root@cargo-linux:/home/cargo/E8/demostand/InTrans-ml_cp/ros# docker-compose up Creating volume "ros_ros_src_1" with default driver Creating ros_bridge_1 ... done Attaching to ros_bridge_1 bridge_1 | [0.622s] WARNING:colcon.colcon_core.package_selection:Some selected packages are already built in one or more underlay workspaces: bridge_1 | 'camera_info_manager' is in: /opt/ros/foxy bridge_1 | 'image_transport' is in: /opt/ros/foxy bridge_1 | If a package in a merged underlay workspace is overridden and it installs headers, then all packages in the overlay must sort their include directories by workspace order. Failure to do so may result in build failures or undefined behavior at run time. bridge_1 | If the overridden package is used by another package in any underlay, then the overriding package in the overlay must be API and ABI compatible or undefined behavior at run time may occur. bridge_1 | bridge_1 | If you understand the risks and want to override a package anyways, add the following to the command line: bridge_1 | --allow-overriding camera_info_manager image_transport bridge_1 | bridge_1 | This may be promoted to an error in a future release of colcon-override-check. bridge_1 | Starting >>> image_transport bridge_1 | Starting >>> zed_interfaces bridge_1 | Starting >>> camera_calibration_parsers bridge_1 | Starting >>> aci bridge_1 | Finished <<< aci [1.87s] bridge_1 | Starting >>> aci_msgs bridge_1 | Finished <<< aci_msgs [26.2s] bridge_1 | Starting >>> zbar_ros bridge_1 | Finished <<< camera_calibration_parsers [48.2s] bridge_1 | Starting >>> camera_info_manager bridge_1 | Finished <<< camera_info_manager [9.04s] bridge_1 | Finished <<< zbar_ros [30.1s] bridge_1 | Finished <<< zed_interfaces [1min 14s] bridge_1 | Finished <<< image_transport [1min 32s] bridge_1 | Starting >>> zed_components bridge_1 | Starting >>> image_common bridge_1 | Finished <<< image_common [1.21s] bridge_1 | [Processing: zed_components] bridge_1 | Finished <<< zed_components [46.9s] bridge_1 | Starting >>> zed_wrapper bridge_1 | Finished <<< zed_wrapper [7.66s] bridge_1 | Starting >>> zed_ros2 bridge_1 | Finished <<< zed_ros2 [0.68s] bridge_1 | bridge_1 | Summary: 11 packages finished [2min 28s] bridge_1 | [INFO] [launch]: All log files can be found below /root/.ros/log/2023-03-14-11-52-41-437520-1fcfd9023633-1 bridge_1 | [INFO] [launch]: Default logging verbosity is set to INFO bridge_1 | [INFO] [rosbridge_websocket-1]: process started with pid [5263] bridge_1 | [INFO] [rosapi_node-2]: process started with pid [5265] bridge_1 | [INFO] [robot_state_publisher-3]: process started with pid [5267] bridge_1 | [INFO] [zed_wrapper-4]: process started with pid [5269] bridge_1 | [INFO] [robot_state_publisher-5]: process started with pid [5271] bridge_1 | [INFO] [zed_wrapper-6]: process started with pid [5273] bridge_1 | [INFO] [robot_state_publisher-7]: process started with pid [5276] bridge_1 | [INFO] [zed_wrapper-8]: process started with pid [5288] bridge_1 | [INFO] [robot_state_publisher-9]: process started with pid [5298] bridge_1 | [INFO] [zed_wrapper-10]: process started with pid [5321] bridge_1 | [INFO] [barcode_reader-11]: process started with pid [5333] bridge_1 | [INFO] [usb_cam_node_exe-12]: process started with pid [5347] bridge_1 | [INFO] [master-13]: process started with pid [5353] bridge_1 | [INFO] [scale-14]: process started with pid [5360] bridge_1 | [INFO] [ui-15]: process started with pid [5365] bridge_1 | [INFO] [String "{data: waiting}"-16]: process started with pid [5375] bridge_1 | [robot_state_publisher-3] Parsing robot urdf xml string. bridge_1 | [robot_state_publisher-3] Link zed2i0_base_link had 1 children bridge_1 | [robot_state_publisher-3] Link zed2i0_camera_center had 2 children bridge_1 | [robot_state_publisher-3] Link zed2i0_left_camera_frame had 1 children bridge_1 | [robot_state_publisher-3] Link zed2i0_left_camera_optical_frame had 0 children bridge_1 | [robot_state_publisher-3] Link zed2i0_right_camera_frame had 1 children bridge_1 | [robot_state_publisher-3] Link zed2i0_right_camera_optical_frame had 0 children bridge_1 | [robot_state_publisher-3] [INFO] [1678794762.001586056] [zed2i0.zed_state_publisher]: got segment base_link bridge_1 | [robot_state_publisher-3] [INFO] [1678794762.001687774] [zed2i0.zed_state_publisher]: got segment zed2i0_base_link bridge_1 | [robot_state_publisher-3] [INFO] [1678794762.001705867] [zed2i0.zed_state_publisher]: got segment zed2i0_camera_center bridge_1 | [robot_state_publisher-3] [INFO] [1678794762.001716696] [zed2i0.zed_state_publisher]: got segment zed2i0_left_camera_frame bridge_1 | [robot_state_publisher-3] [INFO] [1678794762.001725625] [zed2i0.zed_state_publisher]: got segment zed2i0_left_camera_optical_frame bridge_1 | [robot_state_publisher-3] [INFO] [1678794762.001734604] [zed2i0.zed_state_publisher]: got segment zed2i0_right_camera_frame bridge_1 | [robot_state_publisher-3] [INFO] [1678794762.001743963] [zed2i0.zed_state_publisher]: got segment zed2i0_right_camera_optical_frame bridge_1 | [zed_wrapper-4] [INFO] [1678794762.052953371] [zed2i0.zed_node]: ******************************** bridge_1 | [zed_wrapper-4] [INFO] [1678794762.053073012] [zed2i0.zed_node]: ZED Camera Component bridge_1 | [zed_wrapper-4] [INFO] [1678794762.053093310] [zed2i0.zed_node]: ******************************** bridge_1 | [zed_wrapper-4] [INFO] [1678794762.053105734] [zed2i0.zed_node]: * namespace: /zed2i0 bridge_1 | [zed_wrapper-4] [INFO] [1678794762.053116356] [zed2i0.zed_node]: * node name: zed_node bridge_1 | [zed_wrapper-4] [INFO] [1678794762.053126139] [zed2i0.zed_node]: ******************************** bridge_1 | [zed_wrapper-4] [INFO] [1678794762.053148856] [zed2i0.zed_node]: *** DEBUG parameters *** bridge_1 | [zed_wrapper-4] [INFO] [1678794762.053185544] [zed2i0.zed_node]: * Debug mode: FALSE bridge_1 | [zed_wrapper-4] [INFO] [1678794762.053214768] [zed2i0.zed_node]: * Debug sensors: FALSE bridge_1 | [zed_wrapper-4] [INFO] [1678794762.053234135] [zed2i0.zed_node]: *** GENERAL parameters *** bridge_1 | [zed_wrapper-4] [INFO] [1678794762.053277211] [zed2i0.zed_node]: * Camera model: zed2i - ZED 2i bridge_1 | [zed_wrapper-4] [INFO] [1678794762.053311730] [zed2i0.zed_node]: * SDK Verbose: 1 bridge_1 | [zed_wrapper-4] [INFO] [1678794762.053337453] [zed2i0.zed_node]: * SVO: live bridge_1 | [zed_wrapper-4] [INFO] [1678794762.053358671] [zed2i0.zed_node]: * SVO Loop: FALSE bridge_1 | [zed_wrapper-4] [INFO] [1678794762.053383027] [zed2i0.zed_node]: * SVO Realtime: TRUE bridge_1 | [zed_wrapper-4] [INFO] [1678794762.053408466] [zed2i0.zed_node]: * Camera name: zed2i0 bridge_1 | [zed_wrapper-4] [INFO] [1678794762.053432839] [zed2i0.zed_node]: * Camera ID: 0 bridge_1 | [zed_wrapper-4] [INFO] [1678794762.053454116] [zed2i0.zed_node]: * Camera SN: 0 bridge_1 | [zed_wrapper-4] [INFO] [1678794762.053481771] [zed2i0.zed_node]: * Camera timeout [sec]: 5 bridge_1 | [zed_wrapper-4] [INFO] [1678794762.053503907] [zed2i0.zed_node]: * Camera reconnection temptatives: 15 bridge_1 | [zed_wrapper-4] [INFO] [1678794762.053525232] [zed2i0.zed_node]: * Camera framerate: 15 bridge_1 | [zed_wrapper-4] [INFO] [1678794762.053544338] [zed2i0.zed_node]: * GPU ID: -1 bridge_1 | [zed_wrapper-4] [INFO] [1678794762.053571413] [zed2i0.zed_node]: * Camera resolution: VGA bridge_1 | [zed_wrapper-4] [INFO] [1678794762.053593941] [zed2i0.zed_node]: * Publishing resolution: VGA bridge_1 | [zed_wrapper-4] [INFO] [1678794762.053626245] [zed2i0.zed_node]: * Region of interest: bridge_1 | [zed_wrapper-4] [INFO] [1678794762.053647750] [zed2i0.zed_node]: * Camera self calibration: TRUE bridge_1 | [zed_wrapper-4] [INFO] [1678794762.053674495] [zed2i0.zed_node]: * Camera flip: FALSE bridge_1 | [zed_wrapper-4] [INFO] [1678794762.053708842] [zed2i0.zed_node]: * [DYN] Publish framerate [Hz]: 15 bridge_1 | [zed_wrapper-4] [INFO] [1678794762.053722388] [zed2i0.zed_node]: *** VIDEO parameters *** bridge_1 | [zed_wrapper-4] [INFO] [1678794762.053743802] [zed2i0.zed_node]: * Use old extrinsic parameters: 0 bridge_1 | [zed_wrapper-4] [INFO] [1678794762.053764184] [zed2i0.zed_node]: * [DYN] Brightness: 4 bridge_1 | [zed_wrapper-4] [INFO] [1678794762.053785207] [zed2i0.zed_node]: * [DYN] Contrast: 4 bridge_1 | [zed_wrapper-4] [INFO] [1678794762.053802865] [zed2i0.zed_node]: * [DYN] Hue: 0 bridge_1 | [zed_wrapper-4] [INFO] [1678794762.053820814] [zed2i0.zed_node]: * [DYN] Saturation: 4 bridge_1 | [zed_wrapper-4] [INFO] [1678794762.053837713] [zed2i0.zed_node]: * [DYN] Sharpness: 4 bridge_1 | [zed_wrapper-4] [INFO] [1678794762.053855034] [zed2i0.zed_node]: * [DYN] Gamma: 8 bridge_1 | [zed_wrapper-4] [INFO] [1678794762.053873984] [zed2i0.zed_node]: * [DYN] Auto Exposure/Gain: TRUE bridge_1 | [zed_wrapper-4] [INFO] [1678794762.053892174] [zed2i0.zed_node]: * [DYN] Exposure: 80 bridge_1 | [zed_wrapper-4] [INFO] [1678794762.053910531] [zed2i0.zed_node]: * [DYN] Gain: 80 bridge_1 | [zed_wrapper-4] [INFO] [1678794762.053926657] [zed2i0.zed_node]: * [DYN] Auto White Balance: TRUE bridge_1 | [zed_wrapper-4] [INFO] [1678794762.053950902] [zed2i0.zed_node]: * [DYN] White Balance Temperature: 42 bridge_1 | [zed_wrapper-4] [INFO] [1678794762.053971385] [zed2i0.zed_node]: * Video QoS History: KEEP_LAST bridge_1 | [zed_wrapper-4] [INFO] [1678794762.053989272] [zed2i0.zed_node]: * Video QoS History depth: 1 bridge_1 | [zed_wrapper-4] [INFO] [1678794762.054007610] [zed2i0.zed_node]: * Video QoS Reliability: RELIABLE bridge_1 | [zed_wrapper-4] [INFO] [1678794762.054027501] [zed2i0.zed_node]: * Video QoS Durability: VOLATILE bridge_1 | [zed_wrapper-4] [INFO] [1678794762.054039400] [zed2i0.zed_node]: *** DEPTH parameters *** bridge_1 | [zed_wrapper-4] [INFO] [1678794762.054060624] [zed2i0.zed_node]: * Depth quality: 1 - PERFORMANCE bridge_1 | [zed_wrapper-4] [INFO] [1678794762.054082044] [zed2i0.zed_node]: * Min depth [m]: 0.2 bridge_1 | [zed_wrapper-4] [INFO] [1678794762.054102516] [zed2i0.zed_node]: * Max depth [m]: 10 bridge_1 | [zed_wrapper-4] [INFO] [1678794762.054126409] [zed2i0.zed_node]: * Depth Sensing Mode: 0 - STANDARD bridge_1 | [zed_wrapper-4] [INFO] [1678794762.054145002] [zed2i0.zed_node]: * Depth Stabilization: TRUE bridge_1 | [zed_wrapper-4] [INFO] [1678794762.054159292] [zed2i0.zed_node]: * OpenNI mode (16bit point cloud): FALSE bridge_1 | [zed_wrapper-4] [INFO] [1678794762.054177646] [zed2i0.zed_node]: * [DYN] Point cloud rate [Hz]: 1 bridge_1 | [zed_wrapper-4] [INFO] [1678794762.054199142] [zed2i0.zed_node]: * [DYN] Depth Confidence: 50 bridge_1 | [zed_wrapper-4] [INFO] [1678794762.054217719] [zed2i0.zed_node]: * [DYN] Depth Texture Confidence: 100 bridge_1 | [zed_wrapper-4] [INFO] [1678794762.054275280] [zed2i0.zed_node]: * [DYN] Remove saturated areas: TRUE bridge_1 | [zed_wrapper-4] [INFO] [1678794762.054294589] [zed2i0.zed_node]: * Depth QoS History: KEEP_LAST bridge_1 | [zed_wrapper-4] [INFO] [1678794762.054312996] [zed2i0.zed_node]: * Depth QoS History depth: 1 bridge_1 | [zed_wrapper-4] [INFO] [1678794762.054329442] [zed2i0.zed_node]: * Depth QoS Reliability: RELIABLE bridge_1 | [zed_wrapper-4] [INFO] [1678794762.054344019] [zed2i0.zed_node]: * Depth QoS Durability: VOLATILE bridge_1 | [zed_wrapper-4] [INFO] [1678794762.054355676] [zed2i0.zed_node]: *** POSITIONAL TRACKING parameters *** bridge_1 | [zed_wrapper-4] [INFO] [1678794762.054373061] [zed2i0.zed_node]: * Positional tracking enabled: TRUE bridge_1 | [zed_wrapper-4] [INFO] [1678794762.054394660] [zed2i0.zed_node]: * Base frame id: base_link bridge_1 | [zed_wrapper-4] [INFO] [1678794762.054415935] [zed2i0.zed_node]: * Map frame id: map bridge_1 | [zed_wrapper-4] [INFO] [1678794762.054434267] [zed2i0.zed_node]: * Odometry frame id: odom bridge_1 | [zed_wrapper-4] [INFO] [1678794762.054453198] [zed2i0.zed_node]: * Broadcast Odometry TF: TRUE bridge_1 | [zed_wrapper-4] [INFO] [1678794762.054472604] [zed2i0.zed_node]: * Broadcast Pose TF: TRUE bridge_1 | [zed_wrapper-4] [INFO] [1678794762.054496600] [zed2i0.zed_node]: * Broadcast Static IMU TF [not for ZED]: TRUE bridge_1 | [zed_wrapper-4] [INFO] [1678794762.054519072] [zed2i0.zed_node]: * [DYN] Depth minimum range: 0 bridge_1 | [zed_wrapper-4] [INFO] [1678794762.054539464] [zed2i0.zed_node]: * [DYN] TF timestamp offset: 0 bridge_1 | [zed_wrapper-4] [INFO] [1678794762.054563151] [zed2i0.zed_node]: * [DYN] Path publishing rate: 2 bridge_1 | [zed_wrapper-4] [INFO] [1678794762.054583048] [zed2i0.zed_node]: * Path history lenght: -1 bridge_1 | [zed_wrapper-4] [INFO] [1678794762.054604265] [zed2i0.zed_node]: * Initial pose: [0,0,0,0,0,0,] bridge_1 | [zed_wrapper-4] [INFO] [1678794762.054629619] [zed2i0.zed_node]: * Area Memory: TRUE bridge_1 | [zed_wrapper-4] [INFO] [1678794762.054653476] [zed2i0.zed_node]: * Area Memory DB: bridge_1 | [zed_wrapper-4] [INFO] [1678794762.054673014] [zed2i0.zed_node]: * Camera is static: FALSE bridge_1 | [zed_wrapper-4] [INFO] [1678794762.054691614] [zed2i0.zed_node]: * Gravity as origin [not for ZED]: FALSE bridge_1 | [zed_wrapper-4] [INFO] [1678794762.054711307] [zed2i0.zed_node]: * IMU Fusion [not for ZED]: TRUE bridge_1 | [zed_wrapper-4] [INFO] [1678794762.054733535] [zed2i0.zed_node]: * Floor Alignment: FALSE bridge_1 | [zed_wrapper-4] [INFO] [1678794762.054755662] [zed2i0.zed_node]: * Init Odometry with first valid pose data: TRUE bridge_1 | [zed_wrapper-4] [INFO] [1678794762.054776603] [zed2i0.zed_node]: * 2D mode: FALSE bridge_1 | [zed_wrapper-4] [INFO] [1678794762.054795801] [zed2i0.zed_node]: * Pose/Odometry QoS History: KEEP_LAST bridge_1 | [zed_wrapper-4] [INFO] [1678794762.054815735] [zed2i0.zed_node]: * Pose/Odometry QoS History depth: 1 bridge_1 | [zed_wrapper-4] [INFO] [1678794762.054831664] [zed2i0.zed_node]: * Pose/Odometry QoS Reliability: RELIABLE bridge_1 | [zed_wrapper-4] [INFO] [1678794762.054846698] [zed2i0.zed_node]: * Pose/Odometry QoS Durability: VOLATILE bridge_1 | [zed_wrapper-4] [INFO] [1678794762.054857502] [zed2i0.zed_node]: *** SENSORS STACK parameters *** bridge_1 | [zed_wrapper-4] [INFO] [1678794762.054874466] [zed2i0.zed_node]: * Sensors Camera Sync: FALSE bridge_1 | [zed_wrapper-4] [INFO] [1678794762.054898788] [zed2i0.zed_node]: * Sensors publishing rate: 200 Hz bridge_1 | [zed_wrapper-4] [INFO] [1678794762.054916345] [zed2i0.zed_node]: * Sensors QoS History: KEEP_LAST bridge_1 | [zed_wrapper-4] [INFO] [1678794762.054931150] [zed2i0.zed_node]: * Sensors QoS History depth: 1 bridge_1 | [zed_wrapper-4] [INFO] [1678794762.054945791] [zed2i0.zed_node]: * Sensors QoS Reliability: RELIABLE bridge_1 | [zed_wrapper-4] [INFO] [1678794762.054964717] [zed2i0.zed_node]: * Sensors QoS Durability: VOLATILE bridge_1 | [zed_wrapper-4] [INFO] [1678794762.054975625] [zed2i0.zed_node]: *** Spatial Mapping parameters *** bridge_1 | [zed_wrapper-4] [INFO] [1678794762.054991932] [zed2i0.zed_node]: * Spatial Mapping Enabled: FALSE bridge_1 | [zed_wrapper-4] [INFO] [1678794762.055014763] [zed2i0.zed_node]: * Spatial Mapping resolution [m]: 0.1 bridge_1 | [zed_wrapper-4] [INFO] [1678794762.055037320] [zed2i0.zed_node]: * 3D Max Mapping range [m]: 20 bridge_1 | [zed_wrapper-4] [INFO] [1678794762.055061538] [zed2i0.zed_node]: * Map publishing rate [Hz]: 0.5 bridge_1 | [zed_wrapper-4] [INFO] [1678794762.055081595] [zed2i0.zed_node]: * Clicked point topic: /clicked_point bridge_1 | [zed_wrapper-4] [INFO] [1678794762.055099168] [zed2i0.zed_node]: * Sensors QoS History: KEEP_LAST bridge_1 | [zed_wrapper-4] [INFO] [1678794762.055121538] [zed2i0.zed_node]: * Sensors QoS History depth: 1 bridge_1 | [zed_wrapper-4] [INFO] [1678794762.055140778] [zed2i0.zed_node]: * Sensors QoS Reliability: RELIABLE bridge_1 | [zed_wrapper-4] [INFO] [1678794762.055158397] [zed2i0.zed_node]: * Sensors QoS Durability: VOLATILE bridge_1 | [zed_wrapper-4] [INFO] [1678794762.055178524] [zed2i0.zed_node]: *** OBJECT DETECTION parameters *** bridge_1 | [zed_wrapper-4] [INFO] [1678794762.055197400] [zed2i0.zed_node]: * Object Detection enabled: FALSE bridge_1 | [zed_wrapper-4] [INFO] [1678794762.055250198] [zed2i0.zed_node]: * OD min. confidence: 50 bridge_1 | [zed_wrapper-4] [INFO] [1678794762.055277758] [zed2i0.zed_node]: * OD prediction timeout [sec]: 0.5 bridge_1 | [zed_wrapper-4] [INFO] [1678794762.055307158] [zed2i0.zed_node]: * OD tracking: TRUE bridge_1 | [zed_wrapper-4] [INFO] [1678794762.055337781] [zed2i0.zed_node]: * Object Detection model: 0 - MULTI CLASS BOX FAST bridge_1 | [zed_wrapper-4] [INFO] [1678794762.055363337] [zed2i0.zed_node]: * Object Filtering mode: 1 - NMS 3D bridge_1 | [zed_wrapper-4] [INFO] [1678794762.055385711] [zed2i0.zed_node]: * MultiClassBox people: TRUE bridge_1 | [zed_wrapper-4] [INFO] [1678794762.055410874] [zed2i0.zed_node]: * MultiClassBox vehicles: TRUE bridge_1 | [zed_wrapper-4] [INFO] [1678794762.055430394] [zed2i0.zed_node]: * MultiClassBox bags: TRUE bridge_1 | [zed_wrapper-4] [INFO] [1678794762.055449050] [zed2i0.zed_node]: * MultiClassBox animals: TRUE bridge_1 | [zed_wrapper-4] [INFO] [1678794762.055472806] [zed2i0.zed_node]: * MultiClassBox electronics: TRUE bridge_1 | [zed_wrapper-4] [INFO] [1678794762.055493938] [zed2i0.zed_node]: * MultiClassBox fruits and vegetables: TRUE bridge_1 | [zed_wrapper-4] [INFO] [1678794762.055513661] [zed2i0.zed_node]: * MultiClassBox sport-related objects: TRUE bridge_1 | [zed_wrapper-4] [INFO] [1678794762.055541085] [zed2i0.zed_node]: * Body format: 1 - POSE_34 bridge_1 | [zed_wrapper-4] [INFO] [1678794762.055556157] [zed2i0.zed_node]: * Skeleton fitting: TRUE (forced by `object_detection.body_format`) bridge_1 | [zed_wrapper-4] [INFO] [1678794762.055576441] [zed2i0.zed_node]: * Obj. Det. QoS History: KEEP_LAST bridge_1 | [zed_wrapper-4] [INFO] [1678794762.055595756] [zed2i0.zed_node]: * Obj. Det. QoS History depth: 1 bridge_1 | [zed_wrapper-4] [INFO] [1678794762.055617496] [zed2i0.zed_node]: * Obj. Det. QoS Reliability: RELIABLE bridge_1 | [zed_wrapper-4] [INFO] [1678794762.055638326] [zed2i0.zed_node]: * Obj. Det. QoS Durability: VOLATILE bridge_1 | [zed_wrapper-4] [INFO] [1678794762.055702186] [zed2i0.zed_node]: *** SERVICES *** bridge_1 | [zed_wrapper-4] [INFO] [1678794762.064511458] [zed2i0.zed_node]: * '/zed2i0/zed_node/reset_odometry' bridge_1 | [zed_wrapper-4] [INFO] [1678794762.065462513] [zed2i0.zed_node]: * '/zed2i0/zed_node/reset_pos_tracking' bridge_1 | [zed_wrapper-4] [INFO] [1678794762.066799434] [zed2i0.zed_node]: * '/zed2i0/zed_node/set_pose' bridge_1 | [zed_wrapper-4] [INFO] [1678794762.072848025] [zed2i0.zed_node]: * '/zed2i0/zed_node/enable_obj_det' bridge_1 | [zed_wrapper-4] [INFO] [1678794762.074056936] [zed2i0.zed_node]: * '/zed2i0/zed_node/enable_mapping' bridge_1 | [zed_wrapper-4] [INFO] [1678794762.075341105] [zed2i0.zed_node]: * '/zed2i0/zed_node/start_svo_rec' bridge_1 | [zed_wrapper-4] [INFO] [1678794762.076300581] [zed2i0.zed_node]: * '/zed2i0/zed_node/stop_svo_rec' bridge_1 | [zed_wrapper-4] [INFO] [1678794762.077213597] [zed2i0.zed_node]: * '/zed2i0/zed_node/toggle_svo_pause' bridge_1 | [zed_wrapper-4] [INFO] [1678794762.078519220] [zed2i0.zed_node]: ***** STARTING CAMERA ***** bridge_1 | [zed_wrapper-4] [INFO] [1678794762.078558744] [zed2i0.zed_node]: SDK Version: 3.8.2 - Build 63211_622b02a5 bridge_1 | [zed_wrapper-4] [INFO] [1678794762.083597218] [zed2i0.zed_node]: *** CAMERA OPENING *** bridge_1 | [robot_state_publisher-5] Parsing robot urdf xml string. bridge_1 | [robot_state_publisher-5] Link zed2i1_base_link had 1 children bridge_1 | [robot_state_publisher-5] Link zed2i1_camera_center had 2 children bridge_1 | [robot_state_publisher-5] Link zed2i1_left_camera_frame had 1 children bridge_1 | [robot_state_publisher-5] Link zed2i1_left_camera_optical_frame had 0 children bridge_1 | [robot_state_publisher-5] Link zed2i1_right_camera_frame had 1 children bridge_1 | [robot_state_publisher-5] Link zed2i1_right_camera_optical_frame had 0 children bridge_1 | [robot_state_publisher-5] [INFO] [1678794762.037517411] [zed2i1.zed_state_publisher]: got segment base_link bridge_1 | [robot_state_publisher-5] [INFO] [1678794762.037631968] [zed2i1.zed_state_publisher]: got segment zed2i1_base_link bridge_1 | [robot_state_publisher-5] [INFO] [1678794762.037649853] [zed2i1.zed_state_publisher]: got segment zed2i1_camera_center bridge_1 | [robot_state_publisher-5] [INFO] [1678794762.037659998] [zed2i1.zed_state_publisher]: got segment zed2i1_left_camera_frame bridge_1 | [robot_state_publisher-5] [INFO] [1678794762.037669485] [zed2i1.zed_state_publisher]: got segment zed2i1_left_camera_optical_frame bridge_1 | [robot_state_publisher-5] [INFO] [1678794762.037677343] [zed2i1.zed_state_publisher]: got segment zed2i1_right_camera_frame bridge_1 | [robot_state_publisher-5] [INFO] [1678794762.037685500] [zed2i1.zed_state_publisher]: got segment zed2i1_right_camera_optical_frame bridge_1 | [zed_wrapper-6] [INFO] [1678794762.098015242] [zed2i1.zed_node]: ******************************** bridge_1 | [zed_wrapper-6] [INFO] [1678794762.098171475] [zed2i1.zed_node]: ZED Camera Component bridge_1 | [zed_wrapper-6] [INFO] [1678794762.098193724] [zed2i1.zed_node]: ******************************** bridge_1 | [zed_wrapper-6] [INFO] [1678794762.098208801] [zed2i1.zed_node]: * namespace: /zed2i1 bridge_1 | [zed_wrapper-6] [INFO] [1678794762.098220768] [zed2i1.zed_node]: * node name: zed_node bridge_1 | [zed_wrapper-6] [INFO] [1678794762.098229592] [zed2i1.zed_node]: ******************************** bridge_1 | [zed_wrapper-6] [INFO] [1678794762.098251921] [zed2i1.zed_node]: *** DEBUG parameters *** bridge_1 | [zed_wrapper-6] [INFO] [1678794762.098569196] [zed2i1.zed_node]: * Debug mode: FALSE bridge_1 | [zed_wrapper-6] [INFO] [1678794762.098945004] [zed2i1.zed_node]: * Debug sensors: FALSE bridge_1 | [zed_wrapper-6] [INFO] [1678794762.099013178] [zed2i1.zed_node]: *** GENERAL parameters *** bridge_1 | [zed_wrapper-6] [INFO] [1678794762.099268818] [zed2i1.zed_node]: * Camera model: zed2i - ZED 2i bridge_1 | [zed_wrapper-6] [INFO] [1678794762.099577889] [zed2i1.zed_node]: * SDK Verbose: 1 bridge_1 | [zed_wrapper-6] [INFO] [1678794762.100005844] [zed2i1.zed_node]: * SVO: live bridge_1 | [zed_wrapper-6] [INFO] [1678794762.100267276] [zed2i1.zed_node]: * SVO Loop: FALSE bridge_1 | [zed_wrapper-6] [INFO] [1678794762.100453106] [zed2i1.zed_node]: * SVO Realtime: TRUE bridge_1 | [zed_wrapper-6] [INFO] [1678794762.100572217] [zed2i1.zed_node]: * Camera name: zed2i1 bridge_1 | [zed_wrapper-6] [INFO] [1678794762.101001525] [zed2i1.zed_node]: * Camera ID: 1 bridge_1 | [zed_wrapper-6] [INFO] [1678794762.101163833] [zed2i1.zed_node]: * Camera SN: 0 bridge_1 | [zed_wrapper-6] [INFO] [1678794762.101782101] [zed2i1.zed_node]: * Camera timeout [sec]: 5 bridge_1 | [zed_wrapper-6] [INFO] [1678794762.102896007] [zed2i1.zed_node]: * Camera reconnection temptatives: 15 bridge_1 | [zed_wrapper-6] [INFO] [1678794762.103161750] [zed2i1.zed_node]: * Camera framerate: 15 bridge_1 | [zed_wrapper-6] [INFO] [1678794762.103383397] [zed2i1.zed_node]: * GPU ID: -1 bridge_1 | [zed_wrapper-6] [INFO] [1678794762.103715140] [zed2i1.zed_node]: * Camera resolution: VGA bridge_1 | [zed_wrapper-6] [INFO] [1678794762.104448574] [zed2i1.zed_node]: * Publishing resolution: VGA bridge_1 | [zed_wrapper-6] [INFO] [1678794762.104735089] [zed2i1.zed_node]: * Region of interest: bridge_1 | [zed_wrapper-6] [INFO] [1678794762.104960677] [zed2i1.zed_node]: * Camera self calibration: TRUE bridge_1 | [zed_wrapper-6] [INFO] [1678794762.105178379] [zed2i1.zed_node]: * Camera flip: FALSE bridge_1 | [zed_wrapper-6] [INFO] [1678794762.105405585] [zed2i1.zed_node]: * [DYN] Publish framerate [Hz]: 15 bridge_1 | [zed_wrapper-6] [INFO] [1678794762.105442320] [zed2i1.zed_node]: *** VIDEO parameters *** bridge_1 | [zed_wrapper-6] [INFO] [1678794762.106523271] [zed2i1.zed_node]: * Use old extrinsic parameters: 0 bridge_1 | [zed_wrapper-6] [INFO] [1678794762.106805323] [zed2i1.zed_node]: * [DYN] Brightness: 4 bridge_1 | [zed_wrapper-6] [INFO] [1678794762.107000853] [zed2i1.zed_node]: * [DYN] Contrast: 4 bridge_1 | [zed_wrapper-6] [INFO] [1678794762.107175659] [zed2i1.zed_node]: * [DYN] Hue: 0 bridge_1 | [zed_wrapper-6] [INFO] [1678794762.107340335] [zed2i1.zed_node]: * [DYN] Saturation: 4 bridge_1 | [zed_wrapper-6] [INFO] [1678794762.107497010] [zed2i1.zed_node]: * [DYN] Sharpness: 4 bridge_1 | [zed_wrapper-6] [INFO] [1678794762.107654541] [zed2i1.zed_node]: * [DYN] Gamma: 8 bridge_1 | [zed_wrapper-6] [INFO] [1678794762.107808805] [zed2i1.zed_node]: * [DYN] Auto Exposure/Gain: TRUE bridge_1 | [zed_wrapper-6] [INFO] [1678794762.108075769] [zed2i1.zed_node]: * [DYN] Exposure: 80 bridge_1 | [zed_wrapper-6] [INFO] [1678794762.108246011] [zed2i1.zed_node]: * [DYN] Gain: 80 bridge_1 | [zed_wrapper-6] [INFO] [1678794762.108410054] [zed2i1.zed_node]: * [DYN] Auto White Balance: TRUE bridge_1 | [zed_wrapper-6] [INFO] [1678794762.109137670] [zed2i1.zed_node]: * [DYN] White Balance Temperature: 42 bridge_1 | [zed_wrapper-6] [INFO] [1678794762.110062468] [zed2i1.zed_node]: * Video QoS History: KEEP_LAST bridge_1 | [zed_wrapper-6] [INFO] [1678794762.110151254] [zed2i1.zed_node]: * Video QoS History depth: 1 bridge_1 | [zed_wrapper-6] [INFO] [1678794762.110405513] [zed2i1.zed_node]: * Video QoS Reliability: RELIABLE bridge_1 | [zed_wrapper-6] [INFO] [1678794762.110638790] [zed2i1.zed_node]: * Video QoS Durability: VOLATILE bridge_1 | [zed_wrapper-6] [INFO] [1678794762.110664124] [zed2i1.zed_node]: *** DEPTH parameters *** bridge_1 | [zed_wrapper-6] [INFO] [1678794762.110876299] [zed2i1.zed_node]: * Depth quality: 1 - PERFORMANCE bridge_1 | [zed_wrapper-6] [INFO] [1678794762.111104521] [zed2i1.zed_node]: * Min depth [m]: 0.2 bridge_1 | [zed_wrapper-6] [INFO] [1678794762.111328543] [zed2i1.zed_node]: * Max depth [m]: 10 bridge_1 | [zed_wrapper-6] [INFO] [1678794762.111554380] [zed2i1.zed_node]: * Depth Sensing Mode: 0 - STANDARD bridge_1 | [zed_wrapper-6] [INFO] [1678794762.111791117] [zed2i1.zed_node]: * Depth Stabilization: TRUE bridge_1 | [zed_wrapper-6] [INFO] [1678794762.112183288] [zed2i1.zed_node]: * OpenNI mode (16bit point cloud): FALSE bridge_1 | [zed_wrapper-6] [INFO] [1678794762.112692065] [zed2i1.zed_node]: * [DYN] Point cloud rate [Hz]: 1 bridge_1 | [zed_wrapper-6] [INFO] [1678794762.113062422] [zed2i1.zed_node]: * [DYN] Depth Confidence: 50 bridge_1 | [zed_wrapper-6] [INFO] [1678794762.113363519] [zed2i1.zed_node]: * [DYN] Depth Texture Confidence: 100 bridge_1 | [zed_wrapper-6] [INFO] [1678794762.113696552] [zed2i1.zed_node]: * [DYN] Remove saturated areas: TRUE bridge_1 | [zed_wrapper-6] [INFO] [1678794762.114130777] [zed2i1.zed_node]: * Depth QoS History: KEEP_LAST bridge_1 | [zed_wrapper-6] [INFO] [1678794762.114326127] [zed2i1.zed_node]: * Depth QoS History depth: 1 bridge_1 | [zed_wrapper-6] [INFO] [1678794762.114501750] [zed2i1.zed_node]: * Depth QoS Reliability: RELIABLE bridge_1 | [zed_wrapper-6] [INFO] [1678794762.114689017] [zed2i1.zed_node]: * Depth QoS Durability: VOLATILE bridge_1 | [zed_wrapper-6] [INFO] [1678794762.114718100] [zed2i1.zed_node]: *** POSITIONAL TRACKING parameters *** bridge_1 | [zed_wrapper-6] [INFO] [1678794762.114890796] [zed2i1.zed_node]: * Positional tracking enabled: TRUE bridge_1 | [zed_wrapper-6] [INFO] [1678794762.115057944] [zed2i1.zed_node]: * Base frame id: base_link bridge_1 | [zed_wrapper-6] [INFO] [1678794762.115213696] [zed2i1.zed_node]: * Map frame id: map bridge_1 | [zed_wrapper-6] [INFO] [1678794762.117404239] [zed2i1.zed_node]: * Odometry frame id: odom bridge_1 | [zed_wrapper-6] [INFO] [1678794762.117624250] [zed2i1.zed_node]: * Broadcast Odometry TF: TRUE bridge_1 | [zed_wrapper-6] [INFO] [1678794762.117806345] [zed2i1.zed_node]: * Broadcast Pose TF: TRUE bridge_1 | [zed_wrapper-6] [INFO] [1678794762.117971702] [zed2i1.zed_node]: * Broadcast Static IMU TF [not for ZED]: TRUE bridge_1 | [zed_wrapper-6] [INFO] [1678794762.118136733] [zed2i1.zed_node]: * [DYN] Depth minimum range: 0 bridge_1 | [zed_wrapper-6] [INFO] [1678794762.118360380] [zed2i1.zed_node]: * [DYN] TF timestamp offset: 0 bridge_1 | [zed_wrapper-6] [INFO] [1678794762.118522131] [zed2i1.zed_node]: * [DYN] Path publishing rate: 2 bridge_1 | [zed_wrapper-6] [INFO] [1678794762.118679175] [zed2i1.zed_node]: * Path history lenght: -1 bridge_1 | [zed_wrapper-6] [INFO] [1678794762.118836954] [zed2i1.zed_node]: * Initial pose: [0,0,0,0,0,0,] bridge_1 | [zed_wrapper-6] [INFO] [1678794762.118998733] [zed2i1.zed_node]: * Area Memory: TRUE bridge_1 | [zed_wrapper-6] [INFO] [1678794762.119165244] [zed2i1.zed_node]: * Area Memory DB: bridge_1 | [zed_wrapper-6] [INFO] [1678794762.119316748] [zed2i1.zed_node]: * Camera is static: FALSE bridge_1 | [zed_wrapper-6] [INFO] [1678794762.119462462] [zed2i1.zed_node]: * Gravity as origin [not for ZED]: FALSE bridge_1 | [zed_wrapper-6] [INFO] [1678794762.119616019] [zed2i1.zed_node]: * IMU Fusion [not for ZED]: TRUE bridge_1 | [zed_wrapper-6] [INFO] [1678794762.119766071] [zed2i1.zed_node]: * Floor Alignment: FALSE bridge_1 | [zed_wrapper-6] [INFO] [1678794762.119947732] [zed2i1.zed_node]: * Init Odometry with first valid pose data: TRUE bridge_1 | [zed_wrapper-6] [INFO] [1678794762.120279577] [zed2i1.zed_node]: * 2D mode: FALSE bridge_1 | [zed_wrapper-6] [INFO] [1678794762.120506617] [zed2i1.zed_node]: * Pose/Odometry QoS History: KEEP_LAST bridge_1 | [zed_wrapper-6] [INFO] [1678794762.120726892] [zed2i1.zed_node]: * Pose/Odometry QoS History depth: 1 bridge_1 | [zed_wrapper-6] [INFO] [1678794762.121105296] [zed2i1.zed_node]: * Pose/Odometry QoS Reliability: RELIABLE bridge_1 | [zed_wrapper-6] [INFO] [1678794762.121330761] [zed2i1.zed_node]: * Pose/Odometry QoS Durability: VOLATILE bridge_1 | [zed_wrapper-6] [INFO] [1678794762.121360390] [zed2i1.zed_node]: *** SENSORS STACK parameters *** bridge_1 | [zed_wrapper-6] [INFO] [1678794762.122436153] [zed2i1.zed_node]: * Sensors Camera Sync: FALSE bridge_1 | [zed_wrapper-6] [INFO] [1678794762.122707428] [zed2i1.zed_node]: * Sensors publishing rate: 200 Hz bridge_1 | [zed_wrapper-6] [INFO] [1678794762.122970881] [zed2i1.zed_node]: * Sensors QoS History: KEEP_LAST bridge_1 | [zed_wrapper-6] [INFO] [1678794762.123174901] [zed2i1.zed_node]: * Sensors QoS History depth: 1 bridge_1 | [zed_wrapper-6] [INFO] [1678794762.123380515] [zed2i1.zed_node]: * Sensors QoS Reliability: RELIABLE bridge_1 | [zed_wrapper-6] [INFO] [1678794762.123574956] [zed2i1.zed_node]: * Sensors QoS Durability: VOLATILE bridge_1 | [zed_wrapper-6] [INFO] [1678794762.123601015] [zed2i1.zed_node]: *** Spatial Mapping parameters *** bridge_1 | [zed_wrapper-6] [INFO] [1678794762.123791027] [zed2i1.zed_node]: * Spatial Mapping Enabled: FALSE bridge_1 | [zed_wrapper-6] [INFO] [1678794762.124024822] [zed2i1.zed_node]: * Spatial Mapping resolution [m]: 0.1 bridge_1 | [zed_wrapper-6] [INFO] [1678794762.124250536] [zed2i1.zed_node]: * 3D Max Mapping range [m]: 20 bridge_1 | [zed_wrapper-6] [INFO] [1678794762.124446521] [zed2i1.zed_node]: * Map publishing rate [Hz]: 0.5 bridge_1 | [zed_wrapper-6] [INFO] [1678794762.124654218] [zed2i1.zed_node]: * Clicked point topic: /clicked_point bridge_1 | [zed_wrapper-6] [INFO] [1678794762.124841963] [zed2i1.zed_node]: * Sensors QoS History: KEEP_LAST bridge_1 | [zed_wrapper-6] [INFO] [1678794762.125108274] [zed2i1.zed_node]: * Sensors QoS History depth: 1 bridge_1 | [zed_wrapper-6] [INFO] [1678794762.125625836] [zed2i1.zed_node]: * Sensors QoS Reliability: RELIABLE bridge_1 | [zed_wrapper-6] [INFO] [1678794762.125809022] [zed2i1.zed_node]: * Sensors QoS Durability: VOLATILE bridge_1 | [zed_wrapper-6] [INFO] [1678794762.125841554] [zed2i1.zed_node]: *** OBJECT DETECTION parameters *** bridge_1 | [zed_wrapper-6] [INFO] [1678794762.126005069] [zed2i1.zed_node]: * Object Detection enabled: FALSE bridge_1 | [zed_wrapper-6] [INFO] [1678794762.126221120] [zed2i1.zed_node]: * OD min. confidence: 50 bridge_1 | [zed_wrapper-6] [INFO] [1678794762.126547717] [zed2i1.zed_node]: * OD prediction timeout [sec]: 0.5 bridge_1 | [zed_wrapper-6] [INFO] [1678794762.126723968] [zed2i1.zed_node]: * OD tracking: TRUE bridge_1 | [zed_wrapper-6] [INFO] [1678794762.126905263] [zed2i1.zed_node]: * Object Detection model: 0 - MULTI CLASS BOX FAST bridge_1 | [zed_wrapper-6] [INFO] [1678794762.127088696] [zed2i1.zed_node]: * Object Filtering mode: 1 - NMS 3D bridge_1 | [zed_wrapper-6] [INFO] [1678794762.127258198] [zed2i1.zed_node]: * MultiClassBox people: TRUE bridge_1 | [zed_wrapper-6] [INFO] [1678794762.127440446] [zed2i1.zed_node]: * MultiClassBox vehicles: TRUE bridge_1 | [zed_wrapper-6] [INFO] [1678794762.127609989] [zed2i1.zed_node]: * MultiClassBox bags: TRUE bridge_1 | [zed_wrapper-6] [INFO] [1678794762.127793486] [zed2i1.zed_node]: * MultiClassBox animals: TRUE bridge_1 | [zed_wrapper-6] [INFO] [1678794762.127979629] [zed2i1.zed_node]: * MultiClassBox electronics: TRUE bridge_1 | [zed_wrapper-6] [INFO] [1678794762.128168640] [zed2i1.zed_node]: * MultiClassBox fruits and vegetables: TRUE bridge_1 | [zed_wrapper-6] [INFO] [1678794762.128347780] [zed2i1.zed_node]: * MultiClassBox sport-related objects: TRUE bridge_1 | [zed_wrapper-6] [INFO] [1678794762.128556685] [zed2i1.zed_node]: * Body format: 1 - POSE_34 bridge_1 | [zed_wrapper-6] [INFO] [1678794762.128580540] [zed2i1.zed_node]: * Skeleton fitting: TRUE (forced by `object_detection.body_format`) bridge_1 | [zed_wrapper-6] [INFO] [1678794762.128760244] [zed2i1.zed_node]: * Obj. Det. QoS History: KEEP_LAST bridge_1 | [zed_wrapper-6] [INFO] [1678794762.128945633] [zed2i1.zed_node]: * Obj. Det. QoS History depth: 1 bridge_1 | [zed_wrapper-6] [INFO] [1678794762.129114869] [zed2i1.zed_node]: * Obj. Det. QoS Reliability: RELIABLE bridge_1 | [zed_wrapper-6] [INFO] [1678794762.129287147] [zed2i1.zed_node]: * Obj. Det. QoS Durability: VOLATILE bridge_1 | [zed_wrapper-6] [INFO] [1678794762.129369434] [zed2i1.zed_node]: *** SERVICES *** bridge_1 | [zed_wrapper-6] [INFO] [1678794762.133149279] [zed2i1.zed_node]: * '/zed2i1/zed_node/reset_odometry' bridge_1 | [zed_wrapper-6] [INFO] [1678794762.134965105] [zed2i1.zed_node]: * '/zed2i1/zed_node/reset_pos_tracking' bridge_1 | [zed_wrapper-6] [INFO] [1678794762.137602803] [zed2i1.zed_node]: * '/zed2i1/zed_node/set_pose' bridge_1 | [zed_wrapper-6] [INFO] [1678794762.147015825] [zed2i1.zed_node]: * '/zed2i1/zed_node/enable_obj_det' bridge_1 | [zed_wrapper-6] [INFO] [1678794762.148973370] [zed2i1.zed_node]: * '/zed2i1/zed_node/enable_mapping' bridge_1 | [zed_wrapper-6] [INFO] [1678794762.152293557] [zed2i1.zed_node]: * '/zed2i1/zed_node/start_svo_rec' bridge_1 | [zed_wrapper-6] [INFO] [1678794762.154661879] [zed2i1.zed_node]: * '/zed2i1/zed_node/stop_svo_rec' bridge_1 | [zed_wrapper-6] [INFO] [1678794762.159073147] [zed2i1.zed_node]: * '/zed2i1/zed_node/toggle_svo_pause' bridge_1 | [zed_wrapper-6] [INFO] [1678794762.165376119] [zed2i1.zed_node]: ***** STARTING CAMERA ***** bridge_1 | [zed_wrapper-6] [INFO] [1678794762.165429249] [zed2i1.zed_node]: SDK Version: 3.8.2 - Build 63211_622b02a5 bridge_1 | [zed_wrapper-6] [INFO] [1678794762.179754864] [zed2i1.zed_node]: *** CAMERA OPENING *** bridge_1 | [robot_state_publisher-7] Parsing robot urdf xml string. bridge_1 | [robot_state_publisher-7] Link zed2i2_base_link had 1 children bridge_1 | [robot_state_publisher-7] Link zed2i2_camera_center had 2 children bridge_1 | [robot_state_publisher-7] Link zed2i2_left_camera_frame had 1 children bridge_1 | [robot_state_publisher-7] Link zed2i2_left_camera_optical_frame had 0 children bridge_1 | [robot_state_publisher-7] Link zed2i2_right_camera_frame had 1 children bridge_1 | [robot_state_publisher-7] Link zed2i2_right_camera_optical_frame had 0 children bridge_1 | [robot_state_publisher-7] [INFO] [1678794762.063051041] [zed2i2.zed_state_publisher]: got segment base_link bridge_1 | [robot_state_publisher-7] [INFO] [1678794762.063158357] [zed2i2.zed_state_publisher]: got segment zed2i2_base_link bridge_1 | [robot_state_publisher-7] [INFO] [1678794762.063174165] [zed2i2.zed_state_publisher]: got segment zed2i2_camera_center bridge_1 | [robot_state_publisher-7] [INFO] [1678794762.063184383] [zed2i2.zed_state_publisher]: got segment zed2i2_left_camera_frame bridge_1 | [robot_state_publisher-7] [INFO] [1678794762.063193137] [zed2i2.zed_state_publisher]: got segment zed2i2_left_camera_optical_frame bridge_1 | [robot_state_publisher-7] [INFO] [1678794762.063200945] [zed2i2.zed_state_publisher]: got segment zed2i2_right_camera_frame bridge_1 | [robot_state_publisher-7] [INFO] [1678794762.063208522] [zed2i2.zed_state_publisher]: got segment zed2i2_right_camera_optical_frame bridge_1 | [zed_wrapper-8] [INFO] [1678794762.155663727] [zed2i2.zed_node]: ******************************** bridge_1 | [zed_wrapper-8] [INFO] [1678794762.155799898] [zed2i2.zed_node]: ZED Camera Component bridge_1 | [zed_wrapper-8] [INFO] [1678794762.155815916] [zed2i2.zed_node]: ******************************** bridge_1 | [zed_wrapper-8] [INFO] [1678794762.155826168] [zed2i2.zed_node]: * namespace: /zed2i2 bridge_1 | [zed_wrapper-8] [INFO] [1678794762.155834731] [zed2i2.zed_node]: * node name: zed_node bridge_1 | [zed_wrapper-8] [INFO] [1678794762.155842294] [zed2i2.zed_node]: ******************************** bridge_1 | [zed_wrapper-8] [INFO] [1678794762.155861701] [zed2i2.zed_node]: *** DEBUG parameters *** bridge_1 | [zed_wrapper-8] [INFO] [1678794762.155922403] [zed2i2.zed_node]: * Debug mode: FALSE bridge_1 | [zed_wrapper-8] [INFO] [1678794762.155967667] [zed2i2.zed_node]: * Debug sensors: FALSE bridge_1 | [zed_wrapper-8] [INFO] [1678794762.155984252] [zed2i2.zed_node]: *** GENERAL parameters *** bridge_1 | [zed_wrapper-8] [INFO] [1678794762.156037165] [zed2i2.zed_node]: * Camera model: zed2i - ZED 2i bridge_1 | [zed_wrapper-8] [INFO] [1678794762.156399563] [zed2i2.zed_node]: * SDK Verbose: 1 bridge_1 | [zed_wrapper-8] [INFO] [1678794762.156571687] [zed2i2.zed_node]: * SVO: live bridge_1 | [zed_wrapper-8] [INFO] [1678794762.156758385] [zed2i2.zed_node]: * SVO Loop: FALSE bridge_1 | [zed_wrapper-8] [INFO] [1678794762.157123064] [zed2i2.zed_node]: * SVO Realtime: TRUE bridge_1 | [zed_wrapper-8] [INFO] [1678794762.157347677] [zed2i2.zed_node]: * Camera name: zed2i2 bridge_1 | [zed_wrapper-8] [INFO] [1678794762.157550115] [zed2i2.zed_node]: * Camera ID: 2 bridge_1 | [zed_wrapper-8] [INFO] [1678794762.157671321] [zed2i2.zed_node]: * Camera SN: 0 bridge_1 | [zed_wrapper-8] [INFO] [1678794762.157734682] [zed2i2.zed_node]: * Camera timeout [sec]: 5 bridge_1 | [zed_wrapper-8] [INFO] [1678794762.157767662] [zed2i2.zed_node]: * Camera reconnection temptatives: 15 bridge_1 | [zed_wrapper-8] [INFO] [1678794762.157796920] [zed2i2.zed_node]: * Camera framerate: 15 bridge_1 | [zed_wrapper-8] [INFO] [1678794762.157828616] [zed2i2.zed_node]: * GPU ID: -1 bridge_1 | [zed_wrapper-8] [INFO] [1678794762.157962630] [zed2i2.zed_node]: * Camera resolution: VGA bridge_1 | [zed_wrapper-8] [INFO] [1678794762.158033710] [zed2i2.zed_node]: * Publishing resolution: VGA bridge_1 | [zed_wrapper-8] [INFO] [1678794762.158080663] [zed2i2.zed_node]: * Region of interest: bridge_1 | [zed_wrapper-8] [INFO] [1678794762.158113153] [zed2i2.zed_node]: * Camera self calibration: TRUE bridge_1 | [zed_wrapper-8] [INFO] [1678794762.158138468] [zed2i2.zed_node]: * Camera flip: FALSE bridge_1 | [zed_wrapper-8] [INFO] [1678794762.158178788] [zed2i2.zed_node]: * [DYN] Publish framerate [Hz]: 15 bridge_1 | [zed_wrapper-8] [INFO] [1678794762.158195002] [zed2i2.zed_node]: *** VIDEO parameters *** bridge_1 | [zed_wrapper-8] [INFO] [1678794762.158222404] [zed2i2.zed_node]: * Use old extrinsic parameters: 0 bridge_1 | [zed_wrapper-8] [INFO] [1678794762.159734624] [zed2i2.zed_node]: * [DYN] Brightness: 4 bridge_1 | [zed_wrapper-8] [INFO] [1678794762.159813711] [zed2i2.zed_node]: * [DYN] Contrast: 4 bridge_1 | [zed_wrapper-8] [INFO] [1678794762.160774062] [zed2i2.zed_node]: * [DYN] Hue: 0 bridge_1 | [zed_wrapper-8] [INFO] [1678794762.161203006] [zed2i2.zed_node]: * [DYN] Saturation: 4 bridge_1 | [zed_wrapper-8] [INFO] [1678794762.161623810] [zed2i2.zed_node]: * [DYN] Sharpness: 4 bridge_1 | [zed_wrapper-8] [INFO] [1678794762.161898122] [zed2i2.zed_node]: * [DYN] Gamma: 8 bridge_1 | [zed_wrapper-8] [INFO] [1678794762.162535707] [zed2i2.zed_node]: * [DYN] Auto Exposure/Gain: TRUE bridge_1 | [zed_wrapper-8] [INFO] [1678794762.163002141] [zed2i2.zed_node]: * [DYN] Exposure: 80 bridge_1 | [zed_wrapper-8] [INFO] [1678794762.163339930] [zed2i2.zed_node]: * [DYN] Gain: 80 bridge_1 | [zed_wrapper-8] [INFO] [1678794762.163638560] [zed2i2.zed_node]: * [DYN] Auto White Balance: TRUE bridge_1 | [zed_wrapper-8] [INFO] [1678794762.164186811] [zed2i2.zed_node]: * [DYN] White Balance Temperature: 42 bridge_1 | [zed_wrapper-8] [INFO] [1678794762.164539479] [zed2i2.zed_node]: * Video QoS History: KEEP_LAST bridge_1 | [zed_wrapper-8] [INFO] [1678794762.164797058] [zed2i2.zed_node]: * Video QoS History depth: 1 bridge_1 | [zed_wrapper-8] [INFO] [1678794762.165475145] [zed2i2.zed_node]: * Video QoS Reliability: RELIABLE bridge_1 | [zed_wrapper-8] [INFO] [1678794762.165787511] [zed2i2.zed_node]: * Video QoS Durability: VOLATILE bridge_1 | [zed_wrapper-8] [INFO] [1678794762.165812794] [zed2i2.zed_node]: *** DEPTH parameters *** bridge_1 | [zed_wrapper-8] [INFO] [1678794762.166372322] [zed2i2.zed_node]: * Depth quality: 1 - PERFORMANCE bridge_1 | [zed_wrapper-8] [INFO] [1678794762.166687756] [zed2i2.zed_node]: * Min depth [m]: 0.2 bridge_1 | [zed_wrapper-8] [INFO] [1678794762.167022854] [zed2i2.zed_node]: * Max depth [m]: 10 bridge_1 | [zed_wrapper-8] [INFO] [1678794762.167389121] [zed2i2.zed_node]: * Depth Sensing Mode: 0 - STANDARD bridge_1 | [zed_wrapper-8] [INFO] [1678794762.168074361] [zed2i2.zed_node]: * Depth Stabilization: TRUE bridge_1 | [zed_wrapper-8] [INFO] [1678794762.169697657] [zed2i2.zed_node]: * OpenNI mode (16bit point cloud): FALSE bridge_1 | [zed_wrapper-8] [INFO] [1678794762.169997673] [zed2i2.zed_node]: * [DYN] Point cloud rate [Hz]: 1 bridge_1 | [zed_wrapper-8] [INFO] [1678794762.170284894] [zed2i2.zed_node]: * [DYN] Depth Confidence: 50 bridge_1 | [zed_wrapper-8] [INFO] [1678794762.170646201] [zed2i2.zed_node]: * [DYN] Depth Texture Confidence: 100 bridge_1 | [zed_wrapper-8] [INFO] [1678794762.171412794] [zed2i2.zed_node]: * [DYN] Remove saturated areas: TRUE bridge_1 | [zed_wrapper-8] [INFO] [1678794762.171849614] [zed2i2.zed_node]: * Depth QoS History: KEEP_LAST bridge_1 | [zed_wrapper-8] [INFO] [1678794762.172204110] [zed2i2.zed_node]: * Depth QoS History depth: 1 bridge_1 | [zed_wrapper-8] [INFO] [1678794762.172560800] [zed2i2.zed_node]: * Depth QoS Reliability: RELIABLE bridge_1 | [zed_wrapper-8] [INFO] [1678794762.172942525] [zed2i2.zed_node]: * Depth QoS Durability: VOLATILE bridge_1 | [zed_wrapper-8] [INFO] [1678794762.173009915] [zed2i2.zed_node]: *** POSITIONAL TRACKING parameters *** bridge_1 | [zed_wrapper-8] [INFO] [1678794762.173280819] [zed2i2.zed_node]: * Positional tracking enabled: TRUE bridge_1 | [zed_wrapper-8] [INFO] [1678794762.173605098] [zed2i2.zed_node]: * Base frame id: base_link bridge_1 | [zed_wrapper-8] [INFO] [1678794762.173959265] [zed2i2.zed_node]: * Map frame id: map bridge_1 | [zed_wrapper-8] [INFO] [1678794762.174239468] [zed2i2.zed_node]: * Odometry frame id: odom bridge_1 | [zed_wrapper-8] [INFO] [1678794762.174825435] [zed2i2.zed_node]: * Broadcast Odometry TF: TRUE bridge_1 | [zed_wrapper-8] [INFO] [1678794762.175856680] [zed2i2.zed_node]: * Broadcast Pose TF: TRUE bridge_1 | [zed_wrapper-8] [INFO] [1678794762.176305669] [zed2i2.zed_node]: * Broadcast Static IMU TF [not for ZED]: TRUE bridge_1 | [zed_wrapper-8] [INFO] [1678794762.176601537] [zed2i2.zed_node]: * [DYN] Depth minimum range: 0 bridge_1 | [zed_wrapper-8] [INFO] [1678794762.176935999] [zed2i2.zed_node]: * [DYN] TF timestamp offset: 0 bridge_1 | [zed_wrapper-8] [INFO] [1678794762.177413533] [zed2i2.zed_node]: * [DYN] Path publishing rate: 2 bridge_1 | [zed_wrapper-8] [INFO] [1678794762.177717677] [zed2i2.zed_node]: * Path history lenght: -1 bridge_1 | [zed_wrapper-8] [INFO] [1678794762.179672383] [zed2i2.zed_node]: * Initial pose: [0,0,0,0,0,0,] bridge_1 | [robot_state_publisher-9] Parsing robot urdf xml string. bridge_1 | [robot_state_publisher-9] Link zed2i3_base_link had 1 children bridge_1 | [robot_state_publisher-9] Link zed2i3_camera_center had 2 children bridge_1 | [robot_state_publisher-9] Link zed2i3_left_camera_frame had 1 children bridge_1 | [robot_state_publisher-9] Link zed2i3_left_camera_optical_frame had 0 children bridge_1 | [robot_state_publisher-9] Link zed2i3_right_camera_frame had 1 children bridge_1 | [robot_state_publisher-9] Link zed2i3_right_camera_optical_frame had 0 children bridge_1 | [robot_state_publisher-9] [INFO] [1678794762.104109396] [zed2i3.zed_state_publisher]: got segment base_link bridge_1 | [robot_state_publisher-9] [INFO] [1678794762.105536405] [zed2i3.zed_state_publisher]: got segment zed2i3_base_link bridge_1 | [robot_state_publisher-9] [INFO] [1678794762.105567456] [zed2i3.zed_state_publisher]: got segment zed2i3_camera_center bridge_1 | [robot_state_publisher-9] [INFO] [1678794762.105580778] [zed2i3.zed_state_publisher]: got segment zed2i3_left_camera_frame bridge_1 | [robot_state_publisher-9] [INFO] [1678794762.105592480] [zed2i3.zed_state_publisher]: got segment zed2i3_left_camera_optical_frame bridge_1 | [robot_state_publisher-9] [INFO] [1678794762.105602635] [zed2i3.zed_state_publisher]: got segment zed2i3_right_camera_frame bridge_1 | [robot_state_publisher-9] [INFO] [1678794762.105611358] [zed2i3.zed_state_publisher]: got segment zed2i3_right_camera_optical_frame bridge_1 | [zed_wrapper-8] [INFO] [1678794762.179991819] [zed2i2.zed_node]: * Area Memory: TRUE bridge_1 | [zed_wrapper-8] [INFO] [1678794762.180038481] [zed2i2.zed_node]: * Area Memory DB: bridge_1 | [zed_wrapper-8] [INFO] [1678794762.180212460] [zed2i2.zed_node]: * Camera is static: FALSE bridge_1 | [zed_wrapper-8] [INFO] [1678794762.180379228] [zed2i2.zed_node]: * Gravity as origin [not for ZED]: FALSE bridge_1 | [zed_wrapper-8] [INFO] [1678794762.180537104] [zed2i2.zed_node]: * IMU Fusion [not for ZED]: TRUE bridge_1 | [zed_wrapper-8] [INFO] [1678794762.180690225] [zed2i2.zed_node]: * Floor Alignment: FALSE bridge_1 | [zed_wrapper-8] [INFO] [1678794762.180844453] [zed2i2.zed_node]: * Init Odometry with first valid pose data: TRUE bridge_1 | [zed_wrapper-8] [INFO] [1678794762.181006117] [zed2i2.zed_node]: * 2D mode: FALSE bridge_1 | [zed_wrapper-8] [INFO] [1678794762.181169388] [zed2i2.zed_node]: * Pose/Odometry QoS History: KEEP_LAST bridge_1 | [zed_wrapper-8] [INFO] [1678794762.184288826] [zed2i2.zed_node]: * Pose/Odometry QoS History depth: 1 bridge_1 | [zed_wrapper-8] [INFO] [1678794762.184523532] [zed2i2.zed_node]: * Pose/Odometry QoS Reliability: RELIABLE bridge_1 | [zed_wrapper-8] [INFO] [1678794762.184896941] [zed2i2.zed_node]: * Pose/Odometry QoS Durability: VOLATILE bridge_1 | [zed_wrapper-8] [INFO] [1678794762.184917105] [zed2i2.zed_node]: *** SENSORS STACK parameters *** bridge_1 | [zed_wrapper-8] [INFO] [1678794762.184954915] [zed2i2.zed_node]: * Sensors Camera Sync: FALSE bridge_1 | [zed_wrapper-8] [INFO] [1678794762.185259524] [zed2i2.zed_node]: * Sensors publishing rate: 200 Hz bridge_1 | [zed_wrapper-8] [INFO] [1678794762.185303696] [zed2i2.zed_node]: * Sensors QoS History: KEEP_LAST bridge_1 | [zed_wrapper-8] [INFO] [1678794762.185633455] [zed2i2.zed_node]: * Sensors QoS History depth: 1 bridge_1 | [zed_wrapper-8] [INFO] [1678794762.185777397] [zed2i2.zed_node]: * Sensors QoS Reliability: RELIABLE bridge_1 | [zed_wrapper-8] [INFO] [1678794762.186359767] [zed2i2.zed_node]: * Sensors QoS Durability: VOLATILE bridge_1 | [zed_wrapper-8] [INFO] [1678794762.186431196] [zed2i2.zed_node]: *** Spatial Mapping parameters *** bridge_1 | [zed_wrapper-8] [INFO] [1678794762.186537450] [zed2i2.zed_node]: * Spatial Mapping Enabled: FALSE bridge_1 | [zed_wrapper-8] [INFO] [1678794762.186723113] [zed2i2.zed_node]: * Spatial Mapping resolution [m]: 0.1 bridge_1 | [zed_wrapper-8] [INFO] [1678794762.187145744] [zed2i2.zed_node]: * 3D Max Mapping range [m]: 20 bridge_1 | [zed_wrapper-8] [INFO] [1678794762.187185100] [zed2i2.zed_node]: * Map publishing rate [Hz]: 0.5 bridge_1 | [zed_wrapper-8] [INFO] [1678794762.187518303] [zed2i2.zed_node]: * Clicked point topic: /clicked_point bridge_1 | [zed_wrapper-8] [INFO] [1678794762.187596681] [zed2i2.zed_node]: * Sensors QoS History: KEEP_LAST bridge_1 | [zed_wrapper-8] [INFO] [1678794762.187848584] [zed2i2.zed_node]: * Sensors QoS History depth: 1 bridge_1 | [zed_wrapper-8] [INFO] [1678794762.187970894] [zed2i2.zed_node]: * Sensors QoS Reliability: RELIABLE bridge_1 | [zed_wrapper-8] [INFO] [1678794762.190252269] [zed2i2.zed_node]: * Sensors QoS Durability: VOLATILE bridge_1 | [zed_wrapper-8] [INFO] [1678794762.190295271] [zed2i2.zed_node]: *** OBJECT DETECTION parameters *** bridge_1 | [zed_wrapper-8] [INFO] [1678794762.190333340] [zed2i2.zed_node]: * Object Detection enabled: FALSE bridge_1 | [zed_wrapper-8] [INFO] [1678794762.190525936] [zed2i2.zed_node]: * OD min. confidence: 50 bridge_1 | [zed_wrapper-8] [INFO] [1678794762.190570673] [zed2i2.zed_node]: * OD prediction timeout [sec]: 0.5 bridge_1 | [zed_wrapper-8] [INFO] [1678794762.190599258] [zed2i2.zed_node]: * OD tracking: TRUE bridge_1 | [zed_wrapper-8] [INFO] [1678794762.190635971] [zed2i2.zed_node]: * Object Detection model: 0 - MULTI CLASS BOX FAST bridge_1 | [zed_wrapper-8] [INFO] [1678794762.190671570] [zed2i2.zed_node]: * Object Filtering mode: 1 - NMS 3D bridge_1 | [zed_wrapper-8] [INFO] [1678794762.190698512] [zed2i2.zed_node]: * MultiClassBox people: TRUE bridge_1 | [zed_wrapper-8] [INFO] [1678794762.190722922] [zed2i2.zed_node]: * MultiClassBox vehicles: TRUE bridge_1 | [zed_wrapper-8] [INFO] [1678794762.191409061] [zed2i2.zed_node]: * MultiClassBox bags: TRUE bridge_1 | [zed_wrapper-8] [INFO] [1678794762.191493324] [zed2i2.zed_node]: * MultiClassBox animals: TRUE bridge_1 | [zed_wrapper-8] [INFO] [1678794762.191821585] [zed2i2.zed_node]: * MultiClassBox electronics: TRUE bridge_1 | [zed_wrapper-8] [INFO] [1678794762.191878433] [zed2i2.zed_node]: * MultiClassBox fruits and vegetables: TRUE bridge_1 | [zed_wrapper-8] [INFO] [1678794762.192211893] [zed2i2.zed_node]: * MultiClassBox sport-related objects: TRUE bridge_1 | [zed_wrapper-8] [INFO] [1678794762.192282730] [zed2i2.zed_node]: * Body format: 1 - POSE_34 bridge_1 | [zed_wrapper-8] [INFO] [1678794762.192302497] [zed2i2.zed_node]: * Skeleton fitting: TRUE (forced by `object_detection.body_format`) bridge_1 | [zed_wrapper-8] [INFO] [1678794762.192600945] [zed2i2.zed_node]: * Obj. Det. QoS History: KEEP_LAST bridge_1 | [zed_wrapper-8] [INFO] [1678794762.192663975] [zed2i2.zed_node]: * Obj. Det. QoS History depth: 1 bridge_1 | [zed_wrapper-8] [INFO] [1678794762.192701658] [zed2i2.zed_node]: * Obj. Det. QoS Reliability: RELIABLE bridge_1 | [zed_wrapper-8] [INFO] [1678794762.192806683] [zed2i2.zed_node]: * Obj. Det. QoS Durability: VOLATILE bridge_1 | [zed_wrapper-8] [INFO] [1678794762.192878777] [zed2i2.zed_node]: *** SERVICES *** bridge_1 | [zed_wrapper-8] [INFO] [1678794762.194790278] [zed2i2.zed_node]: * '/zed2i2/zed_node/reset_odometry' bridge_1 | [zed_wrapper-8] [INFO] [1678794762.196276289] [zed2i2.zed_node]: * '/zed2i2/zed_node/reset_pos_tracking' bridge_1 | [zed_wrapper-8] [INFO] [1678794762.214468771] [zed2i2.zed_node]: * '/zed2i2/zed_node/set_pose' bridge_1 | [zed_wrapper-8] [INFO] [1678794762.218169148] [zed2i2.zed_node]: * '/zed2i2/zed_node/enable_obj_det' bridge_1 | [zed_wrapper-8] [INFO] [1678794762.220525842] [zed2i2.zed_node]: * '/zed2i2/zed_node/enable_mapping' bridge_1 | [zed_wrapper-8] [INFO] [1678794762.225572293] [zed2i2.zed_node]: * '/zed2i2/zed_node/start_svo_rec' bridge_1 | [zed_wrapper-8] [INFO] [1678794762.227354446] [zed2i2.zed_node]: * '/zed2i2/zed_node/stop_svo_rec' bridge_1 | [zed_wrapper-8] [INFO] [1678794762.229770752] [zed2i2.zed_node]: * '/zed2i2/zed_node/toggle_svo_pause' bridge_1 | [zed_wrapper-8] [INFO] [1678794762.236048911] [zed2i2.zed_node]: ***** STARTING CAMERA ***** bridge_1 | [zed_wrapper-8] [INFO] [1678794762.236099923] [zed2i2.zed_node]: SDK Version: 3.8.2 - Build 63211_622b02a5 bridge_1 | [zed_wrapper-8] [INFO] [1678794762.264715533] [zed2i2.zed_node]: *** CAMERA OPENING *** bridge_1 | [zed_wrapper-10] [INFO] [1678794762.260012976] [zed2i3.zed_node]: ******************************** bridge_1 | [zed_wrapper-10] [INFO] [1678794762.260210919] [zed2i3.zed_node]: ZED Camera Component bridge_1 | [zed_wrapper-10] [INFO] [1678794762.260229706] [zed2i3.zed_node]: ******************************** bridge_1 | [zed_wrapper-10] [INFO] [1678794762.260240487] [zed2i3.zed_node]: * namespace: /zed2i3 bridge_1 | [zed_wrapper-10] [INFO] [1678794762.260250357] [zed2i3.zed_node]: * node name: zed_node bridge_1 | [zed_wrapper-10] [INFO] [1678794762.260258037] [zed2i3.zed_node]: ******************************** bridge_1 | [zed_wrapper-10] [INFO] [1678794762.260279308] [zed2i3.zed_node]: *** DEBUG parameters *** bridge_1 | [zed_wrapper-10] [INFO] [1678794762.260388306] [zed2i3.zed_node]: * Debug mode: FALSE bridge_1 | [zed_wrapper-10] [INFO] [1678794762.261166613] [zed2i3.zed_node]: * Debug sensors: FALSE bridge_1 | [zed_wrapper-10] [INFO] [1678794762.261207753] [zed2i3.zed_node]: *** GENERAL parameters *** bridge_1 | [zed_wrapper-10] [INFO] [1678794762.261316651] [zed2i3.zed_node]: * Camera model: zed2i - ZED 2i bridge_1 | [zed_wrapper-10] [INFO] [1678794762.261367233] [zed2i3.zed_node]: * SDK Verbose: 1 bridge_1 | [zed_wrapper-10] [INFO] [1678794762.261400569] [zed2i3.zed_node]: * SVO: live bridge_1 | [zed_wrapper-10] [INFO] [1678794762.261433073] [zed2i3.zed_node]: * SVO Loop: FALSE bridge_1 | [zed_wrapper-10] [INFO] [1678794762.261455886] [zed2i3.zed_node]: * SVO Realtime: TRUE bridge_1 | [zed_wrapper-10] [INFO] [1678794762.261479073] [zed2i3.zed_node]: * Camera name: zed2i3 bridge_1 | [zed_wrapper-10] [INFO] [1678794762.261657164] [zed2i3.zed_node]: * Camera ID: 3 bridge_1 | [zed_wrapper-10] [INFO] [1678794762.261707396] [zed2i3.zed_node]: * Camera SN: 0 bridge_1 | [zed_wrapper-10] [INFO] [1678794762.261736122] [zed2i3.zed_node]: * Camera timeout [sec]: 5 bridge_1 | [zed_wrapper-10] [INFO] [1678794762.261762200] [zed2i3.zed_node]: * Camera reconnection temptatives: 15 bridge_1 | [zed_wrapper-10] [INFO] [1678794762.261787323] [zed2i3.zed_node]: * Camera framerate: 15 bridge_1 | [zed_wrapper-10] [INFO] [1678794762.261815178] [zed2i3.zed_node]: * GPU ID: -1 bridge_1 | [zed_wrapper-10] [INFO] [1678794762.261850169] [zed2i3.zed_node]: * Camera resolution: VGA bridge_1 | [zed_wrapper-10] [INFO] [1678794762.261879092] [zed2i3.zed_node]: * Publishing resolution: VGA bridge_1 | [zed_wrapper-10] [INFO] [1678794762.261920612] [zed2i3.zed_node]: * Region of interest: bridge_1 | [zed_wrapper-10] [INFO] [1678794762.261959591] [zed2i3.zed_node]: * Camera self calibration: TRUE bridge_1 | [zed_wrapper-10] [INFO] [1678794762.261986863] [zed2i3.zed_node]: * Camera flip: FALSE bridge_1 | [zed_wrapper-10] [INFO] [1678794762.262027161] [zed2i3.zed_node]: * [DYN] Publish framerate [Hz]: 15 bridge_1 | [zed_wrapper-10] [INFO] [1678794762.262044062] [zed2i3.zed_node]: *** VIDEO parameters *** bridge_1 | [zed_wrapper-10] [INFO] [1678794762.262070629] [zed2i3.zed_node]: * Use old extrinsic parameters: 0 bridge_1 | [zed_wrapper-10] [INFO] [1678794762.262100640] [zed2i3.zed_node]: * [DYN] Brightness: 4 bridge_1 | [zed_wrapper-10] [INFO] [1678794762.262125003] [zed2i3.zed_node]: * [DYN] Contrast: 4 bridge_1 | [zed_wrapper-10] [INFO] [1678794762.262149616] [zed2i3.zed_node]: * [DYN] Hue: 0 bridge_1 | [zed_wrapper-10] [INFO] [1678794762.262175939] [zed2i3.zed_node]: * [DYN] Saturation: 4 bridge_1 | [zed_wrapper-10] [INFO] [1678794762.262201810] [zed2i3.zed_node]: * [DYN] Sharpness: 4 bridge_1 | [zed_wrapper-10] [INFO] [1678794762.262233321] [zed2i3.zed_node]: * [DYN] Gamma: 8 bridge_1 | [zed_wrapper-10] [INFO] [1678794762.262257577] [zed2i3.zed_node]: * [DYN] Auto Exposure/Gain: TRUE bridge_1 | [zed_wrapper-10] [INFO] [1678794762.262281625] [zed2i3.zed_node]: * [DYN] Exposure: 80 bridge_1 | [zed_wrapper-10] [INFO] [1678794762.262304642] [zed2i3.zed_node]: * [DYN] Gain: 80 bridge_1 | [zed_wrapper-10] [INFO] [1678794762.263410434] [zed2i3.zed_node]: * [DYN] Auto White Balance: TRUE bridge_1 | [zed_wrapper-10] [INFO] [1678794762.264734633] [zed2i3.zed_node]: * [DYN] White Balance Temperature: 42 bridge_1 | [zed_wrapper-10] [INFO] [1678794762.264815377] [zed2i3.zed_node]: * Video QoS History: KEEP_LAST bridge_1 | [zed_wrapper-10] [INFO] [1678794762.265008231] [zed2i3.zed_node]: * Video QoS History depth: 1 bridge_1 | [zed_wrapper-10] [INFO] [1678794762.265045904] [zed2i3.zed_node]: * Video QoS Reliability: RELIABLE bridge_1 | [zed_wrapper-10] [INFO] [1678794762.265072938] [zed2i3.zed_node]: * Video QoS Durability: VOLATILE bridge_1 | [zed_wrapper-10] [INFO] [1678794762.265089467] [zed2i3.zed_node]: *** DEPTH parameters *** bridge_1 | [zed_wrapper-10] [INFO] [1678794762.265252913] [zed2i3.zed_node]: * Depth quality: 1 - PERFORMANCE bridge_1 | [zed_wrapper-10] [INFO] [1678794762.265299815] [zed2i3.zed_node]: * Min depth [m]: 0.2 bridge_1 | [zed_wrapper-10] [INFO] [1678794762.265331591] [zed2i3.zed_node]: * Max depth [m]: 10 bridge_1 | [zed_wrapper-10] [INFO] [1678794762.265362425] [zed2i3.zed_node]: * Depth Sensing Mode: 0 - STANDARD bridge_1 | [zed_wrapper-10] [INFO] [1678794762.265809245] [zed2i3.zed_node]: * Depth Stabilization: TRUE bridge_1 | [zed_wrapper-10] [INFO] [1678794762.266008652] [zed2i3.zed_node]: * OpenNI mode (16bit point cloud): FALSE bridge_1 | [zed_wrapper-10] [INFO] [1678794762.266286358] [zed2i3.zed_node]: * [DYN] Point cloud rate [Hz]: 1 bridge_1 | [zed_wrapper-10] [INFO] [1678794762.266386669] [zed2i3.zed_node]: * [DYN] Depth Confidence: 50 bridge_1 | [zed_wrapper-10] [INFO] [1678794762.266960614] [zed2i3.zed_node]: * [DYN] Depth Texture Confidence: 100 bridge_1 | [zed_wrapper-10] [INFO] [1678794762.267034591] [zed2i3.zed_node]: * [DYN] Remove saturated areas: TRUE bridge_1 | [zed_wrapper-10] [INFO] [1678794762.267200053] [zed2i3.zed_node]: * Depth QoS History: KEEP_LAST bridge_1 | [zed_wrapper-10] [INFO] [1678794762.267544494] [zed2i3.zed_node]: * Depth QoS History depth: 1 bridge_1 | [zed_wrapper-10] [INFO] [1678794762.267589314] [zed2i3.zed_node]: * Depth QoS Reliability: RELIABLE bridge_1 | [zed_wrapper-10] [INFO] [1678794762.267871290] [zed2i3.zed_node]: * Depth QoS Durability: VOLATILE bridge_1 | [zed_wrapper-10] [INFO] [1678794762.267891959] [zed2i3.zed_node]: *** POSITIONAL TRACKING parameters *** bridge_1 | [zed_wrapper-10] [INFO] [1678794762.267941122] [zed2i3.zed_node]: * Positional tracking enabled: TRUE bridge_1 | [zed_wrapper-10] [INFO] [1678794762.268725589] [zed2i3.zed_node]: * Base frame id: base_link bridge_1 | [zed_wrapper-10] [INFO] [1678794762.269084529] [zed2i3.zed_node]: * Map frame id: map bridge_1 | [zed_wrapper-10] [INFO] [1678794762.269408556] [zed2i3.zed_node]: * Odometry frame id: odom bridge_1 | [zed_wrapper-10] [INFO] [1678794762.269742812] [zed2i3.zed_node]: * Broadcast Odometry TF: TRUE bridge_1 | [zed_wrapper-10] [INFO] [1678794762.270004533] [zed2i3.zed_node]: * Broadcast Pose TF: TRUE bridge_1 | [zed_wrapper-10] [INFO] [1678794762.270250900] [zed2i3.zed_node]: * Broadcast Static IMU TF [not for ZED]: TRUE bridge_1 | [zed_wrapper-10] [INFO] [1678794762.270495010] [zed2i3.zed_node]: * [DYN] Depth minimum range: 0 bridge_1 | [zed_wrapper-10] [INFO] [1678794762.270745771] [zed2i3.zed_node]: * [DYN] TF