The camera topics don't work in zed 2i

Hi, I ran zed2i.launch.py in ros2 foxy, ubuntu20.04
and also ran command ‘ros2 topic echo /zed2i/zed_node/rgb/camera_info’.
But Camera-related topics were unresponsive.
Other sensors(temperature, imu) and command ‘zed_display_rviz display_zed2i.launch.py’ worked well
My computer has a rtx3080.
Why don’t camera-related topics work in my computer?

hur@hur-TRX40-AORUS-PRO-WIFI:~/robot_ws$ ros2 launch zed_wrapper zed2i.launch.py
[INFO] [launch]: All log files can be found below /home/hur/.ros/log/2022-08-07-17-55-04-217756-hur-TRX40-AORUS-PRO-WIFI-37216
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [37225]
[INFO] [zed_wrapper-2]: process started with pid [37227]
[robot_state_publisher-1] Parsing robot urdf xml string.
[robot_state_publisher-1] Link zed2i_base_link had 1 children
[robot_state_publisher-1] Link zed2i_camera_center had 2 children
[robot_state_publisher-1] Link zed2i_left_camera_frame had 1 children
[robot_state_publisher-1] Link zed2i_left_camera_optical_frame had 0 children
[robot_state_publisher-1] Link zed2i_right_camera_frame had 1 children
[robot_state_publisher-1] Link zed2i_right_camera_optical_frame had 0 children
[robot_state_publisher-1] 1659862504.349170140 [zed2i.zed_state_publisher] [INFO] got segment base_link
[robot_state_publisher-1] 1659862504.349218854 [zed2i.zed_state_publisher] [INFO] got segment zed2i_base_link
[robot_state_publisher-1] 1659862504.349224134 [zed2i.zed_state_publisher] [INFO] got segment zed2i_camera_center
[robot_state_publisher-1] 1659862504.349228012 [zed2i.zed_state_publisher] [INFO] got segment zed2i_left_camera_frame
[robot_state_publisher-1] 1659862504.349231819 [zed2i.zed_state_publisher] [INFO] got segment zed2i_left_camera_optical_frame
[robot_state_publisher-1] 1659862504.349235596 [zed2i.zed_state_publisher] [INFO] got segment zed2i_right_camera_frame
[robot_state_publisher-1] 1659862504.349239233 [zed2i.zed_state_publisher] [INFO] got segment zed2i_right_camera_optical_frame
[zed_wrapper-2] 1659862504.357500083 [zed2i.zed_node] [INFO] ********************************
[zed_wrapper-2] 1659862504.357557794 [zed2i.zed_node] [INFO]       ZED Camera Component 
[zed_wrapper-2] 1659862504.357562964 [zed2i.zed_node] [INFO] ********************************
[zed_wrapper-2] 1659862504.357568705 [zed2i.zed_node] [INFO]  * namespace: /zed2i
[zed_wrapper-2] 1659862504.357572903 [zed2i.zed_node] [INFO]  * node name: zed_node
[zed_wrapper-2] 1659862504.357576510 [zed2i.zed_node] [INFO] ********************************
[zed_wrapper-2] 1659862504.357590367 [zed2i.zed_node] [INFO] *** DEBUG parameters ***
[zed_wrapper-2] 1659862504.357605686 [zed2i.zed_node] [INFO]  * Debug mode: FALSE
[zed_wrapper-2] 1659862504.357630715 [zed2i.zed_node] [INFO]  * Debug sensors: FALSE
[zed_wrapper-2] 1659862504.357636095 [zed2i.zed_node] [INFO] *** GENERAL parameters ***
[zed_wrapper-2] 1659862504.357656675 [zed2i.zed_node] [INFO]  * Camera model: zed2i - ZED 2i
[zed_wrapper-2] 1659862504.357669008 [zed2i.zed_node] [INFO]  * SDK Verbose: 1
