ZED wrapper doesn't connect to the streaming server

Software ROS2
1

Hello,

Im using Isaac Sim 4.5.0, the newest ZED extension, ZED SDK 4.2.5. I have problems yousing the ZED wrapper for my ros2 setup.

I have access to the simulated pictures thru the ZED Explorer. But when I try to use the wrapper it gives an error. I assume it might has to do with the format, the streamer publishes in UDP but the wrapper expects TCP. I don’t find any configuration possibility in the streamer node neither in the zed wrapper.

Please help me out.

u29e44@ATSTYWD310021:~/ros2_ws$ ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zedx sim_mode:=true use_sim_time:=true sim_address:=10.255.255.254 sim_port:=30000

[INFO] [launch]: All log files can be found below /home/u29e44/.ros/log/2025-07-01-08-17-25-222823-ATSTYWD310021-4904

[INFO] [launch]: Default logging verbosity is set to INFO

[INFO] [launch.user]: Using common configuration file: /home/u29e44/ros2_ws/install/zed_wrapper/share/zed_wrapper/config/common_stereo.yaml

[INFO] [launch.user]: Using camera configuration file: /home/u29e44/ros2_ws/install/zed_wrapper/share/zed_wrapper/config/zedx.yaml

[INFO] [launch.user]: Using FFMPEG configuration file: /home/u29e44/ros2_ws/install/zed_wrapper/share/zed_wrapper/config/ffmpeg.yaml

[INFO] [launch.user]: Loading ZED node zed_node in container /zed/zed_container

[INFO] [robot_state_publisher-1]: process started with pid [4917]

[INFO] [component_container_isolated-2]: process started with pid [4919]

[robot_state_publisher-1] [INFO] [1751350645.429326179] [zed.zed_state_publisher]: got segment zed_camera_center

[robot_state_publisher-1] [INFO] [1751350645.429408665] [zed.zed_state_publisher]: got segment zed_camera_link

[robot_state_publisher-1] [INFO] [1751350645.429416320] [zed.zed_state_publisher]: got segment zed_left_camera_frame

[robot_state_publisher-1] [INFO] [1751350645.429420067] [zed.zed_state_publisher]: got segment zed_left_camera_optical_frame

[robot_state_publisher-1] [INFO] [1751350645.429423193] [zed.zed_state_publisher]: got segment zed_right_camera_frame

[robot_state_publisher-1] [INFO] [1751350645.429426449] [zed.zed_state_publisher]: got segment zed_right_camera_optical_frame

[component_container_isolated-2] [INFO] [1751350645.661451914] [zed.zed_container]: Load Library: /home/u29e44/ros2_ws/install/zed_components/lib/libzed_camera_component.so

[component_container_isolated-2] [INFO] [1751350645.678621303] [zed.zed_container]: Found class: rclcpp_components::NodeFactoryTemplatestereolabs::ZedCamera

[component_container_isolated-2] [INFO] [1751350645.678678521] [zed.zed_container]: Instantiate class: rclcpp_components::NodeFactoryTemplatestereolabs::ZedCamera

[component_container_isolated-2] [INFO] [1751350646.095401411] [zed.zed_node]: ********************************

[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ‘/zed/zed_node’ in container ‘/zed/zed_container’

[component_container_isolated-2] [INFO] [1751350646.095460663] [zed.zed_node]: ZED Camera Component

[component_container_isolated-2] [INFO] [1751350646.095468247] [zed.zed_node]: ********************************

[component_container_isolated-2] [INFO] [1751350646.095474359] [zed.zed_node]: * namespace: /zed

[component_container_isolated-2] [INFO] [1751350646.095479929] [zed.zed_node]: * node name: zed_node

[component_container_isolated-2] [INFO] [1751350646.095484257] [zed.zed_node]: ********************************

[component_container_isolated-2] [INFO] [1751350646.145732152] [zed.zed_node]: *** DEBUG parameters ***

[component_container_isolated-2] [INFO] [1751350646.145967175] [zed.zed_node]: * SDK Verbose: 1

[component_container_isolated-2] [INFO] [1751350646.146089106] [zed.zed_node]: * SDK Verbose File:

[component_container_isolated-2] [INFO] [1751350646.146179396] [zed.zed_node]: * Debug Common: FALSE

[component_container_isolated-2] [INFO] [1751350646.146228118] [zed.zed_node]: * Debug Simulation: FALSE

[component_container_isolated-2] [INFO] [1751350646.146284344] [zed.zed_node]: * Debug Video/Depth: FALSE

[component_container_isolated-2] [INFO] [1751350646.146333167] [zed.zed_node]: * Debug Control settings: FALSE

[component_container_isolated-2] [INFO] [1751350646.146407287] [zed.zed_node]: * Debug Point Cloud: FALSE

[component_container_isolated-2] [INFO] [1751350646.146508989] [zed.zed_node]: * Debug GNSS: FALSE

[component_container_isolated-2] [INFO] [1751350646.146587116] [zed.zed_node]: * Debug Positional Tracking: FALSE

[component_container_isolated-2] [INFO] [1751350646.146648913] [zed.zed_node]: * Debug sensors: FALSE

[component_container_isolated-2] [INFO] [1751350646.146707924] [zed.zed_node]: * Debug Mapping: FALSE

[component_container_isolated-2] [INFO] [1751350646.146754913] [zed.zed_node]: * Debug Object Detection: FALSE

[component_container_isolated-2] [INFO] [1751350646.146833281] [zed.zed_node]: * Debug Body Tracking: FALSE

[component_container_isolated-2] [INFO] [1751350646.146939892] [zed.zed_node]: * Debug Streaming: FALSE

[component_container_isolated-2] [INFO] [1751350646.147026125] [zed.zed_node]: * Debug ROI: FALSE

[component_container_isolated-2] [INFO] [1751350646.147081390] [zed.zed_node]: * Debug Advanced: FALSE

[component_container_isolated-2] [INFO] [1751350646.147160840] [zed.zed_node]: *** SIMULATION MODE ACTIVE ***

[component_container_isolated-2] [INFO] [1751350646.147257933] [zed.zed_node]: * Sim. server address: 10.255.255.254

[component_container_isolated-2] [INFO] [1751350646.147367550] [zed.zed_node]: * Sim. server port: 30000

[component_container_isolated-2] [INFO] [1751350646.147381106] [zed.zed_node]: * Use Sim Time: TRUE

[component_container_isolated-2] [INFO] [1751350646.147388640] [zed.zed_node]: *** GENERAL parameters ***

[component_container_isolated-2] [INFO] [1751350646.147556036] [zed.zed_node]: + Simulating a ZED X camera model.

