[INFO] [launch]: All log files can be found below /home/rzr-admin/.ros/log/2025-11-12-13-21-36-759514-rzr-admin-134078 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [launch.user]: Using common configuration file: /home/rzr-admin/auto-rzr/install/zed_wrapper/share/zed_wrapper/config/common_stereo.yaml [INFO] [launch.user]: Using camera configuration file: /home/rzr-admin/auto-rzr/install/zed_wrapper/share/zed_wrapper/config/zedx.yaml [INFO] [launch.user]: Using Object Detection configuration file: /home/rzr-admin/auto-rzr/install/zed_wrapper/share/zed_wrapper/config/object_detection.yaml [INFO] [launch.user]: Using Custom Object Detection configuration file: /home/rzr-admin/auto-rzr/install/zed_wrapper/share/zed_wrapper/config/custom_object_detection.yaml [INFO] [launch.user]: Loading ZED node `zed_node` in container `/left/zed_container` [INFO] [robot_state_publisher-1]: process started with pid [134210] [INFO] [component_container_isolated-2]: process started with pid [134212] [robot_state_publisher-1] [INFO] [1762971697.678400770] [left.left_state_publisher]: got segment left_camera_center [robot_state_publisher-1] [INFO] [1762971697.678479340] [left.left_state_publisher]: got segment left_camera_link [robot_state_publisher-1] [INFO] [1762971697.678487235] [left.left_state_publisher]: got segment left_left_camera_frame [robot_state_publisher-1] [INFO] [1762971697.678492615] [left.left_state_publisher]: got segment left_left_camera_optical_frame [robot_state_publisher-1] [INFO] [1762971697.678497725] [left.left_state_publisher]: got segment left_right_camera_frame [robot_state_publisher-1] [INFO] [1762971697.678502273] [left.left_state_publisher]: got segment left_right_camera_optical_frame [component_container_isolated-2] [INFO] [1762971697.849101884] [left.zed_container]: Load Library: /home/rzr-admin/auto-rzr/install/zed_components/lib/libzed_camera_component.so [component_container_isolated-2] [INFO] [1762971697.901848821] [left.zed_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_isolated-2] [INFO] [1762971697.901920818] [left.zed_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [component_container_isolated-2] [INFO] [1762971698.099665529] [left.zed_node]: ================================ [component_container_isolated-2] [INFO] [1762971698.099700245] [left.zed_node]: ZED Camera Component  [component_container_isolated-2] [INFO] [1762971698.099706808] [left.zed_node]: ================================ [component_container_isolated-2] [INFO] [1762971698.099713050] [left.zed_node]: * namespace: /left [component_container_isolated-2] [INFO] [1762971698.099719172] [left.zed_node]: * node name: zed_node [component_container_isolated-2] [INFO] [1762971698.099725694] [left.zed_node]: * IPC: enabled [component_container_isolated-2] [INFO] [1762971698.099730573] [left.zed_node]: ================================ [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/left/zed_node' in container '/left/zed_container' [component_container_isolated-2] [INFO] [1762971698.149881096] [left.zed_node]: === DEBUG parameters === [component_container_isolated-2] [INFO] [1762971698.150080836] [left.zed_node]: * SDK Verbose: 1 [component_container_isolated-2] [INFO] [1762971698.150174846] [left.zed_node]: * Use Pub Timestamps: FALSE [component_container_isolated-2] [INFO] [1762971698.150245961] [left.zed_node]: * SDK Verbose File:  [component_container_isolated-2] [INFO] [1762971698.150314833] [left.zed_node]: * Debug Common: FALSE [component_container_isolated-2] [INFO] [1762971698.150370980] [left.zed_node]: * Debug Simulation: FALSE [component_container_isolated-2] [INFO] [1762971698.150431545] [left.zed_node]: * Debug Video/Depth: FALSE [component_container_isolated-2] [INFO] [1762971698.150483144] [left.zed_node]: * Debug Control settings: FALSE [component_container_isolated-2] [INFO] [1762971698.150543358] [left.zed_node]: * Debug Point Cloud: FALSE [component_container_isolated-2] [INFO] [1762971698.150597351] [left.zed_node]: * Debug GNSS: FALSE [component_container_isolated-2] [INFO] [1762971698.150659931] [left.zed_node]: * Debug Positional Tracking: FALSE [component_container_isolated-2] [INFO] [1762971698.150718923] [left.zed_node]: * Debug sensors: FALSE [component_container_isolated-2] [INFO] [1762971698.150783947] [left.zed_node]: * Debug Mapping: FALSE [component_container_isolated-2] [INFO] [1762971698.150849743] [left.zed_node]: * Debug Object Detection: FALSE [component_container_isolated-2] [INFO] [1762971698.150910298] [left.zed_node]: * Debug Body Tracking: FALSE [component_container_isolated-2] [INFO] [1762971698.150966185] [left.zed_node]: * Debug Streaming: FALSE [component_container_isolated-2] [INFO] [1762971698.151023815] [left.zed_node]: * Debug ROI: FALSE [component_container_isolated-2] [INFO] [1762971698.151080563] [left.zed_node]: * Debug Nitros: FALSE [component_container_isolated-2] [INFO] [1762971698.151139385] [left.zed_node]: * Debug Advanced: FALSE [component_container_isolated-2] [INFO] [1762971698.151162980] [left.zed_node]: === TOPIC selection parameters === [component_container_isolated-2] [INFO] [1762971698.151221121] [left.zed_node]: * Publish Status: TRUE [component_container_isolated-2] [INFO] [1762971698.151273420] [left.zed_node]: * Publish Left/Right images: FALSE [component_container_isolated-2] [INFO] [1762971698.151345518] [left.zed_node]: * Publish Raw images: FALSE [component_container_isolated-2] [INFO] [1762971698.151414560] [left.zed_node]: * Publish Gray images: FALSE [component_container_isolated-2] [INFO] [1762971698.151477389] [left.zed_node]: * Publish RGB image: TRUE [component_container_isolated-2] [INFO] [1762971698.151526764] [left.zed_node]: * Publish Stereo image: FALSE [component_container_isolated-2] [INFO] [1762971698.151583141] [left.zed_node]: * Publish ROI Mask image: FALSE [component_container_isolated-2] [INFO] [1762971698.151650830] [left.zed_node]: * Publish Depth Map: TRUE [component_container_isolated-2] [INFO] [1762971698.151702368] [left.zed_node]: * Publish Depth Info: FALSE [component_container_isolated-2] [INFO] [1762971698.151766992] [left.zed_node]: * Publish Point Cloud: TRUE [component_container_isolated-2] [INFO] [1762971698.151828739] [left.zed_node]: * Publish Depth Confidence: FALSE [component_container_isolated-2] [INFO] [1762971698.151892280] [left.zed_node]: * Publish Disparity: FALSE [component_container_isolated-2] [INFO] [1762971698.151949940] [left.zed_node]: * Publish IMU: TRUE [component_container_isolated-2] [INFO] [1762971698.152004344] [left.zed_node]: * Publish IMU Raw: FALSE [component_container_isolated-2] [INFO] [1762971698.152065691] [left.zed_node]: * Publish LeftCam/IMU Transf.: FALSE [component_container_isolated-2] [INFO] [1762971698.152126908] [left.zed_node]: * Publish Magnetometer: FALSE [component_container_isolated-2] [INFO] [1762971698.152181692] [left.zed_node]: * Publish Barometer: FALSE [component_container_isolated-2] [INFO] [1762971698.152230365] [left.zed_node]: * Publish Temperature: FALSE [component_container_isolated-2] [INFO] [1762971698.152292564] [left.zed_node]: * Publish Odometry/Pose: TRUE [component_container_isolated-2] [INFO] [1762971698.152348821] [left.zed_node]: * Publish Pose with Covariance: FALSE [component_container_isolated-2] [INFO] [1762971698.152413705] [left.zed_node]: * Publish Camera Path: FALSE [component_container_isolated-2] [INFO] [1762971698.152471635] [left.zed_node]: * Publish Detection Plane: FALSE [component_container_isolated-2] [INFO] [1762971698.152536178] [left.zed_node]: === SVO INPUT parameters === [component_container_isolated-2] [INFO] [1762971698.152627983] [left.zed_node]: === LOCAL STREAMING parameters === [component_container_isolated-2] [INFO] [1762971698.152759304] [left.zed_node]: * Local stream input: 192.168.16.175:30004 [component_container_isolated-2] [INFO] [1762971698.152771817] [left.zed_node]: === GENERAL parameters === [component_container_isolated-2] [INFO] [1762971698.152857561] [left.zed_node]: + Playing a network stream from a ZED X camera model. [component_container_isolated-2] [INFO] [1762971698.152870546] [left.zed_node]: * Camera model: zedx - ZED X [component_container_isolated-2] [INFO] [1762971698.152937453] [left.zed_node]: * Camera name: left [component_container_isolated-2] [INFO] [1762971698.152996616] [left.zed_node]: * Camera SN: 0 [component_container_isolated-2] [INFO] [1762971698.153049908] [left.zed_node]: * Camera ID: -1 [component_container_isolated-2] [INFO] [1762971698.153107778] [left.zed_node]: * Camera timeout [sec]: 5 [component_container_isolated-2] [INFO] [1762971698.153169536] [left.zed_node]: * Camera reconnection temptatives: 5 [component_container_isolated-2] [INFO] [1762971698.153245080] [left.zed_node]: * Camera framerate: 30 [component_container_isolated-2] [INFO] [1762971698.153302109] [left.zed_node]: * GPU ID: -1 [component_container_isolated-2] [INFO] [1762971698.153382522] [left.zed_node]: * Asynchronous image retrieval: FALSE [component_container_isolated-2] [INFO] [1762971698.153450742] [left.zed_node]: * Image Validity Check: 1 [component_container_isolated-2] [INFO] [1762971698.153521807] [left.zed_node]: * Camera resolution: HD1200 [component_container_isolated-2] [INFO] [1762971698.153584237] [left.zed_node]: * Publishing resolution: CUSTOM [component_container_isolated-2] [INFO] [1762971698.153669920] [left.zed_node]: * Publishing downscale factor: 2 [component_container_isolated-2] [INFO] [1762971698.153738481] [left.zed_node]: * OpenCV custom calibration:  [component_container_isolated-2] [INFO] [1762971698.153810087] [left.zed_node]: * Camera self calibration: TRUE [component_container_isolated-2] [INFO] [1762971698.153864391] [left.zed_node]: * Camera flip: FALSE [component_container_isolated-2] [INFO] [1762971698.153929575] [left.zed_node]: * Publish framerate [Hz]: 15 [component_container_isolated-2] [INFO] [1762971698.153947910] [left.zed_node]: === VIDEO parameters === [component_container_isolated-2] [INFO] [1762971698.154017933] [left.zed_node]: * Saturation: 4 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971698.154080753] [left.zed_node]: * Sharpness: 4 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971698.154132692] [left.zed_node]: * Gamma: 8 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971698.154191845] [left.zed_node]: * Auto Exposure/Gain: TRUE [DYNAMIC] [component_container_isolated-2] [INFO] [1762971698.154254074] [left.zed_node]: * Exposure: 80 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971698.154306904] [left.zed_node]: * Gain: 80 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971698.154360517] [left.zed_node]: * Auto White Balance: TRUE [DYNAMIC] [component_container_isolated-2] [INFO] [1762971698.154409420] [left.zed_node]: * White Balance Temperature: 42 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971698.154473843] [left.zed_node]: * ZED X Exposure time: 16000 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971698.154527004] [left.zed_node]: * ZED X Auto Exp. time range min: 28 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971698.154585696] [left.zed_node]: * ZED X Auto Exp. time range max: 30000 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971698.154650189] [left.zed_node]: * ZED X Exposure comp.: 50 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971698.154717437] [left.zed_node]: * ZED X Analog Gain: 1255 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971698.154779696] [left.zed_node]: * ZED X Auto Analog Gain range min: 1000 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971698.154842045] [left.zed_node]: * ZED X Auto Analog Gain range max: 16000 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971698.154905876] [left.zed_node]: * ZED X Digital Gain: 1 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971698.154958176] [left.zed_node]: * ZED X Auto Digital Gain range min: 1 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971698.155013081] [left.zed_node]: * ZED X Auto Digital Gain range max: 256 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971698.155063196] [left.zed_node]: * ZED X Auto Digital Gain range max: 50 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971698.155074458] [left.zed_node]: === DEPTH parameters === [component_container_isolated-2] [INFO] [1762971698.155159139] [left.zed_node]: * Depth mode: NEURAL LIGHT [4] [component_container_isolated-2] [INFO] [1762971698.155230395] [left.zed_node]: * Min depth [m]: 0.01 [component_container_isolated-2] [INFO] [1762971698.155293616] [left.zed_node]: * Max depth [m]: 15 [component_container_isolated-2] [INFO] [1762971698.155343922] [left.zed_node]: * Depth Stabilization: 30 [component_container_isolated-2] [INFO] [1762971698.155423073] [left.zed_node]: * OpenNI mode (16bit depth): FALSE [component_container_isolated-2] [INFO] [1762971698.155486524] [left.zed_node]: * Point cloud rate [Hz]: 10 [component_container_isolated-2] [INFO] [1762971698.155547229] [left.zed_node]: * Point cloud resolution: COMPACT [component_container_isolated-2] [INFO] [1762971698.155602014] [left.zed_node]: * Depth Confidence: 95 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971698.155678830] [left.zed_node]: * Depth Texture Confidence: 100 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971698.155768561] [left.zed_node]: * Remove saturated areas: TRUE [DYNAMIC] [component_container_isolated-2] [INFO] [1762971698.155791355] [left.zed_node]: === GNSS FUSION parameters === [component_container_isolated-2] [INFO] [1762971698.155857140] [left.zed_node]: * GNSS fusion enabled: FALSE [component_container_isolated-2] [INFO] [1762971698.155868682] [left.zed_node]: === POSITIONAL TRACKING parameters === [component_container_isolated-2] [INFO] [1762971698.155932474] [left.zed_node]: * Positional tracking enabled: TRUE [component_container_isolated-2] [INFO] [1762971698.155999452] [left.zed_node]: * Positional tracking mode: GEN 2 [component_container_isolated-2] [INFO] [1762971698.156067030] [left.zed_node]: * Map frame id: map [component_container_isolated-2] [INFO] [1762971698.156144999] [left.zed_node]: * Odometry frame id: odom [component_container_isolated-2] [INFO] [1762971698.156216305] [left.zed_node]: * Broadcast Odometry TF: TRUE [component_container_isolated-2] [INFO] [1762971698.156287030] [left.zed_node]: * Broadcast Pose TF: TRUE [component_container_isolated-2] [INFO] [1762971698.156357454] [left.zed_node]: * Depth minimum range: 0 [component_container_isolated-2] [INFO] [1762971698.156504374] [left.zed_node]: * TF timestamp offset: 0 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971698.156602411] [left.zed_node]: * Path publishing rate: 2 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971698.156704927] [left.zed_node]: * Path history lenght: -1 [component_container_isolated-2] [INFO] [1762971698.156798936] [left.zed_node]: * Initial pose: [0,0,0,0,0,0,] [component_container_isolated-2] [INFO] [1762971698.156933202] [left.zed_node]: * Area Memory: TRUE [component_container_isolated-2] [INFO] [1762971698.157040216] [left.zed_node]: * Area Memory File:  [component_container_isolated-2] [INFO] [1762971698.157137431] [left.zed_node]: * Save Area Memory on closing: FALSE [component_container_isolated-2] [INFO] [1762971698.157234446] [left.zed_node]: * Camera is static: FALSE [component_container_isolated-2] [INFO] [1762971698.157329628] [left.zed_node]: * Gravity as origin: TRUE [component_container_isolated-2] [INFO] [1762971698.157416143] [left.zed_node]: * IMU Fusion: TRUE [component_container_isolated-2] [INFO] [1762971698.157498390] [left.zed_node]: * Floor Alignment: FALSE [component_container_isolated-2] [INFO] [1762971698.157590345] [left.zed_node]: * Reset Odometry with Loop Closure: TRUE [component_container_isolated-2] [INFO] [1762971698.157685096] [left.zed_node]: * Publish 3D Landmarks: FALSE [component_container_isolated-2] [INFO] [1762971698.157788362] [left.zed_node]: * Publish Landmark Skip Frame:  [component_container_isolated-2] [INFO] [1762971698.157923390] [left.zed_node]: * 2D mode: FALSE [component_container_isolated-2] [INFO] [1762971698.158029172] [left.zed_node]: * Reset pose with SVO loop: TRUE [component_container_isolated-2] [INFO] [1762971698.158043359] [left.zed_node]: === Region of Interest parameters === [component_container_isolated-2] [INFO] [1762971698.158149601] [left.zed_node]: * Automatic ROI generation: FALSE [component_container_isolated-2] [INFO] [1762971698.158238561] [left.zed_node]: * Manual ROI polygon: [] [component_container_isolated-2] [INFO] [1762971698.158249943] [left.zed_node]: === SENSORS STACK parameters === [component_container_isolated-2] [INFO] [1762971698.158359281] [left.zed_node]: * Broadcast IMU TF [not for ZED]: FALSE [component_container_isolated-2] [INFO] [1762971698.158468780] [left.zed_node]: * Sensors Camera Sync: FALSE [component_container_isolated-2] [INFO] [1762971698.158557369] [left.zed_node]: * Sensors publishing rate [Hz]: 100 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971698.158569602] [left.zed_node]: === Spatial Mapping parameters === [component_container_isolated-2] [INFO] [1762971698.158653172] [left.zed_node]: * Spatial Mapping Enabled: FALSE [component_container_isolated-2] [INFO] [1762971698.158720961] [left.zed_node]: * Spatial Mapping resolution [m]: 0.05 [component_container_isolated-2] [INFO] [1762971698.158874103] [left.zed_node]: * 3D Max Mapping range [m]: 5 [component_container_isolated-2] [INFO] [1762971698.159023347] [left.zed_node]: * Map publishing rate [Hz]: 1 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971698.159166791] [left.zed_node]: * Clicked point topic: /clicked_point [component_container_isolated-2] [INFO] [1762971698.159334911] [left.zed_node]: * Plane Det. Max Dist. Thresh.: 0.15 [component_container_isolated-2] [INFO] [1762971698.159470810] [left.zed_node]: * Plane Det. Normals Sim. Thresh.: 15 [component_container_isolated-2] [INFO] [1762971698.159503212] [left.zed_node]: === OBJECT DETECTION parameters === [component_container_isolated-2] [INFO] [1762971698.159656605] [left.zed_node]: * Object Det. enabled: FALSE [component_container_isolated-2] [INFO] [1762971698.159795700] [left.zed_node]: * Object Det. allow reduced precision: FALSE [component_container_isolated-2] [INFO] [1762971698.159973799] [left.zed_node]: * Object Det. maximum range [m]: 20 [component_container_isolated-2] [INFO] [1762971698.160151619] [left.zed_node]: * Object Det. prediction timeout [sec]: 2 [component_container_isolated-2] [INFO] [1762971698.160305853] [left.zed_node]: * Object Det. tracking: TRUE [component_container_isolated-2] [INFO] [1762971698.160511004] [left.zed_node]: * Object Filtering mode: NMS3D [component_container_isolated-2] [INFO] [1762971698.160666641] [left.zed_node]: * Object Det. model: MULTI CLASS BOX FAST [component_container_isolated-2] [INFO] [1762971698.160833709] [left.zed_node]: * MultiClassBox people: TRUE [DYNAMIC] [component_container_isolated-2] [INFO] [1762971698.161003072] [left.zed_node]: * MultiClassBox vehicles: TRUE [DYNAMIC] [component_container_isolated-2] [INFO] [1762971698.161135374] [left.zed_node]: * MultiClassBox bags: TRUE [DYNAMIC] [component_container_isolated-2] [INFO] [1762971698.161285941] [left.zed_node]: * MultiClassBox animals: TRUE [DYNAMIC] [component_container_isolated-2] [INFO] [1762971698.161442179] [left.zed_node]: * MultiClassBox electronics: TRUE [DYNAMIC] [component_container_isolated-2] [INFO] [1762971698.161580182] [left.zed_node]: * MultiClassBox fruits and vegetables: TRUE [DYNAMIC] [component_container_isolated-2] [INFO] [1762971698.161723786] [left.zed_node]: * MultiClassBox sport-related objects: TRUE [DYNAMIC] [component_container_isolated-2] [INFO] [1762971698.161942132] [left.zed_node]: * MultiClassBox people confidence: 65 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971698.162104512] [left.zed_node]: * MultiClassBox vehicles confidence: 60 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971698.162251152] [left.zed_node]: * MultiClassBox bags confidence: 40 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971698.162410876] [left.zed_node]: * MultiClassBox animals confidence: 40 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971698.162551965] [left.zed_node]: * MultiClassBox electronics confidence: 45 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971698.162699597] [left.zed_node]: * MultiClassBox fruits and vegetables confidence: 50 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971698.162878027] [left.zed_node]: * MultiClassBox sport-related objects confidence: 30 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971698.162914807] [left.zed_node]: === Body Track. parameters === [component_container_isolated-2] [INFO] [1762971698.163070674] [left.zed_node]: * Body Track. enabled: FALSE [component_container_isolated-2] [INFO] [1762971698.163246009] [left.zed_node]: * Body Track. model: HUMAN BODY MEDIUM [component_container_isolated-2] [INFO] [1762971698.163396165] [left.zed_node]: * Body Track. format: BODY 38 [component_container_isolated-2] [INFO] [1762971698.163571058] [left.zed_node]: * Body Track. allow reduced precision: FALSE [component_container_isolated-2] [INFO] [1762971698.163765219] [left.zed_node]: * Body Track. maximum range [m]: 15 [component_container_isolated-2] [INFO] [1762971698.163934031] [left.zed_node]: * Body Track. KP selection: FULL [component_container_isolated-2] [INFO] [1762971698.164051084] [left.zed_node]: * Body fitting: FALSE [component_container_isolated-2] [INFO] [1762971698.164122630] [left.zed_node]: * Body joints tracking: TRUE [component_container_isolated-2] [INFO] [1762971698.164227841] [left.zed_node]: * Body Track. prediction timeout [sec]: 0.5 [component_container_isolated-2] [INFO] [1762971698.164359832] [left.zed_node]: * Body Track. confidence thresh.: 50 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971698.164441959] [left.zed_node]: * Body Track. min. KP thresh.: 5 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971698.164454383] [left.zed_node]: === STREAMING SERVER parameters === [component_container_isolated-2] [INFO] [1762971698.164542911] [left.zed_node]: * Streaming Server enabled: FALSE [component_container_isolated-2] [INFO] [1762971698.164625178] [left.zed_node]: * Stream codec: H264 [component_container_isolated-2] [INFO] [1762971698.164713166] [left.zed_node]: * Stream port: 30000 [component_container_isolated-2] [INFO] [1762971698.164829117] [left.zed_node]: * Stream bitrate: 12500 [component_container_isolated-2] [INFO] [1762971698.164902587] [left.zed_node]: * Stream GOP size: -1 [component_container_isolated-2] [INFO] [1762971698.164991046] [left.zed_node]: * Stream Chunk size: 16084 [component_container_isolated-2] [INFO] [1762971698.165095545] [left.zed_node]: * Adaptive bitrate: FALSE [component_container_isolated-2] [INFO] [1762971698.165193261] [left.zed_node]: * Target frame rate:0 [component_container_isolated-2] [INFO] [1762971698.165208160] [left.zed_node]: === ADVANCED parameters === [component_container_isolated-2] [INFO] [1762971698.165266922] [left.zed_node]: * Thread sched. policy: SCHED_BATCH [component_container_isolated-2] [INFO] [1762971698.165324021] [left.zed_node]: === SERVICES === [component_container_isolated-2] [INFO] [1762971698.167083756] [left.zed_node]: * Advertised on service: '/left/zed_node/reset_odometry' [component_container_isolated-2] [INFO] [1762971698.168213490] [left.zed_node]: * Advertised on service: '/left/zed_node/reset_pos_tracking' [component_container_isolated-2] [INFO] [1762971698.170852111] [left.zed_node]: * Advertised on service: '/left/zed_node/set_pose' [component_container_isolated-2] [INFO] [1762971698.171945626] [left.zed_node]: * Advertised on service: '/left/zed_node/save_area_memory' [component_container_isolated-2] [INFO] [1762971698.173060011] [left.zed_node]: * Advertised on service: '/left/zed_node/enable_obj_det' [component_container_isolated-2] [INFO] [1762971698.174205946] [left.zed_node]: * Advertised on service: '/left/zed_node/enable_body_trk' [component_container_isolated-2] [INFO] [1762971698.175269985] [left.zed_node]: * Advertised on service: '/left/zed_node/enable_mapping' [component_container_isolated-2] [INFO] [1762971698.176323454] [left.zed_node]: * Advertised on service: '/left/zed_node/enable_streaming' [component_container_isolated-2] [INFO] [1762971698.177490238] [left.zed_node]: * Advertised on service: '/left/zed_node/start_svo_rec' [component_container_isolated-2] [INFO] [1762971698.178669086] [left.zed_node]: * Advertised on service: '/left/zed_node/stop_svo_rec' [component_container_isolated-2] [INFO] [1762971698.179744156] [left.zed_node]: * Advertised on service: '/left/zed_node/set_roi' [component_container_isolated-2] [INFO] [1762971698.180978559] [left.zed_node]: * Advertised on service: '/left/zed_node/reset_roi' [component_container_isolated-2] [INFO] [1762971698.181026441] [left.zed_node]: === STARTING CAMERA === [component_container_isolated-2] [INFO] [1762971698.181100742] [left.zed_node]: ZED SDK Version: 5.1.0 - Build 106231_f4e0c540 [component_container_isolated-2] [INFO] [1762971698.191609930] [left.zed_node]: === LOCAL STREAMING OPENING === [component_container_isolated-2] [2025-11-12 13:21:38 UTC][ZED][INFO] Logging level INFO [component_container_isolated-2] [Streaming] No backward compatibility required. [component_container_isolated-2] [2025-11-12 13:21:38 UTC][ZED][INFO] [Init] Serial Number: S/N 49440015 [component_container_isolated-2] [2025-11-12 13:21:38 UTC][ZED][INFO] [Init] Depth mode: NEURAL LIGHT [component_container_isolated-2] [INFO] [1762971699.570693031] [left.zed_node]: * ZED SDK running on GPU #0 [component_container_isolated-2] [INFO] [1762971699.570745451] [left.zed_node]: * Camera Model -> ZED X [component_container_isolated-2] [INFO] [1762971699.570808461] [left.zed_node]: * Serial Number -> 49440015 [component_container_isolated-2] [INFO] [1762971699.570885828] [left.zed_node]: * Focal Length -> 2.20837 mm [component_container_isolated-2] [INFO] [1762971699.570902651] [left.zed_node]: * Input -> STREAM [component_container_isolated-2] [INFO] [1762971699.570949540] [left.zed_node]: * Camera FW Version -> 2001 [component_container_isolated-2] [INFO] [1762971699.570967414] [left.zed_node]: * Sensors FW Version -> 0 [component_container_isolated-2] [INFO] [1762971699.570975760] [left.zed_node]: * Camera grab size -> 1920x1200 [component_container_isolated-2] [INFO] [1762971699.570983395] [left.zed_node]: * Color/Depth publishing size -> 960x600 [component_container_isolated-2] [INFO] [1762971699.570989186] [left.zed_node]: * Point Cloud publishing size -> 448x256 [component_container_isolated-2] [INFO] [1762971699.571001930] [left.zed_node]: === TF FRAMES === [component_container_isolated-2] [INFO] [1762971699.571008502] [left.zed_node]: * Map -> map [component_container_isolated-2] [INFO] [1762971699.571014033] [left.zed_node]: * Odometry -> odom [component_container_isolated-2] [INFO] [1762971699.571019283] [left.zed_node]: * Base -> left_camera_link [component_container_isolated-2] [INFO] [1762971699.571024493] [left.zed_node]: * Camera -> left_camera_center [component_container_isolated-2] [INFO] [1762971699.571035925] [left.zed_node]: * Left -> left_left_camera_frame [component_container_isolated-2] [INFO] [1762971699.571041395] [left.zed_node]: * Left Optical -> left_left_camera_optical_frame [component_container_isolated-2] [INFO] [1762971699.571046575] [left.zed_node]: * Right -> left_right_camera_frame [component_container_isolated-2] [INFO] [1762971699.571051705] [left.zed_node]: * Right Optical -> left_right_camera_optical_frame [component_container_isolated-2] [INFO] [1762971699.571056784] [left.zed_node]: * Depth -> left_left_camera_frame [component_container_isolated-2] [INFO] [1762971699.571061744] [left.zed_node]: * Depth Optical -> left_left_camera_optical_frame [component_container_isolated-2] [INFO] [1762971699.571066854] [left.zed_node]: * Point Cloud -> left_left_camera_frame [component_container_isolated-2] [INFO] [1762971699.571072044] [left.zed_node]: * IMU -> left_imu_link [component_container_isolated-2] [INFO] [1762971699.571101169] [left.zed_node]: === PUBLISHED TOPICS === [component_container_isolated-2] [INFO] [1762971699.572865613] [left.zed_node]: * Advertised on topic: /left/zed_node/status/health [component_container_isolated-2] [INFO] [1762971699.573690316] [left.zed_node]: * Advertised on topic: /left/zed_node/status/heartbeat [component_container_isolated-2] [INFO] [1762971699.695170593] [FFMPEGPublisher]: using libav encoder: libx264 [component_container_isolated-2] [WARN] [1762971699.695722245] [left.zed_node]: gop_size not set, defaulting to 10. This may severely affect lag and performance! [component_container_isolated-2] [INFO] [1762971699.702784090] [FoxglovePublisher]: using libav encoder: libx264 [component_container_isolated-2] [WARN] [1762971699.703848369] [left.zed_node]: gop_size not set, defaulting to 1 which is required for foxglove! [component_container_isolated-2] [INFO] [1762971699.712214702] [left.zed_node]: * Advertised on topic: /left/zed_node/rgb/color/rect/image [component_container_isolated-2] [INFO] [1762971699.714607324] [left.zed_node]: * Advertised on topic: /left/zed_node/rgb/color/rect/image/compressedDepth [image_transport] [component_container_isolated-2] [INFO] [1762971699.714629296] [left.zed_node]: * Advertised on topic: /left/zed_node/rgb/color/rect/image/compressed [image_transport] [component_container_isolated-2] [INFO] [1762971699.714641168] [left.zed_node]: * Advertised on topic: /left/zed_node/rgb/color/rect/image/ffmpeg [image_transport] [component_container_isolated-2] [INFO] [1762971699.714650937] [left.zed_node]: * Advertised on topic: /left/zed_node/rgb/color/rect/image/foxglove [image_transport] [component_container_isolated-2] [INFO] [1762971699.714657149] [left.zed_node]: * Advertised on topic: /left/zed_node/rgb/color/rect/image/raw [image_transport] [component_container_isolated-2] [INFO] [1762971699.714663190] [left.zed_node]: * Advertised on topic: /left/zed_node/rgb/color/rect/image/theora [image_transport] [component_container_isolated-2] [INFO] [1762971699.716570326] [FFMPEGPublisher]: using libav encoder: libx264 [component_container_isolated-2] [WARN] [1762971699.717055281] [left.zed_node]: gop_size not set, defaulting to 10. This may severely affect lag and performance! [component_container_isolated-2] [INFO] [1762971699.717907566] [FoxglovePublisher]: using libav encoder: libx264 [component_container_isolated-2] [WARN] [1762971699.718819154] [left.zed_node]: gop_size not set, defaulting to 1 which is required for foxglove! [component_container_isolated-2] [INFO] [1762971699.720314846] [left.zed_node]: * Advertised on topic: /left/zed_node/depth/depth_registered [component_container_isolated-2] [INFO] [1762971699.720408695] [left.zed_node]: * Advertised on topic: /left/zed_node/depth/depth_registered/compressedDepth [image_transport] [component_container_isolated-2] [INFO] [1762971699.720421971] [left.zed_node]: * Advertised on topic: /left/zed_node/depth/depth_registered/compressed [image_transport] [component_container_isolated-2] [INFO] [1762971699.720428763] [left.zed_node]: * Advertised on topic: /left/zed_node/depth/depth_registered/ffmpeg [image_transport] [component_container_isolated-2] [INFO] [1762971699.720437290] [left.zed_node]: * Advertised on topic: /left/zed_node/depth/depth_registered/foxglove [image_transport] [component_container_isolated-2] [INFO] [1762971699.720447960] [left.zed_node]: * Advertised on topic: /left/zed_node/depth/depth_registered/raw [image_transport] [component_container_isolated-2] [INFO] [1762971699.720455244] [left.zed_node]: * Advertised on topic: /left/zed_node/depth/depth_registered/theora [image_transport] [component_container_isolated-2] [INFO] [1762971699.721006685] [left.zed_node]: * Advertised on topic: /left/zed_node/rgb/color/rect/camera_info [component_container_isolated-2] [INFO] [1762971699.721471291] [left.zed_node]: * Advertised on topic: /left/zed_node/rgb/color/rect/image/camera_info [component_container_isolated-2] [INFO] [1762971699.721929876] [left.zed_node]: * Advertised on topic: /left/zed_node/depth/camera_info [component_container_isolated-2] [INFO] [1762971699.722422084] [left.zed_node]: * Advertised on topic: /left/zed_node/depth/depth_registered/camera_info [component_container_isolated-2] [INFO] [1762971699.734778033] [left.zed_node]: * Advertised on topic: /left/zed_node/point_cloud/cloud_registered [component_container_isolated-2] [INFO] [1762971699.735776497] [left.zed_node]: * Advertised on topic: /left/zed_node/pose [component_container_isolated-2] [INFO] [1762971699.736742890] [left.zed_node]: * Advertised on topic: /left/zed_node/pose/status [component_container_isolated-2] [INFO] [1762971699.738651990] [left.zed_node]: * Advertised on topic: /left/zed_node/odom [component_container_isolated-2] [INFO] [1762971699.739734173] [left.zed_node]: * Advertised on topic: /left/zed_node/imu/data [component_container_isolated-2] [INFO] [1762971699.739783738] [left.zed_node]: Camera-IMU Translation: [component_container_isolated-2] 0 -0.035649 -0.000147 [component_container_isolated-2] [INFO] [1762971699.739827712] [left.zed_node]: Camera-IMU Rotation: [component_container_isolated-2] 7C35F37FBDB0 [component_container_isolated-2] 0.999995 0.001573 0.002688 [component_container_isolated-2] -0.001571 0.999999 -0.000736 [component_container_isolated-2] -0.002689 0.000732 0.999996 [component_container_isolated-2]  [component_container_isolated-2] [INFO] [1762971699.739842580] [left.zed_node]: ===Subscribers === [component_container_isolated-2] [INFO] [1762971699.740935123] [left.zed_node]: * Plane detection: '/clicked_point' [component_container_isolated-2] [INFO] [1762971699.895552934] [left.zed_node]: === Starting Positional Tracking === [component_container_isolated-2] [INFO] [1762971699.895653306] [left.zed_node]: * Waiting for valid static transformations... [component_container_isolated-2] [INFO] [1762971699.895814283] [left.zed_node]: Static transform ref. CMOS Sensor to Base [left_left_camera_frame -> left_camera_link] [component_container_isolated-2] [INFO] [1762971699.895858537] [left.zed_node]: * Translation: {0.010,-0.060,-0.016} [component_container_isolated-2] [INFO] [1762971699.895878184] [left.zed_node]: * Rotation: {0.000,-0.000,0.000} [component_container_isolated-2] [INFO] [1762971699.895912630] [left.zed_node]: Static transform ref. CMOS Sensor to Camera Center [left_left_camera_frame -> left_camera_center] [component_container_isolated-2] [INFO] [1762971699.895926477] [left.zed_node]: * Translation: {0.010,-0.060,0.000} [component_container_isolated-2] [INFO] [1762971699.895941515] [left.zed_node]: * Rotation: {0.000,-0.000,0.000} [component_container_isolated-2] [INFO] [1762971699.895968076] [left.zed_node]: Static transform Camera Center to Base [left_camera_center -> left_camera_link] [component_container_isolated-2] [INFO] [1762971699.895980970] [left.zed_node]: * Translation: {0.000,0.000,-0.016} [component_container_isolated-2] [INFO] [1762971699.895995979] [left.zed_node]: * Rotation: {0.000,-0.000,0.000} [component_container_isolated-2] [INFO] [1762971699.897087831] [left.zed_node]: Initial ZED left camera pose (ZED pos. tracking):  [component_container_isolated-2] [INFO] [1762971699.897098541] [left.zed_node]: * T: [-0.01,0.06,0.016] [component_container_isolated-2] [INFO] [1762971699.897108931] [left.zed_node]: * Q: [0,0,0,1] [component_container_isolated-2] [2025-11-12 13:21:39 UTC][ZED][WARNING] [Positional Tracking] GEN 2 is deprecated; consider updating to a GEN 3 instead.