[INFO] [launch]: All log files can be found below /home/rzr-admin/.ros/log/2025-11-12-13-21-24-006232-rzr-admin-132140 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [launch.user]: Using common configuration file: /home/rzr-admin/auto-rzr/install/zed_wrapper/share/zed_wrapper/config/common_stereo.yaml [INFO] [launch.user]: Using camera configuration file: /home/rzr-admin/auto-rzr/install/zed_wrapper/share/zed_wrapper/config/zedx.yaml [INFO] [launch.user]: Using Object Detection configuration file: /home/rzr-admin/auto-rzr/install/zed_wrapper/share/zed_wrapper/config/object_detection.yaml [INFO] [launch.user]: Using Custom Object Detection configuration file: /home/rzr-admin/auto-rzr/install/zed_wrapper/share/zed_wrapper/config/custom_object_detection.yaml [INFO] [launch.user]: Loading ZED node `zed_node` in container `/right/zed_container` [INFO] [robot_state_publisher-1]: process started with pid [132209] [INFO] [component_container_isolated-2]: process started with pid [132211] [robot_state_publisher-1] [INFO] [1762971684.622837464] [right.right_state_publisher]: got segment right_camera_center [robot_state_publisher-1] [INFO] [1762971684.622907819] [right.right_state_publisher]: got segment right_camera_link [robot_state_publisher-1] [INFO] [1762971684.622915383] [right.right_state_publisher]: got segment right_left_camera_frame [robot_state_publisher-1] [INFO] [1762971684.622920593] [right.right_state_publisher]: got segment right_left_camera_optical_frame [robot_state_publisher-1] [INFO] [1762971684.622925031] [right.right_state_publisher]: got segment right_right_camera_frame [robot_state_publisher-1] [INFO] [1762971684.622929219] [right.right_state_publisher]: got segment right_right_camera_optical_frame [component_container_isolated-2] [INFO] [1762971684.860863464] [right.zed_container]: Load Library: /home/rzr-admin/auto-rzr/install/zed_components/lib/libzed_camera_component.so [component_container_isolated-2] [INFO] [1762971684.906945521] [right.zed_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_isolated-2] [INFO] [1762971684.907004534] [right.zed_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [component_container_isolated-2] [INFO] [1762971685.106201353] [right.zed_node]: ================================ [component_container_isolated-2] [INFO] [1762971685.106234596] [right.zed_node]: ZED Camera Component  [component_container_isolated-2] [INFO] [1762971685.106241269] [right.zed_node]: ================================ [component_container_isolated-2] [INFO] [1762971685.106247331] [right.zed_node]: * namespace: /right [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/right/zed_node' in container '/right/zed_container' [component_container_isolated-2] [INFO] [1762971685.106253282] [right.zed_node]: * node name: zed_node [component_container_isolated-2] [INFO] [1762971685.106262149] [right.zed_node]: * IPC: enabled [component_container_isolated-2] [INFO] [1762971685.106268130] [right.zed_node]: ================================ [component_container_isolated-2] [INFO] [1762971685.156481214] [right.zed_node]: === DEBUG parameters === [component_container_isolated-2] [INFO] [1762971685.156798379] [right.zed_node]: * SDK Verbose: 1 [component_container_isolated-2] [INFO] [1762971685.156937093] [right.zed_node]: * Use Pub Timestamps: FALSE [component_container_isolated-2] [INFO] [1762971685.157059256] [right.zed_node]: * SDK Verbose File:  [component_container_isolated-2] [INFO] [1762971685.157167332] [right.zed_node]: * Debug Common: FALSE [component_container_isolated-2] [INFO] [1762971685.157266291] [right.zed_node]: * Debug Simulation: FALSE [component_container_isolated-2] [INFO] [1762971685.157385659] [right.zed_node]: * Debug Video/Depth: FALSE [component_container_isolated-2] [INFO] [1762971685.157500017] [right.zed_node]: * Debug Control settings: FALSE [component_container_isolated-2] [INFO] [1762971685.157616930] [right.zed_node]: * Debug Point Cloud: FALSE [component_container_isolated-2] [INFO] [1762971685.157771815] [right.zed_node]: * Debug GNSS: FALSE [component_container_isolated-2] [INFO] [1762971685.157902083] [right.zed_node]: * Debug Positional Tracking: FALSE [component_container_isolated-2] [INFO] [1762971685.158040677] [right.zed_node]: * Debug sensors: FALSE [component_container_isolated-2] [INFO] [1762971685.158185464] [right.zed_node]: * Debug Mapping: FALSE [component_container_isolated-2] [INFO] [1762971685.158311534] [right.zed_node]: * Debug Object Detection: FALSE [component_container_isolated-2] [INFO] [1762971685.158418528] [right.zed_node]: * Debug Body Tracking: FALSE [component_container_isolated-2] [INFO] [1762971685.158556030] [right.zed_node]: * Debug Streaming: FALSE [component_container_isolated-2] [INFO] [1762971685.158679435] [right.zed_node]: * Debug ROI: FALSE [component_container_isolated-2] [INFO] [1762971685.158788323] [right.zed_node]: * Debug Nitros: FALSE [component_container_isolated-2] [INFO] [1762971685.158918100] [right.zed_node]: * Debug Advanced: FALSE [component_container_isolated-2] [INFO] [1762971685.158966052] [right.zed_node]: === TOPIC selection parameters === [component_container_isolated-2] [INFO] [1762971685.159082023] [right.zed_node]: * Publish Status: TRUE [component_container_isolated-2] [INFO] [1762971685.159190309] [right.zed_node]: * Publish Left/Right images: FALSE [component_container_isolated-2] [INFO] [1762971685.159305248] [right.zed_node]: * Publish Raw images: FALSE [component_container_isolated-2] [INFO] [1762971685.159405500] [right.zed_node]: * Publish Gray images: FALSE [component_container_isolated-2] [INFO] [1762971685.159486504] [right.zed_node]: * Publish RGB image: TRUE [component_container_isolated-2] [INFO] [1762971685.159576325] [right.zed_node]: * Publish Stereo image: FALSE [component_container_isolated-2] [INFO] [1762971685.159656568] [right.zed_node]: * Publish ROI Mask image: FALSE [component_container_isolated-2] [INFO] [1762971685.159735569] [right.zed_node]: * Publish Depth Map: TRUE [component_container_isolated-2] [INFO] [1762971685.159840118] [right.zed_node]: * Publish Depth Info: FALSE [component_container_isolated-2] [INFO] [1762971685.159935821] [right.zed_node]: * Publish Point Cloud: TRUE [component_container_isolated-2] [INFO] [1762971685.160036833] [right.zed_node]: * Publish Depth Confidence: FALSE [component_container_isolated-2] [INFO] [1762971685.160125803] [right.zed_node]: * Publish Disparity: FALSE [component_container_isolated-2] [INFO] [1762971685.160211977] [right.zed_node]: * Publish IMU: TRUE [component_container_isolated-2] [INFO] [1762971685.160299224] [right.zed_node]: * Publish IMU Raw: FALSE [component_container_isolated-2] [INFO] [1762971685.160373665] [right.zed_node]: * Publish LeftCam/IMU Transf.: FALSE [component_container_isolated-2] [INFO] [1762971685.160446244] [right.zed_node]: * Publish Magnetometer: FALSE [component_container_isolated-2] [INFO] [1762971685.160519093] [right.zed_node]: * Publish Barometer: FALSE [component_container_isolated-2] [INFO] [1762971685.160604315] [right.zed_node]: * Publish Temperature: FALSE [component_container_isolated-2] [INFO] [1762971685.160678186] [right.zed_node]: * Publish Odometry/Pose: TRUE [component_container_isolated-2] [INFO] [1762971685.160760894] [right.zed_node]: * Publish Pose with Covariance: FALSE [component_container_isolated-2] [INFO] [1762971685.160844333] [right.zed_node]: * Publish Camera Path: FALSE [component_container_isolated-2] [INFO] [1762971685.160965454] [right.zed_node]: * Publish Detection Plane: FALSE [component_container_isolated-2] [INFO] [1762971685.161136380] [right.zed_node]: === SVO INPUT parameters === [component_container_isolated-2] [INFO] [1762971685.161294411] [right.zed_node]: === LOCAL STREAMING parameters === [component_container_isolated-2] [INFO] [1762971685.161589273] [right.zed_node]: * Local stream input: 192.168.16.175:30002 [component_container_isolated-2] [INFO] [1762971685.161615433] [right.zed_node]: === GENERAL parameters === [component_container_isolated-2] [INFO] [1762971685.161776610] [right.zed_node]: + Playing a network stream from a ZED X camera model. [component_container_isolated-2] [INFO] [1762971685.161809994] [right.zed_node]: * Camera model: zedx - ZED X [component_container_isolated-2] [INFO] [1762971685.161940984] [right.zed_node]: * Camera name: right [component_container_isolated-2] [INFO] [1762971685.162089317] [right.zed_node]: * Camera SN: 0 [component_container_isolated-2] [INFO] [1762971685.162224334] [right.zed_node]: * Camera ID: -1 [component_container_isolated-2] [INFO] [1762971685.162352949] [right.zed_node]: * Camera timeout [sec]: 5 [component_container_isolated-2] [INFO] [1762971685.162472467] [right.zed_node]: * Camera reconnection temptatives: 5 [component_container_isolated-2] [INFO] [1762971685.162576475] [right.zed_node]: * Camera framerate: 30 [component_container_isolated-2] [INFO] [1762971685.162670004] [right.zed_node]: * GPU ID: -1 [component_container_isolated-2] [INFO] [1762971685.162771918] [right.zed_node]: * Asynchronous image retrieval: FALSE [component_container_isolated-2] [INFO] [1762971685.162864214] [right.zed_node]: * Image Validity Check: 1 [component_container_isolated-2] [INFO] [1762971685.162983722] [right.zed_node]: * Camera resolution: HD1200 [component_container_isolated-2] [INFO] [1762971685.163080586] [right.zed_node]: * Publishing resolution: CUSTOM [component_container_isolated-2] [INFO] [1762971685.163203481] [right.zed_node]: * Publishing downscale factor: 2 [component_container_isolated-2] [INFO] [1762971685.163292230] [right.zed_node]: * OpenCV custom calibration:  [component_container_isolated-2] [INFO] [1762971685.163386059] [right.zed_node]: * Camera self calibration: TRUE [component_container_isolated-2] [INFO] [1762971685.163470109] [right.zed_node]: * Camera flip: FALSE [component_container_isolated-2] [INFO] [1762971685.163564048] [right.zed_node]: * Publish framerate [Hz]: 15 [component_container_isolated-2] [INFO] [1762971685.163600277] [right.zed_node]: === VIDEO parameters === [component_container_isolated-2] [INFO] [1762971685.163695639] [right.zed_node]: * Saturation: 4 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971685.163841657] [right.zed_node]: * Sharpness: 4 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971685.163994258] [right.zed_node]: * Gamma: 8 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971685.164145116] [right.zed_node]: * Auto Exposure/Gain: TRUE [DYNAMIC] [component_container_isolated-2] [INFO] [1762971685.164287938] [right.zed_node]: * Exposure: 80 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971685.164428446] [right.zed_node]: * Gain: 80 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971685.164553064] [right.zed_node]: * Auto White Balance: TRUE [DYNAMIC] [component_container_isolated-2] [INFO] [1762971685.164675317] [right.zed_node]: * White Balance Temperature: 42 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971685.164794835] [right.zed_node]: * ZED X Exposure time: 16000 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971685.164899514] [right.zed_node]: * ZED X Auto Exp. time range min: 28 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971685.164996078] [right.zed_node]: * ZED X Auto Exp. time range max: 30000 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971685.165080089] [right.zed_node]: * ZED X Exposure comp.: 50 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971685.165161404] [right.zed_node]: * ZED X Analog Gain: 1255 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971685.165288336] [right.zed_node]: * ZED X Auto Analog Gain range min: 1000 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971685.165424796] [right.zed_node]: * ZED X Auto Analog Gain range max: 16000 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971685.165530567] [right.zed_node]: * ZED X Digital Gain: 1 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971685.165647059] [right.zed_node]: * ZED X Auto Digital Gain range min: 1 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971685.165800071] [right.zed_node]: * ZED X Auto Digital Gain range max: 256 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971685.165897517] [right.zed_node]: * ZED X Auto Digital Gain range max: 50 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971685.165919569] [right.zed_node]: === DEPTH parameters === [component_container_isolated-2] [INFO] [1762971685.166045900] [right.zed_node]: * Depth mode: NEURAL LIGHT [4] [component_container_isolated-2] [INFO] [1762971685.166156000] [right.zed_node]: * Min depth [m]: 0.01 [component_container_isolated-2] [INFO] [1762971685.166249438] [right.zed_node]: * Max depth [m]: 15 [component_container_isolated-2] [INFO] [1762971685.166333157] [right.zed_node]: * Depth Stabilization: 30 [component_container_isolated-2] [INFO] [1762971685.166416136] [right.zed_node]: * OpenNI mode (16bit depth): FALSE [component_container_isolated-2] [INFO] [1762971685.166564038] [right.zed_node]: * Point cloud rate [Hz]: 10 [component_container_isolated-2] [INFO] [1762971685.166684547] [right.zed_node]: * Point cloud resolution: COMPACT [component_container_isolated-2] [INFO] [1762971685.166819956] [right.zed_node]: * Depth Confidence: 95 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971685.166913183] [right.zed_node]: * Depth Texture Confidence: 100 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971685.167006571] [right.zed_node]: * Remove saturated areas: TRUE [DYNAMIC] [component_container_isolated-2] [INFO] [1762971685.167039394] [right.zed_node]: === GNSS FUSION parameters === [component_container_isolated-2] [INFO] [1762971685.167149203] [right.zed_node]: * GNSS fusion enabled: FALSE [component_container_isolated-2] [INFO] [1762971685.167175393] [right.zed_node]: === POSITIONAL TRACKING parameters === [component_container_isolated-2] [INFO] [1762971685.167319127] [right.zed_node]: * Positional tracking enabled: TRUE [component_container_isolated-2] [INFO] [1762971685.167479403] [right.zed_node]: * Positional tracking mode: GEN 2 [component_container_isolated-2] [INFO] [1762971685.167641792] [right.zed_node]: * Map frame id: map [component_container_isolated-2] [INFO] [1762971685.167844329] [right.zed_node]: * Odometry frame id: odom [component_container_isolated-2] [INFO] [1762971685.167994004] [right.zed_node]: * Broadcast Odometry TF: TRUE [component_container_isolated-2] [INFO] [1762971685.168141555] [right.zed_node]: * Broadcast Pose TF: TRUE [component_container_isolated-2] [INFO] [1762971685.168293595] [right.zed_node]: * Depth minimum range: 0 [component_container_isolated-2] [INFO] [1762971685.168512673] [right.zed_node]: * TF timestamp offset: 0 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971685.168679832] [right.zed_node]: * Path publishing rate: 2 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971685.168835007] [right.zed_node]: * Path history lenght: -1 [component_container_isolated-2] [INFO] [1762971685.168959244] [right.zed_node]: * Initial pose: [0,0,0,0,0,0,] [component_container_isolated-2] [INFO] [1762971685.169086066] [right.zed_node]: * Area Memory: TRUE [component_container_isolated-2] [INFO] [1762971685.169223789] [right.zed_node]: * Area Memory File:  [component_container_isolated-2] [INFO] [1762971685.169410444] [right.zed_node]: * Save Area Memory on closing: FALSE [component_container_isolated-2] [INFO] [1762971685.169544881] [right.zed_node]: * Camera is static: FALSE [component_container_isolated-2] [INFO] [1762971685.169666833] [right.zed_node]: * Gravity as origin: TRUE [component_container_isolated-2] [INFO] [1762971685.169830435] [right.zed_node]: * IMU Fusion: TRUE [component_container_isolated-2] [INFO] [1762971685.169970703] [right.zed_node]: * Floor Alignment: FALSE [component_container_isolated-2] [INFO] [1762971685.170097785] [right.zed_node]: * Reset Odometry with Loop Closure: TRUE [component_container_isolated-2] [INFO] [1762971685.170243914] [right.zed_node]: * Publish 3D Landmarks: FALSE [component_container_isolated-2] [INFO] [1762971685.170432042] [right.zed_node]: * Publish Landmark Skip Frame:  [component_container_isolated-2] [INFO] [1762971685.170613809] [right.zed_node]: * 2D mode: FALSE [component_container_isolated-2] [INFO] [1762971685.170798110] [right.zed_node]: * Reset pose with SVO loop: TRUE [component_container_isolated-2] [INFO] [1762971685.170834069] [right.zed_node]: === Region of Interest parameters === [component_container_isolated-2] [INFO] [1762971685.170972332] [right.zed_node]: * Automatic ROI generation: FALSE [component_container_isolated-2] [INFO] [1762971685.171149610] [right.zed_node]: * Manual ROI polygon: [] [component_container_isolated-2] [INFO] [1762971685.171183806] [right.zed_node]: === SENSORS STACK parameters === [component_container_isolated-2] [INFO] [1762971685.171348039] [right.zed_node]: * Broadcast IMU TF [not for ZED]: FALSE [component_container_isolated-2] [INFO] [1762971685.171511741] [right.zed_node]: * Sensors Camera Sync: FALSE [component_container_isolated-2] [INFO] [1762971685.171640777] [right.zed_node]: * Sensors publishing rate [Hz]: 100 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971685.171663490] [right.zed_node]: === Spatial Mapping parameters === [component_container_isolated-2] [INFO] [1762971685.171792456] [right.zed_node]: * Spatial Mapping Enabled: FALSE [component_container_isolated-2] [INFO] [1762971685.171914449] [right.zed_node]: * Spatial Mapping resolution [m]: 0.05 [component_container_isolated-2] [INFO] [1762971685.172042473] [right.zed_node]: * 3D Max Mapping range [m]: 5 [component_container_isolated-2] [INFO] [1762971685.172210082] [right.zed_node]: * Map publishing rate [Hz]: 1 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971685.172381579] [right.zed_node]: * Clicked point topic: /clicked_point [component_container_isolated-2] [INFO] [1762971685.172526355] [right.zed_node]: * Plane Det. Max Dist. Thresh.: 0.15 [component_container_isolated-2] [INFO] [1762971685.172693344] [right.zed_node]: * Plane Det. Normals Sim. Thresh.: 15 [component_container_isolated-2] [INFO] [1762971685.172740524] [right.zed_node]: === OBJECT DETECTION parameters === [component_container_isolated-2] [INFO] [1762971685.172923973] [right.zed_node]: * Object Det. enabled: FALSE [component_container_isolated-2] [INFO] [1762971685.173095611] [right.zed_node]: * Object Det. allow reduced precision: FALSE [component_container_isolated-2] [INFO] [1762971685.173286935] [right.zed_node]: * Object Det. maximum range [m]: 20 [component_container_isolated-2] [INFO] [1762971685.173503298] [right.zed_node]: * Object Det. prediction timeout [sec]: 2 [component_container_isolated-2] [INFO] [1762971685.173680025] [right.zed_node]: * Object Det. tracking: TRUE [component_container_isolated-2] [INFO] [1762971685.173900004] [right.zed_node]: * Object Filtering mode: NMS3D [component_container_isolated-2] [INFO] [1762971685.174078204] [right.zed_node]: * Object Det. model: MULTI CLASS BOX FAST [component_container_isolated-2] [INFO] [1762971685.174196660] [right.zed_node]: * MultiClassBox people: TRUE [DYNAMIC] [component_container_isolated-2] [INFO] [1762971685.174301810] [right.zed_node]: * MultiClassBox vehicles: TRUE [DYNAMIC] [component_container_isolated-2] [INFO] [1762971685.174400418] [right.zed_node]: * MultiClassBox bags: TRUE [DYNAMIC] [component_container_isolated-2] [INFO] [1762971685.174500549] [right.zed_node]: * MultiClassBox animals: TRUE [DYNAMIC] [component_container_isolated-2] [INFO] [1762971685.174666636] [right.zed_node]: * MultiClassBox electronics: TRUE [DYNAMIC] [component_container_isolated-2] [INFO] [1762971685.174817854] [right.zed_node]: * MultiClassBox fruits and vegetables: TRUE [DYNAMIC] [component_container_isolated-2] [INFO] [1762971685.174956328] [right.zed_node]: * MultiClassBox sport-related objects: TRUE [DYNAMIC] [component_container_isolated-2] [INFO] [1762971685.175087158] [right.zed_node]: * MultiClassBox people confidence: 65 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971685.175294663] [right.zed_node]: * MultiClassBox vehicles confidence: 60 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971685.175420804] [right.zed_node]: * MultiClassBox bags confidence: 40 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971685.175541544] [right.zed_node]: * MultiClassBox animals confidence: 40 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971685.175696810] [right.zed_node]: * MultiClassBox electronics confidence: 45 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971685.175888175] [right.zed_node]: * MultiClassBox fruits and vegetables confidence: 50 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971685.176031949] [right.zed_node]: * MultiClassBox sport-related objects confidence: 30 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971685.176063068] [right.zed_node]: === Body Track. parameters === [component_container_isolated-2] [INFO] [1762971685.176217473] [right.zed_node]: * Body Track. enabled: FALSE [component_container_isolated-2] [INFO] [1762971685.176370635] [right.zed_node]: * Body Track. model: HUMAN BODY MEDIUM [component_container_isolated-2] [INFO] [1762971685.176514860] [right.zed_node]: * Body Track. format: BODY 38 [component_container_isolated-2] [INFO] [1762971685.176653905] [right.zed_node]: * Body Track. allow reduced precision: FALSE [component_container_isolated-2] [INFO] [1762971685.176783081] [right.zed_node]: * Body Track. maximum range [m]: 15 [component_container_isolated-2] [INFO] [1762971685.176904172] [right.zed_node]: * Body Track. KP selection: FULL [component_container_isolated-2] [INFO] [1762971685.177066581] [right.zed_node]: * Body fitting: FALSE [component_container_isolated-2] [INFO] [1762971685.177201318] [right.zed_node]: * Body joints tracking: TRUE [component_container_isolated-2] [INFO] [1762971685.177321958] [right.zed_node]: * Body Track. prediction timeout [sec]: 0.5 [component_container_isolated-2] [INFO] [1762971685.177483857] [right.zed_node]: * Body Track. confidence thresh.: 50 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971685.177624245] [right.zed_node]: * Body Track. min. KP thresh.: 5 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971685.177646247] [right.zed_node]: === STREAMING SERVER parameters === [component_container_isolated-2] [INFO] [1762971685.177831099] [right.zed_node]: * Streaming Server enabled: FALSE [component_container_isolated-2] [INFO] [1762971685.177988609] [right.zed_node]: * Stream codec: H264 [component_container_isolated-2] [INFO] [1762971685.178098459] [right.zed_node]: * Stream port: 30000 [component_container_isolated-2] [INFO] [1762971685.178271038] [right.zed_node]: * Stream bitrate: 12500 [component_container_isolated-2] [INFO] [1762971685.178812500] [right.zed_node]: * Stream GOP size: -1 [component_container_isolated-2] [INFO] [1762971685.178983436] [right.zed_node]: * Stream Chunk size: 16084 [component_container_isolated-2] [INFO] [1762971685.179119566] [right.zed_node]: * Adaptive bitrate: FALSE [component_container_isolated-2] [INFO] [1762971685.179292726] [right.zed_node]: * Target frame rate:0 [component_container_isolated-2] [INFO] [1762971685.179326550] [right.zed_node]: === ADVANCED parameters === [component_container_isolated-2] [INFO] [1762971685.179506553] [right.zed_node]: * Thread sched. policy: SCHED_BATCH [component_container_isolated-2] [INFO] [1762971685.179591135] [right.zed_node]: === SERVICES === [component_container_isolated-2] [INFO] [1762971685.181229107] [right.zed_node]: * Advertised on service: '/right/zed_node/reset_odometry' [component_container_isolated-2] [INFO] [1762971685.182190991] [right.zed_node]: * Advertised on service: '/right/zed_node/reset_pos_tracking' [component_container_isolated-2] [INFO] [1762971685.184377450] [right.zed_node]: * Advertised on service: '/right/zed_node/set_pose' [component_container_isolated-2] [INFO] [1762971685.185368279] [right.zed_node]: * Advertised on service: '/right/zed_node/save_area_memory' [component_container_isolated-2] [INFO] [1762971685.186221836] [right.zed_node]: * Advertised on service: '/right/zed_node/enable_obj_det' [component_container_isolated-2] [INFO] [1762971685.187072228] [right.zed_node]: * Advertised on service: '/right/zed_node/enable_body_trk' [component_container_isolated-2] [INFO] [1762971685.188144722] [right.zed_node]: * Advertised on service: '/right/zed_node/enable_mapping' [component_container_isolated-2] [INFO] [1762971685.189172402] [right.zed_node]: * Advertised on service: '/right/zed_node/enable_streaming' [component_container_isolated-2] [INFO] [1762971685.190219147] [right.zed_node]: * Advertised on service: '/right/zed_node/start_svo_rec' [component_container_isolated-2] [INFO] [1762971685.191095198] [right.zed_node]: * Advertised on service: '/right/zed_node/stop_svo_rec' [component_container_isolated-2] [INFO] [1762971685.191937373] [right.zed_node]: * Advertised on service: '/right/zed_node/set_roi' [component_container_isolated-2] [INFO] [1762971685.192771734] [right.zed_node]: * Advertised on service: '/right/zed_node/reset_roi' [component_container_isolated-2] [INFO] [1762971685.192826308] [right.zed_node]: === STARTING CAMERA === [component_container_isolated-2] [INFO] [1762971685.192917262] [right.zed_node]: ZED SDK Version: 5.1.0 - Build 106231_f4e0c540 [component_container_isolated-2] [INFO] [1762971685.200229943] [right.zed_node]: === LOCAL STREAMING OPENING === [component_container_isolated-2] [2025-11-12 13:21:25 UTC][ZED][INFO] Logging level INFO [component_container_isolated-2] [Streaming] No backward compatibility required. [component_container_isolated-2] [2025-11-12 13:21:25 UTC][ZED][INFO] [Init] Serial Number: S/N 44036609 [component_container_isolated-2] [2025-11-12 13:21:25 UTC][ZED][INFO] [Init] Depth mode: NEURAL LIGHT [component_container_isolated-2] [INFO] [1762971686.725847904] [right.zed_node]: * ZED SDK running on GPU #0 [component_container_isolated-2] [INFO] [1762971686.725900875] [right.zed_node]: * Camera Model -> ZED X [component_container_isolated-2] [INFO] [1762971686.725908369] [right.zed_node]: * Serial Number -> 44036609 [component_container_isolated-2] [INFO] [1762971686.725980908] [right.zed_node]: * Focal Length -> 2.20909 mm [component_container_isolated-2] [INFO] [1762971686.725995626] [right.zed_node]: * Input -> STREAM [component_container_isolated-2] [INFO] [1762971686.726003721] [right.zed_node]: * Camera FW Version -> 2001 [component_container_isolated-2] [INFO] [1762971686.726018730] [right.zed_node]: * Sensors FW Version -> 0 [component_container_isolated-2] [INFO] [1762971686.726026495] [right.zed_node]: * Camera grab size -> 1920x1200 [component_container_isolated-2] [INFO] [1762971686.726033849] [right.zed_node]: * Color/Depth publishing size -> 960x600 [component_container_isolated-2] [INFO] [1762971686.726039800] [right.zed_node]: * Point Cloud publishing size -> 448x256 [component_container_isolated-2] [INFO] [1762971686.726051613] [right.zed_node]: === TF FRAMES === [component_container_isolated-2] [INFO] [1762971686.726057844] [right.zed_node]: * Map -> map [component_container_isolated-2] [INFO] [1762971686.726063205] [right.zed_node]: * Odometry -> odom [component_container_isolated-2] [INFO] [1762971686.726068324] [right.zed_node]: * Base -> right_camera_link [component_container_isolated-2] [INFO] [1762971686.726073875] [right.zed_node]: * Camera -> right_camera_center [component_container_isolated-2] [INFO] [1762971686.726084756] [right.zed_node]: * Left -> right_left_camera_frame [component_container_isolated-2] [INFO] [1762971686.726090136] [right.zed_node]: * Left Optical -> right_left_camera_optical_frame [component_container_isolated-2] [INFO] [1762971686.726095626] [right.zed_node]: * Right -> right_right_camera_frame [component_container_isolated-2] [INFO] [1762971686.726100646] [right.zed_node]: * Right Optical -> right_right_camera_optical_frame [component_container_isolated-2] [INFO] [1762971686.726105726] [right.zed_node]: * Depth -> right_left_camera_frame [component_container_isolated-2] [INFO] [1762971686.726110605] [right.zed_node]: * Depth Optical -> right_left_camera_optical_frame [component_container_isolated-2] [INFO] [1762971686.726115595] [right.zed_node]: * Point Cloud -> right_left_camera_frame [component_container_isolated-2] [INFO] [1762971686.726120774] [right.zed_node]: * IMU -> right_imu_link [component_container_isolated-2] [INFO] [1762971686.726147305] [right.zed_node]: === PUBLISHED TOPICS === [component_container_isolated-2] [INFO] [1762971686.727531745] [right.zed_node]: * Advertised on topic: /right/zed_node/status/health [component_container_isolated-2] [INFO] [1762971686.728120337] [right.zed_node]: * Advertised on topic: /right/zed_node/status/heartbeat [component_container_isolated-2] [INFO] [1762971686.841769394] [FFMPEGPublisher]: using libav encoder: libx264 [component_container_isolated-2] [WARN] [1762971686.842021154] [right.zed_node]: gop_size not set, defaulting to 10. This may severely affect lag and performance! [component_container_isolated-2] [INFO] [1762971686.847009325] [FoxglovePublisher]: using libav encoder: libx264 [component_container_isolated-2] [WARN] [1762971686.847478088] [right.zed_node]: gop_size not set, defaulting to 1 which is required for foxglove! [component_container_isolated-2] [INFO] [1762971686.853901936] [right.zed_node]: * Advertised on topic: /right/zed_node/rgb/color/rect/image [component_container_isolated-2] [INFO] [1762971686.855963586] [right.zed_node]: * Advertised on topic: /right/zed_node/rgb/color/rect/image/compressedDepth [image_transport] [component_container_isolated-2] [INFO] [1762971686.855981861] [right.zed_node]: * Advertised on topic: /right/zed_node/rgb/color/rect/image/compressed [image_transport] [component_container_isolated-2] [INFO] [1762971686.855989275] [right.zed_node]: * Advertised on topic: /right/zed_node/rgb/color/rect/image/ffmpeg [image_transport] [component_container_isolated-2] [INFO] [1762971686.855995547] [right.zed_node]: * Advertised on topic: /right/zed_node/rgb/color/rect/image/foxglove [image_transport] [component_container_isolated-2] [INFO] [1762971686.856001328] [right.zed_node]: * Advertised on topic: /right/zed_node/rgb/color/rect/image/raw [image_transport] [component_container_isolated-2] [INFO] [1762971686.856022028] [right.zed_node]: * Advertised on topic: /right/zed_node/rgb/color/rect/image/theora [image_transport] [component_container_isolated-2] [INFO] [1762971686.857197118] [FFMPEGPublisher]: using libav encoder: libx264 [component_container_isolated-2] [WARN] [1762971686.857418079] [right.zed_node]: gop_size not set, defaulting to 10. This may severely affect lag and performance! [component_container_isolated-2] [INFO] [1762971686.858005750] [FoxglovePublisher]: using libav encoder: libx264 [component_container_isolated-2] [WARN] [1762971686.858410832] [right.zed_node]: gop_size not set, defaulting to 1 which is required for foxglove! [component_container_isolated-2] [INFO] [1762971686.859658982] [right.zed_node]: * Advertised on topic: /right/zed_node/depth/depth_registered [component_container_isolated-2] [INFO] [1762971686.859765184] [right.zed_node]: * Advertised on topic: /right/zed_node/depth/depth_registered/compressedDepth [image_transport] [component_container_isolated-2] [INFO] [1762971686.859775494] [right.zed_node]: * Advertised on topic: /right/zed_node/depth/depth_registered/compressed [image_transport] [component_container_isolated-2] [INFO] [1762971686.859781866] [right.zed_node]: * Advertised on topic: /right/zed_node/depth/depth_registered/ffmpeg [image_transport] [component_container_isolated-2] [INFO] [1762971686.859787787] [right.zed_node]: * Advertised on topic: /right/zed_node/depth/depth_registered/foxglove [image_transport] [component_container_isolated-2] [INFO] [1762971686.859793428] [right.zed_node]: * Advertised on topic: /right/zed_node/depth/depth_registered/raw [image_transport] [component_container_isolated-2] [INFO] [1762971686.859808006] [right.zed_node]: * Advertised on topic: /right/zed_node/depth/depth_registered/theora [image_transport] [component_container_isolated-2] [INFO] [1762971686.860359778] [right.zed_node]: * Advertised on topic: /right/zed_node/rgb/color/rect/camera_info [component_container_isolated-2] [INFO] [1762971686.860681912] [right.zed_node]: * Advertised on topic: /right/zed_node/rgb/color/rect/image/camera_info [component_container_isolated-2] [INFO] [1762971686.861017562] [right.zed_node]: * Advertised on topic: /right/zed_node/depth/camera_info [component_container_isolated-2] [INFO] [1762971686.861342271] [right.zed_node]: * Advertised on topic: /right/zed_node/depth/depth_registered/camera_info [component_container_isolated-2] [INFO] [1762971686.870556529] [right.zed_node]: * Advertised on topic: /right/zed_node/point_cloud/cloud_registered [component_container_isolated-2] [INFO] [1762971686.871372534] [right.zed_node]: * Advertised on topic: /right/zed_node/pose [component_container_isolated-2] [INFO] [1762971686.871937872] [right.zed_node]: * Advertised on topic: /right/zed_node/pose/status [component_container_isolated-2] [INFO] [1762971686.873375944] [right.zed_node]: * Advertised on topic: /right/zed_node/odom [component_container_isolated-2] [INFO] [1762971686.873981428] [right.zed_node]: * Advertised on topic: /right/zed_node/imu/data [component_container_isolated-2] [INFO] [1762971686.874012538] [right.zed_node]: Camera-IMU Translation: [component_container_isolated-2] 0 -0.035649 -0.000147 [component_container_isolated-2] [INFO] [1762971686.874048085] [right.zed_node]: Camera-IMU Rotation: [component_container_isolated-2] 7EFE7B7FBDB0 [component_container_isolated-2] 0.999980 -0.006363 -0.000502 [component_container_isolated-2] 0.006363 0.999980 -0.000539 [component_container_isolated-2] 0.000506 0.000536 1.000000 [component_container_isolated-2]  [component_container_isolated-2] [INFO] [1762971686.874058626] [right.zed_node]: ===Subscribers === [component_container_isolated-2] [INFO] [1762971686.874717412] [right.zed_node]: * Plane detection: '/clicked_point' [component_container_isolated-2] [INFO] [1762971687.025735856] [right.zed_node]: === Starting Positional Tracking === [component_container_isolated-2] [INFO] [1762971687.025788557] [right.zed_node]: * Waiting for valid static transformations... [component_container_isolated-2] [INFO] [1762971687.025875853] [right.zed_node]: Static transform ref. CMOS Sensor to Base [right_left_camera_frame -> right_camera_link] [component_container_isolated-2] [INFO] [1762971687.025908856] [right.zed_node]: * Translation: {0.010,-0.060,-0.016} [component_container_isolated-2] [INFO] [1762971687.025918615] [right.zed_node]: * Rotation: {0.000,-0.000,0.000} [component_container_isolated-2] [INFO] [1762971687.025935337] [right.zed_node]: Static transform ref. CMOS Sensor to Camera Center [right_left_camera_frame -> right_camera_center] [component_container_isolated-2] [INFO] [1762971687.025941879] [right.zed_node]: * Translation: {0.010,-0.060,0.000} [component_container_isolated-2] [INFO] [1762971687.025949433] [right.zed_node]: * Rotation: {0.000,-0.000,0.000} [component_container_isolated-2] [INFO] [1762971687.025961677] [right.zed_node]: Static transform Camera Center to Base [right_camera_center -> right_camera_link] [component_container_isolated-2] [INFO] [1762971687.025967768] [right.zed_node]: * Translation: {0.000,0.000,-0.016} [component_container_isolated-2] [INFO] [1762971687.025974842] [right.zed_node]: * Rotation: {0.000,-0.000,0.000} [component_container_isolated-2] [INFO] [1762971687.027052146] [right.zed_node]: Initial ZED left camera pose (ZED pos. tracking):  [component_container_isolated-2] [INFO] [1762971687.027079919] [right.zed_node]: * T: [-0.01,0.06,0.016] [component_container_isolated-2] [INFO] [1762971687.027091210] [right.zed_node]: * Q: [0,0,0,1] [component_container_isolated-2] [2025-11-12 13:21:27 UTC][ZED][WARNING] [Positional Tracking] GEN 2 is deprecated; consider updating to a GEN 3 instead.