ZED 2i ROS Wrapper doesnt find camera

Dear Community

My Installation with the SDK works fine. When starting ZED_Explorer and ZED_Depth_Viewer I am able to get the sensor data of the camera.

But when I start the ZED ROS Wrapper it is somehow not able to connect with the ZED 2i camera and gets stucked when opening the camera. How can I further debug?

florian@florian-Surface-Book-3:~/catkin_ws$ roslaunch zed_wrapper zed2i.launch
WARNING: Package name "pose_est_3D_ros_pkg" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes.
... logging to /home/florian/.ros/log/ebb0b5de-a059-11ec-acb8-e3342f664c9b/roslaunch-florian-Surface-Book-3-5162.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

WARNING: Package name "pose_est_3D_ros_pkg" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes.
started roslaunch server http://florian-Surface-Book-3:39215/

SUMMARY
========

PARAMETERS
 * /rosdistro: noetic
 * /rosversion: 1.15.14
 * /zed2i/zed2i_description: <?xml version="1....
 * /zed2i/zed_node/auto_exposure_gain: True
 * /zed2i/zed_node/auto_whitebalance: True
 * /zed2i/zed_node/brightness: 4
 * /zed2i/zed_node/contrast: 4
 * /zed2i/zed_node/depth/depth_downsample_factor: 1.0
 * /zed2i/zed_node/depth/depth_stabilization: 1
 * /zed2i/zed_node/depth/max_depth: 20.0
 * /zed2i/zed_node/depth/min_depth: 0.3
 * /zed2i/zed_node/depth/openni_depth_mode: False
 * /zed2i/zed_node/depth/quality: 4
 * /zed2i/zed_node/depth/sensing_mode: 0
 * /zed2i/zed_node/depth_confidence: 30
 * /zed2i/zed_node/depth_texture_conf: 100
 * /zed2i/zed_node/exposure: 100
 * /zed2i/zed_node/gain: 100
 * /zed2i/zed_node/gamma: 8
 * /zed2i/zed_node/general/base_frame: base_link
 * /zed2i/zed_node/general/camera_flip: False
 * /zed2i/zed_node/general/camera_model: zed2i
 * /zed2i/zed_node/general/camera_name: zed2i
 * /zed2i/zed_node/general/gpu_id: -1
 * /zed2i/zed_node/general/grab_frame_rate: 15
 * /zed2i/zed_node/general/resolution: 2
 * /zed2i/zed_node/general/self_calib: True
 * /zed2i/zed_node/general/serial_number: 0
 * /zed2i/zed_node/general/svo_compression: 2
 * /zed2i/zed_node/general/verbose: False
 * /zed2i/zed_node/general/zed_id: 0
 * /zed2i/zed_node/hue: 0
 * /zed2i/zed_node/mapping/fused_pointcloud_freq: 1.0
 * /zed2i/zed_node/mapping/mapping_enabled: False
 * /zed2i/zed_node/mapping/max_mapping_range: -1
 * /zed2i/zed_node/mapping/resolution: 0.05
 * /zed2i/zed_node/object_detection/body_fitting: False
 * /zed2i/zed_node/object_detection/confidence_threshold: 50
 * /zed2i/zed_node/object_detection/max_range: 15.0
 * /zed2i/zed_node/object_detection/mc_animal: True
 * /zed2i/zed_node/object_detection/mc_bag: True
 * /zed2i/zed_node/object_detection/mc_electronics: True
 * /zed2i/zed_node/object_detection/mc_fruit_vegetable: True
 * /zed2i/zed_node/object_detection/mc_people: True
 * /zed2i/zed_node/object_detection/mc_sport: True
 * /zed2i/zed_node/object_detection/mc_vehicle: True
 * /zed2i/zed_node/object_detection/model: 1
 * /zed2i/zed_node/object_detection/object_tracking_enabled: True
 * /zed2i/zed_node/object_detection/od_enabled: False
 * /zed2i/zed_node/point_cloud_freq: 10.0
 * /zed2i/zed_node/pos_tracking/area_memory: True
 * /zed2i/zed_node/pos_tracking/area_memory_db_path: zed_area_memory.area
 * /zed2i/zed_node/pos_tracking/fixed_z_value: 0.0
 * /zed2i/zed_node/pos_tracking/floor_alignment: False
 * /zed2i/zed_node/pos_tracking/imu_fusion: True
 * /zed2i/zed_node/pos_tracking/init_odom_with_first_valid_pose: True
 * /zed2i/zed_node/pos_tracking/initial_base_pose: [0.0, 0.0, 0.0, 0...
 * /zed2i/zed_node/pos_tracking/map_frame: map
 * /zed2i/zed_node/pos_tracking/odometry_frame: odom
 * /zed2i/zed_node/pos_tracking/path_max_count: -1
 * /zed2i/zed_node/pos_tracking/path_pub_rate: 2.0
 * /zed2i/zed_node/pos_tracking/pos_tracking_enabled: True
 * /zed2i/zed_node/pos_tracking/publish_map_tf: True
 * /zed2i/zed_node/pos_tracking/publish_tf: True
 * /zed2i/zed_node/pos_tracking/save_area_memory_db_on_exit: False
 * /zed2i/zed_node/pos_tracking/two_d_mode: False
 * /zed2i/zed_node/pub_frame_rate: 15.0
 * /zed2i/zed_node/saturation: 4
 * /zed2i/zed_node/sensors/publish_imu_tf: True
 * /zed2i/zed_node/sensors/sensors_timestamp_sync: False
 * /zed2i/zed_node/sharpness: 4
 * /zed2i/zed_node/stream: 
 * /zed2i/zed_node/svo_file: 
 * /zed2i/zed_node/video/extrinsic_in_camera_frame: True
 * /zed2i/zed_node/video/img_downsample_factor: 1.0
 * /zed2i/zed_node/whitebalance_temperature: 42

