Problems Launching the ROS2 Wrapper with a SVO File on SDK 5.0 EA

Software ROS2
,
1

Hi all,

since I’ve updated the ZED SDK to 5.0 EA and pulled the latest ROS 2 wrapper changes I’m having problems launching the ZED node with a recorded SVO file. The node starts up correctly but outputs a message "SVO reached the end. The node has been stopped." right away, even though the SVO should play over 30 seconds.

I think I had the problem with previous SDK versions but with v4.2 everything was working fine.

Detailed log:

ros2 launch package_name object_detection.launch.py svo_path:=~/Documents/ZED/HD1200_SN_17-55-57.svo2
[INFO] [launch]: All log files can be found below /home/package/.ros/log/2025-04-22-17-58-48-669456-jetson-agx-orin-8493
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [launch.user]: Using common configuration file: /ws/zed_wrapper/share/zed_wrapper/config/common_stereo.yaml
[INFO] [launch.user]: Using camera configuration file: /ws/zed_wrapper/share/zed_wrapper/config/zedx.yaml
[INFO] [launch.user]: Using FFMPEG configuration file: /ws/zed_wrapper/share/zed_wrapper/config/ffmpeg.yaml
[INFO] [launch.user]: Using ROS parameters override file: /ws/package_name/share/package_name/config/zedx_object_detection_parameters.yaml
[INFO] [launch.user]: Loading ZED node `zed_node` in container `/zed/zed_container`
[INFO] [robot_state_publisher-1]: process started with pid [8506]
[INFO] [component_container_isolated-2]: process started with pid [8508]
[INFO] [detection-3]: process started with pid [8510]
[robot_state_publisher-1] [INFO] [1745337529.166197665] [zed.zed_state_publisher]: got segment zed_camera_center
[robot_state_publisher-1] [INFO] [1745337529.166420642] [zed.zed_state_publisher]: got segment zed_camera_link
[robot_state_publisher-1] [INFO] [1745337529.166435938] [zed.zed_state_publisher]: got segment zed_left_camera_frame
[robot_state_publisher-1] [INFO] [1745337529.166444258] [zed.zed_state_publisher]: got segment zed_left_camera_optical_frame
[robot_state_publisher-1] [INFO] [1745337529.166450850] [zed.zed_state_publisher]: got segment zed_right_camera_frame
[robot_state_publisher-1] [INFO] [1745337529.166456738] [zed.zed_state_publisher]: got segment zed_right_camera_optical_frame
[component_container_isolated-2] [INFO] [1745337529.337896287] [zed.zed_container]: Load Library: /ws/install/zed_components/lib/libzed_camera_component.so
[component_container_isolated-2] [INFO] [1745337529.407314088] [zed.zed_container]: Found class: rclcpp_components::NodeFactoryTemplate<stereolabs::ZedCamera>
[component_container_isolated-2] [INFO] [1745337529.407404968] [zed.zed_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<stereolabs::ZedCamera>
[component_container_isolated-2] [INFO] [1745337529.558115744] [zed.zed_node]: ********************************
[component_container_isolated-2] [INFO] [1745337529.558215456] [zed.zed_node]:       ZED Camera Component
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/zed/zed_node' in container '/zed/zed_container'
[component_container_isolated-2] [INFO] [1745337529.558239904] [zed.zed_node]: ********************************
[component_container_isolated-2] [INFO] [1745337529.558258496] [zed.zed_node]:  * namespace: /zed
[component_container_isolated-2] [INFO] [1745337529.558274656] [zed.zed_node]:  * node name: zed_node
[component_container_isolated-2] [INFO] [1745337529.558286080] [zed.zed_node]: ********************************
[component_container_isolated-2] [INFO] [1745337529.608619433] [zed.zed_node]: *** DEBUG parameters ***
[component_container_isolated-2] [INFO] [1745337529.609124650] [zed.zed_node]:  * SDK Verbose: 1
[component_container_isolated-2] [INFO] [1745337529.609356939] [zed.zed_node]:  * SDK Verbose File:
[component_container_isolated-2] [INFO] [1745337529.609532044] [zed.zed_node]:  * Debug Common: FALSE
[component_container_isolated-2] [INFO] [1745337529.609681900] [zed.zed_node]:  * Debug Simulation: FALSE
[component_container_isolated-2] [INFO] [1745337529.609830445] [zed.zed_node]:  * Debug Video/Depth: FALSE
[component_container_isolated-2] [INFO] [1745337529.609972045] [zed.zed_node]:  * Debug Control settings: FALSE
[component_container_isolated-2] [INFO] [1745337529.610577711] [zed.zed_node]:  * Debug Point Cloud: FALSE
[component_container_isolated-2] [INFO] [1745337529.610773232] [zed.zed_node]:  * Debug GNSS: FALSE
[component_container_isolated-2] [INFO] [1745337529.610936592] [zed.zed_node]:  * Debug Positional Tracking: FALSE
[component_container_isolated-2] [INFO] [1745337529.611103921] [zed.zed_node]:  * Debug sensors: FALSE
[component_container_isolated-2] [INFO] [1745337529.611272881] [zed.zed_node]:  * Debug Mapping: FALSE
[component_container_isolated-2] [INFO] [1745337529.611437362] [zed.zed_node]:  * Debug Object Detection: TRUE
[component_container_isolated-2] [INFO] [1745337529.611594226] [zed.zed_node]:  * Debug Body Tracking: FALSE
[component_container_isolated-2] [INFO] [1745337529.611749715] [zed.zed_node]:  * Debug Streaming: FALSE
[component_container_isolated-2] [INFO] [1745337529.611922708] [zed.zed_node]:  * Debug ROI: FALSE
[component_container_isolated-2] [INFO] [1745337529.612089556] [zed.zed_node]:  * Debug Advanced: FALSE
[component_container_isolated-2] [INFO] [1745337529.612134164] [zed.zed_node]:  + Debug Mode enabled +
[component_container_isolated-2] [INFO] [1745337529.612314581] [zed.zed_node]: *** GENERAL parameters ***
[component_container_isolated-2] [INFO] [1745337529.612494741] [zed.zed_node]:  * SVO: '~/Documents/ZED/HD1200_SN_17-55-57.svo2'
[component_container_isolated-2] [INFO] [1745337529.612952311] [zed.zed_node]:  * Use SVO timestamp: TRUE
[component_container_isolated-2] [INFO] [1745337529.613105591] [zed.zed_node]:  * SVO Loop: FALSE
[component_container_isolated-2] [INFO] [1745337529.614027099] [zed.zed_node]:  * SVO Realtime: TRUE
[component_container_isolated-2] [INFO] [1745337529.614206683] [zed.zed_node]:  * SVO start frame: 0
[component_container_isolated-2] [INFO] [1745337529.614379004] [zed.zed_node]:  + Playing an SVO for ZED X camera model.
[component_container_isolated-2] [INFO] [1745337529.614408444] [zed.zed_node]:  * Camera model: zedx - ZED X
[component_container_isolated-2] [INFO] [1745337529.614550300] [zed.zed_node]:  * Camera name: zed
[component_container_isolated-2] [INFO] [1745337529.614696253] [zed.zed_node]:  * GPU ID: -1
[component_container_isolated-2] [INFO] [1745337529.614839645] [zed.zed_node]:  * Asynchronous image retrieval: FALSE
[component_container_isolated-2] [INFO] [1745337529.614988830] [zed.zed_node]:  * Image Validity Check: ENABLED
[component_container_isolated-2] [INFO] [1745337529.615166334] [zed.zed_node]:  * Camera resolution: HD1200
[component_container_isolated-2] [INFO] [1745337529.615339135] [zed.zed_node]:  * Publishing resolution: CUSTOM
[component_container_isolated-2] [INFO] [1745337529.615811553] [zed.zed_node]:  * Publishing downscale factor: 2
[component_container_isolated-2] [INFO] [1745337529.615978401] [zed.zed_node]:  * OpenCV custom calibration:
[component_container_isolated-2] [INFO] [1745337529.616166306] [zed.zed_node]:  * Camera self calibration: TRUE
[component_container_isolated-2] [INFO] [1745337529.616334018] [zed.zed_node]:  * Camera flip: FALSE
[component_container_isolated-2] [INFO] [1745337529.616484675] [zed.zed_node]:  * [DYN] Publish framerate [Hz]:  30
[component_container_isolated-2] [INFO] [1745337529.616513955] [zed.zed_node]: *** DEPTH parameters ***
[component_container_isolated-2] [INFO] [1745337529.616708708] [zed.zed_node]:  * Depth mode: NEURAL PLUS [6]
[component_container_isolated-2] [INFO] [1745337529.616872356] [zed.zed_node]:  * Min depth [m]: 0.3
[component_container_isolated-2] [INFO] [1745337529.617075205] [zed.zed_node]:  * Max depth [m]: 10
[component_container_isolated-2] [INFO] [1745337529.617231749] [zed.zed_node]:  * Depth Stabilization: 30
[component_container_isolated-2] [INFO] [1745337529.617384710] [zed.zed_node]:  * OpenNI mode (16bit point cloud): FALSE
[component_container_isolated-2] [INFO] [1745337529.617528454] [zed.zed_node]:  * [DYN] Point cloud rate [Hz]: 15
[component_container_isolated-2] [INFO] [1745337529.617776871] [zed.zed_node]:  * Point cloud resolution: COMPACT
[component_container_isolated-2] [INFO] [1745337529.618215785] [zed.zed_node]:  * [DYN] Depth Confidence: 95
[component_container_isolated-2] [INFO] [1745337529.618379657] [zed.zed_node]:  * [DYN] Depth Texture Confidence: 100
[component_container_isolated-2] [INFO] [1745337529.618522026] [zed.zed_node]:  * [DYN] Remove saturated areas: TRUE
[component_container_isolated-2] [INFO] [1745337529.618549802] [zed.zed_node]: *** GNSS FUSION parameters ***
[component_container_isolated-2] [INFO] [1745337529.618701322] [zed.zed_node]:  * GNSS fusion enabled: FALSE
[component_container_isolated-2] [INFO] [1745337529.618737322] [zed.zed_node]: *** POSITIONAL TRACKING parameters ***
[component_container_isolated-2] [INFO] [1745337529.618894923] [zed.zed_node]:  * Positional tracking enabled: TRUE
[component_container_isolated-2] [INFO] [1745337529.619045643] [zed.zed_node]:  * Positional tracking mode: GEN 1
[component_container_isolated-2] [INFO] [1745337529.619204140] [zed.zed_node]:  * Map frame id: map
[component_container_isolated-2] [INFO] [1745337529.619344268] [zed.zed_node]:  * Odometry frame id: odom
[component_container_isolated-2] [INFO] [1745337529.619485421] [zed.zed_node]:  * Broadcast Odometry TF: TRUE
[component_container_isolated-2] [INFO] [1745337529.619618829] [zed.zed_node]:  * Broadcast Pose TF: TRUE
[component_container_isolated-2] [INFO] [1745337529.619774158] [zed.zed_node]:  * [DYN] Depth minimum range: 0
[component_container_isolated-2] [INFO] [1745337529.619927854] [zed.zed_node]:  * [DYN] TF timestamp offset: 0
[component_container_isolated-2] [INFO] [1745337529.620069807] [zed.zed_node]:  * [DYN] Path publishing rate: 2
[component_container_isolated-2] [INFO] [1745337529.620220591] [zed.zed_node]:  * Path history lenght: -1
[component_container_isolated-2] [INFO] [1745337529.620690833] [zed.zed_node]:  * Initial pose: [0,0,0,0,0,0,]
[component_container_isolated-2] [INFO] [1745337529.620870257] [zed.zed_node]:  * Area Memory: TRUE
[component_container_isolated-2] [INFO] [1745337529.621077010] [zed.zed_node]:  * Area Memory DB:
[component_container_isolated-2] [INFO] [1745337529.621245203] [zed.zed_node]:  * Camera is static: FALSE
[component_container_isolated-2] [INFO] [1745337529.621389555] [zed.zed_node]:  * Gravity as origin [not for ZED]: TRUE
[component_container_isolated-2] [INFO] [1745337529.621534292] [zed.zed_node]:  * IMU Fusion [not for ZED]: TRUE
[component_container_isolated-2] [INFO] [1745337529.621675348] [zed.zed_node]:  * Floor Alignment: FALSE
[component_container_isolated-2] [INFO] [1745337529.621817781] [zed.zed_node]:  * Reset Odometry with Loop Closure: TRUE
[component_container_isolated-2] [INFO] [1745337529.621978357] [zed.zed_node]:  * 2D mode: FALSE
[component_container_isolated-2] [INFO] [1745337529.622107030] [zed.zed_node]:  * Reset pose with SVO loop: TRUE
[component_container_isolated-2] [INFO] [1745337529.622134390] [zed.zed_node]: *** Region of Interest parameters ***
[component_container_isolated-2] [INFO] [1745337529.622271894] [zed.zed_node]:  * Automatic ROI generation: FALSE
[component_container_isolated-2] [INFO] [1745337529.622625271] [zed.zed_node]:  * Manual ROI polygon: []
[component_container_isolated-2] [INFO] [1745337529.622670519] [zed.zed_node]: *** SENSORS STACK parameters ***
[component_container_isolated-2] [INFO] [1745337529.622855032] [zed.zed_node]:  * Broadcast IMU TF [not for ZED]: FALSE
[component_container_isolated-2] [INFO] [1745337529.623045849] [zed.zed_node]:  * Sensors Camera Sync: FALSE
[component_container_isolated-2] [INFO] [1745337529.623223257] [zed.zed_node]:  * Sensors publishing rate: 100 Hz
[component_container_isolated-2] [INFO] [1745337529.623253945] [zed.zed_node]: *** Spatial Mapping parameters ***
[component_container_isolated-2] [INFO] [1745337529.623425178] [zed.zed_node]:  * Spatial Mapping Enabled: FALSE
[component_container_isolated-2] [INFO] [1745337529.623600315] [zed.zed_node]:  * Spatial Mapping resolution [m]: 0.05
[component_container_isolated-2] [INFO] [1745337529.623789435] [zed.zed_node]:  * 3D Max Mapping range [m]: 5
[component_container_isolated-2] [INFO] [1745337529.623960028] [zed.zed_node]:  * Map publishing rate [Hz]: 1
[component_container_isolated-2] [INFO] [1745337529.624158876] [zed.zed_node]:  * Clicked point topic: /clicked_point
[component_container_isolated-2] [INFO] [1745337529.624323197] [zed.zed_node]:  * Plane Det. Max Dist. Thresh.: 0.15
[component_container_isolated-2] [INFO] [1745337529.624472125] [zed.zed_node]:  * Plane Det. Normals Sim. Thresh.: 15
[component_container_isolated-2] [INFO] [1745337529.624521726] [zed.zed_node]: *** Object Det. parameters ***
[component_container_isolated-2] [INFO] [1745337529.624690814] [zed.zed_node]:  * Object Det. enabled: TRUE
[component_container_isolated-2] [DEBUG] [1745337529.624930207] [zed.zed_node]:  'object_detection.model': CUSTOM_YOLOLIKE_BOX_OBJECTS