[component_container_isolated-2] [INFO] [1751350646.147571445] [zed.zed_node]: * Camera model: zedx - ZED X

[component_container_isolated-2] [INFO] [1751350646.147662006] [zed.zed_node]: * Camera name: zed

[component_container_isolated-2] [INFO] [1751350646.147747588] [zed.zed_node]: * Camera SN: 0

[component_container_isolated-2] [INFO] [1751350646.147953086] [zed.zed_node]: * Camera ID: -1

[component_container_isolated-2] [INFO] [1751350646.148033678] [zed.zed_node]: * Camera timeout [sec]: 5

[component_container_isolated-2] [INFO] [1751350646.148133096] [zed.zed_node]: * Camera reconnection temptatives: 5

[component_container_isolated-2] [INFO] [1751350646.148144597] [zed.zed_node]: * [Simulation mode] Camera framerate forced to 60 Hz

[component_container_isolated-2] [INFO] [1751350646.148241090] [zed.zed_node]: * GPU ID: -1

[component_container_isolated-2] [INFO] [1751350646.148333965] [zed.zed_node]: * Asynchronous image retrieval: FALSE

[component_container_isolated-2] [INFO] [1751350646.148433353] [zed.zed_node]: * Image Validity Check: ENABLED

[component_container_isolated-2] [INFO] [1751350646.148446989] [zed.zed_node]: * [Simulation mode] Camera resolution forced to ‘HD1080’

[component_container_isolated-2] [INFO] [1751350646.148549903] [zed.zed_node]: * Publishing resolution: CUSTOM

[component_container_isolated-2] [INFO] [1751350646.148657376] [zed.zed_node]: * Publishing downscale factor: 2

[component_container_isolated-2] [INFO] [1751350646.148730674] [zed.zed_node]: * OpenCV custom calibration:

[component_container_isolated-2] [INFO] [1751350646.148789024] [zed.zed_node]: * Camera self calibration: TRUE

[component_container_isolated-2] [INFO] [1751350646.148838718] [zed.zed_node]: * Camera flip: FALSE

[component_container_isolated-2] [INFO] [1751350646.148847194] [zed.zed_node]: * [Simulation mode] Publish framerate forced to 60 Hz

[component_container_isolated-2] [INFO] [1751350646.148852915] [zed.zed_node]: *** DEPTH parameters ***

[component_container_isolated-2] [INFO] [1751350646.148933427] [zed.zed_node]: * Depth mode: NEURAL LIGHT [4]

[component_container_isolated-2] [INFO] [1751350646.148996506] [zed.zed_node]: * Min depth [m]: 0.3

[component_container_isolated-2] [INFO] [1751350646.149090985] [zed.zed_node]: * Max depth [m]: 10

[component_container_isolated-2] [INFO] [1751350646.149207886] [zed.zed_node]: * Depth Stabilization: 30

[component_container_isolated-2] [INFO] [1751350646.149301552] [zed.zed_node]: * OpenNI mode (16bit point cloud): FALSE

[component_container_isolated-2] [INFO] [1751350646.149405509] [zed.zed_node]: * [DYN] Point cloud rate [Hz]: 15

[component_container_isolated-2] [INFO] [1751350646.149485420] [zed.zed_node]: * Point cloud resolution: COMPACT

[component_container_isolated-2] [INFO] [1751350646.149556905] [zed.zed_node]: * [DYN] Depth Confidence: 95

[component_container_isolated-2] [INFO] [1751350646.149663526] [zed.zed_node]: * [DYN] Depth Texture Confidence: 100

[component_container_isolated-2] [INFO] [1751350646.149756662] [zed.zed_node]: * [DYN] Remove saturated areas: TRUE

[component_container_isolated-2] [INFO] [1751350646.149769236] [zed.zed_node]: *** GNSS FUSION parameters ***

[component_container_isolated-2] [INFO] [1751350646.149826163] [zed.zed_node]: * GNSS fusion enabled: FALSE

[component_container_isolated-2] [INFO] [1751350646.149836473] [zed.zed_node]: *** POSITIONAL TRACKING parameters ***

[component_container_isolated-2] [INFO] [1751350646.149878672] [zed.zed_node]: * Positional tracking enabled: TRUE

[component_container_isolated-2] [INFO] [1751350646.149970315] [zed.zed_node]: * Positional tracking mode: GEN 1

[component_container_isolated-2] [INFO] [1751350646.150078710] [zed.zed_node]: * Map frame id: map

[component_container_isolated-2] [INFO] [1751350646.150169682] [zed.zed_node]: * Odometry frame id: odom

[component_container_isolated-2] [INFO] [1751350646.150233713] [zed.zed_node]: * Broadcast Odometry TF: TRUE

[component_container_isolated-2] [INFO] [1751350646.150335084] [zed.zed_node]: * Broadcast Pose TF: TRUE

[component_container_isolated-2] [INFO] [1751350646.150445833] [zed.zed_node]: * [DYN] Depth minimum range: 0

[component_container_isolated-2] [INFO] [1751350646.150507680] [zed.zed_node]: * [DYN] TF timestamp offset: 0

[component_container_isolated-2] [INFO] [1751350646.150574917] [zed.zed_node]: * [DYN] Path publishing rate: 2

[component_container_isolated-2] [INFO] [1751350646.150649408] [zed.zed_node]: * Path history lenght: -1

[component_container_isolated-2] [INFO] [1751350646.150755658] [zed.zed_node]: * Initial pose: [0,0,0,0,0,0,]

[component_container_isolated-2] [INFO] [1751350646.150841481] [zed.zed_node]: * Area Memory: TRUE

