed_wrapper-2] [INFO] [1731951992.674959858] [zed.zed_node]: * '/zed/zed_node/reset_pos_tracking'
[zed_wrapper-2] [INFO] [1731951992.676219130] [zed.zed_node]: * '/zed/zed_node/set_pose'
[zed_wrapper-2] [INFO] [1731951992.676778718] [zed.zed_node]: * '/zed/zed_node/enable_obj_det'
[zed_wrapper-2] [INFO] [1731951992.677256449] [zed.zed_node]: * '/zed/zed_node/enable_body_trk'
[zed_wrapper-2] [INFO] [1731951992.677713892] [zed.zed_node]: * '/zed/zed_node/enable_mapping'
[zed_wrapper-2] [INFO] [1731951992.678282791] [zed.zed_node]: * '/zed/zed_node/enable_streaming'
[zed_wrapper-2] [INFO] [1731951992.678892043] [zed.zed_node]: * '/zed/zed_node/start_svo_rec'
[zed_wrapper-2] [INFO] [1731951992.679413839] [zed.zed_node]: * '/zed/zed_node/stop_svo_rec'
[zed_wrapper-2] [INFO] [1731951992.679994387] [zed.zed_node]: * '/zed/zed_node/set_roi'
[zed_wrapper-2] [INFO] [1731951992.680531350] [zed.zed_node]: * '/zed/zed_node/reset_roi'
[zed_wrapper-2] [INFO] [1731951992.680632087] [zed.zed_node]: ***** STARTING CAMERA *****
[zed_wrapper-2] [INFO] [1731951992.811466894] [zed.zed_node]: ZED SDK Version: 4.2.1 - Build 94676_d35891e9
[zed_wrapper-2] [2024-11-18 17:46:32 UTC][ZED][INFO] Logging level INFO
[zed_wrapper-2] [INFO] [1731951992.817739895] [zed.zed_node]: *** SVO OPENING ***
[zed_wrapper-2] [INFO] [1731951992.817816663] [zed.zed_node]: Disable async recovery for GMSL2 cameras
[zed_wrapper-2] [2024-11-18 17:46:33 UTC][ZED][INFO] Logging level INFO
[zed_wrapper-2] Opening in BLOCKING MODE
[zed_wrapper-2] NvMMLiteOpen : Block : BlockType = 261
[zed_wrapper-2] NvMMLiteBlockCreate : Block : BlockType = 261
[zed_wrapper-2] [2024-11-18 17:46:33 UTC][ZED][INFO] [Init] Depth mode: NEURAL PLUS
[zed_wrapper-2] [2024-11-18 17:46:33 UTC][ZED][INFO] [Init] Serial Number: S/N 48466417
[zed_wrapper-2] [INFO] [1731951995.731565400] [zed.zed_node]: ZED SDK running on GPU #0
[zed_wrapper-2] [INFO] [1731951995.731698393] [zed.zed_node]: * Camera Model -> ZED X
[zed_wrapper-2] [INFO] [1731951995.731720249] [zed.zed_node]: * Serial Number -> 48466417
[zed_wrapper-2] [INFO] [1731951995.731746841] [zed.zed_node]: * Focal Lenght -> 2.17451 mm
[zed_wrapper-2] [INFO] [1731951995.731774649] [zed.zed_node]: * Input -> SVO
[zed_wrapper-2] [INFO] [1731951995.731797817] [zed.zed_node]: * SVO resolution -> 1920x1200
[zed_wrapper-2] [INFO] [1731951995.731827609] [zed.zed_node]: * SVO framerate -> 30
[zed_wrapper-2] [INFO] [1731951995.731852602] [zed.zed_node]: * Camera grab frame size -> 1920x1200
[zed_wrapper-2] [INFO] [1731951995.731885946] [zed.zed_node]: * Publishing frame size -> 960x600
[zed_wrapper-2] [INFO] [1731951995.731919930] [zed.zed_node]: *** TF FRAMES ***
[zed_wrapper-2] [INFO] [1731951995.731934490] [zed.zed_node]: * Map -> map
[zed_wrapper-2] [INFO] [1731951995.731945946] [zed.zed_node]: * Odometry -> odom
[zed_wrapper-2] [INFO] [1731951995.731955866] [zed.zed_node]: * Base -> zed_camera_link
[zed_wrapper-2] [INFO] [1731951995.731965050] [zed.zed_node]: * Camera -> zed_camera_center
[zed_wrapper-2] [INFO] [1731951995.731973626] [zed.zed_node]: * Left -> zed_left_camera_frame
