I am trying to stream simulated camera output form IsaacSIM in IsaacROS. I am using this tutorial, and I am able to successfully see the simulation times, but the camera output will not display:
Using ZED with ROS 2 and Isaac™ Sim - Stereolabs . I am using IsaacSIM 5.1 built from source and ZED SDK 5.2.2. I created the action graph and I was able to use the code in this example to see point cloud output, but I have not been able to successfully stream the camera output in IsaacSIM, ZED_Explorer, or ZED_Depth_Viewer.
When running IsaacSIM and hitting playback tick, I see the following output in the terminal window:
[Port: 30000] Constructed annotator for stereo camera.
2026-03-24T03:33:58Z [542,452ms] [Warning] [sl.sensor.camera.plugin] Initializing streamer with ID 0 on port 30000
YUV encoding enabled, overriding RGB/BGR.
[Streaming] Use Transport layer mode : 1
[Streaming] Use SHM-Boost IPC backend
When I try to start the camera in ROS with command given, I see the following output:
Command:
ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zedx sim_mode:=true use_sim_time:=true
Output:
[INFO] [launch]: All log files can be found below /home/admin/.ros/log/2026-03-23-23-48-34-882180-birdsim-16590
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [launch.user]: Using common configuration file: /workspaces/isaac_ros-dev/install/zed_wrapper/share/zed_wrapper/config/common_stereo.yaml
[INFO] [launch.user]: Using camera configuration file: /workspaces/isaac_ros-dev/install/zed_wrapper/share/zed_wrapper/config/zedx.yaml
[INFO] [launch.user]: Using Object Detection configuration file: /workspaces/isaac_ros-dev/install/zed_wrapper/share/zed_wrapper/config/object_detection.yaml
[INFO] [launch.user]: Using Custom Object Detection configuration file: /workspaces/isaac_ros-dev/install/zed_wrapper/share/zed_wrapper/config/custom_object_detection.yaml
[INFO] [launch.user]: Loading ZED node `zed_node` in container `/zed/zed_container`
[INFO] [robot_state_publisher-1]: process started with pid [16604]
[INFO] [component_container_isolated-2]: process started with pid [16606]
[robot_state_publisher-1] [INFO] [1774324115.487406614] [zed.zed_state_publisher]: got segment zed_camera_center
[robot_state_publisher-1] [INFO] [1774324115.487625136] [zed.zed_state_publisher]: got segment zed_camera_link
[robot_state_publisher-1] [INFO] [1774324115.487628764] [zed.zed_state_publisher]: got segment zed_left_camera_frame
[robot_state_publisher-1] [INFO] [1774324115.487633489] [zed.zed_state_publisher]: got segment zed_left_camera_frame_optical
[robot_state_publisher-1] [INFO] [1774324115.487699897] [zed.zed_state_publisher]: got segment zed_right_camera_frame
[robot_state_publisher-1] [INFO] [1774324115.487701665] [zed.zed_state_publisher]: got segment zed_right_camera_frame_optical
[component_container_isolated-2] [INFO] [1774324115.648043058] [zed.zed_container]: Load Library: /workspaces/isaac_ros-dev/install/zed_components/lib/libzed_camera_component.so
[component_container_isolated-2] [INFO] [1774324115.673141546] [zed.zed_container]: Found class: rclcpp_components::NodeFactoryTemplate<stereolabs::ZedCamera>
[component_container_isolated-2] [INFO] [1774324115.673200646] [zed.zed_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<stereolabs::ZedCamera>
[component_container_isolated-2] [INFO] [1774324115.863333265] [zed.zed_node]: ================================
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/zed/zed_node' in container '/zed/zed_container'
[component_container_isolated-2] [INFO] [1774324115.863361119] [zed.zed_node]: ZED Camera Component
[component_container_isolated-2] [INFO] [1774324115.863363681] [zed.zed_node]: ================================
[component_container_isolated-2] [INFO] [1774324115.863365399] [zed.zed_node]: * IPC: enabled
[component_container_isolated-2] [INFO] [1774324115.913552377] [zed.zed_node]: * namespace: /zed
[component_container_isolated-2] [INFO] [1774324115.913616763] [zed.zed_node]: * node name: zed_node
[component_container_isolated-2] [INFO] [1774324115.913619466] [zed.zed_node]: ================================
[component_container_isolated-2] [INFO] [1774324115.913624235] [zed.zed_node]: Starting node initialization...
