I’d like to understand better a few of the warnings I see when I install/launch the zed wrapper from the repo. I’ll paste the full thing below, but the warnings I see that I am curious about are:
[zed_wrapper-2] [ZED-X][Warning] Failed to open zed_x service
and
[zed_wrapper-2] [WARN] [1704218129.438258314] [zed.zed_node]: sl::getSensorsData error: CAMERA NOT DETECTED
Are either of those things to be worried about? The wrapper does appear to be running and publishing data on various topics.
Here is the full log in case it helps
admin@ros2:/workspaces/isaac_ros-dev$ ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zedx
[INFO] [launch]: All log files can be found below /home/admin/.ros/log/2024-01-02-10-55-20-791820-ros2-12375
[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 [12378]
[INFO] [zed_wrapper-2]: process started with pid [12380]
[robot_state_publisher-1] [INFO] [1704218121.922899273] [zed.zed_state_publisher]: got segment zed_camera_center
[robot_state_publisher-1] [INFO] [1704218121.923179502] [zed.zed_state_publisher]: got segment zed_camera_link
[robot_state_publisher-1] [INFO] [1704218121.923206063] [zed.zed_state_publisher]: got segment zed_left_camera_frame
[robot_state_publisher-1] [INFO] [1704218121.923220271] [zed.zed_state_publisher]: got segment zed_left_camera_optical_frame
[robot_state_publisher-1] [INFO] [1704218121.923231151] [zed.zed_state_publisher]: got segment zed_right_camera_frame
[robot_state_publisher-1] [INFO] [1704218121.923240720] [zed.zed_state_publisher]: got segment zed_right_camera_optical_frame
[zed_wrapper-2] [INFO] [1704218122.061212822] [zed.zed_node]: ********************************
[zed_wrapper-2] [INFO] [1704218122.061568317] [zed.zed_node]: ZED Camera Component
[zed_wrapper-2] [INFO] [1704218122.061600990] [zed.zed_node]: ********************************
[zed_wrapper-2] [INFO] [1704218122.061623134] [zed.zed_node]: * namespace: /zed
[zed_wrapper-2] [INFO] [1704218122.061643263] [zed.zed_node]: * node name: zed_node
[zed_wrapper-2] [INFO] [1704218122.061659071] [zed.zed_node]: ********************************
[zed_wrapper-2] [INFO] [1704218122.062001253] [zed.zed_node]: *** DEBUG parameters ***
[zed_wrapper-2] [INFO] [1704218122.062078535] [zed.zed_node]: * Debug Common: FALSE
[zed_wrapper-2] [INFO] [1704218122.062111303] [zed.zed_node]: * Debug Simulation: FALSE
[zed_wrapper-2] [INFO] [1704218122.062139208] [zed.zed_node]: * Debug Video/Depth: FALSE
[zed_wrapper-2] [INFO] [1704218122.062176521] [zed.zed_node]: * Debug Control settings: FALSE
[zed_wrapper-2] [INFO] [1704218122.062206985] [zed.zed_node]: * Debug Point Cloud: FALSE
[zed_wrapper-2] [INFO] [1704218122.062235690] [zed.zed_node]: * Debug GNSS: FALSE
[zed_wrapper-2] [INFO] [1704218122.062268746] [zed.zed_node]: * Debug Positional Tracking: FALSE
[zed_wrapper-2] [INFO] [1704218122.062300011] [zed.zed_node]: * Debug sensors: FALSE
[zed_wrapper-2] [INFO] [1704218122.062328203] [zed.zed_node]: * Debug Mapping: FALSE
[zed_wrapper-2] [INFO] [1704218122.062359180] [zed.zed_node]: * Debug Object Detection: FALSE
[zed_wrapper-2] [INFO] [1704218122.062395405] [zed.zed_node]: * Debug Body Tracking: FALSE
[zed_wrapper-2] [INFO] [1704218122.062428461] [zed.zed_node]: * Debug Advanced: FALSE
[zed_wrapper-2] [INFO] [1704218122.062820245] [zed.zed_node]: *** GENERAL parameters ***
[zed_wrapper-2] [INFO] [1704218122.062904342] [zed.zed_node]: * SVO: ''
[zed_wrapper-2] [INFO] [1704218122.062984376] [zed.zed_node]: * Camera model: zedx - ZED X
[zed_wrapper-2] [INFO] [1704218122.063039673] [zed.zed_node]: * SDK Verbose: 1
