Hello,
I’m running an Ubuntu 22.04 docker with CUDA 11.8 on Jetson Orin, CYCLONE DDS
I’ve installed ZED SDK and ZED ROS2 wrapper, everything works fine except one thing: whenever I try to subscribe to any compressed color topic, the node crashes. it does work with gray though.
I did install all the necessary image transport and compressed packages:
# dpkg -al | grep image-transport
ii ros-humble-compressed-depth-image-transport 2.5.2-1jammy.20240820.163103 arm64 Compressed_depth_image_transport provides a plugin to image_transport for transparently sending depth images (raw, floating-point) using PNG compression.
ii ros-humble-compressed-image-transport 2.5.2-1jammy.20240820.163118 arm64 Compressed_image_transport provides a plugin to image_transport for transparently sending images encoded as JPEG or PNG.
ii ros-humble-image-transport 3.1.9-1jammy.20240820.161232 arm64 image_transport should always be used to subscribe to and publish images.
ii ros-humble-image-transport-plugins 2.5.2-1jammy.20240820.173314 arm64 A set of plugins for publishing and subscribing to sensor_msgs/Image topics in representations other than raw pixel data.
ii ros-humble-theora-image-transport 2.5.2-1jammy.20240820.163221 arm64 Theora_image_transport provides a plugin to image_transport for transparently sending an image stream encoded with the Theora codec.
# dpkg -al | grep compressed
ii ros-humble-compressed-depth-image-transport 2.5.2-1jammy.20240820.163103 arm64 Compressed_depth_image_transport provides a plugin to image_transport for transparently sending depth images (raw, floating-point) using PNG compression.
ii ros-humble-compressed-image-transport 2.5.2-1jammy.20240820.163118 arm64 Compressed_image_transport provides a plugin to image_transport for transparently sending images encoded as JPEG or PNG.
ii ros-humble-point-cloud-transport 1.0.18-1jammy.20240820.161232 arm64 Support for transporting PointCloud2 messages in compressed format and plugin interface for implementing additional PointCloud2 transports.
Here is the output of launching the zed_wrapper node:
ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zed2i
[INFO] [launch]: All log files can be found below /root/.ros/log/2024-09-20-08-12-35-306082-tegra-ubuntu-6452
[INFO] [launch]: Default logging verbosity is set to INFO
[WARNING] [launch_ros.actions.node]: Parameter file path is not a file: .
[INFO] [robot_state_publisher-1]: process started with pid [6454]
[INFO] [zed_wrapper-2]: process started with pid [6456]
[robot_state_publisher-1] [INFO] [1726819955.661630929] [zed.zed_state_publisher]: got segment zed_camera_center
[robot_state_publisher-1] [INFO] [1726819955.661791478] [zed.zed_state_publisher]: got segment zed_camera_link
[robot_state_publisher-1] [INFO] [1726819955.661811734] [zed.zed_state_publisher]: got segment zed_left_camera_frame
[robot_state_publisher-1] [INFO] [1726819955.661823799] [zed.zed_state_publisher]: got segment zed_left_camera_optical_frame
[robot_state_publisher-1] [INFO] [1726819955.661833463] [zed.zed_state_publisher]: got segment zed_right_camera_frame
[robot_state_publisher-1] [INFO] [1726819955.661842391] [zed.zed_state_publisher]: got segment zed_right_camera_optical_frame
[zed_wrapper-2] nvbuf_utils: Could not get EGL display connection
[zed_wrapper-2] nvbufsurftransform: Could not get EGL display connection
[zed_wrapper-2] [INFO] [1726819955.734895704] [zed.zed_node]: ********************************
[zed_wrapper-2] [INFO] [1726819955.735079357] [zed.zed_node]: ZED Camera Component
[zed_wrapper-2] [INFO] [1726819955.735100542] [zed.zed_node]: ********************************
[zed_wrapper-2] [INFO] [1726819955.735113887] [zed.zed_node]: * namespace: /zed
[zed_wrapper-2] [INFO] [1726819955.735127103] [zed.zed_node]: * node name: zed_node
