ZED 2i Camera Rebooting on ROS 2 Jazzy

Software ROS2
1

Hey everyone,

I’m running into an issue with the ROS 2 ZED wrapper running on my ZED 2i camera and could use some advice.

Hardware Setup:

  • ZED 2i
  • 10m ZED USB3 cable (the cable is also charged with 5V)
  • GPU: Nvidia RTX PRO Blackwell 2000

Software Setup:

  • Docker using ZED SDK 5.2 with CUDA
  • ROS 2 Jazzy
  • Config: 1080@15 (downscale factor 2.0)

The Error: When the crash happens, I get the following output:

[component_container_isolated-1] [ERROR] [1773743655.101484122] [zed.zed_node]: Connection issue detected: CAMERA REBOOTING
[component_container_isolated-1] [2026-03-17 10:34:15 UTC][ZED][ERROR] [ZED] The camera could not be initialized. Please verify your camera connection and configuration.
[component_container_isolated-1] [2026-03-17 10:34:16 UTC][ZED][INFO] CAMERA REBOOTING in sl::ERROR_CODE sl::Camera::grab(sl::RuntimeParameters)

The Context:
This happens specifically when I try to display a Kuka robot model and camera images with TFs in RViz2. When I remove the robot model from RViz, the camera runs totally fine. Also, if the robot driver is already running, I cannot launch the zed_wrapper at all.

I have fully configured the DDS following the ZED ROS 2 DDS tuning instructions. I suspect it might be hitting a DDS limit or a memory limit, but based on the application, the processed data really isn’t too heavy.

Has anyone run into this before, or does anyone know what might be the exact issue in this case? Any help is appreciated!

2

Hi,

Thank you for reaching out.

Based on your setup, do you confirm you’re using one of Stereolabs official cable for 10 m: https://www.stereolabs.com/en-fr/store/products/usb-3-0-type-c-dual-screw-locking-cable ?

Best

Stereolabs Support

3

Yes the cable is the 10m one from the link you shared, there are two micro-usb sockets are being connected during the operation.

4

Hi,

Also, if the robot driver is already running, I cannot launch the zed_wrapper at all.

What is the error you’re getting that prevents you to run the zed wrapper for it ?

Stereolabs Support

5

Hello sorry for the late reply, here is the error code I copied from the terminal.

component_container_isolated-1] [INFO] [1774429854.475802789] [zed.zed_node]: === CAMERA OPENING ===
[component_container_isolated-1] [2026-03-25 09:10:54 UTC][ZED][INFO] Logging level INFO
[component_container_isolated-1] [2026-03-25 09:10:56 UTC][ZED][ERROR] [ZED] The camera could not be initialized. Please verify your camera connection and configuration.
[component_container_isolated-1] [2026-03-25 09:10:56 UTC][ZED][INFO] [Init]  Failed to open camera. Trying to re-open for 5 seconds.
[component_container_isolated-1] [2026-03-25 09:10:56 UTC][ZED][INFO] [Init]  Random wait interval before consecutive openings: [250], [1500] msec.
[component_container_isolated-1] [2026-03-25 09:10:56 UTC][ZED][INFO] [Init]  Waiting 643 msec before next opening attempt.
[component_container_isolated-1] [2026-03-25 09:10:56 UTC][ZED][INFO] [Init]  Timeout in 3807msec
[component_container_isolated-1] [2026-03-25 09:10:56 UTC][ZED][INFO] [Init]  Opening Camera. Attempt #2
[component_container_isolated-1] [2026-03-25 09:10:57 UTC][ZED][ERROR] [ZED] The camera could not be initialized. Please verify your camera connection and configuration.
[component_container_isolated-1] [2026-03-25 09:10:57 UTC][ZED][INFO] [Init]  Waiting 515 msec before next opening attempt.
[component_container_isolated-1] [2026-03-25 09:10:57 UTC][ZED][INFO] [Init]  Trying to force a device reboot to recover the video module.
[component_container_isolated-1] [2026-03-25 09:11:00 UTC][ZED][INFO] [Init]  Timeout in 117msec
[component_container_isolated-1] [2026-03-25 09:11:00 UTC][ZED][INFO] [Init]  Opening Camera. Attempt #3
[component_container_isolated-1] [2026-03-25 09:11:01 UTC][ZED][ERROR] [ZED] The camera could not be initialized. Please verify your camera connection and configuration.
[component_container_isolated-1] [2026-03-25 09:11:02 UTC][ZED][INFO] [Init]  Waiting 1299 msec before next opening attempt.
[component_container_isolated-1] [2026-03-25 09:11:03 UTC][ZED][INFO] [Init]  Trying to force a device reboot to recover the video module.
[component_container_isolated-1] [2026-03-25 09:11:06 UTC][ZED][INFO] [Init]  Camera opening timeout reached.
[component_container_isolated-1] [2026-03-25 09:11:06 UTC][ZED][ERROR] CAMERA FAILED TO SETUP in sl::ERROR_CODE sl::Camera::open(sl::InitParameters)
[component_container_isolated-1] [WARN] [1774429866.512056924] [zed.zed_node]: Error opening camera: CAMERA FAILED TO SETUP
[component_container_isolated-1] [INFO] [1774429866.512094399] [zed.zed_node]: Please verify the camera connection
6

Hi @HuanyuL
This looks like a connection issue.

  • Are you using the original USB 3 cable?
  • Are the screws strongly strengthened?
  • Are you using a cable extender or a USB 3 Hub?
  • What’s the host device?

Please run the ZED Diagnostic tool and port the content of the report that it generates.

7

Hello, thanks for the reply

Please find the report attached.

ZED_Diagnostic_Results.json (8.9 KB)

8

In this case, I recommend you ingest an additional 5V@1A power using the micro-USB ports of the cables.

This is a common requirement when using USB cables longer than 5m, mostly with Laptops and NVIDIA Jetson devices, which do not provide enough current via the USB port to drain less power.

1 Like
9

Furthermore, please read this support page, because it looks like the laptop is not correctly enabling the GPU when using the ZED SDK:

"glx_info": "OpenGL vendor string: Mesa\nOpenGL renderer string: llvmpipe (LLVM 20.1.2, 256 bits)\nOpenGL core profile version string: 4.5 (Core Profile) Mesa 25.2.8-0ubuntu0.24.04.1\nOpenGL core profile shading language version string: 4.50\nOpenGL core profile context flags: (none)\nOpenGL core profile profile mask: core profile\nOpenGL core profile extensions:\nOpenGL version string: 4.5 (Compatibility Profile) Mesa 25.2.8-0ubuntu0.24.04.1\nOpenGL shading language version string: 4.50\nOpenGL context flags: (none)\nOpenGL profile mask: compatibility profile\nOpenGL extensions:\nOpenGL ES profile version string: OpenGL ES 3.2 Mesa 25.2.8-0ubuntu0.24.04.1\nOpenGL ES profile shading language version string: OpenGL ES GLSL ES 3.20\nOpenGL ES profile extensions:\n",
        "initResult": 0,
10

It is an OpenGL issue, I solved it by sudo prime-select nvidia. Thank you for the help!