[zed_wrapper-2] [INFO] [1704218122.063089242] [zed.zed_node]: * Camera name: zed
[zed_wrapper-2] [INFO] [1704218122.063125050] [zed.zed_node]: * Camera SN: 0
[zed_wrapper-2] [INFO] [1704218122.063155707] [zed.zed_node]: * Camera timeout [sec]: 5
[zed_wrapper-2] [INFO] [1704218122.063184540] [zed.zed_node]: * Camera reconnection temptatives: 5
[zed_wrapper-2] [INFO] [1704218122.063218748] [zed.zed_node]: * Camera framerate: 30
[zed_wrapper-2] [INFO] [1704218122.063249725] [zed.zed_node]: * GPU ID: -1
[zed_wrapper-2] [INFO] [1704218122.063293662] [zed.zed_node]: * Camera resolution: HD1200
[zed_wrapper-2] [INFO] [1704218122.063337502] [zed.zed_node]: * Publishing resolution: CUSTOM
[zed_wrapper-2] [INFO] [1704218122.063400032] [zed.zed_node]: * Publishing downscale factor: 2
[zed_wrapper-2] [INFO] [1704218122.063449697] [zed.zed_node]: * Region of interest: []
[zed_wrapper-2] [INFO] [1704218122.063481505] [zed.zed_node]: * Camera self calibration: TRUE
[zed_wrapper-2] [INFO] [1704218122.063518498] [zed.zed_node]: * Camera flip: FALSE
[zed_wrapper-2] [INFO] [1704218122.063556227] [zed.zed_node]: * [DYN] Publish framerate [Hz]: 15
[zed_wrapper-2] [INFO] [1704218122.063578403] [zed.zed_node]: *** VIDEO parameters ***
[zed_wrapper-2] [INFO] [1704218122.063609700] [zed.zed_node]: * [DYN] Saturation: 4
[zed_wrapper-2] [INFO] [1704218122.063661157] [zed.zed_node]: * [DYN] Sharpness: 4
[zed_wrapper-2] [INFO] [1704218122.063694693] [zed.zed_node]: * [DYN] Gamma: 8
[zed_wrapper-2] [INFO] [1704218122.063724518] [zed.zed_node]: * [DYN] Auto Exposure/Gain: TRUE
[zed_wrapper-2] [INFO] [1704218122.063752806] [zed.zed_node]: * [DYN] Exposure: 80
[zed_wrapper-2] [INFO] [1704218122.063785223] [zed.zed_node]: * [DYN] Gain: 80
[zed_wrapper-2] [INFO] [1704218122.063815591] [zed.zed_node]: * [DYN] Auto White Balance: TRUE
[zed_wrapper-2] [INFO] [1704218122.063844968] [zed.zed_node]: * [DYN] White Balance Temperature: 42
[zed_wrapper-2] [INFO] [1704218122.063874025] [zed.zed_node]: * [DYN] ZED X Exposure time: 16000
[zed_wrapper-2] [INFO] [1704218122.063908265] [zed.zed_node]: * [DYN] ZED X Auto Exp. time range min: 28
[zed_wrapper-2] [INFO] [1704218122.063941578] [zed.zed_node]: * [DYN] ZED X Auto Exp. time range max: 30000
[zed_wrapper-2] [INFO] [1704218122.063970922] [zed.zed_node]: * [DYN] ZED X Exposure comp.: 50
[zed_wrapper-2] [INFO] [1704218122.063999243] [zed.zed_node]: * [DYN] ZED X Analog Gain: 1255
[zed_wrapper-2] [INFO] [1704218122.064032492] [zed.zed_node]: * [DYN] ZED X Auto Analog Gain range min: 1000
[zed_wrapper-2] [INFO] [1704218122.064064716] [zed.zed_node]: * [DYN] ZED X Auto Analog Gain range max: 16000
[zed_wrapper-2] [INFO] [1704218122.064094605] [zed.zed_node]: * [DYN] ZED X Digital Gain: 1
[zed_wrapper-2] [INFO] [1704218122.064128013] [zed.zed_node]: * [DYN] ZED X Auto Digital Gain range min: 1
[zed_wrapper-2] [INFO] [1704218122.064160750] [zed.zed_node]: * [DYN] ZED X Auto Digital Gain range max: 256
[zed_wrapper-2] [INFO] [1704218122.064275440] [zed.zed_node]: * [DYN] ZED X Auto Digital Gain range max: 50
[zed_wrapper-2] [INFO] [1704218122.064316849] [zed.zed_node]: * Video QoS History: KEEP_LAST
[zed_wrapper-2] [INFO] [1704218122.064356402] [zed.zed_node]: * Video QoS History depth: 1
[zed_wrapper-2] [INFO] [1704218122.064387986] [zed.zed_node]: * Video QoS Reliability: RELIABLE
[zed_wrapper-2] [INFO] [1704218122.064418643] [zed.zed_node]: * Video QoS Durability: VOLATILE
[zed_wrapper-2] [INFO] [1704218122.064441363] [zed.zed_node]: *** DEPTH parameters ***
[zed_wrapper-2] [INFO] [1704218122.064493684] [zed.zed_node]: * Depth mode: ULTRA [3]
[zed_wrapper-2] [INFO] [1704218122.064538101] [zed.zed_node]: * Min depth [m]: 0.3