[zed_wrapper-2] [INFO] [1726819955.735137439] [zed.zed_node]: ********************************
[zed_wrapper-2] [INFO] [1726819955.735164448] [zed.zed_node]: *** DEBUG parameters ***
[zed_wrapper-2] [INFO] [1726819955.735225730] [zed.zed_node]: * SDK Verbose: 0
[zed_wrapper-2] [INFO] [1726819955.735266947] [zed.zed_node]: * Debug Common: FALSE
[zed_wrapper-2] [INFO] [1726819955.735291812] [zed.zed_node]: * Debug Simulation: FALSE
[zed_wrapper-2] [INFO] [1726819955.735322117] [zed.zed_node]: * Debug Video/Depth: FALSE
[zed_wrapper-2] [INFO] [1726819955.735343526] [zed.zed_node]: * Debug Control settings: FALSE
[zed_wrapper-2] [INFO] [1726819955.735362822] [zed.zed_node]: * Debug Point Cloud: FALSE
[zed_wrapper-2] [INFO] [1726819955.735382279] [zed.zed_node]: * Debug GNSS: FALSE
[zed_wrapper-2] [INFO] [1726819955.735405832] [zed.zed_node]: * Debug Positional Tracking: FALSE
[zed_wrapper-2] [INFO] [1726819955.735426760] [zed.zed_node]: * Debug sensors: FALSE
[zed_wrapper-2] [INFO] [1726819955.735469449] [zed.zed_node]: * Debug Mapping: FALSE
[zed_wrapper-2] [INFO] [1726819955.735587437] [zed.zed_node]: * Debug Object Detection: FALSE
[zed_wrapper-2] [INFO] [1726819955.735780755] [zed.zed_node]: * Debug Body Tracking: FALSE
[zed_wrapper-2] [INFO] [1726819955.735877686] [zed.zed_node]: * Debug Advanced: FALSE
[zed_wrapper-2] [INFO] [1726819955.735966649] [zed.zed_node]: *** GENERAL parameters ***
[zed_wrapper-2] [INFO] [1726819955.736058492] [zed.zed_node]: * SVO: ''
[zed_wrapper-2] [INFO] [1726819955.736156479] [zed.zed_node]: * Camera model: zed2i - ZED 2i
[zed_wrapper-2] [INFO] [1726819955.736280770] [zed.zed_node]: * Camera name: zed
[zed_wrapper-2] [INFO] [1726819955.736375301] [zed.zed_node]: * Camera SN: 0
[zed_wrapper-2] [INFO] [1726819955.736442727] [zed.zed_node]: * Camera timeout [sec]: 5
[zed_wrapper-2] [INFO] [1726819955.736563371] [zed.zed_node]: * Camera reconnection temptatives: 5
[zed_wrapper-2] [INFO] [1726819955.736651950] [zed.zed_node]: * Camera framerate: 30
[zed_wrapper-2] [INFO] [1726819955.736729040] [zed.zed_node]: * GPU ID: -1
[zed_wrapper-2] [INFO] [1726819955.736808211] [zed.zed_node]: * Camera resolution: HD720
[zed_wrapper-2] [INFO] [1726819955.736884981] [zed.zed_node]: * Publishing resolution: CUSTOM
[zed_wrapper-2] [INFO] [1726819955.737241152] [zed.zed_node]: * Publishing downscale factor: 2
[zed_wrapper-2] [INFO] [1726819955.737320226] [zed.zed_node]: * OpenCV custom calibration:
[zed_wrapper-2] [INFO] [1726819955.737411013] [zed.zed_node]: * Region of interest: []
[zed_wrapper-2] [INFO] [1726819955.737481383] [zed.zed_node]: * Camera self calibration: TRUE
[zed_wrapper-2] [INFO] [1726819955.737543881] [zed.zed_node]: * Camera flip: FALSE
[zed_wrapper-2] [INFO] [1726819955.737617963] [zed.zed_node]: * [DYN] Publish framerate [Hz]: 15
[zed_wrapper-2] [INFO] [1726819955.737642732] [zed.zed_node]: *** VIDEO parameters ***
[zed_wrapper-2] [INFO] [1726819955.737704846] [zed.zed_node]: * [DYN] Brightness: 4
[zed_wrapper-2] [INFO] [1726819955.737774928] [zed.zed_node]: * [DYN] Contrast: 4
[zed_wrapper-2] [INFO] [1726819955.737836914] [zed.zed_node]: * [DYN] Hue: 0
[zed_wrapper-2] [INFO] [1726819955.737897876] [zed.zed_node]: * [DYN] Saturation: 4
[zed_wrapper-2] [INFO] [1726819955.737964982] [zed.zed_node]: * [DYN] Sharpness: 4
[zed_wrapper-2] [INFO] [1726819955.738025944] [zed.zed_node]: * [DYN] Gamma: 8
[zed_wrapper-2] [INFO] [1726819955.738088922] [zed.zed_node]: * [DYN] Auto Exposure/Gain: TRUE
[zed_wrapper-2] [INFO] [1726819955.738147900] [zed.zed_node]: * [DYN] Exposure: 80
[zed_wrapper-2] [INFO] [1726819955.738210366] [zed.zed_node]: * [DYN] Gain: 80
[zed_wrapper-2] [INFO] [1726819955.738272575] [zed.zed_node]: * [DYN] Auto White Balance: TRUE
[zed_wrapper-2] [INFO] [1726819955.738353698] [zed.zed_node]: * [DYN] White Balance Temperature: 42