[zed_wrapper-2] [INFO] [1731951995.731982235] [zed.zed_node]: * Left Optical -> zed_left_camera_optical_frame
[zed_wrapper-2] [INFO] [1731951995.731991195] [zed.zed_node]: * RGB -> zed_left_camera_frame
[zed_wrapper-2] [INFO] [1731951995.731999835] [zed.zed_node]: * RGB Optical -> zed_left_camera_optical_frame
[zed_wrapper-2] [INFO] [1731951995.732009339] [zed.zed_node]: * Right -> zed_right_camera_frame
[zed_wrapper-2] [INFO] [1731951995.732017531] [zed.zed_node]: * Right Optical -> zed_right_camera_optical_frame
[zed_wrapper-2] [INFO] [1731951995.732025851] [zed.zed_node]: * Depth -> zed_left_camera_frame
[zed_wrapper-2] [INFO] [1731951995.732034331] [zed.zed_node]: * Depth Optical -> zed_left_camera_optical_frame
[zed_wrapper-2] [INFO] [1731951995.732042619] [zed.zed_node]: * Point Cloud -> zed_left_camera_optical_frame
[zed_wrapper-2] [INFO] [1731951995.732050875] [zed.zed_node]: * Disparity -> zed_left_camera_frame
[zed_wrapper-2] [INFO] [1731951995.732059099] [zed.zed_node]: * Disparity Optical -> zed_left_camera_optical_frame
[zed_wrapper-2] [INFO] [1731951995.732067995] [zed.zed_node]: * Confidence -> zed_left_camera_frame
[zed_wrapper-2] [INFO] [1731951995.732076667] [zed.zed_node]: * Confidence Optical -> zed_left_camera_optical_frame
[zed_wrapper-2] [INFO] [1731951995.732085403] [zed.zed_node]: * IMU -> zed_imu_link
[zed_wrapper-2] [INFO] [1731951995.732126459] [zed.zed_node]: *** PUBLISHED TOPICS ***
[zed_wrapper-2] [INFO] [1731951995.885660647] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb/image_rect_color
[zed_wrapper-2] [INFO] [1731951995.885741735] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb/camera_info
[zed_wrapper-2] [INFO] [1731951995.888754107] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_gray/image_rect_gray
[zed_wrapper-2] [INFO] [1731951995.888808507] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_gray/camera_info
[zed_wrapper-2] [INFO] [1731951995.891509517] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_raw/image_raw_color
[zed_wrapper-2] [INFO] [1731951995.891566317] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_raw/camera_info
[zed_wrapper-2] [INFO] [1731951995.894219551] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_raw_gray/image_raw_gray
[zed_wrapper-2] [INFO] [1731951995.894263007] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_raw_gray/camera_info
[zed_wrapper-2] [INFO] [1731951995.896949745] [zed.zed_node]: Advertised on topic: /zed/zed_node/left/image_rect_color
[zed_wrapper-2] [INFO] [1731951995.897009265] [zed.zed_node]: Advertised on topic: /zed/zed_node/left/camera_info
[zed_wrapper-2] [INFO] [1731951995.899867588] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_gray/image_rect_gray
[zed_wrapper-2] [INFO] [1731951995.899922916] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_gray/camera_info
[zed_wrapper-2] [INFO] [1731951995.902663830] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_raw/image_raw_color
[zed_wrapper-2] [INFO] [1731951995.902710966] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_raw/camera_info
