~$ ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zedxm stream_address:=127.0.0.1 stream_port:=34000 [INFO] [launch]: All log files can be found below /home/aeras/.ros/log/1970-01-01-01-51-14-373375-ubuntu-10322 [INFO] [launch]: Default logging verbosity is set to INFO Using common configuration file: /home/aeras/ROS/ros2_ws/install/zed_wrapper/share/zed_wrapper/config/common_stereo.yaml [INFO] [robot_state_publisher-1]: process started with pid [10341] [INFO] [component_container_isolated-2]: process started with pid [10343] [robot_state_publisher-1] [INFO] [0000003074.960734528] [zed.zed_state_publisher]: got segment zed_camera_center [robot_state_publisher-1] [INFO] [0000003074.960967584] [zed.zed_state_publisher]: got segment zed_camera_link [robot_state_publisher-1] [INFO] [0000003074.961009856] [zed.zed_state_publisher]: got segment zed_left_camera_frame [robot_state_publisher-1] [INFO] [0000003074.961026304] [zed.zed_state_publisher]: got segment zed_left_camera_optical_frame [robot_state_publisher-1] [INFO] [0000003074.961037760] [zed.zed_state_publisher]: got segment zed_right_camera_frame [robot_state_publisher-1] [INFO] [0000003074.961046528] [zed.zed_state_publisher]: got segment zed_right_camera_optical_frame [component_container_isolated-2] [INFO] [0000003075.412298944] [zed.zed_container]: Load Library: /home/aeras/ROS/ros2_ws/install/zed_components/lib/libzed_camera_component.so [component_container_isolated-2] [INFO] [0000003075.488044768] [zed.zed_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_isolated-2] [INFO] [0000003075.488156928] [zed.zed_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [component_container_isolated-2] [INFO] [0000003075.567925440] [zed.zed_node]: ******************************** [component_container_isolated-2] [INFO] [0000003075.568006784] [zed.zed_node]: ZED Camera Component [component_container_isolated-2] [INFO] [0000003075.568021408] [zed.zed_node]: ******************************** [component_container_isolated-2] [INFO] [0000003075.568034528] [zed.zed_node]: * namespace: /zed [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/zed/zed_node' in container '/zed/zed_container' [component_container_isolated-2] [INFO] [0000003075.568046816] [zed.zed_node]: * node name: zed_node [component_container_isolated-2] [INFO] [0000003075.568055488] [zed.zed_node]: ******************************** [component_container_isolated-2] [INFO] [0000003075.618289472] [zed.zed_node]: *** DEBUG parameters *** [component_container_isolated-2] [INFO] [0000003075.618674112] [zed.zed_node]: * SDK Verbose: 1 [component_container_isolated-2] [INFO] [0000003075.618795840] [zed.zed_node]: * Debug Common: FALSE [component_container_isolated-2] [INFO] [0000003075.618859680] [zed.zed_node]: * Debug Simulation: FALSE [component_container_isolated-2] [INFO] [0000003075.618911936] [zed.zed_node]: * Debug Video/Depth: FALSE [component_container_isolated-2] [INFO] [0000003075.618973024] [zed.zed_node]: * Debug Control settings: FALSE [component_container_isolated-2] [INFO] [0000003075.619045632] [zed.zed_node]: * Debug Point Cloud: FALSE [component_container_isolated-2] [INFO] [0000003075.619125536] [zed.zed_node]: * Debug GNSS: FALSE [component_container_isolated-2] [INFO] [0000003075.619187168] [zed.zed_node]: * Debug Positional Tracking: FALSE [component_container_isolated-2] [INFO] [0000003075.619243712] [zed.zed_node]: * Debug sensors: FALSE [component_container_isolated-2] [INFO] [0000003075.619303360] [zed.zed_node]: * Debug Mapping: FALSE [component_container_isolated-2] [INFO] [0000003075.619358528] [zed.zed_node]: * Debug Object Detection: FALSE [component_container_isolated-2] [INFO] [0000003075.619412224] [zed.zed_node]: * Debug Body Tracking: FALSE [component_container_isolated-2] [INFO] [0000003075.619469600] [zed.zed_node]: * Debug Streaming: FALSE [component_container_isolated-2] [INFO] [0000003075.619516832] [zed.zed_node]: * Debug ROI: FALSE [component_container_isolated-2] [INFO] [0000003075.619579616] [zed.zed_node]: * Debug Advanced: FALSE [component_container_isolated-2] [INFO] [0000003075.619711776] [zed.zed_node]: *** GENERAL parameters *** [component_container_isolated-2] [INFO] [0000003075.619917504] [zed.zed_node]: * Local stream input: 127.0.0.1:34000 [component_container_isolated-2] [INFO] [0000003075.620039584] [zed.zed_node]: + Playing a network stream from a ZED X Mini camera model. [component_container_isolated-2] [INFO] [0000003075.620070912] [zed.zed_node]: * Camera model: zedxm - ZED X Mini [component_container_isolated-2] [INFO] [0000003075.620138464] [zed.zed_node]: * Camera name: zed [component_container_isolated-2] [INFO] [0000003075.620328448] [zed.zed_node]: * Camera SN: 0 [component_container_isolated-2] [INFO] [0000003075.620565600] [zed.zed_node]: * Camera timeout [sec]: 5 [component_container_isolated-2] [INFO] [0000003075.620823456] [zed.zed_node]: * Camera reconnection temptatives: 5 [component_container_isolated-2] [INFO] [0000003075.620999584] [zed.zed_node]: * Camera framerate: 30 [component_container_isolated-2] [INFO] [0000003075.621089184] [zed.zed_node]: * GPU ID: -1 [component_container_isolated-2] [INFO] [0000003075.621214208] [zed.zed_node]: * Camera resolution: HD1080 [component_container_isolated-2] [INFO] [0000003075.621424416] [zed.zed_node]: * Publishing resolution: NATIVE [component_container_isolated-2] [INFO] [0000003075.621618048] [zed.zed_node]: * OpenCV custom calibration: [component_container_isolated-2] [INFO] [0000003075.621784256] [zed.zed_node]: * Camera self calibration: TRUE [component_container_isolated-2] [INFO] [0000003075.621977760] [zed.zed_node]: * Camera flip: FALSE [component_container_isolated-2] [INFO] [0000003075.622127072] [zed.zed_node]: * [DYN] Publish framerate [Hz]: 15 [component_container_isolated-2] [INFO] [0000003075.622156896] [zed.zed_node]: *** VIDEO parameters *** [component_container_isolated-2] [INFO] [0000003075.622330656] [zed.zed_node]: * [DYN] Saturation: 4 [component_container_isolated-2] [INFO] [0000003075.622522016] [zed.zed_node]: * [DYN] Sharpness: 4 [component_container_isolated-2] [INFO] [0000003075.622702208] [zed.zed_node]: * [DYN] Gamma: 8 [component_container_isolated-2] [INFO] [0000003075.622798880] [zed.zed_node]: * [DYN] Auto Exposure/Gain: TRUE [component_container_isolated-2] [INFO] [0000003075.622887456] [zed.zed_node]: * [DYN] Exposure: 80 [component_container_isolated-2] [INFO] [0000003075.622962816] [zed.zed_node]: * [DYN] Gain: 80 [component_container_isolated-2] [INFO] [0000003075.623019840] [zed.zed_node]: * [DYN] Auto White Balance: TRUE [component_container_isolated-2] [INFO] [0000003075.623088032] [zed.zed_node]: * [DYN] White Balance Temperature: 42 [component_container_isolated-2] [INFO] [0000003075.623152928] [zed.zed_node]: * [DYN] ZED X Exposure time: 16666 [component_container_isolated-2] [INFO] [0000003075.623224800] [zed.zed_node]: * [DYN] ZED X Auto Exp. time range min: 28 [component_container_isolated-2] [INFO] [0000003075.623291424] [zed.zed_node]: * [DYN] ZED X Auto Exp. time range max: 16666 [component_container_isolated-2] [INFO] [0000003075.623448032] [zed.zed_node]: * [DYN] ZED X Exposure comp.: 50 [component_container_isolated-2] [INFO] [0000003075.623513312] [zed.zed_node]: * [DYN] ZED X Analog Gain: 8000 [component_container_isolated-2] [INFO] [0000003075.623764992] [zed.zed_node]: * [DYN] ZED X Auto Analog Gain range min: 1000 [component_container_isolated-2] [INFO] [0000003075.623961888] [zed.zed_node]: * [DYN] ZED X Auto Analog Gain range max: 16000 [component_container_isolated-2] [INFO] [0000003075.624085824] [zed.zed_node]: * [DYN] ZED X Digital Gain: 128 [component_container_isolated-2] [INFO] [0000003075.624181056] [zed.zed_node]: * [DYN] ZED X Auto Digital Gain range min: 1 [component_container_isolated-2] [INFO] [0000003075.624299136] [zed.zed_node]: * [DYN] ZED X Auto Digital Gain range max: 256 [component_container_isolated-2] [INFO] [0000003075.624379712] [zed.zed_node]: * [DYN] ZED X Auto Digital Gain range max: 50 [component_container_isolated-2] [INFO] [0000003075.624410112] [zed.zed_node]: *** DEPTH parameters *** [component_container_isolated-2] [INFO] [0000003075.624511520] [zed.zed_node]: * Depth mode: NEURAL [4] [component_container_isolated-2] [INFO] [0000003075.624592576] [zed.zed_node]: * Min depth [m]: 0.3 [component_container_isolated-2] [INFO] [0000003075.624673152] [zed.zed_node]: * Max depth [m]: 10 [component_container_isolated-2] [INFO] [0000003075.624737856] [zed.zed_node]: * Depth Stabilization: 1 [component_container_isolated-2] [INFO] [0000003075.624811392] [zed.zed_node]: * OpenNI mode (16bit point cloud): FALSE [component_container_isolated-2] [INFO] [0000003075.624884000] [zed.zed_node]: * [DYN] Point cloud rate [Hz]: 5 [component_container_isolated-2] [INFO] [0000003075.624950048] [zed.zed_node]: * [DYN] Depth Confidence: 50 [component_container_isolated-2] [INFO] [0000003075.625018592] [zed.zed_node]: * [DYN] Depth Texture Confidence: 100 [component_container_isolated-2] [INFO] [0000003075.625072864] [zed.zed_node]: * [DYN] Remove saturated areas: TRUE [component_container_isolated-2] [INFO] [0000003075.625099008] [zed.zed_node]: *** GNSS FUSION parameters *** [component_container_isolated-2] [INFO] [0000003075.625170784] [zed.zed_node]: * GNSS fusion enabled: FALSE [component_container_isolated-2] [INFO] [0000003075.625195584] [zed.zed_node]: *** POSITIONAL TRACKING parameters *** [component_container_isolated-2] [INFO] [0000003075.625249632] [zed.zed_node]: * Positional tracking enabled: TRUE [component_container_isolated-2] [INFO] [0000003075.625337056] [zed.zed_node]: * Positional tracking mode: GEN 2 [component_container_isolated-2] [INFO] [0000003075.625417376] [zed.zed_node]: * Map frame id: map [component_container_isolated-2] [INFO] [0000003075.625476704] [zed.zed_node]: * Odometry frame id: odom [component_container_isolated-2] [INFO] [0000003075.625876992] [zed.zed_node]: * Broadcast Odometry TF: TRUE [component_container_isolated-2] [INFO] [0000003075.625962592] [zed.zed_node]: * Broadcast Pose TF: TRUE [component_container_isolated-2] [INFO] [0000003075.626034368] [zed.zed_node]: * [DYN] Depth minimum range: 0 [component_container_isolated-2] [INFO] [0000003075.626099360] [zed.zed_node]: * [DYN] TF timestamp offset: 0 [component_container_isolated-2] [INFO] [0000003075.626162656] [zed.zed_node]: * [DYN] Path publishing rate: 2 [component_container_isolated-2] [INFO] [0000003075.626241216] [zed.zed_node]: * Path history lenght: -1 [component_container_isolated-2] [INFO] [0000003075.626324256] [zed.zed_node]: * Initial pose: [0,0,0,0,0,0,] [component_container_isolated-2] [INFO] [0000003075.626603040] [zed.zed_node]: * Area Memory: TRUE [component_container_isolated-2] [INFO] [0000003075.626780064] [zed.zed_node]: * Area Memory DB: [component_container_isolated-2] [INFO] [0000003075.626967776] [zed.zed_node]: * Camera is static: FALSE [component_container_isolated-2] [INFO] [0000003075.627162752] [zed.zed_node]: * Gravity as origin [not for ZED]: TRUE [component_container_isolated-2] [INFO] [0000003075.627253504] [zed.zed_node]: * IMU Fusion [not for ZED]: TRUE [component_container_isolated-2] [INFO] [0000003075.627311840] [zed.zed_node]: * Floor Alignment: FALSE [component_container_isolated-2] [INFO] [0000003075.627464096] [zed.zed_node]: * Reset Odometry with Loop Closure: TRUE [component_container_isolated-2] [INFO] [0000003075.627656032] [zed.zed_node]: * 2D mode: FALSE [component_container_isolated-2] [INFO] [0000003075.627752128] [zed.zed_node]: *** Region of Interest parameters *** [component_container_isolated-2] [INFO] [0000003075.628046976] [zed.zed_node]: * Automatic ROI generation: FALSE [component_container_isolated-2] [INFO] [0000003075.628612448] [zed.zed_node]: * Manual ROI polygon: [] [component_container_isolated-2] [INFO] [0000003075.628664320] [zed.zed_node]: *** SENSORS STACK parameters *** [component_container_isolated-2] [INFO] [0000003075.628919648] [zed.zed_node]: * Broadcast IMU TF [not for ZED]: TRUE [component_container_isolated-2] [INFO] [0000003075.629252192] [zed.zed_node]: * Sensors Camera Sync: FALSE [component_container_isolated-2] [INFO] [0000003075.629400928] [zed.zed_node]: * Sensors publishing rate: 200 Hz [component_container_isolated-2] [INFO] [0000003075.629449088] [zed.zed_node]: *** Spatial Mapping parameters *** [component_container_isolated-2] [INFO] [0000003075.629550368] [zed.zed_node]: * Spatial Mapping Enabled: FALSE [component_container_isolated-2] [INFO] [0000003075.629748576] [zed.zed_node]: * Spatial Mapping resolution [m]: 0.05 [component_container_isolated-2] [INFO] [0000003075.630022784] [zed.zed_node]: * 3D Max Mapping range [m]: 5 [component_container_isolated-2] [INFO] [0000003075.630302976] [zed.zed_node]: * Map publishing rate [Hz]: 1 [component_container_isolated-2] [INFO] [0000003075.630520864] [zed.zed_node]: * Clicked point topic: /clicked_point [component_container_isolated-2] [INFO] [0000003075.630612800] [zed.zed_node]: * Plane Det. Max Dist. Thresh.: 0.15 [component_container_isolated-2] [INFO] [0000003075.630680352] [zed.zed_node]: * Plane Det. Normals Sim. Thresh.: 15 [component_container_isolated-2] [INFO] [0000003075.630709760] [zed.zed_node]: *** Object Det. parameters *** [component_container_isolated-2] [INFO] [0000003075.630761120] [zed.zed_node]: * Object Det. enabled: FALSE [component_container_isolated-2] [INFO] [0000003075.630881792] [zed.zed_node]: * Object Det. model: MULTI CLASS BOX FAST [component_container_isolated-2] [INFO] [0000003075.631163456] [zed.zed_node]: * Object Det. allow reduced precision: TRUE [component_container_isolated-2] [INFO] [0000003075.631345024] [zed.zed_node]: * Object Det. maximum range [m]: 20 [component_container_isolated-2] [INFO] [0000003075.631592128] [zed.zed_node]: * Object Det. min. confidence: 75 [component_container_isolated-2] [INFO] [0000003075.631805248] [zed.zed_node]: * Object Det. prediction timeout [sec]: 0.5 [component_container_isolated-2] [INFO] [0000003075.631975456] [zed.zed_node]: * Object Det. tracking: TRUE [component_container_isolated-2] [INFO] [0000003075.632142432] [zed.zed_node]: * Object Filtering mode: 1 - NMS3D [component_container_isolated-2] [INFO] [0000003075.632302048] [zed.zed_node]: * MultiClassBox people: TRUE [component_container_isolated-2] [INFO] [0000003075.632445120] [zed.zed_node]: * MultiClassBox vehicles: TRUE [component_container_isolated-2] [INFO] [0000003075.632529536] [zed.zed_node]: * MultiClassBox bags: TRUE [component_container_isolated-2] [INFO] [0000003075.632587872] [zed.zed_node]: * MultiClassBox animals: TRUE [component_container_isolated-2] [INFO] [0000003075.632645696] [zed.zed_node]: * MultiClassBox electronics: TRUE [component_container_isolated-2] [INFO] [0000003075.632702464] [zed.zed_node]: * MultiClassBox fruits and vegetables: TRUE [component_container_isolated-2] [INFO] [0000003075.632758368] [zed.zed_node]: * MultiClassBox sport-related objects: TRUE [component_container_isolated-2] [INFO] [0000003075.632784896] [zed.zed_node]: *** Body Track. parameters *** [component_container_isolated-2] [INFO] [0000003075.632862368] [zed.zed_node]: * Body Track. enabled: FALSE [component_container_isolated-2] [INFO] [0000003075.632960064] [zed.zed_node]: * Body Track. model: HUMAN BODY MEDIUM [component_container_isolated-2] [INFO] [0000003075.633052224] [zed.zed_node]: * Body Track. format: BODY 38 [component_container_isolated-2] [INFO] [0000003075.633114048] [zed.zed_node]: * Body Track. allow reduced precision: TRUE [component_container_isolated-2] [INFO] [0000003075.633178528] [zed.zed_node]: * Body Track. maximum range [m]: 20 [component_container_isolated-2] [INFO] [0000003075.633248256] [zed.zed_node]: * Body Track. KP selection: FULL [component_container_isolated-2] [INFO] [0000003075.633322016] [zed.zed_node]: * Body fitting: FALSE [component_container_isolated-2] [INFO] [0000003075.633388256] [zed.zed_node]: * Body joints tracking: TRUE [component_container_isolated-2] [INFO] [0000003075.633470112] [zed.zed_node]: * Body Track. prediction timeout [sec]: 0.5 [component_container_isolated-2] [INFO] [0000003075.633528608] [zed.zed_node]: * Body Track. confidence thresh.: 50 [component_container_isolated-2] [INFO] [0000003075.633587072] [zed.zed_node]: * Body Track. min. KP thresh.: 5 [component_container_isolated-2] [INFO] [0000003075.633613920] [zed.zed_node]: *** Streaming Server parameters *** [component_container_isolated-2] [INFO] [0000003075.633672512] [zed.zed_node]: * Streaming Server enabled: FALSE [component_container_isolated-2] [INFO] [0000003075.633732352] [zed.zed_node]: * Stream codec: H264 [component_container_isolated-2] [INFO] [0000003075.633791744] [zed.zed_node]: * Stream port:30000 [component_container_isolated-2] [INFO] [0000003075.633847488] [zed.zed_node]: * Stream bitrate: 12500 [component_container_isolated-2] [INFO] [0000003075.633913024] [zed.zed_node]: * Stream GOP size: -1 [component_container_isolated-2] [INFO] [0000003075.633991968] [zed.zed_node]: * Stream Chunk size: 16084 [component_container_isolated-2] [INFO] [0000003075.634067040] [zed.zed_node]: * Adaptive bitrate: FALSE [component_container_isolated-2] [INFO] [0000003075.634149280] [zed.zed_node]: * Target frame rate:0 [component_container_isolated-2] [INFO] [0000003075.634177856] [zed.zed_node]: *** Advanced parameters *** [component_container_isolated-2] [INFO] [0000003075.634251616] [zed.zed_node]: * Thread sched. policy: SCHED_BATCH [component_container_isolated-2] [INFO] [0000003075.634374688] [zed.zed_node]: *** SERVICES *** [component_container_isolated-2] [INFO] [0000003075.638254464] [zed.zed_node]: * '/zed/zed_node/reset_odometry' [component_container_isolated-2] [INFO] [0000003075.639831136] [zed.zed_node]: * '/zed/zed_node/reset_pos_tracking' [component_container_isolated-2] [INFO] [0000003075.641689440] [zed.zed_node]: * '/zed/zed_node/set_pose' [component_container_isolated-2] [INFO] [0000003075.642678176] [zed.zed_node]: * '/zed/zed_node/enable_obj_det' [component_container_isolated-2] [INFO] [0000003075.643606560] [zed.zed_node]: * '/zed/zed_node/enable_body_trk' [component_container_isolated-2] [INFO] [0000003075.644663136] [zed.zed_node]: * '/zed/zed_node/enable_mapping' [component_container_isolated-2] [INFO] [0000003075.645590432] [zed.zed_node]: * '/zed/zed_node/enable_streaming' [component_container_isolated-2] [INFO] [0000003075.646526112] [zed.zed_node]: * '/zed/zed_node/start_svo_rec' [component_container_isolated-2] [INFO] [0000003075.647276032] [zed.zed_node]: * '/zed/zed_node/stop_svo_rec' [component_container_isolated-2] [INFO] [0000003075.648128032] [zed.zed_node]: * '/zed/zed_node/set_roi' [component_container_isolated-2] [INFO] [0000003075.649015328] [zed.zed_node]: * '/zed/zed_node/reset_roi' [component_container_isolated-2] [INFO] [0000003075.649099456] [zed.zed_node]: ***** STARTING CAMERA ***** [component_container_isolated-2] [INFO] [0000003075.780318816] [zed.zed_node]: ZED SDK Version: 4.2.1 - Build 94676_d35891e9 [component_container_isolated-2] [1970-01-01 00:51:15 UTC][ZED][INFO] Logging level INFO [component_container_isolated-2] [INFO] [0000003075.787625792] [zed.zed_node]: *** LOCAL STREAMING OPENING *** [component_container_isolated-2] [INFO] [0000003075.787706784] [zed.zed_node]: Disable async recovery for GMSL2 cameras [component_container_isolated-2] [1970-01-01 00:51:16 UTC][ZED][INFO] Logging level INFO [component_container_isolated-2] [Streaming] Warning : receiving port 34000 is not available (already used)... switching to port 34002. Retrying... [component_container_isolated-2] [Streaming] No backward compatibility required. [component_container_isolated-2] [Streaming] Warning: Corrupted frame chunk received (recv: 196 / expect 16016) from ip : 127.0.0.1 at ts 3076169(ms) [component_container_isolated-2] [Streaming] Metadata timeout. the size is equal to 196 instead of 21960. Skipping. [component_container_isolated-2] NvMMLiteOpen : Block : BlockType = 279 [component_container_isolated-2] NvMMLiteBlockCreate : Block : BlockType = 279 [component_container_isolated-2] Opening in BLOCKING MODE [component_container_isolated-2] [1970-01-01 00:51:16 UTC][ZED][INFO] [Init] Depth mode: NEURAL [component_container_isolated-2] [1970-01-01 00:51:16 UTC][ZED][INFO] [Init] Serial Number: S/N 101992460 [component_container_isolated-2] [WARN] [0000003078.101412864] [zed.zed_node]: !!! `general.grab_frame_rate` value is not valid: '30'. Automatically replaced with '15'. Please fix the parameter !!! [component_container_isolated-2] [INFO] [0000003078.101548096] [zed.zed_node]: ZED SDK running on GPU #0 [component_container_isolated-2] [WARN] [0000003078.101569024] [zed.zed_node]: Camera model does not match user parameter. Please modify the value of the parameter 'general.camera_model' to 'zedxm' [component_container_isolated-2] [INFO] [0000003078.101586592] [zed.zed_node]: * Camera Model -> Virtual ZED-X [component_container_isolated-2] [INFO] [0000003078.101600480] [zed.zed_node]: * Serial Number -> 101992460 [component_container_isolated-2] [INFO] [0000003078.101615520] [zed.zed_node]: * Focal Lenght -> 2.23643 mm [component_container_isolated-2] [INFO] [0000003078.101659808] [zed.zed_node]: * Input -> STREAM [component_container_isolated-2] [INFO] [0000003078.101687488] [zed.zed_node]: * Camera FW Version -> 1523 [component_container_isolated-2] [INFO] [0000003078.101705376] [zed.zed_node]: * Sensors FW Version -> 0 [component_container_isolated-2] [INFO] [0000003078.101722752] [zed.zed_node]: * Camera grab frame size -> 1920x1080 [component_container_isolated-2] [INFO] [0000003078.101735872] [zed.zed_node]: * Publishing frame size -> 1920x1080 [component_container_isolated-2] [INFO] [0000003078.101787776] [zed.zed_node]: *** TF FRAMES *** [component_container_isolated-2] [INFO] [0000003078.101803200] [zed.zed_node]: * Map -> map [component_container_isolated-2] [INFO] [0000003078.101814464] [zed.zed_node]: * Odometry -> odom [component_container_isolated-2] [INFO] [0000003078.101824576] [zed.zed_node]: * Base -> zed_camera_link [component_container_isolated-2] [INFO] [0000003078.101834720] [zed.zed_node]: * Camera -> zed_camera_center [component_container_isolated-2] [INFO] [0000003078.101852768] [zed.zed_node]: * Left -> zed_left_camera_frame [component_container_isolated-2] [INFO] [0000003078.101864288] [zed.zed_node]: * Left Optical -> zed_left_camera_optical_frame [component_container_isolated-2] [INFO] [0000003078.101874240] [zed.zed_node]: * RGB -> zed_left_camera_frame [component_container_isolated-2] [INFO] [0000003078.101883424] [zed.zed_node]: * RGB Optical -> zed_left_camera_optical_frame [component_container_isolated-2] [INFO] [0000003078.101892960] [zed.zed_node]: * Right -> zed_right_camera_frame [component_container_isolated-2] [INFO] [0000003078.101902464] [zed.zed_node]: * Right Optical -> zed_right_camera_optical_frame [component_container_isolated-2] [INFO] [0000003078.101911840] [zed.zed_node]: * Depth -> zed_left_camera_frame [component_container_isolated-2] [INFO] [0000003078.101921472] [zed.zed_node]: * Depth Optical -> zed_left_camera_optical_frame [component_container_isolated-2] [INFO] [0000003078.101980448] [zed.zed_node]: * Point Cloud -> zed_left_camera_optical_frame [component_container_isolated-2] [INFO] [0000003078.102001984] [zed.zed_node]: * Disparity -> zed_left_camera_frame [component_container_isolated-2] [INFO] [0000003078.102015008] [zed.zed_node]: * Disparity Optical -> zed_left_camera_optical_frame [component_container_isolated-2] [INFO] [0000003078.102024960] [zed.zed_node]: * Confidence -> zed_left_camera_frame [component_container_isolated-2] [INFO] [0000003078.102034528] [zed.zed_node]: * Confidence Optical -> zed_left_camera_optical_frame [component_container_isolated-2] [INFO] [0000003078.102043936] [zed.zed_node]: * IMU -> zed_imu_link [component_container_isolated-2] [INFO] [0000003078.102096128] [zed.zed_node]: *** PUBLISHED TOPICS *** [component_container_isolated-2] [INFO] [0000003078.292895904] [FFMPEGEncoder]: enc: libx264 prof: preset: [component_container_isolated-2] [INFO] [0000003078.292960960] [FFMPEGEncoder]: qmax: 0 bitrate: 4194304 gop: 10 [component_container_isolated-2] [INFO] [0000003078.309156160] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb/image_rect_color [component_container_isolated-2] [INFO] [0000003078.309255552] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb/camera_info [component_container_isolated-2] [INFO] [0000003078.312091392] [FFMPEGEncoder]: enc: libx264 prof: preset: [component_container_isolated-2] [INFO] [0000003078.312139040] [FFMPEGEncoder]: qmax: 0 bitrate: 4194304 gop: 10 [component_container_isolated-2] [INFO] [0000003078.315402464] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_gray/image_rect_gray [component_container_isolated-2] [INFO] [0000003078.315494464] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_gray/camera_info [component_container_isolated-2] [INFO] [0000003078.317712480] [FFMPEGEncoder]: enc: libx264 prof: preset: [component_container_isolated-2] [INFO] [0000003078.317767456] [FFMPEGEncoder]: qmax: 0 bitrate: 4194304 gop: 10 [component_container_isolated-2] [INFO] [0000003078.320654272] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_raw/image_raw_color [component_container_isolated-2] [INFO] [0000003078.320752800] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_raw/camera_info [component_container_isolated-2] [INFO] [0000003078.323052608] [FFMPEGEncoder]: enc: libx264 prof: preset: [component_container_isolated-2] [INFO] [0000003078.323109824] [FFMPEGEncoder]: qmax: 0 bitrate: 4194304 gop: 10 [component_container_isolated-2] [INFO] [0000003078.325009952] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_raw_gray/image_raw_gray [component_container_isolated-2] [INFO] [0000003078.325114528] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_raw_gray/camera_info [component_container_isolated-2] [INFO] [0000003078.326806112] [FFMPEGEncoder]: enc: libx264 prof: preset: [component_container_isolated-2] [INFO] [0000003078.326848256] [FFMPEGEncoder]: qmax: 0 bitrate: 4194304 gop: 10 [component_container_isolated-2] [INFO] [0000003078.334509184] [zed.zed_node]: Advertised on topic: /zed/zed_node/left/image_rect_color [component_container_isolated-2] [INFO] [0000003078.334590208] [zed.zed_node]: Advertised on topic: /zed/zed_node/left/camera_info [component_container_isolated-2] [INFO] [0000003078.336984768] [FFMPEGEncoder]: enc: libx264 prof: preset: [component_container_isolated-2] [INFO] [0000003078.337029728] [FFMPEGEncoder]: qmax: 0 bitrate: 4194304 gop: 10 [component_container_isolated-2] [INFO] [0000003078.338796992] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_gray/image_rect_gray [component_container_isolated-2] [INFO] [0000003078.338858560] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_gray/camera_info [component_container_isolated-2] [INFO] [0000003078.340966368] [FFMPEGEncoder]: enc: libx264 prof: preset: [component_container_isolated-2] [INFO] [0000003078.340999328] [FFMPEGEncoder]: qmax: 0 bitrate: 4194304 gop: 10 [component_container_isolated-2] [INFO] [0000003078.342780864] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_raw/image_raw_color [component_container_isolated-2] [INFO] [0000003078.342833408] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_raw/camera_info [component_container_isolated-2] [INFO] [0000003078.344703232] [FFMPEGEncoder]: enc: libx264 prof: preset: [component_container_isolated-2] [INFO] [0000003078.344738368] [FFMPEGEncoder]: qmax: 0 bitrate: 4194304 gop: 10 [component_container_isolated-2] [INFO] [0000003078.346467232] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_raw_gray/image_raw_gray [component_container_isolated-2] [INFO] [0000003078.346520224] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_raw_gray/camera_info [component_container_isolated-2] [INFO] [0000003078.348409984] [FFMPEGEncoder]: enc: libx264 prof: preset: [component_container_isolated-2] [INFO] [0000003078.348447200] [FFMPEGEncoder]: qmax: 0 bitrate: 4194304 gop: 10 [component_container_isolated-2] [INFO] [0000003078.350211392] [zed.zed_node]: Advertised on topic: /zed/zed_node/right/image_rect_color [component_container_isolated-2] [INFO] [0000003078.350260800] [zed.zed_node]: Advertised on topic: /zed/zed_node/right/camera_info [component_container_isolated-2] [INFO] [0000003078.351668736] [FFMPEGEncoder]: enc: libx264 prof: preset: [component_container_isolated-2] [INFO] [0000003078.351696832] [FFMPEGEncoder]: qmax: 0 bitrate: 4194304 gop: 10 [component_container_isolated-2] [INFO] [0000003078.353492576] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_gray/image_rect_gray [component_container_isolated-2] [INFO] [0000003078.353540224] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_gray/camera_info [component_container_isolated-2] [INFO] [0000003078.354922304] [FFMPEGEncoder]: enc: libx264 prof: preset: [component_container_isolated-2] [INFO] [0000003078.354951392] [FFMPEGEncoder]: qmax: 0 bitrate: 4194304 gop: 10 [component_container_isolated-2] [INFO] [0000003078.356692096] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_raw/image_raw_color [component_container_isolated-2] [INFO] [0000003078.356742464] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_raw/camera_info [component_container_isolated-2] [INFO] [0000003078.358189728] [FFMPEGEncoder]: enc: libx264 prof: preset: [component_container_isolated-2] [INFO] [0000003078.358219104] [FFMPEGEncoder]: qmax: 0 bitrate: 4194304 gop: 10 [component_container_isolated-2] [INFO] [0000003078.360032384] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_raw_gray/image_raw_gray [component_container_isolated-2] [INFO] [0000003078.360080608] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_raw_gray/camera_info [component_container_isolated-2] [INFO] [0000003078.361613056] [FFMPEGEncoder]: enc: libx264 prof: preset: [component_container_isolated-2] [INFO] [0000003078.361644416] [FFMPEGEncoder]: qmax: 0 bitrate: 4194304 gop: 10 [component_container_isolated-2] [INFO] [0000003078.363497376] [zed.zed_node]: Advertised on topic: /zed/zed_node/depth/depth_registered [component_container_isolated-2] [INFO] [0000003078.363546624] [zed.zed_node]: Advertised on topic: /zed/zed_node/depth/camera_info [component_container_isolated-2] [INFO] [0000003078.367526400] [zed.zed_node]: Advertised on topic: /zed/zed_node/depth/depth_info [component_container_isolated-2] [INFO] [0000003078.373660064] [FFMPEGEncoder]: enc: libx264 prof: preset: [component_container_isolated-2] [INFO] [0000003078.373708896] [FFMPEGEncoder]: qmax: 0 bitrate: 4194304 gop: 10 [component_container_isolated-2] [INFO] [0000003078.375304000] [zed.zed_node]: Advertised on topic: /zed/zed_node/stereo/image_rect_color [component_container_isolated-2] [INFO] [0000003078.376970272] [FFMPEGEncoder]: enc: libx264 prof: preset: [component_container_isolated-2] [INFO] [0000003078.377004192] [FFMPEGEncoder]: qmax: 0 bitrate: 4194304 gop: 10 [component_container_isolated-2] [INFO] [0000003078.378428672] [zed.zed_node]: Advertised on topic: /zed/zed_node/stereo_raw/image_raw_color [component_container_isolated-2] [INFO] [0000003078.378945824] [zed.zed_node]: Advertised on topic: /zed/zed_node/confidence/confidence_map [component_container_isolated-2] [INFO] [0000003078.383669312] [zed.zed_node]: Advertised on topic: /zed/zed_node/disparity/disparity_image [component_container_isolated-2] [INFO] [0000003078.406866080] [zed.zed_node]: Advertised on topic: /zed/zed_node/point_cloud/cloud_registered [component_container_isolated-2] [INFO] [0000003078.408189920] [zed.zed_node]: Advertised on topic: /zed/zed_node/pose [component_container_isolated-2] [INFO] [0000003078.409294400] [zed.zed_node]: Advertised on topic: /zed/zed_node/pose/status [component_container_isolated-2] [INFO] [0000003078.410411616] [zed.zed_node]: Advertised on topic: /zed/zed_node/pose_with_covariance [component_container_isolated-2] [INFO] [0000003078.412511872] [zed.zed_node]: Advertised on topic: /zed/zed_node/odom [component_container_isolated-2] [INFO] [0000003078.413632096] [zed.zed_node]: Advertised on topic: /zed/zed_node/path_map [component_container_isolated-2] [INFO] [0000003078.414488736] [zed.zed_node]: Advertised on topic: /zed/zed_node/path_odom [component_container_isolated-2] [INFO] [0000003078.417248064] [zed.zed_node]: Advertised on topic: /zed/plane_marker [component_container_isolated-2] [INFO] [0000003078.418909856] [zed.zed_node]: Advertised on topic: /zed/plane [component_container_isolated-2] [INFO] [0000003078.420117376] [zed.zed_node]: Advertised on topic: /zed/zed_node/imu/data [component_container_isolated-2] [INFO] [0000003078.420971840] [zed.zed_node]: Advertised on topic: /zed/zed_node/imu/data_raw [component_container_isolated-2] [INFO] [0000003078.421974688] [zed.zed_node]: Advertised on topic: /zed/zed_node/temperature/imu [component_container_isolated-2] [INFO] [0000003078.422922368] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_cam_imu_transform [component_container_isolated-2] [INFO] [0000003078.422990976] [zed.zed_node]: Camera-IMU Translation: [component_container_isolated-2] 0 0 0 [component_container_isolated-2] [INFO] [0000003078.423053088] [zed.zed_node]: Camera-IMU Rotation: [component_container_isolated-2] FFFF76D4C6A0 [component_container_isolated-2] 1.000000 0.000000 0.000000 [component_container_isolated-2] 0.000000 1.000000 0.000000 [component_container_isolated-2] 0.000000 0.000000 1.000000 [component_container_isolated-2] [component_container_isolated-2] [INFO] [0000003078.423084320] [zed.zed_node]: *** Subscribers *** [component_container_isolated-2] [INFO] [0000003078.424473120] [zed.zed_node]: * Plane detection: '/clicked_point' [component_container_isolated-2] [INFO] [0000003078.758822656] [zed.zed_node]: *** Starting Positional Tracking *** [component_container_isolated-2] [INFO] [0000003078.758952672] [zed.zed_node]: * Waiting for valid static transformations... [component_container_isolated-2] [INFO] [0000003078.759098048] [zed.zed_node]: Static transform ref. CMOS Sensor to Base [zed_left_camera_frame -> zed_camera_link] [component_container_isolated-2] [INFO] [0000003078.759135872] [zed.zed_node]: * Translation: {0.010,-0.025,-0.016} [component_container_isolated-2] [INFO] [0000003078.759156128] [zed.zed_node]: * Rotation: {0.000,-0.000,0.000} [component_container_isolated-2] [INFO] [0000003078.759191232] [zed.zed_node]: Static transform ref. CMOS Sensor to Camera Center [zed_left_camera_frame -> zed_camera_center] [component_container_isolated-2] [INFO] [0000003078.759208160] [zed.zed_node]: * Translation: {0.010,-0.025,0.000} [component_container_isolated-2] [INFO] [0000003078.759221696] [zed.zed_node]: * Rotation: {0.000,-0.000,0.000} [component_container_isolated-2] [INFO] [0000003078.759247424] [zed.zed_node]: Static transform Camera Center to Base [zed_camera_center -> zed_camera_link] [component_container_isolated-2] [INFO] [0000003078.759261184] [zed.zed_node]: * Translation: {0.000,0.000,-0.016} [component_container_isolated-2] [INFO] [0000003078.759274048] [zed.zed_node]: * Rotation: {0.000,-0.000,0.000} [component_container_isolated-2] [INFO] [0000003078.760350464] [zed.zed_node]: Initial ZED left camera pose (ZED pos. tracking): [component_container_isolated-2] [INFO] [0000003078.760405024] [zed.zed_node]: * T: [-0.01,0.025,0.016] [component_container_isolated-2] [INFO] [0000003078.760439776] [zed.zed_node]: * Q: [0,0,0,1] [component_container_isolated-2] [1970-01-01 00:51:20 UTC][ZED][WARNING] Factory calibration bias is not set, disabling safety guard for IMU initialization [component_container_isolated-2] [1970-01-01 00:51:52 UTC][ZED][WARNING] IMU data issue detected : IMU: HIGH_VIBRATION_GYRO [component_container_isolated-2] [1970-01-01 00:52:08 UTC][ZED][WARNING] IMU data issue detected : IMU: HIGH_VIBRATION_GYRO [component_container_isolated-2] [1970-01-01 00:52:13 UTC][ZED][WARNING] IMU data issue detected : IMU: HIGH_VIBRATION_GYRO [component_container_isolated-2] [1970-01-01 00:52:38 UTC][ZED][WARNING] IMU data issue detected : IMU: HIGH_VIBRATION_GYRO