[component_container_isolated-2] [INFO] [1751350646.150935348] [zed.zed_node]: * Area Memory DB:

[component_container_isolated-2] [INFO] [1751350646.151043111] [zed.zed_node]: * Camera is static: FALSE

[component_container_isolated-2] [INFO] [1751350646.151111671] [zed.zed_node]: * Gravity as origin [not for ZED]: TRUE

[component_container_isolated-2] [INFO] [1751350646.151169761] [zed.zed_node]: * IMU Fusion [not for ZED]: TRUE

[component_container_isolated-2] [INFO] [1751350646.151229113] [zed.zed_node]: * Floor Alignment: FALSE

[component_container_isolated-2] [INFO] [1751350646.151301710] [zed.zed_node]: * Reset Odometry with Loop Closure: TRUE

[component_container_isolated-2] [INFO] [1751350646.151404263] [zed.zed_node]: * 2D mode: FALSE

[component_container_isolated-2] [INFO] [1751350646.151485236] [zed.zed_node]: * Reset pose with SVO loop: TRUE

[component_container_isolated-2] [INFO] [1751350646.151496878] [zed.zed_node]: *** Region of Interest parameters ***

[component_container_isolated-2] [INFO] [1751350646.151546482] [zed.zed_node]: * Automatic ROI generation: FALSE

[component_container_isolated-2] [INFO] [1751350646.151652282] [zed.zed_node]: * Manual ROI polygon:

[component_container_isolated-2] [INFO] [1751350646.151665066] [zed.zed_node]: *** SENSORS STACK parameters ***

[component_container_isolated-2] [INFO] [1751350646.151733475] [zed.zed_node]: * Broadcast IMU TF [not for ZED]: FALSE

[component_container_isolated-2] [INFO] [1751350646.151810631] [zed.zed_node]: * Sensors Camera Sync: FALSE

[component_container_isolated-2] [INFO] [1751350646.151901442] [zed.zed_node]: * Sensors publishing rate: 100 Hz

[component_container_isolated-2] [INFO] [1751350646.151913475] [zed.zed_node]: *** Spatial Mapping parameters ***

[component_container_isolated-2] [INFO] [1751350646.151973979] [zed.zed_node]: * Spatial Mapping Enabled: FALSE

[component_container_isolated-2] [INFO] [1751350646.152034524] [zed.zed_node]: * Spatial Mapping resolution [m]: 0.05

[component_container_isolated-2] [INFO] [1751350646.152093104] [zed.zed_node]: * 3D Max Mapping range [m]: 5

[component_container_isolated-2] [INFO] [1751350646.152173416] [zed.zed_node]: * Map publishing rate [Hz]: 1

[component_container_isolated-2] [INFO] [1751350646.152272874] [zed.zed_node]: * Clicked point topic: /clicked_point

[component_container_isolated-2] [INFO] [1751350646.152385326] [zed.zed_node]: * Plane Det. Max Dist. Thresh.: 0.15

[component_container_isolated-2] [INFO] [1751350646.152453765] [zed.zed_node]: * Plane Det. Normals Sim. Thresh.: 15

[component_container_isolated-2] [INFO] [1751350646.152475647] [zed.zed_node]: *** Object Det. parameters ***

[component_container_isolated-2] [INFO] [1751350646.152555978] [zed.zed_node]: * Object Det. enabled: FALSE

[component_container_isolated-2] [INFO] [1751350646.152677748] [zed.zed_node]: * Object Det. model: MULTI CLASS BOX FAST

[component_container_isolated-2] [INFO] [1751350646.152755425] [zed.zed_node]: * Object Det. allow reduced precision: TRUE

[component_container_isolated-2] [INFO] [1751350646.152828643] [zed.zed_node]: * Object Det. maximum range [m]: 20

[component_container_isolated-2] [INFO] [1751350646.152933862] [zed.zed_node]: * Object Det. min. confidence: 75

[component_container_isolated-2] [INFO] [1751350646.153032548] [zed.zed_node]: * Object Det. prediction timeout [sec]: 0.5

[component_container_isolated-2] [INFO] [1751350646.153118661] [zed.zed_node]: * Object Det. tracking: TRUE

[component_container_isolated-2] [INFO] [1751350646.153205555] [zed.zed_node]: * Object Filtering mode: 1 - NMS3D

[component_container_isolated-2] [INFO] [1751350646.153307508] [zed.zed_node]: * MultiClassBox people: TRUE

[component_container_isolated-2] [INFO] [1751350646.153374083] [zed.zed_node]: * MultiClassBox vehicles: TRUE

[component_container_isolated-2] [INFO] [1751350646.153431542] [zed.zed_node]: * MultiClassBox bags: TRUE

[component_container_isolated-2] [INFO] [1751350646.153513547] [zed.zed_node]: * MultiClassBox animals: TRUE

[component_container_isolated-2] [INFO] [1751350646.153605671] [zed.zed_node]: * MultiClassBox electronics: TRUE

[component_container_isolated-2] [INFO] [1751350646.153686794] [zed.zed_node]: * MultiClassBox fruits and vegetables: TRUE

[component_container_isolated-2] [INFO] [1751350646.153739844] [zed.zed_node]: * MultiClassBox sport-related objects: TRUE

[component_container_isolated-2] [INFO] [1751350646.153750174] [zed.zed_node]: *** Body Track. parameters ***

[component_container_isolated-2] [INFO] [1751350646.153807332] [zed.zed_node]: * Body Track. enabled: FALSE

[component_container_isolated-2] [INFO] [1751350646.153916017] [zed.zed_node]: * Body Track. model: HUMAN BODY MEDIUM

[component_container_isolated-2] [INFO] [1751350646.154018981] [zed.zed_node]: * Body Track. format: BODY 38

[component_container_isolated-2] [INFO] [1751350646.154091869] [zed.zed_node]: * Body Track. allow reduced precision: TRUE

[component_container_isolated-2] [INFO] [1751350646.154190505] [zed.zed_node]: * Body Track. maximum range [m]: 20