[zed_wrapper-2] [INFO] [1731951995.911686001] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_raw_gray/image_raw_gray
[zed_wrapper-2] [INFO] [1731951995.911744561] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_raw_gray/camera_info
[zed_wrapper-2] [INFO] [1731951995.914498755] [zed.zed_node]: Advertised on topic: /zed/zed_node/right/image_rect_color
[zed_wrapper-2] [INFO] [1731951995.914547876] [zed.zed_node]: Advertised on topic: /zed/zed_node/right/camera_info
[zed_wrapper-2] [INFO] [1731951995.917303158] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_gray/image_rect_gray
[zed_wrapper-2] [INFO] [1731951995.917348566] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_gray/camera_info
[zed_wrapper-2] [INFO] [1731951995.919982279] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_raw/image_raw_color
[zed_wrapper-2] [INFO] [1731951995.920028967] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_raw/camera_info
[zed_wrapper-2] [INFO] [1731951995.922686617] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_raw_gray/image_raw_gray
[zed_wrapper-2] [INFO] [1731951995.922728121] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_raw_gray/camera_info
[zed_wrapper-2] [INFO] [1731951995.925290282] [zed.zed_node]: Advertised on topic: /zed/zed_node/depth/depth_registered
[zed_wrapper-2] [INFO] [1731951995.925349482] [zed.zed_node]: Advertised on topic: /zed/zed_node/depth/camera_info
[zed_wrapper-2] [INFO] [1731951995.927765082] [zed.zed_node]: Advertised on topic: /zed/zed_node/depth/depth_info
[zed_wrapper-2] [INFO] [1731951995.930093353] [zed.zed_node]: Advertised on topic: /zed/zed_node/stereo/image_rect_color
[zed_wrapper-2] [INFO] [1731951995.933275326] [zed.zed_node]: Advertised on topic: /zed/zed_node/stereo_raw/image_raw_color
[zed_wrapper-2] [INFO] [1731951995.933811169] [zed.zed_node]: Advertised on topic: /zed/zed_node/confidence/confidence_map
[zed_wrapper-2] [INFO] [1731951995.938834402] [zed.zed_node]: Advertised on topic: /zed/zed_node/disparity/disparity_image
[zed_wrapper-2] [INFO] [1731951995.941866550] [zed.zed_node]: Advertised on topic: /zed/zed_node/point_cloud/cloud_registered
[zed_wrapper-2] [INFO] [1731951995.943029502] [zed.zed_node]: Advertised on topic: /zed/zed_node/pose
[zed_wrapper-2] [INFO] [1731951995.944053796] [zed.zed_node]: Advertised on topic: /zed/zed_node/pose/status
[zed_wrapper-2] [INFO] [1731951995.945016299] [zed.zed_node]: Advertised on topic: /zed/zed_node/pose_with_covariance
[zed_wrapper-2] [INFO] [1731951995.946935127] [zed.zed_node]: Advertised on topic: /zed/zed_node/odom
[zed_wrapper-2] [INFO] [1731951995.947934430] [zed.zed_node]: Advertised on topic: /zed/zed_node/path_map
[zed_wrapper-2] [INFO] [1731951995.948653282] [zed.zed_node]: Advertised on topic: /zed/zed_node/path_odom
[zed_wrapper-2] [INFO] [1731951995.951389332] [zed.zed_node]: Advertised on topic: /zed/plane_marker
[zed_wrapper-2] [INFO] [1731951995.952754237] [zed.zed_node]: Advertised on topic: /zed/plane