[component_container_isolated-2] [INFO] [1745337529.625043359] [zed.zed_node]:  * Object Det. model: CUSTOM YOLOLIKE BOX OBJECTS
[component_container_isolated-2] [INFO] [1745337529.625225120] [zed.zed_node]:  * Custom ONNX file: /home/Downloads/yolov8n-dynamic/yolov8n.onnx
[component_container_isolated-2] [INFO] [1745337529.625403521] [zed.zed_node]:  * Custom ONNX input size: 512
[component_container_isolated-2] [INFO] [1745337529.625554561] [zed.zed_node]:  * Custom Label file:
[component_container_isolated-2] [INFO] [1745337529.625708354] [zed.zed_node]:  * Object Det. allow reduced precision: TRUE
[component_container_isolated-2] [INFO] [1745337529.625891362] [zed.zed_node]:  * Object Det. maximum range [m]: 20
[component_container_isolated-2] [INFO] [1745337529.626062499] [zed.zed_node]:  * Object Det. min. confidence: 75
[component_container_isolated-2] [INFO] [1745337529.626237891] [zed.zed_node]:  * Object Det. prediction timeout [sec]: 0.5
[component_container_isolated-2] [INFO] [1745337529.626478180] [zed.zed_node]:  * Object Det. tracking: TRUE
[component_container_isolated-2] [INFO] [1745337529.626722949] [zed.zed_node]:  * Object Filtering mode: 0 - NONE
[component_container_isolated-2] [INFO] [1745337529.626755301] [zed.zed_node]: *** Body Track. parameters ***
[component_container_isolated-2] [INFO] [1745337529.626916422] [zed.zed_node]:  * Body Track. enabled: FALSE
[component_container_isolated-2] [INFO] [1745337529.627411559] [zed.zed_node]:  * Body Track. model: HUMAN BODY MEDIUM
[component_container_isolated-2] [INFO] [1745337529.627603816] [zed.zed_node]:  * Body Track. format: BODY 38
[component_container_isolated-2] [INFO] [1745337529.627764457] [zed.zed_node]:  * Body Track. allow reduced precision: TRUE
[component_container_isolated-2] [INFO] [1745337529.627930857] [zed.zed_node]:  * Body Track. maximum range [m]: 20
[component_container_isolated-2] [INFO] [1745337529.628084330] [zed.zed_node]:  * Body Track. KP selection: FULL
[component_container_isolated-2] [INFO] [1745337529.628263178] [zed.zed_node]:  * Body fitting: FALSE
[component_container_isolated-2] [INFO] [1745337529.628426987] [zed.zed_node]:  * Body joints tracking: TRUE
[component_container_isolated-2] [INFO] [1745337529.628581643] [zed.zed_node]:  * Body Track. prediction timeout [sec]: 0.5
[component_container_isolated-2] [INFO] [1745337529.628724460] [zed.zed_node]:  * Body Track. confidence thresh.: 50
[component_container_isolated-2] [INFO] [1745337529.628938540] [zed.zed_node]:  * Body Track. min. KP thresh.: 5
[component_container_isolated-2] [INFO] [1745337529.628970413] [zed.zed_node]: *** Streaming Server parameters ***
[component_container_isolated-2] [INFO] [1745337529.629166893] [zed.zed_node]:  * Streaming Server enabled: FALSE
[component_container_isolated-2] [INFO] [1745337529.629345038] [zed.zed_node]:  * Stream codec: H264
[component_container_isolated-2] [INFO] [1745337529.629545422] [zed.zed_node]:  * Stream port: 30000
[component_container_isolated-2] [INFO] [1745337529.629697007] [zed.zed_node]:  * Stream bitrate: 12500
[component_container_isolated-2] [INFO] [1745337529.629851119] [zed.zed_node]:  * Stream GOP size: -1
[component_container_isolated-2] [INFO] [1745337529.630024304] [zed.zed_node]:  * Stream Chunk size: 16084
[component_container_isolated-2] [INFO] [1745337529.630175697] [zed.zed_node]:  * Adaptive bitrate: FALSE
[component_container_isolated-2] [INFO] [1745337529.630408785] [zed.zed_node]:  * Target frame rate:0
[component_container_isolated-2] [INFO] [1745337529.630441617] [zed.zed_node]: *** Advanced parameters ***
[component_container_isolated-2] [INFO] [1745337529.630615154] [zed.zed_node]:  * Thread sched. policy: SCHED_BATCH
[component_container_isolated-2] [INFO] [1745337529.630741458] [zed.zed_node]: *** SERVICES ***
[component_container_isolated-2] [INFO] [1745337529.632647513] [zed.zed_node]:  * '/zed/zed_node/reset_odometry'
[component_container_isolated-2] [INFO] [1745337529.634110782] [zed.zed_node]:  * '/zed/zed_node/reset_pos_tracking'
[component_container_isolated-2] [INFO] [1745337529.636609766] [zed.zed_node]:  * '/zed/zed_node/set_pose'
[component_container_isolated-2] [INFO] [1745337529.637982667] [zed.zed_node]:  * '/zed/zed_node/enable_obj_det'
[component_container_isolated-2] [INFO] [1745337529.639184879] [zed.zed_node]:  * '/zed/zed_node/enable_body_trk'
[component_container_isolated-2] [INFO] [1745337529.640230578] [zed.zed_node]:  * '/zed/zed_node/enable_mapping'
[component_container_isolated-2] [INFO] [1745337529.641302358] [zed.zed_node]:  * '/zed/zed_node/enable_streaming'
[component_container_isolated-2] [INFO] [1745337529.642688698] [zed.zed_node]:  * '/zed/zed_node/start_svo_rec'
[component_container_isolated-2] [INFO] [1745337529.643935199] [zed.zed_node]:  * '/zed/zed_node/stop_svo_rec'
[component_container_isolated-2] [INFO] [1745337529.645580228] [zed.zed_node]:  * '/zed/zed_node/set_svo_frame'
[component_container_isolated-2] [INFO] [1745337529.646752744] [zed.zed_node]:  * '/zed/zed_node/set_roi'
[component_container_isolated-2] [INFO] [1745337529.647795851] [zed.zed_node]:  * '/zed/zed_node/reset_roi'
[component_container_isolated-2] [INFO] [1745337529.647861484] [zed.zed_node]: ***** STARTING CAMERA *****
[component_container_isolated-2] [INFO] [1745337529.778813601] [zed.zed_node]: ZED SDK Version: 5.0.0 - Build 99275_9ed05d06
[component_container_isolated-2] [INFO] [1745337529.795857978] [zed.zed_node]: *** SVO OPENING ***
[component_container_isolated-2] [2025-04-22 15:58:50 UTC][ZED][INFO] Logging level INFO
[component_container_isolated-2] NvMMLiteOpen : Block : BlockType = 279
[component_container_isolated-2] NvMMLiteBlockCreate : Block : BlockType = 279
[component_container_isolated-2] Opening in BLOCKING MODE
[component_container_isolated-2] [2025-04-22 15:58:50 UTC][ZED][INFO] [Init]  Depth mode: NEURAL PLUS
[component_container_isolated-2] [2025-04-22 15:58:50 UTC][ZED][INFO] [Init]  Serial Number: S/N 
[component_container_isolated-2] [INFO] [1745337531.867884677] [zed.zed_node]: ZED SDK running on GPU #0
[component_container_isolated-2] [INFO] [1745337531.868032710] [zed.zed_node]:  * Camera Model  -> ZED X
[component_container_isolated-2] [INFO] [1745337531.868062374] [zed.zed_node]:  * Serial Number ->
[component_container_isolated-2] [INFO] [1745337531.868211366] [zed.zed_node]:  * Focal Lenght	-> 2.20544 mm
[component_container_isolated-2] [INFO] [1745337531.868245319] [zed.zed_node]:  * Input		-> SVO
[component_container_isolated-2] [INFO] [1745337531.868272295] [zed.zed_node]:  * SVO resolution -> 1920x1200
[component_container_isolated-2] [INFO] [1745337531.868297191] [zed.zed_node]:  * SVO framerate	 -> 30
[component_container_isolated-2] [INFO] [1745337531.868319559] [zed.zed_node]:  * Camera grab size -> 1920x1200
[component_container_isolated-2] [INFO] [1745337531.868335751] [zed.zed_node]:  * Color/Depth publishing size -> 960x600
[component_container_isolated-2] [INFO] [1745337531.868349383] [zed.zed_node]:  * Point Cloud publishing size -> 448x256
[component_container_isolated-2] [INFO] [1745337531.868377735] [zed.zed_node]: *** TF FRAMES ***
[component_container_isolated-2] [INFO] [1745337531.868390183] [zed.zed_node]:  * Map			-> map
[component_container_isolated-2] [INFO] [1745337531.868712680] [zed.zed_node]:  * Odometry		-> odom
[component_container_isolated-2] [INFO] [1745337531.868735144] [zed.zed_node]:  * Base			-> zed_camera_link
[component_container_isolated-2] [INFO] [1745337531.868747400] [zed.zed_node]:  * Camera		-> zed_camera_center
[component_container_isolated-2] [INFO] [1745337531.868756200] [zed.zed_node]:  * Left			-> zed_left_camera_frame
[component_container_isolated-2] [INFO] [1745337531.868783688] [zed.zed_node]:  * Left Optical		-> zed_left_camera_optical_frame
[component_container_isolated-2] [INFO] [1745337531.868795400] [zed.zed_node]:  * RGB			-> zed_left_camera_frame
[component_container_isolated-2] [INFO] [1745337531.868804616] [zed.zed_node]:  * RGB Optical		-> zed_left_camera_optical_frame
[component_container_isolated-2] [INFO] [1745337531.868813160] [zed.zed_node]:  * Right			-> zed_right_camera_frame
[component_container_isolated-2] [INFO] [1745337531.868821640] [zed.zed_node]:  * Right Optical		-> zed_right_camera_optical_frame
[component_container_isolated-2] [INFO] [1745337531.868830121] [zed.zed_node]:  * Depth			-> zed_left_camera_frame
[component_container_isolated-2] [INFO] [1745337531.868838473] [zed.zed_node]:  * Depth Optical		-> zed_left_camera_optical_frame
[component_container_isolated-2] [INFO] [1745337531.868847049] [zed.zed_node]:  * Point Cloud		-> zed_left_camera_optical_frame
[component_container_isolated-2] [INFO] [1745337531.868855369] [zed.zed_node]:  * Disparity		-> zed_left_camera_frame
[component_container_isolated-2] [INFO] [1745337531.868863593] [zed.zed_node]:  * Disparity Optical	-> zed_left_camera_optical_frame
[component_container_isolated-2] [INFO] [1745337531.868900521] [zed.zed_node]:  * Confidence		-> zed_left_camera_frame
[component_container_isolated-2] [INFO] [1745337531.868928937] [zed.zed_node]:  * Confidence Optical	-> zed_left_camera_optical_frame
[component_container_isolated-2] [INFO] [1745337531.868940809] [zed.zed_node]:  * IMU			-> zed_imu_link
<published topics ommitted for readability>
[component_container_isolated-2] [INFO] [1745337532.247655406] [zed.zed_node]: Camera-IMU Translation:
[component_container_isolated-2]  0 -0.035649 -0.000147
[component_container_isolated-2] [INFO] [1745337532.247718670] [zed.zed_node]: Camera-IMU Rotation:
[component_container_isolated-2] FFFF627CC760
[component_container_isolated-2] 1.000000 0.000000 0.000000
[component_container_isolated-2] 0.000000 1.000000 0.000000
[component_container_isolated-2] 0.000000 0.000000 1.000000
[component_container_isolated-2]
[component_container_isolated-2] [INFO] [1745337532.247746670] [zed.zed_node]: *** Subscribers ***
[component_container_isolated-2] [INFO] [1745337532.250917977] [zed.zed_node]:  * Plane detection: '/clicked_point'
[component_container_isolated-2] [INFO] [1745337532.251636923] [zed.zed_node]: *** Starting Positional Tracking ***
[component_container_isolated-2] [INFO] [1745337532.251725691] [zed.zed_node]:  * Waiting for valid static transformations...
[component_container_isolated-2] [INFO] [1745337532.251905308] [zed.zed_node]:  Static transform ref. CMOS Sensor to Base [zed_left_camera_frame -> zed_camera_link]
[component_container_isolated-2] [INFO] [1745337532.252009660] [zed.zed_node]:   * Translation: {0.010,-0.060,-0.016}
[component_container_isolated-2] [INFO] [1745337532.252038300] [zed.zed_node]:   * Rotation: {0.000,-0.000,0.000}
[component_container_isolated-2] [INFO] [1745337532.252085565] [zed.zed_node]:  Static transform ref. CMOS Sensor to Camera Center [zed_left_camera_frame -> zed_camera_center]
[component_container_isolated-2] [INFO] [1745337532.252106845] [zed.zed_node]:   * Translation: {0.010,-0.060,0.000}
[component_container_isolated-2] [INFO] [1745337532.252124061] [zed.zed_node]:   * Rotation: {0.000,-0.000,0.000}
[component_container_isolated-2] [INFO] [1745337532.252158365] [zed.zed_node]:  Static transform Camera Center to Base [zed_camera_center -> zed_camera_link]
[component_container_isolated-2] [INFO] [1745337532.252176605] [zed.zed_node]:   * Translation: {0.000,0.000,-0.016}
[component_container_isolated-2] [INFO] [1745337532.252201245] [zed.zed_node]:   * Rotation: {0.000,-0.000,0.000}
[component_container_isolated-2] [INFO] [1745337532.253335105] [zed.zed_node]: Initial ZED left camera pose (ZED pos. tracking):
[component_container_isolated-2] [INFO] [1745337532.253392001] [zed.zed_node]:  * T: [-0.01,0.06,0.016]
[component_container_isolated-2] [INFO] [1745337532.253416257] [zed.zed_node]:  * Q: [0,0,0,1]
[component_container_isolated-2] [DEBUG] [1745337532.271275292] [zed.zed_node]: startObjDetect
[component_container_isolated-2] [INFO] [1745337532.271372060] [zed.zed_node]: *** Starting Object Detection ***
[component_container_isolated-2] [INFO] [1745337532.450859085] [zed.zed_node]: Modifying 1 parameters
[component_container_isolated-2] [INFO] [1745337532.450996174] [zed.zed_node]: Correctly set 1/1 parameters
[component_container_isolated-2] [INFO] [1745337532.451528528] [zed.zed_node]: Modifying 1 parameters
[component_container_isolated-2] [INFO] [1745337532.451567184] [zed.zed_node]: Correctly set 1/1 parameters
[component_container_isolated-2] [INFO] [1745337532.452024049] [zed.zed_node]: Modifying 1 parameters
[component_container_isolated-2] [INFO] [1745337532.452063281] [zed.zed_node]: Correctly set 1/1 parameters
[component_container_isolated-2] [INFO] [1745337532.454865531] [zed.zed_node]:  * Advertised on topic /zed/zed_node/obj_det/objects
[component_container_isolated-2] [DEBUG] [1745337533.180359190] [zed.zed_node]: Detected 0 objects
[detection-3] [INFO] [1745337533.219856504] [detection]: Detected 0 objects.
[component_container_isolated-2] [WARN] [1745337533.350951687] [zed.zed_node]: SVO reached the end. The node has been stopped.
[component_container_isolated-2] [2025-04-22 15:58:53 UTC][ZED][WARNING] END OF SVO FILE REACHED in sl::ERROR_CODE sl::Camera::grab(sl::RuntimeParameters)
2