[component_container_isolated-2] [INFO] [1751350646.154299431] [zed.zed_node]: * Body Track. KP selection: FULL

[component_container_isolated-2] [INFO] [1751350646.154390884] [zed.zed_node]: * Body fitting: FALSE

[component_container_isolated-2] [INFO] [1751350646.154501212] [zed.zed_node]: * Body joints tracking: TRUE

[component_container_isolated-2] [INFO] [1751350646.154581073] [zed.zed_node]: * Body Track. prediction timeout [sec]: 0.5

[component_container_isolated-2] [INFO] [1751350646.154642268] [zed.zed_node]: * Body Track. confidence thresh.: 50

[component_container_isolated-2] [INFO] [1751350646.154699587] [zed.zed_node]: * Body Track. min. KP thresh.: 5

[component_container_isolated-2] [INFO] [1751350646.154712000] [zed.zed_node]: *** Streaming Server parameters ***

[component_container_isolated-2] [INFO] [1751350646.154799475] [zed.zed_node]: * Streaming Server enabled: FALSE

[component_container_isolated-2] [INFO] [1751350646.154918260] [zed.zed_node]: * Stream codec: H264

[component_container_isolated-2] [INFO] [1751350646.155017738] [zed.zed_node]: * Stream port: 30000

[component_container_isolated-2] [INFO] [1751350646.155088581] [zed.zed_node]: * Stream bitrate: 12500

[component_container_isolated-2] [INFO] [1751350646.155183861] [zed.zed_node]: * Stream GOP size: -1

[component_container_isolated-2] [INFO] [1751350646.155265045] [zed.zed_node]: * Stream Chunk size: 16084

[component_container_isolated-2] [INFO] [1751350646.155323104] [zed.zed_node]: * Adaptive bitrate: FALSE

[component_container_isolated-2] [INFO] [1751350646.155377006] [zed.zed_node]: * Target frame rate:0

[component_container_isolated-2] [INFO] [1751350646.155387897] [zed.zed_node]: *** Advanced parameters ***

[component_container_isolated-2] [INFO] [1751350646.155442640] [zed.zed_node]: * Thread sched. policy: SCHED_BATCH

[component_container_isolated-2] [INFO] [1751350646.155490120] [zed.zed_node]: *** SERVICES ***

[component_container_isolated-2] [INFO] [1751350646.156397744] [zed.zed_node]: * ‘/zed/zed_node/reset_odometry’

[component_container_isolated-2] [INFO] [1751350646.156866419] [zed.zed_node]: * ‘/zed/zed_node/reset_pos_tracking’

[component_container_isolated-2] [INFO] [1751350646.157619751] [zed.zed_node]: * ‘/zed/zed_node/set_pose’

[component_container_isolated-2] [INFO] [1751350646.158084359] [zed.zed_node]: * ‘/zed/zed_node/enable_obj_det’

[component_container_isolated-2] [INFO] [1751350646.158629939] [zed.zed_node]: * ‘/zed/zed_node/enable_body_trk’

[component_container_isolated-2] [INFO] [1751350646.159219923] [zed.zed_node]: * ‘/zed/zed_node/enable_mapping’

[component_container_isolated-2] [INFO] [1751350646.159683179] [zed.zed_node]: * ‘/zed/zed_node/enable_streaming’

[component_container_isolated-2] [INFO] [1751350646.160212648] [zed.zed_node]: * ‘/zed/zed_node/start_svo_rec’

[component_container_isolated-2] [INFO] [1751350646.160581295] [zed.zed_node]: * ‘/zed/zed_node/stop_svo_rec’

[component_container_isolated-2] [INFO] [1751350646.161005806] [zed.zed_node]: * ‘/zed/zed_node/set_roi’

[component_container_isolated-2] [INFO] [1751350646.161335669] [zed.zed_node]: * ‘/zed/zed_node/reset_roi’

[component_container_isolated-2] [INFO] [1751350646.161369864] [zed.zed_node]: ***** STARTING CAMERA *****

[component_container_isolated-2] [INFO] [1751350646.291687795] [zed.zed_node]: ZED SDK Version: 5.0.0 - Build 99275_9ed05d06

[component_container_isolated-2] [INFO] [1751350646.295607407] [zed.zed_node]: *** CONNECTING TO THE SIMULATION SERVER [10.255.255.254:30000] ***

[component_container_isolated-2] [2025-07-01 06:17:26 UTC][ZED][INFO] Logging level INFO

[component_container_isolated-2] [Streaming] Warning: Failed to retrieve camera settings from sender

[component_container_isolated-2] [Streaming] Error: Stream Opening returned TIMEOUT (350)

[component_container_isolated-2] [Streaming] Metadata timeout. the size is equal to -1 instead of 21960. Skipping.

[component_container_isolated-2] [2025-07-01 06:17:38 UTC][ZED][WARNING] FAILURE in sl::ERROR_CODE sl::camera::open(sl::InitParameters)

[component_container_isolated-2] [WARN] [1751350658.021297460] [zed.zed_node]: Error connecting to the simulation server: FAILURE

2

Hi,

I think you need to use the latest version of the ZED SDK (5.0.X) to be compatible with this version of the isaac sim extension.

Best,

3

Hi,

well now my system crashes. I am using Isaac Sim 4.5.0. Is the ZED SDK 5.x really for this version too? I thought it was just for the new Isaac Sim 5.0.0. Other than that was my ZED SDK 4.2.5 working fine, like I’ve described. Just the zed wrapper isn’t able to catch data from the streaming server since the data is pblished in UDP format but the wrapper wants TCP.

What setup do I need to run my simulation in Isaac Sim 4.5.0 and simulate synthetic ZED Signals in ROS2?

BR Jannik

4

Hi,

Yes you need the ZED SDK > v5.0.1 to use the isaac sim extension for 4.5. The 4.5 compatibility is available since the v3.0.0 of our extension.

Are you following this (https://www.stereolabs.com/docs/isaac-sim/ros2_integration) documentation? Is that correct?

Also, what exactly happens when “the system crashes”?

Thnaks.