[zed_wrapper-2] 1659862504.357687744 [zed2i.zed_node] [INFO]  * SVO: live
[zed_wrapper-2] 1659862504.357707933 [zed2i.zed_node] [INFO]  * SVO Loop: FALSE
[zed_wrapper-2] 1659862504.357729635 [zed2i.zed_node] [INFO]  * SVO Realtime: FALSE
[zed_wrapper-2] 1659862504.357753932 [zed2i.zed_node] [INFO]  * Camera name: zed2i
[zed_wrapper-2] 1659862504.357771275 [zed2i.zed_node] [INFO]  * Camera ID: 0
[zed_wrapper-2] 1659862504.357790663 [zed2i.zed_node] [INFO]  * Camera SN: 0
[zed_wrapper-2] 1659862504.357810922 [zed2i.zed_node] [INFO]  * Camera timeout [sec]: 5
[zed_wrapper-2] 1659862504.357831131 [zed2i.zed_node] [INFO]  * Camera reconnection temptatives: 5
[zed_wrapper-2] 1659862504.357852422 [zed2i.zed_node] [INFO]  * Camera framerate: 15
[zed_wrapper-2] 1659862504.357874414 [zed2i.zed_node] [INFO]  * GPU ID: -1
[zed_wrapper-2] 1659862504.357895725 [zed2i.zed_node] [INFO]  * Camera resolution: 2 - HD720
[zed_wrapper-2] 1659862504.357932466 [zed2i.zed_node] [INFO]  * Camera self calibration: TRUE
[zed_wrapper-2] 1659862504.357966281 [zed2i.zed_node] [INFO]  * Camera flip: FALSE
[zed_wrapper-2] 1659862504.357988143 [zed2i.zed_node] [INFO]  * [DYN] Publish framerate [Hz]: 15 
[zed_wrapper-2] 1659862504.357997371 [zed2i.zed_node] [INFO] *** VIDEO parameters ***
[zed_wrapper-2] 1659862504.358019083 [zed2i.zed_node] [INFO]  * Use old extrinsic parameters: 0
[zed_wrapper-2] 1659862504.358040915 [zed2i.zed_node] [INFO]  * [DYN] Image downsample factor: 1 
[zed_wrapper-2] 1659862504.358062276 [zed2i.zed_node] [INFO]  * [DYN] Brightness: 4
[zed_wrapper-2] 1659862504.358086533 [zed2i.zed_node] [INFO]  * [DYN] Contrast: 4
[zed_wrapper-2] 1659862504.358114567 [zed2i.zed_node] [INFO]  * [DYN] Hue: 0
[zed_wrapper-2] 1659862504.358144445 [zed2i.zed_node] [INFO]  * [DYN] Saturation: 4
[zed_wrapper-2] 1659862504.358165846 [zed2i.zed_node] [INFO]  * [DYN] Sharpness: 4
[zed_wrapper-2] 1659862504.358186686 [zed2i.zed_node] [INFO]  * [DYN] Gamma: 8
[zed_wrapper-2] 1659862504.358213588 [zed2i.zed_node] [INFO]  * [DYN] Auto Exposure/Gain: TRUE
[zed_wrapper-2] 1659862504.358239037 [zed2i.zed_node] [INFO]  * [DYN] Exposure: 80
[zed_wrapper-2] 1659862504.358266189 [zed2i.zed_node] [INFO]  * [DYN] Gain: 80
[zed_wrapper-2] 1659862504.358294073 [zed2i.zed_node] [INFO]  * [DYN] Auto White Balance: TRUE
[zed_wrapper-2] 1659862504.358321416 [zed2i.zed_node] [INFO]  * [DYN] White Balance Temperature: 42
[zed_wrapper-2] 1659862504.358345372 [zed2i.zed_node] [INFO]  * Video QoS History: KEEP_LAST
[zed_wrapper-2] 1659862504.358365160 [zed2i.zed_node] [INFO]  * Video QoS History depth: 1
[zed_wrapper-2] 1659862504.358390178 [zed2i.zed_node] [INFO]  * Video QoS Reliability: RELIABLE
[zed_wrapper-2] 1659862504.358414455 [zed2i.zed_node] [INFO]  * Video QoS Durability: VOLATILE
[zed_wrapper-2] 1659862504.358420016 [zed2i.zed_node] [INFO] *** DEPTH parameters ***
[zed_wrapper-2] 1659862504.358446206 [zed2i.zed_node] [INFO]  * Depth quality: 1 - PERFORMANCE
[zed_wrapper-2] 1659862504.358472387 [zed2i.zed_node] [INFO]  * Depth downsample factor: 1 
[zed_wrapper-2] 1659862504.358507154 [zed2i.zed_node] [INFO]  * Min depth [m]: 0.3
