[INFO] [launch]: All log files can be found below /home/rzr-admin/.ros/log/2025-11-03-06-52-43-495689-rzr-admin-7416 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [launch.user]: * Starting Composable node container: /zed_multi/zed_multi_container [INFO] [launch.user]: * Starting a ZED ROS2 node for camera front (zedx, serial: 41385721) [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 `front` in container `/zed_multi/zed_multi_container` [INFO] [launch.user]: * Starting a ZED ROS2 node for camera left (zedx, serial: 49440015) [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 `left` in container `/zed_multi/zed_multi_container` [INFO] [launch.user]: * Starting a ZED ROS2 node for camera right (zedx, serial: 44036609) [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 `right` in container `/zed_multi/zed_multi_container` [INFO] [launch.user]: * Starting a ZED ROS2 node for camera rear (zedx, serial: 40483530) [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 `rear` in container `/zed_multi/zed_multi_container` [INFO] [launch.user]: * Starting robot_state_publisher node to link all the frames: state_publisher [INFO] [novatel_oem7_driver_exe-1]: process started with pid [7436] [INFO] [localizer_node-2]: process started with pid [7438] [INFO] [component_container_isolated-3]: process started with pid [7440] [INFO] [robot_state_publisher-4]: process started with pid [7442] [INFO] [robot_state_publisher-5]: process started with pid [7444] [INFO] [robot_state_publisher-6]: process started with pid [7446] [INFO] [robot_state_publisher-7]: process started with pid [7448] [INFO] [robot_state_publisher-8]: process started with pid [7450] [INFO] [svo_controller-9]: process started with pid [7452] [novatel_oem7_driver_exe-1] [INFO] [1762170765.592397065] [novatel.oem7.main]: Oem7RawMsg: topic [oem7raw]: frame_id: 'gps'; q size: 200 [svo_controller-9] [INFO] [1762170765.596067473] [svo_controller]: ############# TARGET FPS: 30 [novatel_oem7_driver_exe-1] [INFO] [1762170765.601190012] [novatel.oem7.main]: Oem7MessageNode v.; Sep 15 2025 22:09:17 [localizer_node-2] [INFO] [1762170765.614384934] [map_frame_publisher]: Localizer is initialized [novatel_oem7_driver_exe-1] [INFO] [1762170765.620661437] [novatel.oem7.main]: Oem7MessageDecoderLib version: 10.1.0 [novatel_oem7_driver_exe-1] [INFO] [1762170765.622401058] [novatel.oem7.main]: PPPPOS: topic [ppppos]: frame_id: 'gps'; q size: 100 [robot_state_publisher-8] [INFO] [1762170765.622498694] [zed_multi.state_publisher]: got segment base_link [robot_state_publisher-8] [INFO] [1762170765.622556074] [zed_multi.state_publisher]: got segment front_camera_link [robot_state_publisher-8] [INFO] [1762170765.622564039] [zed_multi.state_publisher]: got segment left_camera_link [robot_state_publisher-8] [INFO] [1762170765.622568848] [zed_multi.state_publisher]: got segment rear_camera_link [robot_state_publisher-8] [INFO] [1762170765.622573116] [zed_multi.state_publisher]: got segment right_camera_link [robot_state_publisher-5] [INFO] [1762170765.622587013] [zed_multi.left_state_publisher]: got segment left_camera_center [robot_state_publisher-5] [INFO] [1762170765.622654792] [zed_multi.left_state_publisher]: got segment left_camera_link [robot_state_publisher-5] [INFO] [1762170765.622662587] [zed_multi.left_state_publisher]: got segment left_left_camera_frame [robot_state_publisher-5] [INFO] [1762170765.622667947] [zed_multi.left_state_publisher]: got segment left_left_camera_optical_frame [robot_state_publisher-5] [INFO] [1762170765.622673057] [zed_multi.left_state_publisher]: got segment left_right_camera_frame [robot_state_publisher-5] [INFO] [1762170765.622677836] [zed_multi.left_state_publisher]: got segment left_right_camera_optical_frame [robot_state_publisher-6] [INFO] [1762170765.622686914] [zed_multi.right_state_publisher]: got segment right_camera_center [robot_state_publisher-6] [INFO] [1762170765.622755214] [zed_multi.right_state_publisher]: got segment right_camera_link [robot_state_publisher-6] [INFO] [1762170765.622767067] [zed_multi.right_state_publisher]: got segment right_left_camera_frame [robot_state_publisher-6] [INFO] [1762170765.622775332] [zed_multi.right_state_publisher]: got segment right_left_camera_optical_frame [robot_state_publisher-6] [INFO] [1762170765.622783328] [zed_multi.right_state_publisher]: got segment right_right_camera_frame [robot_state_publisher-6] [INFO] [1762170765.622790812] [zed_multi.right_state_publisher]: got segment right_right_camera_optical_frame [robot_state_publisher-7] [INFO] [1762170765.622685872] [zed_multi.rear_state_publisher]: got segment rear_camera_center [robot_state_publisher-7] [INFO] [1762170765.622757869] [zed_multi.rear_state_publisher]: got segment rear_camera_link [robot_state_publisher-7] [INFO] [1762170765.622767738] [zed_multi.rear_state_publisher]: got segment rear_left_camera_frame [robot_state_publisher-7] [INFO] [1762170765.622775342] [zed_multi.rear_state_publisher]: got segment rear_left_camera_optical_frame [robot_state_publisher-7] [INFO] [1762170765.622783318] [zed_multi.rear_state_publisher]: got segment rear_right_camera_frame [robot_state_publisher-7] [INFO] [1762170765.622790792] [zed_multi.rear_state_publisher]: got segment rear_right_camera_optical_frame [novatel_oem7_driver_exe-1] [INFO] [1762170765.623132915] [novatel.oem7.main]: BESTPOS: topic [bestpos]: frame_id: 'gps'; q size: 100 [novatel_oem7_driver_exe-1] [INFO] [1762170765.623685480] [novatel.oem7.main]: BESTVEL: topic [bestvel]: frame_id: 'gps'; q size: 100 [novatel_oem7_driver_exe-1] [INFO] [1762170765.624180796] [novatel.oem7.main]: BESTGNSSVEL: topic [bestgnssvel]: frame_id: 'gps'; q size: 100 [novatel_oem7_driver_exe-1] [INFO] [1762170765.624672815] [novatel.oem7.main]: BESTUTM: topic [bestutm]: frame_id: 'gps'; q size: 100 [novatel_oem7_driver_exe-1] [INFO] [1762170765.625221633] [novatel.oem7.main]: BESTGNSSPOS: topic [bestgnsspos]: frame_id: 'gps'; q size: 100 [novatel_oem7_driver_exe-1] [INFO] [1762170765.625750843] [novatel.oem7.main]: INSPVA: topic [inspva]: frame_id: 'gps'; q size: 100 [novatel_oem7_driver_exe-1] [INFO] [1762170765.626448926] [novatel.oem7.main]: GPSFix: topic [gps]: frame_id: 'gps'; q size: 100 [robot_state_publisher-4] [INFO] [1762170765.627154433] [zed_multi.front_state_publisher]: got segment front_camera_center [robot_state_publisher-4] [INFO] [1762170765.627223916] [zed_multi.front_state_publisher]: got segment front_camera_link [robot_state_publisher-4] [INFO] [1762170765.627231700] [zed_multi.front_state_publisher]: got segment front_left_camera_frame [robot_state_publisher-4] [INFO] [1762170765.627237161] [zed_multi.front_state_publisher]: got segment front_left_camera_optical_frame [robot_state_publisher-4] [INFO] [1762170765.627241860] [zed_multi.front_state_publisher]: got segment front_right_camera_frame [robot_state_publisher-4] [INFO] [1762170765.627246268] [zed_multi.front_state_publisher]: got segment front_right_camera_optical_frame [novatel_oem7_driver_exe-1] [INFO] [1762170765.628462410] [novatel.oem7.main]: NavSatFix: topic [fix]: frame_id: 'gps'; q size: 100 [novatel_oem7_driver_exe-1] [INFO] [1762170765.629850901] [novatel.oem7.main]: GPSFix position source: BESTPOS or INSPVAS based on quality [novatel_oem7_driver_exe-1] [INFO] [1762170765.629990718] [novatel.oem7.main]: IMU: topic [imu/data]: frame_id: 'imu_link'; q size: 100 [novatel_oem7_driver_exe-1] [INFO] [1762170765.630592587] [novatel.oem7.main]: RAWIMU: topic [imu/data_raw]: frame_id: 'imu_link'; q size: 100 [novatel_oem7_driver_exe-1] [INFO] [1762170765.631019722] [novatel.oem7.main]: CORRIMU: topic [corrimu]: frame_id: 'gps'; q size: 100 [novatel_oem7_driver_exe-1] [INFO] [1762170765.631512403] [novatel.oem7.main]: INSSTDEV: topic [insstdev]: frame_id: 'gps'; q size: 10 [novatel_oem7_driver_exe-1] [INFO] [1762170765.631982841] [novatel.oem7.main]: INSPVAX: topic [inspvax]: frame_id: 'gps'; q size: 10 [novatel_oem7_driver_exe-1] [INFO] [1762170765.632480912] [novatel.oem7.main]: INSCONFIG: topic [insconfig]: frame_id: 'gps'; q size: 10 [novatel_oem7_driver_exe-1] [WARN] [1762170765.633302431] [novatel.oem7.main]: Message 'RAWIMUSX' will not be published. [novatel_oem7_driver_exe-1] [INFO] [1762170765.633458278] [novatel.oem7.main]: HEADING2: topic [heading2]: frame_id: 'gps'; q size: 100 [novatel_oem7_driver_exe-1] [INFO] [1762170765.634021363] [novatel.oem7.main]: RXSTATUS: topic [rxstatus]: frame_id: 'gps'; q size: 10 [novatel_oem7_driver_exe-1] [INFO] [1762170765.634856548] [novatel.oem7.main]: TERRASTARINFO: topic [terrastarinfo]: frame_id: 'gps'; q size: 100 [novatel_oem7_driver_exe-1] [INFO] [1762170765.635438829] [novatel.oem7.main]: TERRASTARSTATUS: topic [terrastarstatus]: frame_id: 'gps'; q size: 100 [novatel_oem7_driver_exe-1] [INFO] [1762170765.636006673] [novatel.oem7.main]: TIME: topic [time]: frame_id: 'gps'; q size: 100 [novatel_oem7_driver_exe-1] [WARN] [1762170765.636535844] [novatel.oem7.main]: Message 'NMEA_Sentence' will not be published. [novatel_oem7_driver_exe-1] [INFO] [1762170765.636666714] [novatel.oem7.main]: Odometry: topic [odom]: frame_id: 'odom'; q size: 100 [novatel_oem7_driver_exe-1] [INFO] [1762170765.637885180] [novatel.oem7.main]: OdometryOrigin: topic [odom_origin]: frame_id: 'odom'; q size: 100 [novatel_oem7_driver_exe-1] [INFO] [1762170765.641012661] [novatel.oem7.main]: Oem7Net TCP['192.168.16.50' : 3002] [novatel_oem7_driver_exe-1] [INFO] [1762170765.641853446] [novatel.oem7.main]: Oem7Net socket open: '1; OS error= 0 [component_container_isolated-3] [INFO] [1762170765.656803659] [zed_multi.zed_multi_container]: Load Library: /home/rzr-admin/auto-rzr/install/zed_components/lib/libzed_camera_component.so [novatel_oem7_driver_exe-1] [INFO] [1762170765.689972955] [novatel.oem7.main]: Standard Receiver Initialization: [novatel_oem7_driver_exe-1] [INFO] [1762170765.697033915] [novatel.oem7.main]: AACmd 'UNLOGALL THISPORT' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762170765.702379771] [novatel.oem7.main]: AACmd 'LOG INSCONFIGB ONCE' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762170765.709479987] [novatel.oem7.main]: AACmd 'LOG TERRASTARINFOB ONCE' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762170765.714484461] [novatel.oem7.main]: AACmd 'LOG TERRASTARSTATUSB ONCE' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762170765.720689398] [novatel.oem7.main]: AACmd 'LOG TERRASTARINFOB ONTIME 300' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762170765.726176543] [novatel.oem7.main]: AACmd 'LOG TERRASTARSTATUSB ONTIME 300' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762170765.731564690] [novatel.oem7.main]: AACmd 'LOG INSCONFIGB ONTIME 300' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762170765.736853778] [novatel.oem7.main]: AACmd 'LOG RXSTATUSB ONCHANGED' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762170765.743660563] [novatel.oem7.main]: AACmd 'LOG BESTPOSB ONTIME 0.1' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762170765.748912791] [novatel.oem7.main]: AACmd 'LOG BESTVELB ONTIME 0.1' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762170765.754822824] [novatel.oem7.main]: AACmd 'LOG BESTGNSSVELB ONTIME 0.1' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762170765.759951105] [novatel.oem7.main]: AACmd 'LOG BESTUTMB ONTIME 1' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762170765.766591923] [novatel.oem7.main]: AACmd 'LOG BESTGNSSPOSB ONTIME 0.1' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762170765.771900979] [novatel.oem7.main]: AACmd 'LOG PPPPOSB ONTIME 1' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762170765.777183525] [novatel.oem7.main]: AACmd 'LOG HEADING2B ONNEW' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762170765.783481158] [novatel.oem7.main]: AACmd 'LOG PSRDOP2B ONCHANGED' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762170765.790249129] [novatel.oem7.main]: AACmd 'LOG INSPVASB ONTIME 0.02' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762170765.795729041] [novatel.oem7.main]: AACmd 'LOG INSPVAXB ONTIME 1' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762170765.802884552] [novatel.oem7.main]: AACmd 'LOG CORRIMUSB ONTIME 0.01' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762170765.809494121] [novatel.oem7.main]: AACmd 'LOG INSSTDEVB ONTIME 1' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762170765.814508885] [novatel.oem7.main]: AACmd 'LOG RAWIMUSXB ONNEW' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762170765.819631144] [novatel.oem7.main]: AACmd 'LOG TIMEB ONTIME 1' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762170765.825639856] [novatel.oem7.main]: AACmd 'LOG VERSIONB ONCE' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762170765.832662123] [novatel.oem7.main]: AACmd 'LOG INSUPDATESTATUSB ONNEW' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762170765.840048936] [novatel.oem7.main]: AACmd 'LOG RAWEPHEMB ONNEW' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762170765.847282636] [novatel.oem7.main]: AACmd 'LOG GLOEPHEMERISB ONNEW' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762170765.854570139] [novatel.oem7.main]: AACmd 'LOG BDSEPHEMERISB ONNEW' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762170765.860286202] [novatel.oem7.main]: AACmd 'LOG GALFNAVEPHEMERISB ONNEW' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762170765.870474213] [novatel.oem7.main]: AACmd 'LOG GALINAVEPHEMERISB ONNEW' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762170765.875336466] [novatel.oem7.main]: AACmd 'LOG RANGEB ONTIME 1' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762170765.875384708] [novatel.oem7.main]: Extended Receiver Initialization: [novatel_oem7_driver_exe-1] [INFO] [1762170765.875405668] [novatel.oem7.main]: Receiver Initialization completed, errors= 0 [novatel_oem7_driver_exe-1] [INFO] [1762170765.877491861] [novatel.oem7.main]: GPSFix position source= INSPVA: 0 --> 0 at GPSTime[0 247600] [novatel_oem7_driver_exe-1] [ERROR] [1762170765.877536235] [novatel.oem7.main]: No BESTPOS or INSPVAX to get undulation [novatel_oem7_driver_exe-1] [ERROR] [1762170765.881473793] [novatel.oem7.main]: No BESTPOS or INSPVAX to get undulation [novatel_oem7_driver_exe-1] [ERROR] [1762170765.882761521] [novatel.oem7.main]: No BESTPOS or INSPVAX to get undulation [novatel_oem7_driver_exe-1] [ERROR] [1762170765.887227167] [novatel.oem7.main]: No BESTPOS or INSPVAX to get undulation [novatel_oem7_driver_exe-1] [ERROR] [1762170765.890469157] [novatel.oem7.main]: No BESTPOS or INSPVAX to get undulation [novatel_oem7_driver_exe-1] [ERROR] [1762170765.895477719] [novatel.oem7.main]: No BESTPOS or INSPVAX to get undulation [novatel_oem7_driver_exe-1] [ERROR] [1762170765.896955460] [novatel.oem7.main]: No BESTPOS or INSPVAX to get undulation [novatel_oem7_driver_exe-1] [ERROR] [1762170765.897961761] [novatel.oem7.main]: No BESTPOS or INSPVAX to get undulation [novatel_oem7_driver_exe-1] [ERROR] [1762170765.904421063] [novatel.oem7.main]: No BESTPOS or INSPVAX to get undulation [novatel_oem7_driver_exe-1] [ERROR] [1762170765.906207905] [novatel.oem7.main]: No BESTPOS or INSPVAX to get undulation [novatel_oem7_driver_exe-1] [ERROR] [1762170765.908349684] [novatel.oem7.main]: No BESTPOS or INSPVAX to get undulation [novatel_oem7_driver_exe-1] [ERROR] [1762170765.912233168] [novatel.oem7.main]: No BESTPOS or INSPVAX to get undulation [novatel_oem7_driver_exe-1] [ERROR] [1762170765.914170236] [novatel.oem7.main]: No BESTPOS or INSPVAX to get undulation [component_container_isolated-3] [INFO] [1762170765.914435963] [zed_multi.zed_multi_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_isolated-3] [INFO] [1762170765.914489265] [zed_multi.zed_multi_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [novatel_oem7_driver_exe-1] [INFO] [1762170765.919595243] [novatel.oem7.main]: UTM new Zone: -1 --> 31; N: 1 X: 166021 Y: 0 [component_container_isolated-3] [INFO] [1762170766.277980744] [zed_multi.front]: ================================ [component_container_isolated-3] [INFO] [1762170766.278032302] [zed_multi.front]: ZED Camera Component [component_container_isolated-3] [INFO] [1762170766.278045387] [zed_multi.front]: ================================ [component_container_isolated-3] [INFO] [1762170766.278057540] [zed_multi.front]: * namespace: /zed_multi [component_container_isolated-3] [INFO] [1762170766.278073250] [zed_multi.front]: * node name: front [component_container_isolated-3] [INFO] [1762170766.278135148] [zed_multi.front]: * IPC: enabled [component_container_isolated-3] [INFO] [1762170766.278146460] [zed_multi.front]: ================================ [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/zed_multi/front' in container '/zed_multi/zed_multi_container' [component_container_isolated-3] [INFO] [1762170766.280382409] [zed_multi.zed_multi_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_isolated-3] [INFO] [1762170766.280422265] [zed_multi.zed_multi_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [component_container_isolated-3] [INFO] [1762170766.295421682] [zed_multi.right]: ================================ [component_container_isolated-3] [INFO] [1762170766.295462049] [zed_multi.right]: ZED Camera Component [component_container_isolated-3] [INFO] [1762170766.295474573] [zed_multi.right]: ================================ [component_container_isolated-3] [INFO] [1762170766.295484742] [zed_multi.right]: * namespace: /zed_multi [component_container_isolated-3] [INFO] [1762170766.295494931] [zed_multi.right]: * node name: right [component_container_isolated-3] [INFO] [1762170766.295504670] [zed_multi.right]: * IPC: enabled [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/zed_multi/right' in container '/zed_multi/zed_multi_container' [component_container_isolated-3] [INFO] [1762170766.295514258] [zed_multi.right]: ================================ [component_container_isolated-3] [INFO] [1762170766.296895195] [zed_multi.zed_multi_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_isolated-3] [INFO] [1762170766.296927506] [zed_multi.zed_multi_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [component_container_isolated-3] [INFO] [1762170766.311391110] [zed_multi.rear]: ================================ [component_container_isolated-3] [INFO] [1762170766.311429223] [zed_multi.rear]: ZED Camera Component [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/zed_multi/rear' in container '/zed_multi/zed_multi_container' [component_container_isolated-3] [INFO] [1762170766.311441075] [zed_multi.rear]: ================================ [component_container_isolated-3] [INFO] [1762170766.311451124] [zed_multi.rear]: * namespace: /zed_multi [component_container_isolated-3] [INFO] [1762170766.311461204] [zed_multi.rear]: * node name: rear [component_container_isolated-3] [INFO] [1762170766.311470922] [zed_multi.rear]: * IPC: enabled [component_container_isolated-3] [INFO] [1762170766.311480801] [zed_multi.rear]: ================================ [component_container_isolated-3] [INFO] [1762170766.312847190] [zed_multi.zed_multi_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_isolated-3] [INFO] [1762170766.312879742] [zed_multi.zed_multi_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [component_container_isolated-3] [INFO] [1762170766.327398952] [zed_multi.left]: ================================ [component_container_isolated-3] [INFO] [1762170766.327435882] [zed_multi.left]: ZED Camera Component [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/zed_multi/left' in container '/zed_multi/zed_multi_container' [component_container_isolated-3] [INFO] [1762170766.327447795] [zed_multi.left]: ================================ [component_container_isolated-3] [INFO] [1762170766.327457704] [zed_multi.left]: * namespace: /zed_multi [component_container_isolated-3] [INFO] [1762170766.327467713] [zed_multi.left]: * node name: left [component_container_isolated-3] [INFO] [1762170766.327477562] [zed_multi.left]: * IPC: enabled [component_container_isolated-3] [INFO] [1762170766.327487170] [zed_multi.left]: ================================ [component_container_isolated-3] [INFO] [1762170766.328374524] [zed_multi.front]: === DEBUG parameters === [component_container_isolated-3] [INFO] [1762170766.328671000] [zed_multi.front]: * SDK Verbose: 1 [component_container_isolated-3] [INFO] [1762170766.328801990] [zed_multi.front]: * Use Pub Timestamps: FALSE [component_container_isolated-3] [INFO] [1762170766.328895579] [zed_multi.front]: * SDK Verbose File: [component_container_isolated-3] [INFO] [1762170766.328982956] [zed_multi.front]: * Debug Common: FALSE [component_container_isolated-3] [INFO] [1762170766.329067036] [zed_multi.front]: * Debug Simulation: FALSE [component_container_isolated-3] [INFO] [1762170766.329187396] [zed_multi.front]: * Debug Video/Depth: FALSE [component_container_isolated-3] [INFO] [1762170766.329279913] [zed_multi.front]: * Debug Control settings: FALSE [component_container_isolated-3] [INFO] [1762170766.329359184] [zed_multi.front]: * Debug Point Cloud: FALSE [component_container_isolated-3] [INFO] [1762170766.329444156] [zed_multi.front]: * Debug GNSS: FALSE [component_container_isolated-3] [INFO] [1762170766.329557192] [zed_multi.front]: * Debug Positional Tracking: TRUE [component_container_isolated-3] [INFO] [1762170766.329643667] [zed_multi.front]: * Debug sensors: FALSE [component_container_isolated-3] [INFO] [1762170766.329731856] [zed_multi.front]: * Debug Mapping: FALSE [component_container_isolated-3] [INFO] [1762170766.329817269] [zed_multi.front]: * Debug Object Detection: FALSE [component_container_isolated-3] [INFO] [1762170766.329897221] [zed_multi.front]: * Debug Body Tracking: FALSE [component_container_isolated-3] [INFO] [1762170766.329974920] [zed_multi.front]: * Debug Streaming: FALSE [component_container_isolated-3] [INFO] [1762170766.330051897] [zed_multi.front]: * Debug ROI: FALSE [component_container_isolated-3] [INFO] [1762170766.330141598] [zed_multi.front]: * Debug Nitros: FALSE [component_container_isolated-3] [INFO] [1762170766.330327242] [zed_multi.front]: * Debug Advanced: FALSE [component_container_isolated-3] [INFO] [1762170766.330345728] [zed_multi.front]: + Debug Mode enabled + [component_container_isolated-3] [INFO] [1762170766.330357159] [zed_multi.front]: === TOPIC selection parameters === [component_container_isolated-3] [INFO] [1762170766.330444446] [zed_multi.front]: * Publish Status: TRUE [component_container_isolated-3] [INFO] [1762170766.330525821] [zed_multi.front]: * Publish Left/Right images: FALSE [component_container_isolated-3] [INFO] [1762170766.330604692] [zed_multi.front]: * Publish Raw images: FALSE [component_container_isolated-3] [INFO] [1762170766.330675918] [zed_multi.front]: * Publish Gray images: FALSE [component_container_isolated-3] [INFO] [1762170766.330743808] [zed_multi.front]: * Publish RGB image: TRUE [component_container_isolated-3] [INFO] [1762170766.330822828] [zed_multi.front]: * Publish Stereo image: FALSE [component_container_isolated-3] [INFO] [1762170766.330897531] [zed_multi.front]: * Publish ROI Mask image: FALSE [component_container_isolated-3] [INFO] [1762170766.330967044] [zed_multi.front]: * Publish Depth Map: TRUE [component_container_isolated-3] [INFO] [1762170766.331045734] [zed_multi.front]: * Publish Depth Info: FALSE [component_container_isolated-3] [INFO] [1762170766.331124154] [zed_multi.front]: * Publish Point Cloud: TRUE [component_container_isolated-3] [INFO] [1762170766.331201531] [zed_multi.front]: * Publish Depth Confidence: FALSE [component_container_isolated-3] [INFO] [1762170766.331271685] [zed_multi.front]: * Publish Disparity: FALSE [component_container_isolated-3] [INFO] [1762170766.331348993] [zed_multi.front]: * Publish IMU: TRUE [component_container_isolated-3] [INFO] [1762170766.331419538] [zed_multi.front]: * Publish IMU Raw: FALSE [component_container_isolated-3] [INFO] [1762170766.331487497] [zed_multi.front]: * Publish LeftCam/IMU Transf.: FALSE [component_container_isolated-3] [INFO] [1762170766.331554586] [zed_multi.front]: * Publish Magnetometer: FALSE [component_container_isolated-3] [INFO] [1762170766.331645900] [zed_multi.front]: * Publish Barometer: FALSE [component_container_isolated-3] [INFO] [1762170766.331722646] [zed_multi.front]: * Publish Temperature: FALSE [component_container_isolated-3] [INFO] [1762170766.331791728] [zed_multi.front]: * Publish Odometry/Pose: TRUE [component_container_isolated-3] [INFO] [1762170766.331868385] [zed_multi.front]: * Publish Pose with Covariance: FALSE [component_container_isolated-3] [INFO] [1762170766.331937416] [zed_multi.front]: * Publish Camera Path: FALSE [component_container_isolated-3] [INFO] [1762170766.332005146] [zed_multi.front]: * Publish Detection Plane: FALSE [component_container_isolated-3] [INFO] [1762170766.332079428] [zed_multi.front]: === SVO INPUT parameters === [component_container_isolated-3] [INFO] [1762170766.332165772] [zed_multi.front]: === LOCAL STREAMING parameters === [component_container_isolated-3] [INFO] [1762170766.332310940] [zed_multi.front]: * Local stream input: 192.168.16.175:40000 [component_container_isolated-3] [INFO] [1762170766.332322161] [zed_multi.front]: === GENERAL parameters === [component_container_isolated-3] [INFO] [1762170766.332435117] [zed_multi.front]: + Playing a network stream from a ZED X camera model. [component_container_isolated-3] [INFO] [1762170766.332448232] [zed_multi.front]: * Camera model: zedx - ZED X [component_container_isolated-3] [INFO] [1762170766.332518796] [zed_multi.front]: * Camera name: front [component_container_isolated-3] [INFO] [1762170766.332593649] [zed_multi.front]: * Camera SN: 0 [component_container_isolated-3] [INFO] [1762170766.332666118] [zed_multi.front]: * Camera ID: 0 [component_container_isolated-3] [INFO] [1762170766.332744507] [zed_multi.front]: * Camera timeout [sec]: 5 [component_container_isolated-3] [INFO] [1762170766.332816475] [zed_multi.front]: * Camera reconnection temptatives: 5 [component_container_isolated-3] [INFO] [1762170766.332886078] [zed_multi.front]: * Camera framerate: 30 [component_container_isolated-3] [INFO] [1762170766.332964998] [zed_multi.front]: * GPU ID: -1 [component_container_isolated-3] [INFO] [1762170766.333035994] [zed_multi.front]: * Asynchronous image retrieval: FALSE [component_container_isolated-3] [INFO] [1762170766.333119954] [zed_multi.front]: * Image Validity Check: 1 [component_container_isolated-3] [INFO] [1762170766.333231437] [zed_multi.front]: * Camera resolution: SVGA [component_container_isolated-3] [INFO] [1762170766.333314105] [zed_multi.front]: * Publishing resolution: CUSTOM [component_container_isolated-3] [INFO] [1762170766.333409547] [zed_multi.front]: * Publishing downscale factor: 2 [component_container_isolated-3] [INFO] [1762170766.333482927] [zed_multi.front]: * OpenCV custom calibration: [component_container_isolated-3] [INFO] [1762170766.333584371] [zed_multi.front]: * Camera self calibration: TRUE [component_container_isolated-3] [INFO] [1762170766.333656348] [zed_multi.front]: * Camera flip: FALSE [component_container_isolated-3] [INFO] [1762170766.333734347] [zed_multi.front]: * Publish framerate [Hz]: 15 [component_container_isolated-3] [INFO] [1762170766.333754415] [zed_multi.front]: === VIDEO parameters === [component_container_isolated-3] [INFO] [1762170766.333840580] [zed_multi.front]: * Saturation: 4 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.333909441] [zed_multi.front]: * Sharpness: 4 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.333984354] [zed_multi.front]: * Gamma: 8 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.334075098] [zed_multi.front]: * Auto Exposure/Gain: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.334178685] [zed_multi.front]: * Exposure: 80 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.334255743] [zed_multi.front]: * Gain: 80 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.334330225] [zed_multi.front]: * Auto White Balance: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.334413093] [zed_multi.front]: * White Balance Temperature: 42 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.334493386] [zed_multi.front]: * ZED X Exposure time: 16000 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.334579621] [zed_multi.front]: * ZED X Auto Exp. time range min: 28 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.334656698] [zed_multi.front]: * ZED X Auto Exp. time range max: 30000 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.334743734] [zed_multi.front]: * ZED X Exposure comp.: 50 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.334819799] [zed_multi.front]: * ZED X Analog Gain: 1255 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.334895774] [zed_multi.front]: * ZED X Auto Analog Gain range min: 1000 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.334978743] [zed_multi.front]: * ZED X Auto Analog Gain range max: 16000 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.335056081] [zed_multi.front]: * ZED X Digital Gain: 1 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.335140762] [zed_multi.front]: * ZED X Auto Digital Gain range min: 1 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.335225584] [zed_multi.front]: * ZED X Auto Digital Gain range max: 256 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.335304835] [zed_multi.front]: * ZED X Auto Digital Gain range max: 50 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.335317289] [zed_multi.front]: === DEPTH parameters === [component_container_isolated-3] [INFO] [1762170766.335420085] [zed_multi.front]: * Depth mode: NEURAL LIGHT [4] [component_container_isolated-3] [INFO] [1762170766.335506280] [zed_multi.front]: * Min depth [m]: 3 [component_container_isolated-3] [INFO] [1762170766.335604047] [zed_multi.front]: * Max depth [m]: 35 [component_container_isolated-3] [INFO] [1762170766.335686604] [zed_multi.front]: * Depth Stabilization: 30 [component_container_isolated-3] [INFO] [1762170766.335785223] [zed_multi.front]: * OpenNI mode (16bit depth): FALSE [component_container_isolated-3] [INFO] [1762170766.335890974] [zed_multi.front]: * Point cloud rate [Hz]: 10 [component_container_isolated-3] [INFO] [1762170766.335976999] [zed_multi.front]: * Point cloud resolution: COMPACT [component_container_isolated-3] [INFO] [1762170766.336060508] [zed_multi.front]: * Depth Confidence: 95 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.336161210] [zed_multi.front]: * Depth Texture Confidence: 100 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.336254499] [zed_multi.front]: * Remove saturated areas: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.336267594] [zed_multi.front]: === GNSS FUSION parameters === [component_container_isolated-3] [INFO] [1762170766.336348718] [zed_multi.front]: * GNSS fusion enabled: FALSE [component_container_isolated-3] [INFO] [1762170766.336360391] [zed_multi.front]: === POSITIONAL TRACKING parameters === [component_container_isolated-3] [INFO] [1762170766.336442147] [zed_multi.front]: * Positional tracking enabled: TRUE [component_container_isolated-3] [DEBUG] [1762170766.336537519] [zed_multi.front]: Comparing 'GEN_1' to 'GEN_3' [component_container_isolated-3] [DEBUG] [1762170766.336547718] [zed_multi.front]: Comparing 'GEN_2' to 'GEN_3' [component_container_isolated-3] [DEBUG] [1762170766.336554291] [zed_multi.front]: Comparing 'GEN_3' to 'GEN_3' [component_container_isolated-3] [INFO] [1762170766.336561755] [zed_multi.front]: * Positional tracking mode: GEN 3 [component_container_isolated-3] [INFO] [1762170766.336640085] [zed_multi.front]: * Map frame id: map [component_container_isolated-3] [INFO] [1762170766.336718384] [zed_multi.front]: * Odometry frame id: odom [component_container_isolated-3] [INFO] [1762170766.336801423] [zed_multi.front]: * Broadcast Odometry TF: FALSE [component_container_isolated-3] [INFO] [1762170766.336887547] [zed_multi.front]: * Depth minimum range: 0 [component_container_isolated-3] [INFO] [1762170766.336971998] [zed_multi.front]: * TF timestamp offset: 0 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.337206777] [zed_multi.front]: * Path publishing rate: 2 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.337355941] [zed_multi.front]: * Path history lenght: -1 [component_container_isolated-3] [INFO] [1762170766.337491129] [zed_multi.front]: * Initial pose: [0,0,0,0,0,0,] [component_container_isolated-3] [INFO] [1762170766.337644142] [zed_multi.front]: * Area Memory: TRUE [component_container_isolated-3] [INFO] [1762170766.337745365] [zed_multi.front]: * Area Memory File: [component_container_isolated-3] [INFO] [1762170766.337885212] [zed_multi.front]: * Save Area Memory on closing: FALSE [component_container_isolated-3] [INFO] [1762170766.338016392] [zed_multi.front]: * Camera is static: FALSE [component_container_isolated-3] [INFO] [1762170766.338141641] [zed_multi.front]: * Gravity as origin: TRUE [component_container_isolated-3] [INFO] [1762170766.338245961] [zed_multi.front]: * IMU Fusion: TRUE [component_container_isolated-3] [INFO] [1762170766.338345080] [zed_multi.front]: * Floor Alignment: FALSE [component_container_isolated-3] [INFO] [1762170766.338430383] [zed_multi.front]: * Reset Odometry with Loop Closure: TRUE [component_container_isolated-3] [INFO] [1762170766.338511067] [zed_multi.front]: * Publish 3D Landmarks: FALSE [component_container_isolated-3] [INFO] [1762170766.338619183] [zed_multi.front]: * Publish Landmark Skip Frame: [component_container_isolated-3] [INFO] [1762170766.338707602] [zed_multi.front]: * 2D mode: FALSE [component_container_isolated-3] [INFO] [1762170766.338791552] [zed_multi.front]: * Reset pose with SVO loop: TRUE [component_container_isolated-3] [INFO] [1762170766.338803665] [zed_multi.front]: === Region of Interest parameters === [component_container_isolated-3] [INFO] [1762170766.338914287] [zed_multi.front]: * Automatic ROI generation: FALSE [component_container_isolated-3] [INFO] [1762170766.339010931] [zed_multi.front]: * Manual ROI polygon: [] [component_container_isolated-3] [INFO] [1762170766.339023675] [zed_multi.front]: === SENSORS STACK parameters === [component_container_isolated-3] [INFO] [1762170766.339125880] [zed_multi.front]: * Broadcast IMU TF [not for ZED]: FALSE [component_container_isolated-3] [INFO] [1762170766.339245529] [zed_multi.front]: * Sensors Camera Sync: FALSE [component_container_isolated-3] [INFO] [1762170766.339353485] [zed_multi.front]: * Sensors publishing rate [Hz]: 100 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.339366600] [zed_multi.front]: === Spatial Mapping parameters === [component_container_isolated-3] [INFO] [1762170766.339449989] [zed_multi.front]: * Spatial Mapping Enabled: FALSE [component_container_isolated-3] [INFO] [1762170766.339545111] [zed_multi.front]: * Spatial Mapping resolution [m]: 0.05 [component_container_isolated-3] [INFO] [1762170766.339661754] [zed_multi.front]: * 3D Max Mapping range [m]: 5 [component_container_isolated-3] [INFO] [1762170766.339755012] [zed_multi.front]: * Map publishing rate [Hz]: 1 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.339860383] [zed_multi.front]: * Clicked point topic: /clicked_point [component_container_isolated-3] [INFO] [1762170766.339969571] [zed_multi.front]: * Plane Det. Max Dist. Thresh.: 0.15 [component_container_isolated-3] [INFO] [1762170766.340063380] [zed_multi.front]: * Plane Det. Normals Sim. Thresh.: 15 [component_container_isolated-3] [INFO] [1762170766.340095241] [zed_multi.front]: === OBJECT DETECTION parameters === [component_container_isolated-3] [INFO] [1762170766.340192958] [zed_multi.front]: * Object Det. enabled: FALSE [component_container_isolated-3] [INFO] [1762170766.340319469] [zed_multi.front]: * Object Det. allow reduced precision: FALSE [component_container_isolated-3] [INFO] [1762170766.340413108] [zed_multi.front]: * Object Det. maximum range [m]: 20 [component_container_isolated-3] [INFO] [1762170766.340507278] [zed_multi.front]: * Object Det. prediction timeout [sec]: 2 [component_container_isolated-3] [INFO] [1762170766.340606547] [zed_multi.front]: * Object Det. tracking: TRUE [component_container_isolated-3] [INFO] [1762170766.340742637] [zed_multi.front]: * Object Filtering mode: NMS3D [component_container_isolated-3] [INFO] [1762170766.340844902] [zed_multi.front]: * Object Det. model: MULTI CLASS BOX FAST [component_container_isolated-3] [INFO] [1762170766.340946466] [zed_multi.front]: * MultiClassBox people: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.341036648] [zed_multi.front]: * MultiClassBox vehicles: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.341133163] [zed_multi.front]: * MultiClassBox bags: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.341223585] [zed_multi.front]: * MultiClassBox animals: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.341312706] [zed_multi.front]: * MultiClassBox electronics: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.341421313] [zed_multi.front]: * MultiClassBox fruits and vegetables: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.341510653] [zed_multi.front]: * MultiClassBox sport-related objects: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.341604763] [zed_multi.front]: * MultiClassBox people confidence: 65 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.341699404] [zed_multi.front]: * MultiClassBox vehicles confidence: 60 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.341792091] [zed_multi.front]: * MultiClassBox bags confidence: 40 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.341882293] [zed_multi.front]: * MultiClassBox animals confidence: 40 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.341979178] [zed_multi.front]: * MultiClassBox electronics confidence: 45 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.342106231] [zed_multi.front]: * MultiClassBox fruits and vegetables confidence: 50 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.342211451] [zed_multi.front]: * MultiClassBox sport-related objects confidence: 30 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.342246318] [zed_multi.front]: === Body Track. parameters === [component_container_isolated-3] [INFO] [1762170766.342359314] [zed_multi.front]: * Body Track. enabled: FALSE [component_container_isolated-3] [INFO] [1762170766.342462511] [zed_multi.front]: * Body Track. model: HUMAN BODY MEDIUM [component_container_isolated-3] [INFO] [1762170766.342579304] [zed_multi.front]: * Body Track. format: BODY 38 [component_container_isolated-3] [INFO] [1762170766.342697429] [zed_multi.front]: * Body Track. allow reduced precision: FALSE [component_container_isolated-3] [INFO] [1762170766.342807790] [zed_multi.front]: * Body Track. maximum range [m]: 15 [component_container_isolated-3] [INFO] [1762170766.342903112] [zed_multi.front]: * Body Track. KP selection: FULL [component_container_isolated-3] [INFO] [1762170766.343009776] [zed_multi.front]: * Body fitting: FALSE [component_container_isolated-3] [INFO] [1762170766.343109877] [zed_multi.front]: * Body joints tracking: TRUE [component_container_isolated-3] [INFO] [1762170766.343221790] [zed_multi.front]: * Body Track. prediction timeout [sec]: 0.5 [component_container_isolated-3] [INFO] [1762170766.343320318] [zed_multi.front]: * Body Track. confidence thresh.: 50 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.343431531] [zed_multi.front]: * Body Track. min. KP thresh.: 5 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.343446179] [zed_multi.front]: === STREAMING SERVER parameters === [component_container_isolated-3] [INFO] [1762170766.343536331] [zed_multi.front]: * Streaming Server enabled: FALSE [component_container_isolated-3] [INFO] [1762170766.343627725] [zed_multi.front]: * Stream codec: H264 [component_container_isolated-3] [INFO] [1762170766.343739098] [zed_multi.front]: * Stream port: 30000 [component_container_isolated-3] [INFO] [1762170766.343835813] [zed_multi.front]: * Stream bitrate: 12500 [component_container_isolated-3] [INFO] [1762170766.343938789] [zed_multi.front]: * Stream GOP size: -1 [component_container_isolated-3] [INFO] [1762170766.344033400] [zed_multi.front]: * Stream Chunk size: 16084 [component_container_isolated-3] [INFO] [1762170766.344135875] [zed_multi.front]: * Adaptive bitrate: FALSE [component_container_isolated-3] [INFO] [1762170766.344231548] [zed_multi.front]: * Target frame rate:0 [component_container_isolated-3] [INFO] [1762170766.344244663] [zed_multi.front]: === ADVANCED parameters === [component_container_isolated-3] [INFO] [1762170766.344344243] [zed_multi.front]: * Thread sched. policy: SCHED_BATCH [component_container_isolated-3] [INFO] [1762170766.344389259] [zed_multi.front]: === SERVICES === [component_container_isolated-3] [INFO] [1762170766.345379580] [zed_multi.front]: * Advertised on service: '/zed_multi/front/reset_odometry' [component_container_isolated-3] [INFO] [1762170766.345608517] [zed_multi.right]: === DEBUG parameters === [component_container_isolated-3] [INFO] [1762170766.345819500] [zed_multi.right]: * SDK Verbose: 1 [component_container_isolated-3] [INFO] [1762170766.345931223] [zed_multi.right]: * Use Pub Timestamps: FALSE [component_container_isolated-3] [INFO] [1762170766.346011015] [zed_multi.front]: * Advertised on service: '/zed_multi/front/reset_pos_tracking' [component_container_isolated-3] [INFO] [1762170766.346031364] [zed_multi.right]: * SDK Verbose File: [component_container_isolated-3] [INFO] [1762170766.346122228] [zed_multi.right]: * Debug Common: FALSE [component_container_isolated-3] [INFO] [1762170766.346224643] [zed_multi.right]: * Debug Simulation: FALSE [component_container_isolated-3] [INFO] [1762170766.346304956] [zed_multi.right]: * Debug Video/Depth: FALSE [component_container_isolated-3] [INFO] [1762170766.346383486] [zed_multi.right]: * Debug Control settings: FALSE [component_container_isolated-3] [INFO] [1762170766.346460794] [zed_multi.right]: * Debug Point Cloud: FALSE [component_container_isolated-3] [INFO] [1762170766.346534334] [zed_multi.right]: * Debug GNSS: FALSE [component_container_isolated-3] [INFO] [1762170766.346609588] [zed_multi.right]: * Debug Positional Tracking: TRUE [component_container_isolated-3] [INFO] [1762170766.346682978] [zed_multi.right]: * Debug sensors: FALSE [component_container_isolated-3] [INFO] [1762170766.346759404] [zed_multi.right]: * Debug Mapping: FALSE [component_container_isolated-3] [INFO] [1762170766.346832534] [zed_multi.right]: * Debug Object Detection: FALSE [component_container_isolated-3] [INFO] [1762170766.346911685] [zed_multi.right]: * Debug Body Tracking: FALSE [component_container_isolated-3] [INFO] [1762170766.346985385] [zed_multi.right]: * Debug Streaming: FALSE [component_container_isolated-3] [INFO] [1762170766.347114612] [zed_multi.right]: * Debug ROI: FALSE [component_container_isolated-3] [INFO] [1762170766.347199144] [zed_multi.right]: * Debug Nitros: FALSE [component_container_isolated-3] [INFO] [1762170766.347344000] [zed_multi.right]: * Debug Advanced: FALSE [component_container_isolated-3] [INFO] [1762170766.347356614] [zed_multi.right]: + Debug Mode enabled + [component_container_isolated-3] [INFO] [1762170766.347362996] [zed_multi.right]: === TOPIC selection parameters === [component_container_isolated-3] [INFO] [1762170766.347418813] [zed_multi.front]: * Advertised on service: '/zed_multi/front/set_pose' [component_container_isolated-3] [INFO] [1762170766.347438330] [zed_multi.right]: * Publish Status: TRUE [component_container_isolated-3] [INFO] [1762170766.347520577] [zed_multi.right]: * Publish Left/Right images: FALSE [component_container_isolated-3] [INFO] [1762170766.347595190] [zed_multi.right]: * Publish Raw images: FALSE [component_container_isolated-3] [INFO] [1762170766.347761147] [zed_multi.right]: * Publish Gray images: FALSE [component_container_isolated-3] [INFO] [1762170766.347840799] [zed_multi.right]: * Publish RGB image: TRUE [component_container_isolated-3] [INFO] [1762170766.347978772] [zed_multi.right]: * Publish Stereo image: FALSE [component_container_isolated-3] [INFO] [1762170766.348054567] [zed_multi.front]: * Advertised on service: '/zed_multi/front/save_area_memory' [component_container_isolated-3] [INFO] [1762170766.348075467] [zed_multi.right]: * Publish ROI Mask image: FALSE [component_container_isolated-3] [INFO] [1762170766.348175197] [zed_multi.right]: * Publish Depth Map: TRUE [component_container_isolated-3] [INFO] [1762170766.348258646] [zed_multi.right]: * Publish Depth Info: FALSE [component_container_isolated-3] [INFO] [1762170766.348333640] [zed_multi.right]: * Publish Point Cloud: TRUE [component_container_isolated-3] [INFO] [1762170766.348444591] [zed_multi.right]: * Publish Depth Confidence: FALSE [component_container_isolated-3] [INFO] [1762170766.348521127] [zed_multi.right]: * Publish Disparity: FALSE [component_container_isolated-3] [INFO] [1762170766.348666335] [zed_multi.right]: * Publish IMU: TRUE [component_container_isolated-3] [INFO] [1762170766.348738062] [zed_multi.front]: * Advertised on service: '/zed_multi/front/enable_obj_det' [component_container_isolated-3] [INFO] [1762170766.348747359] [zed_multi.right]: * Publish IMU Raw: FALSE [component_container_isolated-3] [INFO] [1762170766.348854845] [zed_multi.right]: * Publish LeftCam/IMU Transf.: FALSE [component_container_isolated-3] [INFO] [1762170766.348931892] [zed_multi.right]: * Publish Magnetometer: FALSE [component_container_isolated-3] [INFO] [1762170766.349113388] [zed_multi.right]: * Publish Barometer: FALSE [component_container_isolated-3] [INFO] [1762170766.349198250] [zed_multi.right]: * Publish Temperature: FALSE [component_container_isolated-3] [INFO] [1762170766.349321025] [zed_multi.right]: * Publish Odometry/Pose: TRUE [component_container_isolated-3] [INFO] [1762170766.349401518] [zed_multi.right]: * Publish Pose with Covariance: FALSE [component_container_isolated-3] [INFO] [1762170766.349443088] [zed_multi.front]: * Advertised on service: '/zed_multi/front/enable_body_trk' [component_container_isolated-3] [INFO] [1762170766.349477143] [zed_multi.right]: * Publish Camera Path: FALSE [component_container_isolated-3] [INFO] [1762170766.349555763] [zed_multi.right]: * Publish Detection Plane: FALSE [component_container_isolated-3] [INFO] [1762170766.349631377] [zed_multi.right]: === SVO INPUT parameters === [component_container_isolated-3] [INFO] [1762170766.349720868] [zed_multi.right]: === LOCAL STREAMING parameters === [component_container_isolated-3] [INFO] [1762170766.349893858] [zed_multi.right]: * Local stream input: 192.168.16.175:30002 [component_container_isolated-3] [INFO] [1762170766.349905270] [zed_multi.right]: === GENERAL parameters === [component_container_isolated-3] [INFO] [1762170766.350043714] [zed_multi.right]: + Playing a network stream from a ZED X camera model. [component_container_isolated-3] [INFO] [1762170766.350055126] [zed_multi.right]: * Camera model: zedx - ZED X [component_container_isolated-3] [INFO] [1762170766.350131211] [zed_multi.front]: * Advertised on service: '/zed_multi/front/enable_mapping' [component_container_isolated-3] [INFO] [1762170766.350156119] [zed_multi.right]: * Camera name: right [component_container_isolated-3] [INFO] [1762170766.350247914] [zed_multi.right]: * Camera SN: 0 [component_container_isolated-3] [INFO] [1762170766.350320743] [zed_multi.right]: * Camera ID: 2 [component_container_isolated-3] [INFO] [1762170766.350397740] [zed_multi.right]: * Camera timeout [sec]: 5 [component_container_isolated-3] [INFO] [1762170766.350505596] [zed_multi.right]: * Camera reconnection temptatives: 5 [component_container_isolated-3] [INFO] [1762170766.350583164] [zed_multi.right]: * Camera framerate: 30 [component_container_isolated-3] [INFO] [1762170766.350714515] [zed_multi.right]: * GPU ID: -1 [component_container_isolated-3] [INFO] [1762170766.350791943] [zed_multi.front]: * Advertised on service: '/zed_multi/front/enable_streaming' [component_container_isolated-3] [INFO] [1762170766.350817672] [zed_multi.right]: * Asynchronous image retrieval: FALSE [component_container_isolated-3] [INFO] [1762170766.350898566] [zed_multi.right]: * Image Validity Check: 1 [component_container_isolated-3] [INFO] [1762170766.350978188] [zed_multi.right]: * Camera resolution: SVGA [component_container_isolated-3] [INFO] [1762170766.351059574] [zed_multi.right]: * Publishing resolution: CUSTOM [component_container_isolated-3] [INFO] [1762170766.351178601] [zed_multi.right]: * Publishing downscale factor: 2 [component_container_isolated-3] [INFO] [1762170766.351259826] [zed_multi.right]: * OpenCV custom calibration: [component_container_isolated-3] [INFO] [1762170766.351344598] [zed_multi.right]: * Camera self calibration: TRUE [component_container_isolated-3] [INFO] [1762170766.351448587] [zed_multi.right]: * Camera flip: FALSE [component_container_isolated-3] [INFO] [1762170766.351547646] [zed_multi.front]: * Advertised on service: '/zed_multi/front/start_svo_rec' [component_container_isolated-3] [INFO] [1762170766.351568846] [zed_multi.right]: * Publish framerate [Hz]: 15 [component_container_isolated-3] [INFO] [1762170766.351581210] [zed_multi.right]: === VIDEO parameters === [component_container_isolated-3] [INFO] [1762170766.351665240] [zed_multi.right]: * Saturation: 4 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.351745904] [zed_multi.right]: * Sharpness: 4 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.351853700] [zed_multi.right]: * Gamma: 8 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.351935105] [zed_multi.right]: * Auto Exposure/Gain: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.352012784] [zed_multi.right]: * Exposure: 80 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.352211744] [zed_multi.right]: * Gain: 80 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.352345689] [zed_multi.front]: * Advertised on service: '/zed_multi/front/stop_svo_rec' [component_container_isolated-3] [INFO] [1762170766.352359415] [zed_multi.right]: * Auto White Balance: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.352466229] [zed_multi.right]: * White Balance Temperature: 42 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.352544960] [zed_multi.right]: * ZED X Exposure time: 16000 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.352618961] [zed_multi.right]: * ZED X Auto Exp. time range min: 28 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.352703773] [zed_multi.right]: * ZED X Auto Exp. time range max: 30000 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.352867315] [zed_multi.right]: * ZED X Exposure comp.: 50 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.352950093] [zed_multi.right]: * ZED X Analog Gain: 1255 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.353023113] [zed_multi.right]: * ZED X Auto Analog Gain range min: 1000 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.353113525] [zed_multi.right]: * ZED X Auto Analog Gain range max: 16000 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.353260866] [zed_multi.right]: * ZED X Digital Gain: 1 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.353408228] [zed_multi.front]: * Advertised on service: '/zed_multi/front/set_roi' [component_container_isolated-3] [INFO] [1762170766.353421173] [zed_multi.right]: * ZED X Auto Digital Gain range min: 1 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.353533397] [zed_multi.right]: * ZED X Auto Digital Gain range max: 256 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.353612979] [zed_multi.right]: * ZED X Auto Digital Gain range max: 50 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.353622537] [zed_multi.right]: === DEPTH parameters === [component_container_isolated-3] [INFO] [1762170766.353708301] [zed_multi.right]: * Depth mode: NEURAL LIGHT [4] [component_container_isolated-3] [INFO] [1762170766.353881030] [zed_multi.right]: * Min depth [m]: 3 [component_container_isolated-3] [INFO] [1762170766.353975501] [zed_multi.right]: * Max depth [m]: 35 [component_container_isolated-3] [INFO] [1762170766.354054111] [zed_multi.right]: * Depth Stabilization: 30 [component_container_isolated-3] [INFO] [1762170766.354136618] [zed_multi.right]: * OpenNI mode (16bit depth): FALSE [component_container_isolated-3] [INFO] [1762170766.354293157] [zed_multi.right]: * Point cloud rate [Hz]: 10 [component_container_isolated-3] [INFO] [1762170766.354451279] [zed_multi.front]: * Advertised on service: '/zed_multi/front/reset_roi' [component_container_isolated-3] [INFO] [1762170766.354468362] [zed_multi.right]: * Point cloud resolution: COMPACT [component_container_isolated-3] [INFO] [1762170766.354501705] [zed_multi.front]: === STARTING CAMERA === [component_container_isolated-3] [INFO] [1762170766.354643626] [zed_multi.front]: ZED SDK Version: 5.1.0 - Build 106231_f4e0c540 [component_container_isolated-3] [INFO] [1762170766.354731594] [zed_multi.right]: * Depth Confidence: 95 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.354925595] [zed_multi.right]: * Depth Texture Confidence: 100 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.355923410] [zed_multi.right]: * Remove saturated areas: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.355985017] [zed_multi.right]: === GNSS FUSION parameters === [component_container_isolated-3] [INFO] [1762170766.356185009] [zed_multi.right]: * GNSS fusion enabled: FALSE [component_container_isolated-3] [INFO] [1762170766.356225537] [zed_multi.right]: === POSITIONAL TRACKING parameters === [component_container_isolated-3] [INFO] [1762170766.356694292] [zed_multi.right]: * Positional tracking enabled: TRUE [component_container_isolated-3] [DEBUG] [1762170766.356956582] [zed_multi.right]: Comparing 'GEN_1' to 'GEN_3' [component_container_isolated-3] [DEBUG] [1762170766.357021807] [zed_multi.right]: Comparing 'GEN_2' to 'GEN_3' [component_container_isolated-3] [DEBUG] [1762170766.357045732] [zed_multi.right]: Comparing 'GEN_3' to 'GEN_3' [component_container_isolated-3] [INFO] [1762170766.357070420] [zed_multi.right]: * Positional tracking mode: GEN 3 [component_container_isolated-3] [INFO] [1762170766.357418644] [zed_multi.right]: * Map frame id: map [component_container_isolated-3] [INFO] [1762170766.357682107] [zed_multi.right]: * Odometry frame id: odom [component_container_isolated-3] [INFO] [1762170766.357917807] [zed_multi.right]: * Broadcast Odometry TF: FALSE [component_container_isolated-3] [INFO] [1762170766.358077803] [zed_multi.right]: * Depth minimum range: 0 [component_container_isolated-3] [INFO] [1762170766.358205296] [zed_multi.right]: * TF timestamp offset: 0 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.358340665] [zed_multi.right]: * Path publishing rate: 2 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.358469280] [zed_multi.right]: * Path history lenght: -1 [component_container_isolated-3] [INFO] [1762170766.358578148] [zed_multi.right]: * Initial pose: [0,0,0,0,0,0,] [component_container_isolated-3] [INFO] [1762170766.358696414] [zed_multi.right]: * Area Memory: TRUE [component_container_isolated-3] [INFO] [1762170766.358833646] [zed_multi.right]: * Area Memory File: [component_container_isolated-3] [INFO] [1762170766.359016134] [zed_multi.right]: * Save Area Memory on closing: FALSE [component_container_isolated-3] [INFO] [1762170766.359141844] [zed_multi.right]: * Camera is static: FALSE [component_container_isolated-3] [INFO] [1762170766.359267905] [zed_multi.right]: * Gravity as origin: TRUE [component_container_isolated-3] [INFO] [1762170766.359450263] [zed_multi.right]: * IMU Fusion: TRUE [component_container_isolated-3] [INFO] [1762170766.359587064] [zed_multi.right]: * Floor Alignment: FALSE [component_container_isolated-3] [INFO] [1762170766.359742701] [zed_multi.right]: * Reset Odometry with Loop Closure: TRUE [component_container_isolated-3] [INFO] [1762170766.359904941] [zed_multi.right]: * Publish 3D Landmarks: FALSE [component_container_isolated-3] [INFO] [1762170766.360110924] [zed_multi.right]: * Publish Landmark Skip Frame: [component_container_isolated-3] [INFO] [1762170766.360224772] [zed_multi.right]: * 2D mode: FALSE [component_container_isolated-3] [INFO] [1762170766.360411078] [zed_multi.right]: * Reset pose with SVO loop: TRUE [component_container_isolated-3] [INFO] [1762170766.360447717] [zed_multi.right]: === Region of Interest parameters === [component_container_isolated-3] [INFO] [1762170766.360597944] [zed_multi.right]: * Automatic ROI generation: FALSE [component_container_isolated-3] [INFO] [1762170766.360748542] [zed_multi.right]: * Manual ROI polygon: [] [component_container_isolated-3] [INFO] [1762170766.360782917] [zed_multi.right]: === SENSORS STACK parameters === [component_container_isolated-3] [INFO] [1762170766.360921933] [zed_multi.right]: * Broadcast IMU TF [not for ZED]: FALSE [component_container_isolated-3] [INFO] [1762170766.361047603] [zed_multi.right]: * Sensors Camera Sync: FALSE [component_container_isolated-3] [INFO] [1762170766.361217106] [zed_multi.right]: * Sensors publishing rate [Hz]: 100 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.361239068] [zed_multi.right]: === Spatial Mapping parameters === [component_container_isolated-3] [INFO] [1762170766.361411758] [zed_multi.right]: * Spatial Mapping Enabled: FALSE [component_container_isolated-3] [INFO] [1762170766.361568036] [zed_multi.rear]: === DEBUG parameters === [component_container_isolated-3] [INFO] [1762170766.361613834] [zed_multi.front]: === LOCAL STREAMING OPENING === [component_container_isolated-3] [INFO] [1762170766.361638301] [zed_multi.right]: * Spatial Mapping resolution [m]: 0.05 [component_container_isolated-3] [INFO] [1762170766.361746537] [zed_multi.rear]: * SDK Verbose: 1 [component_container_isolated-3] [INFO] [1762170766.361787966] [zed_multi.right]: * 3D Max Mapping range [m]: 5 [component_container_isolated-3] [INFO] [1762170766.361842681] [zed_multi.rear]: * Use Pub Timestamps: FALSE [component_container_isolated-3] [INFO] [1762170766.361931550] [zed_multi.rear]: * SDK Verbose File: [component_container_isolated-3] [INFO] [1762170766.361976446] [zed_multi.right]: * Map publishing rate [Hz]: 1 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.362046229] [zed_multi.rear]: * Debug Common: FALSE [component_container_isolated-3] [INFO] [1762170766.362173863] [zed_multi.right]: * Clicked point topic: /clicked_point [component_container_isolated-3] [INFO] [1762170766.362197468] [zed_multi.rear]: * Debug Simulation: FALSE [component_container_isolated-3] [INFO] [1762170766.362281669] [zed_multi.rear]: * Debug Video/Depth: FALSE [component_container_isolated-3] [INFO] [1762170766.362324571] [zed_multi.right]: * Plane Det. Max Dist. Thresh.: 0.15 [component_container_isolated-3] [INFO] [1762170766.362361271] [zed_multi.rear]: * Debug Control settings: FALSE [component_container_isolated-3] [INFO] [1762170766.362434871] [zed_multi.rear]: * Debug Point Cloud: FALSE [component_container_isolated-3] [INFO] [1762170766.362480619] [zed_multi.right]: * Plane Det. Normals Sim. Thresh.: 15 [component_container_isolated-3] [INFO] [1762170766.362505326] [zed_multi.right]: === OBJECT DETECTION parameters === [component_container_isolated-3] [INFO] [1762170766.362521427] [zed_multi.rear]: * Debug GNSS: FALSE [component_container_isolated-3] [INFO] [1762170766.362622139] [zed_multi.right]: * Object Det. enabled: FALSE [component_container_isolated-3] [INFO] [1762170766.362646014] [zed_multi.rear]: * Debug Positional Tracking: TRUE [component_container_isolated-3] [INFO] [1762170766.362720557] [zed_multi.rear]: * Debug sensors: FALSE [component_container_isolated-3] [INFO] [1762170766.362766324] [zed_multi.right]: * Object Det. allow reduced precision: FALSE [component_container_isolated-3] [INFO] [1762170766.362794558] [zed_multi.rear]: * Debug Mapping: FALSE [component_container_isolated-3] [INFO] [1762170766.362872046] [zed_multi.rear]: * Debug Object Detection: FALSE [component_container_isolated-3] [INFO] [1762170766.362914417] [zed_multi.right]: * Object Det. maximum range [m]: 20 [component_container_isolated-3] [INFO] [1762170766.362954523] [zed_multi.rear]: * Debug Body Tracking: FALSE [component_container_isolated-3] [INFO] [1762170766.363040247] [zed_multi.right]: * Object Det. prediction timeout [sec]: 2 [component_container_isolated-3] [INFO] [1762170766.363061418] [zed_multi.rear]: * Debug Streaming: FALSE [component_container_isolated-3] [INFO] [1762170766.363171067] [zed_multi.right]: * Object Det. tracking: TRUE [component_container_isolated-3] [INFO] [1762170766.363204471] [zed_multi.rear]: * Debug ROI: FALSE [component_container_isolated-3] [INFO] [1762170766.363301085] [zed_multi.right]: * Object Filtering mode: NMS3D [component_container_isolated-3] [INFO] [1762170766.363316715] [zed_multi.rear]: * Debug Nitros: FALSE [component_container_isolated-3] [INFO] [1762170766.363431394] [zed_multi.right]: * Object Det. model: MULTI CLASS BOX FAST [component_container_isolated-3] [INFO] [1762170766.363450520] [zed_multi.rear]: * Debug Advanced: FALSE [component_container_isolated-3] [INFO] [1762170766.363464748] [zed_multi.rear]: + Debug Mode enabled + [component_container_isolated-3] [INFO] [1762170766.363471831] [zed_multi.rear]: === TOPIC selection parameters === [component_container_isolated-3] [INFO] [1762170766.363555701] [zed_multi.right]: * MultiClassBox people: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.363581621] [zed_multi.rear]: * Publish Status: TRUE [component_container_isolated-3] [INFO] [1762170766.363698604] [zed_multi.right]: * MultiClassBox vehicles: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.363722950] [zed_multi.rear]: * Publish Left/Right images: FALSE [component_container_isolated-3] [INFO] [1762170766.363820036] [zed_multi.right]: * MultiClassBox bags: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.363845785] [zed_multi.rear]: * Publish Raw images: FALSE [component_container_isolated-3] [INFO] [1762170766.363923002] [zed_multi.rear]: * Publish Gray images: FALSE [component_container_isolated-3] [INFO] [1762170766.363964231] [zed_multi.right]: * MultiClassBox animals: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.363996393] [zed_multi.rear]: * Publish RGB image: TRUE [component_container_isolated-3] [INFO] [1762170766.364095341] [zed_multi.right]: * MultiClassBox electronics: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.364117995] [zed_multi.rear]: * Publish Stereo image: FALSE [component_container_isolated-3] [INFO] [1762170766.364218176] [zed_multi.right]: * MultiClassBox fruits and vegetables: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.364244436] [zed_multi.rear]: * Publish ROI Mask image: FALSE [component_container_isolated-3] [INFO] [1762170766.364321583] [zed_multi.rear]: * Publish Depth Map: TRUE [component_container_isolated-3] [INFO] [1762170766.364379955] [zed_multi.right]: * MultiClassBox sport-related objects: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.364392288] [zed_multi.rear]: * Publish Depth Info: FALSE [component_container_isolated-3] [INFO] [1762170766.364524090] [zed_multi.rear]: * Publish Point Cloud: TRUE [component_container_isolated-3] [INFO] [1762170766.364564427] [zed_multi.right]: * MultiClassBox people confidence: 65 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.364600145] [zed_multi.rear]: * Publish Depth Confidence: FALSE [component_container_isolated-3] [INFO] [1762170766.364688965] [zed_multi.rear]: * Publish Disparity: FALSE [component_container_isolated-3] [INFO] [1762170766.364732207] [zed_multi.right]: * MultiClassBox vehicles confidence: 60 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.364758828] [zed_multi.rear]: * Publish IMU: TRUE [component_container_isolated-3] [INFO] [1762170766.364832278] [zed_multi.rear]: * Publish IMU Raw: FALSE [component_container_isolated-3] [INFO] [1762170766.364873617] [zed_multi.right]: * MultiClassBox bags confidence: 40 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.364901130] [zed_multi.rear]: * Publish LeftCam/IMU Transf.: FALSE [component_container_isolated-3] [INFO] [1762170766.364966685] [zed_multi.rear]: * Publish Magnetometer: FALSE [component_container_isolated-3] [INFO] [1762170766.365027130] [zed_multi.right]: * MultiClassBox animals confidence: 40 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.365044704] [zed_multi.rear]: * Publish Barometer: FALSE [component_container_isolated-3] [INFO] [1762170766.365145236] [zed_multi.rear]: * Publish Temperature: FALSE [component_container_isolated-3] [INFO] [1762170766.365191053] [zed_multi.right]: * MultiClassBox electronics confidence: 45 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.365223646] [zed_multi.rear]: * Publish Odometry/Pose: TRUE [component_container_isolated-3] [INFO] [1762170766.365298909] [zed_multi.rear]: * Publish Pose with Covariance: FALSE [component_container_isolated-3] [INFO] [1762170766.365344366] [zed_multi.right]: * MultiClassBox fruits and vegetables confidence: 50 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.365371077] [zed_multi.rear]: * Publish Camera Path: FALSE [component_container_isolated-3] [INFO] [1762170766.365439438] [zed_multi.rear]: * Publish Detection Plane: FALSE [component_container_isolated-3] [INFO] [1762170766.365477330] [zed_multi.right]: * MultiClassBox sport-related objects confidence: 30 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.365495455] [zed_multi.right]: === Body Track. parameters === [component_container_isolated-3] [INFO] [1762170766.365507437] [zed_multi.rear]: === SVO INPUT parameters === [component_container_isolated-3] [INFO] [1762170766.365613570] [zed_multi.right]: * Body Track. enabled: FALSE [component_container_isolated-3] [INFO] [1762170766.365637045] [zed_multi.rear]: === LOCAL STREAMING parameters === [component_container_isolated-3] [INFO] [1762170766.365778054] [zed_multi.right]: * Body Track. model: HUMAN BODY MEDIUM [component_container_isolated-3] [INFO] [1762170766.365803372] [zed_multi.rear]: * Local stream input: 192.168.16.175:30000 [component_container_isolated-3] [INFO] [1762170766.365815005] [zed_multi.rear]: === GENERAL parameters === [component_container_isolated-3] [INFO] [1762170766.365921758] [zed_multi.right]: * Body Track. format: BODY 38 [component_container_isolated-3] [INFO] [1762170766.365944702] [zed_multi.rear]: + Playing a network stream from a ZED X camera model. [component_container_isolated-3] [INFO] [1762170766.365968618] [zed_multi.rear]: * Camera model: zedx - ZED X [component_container_isolated-3] [INFO] [1762170766.366058299] [zed_multi.right]: * Body Track. allow reduced precision: FALSE [component_container_isolated-3] [INFO] [1762170766.366087585] [zed_multi.rear]: * Camera name: rear [component_container_isolated-3] [INFO] [1762170766.366188217] [zed_multi.rear]: * Camera SN: 0 [component_container_isolated-3] [INFO] [1762170766.366233283] [zed_multi.right]: * Body Track. maximum range [m]: 15 [component_container_isolated-3] [INFO] [1762170766.366274552] [zed_multi.rear]: * Camera ID: 3 [component_container_isolated-3] [INFO] [1762170766.366369533] [zed_multi.rear]: * Camera timeout [sec]: 5 [component_container_isolated-3] [INFO] [1762170766.366408408] [zed_multi.right]: * Body Track. KP selection: FULL [component_container_isolated-3] [INFO] [1762170766.366483872] [zed_multi.rear]: * Camera reconnection temptatives: 5 [component_container_isolated-3] [INFO] [1762170766.366531543] [zed_multi.right]: * Body fitting: FALSE [component_container_isolated-3] [INFO] [1762170766.366566720] [zed_multi.rear]: * Camera framerate: 30 [component_container_isolated-3] [INFO] [1762170766.366661841] [zed_multi.rear]: * GPU ID: -1 [component_container_isolated-3] [INFO] [1762170766.366702349] [zed_multi.right]: * Body joints tracking: TRUE [component_container_isolated-3] [INFO] [1762170766.366736534] [zed_multi.rear]: * Asynchronous image retrieval: FALSE [component_container_isolated-3] [INFO] [1762170766.366812489] [zed_multi.rear]: * Image Validity Check: 1 [component_container_isolated-3] [INFO] [1762170766.366896650] [zed_multi.rear]: * Camera resolution: SVGA [component_container_isolated-3] [INFO] [1762170766.366973316] [zed_multi.rear]: * Publishing resolution: CUSTOM [component_container_isolated-3] [INFO] [1762170766.367058058] [zed_multi.right]: * Body Track. prediction timeout [sec]: 0.5 [component_container_isolated-3] [INFO] [1762170766.367087224] [zed_multi.rear]: * Publishing downscale factor: 2 [component_container_isolated-3] [INFO] [1762170766.367185341] [zed_multi.rear]: * OpenCV custom calibration: [component_container_isolated-3] [INFO] [1762170766.367226950] [zed_multi.right]: * Body Track. confidence thresh.: 50 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.367275553] [zed_multi.rear]: * Camera self calibration: TRUE [component_container_isolated-3] [INFO] [1762170766.367343363] [zed_multi.right]: * Body Track. min. KP thresh.: 5 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.367363501] [zed_multi.right]: === STREAMING SERVER parameters === [component_container_isolated-3] [INFO] [1762170766.367377508] [zed_multi.rear]: * Camera flip: FALSE [component_container_isolated-3] [INFO] [1762170766.367465345] [zed_multi.right]: * Streaming Server enabled: FALSE [component_container_isolated-3] [INFO] [1762170766.367484282] [zed_multi.rear]: * Publish framerate [Hz]: 15 [component_container_isolated-3] [INFO] [1762170766.367496294] [zed_multi.rear]: === VIDEO parameters === [component_container_isolated-3] [INFO] [1762170766.367575917] [zed_multi.right]: * Stream codec: H264 [component_container_isolated-3] [INFO] [1762170766.367594392] [zed_multi.rear]: * Saturation: 4 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.367709482] [zed_multi.rear]: * Sharpness: 4 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.367749328] [zed_multi.right]: * Stream port: 30000 [component_container_isolated-3] [INFO] [1762170766.367816135] [zed_multi.rear]: * Gamma: 8 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.367863516] [zed_multi.right]: * Stream bitrate: 12500 [component_container_isolated-3] [INFO] [1762170766.367902951] [zed_multi.rear]: * Auto Exposure/Gain: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.368001038] [zed_multi.right]: * Stream GOP size: -1 [component_container_isolated-3] [INFO] [1762170766.368026567] [zed_multi.rear]: * Exposure: 80 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.368122460] [zed_multi.rear]: * Gain: 80 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.368155393] [zed_multi.right]: * Stream Chunk size: 16084 [component_container_isolated-3] [INFO] [1762170766.368218694] [zed_multi.rear]: * Auto White Balance: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.368285391] [zed_multi.right]: * Adaptive bitrate: FALSE [component_container_isolated-3] [INFO] [1762170766.368310208] [zed_multi.rear]: * White Balance Temperature: 42 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.368403817] [zed_multi.right]: * Target frame rate:0 [component_container_isolated-3] [INFO] [1762170766.368423956] [zed_multi.right]: === ADVANCED parameters === [component_container_isolated-3] [INFO] [1762170766.368427252] [zed_multi.rear]: * ZED X Exposure time: 16000 