NODES
  /zed2i/
    zed2i_state_publisher (robot_state_publisher/robot_state_publisher)
    zed_node (zed_wrapper/zed_wrapper_node)

auto-starting new master
process[master]: started with pid [5186]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to ebb0b5de-a059-11ec-acb8-e3342f664c9b
WARNING: Package name "pose_est_3D_ros_pkg" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes.
process[rosout-1]: started with pid [5203]
started core service [/rosout]
process[zed2i/zed2i_state_publisher-2]: started with pid [5210]
process[zed2i/zed_node-3]: started with pid [5211]
[ INFO] [1646906861.695112071]: Initializing nodelet with 8 worker threads.
[ INFO] [1646906861.707855278]: ********** Starting nodelet '/zed2i/zed_node' **********
[ INFO] [1646906861.707917539]: SDK version : 3.7.0
[ INFO] [1646906861.707947089]: *** GENERAL PARAMETERS ***
[ INFO] [1646906861.708158936]:  * Camera Name			-> zed2i
[ INFO] [1646906861.708362053]:  * Camera Resolution		-> HD720
[ INFO] [1646906861.708631100]:  * Camera Grab Framerate	-> 15
[ INFO] [1646906861.708848295]:  * Gpu ID			-> -1
[ INFO] [1646906861.709014988]:  * Camera ID			-> -1
[ INFO] [1646906861.709175930]:  * Verbose			-> DISABLED
[ INFO] [1646906861.709623108]:  * Camera Flip			-> DISABLED
[ INFO] [1646906861.709922504]:  * Self calibration		-> ENABLED
[ INFO] [1646906861.710224131]:  * Camera Model by param	-> zed2i
[ INFO] [1646906861.710246236]: *** VIDEO PARAMETERS ***
[ INFO] [1646906861.710433518]:  * Image resample factor	-> 1
[ INFO] [1646906861.710591995]:  * Extrinsic param. frame	-> X RIGHT - Y DOWN - Z FWD
[ INFO] [1646906861.710604747]: *** DEPTH PARAMETERS ***
[ INFO] [1646906861.710766427]:  * Depth quality		-> NEURAL
[ INFO] [1646906861.710924873]:  * Depth Sensing mode		-> STANDARD
[ INFO] [1646906861.711080976]:  * OpenNI mode			-> DISABLED
[ INFO] [1646906861.711236698]:  * Depth Stabilization		-> ENABLED
[ INFO] [1646906861.711398848]:  * Minimum depth		-> 0.3 m
[ INFO] [1646906861.712012131]:  * Maximum depth		-> 20 m
[ INFO] [1646906861.712261783]:  * Depth resample factor	-> 1
[ INFO] [1646906861.712279769]: *** POSITIONAL TRACKING PARAMETERS ***
[ INFO] [1646906861.712629870]:  * Positional tracking		-> ENABLED
[ INFO] [1646906861.712814260]:  * Path rate			-> 2 Hz
[ INFO] [1646906861.712995899]:  * Path history size		-> 1
[ INFO] [1646906861.713492511]:  * Odometry DB path		-> /home/florian/.ros/zed_area_memory.area
[ INFO] [1646906861.713892248]:  * Save Area Memory on closing	-> DISABLED
[ INFO] [1646906861.714215241]:  * Area Memory			-> ENABLED
[ INFO] [1646906861.714512272]:  * IMU Fusion			-> ENABLED
[ INFO] [1646906861.714868438]:  * Floor alignment		-> DISABLED
[ INFO] [1646906861.715181048]:  * Init Odometry with first valid pose data -> ENABLED
[ INFO] [1646906861.715503104]:  * Two D mode			-> DISABLED
[ INFO] [1646906861.715802672]: *** MAPPING PARAMETERS ***
[ INFO] [1646906861.716098976]:  * Mapping			-> DISABLED
[ INFO] [1646906861.716112874]: *** OBJECT DETECTION PARAMETERS ***
[ INFO] [1646906861.716418862]:  * Object Detection		-> DISABLED