[zed_wrapper-2] 1659862504.358532142 [zed2i.zed_node] [INFO]  * Max depth [m]: 20
[zed_wrapper-2] 1659862504.358555888 [zed2i.zed_node] [INFO]  * Depth Sensing Mode: 0 - STANDARD
[zed_wrapper-2] 1659862504.358576507 [zed2i.zed_node] [INFO]  * Depth Stabilization: TRUE
[zed_wrapper-2] 1659862504.358601736 [zed2i.zed_node] [INFO]  * OpenNI mode (16bit point cloud): FALSE
[zed_wrapper-2] 1659862504.358627035 [zed2i.zed_node] [INFO]  * [DYN] Point cloud rate [Hz]: 10
[zed_wrapper-2] 1659862504.358650269 [zed2i.zed_node] [INFO]  * [DYN] Depth Confidence: 50
[zed_wrapper-2] 1659862504.358672552 [zed2i.zed_node] [INFO]  * [DYN] Depth Texture Confidence: 100
[zed_wrapper-2] 1659862504.358695026 [zed2i.zed_node] [INFO]  * [DYN] Remove saturated areas: TRUE
[zed_wrapper-2] 1659862504.358717950 [zed2i.zed_node] [INFO]  * Depth QoS History: KEEP_LAST
[zed_wrapper-2] 1659862504.358744551 [zed2i.zed_node] [INFO]  * Depth QoS History depth: 1
[zed_wrapper-2] 1659862504.358768427 [zed2i.zed_node] [INFO]  * Depth QoS Reliability: RELIABLE
[zed_wrapper-2] 1659862504.358791331 [zed2i.zed_node] [INFO]  * Depth QoS Durability: VOLATILE
[zed_wrapper-2] 1659862504.358796391 [zed2i.zed_node] [INFO] *** POSITIONAL TRACKING parameters ***
[zed_wrapper-2] 1659862504.358815708 [zed2i.zed_node] [INFO]  * Positional tracking enabled: TRUE
[zed_wrapper-2] 1659862504.358838482 [zed2i.zed_node] [INFO]  * Base frame id: base_link
[zed_wrapper-2] 1659862504.358862378 [zed2i.zed_node] [INFO]  * Map frame id: map
[zed_wrapper-2] 1659862504.358888098 [zed2i.zed_node] [INFO]  * Odometry frame id: odom
[zed_wrapper-2] 1659862504.358911994 [zed2i.zed_node] [INFO]  * Broadcast Odometry TF: TRUE
[zed_wrapper-2] 1659862504.358935118 [zed2i.zed_node] [INFO]  * Broadcast Pose TF: TRUE
[zed_wrapper-2] 1659862504.358958303 [zed2i.zed_node] [INFO]  * Broadcast Static IMU TF [not for ZED]: TRUE
[zed_wrapper-2] 1659862504.358982309 [zed2i.zed_node] [INFO]  * [DYN] Path publishing rate: 2
[zed_wrapper-2] 1659862504.359005264 [zed2i.zed_node] [INFO]  * Path history lenght: -1
[zed_wrapper-2] 1659862504.359036664 [zed2i.zed_node] [INFO]  * Initial pose: [0,0,0,0,0,0,]
[zed_wrapper-2] 1659862504.359064017 [zed2i.zed_node] [INFO]  * Area Memory: TRUE
[zed_wrapper-2] 1659862504.359093103 [zed2i.zed_node] [INFO]  * Area Memory DB: 
[zed_wrapper-2] 1659862504.359125325 [zed2i.zed_node] [INFO]  * IMU Fusion [not for ZED]: TRUE
[zed_wrapper-2] 1659862504.359156886 [zed2i.zed_node] [INFO]  * Floor Alignment: FALSE
[zed_wrapper-2] 1659862504.359186132 [zed2i.zed_node] [INFO]  * Init Odometry with first valid pose data: TRUE
[zed_wrapper-2] 1659862504.359210379 [zed2i.zed_node] [INFO]  * 2D mode: FALSE
[zed_wrapper-2] 1659862504.359235287 [zed2i.zed_node] [INFO]  * Pose/Odometry QoS History: KEEP_LAST
[zed_wrapper-2] 1659862504.359259023 [zed2i.zed_node] [INFO]  * Pose/Odometry QoS History depth: 1
[zed_wrapper-2] 1659862504.359290423 [zed2i.zed_node] [INFO]  * Pose/Odometry QoS Reliability: RELIABLE
[zed_wrapper-2] 1659862504.359323587 [zed2i.zed_node] [INFO]  * Pose/Odometry QoS Durability: VOLATILE