Stereolabs Support

5

image
image606×278 7.05 KB

Your documentary for the extension says different. Its written

  • Versions 2.X.X are compatible with Isaac Sim 4.X
  • Versions 3.X.X are compatible with Isaac Sim 5.X

My Isaac Simulation crashes when I press play. With my earlier setup Isaac4.5.0 ZED SDK 4.2.5 and ZED extension 3.0 it worked somehow. I could see my simultaed data in ZED Depth viewer.

And yes, I’m following your tutorial. I came so far until I wanted to use the ZED wrapper since everything worked out until then. My initial request shows my error console when I run ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zedx sim_mode:=true use_sim_time:=true sim_address:=10.255.255.254 sim_port:=30000

6

So now I followed the readme instructions wich I’ve just posted. Setup: Isaac Sim 4.5.0 ZED extension 2.0.1 ZED SDK 4.2.5 → no more crash!

please double check if your suggestion of “ZED SDK > v5.0.1 to use the isaac sim extension for 4.5. The 4.5 compatibility is available since the v3.0.0 of our extension.” is correct, because it causes a crash of my Isaac simulation.

7

Hi @Jannik,

I apologize for the confusion, the Isaac sim extension is currently only available for Isaac Sim 4.5. We are currently working on the update for 5.0. I’ve updated the readmes accordingly.

Can you confirm that you can successfully run the extension in Isaac Sim 4.5?

8

Hi @mattrouss,

yes the extension 3.1 is running. Im able to see the simulated sensordata in the ZED tools like explorer and depth viewer. But the initial problem of this request is still urgent. I cannot start the ZED wrapper, I wann try a image pipeline but I simply can’t try because of that.

