ZED Camera Launch (ZED2i and ZEDXOneGS) - Component degraded, and USB camera crashing every few days

Jumana · January 23, 2026, 3:33am

I am seeing the following error when launching mono/stereocameras through ROS2:

[component_container_isolated-2] [2026-01-22 22:27:48 UTC][ZED][WARNING] Frames may be corrupted or degraded
[component_container_isolated-2] [2026-01-22 22:27:48 UTC][ZED][INFO] CORRUPTED FRAME in sl::ERROR_CODE sl::grab(sl::RuntimeParameters)
[component_container_isolated-2] [WARN] [1769138868.619621462] [zed.zed_node]: Grab status degraded: CORRUPTED FRAME

I launch cameras using the ros 2 command: ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zed2i

However, when I launch in python using zed.open(), the camera opens and shows SUCCESS. There seem to be no errors in get_health_status(), ZED_Explorer, etc.

What might be causing this? Could this be due to low lighting (I noticed this at night time)? The health status low light check returns False, so it doesn’t seem to be because of this.

Myzhar · January 23, 2026, 8:08am

Hi @Jumana

This is a warning notifying you that the ZED SDK has detected bad image conditions.
You can get information about the status by subscribing to the ~/status/health topic.
You can read more about the available topics in the ROS 2 Wrapper documentation:

You can also disable this feature by setting the general.enable_image_validity_check parameter to false:

github.com/stereolabs/zed-ros2-wrapper

zed_wrapper/config/common_stereo.yaml

master


      
          
          general:
              camera_timeout_sec: 5
              camera_max_reconnect: 5
              camera_flip: false
              self_calib: true # Enable the self-calibration process at camera opening. See https://www.stereolabs.com/docs/api/structsl_1_1InitParameters.html#affeaa06cfc1d849e311e484ceb8edcc5
              serial_number: 0 # overwritten by launch file
              pub_resolution: 'CUSTOM' # The resolution used for image and depth map publishing. 'NATIVE' to use the same `general.grab_resolution` - `CUSTOM` to apply the `general.pub_downscale_factor` downscale factory to reduce bandwidth in transmission
              pub_downscale_factor: 2.0 # rescale factor used to rescale image before publishing when 'pub_resolution' is 'CUSTOM'
              pub_frame_rate: 15.0 # [DYNAMIC] Frequency of publishing of visual images and depth data (not the Point Cloud, see 'depth.point_cloud_freq'). This value must be equal or less than the camera framerate.
              enable_image_validity_check: 1 # [SDK5 required] Sets the image validity check. If set to 1, the SDK will check if the frames are valid before processing.
              gpu_id: -1
              optional_opencv_calibration_file: '' # Optional path where the ZED SDK can find a file containing the calibration information of the camera computed by OpenCV. Read the ZED SDK documentation for more information: https://www.stereolabs.com/docs/api/structsl_1_1InitParameters.html#a9eab2753374ef3baec1d31960859ba19
              async_image_retrieval: false # If set to true will camera image retrieve at a framerate different from \ref grab() application framerate. This is useful for recording SVO or sending camera stream at different rate than application.
              publish_status: true # Advertise the status topics that are published only if a node subscribes to them
              # 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
          
          video:
              saturation: 4 # [DYNAMIC]
              sharpness: 4 # [DYNAMIC]

Jumana · January 23, 2026, 4:57pm

Thanks, that’s super helpful!

I can open another discussion question for this, but I am also seeing some issues with the ZED2i camera (USB connected) when running the camera for a long time (and killing it while testing using CTRL-C).

Every few days, my jetson is unable to detect the camera (ZED_Explorer -all does not see the camera, and sl.Camera.get_device_list() does not return the camera). Note that this doesn’t seem to happen to the GMSL cameras. Is there a way to make the USB camera connection more stable so that it does not “crash” as often?

(Note that I edited the title to accomodate the two separate questions in this thread thus far )