[zed_wrapper-2] 1659862504.359328817 [zed2i.zed_node] [INFO] *** SENSORS STACK parameters ***
[zed_wrapper-2] 1659862504.359358033 [zed2i.zed_node] [INFO]  * Sensors Camera Sync: FALSE
[zed_wrapper-2] 1659862504.359450462 [zed2i.zed_node] [INFO]  * Sensors publishing rate: 200 Hz
[zed_wrapper-2] 1659862504.359470039 [zed2i.zed_node] [INFO]  * Sensors QoS History: KEEP_LAST
[zed_wrapper-2] 1659862504.359506179 [zed2i.zed_node] [INFO]  * Sensors QoS History depth: 1
[zed_wrapper-2] 1659862504.359535035 [zed2i.zed_node] [INFO]  * Sensors QoS Reliability: RELIABLE
[zed_wrapper-2] 1659862504.359563119 [zed2i.zed_node] [INFO]  * Sensors QoS Durability: VOLATILE
[zed_wrapper-2] 1659862504.359569240 [zed2i.zed_node] [INFO] *** Spatial Mapping parameters ***
[zed_wrapper-2] 1659862504.359599829 [zed2i.zed_node] [INFO]  * Spatial Mapping Enabled: FALSE
[zed_wrapper-2] 1659862504.359636951 [zed2i.zed_node] [INFO]  * Spatial Mapping resolution [m]: 0.1
[zed_wrapper-2] 1659862504.359671938 [zed2i.zed_node] [INFO]  * 3D Max Mapping range [m]: 20
[zed_wrapper-2] 1659862504.359706906 [zed2i.zed_node] [INFO]  * Map publishing rate [Hz]: 0.5
[zed_wrapper-2] 1659862504.359740801 [zed2i.zed_node] [INFO]  * Clicked point topic: /clicked_point
[zed_wrapper-2] 1659862504.359777041 [zed2i.zed_node] [INFO]  * Sensors QoS History: KEEP_LAST
[zed_wrapper-2] 1659862504.359811066 [zed2i.zed_node] [INFO]  * Sensors QoS History depth: 1
[zed_wrapper-2] 1659862504.359838018 [zed2i.zed_node] [INFO]  * Sensors QoS Reliability: RELIABLE
[zed_wrapper-2] 1659862504.359863768 [zed2i.zed_node] [INFO]  * Sensors QoS Durability: VOLATILE
[zed_wrapper-2] 1659862504.359869218 [zed2i.zed_node] [INFO] *** OBJECT DETECTION parameters ***
[zed_wrapper-2] 1659862504.359905308 [zed2i.zed_node] [INFO]  * Object Detection enabled: FALSE
[zed_wrapper-2] 1659862504.359948351 [zed2i.zed_node] [INFO]  * OD min. confidence: 50
[zed_wrapper-2] 1659862504.359987476 [zed2i.zed_node] [INFO]  * OD tracking: TRUE
[zed_wrapper-2] 1659862504.360030499 [zed2i.zed_node] [INFO]  * Object Detection model: 0 - MULTI CLASS BOX FAST
[zed_wrapper-2] 1659862504.360062210 [zed2i.zed_node] [INFO]  * Object Filtering mode: 1 - NMS 3D
[zed_wrapper-2] 1659862504.360093591 [zed2i.zed_node] [INFO]  * MultiClassBox people: TRUE
[zed_wrapper-2] 1659862504.360133407 [zed2i.zed_node] [INFO]  * MultiClassBox vehicles: TRUE
[zed_wrapper-2] 1659862504.360172503 [zed2i.zed_node] [INFO]  * MultiClassBox bags: TRUE
[zed_wrapper-2] 1659862504.360203382 [zed2i.zed_node] [INFO]  * MultiClassBox animals: TRUE
[zed_wrapper-2] 1659862504.360234703 [zed2i.zed_node] [INFO]  * MultiClassBox electronics: TRUE
[zed_wrapper-2] 1659862504.360273097 [zed2i.zed_node] [INFO]  * MultiClassBox fruits and vegetables: TRUE
[zed_wrapper-2] 1659862504.360308244 [zed2i.zed_node] [INFO]  * MultiClassBox sport-related objects: TRUE
[zed_wrapper-2] 1659862504.360350646 [zed2i.zed_node] [INFO]  * Body format: 1 - POSE_34
[zed_wrapper-2] 1659862504.360356587 [zed2i.zed_node] [INFO]  * Skeleton fitting: TRUE (forced by `object_detection.body_format`)
