Even though ZED_Explorer is working , my ROS2 fork https://github.com/AutonomousDrivingH2politO/zed-ros2-wrapper on autonomous-driving branch
the node starts, topics are advertised, but the launch effectively stalls and no data is ever published (checked with ros2 topic echo and ros2 topic hz).
From the same workspace, my custom ROS 2 node is able to publish RGB images, etc., so the camera and ZED SDK seem to be working.
Attached is the output log of the following launch
bylogix@ubuntu:~/$ ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zed2i
Platform:
Jetson Orin AGX
JetPack / L4T version: L4T R36.4.7
NVIDIA Driver Version: 540.4. CUDA Version: 12.6
ROS2 Humble
Myzhar
November 19, 2025, 2:16pm
2
Hi @betelgeuse Stereolabs community.
It seems that you modified the TF structure.
Have you read how to do that correctly in the Robot Integration guide ?use_zed_localization.
Hi the tf tree was fine infact I was testing the system and everything was working after shutting down and until re launching the camera. And yes I have read the guide
following is my rtabmap launch with zed odom:
from launch import LaunchDescription
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import PathJoinSubstitution
from launch_ros.substitutions import FindPackageShare
# This launch file uses ZED VIO to position the frame of the vechile therefore the tf looks like map->odom->camera_link
# only important thing to preserve is map->odom as specified by REP 105 ROS convention
def generate_launch_description() -> LaunchDescription:
rviz_cfg = PathJoinSubstitution(
[
FindPackageShare("juno_bringup"),
"launch",
"rviz_config",
"zed_rtabmap_rgbd.rviz",
]
)
zed_camera_launch = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
PathJoinSubstitution(
[
FindPackageShare("zed_wrapper"),
"launch",
"zed_camera.launch.py",
]
)
),
launch_arguments={
"camera_model": "zed2i",
"publish_map_tf": "false",
"publish_imu_tf": "true",
"publish_tf": "true"
}.items(),
)
rtabmap_launch = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
PathJoinSubstitution(
[
FindPackageShare("rtabmap_launch"),
"launch",
"rtabmap.launch.py",
]
)
),
launch_arguments={
# Run rtabmap_slam in "rtabmap" namespace so mapping topics
# appear under /rtabmap (e.g., /rtabmap/map).
"namespace": "rtabmap",
"rviz_cfg": rviz_cfg,
"args": "--delete_db_on_start",
"frame_id": "zed_camera_link",
"odom_topic": "/zed/zed_node/odom",
"visual_odometry": "false",
"rgb_topic": "/zed/zed_node/rgb/color/rect/image",
"depth_topic": "/zed/zed_node/depth/depth_registered",
"camera_info_topic": "/zed/zed_node/rgb/color/rect/image/camera_info",
"wait_imu_to_init": "true",
"imu_topic": "/zed/zed_node/imu/data",
"rviz": "true",
"rtabmap_viz": "false",
"approx_sync": "false",
"rgbd_sync": "true",
"approx_rgbd_sync": "false",
"topic_queue_size": "2",
}.items(),
)
return LaunchDescription(
[
zed_camera_launch,
rtabmap_launch,
]
)
Myzhar
November 19, 2025, 2:24pm
4
It looks like the setup is indeed correct.
Please send me the full log of the wrapper when it stalls and a screenshot of the Diagnostic information:
Its fixed after putting the camera to the table from the ground. This was the previous output by the way .I can only attach the last part as i’m a new user :
Rotation:
1 Like