[zed_wrapper-2] [INFO] [1704218122.064573750] [zed.zed_node]: * Max depth [m]: 10
[zed_wrapper-2] [INFO] [1704218122.064606230] [zed.zed_node]: * Depth Stabilization: 1
[zed_wrapper-2] [INFO] [1704218122.064641751] [zed.zed_node]: * OpenNI mode (16bit point cloud): FALSE
[zed_wrapper-2] [INFO] [1704218122.064676440] [zed.zed_node]: * [DYN] Point cloud rate [Hz]: 10
[zed_wrapper-2] [INFO] [1704218122.064707256] [zed.zed_node]: * [DYN] Depth Confidence: 50
[zed_wrapper-2] [INFO] [1704218122.064743193] [zed.zed_node]: * [DYN] Depth Texture Confidence: 100
[zed_wrapper-2] [INFO] [1704218122.064773625] [zed.zed_node]: * [DYN] Remove saturated areas: TRUE
[zed_wrapper-2] [INFO] [1704218122.064804058] [zed.zed_node]: * Depth QoS History: KEEP_LAST
[zed_wrapper-2] [INFO] [1704218122.064831963] [zed.zed_node]: * Depth QoS History depth: 1
[zed_wrapper-2] [INFO] [1704218122.064866747] [zed.zed_node]: * Depth QoS Reliability: RELIABLE
[zed_wrapper-2] [INFO] [1704218122.064894620] [zed.zed_node]: * Depth QoS Durability: VOLATILE
[zed_wrapper-2] [INFO] [1704218122.064914460] [zed.zed_node]: *** GNSS FUSION parameters ***
[zed_wrapper-2] [INFO] [1704218122.064947581] [zed.zed_node]: * GNSS fusion enabled: FALSE
[zed_wrapper-2] [INFO] [1704218122.064968605] [zed.zed_node]: *** POSITIONAL TRACKING parameters ***
[zed_wrapper-2] [INFO] [1704218122.065003678] [zed.zed_node]: * Positional tracking enabled: TRUE
[zed_wrapper-2] [INFO] [1704218122.065041311] [zed.zed_node]: * Positional tracking mode: POSITIONAL TRACKING MODE STANDARD
[zed_wrapper-2] [INFO] [1704218122.065081023] [zed.zed_node]: * Map frame id: map
[zed_wrapper-2] [INFO] [1704218122.065118720] [zed.zed_node]: * Odometry frame id: odom
[zed_wrapper-2] [INFO] [1704218122.065151201] [zed.zed_node]: * Broadcast Odometry TF: TRUE
[zed_wrapper-2] [INFO] [1704218122.065185121] [zed.zed_node]: * Broadcast Pose TF: TRUE
[zed_wrapper-2] [INFO] [1704218122.065217986] [zed.zed_node]: * [DYN] Depth minimum range: 0
[zed_wrapper-2] [INFO] [1704218122.065256579] [zed.zed_node]: * [DYN] TF timestamp offset: 0
[zed_wrapper-2] [INFO] [1704218122.065288451] [zed.zed_node]: * [DYN] Path publishing rate: 2
[zed_wrapper-2] [INFO] [1704218122.065318756] [zed.zed_node]: * Path history lenght: -1
[zed_wrapper-2] [INFO] [1704218122.065370565] [zed.zed_node]: * Initial pose: [0,0,0,0,0,0,]
[zed_wrapper-2] [INFO] [1704218122.065409989] [zed.zed_node]: * Area Memory: TRUE
[zed_wrapper-2] [INFO] [1704218122.065443878] [zed.zed_node]: * Area Memory DB:
[zed_wrapper-2] [INFO] [1704218122.065480487] [zed.zed_node]: * Camera is static: FALSE
[zed_wrapper-2] [INFO] [1704218122.065513383] [zed.zed_node]: * Gravity as origin [not for ZED]: TRUE
[zed_wrapper-2] [INFO] [1704218122.065543016] [zed.zed_node]: * IMU Fusion [not for ZED]: TRUE
[zed_wrapper-2] [INFO] [1704218122.065572169] [zed.zed_node]: * Floor Alignment: FALSE
[zed_wrapper-2] [INFO] [1704218122.065610857] [zed.zed_node]: * Init Odometry with first valid pose data: TRUE
[zed_wrapper-2] [INFO] [1704218122.065642794] [zed.zed_node]: * 2D mode: FALSE
[zed_wrapper-2] [INFO] [1704218122.065670602] [zed.zed_node]: * Pose/Odometry QoS History: KEEP_LAST
[zed_wrapper-2] [INFO] [1704218122.065701515] [zed.zed_node]: * Pose/Odometry QoS History depth: 1
[zed_wrapper-2] [INFO] [1704218122.065730764] [zed.zed_node]: * Pose/Odometry QoS Reliability: RELIABLE
[zed_wrapper-2] [INFO] [1704218122.065757228] [zed.zed_node]: * Pose/Odometry QoS Durability: VOLATILE
[zed_wrapper-2] [INFO] [1704218122.065776300] [zed.zed_node]: *** SENSORS STACK parameters ***
