jetson5@jetson5:~$ ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zed2i [INFO] [launch]: All log files can be found below /home/jetson5/.ros/log/2026-02-08-17-07-15-750865-jetson5-11668 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [launch.user]: Using common configuration file: /home/jetson5/fg_ws/install/zed_wrapper/share/zed_wrapper/config/common_stereo.yaml [INFO] [launch.user]: Using camera configuration file: /home/jetson5/fg_ws/install/zed_wrapper/share/zed_wrapper/config/zed2i.yaml [INFO] [launch.user]: Using FFMPEG configuration file: /home/jetson5/fg_ws/install/zed_wrapper/share/zed_wrapper/config/ffmpeg.yaml [INFO] [launch.user]: Using Object Detection configuration file: /home/jetson5/fg_ws/install/zed_wrapper/share/zed_wrapper/config/object_detection.yaml [INFO] [launch.user]: Using Custom Object Detection configuration file: /home/jetson5/fg_ws/install/zed_wrapper/share/zed_wrapper/config/custom_object_detection.yaml [INFO] [launch.user]: Loading ZED node `zed_node` in container `/zed/zed_container` [INFO] [robot_state_publisher-1]: process started with pid [11682] [INFO] [component_container_isolated-2]: process started with pid [11684] [robot_state_publisher-1] [INFO] [1770588436.680490974] [zed.zed_state_publisher]: got segment zed_camera_center [robot_state_publisher-1] [INFO] [1770588436.680657640] [zed.zed_state_publisher]: got segment zed_camera_link [robot_state_publisher-1] [INFO] [1770588436.680674662] [zed.zed_state_publisher]: got segment zed_left_camera_frame [robot_state_publisher-1] [INFO] [1770588436.680683781] [zed.zed_state_publisher]: got segment zed_left_camera_optical_frame [robot_state_publisher-1] [INFO] [1770588436.680691044] [zed.zed_state_publisher]: got segment zed_right_camera_frame [robot_state_publisher-1] [INFO] [1770588436.680697571] [zed.zed_state_publisher]: got segment zed_right_camera_optical_frame [component_container_isolated-2] [INFO] [1770588436.925728059] [zed.zed_container]: Load Library: /home/jetson5/fg_ws/install/zed_components/lib/libzed_camera_component.so [component_container_isolated-2] [INFO] [1770588436.974826375] [zed.zed_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_isolated-2] [INFO] [1770588436.974924154] [zed.zed_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [component_container_isolated-2] [INFO] [1770588437.073758300] [zed.zed_node]: ================================ [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/zed/zed_node' in container '/zed/zed_container' [component_container_isolated-2] [INFO] [1770588437.073823188] [zed.zed_node]: ZED Camera Component [component_container_isolated-2] [INFO] [1770588437.073835378] [zed.zed_node]: ================================ [component_container_isolated-2] [INFO] [1770588437.073845169] [zed.zed_node]: * namespace: /zed [component_container_isolated-2] [INFO] [1770588437.073853392] [zed.zed_node]: * node name: zed_node [component_container_isolated-2] [INFO] [1770588437.073859503] [zed.zed_node]: ================================ [component_container_isolated-2] [INFO] [1770588437.124117645] [zed.zed_node]: === DEBUG parameters === [component_container_isolated-2] [INFO] [1770588437.124471808] [zed.zed_node]: * SDK Verbose: 1 [component_container_isolated-2] [INFO] [1770588437.124604815] [zed.zed_node]: * SDK Verbose File: [component_container_isolated-2] [INFO] [1770588437.124679206] [zed.zed_node]: * Debug Common: FALSE [component_container_isolated-2] [INFO] [1770588437.124732959] [zed.zed_node]: * Debug Simulation: FALSE [component_container_isolated-2] [INFO] [1770588437.124865614] [zed.zed_node]: * Debug Video/Depth: FALSE [component_container_isolated-2] [INFO] [1770588437.124927462] [zed.zed_node]: * Debug Control settings: FALSE [component_container_isolated-2] [INFO] [1770588437.124990974] [zed.zed_node]: * Debug Point Cloud: %sFALSE [component_container_isolated-2] [INFO] [1770588437.125038040] [zed.zed_node]: * Debug GNSS: FALSE [component_container_isolated-2] [INFO] [1770588437.125087506] [zed.zed_node]: * Debug Positional Tracking: FALSE [component_container_isolated-2] [INFO] [1770588437.125235327] [zed.zed_node]: * Debug sensors: FALSE [component_container_isolated-2] [INFO] [1770588437.125287864] [zed.zed_node]: * Debug Mapping: FALSE [component_container_isolated-2] [INFO] [1770588437.125331699] [zed.zed_node]: * Debug Object Detection: FALSE [component_container_isolated-2] [INFO] [1770588437.125372366] [zed.zed_node]: * Debug Body Tracking: FALSE [component_container_isolated-2] [INFO] [1770588437.125424999] [zed.zed_node]: * Debug Streaming: FALSE [component_container_isolated-2] [INFO] [1770588437.125467170] [zed.zed_node]: * Debug ROI: FALSE [component_container_isolated-2] [INFO] [1770588437.125510428] [zed.zed_node]: * Debug Advanced: FALSE [component_container_isolated-2] [INFO] [1770588437.125579827] [zed.zed_node]: === SVO INPUT parameters === [component_container_isolated-2] [INFO] [1770588437.125641644] [zed.zed_node]: === LOCAL STREAMING parameters === [component_container_isolated-2] [INFO] [1770588437.125690053] [zed.zed_node]: === GENERAL parameters === [component_container_isolated-2] [INFO] [1770588437.125765820] [zed.zed_node]: * Camera model: zed2i - ZED 2i [component_container_isolated-2] [INFO] [1770588437.125818133] [zed.zed_node]: * Camera name: zed [component_container_isolated-2] [INFO] [1770588437.125874926] [zed.zed_node]: * Camera SN: 0 [component_container_isolated-2] [INFO] [1770588437.125924648] [zed.zed_node]: * Camera ID: -1 [component_container_isolated-2] [INFO] [1770588437.125974049] [zed.zed_node]: * Camera timeout [sec]: 5 [component_container_isolated-2] [INFO] [1770588437.126019452] [zed.zed_node]: * Camera reconnection temptatives: 5 [component_container_isolated-2] [INFO] [1770588437.126071957] [zed.zed_node]: * Camera framerate: 30 [component_container_isolated-2] [INFO] [1770588437.126123502] [zed.zed_node]: * GPU ID: -1 [component_container_isolated-2] [INFO] [1770588437.126171432] [zed.zed_node]: * Asynchronous image retrieval: FALSE [component_container_isolated-2] [INFO] [1770588437.126224482] [zed.zed_node]: * Image Validity Check: 1 [component_container_isolated-2] [INFO] [1770588437.126304472] [zed.zed_node]: * Camera resolution: HD1080 [component_container_isolated-2] [INFO] [1770588437.126375183] [zed.zed_node]: * Publishing resolution: NATIVE [component_container_isolated-2] [INFO] [1770588437.126421257] [zed.zed_node]: * OpenCV custom calibration: [component_container_isolated-2] [INFO] [1770588437.126467491] [zed.zed_node]: * Camera self calibration: TRUE [component_container_isolated-2] [INFO] [1770588437.126523068] [zed.zed_node]: * Camera flip: FALSE [component_container_isolated-2] [INFO] [1770588437.126619056] [zed.zed_node]: * Publish framerate [Hz]: 15 [component_container_isolated-2] [INFO] [1770588437.126647468] [zed.zed_node]: === VIDEO parameters === [component_container_isolated-2] [INFO] [1770588437.126709284] [zed.zed_node]: * Brightness: 4 [DYNAMIC] [component_container_isolated-2] [INFO] [1770588437.126758494] [zed.zed_node]: * Contrast: 4 [DYNAMIC] [component_container_isolated-2] [INFO] [1770588437.126816375] [zed.zed_node]: * Hue: 0 [DYNAMIC] [component_container_isolated-2] [INFO] [1770588437.126863121] [zed.zed_node]: * Saturation: 4 [DYNAMIC] [component_container_isolated-2] [INFO] [1770588437.126910251] [zed.zed_node]: * Sharpness: 4 [DYNAMIC] [component_container_isolated-2] [INFO] [1770588437.126960612] [zed.zed_node]: * Gamma: 8 [DYNAMIC] [component_container_isolated-2] [INFO] [1770588437.127011902] [zed.zed_node]: * Auto Exposure/Gain: TRUE [DYNAMIC] [component_container_isolated-2] [INFO] [1770588437.127059992] [zed.zed_node]: * Exposure: 80 [DYNAMIC] [component_container_isolated-2] [INFO] [1770588437.127171594] [zed.zed_node]: * Gain: 80 [DYNAMIC] [component_container_isolated-2] [INFO] [1770588437.127223459] [zed.zed_node]: * Auto White Balance: TRUE [DYNAMIC] [component_container_isolated-2] [INFO] [1770588437.127273597] [zed.zed_node]: * White Balance Temperature: 42 [DYNAMIC] [component_container_isolated-2] [INFO] [1770588437.127298202] [zed.zed_node]: === DEPTH parameters === [component_container_isolated-2] [INFO] [1770588437.127398285] [zed.zed_node]: * Depth mode: NEURAL LIGHT [4] [component_container_isolated-2] [INFO] [1770588437.127460037] [zed.zed_node]: * Min depth [m]: 0.3 [component_container_isolated-2] [INFO] [1770588437.127515038] [zed.zed_node]: * Max depth [m]: 10 [component_container_isolated-2] [INFO] [1770588437.127568631] [zed.zed_node]: * Depth Stabilization: 30 [component_container_isolated-2] [INFO] [1770588437.127609682] [zed.zed_node]: * OpenNI mode (16bit point cloud): FALSE [component_container_isolated-2] [INFO] [1770588437.127661196] [zed.zed_node]: * Point cloud rate [Hz]: 10 [component_container_isolated-2] [INFO] [1770588437.127719140] [zed.zed_node]: * Point cloud resolution: COMPACT [component_container_isolated-2] [INFO] [1770588437.127770718] [zed.zed_node]: * Depth Confidence: 