Here another time my console output:
u29e44@ATSTYWD310021:~/ros2_ws$ ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zedx sim_mode:=true use_sim_time:=true sim_address:=10.255.255.254 sim_port:=30000
[INFO] [launch]: All log files can be found below /home/u29e44/.ros/log/2025-07-03-16-16-38-693719-ATSTYWD310021-1148
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [launch.user]: Using common configuration file: /home/u29e44/ros2_ws/install/zed_wrapper/share/zed_wrapper/config/common_stereo.yaml
[INFO] [launch.user]: Using camera configuration file: /home/u29e44/ros2_ws/install/zed_wrapper/share/zed_wrapper/config/zedx.yaml
[INFO] [launch.user]: Using FFMPEG configuration file: /home/u29e44/ros2_ws/install/zed_wrapper/share/zed_wrapper/config/ffmpeg.yaml
[INFO] [launch.user]: Loading ZED node zed_node in container /zed/zed_container
[INFO] [robot_state_publisher-1]: process started with pid [1161]
[INFO] [component_container_isolated-2]: process started with pid [1163]
[robot_state_publisher-1] [INFO] [1751552199.006701758] [zed.zed_state_publisher]: got segment zed_camera_center
[robot_state_publisher-1] [INFO] [1751552199.006806043] [zed.zed_state_publisher]: got segment zed_camera_link
[robot_state_publisher-1] [INFO] [1751552199.006814930] [zed.zed_state_publisher]: got segment zed_left_camera_frame
[robot_state_publisher-1] [INFO] [1751552199.006819538] [zed.zed_state_publisher]: got segment zed_left_camera_optical_frame
[robot_state_publisher-1] [INFO] [1751552199.006823596] [zed.zed_state_publisher]: got segment zed_right_camera_frame
[robot_state_publisher-1] [INFO] [1751552199.006827413] [zed.zed_state_publisher]: got segment zed_right_camera_optical_frame
[component_container_isolated-2] [INFO] [1751552199.210283513] [zed.zed_container]: Load Library: /home/u29e44/ros2_ws/install/zed_components/lib/libzed_camera_component.so
[component_container_isolated-2] [INFO] [1751552199.449570696] [zed.zed_container]: Found class: rclcpp_components::NodeFactoryTemplatestereolabs::ZedCamera
[component_container_isolated-2] [INFO] [1751552199.449640977] [zed.zed_container]: Instantiate class: rclcpp_components::NodeFactoryTemplatestereolabs::ZedCamera
[component_container_isolated-2] [INFO] [1751552200.092591448] [zed.zed_node]: ********************************
[component_container_isolated-2] [INFO] [1751552200.092636212] [zed.zed_node]: ZED Camera Component
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ‘/zed/zed_node’ in container ‘/zed/zed_container’
[component_container_isolated-2] [INFO] [1751552200.092642864] [zed.zed_node]: ********************************
[component_container_isolated-2] [INFO] [1751552200.092647162] [zed.zed_node]: * namespace: /zed
[component_container_isolated-2] [INFO] [1751552200.092651480] [zed.zed_node]: * node name: zed_node
[component_container_isolated-2] [INFO] [1751552200.092654526] [zed.zed_node]: ********************************
[component_container_isolated-2] [INFO] [1751552200.144813506] [zed.zed_node]: *** DEBUG parameters ***
[component_container_isolated-2] [INFO] [1751552200.145064826] [zed.zed_node]: * SDK Verbose: 1
[component_container_isolated-2] [INFO] [1751552200.145149023] [zed.zed_node]: * SDK Verbose File:
[component_container_isolated-2] [INFO] [1751552200.145229754] [zed.zed_node]: * Debug Common: FALSE
[component_container_isolated-2] [INFO] [1751552200.145297802] [zed.zed_node]: * Debug Simulation: FALSE
[component_container_isolated-2] [INFO] [1751552200.145387159] [zed.zed_node]: * Debug Video/Depth: FALSE
[component_container_isolated-2] [INFO] [1751552200.145475013] [zed.zed_node]: * Debug Control settings: FALSE
[component_container_isolated-2] [INFO] [1751552200.145574719] [zed.zed_node]: * Debug Point Cloud: FALSE
[component_container_isolated-2] [INFO] [1751552200.145656072] [zed.zed_node]: * Debug GNSS: FALSE
[component_container_isolated-2] [INFO] [1751552200.145712778] [zed.zed_node]: * Debug Positional Tracking: FALSE
[component_container_isolated-2] [INFO] [1751552200.145763593] [zed.zed_node]: * Debug sensors: FALSE
[component_container_isolated-2] [INFO] [1751552200.145814829] [zed.zed_node]: * Debug Mapping: FALSE
[component_container_isolated-2] [INFO] [1751552200.145868699] [zed.zed_node]: * Debug Object Detection: FALSE
[component_container_isolated-2] [INFO] [1751552200.145923482] [zed.zed_node]: * Debug Body Tracking: FALSE
[component_container_isolated-2] [INFO] [1751552200.146005585] [zed.zed_node]: * Debug Streaming: FALSE
[component_container_isolated-2] [INFO] [1751552200.146097948] [zed.zed_node]: * Debug ROI: FALSE
[component_container_isolated-2] [INFO] [1751552200.146181024] [zed.zed_node]: * Debug Advanced: FALSE
[component_container_isolated-2] [INFO] [1751552200.146295397] [zed.zed_node]: *** SIMULATION MODE ACTIVE ***
[component_container_isolated-2] [INFO] [1751552200.146390055] [zed.zed_node]: * Sim. server address: 10.255.255.254
[component_container_isolated-2] [INFO] [1751552200.146481385] [zed.zed_node]: * Sim. server port: 30000
[component_container_isolated-2] [INFO] [1751552200.146494580] [zed.zed_node]: * Use Sim Time: TRUE
[component_container_isolated-2] [INFO] [1751552200.146500541] [zed.zed_node]: *** GENERAL parameters ***
[component_container_isolated-2] [INFO] [1751552200.146692711] [zed.zed_node]: + Simulating a ZED X camera model.
[component_container_isolated-2] [INFO] [1751552200.146708079] [zed.zed_node]: * Camera model: zedx - ZED X
[component_container_isolated-2] [INFO] [1751552200.146802496] [zed.zed_node]: * Camera name: zed
[component_container_isolated-2] [INFO] [1751552200.146870173] [zed.zed_node]: * Camera SN: 0
[component_container_isolated-2] [INFO] [1751552200.146945023] [zed.zed_node]: * Camera ID: -1
[component_container_isolated-2] [INFO] [1751552200.147037335] [zed.zed_node]: * Camera timeout [sec]: 5
[component_container_isolated-2] [INFO] [1751552200.147140548] [zed.zed_node]: * Camera reconnection temptatives: 5
[component_container_isolated-2] [INFO] [1751552200.147154585] [zed.zed_node]: * [Simulation mode] Camera framerate forced to 60 Hz
[component_container_isolated-2] [INFO] [1751552200.147231959] [zed.zed_node]: * GPU ID: -1
[component_container_isolated-2] [INFO] [1751552200.147313432] [zed.zed_node]: * Asynchronous image retrieval: FALSE
[component_container_isolated-2] [INFO] [1751552200.147375728] [zed.zed_node]: * Image Validity Check: ENABLED
[component_container_isolated-2] [INFO] [1751552200.147384585] [zed.zed_node]: * [Simulation mode] Camera resolution forced to ‘HD1080’
