Hello. TL;DR: The SVO file saving seems broken in the latest ROS2 wrapper update. I am using the latest wrapper, and SVO saving doesn’t work with depth_mode set to NONE.
Setup
- zedx
- l4t 36.4 , Orin AGX Dev kit 64G
- zed sdk 5.2
- zedx quad link v1.4
- zedx used in SLAVE mode
Case 1: depth mode set to NONE
git diff
root@ubuntu:~/temp_ws/src/zed-ros2-wrapper# git diff
diff --git a/zed_wrapper/config/common_stereo.yaml b/zed_wrapper/config/common_stereo.yaml
index d485caa..af66585 100644
--- a/zed_wrapper/config/common_stereo.yaml
+++ b/zed_wrapper/config/common_stereo.yaml
@@ -82,7 +82,7 @@
publish_roi_mask: false # Advertise the ROI mask image topic that is published only if a node subscribes to it
depth:
- depth_mode: 'NEURAL_LIGHT' # Matches the ZED SDK setting: 'NONE', 'NEURAL_LIGHT', 'NEURAL', 'NEURAL_PLUS' - Note: if 'NONE' all the modules that requires depth extraction are disabled by default (Pos. Tracking, Obj. Detection, Mapping, ...)
+ depth_mode: 'NONE' # Matches the ZED SDK setting: 'NONE', 'NEURAL_LIGHT', 'NEURAL', 'NEURAL_PLUS' - Note: if 'NONE' all the modules that requires depth extraction are disabled by default (Pos. Tracking, Obj. Detection, Mapping, ...)
depth_stabilization: 30 # Forces positional tracking to start if major than 0 - Range: [0,100]
openni_depth_mode: false # 'false': 32bit float [meters], 'true': 16bit unsigned int [millimeters]
point_cloud_freq: 10.0 # [DYNAMIC] Frequency of the pointcloud publishing. This value must be equal or less than the camera framerate.
root@ubuntu:~/temp_ws/src/zed-ros2-wrapper#
wrapper terminal
[component_container_isolated-2] [INFO] [1772576315.167857088] [zed.zed_node]: === Subscribers ===
[component_container_isolated-2] [INFO] [1772576315.167870976] [zed.zed_node]: * No subscribers
[component_container_isolated-2] [INFO] [1772576315.174307296] [zed.zed_node]: === zed started ===
[component_container_isolated-2] [INFO] [1772576345.099202848] [zed.zed_node]: ** Start SVO Recording service called **
[component_container_isolated-2] [2026-03-03 17:19:05 UTC][ZED][INFO] [Init] Notice: This recording uses SVO version 2, which includes high-frequency IMU data. To revert to legacy SVO mode, set the ZED_
SDK_SVO_VERSION environment variable to 1.
[component_container_isolated-2] NvMMLiteOpen : Block : BlockType = 8
[component_container_isolated-2] ===== NvVideo: NVENC =====
[component_container_isolated-2] NvMMLiteBlockCreate : Block : BlockType = 8
[component_container_isolated-2] NvVideo: H265 : Profile : 1
[component_container_isolated-2] [INFO] [1772576345.123955296] [zed.zed_node]: SVO Recording started:
[component_container_isolated-2] [INFO] [1772576345.124093120] [zed.zed_node]: * Bitrate: 0
[component_container_isolated-2] [INFO] [1772576345.124153952] [zed.zed_node]: * Compression mode: H265 LOSSLESS
[component_container_isolated-2] [INFO] [1772576345.124190720] [zed.zed_node]: * Framerate: 0
[component_container_isolated-2] [INFO] [1772576345.124220064] [zed.zed_node]: * Input Transcode: FALSE
[component_container_isolated-2] [INFO] [1772576345.124245984] [zed.zed_node]: * Filename: /logging/zed_slave_svo_test6_public_no_depth_tf_on.svo2
[component_container_isolated-2] NVMEDIA: Need to set EMC bandwidth : 2872000
[component_container_isolated-2] [INFO] [1772576383.392501248] [zed.zed_node]: ** Stop SVO Recording service called **
[component_container_isolated-2] [INFO] [1772576383.482627424] [zed.zed_node]: SVO Recording stopped