95 [DYNAMIC] [component_container_isolated-2] [INFO] [1770588437.127833814] [zed.zed_node]: * Depth Texture Confidence: 100 [DYNAMIC] [component_container_isolated-2] [INFO] [1770588437.127890383] [zed.zed_node]: * Remove saturated areas: TRUE [DYNAMIC] [component_container_isolated-2] [INFO] [1770588437.127918187] [zed.zed_node]: === GNSS FUSION parameters === [component_container_isolated-2] [INFO] [1770588437.127967621] [zed.zed_node]: * GNSS fusion enabled: FALSE [component_container_isolated-2] [INFO] [1770588437.127985346] [zed.zed_node]: === POSITIONAL TRACKING parameters === [component_container_isolated-2] [INFO] [1770588437.128029245] [zed.zed_node]: * Positional tracking enabled: TRUE [component_container_isolated-2] [INFO] [1770588437.128089557] [zed.zed_node]: * Positional tracking mode: GEN 3 [component_container_isolated-2] [INFO] [1770588437.128144142] [zed.zed_node]: * Map frame id: map [component_container_isolated-2] [INFO] [1770588437.128188137] [zed.zed_node]: * Odometry frame id: odom [component_container_isolated-2] [INFO] [1770588437.128237986] [zed.zed_node]: * Broadcast Odometry TF: TRUE [component_container_isolated-2] [INFO] [1770588437.128282173] [zed.zed_node]: * Broadcast Pose TF: TRUE [component_container_isolated-2] [INFO] [1770588437.128342261] [zed.zed_node]: * Depth minimum range: 0 [component_container_isolated-2] [INFO] [1770588437.128397326] [zed.zed_node]: * TF timestamp offset: 0 [DYNAMIC] [component_container_isolated-2] [INFO] [1770588437.128454311] [zed.zed_node]: * Path publishing rate: 2 [DYNAMIC] [component_container_isolated-2] [INFO] [1770588437.128497442] [zed.zed_node]: * Path history lenght: -1 [component_container_isolated-2] [INFO] [1770588437.128546811] [zed.zed_node]: * Initial pose: [0,0,0,0,0,0,] [component_container_isolated-2] [INFO] [1770588437.128600245] [zed.zed_node]: * Area Memory: FALSE [component_container_isolated-2] [INFO] [1770588437.128649710] [zed.zed_node]: * Area Memory File: [component_container_isolated-2] [INFO] [1770588437.128693513] [zed.zed_node]: * Save Area Memory on closing: FALSE [component_container_isolated-2] [INFO] [1770588437.128739939] [zed.zed_node]: * Camera is static: FALSE [component_container_isolated-2] [INFO] [1770588437.128786109] [zed.zed_node]: * Gravity as origin: TRUE [component_container_isolated-2] [INFO] [1770588437.128829304] [zed.zed_node]: * IMU Fusion: TRUE [component_container_isolated-2] [INFO] [1770588437.128871858] [zed.zed_node]: * Floor Alignment: FALSE [component_container_isolated-2] [INFO] [1770588437.128911565] [zed.zed_node]: * Reset Odometry with Loop Closure: TRUE [component_container_isolated-2] [INFO] [1770588437.128955847] [zed.zed_node]: * 2D mode: TRUE [component_container_isolated-2] [INFO] [1770588437.129010944] [zed.zed_node]: * Fixed Z value: 0 [component_container_isolated-2] [INFO] [1770588437.129049116] [zed.zed_node]: * Reset pose with SVO loop: TRUE [component_container_isolated-2] [INFO] [1770588437.129065658] [zed.zed_node]: === Region of Interest parameters === [component_container_isolated-2] [INFO] [1770588437.129110964] [zed.zed_node]: * Automatic ROI generation: FALSE [component_container_isolated-2] [INFO] [1770588437.129169516] [zed.zed_node]: * Manual ROI polygon: [] [component_container_isolated-2] [INFO] [1770588437.129185674] [zed.zed_node]: === SENSORS STACK parameters === [component_container_isolated-2] [INFO] [1770588437.129235908] [zed.zed_node]: * Broadcast IMU TF [not for ZED]: FALSE [component_container_isolated-2] [INFO] [1770588437.129278335] [zed.zed_node]: * Sensors Camera Sync: FALSE [component_container_isolated-2] [INFO] [1770588437.129329848] [zed.zed_node]: * Sensors publishing rate [Hz]: 100 [DYNAMIC] [component_container_isolated-2] [INFO] [1770588437.129345494] [zed.zed_node]: === Spatial Mapping parameters === [component_container_isolated-2] [INFO] [1770588437.129391472] [zed.zed_node]: * Spatial Mapping Enabled: FALSE [component_container_isolated-2] [INFO] [1770588437.129445321] [zed.zed_node]: * Spatial Mapping resolution [m]: 0.05 [component_container_isolated-2] [INFO] [1770588437.129497987] [zed.zed_node]: * 3D Max Mapping range [m]: 5 [component_container_isolated-2] [INFO] [1770588437.129554844] [zed.zed_node]: * Map publishing rate [Hz]: 1 [DYNAMIC] [component_container_isolated-2] [INFO] [1770588437.129610484] [zed.zed_node]: * Clicked point topic: /clicked_point [component_container_isolated-2] [INFO] [1770588437.129665550] [zed.zed_node]: * Plane Det. Max