[component_container_isolated-2] [INFO] [1751552200.147440269] [zed.zed_node]: * Publishing resolution: CUSTOM
[component_container_isolated-2] [INFO] [1751552200.147562097] [zed.zed_node]: * Publishing downscale factor: 2
[component_container_isolated-2] [INFO] [1751552200.147667835] [zed.zed_node]: * OpenCV custom calibration:
[component_container_isolated-2] [INFO] [1751552200.147747854] [zed.zed_node]: * Camera self calibration: TRUE
[component_container_isolated-2] [INFO] [1751552200.147818466] [zed.zed_node]: * Camera flip: FALSE
[component_container_isolated-2] [INFO] [1751552200.147828475] [zed.zed_node]: * [Simulation mode] Publish framerate forced to 60 Hz
[component_container_isolated-2] [INFO] [1751552200.147839686] [zed.zed_node]: *** DEPTH parameters ***
[component_container_isolated-2] [INFO] [1751552200.148518448] [zed.zed_node]: * Depth mode: NEURAL LIGHT [4]
[component_container_isolated-2] [INFO] [1751552200.148638292] [zed.zed_node]: * Min depth [m]: 0.3
[component_container_isolated-2] [INFO] [1751552200.148706009] [zed.zed_node]: * Max depth [m]: 10
[component_container_isolated-2] [INFO] [1751552200.148789274] [zed.zed_node]: * Depth Stabilization: 30
[component_container_isolated-2] [INFO] [1751552200.148842985] [zed.zed_node]: * OpenNI mode (16bit point cloud): FALSE
[component_container_isolated-2] [INFO] [1751552200.148901274] [zed.zed_node]: * [DYN] Point cloud rate [Hz]: 15
[component_container_isolated-2] [INFO] [1751552200.148963811] [zed.zed_node]: * Point cloud resolution: COMPACT
[component_container_isolated-2] [INFO] [1751552200.149017652] [zed.zed_node]: * [DYN] Depth Confidence: 95
[component_container_isolated-2] [INFO] [1751552200.149064098] [zed.zed_node]: * [DYN] Depth Texture Confidence: 100
[component_container_isolated-2] [INFO] [1751552200.149115304] [zed.zed_node]: * [DYN] Remove saturated areas: TRUE
[component_container_isolated-2] [INFO] [1751552200.149126435] [zed.zed_node]: *** GNSS FUSION parameters ***
[component_container_isolated-2] [INFO] [1751552200.149188110] [zed.zed_node]: * GNSS fusion enabled: FALSE
[component_container_isolated-2] [INFO] [1751552200.149198780] [zed.zed_node]: *** POSITIONAL TRACKING parameters ***
[component_container_isolated-2] [INFO] [1751552200.149248543] [zed.zed_node]: * Positional tracking enabled: TRUE
[component_container_isolated-2] [INFO] [1751552200.149308335] [zed.zed_node]: * Positional tracking mode: GEN 1
[component_container_isolated-2] [INFO] [1751552200.149364040] [zed.zed_node]: * Map frame id: map
[component_container_isolated-2] [INFO] [1751552200.149419714] [zed.zed_node]: * Odometry frame id: odom
[component_container_isolated-2] [INFO] [1751552200.149472052] [zed.zed_node]: * Broadcast Odometry TF: TRUE
[component_container_isolated-2] [INFO] [1751552200.149525341] [zed.zed_node]: * Broadcast Pose TF: TRUE
[component_container_isolated-2] [INFO] [1751552200.149579452] [zed.zed_node]: * [DYN] Depth minimum range: 0
[component_container_isolated-2] [INFO] [1751552200.149636008] [zed.zed_node]: * [DYN] TF timestamp offset: 0
[component_container_isolated-2] [INFO] [1751552200.149692253] [zed.zed_node]: * [DYN] Path publishing rate: 2
[component_container_isolated-2] [INFO] [1751552200.149745383] [zed.zed_node]: * Path history lenght: -1
[component_container_isolated-2] [INFO] [1751552200.149809563] [zed.zed_node]: * Initial pose: [0,0,0,0,0,0,]
[component_container_isolated-2] [INFO] [1751552200.149865037] [zed.zed_node]: * Area Memory: TRUE
[component_container_isolated-2] [INFO] [1751552200.149923506] [zed.zed_node]: * Area Memory DB:
[component_container_isolated-2] [INFO] [1751552200.149985642] [zed.zed_node]: * Camera is static: FALSE
[component_container_isolated-2] [INFO] [1751552200.150050293] [zed.zed_node]: * Gravity as origin [not for ZED]: TRUE
[component_container_isolated-2] [INFO] [1751552200.150124542] [zed.zed_node]: * IMU Fusion [not for ZED]: TRUE
[component_container_isolated-2] [INFO] [1751552200.150196697] [zed.zed_node]: * Floor Alignment: FALSE
[component_container_isolated-2] [INFO] [1751552200.150264454] [zed.zed_node]: * Reset Odometry with Loop Closure: TRUE
[component_container_isolated-2] [INFO] [1751552200.150320619] [zed.zed_node]: * 2D mode: FALSE
[component_container_isolated-2] [INFO] [1751552200.150382124] [zed.zed_node]: * Reset pose with SVO loop: TRUE
[component_container_isolated-2] [INFO] [1751552200.150392594] [zed.zed_node]: *** Region of Interest parameters ***
[component_container_isolated-2] [INFO] [1751552200.150443068] [zed.zed_node]: * Automatic ROI generation: FALSE
[component_container_isolated-2] [INFO] [1751552200.150845975] [zed.zed_node]: * Manual ROI polygon:
[component_container_isolated-2] [INFO] [1751552200.150872564] [zed.zed_node]: *** SENSORS STACK parameters ***
[component_container_isolated-2] [INFO] [1751552200.150925704] [zed.zed_node]: * Broadcast IMU TF [not for ZED]: FALSE
[component_container_isolated-2] [INFO] [1751552200.150979685] [zed.zed_node]: * Sensors Camera Sync: FALSE
[component_container_isolated-2] [INFO] [1751552200.151035349] [zed.zed_node]: * Sensors publishing rate: 100 Hz
[component_container_isolated-2] [INFO] [1751552200.151047972] [zed.zed_node]: *** Spatial Mapping parameters ***
[component_container_isolated-2] [INFO] [1751552200.151098657] [zed.zed_node]: * Spatial Mapping Enabled: FALSE
[component_container_isolated-2] [INFO] [1751552200.151157948] [zed.zed_node]: * Spatial Mapping resolution [m]: 0.05
[component_container_isolated-2] [INFO] [1751552200.151221257] [zed.zed_node]: * 3D Max Mapping range [m]: 5
[component_container_isolated-2] [INFO] [1751552200.151288022] [zed.zed_node]: * Map publishing rate [Hz]: 1
[component_container_isolated-2] [INFO] [1751552200.151353654] [zed.zed_node]: * Clicked point topic: /clicked_point
[component_container_isolated-2] [INFO] [1751552200.151406944] [zed.zed_node]: * Plane Det. Max Dist. Thresh.: 0.15
[component_container_isolated-2] [INFO] [1751552200.151459172] [zed.zed_node]: * Plane Det. Normals Sim. Thresh.: 15
[component_container_isolated-2] [INFO] [1751552200.151470132] [zed.zed_node]: *** Object Det. parameters ***
[component_container_isolated-2] [INFO] [1751552200.151519595] [zed.zed_node]: * Object Det. enabled: FALSE
[component_container_isolated-2] [INFO] [1751552200.151599414] [zed.zed_node]: * Object Det. model: MULTI CLASS BOX FAST