[component_container_isolated-2] [INFO] [1774324115.913646066] [zed.zed_node]: === DEBUG parameters ===
[component_container_isolated-2] [INFO] [1774324115.913754247] [zed.zed_node]: * SDK Verbose: 1
[component_container_isolated-2] [INFO] [1774324115.913780075] [zed.zed_node]: * Use Pub Timestamps: FALSE
[component_container_isolated-2] [INFO] [1774324115.913792610] [zed.zed_node]: * SDK Verbose File:
[component_container_isolated-2] [INFO] [1774324115.913800281] [zed.zed_node]: * Debug Common: FALSE
[component_container_isolated-2] [INFO] [1774324115.913812059] [zed.zed_node]: * Debug Grab (low level): FALSE
[component_container_isolated-2] [INFO] [1774324115.913820168] [zed.zed_node]: * Debug Simulation: FALSE
[component_container_isolated-2] [INFO] [1774324115.913827937] [zed.zed_node]: * Debug Video/Depth: FALSE
[component_container_isolated-2] [INFO] [1774324115.913836430] [zed.zed_node]: * Debug Control settings: FALSE
[component_container_isolated-2] [INFO] [1774324115.913843529] [zed.zed_node]: * Debug Point Cloud: FALSE
[component_container_isolated-2] [INFO] [1774324115.913850141] [zed.zed_node]: * Debug TF: FALSE
[component_container_isolated-2] [INFO] [1774324115.913856159] [zed.zed_node]: * Debug Positional Tracking: FALSE
[component_container_isolated-2] [INFO] [1774324115.913862289] [zed.zed_node]: * Debug GNSS: FALSE
[component_container_isolated-2] [INFO] [1774324115.913874479] [zed.zed_node]: * Debug sensors: FALSE
[component_container_isolated-2] [INFO] [1774324115.913880873] [zed.zed_node]: * Debug Mapping: FALSE
[component_container_isolated-2] [INFO] [1774324115.913886966] [zed.zed_node]: * Debug Object Detection: FALSE
[component_container_isolated-2] [INFO] [1774324115.913893786] [zed.zed_node]: * Debug Body Tracking: FALSE
[component_container_isolated-2] [INFO] [1774324115.913901056] [zed.zed_node]: * Debug Streaming: FALSE
[component_container_isolated-2] [INFO] [1774324115.913914873] [zed.zed_node]: * Debug ROI: FALSE
[component_container_isolated-2] [INFO] [1774324115.913920880] [zed.zed_node]: * Debug Nitros: FALSE
[component_container_isolated-2] [INFO] [1774324115.913927045] [zed.zed_node]: * Debug Advanced: FALSE
[component_container_isolated-2] [INFO] [1774324115.913942829] [zed.zed_node]: === TOPIC selection parameters ===
[component_container_isolated-2] [INFO] [1774324115.913950782] [zed.zed_node]: * Publish Status: TRUE
[component_container_isolated-2] [INFO] [1774324115.913959318] [zed.zed_node]: * Image format: BGRA 32-bit
[component_container_isolated-2] [INFO] [1774324115.913967284] [zed.zed_node]: * Publish Left/Right images: FALSE
[component_container_isolated-2] [INFO] [1774324115.913978105] [zed.zed_node]: * Publish Raw images: FALSE
[component_container_isolated-2] [INFO] [1774324115.913984191] [zed.zed_node]: * Publish Gray images: FALSE
[component_container_isolated-2] [INFO] [1774324115.913990861] [zed.zed_node]: * Publish RGB image: TRUE
[component_container_isolated-2] [INFO] [1774324115.913996974] [zed.zed_node]: * Publish Stereo image: FALSE
[component_container_isolated-2] [INFO] [1774324115.914005002] [zed.zed_node]: * Publish ROI Mask image: FALSE
[component_container_isolated-2] [INFO] [1774324115.914012493] [zed.zed_node]: * Publish Depth Map: TRUE
[component_container_isolated-2] [INFO] [1774324115.914018558] [zed.zed_node]: * Publish Depth Info: FALSE
[component_container_isolated-2] [INFO] [1774324115.914024709] [zed.zed_node]: * Publish Point Cloud: TRUE
[component_container_isolated-2] [INFO] [1774324115.914031954] [zed.zed_node]: * Publish Depth Confidence: FALSE
[component_container_isolated-2] [INFO] [1774324115.914038077] [zed.zed_node]: * Publish Disparity: FALSE