[zed_wrapper-2] 1659862504.360386215 [zed2i.zed_node] [INFO]  * Obj. Det. QoS History: KEEP_LAST
[zed_wrapper-2] 1659862504.360436121 [zed2i.zed_node] [INFO]  * Obj. Det. QoS History depth: 1
[zed_wrapper-2] 1659862504.360483452 [zed2i.zed_node] [INFO]  * Obj. Det. QoS Reliability: RELIABLE
[zed_wrapper-2] 1659862504.360533448 [zed2i.zed_node] [INFO]  * Obj. Det. QoS Durability: VOLATILE
[zed_wrapper-2] 1659862504.360573255 [zed2i.zed_node] [INFO] *** SERVICES ***
[zed_wrapper-2] 1659862504.360786125 [zed2i.zed_node] [INFO]  * '/zed2i/zed_node/reset_odometry'
[zed_wrapper-2] 1659862504.360912599 [zed2i.zed_node] [INFO]  * '/zed2i/zed_node/reset_pos_tracking'
[zed_wrapper-2] 1659862504.361211004 [zed2i.zed_node] [INFO]  * '/zed2i/zed_node/set_pose'
[zed_wrapper-2] 1659862504.361357386 [zed2i.zed_node] [INFO]  * '/zed2i/zed_node/enable_obj_det'
[zed_wrapper-2] 1659862504.361476625 [zed2i.zed_node] [INFO]  * '/zed2i/zed_node/enable_mapping'
[zed_wrapper-2] 1659862504.361612177 [zed2i.zed_node] [INFO]  * '/zed2i/zed_node/start_svo_rec'
[zed_wrapper-2] 1659862504.361721838 [zed2i.zed_node] [INFO]  * '/zed2i/zed_node/stop_svo_rec'
[zed_wrapper-2] 1659862504.361833523 [zed2i.zed_node] [INFO]  * '/zed2i/zed_node/toggle_svo_pause'
[zed_wrapper-2] 1659862504.361842180 [zed2i.zed_node] [INFO] ***** STARTING CAMERA *****
[zed_wrapper-2] 1659862504.361846448 [zed2i.zed_node] [INFO] SDK Version: 3.7.6 - Build 51715_565831b1
[zed_wrapper-2] 1659862504.362919335 [zed2i.zed_node] [INFO] *** CAMERA OPENING ***
[zed_wrapper-2] [ZED][INFO] Logging level INFO
[zed_wrapper-2] [ZED][INFO] [Init]  Depth mode: PERFORMANCE
[zed_wrapper-2] [ZED][INFO] [Init]  Camera successfully opened.
[zed_wrapper-2] [ZED][INFO] [Init]  Camera FW version: 1523
[zed_wrapper-2] [ZED][INFO] [Init]  Video mode: HD720@15
[zed_wrapper-2] 1659862506.337013740 [zed2i.zed_node] [INFO] ZED SDK running on GPU #0
[zed_wrapper-2] 1659862506.337079567 [zed2i.zed_node] [INFO]  * Camera Model    -> ZED 2i
[zed_wrapper-2] 1659862506.337092702 [zed2i.zed_node] [INFO]  * Serial Number   -> 37383322
[zed_wrapper-2] 1659862506.337116318 [zed2i.zed_node] [INFO]  * Input type      -> USB input type
[zed_wrapper-2] 1659862506.337129453 [zed2i.zed_node] [INFO]  * Camera FW Version -> 1523
[zed_wrapper-2] 1659862506.337140164 [zed2i.zed_node] [INFO]  * Sensors FW Version -> 777
[zed_wrapper-2] 1659862506.337192264 [zed2i.zed_node] [INFO] *** TF FRAMES ***
[zed_wrapper-2] 1659862506.337209908 [zed2i.zed_node] [INFO]  * Map                     -> map
[zed_wrapper-2] 1659862506.337219888 [zed2i.zed_node] [INFO]  * Odometry                        -> odom
[zed_wrapper-2] 1659862506.337229717 [zed2i.zed_node] [INFO]  * Base                    -> base_link
[zed_wrapper-2] 1659862506.337239065 [zed2i.zed_node] [INFO]  * Camera                  -> zed2i_camera_center
[zed_wrapper-2] 1659862506.337249344 [zed2i.zed_node] [INFO]  * Left                    -> zed2i_left_camera_frame
[zed_wrapper-2] 1659862506.337259093 [zed2i.zed_node] [INFO]  * Left Optical            -> zed2i_left_camera_optical_frame