[ INFO] [1646906861.716434280]: *** SENSORS PARAMETERS ***
[ INFO] [1646906861.716595639]:  * Sensors timestamp sync	-> DISABLED
[ INFO] [1646906861.716605165]: *** SVO PARAMETERS ***
[ INFO] [1646906861.716891567]:  * SVO input file: 		-> 
[ INFO] [1646906861.717053347]:  * SVO REC compression		-> H265 (HEVC)
[ INFO] [1646906861.717374625]: *** COORDINATE FRAMES ***
[ INFO] [1646906861.718221515]:  * map_frame			-> map
[ INFO] [1646906861.718232657]:  * odometry_frame		-> odom
[ INFO] [1646906861.718240738]:  * base_frame			-> base_link
[ INFO] [1646906861.718248053]:  * camera_frame			-> zed2i_camera_center
[ INFO] [1646906861.718255645]:  * imu_link			-> zed2i_imu_link
[ INFO] [1646906861.718263285]:  * left_camera_frame		-> zed2i_left_camera_frame
[ INFO] [1646906861.718276933]:  * left_camera_optical_frame	-> zed2i_left_camera_optical_frame
[ INFO] [1646906861.718287401]:  * right_camera_frame		-> zed2i_right_camera_frame
[ INFO] [1646906861.718295711]:  * right_camera_optical_frame	-> zed2i_right_camera_optical_frame
[ INFO] [1646906861.718303066]:  * depth_frame			-> zed2i_left_camera_frame
[ INFO] [1646906861.718310563]:  * depth_optical_frame		-> zed2i_left_camera_optical_frame
[ INFO] [1646906861.718317737]:  * disparity_frame		-> zed2i_left_camera_frame
[ INFO] [1646906861.718325406]:  * disparity_optical_frame	-> zed2i_left_camera_optical_frame
[ INFO] [1646906861.718332237]:  * confidence_frame		-> zed2i_left_camera_frame
[ INFO] [1646906861.718339733]:  * confidence_optical_frame	-> zed2i_left_camera_optical_frame
[ INFO] [1646906861.718635513]:  * Broadcast odometry TF	-> ENABLED
[ INFO] [1646906861.718923565]:  * Broadcast map pose TF	-> ENABLED
[ INFO] [1646906861.719222983]:  * Broadcast IMU pose TF	-> ENABLED
[ INFO] [1646906861.719234582]: *** DYNAMIC PARAMETERS (Init. values) ***
[ INFO] [1646906861.719392601]:  * [DYN] Depth confidence	-> 30
[ INFO] [1646906861.719546555]:  * [DYN] Depth texture conf.	-> 100
[ INFO] [1646906861.719709164]:  * [DYN] pub_frame_rate		-> 15 Hz
[ INFO] [1646906861.719868421]:  * [DYN] point_cloud_freq	-> 10 Hz
[ INFO] [1646906861.720023759]:  * [DYN] brightness		-> 4
[ INFO] [1646906861.720178701]:  * [DYN] contrast		-> 4
[ INFO] [1646906861.720334151]:  * [DYN] hue			-> 0
[ INFO] [1646906861.720489938]:  * [DYN] saturation		-> 4
[ INFO] [1646906861.720645550]:  * [DYN] sharpness		-> 4
[ INFO] [1646906861.720800713]:  * [DYN] gamma			-> 8
[ INFO] [1646906861.720955315]:  * [DYN] auto_exposure_gain	-> ENABLED
[ INFO] [1646906861.721391476]:  * [DYN] auto_whitebalance	-> ENABLED
[ INFO] [1646906861.723868391]:  * Camera coordinate system	-> Right HANDED Z UP and X FORWARD
[ INFO] [1646906861.723910936]:  *** Opening ZED 2i...
 |^C[zed2i/zed_node-3] killing on exit
[zed2i/zed2i_state_publisher-2] killing on exit
\^|^/^-^\^|^/^-^\^\[zed2i/zed_node-3] escalating to SIGTERM
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

Ok, it seems to work. But I needed to wait around 5 - 10min until it found the camera successfully. Is there a way to debug, why it took so long?

Thanks and Regards,
Florian