Hello,
I’m attempting to use ZED Global Sensor Fusion and running into a couple of issues . My setup:
Camera: ZED2i
SDK: 5.1
Platform: NVIDIA Jetson Orin AGX
Middleware: ROS 2 Humble
GNSS: u-blox ZED-F9P with RTK module
Even though the cov matrix of the my gps topic is varying I get this error(I know its a warning but it seems like i cannot get the calibration finished most of the times with RTK and when i finished the calibration the pose/filtered message is not visible on rviz)
[component_container_isolated-5] [ERROR] [1778175497.079648915] [zed.zed_node]: Ingest error occurred when ingesting GNSSData: GNSS DATA COVARIANCE MUST VARY
Issue 1 — Stuck at CALIBRATION IN PROGRESS
When running GNSS fusion with low GPS covariance (still within normal RTK range), the pipeline stalls at CALIBRATION IN PROGRESS and never publishes pose/filtered, even with rolling_calibration set to true. Applying a covariance multiplier silenced the warning but did not resolve the underlying problem — calibration still never completes.
Issue 2 — Linear drift between map and odom
In cases where fusion does succeed (with higher GPS covariance), we observe linear drift between the map and odom frames that seems significantly larger than what would be expected under normal conditions.
I’ve attached SVO files’ drive links reproducing the no-pose-published case to this thread.
Any guidance on recommended troubleshooting steps would be greatly appreciated. Thank you.
Here is the following .svo2 files stored in GoogleDrive link : SVOs - Google Drive
Desktop.svo2
pose_try.svo2
pose_mulpt_10000try.svo2 : we tried with 10000 multiplier of covarince to get rid of the warning lower amounts didnt’t eliminated the error
to_toolboxrecording.svo2 : We tried calibration for several minutes here driving around the park still didn’t finished