[INFO] [launch]: All log files can be found below /opt/bg/ws/.ros/log/2025-06-25-16-14-44-396994-23774f7509e2-11807 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [launch.user]: Using common configuration file: /opt/bg/ws/install/share/zed_wrapper/config/common_stereo.yaml [INFO] [launch.user]: Using camera configuration file: /opt/bg/ws/install/share/zed_wrapper/config/zed2i.yaml [INFO] [launch.user]: Using FFMPEG configuration file: /opt/bg/ws/install/share/zed_wrapper/config/ffmpeg.yaml [INFO] [launch.user]: Loading ZED node `base` in container `/zed_camera/base_container` [INFO] [component_container_isolated-1]: process started with pid [12939] [component_container_isolated-1] [INFO] [1750882484.746667332] [zed_camera.base_container]: Load Library: /opt/bg/ws/install/lib/libzed_camera_component.so [component_container_isolated-1] [INFO] [1750882484.759187680] [zed_camera.base_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_isolated-1] [INFO] [1750882484.759204355] [zed_camera.base_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [component_container_isolated-1] [INFO] [1750882484.853805283] [zed_camera.base]: ******************************** [component_container_isolated-1] [INFO] [1750882484.853828118] [zed_camera.base]: ZED Camera Component [component_container_isolated-1] [INFO] [1750882484.853831824] [zed_camera.base]: ******************************** [component_container_isolated-1] [INFO] [1750882484.853835850] [zed_camera.base]: * namespace: /zed_camera [component_container_isolated-1] [INFO] [1750882484.853839615] [zed_camera.base]: * node name: base [component_container_isolated-1] [INFO] [1750882484.853842730] [zed_camera.base]: ******************************** [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/zed_camera/base' in container '/zed_camera/base_container' [component_container_isolated-1] [INFO] [1750882484.903965476] [zed_camera.base]: *** DEBUG parameters *** [component_container_isolated-1] [INFO] [1750882484.904082453] [zed_camera.base]: * SDK Verbose: 1 [component_container_isolated-1] [INFO] [1750882484.904110515] [zed_camera.base]: * SDK Verbose File: [component_container_isolated-1] [INFO] [1750882484.904125498] [zed_camera.base]: * Debug Common: FALSE [component_container_isolated-1] [INFO] [1750882484.904136044] [zed_camera.base]: * Debug Simulation: FALSE [component_container_isolated-1] [INFO] [1750882484.904146500] [zed_camera.base]: * Debug Video/Depth: FALSE [component_container_isolated-1] [INFO] [1750882484.904158618] [zed_camera.base]: * Debug Control settings: FALSE [component_container_isolated-1] [INFO] [1750882484.904166039] [zed_camera.base]: * Debug Point Cloud: FALSE [component_container_isolated-1] [INFO] [1750882484.904174202] [zed_camera.base]: * Debug GNSS: FALSE [component_container_isolated-1] [INFO] [1750882484.904194773] [zed_camera.base]: * Debug Positional Tracking: FALSE [component_container_isolated-1] [INFO] [1750882484.904205719] [zed_camera.base]: * Debug sensors: FALSE [component_container_isolated-1] [INFO] [1750882484.904216826] [zed_camera.base]: * Debug Mapping: FALSE [component_container_isolated-1] [INFO] [1750882484.904225008] [zed_camera.base]: * Debug Object Detection: FALSE [component_container_isolated-1] [INFO] [1750882484.904244097] [zed_camera.base]: * Debug Body Tracking: FALSE [component_container_isolated-1] [INFO] [1750882484.904263777] [zed_camera.base]: * Debug Streaming: FALSE [component_container_isolated-1] [INFO] [1750882484.904283757] [zed_camera.base]: * Debug ROI: FALSE [component_container_isolated-1] [INFO] [1750882484.904302956] [zed_camera.base]: * Debug Advanced: FALSE [component_container_isolated-1] [INFO] [1750882484.904332501] [zed_camera.base]: *** SVO INPUT parameters *** [component_container_isolated-1] [INFO] [1750882484.904345060] [zed_camera.base]: *** LOCAL STREAMING parameters *** [component_container_isolated-1] [INFO] [1750882484.904356237] [zed_camera.base]: *** GENERAL parameters *** [component_container_isolated-1] [INFO] [1750882484.904377729] [zed_camera.base]: * Camera model: zed2i - ZED 2i [component_container_isolated-1] [INFO] [1750882484.904389627] [zed_camera.base]: * Camera name: base [component_container_isolated-1] [INFO] [1750882484.904400524] [zed_camera.base]: * Camera SN: 32929916 [component_container_isolated-1] [INFO] [1750882484.904410869] [zed_camera.base]: * Camera ID: -1 [component_container_isolated-1] [INFO] [1750882484.904434525] [zed_camera.base]: * Camera timeout [sec]: 5 [component_container_isolated-1] [INFO] [1750882484.904443108] [zed_camera.base]: * Camera reconnection temptatives: 5 [component_container_isolated-1] [INFO] [1750882484.904457290] [zed_camera.base]: * Camera framerate: 60 [component_container_isolated-1] [INFO] [1750882484.904466604] [zed_camera.base]: * GPU ID: -1 [component_container_isolated-1] [INFO] [1750882484.904487635] [zed_camera.base]: * Asynchronous image retrieval: FALSE [component_container_isolated-1] [INFO] [1750882484.904506043] [zed_camera.base]: * Image Validity Check: ENABLED [component_container_isolated-1] [INFO] [1750882484.904539053] [zed_camera.base]: * Camera resolution: HD720 [component_container_isolated-1] [INFO] [1750882484.904553665] [zed_camera.base]: * Publishing resolution: CUSTOM [component_container_isolated-1] [INFO] [1750882484.904576670] [zed_camera.base]: * Publishing downscale factor: 2 [component_container_isolated-1] [INFO] [1750882484.904588388] [zed_camera.base]: * OpenCV custom calibration: [component_container_isolated-1] [INFO] [1750882484.904595759] [zed_camera.base]: * Camera self calibration: TRUE [component_container_isolated-1] [INFO] [1750882484.904607156] [zed_camera.base]: * Camera flip: FALSE [component_container_isolated-1] [INFO] [1750882484.904617231] [zed_camera.base]: * [DYN] Publish framerate [Hz]: 60 [component_container_isolated-1] [INFO] [1750882484.904621918] [zed_camera.base]: *** VIDEO parameters *** [component_container_isolated-1] [INFO] [1750882484.904635188] [zed_camera.base]: * [DYN] Brightness: 4 [component_container_isolated-1] [INFO] [1750882484.904645494] [zed_camera.base]: * [DYN] Contrast: 4 [component_container_isolated-1] [INFO] [1750882484.904677663] [zed_camera.base]: * [DYN] Hue: 0 [component_container_isolated-1] [INFO] [1750882484.904685164] [zed_camera.base]: * [DYN] Saturation: 4 [component_container_isolated-1] [INFO] [1750882484.904695810] [zed_camera.base]: * [DYN] Sharpness: 4 [component_container_isolated-1] [INFO] [1750882484.904705084] [zed_camera.base]: * [DYN] Gamma: 8 [component_container_isolated-1] [INFO] [1750882484.904722150] [zed_camera.base]: * [DYN] Auto Exposure/Gain: TRUE [component_container_isolated-1] [INFO] [1750882484.904736071] [zed_camera.base]: * [DYN] Exposure: 80 [component_container_isolated-1] [INFO] [1750882484.904745956] [zed_camera.base]: * [DYN] Gain: 80 [component_container_isolated-1] [INFO] [1750882484.904755370] [zed_camera.base]: * [DYN] Auto White Balance: TRUE [component_container_isolated-1] [INFO] [1750882484.904773958] [zed_camera.base]: * [DYN] White Balance Temperature: 42 [component_container_isolated-1] [INFO] [1750882484.904779126] [zed_camera.base]: *** DEPTH parameters *** [component_container_isolated-1] [INFO] [1750882484.904806898] [zed_camera.base]: * Depth mode: NEURAL PLUS [6] [component_container_isolated-1] [INFO] [1750882484.904817464] [zed_camera.base]: * Min depth [m]: 0.2 [component_container_isolated-1] [INFO] [1750882484.904828350] [zed_camera.base]: * Max depth [m]: 2 [component_container_isolated-1] [INFO] [1750882484.904839307] [zed_camera.base]: * Depth Stabilization: 0 [component_container_isolated-1] [INFO] [1750882484.904848952] [zed_camera.base]: * OpenNI mode (16bit point cloud): FALSE [component_container_isolated-1] [INFO] [1750882484.904868651] [zed_camera.base]: * [DYN] Point cloud rate [Hz]: 15 [component_container_isolated-1] [INFO] [1750882484.904884706] [zed_camera.base]: * Point cloud resolution: COMPACT [component_container_isolated-1] [INFO] [1750882484.904896263] [zed_camera.base]: * [DYN] Depth Confidence: 95 [component_container_isolated-1] [INFO] [1750882484.904909203] [zed_camera.base]: * [DYN] Depth Texture Confidence: 100 [component_container_isolated-1] [INFO] [1750882484.904919178] [zed_camera.base]: * [DYN] Remove saturated areas: TRUE [component_container_isolated-1] [INFO] [1750882484.904929774] [zed_camera.base]: * Trigger timeout [sec]: 3 [component_container_isolated-1] [INFO] [1750882484.904959429] [zed_camera.base]: * GNSS fusion enabled: FALSE [component_container_isolated-1] [INFO] [1750882484.904978718] [zed_camera.base]: * Positional tracking enabled: FALSE [component_container_isolated-1] [INFO] [1750882484.904999579] [zed_camera.base]: * Positional tracking mode: GEN 1 [component_container_isolated-1] [INFO] [1750882484.905012599] [zed_camera.base]: * Map frame id: map [component_container_isolated-1] [INFO] [1750882484.905050647] [zed_camera.base]: * [DYN] Depth minimum range: 0 [component_container_isolated-1] [INFO] [1750882484.905101233] [zed_camera.base]: * Initial pose: [0,0,0,0,0,0,] [component_container_isolated-1] [INFO] [1750882484.905137268] [zed_camera.base]: * Camera is static: FALSE [component_container_isolated-1] [INFO] [1750882484.905204239] [zed_camera.base]: * Reset pose with SVO loop: TRUE [component_container_isolated-1] [INFO] [1750882484.905243859] [zed_camera.base]: * Manual ROI polygon: [] [component_container_isolated-1] [INFO] [1750882484.905314085] [zed_camera.base]: * Spatial Mapping Enabled: FALSE [component_container_isolated-1] [INFO] [1750882484.905391352] [zed_camera.base]: * Plane Det. Normals Sim. Thresh.: 15 [component_container_isolated-1] [INFO] [1750882484.905460967] [zed_camera.base]: * Object Det. min. confidence: 75 [component_container_isolated-1] [INFO] [1750882484.905484463] [zed_camera.base]: * Object Det. tracking: TRUE [component_container_isolated-1] [INFO] [1750882484.905523261] [zed_camera.base]: * MultiClassBox vehicles: TRUE [component_container_isolated-1] [INFO] [1750882484.905560778] [zed_camera.base]: * MultiClassBox electronics: TRUE [component_container_isolated-1] [INFO] [1750882484.905588860] [zed_camera.base]: *** Body Track. parameters *** [component_container_isolated-1] [INFO] [1750882484.905680609] [zed_camera.base]: * Body Track. KP selection: FULL [component_container_isolated-1] [INFO] [1750882484.905698236] [zed_camera.base]: * Body fitting: FALSE [component_container_isolated-1] [INFO] [1750882484.905723704] [zed_camera.base]: * Body Track. prediction timeout [sec]: 0.5 [component_container_isolated-1] [INFO] [1750882484.905749944] [zed_camera.base]: * Body Track. min. KP thresh.: 5 [component_container_isolated-1] [INFO] [1750882484.905806660] [zed_camera.base]: * Stream bitrate: 12500 [component_container_isolated-1] [INFO] [1750882484.905886470] [zed_camera.base]: * Thread sched. policy: SCHED_BATCH [component_container_isolated-1] [INFO] [1750882484.907570276] [zed_camera.base]: *** SERVICES *** [component_container_isolated-1] [INFO] [1750882484.907897811] [zed_camera.base]: * '/zed_camera/base/toggle_depth' [component_container_isolated-1] [INFO] [1750882484.908107538] [zed_camera.base]: * '/zed_camera/base/reset_odometry' [component_container_isolated-1] [INFO] [1750882484.908277445] [zed_camera.base]: * '/zed_camera/base/reset_pos_tracking' [component_container_isolated-1] [INFO] [1750882484.908696108] [zed_camera.base]: * '/zed_camera/base/set_pose' [component_container_isolated-1] [INFO] [1750882484.908864202] [zed_camera.base]: * '/zed_camera/base/enable_obj_det' [component_container_isolated-1] [INFO] [1750882484.909034629] [zed_camera.base]: * '/zed_camera/base/enable_body_trk' [component_container_isolated-1] [INFO] [1750882484.909200120] [zed_camera.base]: * '/zed_camera/base/enable_mapping' [component_container_isolated-1] [INFO] [1750882484.909362505] [zed_camera.base]: * '/zed_camera/base/enable_streaming' [component_container_isolated-1] [INFO] [1750882484.909544140] [zed_camera.base]: * '/zed_camera/base/start_svo_rec' [component_container_isolated-1] [INFO] [1750882484.909713496] [zed_camera.base]: * '/zed_camera/base/stop_svo_rec' [component_container_isolated-1] [INFO] [1750882484.909894630] [zed_camera.base]: * '/zed_camera/base/set_roi' [component_container_isolated-1] [INFO] [1750882484.910073791] [zed_camera.base]: * '/zed_camera/base/reset_roi' [component_container_isolated-1] [INFO] [1750882484.910088122] [zed_camera.base]: ***** STARTING CAMERA ***** [component_container_isolated-1] [INFO] [1750882485.040362292] [zed_camera.base]: ZED SDK Version: 5.0.2 - Build 101646_9958ea55 [component_container_isolated-1] [INFO] [1750882485.042142844] [zed_camera.base]: *** CAMERA OPENING *** [component_container_isolated-1] [2025-06-25 20:14:45 UTC][ZED][INFO] Logging level INFO [component_container_isolated-1] [2025-06-25 20:14:46 UTC][ZED][INFO] [Init] Depth mode: NEURAL PLUS [component_container_isolated-1] [2025-06-25 20:14:48 UTC][ZED][INFO] [Init] Camera successfully opened. [component_container_isolated-1] [2025-06-25 20:14:48 UTC][ZED][INFO] [Init] Camera FW version: 1523 [component_container_isolated-1] [2025-06-25 20:14:48 UTC][ZED][INFO] [Init] Video mode: HD720@60 [component_container_isolated-1] [2025-06-25 20:14:48 UTC][ZED][INFO] [Init] Serial Number: S/N 32929916 [component_container_isolated-1] [INFO] [1750882488.422360253] [zed_camera.base]: ZED SDK running on GPU #0 [component_container_isolated-1] [INFO] [1750882488.422410509] [zed_camera.base]: * Camera Model -> ZED 2i [component_container_isolated-1] [INFO] [1750882488.422415287] [zed_camera.base]: * Serial Number -> 32929916 [component_container_isolated-1] [INFO] [1750882488.422471522] [zed_camera.base]: * Focal Lenght -> 2.13538 mm [component_container_isolated-1] [INFO] [1750882488.422479033] [zed_camera.base]: * Input -> USB [component_container_isolated-1] [INFO] [1750882488.422483991] [zed_camera.base]: * Camera FW Version -> 1523 [component_container_isolated-1] [INFO] [1750882488.422487696] [zed_camera.base]: * Sensors FW Version -> 777 [component_container_isolated-1] [INFO] [1750882488.422492453] [zed_camera.base]: * Camera grab size -> 1280x720 [component_container_isolated-1] [INFO] [1750882488.422497160] [zed_camera.base]: * Color/Depth publishing size -> 640x360 [component_container_isolated-1] [INFO] [1750882488.422500986] [zed_camera.base]: * Point Cloud publishing size -> 448x256 [component_container_isolated-1] [INFO] [1750882488.422521978] [zed_camera.base]: *** TF FRAMES *** [component_container_isolated-1] [INFO] [1750882488.422525774] [zed_camera.base]: * Map -> map [component_container_isolated-1] [INFO] [1750882488.422529219] [zed_camera.base]: * Odometry -> odom [component_container_isolated-1] [INFO] [1750882488.422532484] [zed_camera.base]: * Base -> base_camera_link [component_container_isolated-1] [INFO] [1750882488.422535548] [zed_camera.base]: * Camera -> base_camera_center [component_container_isolated-1] [INFO] [1750882488.422538934] [zed_camera.base]: * Left -> base_left_camera_frame [component_container_isolated-1] [INFO] [1750882488.422542098] [zed_camera.base]: * Left Optical -> base_left_camera_optical_frame [component_container_isolated-1] [INFO] [1750882488.422545363] [zed_camera.base]: * RGB -> base_left_camera_frame [component_container_isolated-1] [INFO] [1750882488.422548378] [zed_camera.base]: * RGB Optical -> base_left_camera_optical_frame [component_container_isolated-1] [INFO] [1750882488.422551503] [zed_camera.base]: * Right -> base_right_camera_frame [component_container_isolated-1] [INFO] [1750882488.422554577] [zed_camera.base]: * Right Optical -> base_right_camera_optical_frame [component_container_isolated-1] [INFO] [1750882488.422557682] [zed_camera.base]: * Depth -> base_left_camera_frame [component_container_isolated-1] [INFO] [1750882488.422560646] [zed_camera.base]: * Depth Optical -> base_left_camera_optical_frame [component_container_isolated-1] [INFO] [1750882488.422563701] [zed_camera.base]: * Point Cloud -> base_left_camera_optical_frame [component_container_isolated-1] [INFO] [1750882488.422566625] [zed_camera.base]: * Disparity -> base_left_camera_frame [component_container_isolated-1] [INFO] [1750882488.422569630] [zed_camera.base]: * Disparity Optical -> base_left_camera_optical_frame [component_container_isolated-1] [INFO] [1750882488.422603601] [zed_camera.base]: * Confidence -> base_left_camera_frame [component_container_isolated-1] [INFO] [1750882488.422606986] [zed_camera.base]: * Confidence Optical -> base_left_camera_optical_frame [component_container_isolated-1] [INFO] [1750882488.422610041] [zed_camera.base]: * IMU -> base_imu_link [component_container_isolated-1] [INFO] [1750882488.422613236] [zed_camera.base]: * Barometer -> base_camera_center [component_container_isolated-1] [INFO] [1750882488.422616311] [zed_camera.base]: * Magnetometer -> base_imu_link [component_container_isolated-1] [INFO] [1750882488.422619415] [zed_camera.base]: * Left Temperature -> base_left_camera_frame [component_container_isolated-1] [INFO] [1750882488.422622390] [zed_camera.base]: * Right Temperature -> base_right_camera_frame [component_container_isolated-1] [INFO] [1750882488.422642260] [zed_camera.base]: *** PUBLISHED TOPICS *** [component_container_isolated-1] [INFO] [1750882488.423356410] [zed_camera.base]: Advertised on topic: /zed_camera/base/status/health [component_container_isolated-1] [INFO] [1750882488.423630474] [zed_camera.base]: Advertised on topic: /zed_camera/base/status/heartbeat [component_container_isolated-1] [INFO] [1750882488.497390483] [FFMPEGPublisher]: using encoder: libx264 [component_container_isolated-1] [INFO] [1750882488.502715213] [zed_camera.base]: Advertised on topic: /zed_camera/base/rgb/image_rect_color [component_container_isolated-1] [INFO] [1750882488.502755644] [zed_camera.base]: Advertised on topic: /zed_camera/base/rgb/camera_info [component_container_isolated-1] [INFO] [1750882488.503903820] [FFMPEGPublisher]: using encoder: libx264 [component_container_isolated-1] [INFO] [1750882488.505174491] [zed_camera.base]: Advertised on topic: /zed_camera/base/rgb_gray/image_rect_gray [component_container_isolated-1] [INFO] [1750882488.505189985] [zed_camera.base]: Advertised on topic: /zed_camera/base/rgb_gray/camera_info [component_container_isolated-1] [INFO] [1750882488.505639254] [FFMPEGPublisher]: using encoder: libx264 [component_container_isolated-1] [INFO] [1750882488.506313624] [zed_camera.base]: Advertised on topic: /zed_camera/base/rgb_raw/image_raw_color [component_container_isolated-1] [INFO] [1750882488.506325972] [zed_camera.base]: Advertised on topic: /zed_camera/base/rgb_raw/camera_info [component_container_isolated-1] [INFO] [1750882488.506761300] [FFMPEGPublisher]: using encoder: libx264 [component_container_isolated-1] [INFO] [1750882488.507881254] [zed_camera.base]: Advertised on topic: /zed_camera/base/rgb_raw_gray/image_raw_gray [component_container_isolated-1] [INFO] [1750882488.507896146] [zed_camera.base]: Advertised on topic: /zed_camera/base/rgb_raw_gray/camera_info [component_container_isolated-1] [INFO] [1750882488.508349021] [FFMPEGPublisher]: using encoder: libx264 [component_container_isolated-1] [INFO] [1750882488.509601344] [zed_camera.base]: Advertised on topic: /zed_camera/base/left/image_rect_color [component_container_isolated-1] [INFO] [1750882488.509655757] [zed_camera.base]: Advertised on topic: /zed_camera/base/left/camera_info [component_container_isolated-1] [INFO] [1750882488.510678142] [FFMPEGPublisher]: using encoder: libx264 [component_container_isolated-1] [INFO] [1750882488.511939129] [zed_camera.base]: Advertised on topic: /zed_camera/base/left_gray/image_rect_gray [component_container_isolated-1] [INFO] [1750882488.512001543] [zed_camera.base]: Advertised on topic: /zed_camera/base/left_gray/camera_info [component_container_isolated-1] [INFO] [1750882488.513024991] [FFMPEGPublisher]: using encoder: libx264 [component_container_isolated-1] [INFO] [1750882488.514315682] [zed_camera.base]: Advertised on topic: /zed_camera/base/left_raw/image_raw_color [component_container_isolated-1] [INFO] [1750882488.514402012] [zed_camera.base]: Advertised on topic: /zed_camera/base/left_raw/camera_info [component_container_isolated-1] [INFO] [1750882488.515417177] [FFMPEGPublisher]: using encoder: libx264 [component_container_isolated-1] [INFO] [1750882488.516656581] [zed_camera.base]: Advertised on topic: /zed_camera/base/left_raw_gray/image_raw_gray [component_container_isolated-1] [INFO] [1750882488.516791595] [zed_camera.base]: Advertised on topic: /zed_camera/base/left_raw_gray/camera_info [component_container_isolated-1] [INFO] [1750882488.517748292] [FFMPEGPublisher]: using encoder: libx264 [component_container_isolated-1] [INFO] [1750882488.519019754] [zed_camera.base]: Advertised on topic: /zed_camera/base/right/image_rect_color [component_container_isolated-1] [INFO] [1750882488.519057962] [zed_camera.base]: Advertised on topic: /zed_camera/base/right/camera_info [component_container_isolated-1] [INFO] [1750882488.520093007] [FFMPEGPublisher]: using encoder: libx264 [component_container_isolated-1] [INFO] [1750882488.521395155] [zed_camera.base]: Advertised on topic: /zed_camera/base/right_gray/image_rect_gray [component_container_isolated-1] [INFO] [1750882488.521452222] [zed_camera.base]: Advertised on topic: /zed_camera/base/right_gray/camera_info [component_container_isolated-1] [INFO] [1750882488.522482680] [FFMPEGPublisher]: using encoder: libx264 [component_container_isolated-1] [INFO] [1750882488.523861444] [zed_camera.base]: Advertised on topic: /zed_camera/base/right_raw/image_raw_color [component_container_isolated-1] [INFO] [1750882488.523905711] [zed_camera.base]: Advertised on topic: /zed_camera/base/right_raw/camera_info [component_container_isolated-1] [INFO] [1750882488.524972094] [FFMPEGPublisher]: using encoder: libx264 [component_container_isolated-1] [INFO] [1750882488.525966367] [zed_camera.base]: Advertised on topic: /zed_camera/base/right_raw_gray/image_raw_gray [component_container_isolated-1] [INFO] [1750882488.525979727] [zed_camera.base]: Advertised on topic: /zed_camera/base/right_raw_gray/camera_info [component_container_isolated-1] [INFO] [1750882488.526441195] [FFMPEGPublisher]: using encoder: libx264 [component_container_isolated-1] [INFO] [1750882488.527025488] [zed_camera.base]: Advertised on topic: /zed_camera/base/depth/depth_registered [component_container_isolated-1] [INFO] [1750882488.527036525] [zed_camera.base]: Advertised on topic: /zed_camera/base/depth/camera_info [component_container_isolated-1] [INFO] [1750882488.527289347] [zed_camera.base]: Advertised on topic: /zed_camera/base/depth/depth_info [component_container_isolated-1] [INFO] [1750882488.527675130] [FFMPEGPublisher]: using encoder: libx264 [component_container_isolated-1] [INFO] [1750882488.528167444] [zed_camera.base]: Advertised on topic: /zed_camera/base/stereo/image_rect_color [component_container_isolated-1] [INFO] [1750882488.528548320] [FFMPEGPublisher]: using encoder: libx264 [component_container_isolated-1] [INFO] [1750882488.529036939] [zed_camera.base]: Advertised on topic: /zed_camera/base/stereo_raw/image_raw_color [component_container_isolated-1] [INFO] [1750882488.529181057] [zed_camera.base]: Advertised on topic: /zed_camera/base/confidence/confidence_map [component_container_isolated-1] [INFO] [1750882488.529661744] [zed_camera.base]: Advertised on topic: /zed_camera/base/disparity/disparity_image [component_container_isolated-1] [INFO] [1750882488.533249007] [zed_camera.base]: Advertised on topic: /zed_camera/base/point_cloud/cloud_registered [component_container_isolated-1] [INFO] [1750882488.533581029] [zed_camera.base]: Advertised on topic: /zed_camera/base/pose [component_container_isolated-1] [INFO] [1750882488.533819900] [zed_camera.base]: Advertised on topic: /zed_camera/base/pose/status [component_container_isolated-1] [INFO] [1750882488.534102938] [zed_camera.base]: Advertised on topic: /zed_camera/base/pose_with_covariance [component_container_isolated-1] [INFO] [1750882488.534652670] [zed_camera.base]: Advertised on topic: /zed_camera/base/odom [component_container_isolated-1] [INFO] [1750882488.534928447] [zed_camera.base]: Advertised on topic: /zed_camera/base/path_map [component_container_isolated-1] [INFO] [1750882488.535132405] [zed_camera.base]: Advertised on topic: /zed_camera/base/path_odom [component_container_isolated-1] [INFO] [1750882488.535820255] [zed_camera.base]: Advertised on topic: /zed_camera/plane_marker [component_container_isolated-1] [INFO] [1750882488.536240941] [zed_camera.base]: Advertised on topic: /zed_camera/plane [component_container_isolated-1] [INFO] [1750882488.536521745] [zed_camera.base]: Advertised on topic: /zed_camera/base/imu/data [component_container_isolated-1] [INFO] [1750882488.536710801] [zed_camera.base]: Advertised on topic: /zed_camera/base/imu/data_raw [component_container_isolated-1] [INFO] [1750882488.536957615] [zed_camera.base]: Advertised on topic: /zed_camera/base/temperature/imu [component_container_isolated-1] [INFO] [1750882488.537228103] [zed_camera.base]: Advertised on topic: /zed_camera/base/imu/mag [component_container_isolated-1] [INFO] [1750882488.537471341] [zed_camera.base]: Advertised on topic: /zed_camera/base/atm_press [component_container_isolated-1] [INFO] [1750882488.537659596] [zed_camera.base]: Advertised on topic: /zed_camera/base/temperature/left [component_container_isolated-1] [INFO] [1750882488.537850815] [zed_camera.base]: Advertised on topic: /zed_camera/base/temperature/right [component_container_isolated-1] [INFO] [1750882488.538062605] [zed_camera.base]: Advertised on topic: /zed_camera/base/left_cam_imu_transform [component_container_isolated-1] [INFO] [1750882488.538081644] [zed_camera.base]: Camera-IMU Translation: [component_container_isolated-1] 0.023061 -0.000217 -0.002 [component_container_isolated-1] [INFO] [1750882488.538107152] [zed_camera.base]: Camera-IMU Rotation: [component_container_isolated-1] 7133B27F9BF0 [component_container_isolated-1] 0.999934 -0.006544 0.009396 [component_container_isolated-1] 0.006561 0.999977 -0.001710 [component_container_isolated-1] -0.009384 0.001771 0.999954 [component_container_isolated-1] [component_container_isolated-1] [INFO] [1750882488.538115745] [zed_camera.base]: *** Subscribers *** [component_container_isolated-1] [INFO] [1750882488.538491393] [zed_camera.base]: * Plane detection: '/clicked_point' [component_container_isolated-1] [INFO] [1750882561.444954611] [zed_camera.base]: ** Start SVO Recording service called ** [component_container_isolated-1] [INFO] [1750882561.708776966] [zed_camera.base]: SVO Recording started: [component_container_isolated-1] [INFO] [1750882561.708818439] [zed_camera.base]: * Bitrate: 0 [component_container_isolated-1] [INFO] [1750882561.708829536] [zed_camera.base]: * Compression mode: H265 [component_container_isolated-1] [INFO] [1750882561.708833752] [zed_camera.base]: * Framerate: 60 [component_container_isolated-1] [INFO] [1750882561.708837578] [zed_camera.base]: * Input Transcode: FALSE [component_container_isolated-1] [INFO] [1750882561.708841634] [zed_camera.base]: * Filename: ./base.svo [component_container_isolated-1] [INFO] [1750882567.684451298] [zed_camera.base]: ** Stop SVO Recording service called ** [component_container_isolated-1] [ERROR] [1750882567.695411271] [zed_camera.base]: Critical camera error: CUDA ERROR. NODE KILLED. [component_container_isolated-1] [2025-06-25 20:16:07 UTC][ZED][WARNING] [Grab] CUDA error returned: invalid argument ( 1 ) [component_container_isolated-1] [2025-06-25 20:16:07 UTC][ZED][WARNING] CUDA ERROR in sl::ERROR_CODE sl::Camera::grab(sl::RuntimeParameters) [ERROR] [component_container_isolated-1]: process has died [pid 12939, exit code -11, cmd '/opt/ros/humble/lib/rclcpp_components/component_container_isolated --use_multi_threaded_executor --ros-args --log-level info --ros-args -r __node:=base_container -r __ns:=/zed_camera'].