[component_container_isolated-2] [INFO] [1774324115.914045733] [zed.zed_node]: * Publish IMU: TRUE
[component_container_isolated-2] [INFO] [1774324115.914051560] [zed.zed_node]: * Publish IMU Raw: FALSE
[component_container_isolated-2] [INFO] [1774324115.914058755] [zed.zed_node]: * Publish LeftCam/IMU Transf.: FALSE
[component_container_isolated-2] [INFO] [1774324115.914065211] [zed.zed_node]: * Publish Magnetometer: FALSE
[component_container_isolated-2] [INFO] [1774324115.914071290] [zed.zed_node]: * Publish Barometer: FALSE
[component_container_isolated-2] [INFO] [1774324115.914077473] [zed.zed_node]: * Publish Temperature: FALSE
[component_container_isolated-2] [INFO] [1774324115.914085538] [zed.zed_node]: * Publish Odometry/Pose: TRUE
[component_container_isolated-2] [INFO] [1774324115.914091618] [zed.zed_node]: * Publish Pose with Covariance: FALSE
[component_container_isolated-2] [INFO] [1774324115.914132989] [zed.zed_node]: * Publish Camera Path: FALSE
[component_container_isolated-2] [INFO] [1774324115.914140955] [zed.zed_node]: * Publish Detection Plane: FALSE
[component_container_isolated-2] [INFO] [1774324115.914150980] [zed.zed_node]: === SIMULATION MODE ACTIVE ===
[component_container_isolated-2] [INFO] [1774324115.914160529] [zed.zed_node]: * Sim. server address: 127.0.0.1
[component_container_isolated-2] [INFO] [1774324115.914170199] [zed.zed_node]: * Sim. server port: 30000
[component_container_isolated-2] [INFO] [1774324115.914172377] [zed.zed_node]: * Use Sim Time: TRUE
[component_container_isolated-2] [INFO] [1774324115.914175718] [zed.zed_node]: === SVO INPUT parameters ===
[component_container_isolated-2] [INFO] [1774324115.914185197] [zed.zed_node]: * SVO input: DISABLED
[component_container_isolated-2] [INFO] [1774324115.914188234] [zed.zed_node]: === LOCAL STREAMING parameters ===
[component_container_isolated-2] [INFO] [1774324115.914196622] [zed.zed_node]: * Local stream input: DISABLED
[component_container_isolated-2] [INFO] [1774324115.914198529] [zed.zed_node]: === GENERAL parameters ===
[component_container_isolated-2] [INFO] [1774324115.914216880] [zed.zed_node]: + Simulating a ZED X camera model.
[component_container_isolated-2] [INFO] [1774324115.914219728] [zed.zed_node]: * Camera model: zedx - ZED X
[component_container_isolated-2] [INFO] [1774324115.914226826] [zed.zed_node]: * Camera name: zed
[component_container_isolated-2] [INFO] [1774324115.914234642] [zed.zed_node]: * Camera SN: 0
[component_container_isolated-2] [INFO] [1774324115.914243982] [zed.zed_node]: * Camera ID: -1
[component_container_isolated-2] [INFO] [1774324115.914253713] [zed.zed_node]: * Camera timeout [sec]: 5
[component_container_isolated-2] [INFO] [1774324115.914264519] [zed.zed_node]: * Camera reconnection temptatives: 5
[component_container_isolated-2] [INFO] [1774324115.914266737] [zed.zed_node]: * [Simulation mode] Camera framerate forced to 60 Hz
[component_container_isolated-2] [INFO] [1774324115.914276618] [zed.zed_node]: * GPU ID: -1
[component_container_isolated-2] [INFO] [1774324115.914285615] [zed.zed_node]: * Asynchronous image retrieval: FALSE
[component_container_isolated-2] [INFO] [1774324115.914293558] [zed.zed_node]: * Image Validity Check: 1
[component_container_isolated-2] [INFO] [1774324115.914295610] [zed.zed_node]: * [Simulation mode] Camera resolution forced to 'HD1080'
[component_container_isolated-2] [INFO] [1774324115.914310615] [zed.zed_node]: * Publishing resolution: CUSTOM
[component_container_isolated-2] [INFO] [1774324115.914333069] [zed.zed_node]: * Publishing downscale factor: 2
[component_container_isolated-2] [INFO] [1774324115.914342660] [zed.zed_node]: * OpenCV custom calibration:
[component_container_isolated-2] [INFO] [1774324115.914349606] [zed.zed_node]: * Camera self calibration: TRUE
[component_container_isolated-2] [INFO] [1774324115.914357187] [zed.zed_node]: * Camera flip: FALSE
[component_container_isolated-2] [INFO] [1774324115.914359024] [zed.zed_node]: * [Simulation mode] Publish framerate forced to 60 Hz
[component_container_isolated-2] [INFO] [1774324115.914368200] [zed.zed_node]: * Publish framerate [Hz]: 15 [DYNAMIC]
[component_container_isolated-2] [INFO] [1774324115.914377697] [zed.zed_node]: * Grab Compute Capping FPS: 0
[component_container_isolated-2] [INFO] [1774324115.914384416] [zed.zed_node]: === DEPTH parameters ===
[component_container_isolated-2] [INFO] [1774324115.914410103] [zed.zed_node]: * Depth mode: NEURAL LIGHT [4]
[component_container_isolated-2] [INFO] [1774324115.914419013] [zed.zed_node]: * Min depth [m]: 0.01
[component_container_isolated-2] [INFO] [1774324115.914426766] [zed.zed_node]: * Max depth [m]: 15
[component_container_isolated-2] [INFO] [1774324115.914434735] [zed.zed_node]: * Depth Stabilization: 30
[component_container_isolated-2] [INFO] [1774324115.914436902] [zed.zed_node]: * OpenNI mode (16bit depth): DISABLED with NITROS
[component_container_isolated-2] [INFO] [1774324115.914444539] [zed.zed_node]: * Point cloud rate [Hz]: 10
[component_container_isolated-2] [INFO] [1774324115.914452180] [zed.zed_node]: * Point cloud resolution: COMPACT
[component_container_isolated-2] [INFO] [1774324115.914461376] [zed.zed_node]: * Depth Confidence: 95 [DYNAMIC]
[component_container_isolated-2] [INFO] [1774324115.914468100] [zed.zed_node]: * Depth Texture Confidence: 100 [DYNAMIC]
[component_container_isolated-2] [INFO] [1774324115.914474935] [zed.zed_node]: * Remove saturated areas: TRUE [DYNAMIC]
[component_container_isolated-2] [INFO] [1774324115.914480707] [zed.zed_node]: === POSITIONAL TRACKING parameters ===
[component_container_isolated-2] [INFO] [1774324115.914488525] [zed.zed_node]: * Map frame id: map
[component_container_isolated-2] [INFO] [1774324115.914495747] [zed.zed_node]: * Odometry frame id: odom
[component_container_isolated-2] [INFO] [1774324115.914503464] [zed.zed_node]: * Positional tracking enabled: TRUE
[component_container_isolated-2] [INFO] [1774324115.914515109] [zed.zed_node]: * Positional tracking mode: GEN 1
[component_container_isolated-2] [INFO] [1774324115.914521633] [zed.zed_node]: * Broadcast Odometry TF: TRUE
[component_container_isolated-2] [INFO] [1774324115.914528343] [zed.zed_node]: * Broadcast Pose TF: TRUE
[component_container_isolated-2] [INFO] [1774324115.914539930] [zed.zed_node]: * Depth minimum range: 0
[component_container_isolated-2] [INFO] [1774324115.914550149] [zed.zed_node]: * TF timestamp offset: 0 [DYNAMIC]
[component_container_isolated-2] [INFO] [1774324115.914560539] [zed.zed_node]: * Path publishing rate: 2 [DYNAMIC]
[component_container_isolated-2] [INFO] [1774324115.914574665] [zed.zed_node]: * Path history lenght: -1
[component_container_isolated-2] [INFO] [1774324115.914586099] [zed.zed_node]: * Initial pose: [0,0,0,0,0,0,]
[component_container_isolated-2] [INFO] [1774324115.914594081] [zed.zed_node]: * Area Memory: TRUE
[component_container_isolated-2] [INFO] [1774324115.914600625] [zed.zed_node]: * Area Memory File:
[component_container_isolated-2] [INFO] [1774324115.914607593] [zed.zed_node]: * Enable Localization Only: FALSE
[component_container_isolated-2] [INFO] [1774324115.914615331] [zed.zed_node]: * Save Area Memory on closing: FALSE
[component_container_isolated-2] [INFO] [1774324115.914621766] [zed.zed_node]: * Camera is static: FALSE
[component_container_isolated-2] [INFO] [1774324115.914628047] [zed.zed_node]: * Gravity as origin: TRUE