[zed_wrapper-2] [INFO] [1726819955.738422212] [zed.zed_node]: * Video QoS History: KEEP_LAST
[zed_wrapper-2] [INFO] [1726819955.738489446] [zed.zed_node]: * Video QoS History depth: 1
[zed_wrapper-2] [INFO] [1726819955.738552936] [zed.zed_node]: * Video QoS Reliability: RELIABLE
[zed_wrapper-2] [INFO] [1726819955.738615114] [zed.zed_node]: * Video QoS Durability: VOLATILE
[zed_wrapper-2] [INFO] [1726819955.738637387] [zed.zed_node]: *** DEPTH parameters ***
[zed_wrapper-2] [INFO] [1726819955.738712077] [zed.zed_node]: * Depth mode: ULTRA [3]
[zed_wrapper-2] [INFO] [1726819955.738785039] [zed.zed_node]: * Min depth [m]: 0.2
[zed_wrapper-2] [INFO] [1726819955.738856401] [zed.zed_node]: * Max depth [m]: 10
[zed_wrapper-2] [INFO] [1726819955.738990933] [zed.zed_node]: * Depth Stabilization: 1
[zed_wrapper-2] [INFO] [1726819955.739057112] [zed.zed_node]: * OpenNI mode (16bit point cloud): FALSE
[zed_wrapper-2] [INFO] [1726819955.739122426] [zed.zed_node]: * [DYN] Point cloud rate [Hz]: 10
[zed_wrapper-2] [INFO] [1726819955.739188092] [zed.zed_node]: * [DYN] Depth Confidence: 50
[zed_wrapper-2] [INFO] [1726819955.739249565] [zed.zed_node]: * [DYN] Depth Texture Confidence: 100
[zed_wrapper-2] [INFO] [1726819955.739318400] [zed.zed_node]: * [DYN] Remove saturated areas: TRUE
[zed_wrapper-2] [INFO] [1726819955.739376097] [zed.zed_node]: * Depth QoS History: KEEP_LAST
[zed_wrapper-2] [INFO] [1726819955.739439875] [zed.zed_node]: * Depth QoS History depth: 1
[zed_wrapper-2] [INFO] [1726819955.739502405] [zed.zed_node]: * Depth QoS Reliability: RELIABLE
[zed_wrapper-2] [INFO] [1726819955.739562055] [zed.zed_node]: * Depth QoS Durability: VOLATILE
[zed_wrapper-2] [INFO] [1726819955.739583656] [zed.zed_node]: *** GNSS FUSION parameters ***
[zed_wrapper-2] [INFO] [1726819955.739650730] [zed.zed_node]: * GNSS fusion enabled: FALSE
[zed_wrapper-2] [INFO] [1726819955.739671466] [zed.zed_node]: *** POSITIONAL TRACKING parameters ***
[zed_wrapper-2] [INFO] [1726819955.739734156] [zed.zed_node]: * Positional tracking enabled: TRUE
[zed_wrapper-2] [INFO] [1726819955.739806350] [zed.zed_node]: * Positional tracking mode: POSITIONAL TRACKING MODE STANDARD
[zed_wrapper-2] [INFO] [1726819955.739873489] [zed.zed_node]: * Map frame id: map
[zed_wrapper-2] [INFO] [1726819955.739941235] [zed.zed_node]: * Odometry frame id: odom
[zed_wrapper-2] [INFO] [1726819955.740002965] [zed.zed_node]: * Broadcast Odometry TF: TRUE
[zed_wrapper-2] [INFO] [1726819955.740067670] [zed.zed_node]: * Broadcast Pose TF: TRUE
[zed_wrapper-2] [INFO] [1726819955.740132120] [zed.zed_node]: * [DYN] Depth minimum range: 0
[zed_wrapper-2] [INFO] [1726819955.740204539] [zed.zed_node]: * [DYN] TF timestamp offset: 0
[zed_wrapper-2] [INFO] [1726819955.740265885] [zed.zed_node]: * [DYN] Path publishing rate: 2
[zed_wrapper-2] [INFO] [1726819955.740331935] [zed.zed_node]: * Path history lenght: -1
[zed_wrapper-2] [INFO] [1726819955.740403553] [zed.zed_node]: * Initial pose: [0,0,0,0,0,0,]
[zed_wrapper-2] [INFO] [1726819955.740478915] [zed.zed_node]: * Area Memory: TRUE
[zed_wrapper-2] [INFO] [1726819955.740545509] [zed.zed_node]: * Area Memory DB:
[zed_wrapper-2] [INFO] [1726819955.740609415] [zed.zed_node]: * Camera is static: FALSE
[zed_wrapper-2] [INFO] [1726819955.740673353] [zed.zed_node]: * Gravity as origin [not for ZED]: TRUE
[zed_wrapper-2] [INFO] [1726819955.740733803] [zed.zed_node]: * IMU Fusion [not for ZED]: TRUE
[zed_wrapper-2] [INFO] [1726819955.740801037] [zed.zed_node]: * Floor Alignment: FALSE
[zed_wrapper-2] [INFO] [1726819955.740867567] [zed.zed_node]: * Init Odometry with first valid pose data: TRUE
[zed_wrapper-2] [INFO] [1726819955.740948114] [zed.zed_node]: * 2D mode: FALSE
[zed_wrapper-2] [INFO] [1726819955.741017236] [zed.zed_node]: * Pose/Odometry QoS History: KEEP_LAST
