Zed 2i not publishing the velocity data

vansh_agg · February 3, 2026, 8:01am

zed2i.yaml (693 Bytes)
header:
stamp:
sec: 1770104615
nanosec: 380638615
frame_id: odom
child_frame_id: zed_camera_link
pose:
pose:
position:
x: -0.21116447220015264
y: 0.2756751338133583
z: 0.3774300286145883
orientation:
x: 0.1206639194160625
y: 0.00393248904305681
z: -0.6727817077901739
w: 0.7299243301493771
covariance:

0.0002587928611319512
0.0003076879074797034
0.00017830466094892472
3.0106954000075348e-05
3.55171027877077e-06
-2.4153887352440506e-05
0.00030768787837587297
0.00047410145634785295
0.00023707323998678476
5.720048284274526e-05
1.549251828691922e-05
-5.326819155015983e-05
0.00017830466094892472
0.00023707322543486953
0.00020885991398245096
-2.119955388479866e-05
2.9009353966102935e-05
-3.005843063874636e-05
3.0106961276032962e-05
5.720050830859691e-05
-2.119954842783045e-05
0.00014051416656002402
-8.356043508683797e-06
9.67349114944227e-06
3.55171027877077e-06
1.549251828691922e-05
2.9009353966102935e-05
-8.356043508683797e-06
4.440368138602935e-05
-4.530255864665378e-06
-2.415388917142991e-05
-5.326818791218102e-05
-3.0058432457735762e-05
9.673492968431674e-06
-4.530255864665378e-06
3.458910941844806e-05
twist:
twist:
linear:
x: 0.0
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 0.0
covariance:
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0

i am getting zero in twist this data is publish in the odom

header:
stamp:
sec: 1770104611
nanosec: 268348712
frame_id: zed_imu_link
orientation:
x: -0.01348922960460186
y: 0.0021631927229464054
z: 0.20903176069259644
w: 0.9778134822845459
orientation_covariance:

4.697670315311133e-10
-1.4593050279120565e-10
-1.815937808372106e-11
-1.4593050279120565e-10
1.1456371630379254e-09
2.0639436394296066e-10
-1.815938457703226e-11
2.063943812584572e-10
4.818789443113371e-10
angular_velocity:
x: -0.0032456054328723256
y: 0.006412906645461441
z: 0.00316635038083002
angular_velocity_covariance:
2.386132011609351e-06
0.0
0.0
0.0
3.509856489689868e-06
0.0
0.0
0.0
1.8189412318770935e-06
linear_acceleration:
x: -0.08035736531019211
y: -0.2506994903087616
z: 9.713690757751465
linear_acceleration_covariance:
6.123617640696466e-05
0.0
0.0
0.0
6.18927733739838e-05
0.0
0.0
0.0
0.000177095178514719

this is my imu data
please help me to fix the problem why i am not getting the velocity data

Myzhar · February 3, 2026, 9:38am

Velocity information is only available with GEN_3 positional tracking mode.

vansh_agg · February 3, 2026, 9:47am

thank you for your response

but please check in the zed2i.yaml file i already using GEN_3 mode

Myzhar · February 3, 2026, 10:10am

This setting is in common_stereo.yaml:

github.com/stereolabs/zed-ros2-wrapper

zed_wrapper/config/common_stereo.yaml

master


      
              publish_depth_map: true # Advertise the depth map topics that are published only if a node subscribes to them
              publish_depth_info: false # Advertise the depth info topic that is published only if a node subscribes to it
              publish_point_cloud: true # Advertise the point cloud topic that is published only if a node subscribes to it
              publish_depth_confidence: false # Advertise the depth confidence topic that is published only if a node subscribes to it
              publish_disparity: false # Advertise the disparity topic that is published only if a node subscribes to it
              # Other parameters are defined, according to the camera model, in the 'zed.yaml', 'zedm.yaml', 'zed2.yaml', 'zed2i.yaml'
              # 'zedx.yaml', 'zedxmini.yaml', 'virtual.yaml' files
          
          pos_tracking:
              pos_tracking_enabled: true # True to enable positional tracking from start
              pos_tracking_mode: 'GEN_2' # Matches the ZED SDK setting: 'GEN_1', 'GEN_2', 'GEN_3'
              imu_fusion: true # enable/disable IMU fusion. When set to false, only the optical odometry will be used.
              publish_tf: true # [overwritten by launch file options] publish `odom -> camera_link` TF
              publish_map_tf: true # [overwritten by launch file options] publish `map -> odom` TF
              map_frame: 'map'
              odometry_frame: 'odom'
              area_memory: true # Enable to detect loop closure
              area_file_path: '' # Path to the area memory file for relocalization and loop closure in a previously explored environment. 
              enable_localization_only: false # If true, the camera will only localize in the loaded area memory without updating the map with new information.
              save_area_memory_on_closing: false # Save Area memory before closing the camera if `area_file_path` is not empty. You can also use the `save_area_memory` service to save the area memory at any time.
              reset_odom_with_loop_closure: true # Re-initialize odometry to the last valid pose when loop closure happens (reset camera odometry drift)