ZED ROS2 Wrapper frames stall randomly during prolonged operation

Software ROS2
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1

Setup

  • Hardware: NVIDIA AGX Orin Developer Kit, ZEDLink Duo capture card
  • Cameras:
    • 1× ZED X stereo camera
    • 1× virtual stereo pair from 2× ZED X One GS cameras
  • Software: JetPack 6.2.2 (L4T 36.5.0, Kernel 5.15), stereolabs-zedlink-duo 1.4.2-LI-MAX96712-L4T36.5.0, latest ZED ROS 2 Wrapper; SDK version 5.2.3 (latest supported by ros2 wrapper)
  • Depth mode: NEURAL_LIGHT
  • Launch: both cameras launched together via zed_multi_camera.launch.py, all nodes loaded as composable nodes into a single component_container_isolated running inside a Docker container
  • Power: MAXN + jetson_clocks, stock 19V/4.74A (90W) power supply

Issue

When running the cameras alone (no other workload, no downstream consumers beyond standard ZED wrapper publishing) for prolonged periods, we see intermittent frame publishing stalls of up to ~10 seconds in the worst case. Stalls between ~0.5-1s appear quite frequently. There are no errors in the SDK, Argus, or zed_x_daemon logs during these stalls. The pipeline resumes on its own afterward. tegrastats shows nominal GPU utilization during the stall windows.

Questions

  1. Is this combination — one ZED X stereo + one virtual stereo from a ZED X One GS pair, all in a single composable container via zed_multi_camera.launch.py — a validated configuration?
  2. Are there known SDK-level mechanisms (recovery paths, internal rate limiting, synchronization waits) that could silently pause grab() for 10+ seconds without surfacing in logs?
  3. Is there anything I could disable in my launch files to mitigate this problem?