[zed_wrapper-2] [INFO] [1726819955.741078806] [zed.zed_node]: * Pose/Odometry QoS History depth: 1
[zed_wrapper-2] [INFO] [1726819955.741140855] [zed.zed_node]: * Pose/Odometry QoS Reliability: RELIABLE
[zed_wrapper-2] [INFO] [1726819955.741197881] [zed.zed_node]: * Pose/Odometry QoS Durability: VOLATILE
[zed_wrapper-2] [INFO] [1726819955.741225402] [zed.zed_node]: *** SENSORS STACK parameters ***
[zed_wrapper-2] [INFO] [1726819955.741286172] [zed.zed_node]: * Broadcast IMU TF [not for ZED]: TRUE
[zed_wrapper-2] [INFO] [1726819955.741348190] [zed.zed_node]: * Sensors Camera Sync: FALSE
[zed_wrapper-2] [INFO] [1726819955.741420448] [zed.zed_node]: * Sensors publishing rate: 200 Hz
[zed_wrapper-2] [INFO] [1726819955.741478818] [zed.zed_node]: * Sensors QoS History: KEEP_LAST
[zed_wrapper-2] [INFO] [1726819955.741544292] [zed.zed_node]: * Sensors QoS History depth: 1
[zed_wrapper-2] [INFO] [1726819955.741605190] [zed.zed_node]: * Sensors QoS Reliability: RELIABLE
[zed_wrapper-2] [INFO] [1726819955.741673544] [zed.zed_node]: * Sensors QoS Durability: VOLATILE
[zed_wrapper-2] [INFO] [1726819955.741693192] [zed.zed_node]: *** Spatial Mapping parameters ***
[zed_wrapper-2] [INFO] [1726819955.741750890] [zed.zed_node]: * Spatial Mapping Enabled: FALSE
[zed_wrapper-2] [INFO] [1726819955.741830957] [zed.zed_node]: * Spatial Mapping resolution [m]: 0.05
[zed_wrapper-2] [INFO] [1726819955.741896591] [zed.zed_node]: * 3D Max Mapping range [m]: 5
[zed_wrapper-2] [INFO] [1726819955.742017714] [zed.zed_node]: * Map publishing rate [Hz]: 1
[zed_wrapper-2] [INFO] [1726819955.742106165] [zed.zed_node]: * Clicked point topic: /clicked_point
[zed_wrapper-2] [INFO] [1726819955.742186807] [zed.zed_node]: * Plane Det. Max Dist. Thresh.: 0.15
[zed_wrapper-2] [INFO] [1726819955.742309371] [zed.zed_node]: * Plane Det. Normals Sim. Thresh.: 15
[zed_wrapper-2] [INFO] [1726819955.742371869] [zed.zed_node]: * Sensors QoS History: KEEP_LAST
[zed_wrapper-2] [INFO] [1726819955.742425279] [zed.zed_node]: * Sensors QoS History depth: 1
[zed_wrapper-2] [INFO] [1726819955.742484865] [zed.zed_node]: * Sensors QoS Reliability: RELIABLE
[zed_wrapper-2] [INFO] [1726819955.742543554] [zed.zed_node]: * Sensors QoS Durability: VOLATILE
[zed_wrapper-2] [INFO] [1726819955.742565987] [zed.zed_node]: *** Object Det. parameters ***
[zed_wrapper-2] [INFO] [1726819955.742633093] [zed.zed_node]: * Object Det. enabled: FALSE
[zed_wrapper-2] [INFO] [1726819955.742709512] [zed.zed_node]: * Object Det. model: MULTI CLASS BOX MEDIUM
[zed_wrapper-2] [INFO] [1726819955.742777386] [zed.zed_node]: * Object Det. allow reduced precision: TRUE
[zed_wrapper-2] [INFO] [1726819955.742845772] [zed.zed_node]: * Object Det. maximum range [m]: 20
[zed_wrapper-2] [INFO] [1726819955.742916398] [zed.zed_node]: * Object Det. min. confidence: 50
[zed_wrapper-2] [INFO] [1726819955.742986000] [zed.zed_node]: * Object Det. prediction timeout [sec]: 0.5
[zed_wrapper-2] [INFO] [1726819955.743047410] [zed.zed_node]: * Object Det. tracking: TRUE
[zed_wrapper-2] [INFO] [1726819955.743139605] [zed.zed_node]: * Object Filtering mode: 1 - NMS 3D
[zed_wrapper-2] [INFO] [1726819955.743203287] [zed.zed_node]: * MultiClassBox people: TRUE
[zed_wrapper-2] [INFO] [1726819955.743270265] [zed.zed_node]: * MultiClassBox vehicles: TRUE
[zed_wrapper-2] [INFO] [1726819955.743333403] [zed.zed_node]: * MultiClassBox bags: TRUE
[zed_wrapper-2] [INFO] [1726819955.743464863] [zed.zed_node]: * MultiClassBox animals: TRUE
[zed_wrapper-2] [INFO] [1726819955.743548449] [zed.zed_node]: * MultiClassBox electronics: TRUE
[zed_wrapper-2] [INFO] [1726819955.743616675] [zed.zed_node]: * MultiClassBox fruits and vegetables: TRUE
[zed_wrapper-2] [INFO] [1726819955.743679813] [zed.zed_node]: * MultiClassBox sport-related objects: TRUE