[component_container_isolated-2] [INFO] [1774324115.914635479] [zed.zed_node]: * IMU Fusion: TRUE
[component_container_isolated-2] [INFO] [1774324115.914643574] [zed.zed_node]: * Floor Alignment: FALSE
[component_container_isolated-2] [INFO] [1774324115.914649792] [zed.zed_node]: * Reset Odometry with Loop Closure: TRUE
[component_container_isolated-2] [INFO] [1774324115.914656335] [zed.zed_node]: * Publish 3D Landmarks: FALSE
[component_container_isolated-2] [INFO] [1774324115.914665657] [zed.zed_node]: * Publish Landmark Skip Frame:
[component_container_isolated-2] [INFO] [1774324115.914672874] [zed.zed_node]: * 2D mode: FALSE
[component_container_isolated-2] [INFO] [1774324115.914679364] [zed.zed_node]: * Reset pose with SVO loop: TRUE
[component_container_isolated-2] [INFO] [1774324115.914682127] [zed.zed_node]: === GNSS FUSION parameters ===
[component_container_isolated-2] [INFO] [1774324115.914695763] [zed.zed_node]: * GNSS fusion enabled: FALSE
[component_container_isolated-2] [INFO] [1774324115.914699271] [zed.zed_node]: === REGION OF INTEREST parameters ===
[component_container_isolated-2] [INFO] [1774324115.914722388] [zed.zed_node]: * Automatic ROI generation: FALSE
[component_container_isolated-2] [INFO] [1774324115.914738765] [zed.zed_node]: * Manual ROI polygon: []
[component_container_isolated-2] [INFO] [1774324115.914742929] [zed.zed_node]: === SENSORS STACK parameters ===
[component_container_isolated-2] [INFO] [1774324115.914753499] [zed.zed_node]: * Broadcast IMU TF [not for ZED]: FALSE
[component_container_isolated-2] [INFO] [1774324115.914765098] [zed.zed_node]: * Sensors Camera Sync: FALSE
[component_container_isolated-2] [INFO] [1774324115.914774733] [zed.zed_node]: * Sensors publishing rate [Hz]: 100 [DYNAMIC]
[component_container_isolated-2] [INFO] [1774324115.914777250] [zed.zed_node]: === Spatial Mapping parameters ===
[component_container_isolated-2] [INFO] [1774324115.914784574] [zed.zed_node]: * Spatial Mapping Enabled: FALSE
[component_container_isolated-2] [INFO] [1774324115.914793182] [zed.zed_node]: * Spatial Mapping resolution [m]: 0.05
[component_container_isolated-2] [INFO] [1774324115.914803710] [zed.zed_node]: * 3D Max Mapping range [m]: 5
[component_container_isolated-2] [INFO] [1774324115.914816842] [zed.zed_node]: * Map publishing rate [Hz]: 1 [DYNAMIC]
[component_container_isolated-2] [INFO] [1774324115.914824378] [zed.zed_node]: * Clicked point topic: /clicked_point
[component_container_isolated-2] [INFO] [1774324115.914834299] [zed.zed_node]: * Plane Det. Max Dist. Thresh.: 0.15
[component_container_isolated-2] [INFO] [1774324115.914842792] [zed.zed_node]: * Plane Det. Normals Sim. Thresh.: 15
[component_container_isolated-2] [INFO] [1774324115.914850715] [zed.zed_node]: === OBJECT DETECTION parameters ===
[component_container_isolated-2] [INFO] [1774324115.914859754] [zed.zed_node]: * Object Det. enabled: FALSE
[component_container_isolated-2] [INFO] [1774324115.914867617] [zed.zed_node]: * Object Det. allow reduced precision: FALSE
[component_container_isolated-2] [INFO] [1774324115.914881882] [zed.zed_node]: * Object Det. maximum range [m]: 20
[component_container_isolated-2] [INFO] [1774324115.914891558] [zed.zed_node]: * Object Det. prediction timeout [sec]: 2
[component_container_isolated-2] [INFO] [1774324115.914900735] [zed.zed_node]: * Object Det. tracking: TRUE
[component_container_isolated-2] [INFO] [1774324115.914922184] [zed.zed_node]: * Object Filtering mode: NMS3D
[component_container_isolated-2] [INFO] [1774324115.914936067] [zed.zed_node]: * Object Det. model: MULTI CLASS BOX FAST
[component_container_isolated-2] [INFO] [1774324115.914944828] [zed.zed_node]: * MultiClassBox people: TRUE [DYNAMIC]