timestamp offset: 0 bridge_1 | [zed_wrapper-10] [INFO] [1678794762.270994272] [zed2i3.zed_node]: * [DYN] Path publishing rate: 2 bridge_1 | [zed_wrapper-10] [INFO] [1678794762.271280551] [zed2i3.zed_node]: * Path history lenght: -1 bridge_1 | [zed_wrapper-10] [INFO] [1678794762.271543720] [zed2i3.zed_node]: * Initial pose: [0,0,0,0,0,0,] bridge_1 | [zed_wrapper-10] [INFO] [1678794762.271801822] [zed2i3.zed_node]: * Area Memory: TRUE bridge_1 | [zed_wrapper-10] [INFO] [1678794762.272109264] [zed2i3.zed_node]: * Area Memory DB: bridge_1 | [zed_wrapper-10] [INFO] [1678794762.272380646] [zed2i3.zed_node]: * Camera is static: FALSE bridge_1 | [zed_wrapper-10] [INFO] [1678794762.272653191] [zed2i3.zed_node]: * Gravity as origin [not for ZED]: FALSE bridge_1 | [zed_wrapper-10] [INFO] [1678794762.272932015] [zed2i3.zed_node]: * IMU Fusion [not for ZED]: TRUE bridge_1 | [zed_wrapper-10] [INFO] [1678794762.273203919] [zed2i3.zed_node]: * Floor Alignment: FALSE bridge_1 | [zed_wrapper-10] [INFO] [1678794762.273868832] [zed2i3.zed_node]: * Init Odometry with first valid pose data: TRUE bridge_1 | [zed_wrapper-10] [INFO] [1678794762.274561450] [zed2i3.zed_node]: * 2D mode: FALSE bridge_1 | [zed_wrapper-10] [INFO] [1678794762.274664576] [zed2i3.zed_node]: * Pose/Odometry QoS History: KEEP_LAST bridge_1 | [zed_wrapper-10] [INFO] [1678794762.274691960] [zed2i3.zed_node]: * Pose/Odometry QoS History depth: 1 bridge_1 | [zed_wrapper-10] [INFO] [1678794762.274713133] [zed2i3.zed_node]: * Pose/Odometry QoS Reliability: RELIABLE bridge_1 | [zed_wrapper-10] [INFO] [1678794762.274731871] [zed2i3.zed_node]: * Pose/Odometry QoS Durability: VOLATILE bridge_1 | [zed_wrapper-10] [INFO] [1678794762.274744691] [zed2i3.zed_node]: *** SENSORS STACK parameters *** bridge_1 | [zed_wrapper-10] [INFO] [1678794762.276822557] [zed2i3.zed_node]: * Sensors Camera Sync: FALSE bridge_1 | [zed_wrapper-10] [INFO] [1678794762.277453965] [zed2i3.zed_node]: * Sensors publishing rate: 200 Hz bridge_1 | [zed_wrapper-10] [INFO] [1678794762.278615823] [zed2i3.zed_node]: * Sensors QoS History: KEEP_LAST bridge_1 | [zed_wrapper-10] [INFO] [1678794762.280090322] [zed2i3.zed_node]: * Sensors QoS History depth: 1 bridge_1 | [zed_wrapper-10] [INFO] [1678794762.280860677] [zed2i3.zed_node]: * Sensors QoS Reliability: RELIABLE bridge_1 | [zed_wrapper-10] [INFO] [1678794762.281029921] [zed2i3.zed_node]: * Sensors QoS Durability: VOLATILE bridge_1 | [zed_wrapper-10] [INFO] [1678794762.281492595] [zed2i3.zed_node]: *** Spatial Mapping parameters *** bridge_1 | [zed_wrapper-10] [INFO] [1678794762.282441405] [zed2i3.zed_node]: * Spatial Mapping Enabled: FALSE bridge_1 | [zed_wrapper-10] [INFO] [1678794762.284927285] [zed2i3.zed_node]: * Spatial Mapping resolution [m]: 0.1 bridge_1 | [zed_wrapper-10] [INFO] [1678794762.285033421] [zed2i3.zed_node]: * 3D Max Mapping range [m]: 20 bridge_1 | [zed_wrapper-10] [INFO] [1678794762.285071834] [zed2i3.zed_node]: * Map publishing rate [Hz]: 0.5 bridge_1 | [zed_wrapper-10] [INFO] [1678794762.285103009] [zed2i3.zed_node]: * Clicked point topic: /clicked_point bridge_1 | [zed_wrapper-10] [INFO] [1678794762.285131528] [zed2i3.zed_node]: * Sensors QoS History: KEEP_LAST bridge_1 | [zed_wrapper-10] [INFO] [1678794762.285153843] [zed2i3.zed_node]: * Sensors QoS History depth: 1 bridge_1 | [zed_wrapper-10] [INFO] [1678794762.285175366] [zed2i3.zed_node]: * Sensors QoS Reliability: RELIABLE bridge_1 | [zed_wrapper-10] [INFO] [1678794762.285202722] [zed2i3.zed_node]: * Sensors QoS Durability: VOLATILE bridge_1 | [zed_wrapper-10] [INFO] [1678794762.285225160] [zed2i3.zed_node]: *** OBJECT DETECTION parameters *** bridge_1 | [zed_wrapper-10] [INFO] [1678794762.285252876] [zed2i3.zed_node]: * Object Detection enabled: FALSE bridge_1 | [zed_wrapper-10] [INFO] [1678794762.285314842] [zed2i3.zed_node]: * OD min. confidence: 50 bridge_1 | [zed_wrapper-10] [INFO] [1678794762.285350537] [zed2i3.zed_node]: * OD prediction timeout [sec]: 0.5 bridge_1 | [zed_wrapper-10] [INFO] [1678794762.285533703] [zed2i3.zed_node]: * OD tracking: TRUE bridge_1 | [zed_wrapper-10] [INFO] [1678794762.285586638] [zed2i3.zed_node]: * Object Detection model: 0 - MULTI CLASS BOX FAST bridge_1 | [zed_wrapper-10] [INFO] [1678794762.285624410] [zed2i3.zed_node]: * Object Filtering mode: 1 - NMS 3D bridge_1 | [zed_wrapper-10] [INFO] [1678794762.285655468] [zed2i3.zed_node]: * MultiClassBox people: TRUE bridge_1 | [zed_wrapper-10] [INFO] [1678794762.285706281] [zed2i3.zed_node]: * MultiClassBox vehicles: TRUE bridge_1 | [zed_wrapper-10] [INFO] [1678794762.285736549] [zed2i3.zed_node]: * MultiClassBox bags: TRUE bridge_1 | [zed_wrapper-10] [INFO] [1678794762.288082541] [zed2i3.zed_node]: * MultiClassBox animals: TRUE bridge_1 | [zed_wrapper-10] [INFO] [1678794762.289745395] [zed2i3.zed_node]: * MultiClassBox electronics: TRUE bridge_1 | [zed_wrapper-10] [INFO] [1678794762.290897714] [zed2i3.zed_node]: * MultiClassBox fruits and vegetables: TRUE bridge_1 | [zed_wrapper-10] [INFO] [1678794762.291804475] [zed2i3.zed_node]: * MultiClassBox sport-related objects: TRUE bridge_1 | [zed_wrapper-10] [INFO] [1678794762.292789566] [zed2i3.zed_node]: * Body format: 1 - POSE_34 bridge_1 | [zed_wrapper-10] [INFO] [1678794762.292841689] [zed2i3.zed_node]: * Skeleton fitting: TRUE (forced by `object_detection.body_format`) bridge_1 | [zed_wrapper-10] [INFO] [1678794762.293808138] [zed2i3.zed_node]: * Obj. Det. QoS History: KEEP_LAST bridge_1 | [zed_wrapper-10] [INFO] [1678794762.295171641] [zed2i3.zed_node]: * Obj. Det. QoS History depth: 1 bridge_1 | [zed_wrapper-10] [INFO] [1678794762.296148221] [zed2i3.zed_node]: * Obj. Det. QoS Reliability: RELIABLE bridge_1 | [zed_wrapper-10] [INFO] [1678794762.300980443] [zed2i3.zed_node]: * Obj. Det. QoS Durability: VOLATILE bridge_1 | [zed_wrapper-10] [INFO] [1678794762.301092867] [zed2i3.zed_node]: *** SERVICES *** bridge_1 | [zed_wrapper-10] [INFO] [1678794762.305626953] [zed2i3.zed_node]: * '/zed2i3/zed_node/reset_odometry' bridge_1 | [zed_wrapper-10] [INFO] [1678794762.309996937] [zed2i3.zed_node]: * '/zed2i3/zed_node/reset_pos_tracking' bridge_1 | [zed_wrapper-10] [INFO] [1678794762.315976585] [zed2i3.zed_node]: * '/zed2i3/zed_node/set_pose' bridge_1 | [zed_wrapper-10] [INFO] [1678794762.322105274] [zed2i3.zed_node]: * '/zed2i3/zed_node/enable_obj_det' bridge_1 | [zed_wrapper-10] [INFO] [1678794762.327159224] [zed2i3.zed_node]: * '/zed2i3/zed_node/enable_mapping' bridge_1 | [zed_wrapper-10] [INFO] [1678794762.336984744] [zed2i3.zed_node]: * '/zed2i3/zed_node/start_svo_rec' bridge_1 | [zed_wrapper-10] [INFO] [1678794762.340741875] [zed2i3.zed_node]: * '/zed2i3/zed_node/stop_svo_rec' bridge_1 | [zed_wrapper-10] [INFO] [1678794762.344952233] [zed2i3.zed_node]: * '/zed2i3/zed_node/toggle_svo_pause' bridge_1 | [zed_wrapper-10] [INFO] [1678794762.356151814] [zed2i3.zed_node]: ***** STARTING CAMERA ***** bridge_1 | [zed_wrapper-10] [INFO] [1678794762.356198165] [zed2i3.zed_node]: SDK Version: 3.8.2 - Build 63211_622b02a5 bridge_1 | [zed_wrapper-10] [INFO] [1678794762.392244820] [zed2i3.zed_node]: *** CAMERA OPENING *** bridge_1 | [zed_wrapper-4] [ZED][INFO] Logging level INFO bridge_1 | [zed_wrapper-6] [ZED][INFO] Logging level INFO bridge_1 | [zed_wrapper-8] [ZED][INFO] Logging level INFO bridge_1 | [usb_cam_node_exe-12] [INFO] [1678794762.985836871] [usb_cam]: camera_name value: test_camera bridge_1 | [usb_cam_node_exe-12] [WARN] [1678794762.987419209] [usb_cam]: framerate: 1.000000 bridge_1 | [usb_cam_node_exe-12] [INFO] [1678794763.026628186] [usb_cam]: camera calibration URL: package://usb_cam/config/camera_info.yaml bridge_1 | [usb_cam_node_exe-12] [INFO] [1678794763.034951873] [usb_cam]: Starting 'test_camera' (/dev/video20) at 640x480 via mmap (yuyv) at 1 FPS bridge_1 | [usb_cam_node_exe-12] [ERROR] [1678794763.037061377] [usb_cam]: Cannot identify '/dev/video20': 2, No such file or directory bridge_1 | [usb_cam_node_exe-12] [INFO] [1678794763.038651841] [usb_cam]: This Cameras Supported Formats: bridge_1 | [usb_cam_node_exe-12] [INFO] [1678794763.040567131] [usb_cam]: starting timer 1000 bridge_1 | [zed_wrapper-10] [ZED][INFO] Logging level INFO bridge_1 | [zed_wrapper-4] [ZED][INFO] [Init] Depth mode: PERFORMANCE bridge_1 | [zed_wrapper-6] [ZED][INFO] [Init] Depth mode: PERFORMANCE bridge_1 | [zed_wrapper-8] [ZED][INFO] [Init] Depth mode: PERFORMANCE bridge_1 | [zed_wrapper-10] [ZED][INFO] [Init] Depth mode: PERFORMANCE bridge_1 | [zed_wrapper-4] [ZED][ERROR] [Init] Unable to capture images. Consider trying a lower resolution and/or FPS bridge_1 | [zed_wrapper-4] [ZED][INFO] [Init] Failed to open camera. Trying to re-open for 5 seconds. bridge_1 | [zed_wrapper-4] [ZED][INFO] [Init] Random wait interval before consecutive openings: [250], [1500] msec. bridge_1 | [zed_wrapper-4] [ZED][INFO] [Init] Waiting 364 msec before next opening attempt. bridge_1 | [zed_wrapper-8] [ZED][ERROR] [Init] Unable to capture images. Consider trying a lower resolution and/or FPS bridge_1 | [zed_wrapper-8] [ZED][INFO] [Init] Failed to open camera. Trying to re-open for 5 seconds. bridge_1 | [zed_wrapper-8] [ZED][INFO] [Init] Random wait interval before consecutive openings: [250], [1500] msec. bridge_1 | [zed_wrapper-8] [ZED][INFO] [Init] Waiting 1246 msec before next opening attempt. bridge_1 | [zed_wrapper-4] [ZED][INFO] [Init] Timeout in 3883msec bridge_1 | [zed_wrapper-4] [ZED][INFO] [Init] Opening Camera. Attempt #2 bridge_1 | [rosbridge_websocket-1] [INFO] [1678794764.667268609] [rosbridge_websocket]: Rosbridge WebSocket server started on port 9090 bridge_1 | [zed_wrapper-4] [ZED][ERROR] [Init] Unable to capture images. Consider trying a lower resolution and/or FPS bridge_1 | [zed_wrapper-4] [ZED][INFO] [Init] Waiting 1166 msec before next opening attempt. bridge_1 | [zed_wrapper-6] [ZED][INFO] [Init] Camera successfully opened. bridge_1 | [zed_wrapper-6] [ZED][INFO] [Init] Camera FW version: 1523 bridge_1 | [zed_wrapper-6] [ZED][INFO] [Init] Video mode: VGA@15 bridge_1 | [zed_wrapper-6] [ZED][INFO] [Init] No calibration file found for SN 32764550. Downloading... bridge_1 | [zed_wrapper-10] [ZED][INFO] [Init] Camera successfully opened. bridge_1 | [zed_wrapper-10] [ZED][INFO] [Init] Camera FW version: 1523 bridge_1 | [zed_wrapper-10] [ZED][INFO] [Init] Video mode: VGA@15 bridge_1 | [zed_wrapper-10] [ZED][INFO] [Init] No calibration file found for SN 39843186. Downloading... bridge_1 | [zed_wrapper-8] [ZED][INFO] [Init] Trying to force a device reboot to recover the video module. bridge_1 | [zed_wrapper-10] [ZED][INFO] [Init] Calibration file downloaded. bridge_1 | [zed_wrapper-6] [ZED][INFO] [Init] Calibration file downloaded. bridge_1 | [zed_wrapper-10] [INFO] [1678794766.037169743] [zed2i3.zed_node]: ZED SDK running on GPU #0 bridge_1 | [zed_wrapper-10] [INFO] [1678794766.037263796] [zed2i3.zed_node]: * Camera Model -> ZED 2i bridge_1 | [zed_wrapper-10] [INFO] [1678794766.037291954] [zed2i3.zed_node]: * Serial Number -> 39843186 bridge_1 | [zed_wrapper-10] [INFO] [1678794766.037337716] [zed2i3.zed_node]: * Input -> USB input type bridge_1 | [zed_wrapper-10] [INFO] [1678794766.037359540] [zed2i3.zed_node]: * Camera FW Version -> 1523 bridge_1 | [zed_wrapper-10] [INFO] [1678794766.037376277] [zed2i3.zed_node]: * Sensors FW Version -> 777 bridge_1 | [zed_wrapper-10] [INFO] [1678794766.037393053] [zed2i3.zed_node]: * Camera grab frame size -> 672x376 bridge_1 | [zed_wrapper-10] [WARN] [1678794766.037409672] [zed2i3.zed_node]: The publishing resolution (2208x1242) cannot be higher than the grabbing resolution (672x376). Using grab resolution for output messages. bridge_1 | [zed_wrapper-10] [INFO] [1678794766.037425024] [zed2i3.zed_node]: * Publishing frame size -> 672x376 bridge_1 | [zed_wrapper-10] [INFO] [1678794766.037441399] [zed2i3.zed_node]: *** Setting ROI *** bridge_1 | [zed_wrapper-10] [WARN] [1678794766.037511821] [zed2i3.zed_node]: * Error generating the region of interest image mask. bridge_1 | [zed_wrapper-10] [INFO] [1678794766.037541727] [zed2i3.zed_node]: *** TF FRAMES *** bridge_1 | [zed_wrapper-10] [INFO] [1678794766.037569909] [zed2i3.zed_node]: * Map -> map bridge_1 | [zed_wrapper-10] [INFO] [1678794766.037581818] [zed2i3.zed_node]: * Odometry -> odom bridge_1 | [zed_wrapper-10] [INFO] [1678794766.037592122] [zed2i3.zed_node]: * Base -> base_link bridge_1 | [zed_wrapper-10] [INFO] [1678794766.037602921] [zed2i3.zed_node]: * Camera -> zed2i3_camera_center bridge_1 | [zed_wrapper-10] [INFO] [1678794766.037614757] [zed2i3.zed_node]: * Left -> zed2i3_left_camera_frame bridge_1 | [zed_wrapper-10] [INFO] [1678794766.037627116] [zed2i3.zed_node]: * Left Optical -> zed2i3_left_camera_optical_frame bridge_1 | [zed_wrapper-10] [INFO] [1678794766.037676746] [zed2i3.zed_node]: * RGB -> zed2i3_left_camera_frame bridge_1 | [zed_wrapper-10] [INFO] [1678794766.037863228] [zed2i3.zed_node]: * RGB Optical -> zed2i3_left_camera_frame bridge_1 | [zed_wrapper-10] [INFO] [1678794766.037913886] [zed2i3.zed_node]: * Right -> zed2i3_right_camera_frame bridge_1 | [zed_wrapper-10] [INFO] [1678794766.037932332] [zed2i3.zed_node]: * Right Optical -> zed2i3_right_camera_optical_frame bridge_1 | [zed_wrapper-10] [INFO] [1678794766.037969588] [zed2i3.zed_node]: * Depth -> zed2i3_left_camera_frame bridge_1 | [zed_wrapper-10] [INFO] [1678794766.037985441] [zed2i3.zed_node]: * Depth Optical -> zed2i3_left_camera_optical_frame bridge_1 | [zed_wrapper-10] [INFO] [1678794766.037996730] [zed2i3.zed_node]: * Point Cloud -> zed2i3_left_camera_optical_frame bridge_1 | [zed_wrapper-10] [INFO] [1678794766.038032013] [zed2i3.zed_node]: * Disparity -> zed2i3_left_camera_frame bridge_1 | [zed_wrapper-10] [INFO] [1678794766.038051333] [zed2i3.zed_node]: * Disparity Optical -> zed2i3_left_camera_optical_frame bridge_1 | [zed_wrapper-10] [INFO] [1678794766.038085226] [zed2i3.zed_node]: * Confidence -> zed2i3_left_camera_frame bridge_1 | [zed_wrapper-10] [INFO] [1678794766.038100512] [zed2i3.zed_node]: * Confidence Optical -> zed2i3_left_camera_optical_frame bridge_1 | [zed_wrapper-10] [INFO] [1678794766.038111168] [zed2i3.zed_node]: * IMU -> zed2i3_imu_link bridge_1 | [zed_wrapper-10] [INFO] [1678794766.038145626] [zed2i3.zed_node]: * Barometer -> zed2i3_camera_center bridge_1 | [zed_wrapper-10] [INFO] [1678794766.038160802] [zed2i3.zed_node]: * Magnetometer -> zed2i3_imu_link bridge_1 | [zed_wrapper-10] [INFO] [1678794766.038170699] [zed2i3.zed_node]: * Left Temperature -> zed2i3_left_camera_frame bridge_1 | [zed_wrapper-10] [INFO] [1678794766.038202335] [zed2i3.zed_node]: * Right Temperature -> zed2i3_right_camera_frame bridge_1 | [zed_wrapper-10] [INFO] [1678794766.038346009] [zed2i3.zed_node]: *** PUBLISHED TOPICS *** bridge_1 | [zed_wrapper-4] [ZED][INFO] [Init] Trying to force a device reboot to recover the video module. bridge_1 | [zed_wrapper-10] [INFO] [1678794766.244703450] [zed2i3.zed_node]: Advertised on topic: /zed2i3/zed_node/rgb/image_rect_color bridge_1 | [zed_wrapper-10] [INFO] [1678794766.277904176] [zed2i3.zed_node]: Advertised on topic: /zed2i3/zed_node/rgb/image_rect_gray bridge_1 | [zed_wrapper-10] [INFO] [1678794766.278106224] [zed2i3.zed_node]: Advertised on topic: /zed2i3/zed_node/rgb/camera_info bridge_1 | [zed_wrapper-10] [INFO] [1678794766.286695595] [zed2i3.zed_node]: Advertised on topic: /zed2i3/zed_node/rgb_raw/image_raw_color bridge_1 | [zed_wrapper-10] [INFO] [1678794766.293764438] [zed2i3.zed_node]: Advertised on topic: /zed2i3/zed_node/rgb_raw/image_raw_gray bridge_1 | [zed_wrapper-10] [INFO] [1678794766.293934812] [zed2i3.zed_node]: Advertised on topic: /zed2i3/zed_node/rgb_raw/camera_info bridge_1 | [zed_wrapper-10] [INFO] [1678794766.301924319] [zed2i3.zed_node]: Advertised on topic: /zed2i3/zed_node/left/image_rect_color bridge_1 | [zed_wrapper-10] [INFO] [1678794766.318049325] [zed2i3.zed_node]: Advertised on topic: /zed2i3/zed_node/left/image_rect_gray bridge_1 | [zed_wrapper-10] [INFO] [1678794766.318132527] [zed2i3.zed_node]: Advertised on topic: /zed2i3/zed_node/left/camera_info bridge_1 | [zed_wrapper-6] [INFO] [1678794766.331952087] [zed2i1.zed_node]: ZED SDK running on GPU #0 bridge_1 | [zed_wrapper-6] [INFO] [1678794766.332017885] [zed2i1.zed_node]: * Camera Model -> ZED 2i bridge_1 | [zed_wrapper-6] [INFO] [1678794766.332033746] [zed2i1.zed_node]: * Serial Number -> 32764550 bridge_1 | [zed_wrapper-6] [INFO] [1678794766.332062682] [zed2i1.zed_node]: * Input -> USB input type bridge_1 | [zed_wrapper-6] [INFO] [1678794766.332080283] [zed2i1.zed_node]: * Camera FW Version -> 1523 bridge_1 | [zed_wrapper-6] [INFO] [1678794766.332091592] [zed2i1.zed_node]: * Sensors FW Version -> 777 bridge_1 | [zed_wrapper-6] [INFO] [1678794766.332104071] [zed2i1.zed_node]: * Camera grab frame size -> 672x376 bridge_1 | [zed_wrapper-6] [WARN] [1678794766.332118627] [zed2i1.zed_node]: The publishing resolution (2208x1242) cannot be higher than the grabbing resolution (672x376). Using grab resolution for output messages. bridge_1 | [zed_wrapper-6] [INFO] [1678794766.332131537] [zed2i1.zed_node]: * Publishing frame size -> 672x376 bridge_1 | [zed_wrapper-6] [INFO] [1678794766.332141024] [zed2i1.zed_node]: *** Setting ROI *** bridge_1 | [zed_wrapper-6] [WARN] [1678794766.332201901] [zed2i1.zed_node]: * Error generating the region of interest image mask. bridge_1 | [zed_wrapper-6] [INFO] [1678794766.332236185] [zed2i1.zed_node]: *** TF FRAMES *** bridge_1 | [zed_wrapper-6] [INFO] [1678794766.332254061] [zed2i1.zed_node]: * Map -> map bridge_1 | [zed_wrapper-6] [INFO] [1678794766.332264679] [zed2i1.zed_node]: * Odometry -> odom bridge_1 | [zed_wrapper-6] [INFO] [1678794766.332277951] [zed2i1.zed_node]: * Base -> base_link bridge_1 | [zed_wrapper-6] [INFO] [1678794766.332288405] [zed2i1.zed_node]: * Camera -> zed2i1_camera_center bridge_1 | [zed_wrapper-6] [INFO] [1678794766.332299486] [zed2i1.zed_node]: * Left -> zed2i1_left_camera_frame bridge_1 | [zed_wrapper-6] [INFO] [1678794766.332309263] [zed2i1.zed_node]: * Left Optical -> zed2i1_left_camera_optical_frame bridge_1 | [zed_wrapper-6] [INFO] [1678794766.332355321] [zed2i1.zed_node]: * RGB -> zed2i1_left_camera_frame bridge_1 | [zed_wrapper-6] [INFO] [1678794766.332369851] [zed2i1.zed_node]: * RGB Optical -> zed2i1_left_camera_frame bridge_1 | [zed_wrapper-6] [INFO] [1678794766.332379311] [zed2i1.zed_node]: * Right -> zed2i1_right_camera_frame bridge_1 | [zed_wrapper-6] [INFO] [1678794766.332388764] [zed2i1.zed_node]: * Right Optical -> zed2i1_right_camera_optical_frame bridge_1 | [zed_wrapper-6] [INFO] [1678794766.332399416] [zed2i1.zed_node]: * Depth -> zed2i1_left_camera_frame bridge_1 | [zed_wrapper-6] [INFO] [1678794766.332723469] [zed2i1.zed_node]: * Depth Optical -> zed2i1_left_camera_optical_frame bridge_1 | [zed_wrapper-6] [INFO] [1678794766.332739548] [zed2i1.zed_node]: * Point Cloud -> zed2i1_left_camera_optical_frame bridge_1 | [zed_wrapper-6] [INFO] [1678794766.332757578] [zed2i1.zed_node]: * Disparity -> zed2i1_left_camera_frame bridge_1 | [zed_wrapper-6] [INFO] [1678794766.332768564] [zed2i1.zed_node]: * Disparity Optical -> zed2i1_left_camera_optical_frame bridge_1 | [zed_wrapper-6] [INFO] [1678794766.332779271] [zed2i1.zed_node]: * Confidence -> zed2i1_left_camera_frame bridge_1 | [zed_wrapper-6] [INFO] [1678794766.332789083] [zed2i1.zed_node]: * Confidence Optical -> zed2i1_left_camera_optical_frame bridge_1 | [zed_wrapper-6] [INFO] [1678794766.332799322] [zed2i1.zed_node]: * IMU -> zed2i1_imu_link bridge_1 | [zed_wrapper-6] [INFO] [1678794766.332818477] [zed2i1.zed_node]: * Barometer -> zed2i1_camera_center bridge_1 | [zed_wrapper-6] [INFO] [1678794766.332828939] [zed2i1.zed_node]: * Magnetometer -> zed2i1_imu_link bridge_1 | [zed_wrapper-6] [INFO] [1678794766.332839016] [zed2i1.zed_node]: * Left Temperature -> zed2i1_left_camera_frame bridge_1 | [zed_wrapper-6] [INFO] [1678794766.332849485] [zed2i1.zed_node]: * Right Temperature -> zed2i1_right_camera_frame bridge_1 | [zed_wrapper-6] [INFO] [1678794766.332914466] [zed2i1.zed_node]: *** PUBLISHED TOPICS *** bridge_1 | [zed_wrapper-10] [INFO] [1678794766.336195090] [zed2i3.zed_node]: Advertised on topic: /zed2i3/zed_node/left_raw/image_raw_color bridge_1 | [zed_wrapper-10] [INFO] [1678794766.355461658] [zed2i3.zed_node]: Advertised on topic: /zed2i3/zed_node/left_raw/image_raw_gray bridge_1 | [zed_wrapper-10] [INFO] [1678794766.355542659] [zed2i3.zed_node]: Advertised on topic: /zed2i3/zed_node/left_raw/camera_info bridge_1 | [zed_wrapper-10] [INFO] [1678794766.374361970] [zed2i3.zed_node]: Advertised on topic: /zed2i3/zed_node/right/image_rect_color bridge_1 | [zed_wrapper-10] [INFO] [1678794766.392649116] [zed2i3.zed_node]: Advertised on topic: /zed2i3/zed_node/right/image_rect_gray bridge_1 | [zed_wrapper-10] [INFO] [1678794766.392733217] [zed2i3.zed_node]: Advertised on topic: /zed2i3/zed_node/right/camera_info bridge_1 | [zed_wrapper-10] [INFO] [1678794766.404543570] [zed2i3.zed_node]: Advertised on topic: /zed2i3/zed_node/right_raw/image_raw_color bridge_1 | [zed_wrapper-10] [INFO] [1678794766.406720423] [zed2i3.zed_node]: Advertised on topic: /zed2i3/zed_node/right_raw/image_raw_gray bridge_1 | [zed_wrapper-10] [INFO] [1678794766.406776136] [zed2i3.zed_node]: Advertised on topic: /zed2i3/zed_node/right_raw/camera_info bridge_1 | [zed_wrapper-10] [INFO] [1678794766.408559105] [zed2i3.zed_node]: Advertised on topic: /zed2i3/zed_node/depth/depth_registered bridge_1 | [zed_wrapper-10] [INFO] [1678794766.408615303] [zed2i3.zed_node]: Advertised on topic: /zed2i3/zed_node/depth/camera_info bridge_1 | [zed_wrapper-10] [INFO] [1678794766.410387103] [zed2i3.zed_node]: Advertised on topic: /zed2i3/zed_node/depth/depth_info bridge_1 | [zed_wrapper-10] [INFO] [1678794766.412011252] [zed2i3.zed_node]: Advertised on topic: /zed2i3/zed_node/stereo/image_rect_color bridge_1 | [zed_wrapper-10] [INFO] [1678794766.413623668] [zed2i3.zed_node]: Advertised on topic: /zed2i3/zed_node/stereo_raw/image_raw_color bridge_1 | [zed_wrapper-10] [INFO] [1678794766.413948793] [zed2i3.zed_node]: Advertised on topic: /zed2i3/zed_node/confidence/confidence_map bridge_1 | [zed_wrapper-10] [INFO] [1678794766.415641025] [zed2i3.zed_node]: Advertised on topic: /zed2i3/zed_node/disparity/disparity_image bridge_1 | [zed_wrapper-10] [INFO] [1678794766.416304149] [zed2i3.zed_node]: Advertised on topic: /zed2i3/zed_node/point_cloud/cloud_registered bridge_1 | [zed_wrapper-10] [INFO] [1678794766.416980512] [zed2i3.zed_node]: Advertised on topic: /zed2i3/zed_node/pose bridge_1 | [zed_wrapper-10] [INFO] [1678794766.417655062] [zed2i3.zed_node]: Advertised on topic: /zed2i3/zed_node/pose_with_covariance bridge_1 | [zed_wrapper-10] [INFO] [1678794766.418693812] [zed2i3.zed_node]: Advertised on topic: /zed2i3/zed_node/odom bridge_1 | [zed_wrapper-10] [INFO] [1678794766.419635425] [zed2i3.zed_node]: Advertised on topic: /zed2i3/zed_node/path_map bridge_1 | [zed_wrapper-10] [INFO] [1678794766.420438518] [zed2i3.zed_node]: Advertised on topic: /zed2i3/zed_node/path_odom bridge_1 | [zed_wrapper-10] [INFO] [1678794766.421731669] [zed2i3.zed_node]: Advertised on topic: /zed2i3/zed_node/imu/data bridge_1 | [zed_wrapper-10] [INFO] [1678794766.422347723] [zed2i3.zed_node]: Advertised on topic: /zed2i3/zed_node/imu/data_raw bridge_1 | [zed_wrapper-10] [INFO] [1678794766.423259198] [zed2i3.zed_node]: Advertised on topic: /zed2i3/zed_node/temperature/imu bridge_1 | [zed_wrapper-10] [INFO] [1678794766.423939144] [zed2i3.zed_node]: Advertised on topic: /zed2i3/zed_node/imu/mag bridge_1 | [zed_wrapper-10] [INFO] [1678794766.424594679] [zed2i3.zed_node]: Advertised on topic: /zed2i3/zed_node/atm_press bridge_1 | [INFO] [String "{data: waiting}"-16]: process has finished cleanly [pid 5375] bridge_1 | [zed_wrapper-10] [INFO] [1678794766.428579464] [zed2i3.zed_node]: Advertised on topic: /zed2i3/zed_node/temperature/left bridge_1 | [zed_wrapper-10] [INFO] [1678794766.430346554] [zed2i3.zed_node]: Advertised on topic: /zed2i3/zed_node/temperature/right bridge_1 | [zed_wrapper-10] [INFO] [1678794766.431354908] [zed2i3.zed_node]: Advertised on topic: /zed2i3/zed_node/left_cam_imu_transform bridge_1 | [zed_wrapper-10] [INFO] [1678794766.431784278] [zed2i3.zed_node]: Camera-IMU Translation: bridge_1 | [zed_wrapper-10] -0.002 -0.023 0.00022 bridge_1 | [zed_wrapper-10] [INFO] [1678794766.431849648] [zed2i3.zed_node]: Camera-IMU Rotation: bridge_1 | [zed_wrapper-10] 7FFF7DA8B1C0 bridge_1 | [zed_wrapper-10] 0.999985 -0.004596 -0.003113 bridge_1 | [zed_wrapper-10] 0.004604 0.999986 0.002518 bridge_1 | [zed_wrapper-10] 0.003102 -0.002533 0.999992 bridge_1 | [zed_wrapper-10] bridge_1 | [zed_wrapper-10] [INFO] [1678794766.433845417] [zed2i3.zed_node]: *** Plane Detection ** bridge_1 | [zed_wrapper-10] [INFO] [1678794766.433892919] [zed2i3.zed_node]: * Subscribed to topic /clicked_point bridge_1 | [zed_wrapper-10] [INFO] [1678794766.477188366] [zed2i3.zed_node]: *** Starting Positional Tracking *** bridge_1 | [zed_wrapper-10] [INFO] [1678794766.477367359] [zed2i3.zed_node]: * Waiting for valid static transformations... bridge_1 | [zed_wrapper-10] [INFO] [1678794766.477647904] [zed2i3.zed_node]: Static transform Sensor to Base [zed2i3_left_camera_frame -> base_link] bridge_1 | [zed_wrapper-10] [INFO] [1678794766.477676491] [zed2i3.zed_node]: * Translation: {0.000,-0.060,-0.015} bridge_1 | [zed_wrapper-10] [INFO] [1678794766.477718507] [zed2i3.zed_node]: * Rotation: {0.000,-0.000,0.000} bridge_1 | [zed_wrapper-10] [INFO] [1678794766.477765214] [zed2i3.zed_node]: Static transform Sensor to Camera Center [zed2i3_left_camera_frame -> zed2i3_camera_center] bridge_1 | [zed_wrapper-10] [INFO] [1678794766.477783336] [zed2i3.zed_node]: * Translation: {0.000,-0.060,0.000} bridge_1 | [zed_wrapper-10] [INFO] [1678794766.477830008] [zed2i3.zed_node]: * Rotation: {0.000,-0.000,0.000} bridge_1 | [zed_wrapper-10] [INFO] [1678794766.477877185] [zed2i3.zed_node]: Static transform Camera Center to Base [zed2i3_camera_center -> base_link] bridge_1 | [zed_wrapper-10] [INFO] [1678794766.477894745] [zed2i3.zed_node]: * Translation: {0.000,0.000,-0.015} bridge_1 | [zed_wrapper-10] [INFO] [1678794766.477937030] [zed2i3.zed_node]: * Rotation: {0.000,-0.000,0.000} bridge_1 | [zed_wrapper-6] [INFO] [1678794766.620466830] [zed2i1.zed_node]: Advertised on topic: /zed2i1/zed_node/rgb/image_rect_color bridge_1 | [zed_wrapper-6] [INFO] [1678794766.630250536] [zed2i1.zed_node]: Advertised on topic: /zed2i1/zed_node/rgb/image_rect_gray bridge_1 | [zed_wrapper-6] [INFO] [1678794766.631809337] [zed2i1.zed_node]: Advertised on topic: /zed2i1/zed_node/rgb/camera_info bridge_1 | [zed_wrapper-6] [INFO] [1678794766.640711602] [zed2i1.zed_node]: Advertised on topic: /zed2i1/zed_node/rgb_raw/image_raw_color bridge_1 | [zed_wrapper-6] [INFO] [1678794766.649710902] [zed2i1.zed_node]: Advertised on topic: /zed2i1/zed_node/rgb_raw/image_raw_gray bridge_1 | [zed_wrapper-6] [INFO] [1678794766.651265768] [zed2i1.zed_node]: Advertised on topic: /zed2i1/zed_node/rgb_raw/camera_info bridge_1 | [zed_wrapper-6] [INFO] [1678794766.660125070] [zed2i1.zed_node]: Advertised on topic: /zed2i1/zed_node/left/image_rect_color bridge_1 | [zed_wrapper-6] [INFO] [1678794766.668929521] [zed2i1.zed_node]: Advertised on topic: /zed2i1/zed_node/left/image_rect_gray bridge_1 | [zed_wrapper-6] [INFO] [1678794766.670458556] [zed2i1.zed_node]: Advertised on topic: /zed2i1/zed_node/left/camera_info bridge_1 | [zed_wrapper-6] [INFO] [1678794766.679315813] [zed2i1.zed_node]: Advertised on topic: /zed2i1/zed_node/left_raw/image_raw_color bridge_1 | [zed_wrapper-6] [INFO] [1678794766.690095097] [zed2i1.zed_node]: Advertised on topic: /zed2i1/zed_node/left_raw/image_raw_gray bridge_1 | [zed_wrapper-6] [INFO] [1678794766.690143689] [zed2i1.zed_node]: Advertised on topic: /zed2i1/zed_node/left_raw/camera_info bridge_1 | [zed_wrapper-6] [INFO] [1678794766.701335505] [zed2i1.zed_node]: Advertised on topic: /zed2i1/zed_node/right/image_rect_color bridge_1 | [zed_wrapper-6] [INFO] [1678794766.712891422] [zed2i1.zed_node]: Advertised on topic: /zed2i1/zed_node/right/image_rect_gray bridge_1 | [zed_wrapper-6] [INFO] [1678794766.712942127] [zed2i1.zed_node]: Advertised on topic: /zed2i1/zed_node/right/camera_info bridge_1 | [zed_wrapper-6] [INFO] [1678794766.724221659] [zed2i1.zed_node]: Advertised on topic: /zed2i1/zed_node/right_raw/image_raw_color bridge_1 | [zed_wrapper-6] [INFO] [1678794766.734814028] [zed2i1.zed_node]: Advertised on topic: /zed2i1/zed_node/right_raw/image_raw_gray bridge_1 | [zed_wrapper-6] [INFO] [1678794766.734866309] [zed2i1.zed_node]: Advertised on topic: /zed2i1/zed_node/right_raw/camera_info bridge_1 | [zed_wrapper-6] [INFO] [1678794766.745080932] [zed2i1.zed_node]: Advertised on topic: /zed2i1/zed_node/depth/depth_registered bridge_1 | [zed_wrapper-6] [INFO] [1678794766.745904079] [zed2i1.zed_node]: Advertised on topic: /zed2i1/zed_node/depth/camera_info bridge_1 | [zed_wrapper-6] [INFO] [1678794766.748120542] [zed2i1.zed_node]: Advertised on topic: /zed2i1/zed_node/depth/depth_info bridge_1 | [zed_wrapper-6] [INFO] [1678794766.756682803] [zed2i1.zed_node]: Advertised on topic: /zed2i1/zed_node/stereo/image_rect_color bridge_1 | [zed_wrapper-6] [INFO] [1678794766.765530877] [zed2i1.zed_node]: Advertised on topic: /zed2i1/zed_node/stereo_raw/image_raw_color bridge_1 | [zed_wrapper-6] [INFO] [1678794766.767518935] [zed2i1.zed_node]: Advertised on topic: /zed2i1/zed_node/confidence/confidence_map bridge_1 | [zed_wrapper-6] [INFO] [1678794766.770340078] [zed2i1.zed_node]: Advertised on topic: /zed2i1/zed_node/disparity/disparity_image bridge_1 | [zed_wrapper-6] [INFO] [1678794766.772253362] [zed2i1.zed_node]: Advertised on topic: /zed2i1/zed_node/point_cloud/cloud_registered