[zed_wrapper-2] [INFO] [1704218122.065850062] [zed.zed_node]: * Broadcast IMU TF [not for ZED]: TRUE
[zed_wrapper-2] [INFO] [1704218122.065915823] [zed.zed_node]: * Sensors Camera Sync: FALSE
[zed_wrapper-2] [INFO] [1704218122.065955888] [zed.zed_node]: * Sensors publishing rate: 200 Hz
[zed_wrapper-2] [INFO] [1704218122.065987280] [zed.zed_node]: * Sensors QoS History: KEEP_LAST
[zed_wrapper-2] [INFO] [1704218122.066022001] [zed.zed_node]: * Sensors QoS History depth: 1
[zed_wrapper-2] [INFO] [1704218122.066053298] [zed.zed_node]: * Sensors QoS Reliability: RELIABLE
[zed_wrapper-2] [INFO] [1704218122.066123347] [zed.zed_node]: * Sensors QoS Durability: VOLATILE
[zed_wrapper-2] [INFO] [1704218122.066149427] [zed.zed_node]: *** Spatial Mapping parameters ***
[zed_wrapper-2] [INFO] [1704218122.066183028] [zed.zed_node]: * Spatial Mapping Enabled: FALSE
[zed_wrapper-2] [INFO] [1704218122.066233525] [zed.zed_node]: * Spatial Mapping resolution [m]: 0.05
[zed_wrapper-2] [INFO] [1704218122.066272118] [zed.zed_node]: * 3D Max Mapping range [m]: 5
[zed_wrapper-2] [INFO] [1704218122.066308438] [zed.zed_node]: * Map publishing rate [Hz]: 1
[zed_wrapper-2] [INFO] [1704218122.066340663] [zed.zed_node]: * Clicked point topic: /clicked_point
[zed_wrapper-2] [INFO] [1704218122.066379800] [zed.zed_node]: * Plane Det. Max Dist. Thresh.: 0.15
[zed_wrapper-2] [INFO] [1704218122.066415544] [zed.zed_node]: * Plane Det. Normals Sim. Thresh.: 15
[zed_wrapper-2] [INFO] [1704218122.066447513] [zed.zed_node]: * Sensors QoS History: KEEP_LAST
[zed_wrapper-2] [INFO] [1704218122.066475322] [zed.zed_node]: * Sensors QoS History depth: 1
[zed_wrapper-2] [INFO] [1704218122.066506906] [zed.zed_node]: * Sensors QoS Reliability: RELIABLE
[zed_wrapper-2] [INFO] [1704218122.066533403] [zed.zed_node]: * Sensors QoS Durability: VOLATILE
[zed_wrapper-2] [INFO] [1704218122.066553051] [zed.zed_node]: *** Object Det. parameters ***
[zed_wrapper-2] [INFO] [1704218122.066581404] [zed.zed_node]: * Object Det. enabled: FALSE
[zed_wrapper-2] [INFO] [1704218122.066627196] [zed.zed_node]: * Object Det. model: MULTI CLASS BOX MEDIUM
[zed_wrapper-2] [INFO] [1704218122.066680093] [zed.zed_node]: * Object Det. allow reduced precision: TRUE
[zed_wrapper-2] [INFO] [1704218122.066741567] [zed.zed_node]: * Object Det. maximum range [m]: 20
[zed_wrapper-2] [INFO] [1704218122.066782495] [zed.zed_node]: * Object Det. min. confidence: 50
[zed_wrapper-2] [INFO] [1704218122.066815616] [zed.zed_node]: * Object Det. prediction timeout [sec]: 0.5
[zed_wrapper-2] [INFO] [1704218122.066856257] [zed.zed_node]: * Object Det. tracking: TRUE
[zed_wrapper-2] [INFO] [1704218122.066897153] [zed.zed_node]: * Object Filtering mode: 1 - NMS 3D
[zed_wrapper-2] [INFO] [1704218122.066941026] [zed.zed_node]: * MultiClassBox people: TRUE
[zed_wrapper-2] [INFO] [1704218122.066973059] [zed.zed_node]: * MultiClassBox vehicles: TRUE
[zed_wrapper-2] [INFO] [1704218122.067003427] [zed.zed_node]: * MultiClassBox bags: TRUE
[zed_wrapper-2] [INFO] [1704218122.067032612] [zed.zed_node]: * MultiClassBox animals: TRUE
[zed_wrapper-2] [INFO] [1704218122.067068197] [zed.zed_node]: * MultiClassBox electronics: TRUE
[zed_wrapper-2] [INFO] [1704218122.067099141] [zed.zed_node]: * MultiClassBox fruits and vegetables: TRUE
[zed_wrapper-2] [INFO] [1704218122.067127942] [zed.zed_node]: * MultiClassBox sport-related objects: TRUE
[zed_wrapper-2] [INFO] [1704218122.067160646] [zed.zed_node]: * Obj. Det. QoS History: KEEP_LAST
[zed_wrapper-2] [INFO] [1704218122.067190087] [zed.zed_node]: * Obj. Det. QoS History depth: 1