Hi @birneamstiel
are you using the SVO realtime mode or not?

3

Hey @Myzhar,

as always, thanks for your quick reply! I did not set the realtime mode (so it was enabled by default, I think this was changed recently), setting it to false makes the SVO file play as it should.

There’s one more issue introduced by the latest changes though, which might be related to the realtime mode: In my custom logic (python node) I’m subscribing to object detections on the /zed_node/obj_det/objects/ topic and map the detection’s bounding box to the map frame using tf2’s transform interface:

for corner in bounding_box_3d.corners:
            try:
                point_stamped = PointStamped()
                point_stamped.header.stamp = self.get_clock().now().to_msg()
                point_stamped.header.frame_id = origin_frame
                point_stamped.point.x = float(corner.kp[0])
                point_stamped.point.y = float(corner.kp[1])
                point_stamped.point.z = float(corner.kp[2])
                
                position_in_map_frame = self.tf_buffer.transform(point_stamped, 'map', Duration(seconds=5))
               
               # Additional logic omitted for readability
               # ...

            except (tf2_ros.ExtrapolationException) as e:
                self.get_logger().warn(f"Extrapolation error: {e}")

With the 4.2 SDK version I had no problems with a timestamp mismatch but now I do. With default parameters I get the following message:

Extrapolation error: Lookup would require extrapolation at time 1745406207.072573, but only time 1744904398.413232 is in the buffer, when looking up transform from frame [zed_left_camera_frame] to frame [map]

Seems like the tf2 frames are published with the recorded timestamps whereas self.get_clock().now().to_msg() uses the current system time. Next, I tried setting the svo.use_svo_timestamps to false. Unfortunately there’s still a major mismatch between the time stamps, it seems like the tf frames data samples are lagging behind a lot:

[detection-3] [WARN] [1745406559.457465536] [detection]: Extrapolation error: Lookup would require extrapolation into the future.  Requested time 1745406553.450406 but the latest data is at time 1744904400.380255, when looking up transform from frame [zed_left_camera_frame] to frame [map]
[detection-3] [WARN] [1745406565.476422963] [detection]: Extrapolation error: Lookup would require extrapolation into the future.  Requested time 1745406559.458283 but the latest data is at time 1744904400.380255, when looking up transform from frame [zed_left_camera_frame] to frame [map]
[detection-3] [WARN] [1745406571.483640751] [detection]: Extrapolation error: Lookup would require extrapolation into the future.  Requested time 1745406565.477858 but the latest data is at time 1744904400.380255, when looking up transform from frame [zed_left_camera_frame] to frame [map]
[detection-3] [WARN] [1745406577.501113730] [detection]: Extrapolation error: Lookup would require extrapolation into the future.  Requested time 1745406571.484627 but the latest data is at time 1744904400.380255, when looking up transform from frame [zed_left_camera_frame] to frame [map]
[detection-3] [WARN] [1745406583.513814884] [detection]: Extrapolation error: Lookup would require extrapolation into the future.  Requested time 1745406577.501969 but the latest data is at time 1744904400.380255, when looking up transform from frame [zed_left_camera_frame] to frame [map]
[detection-3] [INFO] [1745406583.520578206] [detection]: Detected 2 objects.
[detection-3] [WARN] [1745406589.529128968] [detection]: Extrapolation error: Lookup would require extrapolation into the future.  Requested time 1745406583.520891 but the latest data is at time 1744904420.149381, when looking up transform from frame [zed_left_camera_frame] to frame [map]

I followed the suggestions for debugging tf problems. I do see the frames correctly within rviz2 but looking at the graph produced by view_frames the most recent and oldest transforms of the zed tree don’t contain any data:

Screenshot 2025-04-23 at 13.02.54
Screenshot 2025-04-23 at 13.02.541466×1680 123 KB

I was really confused by that and did try to launch the zed node without any of my custom logic by running ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zedx → the tf_tree looks the same. This shouldn’t be that way, or am I missing something?

4

Here’s the output of launching zed_camera.launch.py:

[INFO] [launch]: All log files can be found below /home/package_name/.ros/log/2025-04-23-13-16-56-096250-jetson-agx-orin-77637
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [launch.user]: Using common configuration file: /opt/package_name/dev_ws/install/zed_wrapper/share/zed_wrapper/config/common_stereo.yaml
[INFO] [launch.user]: Using camera configuration file: /opt/package_name/dev_ws/install/zed_wrapper/share/zed_wrapper/config/zedx.yaml
[INFO] [launch.user]: Using FFMPEG configuration file: /opt/package_name/dev_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 [77650]
[INFO] [component_container_isolated-2]: process started with pid [77652]
[robot_state_publisher-1] [INFO] [1745407016.956587026] [zed.zed_state_publisher]: got segment zed_camera_center
[robot_state_publisher-1] [INFO] [1745407016.956779318] [zed.zed_state_publisher]: got segment zed_camera_link
[robot_state_publisher-1] [INFO] [1745407016.956797367] [zed.zed_state_publisher]: got segment zed_left_camera_frame
[robot_state_publisher-1] [INFO] [1745407016.956807479] [zed.zed_state_publisher]: got segment zed_left_camera_optical_frame
[robot_state_publisher-1] [INFO] [1745407016.956815415] [zed.zed_state_publisher]: got segment zed_right_camera_frame
[robot_state_publisher-1] [INFO] [1745407016.956822327] [zed.zed_state_publisher]: got segment zed_right_camera_optical_frame
[component_container_isolated-2] [INFO] [1745407017.035616252] [zed.zed_container]: Load Library: /opt/package_name/dev_ws/install/zed_components/lib/libzed_camera_component.so
[component_container_isolated-2] [INFO] [1745407017.129199050] [zed.zed_container]: Found class: rclcpp_components::NodeFactoryTemplate<stereolabs::ZedCamera>
[component_container_isolated-2] [INFO] [1745407017.129339693] [zed.zed_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<stereolabs::ZedCamera>
[component_container_isolated-2] [INFO] [1745407017.289798155] [zed.zed_node]: ********************************
[component_container_isolated-2] [INFO] [1745407017.289886861] [zed.zed_node]:       ZED Camera Component
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/zed/zed_node' in container '/zed/zed_container'
[component_container_isolated-2] [INFO] [1745407017.289898893] [zed.zed_node]: ********************************
[component_container_isolated-2] [INFO] [1745407017.289909486] [zed.zed_node]:  * namespace: /zed
[component_container_isolated-2] [INFO] [1745407017.289919406] [zed.zed_node]:  * node name: zed_node
[component_container_isolated-2] [INFO] [1745407017.289926190] [zed.zed_node]: ********************************
[component_container_isolated-2] [INFO] [1745407017.340414352] [zed.zed_node]: *** DEBUG parameters ***
[component_container_isolated-2] [INFO] [1745407017.341002396] [zed.zed_node]:  * SDK Verbose: 1
[component_container_isolated-2] [INFO] [1745407017.341214977] [zed.zed_node]:  * SDK Verbose File:
[component_container_isolated-2] [INFO] [1745407017.341365860] [zed.zed_node]:  * Debug Common: FALSE
[component_container_isolated-2] [INFO] [1745407017.341499078] [zed.zed_node]:  * Debug Simulation: FALSE
[component_container_isolated-2] [INFO] [1745407017.341587464] [zed.zed_node]:  * Debug Video/Depth: FALSE
[component_container_isolated-2] [INFO] [1745407017.341670730] [zed.zed_node]:  * Debug Control settings: FALSE
[component_container_isolated-2] [INFO] [1745407017.341764556] [zed.zed_node]:  * Debug Point Cloud: FALSE
[component_container_isolated-2] [INFO] [1745407017.341842861] [zed.zed_node]:  * Debug GNSS: FALSE
[component_container_isolated-2] [INFO] [1745407017.341923407] [zed.zed_node]:  * Debug Positional Tracking: FALSE
[component_container_isolated-2] [INFO] [1745407017.342009777] [zed.zed_node]:  * Debug sensors: FALSE
[component_container_isolated-2] [INFO] [1745407017.342104211] [zed.zed_node]:  * Debug Mapping: FALSE
[component_container_isolated-2] [INFO] [1745407017.342201813] [zed.zed_node]:  * Debug Object Detection: FALSE
[component_container_isolated-2] [INFO] [1745407017.342287830] [zed.zed_node]:  * Debug Body Tracking: FALSE
[component_container_isolated-2] [INFO] [1745407017.342378200] [zed.zed_node]:  * Debug Streaming: FALSE
[component_container_isolated-2] [INFO] [1745407017.342454938] [zed.zed_node]:  * Debug ROI: FALSE
[component_container_isolated-2] [INFO] [1745407017.342569532] [zed.zed_node]:  * Debug Advanced: FALSE
[component_container_isolated-2] [INFO] [1745407017.342715743] [zed.zed_node]: *** GENERAL parameters ***
[component_container_isolated-2] [INFO] [1745407017.342959012] [zed.zed_node]:  * Camera model: zedx - ZED X
[component_container_isolated-2] [INFO] [1745407017.343060550] [zed.zed_node]:  * Camera name: zed
[component_container_isolated-2] [INFO] [1745407017.343143208] [zed.zed_node]:  * Camera SN: 0
[component_container_isolated-2] [INFO] [1745407017.343232874] [zed.zed_node]:  * Camera ID: -1
[component_container_isolated-2] [INFO] [1745407017.343310219] [zed.zed_node]:  * Camera timeout [sec]: 5
[component_container_isolated-2] [INFO] [1745407017.343411021] [zed.zed_node]:  * Camera reconnection temptatives: 5
[component_container_isolated-2] [INFO] [1745407017.343497135] [zed.zed_node]:  * Camera framerate: 30
[component_container_isolated-2] [INFO] [1745407017.343572209] [zed.zed_node]:  * GPU ID: -1
[component_container_isolated-2] [INFO] [1745407017.343659890] [zed.zed_node]:  * Asynchronous image retrieval: FALSE
[component_container_isolated-2] [INFO] [1745407017.343753044] [zed.zed_node]:  * Image Validity Check: ENABLED
[component_container_isolated-2] [INFO] [1745407017.343886583] [zed.zed_node]:  * Camera resolution: HD1200
[component_container_isolated-2] [INFO] [1745407017.343986521] [zed.zed_node]:  * Publishing resolution: CUSTOM
[component_container_isolated-2] [INFO] [1745407017.344108507] [zed.zed_node]:  * Publishing downscale factor: 2
[component_container_isolated-2] [INFO] [1745407017.344201149] [zed.zed_node]:  * OpenCV custom calibration:
[component_container_isolated-2] [INFO] [1745407017.344282271] [zed.zed_node]:  * Camera self calibration: TRUE
[component_container_isolated-2] [INFO] [1745407017.344363777] [zed.zed_node]:  * Camera flip: FALSE
[component_container_isolated-2] [INFO] [1745407017.344446850] [zed.zed_node]:  * [DYN] Publish framerate [Hz]:  30
[component_container_isolated-2] [INFO] [1745407017.344471043] [zed.zed_node]: *** VIDEO parameters ***
[component_container_isolated-2] [INFO] [1745407017.344561285] [zed.zed_node]:  * [DYN] Saturation: 4
[component_container_isolated-2] [INFO] [1745407017.344639430] [zed.zed_node]:  * [DYN] Sharpness: 4
[component_container_isolated-2] [INFO] [1745407017.344720008] [zed.zed_node]:  * [DYN] Gamma: 8
[component_container_isolated-2] [INFO] [1745407017.344786697] [zed.zed_node]:  * [DYN] Auto Exposure/Gain: TRUE
[component_container_isolated-2] [INFO] [1745407017.344855691] [zed.zed_node]:  * [DYN] Exposure: 80
[component_container_isolated-2] [INFO] [1745407017.344942476] [zed.zed_node]:  * [DYN] Gain: 80
[component_container_isolated-2] [INFO] [1745407017.345026222] [zed.zed_node]:  * [DYN] Auto White Balance: TRUE
[component_container_isolated-2] [INFO] [1745407017.345103984] [zed.zed_node]:  * [DYN] White Balance Temperature: 42
[component_container_isolated-2] [INFO] [1745407017.345181137] [zed.zed_node]:  * [DYN] ZED X Exposure time: 16000
[component_container_isolated-2] [INFO] [1745407017.345365141] [zed.zed_node]:  * [DYN] ZED X Auto Exp. time range min: 28
[component_container_isolated-2] [INFO] [1745407017.345464247] [zed.zed_node]:  * [DYN] ZED X Auto Exp. time range max: 30000
[component_container_isolated-2] [INFO] [1745407017.345555385] [zed.zed_node]:  * [DYN] ZED X Exposure comp.: 50
[component_container_isolated-2] [INFO] [1745407017.345635290] [zed.zed_node]:  * [DYN] ZED X Analog Gain: 1255
[component_container_isolated-2] [INFO] [1745407017.345761949] [zed.zed_node]:  * [DYN] ZED X Auto Analog Gain range min: 1000
[component_container_isolated-2] [INFO] [1745407017.345876895] [zed.zed_node]:  * [DYN] ZED X Auto Analog Gain range max: 16000
[component_container_isolated-2] [INFO] [1745407017.345966209] [zed.zed_node]:  * [DYN] ZED X Digital Gain: 1
[component_container_isolated-2] [INFO] [1745407017.346072995] [zed.zed_node]:  * [DYN] ZED X Auto Digital Gain range min: 1
[component_container_isolated-2] [INFO] [1745407017.346167621] [zed.zed_node]:  * [DYN] ZED X Auto Digital Gain range max: 256
[component_container_isolated-2] [INFO] [1745407017.346264231] [zed.zed_node]:  * [DYN] ZED X Auto Digital Gain range max: 50
[component_container_isolated-2] [INFO] [1745407017.346292360] [zed.zed_node]: *** DEPTH parameters ***
[component_container_isolated-2] [INFO] [1745407017.346414698] [zed.zed_node]:  * Depth mode: NEURAL LIGHT [4]