[zed_wrapper-2] [INFO] [1726819955.743755528] [zed.zed_node]: * Obj. Det. QoS History: KEEP_LAST
[zed_wrapper-2] [INFO] [1726819955.743820170] [zed.zed_node]: * Obj. Det. QoS History depth: 1
[zed_wrapper-2] [INFO] [1726819955.743939981] [zed.zed_node]: * Obj. Det. QoS Reliability: RELIABLE
[zed_wrapper-2] [INFO] [1726819955.744027056] [zed.zed_node]: * Obj. Det. QoS Durability: VOLATILE
[zed_wrapper-2] [INFO] [1726819955.744048561] [zed.zed_node]: *** Body Track. parameters ***
[zed_wrapper-2] [INFO] [1726819955.744110547] [zed.zed_node]: * Body Track. enabled: FALSE
[zed_wrapper-2] [INFO] [1726819955.744196661] [zed.zed_node]: * Body Track. model: HUMAN BODY MEDIUM
[zed_wrapper-2] [INFO] [1726819955.744264663] [zed.zed_node]: * Body Track. format: BODY_38
[zed_wrapper-2] [INFO] [1726819955.744332217] [zed.zed_node]: * Body Track. allow reduced precision: TRUE
[zed_wrapper-2] [INFO] [1726819955.744400315] [zed.zed_node]: * Body Track. maximum range [m]: 20
[zed_wrapper-2] [INFO] [1726819955.744469598] [zed.zed_node]: * Body Track. KP selection: FULL
[zed_wrapper-2] [INFO] [1726819955.744590977] [zed.zed_node]: * Body fitting: FALSE
[zed_wrapper-2] [INFO] [1726819955.744684228] [zed.zed_node]: * Body joints tracking: TRUE
[zed_wrapper-2] [INFO] [1726819955.744763431] [zed.zed_node]: * Body Track. prediction timeout [sec]: 0.5
[zed_wrapper-2] [INFO] [1726819955.744835721] [zed.zed_node]: * Body Track. confidence thresh.: 50
[zed_wrapper-2] [INFO] [1726819955.744897643] [zed.zed_node]: * Body Track. min. KP thresh.: 5
[zed_wrapper-2] [INFO] [1726819955.744978477] [zed.zed_node]: * Body Track. QoS History: KEEP_LAST
[zed_wrapper-2] [INFO] [1726819955.745035375] [zed.zed_node]: * Body Track. QoS History depth: 1
[zed_wrapper-2] [INFO] [1726819955.745092177] [zed.zed_node]: * Body Track. QoS Reliability: RELIABLE
[zed_wrapper-2] [INFO] [1726819955.745208468] [zed.zed_node]: * Body Track. QoS Durability: VOLATILE
[zed_wrapper-2] [INFO] [1726819955.745240917] [zed.zed_node]: *** Advanced parameters ***
[zed_wrapper-2] [INFO] [1726819955.745315607] [zed.zed_node]: * Thread sched. policy: SCHED_BATCH
[zed_wrapper-2] [INFO] [1726819955.745402714] [zed.zed_node]: *** SERVICES ***
[zed_wrapper-2] [INFO] [1726819955.746734115] [zed.zed_node]: * '/zed/zed_node/reset_odometry'
[zed_wrapper-2] [INFO] [1726819955.747046061] [zed.zed_node]: * '/zed/zed_node/reset_pos_tracking'
[zed_wrapper-2] [INFO] [1726819955.750187597] [zed.zed_node]: * '/zed/zed_node/set_pose'
[zed_wrapper-2] [INFO] [1726819955.750678140] [zed.zed_node]: * '/zed/zed_node/enable_obj_det'
[zed_wrapper-2] [INFO] [1726819955.750974213] [zed.zed_node]: * '/zed/zed_node/enable_body_trk'
[zed_wrapper-2] [INFO] [1726819955.751247373] [zed.zed_node]: * '/zed/zed_node/enable_mapping'
[zed_wrapper-2] [INFO] [1726819955.751622937] [zed.zed_node]: * '/zed/zed_node/start_svo_rec'
[zed_wrapper-2] [INFO] [1726819955.752013893] [zed.zed_node]: * '/zed/zed_node/stop_svo_rec'
[zed_wrapper-2] [INFO] [1726819955.752458931] [zed.zed_node]: * '/zed/zed_node/set_roi'
[zed_wrapper-2] [INFO] [1726819955.752800157] [zed.zed_node]: * '/zed/zed_node/reset_roi'
[zed_wrapper-2] [INFO] [1726819955.752834942] [zed.zed_node]: ***** STARTING CAMERA *****
[zed_wrapper-2] [INFO] [1726819955.752849311] [zed.zed_node]: ZED SDK Version: 4.0.8 - Build 80393_b12da209
[zed_wrapper-2] [INFO] [1726819955.757340616] [zed.zed_node]: *** CAMERA OPENING ***
[zed_wrapper-2] [INFO] [1726819959.040391093] [zed.zed_node]: ZED SDK running on GPU #0
[zed_wrapper-2] [INFO] [1726819959.040574714] [zed.zed_node]: * Camera Model -> ZED 2i
[zed_wrapper-2] [INFO] [1726819959.040618748] [zed.zed_node]: * Serial Number -> 37271887
[zed_wrapper-2] [INFO] [1726819959.040654461] [zed.zed_node]: * Focal Lenght -> 2.13838 mm