[zed_wrapper-2] [INFO] [1704218122.067217095] [zed.zed_node]: * Obj. Det. QoS Reliability: RELIABLE
[zed_wrapper-2] [INFO] [1704218122.067246184] [zed.zed_node]: * Obj. Det. QoS Durability: VOLATILE
[zed_wrapper-2] [INFO] [1704218122.067268456] [zed.zed_node]: *** Body Track. parameters ***
[zed_wrapper-2] [INFO] [1704218122.067298729] [zed.zed_node]: * Body Track. enabled: FALSE
[zed_wrapper-2] [INFO] [1704218122.067335114] [zed.zed_node]: * Body Track. model: HUMAN BODY MEDIUM
[zed_wrapper-2] [INFO] [1704218122.067376042] [zed.zed_node]: * Body Track. format: BODY_38
[zed_wrapper-2] [INFO] [1704218122.067415083] [zed.zed_node]: * Body Track. allow reduced precision: TRUE
[zed_wrapper-2] [INFO] [1704218122.067449772] [zed.zed_node]: * Body Track. maximum range [m]: 20
[zed_wrapper-2] [INFO] [1704218122.067512301] [zed.zed_node]: * Body Track. KP selection: FULL
[zed_wrapper-2] [INFO] [1704218122.067554638] [zed.zed_node]: * Body fitting: FALSE
[zed_wrapper-2] [INFO] [1704218122.067592399] [zed.zed_node]: * Body joints tracking: TRUE
[zed_wrapper-2] [INFO] [1704218122.067625391] [zed.zed_node]: * Body Track. prediction timeout [sec]: 0.5
[zed_wrapper-2] [INFO] [1704218122.067659536] [zed.zed_node]: * Body Track. confidence thresh.: 50
[zed_wrapper-2] [INFO] [1704218122.067695313] [zed.zed_node]: * Body Track. min. KP thresh.: 5
[zed_wrapper-2] [INFO] [1704218122.067726257] [zed.zed_node]: * Body Track. QoS History: KEEP_LAST
[zed_wrapper-2] [INFO] [1704218122.067755762] [zed.zed_node]: * Body Track. QoS History depth: 1
[zed_wrapper-2] [INFO] [1704218122.067788306] [zed.zed_node]: * Body Track. QoS Reliability: RELIABLE
[zed_wrapper-2] [INFO] [1704218122.067818611] [zed.zed_node]: * Body Track. QoS Durability: VOLATILE
[zed_wrapper-2] [INFO] [1704218122.067838195] [zed.zed_node]: *** Advanced parameters ***
[zed_wrapper-2] [INFO] [1704218122.067899700] [zed.zed_node]: * Thread sched. policy: SCHED_BATCH
[zed_wrapper-2] [INFO] [1704218122.068778181] [zed.zed_node]: *** SERVICES ***
[zed_wrapper-2] [INFO] [1704218122.070622696] [zed.zed_node]: * '/zed/zed_node/reset_odometry'
[zed_wrapper-2] [INFO] [1704218122.071504984] [zed.zed_node]: * '/zed/zed_node/reset_pos_tracking'
[zed_wrapper-2] [INFO] [1704218122.075563237] [zed.zed_node]: * '/zed/zed_node/set_pose'
[zed_wrapper-2] [INFO] [1704218122.076300339] [zed.zed_node]: * '/zed/zed_node/enable_obj_det'
[zed_wrapper-2] [INFO] [1704218122.076968511] [zed.zed_node]: * '/zed/zed_node/enable_body_trk'
[zed_wrapper-2] [INFO] [1704218122.077504297] [zed.zed_node]: * '/zed/zed_node/enable_mapping'
[zed_wrapper-2] [INFO] [1704218122.078115765] [zed.zed_node]: * '/zed/zed_node/start_svo_rec'
[zed_wrapper-2] [INFO] [1704218122.078652895] [zed.zed_node]: * '/zed/zed_node/stop_svo_rec'
[zed_wrapper-2] [INFO] [1704218122.079342508] [zed.zed_node]: * '/zed/zed_node/set_roi'
[zed_wrapper-2] [INFO] [1704218122.079866902] [zed.zed_node]: * '/zed/zed_node/reset_roi'
[zed_wrapper-2] [INFO] [1704218122.079905942] [zed.zed_node]: ***** STARTING CAMERA *****
[zed_wrapper-2] [INFO] [1704218122.079923831] [zed.zed_node]: ZED SDK Version: 4.0.6 - Build 76737_a80ced01
[zed_wrapper-2] [INFO] [1704218122.087759242] [zed.zed_node]: *** CAMERA OPENING ***
[zed_wrapper-2] [ZED][INFO] Logging level INFO
[zed_wrapper-2] [ZED][INFO] [Init] Depth mode: ULTRA
[zed_wrapper-2] [ZED-X][Warning] Failed to open zed_x service
[zed_wrapper-2] [ZED][INFO] [Init] Camera FW version: 2001
[zed_wrapper-2] [ZED][INFO] [Init] Video mode: HD1200@30
[zed_wrapper-2] [ZED][INFO] [Init] Serial Number: S/N 46610942
[zed_wrapper-2] [ZED][INFO] [Init] No calibration file found for SN 46610942. Downloading...
