... logging to /home/jyc/.ros/log/149d777a-8a3b-11ef-93cd-cc47403f0a7d/roslaunch-jyc-desktop-23108.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. ]2;/home/jyc/Downloads/zed_example_ws/src/zed-ros-examples/examples/zed_multicamera_example/launch/zed_multi_cam.launch started roslaunch server http://localhost:45329/ SUMMARY ======== PARAMETERS * /rosdistro: noetic * /rosversion: 1.17.0 * /zedA/zed_description: zed2 [ INFO] [1728917185.376764645]: * Camera Name -> zedA [ INFO] [1728917185.378000199]: * Camera resolution -> HD720 [ INFO] [1728917185.379081860]: * Camera Grab Framerate -> 30 [ INFO] [1728917185.381143101]: * Grab compute capping FPS -> 15 Hz [ INFO] [1728917185.382423744]: * Publishing resolution -> CUSTOM [ INFO] [1728917185.383302905]: * Publishing downscale factor -> 2 [ INFO] [1728917185.384648638]: * Gpu ID -> -1 [ INFO] [1728917185.385801149]: * Camera ID -> 0 [ INFO] [1728917185.387072224]: * SDK Verbose level -> 1 [ INFO] [1728917185.388156190]: * Camera Flip -> AUTO [ INFO] [1728917185.389204539]: * Self calibration -> ENABLED [ INFO] [1728917185.391088271]: * Region of interest -> [] [ INFO] [1728917185.373745137]: ********** Starting nodelet '/zedB/zed_node_B' ********** [ INFO] [1728917185.373854485]: SDK version: 4.2.1 [ INFO] [1728917185.373889397]: *** GENERAL PARAMETERS *** [ INFO] [1728917185.374798894]: * Camera Model by param -> zed [ INFO] [1728917185.375983727]: * Camera Name -> zedB [ INFO] [1728917185.377163376]: * Camera resolution -> HD720 [ INFO] [1728917185.380431593]: * Camera Grab Framerate -> 30 [ INFO] [1728917185.382577541]: * Grab compute capping FPS -> 15 Hz [ INFO] [1728917185.384096846]: * Publishing resolution -> CUSTOM [ INFO] [1728917185.385839870]: * Publishing downscale factor -> 2 [ INFO] [1728917185.386391053]: * Gpu ID -> -1 [ INFO] [1728917185.387512332]: * Camera ID -> 1 [ INFO] [1728917185.388455430]: * SDK Verbose level -> 1 [ INFO] [1728917185.389666952]: * Camera Flip -> AUTO [ INFO] [1728917185.391132048]: * Self calibration -> ENABLED [ INFO] [1728917185.392902721]: * Region of interest -> [] [ INFO] [1728917185.391287220]: *** DYNAMIC PARAMETERS (Init. values) *** [ INFO] [1728917185.392497910]: * [DYN] brightness -> 4 [ INFO] [1728917185.393354733]: * [DYN] contrast -> 4 [ INFO] [1728917185.394325608]: * [DYN] hue -> 0 [ INFO] [1728917185.395260578]: * [DYN] saturation -> 4 [ INFO] [1728917185.396002934]: * [DYN] sharpness -> 4 [ INFO] [1728917185.396830285]: * [DYN] gamma -> 8 [ INFO] [1728917185.397444094]: * [DYN] auto_exposure_gain -> ENABLED [ INFO] [1728917185.400074086]: * [DYN] auto_whitebalance -> ENABLED [ INFO] [1728917185.401604432]: * [DYN] Depth confidence -> 50 [ INFO] [1728917185.402303011]: * [DYN] Depth texture conf. -> 100 [ INFO] [1728917185.403043832]: * [DYN] point_cloud_freq -> 10 Hz [ INFO] [1728917185.403085753]: *** DEPTH PARAMETERS *** [ INFO] [1728917185.403749355]: * Depth mode -> ULTRA [3] [ INFO] [1728917185.404445854]: * OpenNI mode -> DISABLED [ INFO] [1728917185.405185587]: * Depth Stabilization -> 1 [ INFO] [1728917185.406005737]: * Minimum depth -> 0.3 m [ INFO] [1728917185.407228331]: * Maximum depth -> 15 m [ INFO] [1728917185.407275532]: *** POSITIONAL TRACKING PARAMETERS *** [ INFO] [1728917185.408365546]: * Positional tracking -> ENABLED [ INFO] [1728917185.409491433]: * Positional tracking mode -> GEN 2 [ INFO] [1728917185.410410883]: * Set gravity as origin -> ENABLED [ INFO] [1728917185.411029844]: * Path rate -> 2 Hz [ INFO] [1728917185.411576931]: * Path history size -> INFINITE [ INFO] [1728917185.413083020]: * Odometry DB path ->  [ INFO] [1728917185.413859649]: * Save Area Memory on closing -> DISABLED [ INFO] [1728917185.414562869]: * Area Memory -> ENABLED [ INFO] [1728917185.415327402]: * IMU Fusion -> ENABLED [ INFO] [1728917185.416098495]: * Floor alignment -> DISABLED [ INFO] [1728917185.416818707]: * Init Odometry with first valid pose data -> ENABLED [ INFO] [1728917185.417512134]: * Force 2D mode -> DISABLED [ INFO] [1728917185.418226554]: * Broadcast odometry TF -> ENABLED [ INFO] [1728917185.418927533]: * Broadcast map pose TF -> ENABLED [ INFO] [1728917185.419653153]: * Camera is static -> DISABLED [ INFO] [1728917185.420368789]: * Depth minimum range -> 0 [ INFO] [1728917185.420417366]: *** MAPPING PARAMETERS *** [ INFO] [1728917185.421094537]: * Mapping -> DISABLED [ INFO] [1728917185.422172742]: * Clicked point topic -> /clicked_point [ INFO] [1728917185.422220455]: *** OBJECT DETECTION PARAMETERS *** [ INFO] [1728917185.423112128]: * Object Detection -> DISABLED [ INFO] [1728917185.423937751]: * Object confidence -> 50 [ INFO] [1728917185.424805775]: * Object tracking -> ENABLED [ INFO] [1728917185.425682663]: * Detection max range -> 15 [ INFO] [1728917185.426485341]: * Allow reduced precision -> ENABLED [ INFO] [1728917185.427414422]: * Prediction Timeout -> 0.5 [ INFO] [1728917185.428347024]: * Object Det. model ->MULTI CLASS BOX ACCURATE [ INFO] [1728917185.429073924]: * Detect people -> ENABLED [ INFO] [1728917185.429871130]: * Detect vehicles -> ENABLED [ INFO] [1728917185.430662384]: * Detect bags -> ENABLED [ INFO] [1728917185.431446309]: * Detect animals -> ENABLED [ INFO] [1728917185.432214779]: * Detect electronics -> ENABLED [ INFO] [1728917185.432955471]: * Detect fruit and vegetables -> ENABLED [ INFO] [1728917185.433732132]: * Detect sport-related objects -> ENABLED [ INFO] [1728917185.433774181]: *** SENSORS PARAMETERS *** [ INFO] [1728917185.434550011]: * Sensors timestamp sync -> DISABLED [ INFO] [1728917185.435315568]: * Max sensors rate -> 200 [ INFO] [1728917185.436005283]: * Broadcast [ INFO] [1728917185.392994723]: *** DYNAMIC PARAMETERS (Init. values) *** [ INFO] [1728917185.393894876]: * [DYN] brightness -> 4 [ INFO] [1728917185.394830838]: * [DYN] contrast -> 4 [ INFO] [1728917185.395630028]: * [DYN] hue -> 0 [ INFO] [1728917185.396449634]: * [DYN] saturation -> 4 [ INFO] [1728917185.398060879]: * [DYN] sharpness -> 4 [ INFO] [1728917185.398870437]: * [DYN] gamma -> 8 [ INFO] [1728917185.399723036]: * [DYN] auto_exposure_gain -> ENABLED [ INFO] [1728917185.401938233]: * [DYN] auto_whitebalance -> ENABLED [ INFO] [1728917185.403378273]: * [DYN] Depth confidence -> 50 [ INFO] [1728917185.404107733]: * [DYN] Depth texture conf. -> 100 [ INFO] [1728917185.404846377]: * [DYN] point_cloud_freq -> 10 Hz [ INFO] [1728917185.404889003]: *** DEPTH PARAMETERS *** [ INFO] [1728917185.405540892]: * Depth mode -> ULTRA [3] [ INFO] [1728917185.406616890]: * OpenNI mode -> DISABLED [ INFO] [1728917185.407769882]: * Depth Stabilization -> 1 [ INFO] [1728917185.408868600]: * Minimum depth -> 0.3 m [ INFO] [1728917185.410009143]: * Maximum depth -> 15 m [ INFO] [1728917185.411223609]: *** POSITIONAL TRACKING PARAMETERS *** [ INFO] [1728917185.411945133]: * Positional tracking -> ENABLED [ INFO] [1728917185.412714018]: * Positional tracking mode -> GEN 2 [ INFO] [1728917185.413409013]: * Set gravity as origin -> ENABLED [ INFO] [1728917185.414208235]: * Path rate -> 2 Hz [ INFO] [1728917185.414921375]: * Path history size -> INFINITE [ INFO] [1728917185.416472649]: * Odometry DB path ->  [ INFO] [1728917185.417164092]: * Save Area Memory on closing -> DISABLED [ INFO] [1728917185.417867792]: * Area Memory -> ENABLED [ INFO] [1728917185.418554467]: * IMU Fusion -> ENABLED [ INFO] [1728917185.419285751]: * Floor alignment -> DISABLED [ INFO] [1728917185.419974506]: * Init Odometry with first valid pose data -> ENABLED [ INFO] [1728917185.420709950]: * Force 2D mode -> DISABLED [ INFO] [1728917185.421698649]: * Broadcast odometry TF -> DISABLED [ INFO] [1728917185.422587666]: * Broadcast map pose TF -> DISABLED [ INFO] [1728917185.423510315]: * Camera is static -> DISABLED [ INFO] [1728917185.424399427]: * Depth minimum range -> 0 [ INFO] [1728917185.424450757]: *** MAPPING PARAMETERS *** [ INFO] [1728917185.425290876]: * Mapping -> DISABLED [ INFO] [1728917185.426110899]: * Clicked point topic -> /clicked_point [ INFO] [1728917185.426149652]: *** OBJECT DETECTION PARAMETERS *** [ INFO] [1728917185.426917481]: * Object Detection -> DISABLED [ INFO] [1728917185.427838562]: * Object confidence -> 50 [ INFO] [1728917185.428685337]: * Object tracking -> ENABLED [ INFO] [1728917185.429485839]: * Detection max range -> 15 [ INFO] [1728917185.430311718]: * Allow reduced precision -> ENABLED [ INFO] [1728917185.431079003]: * Prediction Timeout -> 0.5 [ INFO] [1728917185.431891154]: * Object Det. model ->MULTI CLASS BOX ACCURATE [ INFO] [1728917185.432572932]: * Detect people -> ENABLED [ INFO] [1728917185.433365818]: * Detect vehicles -> ENABLED [ INFO] [1728917185.434231314]: * Detect bags -> ENABLED [ INFO] [1728917185.434923941]: * Detect animals -> ENABLED [ INFO] [1728917185.435667962]: * Detect electronics -> ENABLED [ INFO] [1728917185.436408622]: * Detect fruit and vegetables -> ENABLED [ INFO] [1728917185.437151682]: * Detect sport-related objects -> ENABLED [ INFO] [1728917185.437189763]: *** SENSORS PARAMETERS *** [ INFO] [1728917185.437210628]: * The ZED camera has no available inertial/environmental sensors. [ INFO] [1728917185.437345896]: *** SVO PARAMETERS *** [ INFO] [1728917185IMU pose TF -> ENABLED [ INFO] [1728917185.436061764]: *** SVO PARAMETERS *** [ INFO] [1728917185.436810553]: * SVO input file: ->  [ INFO] [1728917185.437590030]: * SVO REC compression -> H265 [ INFO] [1728917185.438316354]: *** COORDINATE FRAMES *** [ INFO] [1728917185.440580385]: * camera_frame -> zedA_camera_center [ INFO] [1728917185.440615234]: * imu_link -> zedA_imu_link [ INFO] [1728917185.440629666]: * left_camera_frame -> zedA_left_camera_frame [ INFO] [1728917185.440642242]: * left_camera_optical_frame -> zedA_left_camera_optical_frame [ INFO] [1728917185.440697380]: * right_camera_frame -> zedA_right_camera_frame [ INFO] [1728917185.440734341]: * right_camera_optical_frame -> zedA_right_camera_optical_frame [ INFO] [1728917185.440769510]: * map_frame -> map [ INFO] [1728917185.440801767]: * odometry_frame -> odom [ INFO] [1728917185.440834024]: * base_frame -> base_link [ INFO] [1728917185.440864585]: * depth_frame -> zedA_left_camera_frame [ INFO] [1728917185.440894793]: * depth_optical_frame -> zedA_left_camera_optical_frame [ INFO] [1728917185.440932522]: * disparity_frame -> zedA_left_camera_frame [ INFO] [1728917185.440963051]: * disparity_optical_frame -> zedA_left_camera_optical_frame [ INFO] [1728917185.440992556]: * confidence_frame -> zedA_left_camera_frame [ INFO] [1728917185.441022733]: * confidence_optical_frame -> zedA_left_camera_optical_frame [ INFO] [1728917185.451983611]: * Camera coordinate system -> RIGHT HANDED Z UP X FWD [ INFO] [1728917186.769422134]: *** Opening ZED 2 - LIVE CAMERA with ID 0 *** [2024-10-14 14:46:26 UTC][ZED][INFO] Logging level INFO [2024-10-14 14:46:27 UTC][ZED][INFO] [Init] Depth mode: ULTRA [2024-10-14 14:46:27 UTC][ZED][ERROR] [ZED] Cannot initialize the camera. [2024-10-14 14:46:27 UTC][ZED][INFO] [Init] Failed to open camera. Trying to re-open for 10 seconds. [2024-10-14 14:46:27 UTC][ZED][INFO] [Init] Random wait interval before consecutive openings: [250], [2000] msec. [2024-10-14 14:46:27 UTC][ZED][INFO] [Init] Waiting 1770 msec before next opening attempt. .437918776]: * SVO input file: ->  [ INFO] [1728917185.438852881]: * SVO REC compression -> H265 [ INFO] [1728917185.439523204]: *** COORDINATE FRAMES *** [ INFO] [1728917185.441393719]: * camera_frame -> zedB_camera_center [ INFO] [1728917185.441425400]: * imu_link -> zedB_imu_link [ INFO] [1728917185.441440984]: * left_camera_frame -> zedB_left_camera_frame [ INFO] [1728917185.441453849]: * left_camera_optical_frame -> zedB_left_camera_optical_frame [ INFO] [1728917185.441468793]: * right_camera_frame -> zedB_right_camera_frame [ INFO] [1728917185.441494010]: * right_camera_optical_frame -> zedB_right_camera_optical_frame [ INFO] [1728917185.441521531]: * map_frame -> map [ INFO] [1728917185.441539867]: * odometry_frame -> odom [ INFO] [1728917185.441579036]: * base_frame -> base_link [ INFO] [1728917185.441598749]: * depth_frame -> zedB_left_camera_frame [ INFO] [1728917185.441612029]: * depth_optical_frame -> zedB_left_camera_optical_frame [ INFO] [1728917185.441626430]: * disparity_frame -> zedB_left_camera_frame [ INFO] [1728917185.441640062]: * disparity_optical_frame -> zedB_left_camera_optical_frame [ INFO] [1728917185.441661118]: * confidence_frame -> zedB_left_camera_frame [ INFO] [1728917185.441675359]: * confidence_optical_frame -> zedB_left_camera_optical_frame [ INFO] [1728917185.453262430]: * Camera coordinate system -> RIGHT HANDED Z UP X FWD [ INFO] [1728917187.853928512]: *** Opening ZED - LIVE CAMERA with ID 1 *** [2024-10-14 14:46:27 UTC][ZED][INFO] Logging level INFO [2024-10-14 14:46:28 UTC][ZED][INFO] [Init] Depth mode: ULTRA [2024-10-14 14:46:28 UTC][ZED][INFO] [Init] Timeout in 8201msec [2024-10-14 14:46:28 UTC][ZED][INFO] [Init] Opening Camera. Attempt #2 [2024-10-14 14:46:29 UTC][ZED][INFO] [Init] Camera successfully opened. [2024-10-14 14:46:29 UTC][ZED][INFO] [Init] Sensors FW version: 778 [2024-10-14 14:46:29 UTC][ZED][INFO] [Init] Camera FW version: 1523 [2024-10-14 14:46:29 UTC][ZED][INFO] [Init] Video mode: HD720@30 [2024-10-14 14:46:29 UTC][ZED][INFO] [Init] Serial Number: S/N 21457945 [2024-10-14 14:46:29 UTC][ZED][INFO] [Init] Camera successfully opened. [2024-10-14 14:46:29 UTC][ZED][INFO] [Init] Camera FW version: 1523 [2024-10-14 14:46:29 UTC][ZED][INFO] [Init] Video mode: HD720@30 [2024-10-14 14:46:29 UTC][ZED][INFO] [Init] Serial Number: S/N 3416087 [ INFO] [1728917189.711352171]: ZED connection [LIVE CAMERA with ID 1]: SUCCESS [ INFO] [1728917191.711734654]: ... ZED ready [ INFO] [1728917191.711813280]: ZED SDK running on GPU #0 [ INFO] [1728917191.737971151]: Camera-IMU Transform: AAAAE7E306F8 0.999922 0.011931 