[zed_wrapper-2] [INFO] [1726819959.040696830] [zed.zed_node]: * Input -> USB input type
[zed_wrapper-2] [INFO] [1726819959.040733471] [zed.zed_node]: * Camera FW Version -> 1523
[zed_wrapper-2] [INFO] [1726819959.040757664] [zed.zed_node]: * Sensors FW Version -> 777
[zed_wrapper-2] [INFO] [1726819959.040781025] [zed.zed_node]: * Camera grab frame size -> 1280x720
[zed_wrapper-2] [INFO] [1726819959.040799457] [zed.zed_node]: * Publishing frame size -> 640x360
[zed_wrapper-2] [INFO] [1726819959.040834018] [zed.zed_node]: *** TF FRAMES ***
[zed_wrapper-2] [INFO] [1726819959.040854339] [zed.zed_node]: * Map -> map
[zed_wrapper-2] [INFO] [1726819959.040872164] [zed.zed_node]: * Odometry -> odom
[zed_wrapper-2] [INFO] [1726819959.040886244] [zed.zed_node]: * Base -> zed_camera_link
[zed_wrapper-2] [INFO] [1726819959.040900324] [zed.zed_node]: * Camera -> zed_camera_center
[zed_wrapper-2] [INFO] [1726819959.040946950] [zed.zed_node]: * Left -> zed_left_camera_frame
[zed_wrapper-2] [INFO] [1726819959.040965350] [zed.zed_node]: * Left Optical -> zed_left_camera_optical_frame
[zed_wrapper-2] [INFO] [1726819959.040980199] [zed.zed_node]: * RGB -> zed_left_camera_frame
[zed_wrapper-2] [INFO] [1726819959.040994183] [zed.zed_node]: * RGB Optical -> zed_left_camera_frame
[zed_wrapper-2] [INFO] [1726819959.041008424] [zed.zed_node]: * Right -> zed_right_camera_frame
[zed_wrapper-2] [INFO] [1726819959.041021736] [zed.zed_node]: * Right Optical -> zed_right_camera_optical_frame
[zed_wrapper-2] [INFO] [1726819959.041035977] [zed.zed_node]: * Depth -> zed_left_camera_frame
[zed_wrapper-2] [INFO] [1726819959.041048969] [zed.zed_node]: * Depth Optical -> zed_left_camera_optical_frame
[zed_wrapper-2] [INFO] [1726819959.041062825] [zed.zed_node]: * Point Cloud -> zed_left_camera_optical_frame
[zed_wrapper-2] [INFO] [1726819959.041077290] [zed.zed_node]: * Disparity -> zed_left_camera_frame
[zed_wrapper-2] [INFO] [1726819959.041091082] [zed.zed_node]: * Disparity Optical -> zed_left_camera_optical_frame
[zed_wrapper-2] [INFO] [1726819959.041105067] [zed.zed_node]: * Confidence -> zed_left_camera_frame
[zed_wrapper-2] [INFO] [1726819959.041118283] [zed.zed_node]: * Confidence Optical -> zed_left_camera_optical_frame
[zed_wrapper-2] [INFO] [1726819959.041132267] [zed.zed_node]: * IMU -> zed_imu_link
[zed_wrapper-2] [INFO] [1726819959.041149388] [zed.zed_node]: * Barometer -> zed_camera_center
[zed_wrapper-2] [INFO] [1726819959.041169389] [zed.zed_node]: * Magnetometer -> zed_imu_link
[zed_wrapper-2] [INFO] [1726819959.041184301] [zed.zed_node]: * Left Temperature -> zed_left_camera_frame
[zed_wrapper-2] [INFO] [1726819959.041197997] [zed.zed_node]: * Right Temperature -> zed_right_camera_frame
[zed_wrapper-2] [INFO] [1726819959.041279856] [zed.zed_node]: *** PUBLISHED TOPICS ***
[zed_wrapper-2] [INFO] [1726819959.266502418] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb/image_rect_color
[zed_wrapper-2] [INFO] [1726819959.267682710] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb/camera_info
[zed_wrapper-2] [INFO] [1726819959.272160382] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_gray/image_rect_gray
[zed_wrapper-2] [INFO] [1726819959.273238495] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_gray/camera_info
[zed_wrapper-2] [INFO] [1726819959.277301242] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_raw/image_raw_color
[zed_wrapper-2] [INFO] [1726819959.277962223] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_raw/camera_info
[zed_wrapper-2] [INFO] [1726819959.282021962] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_raw_gray/image_raw_gray
[zed_wrapper-2] [INFO] [1726819959.282662717] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_raw_gray/camera_info
[zed_wrapper-2] [INFO] [1726819959.286090406] [zed.zed_node]: Advertised on topic: /zed/zed_node/left/image_rect_color
