Hi,
I launch the zed_camera.launch.py using an SVO recording as follows
ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zedxm svo_path:=test.svo2 container_name:=gripper_right_container namespace:=onboard_sensors camera_name:=gripper_right
I have set the following params inside common_stereo.yaml
svo:
use_svo_timestamps: false # Use the SVO timestamps to publish data. If false, data will be published at the system time.
svo_loop: true # 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
When I let the SVO finish playing the first time, it displays
[component_container_isolated-1] [2025-04-29 19:01:32 UTC][ZED][WARNING] END OF SVO FILE REACHED in sl::ERROR_CODE sl::Camera::grab(sl::RuntimeParameters)
[component_container_isolated-1] [WARN] [1745953292.307827293] [onboard_sensors.gripper_right]: SVO reached the end and it has been restarted from frame #0
[component_container_isolated-1] [WARN] [1745953292.313101506] [onboard_sensors.gripper_right]: * Camera pose reset to initial conditions.
However when I subscribe to the topic /onboard_sensors/gripper_right/point_cloud/cloud_registered and /onboard_sensors/gripper_right/rgb/image_rect_color inside Rviz, I do not see the point cloud ever. The topic /onboard_sensors/gripper_right/rgb/image_rect_color shows up properly for the very first time when the recording is playing, but as soon as it hits the end of the recording and loops back, it stops showing me the the images right from frame #0. I can see even the rate at which the data is published for point cloud drops after the restart of the SVO and for the images, I see that no data is published at the restart of the SVO. Here are the logs for the same
ros2 topic hz /onboard_sensors/gripper_right/point_cloud/cloud_registered
average rate: 29.042
min: 0.030s max: 0.069s std dev: 0.00687s window: 30
average rate: 29.481
min: 0.030s max: 0.069s std dev: 0.00516s window: 60
average rate: 29.634
min: 0.030s max: 0.069s std dev: 0.00440s window: 91
average rate: 29.712
min: 0.030s max: 0.069s std dev: 0.00400s window: 122
average rate: 29.756
min: 0.028s max: 0.069s std dev: 0.00377s window: 153
average rate: 29.634
min: 0.028s max: 0.069s std dev: 0.00431s window: 183
average rate: 8.181
min: 0.028s max: 17.027s std dev: 1.22321s window: 192
average rate: 4.720
min: 0.028s max: 17.419s std dev: 1.74084s window: 193
average rate: 3.310
min: 0.028s max: 17.730s std dev: 2.14212s window: 194
average rate: 2.544
min: 0.028s max: 18.019s std dev: 2.48327s window: 195
average rate: 2.066
min: 0.028s max: 18.239s std dev: 2.78419s window: 196
average rate: 1.738
min: 0.028s max: 18.482s std dev: 3.05749s window: 197
average rate: 1.498
min: 0.028s max: 18.816s std dev: 3.31254s window: 198
average rate: 1.316
min: 0.028s max: 19.082s std dev: 3.55150s window: 199
I can confirm that this issue exists only when playing back the SVO recording and doesn’t happen when subscribing to the live stream of the cameras. i.e I can visualize the point cloud in Rviz when I launch camera this way
ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zedxm stream_address:=192.168.10.40 stream_port:=20000 container_name:=gripper_right_container namespace:=onboard_sensors camera_name:=gripper_right