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.368527964] [zed_multi.right]: * Thread sched. policy: SCHED_BATCH [component_container_isolated-3] [INFO] [1762170766.368544315] [zed_multi.rear]: * ZED X Auto Exp. time range min: 28 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.368560707] [zed_multi.right]: === SERVICES === [component_container_isolated-3] [INFO] [1762170766.368641611] [zed_multi.rear]: * ZED X Auto Exp. time range max: 30000 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.368726313] [zed_multi.rear]: * ZED X Exposure comp.: 50 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.368803731] [zed_multi.rear]: * ZED X Analog Gain: 1255 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.368923339] [zed_multi.rear]: * ZED X Auto Analog Gain range min: 1000 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.369021446] [zed_multi.rear]: * ZED X Auto Analog Gain range max: 16000 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.369197472] [zed_multi.rear]: * ZED X Digital Gain: 1 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.369330737] [zed_multi.right]: * Advertised on service: '/zed_multi/right/reset_odometry' [component_container_isolated-3] [INFO] [1762170766.369347980] [zed_multi.rear]: * ZED X Auto Digital Gain range min: 1 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.369438823] [zed_multi.rear]: * ZED X Auto Digital Gain range max: 256 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.369511201] [zed_multi.rear]: * ZED X Auto Digital Gain range max: 50 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.369521391] [zed_multi.rear]: === DEPTH parameters === [component_container_isolated-3] [INFO] [1762170766.369694802] [zed_multi.rear]: * Depth mode: NEURAL LIGHT [4] [component_container_isolated-3] [INFO] [1762170766.369781347] [zed_multi.rear]: * Min depth [m]: 3 [component_container_isolated-3] [INFO] [1762170766.369927376] [zed_multi.rear]: * Max depth [m]: 35 [component_container_isolated-3] [INFO] [1762170766.370041414] [zed_multi.right]: * Advertised on service: '/zed_multi/right/reset_pos_tracking' [component_container_isolated-3] [INFO] [1762170766.370055791] [zed_multi.rear]: * Depth Stabilization: 30 [component_container_isolated-3] [INFO] [1762170766.370170831] [zed_multi.rear]: * OpenNI mode (16bit depth): FALSE [component_container_isolated-3] [INFO] [1762170766.370253188] [zed_multi.rear]: * Point cloud rate [Hz]: 10 [component_container_isolated-3] [INFO] [1762170766.370326508] [zed_multi.rear]: * Point cloud resolution: COMPACT [component_container_isolated-3] [INFO] [1762170766.370444092] [zed_multi.rear]: * Depth Confidence: 95 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.370523003] [zed_multi.rear]: * Depth Texture Confidence: 100 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.370604849] [zed_multi.rear]: * Remove saturated areas: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.370615389] [zed_multi.rear]: === GNSS FUSION parameters === [component_container_isolated-3] [INFO] [1762170766.370747772] [zed_multi.rear]: * GNSS fusion enabled: FALSE [component_container_isolated-3] [INFO] [1762170766.370760016] [zed_multi.rear]: === POSITIONAL TRACKING parameters === [component_container_isolated-3] [INFO] [1762170766.370865216] [zed_multi.right]: * Advertised on service: '/zed_multi/right/set_pose' [component_container_isolated-3] [INFO] [1762170766.370880175] [zed_multi.rear]: * Positional tracking enabled: TRUE [component_container_isolated-3] [DEBUG] [1762170766.370994263] [zed_multi.rear]: Comparing 'GEN_1' to 'GEN_3' [component_container_isolated-3] [DEBUG] [1762170766.371004582] [zed_multi.rear]: Comparing 'GEN_2' to 'GEN_3' [component_container_isolated-3] [DEBUG] [1762170766.371010714] [zed_multi.rear]: Comparing 'GEN_3' to 'GEN_3' [component_container_isolated-3] [INFO] [1762170766.371021034] [zed_multi.rear]: * Positional tracking mode: GEN 3 [component_container_isolated-3] [INFO] [1762170766.371214133] [zed_multi.rear]: * Map frame id: map [component_container_isolated-3] [INFO] [1762170766.371326447] [zed_multi.rear]: * Odometry frame id: odom [component_container_isolated-3] [INFO] [1762170766.371439282] [zed_multi.rear]: * Broadcast Odometry TF: FALSE [component_container_isolated-3] [INFO] [1762170766.371546066] [zed_multi.right]: * Advertised on service: '/zed_multi/right/save_area_memory' [component_container_isolated-3] [INFO] [1762170766.371564061] [zed_multi.rear]: * Depth minimum range: 0 [component_container_isolated-3] [INFO] [1762170766.371682897] [zed_multi.rear]: * TF timestamp offset: 0 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.371865656] [zed_multi.rear]: * Path publishing rate: 2 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.371970917] [zed_multi.rear]: * Path history lenght: -1 [component_container_isolated-3] [INFO] [1762170766.372119150] [zed_multi.rear]: * Initial pose: [0,0,0,0,0,0,] [component_container_isolated-3] [INFO] [1762170766.372229311] [zed_multi.right]: * Advertised on service: '/zed_multi/right/enable_obj_det' [component_container_isolated-3] [INFO] [1762170766.372244961] [zed_multi.rear]: * Area Memory: TRUE [component_container_isolated-3] [INFO] [1762170766.372355712] [zed_multi.rear]: * Area Memory File: [component_container_isolated-3] [INFO] [1762170766.372445113] [zed_multi.rear]: * Save Area Memory on closing: FALSE [component_container_isolated-3] [INFO] [1762170766.372559381] [zed_multi.rear]: * Camera is static: FALSE [component_container_isolated-3] [INFO] [1762170766.372654923] [zed_multi.rear]: * Gravity as origin: TRUE [component_container_isolated-3] [INFO] [1762170766.372812544] [zed_multi.rear]: * IMU Fusion: TRUE [component_container_isolated-3] [INFO] [1762170766.372912776] [zed_multi.right]: * Advertised on service: '/zed_multi/right/enable_body_trk' [component_container_isolated-3] [INFO] [1762170766.372923436] [zed_multi.rear]: * Floor Alignment: FALSE [component_container_isolated-3] [INFO] [1762170766.373051360] [zed_multi.rear]: * Reset Odometry with Loop Closure: TRUE [component_container_isolated-3] [INFO] [1762170766.373154026] [zed_multi.rear]: * Publish 3D Landmarks: FALSE [component_container_isolated-3] [INFO] [1762170766.373282541] [zed_multi.rear]: * Publish Landmark Skip Frame: [component_container_isolated-3] [INFO] [1762170766.373382282] [zed_multi.rear]: * 2D mode: FALSE [component_container_isolated-3] [INFO] [1762170766.373507641] [zed_multi.rear]: * Reset pose with SVO loop: TRUE [component_container_isolated-3] [INFO] [1762170766.373531797] [zed_multi.rear]: === Region of Interest parameters === [component_container_isolated-3] [INFO] [1762170766.373609416] [zed_multi.right]: * Advertised on service: '/zed_multi/right/enable_mapping' [component_container_isolated-3] [INFO] [1762170766.373645054] [zed_multi.rear]: * Automatic ROI generation: FALSE [component_container_isolated-3] [INFO] [1762170766.373759191] [zed_multi.rear]: * Manual ROI polygon: [] [component_container_isolated-3] [INFO] [1762170766.373770533] [zed_multi.rear]: === SENSORS STACK parameters === [component_container_isolated-3] [INFO] [1762170766.373948092] [zed_multi.rear]: * Broadcast IMU TF [not for ZED]: FALSE [component_container_isolated-3] [INFO] [1762170766.374056629] [zed_multi.rear]: * Sensors Camera Sync: FALSE [component_container_isolated-3] [INFO] [1762170766.374209722] [zed_multi.rear]: * Sensors publishing rate [Hz]: 100 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.374222035] [zed_multi.rear]: === Spatial Mapping parameters === [component_container_isolated-3] [INFO] [1762170766.374314662] [zed_multi.right]: * Advertised on service: '/zed_multi/right/enable_streaming' [component_container_isolated-3] [INFO] [1762170766.374331093] [zed_multi.rear]: * Spatial Mapping Enabled: FALSE [component_container_isolated-3] [INFO] [1762170766.374464107] [zed_multi.rear]: * Spatial Mapping resolution [m]: 0.05 [component_container_isolated-3] [INFO] [1762170766.374564148] [zed_multi.rear]: * 3D Max Mapping range [m]: 5 [component_container_isolated-3] [INFO] [1762170766.374751486] [zed_multi.rear]: * Map publishing rate [Hz]: 1 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.374850906] [zed_multi.rear]: * Clicked point topic: /clicked_point [component_container_isolated-3] [INFO] [1762170766.375031330] [zed_multi.rear]: * Plane Det. Max Dist. Thresh.: 0.15 [component_container_isolated-3] [INFO] [1762170766.375155167] [zed_multi.right]: * Advertised on service: '/zed_multi/right/start_svo_rec' [component_container_isolated-3] [INFO] [1762170766.375175325] [zed_multi.rear]: * Plane Det. Normals Sim. Thresh.: 15 [component_container_isolated-3] [INFO] [1762170766.375202958] [zed_multi.rear]: === OBJECT DETECTION parameters === [component_container_isolated-3] [INFO] [1762170766.375329700] [zed_multi.rear]: * Object Det. enabled: FALSE [component_container_isolated-3] [INFO] [1762170766.375450000] [zed_multi.rear]: * Object Det. allow reduced precision: FALSE [component_container_isolated-3] [INFO] [1762170766.375569658] [zed_multi.rear]: * Object Det. maximum range [m]: 20 [component_container_isolated-3] [INFO] [1762170766.375672785] [zed_multi.rear]: * Object Det. prediction timeout [sec]: 2 [component_container_isolated-3] [INFO] [1762170766.375965093] [zed_multi.right]: * Advertised on service: '/zed_multi/right/stop_svo_rec' [component_container_isolated-3] [INFO] [1762170766.375984290] [zed_multi.rear]: * Object Det. tracking: TRUE [component_container_isolated-3] [INFO] [1762170766.376101533] [zed_multi.rear]: * Object Filtering mode: NMS3D [component_container_isolated-3] [INFO] [1762170766.376224989] [zed_multi.rear]: * Object Det. model: MULTI CLASS BOX FAST [component_container_isolated-3] [INFO] [1762170766.376400344] [zed_multi.rear]: * MultiClassBox people: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.376511887] [zed_multi.rear]: * MultiClassBox vehicles: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.376644019] [zed_multi.rear]: * MultiClassBox bags: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.376744591] [zed_multi.right]: * Advertised on service: '/zed_multi/right/set_roi' [component_container_isolated-3] [INFO] [1762170766.376759760] [zed_multi.rear]: * MultiClassBox animals: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.376891922] [zed_multi.rear]: * MultiClassBox electronics: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.376986232] [zed_multi.rear]: * MultiClassBox fruits and vegetables: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.377111041] [zed_multi.rear]: * MultiClassBox sport-related objects: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.377299961] [zed_multi.rear]: * MultiClassBox people confidence: 65 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.377516785] [zed_multi.left]: === DEBUG parameters === [component_container_isolated-3] [INFO] [1762170766.377535361] [zed_multi.rear]: * MultiClassBox vehicles confidence: 60 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.377681570] [zed_multi.rear]: * MultiClassBox bags confidence: 40 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.377775409] [zed_multi.right]: * Advertised on service: '/zed_multi/right/reset_roi' [component_container_isolated-3] [INFO] [1762170766.377795357] [zed_multi.right]: === STARTING CAMERA === [component_container_isolated-3] [INFO] [1762170766.377807310] [zed_multi.right]: ZED SDK Version: 5.1.0 - Build 106231_f4e0c540 [component_container_isolated-3] [INFO] [1762170766.377810616] [zed_multi.left]: * SDK Verbose: 1 [component_container_isolated-3] [INFO] [1762170766.377835273] [zed_multi.rear]: * MultiClassBox animals confidence: 40 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.378012782] [zed_multi.left]: * Use Pub Timestamps: FALSE [component_container_isolated-3] [INFO] [1762170766.378042369] [zed_multi.rear]: * MultiClassBox electronics confidence: 45 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.378540320] [zed_multi.left]: * SDK Verbose File: [component_container_isolated-3] [INFO] [1762170766.378588301] [zed_multi.rear]: * MultiClassBox fruits and vegetables confidence: 50 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.378677431] [zed_multi.left]: * Debug Common: FALSE [component_container_isolated-3] [INFO] [1762170766.378728990] [zed_multi.rear]: * MultiClassBox sport-related objects confidence: 30 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.378744700] [zed_multi.rear]: === Body Track. parameters === [component_container_isolated-3] [INFO] [1762170766.378792381] [zed_multi.left]: * Debug Simulation: FALSE [component_container_isolated-3] [INFO] [1762170766.378860310] [zed_multi.rear]: * Body Track. enabled: FALSE [component_container_isolated-3] [INFO] [1762170766.378881892] [zed_multi.left]: * Debug Video/Depth: FALSE [component_container_isolated-3] [INFO] [1762170766.379029093] [zed_multi.left]: * Debug Control settings: FALSE [component_container_isolated-3] [INFO] [1762170766.379065202] [zed_multi.rear]: * Body Track. model: HUMAN BODY MEDIUM [component_container_isolated-3] [INFO] [1762170766.379244414] [zed_multi.left]: * Debug Point Cloud: FALSE [component_container_isolated-3] [INFO] [1762170766.379365575] [zed_multi.rear]: * Body Track. format: BODY 38 [component_container_isolated-3] [INFO] [1762170766.379374893] [zed_multi.left]: * Debug GNSS: FALSE [component_container_isolated-3] [INFO] [1762170766.379526382] [zed_multi.rear]: * Body Track. allow reduced precision: FALSE [component_container_isolated-3] [INFO] [1762170766.379556039] [zed_multi.left]: * Debug Positional Tracking: TRUE [component_container_isolated-3] [INFO] [1762170766.379649116] [zed_multi.rear]: * Body Track. maximum range [m]: 15 [component_container_isolated-3] [INFO] [1762170766.379679064] [zed_multi.left]: * Debug sensors: FALSE [component_container_isolated-3] [INFO] [1762170766.379797209] [zed_multi.rear]: * Body Track. KP selection: FULL [component_container_isolated-3] [INFO] [1762170766.379833999] [zed_multi.left]: * Debug Mapping: FALSE [component_container_isolated-3] [INFO] [1762170766.379915204] [zed_multi.rear]: * Body fitting: FALSE [component_container_isolated-3] [INFO] [1762170766.379943118] [zed_multi.left]: * Debug Object Detection: FALSE [component_container_isolated-3] [INFO] [1762170766.380013041] [zed_multi.rear]: * Body joints tracking: TRUE [component_container_isolated-3] [INFO] [1762170766.380065551] [zed_multi.left]: * Debug Body Tracking: FALSE [component_container_isolated-3] [INFO] [1762170766.380133431] [zed_multi.rear]: * Body Track. prediction timeout [sec]: 0.5 [component_container_isolated-3] [INFO] [1762170766.380303035] [zed_multi.left]: * Debug Streaming: FALSE [component_container_isolated-3] [INFO] [1762170766.380320638] [zed_multi.rear]: * Body Track. confidence thresh.: 50 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.380404719] [zed_multi.left]: * Debug ROI: FALSE [component_container_isolated-3] [INFO] [1762170766.380434937] [zed_multi.rear]: * Body Track. min. KP thresh.: 5 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.380446569] [zed_multi.rear]: === STREAMING SERVER parameters === [component_container_isolated-3] [INFO] [1762170766.380500802] [zed_multi.left]: * Debug Nitros: FALSE [component_container_isolated-3] [INFO] [1762170766.380552381] [zed_multi.rear]: * Streaming Server enabled: FALSE [component_container_isolated-3] [INFO] [1762170766.380587288] [zed_multi.left]: * Debug Advanced: FALSE [component_container_isolated-3] [INFO] [1762170766.380634488] [zed_multi.left]: + Debug Mode enabled + [component_container_isolated-3] [INFO] [1762170766.380649516] [zed_multi.left]: === TOPIC selection parameters === [component_container_isolated-3] [INFO] [1762170766.380725401] [zed_multi.rear]: * Stream codec: H264 [component_container_isolated-3] [INFO] [1762170766.380744678] [zed_multi.left]: * Publish Status: TRUE [component_container_isolated-3] [INFO] [1762170766.380836994] [zed_multi.rear]: * Stream port: 30000 [component_container_isolated-3] [INFO] [1762170766.380860008] [zed_multi.left]: * Publish Left/Right images: FALSE [component_container_isolated-3] [INFO] [1762170766.380982302] [zed_multi.left]: * Publish Raw images: FALSE [component_container_isolated-3] [INFO] [1762170766.381103573] [zed_multi.rear]: * Stream bitrate: 12500 [component_container_isolated-3] [INFO] [1762170766.381119544] [zed_multi.left]: * Publish Gray images: FALSE [component_container_isolated-3] [INFO] [1762170766.381259932] [zed_multi.left]: * Publish RGB image: TRUE [component_container_isolated-3] [INFO] [1762170766.381293426] [zed_multi.rear]: * Stream GOP size: -1 [component_container_isolated-3] [INFO] [1762170766.381346397] [zed_multi.left]: * Publish Stereo image: FALSE [component_container_isolated-3] [INFO] [1762170766.381423043] [zed_multi.rear]: * Stream Chunk size: 16084 [component_container_isolated-3] [INFO] [1762170766.381491634] [zed_multi.left]: * Publish ROI Mask image: FALSE [component_container_isolated-3] [INFO] [1762170766.381569363] [zed_multi.rear]: * Adaptive bitrate: FALSE [component_container_isolated-3] [INFO] [1762170766.381609639] [zed_multi.left]: * Publish Depth Map: TRUE [component_container_isolated-3] [INFO] [1762170766.381699351] [zed_multi.left]: * Publish Depth Info: FALSE [component_container_isolated-3] [INFO] [1762170766.381731161] [zed_multi.rear]: * Target frame rate:0 [component_container_isolated-3] [INFO] [1762170766.381743455] [zed_multi.rear]: === ADVANCED parameters === [component_container_isolated-3] [INFO] [1762170766.381821714] [zed_multi.left]: * Publish Point Cloud: TRUE [component_container_isolated-3] [INFO] [1762170766.381846431] [zed_multi.rear]: * Thread sched. policy: SCHED_BATCH [component_container_isolated-3] [INFO] [1762170766.381885516] [zed_multi.rear]: === SERVICES === [component_container_isolated-3] [INFO] [1762170766.381949398] [zed_multi.left]: * Publish Depth Confidence: FALSE [component_container_isolated-3] [INFO] [1762170766.382033939] [zed_multi.left]: * Publish Disparity: FALSE [component_container_isolated-3] [INFO] [1762170766.382118952] [zed_multi.left]: * Publish IMU: TRUE [component_container_isolated-3] [INFO] [1762170766.382235043] [zed_multi.left]: * Publish IMU Raw: FALSE [component_container_isolated-3] [INFO] [1762170766.382327760] [zed_multi.left]: * Publish LeftCam/IMU Transf.: FALSE [component_container_isolated-3] [INFO] [1762170766.382406451] [zed_multi.left]: * Publish Magnetometer: FALSE [component_container_isolated-3] [INFO] [1762170766.382566115] [zed_multi.left]: * Publish Barometer: FALSE [component_container_isolated-3] [INFO] [1762170766.382662349] [zed_multi.rear]: * Advertised on service: '/zed_multi/rear/reset_odometry' [component_container_isolated-3] [INFO] [1762170766.382678300] [zed_multi.left]: * Publish Temperature: FALSE [component_container_isolated-3] [INFO] [1762170766.382766388] [zed_multi.left]: * Publish Odometry/Pose: TRUE [component_container_isolated-3] [INFO] [1762170766.382843675] [zed_multi.left]: * Publish Pose with Covariance: FALSE [component_container_isolated-3] [INFO] [1762170766.382928557] [zed_multi.left]: * Publish Camera Path: FALSE [component_container_isolated-3] [INFO] [1762170766.383102950] [zed_multi.left]: * Publish Detection Plane: FALSE [component_container_isolated-3] [INFO] [1762170766.383241846] [zed_multi.right]: === LOCAL STREAMING OPENING === [component_container_isolated-3] [INFO] [1762170766.383255401] [zed_multi.left]: === SVO INPUT parameters === [component_container_isolated-3] [INFO] [1762170766.383400358] [zed_multi.left]: === LOCAL STREAMING parameters === [component_container_isolated-3] [INFO] [1762170766.383564732] [zed_multi.left]: * Local stream input: 192.168.16.175:30004 [component_container_isolated-3] [INFO] [1762170766.383576544] [zed_multi.left]: === GENERAL parameters === [component_container_isolated-3] [INFO] [1762170766.383662779] [zed_multi.left]: + Playing a network stream from a ZED X camera model. [component_container_isolated-3] [INFO] [1762170766.383673560] [zed_multi.left]: * Camera model: zedx - ZED X [component_container_isolated-3] [INFO] [1762170766.383755947] [zed_multi.rear]: * Advertised on service: '/zed_multi/rear/reset_pos_tracking' [component_container_isolated-3] [INFO] [1762170766.383779141] [zed_multi.left]: * Camera name: left [component_container_isolated-3] [INFO] [1762170766.383871147] [zed_multi.left]: * Camera SN: 0 [component_container_isolated-3] [INFO] [1762170766.383958504] [zed_multi.left]: * Camera ID: 1 [component_container_isolated-3] [INFO] [1762170766.384043115] [zed_multi.left]: * Camera timeout [sec]: 5 [component_container_isolated-3] [INFO] [1762170766.384150049] [zed_multi.left]: * Camera reconnection temptatives: 5 [component_container_isolated-3] [INFO] [1762170766.384242566] [zed_multi.left]: * Camera framerate: 30 [component_container_isolated-3] [INFO] [1762170766.384359419] [zed_multi.left]: * GPU ID: -1 [component_container_isolated-3] [INFO] [1762170766.384431637] [zed_multi.rear]: * Advertised on service: '/zed_multi/rear/set_pose' [component_container_isolated-3] [INFO] [1762170766.384448960] [zed_multi.left]: * Asynchronous image retrieval: FALSE [component_container_isolated-3] [INFO] [1762170766.384531077] [zed_multi.left]: * Image Validity Check: 1 [component_container_isolated-3] [INFO] [1762170766.384628403] [zed_multi.left]: * Camera resolution: SVGA [component_container_isolated-3] [INFO] [1762170766.384797175] [zed_multi.left]: * Publishing resolution: CUSTOM [component_container_isolated-3] [INFO] [1762170766.384896865] [zed_multi.left]: * Publishing downscale factor: 2 [component_container_isolated-3] [INFO] [1762170766.384995473] [zed_multi.left]: * OpenCV custom calibration: [component_container_isolated-3] [INFO] [1762170766.385071689] [zed_multi.rear]: * Advertised on service: '/zed_multi/rear/save_area_memory' [component_container_isolated-3] [INFO] [1762170766.385100724] [zed_multi.left]: * Camera self calibration: TRUE [component_container_isolated-3] [INFO] [1762170766.385185226] [zed_multi.left]: * Camera flip: FALSE [component_container_isolated-3] [INFO] [1762170766.385277983] [zed_multi.left]: * Publish framerate [Hz]: 15 [component_container_isolated-3] [INFO] [1762170766.385288623] [zed_multi.left]: === VIDEO parameters === [component_container_isolated-3] [INFO] [1762170766.385431947] [zed_multi.left]: * Saturation: 4 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.385549221] [zed_multi.left]: * Sharpness: 4 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.385630295] [zed_multi.left]: * Gamma: 8 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.385817853] [zed_multi.left]: * Auto Exposure/Gain: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.385955296] [zed_multi.rear]: * Advertised on service: '/zed_multi/rear/enable_obj_det' [component_container_isolated-3] [INFO] [1762170766.385968110] [zed_multi.left]: * Exposure: 80 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.386089071] [zed_multi.left]: * Gain: 80 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.386168984] [zed_multi.left]: * Auto White Balance: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.386242975] [zed_multi.left]: * White Balance Temperature: 42 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.386333257] [zed_multi.left]: * ZED X Exposure time: 16000 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.386419101] [zed_multi.left]: * ZED X Auto Exp. time range min: 28 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.386576301] [zed_multi.left]: * ZED X Auto Exp. time range max: 30000 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.386690469] [zed_multi.left]: * ZED X Exposure comp.: 50 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.386772366] [zed_multi.left]: * ZED X Analog Gain: 1255 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.386848411] [zed_multi.left]: * ZED X Auto Analog Gain range min: 1000 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.386995131] [zed_multi.left]: * ZED X Auto Analog Gain range max: 16000 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.387154736] [zed_multi.rear]: * Advertised on service: '/zed_multi/rear/enable_body_trk' [component_container_isolated-3] [INFO] [1762170766.387169063] [zed_multi.left]: * ZED X Digital Gain: 1 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.387285185] [zed_multi.left]: * ZED X Auto Digital Gain range min: 1 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.387373654] [zed_multi.left]: * ZED X Auto Digital Gain range max: 256 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.387450220] [zed_multi.left]: * ZED X Auto Digital Gain range max: 50 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.387459898] [zed_multi.left]: === DEPTH parameters === [component_container_isolated-3] [INFO] [1762170766.387654770] [zed_multi.left]: * Depth mode: NEURAL LIGHT [4] [component_container_isolated-3] [INFO] [1762170766.387759901] [zed_multi.left]: * Min depth [m]: 3 [component_container_isolated-3] [INFO] [1762170766.387860122] [zed_multi.left]: * Max depth [m]: 35 [component_container_isolated-3] [INFO] [1762170766.388022402] [zed_multi.left]: * Depth Stabilization: 30 [component_container_isolated-3] [INFO] [1762170766.388183199] [zed_multi.rear]: * Advertised on service: '/zed_multi/rear/enable_mapping' [component_container_isolated-3] [INFO] [1762170766.388198619] [zed_multi.left]: * OpenNI mode (16bit depth): FALSE [component_container_isolated-3] [INFO] [1762170766.388326002] [zed_multi.left]: * Point cloud rate [Hz]: 10 [component_container_isolated-3] [INFO] [1762170766.388417096] [zed_multi.left]: * Point cloud resolution: COMPACT [component_container_isolated-3] [INFO] [1762170766.388512308] [zed_multi.left]: * Depth Confidence: 95 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.388708362] [zed_multi.left]: * Depth Texture Confidence: 100 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.388815156] [zed_multi.left]: * Remove saturated areas: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.388825866] [zed_multi.left]: === GNSS FUSION parameters === [component_container_isolated-3] [INFO] [1762170766.388910267] [zed_multi.left]: * GNSS fusion enabled: FALSE [component_container_isolated-3] [INFO] [1762170766.388920787] [zed_multi.left]: === POSITIONAL TRACKING parameters === [component_container_isolated-3] [INFO] [1762170766.389007563] [zed_multi.left]: * Positional tracking enabled: TRUE [component_container_isolated-3] [DEBUG] [1762170766.389179632] [zed_multi.left]: Comparing 'GEN_1' to 'GEN_3' [component_container_isolated-3] [DEBUG] [1762170766.389192647] [zed_multi.left]: Comparing 'GEN_2' to 'GEN_3' [component_container_isolated-3] [DEBUG] [1762170766.389198367] [zed_multi.left]: Comparing 'GEN_3' to 'GEN_3' [component_container_isolated-3] [INFO] [1762170766.389205100] [zed_multi.left]: * Positional tracking mode: GEN 3 [component_container_isolated-3] [INFO] [1762170766.389341911] [zed_multi.rear]: * Advertised on service: '/zed_multi/rear/enable_streaming' [component_container_isolated-3] [INFO] [1762170766.389373301] [zed_multi.left]: * Map frame id: map [component_container_isolated-3] [INFO] [1762170766.389492659] [zed_multi.left]: * Odometry frame id: odom [component_container_isolated-3] [INFO] [1762170766.389604172] [zed_multi.left]: * Broadcast Odometry TF: FALSE [component_container_isolated-3] [INFO] [1762170766.389703281] [zed_multi.left]: * Depth minimum range: 0 [component_container_isolated-3] [INFO] [1762170766.389912411] [zed_multi.left]: * TF timestamp offset: 0 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.390039193] [zed_multi.left]: * Path publishing rate: 2 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.390162398] [zed_multi.left]: * Path history lenght: -1 [component_container_isolated-3] [INFO] [1762170766.390368291] [zed_multi.left]: * Initial pose: [0,0,0,0,0,0,] [component_container_isolated-3] [INFO] [1762170766.390514280] [zed_multi.rear]: * Advertised on service: '/zed_multi/rear/start_svo_rec' [component_container_isolated-3] [INFO] [1762170766.390528838] [zed_multi.left]: * Area Memory: TRUE [component_container_isolated-3] [INFO] [1762170766.390664587] [zed_multi.left]: * Area Memory File: [component_container_isolated-3] [INFO] [1762170766.390772683] [zed_multi.left]: * Save Area Memory on closing: FALSE [component_container_isolated-3] [INFO] [1762170766.390859509] [zed_multi.left]: * Camera is static: FALSE [component_container_isolated-3] [INFO] [1762170766.391065131] [zed_multi.left]: * Gravity as origin: TRUE [component_container_isolated-3] [INFO] [1762170766.391179740] [zed_multi.left]: * IMU Fusion: TRUE [component_container_isolated-3] [INFO] [1762170766.391297996] [zed_multi.left]: * Floor Alignment: FALSE [component_container_isolated-3] [INFO] [1762170766.391482939] [zed_multi.left]: * Reset Odometry with Loop Closure: TRUE [component_container_isolated-3] [INFO] [1762170766.391620351] [zed_multi.rear]: * Advertised on service: '/zed_multi/rear/stop_svo_rec' [component_container_isolated-3] [INFO] [1762170766.391641311] [zed_multi.left]: * Publish 3D Landmarks: FALSE [component_container_isolated-3] [INFO] [1762170766.391785958] [zed_multi.left]: * Publish Landmark Skip Frame: [component_container_isolated-3] [INFO] [1762170766.391896789] [zed_multi.left]: * 2D mode: FALSE [component_container_isolated-3] [INFO] [1762170766.391985929] [zed_multi.left]: * Reset pose with SVO loop: TRUE [component_container_isolated-3] [INFO] [1762170766.391995858] [zed_multi.left]: === Region of Interest parameters === [component_container_isolated-3] [INFO] [1762170766.392191291] [zed_multi.left]: * Automatic ROI generation: FALSE [component_container_isolated-3] [INFO] [1762170766.392298927] [zed_multi.left]: * Manual ROI polygon: [] [component_container_isolated-3] [INFO] [1762170766.392309497] [zed_multi.left]: === SENSORS STACK parameters === [component_container_isolated-3] [INFO] [1762170766.392443413] [zed_multi.left]: * Broadcast IMU TF [not for ZED]: FALSE [component_container_isolated-3] [INFO] [1762170766.392597487] [zed_multi.left]: * Sensors Camera Sync: FALSE [component_container_isolated-3] [INFO] [1762170766.392728828] [zed_multi.rear]: * Advertised on service: '/zed_multi/rear/set_roi' [component_container_isolated-3] [INFO] [1762170766.392749898] [zed_multi.left]: * Sensors publishing rate [Hz]: 100 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.392778112] [zed_multi.left]: === Spatial Mapping parameters === [component_container_isolated-3] [INFO] [1762170766.392891719] [zed_multi.left]: * Spatial Mapping Enabled: FALSE [component_container_isolated-3] [INFO] [1762170766.393175260] [zed_multi.left]: * Spatial Mapping resolution [m]: 0.05 [component_container_isolated-3] [INFO] [1762170766.393367667] [zed_multi.left]: * 3D Max Mapping range [m]: 5 [component_container_isolated-3] [INFO] [1762170766.393466837] [zed_multi.left]: * Map publishing rate [Hz]: 1 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.393577157] [zed_multi.left]: * Clicked point topic: /clicked_point [component_container_isolated-3] [INFO] [1762170766.393799582] [zed_multi.left]: * Plane Det. Max Dist. Thresh.: 0.15 [component_container_isolated-3] [INFO] [1762170766.393939619] [zed_multi.rear]: * Advertised on service: '/zed_multi/rear/reset_roi' [component_container_isolated-3] [INFO] [1762170766.393971751] [zed_multi.rear]: === STARTING CAMERA === [component_container_isolated-3] [INFO] [1762170766.393989625] [zed_multi.rear]: ZED SDK Version: 5.1.0 - Build 106231_f4e0c540 [component_container_isolated-3] [INFO] [1762170766.393956451] [zed_multi.left]: * Plane Det. Normals Sim. Thresh.: 15 [component_container_isolated-3] [INFO] [1762170766.394026084] [zed_multi.left]: === OBJECT DETECTION parameters === [component_container_isolated-3] [INFO] [1762170766.394136054] [zed_multi.left]: * Object Det. enabled: FALSE [component_container_isolated-3] [INFO] [1762170766.394977190] [zed_multi.left]: * Object Det. allow reduced precision: FALSE [component_container_isolated-3] [INFO] [1762170766.395253878] [zed_multi.left]: * Object Det. maximum range [m]: 20 [component_container_isolated-3] [INFO] [1762170766.395351775] [zed_multi.left]: * Object Det. prediction timeout [sec]: 2 [component_container_isolated-3] [INFO] [1762170766.395570453] [zed_multi.left]: * Object Det. tracking: TRUE [component_container_isolated-3] [INFO] [1762170766.395787317] [zed_multi.left]: * Object Filtering mode: NMS3D [component_container_isolated-3] [INFO] [1762170766.395998220] [zed_multi.left]: * Object Det. model: MULTI CLASS BOX FAST [component_container_isolated-3] [INFO] [1762170766.396226736] [zed_multi.left]: * MultiClassBox people: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.396337457] [zed_multi.left]: * MultiClassBox vehicles: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.396455232] [zed_multi.left]: * MultiClassBox bags: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.396647219] [zed_multi.left]: * MultiClassBox animals: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.396739044] [zed_multi.left]: * MultiClassBox electronics: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.396875585] [zed_multi.left]: * MultiClassBox fruits and vegetables: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.397003990] [zed_multi.left]: * MultiClassBox sport-related objects: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.397267723] [zed_multi.left]: * MultiClassBox people confidence: 65 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.397463908] [zed_multi.left]: * MultiClassBox vehicles confidence: 60 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.397602312] [zed_multi.left]: * MultiClassBox bags confidence: 40 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.397715037] [zed_multi.left]: * MultiClassBox animals confidence: 40 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.397935899] [zed_multi.left]: * MultiClassBox electronics confidence: 45 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.398079794] [zed_multi.left]: * MultiClassBox fruits and vegetables confidence: 50 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.398228958] [zed_multi.left]: * MultiClassBox sport-related objects confidence: 30 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.398252874] [zed_multi.left]: === Body Track. parameters === [component_container_isolated-3] [INFO] [1762170766.398445933] [zed_multi.left]: * Body Track. enabled: FALSE [component_container_isolated-3] [INFO] [1762170766.398645925] [zed_multi.left]: * Body Track. model: HUMAN BODY MEDIUM [component_container_isolated-3] [INFO] [1762170766.398745745] [zed_multi.left]: * Body Track. format: BODY 38 [component_container_isolated-3] [INFO] [1762170766.398845916] [zed_multi.left]: * Body Track. allow reduced precision: FALSE [component_container_isolated-3] [INFO] [1762170766.399006603] [zed_multi.left]: * Body Track. maximum range [m]: 15 [component_container_isolated-3] [INFO] [1762170766.399104300] [zed_multi.left]: * Body Track. KP selection: FULL [component_container_isolated-3] [INFO] [1762170766.399216374] [zed_multi.left]: * Body fitting: FALSE [component_container_isolated-3] [INFO] [1762170766.399306646] [zed_multi.left]: * Body joints tracking: TRUE [component_container_isolated-3] [INFO] [1762170766.399442235] [zed_multi.left]: * Body Track. prediction timeout [sec]: 0.5 [component_container_isolated-3] [INFO] [1762170766.399578485] [zed_multi.left]: * Body Track. confidence thresh.: 50 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.399669869] [zed_multi.left]: * Body Track. min. KP thresh.: 5 [DYNAMIC] [component_container_isolated-3] [INFO] [1762170766.399680450] [zed_multi.left]: === STREAMING SERVER parameters === [component_container_isolated-3] [INFO] [1762170766.399762496] [zed_multi.left]: * Streaming Server enabled: FALSE [component_container_isolated-3] [INFO] [1762170766.399854512] [zed_multi.left]: * Stream codec: H264 [component_container_isolated-3] [INFO] [1762170766.399957819] [zed_multi.left]: * Stream port: 30000 [component_container_isolated-3] [INFO] [1762170766.400038623] [zed_multi.left]: * Stream bitrate: 12500 [component_container_isolated-3] [INFO] [1762170766.400141059] [zed_multi.left]: * Stream GOP size: -1 [component_container_isolated-3] [INFO] [1762170766.400344588] [zed_multi.left]: * Stream Chunk size: 16084 [component_container_isolated-3] [INFO] [1762170766.400507308] [zed_multi.rear]: === LOCAL STREAMING OPENING === [component_container_isolated-3] [INFO] [1762170766.400516466] [zed_multi.left]: * Adaptive bitrate: FALSE [component_container_isolated-3] [INFO] [1762170766.400636385] [zed_multi.left]: * Target frame rate:0 [component_container_isolated-3] [INFO] [1762170766.400646594] [zed_multi.left]: === ADVANCED parameters === [component_container_isolated-3] [INFO] [1762170766.400728671] [zed_multi.left]: * Thread sched. policy: SCHED_BATCH [component_container_isolated-3] [INFO] [1762170766.400748188] [zed_multi.left]: === SERVICES === [component_container_isolated-3] [INFO] [1762170766.401578654] [zed_multi.left]: * Advertised on service: '/zed_multi/left/reset_odometry' [component_container_isolated-3] [INFO] [1762170766.402130207] [zed_multi.left]: * Advertised on service: '/zed_multi/left/reset_pos_tracking' [component_container_isolated-3] [INFO] [1762170766.402663655] [zed_multi.left]: * Advertised on service: '/zed_multi/left/set_pose' [component_container_isolated-3] [INFO] [1762170766.403202123] [zed_multi.left]: * Advertised on service: '/zed_multi/left/save_area_memory' [component_container_isolated-3] [INFO] [1762170766.403726815] [zed_multi.left]: * Advertised on service: '/zed_multi/left/enable_obj_det' [component_container_isolated-3] [INFO] [1762170766.404310529] [zed_multi.left]: * Advertised on service: '/zed_multi/left/enable_body_trk' [component_container_isolated-3] [INFO] [1762170766.404861030] [zed_multi.left]: * Advertised on service: '/zed_multi/left/enable_mapping' [component_container_isolated-3] [INFO] [1762170766.405399699] [zed_multi.left]: * Advertised on service: '/zed_multi/left/enable_streaming' [component_container_isolated-3] [INFO] [1762170766.405986880] [zed_multi.left]: * Advertised on service: '/zed_multi/left/start_svo_rec' [component_container_isolated-3] [INFO] [1762170766.406594690] [zed_multi.left]: * Advertised on service: '/zed_multi/left/stop_svo_rec' [component_container_isolated-3] [INFO] [1762170766.407137216] [zed_multi.left]: * Advertised on service: '/zed_multi/left/set_roi' [component_container_isolated-3] [INFO] [1762170766.407681485] [zed_multi.left]: * Advertised on service: '/zed_multi/left/reset_roi' [component_container_isolated-3] [INFO] [1762170766.407696935] [zed_multi.left]: === STARTING CAMERA === [component_container_isolated-3] [INFO] [1762170766.407705351] [zed_multi.left]: ZED SDK Version: 5.1.0 - Build 106231_f4e0c540 [component_container_isolated-3] [INFO] [1762170766.410827030] [zed_multi.left]: === LOCAL STREAMING OPENING === [component_container_isolated-3] [2025-11-03 06:52:46 UTC][ZED][INFO] Logging level INFO [component_container_isolated-3] [2025-11-03 06:52:46 UTC][ZED][INFO] Logging level INFO [component_container_isolated-3] [2025-11-03 06:52:46 UTC][ZED][INFO] Logging level INFO [component_container_isolated-3] [Streaming] No backward compatibility required. [component_container_isolated-3] [2025-11-03 06:52:46 UTC][ZED][INFO] Logging level INFO [component_container_isolated-3] [Streaming] No backward compatibility required. [component_container_isolated-3] [Streaming] No backward compatibility required. [component_container_isolated-3] [Streaming] No backward compatibility required. [component_container_isolated-3] [Streaming] Warning: Corrupted frame chunk received (recv: 196 / expect 65016) from ip : 192.168.16.175 at ts 1762170765258(ms) [component_container_isolated-3] [Streaming] Warning: Corrupted frame chunk received (recv: 196 / expect 65016) from ip : 192.168.16.175 at ts 1762170765305(ms) [component_container_isolated-3] [Streaming] Warning: Corrupted frame chunk received (recv: 196 / expect 65016) from ip : 192.168.16.175 at ts 1762170765335(ms) [component_container_isolated-3] [2025-11-03 06:52:47 UTC][ZED][INFO] [Init] Serial Number: S/N 44036609 [component_container_isolated-3] [2025-11-03 06:52:47 UTC][ZED][INFO] [Init] Serial Number: S/N 49440015 [component_container_isolated-3] [2025-11-03 06:52:47 UTC][ZED][INFO] [Init] Serial Number: S/N 41385721 [component_container_isolated-3] [2025-11-03 06:52:47 UTC][ZED][INFO] [Init] Depth mode: NEURAL LIGHT [component_container_isolated-3] [2025-11-03 06:52:47 UTC][ZED][INFO] [Init] Depth mode: NEURAL LIGHT [component_container_isolated-3] [2025-11-03 06:52:47 UTC][ZED][INFO] [Init] Depth mode: NEURAL LIGHT [component_container_isolated-3] [Streaming] Warning: Corrupted frame chunk received (recv: 2904 / expect 65016) from ip : 192.168.16.175 at ts 1762170765835(ms) [component_container_isolated-3] [2025-11-03 06:52:47 UTC][ZED][INFO] [Init] Serial Number: S/N 40483530 [component_container_isolated-3] [2025-11-03 06:52:47 UTC][ZED][INFO] [Init] Depth mode: NEURAL LIGHT [component_container_isolated-3] [INFO] [1762170770.345976907] [zed_multi.right]: * ZED SDK running on GPU #0 [component_container_isolated-3] [INFO] [1762170770.346075024] [zed_multi.right]: * Camera Model -> ZED X [component_container_isolated-3] [INFO] [1762170770.346105512] [zed_multi.right]: * Serial Number -> 44036609 [component_container_isolated-3] [INFO] [1762170770.346022113] [zed_multi.rear]: * ZED SDK running on GPU #0 [component_container_isolated-3] [INFO] [1762170770.346200764] [zed_multi.rear]: * Camera Model -> ZED X [component_container_isolated-3] [INFO] [1762170770.346220662] [zed_multi.rear]: * Serial Number -> 40483530 [component_container_isolated-3] [INFO] [1762170770.345986806] [zed_multi.left]: * ZED SDK running on GPU #0 [component_container_isolated-3] [INFO] [1762170770.346346011] [zed_multi.left]: * Camera Model -> ZED X [component_container_isolated-3] [INFO] [1762170770.346365078] [zed_multi.left]: * Serial Number -> 49440015 [component_container_isolated-3] [INFO] [1762170770.346311636] [zed_multi.rear]: * Focal Length -> 2.20477 mm [component_container_isolated-3] [INFO] [1762170770.346149145] [zed_multi.front]: * ZED SDK running on GPU #0 [component_container_isolated-3] [INFO] [1762170770.346529622] [zed_multi.front]: * Camera Model -> ZED X [component_container_isolated-3] [INFO] [1762170770.346547125] [zed_multi.front]: * Serial Number -> 41385721 [component_container_isolated-3] [INFO] [1762170770.346470198] [zed_multi.rear]: * Input -> STREAM [component_container_isolated-3] [INFO] [1762170770.346583835] [zed_multi.rear]: * Camera FW Version -> 2001 [component_container_isolated-3] [INFO] [1762170770.346599696] [zed_multi.rear]: * Sensors FW Version -> 0 [component_container_isolated-3] [INFO] [1762170770.346617980] [zed_multi.rear]: * Camera grab size -> 1920x1200 [component_container_isolated-3] [INFO] [1762170770.346656704] [zed_multi.rear]: * Color/Depth publishing size -> 960x600 [component_container_isolated-3] [INFO] [1762170770.346672585] [zed_multi.rear]: * Point Cloud publishing size -> 448x256 [component_container_isolated-3] [INFO] [1762170770.346630655] [zed_multi.front]: * Focal Length -> 3.81525 mm [component_container_isolated-3] [INFO] [1762170770.346236482] [zed_multi.right]: * Focal Length -> 2.20909 mm [component_container_isolated-3] [INFO] [1762170770.346493062] [zed_multi.left]: * Focal Length -> 2.20837 mm [component_container_isolated-3] [INFO] [1762170770.346812742] [zed_multi.left]: * Input -> STREAM [component_container_isolated-3] [INFO] [1762170770.346830266] [zed_multi.left]: * Camera FW Version -> 2001 [component_container_isolated-3] [INFO] [1762170770.346844974] [zed_multi.left]: * Sensors FW Version -> 0 [component_container_isolated-3] [INFO] [1762170770.346774429] [zed_multi.right]: * Input -> STREAM [component_container_isolated-3] [INFO] [1762170770.346877486] [zed_multi.right]: * Camera FW Version -> 2001 [component_container_isolated-3] [INFO] [1762170770.346892595] [zed_multi.right]: * Sensors FW Version -> 0 [component_container_isolated-3] [INFO] [1762170770.346906732] [zed_multi.right]: * Camera grab size -> 1920x1200 [component_container_isolated-3] [INFO] [1762170770.346921610] [zed_multi.right]: * Color/Depth publishing size -> 960x600 [component_container_isolated-3] [INFO] [1762170770.346935396] [zed_multi.right]: * Point Cloud publishing size -> 448x256 [component_container_isolated-3] [INFO] [1762170770.346964322] [zed_multi.right]: === TF FRAMES === [component_container_isolated-3] [INFO] [1762170770.346986264] [zed_multi.right]: * Map -> map [component_container_isolated-3] [INFO] [1762170770.347000230] [zed_multi.right]: * Odometry -> odom [component_container_isolated-3] [INFO] [1762170770.347013946] [zed_multi.right]: * Base -> right_camera_link [component_container_isolated-3] [INFO] [1762170770.347027162] [zed_multi.right]: * Camera -> right_camera_center [component_container_isolated-3] [INFO] [1762170770.347040627] [zed_multi.right]: * Left -> right_left_camera_frame [component_container_isolated-3] [INFO] [1762170770.347053662] [zed_multi.right]: * Left Optical -> right_left_camera_optical_frame [component_container_isolated-3] [INFO] [1762170770.347066968] [zed_multi.right]: * Right -> right_right_camera_frame [component_container_isolated-3] [INFO] [1762170770.347089961] [zed_multi.right]: * Right Optical -> right_right_camera_optical_frame [component_container_isolated-3] [INFO] [1762170770.347104870] [zed_multi.right]: * Depth -> right_left_camera_frame [component_container_isolated-3] [INFO] [1762170770.347117895] [zed_multi.right]: * Depth Optical -> right_left_camera_optical_frame [component_container_isolated-3] [INFO] [1762170770.347176667] [zed_multi.right]: * Point Cloud -> right_left_camera_frame [component_container_isolated-3] [INFO] [1762170770.347191505] [zed_multi.right]: * IMU -> right_imu_link [component_container_isolated-3] [INFO] [1762170770.346736156] [zed_multi.front]: * Input -> STREAM [component_container_isolated-3] [INFO] [1762170770.347237453] [zed_multi.front]: * Camera FW Version -> 2001 [component_container_isolated-3] [INFO] [1762170770.347251039] [zed_multi.right]: === PUBLISHED TOPICS === [component_container_isolated-3] [INFO] [1762170770.346859922] [zed_multi.left]: * Camera grab size -> 1920x1200 [component_container_isolated-3] [INFO] [1762170770.347309400] [zed_multi.left]: * Color/Depth publishing size -> 960x600 [component_container_isolated-3] [INFO] [1762170770.347324639] [zed_multi.left]: * Point Cloud publishing size -> 448x256 [component_container_isolated-3] [INFO] [1762170770.347343365] [zed_multi.left]: === TF FRAMES === [component_container_isolated-3] [INFO] [1762170770.347357893] [zed_multi.left]: * Map -> map [component_container_isolated-3] [INFO] [1762170770.347372210] [zed_multi.left]: * Odometry -> odom [component_container_isolated-3] [INFO] [1762170770.347386097] [zed_multi.left]: * Base -> left_camera_link [component_container_isolated-3] [INFO] [1762170770.347399833] [zed_multi.left]: * Camera -> left_camera_center [component_container_isolated-3] [INFO] [1762170770.347414691] [zed_multi.left]: * Left -> left_left_camera_frame [component_container_isolated-3] [INFO] [1762170770.347428498] [zed_multi.left]: * Left Optical -> left_left_camera_optical_frame [component_container_isolated-3] [INFO] [1762170770.347442635] [zed_multi.left]: * Right -> left_right_camera_frame [component_container_isolated-3] [INFO] [1762170770.347456421] [zed_multi.left]: * Right Optical -> left_right_camera_optical_frame [component_container_isolated-3] [INFO] [1762170770.347471109] [zed_multi.left]: * Depth -> left_left_camera_frame [component_container_isolated-3] [INFO] [1762170770.347505134] [zed_multi.left]: * Depth Optical -> left_left_camera_optical_frame [component_container_isolated-3] [INFO] [1762170770.347538398] [zed_multi.left]: * Point Cloud -> left_left_camera_frame [component_container_isolated-3] [INFO] [1762170770.347553456] [zed_multi.left]: * IMU -> left_imu_link [component_container_isolated-3] [INFO] [1762170770.346711980] [zed_multi.rear]: === TF FRAMES === [component_container_isolated-3] [INFO] [1762170770.347601017] [zed_multi.rear]: * Map -> map [component_container_isolated-3] [INFO] [1762170770.347617158] [zed_multi.rear]: * Odometry -> odom [component_container_isolated-3] [INFO] [1762170770.347631886] [zed_multi.rear]: * Base -> rear_camera_link [component_container_isolated-3] [INFO] [1762170770.347646264] [zed_multi.rear]: * Camera -> rear_camera_center [component_container_isolated-3] [INFO] [1762170770.347660411] [zed_multi.rear]: * Left -> rear_left_camera_frame [component_container_isolated-3] [INFO] [1762170770.347674507] [zed_multi.rear]: * Left Optical -> rear_left_camera_optical_frame [component_container_isolated-3] [INFO] [1762170770.347689416] [zed_multi.rear]: * Right -> rear_right_camera_frame [component_container_isolated-3] [INFO] [1762170770.347703222] [zed_multi.rear]: * Right Optical -> rear_right_camera_optical_frame [component_container_isolated-3] [INFO] [1762170770.347717039] [zed_multi.rear]: * Depth -> rear_left_camera_frame [component_container_isolated-3] [INFO] [1762170770.347731156] [zed_multi.rear]: * Depth Optical -> rear_left_camera_optical_frame [component_container_isolated-3] [INFO] [1762170770.347777915] [zed_multi.rear]: * Point Cloud -> rear_left_camera_frame [component_container_isolated-3] [INFO] [1762170770.347792823] [zed_multi.rear]: * IMU -> rear_imu_link [component_container_isolated-3] [INFO] [1762170770.347252812] [zed_multi.front]: * Sensors FW Version -> 0 [component_container_isolated-3] [INFO] [1762170770.347582742] [zed_multi.left]: === PUBLISHED TOPICS === [component_container_isolated-3] [INFO] [1762170770.347832489] [zed_multi.rear]: === PUBLISHED TOPICS === [component_container_isolated-3] [INFO] [1762170770.347867366] [zed_multi.front]: * Camera grab size -> 1920x1200 [component_container_isolated-3] [INFO] [1762170770.347962878] [zed_multi.front]: * Color/Depth publishing size -> 960x600 [component_container_isolated-3] [INFO] [1762170770.347996031] [zed_multi.front]: * Point Cloud publishing size -> 448x256 [component_container_isolated-3] [INFO] [1762170770.348029385] [zed_multi.front]: === TF FRAMES === [component_container_isolated-3] [INFO] [1762170770.348043392] [zed_multi.front]: * Map -> map [component_container_isolated-3] [INFO] [1762170770.348054894] [zed_multi.front]: * Odometry -> odom [component_container_isolated-3] [INFO] [1762170770.348066175] [zed_multi.front]: * Base -> front_camera_link [component_container_isolated-3] [INFO] [1762170770.348077316] [zed_multi.front]: * Camera -> front_camera_center [component_container_isolated-3] [INFO] [1762170770.348105691] [zed_multi.front]: * Left -> front_left_camera_frame [component_container_isolated-3] [INFO] [1762170770.348124737] [zed_multi.front]: * Left Optical -> front_left_camera_optical_frame [component_container_isolated-3] [INFO] [1762170770.348144715] [zed_multi.front]: * Right -> front_right_camera_frame [component_container_isolated-3] [INFO] [1762170770.348166727] [zed_multi.front]: * Right Optical -> front_right_camera_optical_frame [component_container_isolated-3] [INFO] [1762170770.348186886] [zed_multi.front]: * Depth -> front_left_camera_frame [component_container_isolated-3] [INFO] [1762170770.348248303] [zed_multi.front]: * Depth Optical -> front_left_camera_optical_frame [component_container_isolated-3] [INFO] [1762170770.348288119] [zed_multi.front]: * Point Cloud -> front_left_camera_frame [component_container_isolated-3] [INFO] [1762170770.348300693] [zed_multi.front]: * IMU -> front_imu_link [component_container_isolated-3] [INFO] [1762170770.348328817] [zed_multi.front]: === PUBLISHED TOPICS === [component_container_isolated-3] [INFO] [1762170770.352286713] [zed_multi.right]: * Advertised on topic: /zed_multi/right/status/health [component_container_isolated-3] [INFO] [1762170770.353035843] [zed_multi.rear]: * Advertised on topic: /zed_multi/rear/status/health [component_container_isolated-3] [INFO] [1762170770.353757491] [zed_multi.left]: * Advertised on topic: /zed_multi/left/status/health [component_container_isolated-3] [INFO] [1762170770.354687777] [zed_multi.front]: * Advertised on topic: /zed_multi/front/status/health [component_container_isolated-3] [INFO] [1762170770.355270299] [zed_multi.right]: * Advertised on topic: /zed_multi/right/status/heartbeat [component_container_isolated-3] [INFO] [1762170770.355806563] [zed_multi.rear]: * Advertised on topic: /zed_multi/rear/status/heartbeat [component_container_isolated-3] [INFO] [1762170770.356304003] [zed_multi.left]: * Advertised on topic: /zed_multi/left/status/heartbeat [component_container_isolated-3] [INFO] [1762170770.356825017] [zed_multi.front]: * Advertised on topic: /zed_multi/front/status/heartbeat [component_container_isolated-3] [DEBUG] [1762170770.952788886] [zed_multi.right]: getTopicToAdvertise: /zed_multi/right/rgb/color/rect/image/compressed [component_container_isolated-3] [ERROR] [1762170770.952843811] [zed_multi.rear]: Failed to load plugin image_transport/compressed_pub, error string: MultiLibraryClassLoader: Could not create object of class type