[component_container_isolated-2] [INFO] [1745407017.346545549] [zed.zed_node]:  * Min depth [m]: 0.3
[component_container_isolated-2] [INFO] [1745407017.346630639] [zed.zed_node]:  * Max depth [m]: 10
[component_container_isolated-2] [INFO] [1745407017.346717360] [zed.zed_node]:  * Depth Stabilization: 30
[component_container_isolated-2] [INFO] [1745407017.346792306] [zed.zed_node]:  * OpenNI mode (16bit point cloud): FALSE
[component_container_isolated-2] [INFO] [1745407017.346874292] [zed.zed_node]:  * [DYN] Point cloud rate [Hz]: 15
[component_container_isolated-2] [INFO] [1745407017.346970006] [zed.zed_node]:  * Point cloud resolution: COMPACT
[component_container_isolated-2] [INFO] [1745407017.347063159] [zed.zed_node]:  * [DYN] Depth Confidence: 95
[component_container_isolated-2] [INFO] [1745407017.347146201] [zed.zed_node]:  * [DYN] Depth Texture Confidence: 100
[component_container_isolated-2] [INFO] [1745407017.347230171] [zed.zed_node]:  * [DYN] Remove saturated areas: TRUE
[component_container_isolated-2] [INFO] [1745407017.347256091] [zed.zed_node]: *** GNSS FUSION parameters ***
[component_container_isolated-2] [INFO] [1745407017.347348605] [zed.zed_node]:  * GNSS fusion enabled: FALSE
[component_container_isolated-2] [INFO] [1745407017.347370398] [zed.zed_node]: *** POSITIONAL TRACKING parameters ***
[component_container_isolated-2] [INFO] [1745407017.347449823] [zed.zed_node]:  * Positional tracking enabled: TRUE
[component_container_isolated-2] [INFO] [1745407017.347553601] [zed.zed_node]:  * Positional tracking mode: GEN 1
[component_container_isolated-2] [INFO] [1745407017.347733573] [zed.zed_node]:  * Map frame id: map
[component_container_isolated-2] [INFO] [1745407017.347946601] [zed.zed_node]:  * Odometry frame id: odom
[component_container_isolated-2] [INFO] [1745407017.348131437] [zed.zed_node]:  * Broadcast Odometry TF: TRUE
[component_container_isolated-2] [INFO] [1745407017.348310577] [zed.zed_node]:  * Broadcast Pose TF: TRUE
[component_container_isolated-2] [INFO] [1745407017.348429843] [zed.zed_node]:  * [DYN] Depth minimum range: 0
[component_container_isolated-2] [INFO] [1745407017.348565718] [zed.zed_node]:  * [DYN] TF timestamp offset: 0
[component_container_isolated-2] [INFO] [1745407017.348709273] [zed.zed_node]:  * [DYN] Path publishing rate: 2
[component_container_isolated-2] [INFO] [1745407017.348822235] [zed.zed_node]:  * Path history lenght: -1
[component_container_isolated-2] [INFO] [1745407017.348920541] [zed.zed_node]:  * Initial pose: [0,0,0,0,0,0,]
[component_container_isolated-2] [INFO] [1745407017.349003775] [zed.zed_node]:  * Area Memory: TRUE
[component_container_isolated-2] [INFO] [1745407017.349090145] [zed.zed_node]:  * Area Memory DB:
[component_container_isolated-2] [INFO] [1745407017.349196611] [zed.zed_node]:  * Camera is static: FALSE
[component_container_isolated-2] [INFO] [1745407017.349272836] [zed.zed_node]:  * Gravity as origin [not for ZED]: TRUE
[component_container_isolated-2] [INFO] [1745407017.349359846] [zed.zed_node]:  * IMU Fusion [not for ZED]: TRUE
[component_container_isolated-2] [INFO] [1745407017.349459816] [zed.zed_node]:  * Floor Alignment: FALSE
[component_container_isolated-2] [INFO] [1745407017.349554602] [zed.zed_node]:  * Reset Odometry with Loop Closure: TRUE
[component_container_isolated-2] [INFO] [1745407017.349662508] [zed.zed_node]:  * 2D mode: FALSE
[component_container_isolated-2] [INFO] [1745407017.349742446] [zed.zed_node]:  * Reset pose with SVO loop: TRUE
[component_container_isolated-2] [INFO] [1745407017.349765678] [zed.zed_node]: *** Region of Interest parameters ***
[component_container_isolated-2] [INFO] [1745407017.349842288] [zed.zed_node]:  * Automatic ROI generation: FALSE
[component_container_isolated-2] [INFO] [1745407017.349990291] [zed.zed_node]:  * Manual ROI polygon: []
[component_container_isolated-2] [INFO] [1745407017.350014836] [zed.zed_node]: *** SENSORS STACK parameters ***
[component_container_isolated-2] [INFO] [1745407017.350111637] [zed.zed_node]:  * Broadcast IMU TF [not for ZED]: FALSE
[component_container_isolated-2] [INFO] [1745407017.350206839] [zed.zed_node]:  * Sensors Camera Sync: FALSE
[component_container_isolated-2] [INFO] [1745407017.350322554] [zed.zed_node]:  * Sensors publishing rate: 100 Hz
[component_container_isolated-2] [INFO] [1745407017.350352090] [zed.zed_node]: *** Spatial Mapping parameters ***
[component_container_isolated-2] [INFO] [1745407017.350541182] [zed.zed_node]:  * Spatial Mapping Enabled: FALSE
[component_container_isolated-2] [INFO] [1745407017.350659681] [zed.zed_node]:  * Spatial Mapping resolution [m]: 0.05
[component_container_isolated-2] [INFO] [1745407017.350765379] [zed.zed_node]:  * 3D Max Mapping range [m]: 5
[component_container_isolated-2] [INFO] [1745407017.350894085] [zed.zed_node]:  * Map publishing rate [Hz]: 1
[component_container_isolated-2] [INFO] [1745407017.350993671] [zed.zed_node]:  * Clicked point topic: /clicked_point
[component_container_isolated-2] [INFO] [1745407017.351097674] [zed.zed_node]:  * Plane Det. Max Dist. Thresh.: 0.15
[component_container_isolated-2] [INFO] [1745407017.351216460] [zed.zed_node]:  * Plane Det. Normals Sim. Thresh.: 15
[component_container_isolated-2] [INFO] [1745407017.351255277] [zed.zed_node]: *** Object Det. parameters ***
[component_container_isolated-2] [INFO] [1745407017.351389839] [zed.zed_node]:  * Object Det. enabled: FALSE
[component_container_isolated-2] [INFO] [1745407017.351590292] [zed.zed_node]:  * Object Det. model: MULTI CLASS BOX FAST
[component_container_isolated-2] [INFO] [1745407017.351733590] [zed.zed_node]:  * Object Det. allow reduced precision: TRUE
[component_container_isolated-2] [INFO] [1745407017.351878489] [zed.zed_node]:  * Object Det. maximum range [m]: 20
[component_container_isolated-2] [INFO] [1745407017.351995548] [zed.zed_node]:  * Object Det. min. confidence: 75
[component_container_isolated-2] [INFO] [1745407017.352099294] [zed.zed_node]:  * Object Det. prediction timeout [sec]: 0.5
[component_container_isolated-2] [INFO] [1745407017.352204864] [zed.zed_node]:  * Object Det. tracking: TRUE
[component_container_isolated-2] [INFO] [1745407017.352318498] [zed.zed_node]:  * Object Filtering mode: 1 - NMS3D
[component_container_isolated-2] [INFO] [1745407017.352421668] [zed.zed_node]:  * MultiClassBox people: TRUE
[component_container_isolated-2] [INFO] [1745407017.352525127] [zed.zed_node]:  * MultiClassBox vehicles: TRUE
[component_container_isolated-2] [INFO] [1745407017.352640745] [zed.zed_node]:  * MultiClassBox bags: TRUE
[component_container_isolated-2] [INFO] [1745407017.352733067] [zed.zed_node]:  * MultiClassBox animals: TRUE
[component_container_isolated-2] [INFO] [1745407017.352831917] [zed.zed_node]:  * MultiClassBox electronics: TRUE
[component_container_isolated-2] [INFO] [1745407017.352949807] [zed.zed_node]:  * MultiClassBox fruits and vegetables: TRUE
[component_container_isolated-2] [INFO] [1745407017.353044337] [zed.zed_node]:  * MultiClassBox sport-related objects: TRUE
[component_container_isolated-2] [INFO] [1745407017.353068594] [zed.zed_node]: *** Body Track. parameters ***
[component_container_isolated-2] [INFO] [1745407017.353180052] [zed.zed_node]:  * Body Track. enabled: FALSE
[component_container_isolated-2] [INFO] [1745407017.353300310] [zed.zed_node]:  * Body Track. model: HUMAN BODY MEDIUM
[component_container_isolated-2] [INFO] [1745407017.353432569] [zed.zed_node]:  * Body Track. format: BODY 38
[component_container_isolated-2] [INFO] [1745407017.353552667] [zed.zed_node]:  * Body Track. allow reduced precision: TRUE
[component_container_isolated-2] [INFO] [1745407017.353661054] [zed.zed_node]:  * Body Track. maximum range [m]: 20
[component_container_isolated-2] [INFO] [1745407017.353766624] [zed.zed_node]:  * Body Track. KP selection: FULL
[component_container_isolated-2] [INFO] [1745407017.353880290] [zed.zed_node]:  * Body fitting: FALSE
[component_container_isolated-2] [INFO] [1745407017.353978500] [zed.zed_node]:  * Body joints tracking: TRUE
[component_container_isolated-2] [INFO] [1745407017.354082694] [zed.zed_node]:  * Body Track. prediction timeout [sec]: 0.5
[component_container_isolated-2] [INFO] [1745407017.354208521] [zed.zed_node]:  * Body Track. confidence thresh.: 50
[component_container_isolated-2] [INFO] [1745407017.354322955] [zed.zed_node]:  * Body Track. min. KP thresh.: 5
[component_container_isolated-2] [INFO] [1745407017.354345516] [zed.zed_node]: *** Streaming Server parameters ***
[component_container_isolated-2] [INFO] [1745407017.354452430] [zed.zed_node]:  * Streaming Server enabled: FALSE
[component_container_isolated-2] [INFO] [1745407017.354576208] [zed.zed_node]:  * Stream codec: H264
[component_container_isolated-2] [INFO] [1745407017.354686706] [zed.zed_node]:  * Stream port: 30000