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[robot_state_publisher-1] [INFO] [1772576408.461615808] [rclcpp]: signal_handler(signum=2)
[INFO] [robot_state_publisher-1]: process has finished cleanly [pid 14132]
[component_container_isolated-2] [INFO] [1772576408.461638176] [rclcpp]: signal_handler(signum=2)
[component_container_isolated-2] [INFO] [1772576408.689522944] [zed.zed_node]: === CLOSING CAMERA ===
[component_container_isolated-2] [INFO] [1772576409.401094624] [zed.zed_node]: === CAMERA CLOSED ===
[component_container_isolated-2] Opening in BLOCKING MODE
[INFO] [component_container_isolated-2]: process has finished cleanly [pid 14134]
File is recorded using these instructions with compression mode = 4
airlab@ubuntu:/logging$ ZED_SVO_Editor --inf /logging/zed_slave_svo_test6_public_no_depth.svo2
-inf option detected
*FAIL : failed to get infos from "/logging/zed_slave_svo_test6_public_no_depth.svo2"
You can try the -repair option to repair the SVO file
Repairing the file also doesn’t work
Case 2: no git diff - used this commit - ROS 2 - Modify node behaviors when Positional Tracking is disabled · stereolabs/zed-ros2-wrapper@24024d8 · GitHub
Result - SVO recrding works in this case
[component_container_isolated-2] [INFO] [1772576907.285690208] [zed.zed_node]: ** Start SVO Recording service called **
[component_container_isolated-2] [2026-03-03 17:28:27 UTC][ZED][INFO] [Init] Notice: This recording uses SVO version 2, which includes high-frequency IMU data. To revert to legacy SVO mode, set the ZED_SDK_SVO_VERSION environment variable to 1.
[component_container_isolated-2] NvMMLiteOpen : Block : BlockType = 8
[component_container_isolated-2] ===== NvVideo: NVENC =====
[component_container_isolated-2] NvMMLiteBlockCreate : Block : BlockType = 8
[component_container_isolated-2] NvVideo: H265 : Profile : 1
[component_container_isolated-2] [INFO] [1772576907.316465760] [zed.zed_node]: SVO Recording started:
[component_container_isolated-2] [INFO] [1772576907.316583424] [zed.zed_node]: * Bitrate: 0
[component_container_isolated-2] [INFO] [1772576907.316624864] [zed.zed_node]: * Compression mode: H265 LOSSLESS
[component_container_isolated-2] [INFO] [1772576907.316649664] [zed.zed_node]: * Framerate: 0
[component_container_isolated-2] [INFO] [1772576907.316664928] [zed.zed_node]: * Input Transcode: FALSE
[component_container_isolated-2] [INFO] [1772576907.316679232] [zed.zed_node]: * Filename: /logging/zed_slave_svo_test7_depth_on.svo2
[component_container_isolated-2] NVMEDIA: Need to set EMC bandwidth : 2872000
[component_container_isolated-2] NvVideo: bBlitMode is set to TRUE
[component_container_isolated-2] [INFO] [1772576963.525668768] [zed.zed_node]: ** Stop SVO Recording service called **
[component_container_isolated-2] NVENC_H265: Unsupported frameRate (Supported: 1.0 - 60.0), setting to deault value 30.00
[component_container_isolated-2] [INFO] [1772576963.746973696] [zed.zed_node]: SVO Recording stopped
airlab@ubuntu:/logging$ ZED_SVO_Editor --inf /logging/zed_slave_svo_test7_depth_on.svo2
-inf option detected
Open
```ing in BLOCKING MODE
NvMMLiteOpen : Block : BlockType = 279
NvMMLiteBlockCreate : Block : BlockType = 279
SVO Infos : SVO v 2
Image Size : [ 1920 x 1200 ]
Framerate : 30
Number of Frames : 1687
ZED Serial Number : 40735594
Compression mode : " H265 Lossless (GPU) compression"
Camera model : "ZED X"
Camera Fw version : 2001
ZED SDK version that generated this file : 5.2.0