compressed_image_transport::CompressedPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [ERROR] [1762170770.952848811] [zed_multi.left]: Failed to load plugin image_transport/compressed_pub, error string: MultiLibraryClassLoader: Could not create object of class type compressed_image_transport::CompressedPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [ERROR] [1762170770.952924605] [zed_multi.front]: Failed to load plugin image_transport/compressed_pub, error string: MultiLibraryClassLoader: Could not create object of class type compressed_image_transport::CompressedPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762170770.961553439] [zed_multi.left]: getTopicToAdvertise: /zed_multi/left/rgb/color/rect/image/compressedDepth [component_container_isolated-3] [ERROR] [1762170770.961597283] [zed_multi.rear]: Failed to load plugin image_transport/compressedDepth_pub, error string: MultiLibraryClassLoader: Could not create object of class type compressed_depth_image_transport::CompressedDepthPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [ERROR] [1762170770.961682716] [zed_multi.front]: Failed to load plugin image_transport/compressedDepth_pub, error string: MultiLibraryClassLoader: Could not create object of class type compressed_depth_image_transport::CompressedDepthPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [ERROR] [1762170770.961710279] [zed_multi.right]: Failed to load plugin image_transport/compressedDepth_pub, error string: MultiLibraryClassLoader: Could not create object of class type compressed_depth_image_transport::CompressedDepthPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [ERROR] [1762170771.117133859] [zed_multi.front]: Failed to load plugin image_transport/ffmpeg_pub, error string: MultiLibraryClassLoader: Could not create object of class type ffmpeg_image_transport::FFMPEGPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [ERROR] [1762170771.117181170] [zed_multi.rear]: Failed to load plugin image_transport/ffmpeg_pub, error string: MultiLibraryClassLoader: Could not create object of class type ffmpeg_image_transport::FFMPEGPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [ERROR] [1762170771.117245372] [zed_multi.left]: Failed to load plugin image_transport/ffmpeg_pub, error string: MultiLibraryClassLoader: Could not create object of class type ffmpeg_image_transport::FFMPEGPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [INFO] [1762170771.134579226] [FFMPEGPublisher]: using libav encoder: libx264 [component_container_isolated-3] [DEBUG] [1762170771.135351139] [zed_multi.right]: getTopicToAdvertise: /zed_multi/right/rgb/color/rect/image/ffmpeg [component_container_isolated-3] [INFO] [1762170771.141982821] [FoxglovePublisher]: using libav encoder: libx264 [component_container_isolated-3] [DEBUG] [1762170771.142789841] [zed_multi.front]: getTopicToAdvertise: /zed_multi/front/rgb/color/rect/image/foxglove [component_container_isolated-3] [ERROR] [1762170771.143009821] [zed_multi.rear]: Failed to load plugin image_transport/foxglove_pub, error string: MultiLibraryClassLoader: Could not create object of class type foxglove_compressed_video_transport::Publisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [ERROR] [1762170771.144850876] [zed_multi.right]: Failed to load plugin image_transport/foxglove_pub, error string: MultiLibraryClassLoader: Could not create object of class type foxglove_compressed_video_transport::Publisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [ERROR] [1762170771.146315352] [zed_multi.left]: Failed to load plugin image_transport/foxglove_pub, error string: MultiLibraryClassLoader: Could not create object of class type foxglove_compressed_video_transport::Publisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762170771.152301661] [zed_multi.rear]: getTopicToAdvertise: /zed_multi/rear/rgb/color/rect/image [component_container_isolated-3] [ERROR] [1762170771.152339152] [zed_multi.right]: Failed to load plugin image_transport/raw_pub, error string: MultiLibraryClassLoader: Could not create object of class type image_transport::RawPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [ERROR] [1762170771.152373618] [zed_multi.left]: Failed to load plugin image_transport/raw_pub, error string: MultiLibraryClassLoader: Could not create object of class type image_transport::RawPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [ERROR] [1762170771.152421470] [zed_multi.front]: Failed to load plugin image_transport/raw_pub, error string: MultiLibraryClassLoader: Could not create object of class type image_transport::RawPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762170771.159205892] [zed_multi.front]: getTopicToAdvertise: /zed_multi/front/rgb/color/rect/image/theora [component_container_isolated-3] [ERROR] [1762170771.159230409] [zed_multi.left]: Failed to load plugin image_transport/theora_pub, error string: MultiLibraryClassLoader: Could not create object of class type theora_image_transport::TheoraPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [INFO] [1762170771.159258964] [zed_multi.left]: * Advertised on topic: /zed_multi/left/rgb/color/rect/image [component_container_isolated-3] [ERROR] [1762170771.159267470] [zed_multi.right]: Failed to load plugin image_transport/theora_pub, error string: MultiLibraryClassLoader: Could not create object of class type theora_image_transport::TheoraPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [ERROR] [1762170771.159294812] [zed_multi.rear]: Failed to load plugin image_transport/theora_pub, error string: MultiLibraryClassLoader: Could not create object of class type theora_image_transport::TheoraPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [INFO] [1762170771.159321703] [zed_multi.rear]: * Advertised on topic: /zed_multi/rear/rgb/color/rect/image [component_container_isolated-3] [INFO] [1762170771.159296054] [zed_multi.right]: * Advertised on topic: /zed_multi/right/rgb/color/rect/image [component_container_isolated-3] [INFO] [1762170771.160953328] [zed_multi.front]: * Advertised on topic: /zed_multi/front/rgb/color/rect/image [component_container_isolated-3] [INFO] [1762170771.161575206] [zed_multi.rear]: * Advertised on topic: /zed_multi/rear/rgb/color/rect/image/compressedDepth [image_transport] [component_container_isolated-3] [INFO] [1762170771.161596837] [zed_multi.rear]: * Advertised on topic: /zed_multi/rear/rgb/color/rect/image/compressed [image_transport] [component_container_isolated-3] [INFO] [1762170771.161605624] [zed_multi.rear]: * Advertised on topic: /zed_multi/rear/rgb/color/rect/image/ffmpeg [image_transport] [component_container_isolated-3] [INFO] [1762170771.161613579] [zed_multi.rear]: * Advertised on topic: /zed_multi/rear/rgb/color/rect/image/foxglove [image_transport] [component_container_isolated-3] [INFO] [1762170771.161621684] [zed_multi.rear]: * Advertised on topic: /zed_multi/rear/rgb/color/rect/image/raw [image_transport] [component_container_isolated-3] [INFO] [1762170771.161628878] [zed_multi.rear]: * Advertised on topic: /zed_multi/rear/rgb/color/rect/image/theora [image_transport] [component_container_isolated-3] [INFO] [1762170771.161577751] [zed_multi.left]: * Advertised on topic: /zed_multi/left/rgb/color/rect/image/compressedDepth [image_transport] [component_container_isolated-3] [INFO] [1762170771.161656791] [zed_multi.left]: * Advertised on topic: /zed_multi/left/rgb/color/rect/image/compressed [image_transport] [component_container_isolated-3] [INFO] [1762170771.161664436] [zed_multi.left]: * Advertised on topic: /zed_multi/left/rgb/color/rect/image/ffmpeg [image_transport] [component_container_isolated-3] [INFO] [1762170771.161670808] [zed_multi.left]: * Advertised on topic: /zed_multi/left/rgb/color/rect/image/foxglove [image_transport] [component_container_isolated-3] [INFO] [1762170771.161690486] [zed_multi.left]: * Advertised on topic: /zed_multi/left/rgb/color/rect/image/raw [image_transport] [component_container_isolated-3] [INFO] [1762170771.161698892] [zed_multi.left]: * Advertised on topic: /zed_multi/left/rgb/color/rect/image/theora [image_transport] [component_container_isolated-3] [INFO] [1762170771.161710704] [zed_multi.front]: * Advertised on topic: /zed_multi/front/rgb/color/rect/image/compressedDepth [image_transport] [component_container_isolated-3] [INFO] [1762170771.161733588] [zed_multi.front]: * Advertised on topic: /zed_multi/front/rgb/color/rect/image/compressed [image_transport] [component_container_isolated-3] [INFO] [1762170771.161745240] [zed_multi.front]: * Advertised on topic: /zed_multi/front/rgb/color/rect/image/ffmpeg [image_transport] [component_container_isolated-3] [INFO] [1762170771.161755380] [zed_multi.front]: * Advertised on topic: /zed_multi/front/rgb/color/rect/image/foxglove [image_transport] [component_container_isolated-3] [INFO] [1762170771.161764738] [zed_multi.front]: * Advertised on topic: /zed_multi/front/rgb/color/rect/image/raw [image_transport] [component_container_isolated-3] [INFO] [1762170771.161774055] [zed_multi.front]: * Advertised on topic: /zed_multi/front/rgb/color/rect/image/theora [image_transport] [component_container_isolated-3] [INFO] [1762170771.161673293] [zed_multi.right]: * Advertised on topic: /zed_multi/right/rgb/color/rect/image/compressedDepth [image_transport] [component_container_isolated-3] [INFO] [1762170771.161814513] [zed_multi.right]: * Advertised on topic: /zed_multi/right/rgb/color/rect/image/compressed [image_transport] [component_container_isolated-3] [INFO] [1762170771.161828609] [zed_multi.right]: * Advertised on topic: /zed_multi/right/rgb/color/rect/image/ffmpeg [image_transport] [component_container_isolated-3] [INFO] [1762170771.161837336] [zed_multi.right]: * Advertised on topic: /zed_multi/right/rgb/color/rect/image/foxglove [image_transport] [component_container_isolated-3] [INFO] [1762170771.161844961] [zed_multi.right]: * Advertised on topic: /zed_multi/right/rgb/color/rect/image/raw [image_transport] [component_container_isolated-3] [INFO] [1762170771.161852705] [zed_multi.right]: * Advertised on topic: /zed_multi/right/rgb/color/rect/image/theora [image_transport] [component_container_isolated-3] [ERROR] [1762170771.162188757] [zed_multi.rear]: Failed to load plugin image_transport/compressed_pub, error string: MultiLibraryClassLoader: Could not create object of class type compressed_image_transport::CompressedPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [ERROR] [1762170771.162308005] [zed_multi.left]: Failed to load plugin image_transport/compressed_pub, error string: MultiLibraryClassLoader: Could not create object of class type compressed_image_transport::CompressedPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [ERROR] [1762170771.162590023] [zed_multi.front]: Failed to load plugin image_transport/compressed_pub, error string: MultiLibraryClassLoader: Could not create object of class type compressed_image_transport::CompressedPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [ERROR] [1762170771.162661049] [zed_multi.right]: Failed to load plugin image_transport/compressed_pub, error string: MultiLibraryClassLoader: Could not create object of class type compressed_image_transport::CompressedPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [ERROR] [1762170771.162662502] [zed_multi.rear]: Failed to load plugin image_transport/compressedDepth_pub, error string: MultiLibraryClassLoader: Could not create object of class type compressed_depth_image_transport::CompressedDepthPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [ERROR] [1762170771.162727776] [zed_multi.left]: Failed to load plugin image_transport/compressedDepth_pub, error string: MultiLibraryClassLoader: Could not create object of class type compressed_depth_image_transport::CompressedDepthPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [ERROR] [1762170771.163197583] [zed_multi.rear]: Failed to load plugin image_transport/ffmpeg_pub, error string: MultiLibraryClassLoader: Could not create object of class type ffmpeg_image_transport::FFMPEGPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [ERROR] [1762170771.163237800] [zed_multi.left]: Failed to load plugin image_transport/ffmpeg_pub, error string: MultiLibraryClassLoader: Could not create object of class type ffmpeg_image_transport::FFMPEGPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [ERROR] [1762170771.163251777] [zed_multi.front]: Failed to load plugin image_transport/compressedDepth_pub, error string: MultiLibraryClassLoader: Could not create object of class type compressed_depth_image_transport::CompressedDepthPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [ERROR] [1762170771.163271775] [zed_multi.right]: Failed to load plugin image_transport/compressedDepth_pub, error string: MultiLibraryClassLoader: Could not create object of class type compressed_depth_image_transport::CompressedDepthPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [ERROR] [1762170771.163607115] [zed_multi.rear]: Failed to load plugin image_transport/foxglove_pub, error string: MultiLibraryClassLoader: Could not create object of class type foxglove_compressed_video_transport::Publisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [ERROR] [1762170771.163642042] [zed_multi.left]: Failed to load plugin image_transport/foxglove_pub, error string: MultiLibraryClassLoader: Could not create object of class type foxglove_compressed_video_transport::Publisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [ERROR] [1762170771.163818929] [zed_multi.right]: Failed to load plugin image_transport/ffmpeg_pub, error string: MultiLibraryClassLoader: Could not create object of class type ffmpeg_image_transport::FFMPEGPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [ERROR] [1762170771.163852814] [zed_multi.front]: Failed to load plugin image_transport/ffmpeg_pub, error string: MultiLibraryClassLoader: Could not create object of class type ffmpeg_image_transport::FFMPEGPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [ERROR] [1762170771.164015144] [zed_multi.rear]: Failed to load plugin image_transport/raw_pub, error string: MultiLibraryClassLoader: Could not create object of class type image_transport::RawPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [ERROR] [1762170771.164042817] [zed_multi.left]: Failed to load plugin image_transport/raw_pub, error string: MultiLibraryClassLoader: Could not create object of class type image_transport::RawPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [ERROR] [1762170771.164343110] [zed_multi.right]: Failed to load plugin image_transport/foxglove_pub, error string: MultiLibraryClassLoader: Could not create object of class type foxglove_compressed_video_transport::Publisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [ERROR] [1762170771.164394178] [zed_multi.rear]: Failed to load plugin image_transport/theora_pub, error string: MultiLibraryClassLoader: Could not create object of class type theora_image_transport::TheoraPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [ERROR] [1762170771.164399548] [zed_multi.left]: Failed to load plugin image_transport/theora_pub, error string: MultiLibraryClassLoader: Could not create object of class type theora_image_transport::TheoraPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [ERROR] [1762170771.164430707] [zed_multi.front]: Failed to load plugin image_transport/foxglove_pub, error string: MultiLibraryClassLoader: Could not create object of class type foxglove_compressed_video_transport::Publisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] terminate called recursively [component_container_isolated-3] terminate called after throwing an instance of 'image_transport::Exception' [component_container_isolated-3] what(): No plugins found! Does `rospack plugins --attrib=plugin image_transport` find any packages? [component_container_isolated-3] [ERROR] [1762170771.164903029] [zed_multi.right]: Failed to load plugin image_transport/raw_pub, error string: MultiLibraryClassLoader: Could not create object of class type image_transport::RawPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [ERROR] [component_container_isolated-3]: process has died [pid 7440, exit code -6, cmd '/opt/ros/humble/lib/rclcpp_components/component_container_isolated --use_multi_threaded_executor --ros-args --log-level info --ros-args -r __node:=zed_multi_container -r __ns:=/zed_multi']. ^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) [novatel_oem7_driver_exe-1] [INFO] [1762170782.075547028] [rclcpp]: signal_handler(signum=2) [INFO] [robot_state_publisher-8]: process has finished cleanly [pid 7450] [INFO] [robot_state_publisher-7]: process has finished cleanly [pid 7448] [INFO] [robot_state_publisher-5]: process has finished cleanly [pid 7444] [INFO] [robot_state_publisher-4]: process has finished cleanly [pid 7442] [INFO] [robot_state_publisher-6]: process has finished cleanly [pid 7446] [INFO] [localizer_node-2]: process has finished cleanly [pid 7438] [INFO] [svo_controller-9]: process has finished cleanly [pid 7452] [INFO] [novatel_oem7_driver_exe-1]: process has finished cleanly [pid 7436] [localizer_node-2] [INFO] [1762170782.075532320] [rclcpp]: signal_handler(signum=2) [svo_controller-9] [INFO] [1762170782.075553901] [rclcpp]: signal_handler(signum=2) [robot_state_publisher-7] [INFO] [1762170782.075563409] [rclcpp]: signal_handler(signum=2) [robot_state_publisher-8] [INFO] [1762170782.075566214] [rclcpp]: signal_handler(signum=2) [robot_state_publisher-4] [INFO] [1762170782.075573639] [rclcpp]: signal_handler(signum=2) [robot_state_publisher-6] [INFO] [1762170782.075571034] [rclcpp]: signal_handler(signum=2) [robot_state_publisher-5] [INFO] [1762170782.075577386] [rclcpp]: signal_handler(signum=2) [novatel_oem7_driver_exe-1] [WARN] [1762170782.077574148] [novatel.oem7.main]: No more input from Decoder; Oem7MessageNode finished.