[component_container_isolated-2] [INFO] [1745407017.354797525] [zed.zed_node]:  * Stream bitrate: 12500
[component_container_isolated-2] [INFO] [1745407017.354894167] [zed.zed_node]:  * Stream GOP size: -1
[component_container_isolated-2] [INFO] [1745407017.354991449] [zed.zed_node]:  * Stream Chunk size: 16084
[component_container_isolated-2] [INFO] [1745407017.355106139] [zed.zed_node]:  * Adaptive bitrate: FALSE
[component_container_isolated-2] [INFO] [1745407017.355209725] [zed.zed_node]:  * Target frame rate:0
[component_container_isolated-2] [INFO] [1745407017.355235614] [zed.zed_node]: *** Advanced parameters ***
[component_container_isolated-2] [INFO] [1745407017.355340128] [zed.zed_node]:  * Thread sched. policy: SCHED_BATCH
[component_container_isolated-2] [INFO] [1745407017.355463394] [zed.zed_node]: *** SERVICES ***
[component_container_isolated-2] [INFO] [1745407017.357954261] [zed.zed_node]:  * '/zed/zed_node/reset_odometry'
[component_container_isolated-2] [INFO] [1745407017.359254895] [zed.zed_node]:  * '/zed/zed_node/reset_pos_tracking'
[component_container_isolated-2] [INFO] [1745407017.361635456] [zed.zed_node]:  * '/zed/zed_node/set_pose'
[component_container_isolated-2] [INFO] [1745407017.362914906] [zed.zed_node]:  * '/zed/zed_node/enable_obj_det'
[component_container_isolated-2] [INFO] [1745407017.364107442] [zed.zed_node]:  * '/zed/zed_node/enable_body_trk'
[component_container_isolated-2] [INFO] [1745407017.365274826] [zed.zed_node]:  * '/zed/zed_node/enable_mapping'
[component_container_isolated-2] [INFO] [1745407017.366493347] [zed.zed_node]:  * '/zed/zed_node/enable_streaming'
[component_container_isolated-2] [INFO] [1745407017.367906879] [zed.zed_node]:  * '/zed/zed_node/start_svo_rec'
[component_container_isolated-2] [INFO] [1745407017.369091703] [zed.zed_node]:  * '/zed/zed_node/stop_svo_rec'
[component_container_isolated-2] [INFO] [1745407017.370545397] [zed.zed_node]:  * '/zed/zed_node/set_roi'
[component_container_isolated-2] [INFO] [1745407017.371768206] [zed.zed_node]:  * '/zed/zed_node/reset_roi'
[component_container_isolated-2] [INFO] [1745407017.371844879] [zed.zed_node]: ***** STARTING CAMERA *****
[component_container_isolated-2] [INFO] [1745407017.502769269] [zed.zed_node]: ZED SDK Version: 5.0.0 - Build 99275_9ed05d06
[component_container_isolated-2] [INFO] [1745407017.513358988] [zed.zed_node]: *** CAMERA OPENING ***
[component_container_isolated-2] [2025-04-23 11:16:58 UTC][ZED][INFO] Logging level INFO
[component_container_isolated-2] [2025-04-23 11:16:58 UTC][ZED][INFO] [Init]  Depth mode: NEURAL LIGHT
[component_container_isolated-2] [2025-04-23 11:17:00 UTC][ZED][INFO] [Init]  Camera FW version: 2001
[component_container_isolated-2] [2025-04-23 11:17:00 UTC][ZED][INFO] [Init]  Video mode: HD1200@30
[component_container_isolated-2] [2025-04-23 11:17:00 UTC][ZED][INFO] [Init]  Serial Number: S/N
[component_container_isolated-2] [INFO] [1745407021.116560708] [zed.zed_node]: ZED SDK running on GPU #0
[component_container_isolated-2] [INFO] [1745407021.116665831] [zed.zed_node]:  * Camera Model  -> ZED X
[component_container_isolated-2] [INFO] [1745407021.116681831] [zed.zed_node]:  * Serial Number ->
[component_container_isolated-2] [INFO] [1745407021.116799337] [zed.zed_node]:  * Focal Lenght	-> 2.20607 mm
[component_container_isolated-2] [INFO] [1745407021.116830666] [zed.zed_node]:  * Input		-> GMSL
[component_container_isolated-2] [INFO] [1745407021.116848362] [zed.zed_node]:  * Camera FW Version  -> 2001
[component_container_isolated-2] [INFO] [1745407021.116859563] [zed.zed_node]:  * Sensors FW Version -> 1000
[component_container_isolated-2] [INFO] [1745407021.116888299] [zed.zed_node]:  * Camera grab size -> 1920x1200
[component_container_isolated-2] [INFO] [1745407021.116898923] [zed.zed_node]:  * Color/Depth publishing size -> 960x600
[component_container_isolated-2] [INFO] [1745407021.116907371] [zed.zed_node]:  * Point Cloud publishing size -> 448x256
[component_container_isolated-2] [INFO] [1745407021.116927020] [zed.zed_node]: *** TF FRAMES ***
[component_container_isolated-2] [INFO] [1745407021.116935404] [zed.zed_node]:  * Map			-> map
[component_container_isolated-2] [INFO] [1745407021.116942412] [zed.zed_node]:  * Odometry		-> odom
[component_container_isolated-2] [INFO] [1745407021.116948940] [zed.zed_node]:  * Base			-> zed_camera_link
[component_container_isolated-2] [INFO] [1745407021.116955372] [zed.zed_node]:  * Camera		-> zed_camera_center
[component_container_isolated-2] [INFO] [1745407021.116971277] [zed.zed_node]:  * Left			-> zed_left_camera_frame
[component_container_isolated-2] [INFO] [1745407021.116979405] [zed.zed_node]:  * Left Optical		-> zed_left_camera_optical_frame
[component_container_isolated-2] [INFO] [1745407021.116986573] [zed.zed_node]:  * RGB			-> zed_left_camera_frame
[component_container_isolated-2] [INFO] [1745407021.116993165] [zed.zed_node]:  * RGB Optical		-> zed_left_camera_optical_frame
[component_container_isolated-2] [INFO] [1745407021.116999597] [zed.zed_node]:  * Right			-> zed_right_camera_frame
[component_container_isolated-2] [INFO] [1745407021.117005965] [zed.zed_node]:  * Right Optical		-> zed_right_camera_optical_frame
[component_container_isolated-2] [INFO] [1745407021.117012206] [zed.zed_node]:  * Depth			-> zed_left_camera_frame
[component_container_isolated-2] [INFO] [1745407021.117018510] [zed.zed_node]:  * Depth Optical		-> zed_left_camera_optical_frame
[component_container_isolated-2] [INFO] [1745407021.117024622] [zed.zed_node]:  * Point Cloud		-> zed_left_camera_optical_frame
[component_container_isolated-2] [INFO] [1745407021.117030894] [zed.zed_node]:  * Disparity		-> zed_left_camera_frame
[component_container_isolated-2] [INFO] [1745407021.117044814] [zed.zed_node]:  * Disparity Optical	-> zed_left_camera_optical_frame
[component_container_isolated-2] [INFO] [1745407021.117050958] [zed.zed_node]:  * Confidence		-> zed_left_camera_frame
[component_container_isolated-2] [INFO] [1745407021.117079343] [zed.zed_node]:  * Confidence Optical	-> zed_left_camera_optical_frame
[component_container_isolated-2] [INFO] [1745407021.117086319] [zed.zed_node]:  * IMU			-> zed_imu_link
[component_container_isolated-2] [INFO] [1745407021.117120432] <published topics ommitted for readability>
[component_container_isolated-2] [INFO] [1745407021.417762290] [zed.zed_node]: Camera-IMU Translation:
[component_container_isolated-2]  0 -0.035649 -0.000147
[component_container_isolated-2] [INFO] [1745407021.417812435] [zed.zed_node]: Camera-IMU Rotation:
[component_container_isolated-2] FFFF467CC760
[component_container_isolated-2] 1.000000 0.000000 0.000000
[component_container_isolated-2] 0.000000 1.000000 0.000000
[component_container_isolated-2] 0.000000 0.000000 1.000000
[component_container_isolated-2]
[component_container_isolated-2] [INFO] [1745407021.417836627] [zed.zed_node]: *** Subscribers ***
[component_container_isolated-2] [INFO] [1745407021.419693880] [zed.zed_node]:  * Plane detection: '/clicked_point'
[component_container_isolated-2] [INFO] [1745407021.976424604] [zed.zed_node]: *** Starting Positional Tracking ***
[component_container_isolated-2] [INFO] [1745407021.976555998] [zed.zed_node]:  * Waiting for valid static transformations...
[component_container_isolated-2] [INFO] [1745407021.976984135] [zed.zed_node]:  Static transform ref. CMOS Sensor to Base [zed_left_camera_frame -> zed_camera_link]
[component_container_isolated-2] [INFO] [1745407021.977025320] [zed.zed_node]:   * Translation: {0.010,-0.060,-0.016}
[component_container_isolated-2] [INFO] [1745407021.977041928] [zed.zed_node]:   * Rotation: {0.000,-0.000,0.000}
[component_container_isolated-2] [INFO] [1745407021.977072937] [zed.zed_node]:  Static transform ref. CMOS Sensor to Camera Center [zed_left_camera_frame -> zed_camera_center]
[component_container_isolated-2] [INFO] [1745407021.977087497] [zed.zed_node]:   * Translation: {0.010,-0.060,0.000}
[component_container_isolated-2] [INFO] [1745407021.977099721] [zed.zed_node]:   * Rotation: {0.000,-0.000,0.000}
[component_container_isolated-2] [INFO] [1745407021.977121738] [zed.zed_node]:  Static transform Camera Center to Base [zed_camera_center -> zed_camera_link]
[component_container_isolated-2] [INFO] [1745407021.977133354] [zed.zed_node]:   * Translation: {0.000,0.000,-0.016}
[component_container_isolated-2] [INFO] [1745407021.977142730] [zed.zed_node]:   * Rotation: {0.000,-0.000,0.000}
[component_container_isolated-2] [INFO] [1745407021.978236640] [zed.zed_node]: Initial ZED left camera pose (ZED pos. tracking):
[component_container_isolated-2] [INFO] [1745407021.978262337] [zed.zed_node]:  * T: [-0.01,0.06,0.016]
[component_container_isolated-2] [INFO] [1745407021.978281825] [zed.zed_node]:  * Q: [0,0,0,1]
5