Dist. Thresh.: 0.15 [component_container_isolated-2] [INFO] [1770588437.129763041] [zed.zed_node]: * Plane Det. Normals Sim. Thresh.: 15 [component_container_isolated-2] [INFO] [1770588437.129798397] [zed.zed_node]: === OBJECT DETECTION parameters === [component_container_isolated-2] [INFO] [1770588437.129855573] [zed.zed_node]: * Object Det. enabled: FALSE [component_container_isolated-2] [INFO] [1770588437.129902447] [zed.zed_node]: * Object Det. allow reduced precision: FALSE [component_container_isolated-2] [INFO] [1770588437.129962056] [zed.zed_node]: * Object Det. maximum range [m]: 20 [component_container_isolated-2] [INFO] [1770588437.130015169] [zed.zed_node]: * Object Det. prediction timeout [sec]: 2 [component_container_isolated-2] [INFO] [1770588437.130061435] [zed.zed_node]: * Object Det. tracking: TRUE [component_container_isolated-2] [INFO] [1770588437.130126355] [zed.zed_node]: * Object Filtering mode: NMS3D [component_container_isolated-2] [INFO] [1770588437.130191947] [zed.zed_node]: * Object Det. model: MULTI CLASS BOX FAST [component_container_isolated-2] [INFO] [1770588437.130276000] [zed.zed_node]: * MultiClassBox people: TRUE [DYNAMIC] [component_container_isolated-2] [INFO] [1770588437.130357430] [zed.zed_node]: * MultiClassBox vehicles: TRUE [DYNAMIC] [component_container_isolated-2] [INFO] [1770588437.130424621] [zed.zed_node]: * MultiClassBox bags: TRUE [DYNAMIC] [component_container_isolated-2] [INFO] [1770588437.130495300] [zed.zed_node]: * MultiClassBox animals: TRUE [DYNAMIC] [component_container_isolated-2] [INFO] [1770588437.130553821] [zed.zed_node]: * MultiClassBox electronics: TRUE [DYNAMIC] [component_container_isolated-2] [INFO] [1770588437.130604439] [zed.zed_node]: * MultiClassBox fruits and vegetables: TRUE [DYNAMIC] [component_container_isolated-2] [INFO] [1770588437.130651345] [zed.zed_node]: * MultiClassBox sport-related objects: TRUE [DYNAMIC] [component_container_isolated-2] [INFO] [1770588437.130723015] [zed.zed_node]: * MultiClassBox people confidence: 65 [DYNAMIC] [component_container_isolated-2] [INFO] [1770588437.130792671] [zed.zed_node]: * MultiClassBox vehicles confidence: 60 [DYNAMIC] [component_container_isolated-2] [INFO] [1770588437.130855831] [zed.zed_node]: * MultiClassBox bags confidence: 40 [DYNAMIC] [component_container_isolated-2] [INFO] [1770588437.130916015] [zed.zed_node]: * MultiClassBox animals confidence: 40 [DYNAMIC] [component_container_isolated-2] [INFO] [1770588437.130990150] [zed.zed_node]: * MultiClassBox electronics confidence: 45 [DYNAMIC] [component_container_isolated-2] [INFO] [1770588437.131047902] [zed.zed_node]: * MultiClassBox fruits and vegetables confidence: 50 [DYNAMIC] [component_container_isolated-2] [INFO] [1770588437.131103223] [zed.zed_node]: * MultiClassBox sport-related objects confidence: 30 [DYNAMIC] [component_container_isolated-2] [INFO] [1770588437.131129524] [zed.zed_node]: === Body Track. parameters === [component_container_isolated-2] [INFO] [1770588437.131180877] [zed.zed_node]: * Body Track. enabled: FALSE [component_container_isolated-2] [INFO] [1770588437.131262403] [zed.zed_node]: * Body Track. model: HUMAN BODY MEDIUM [component_container_isolated-2] [INFO] [1770588437.131355543] [zed.zed_node]: * Body Track. format: BODY 38 [component_container_isolated-2] [INFO] [1770588437.131417008] [zed.zed_node]: * Body Track. allow reduced precision: FALSE [component_container_isolated-2] [INFO] [1770588437.131481543] [zed.zed_node]: * Body Track. maximum range [m]: 15 [component_container_isolated-2] [INFO] [1770588437.131528961] [zed.zed_node]: * Body Track. KP selection: FULL [component_container_isolated-2] [INFO] [1770588437.131592153] [zed.zed_node]: * Body fitting: FALSE [component_container_isolated-2] [INFO] [1770588437.131738919] [zed.zed_node]: * Body joints tracking: TRUE [component_container_isolated-2] [INFO] [1770588437.131961514] [zed.zed_node]: * Body Track. prediction timeout [sec]: 0.5 [component_container_isolated-2] [INFO] [1770588437.132115799] [zed.zed_node]: * Body Track. confidence thresh.: 50 [DYNAMIC] [component_container_isolated-2] [INFO] [1770588437.132205260] [zed.zed_node]: * Body Track. min. KP thresh.: 5 [DYNAMIC] [component_container_isolated-2] [INFO] [1770588437.132230856] [zed.zed_node]: === STREAMING SERVER parameters === [component_container_isolated-2] [INFO] [1770588437.132479049] [zed.zed_node]: * Streaming Server enabled: FALSE [component_container_isolated-2] [INFO] [1770588437.132551072] [zed.zed_node]: * Stream codec: H264 [component_container_isolated-2] [INFO] [1770588437.132669073] [zed.zed_node]: * Stream port: 30000 [component_container_isolated-2] [INFO] [1770588437.132865848] [zed.zed_node]: * Stream bitrate: 12500 [component_container_isolated-2] [INFO] [1770588437.132965899] [zed.zed_node]: * Stream GOP size: -1 [component_container_isolated-2] [INFO] [1770588437.133084572] [zed.zed_node]: * Stream Chunk size: 16084 [component_container_isolated-2] [INFO] [1770588437.133188047] [zed.zed_node]: * Adaptive bitrate: FALSE [component_container_isolated-2] [INFO] [1770588437.133405267] [zed.zed_node]: * Target frame rate:0 [component_container_isolated-2] [INFO] [1770588437.133463116] [zed.zed_node]: === ADVANCED parameters === [component_container_isolated-2] [INFO] [1770588437.133600987] [zed.zed_node]: * Thread sched. policy: SCHED_BATCH [component_container_isolated-2] [INFO] [1770588437.133686352] [zed.zed_node]: === SERVICES === [component_container_isolated-2] [INFO] [1770588437.135285509] [zed.zed_node]: * Advertised on service: '/zed/zed_node/reset_odometry' [component_container_isolated-2] [INFO] [1770588437.136316226] [zed.zed_node]: * Advertised on service: '/zed/zed_node/reset_pos_tracking' [component_container_isolated-2] [INFO] [1770588437.138109759] [zed.zed_node]: * Advertised on service: '/zed/zed_node/set_pose' [component_container_isolated-2] [INFO] [1770588437.139026059] [zed.zed_node]: * Advertised on service: '/zed/zed_node/save_area_memory' [component_container_isolated-2] [INFO] [1770588437.139965812] [zed.zed_node]: * Advertised on service: '/zed/zed_node/enable_obj_det' [component_container_isolated-2] [INFO] [1770588437.140731731] [zed.zed_node]: * Advertised on service: '/zed/zed_node/enable_body_trk' [component_container_isolated-2] [INFO] [1770588437.141549899] [zed.zed_node]: * Advertised on service: '/zed/zed_node/enable_mapping' [component_container_isolated-2] [INFO] [1770588437.142247315] [zed.zed_node]: * Advertised on service: '/zed/zed_node/enable_streaming' [component_container_isolated-2] [INFO] [1770588437.143344712] [zed.zed_node]: * Advertised on service: '/zed/zed_node/start_svo_rec' [component_container_isolated-2] [INFO] [1770588437.144249717] [zed.zed_node]: * Advertised on service: '/zed/zed_node/stop_svo_rec' [component_container_isolated-2] [INFO] [1770588437.144930751] [zed.zed_node]: * Advertised on service: '/zed/zed_node/set_roi' [component_container_isolated-2] [INFO] [1770588437.145778611] [zed.zed_node]: * Advertised on service: '/zed/zed_node/reset_roi' [component_container_isolated-2] [INFO] [1770588437.145840587] [zed.zed_node]: === STARTING CAMERA === [component_container_isolated-2] [INFO] [1770588437.276597421] [zed.zed_node]: ZED SDK Version: 5.0.5 - Build 103094_e8068fce [component_container_isolated-2] [INFO] [1770588437.282638255] [zed.zed_node]: === CAMERA OPENING === [component_container_isolated-2] [2026-02-08 22:07:17 UTC][ZED][INFO] Logging level INFO [component_container_isolated-2] [2026-02-08 22:07:18 UTC][ZED][INFO] [Init] Depth mode: NEURAL LIGHT [component_container_isolated-2] [2026-02-08 22:07:19 UTC][ZED][INFO] [Init] Camera successfully opened. [component_container_isolated-2] [2026-02-08 22:07:19 UTC][ZED][INFO] [Init] Camera FW version: 1523 [component_container_isolated-2] [2026-02-08 22:07:19 UTC][ZED][INFO] [Init] Video mode: HD1080@30 [component_container_isolated-2] [2026-02-08 22:07:19 UTC][ZED][INFO] [Init] Serial Number: S/N 30655862 [component_container_isolated-2] [INFO] [1770588440.349499089] [zed.zed_node]: * ZED SDK running on GPU #0 [component_container_isolated-2] [INFO] [1770588440.349617507] [zed.zed_node]: * Camera Model -> ZED 2i [component_container_isolated-2] [INFO] [1770588440.349634625] [zed.zed_node]: * Serial Number -> 30655862 [component_container_isolated-2] [INFO] [1770588440.349765361] [zed.zed_node]: * Focal Lenght -> 2.13244 mm [component_container_isolated-2] [INFO] [1770588440.349803757] [zed.zed_node]: * Input -> USB [component_container_isolated-2] [INFO] [1770588440.349844648] [zed.zed_node]: * Camera FW Version -> 1523 [component_container_isolated-2] [INFO] [1770588440.349857415] [zed.zed_node]: * Sensors FW Version -> 777 [component_container_isolated-2] [INFO] [1770588440.349871237] [zed.zed_node]: * Camera grab size -> 1920x1080 [component_container_isolated-2] [INFO] [1770588440.349880324] [zed.zed_node]: * Color/Depth publishing size -> 1920x1080 [component_container_isolated-2] [INFO] [1770588440.349888707] [zed.zed_node]: * Point Cloud publishing size -> 448x256 [component_container_isolated-2] [INFO] [1770588440.349916735] [zed.zed_node]: === TF FRAMES === [component_container_isolated-2] [INFO] [1770588440.349929054] [zed.zed_node]: * Map -> map [component_container_isolated-2] [INFO] [1770588440.349937405] [zed.zed_node]: * Odometry -> odom [component_container_isolated-2] [INFO] [1770588440.349944732] [zed.zed_node]: * Base -> zed_camera_link [component_container_isolated-2] [INFO] [1770588440.349951771] [zed.zed_node]: * Camera -> zed_camera_center [component_container_isolated-2] [INFO] [1770588440.349959066] [zed.zed_node]: * Left -> zed_left_camera_frame [component_container_isolated-2] [INFO] [1770588440.349966202] [zed.zed_node]: * Left Optical -> zed_left_camera_optical_frame [component_container_isolated-2] [INFO] [1770588440.349973177] [zed.zed_node]: * RGB -> zed_left_camera_frame [component_container_isolated-2] [INFO] [1770588440.349980376] [zed.zed_node]: * RGB Optical -> zed_left_camera_optical_frame [component_container_isolated-2] [INFO] [1770588440.349987639] [zed.zed_node]: * Right -> zed_right_camera_frame [component_container_isolated-2] [INFO] [1770588440.349994774] [zed.zed_node]: * Right Optical -> zed_right_camera_optical_frame [component_container_isolated-2] [INFO] [1770588440.350001717] [zed.zed_node]: * Depth -> zed_left_camera_frame [component_container_isolated-2] [INFO] [1770588440.350014260] [zed.zed_node]: * Depth Optical -> zed_left_camera_optical_frame [component_container_isolated-2] [INFO] [1770588440.350022611] [zed.zed_node]: * Point Cloud -> zed_left_camera_optical_frame [component_container_isolated-2] [INFO] [1770588440.350030098] [zed.zed_node]: * Disparity -> zed_left_camera_frame [component_container_isolated-2] [INFO] [1770588440.350037361] [zed.zed_node]: * Disparity Optical -> zed_left_camera_optical_frame [component_container_isolated-2] [INFO] [1770588440.350044464] [zed.zed_node]: * Confidence -> zed_left_camera_frame [component_container_isolated-2] [INFO] [1770588440.350052175] [zed.zed_node]: * Confidence Optical -> zed_left_camera_optical_frame [component_container_isolated-2] [INFO] [1770588440.350059598] [zed.zed_node]: * IMU -> zed_imu_link [component_container_isolated-2] [INFO] [1770588440.350066830] [zed.zed_node]: * Barometer -> zed_camera_center [component_container_isolated-2] [INFO] [1770588440.350073869] [zed.zed_node]: * Magnetometer -> zed_imu_link [component_container_isolated-2] [INFO] [1770588440.350080876] [zed.zed_node]: * Left Temperature -> zed_left_camera_frame [component_container_isolated-2] [INFO] [1770588440.350098154] [zed.zed_node]: * Right Temperature -> zed_right_camera_frame [component_container_isolated-2] [INFO] [1770588440.350137477] [zed.zed_node]: === PUBLISHED TOPICS === [component_container_isolated-2] [INFO] [1770588440.352545607] [zed.zed_node]: Advertised on topic: /zed/zed_node/status/health [component_container_isolated-2] [INFO] [1770588440.353678528] [zed.zed_node]: Advertised on topic: /zed/zed_node/status/heartbeat [component_container_isolated-2] [INFO] [1770588440.509658668] [FFMPEGPublisher]: using libav encoder: libx264 [component_container_isolated-2] [INFO] [1770588440.520156555] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb/image_rect_color [component_container_isolated-2] [INFO] [1770588440.520234882] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb/camera_info [component_container_isolated-2] [INFO] [1770588440.521809415] [FFMPEGPublisher]: using libav encoder: libx264 [component_container_isolated-2] [INFO] [1770588440.523658219] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_gray/image_rect_gray [component_container_isolated-2] [INFO] [1770588440.523704070] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_gray/camera_info [component_container_isolated-2] [INFO] [1770588440.525488625] [FFMPEGPublisher]: using libav encoder: libx264 [component_container_isolated-2] [INFO] [1770588440.527708073] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_raw/image_raw_color [component_container_isolated-2] [INFO] [1770588440.527757028] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_raw/camera_info [component_container_isolated-2] [INFO] [1770588440.529351974] [FFMPEGPublisher]: using libav encoder: libx264 [component_container_isolated-2] [INFO] [1770588440.531602170] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_raw_gray/image_raw_gray [component_container_isolated-2] [INFO] [1770588440.531654388] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_raw_gray/camera_info [component_container_isolated-2] [INFO] [1770588440.533182303] [FFMPEGPublisher]: using libav encoder: libx264 [component_container_isolated-2] [INFO] [1770588440.535397847] [zed.zed_node]: Advertised on topic: /zed/zed_node/left/image_rect_color [component_container_isolated-2] [INFO] [1770588440.535450289] [zed.zed_node]: Advertised on topic: /zed/zed_node/left/camera_info [component_container_isolated-2] [INFO] [1770588440.537045907] [FFMPEGPublisher]: using libav encoder: libx264 [component_container_isolated-2] [INFO] [1770588440.539369407] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_gray/image_rect_gray [component_container_isolated-2] [INFO] [1770588440.539426712] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_gray/camera_info [component_container_isolated-2] [INFO] [1770588440.541084883] [FFMPEGPublisher]: using libav encoder: libx264 [component_container_isolated-2] [INFO] [1770588440.543341446] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_raw/image_raw_color [component_container_isolated-2] [INFO] [1770588440.543388129] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_raw/camera_info [component_container_isolated-2] [INFO] [1770588440.544959046] [FFMPEGPublisher]: using libav encoder: libx264 [component_container_isolated-2] [INFO] [1770588440.547216058] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_raw_gray/image_raw_gray [component_container_isolated-2] [INFO] [1770588440.547264564] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_raw_gray/camera_info [component_container_isolated-2] [INFO] [1770588440.548901873] [FFMPEGPublisher]: using libav encoder: libx264 [component_container_isolated-2] [INFO] [1770588440.551231708] [zed.zed_node]: Advertised on topic: /zed/zed_node/right/image_rect_color [component_container_isolated-2] [INFO] [1770588440.551275351] [zed.zed_node]: Advertised on topic: /zed/zed_node/right/camera_info [component_container_isolated-2] [INFO] [1770588440.553004841] [FFMPEGPublisher]: using libav encoder: libx264 [component_container_isolated-2] [INFO] [1770588440.555321334] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_gray/image_rect_gray [component_container_isolated-2] [INFO] [1770588440.555365521] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_gray/camera_info [component_container_isolated-2] [INFO] [1770588440.557078469] [FFMPEGPublisher]: using libav encoder: libx264 [component_container_isolated-2] [INFO] [1770588440.559396209] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_raw/image_raw_color [component_container_isolated-2] [INFO] [1770588440.559439532] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_raw/camera_info [component_container_isolated-2] [INFO] [1770588440.561169886] [FFMPEGPublisher]: using libav encoder: libx264 [component_container_isolated-2] [INFO] [1770588440.563524998] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_raw_gray/image_raw_gray [component_container_isolated-2] [INFO] [1770588440.563574272] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_raw_gray/camera_info [component_container_isolated-2] [INFO] [1770588440.565382985] [FFMPEGPublisher]: using libav encoder: libx264 [component_container_isolated-2] [INFO] [1770588440.567756687] [zed.zed_node]: Advertised on topic: /zed/zed_node/depth/depth_registered [component_container_isolated-2] [INFO] [1770588440.567802378] [zed.zed_node]: Advertised on topic: /zed/zed_node/depth/camera_info [component_container_isolated-2] [INFO] [1770588440.568924644] [zed.zed_node]: Advertised on topic: /zed/zed_node/depth/depth_info [component_container_isolated-2] [INFO] [1770588440.570757706] [FFMPEGPublisher]: using libav encoder: libx264 [component_container_isolated-2] [INFO] [1770588440.572817781] [zed.zed_node]: Advertised on topic: /zed/zed_node/stereo/image_rect_color [component_container_isolated-2] [INFO] [1770588440.574615488] [FFMPEGPublisher]: using libav encoder: libx264 [component_container_isolated-2] [INFO] [1770588440.576637679] [zed.zed_node]: Advertised on topic: /zed/zed_node/stereo_raw/image_raw_color [component_container_isolated-2] [INFO] [1770588440.577170896] [zed.zed_node]: Advertised on topic: /zed/zed_node/confidence/confidence_map [component_container_isolated-2] [INFO] [1770588440.579333774] [zed.zed_node]: Advertised on topic: /zed/zed_node/disparity/disparity_image [component_container_isolated-2] [INFO] [1770588440.594019900] [zed.zed_node]: Advertised on topic: /zed/zed_node/point_cloud/cloud_registered [component_container_isolated-2] [INFO] [1770588440.595400088] [zed.zed_node]: Advertised on topic: /zed/zed_node/pose [component_container_isolated-2] [INFO] [1770588440.596574092] [zed.zed_node]: Advertised on topic: /zed/zed_node/pose/status [component_container_isolated-2] [INFO] [1770588440.597724356] [zed.zed_node]: Advertised on topic: /zed/zed_node/pose_with_covariance [component_container_isolated-2] [INFO] [1770588440.599767505] [zed.zed_node]: Advertised on topic: /zed/zed_node/odom [component_container_isolated-2] [INFO] [1770588440.601121008] [zed.zed_node]: Advertised on topic: /zed/zed_node/path_map [component_container_isolated-2] [INFO] [1770588440.602052033] [zed.zed_node]: Advertised on topic: /zed/zed_node/path_odom [component_container_isolated-2] [INFO] [1770588440.604472289] [zed.zed_node]: Advertised on topic: /zed/plane_marker [component_container_isolated-2] [INFO] [1770588440.606016617] [zed.zed_node]: Advertised on topic: /zed/plane [component_container_isolated-2] [INFO] [1770588440.607330189] [zed.zed_node]: Advertised on topic: /zed/zed_node/imu/data [component_container_isolated-2] [INFO] [1770588440.608283964] [zed.zed_node]: Advertised on topic: /zed/zed_node/imu/data_raw [component_container_isolated-2] [INFO] [1770588440.609430612] [zed.zed_node]: Advertised on topic: /zed/zed_node/temperature/imu [component_container_isolated-2] [INFO] [1770588440.610543951] [zed.zed_node]: Advertised on topic: /zed/zed_node/imu/mag [component_container_isolated-2] [INFO] [1770588440.611736417] [zed.zed_node]: Advertised on topic: /zed/zed_node/atm_press [component_container_isolated-2] [INFO] [1770588440.612740202] [zed.zed_node]: Advertised on topic: /zed/zed_node/temperature/left [component_container_isolated-2] [INFO] [1770588440.613699992] [zed.zed_node]: Advertised on topic: /zed/zed_node/temperature/right [component_container_isolated-2] [INFO] [1770588440.614692610] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_cam_imu_transform [component_container_isolated-2] [INFO] [1770588440.614748251] [zed.zed_node]: Camera-IMU Translation: [component_container_isolated-2] -0.002 -0.023061 0.000217 [component_container_isolated-2] [INFO] [1770588440.614804628] [zed.zed_node]: Camera-IMU Rotation: [component_container_isolated-2] FFFF7FFFC6E0 [component_container_isolated-2] 0.999821 -0.018697 -0.002984 [component_container_isolated-2] 0.018758 0.999584 0.021928 [component_container_isolated-2] 0.002572 -0.021980 0.999755 [component_container_isolated-2] [component_container_isolated-2] [INFO] [1770588440.614829873] [zed.zed_node]: ===Subscribers === [component_container_isolated-2] [INFO] [1770588440.616334143] [zed.zed_node]: * Plane detection: '/clicked_point' [component_container_isolated-2] [INFO] [1770588440.737185020] [zed.zed_node]: === Starting Positional Tracking === [component_container_isolated-2] [INFO] [1770588440.737309613] [zed.zed_node]: * Waiting for valid static transformations... [component_container_isolated-2] [INFO] [1770588440.737638342] [zed.zed_node]: Static transform ref. CMOS Sensor to Base [zed_left_camera_frame -> zed_camera_link] [component_container_isolated-2] [INFO] [1770588440.737668930] [zed.zed_node]: * Translation: {0.010,-0.060,-0.015} [component_container_isolated-2] [INFO] [1770588440.737713757] [zed.zed_node]: * Rotation: {0.000,-0.000,0.000} [component_container_isolated-2] [INFO] [1770588440.737766007] [zed.zed_node]: Static transform ref. CMOS Sensor to Camera Center [zed_left_camera_frame -> zed_camera_center] [component_container_isolated-2] [INFO] [1770588440.737785620] [zed.zed_node]: * Translation: {0.010,-0.060,0.000} [component_container_isolated-2] [INFO] [1770588440.737815345] [zed.zed_node]: * Rotation: {0.000,-0.000,0.000} [component_container_isolated-2] [INFO] [1770588440.737861067] [zed.zed_node]: Static transform Camera Center to Base [zed_camera_center -> zed_camera_link] [component_container_isolated-2] [INFO] [1770588440.737902886] [zed.zed_node]: * Translation: {0.000,0.000,-0.015} [component_container_isolated-2] [INFO] [1770588440.737919044] [zed.zed_node]: * Rotation: {0.000,-0.000,0.000} [component_container_isolated-2] [INFO] [1770588440.739125301] [zed.zed_node]: Initial ZED left camera pose (ZED pos. tracking): [component_container_isolated-2] [INFO] [1770588440.739170672] [zed.zed_node]: * T: [-0.01,0.06,0.015] [component_container_isolated-2] [INFO] [1770588440.739197452] [zed.zed_node]: * Q: [0,0,0,1]