0.003696 -0.002000 -0.011937 0.999927 0.001766 -0.023061 -0.003674 -0.001810 0.999992 0.000217 0.000000 0.000000 0.000000 1.000000  [ INFO] [1728917191.738007440]: * CAMERA MODEL -> ZED 2 [ INFO] [1728917191.738031921]: * Serial Number: 21457945 [ INFO] [1728917191.738057330]: * Camera FW Version: 1523 [ INFO] [1728917191.738079986]: * Sensors FW Version: 778 [ INFO] [1728917191.811067081]: *** PUBLISHERS *** [ INFO] [1728917192.332867566]: * Advertised on topic /zedB/zed_node_B/rgb/image_rect_color [ INFO] [1728917192.332948944]: * Advertised on topic /zedB/zed_node_B/rgb/camera_info [ INFO] [1728917192.517901483]: * Advertised on topic /zedB/zed_node_B/rgb_raw/image_raw_color [ INFO] [1728917192.517961485]: * Advertised on topic /zedB/zed_node_B/rgb_raw/camera_info [ INFO] [1728917192.656028959]: * Advertised on topic /zedB/zed_node_B/left/image_rect_color [ INFO] [1728917192.656108898]: * Advertised on topic /zedB/zed_node_B/left/camera_info [ INFO] [1728917192.824083722]: * Advertised on topic /zedB/zed_node_B/left_raw/image_raw_color [ INFO] [1728917192.824489269]: * Advertised on topic /zedB/zed_node_B/left_raw/camera_info [ INFO] [1728917192.966420658]: * Advertised on topic /zedB/zed_node_B/right/image_rect_color [ INFO] [1728917192.966489460]: * Advertised on topic /zedB/zed_node_B/right/camera_info [ INFO] [1728917193.122206091]: * Advertised on topic /zedB/zed_node_B/right_raw/image_raw_color [ INFO] [1728917193.122362607]: * Advertised on topic /zedB/zed_node_B/right_raw/camera_info [ INFO] [1728917193.265511660]: * Advertised on topic /zedB/zed_node_B/rgb/image_rect_gray [ INFO] [1728917193.265595855]: * Advertised on topic /zedB/zed_node_B/rgb/camera_info [ INFO] [1728917193.344135965]: * Advertised on topic /zedB/zed_node_B/rgb_raw/image_raw_gray [ INFO] [1728917193.344420421]: * Advertised on topic /zedB/zed_node_B/rgb_raw/camera_info [ INFO] [1728917193.418327059]: * Advertised on topic /zedB/zed_node_B/left/image_rect_gray [ INFO] [1728917193.418530585]: * Advertised on topic /zedB/zed_node_B/left/camera_info [ INFO] [1728917193.517711614]: * Advertised on topic /zedB/zed_node_B/left_raw/image_raw_gray [ INFO] [1728917193.517949413]: * Advertised on topic /zedB/zed_node_B/left_raw/camera_info [ INFO] [1728917193.592290016]: * Advertised on topic /zedB/zed_node_B/right/image_rect_gray [ INFO] [1728917193.592870160]: * Advertised on topic /zedB/zed_node_B/right/camera_info [ INFO] [1728917193.672419193]: * Advertised on topic /zedB/zed_node_B/right_raw/image_raw_gray [ INFO] [1728917193.672804292]: * Advertised on topic /zedB/zed_node_B/right_raw/camera_info [ INFO] [1728917193.759073286]: * Advertised on topic /zedB/zed_node_B/stereo/image_rect_color [ INFO] [1728917193.855768711]: * Advertised on topic /zedB/zed_node_B/stereo_raw/image_raw_color [ INFO] [1728917193.998665982]: * Advertised on topic /zedB/zed_node_B/depth/depth_registered [ INFO] [1728917193.998874340]: * Advertised on topic /zedB/zed_node_B/depth/camera_info [ INFO] [1728917194.000649268]: * Advertised on topic /zedB/zed_node_B/confidence/confidence_map [ INFO] [1728917194.002174270]: * Advertised on topic /zedB/zed_node_B/disparity/disparity_image [ INFO] [1728917194.008058144]: * Advertised on topic /zedB/zed_node_B/point_cloud/cloud_registered [ INFO] [1728917194.017759306]: * Advertised on topic /zedB/zed_node_B/pose [ INFO] [1728917194.019752097]: * Advertised on topic /zedB/zed_node_B/pose_with_covari[ INFO] [1728917189.936177362]: ZED connection [LIVE CAMERA with ID 0]: SUCCESS [ INFO] [1728917191.936614340]: ... ZED ready [ INFO] [1728917191.936694694]: ZED SDK running on GPU #0 [ INFO] [1728917191.962491787]: * CAMERA MODEL -> ZED [ INFO] [1728917191.962529836]: * Serial Number: 3416087 [ INFO] [1728917191.962555693]: * Camera FW Version: 1523 [ INFO] [1728917192.040546348]: *** PUBLISHERS *** [ INFO] [1728917192.618196304]: * Advertised on topic /zedA/zed_node_A/rgb/image_rect_color [ INFO] [1728917192.618274578]: * Advertised on topic /zedA/zed_node_A/rgb/camera_info [ INFO] [1728917192.782895870]: * Advertised on topic /zedA/zed_node_A/rgb_raw/image_raw_color [ INFO] [1728917192.783084131]: * Advertised on topic /zedA/zed_node_A/rgb_raw/camera_info [ INFO] [1728917192.939029121]: * Advertised on topic /zedA/zed_node_A/left/image_rect_color [ INFO] [1728917192.939394315]: * Advertised on topic /zedA/zed_node_A/left/camera_info [ INFO] [1728917193.103594827]: * Advertised on topic /zedA/zed_node_A/left_raw/image_raw_color [ INFO] [1728917193.103680142]: * Advertised on topic /zedA/zed_node_A/left_raw/camera_info [ INFO] [1728917193.247254807]: * Advertised on topic /zedA/zed_node_A/right/image_rect_color [ INFO] [1728917193.247354490]: * Advertised on topic /zedA/zed_node_A/right/camera_info [ INFO] [1728917193.336645999]: * Advertised on topic /zedA/zed_node_A/right_raw/image_raw_color [ INFO] [1728917193.336732081]: * Advertised on topic /zedA/zed_node_A/right_raw/camera_info [ INFO] [1728917193.410640576]: * Advertised on topic /zedA/zed_node_A/rgb/image_rect_gray [ INFO] [1728917193.410728483]: * Advertised on topic /zedA/zed_node_A/rgb/camera_info [ INFO] [1728917193.493291711]: * Advertised on topic /zedA/zed_node_A/rgb_raw/image_raw_gray [ INFO] [1728917193.493379682]: * Advertised on topic /zedA/zed_node_A/rgb_raw/camera_info [ INFO] [1728917193.576358794]: * Advertised on topic /zedA/zed_node_A/left/image_rect_gray [ INFO] [1728917193.576451340]: * Advertised on topic /zedA/zed_node_A/left/camera_info [ INFO] [1728917193.656442178]: * Advertised on topic /zedA/zed_node_A/left_raw/image_raw_gray [ INFO] [1728917193.656708522]: * Advertised on topic /zedA/zed_node_A/left_raw/camera_info [ INFO] [1728917193.748979121]: * Advertised on topic /zedA/zed_node_A/right/image_rect_gray [ INFO] [1728917193.749186583]: * Advertised on topic /zedA/zed_node_A/right/camera_info [ INFO] [1728917193.835421720]: * Advertised on topic /zedA/zed_node_A/right_raw/image_raw_gray [ INFO] [1728917193.835531995]: * Advertised on topic /zedA/zed_node_A/right_raw/camera_info [ INFO] [1728917193.956825568]: * Advertised on topic /zedA/zed_node_A/stereo/image_rect_color [ INFO] [1728917194.124320410]: * Advertised on topic /zedA/zed_node_A/stereo_raw/image_raw_color [ INFO] [1728917194.233632853]: * Advertised on topic /zedA/zed_node_A/depth/depth_registered [ INFO] [1728917194.233782873]: * Advertised on topic /zedA/zed_node_A/depth/camera_info [ INFO] [1728917194.236956400]: * Advertised on topic /zedA/zed_node_A/confidence/confidence_map [ INFO] [1728917194.239428756]: * Advertised on topic /zedA/zed_node_A/disparity/disparity_image [ INFO] [1728917194.241037952]: * Advertised on topic /zedA/zed_node_A/point_cloud/cloud_registered [ INFO] [1728917194.242695150]: * Advertised on topic /zedA/zed_node_A/pose [ INFO] [1728917194.243882063]: * Advertised on topic /zedA/zed_node_A/pose_with_covariance [ INFO] [1728917194.248027040]: * Advertised on topic /zedA/zed_node_A/odom [ INFO] [1728917194.250864398]: * Advertised on topic /zedA/zed_node_A/odom/status [ INFO] [1728917194.252085200]: * Advertised on topic /zedA/zed_node_A/pose/status [ INFO] [172891ance [ INFO] [1728917194.021889724]: * Advertised on topic /zedB/zed_node_B/odom [ INFO] [1728917194.022857622]: * Advertised on topic /zedB/zed_node_B/odom/status [ INFO] [1728917194.031627335]: * Advertised on topic /zedB/zed_node_B/pose/status [ INFO] [1728917194.033743810]: * Advertised on topic /zedB/zed_node_B/path_odom [ INFO] [1728917194.038307711]: * Advertised on topic /zedB/zed_node_B/path_map [ INFO] [1728917194.040265589]: * Advertised on topic /zedB/zed_node_B/imu/data [ INFO] [1728917194.041422068]: * Advertised on topic /zedB/zed_node_B/imu/data_raw [ INFO] [1728917194.043151716]: * Advertised on topic /zedB/zed_node_B/temperature/imu [ INFO] [1728917194.047035311]: * Advertised on topic /zedB/zed_node_B/imu/mag [ INFO] [1728917194.052639209]: * Advertised on topic /zedB/zed_node_B/atm_press [ INFO] [1728917194.056962111]: * Advertised on topic /zedB/zed_node_B/temperature/left [ INFO] [1728917194.058273443]: * Advertised on topic /zedB/zed_node_B/temperature/right [ INFO] [1728917194.060228889]: * Advertised on topic /zedB/zed_node_B/left_cam_imu_transform [LATCHED] [ INFO] [1728917194.060365245]: *** SUBSCRIBERS *** [ INFO] [1728917194.081269019]: * Subscribed to topic /clicked_point [ INFO] [1728917194.081400543]: *** SERVICES *** [ INFO] [1728917194.086206403]: * Advertised on service /zedB/zed_node_B/set_pose [ INFO] [1728917194.092109317]: * Advertised on service /zedB/zed_node_B/reset_odometry [ INFO] [1728917194.123832428]: * Advertised on service /zedB/zed_node_B/reset_tracking [ INFO] [1728917194.125718656]: * Advertised on service /zedB/zed_node_B/save_area_memory [ INFO] [1728917194.127032804]: * Advertised on service /zedB/zed_node_B/start_3d_mapping [ INFO] [1728917194.128255846]: * Advertised on service /zedB/zed_node_B/stop_3d_mapping [ INFO] [1728917194.133947490]: * Advertised on service /zedB/zed_node_B/save_3d_map [ INFO] [1728917194.136463335]: * Advertised on service /zedB/zed_node_B/enable_object_detection [ INFO] [1728917194.137810380]: * Advertised on service /zedB/zed_node_B/start_svo_recording [ INFO] [1728917194.139038510]: * Advertised on service /zedB/zed_node_B/stop_svo_recording [ INFO] [1728917194.141079238]: * Advertised on service /zedB/zed_node_B/set_led_status [ INFO] [1728917194.145142518]: * Advertised on service /zedB/zed_node_B/toggle_led [ INFO] [1728917194.153035631]: * Advertised on service /zedB/zed_node_B/start_remote_stream [ INFO] [1728917194.168994949]: * Advertised on service /zedB/zed_node_B/stop_remote_stream [ INFO] [1728917194.171663759]: * Advertised on service /zedB/zed_node_B/set_roi [ INFO] [1728917194.173534786]: * Advertised on service /zedB/zed_node_B/set_roi [ INFO] [1728917194.174755939]: +++ ZED Node started +++ [ INFO] [1728917194.179483749]: *** Starting Positional Tracking *** [ INFO] [1728917194.179595816]: * Waiting for valid static transformations... [ INFO] [1728917194.179829423]: Static transform Sensor to Base [zedB_left_camera_frame -> base_link] [ INFO] [1728917194.179888240]: * Translation: {-0.024,0.220,-0.035} [ INFO] [1728917194.179927538]: * Rotation: {180.000,-60.515,180.000} [ INFO] [1728917194.179994227]: Static transform Sensor to Camera Center [zedB_left_camera_frame -> zedB_camera_center] [ INFO] [1728917194.180034260]: * Translation: {0.010,-0.060,0.000} [ INFO] [1728917194.180072918]: * Rotation: {0.000,-0.000,0.000} [ INFO] [1728917194.180125463]: Static transform Camera Center to Base [zedB_camera_center -> base_link] [ INFO] [1728917194.180172792]: * Translation: {-0.034,0.280,-0.035} [ INFO] [1728917194.180219610]: * Rotation: {180.000,-60.515,180.000} [ INFO] [1728917194.680474025]: Initial ZED left camera pose (ZED pos. tra7194.253960451]: * Advertised on topic /zedA/zed_node_A/path_odom [ INFO] [1728917194.263790481]: * Advertised on topic /zedA/zed_node_A/path_map [ INFO] [1728917194.264232158]: *** SUBSCRIBERS *** [ INFO] [1728917194.272862699]: * Subscribed to topic /clicked_point [ INFO] [1728917194.272986222]: *** SERVICES *** [ INFO] [1728917194.273847750]: * Advertised on service /zedA/zed_node_A/set_pose [ INFO] [1728917194.275580597]: * Advertised on service /zedA/zed_node_A/reset_odometry [ INFO] [1728917194.276925850]: * Advertised on service /zedA/zed_node_A/reset_tracking [ INFO] [1728917194.279805897]: * Advertised on service /zedA/zed_node_A/save_area_memory [ INFO] [1728917194.282410097]: * Advertised on service /zedA/zed_node_A/start_3d_mapping [ INFO] [1728917194.285212030]: * Advertised on service /zedA/zed_node_A/stop_3d_mapping [ INFO] [1728917194.296724058]: * Advertised on service /zedA/zed_node_A/save_3d_map [ INFO] [1728917194.298882486]: * Advertised on service /zedA/zed_node_A/enable_object_detection [ INFO] [1728917194.299887857]: * Advertised on service /zedA/zed_node_A/start_svo_recording [ INFO] [1728917194.301732868]: * Advertised on service /zedA/zed_node_A/stop_svo_recording [ INFO] [1728917194.302901572]: * Advertised on service /zedA/zed_node_A/set_led_status [ INFO] [1728917194.303974849]: * Advertised on service /zedA/zed_node_A/toggle_led [ INFO] [1728917194.305016158]: * Advertised on service /zedA/zed_node_A/start_remote_stream [ INFO] [1728917194.305997593]: * Advertised on service /zedA/zed_node_A/stop_remote_stream [ INFO] [1728917194.306762830]: * Advertised on service /zedA/zed_node_A/set_roi [ INFO] [1728917194.307922190]: * Advertised on service /zedA/zed_node_A/set_roi [ INFO] [1728917194.308442396]: +++ ZED Node started +++ [ INFO] [1728917194.309976454]: *** Starting Positional Tracking *** [ INFO] [1728917194.310074921]: * Waiting for valid static transformations... [ INFO] [1728917194.310265422]: Static transform Sensor to Base [zedA_left_camera_frame -> base_link] [ INFO] [1728917194.310321072]: * Translation: {0.011,-0.060,-0.015} [ INFO] [1728917194.310373905]: * Rotation: {0.000,-2.865,0.000} [ INFO] [1728917194.310456628]: Static transform Sensor to Camera Center [zedA_left_camera_frame -> zedA_camera_center] [ INFO] [1728917194.310493877]: * Translation: {0.010,-0.060,0.000} [ INFO] [1728917194.310520821]: * Rotation: {0.000,-0.000,0.000} [ INFO] [1728917194.310573879]: Static transform Camera Center to Base [zedA_camera_center -> base_link] [ INFO] [1728917194.310612504]: * Translation: {0.001,0.000,-0.015} [ INFO] [1728917194.310671769]: * Rotation: {0.000,-2.865,0.000} [ INFO] [1728917194.810899144]: Initial ZED left camera pose (ZED pos. tracking):  [ INFO] [1728917194.811183504]: * T: [-0.0099875,0.06,0.0154998] [ INFO] [1728917194.811287795]: * Q: [0,0.0249974,0,0.999688] [2024-10-14 14:46:40 UTC][ZED][WARNING] Factory calibration bias is not set, disabling safety guard for IMU initialization