[zed_wrapper-2] [INFO] [1726819959.286204521] [zed.zed_node]: Advertised on topic: /zed/zed_node/left/camera_info
[zed_wrapper-2] [INFO] [1726819959.288069538] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_gray/image_rect_gray
[zed_wrapper-2] [INFO] [1726819959.288114947] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_gray/camera_info
[zed_wrapper-2] [INFO] [1726819959.290029278] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_raw/image_raw_color
[zed_wrapper-2] [INFO] [1726819959.290078271] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_raw/camera_info
[zed_wrapper-2] [INFO] [1726819959.291584109] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_raw_gray/image_raw_gray
[zed_wrapper-2] [INFO] [1726819959.291625870] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_raw_gray/camera_info
[zed_wrapper-2] [INFO] [1726819959.293178493] [zed.zed_node]: Advertised on topic: /zed/zed_node/right/image_rect_color
[zed_wrapper-2] [INFO] [1726819959.293223583] [zed.zed_node]: Advertised on topic: /zed/zed_node/right/camera_info
[zed_wrapper-2] [INFO] [1726819959.294761677] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_gray/image_rect_gray
[zed_wrapper-2] [INFO] [1726819959.294804367] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_gray/camera_info
[zed_wrapper-2] [INFO] [1726819959.296352734] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_raw/image_raw_color
[zed_wrapper-2] [INFO] [1726819959.296393407] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_raw/camera_info
[zed_wrapper-2] [INFO] [1726819959.297936270] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_raw_gray/image_raw_gray
[zed_wrapper-2] [INFO] [1726819959.297980591] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_raw_gray/camera_info
[zed_wrapper-2] [INFO] [1726819959.299495581] [zed.zed_node]: Advertised on topic: /zed/zed_node/depth/depth_registered
[zed_wrapper-2] [INFO] [1726819959.299536159] [zed.zed_node]: Advertised on topic: /zed/zed_node/depth/camera_info
[zed_wrapper-2] [INFO] [1726819959.299902442] [zed.zed_node]: Advertised on topic: /zed/zed_node/depth/depth_info
[zed_wrapper-2] [INFO] [1726819959.301280532] [zed.zed_node]: Advertised on topic: /zed/zed_node/stereo/image_rect_color
[zed_wrapper-2] [INFO] [1726819959.302537338] [zed.zed_node]: Advertised on topic: /zed/zed_node/stereo_raw/image_raw_color
[zed_wrapper-2] [INFO] [1726819959.302795714] [zed.zed_node]: Advertised on topic: /zed/zed_node/confidence/confidence_map
[zed_wrapper-2] [INFO] [1726819959.304652474] [zed.zed_node]: Advertised on topic: /zed/zed_node/disparity/disparity_image
[zed_wrapper-2] [INFO] [1726819959.305064871] [zed.zed_node]: Advertised on topic: /zed/zed_node/point_cloud/cloud_registered
[zed_wrapper-2] [INFO] [1726819959.305488404] [zed.zed_node]: Advertised on topic: /zed/zed_node/pose
[zed_wrapper-2] [INFO] [1726819959.305808381] [zed.zed_node]: Advertised on topic: /zed/zed_node/pose/status
[zed_wrapper-2] [INFO] [1726819959.306116647] [zed.zed_node]: Advertised on topic: /zed/zed_node/pose_with_covariance
[zed_wrapper-2] [INFO] [1726819959.307731576] [zed.zed_node]: Advertised on topic: /zed/zed_node/odom
[zed_wrapper-2] [INFO] [1726819959.307977279] [zed.zed_node]: Advertised on topic: /zed/zed_node/odom/status
[zed_wrapper-2] [INFO] [1726819959.308329034] [zed.zed_node]: Advertised on topic: /zed/zed_node/path_map
[zed_wrapper-2] [INFO] [1726819959.308623667] [zed.zed_node]: Advertised on topic: /zed/zed_node/path_odom
[zed_wrapper-2] [INFO] [1726819959.310458603] [zed.zed_node]: Advertised on topic: /zed/plane_marker
[zed_wrapper-2] [INFO] [1726819959.310834230] [zed.zed_node]: Advertised on topic: /zed/plane
[zed_wrapper-2] [INFO] [1726819959.311148800] [zed.zed_node]: Advertised on topic: /zed/zed_node/imu/data