[zed_wrapper-2] [INFO] [1731951995.953790852] [zed.zed_node]: Advertised on topic: /zed/zed_node/imu/data
[zed_wrapper-2] [INFO] [1731951995.954539753] [zed.zed_node]: Advertised on topic: /zed/zed_node/imu/data_raw
[zed_wrapper-2] [INFO] [1731951995.955502799] [zed.zed_node]: Advertised on topic: /zed/zed_node/temperature/imu
[zed_wrapper-2] [INFO] [1731951995.956376501] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_cam_imu_transform
[zed_wrapper-2] [INFO] [1731951995.956488246] [zed.zed_node]: Camera-IMU Translation:
[zed_wrapper-2] 0 -0.035649 -0.000147
[zed_wrapper-2] [INFO] [1731951995.956552534] [zed.zed_node]: Camera-IMU Rotation:
[zed_wrapper-2] FFFF72FB9790
[zed_wrapper-2] 0.999974 -0.005272 0.004848
[zed_wrapper-2] 0.005290 0.999980 -0.003561
[zed_wrapper-2] -0.004829 0.003586 0.999982
[zed_wrapper-2]
[zed_wrapper-2] [INFO] [1731951995.956577430] [zed.zed_node]: *** Subscribers ***
[zed_wrapper-2] [INFO] [1731951995.957927231] [zed.zed_node]: * Plane detection: '/clicked_point'
[zed_wrapper-2] [INFO] [1731951995.967638686] [zed.zed_node]: *** Starting Positional Tracking ***
[zed_wrapper-2] [INFO] [1731951995.967704543] [zed.zed_node]: * Waiting for valid static transformations...
[zed_wrapper-2] [INFO] [1731951995.968215842] [zed.zed_node]: Static transform ref. CMOS Sensor to Base [zed_left_camera_frame -> zed_camera_link]
[zed_wrapper-2] [INFO] [1731951995.968244258] [zed.zed_node]: * Translation: {0.010,-0.060,-0.016}
[zed_wrapper-2] [INFO] [1731951995.968261379] [zed.zed_node]: * Rotation: {0.000,-0.000,0.000}
[zed_wrapper-2] [INFO] [1731951995.968296867] [zed.zed_node]: Static transform ref. CMOS Sensor to Camera Center [zed_left_camera_frame -> zed_camera_center]
[zed_wrapper-2] [INFO] [1731951995.968310563] [zed.zed_node]: * Translation: {0.010,-0.060,0.000}
[zed_wrapper-2] [INFO] [1731951995.968389667] [zed.zed_node]: * Rotation: {0.000,-0.000,0.000}
[zed_wrapper-2] [INFO] [1731951995.968415844] [zed.zed_node]: Static transform Camera Center to Base [zed_camera_center -> zed_camera_link]
[zed_wrapper-2] [INFO] [1731951995.968430980] [zed.zed_node]: * Translation: {0.000,0.000,-0.016}
[zed_wrapper-2] [INFO] [1731951995.968442148] [zed.zed_node]: * Rotation: {0.000,-0.000,0.000}
[zed_wrapper-2] [INFO] [1731951995.975486258] [zed.zed_node]: Initial ZED left camera pose (ZED pos. tracking):
[zed_wrapper-2] [INFO] [1731951995.975518674] [zed.zed_node]: * T: [-0.01,0.06,0.016]
[zed_wrapper-2] [INFO] [1731951995.975546962] [zed.zed_node]: * Q: [0,0,0,1]
[zed_wrapper-2] [WARN] [1731951997.622634749] [zed.zed_node]: SVO reached the end. The node has been stopped.
[zed_wrapper-2] [2024-11-18 17:46:37 UTC][ZED][WARNING] END OF SVO FILE REACHED in sl::ERROR_CODE sl::Camera::grab(sl::RuntimeParameters)
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[zed_wrapper-2] [INFO] [1731952002.017679277] [rclcpp]: signal_handler(signum=2)
[robot_state_publisher-1] [INFO] [1731952002.017790158] [rclcpp]: signal_handler(signum=2)
[INFO] [robot_state_publisher-1]: process has finished cleanly [pid 29765]
[INFO] [zed_wrapper-2]: process has finished cleanly [pid 29767]