[zed_wrapper-2] 1659862506.337268852 [zed2i.zed_node] [INFO]  * RGB                     -> zed2i_left_camera_frame
[zed_wrapper-2] 1659862506.337278551 [zed2i.zed_node] [INFO]  * RGB Optical             -> zed2i_left_camera_frame
[zed_wrapper-2] 1659862506.337288680 [zed2i.zed_node] [INFO]  * Right                   -> zed2i_right_camera_frame
[zed_wrapper-2] 1659862506.337298369 [zed2i.zed_node] [INFO]  * Right Optical           -> zed2i_right_camera_optical_frame
[zed_wrapper-2] 1659862506.337315251 [zed2i.zed_node] [INFO]  * Depth                   -> zed2i_left_camera_frame
[zed_wrapper-2] 1659862506.337324940 [zed2i.zed_node] [INFO]  * Depth Optical           -> zed2i_left_camera_optical_frame
[zed_wrapper-2] 1659862506.337334549 [zed2i.zed_node] [INFO]  * Point Cloud             -> zed2i_left_camera_optical_frame
[zed_wrapper-2] 1659862506.337343856 [zed2i.zed_node] [INFO]  * Disparity               -> zed2i_left_camera_frame
[zed_wrapper-2] 1659862506.337353315 [zed2i.zed_node] [INFO]  * Disparity Optical       -> zed2i_left_camera_optical_frame
[zed_wrapper-2] 1659862506.337362983 [zed2i.zed_node] [INFO]  * Confidence              -> zed2i_left_camera_frame
[zed_wrapper-2] 1659862506.337372371 [zed2i.zed_node] [INFO]  * Confidence Optical      -> zed2i_left_camera_optical_frame
[zed_wrapper-2] 1659862506.337382902 [zed2i.zed_node] [INFO]  * IMU                     -> zed2i_imu_link
[zed_wrapper-2] 1659862506.337394604 [zed2i.zed_node] [INFO]  * Barometer               -> zed2i_camera_center
[zed_wrapper-2] 1659862506.337406417 [zed2i.zed_node] [INFO]  * Magnetometer            -> zed2i_imu_link
[zed_wrapper-2] 1659862506.337416036 [zed2i.zed_node] [INFO]  * Left Temperature        -> zed2i_left_camera_frame
[zed_wrapper-2] 1659862506.337425474 [zed2i.zed_node] [INFO]  * Right Temperature       -> zed2i_right_camera_frame
[zed_wrapper-2] 1659862506.337435182 [zed2i.zed_node] [INFO] *** PUBLISHED TOPICS ***
[zed_wrapper-2] 1659862506.339605154 [zed2i.zed_node] [INFO] Advertised on topic: /zed2i/zed_node/rgb/image_rect_color
[zed_wrapper-2] 1659862506.339886827 [zed2i.zed_node] [INFO] Advertised on topic: /zed2i/zed_node/rgb/image_rect_gray
[zed_wrapper-2] 1659862506.339900013 [zed2i.zed_node] [INFO] Advertised on topic: /zed2i/zed_node/rgb/camera_info
[zed_wrapper-2] 1659862506.340052507 [zed2i.zed_node] [INFO] Advertised on topic: /zed2i/zed_node/rgb_raw/image_raw_color
[zed_wrapper-2] 1659862506.340210621 [zed2i.zed_node] [INFO] Advertised on topic: /zed2i/zed_node/rgb_raw/image_raw_gray
[zed_wrapper-2] 1659862506.340220420 [zed2i.zed_node] [INFO] Advertised on topic: /zed2i/zed_node/rgb_raw/camera_info
[zed_wrapper-2] 1659862506.340383925 [zed2i.zed_node] [INFO] Advertised on topic: /zed2i/zed_node/left/image_rect_color
[zed_wrapper-2] 1659862506.340539435 [zed2i.zed_node] [INFO] Advertised on topic: /zed2i/zed_node/left/image_rect_gray
[zed_wrapper-2] 1659862506.340548913 [zed2i.zed_node] [INFO] Advertised on topic: /zed2i/zed_node/left/camera_info
[zed_wrapper-2] 1659862506.340716757 [zed2i.zed_node] [INFO] Advertised on topic: /zed2i/zed_node/left_raw/image_raw_color