[zed_wrapper-2] [ZED][INFO] [Init] Calibration file downloaded.
[zed_wrapper-2] [INFO] [1704218128.772007022] [zed.zed_node]: ZED SDK running on GPU #0
[zed_wrapper-2] [INFO] [1704218128.772171441] [zed.zed_node]: * Camera Model -> ZED X
[zed_wrapper-2] [INFO] [1704218128.772197618] [zed.zed_node]: * Serial Number -> 46610942
[zed_wrapper-2] [INFO] [1704218128.772229106] [zed.zed_node]: * Focal Lenght -> 2.21524 mm
[zed_wrapper-2] [INFO] [1704218128.772265779] [zed.zed_node]: * Input -> GMSL input type
[zed_wrapper-2] [INFO] [1704218128.772292916] [zed.zed_node]: * Camera FW Version -> 2001
[zed_wrapper-2] [INFO] [1704218128.772312436] [zed.zed_node]: * Sensors FW Version -> 1000
[zed_wrapper-2] [INFO] [1704218128.772338932] [zed.zed_node]: * Camera grab frame size -> 1920x1200
[zed_wrapper-2] [INFO] [1704218128.772357365] [zed.zed_node]: * Publishing frame size -> 960x600
[zed_wrapper-2] [INFO] [1704218128.772391413] [zed.zed_node]: *** TF FRAMES ***
[zed_wrapper-2] [INFO] [1704218128.772408214] [zed.zed_node]: * Map -> map
[zed_wrapper-2] [INFO] [1704218128.772422422] [zed.zed_node]: * Odometry -> odom
[zed_wrapper-2] [INFO] [1704218128.772440982] [zed.zed_node]: * Base -> zed_camera_link
[zed_wrapper-2] [INFO] [1704218128.772455703] [zed.zed_node]: * Camera -> zed_camera_center
[zed_wrapper-2] [INFO] [1704218128.772469431] [zed.zed_node]: * Left -> zed_left_camera_frame
[zed_wrapper-2] [INFO] [1704218128.772483607] [zed.zed_node]: * Left Optical -> zed_left_camera_optical_frame
[zed_wrapper-2] [INFO] [1704218128.772497303] [zed.zed_node]: * RGB -> zed_left_camera_frame
[zed_wrapper-2] [INFO] [1704218128.772511224] [zed.zed_node]: * RGB Optical -> zed_left_camera_frame
[zed_wrapper-2] [INFO] [1704218128.772525208] [zed.zed_node]: * Right -> zed_right_camera_frame
[zed_wrapper-2] [INFO] [1704218128.772538808] [zed.zed_node]: * Right Optical -> zed_right_camera_optical_frame
[zed_wrapper-2] [INFO] [1704218128.772551960] [zed.zed_node]: * Depth -> zed_left_camera_frame
[zed_wrapper-2] [INFO] [1704218128.772564921] [zed.zed_node]: * Depth Optical -> zed_left_camera_optical_frame
[zed_wrapper-2] [INFO] [1704218128.772577913] [zed.zed_node]: * Point Cloud -> zed_left_camera_optical_frame
[zed_wrapper-2] [INFO] [1704218128.772590873] [zed.zed_node]: * Disparity -> zed_left_camera_frame
[zed_wrapper-2] [INFO] [1704218128.772604185] [zed.zed_node]: * Disparity Optical -> zed_left_camera_optical_frame
[zed_wrapper-2] [INFO] [1704218128.772622202] [zed.zed_node]: * Confidence -> zed_left_camera_frame
[zed_wrapper-2] [INFO] [1704218128.772655706] [zed.zed_node]: * Confidence Optical -> zed_left_camera_optical_frame
[zed_wrapper-2] [INFO] [1704218128.772672059] [zed.zed_node]: * IMU -> zed_imu_link
[zed_wrapper-2] [INFO] [1704218128.772755708] [zed.zed_node]: *** PUBLISHED TOPICS ***
[zed_wrapper-2] [INFO] [1704218129.133939834] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb/image_rect_color
[zed_wrapper-2] [INFO] [1704218129.134050716] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb/camera_info
[zed_wrapper-2] [INFO] [1704218129.139393376] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_gray/image_rect_gray
[zed_wrapper-2] [INFO] [1704218129.139579812] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_gray/camera_info
[zed_wrapper-2] [INFO] [1704218129.142946307] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_raw/image_raw_color
[zed_wrapper-2] [INFO] [1704218129.143006756] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_raw/camera_info