[zed_wrapper-2] [INFO] [1726819959.311420584] [zed.zed_node]: Advertised on topic: /zed/zed_node/imu/data_raw
[zed_wrapper-2] [INFO] [1726819959.311729970] [zed.zed_node]: Advertised on topic: /zed/zed_node/temperature/imu
[zed_wrapper-2] [INFO] [1726819959.312056347] [zed.zed_node]: Advertised on topic: /zed/zed_node/imu/mag
[zed_wrapper-2] [INFO] [1726819959.312364517] [zed.zed_node]: Advertised on topic: /zed/zed_node/atm_press
[zed_wrapper-2] [INFO] [1726819959.312618861] [zed.zed_node]: Advertised on topic: /zed/zed_node/temperature/left
[zed_wrapper-2] [INFO] [1726819959.312835475] [zed.zed_node]: Advertised on topic: /zed/zed_node/temperature/right
[zed_wrapper-2] [INFO] [1726819959.313199294] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_cam_imu_transform
[zed_wrapper-2] [INFO] [1726819959.313252256] [zed.zed_node]: Camera-IMU Translation:
[zed_wrapper-2] -0.002 -0.023061 0.000217
[zed_wrapper-2] [INFO] [1726819959.313371907] [zed.zed_node]: Camera-IMU Rotation:
[zed_wrapper-2] FFFFCC6868C0
[zed_wrapper-2] 0.999961 0.008077 -0.003492
[zed_wrapper-2] -0.008081 0.999967 -0.001254
[zed_wrapper-2] 0.003482 0.001283 0.999993
[zed_wrapper-2]
[zed_wrapper-2] [INFO] [1726819959.313402532] [zed.zed_node]: *** Subscribers ***
[zed_wrapper-2] [INFO] [1726819959.313980534] [zed.zed_node]: * Plane detection: '/clicked_point'
[zed_wrapper-2] [INFO] [1726819959.354640075] [zed.zed_node]: *** Starting Positional Tracking ***
[zed_wrapper-2] [INFO] [1726819959.354768175] [zed.zed_node]: * Waiting for valid static transformations...
[zed_wrapper-2] [INFO] [1726819959.354975413] [zed.zed_node]: Static transform Sensor to Base [zed_left_camera_frame -> zed_camera_link]
[zed_wrapper-2] [INFO] [1726819959.355014230] [zed.zed_node]: * Translation: {0.010,-0.060,-0.015}
[zed_wrapper-2] [INFO] [1726819959.355034167] [zed.zed_node]: * Rotation: {0.000,-0.000,0.000}
[zed_wrapper-2] [INFO] [1726819959.355069784] [zed.zed_node]: Static transform Sensor to Camera Center [zed_left_camera_frame -> zed_camera_center]
[zed_wrapper-2] [INFO] [1726819959.355134714] [zed.zed_node]: * Translation: {0.010,-0.060,0.000}
[zed_wrapper-2] [INFO] [1726819959.355153658] [zed.zed_node]: * Rotation: {0.000,-0.000,0.000}
[zed_wrapper-2] [INFO] [1726819959.355181627] [zed.zed_node]: Static transform Camera Center to Base [zed_camera_center -> zed_camera_link]
[zed_wrapper-2] [INFO] [1726819959.355195164] [zed.zed_node]: * Translation: {0.000,0.000,-0.015}
[zed_wrapper-2] [INFO] [1726819959.355209532] [zed.zed_node]: * Rotation: {0.000,-0.000,0.000}
[zed_wrapper-2] [INFO] [1726819959.356319774] [zed.zed_node]: Initial ZED left camera pose (ZED pos. tracking):
[zed_wrapper-2] [INFO] [1726819959.356377535] [zed.zed_node]: * T: [-0.01,0.06,0.015]
[zed_wrapper-2] [INFO] [1726819959.356406496] [zed.zed_node]: * Q: [0,0,0,1]
[zed_wrapper-2] [INFO] [1726819959.644402168] [zed.zed_node]: Odometry aligned to last tracking pose
[zed_wrapper-2] [INFO] [1726819959.644534044] [zed.zed_node]: * Initial odometry [odom -> zed_camera_link] - {-0.003,0.000,-0.002} {0.755,11.235,0.026}
[ERROR] [zed_wrapper-2]: process has died [pid 6456, exit code -11, cmd '/opt/zed/ws/install/zed_wrapper/lib/zed_wrapper/zed_wrapper --ros-args -r __node:=zed_node -r __ns:=/zed --params-file /opt/zed/ws/install/zed_wrapper/share/zed_wrapper/config/common.yaml --params-file /opt/zed/ws/install/zed_wrapper/share/zed_wrapper/config/zed2i.yaml --params-file /tmp/launch_params_zaq6ebav'].
The last node crashes only if I try to subscribe to /zed/zed_node/left/image_rect_color/compressed or /zed/zed_node/right/image_rect_color/compressed or raw equivalents.
Even ros2 topic hz /zed/zed_node/left/image_rect_color/compressed crashes the node. Tested on ZED 4.0.8 and the latest 4.1 from the current branch