[zed_wrapper-2] 1659862506.340872647 [zed2i.zed_node] [INFO] Advertised on topic: /zed2i/zed_node/left_raw/image_raw_gray
[zed_wrapper-2] 1659862506.340882446 [zed2i.zed_node] [INFO] Advertised on topic: /zed2i/zed_node/left_raw/camera_info
[zed_wrapper-2] 1659862506.341037234 [zed2i.zed_node] [INFO] Advertised on topic: /zed2i/zed_node/right/image_rect_color
[zed_wrapper-2] 1659862506.341195289 [zed2i.zed_node] [INFO] Advertised on topic: /zed2i/zed_node/right/image_rect_gray
[zed_wrapper-2] 1659862506.341204457 [zed2i.zed_node] [INFO] Advertised on topic: /zed2i/zed_node/right/camera_info
[zed_wrapper-2] 1659862506.341357522 [zed2i.zed_node] [INFO] Advertised on topic: /zed2i/zed_node/right_raw/image_raw_color
[zed_wrapper-2] 1659862506.341517710 [zed2i.zed_node] [INFO] Advertised on topic: /zed2i/zed_node/right_raw/image_raw_gray
[zed_wrapper-2] 1659862506.341528000 [zed2i.zed_node] [INFO] Advertised on topic: /zed2i/zed_node/right_raw/camera_info
[zed_wrapper-2] 1659862506.341688790 [zed2i.zed_node] [INFO] Advertised on topic: /zed2i/zed_node/depth/depth_registered
[zed_wrapper-2] 1659862506.341698549 [zed2i.zed_node] [INFO] Advertised on topic: /zed2i/zed_node/depth/camera_info
[zed_wrapper-2] 1659862506.341801778 [zed2i.zed_node] [INFO] Advertised on topic: /zed2i/zed_node/depth/depth_info
[zed_wrapper-2] 1659862506.341897312 [zed2i.zed_node] [INFO] Advertised on topic: /zed2i/zed_node/stereo/image_rect_color
[zed_wrapper-2] 1659862506.341983718 [zed2i.zed_node] [INFO] Advertised on topic: /zed2i/zed_node/stereo_raw/image_raw_color
[zed_wrapper-2] 1659862506.342073712 [zed2i.zed_node] [INFO] Advertised on topic: /zed2i/zed_node/confidence/confidence_map
[zed_wrapper-2] 1659862506.342262927 [zed2i.zed_node] [INFO] Advertised on topic: /zed2i/zed_node/disparity/disparity_image
[zed_wrapper-2] 1659862506.342362719 [zed2i.zed_node] [INFO] Advertised on topic: /zed2i/zed_node/point_cloud/cloud_registered
[zed_wrapper-2] 1659862506.342520353 [zed2i.zed_node] [INFO] Advertised on topic: /zed2i/zed_node/pose
[zed_wrapper-2] 1659862506.342627780 [zed2i.zed_node] [INFO] Advertised on topic: /zed2i/zed_node/pose_with_covariance
[zed_wrapper-2] 1659862506.342835420 [zed2i.zed_node] [INFO] Advertised on topic: /zed2i/zed_node/odom
[zed_wrapper-2] 1659862506.342937998 [zed2i.zed_node] [INFO] Advertised on topic: /zed2i/zed_node/path_map
[zed_wrapper-2] 1659862506.343013954 [zed2i.zed_node] [INFO] Advertised on topic: /zed2i/zed_node/path_odom
[zed_wrapper-2] 1659862506.343122223 [zed2i.zed_node] [INFO] Advertised on topic: /zed2i/zed_node/imu/data
[zed_wrapper-2] 1659862506.343201776 [zed2i.zed_node] [INFO] Advertised on topic: /zed2i/zed_node/imu/data_raw
[zed_wrapper-2] 1659862506.343312830 [zed2i.zed_node] [INFO] Advertised on topic: /zed2i/zed_node/temperature/imu
[zed_wrapper-2] 1659862506.343426629 [zed2i.zed_node] [INFO] Advertised on topic: /zed2i/zed_node/imu/mag
[zed_wrapper-2] 1659862506.343525880 [zed2i.zed_node] [INFO] Advertised on topic: /zed2i/zed_node/atm_press
[zed_wrapper-2] 1659862506.343618459 [zed2i.zed_node] [INFO] Advertised on topic: /zed2i/zed_node/temperature/left