bridge_1 | [zed_wrapper-6] [INFO] [1678794766.774271480] [zed2i1.zed_node]: Advertised on topic: /zed2i1/zed_node/pose bridge_1 | [zed_wrapper-6] [INFO] [1678794766.775904049] [zed2i1.zed_node]: Advertised on topic: /zed2i1/zed_node/pose_with_covariance bridge_1 | [zed_wrapper-6] [INFO] [1678794766.777905343] [zed2i1.zed_node]: Advertised on topic: /zed2i1/zed_node/odom bridge_1 | [zed_wrapper-6] [INFO] [1678794766.779478080] [zed2i1.zed_node]: Advertised on topic: /zed2i1/zed_node/path_map bridge_1 | [zed_wrapper-6] [INFO] [1678794766.780971571] [zed2i1.zed_node]: Advertised on topic: /zed2i1/zed_node/path_odom bridge_1 | [zed_wrapper-6] [INFO] [1678794766.782828601] [zed2i1.zed_node]: Advertised on topic: /zed2i1/zed_node/imu/data bridge_1 | [zed_wrapper-6] [INFO] [1678794766.784312238] [zed2i1.zed_node]: Advertised on topic: /zed2i1/zed_node/imu/data_raw bridge_1 | [zed_wrapper-6] [INFO] [1678794766.786018167] [zed2i1.zed_node]: Advertised on topic: /zed2i1/zed_node/temperature/imu bridge_1 | [zed_wrapper-6] [INFO] [1678794766.787781845] [zed2i1.zed_node]: Advertised on topic: /zed2i1/zed_node/imu/mag bridge_1 | [zed_wrapper-6] [INFO] [1678794766.789597039] [zed2i1.zed_node]: Advertised on topic: /zed2i1/zed_node/atm_press bridge_1 | [zed_wrapper-6] [INFO] [1678794766.791058315] [zed2i1.zed_node]: Advertised on topic: /zed2i1/zed_node/temperature/left bridge_1 | [zed_wrapper-6] [INFO] [1678794766.792962814] [zed2i1.zed_node]: Advertised on topic: /zed2i1/zed_node/temperature/right bridge_1 | [zed_wrapper-6] [INFO] [1678794766.794918159] [zed2i1.zed_node]: Advertised on topic: /zed2i1/zed_node/left_cam_imu_transform bridge_1 | [zed_wrapper-6] [INFO] [1678794766.795005631] [zed2i1.zed_node]: Camera-IMU Translation: bridge_1 | [zed_wrapper-6] -0.002 -0.023 0.00022 bridge_1 | [zed_wrapper-6] [INFO] [1678794766.795064150] [zed2i1.zed_node]: Camera-IMU Rotation: bridge_1 | [zed_wrapper-6] 7FFCEC912300 bridge_1 | [zed_wrapper-6] 0.999972 0.007281 -0.001478 bridge_1 | [zed_wrapper-6] -0.007278 0.999972 0.001943 bridge_1 | [zed_wrapper-6] 0.001492 -0.001932 0.999997 bridge_1 | [zed_wrapper-6] bridge_1 | [zed_wrapper-6] [INFO] [1678794766.797251329] [zed2i1.zed_node]: *** Plane Detection ** bridge_1 | [zed_wrapper-6] [INFO] [1678794766.797296051] [zed2i1.zed_node]: * Subscribed to topic /clicked_point bridge_1 | [zed_wrapper-6] [INFO] [1678794766.819982642] [zed2i1.zed_node]: *** Starting Positional Tracking *** bridge_1 | [zed_wrapper-6] [INFO] [1678794766.820048124] [zed2i1.zed_node]: * Waiting for valid static transformations... bridge_1 | [zed_wrapper-6] [INFO] [1678794766.820124254] [zed2i1.zed_node]: Static transform Sensor to Base [zed2i1_left_camera_frame -> base_link] bridge_1 | [zed_wrapper-6] [INFO] [1678794766.820135666] [zed2i1.zed_node]: * Translation: {0.000,-0.060,-0.015} bridge_1 | [zed_wrapper-6] [INFO] [1678794766.820158202] [zed2i1.zed_node]: * Rotation: {0.000,-0.000,0.000} bridge_1 | [zed_wrapper-6] [INFO] [1678794766.820174486] [zed2i1.zed_node]: Static transform Sensor to Camera Center [zed2i1_left_camera_frame -> zed2i1_camera_center] bridge_1 | [zed_wrapper-6] [INFO] [1678794766.820182229] [zed2i1.zed_node]: * Translation: {0.000,-0.060,0.000} bridge_1 | [zed_wrapper-6] [INFO] [1678794766.820189603] [zed2i1.zed_node]: * Rotation: {0.000,-0.000,0.000} bridge_1 | [zed_wrapper-6] [INFO] [1678794766.820241984] [zed2i1.zed_node]: Static transform Camera Center to Base [zed2i1_camera_center -> base_link] bridge_1 | [zed_wrapper-6] [INFO] [1678794766.820260341] [zed2i1.zed_node]: * Translation: {0.000,0.000,-0.015} bridge_1 | [zed_wrapper-6] [INFO] [1678794766.820276666] [zed2i1.zed_node]: * Rotation: {0.000,-0.000,0.000} bridge_1 | [zed_wrapper-10] [INFO] [1678794766.978010312] [zed2i3.zed_node]: Initial ZED left camera pose (ZED pos. tracking): bridge_1 | [zed_wrapper-10] [INFO] [1678794766.978067570] [zed2i3.zed_node]: * T: [0,0.06,0.015] bridge_1 | [zed_wrapper-10] [INFO] [1678794766.978099148] [zed2i3.zed_node]: * Q: [0,0,0,1] bridge_1 | [zed_wrapper-10] [INFO] [1678794767.239228100] [zed2i3.zed_node]: Odometry aligned to last tracking pose bridge_1 | [zed_wrapper-6] [INFO] [1678794767.320338865] [zed2i1.zed_node]: Initial ZED left camera pose (ZED pos. tracking): bridge_1 | [zed_wrapper-6] [INFO] [1678794767.320409021] [zed2i1.zed_node]: * T: [0,0.06,0.015] bridge_1 | [zed_wrapper-6] [INFO] [1678794767.320460543] [zed2i1.zed_node]: * Q: [0,0,0,1] bridge_1 | [zed_wrapper-8] [ZED][INFO] [Init] Timeout in 1067msec bridge_1 | [zed_wrapper-8] [ZED][INFO] [Init] Opening Camera. Attempt #2 bridge_1 | [zed_wrapper-6] [INFO] [1678794767.535354228] [zed2i1.zed_node]: Odometry aligned to last tracking pose bridge_1 | [zed_wrapper-8] [ZED][ERROR] [Init] Unable to capture images. Consider trying a lower resolution and/or FPS bridge_1 | [zed_wrapper-8] [ZED][INFO] [Init] Waiting 810 msec before next opening attempt. bridge_1 | [zed_wrapper-4] [WARN] [1678794768.179603232] [zed2i0.zed_node]: Error opening camera: LOW USB BANDWIDTH bridge_1 | [zed_wrapper-4] [INFO] [1678794768.179673945] [zed2i0.zed_node]: Please verify the USB3 connection bridge_1 | [zed_wrapper-4] [ZED][INFO] [Init] Camera opening timeout reached. bridge_1 | [zed_wrapper-8] [WARN] [1678794768.914381631] [zed2i2.zed_node]: Error opening camera: LOW USB BANDWIDTH bridge_1 | [zed_wrapper-8] [INFO] [1678794768.914450352] [zed2i2.zed_node]: Please verify the USB3 connection bridge_1 | [zed_wrapper-8] [ZED][INFO] [Init] Camera opening timeout reached. bridge_1 | [zed_wrapper-4] [ZED][INFO] Logging level INFO bridge_1 | [zed_wrapper-4] [ZED][INFO] [Init] Depth mode: PERFORMANCE bridge_1 | [zed_wrapper-4] [ZED][ERROR] [Init] Unable to capture images. Consider trying a lower resolution and/or FPS bridge_1 | [zed_wrapper-4] [ZED][INFO] [Init] Failed to open camera. Trying to re-open for 5 seconds. bridge_1 | [zed_wrapper-4] [ZED][INFO] [Init] Random wait interval before consecutive openings: [250], [1500] msec. bridge_1 | [zed_wrapper-4] [ZED][INFO] [Init] Waiting 795 msec before next opening attempt. bridge_1 | [zed_wrapper-8] [ZED][INFO] Logging level INFO bridge_1 | [zed_wrapper-8] [ZED][INFO] [Init] Depth mode: PERFORMANCE bridge_1 | [zed_wrapper-8] [ZED][ERROR] [Init] Unable to capture images. Consider trying a lower resolution and/or FPS bridge_1 | [zed_wrapper-8] [ZED][INFO] [Init] Failed to open camera. Trying to re-open for 5 seconds. bridge_1 | [zed_wrapper-8] [ZED][INFO] [Init] Random wait interval before consecutive openings: [250], [1500] msec. bridge_1 | [zed_wrapper-8] [ZED][INFO] [Init] Waiting 362 msec before next opening attempt. bridge_1 | [zed_wrapper-4] [ZED][INFO] [Init] Timeout in 3501msec bridge_1 | [zed_wrapper-4] [ZED][INFO] [Init] Opening Camera. Attempt #2 bridge_1 | [zed_wrapper-8] [ZED][INFO] [Init] Timeout in 4041msec bridge_1 | [zed_wrapper-8] [ZED][INFO] [Init] Opening Camera. Attempt #2 bridge_1 | [zed_wrapper-4] [ZED][ERROR] [Init] Unable to capture images. Consider trying a lower resolution and/or FPS bridge_1 | [zed_wrapper-4] [ZED][INFO] [Init] Waiting 796 msec before next opening attempt. bridge_1 | [zed_wrapper-8] [ZED][ERROR] [Init] Unable to capture images. Consider trying a lower resolution and/or FPS bridge_1 | [zed_wrapper-8] [ZED][INFO] [Init] Waiting 743 msec before next opening attempt. bridge_1 | [zed_wrapper-4] [ZED][INFO] [Init] Trying to force a device reboot to recover the video module. bridge_1 | [zed_wrapper-8] [ZED][INFO] [Init] Trying to force a device reboot to recover the video module. bridge_1 | [zed_wrapper-4] [ZED][INFO] [Init] Timeout in 62msec bridge_1 | [zed_wrapper-4] [ZED][INFO] [Init] Opening Camera. Attempt #3 bridge_1 | [zed_wrapper-8] [ZED][INFO] [Init] Timeout in 651msec bridge_1 | [zed_wrapper-8] [ZED][INFO] [Init] Opening Camera. Attempt #3 bridge_1 | [zed_wrapper-4] [ZED][ERROR] [Init] Unable to capture images. Consider trying a lower resolution and/or FPS bridge_1 | [zed_wrapper-8] [ZED][ERROR] [Init] Unable to capture images. Consider trying a lower resolution and/or FPS bridge_1 | [zed_wrapper-4] [ZED][INFO] [Init] Waiting 1424 msec before next opening attempt. bridge_1 | [zed_wrapper-8] [ZED][INFO] [Init] Waiting 654 msec before next opening attempt. bridge_1 | [zed_wrapper-8] [WARN] [1678794780.018755656] [zed2i2.zed_node]: Error opening camera: LOW USB BANDWIDTH bridge_1 | [zed_wrapper-8] [INFO] [1678794780.018835346] [zed2i2.zed_node]: Please verify the USB3 connection bridge_1 | [zed_wrapper-8] [ZED][INFO] [Init] Camera opening timeout reached. bridge_1 | [zed_wrapper-4] [ZED][INFO] [Init] Trying to force a device reboot to recover the video module. bridge_1 | [zed_wrapper-4] [WARN] [1678794782.803421457] [zed2i0.zed_node]: Error opening camera: LOW USB BANDWIDTH bridge_1 | [zed_wrapper-4] [INFO] [1678794782.803475235] [zed2i0.zed_node]: Please verify the USB3 connection bridge_1 | [zed_wrapper-4] [ZED][INFO] [Init] Camera opening timeout reached. bridge_1 | [zed_wrapper-8] [ZED][INFO] Logging level INFO bridge_1 | [zed_wrapper-8] [ZED][INFO] [Init] Depth mode: PERFORMANCE bridge_1 | [zed_wrapper-8] [ZED][ERROR] [Init] Unable to capture images. Consider trying a lower resolution and/or FPS bridge_1 | [zed_wrapper-8] [ZED][INFO] [Init] Failed to open camera. Trying to re-open for 5 seconds. bridge_1 | [zed_wrapper-8] [ZED][INFO] [Init] Random wait interval before consecutive openings: [250], [1500] msec. bridge_1 | [zed_wrapper-8] [ZED][INFO] [Init] Waiting 867 msec before next opening attempt. bridge_1 | [zed_wrapper-8] [ZED][INFO] [Init] Timeout in 3406msec bridge_1 | [zed_wrapper-8] [ZED][INFO] [Init] Opening Camera. Attempt #2 bridge_1 | [zed_wrapper-8] [ZED][ERROR] [Init] Unable to capture images. Consider trying a lower resolution and/or FPS bridge_1 | [zed_wrapper-8] [ZED][INFO] [Init] Waiting 1018 msec before next opening attempt. bridge_1 | [zed_wrapper-4] [ZED][INFO] Logging level INFO bridge_1 | [zed_wrapper-4] [ZED][INFO] [Init] Depth mode: PERFORMANCE bridge_1 | [zed_wrapper-8] [ZED][INFO] [Init] Trying to force a device reboot to recover the video module. bridge_1 | [zed_wrapper-4] [ZED][ERROR] [Init] Unable to capture images. Consider trying a lower resolution and/or FPS bridge_1 | [zed_wrapper-4] [ZED][INFO] [Init] Failed to open camera. Trying to re-open for 5 seconds. bridge_1 | [zed_wrapper-4] [ZED][INFO] [Init] Random wait interval before consecutive openings: [250], [1500] msec. bridge_1 | [zed_wrapper-4] [ZED][INFO] [Init] Waiting 673 msec before next opening attempt. bridge_1 | [zed_wrapper-4] [ZED][INFO] [Init] Timeout in 3739msec bridge_1 | [zed_wrapper-4] [ZED][INFO] [Init] Opening Camera. Attempt #2 bridge_1 | [zed_wrapper-4] [ZED][ERROR] [Init] Unable to capture images. Consider trying a lower resolution and/or FPS bridge_1 | [zed_wrapper-4] [ZED][INFO] [Init] Waiting 372 msec before next opening attempt. bridge_1 | [zed_wrapper-4] [ZED][INFO] [Init] Trying to force a device reboot to recover the video module. bridge_1 | [zed_wrapper-8] [WARN] [1678794790.787498430] [zed2i2.zed_node]: Error opening camera: LOW USB BANDWIDTH bridge_1 | [zed_wrapper-8] [INFO] [1678794790.787571730] [zed2i2.zed_node]: Please verify the USB3 connection bridge_1 | [zed_wrapper-8] [ZED][INFO] [Init] Camera opening timeout reached. bridge_1 | [zed_wrapper-4] [ZED][INFO] [Init] Timeout in 720msec bridge_1 | [zed_wrapper-4] [ZED][INFO] [Init] Opening Camera. Attempt #3 bridge_1 | [zed_wrapper-4] [ZED][ERROR] [Init] Unable to capture images. Consider trying a lower resolution and/or FPS bridge_1 | [zed_wrapper-4] [ZED][INFO] [Init] Waiting 812 msec before next opening attempt. bridge_1 | [zed_wrapper-4] [WARN] [1678794794.108797807] [zed2i0.zed_node]: Error opening camera: LOW USB BANDWIDTH bridge_1 | [zed_wrapper-4] [INFO] [1678794794.108872971] [zed2i0.zed_node]: Please verify the USB3 connection bridge_1 | [zed_wrapper-4] [ZED][INFO] [Init] Camera opening timeout reached. bridge_1 | [zed_wrapper-8] [ZED][INFO] Logging level INFO bridge_1 | [zed_wrapper-8] [ZED][INFO] [Init] Depth mode: PERFORMANCE bridge_1 | [zed_wrapper-8] [ZED][ERROR] [Init] Unable to capture images. Consider trying a lower resolution and/or FPS bridge_1 | [zed_wrapper-8] [ZED][INFO] [Init] Failed to open camera. Trying to re-open for 5 seconds. bridge_1 | [zed_wrapper-8] [ZED][INFO] [Init] Random wait interval before consecutive openings: [250], [1500] msec. bridge_1 | [zed_wrapper-8] [ZED][INFO] [Init] Waiting 496 msec before next opening attempt. bridge_1 | [zed_wrapper-8] [ZED][INFO] [Init] Timeout in 3762msec bridge_1 | [zed_wrapper-8] [ZED][INFO] [Init] Opening Camera. Attempt #2 bridge_1 | [zed_wrapper-8] [ZED][ERROR] [Init] Unable to capture images. Consider trying a lower resolution and/or FPS bridge_1 | [zed_wrapper-8] [ZED][INFO] [Init] Waiting 400 msec before next opening attempt. bridge_1 | [zed_wrapper-8] [ZED][INFO] [Init] Trying to force a device reboot to recover the video module. bridge_1 | [zed_wrapper-4] [ZED][INFO] Logging level INFO bridge_1 | [zed_wrapper-4] [ZED][INFO] [Init] Depth mode: PERFORMANCE bridge_1 | [zed_wrapper-4] [ZED][ERROR] [Init] Unable to capture images. Consider trying a lower resolution and/or FPS bridge_1 | [zed_wrapper-4] [ZED][INFO] [Init] Failed to open camera. Trying to re-open for 5 seconds. bridge_1 | [zed_wrapper-4] [ZED][INFO] [Init] Random wait interval before consecutive openings: [250], [1500] msec. bridge_1 | [zed_wrapper-4] [ZED][INFO] [Init] Waiting 688 msec before next opening attempt. bridge_1 | [zed_wrapper-8] [ZED][INFO] [Init] Timeout in 690msec bridge_1 | [zed_wrapper-8] [ZED][INFO] [Init] Opening Camera. Attempt #3 bridge_1 | [zed_wrapper-4] [ZED][INFO] [Init] Timeout in 3722msec bridge_1 | [zed_wrapper-4] [ZED][INFO] [Init] Opening Camera. Attempt #2 bridge_1 | [zed_wrapper-8] [ZED][ERROR] [Init] Unable to capture images. Consider trying a lower resolution and/or FPS bridge_1 | [zed_wrapper-8] [ZED][INFO] [Init] Waiting 469 msec before next opening attempt. bridge_1 | [zed_wrapper-4] [ZED][ERROR] [Init] Unable to capture images. Consider trying a lower resolution and/or FPS bridge_1 | [zed_wrapper-4] [ZED][INFO] [Init] Waiting 620 msec before next opening attempt. bridge_1 | [zed_wrapper-8] [WARN] [1678794801.693017860] [zed2i2.zed_node]: Error opening camera: LOW USB BANDWIDTH bridge_1 | [zed_wrapper-8] [INFO] [1678794801.693102903] [zed2i2.zed_node]: Please verify the USB3 connection bridge_1 | [zed_wrapper-8] [ZED][INFO] [Init] Camera opening timeout reached. bridge_1 | [zed_wrapper-4] [ZED][INFO] [Init] Trying to force a device reboot to recover the video module. bridge_1 | [zed_wrapper-4] [ZED][INFO] [Init] Timeout in 466msec bridge_1 | [zed_wrapper-4] [ZED][INFO] [Init] Opening Camera. Attempt #3 bridge_1 | [zed_wrapper-4] [ZED][ERROR] [Init] Unable to capture images. Consider trying a