SVO2 file recorded by zed-ros2-wrapper on Jetson Orin AGX cannot be played

Software ROS2
1

Hi,

I have problem when using zed-ros2-wrapper with zed x mini camera. The recorded svo2 file is empty and cannot replay

The output file size is 1944 Byte

Environment:

  • Jetson Orin AGX, jetpack 6.2.1 (r36.4)
  • ZED link duo with 1.4.2 driver
  • zed-ros2-wrapper v5.3.1 run in docker with zedsdk 5.3.1,
  • Source from physical camera, not local streaming or svo2 replay

Detail:

  • This problem did not occur when I ran it on an X86 (zed docker 5.3 for ubuntu 22.04 and cuda 12.8) machine.
  • I tried to run ZED_Explorer and record on the UI; the output file is okay
  • The log when record with zed-ros2-wrapper on Jetson shows as bellow
[component_container_isolated-2] [INFO] [2026-06-12 09:15:55.637] [camera.head_front_zed_onboard] : ** Start SVO Recording service called **
[component_container_isolated-2] [2026-06-12 09:15:55 UTC][ZED][INFO] [Init]  Notice: This recording uses SVO version 2, which includes high-frequency IMU data. To revert to legacy SVO mode, set the ZED_SDK_SVO_VERSION environment variable to 1.
[component_container_isolated-2] NvMMLiteOpen : Block : BlockType = 8 
[component_container_isolated-2] ===== NvVideo: NVENC =====
[component_container_isolated-2] NvMMLiteBlockCreate : Block : BlockType = 8 
[component_container_isolated-2] Opening in BLOCKING MODE 
[component_container_isolated-2] [2026-06-12 09:15:55 UTC][ZED][INFO] [SVO Recording] Using DEFAULT HW preset for recording
[component_container_isolated-2] NvVideo: H265 : Profile : 1 
[component_container_isolated-2] [INFO] [2026-06-12 09:15:55.679] [camera.head_front_zed_onboard] : SVO Recording started: 
[component_container_isolated-2] [INFO] [2026-06-12 09:15:55.679] [camera.head_front_zed_onboard] :  * Bitrate: 0
[component_container_isolated-2] [INFO] [2026-06-12 09:15:55.679] [camera.head_front_zed_onboard] :  * Compression mode: H265
[component_container_isolated-2] [INFO] [2026-06-12 09:15:55.679] [camera.head_front_zed_onboard] :  * Framerate: 0
[component_container_isolated-2] [INFO] [2026-06-12 09:15:55.679] [camera.head_front_zed_onboard] :  * Input Transcode: FALSE
[component_container_isolated-2] [INFO] [2026-06-12 09:15:55.679] [camera.head_front_zed_onboard] :  * Filename: zed.svo2
[component_container_isolated-2] NVMEDIA: Need to set EMC bandwidth : 2872000 
[component_container_isolated-2] [INFO] [2026-06-12 09:16:11.146] [camera.head_front_zed_onboard] : ** Stop SVO Recording service called **
[component_container_isolated-2] [INFO] [2026-06-12 09:16:11.224] [camera.head_front_zed_onboard] : SVO Recording stopped
2

@Myzhar I added more debug

Both startSvoRecording and enableRecording are not error, mRecording is set to true but getRecordingStatus().is_recording is false, so it doesn’t write data to svo2 file
I used python sample code to record, it worked well. But it doesn’t work with zed-ros2-wrapper

3

Please check the correctness of the parameters that you use with the start recording service.

4

Hi @Myzhar

The camera config is:

grab_resolution: HD1080
grab_frame_rate: 30
grab_compute_capping_fps: 30.0
pub_frame_rate: 30.0
async_image_retrieval: false

And the parameters to start recording is:

bitrate: 12500
compression_mode: 2  # LOSSLESS: 0, H264: 1, H265: 2
input_transcode: False
target_framerate: 30

The output file is still has no frame

5

Hi @vietlh
I’ve just tested the recording with the same parameters using the latest version of the ZED ROS2 Wrapper with the new ZED SDK v5.4.0, and I could not replicate your problem.

Can you try to upgrade your system and let me know if the problem persists?

6

Hi @Myzhar

I have just updated to zed-ros2-wrapper and zed-sdk5.4.0 and the problem was solved. Thank you for your support.
And I have one more problem.

I’m launching 3 zedx mini cameras:

Environment:

  • Jetson Orin AGX, jetpack 6.2.1 (r36.4)

  • ZED link duo with 1.4.2 driver

  • zed-ros2-wrapper v5.4.0 run in docker with zedsdk 5.4.0,

Problem:

  • Sometime all cameras have the same error Connection issue detected: CAMERA REBOOTING at the same time
  • I tried to kill the camera’s ros node and relaunch, and they reported the error Error opening camera: CAMERA STREAM FAILED TO START
  • I tried to restart nvargus-daemon and zed_x_daemon but still not work. Until I reboot the Jetson, they worked well

Question 1: What are the possible causes of these problems and how can we prevent them from happening?

Question 2: From ZED SDK 5.3, we can write the calibration file into the camera’s eeprom. But when open the camera, the zedsdk still try to download it if the files do not exist in /usr/local/zed/settings. This causes the camera startup process to take longer because it has to wait for the file loading timeout. How can I skip the download process to directly use the calibation data from cameras’s eeprom?

7

Can you describe your system? How is the ZED Link Duo powered? Voltage?
Are you using the same power source for anything else?

I’m not sure this is possible with the current version of the ZED SDK. I will ask the team to improve this behavior in the next releases.