[component_container_isolated-2] [INFO] [1774324115.914952484] [zed.zed_node]: * MultiClassBox vehicles: TRUE [DYNAMIC]
[component_container_isolated-2] [INFO] [1774324115.914966903] [zed.zed_node]: * MultiClassBox bags: TRUE [DYNAMIC]
[component_container_isolated-2] [INFO] [1774324115.914974743] [zed.zed_node]: * MultiClassBox animals: TRUE [DYNAMIC]
[component_container_isolated-2] [INFO] [1774324115.914982597] [zed.zed_node]: * MultiClassBox electronics: TRUE [DYNAMIC]
[component_container_isolated-2] [INFO] [1774324115.914994598] [zed.zed_node]: * MultiClassBox fruits and vegetables: TRUE [DYNAMIC]
[component_container_isolated-2] [INFO] [1774324115.915004101] [zed.zed_node]: * MultiClassBox sport-related objects: TRUE [DYNAMIC]
[component_container_isolated-2] [INFO] [1774324115.915014851] [zed.zed_node]: * MultiClassBox people confidence: 65 [DYNAMIC]
[component_container_isolated-2] [INFO] [1774324115.915023361] [zed.zed_node]: * MultiClassBox vehicles confidence: 60 [DYNAMIC]
[component_container_isolated-2] [INFO] [1774324115.915031676] [zed.zed_node]: * MultiClassBox bags confidence: 40 [DYNAMIC]
[component_container_isolated-2] [INFO] [1774324115.915043525] [zed.zed_node]: * MultiClassBox animals confidence: 40 [DYNAMIC]
[component_container_isolated-2] [INFO] [1774324115.915052585] [zed.zed_node]: * MultiClassBox electronics confidence: 45 [DYNAMIC]
[component_container_isolated-2] [INFO] [1774324115.915061843] [zed.zed_node]: * MultiClassBox fruits and vegetables confidence: 50 [DYNAMIC]
[component_container_isolated-2] [INFO] [1774324115.915073391] [zed.zed_node]: * MultiClassBox sport-related objects confidence: 30 [DYNAMIC]
[component_container_isolated-2] [INFO] [1774324115.915076622] [zed.zed_node]: === Body Track. parameters ===
[component_container_isolated-2] [INFO] [1774324115.915086219] [zed.zed_node]: * Body Track. enabled: FALSE
[component_container_isolated-2] [INFO] [1774324115.915100319] [zed.zed_node]: * Body Track. model: HUMAN BODY MEDIUM
[component_container_isolated-2] [INFO] [1774324115.915113330] [zed.zed_node]: * Body Track. format: BODY 38
[component_container_isolated-2] [INFO] [1774324115.915126073] [zed.zed_node]: * Body Track. allow reduced precision: FALSE
[component_container_isolated-2] [INFO] [1774324115.915140639] [zed.zed_node]: * Body Track. maximum range [m]: 15
[component_container_isolated-2] [INFO] [1774324115.915150139] [zed.zed_node]: * Body Track. KP selection: FULL
[component_container_isolated-2] [INFO] [1774324115.915162369] [zed.zed_node]: * Body fitting: FALSE
[component_container_isolated-2] [INFO] [1774324115.915171663] [zed.zed_node]: * Body joints tracking: TRUE
[component_container_isolated-2] [INFO] [1774324115.915182778] [zed.zed_node]: * Body Track. prediction timeout [sec]: 0.5
[component_container_isolated-2] [INFO] [1774324115.915192961] [zed.zed_node]: * Body Track. confidence thresh.: 50 [DYNAMIC]
[component_container_isolated-2] [INFO] [1774324115.915204346] [zed.zed_node]: * Body Track. min. KP thresh.: 5 [DYNAMIC]
[component_container_isolated-2] [INFO] [1774324115.915208117] [zed.zed_node]: === STREAMING SERVER parameters ===
[component_container_isolated-2] [INFO] [1774324115.915219575] [zed.zed_node]: * Streaming Server enabled: FALSE
[component_container_isolated-2] [INFO] [1774324115.915231708] [zed.zed_node]: * Stream codec: H265
[component_container_isolated-2] [INFO] [1774324115.915245362] [zed.zed_node]: * Stream port: 30000
[component_container_isolated-2] [INFO] [1774324115.915258070] [zed.zed_node]: * Stream bitrate: 12500
[component_container_isolated-2] [INFO] [1774324115.915271275] [zed.zed_node]: * Stream GOP size: -1