lower resolution and/or FPS bridge_1 | [zed_wrapper-4] [ZED][INFO] [Init] Waiting 580 msec before next opening attempt. bridge_1 | [zed_wrapper-4] [WARN] [1678794805.436636500] [zed2i0.zed_node]: Error opening camera: LOW USB BANDWIDTH bridge_1 | [zed_wrapper-4] [INFO] [1678794805.437103278] [zed2i0.zed_node]: Please verify the USB3 connection bridge_1 | [zed_wrapper-4] [ZED][INFO] [Init] Camera opening timeout reached. bridge_1 | [zed_wrapper-8] [ZED][INFO] Logging level INFO bridge_1 | [zed_wrapper-8] [ZED][INFO] [Init] Depth mode: PERFORMANCE bridge_1 | [zed_wrapper-8] [ZED][ERROR] [Init] Unable to capture images. Consider trying a lower resolution and/or FPS bridge_1 | [zed_wrapper-8] [ZED][INFO] [Init] Failed to open camera. Trying to re-open for 5 seconds. bridge_1 | [zed_wrapper-8] [ZED][INFO] [Init] Random wait interval before consecutive openings: [250], [1500] msec. bridge_1 | [zed_wrapper-8] [ZED][INFO] [Init] Waiting 509 msec before next opening attempt. bridge_1 | [zed_wrapper-8] [ZED][INFO] [Init] Timeout in 3743msec bridge_1 | [zed_wrapper-8] [ZED][INFO] [Init] Opening Camera. Attempt #2 bridge_1 | [zed_wrapper-8] [ZED][ERROR] [Init] Unable to capture images. Consider trying a lower resolution and/or FPS bridge_1 | [zed_wrapper-8] [ZED][INFO] [Init] Waiting 1363 msec before next opening attempt. bridge_1 | [zed_wrapper-8] [ZED][INFO] [Init] Trying to force a device reboot to recover the video module. bridge_1 | [zed_wrapper-4] [ZED][INFO] Logging level INFO bridge_1 | [zed_wrapper-4] [ZED][INFO] [Init] Depth mode: PERFORMANCE bridge_1 | [zed_wrapper-4] [ZED][ERROR] [Init] Unable to capture images. Consider trying a lower resolution and/or FPS bridge_1 | [zed_wrapper-4] [ZED][INFO] [Init] Failed to open camera. Trying to re-open for 5 seconds. bridge_1 | [zed_wrapper-4] [ZED][INFO] [Init] Random wait interval before consecutive openings: [250], [1500] msec. bridge_1 | [zed_wrapper-4] [ZED][INFO] [Init] Waiting 1075 msec before next opening attempt. bridge_1 | [zed_wrapper-8] [WARN] [1678794812.480874324] [zed2i2.zed_node]: Error opening camera: LOW USB BANDWIDTH bridge_1 | [zed_wrapper-8] [INFO] [1678794812.480935917] [zed2i2.zed_node]: Please verify the USB3 connection bridge_1 | [zed_wrapper-8] [ZED][INFO] [Init] Camera opening timeout reached. bridge_1 | [zed_wrapper-4] [ZED][INFO] [Init] Timeout in 3343msec bridge_1 | [zed_wrapper-4] [ZED][INFO] [Init] Opening Camera. Attempt #2 bridge_1 | [zed_wrapper-4] [ZED][ERROR] [Init] Unable to capture images. Consider trying a lower resolution and/or FPS bridge_1 | [zed_wrapper-4] [ZED][INFO] [Init] Waiting 1004 msec before next opening attempt. bridge_1 | [zed_wrapper-4] [ZED][INFO] [Init] Trying to force a device reboot to recover the video module. bridge_1 | [zed_wrapper-4] [WARN] [1678794816.248230714] [zed2i0.zed_node]: Error opening camera: LOW USB BANDWIDTH bridge_1 | [zed_wrapper-4] [INFO] [1678794816.248308888] [zed2i0.zed_node]: Please verify the USB3 connection bridge_1 | [zed_wrapper-4] [ZED][INFO] [Init] Camera opening timeout reached. bridge_1 | [zed_wrapper-8] [ZED][INFO] Logging level INFO bridge_1 | [zed_wrapper-8] [ZED][INFO] [Init] Depth mode: PERFORMANCE bridge_1 | [zed_wrapper-8] [ZED][ERROR] [Init] Unable to capture images. Consider trying a lower resolution and/or FPS bridge_1 | [zed_wrapper-8] [ZED][INFO] [Init] Failed to open camera. Trying to re-open for 5 seconds. bridge_1 | [zed_wrapper-8] [ZED][INFO] [Init] Random wait interval before consecutive openings: [250], [1500] msec. bridge_1 | [zed_wrapper-8] [ZED][INFO] [Init] Waiting 945 msec before next opening attempt. bridge_1 | [zed_wrapper-8] [ZED][INFO] [Init] Trying to force a device reboot to recover the video module. bridge_1 | [zed_wrapper-8] [ZED][INFO] [Init] Timeout in 1262msec bridge_1 | [zed_wrapper-8] [ZED][INFO] [Init] Opening Camera. Attempt #2 bridge_1 | [zed_wrapper-4] [ZED][INFO] Logging level INFO bridge_1 | [zed_wrapper-4] [ZED][INFO] [Init] Depth mode: PERFORMANCE bridge_1 | [zed_wrapper-4] [ZED][ERROR] [Init] Unable to capture images. Consider trying a lower resolution and/or FPS bridge_1 | [zed_wrapper-4] [ZED][INFO] [Init] Failed to open camera. Trying to re-open for 5 seconds. bridge_1 | [zed_wrapper-4] [ZED][INFO] [Init] Random wait interval before consecutive openings: [250], [1500] msec. bridge_1 | [zed_wrapper-8] [ZED][ERROR] [Init] Unable to capture images. Consider trying a lower resolution and/or FPS bridge_1 | [zed_wrapper-4] [ZED][INFO] [Init] Waiting 889 msec before next opening attempt. bridge_1 | [zed_wrapper-8] [ZED][INFO] [Init] Waiting 639 msec before next opening attempt. bridge_1 | [zed_wrapper-8] [WARN] [1678794823.113822888] [zed2i2.zed_node]: Error opening camera: LOW USB BANDWIDTH bridge_1 | [zed_wrapper-8] [INFO] [1678794823.113895340] [zed2i2.zed_node]: Please verify the USB3 connection bridge_1 | [zed_wrapper-8] [ZED][INFO] [Init] Camera opening timeout reached. bridge_1 | [zed_wrapper-4] [ZED][INFO] [Init] Timeout in 3426msec bridge_1 | [zed_wrapper-4] [ZED][INFO] [Init] Opening Camera. Attempt #2 bridge_1 | [zed_wrapper-4] [ZED][ERROR] [Init] Unable to capture images. Consider trying a lower resolution and/or FPS bridge_1 | [zed_wrapper-4] [ZED][INFO] [Init] Waiting 1074 msec before next opening attempt. bridge_1 | [zed_wrapper-4] [ZED][INFO] [Init] Trying to force a device reboot to recover the video module. bridge_1 | [zed_wrapper-4] [WARN] [1678794827.045016611] [zed2i0.zed_node]: Error opening camera: LOW USB BANDWIDTH bridge_1 | [zed_wrapper-4] [INFO] [1678794827.045099001] [zed2i0.zed_node]: Please verify the USB3 connection bridge_1 | [zed_wrapper-4] [ZED][INFO] [Init] Camera opening timeout reached. bridge_1 | [zed_wrapper-8] [ZED][INFO] Logging level INFO bridge_1 | [zed_wrapper-8] [ZED][INFO] [Init] Depth mode: PERFORMANCE bridge_1 | [zed_wrapper-8] [ZED][ERROR] [Init] Unable to capture images. Consider trying a lower resolution and/or FPS bridge_1 | [zed_wrapper-8] [ZED][INFO] [Init] Failed to open camera. Trying to re-open for 5 seconds. bridge_1 | [zed_wrapper-8] [ZED][INFO] [Init] Random wait interval before consecutive openings: [250], [1500] msec. bridge_1 | [zed_wrapper-8] [ZED][INFO] [Init] Waiting 968 msec before next opening attempt. bridge_1 | [zed_wrapper-8] [ZED][INFO] [Init] Trying to force a device reboot to recover the video module. bridge_1 | [zed_wrapper-8] [ZED][INFO] [Init] Timeout in 1245msec bridge_1 | [zed_wrapper-8] [ZED][INFO] [Init] Opening Camera. Attempt #2 bridge_1 | [zed_wrapper-4] [ZED][INFO] Logging level INFO bridge_1 | [zed_wrapper-4] [ZED][INFO] [Init] Depth mode: PERFORMANCE bridge_1 | [zed_wrapper-8] [ZED][ERROR] [Init] Unable to capture images. Consider trying a lower resolution and/or FPS bridge_1 | [zed_wrapper-4] [ZED][ERROR] [Init] Unable to capture images. Consider trying a lower resolution and/or FPS bridge_1 | [zed_wrapper-4] [ZED][INFO] [Init] Failed to open camera. Trying to re-open for 5 seconds. bridge_1 | [zed_wrapper-4] [ZED][INFO] [Init] Random wait interval before consecutive openings: [250], [1500] msec. bridge_1 | [zed_wrapper-8] [ZED][INFO] [Init] Waiting 1276 msec before next opening attempt. bridge_1 | [zed_wrapper-4] [ZED][INFO] [Init] Waiting 446 msec before next opening attempt. bridge_1 | [zed_wrapper-4] [ZED][INFO] [Init] Timeout in 3971msec bridge_1 | [zed_wrapper-4] [ZED][INFO] [Init] Opening Camera. Attempt #2 bridge_1 | [zed_wrapper-4] [ZED][ERROR] [Init] Unable to capture images. Consider trying a lower resolution and/or FPS bridge_1 | [zed_wrapper-4] [ZED][INFO] [Init] Waiting 1008 msec before next opening attempt. bridge_1 | [zed_wrapper-8] [ZED][INFO] [Init] Trying to force a device reboot to recover the video module. bridge_1 | [zed_wrapper-4] [ZED][INFO] [Init] Trying to force a device reboot to recover the video module. bridge_1 | [zed_wrapper-8] [WARN] [1678794836.425319142] [zed2i2.zed_node]: Error opening camera: LOW USB BANDWIDTH bridge_1 | [zed_wrapper-8] [INFO] [1678794836.425383500] [zed2i2.zed_node]: Please verify the USB3 connection bridge_1 | [zed_wrapper-8] [ZED][INFO] [Init] Camera opening timeout reached. bridge_1 | [zed_wrapper-4] [ZED][INFO] [Init] Timeout in 325msec bridge_1 | [zed_wrapper-4] [ZED][INFO] [Init] Opening Camera. Attempt #3 bridge_1 | [zed_wrapper-4] [ZED][ERROR] [Init] Unable to capture images. Consider trying a lower resolution and/or FPS bridge_1 | [zed_wrapper-4] [ZED][INFO] [Init] Waiting 886 msec before next opening attempt. bridge_1 | [zed_wrapper-4] [WARN] [1678794838.820504032] [zed2i0.zed_node]: Error opening camera: LOW USB BANDWIDTH bridge_1 | [zed_wrapper-4] [INFO] [1678794838.820592960] [zed2i0.zed_node]: Please verify the USB3 connection bridge_1 | [zed_wrapper-4] [ZED][INFO] [Init] Camera opening timeout reached. bridge_1 | [zed_wrapper-4] [ERROR] [1678794838.820614430] [zed2i0.zed_node]: Camera detection timeout bridge_1 | [ERROR] [zed_wrapper-4]: process has died [pid 5269, exit code 1, cmd '/ros2_ws/install/zed_wrapper/lib/zed_wrapper/zed_wrapper --ros-args -r __node:=zed_node -r __ns:=/zed2i0 --params-file /ros2_ws/install/zed_wrapper/share/zed_wrapper/config/common.yaml --params-file /ros2_ws/install/zed_wrapper/share/zed_wrapper/config/zed2i.yaml --params-file /tmp/launch_params_ibaaevw0']. bridge_1 | [zed_wrapper-8] [ZED][INFO] Logging level INFO bridge_1 | [zed_wrapper-8] [ZED][INFO] [Init] Depth mode: PERFORMANCE bridge_1 | [zed_wrapper-8] [ZED][ERROR] [Init] Unable to capture images. Consider trying a lower resolution and/or FPS bridge_1 | [zed_wrapper-8] [ZED][INFO] [Init] Failed to open camera. Trying to re-open for 5 seconds. bridge_1 | [zed_wrapper-8] [ZED][INFO] [Init] Random wait interval before consecutive openings: [250], [1500] msec. bridge_1 | [zed_wrapper-8] [ZED][INFO] [Init] Waiting 1250 msec before next opening attempt. bridge_1 | [zed_wrapper-8] [ZED][INFO] [Init] Trying to force a device reboot to recover the video module. bridge_1 | [zed_wrapper-8] [ZED][INFO] [Init] Timeout in 966msec bridge_1 | [zed_wrapper-8] [ZED][INFO] [Init] Opening Camera. Attempt #2 bridge_1 | [zed_wrapper-8] [ZED][ERROR] [Init] Unable to capture images. Consider trying a lower resolution and/or FPS bridge_1 | [zed_wrapper-8] [ZED][INFO] [Init] Waiting 1042 msec before next opening attempt. bridge_1 | [zed_wrapper-8] [ZED][INFO] [Init] Trying to force a device reboot to recover the video module. bridge_1 | [zed_wrapper-8] [WARN] [1678794849.791645383] [zed2i2.zed_node]: Error opening camera: LOW USB BANDWIDTH bridge_1 | [zed_wrapper-8] [INFO] [1678794849.791737282] [zed2i2.zed_node]: Please verify the USB3 connection bridge_1 | [zed_wrapper-8] [ERROR] [1678794849.791767721] [zed2i2.zed_node]: Camera detection timeout bridge_1 | [zed_wrapper-8] [ZED][INFO] [Init] Camera opening timeout reached. bridge_1 | [ERROR] [zed_wrapper-8]: process has died [pid 5288, exit code 1, cmd '/ros2_ws/install/zed_wrapper/lib/zed_wrapper/zed_wrapper --ros-args -r __node:=zed_node -r __ns:=/zed2i2 --params-file /ros2_ws/install/zed_wrapper/share/zed_wrapper/config/common.yaml --params-file /ros2_ws/install/zed_wrapper/share/zed_wrapper/config/zed2i.yaml --params-file /tmp/launch_params_3hg2kqii']. bridge_1 | [rosbridge_websocket-1] [INFO] [1678795039.014639970] [rosbridge_websocket]: Client connected. 1 clients total. bridge_1 | [rosbridge_websocket-1] [INFO] [1678795040.255297901] [rosbridge_websocket]: [Client 184687e8-37fd-4117-8063-7809ab468122] Subscribed to /image bridge_1 | [rosbridge_websocket-1] [INFO] [1678795040.258565014] [rosbridge_websocket]: [Client 184687e8-37fd-4117-8063-7809ab468122] Subscribed to /qr_code bridge_1 | [rosbridge_websocket-1] [INFO] [1678795040.262751770] [rosbridge_websocket]: [Client 184687e8-37fd-4117-8063-7809ab468122] Subscribed to /state bridge_1 | [rosbridge_websocket-1] [INFO] [1678795040.267454937] [rosbridge_websocket]: [Client 184687e8-37fd-4117-8063-7809ab468122] Subscribed to /rosout bridge_1 | [rosbridge_websocket-1] [INFO] [1678795058.052365226] [rosbridge_websocket]: [Client 184687e8-37fd-4117-8063-7809ab468122] Unsubscribed from /image bridge_1 | [rosbridge_websocket-1] [INFO] [1678795060.587736471] [rosbridge_websocket]: [Client 184687e8-37fd-4117-8063-7809ab468122] Subscribed to /zed2i0/zed_node/left_raw/image_raw_color bridge_1 | [rosbridge_websocket-1] [INFO] [1678795067.173053291] [rosbridge_websocket]: [Client 184687e8-37fd-4117-8063-7809ab468122] Subscribed to /zed2i1/zed_node/left_raw/image_raw_color bridge_1 | [rosbridge_websocket-1] [INFO] [1678795067.225723816] [rosbridge_websocket]: [Client 184687e8-37fd-4117-8063-7809ab468122] Unsubscribed from /zed2i0/zed_node/left_raw/image_raw_color bridge_1 | [rosbridge_websocket-1] [INFO] [1678795070.535134452] [rosbridge_websocket]: [Client 184687e8-37fd-4117-8063-7809ab468122] Unsubscribed from /zed2i1/zed_node/left_raw/image_raw_color bridge_1 | [rosbridge_websocket-1] [INFO] [1678795070.625864988] [rosbridge_websocket]: [Client 184687e8-37fd-4117-8063-7809ab468122] Subscribed to /zed2i2/zed_node/left_raw/image_raw_color bridge_1 | [rosbridge_websocket-1] [INFO] [1678795072.687321553] [rosbridge_websocket]: [Client 184687e8-37fd-4117-8063-7809ab468122] Subscribed to /zed2i3/zed_node/left_raw/image_raw_color bridge_1 | [rosbridge_websocket-1] [INFO] [1678795072.689414307] [rosbridge_websocket]: [Client 184687e8-37fd-4117-8063-7809ab468122] Unsubscribed from /zed2i2/zed_node/left_raw/image_raw_color bridge_1 | [rosbridge_websocket-1] [INFO] [1678795078.910745078] [rosbridge_websocket]: [Client 184687e8-37fd-4117-8063-7809ab468122] Subscribed to /zed2i2/zed_node/left_raw/image_raw_color bridge_1 | [rosbridge_websocket-1] [INFO] [1678795078.913386028] [rosbridge_websocket]: [Client 184687e8-37fd-4117-8063-7809ab468122] Unsubscribed from /zed2i3/zed_node/left_raw/image_raw_color bridge_1 | [rosbridge_websocket-1] [INFO] [1678795090.550363831] [rosbridge_websocket]: [Client 184687e8-37fd-4117-8063-7809ab468122] Unsubscribed from /zed2i2/zed_node/left_raw/image_raw_color bridge_1 | [rosbridge_websocket-1] [INFO] [1678795090.628259000] [rosbridge_websocket]: [Client 184687e8-37fd-4117-8063-7809ab468122] Subscribed to /zed2i1/zed_node/left_raw/image_raw_color bridge_1 | [rosbridge_websocket-1] [INFO] [1678795096.756347688] [rosbridge_websocket]: [Client 184687e8-37fd-4117-8063-7809ab468122] Unsubscribed from /zed2i1/zed_node/left_raw/image_raw_color bridge_1 | [rosbridge_websocket-1] [INFO] [1678795096.796312788] [rosbridge_websocket]: [Client 184687e8-37fd-4117-8063-7809ab468122] Subscribed to /zed2i0/zed_node/left_raw/image_raw_color bridge_1 | [rosbridge_websocket-1] [INFO] [1678795104.690196628] [rosbridge_websocket]: Client disconnected. 0 clients total. bridge_1 | [rosbridge_websocket-1] [WARN] [1678795104.696880764] [rosbridge_websocket]: WebSocketClosedError: Tried to write to a closed websocket