Hi @birneamstiel,

Can you please share the config yaml file that you are using to run the node?
The output logs don’t suggest anything wrong happening, can you confirm that the zed node has no topics available at that time?

6

Thanks @mattrouss for taking a look.

I’m overriding the unmodified yaml from latest zed-ros2-wrapper master with these values:

/**:
    ros__parameters:
        general:
          grab_resolution: 'HD1200' # The native camera grab resolution. 'HD1200', 'HD1080', 'SVGA', 'AUTO'
          pub_frame_rate: 30.0
        depth:
          depth_mode: 'NEURAL_PLUS' # Matches the ZED SDK setting: 'NONE', 'PERFORMANCE', 'QUALITY', 'ULTRA', 'NEURAL', 'NEURAL_PLUS' - Note: if 'NONE' all the modules that requires depth extraction are disabled by default (Pos. Tracking, Obj. Detection, Mapping, ...)
        object_detection:
          od_enabled: true
          model: 'CUSTOM_YOLOLIKE_BOX_OBJECTS'
          custom_onnx_file: '/home/user/yolov8n-dynamic/yolov8n.onnx'
          filtering_mode: 0 # '0': NONE - '1': NMS3D - '2': NMS3D_PER_CLASS
        svo:
          use_svo_timestamps: false # Use the SVO timestamps to publish data. If false, data will be published at the system time.
          svo_realtime: false

The published topics seem to be fine:

$ ros2 topic list
/clicked_point
/diagnostics
/goal_pose
/initialpose
/parameter_events
/rosout
/tf
/tf_static
/visualization_marker
/visualization_marker_array
/waypoints
/zed/joint_states
/zed/plane
/zed/plane_marker
/zed/plane_marker_array
/zed/robot_description
/zed/zed_node/body_trk/skeletons
/zed/zed_node/confidence/confidence_map
/zed/zed_node/depth/camera_info
/zed/zed_node/depth/depth_info
/zed/zed_node/depth/depth_registered
/zed/zed_node/depth/depth_registered/compressed
/zed/zed_node/depth/depth_registered/compressedDepth
/zed/zed_node/depth/depth_registered/ffmpeg
/zed/zed_node/depth/depth_registered/theora
/zed/zed_node/disparity/disparity_image
/zed/zed_node/health_status/low_depth_reliability
/zed/zed_node/health_status/low_image_quality
/zed/zed_node/health_status/low_lighting
/zed/zed_node/health_status/low_motion_sensors_reliability
/zed/zed_node/imu/data
/zed/zed_node/imu/data_raw
/zed/zed_node/left/camera_info
/zed/zed_node/left/image_rect_color
/zed/zed_node/left/image_rect_color/compressed
/zed/zed_node/left/image_rect_color/compressedDepth
/zed/zed_node/left/image_rect_color/ffmpeg
/zed/zed_node/left/image_rect_color/theora
/zed/zed_node/left_cam_imu_transform
/zed/zed_node/left_gray/camera_info
/zed/zed_node/left_gray/image_rect_gray
/zed/zed_node/left_gray/image_rect_gray/compressed
/zed/zed_node/left_gray/image_rect_gray/compressedDepth
/zed/zed_node/left_gray/image_rect_gray/ffmpeg
/zed/zed_node/left_gray/image_rect_gray/theora
/zed/zed_node/left_raw/camera_info
/zed/zed_node/left_raw/image_raw_color
/zed/zed_node/left_raw/image_raw_color/compressed
/zed/zed_node/left_raw/image_raw_color/compressedDepth
/zed/zed_node/left_raw/image_raw_color/ffmpeg
/zed/zed_node/left_raw/image_raw_color/theora
/zed/zed_node/left_raw_gray/camera_info
/zed/zed_node/left_raw_gray/image_raw_gray
/zed/zed_node/left_raw_gray/image_raw_gray/compressed
/zed/zed_node/left_raw_gray/image_raw_gray/compressedDepth
/zed/zed_node/left_raw_gray/image_raw_gray/ffmpeg
/zed/zed_node/left_raw_gray/image_raw_gray/theora
/zed/zed_node/mapping/fused_cloud
/zed/zed_node/obj_det/objects
/zed/zed_node/odom
/zed/zed_node/path_map
/zed/zed_node/path_odom
/zed/zed_node/point_cloud/cloud_registered
/zed/zed_node/point_cloud/cloud_registered/draco
/zed/zed_node/point_cloud/cloud_registered/zlib
/zed/zed_node/point_cloud/cloud_registered/zstd
/zed/zed_node/pose
/zed/zed_node/pose/status
/zed/zed_node/pose_with_covariance
/zed/zed_node/rgb/camera_info
/zed/zed_node/rgb/image_rect_color
/zed/zed_node/rgb/image_rect_color/compressed
/zed/zed_node/rgb/image_rect_color/compressedDepth
/zed/zed_node/rgb/image_rect_color/ffmpeg
/zed/zed_node/rgb/image_rect_color/theora
/zed/zed_node/rgb_gray/camera_info
/zed/zed_node/rgb_gray/image_rect_gray
/zed/zed_node/rgb_gray/image_rect_gray/compressed
/zed/zed_node/rgb_gray/image_rect_gray/compressedDepth
/zed/zed_node/rgb_gray/image_rect_gray/ffmpeg
/zed/zed_node/rgb_gray/image_rect_gray/theora
/zed/zed_node/rgb_raw/camera_info
/zed/zed_node/rgb_raw/image_raw_color
/zed/zed_node/rgb_raw/image_raw_color/compressed
/zed/zed_node/rgb_raw/image_raw_color/compressedDepth
/zed/zed_node/rgb_raw/image_raw_color/ffmpeg
/zed/zed_node/rgb_raw/image_raw_color/theora
/zed/zed_node/rgb_raw_gray/camera_info
/zed/zed_node/rgb_raw_gray/image_raw_gray
/zed/zed_node/rgb_raw_gray/image_raw_gray/compressed
/zed/zed_node/rgb_raw_gray/image_raw_gray/compressedDepth
/zed/zed_node/rgb_raw_gray/image_raw_gray/ffmpeg
/zed/zed_node/rgb_raw_gray/image_raw_gray/theora
/zed/zed_node/right/camera_info
/zed/zed_node/right/image_rect_color
/zed/zed_node/right/image_rect_color/compressed
/zed/zed_node/right/image_rect_color/compressedDepth
/zed/zed_node/right/image_rect_color/ffmpeg
/zed/zed_node/right/image_rect_color/theora
/zed/zed_node/right_gray/camera_info
/zed/zed_node/right_gray/image_rect_gray
/zed/zed_node/right_gray/image_rect_gray/compressed
/zed/zed_node/right_gray/image_rect_gray/compressedDepth
/zed/zed_node/right_gray/image_rect_gray/ffmpeg
/zed/zed_node/right_gray/image_rect_gray/theora
/zed/zed_node/right_raw/camera_info
/zed/zed_node/right_raw/image_raw_color
/zed/zed_node/right_raw/image_raw_color/compressed
/zed/zed_node/right_raw/image_raw_color/compressedDepth
/zed/zed_node/right_raw/image_raw_color/ffmpeg
/zed/zed_node/right_raw/image_raw_color/theora
/zed/zed_node/right_raw_gray/camera_info
/zed/zed_node/right_raw_gray/image_raw_gray
/zed/zed_node/right_raw_gray/image_raw_gray/compressed
/zed/zed_node/right_raw_gray/image_raw_gray/compressedDepth
/zed/zed_node/right_raw_gray/image_raw_gray/ffmpeg
/zed/zed_node/right_raw_gray/image_raw_gray/theora
/zed/zed_node/stereo/image_rect_color
/zed/zed_node/stereo/image_rect_color/compressed
/zed/zed_node/stereo/image_rect_color/compressedDepth
/zed/zed_node/stereo/image_rect_color/ffmpeg
/zed/zed_node/stereo/image_rect_color/theora
/zed/zed_node/stereo_raw/image_raw_color
/zed/zed_node/stereo_raw/image_raw_color/compressed
/zed/zed_node/stereo_raw/image_raw_color/compressedDepth
/zed/zed_node/stereo_raw/image_raw_color/ffmpeg
/zed/zed_node/stereo_raw/image_raw_color/theora
/zed/zed_node/temperature/imu
7

Hi @birneamstiel
I’ve just tested the latest version of the master branch of the wrapper using an SVO2 as input with the following parameters, and everything works as expected:

[...] 
        svo:
            use_svo_timestamps: false # Use the SVO timestamps to publish data. If false, data will be published at the system time.
            svo_loop: false # Enable loop mode when using an SVO as input source. NOTE: ignored if SVO timestamping is used
            svo_realtime: false # if true the SVO will be played trying to respect the original framerate eventually skipping frames, otherwise every frame will be processed respecting the `pub_frame_rate` setting
            play_from_frame: 0 # Start playing the SVO from a specific frame
[...]
        object_detection:
            od_enabled: true # True to enable Object Detection
            model: 'CUSTOM_YOLOLIKE_BOX_OBJECTS' # 'MULTI_CLASS_BOX_FAST', 'MULTI_CLASS_BOX_MEDIUM', 'MULTI_CLASS_BOX_ACCURATE', 'PERSON_HEAD_BOX_FAST', 'PERSON_HEAD_BOX_ACCURATE', 'CUSTOM_YOLOLIKE_BOX_OBJECTS'
            custom_onnx_file: '/home/walter/devel/yolo/yolov8n.onnx' # Only used if 'model' is 'CUSTOM_YOLOLIKE_BOX_OBJECTS'. Path to the YOLO-like ONNX file for custom object detection directly performed by the ZED SDK.
            custom_onnx_input_size: 512 # Resolution used with the YOLO-like ONNX file. For example, 512 means a input tensor '1x3x512x512'
            custom_label_yaml: '/home/walter/devel/yolo/coco.yaml' # Only used if 'model' is 'CUSTOM_YOLOLIKE_BOX_OBJECTS'. Path to the COCO-like YAML file storing the custom class labels.
[...]

A few notes:

  • If you start the node with use_svo_timestamps set to true, then you stop it and you change it to false, TF timestamps may no longer be coherent if you restart the node in the same environment. I recommend you close your terminals and pending nodes, and reopen them to force a clean of the ROS 2 environment
  • When you launch the node with Object Detection using a Custom ONNX file, the first time it takes a few minutes to start because the ZED SDK must optimize the ONNX model for your GPU. If you check the terminal log, you can see this message:
[component_container_isolated-3] [INFO] [1745492645.866946197] [zed.zed_node]: *** Starting Object Detection ***
[...]
[component_container_isolated-3] [2025-04-24 11:04:05 UTC][ZED][INFO] Please wait while the AI model is being optimized for your graphics card
[component_container_isolated-3]  This operation will be run only once and may take a few minutes

When the optimization is completed you get this:

 Optimizing yolov8n |  100.0%[=============================>] Done ! in 6min 13s         
[component_container_isolated-3] [INFO] [1745493019.549550339] [zed.zed_node]: Modifying 1 parameters
[component_container_isolated-3] [INFO] [1745493019.549596434] [zed.zed_node]: Correctly set 1/1 parameters
[component_container_isolated-3] [INFO] [1745493019.549670485] [zed.zed_node]: Modifying 1 parameters
[component_container_isolated-3] [INFO] [1745493019.549676949] [zed.zed_node]: Correctly set 1/1 parameters
[component_container_isolated-3] [INFO] [1745493019.549697376] [zed.zed_node]: Modifying 1 parameters
[component_container_isolated-3] [INFO] [1745493019.549701213] [zed.zed_node]: Correctly set 1/1 parameters
[component_container_isolated-3] [INFO] [1745493019.549939550] [zed.zed_node]:  * Advertised on topic /zed/zed_node/obj_det/objects

and the node begins to publish all the messages on the relevant topics

8

Thanks @Myzhar for your suggestions. I’ve ported our custom logic from python to C++ in the mean time and the issue disappeared. Could also have been related to artifacts due to pending nodes etc.

Anyways, will mark this as solved – thanks again!

1 Like