[zed_wrapper-2] 1659862506.343710346 [zed2i.zed_node] [INFO] Advertised on topic: /zed2i/zed_node/temperature/right
[zed_wrapper-2] 1659862506.343856738 [zed2i.zed_node] [INFO] Advertised on topic: /zed2i/zed_node/left_cam_imu_transform [LATCHED]
[zed_wrapper-2] 1659862506.343869833 [zed2i.zed_node] [INFO] Camera-IMU Translation: 
[zed_wrapper-2]  -0.002 -0.023 0.00022
[zed_wrapper-2] 1659862506.343886565 [zed2i.zed_node] [INFO] Camera-IMU Rotation: 
[zed_wrapper-2]  7FFCC15F8360
[zed_wrapper-2] 0.999982 -0.005971 -0.000686
[zed_wrapper-2] 0.005970 0.999981 -0.001383
[zed_wrapper-2] 0.000695 0.001379 0.999999
[zed_wrapper-2] 
[zed_wrapper-2] 1659862506.343917816 [zed2i.zed_node] [INFO] Published static TF: 'zed2i_imu_link' -> 'zed2i_left_camera_frame'
[zed_wrapper-2] 1659862506.344062214 [zed2i.zed_node] [INFO] Subscribed to topic /clicked_point
[zed_wrapper-2] 1659862506.407618586 [zed2i.zed_node] [INFO] *** Starting Positional Tracking ***
[zed_wrapper-2] 1659862506.407680124 [zed2i.zed_node] [INFO]  * Waiting for valid static transformations...
[zed_wrapper-2] 1659862506.407760700 [zed2i.zed_node] [INFO] Static transform Sensor to Base [zed2i_left_camera_frame -> base_link]
[zed_wrapper-2] 1659862506.407773104 [zed2i.zed_node] [INFO]  * Translation: {0.000,-0.060,-0.015}
[zed_wrapper-2] 1659862506.407788333 [zed2i.zed_node] [INFO]  * Rotation: {0.000,-0.000,0.000}
[zed_wrapper-2] 1659862506.407807600 [zed2i.zed_node] [INFO] Static transform Sensor to Camera Center [zed2i_left_camera_frame -> zed2i_camera_center]
[zed_wrapper-2] 1659862506.407816607 [zed2i.zed_node] [INFO]  * Translation: {0.000,-0.060,0.000}
[zed_wrapper-2] 1659862506.407826597 [zed2i.zed_node] [INFO]  * Rotation: {0.000,-0.000,0.000}
[zed_wrapper-2] 1659862506.407841505 [zed2i.zed_node] [INFO] Static transform Camera Center to Base [zed2i_camera_center -> base_link]
[zed_wrapper-2] 1659862506.407849831 [zed2i.zed_node] [INFO]  * Translation: {0.000,0.000,-0.015}
[zed_wrapper-2] 1659862506.407859480 [zed2i.zed_node] [INFO]  * Rotation: {0.000,-0.000,0.000}
[zed_wrapper-2] 1659862506.507952198 [zed2i.zed_node] [INFO] Initial ZED left camera pose (ZED pos. tracking): 
[zed_wrapper-2] 1659862506.507970192 [zed2i.zed_node] [INFO]  * T: [0,0.06,0.015]
[zed_wrapper-2] 1659862506.507983759 [zed2i.zed_node] [INFO]  * Q: [0,0,0,1]
[zed_wrapper-2] 1659862506.803414550 [zed2i.zed_node] [INFO] Odometry aligned to last tracking pose

hur@hur-TRX40-AORUS-PRO-WIFI:~/robot_ws$ ros2 topic echo /zed2i/zed_node/rgb/camera_info

Hello Jeong,

I see that you’re on Foxy distro and there is an important issue with the function CameraPublisher::getNumSubscribers preventing the correct counting of the number of nodes subscribing one of the topics published by an image_transport::CameraPublisher object and hence stopping the correct publishing of the subscribed topics.

A solution to this explained here: https://github.com/stereolabs/zed-ros2-wrapper#image-transport-and-topic-subscriptions please follow the same.

Warm regards,

Walter
Stereolabs Support