[component_container_isolated-2] [INFO] [1774324115.915281506] [zed.zed_node]: * Stream Chunk size: 16084
[component_container_isolated-2] [INFO] [1774324115.915291144] [zed.zed_node]: * Adaptive bitrate: FALSE
[component_container_isolated-2] [INFO] [1774324115.915300977] [zed.zed_node]: * Target frame rate:0
[component_container_isolated-2] [INFO] [1774324115.915304076] [zed.zed_node]: === ADVANCED parameters ===
[component_container_isolated-2] [INFO] [1774324115.915312864] [zed.zed_node]: * Change thread priority: FALSE
[component_container_isolated-2] [INFO] [1774324115.915352400] [zed.zed_node]: === SERVICES ===
[component_container_isolated-2] [INFO] [1774324115.915802493] [zed.zed_node]: * Advertised on service: '/zed/zed_node/reset_odometry'
[component_container_isolated-2] [INFO] [1774324115.915899471] [zed.zed_node]: * Advertised on service: '/zed/zed_node/reset_pos_tracking'
[component_container_isolated-2] [INFO] [1774324115.916228917] [zed.zed_node]: * Advertised on service: '/zed/zed_node/set_pose'
[component_container_isolated-2] [INFO] [1774324115.916331335] [zed.zed_node]: * Advertised on service: '/zed/zed_node/save_area_memory'
[component_container_isolated-2] [INFO] [1774324115.916574981] [zed.zed_node]: * Advertised on service: '/zed/zed_node/enable_obj_det'
[component_container_isolated-2] [INFO] [1774324115.916653378] [zed.zed_node]: * Advertised on service: '/zed/zed_node/enable_body_trk'
[component_container_isolated-2] [INFO] [1774324115.916722772] [zed.zed_node]: * Advertised on service: '/zed/zed_node/enable_mapping'
[component_container_isolated-2] [INFO] [1774324115.916790951] [zed.zed_node]: * Advertised on service: '/zed/zed_node/enable_streaming'
[component_container_isolated-2] [INFO] [1774324115.916875121] [zed.zed_node]: * Advertised on service: '/zed/zed_node/start_svo_rec'
[component_container_isolated-2] [INFO] [1774324115.916948828] [zed.zed_node]: * Advertised on service: '/zed/zed_node/stop_svo_rec'
[component_container_isolated-2] [INFO] [1774324115.917036408] [zed.zed_node]: * Advertised on service: '/zed/zed_node/set_roi'
[component_container_isolated-2] [INFO] [1774324115.917109864] [zed.zed_node]: * Advertised on service: '/zed/zed_node/reset_roi'
[component_container_isolated-2] [INFO] [1774324115.917114320] [zed.zed_node]: === STARTING CAMERA ===
[component_container_isolated-2] [INFO] [1774324115.917189800] [zed.zed_node]: ZED SDK Version: 5.2.2 - Build 112191_b688a59b_2988558
[component_container_isolated-2] [INFO] [1774324115.919616866] [zed.zed_node]: === CONNECTING TO THE SIMULATION SERVER [127.0.0.1:30000] ===
[component_container_isolated-2] [2026-03-23 23:48:36 UTC][ZED][INFO] Logging level INFO
[component_container_isolated-2] [ZED][Streaming] Switching to SHM-boost backend input
[component_container_isolated-2] [Streaming] Warning : receiving port 30000 is not available (already used)... switching to port 30002. Retrying...
[component_container_isolated-2] [Streaming] Backward compatibility required.
[component_container_isolated-2] [2026-03-23 23:48:36 UTC][ZED][INFO] [Init] Serial Number: S/N 45626933
[component_container_isolated-2] [2026-03-23 23:48:36 UTC][ZED][WARNING] Simulated ZED camera used ZED X
[component_container_isolated-2] [2026-03-23 23:48:36 UTC][ZED][WARNING] [Init] Invalid calibration file format. On Linux, run export LC_ALL="C" and restart your application.
[component_container_isolated-2] [2026-03-23 23:48:36 UTC][ZED][WARNING] Self Calibration Disabled.
[component_container_isolated-2] [2026-03-23 23:48:36 UTC][ZED][INFO] [Init] Depth mode selected: NEURAL LIGHT. Ensure this mode matches your application's performance and accuracy requirements. See https://www.stereolabs.com/docs/depth-sensing/depth-modes for help.