[zed_wrapper-2] [INFO] [1704218129.148351304] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_raw_gray/image_raw_gray
[zed_wrapper-2] [INFO] [1704218129.148535532] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_raw_gray/camera_info
[zed_wrapper-2] [INFO] [1704218129.159164787] [zed.zed_node]: Advertised on topic: /zed/zed_node/left/image_rect_color
[zed_wrapper-2] [INFO] [1704218129.159254869] [zed.zed_node]: Advertised on topic: /zed/zed_node/left/camera_info
[zed_wrapper-2] [INFO] [1704218129.165013377] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_gray/image_rect_gray
[zed_wrapper-2] [INFO] [1704218129.165102179] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_gray/camera_info
[zed_wrapper-2] [INFO] [1704218129.172373483] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_raw/image_raw_color
[zed_wrapper-2] [INFO] [1704218129.172456781] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_raw/camera_info
[zed_wrapper-2] [INFO] [1704218129.176737981] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_raw_gray/image_raw_gray
[zed_wrapper-2] [INFO] [1704218129.176826431] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_raw_gray/camera_info
[zed_wrapper-2] [INFO] [1704218129.179606355] [zed.zed_node]: Advertised on topic: /zed/zed_node/right/image_rect_color
[zed_wrapper-2] [INFO] [1704218129.179691061] [zed.zed_node]: Advertised on topic: /zed/zed_node/right/camera_info
[zed_wrapper-2] [INFO] [1704218129.192002492] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_gray/image_rect_gray
[zed_wrapper-2] [INFO] [1704218129.192097502] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_gray/camera_info
[zed_wrapper-2] [INFO] [1704218129.197660358] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_raw/image_raw_color
[zed_wrapper-2] [INFO] [1704218129.197753768] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_raw/camera_info
[zed_wrapper-2] [INFO] [1704218129.207193369] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_raw_gray/image_raw_gray
[zed_wrapper-2] [INFO] [1704218129.207286043] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_raw_gray/camera_info
[zed_wrapper-2] [INFO] [1704218129.212305657] [zed.zed_node]: Advertised on topic: /zed/zed_node/depth/depth_registered
[zed_wrapper-2] [INFO] [1704218129.212398299] [zed.zed_node]: Advertised on topic: /zed/zed_node/depth/camera_info
[zed_wrapper-2] [INFO] [1704218129.226151805] [zed.zed_node]: Advertised on topic: /zed/zed_node/depth/depth_info
[zed_wrapper-2] [INFO] [1704218129.237118699] [zed.zed_node]: Advertised on topic: /zed/zed_node/stereo/image_rect_color
[zed_wrapper-2] [INFO] [1704218129.242160201] [zed.zed_node]: Advertised on topic: /zed/zed_node/stereo_raw/image_raw_color
[zed_wrapper-2] [INFO] [1704218129.243016281] [zed.zed_node]: Advertised on topic: /zed/zed_node/confidence/confidence_map
[zed_wrapper-2] [INFO] [1704218129.246336152] [zed.zed_node]: Advertised on topic: /zed/zed_node/disparity/disparity_image
[zed_wrapper-2] [INFO] [1704218129.247749650] [zed.zed_node]: Advertised on topic: /zed/zed_node/point_cloud/cloud_registered
[zed_wrapper-2] [INFO] [1704218129.249036394] [zed.zed_node]: Advertised on topic: /zed/zed_node/pose
[zed_wrapper-2] [INFO] [1704218129.254269645] [zed.zed_node]: Advertised on topic: /zed/zed_node/pose/status
[zed_wrapper-2] [INFO] [1704218129.255943788] [zed.zed_node]: Advertised on topic: /zed/zed_node/pose_with_covariance