[component_container_isolated-2] [INFO] [1751552200.151654277] [zed.zed_node]: * Object Det. allow reduced precision: TRUE
[component_container_isolated-2] [INFO] [1751552200.151708989] [zed.zed_node]: * Object Det. maximum range [m]: 20
[component_container_isolated-2] [INFO] [1751552200.151766306] [zed.zed_node]: * Object Det. min. confidence: 75
[component_container_isolated-2] [INFO] [1751552200.151819566] [zed.zed_node]: * Object Det. prediction timeout [sec]: 0.5
[component_container_isolated-2] [INFO] [1751552200.151895729] [zed.zed_node]: * Object Det. tracking: TRUE
[component_container_isolated-2] [INFO] [1751552200.151955691] [zed.zed_node]: * Object Filtering mode: 1 - NMS3D
[component_container_isolated-2] [INFO] [1751552200.152020672] [zed.zed_node]: * MultiClassBox people: TRUE
[component_container_isolated-2] [INFO] [1751552200.152075966] [zed.zed_node]: * MultiClassBox vehicles: TRUE
[component_container_isolated-2] [INFO] [1751552200.152122403] [zed.zed_node]: * MultiClassBox bags: TRUE
[component_container_isolated-2] [INFO] [1751552200.152179399] [zed.zed_node]: * MultiClassBox animals: TRUE
[component_container_isolated-2] [INFO] [1751552200.152231948] [zed.zed_node]: * MultiClassBox electronics: TRUE
[component_container_isolated-2] [INFO] [1751552200.152285889] [zed.zed_node]: * MultiClassBox fruits and vegetables: TRUE
[component_container_isolated-2] [INFO] [1751552200.152344969] [zed.zed_node]: * MultiClassBox sport-related objects: TRUE
[component_container_isolated-2] [INFO] [1751552200.152355649] [zed.zed_node]: *** Body Track. parameters ***
[component_container_isolated-2] [INFO] [1751552200.152407837] [zed.zed_node]: * Body Track. enabled: FALSE
[component_container_isolated-2] [INFO] [1751552200.152458762] [zed.zed_node]: * Body Track. model: HUMAN BODY MEDIUM
[component_container_isolated-2] [INFO] [1751552200.152547738] [zed.zed_node]: * Body Track. format: BODY 38
[component_container_isolated-2] [INFO] [1751552200.152616086] [zed.zed_node]: * Body Track. allow reduced precision: TRUE
[component_container_isolated-2] [INFO] [1751552200.152680938] [zed.zed_node]: * Body Track. maximum range [m]: 20
[component_container_isolated-2] [INFO] [1751552200.152745919] [zed.zed_node]: * Body Track. KP selection: FULL
[component_container_isolated-2] [INFO] [1751552200.152821631] [zed.zed_node]: * Body fitting: FALSE
[component_container_isolated-2] [INFO] [1751552200.152883296] [zed.zed_node]: * Body joints tracking: TRUE
[component_container_isolated-2] [INFO] [1751552200.152956794] [zed.zed_node]: * Body Track. prediction timeout [sec]: 0.5
[component_container_isolated-2] [INFO] [1751552200.153027857] [zed.zed_node]: * Body Track. confidence thresh.: 50
[component_container_isolated-2] [INFO] [1751552200.153096275] [zed.zed_node]: * Body Track. min. KP thresh.: 5
[component_container_isolated-2] [INFO] [1751552200.153108738] [zed.zed_node]: *** Streaming Server parameters ***
[component_container_isolated-2] [INFO] [1751552200.153161627] [zed.zed_node]: * Streaming Server enabled: FALSE
[component_container_isolated-2] [INFO] [1751552200.153222551] [zed.zed_node]: * Stream codec: H264
[component_container_isolated-2] [INFO] [1751552200.153284246] [zed.zed_node]: * Stream port: 30000
[component_container_isolated-2] [INFO] [1751552200.153338869] [zed.zed_node]: * Stream bitrate: 12500
[component_container_isolated-2] [INFO] [1751552200.153402367] [zed.zed_node]: * Stream GOP size: -1
[component_container_isolated-2] [INFO] [1751552200.153457921] [zed.zed_node]: * Stream Chunk size: 16084
[component_container_isolated-2] [INFO] [1751552200.153527982] [zed.zed_node]: * Adaptive bitrate: FALSE
[component_container_isolated-2] [INFO] [1751552200.153593074] [zed.zed_node]: * Target frame rate:0
[component_container_isolated-2] [INFO] [1751552200.153603784] [zed.zed_node]: *** Advanced parameters ***
[component_container_isolated-2] [INFO] [1751552200.153657635] [zed.zed_node]: * Thread sched. policy: SCHED_BATCH
[component_container_isolated-2] [INFO] [1751552200.154126527] [zed.zed_node]: *** SERVICES ***
[component_container_isolated-2] [INFO] [1751552200.155954277] [zed.zed_node]: * ‘/zed/zed_node/reset_odometry’
[component_container_isolated-2] [INFO] [1751552200.156281850] [zed.zed_node]: * ‘/zed/zed_node/reset_pos_tracking’
[component_container_isolated-2] [INFO] [1751552200.157983984] [zed.zed_node]: * ‘/zed/zed_node/set_pose’
[component_container_isolated-2] [INFO] [1751552200.158320063] [zed.zed_node]: * ‘/zed/zed_node/enable_obj_det’
[component_container_isolated-2] [INFO] [1751552200.158632758] [zed.zed_node]: * ‘/zed/zed_node/enable_body_trk’
[component_container_isolated-2] [INFO] [1751552200.158942027] [zed.zed_node]: * ‘/zed/zed_node/enable_mapping’
[component_container_isolated-2] [INFO] [1751552200.159241317] [zed.zed_node]: * ‘/zed/zed_node/enable_streaming’
[component_container_isolated-2] [INFO] [1751552200.159556306] [zed.zed_node]: * ‘/zed/zed_node/start_svo_rec’
[component_container_isolated-2] [INFO] [1751552200.159854754] [zed.zed_node]: * ‘/zed/zed_node/stop_svo_rec’
[component_container_isolated-2] [INFO] [1751552200.160190052] [zed.zed_node]: * ‘/zed/zed_node/set_roi’
[component_container_isolated-2] [INFO] [1751552200.160487368] [zed.zed_node]: * ‘/zed/zed_node/reset_roi’
[component_container_isolated-2] [INFO] [1751552200.160515681] [zed.zed_node]: ***** STARTING CAMERA *****
[component_container_isolated-2] [INFO] [1751552200.292388645] [zed.zed_node]: ZED SDK Version: 5.0.0 - Build 99275_9ed05d06
[component_container_isolated-2] [INFO] [1751552200.296861821] [zed.zed_node]: *** CONNECTING TO THE SIMULATION SERVER [10.255.255.254:30000] ***
[component_container_isolated-2] [2025-07-03 14:16:40 UTC][ZED][INFO] Logging level INFO
[component_container_isolated-2] [Streaming] Warning: Failed to retrieve camera settings from sender
[component_container_isolated-2] [Streaming] Error: Stream Opening returned TIMEOUT (350)
[component_container_isolated-2] [Streaming] Metadata timeout. the size is equal to -1 instead of 21960. Skipping.
[component_container_isolated-2] [2025-07-03 14:16:52 UTC][ZED][WARNING] FAILURE in sl::ERROR_CODE sl::camera::open(sl::InitParameters)
[component_container_isolated-2] [WARN] [1751552212.029219548] [zed.zed_node]: Error connecting to the simulation server: FAILURE

9

Hi @Jannik,

Do you have the possibility to run the ROS2 wrapper on the same simulation PC itself? This would be to verify if this is a network issue of some kind