[component_container_isolated-2] [INFO] [1774324116.820807063] [zed.zed_node]: * ZED SDK running on GPU #0
[component_container_isolated-2] [INFO] [1774324116.820860085] [zed.zed_node]: * Camera Model -> ZED X
[component_container_isolated-2] [INFO] [1774324116.820870225] [zed.zed_node]: * Serial Number -> 45626933
[component_container_isolated-2] [INFO] [1774324116.820919848] [zed.zed_node]: * Focal Length -> 2.2248 mm
[component_container_isolated-2] [INFO] [1774324116.820950805] [zed.zed_node]: * Input -> STREAM
[component_container_isolated-2] [INFO] [1774324116.820957299] [zed.zed_node]: * Camera FW Version -> 1523
[component_container_isolated-2] [INFO] [1774324116.820960332] [zed.zed_node]: * Sensors FW Version -> 0
[component_container_isolated-2] [INFO] [1774324116.820964116] [zed.zed_node]: * Camera grab size -> 1920x1200
[component_container_isolated-2] [INFO] [1774324116.820968318] [zed.zed_node]: * Color/Depth publishing size -> 960x600
[component_container_isolated-2] [INFO] [1774324116.820970703] [zed.zed_node]: * Point Cloud publishing size -> 448x256
[component_container_isolated-2] [INFO] [1774324116.820979299] [zed.zed_node]: === TF FRAMES ===
[component_container_isolated-2] [INFO] [1774324116.820982660] [zed.zed_node]: * Map -> map
[component_container_isolated-2] [INFO] [1774324116.820985023] [zed.zed_node]: * Odometry -> odom
[component_container_isolated-2] [INFO] [1774324116.820987183] [zed.zed_node]: * Base -> zed_camera_link
[component_container_isolated-2] [INFO] [1774324116.820989377] [zed.zed_node]: * Camera -> zed_camera_center
[component_container_isolated-2] [INFO] [1774324116.820991220] [zed.zed_node]: * Left -> zed_left_camera_frame
[component_container_isolated-2] [INFO] [1774324116.820993325] [zed.zed_node]: * Left Optical -> zed_left_camera_frame_optical
[component_container_isolated-2] [INFO] [1774324116.820995405] [zed.zed_node]: * Right -> zed_right_camera_frame
[component_container_isolated-2] [INFO] [1774324116.820997373] [zed.zed_node]: * Right Optical -> zed_right_camera_frame_optical
[component_container_isolated-2] [INFO] [1774324116.820999362] [zed.zed_node]: * Depth -> zed_left_camera_frame
[component_container_isolated-2] [INFO] [1774324116.821001212] [zed.zed_node]: * Depth Optical -> zed_left_camera_frame_optical
[component_container_isolated-2] [INFO] [1774324116.821003085] [zed.zed_node]: * Point Cloud -> zed_left_camera_frame
[component_container_isolated-2] [INFO] [1774324116.821005060] [zed.zed_node]: * IMU -> zed_imu_link
[component_container_isolated-2] [INFO] [1774324116.821023533] [zed.zed_node]: === PUBLISHED TOPICS ===
[component_container_isolated-2] [INFO] [1774324116.821723191] [zed.zed_node]: * Advertised on topic: /zed/zed_node/status/health
[component_container_isolated-2] [INFO] [1774324116.821908051] [zed.zed_node]: * Advertised on topic: /zed/zed_node/status/heartbeat
[component_container_isolated-2] [INFO] [1774324116.823572265] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/std/libgxf_std.so
[component_container_isolated-2] [INFO] [1774324116.824265950] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_gxf_helpers.so
[component_container_isolated-2] [INFO] [1774324116.825616257] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_sight.so
[component_container_isolated-2] [INFO] [1774324116.827035507] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_atlas.so
[component_container_isolated-2] 2026-03-23 23:48:36.831 WARN external/com_nvidia_gxf/gxf/std/program.cpp@538: No GXF scheduler specified.
[component_container_isolated-2] [INFO] [1774324116.831406052] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/multimedia/libgxf_multimedia.so
[component_container_isolated-2] terminate called after throwing an instance of 'std::invalid_argument'
[component_container_isolated-2] what(): intraprocess communication allowed only with volatile durability
[ERROR] [component_container_isolated-2]: process has died [pid 16606, exit code -6, cmd '/opt/ros/humble/lib/rclcpp_components/component_container_isolated --use_multi_threaded_executor --ros-args --log-level info --ros-args -r __node:=zed_container -r __ns:=/zed'].
It appears to open, but then the process dies. I cannot set enable_ipc:=False because ipc is required for simulation.
I get similar output using rviz2, with image shown
ros2 launch zed_display_rviz2 display_zed_cam.launch.py camera_model:=zedx sim_mode:=true use_sim_time:=true
The images are also completely empty, as shown in rviz:
What can I do to prevent the process from exiting while trying to see the camera stream?