[zed_wrapper-2] [INFO] [1704218129.259150248] [zed.zed_node]: Advertised on topic: /zed/zed_node/odom
[zed_wrapper-2] [INFO] [1704218129.260119835] [zed.zed_node]: Advertised on topic: /zed/zed_node/odom/status
[zed_wrapper-2] [INFO] [1704218129.263586460] [zed.zed_node]: Advertised on topic: /zed/zed_node/path_map
[zed_wrapper-2] [INFO] [1704218129.264505933] [zed.zed_node]: Advertised on topic: /zed/zed_node/path_odom
[zed_wrapper-2] [INFO] [1704218129.269436105] [zed.zed_node]: Advertised on topic: /zed/plane_marker
[zed_wrapper-2] [INFO] [1704218129.271417807] [zed.zed_node]: Advertised on topic: /zed/plane
[zed_wrapper-2] [INFO] [1704218129.273105806] [zed.zed_node]: Advertised on topic: /zed/zed_node/imu/data
[zed_wrapper-2] [INFO] [1704218129.273990303] [zed.zed_node]: Advertised on topic: /zed/zed_node/imu/data_raw
[zed_wrapper-2] [INFO] [1704218129.275167285] [zed.zed_node]: Advertised on topic: /zed/zed_node/temperature/imu
[zed_wrapper-2] [INFO] [1704218129.276043653] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_cam_imu_transform
[zed_wrapper-2] [INFO] [1704218129.276120391] [zed.zed_node]: Camera-IMU Translation:
[zed_wrapper-2] -0.002 -0.023 0.00022
[zed_wrapper-2] [INFO] [1704218129.276272714] [zed.zed_node]: Camera-IMU Rotation:
[zed_wrapper-2] FFFFD7CD2170
[zed_wrapper-2] 0.999982 0.005980 -0.000007
[zed_wrapper-2] -0.005980 0.999979 -0.002277
[zed_wrapper-2] -0.000007 0.002277 0.999997
[zed_wrapper-2]
[zed_wrapper-2] [INFO] [1704218129.276311562] [zed.zed_node]: *** Subscribers ***
[zed_wrapper-2] [INFO] [1704218129.277752325] [zed.zed_node]: * Plane detection: '/clicked_point'
[zed_wrapper-2] [INFO] [1704218129.395810702] [zed.zed_node]: *** Starting Positional Tracking ***
[zed_wrapper-2] [INFO] [1704218129.395951536] [zed.zed_node]: * Waiting for valid static transformations...
[zed_wrapper-2] [INFO] [1704218129.397734290] [zed.zed_node]: Static transform Sensor to Base [zed_left_camera_frame -> zed_camera_link]
[zed_wrapper-2] [INFO] [1704218129.397793875] [zed.zed_node]: * Translation: {0.010,-0.060,-0.016}
[zed_wrapper-2] [INFO] [1704218129.397819891] [zed.zed_node]: * Rotation: {0.000,-0.000,0.000}
[zed_wrapper-2] [INFO] [1704218129.397869556] [zed.zed_node]: Static transform Sensor to Camera Center [zed_left_camera_frame -> zed_camera_center]
[zed_wrapper-2] [INFO] [1704218129.397907189] [zed.zed_node]: * Translation: {0.010,-0.060,0.000}
[zed_wrapper-2] [INFO] [1704218129.397941014] [zed.zed_node]: * Rotation: {0.000,-0.000,0.000}
[zed_wrapper-2] [INFO] [1704218129.397976310] [zed.zed_node]: Static transform Camera Center to Base [zed_camera_center -> zed_camera_link]
[zed_wrapper-2] [INFO] [1704218129.397996727] [zed.zed_node]: * Translation: {0.000,0.000,-0.016}
[zed_wrapper-2] [INFO] [1704218129.398015287] [zed.zed_node]: * Rotation: {0.000,-0.000,0.000}
[zed_wrapper-2] [INFO] [1704218129.399337968] [zed.zed_node]: Initial ZED left camera pose (ZED pos. tracking):
[zed_wrapper-2] [INFO] [1704218129.399406353] [zed.zed_node]: * T: [-0.01,0.06,0.016]
[zed_wrapper-2] [INFO] [1704218129.399445458] [zed.zed_node]: * Q: [0,0,0,1]
[zed_wrapper-2] [WARN] [1704218129.438258314] [zed.zed_node]: sl::getSensorsData error: CAMERA NOT DETECTED
[zed_wrapper-2] [INFO] [1704218129.588008549] [zed.zed_node]: Odometry aligned to last tracking pose
[zed_wrapper-2] [INFO] [1704218129.590030027] [zed.zed_node]: * Initial odometry [odom -> zed_camera_link] - {-0.000,-0.000,0.001} {-0.499,-0.046,-0.014}