lada@agx-orin:~$ ros2 launch zed_multi_camera zed_multi_camera.launch.py cam_names:='[zed_front,zed_rear,zed_left,zed_right]' cam_models:='[zedx,zedx,zedx,zedx]' cam_serials:='[49061114,47154076,45902679,49061114]' [INFO] [launch]: All log files can be found below /home/lada/.ros/log/2026-04-09-16-08-31-928566-agx-orin-23848 [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 zed_front (zedx, serial: 49061114) [INFO] [launch.user]: Using common configuration file: /home/lada/ros2_ws_zed/install/zed_wrapper/share/zed_wrapper/config/common_stereo.yaml [INFO] [launch.user]: Using camera configuration file: /home/lada/ros2_ws_zed/install/zed_wrapper/share/zed_wrapper/config/zedx.yaml [INFO] [launch.user]: Using Object Detection configuration file: /home/lada/ros2_ws_zed/install/zed_wrapper/share/zed_wrapper/config/object_detection.yaml [INFO] [launch.user]: Using Custom Object Detection configuration file: /home/lada/ros2_ws_zed/install/zed_wrapper/share/zed_wrapper/config/custom_object_detection.yaml [INFO] [launch.user]: Loading ZED node `zed_front` in container `/zed_multi/zed_multi_container` [INFO] [launch.user]: * Starting a ZED ROS2 node for camera zed_rear (zedx, serial: 47154076) [INFO] [launch.user]: Using common configuration file: /home/lada/ros2_ws_zed/install/zed_wrapper/share/zed_wrapper/config/common_stereo.yaml [INFO] [launch.user]: Using camera configuration file: /home/lada/ros2_ws_zed/install/zed_wrapper/share/zed_wrapper/config/zedx.yaml [INFO] [launch.user]: Using Object Detection configuration file: /home/lada/ros2_ws_zed/install/zed_wrapper/share/zed_wrapper/config/object_detection.yaml [INFO] [launch.user]: Using Custom Object Detection configuration file: /home/lada/ros2_ws_zed/install/zed_wrapper/share/zed_wrapper/config/custom_object_detection.yaml [INFO] [launch.user]: Loading ZED node `zed_rear` in container `/zed_multi/zed_multi_container` [INFO] [launch.user]: * Starting a ZED ROS2 node for camera zed_left (zedx, serial: 45902679) [INFO] [launch.user]: Using common configuration file: /home/lada/ros2_ws_zed/install/zed_wrapper/share/zed_wrapper/config/common_stereo.yaml [INFO] [launch.user]: Using camera configuration file: /home/lada/ros2_ws_zed/install/zed_wrapper/share/zed_wrapper/config/zedx.yaml [INFO] [launch.user]: Using Object Detection configuration file: /home/lada/ros2_ws_zed/install/zed_wrapper/share/zed_wrapper/config/object_detection.yaml [INFO] [launch.user]: Using Custom Object Detection configuration file: /home/lada/ros2_ws_zed/install/zed_wrapper/share/zed_wrapper/config/custom_object_detection.yaml [INFO] [launch.user]: Loading ZED node `zed_left` in container `/zed_multi/zed_multi_container` [INFO] [launch.user]: * Starting a ZED ROS2 node for camera zed_right (zedx, serial: 49061114) [INFO] [launch.user]: Using common configuration file: /home/lada/ros2_ws_zed/install/zed_wrapper/share/zed_wrapper/config/common_stereo.yaml [INFO] [launch.user]: Using camera configuration file: /home/lada/ros2_ws_zed/install/zed_wrapper/share/zed_wrapper/config/zedx.yaml [INFO] [launch.user]: Using Object Detection configuration file: /home/lada/ros2_ws_zed/install/zed_wrapper/share/zed_wrapper/config/object_detection.yaml [INFO] [launch.user]: Using Custom Object Detection configuration file: /home/lada/ros2_ws_zed/install/zed_wrapper/share/zed_wrapper/config/custom_object_detection.yaml [INFO] [launch.user]: Loading ZED node `zed_right` in container `/zed_multi/zed_multi_container` [INFO] [launch.user]: * Starting robot_state_publisher node to link all the frames: state_publisher [INFO] [component_container_isolated-1]: process started with pid [23871] [INFO] [robot_state_publisher-2]: process started with pid [23873] [INFO] [robot_state_publisher-3]: process started with pid [23875] [INFO] [robot_state_publisher-4]: process started with pid [23877] [INFO] [robot_state_publisher-5]: process started with pid [23879] [INFO] [robot_state_publisher-6]: process started with pid [23881] [robot_state_publisher-3] [INFO] [1775743714.954835355] [zed_multi.zed_rear_state_publisher]: got segment zed_rear_camera_center [robot_state_publisher-3] [INFO] [1775743714.954971161] [zed_multi.zed_rear_state_publisher]: got segment zed_rear_camera_link [robot_state_publisher-3] [INFO] [1775743714.954988505] [zed_multi.zed_rear_state_publisher]: got segment zed_rear_left_camera_frame [robot_state_publisher-3] [INFO] [1775743714.954998488] [zed_multi.zed_rear_state_publisher]: got segment zed_rear_left_camera_frame_optical [robot_state_publisher-3] [INFO] [1775743714.955007128] [zed_multi.zed_rear_state_publisher]: got segment zed_rear_right_camera_frame [robot_state_publisher-3] [INFO] [1775743714.955014936] [zed_multi.zed_rear_state_publisher]: got segment zed_rear_right_camera_frame_optical [robot_state_publisher-2] [INFO] [1775743714.955191957] [zed_multi.zed_front_state_publisher]: got segment zed_front_camera_center [robot_state_publisher-2] [INFO] [1775743714.955283059] [zed_multi.zed_front_state_publisher]: got segment zed_front_camera_link [robot_state_publisher-2] [INFO] [1775743714.955300787] [zed_multi.zed_front_state_publisher]: got segment zed_front_left_camera_frame [robot_state_publisher-2] [INFO] [1775743714.955311731] [zed_multi.zed_front_state_publisher]: got segment zed_front_left_camera_frame_optical [robot_state_publisher-2] [INFO] [1775743714.955320275] [zed_multi.zed_front_state_publisher]: got segment zed_front_right_camera_frame [robot_state_publisher-2] [INFO] [1775743714.955327858] [zed_multi.zed_front_state_publisher]: got segment zed_front_right_camera_frame_optical [robot_state_publisher-4] [INFO] [1775743714.955745163] [zed_multi.zed_left_state_publisher]: got segment zed_left_camera_center [robot_state_publisher-4] [INFO] [1775743714.955859369] [zed_multi.zed_left_state_publisher]: got segment zed_left_camera_link [robot_state_publisher-4] [INFO] [1775743714.955876969] [zed_multi.zed_left_state_publisher]: got segment zed_left_left_camera_frame [robot_state_publisher-4] [INFO] [1775743714.955886856] [zed_multi.zed_left_state_publisher]: got segment zed_left_left_camera_frame_optical [robot_state_publisher-4] [INFO] [1775743714.955895304] [zed_multi.zed_left_state_publisher]: got segment zed_left_right_camera_frame [robot_state_publisher-4] [INFO] [1775743714.955903144] [zed_multi.zed_left_state_publisher]: got segment zed_left_right_camera_frame_optical [robot_state_publisher-6] [INFO] [1775743714.956491326] [zed_multi.state_publisher]: got segment zed_front_camera_link [robot_state_publisher-6] [INFO] [1775743714.956606172] [zed_multi.state_publisher]: got segment zed_left_camera_link [robot_state_publisher-6] [INFO] [1775743714.956624603] [zed_multi.state_publisher]: got segment zed_multi_link [robot_state_publisher-6] [INFO] [1775743714.956634139] [zed_multi.state_publisher]: got segment zed_rear_camera_link [robot_state_publisher-6] [INFO] [1775743714.956642107] [zed_multi.state_publisher]: got segment zed_right_camera_link [robot_state_publisher-5] [INFO] [1775743714.968883456] [zed_multi.zed_right_state_publisher]: got segment zed_right_camera_center [robot_state_publisher-5] [INFO] [1775743714.969028766] [zed_multi.zed_right_state_publisher]: got segment zed_right_camera_link [robot_state_publisher-5] [INFO] [1775743714.969046877] [zed_multi.zed_right_state_publisher]: got segment zed_right_left_camera_frame [robot_state_publisher-5] [INFO] [1775743714.969057533] [zed_multi.zed_right_state_publisher]: got segment zed_right_left_camera_frame_optical [robot_state_publisher-5] [INFO] [1775743714.969065917] [zed_multi.zed_right_state_publisher]: got segment zed_right_right_camera_frame [robot_state_publisher-5] [INFO] [1775743714.969073853] [zed_multi.zed_right_state_publisher]: got segment zed_right_right_camera_frame_optical [component_container_isolated-1] [INFO] [1775743715.026397885] [zed_multi.zed_multi_container]: Load Library: /home/lada/ros2_ws_zed/install/zed_components/lib/libzed_camera_component.so [component_container_isolated-1] [INFO] [1775743715.085366463] [zed_multi.zed_multi_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_isolated-1] [INFO] [1775743715.085469693] [zed_multi.zed_multi_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [component_container_isolated-1] [INFO] [1775743715.183583012] [zed_multi.zed_left]: ================================ [component_container_isolated-1] [INFO] [1775743715.183659587] [zed_multi.zed_left]: ZED Camera Component [component_container_isolated-1] [INFO] [1775743715.183674019] [zed_multi.zed_left]: ================================ [component_container_isolated-1] [INFO] [1775743715.183682019] [zed_multi.zed_left]: * IPC: enabled [component_container_isolated-1] [INFO] [1775743715.185181704] [zed_multi.zed_multi_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_isolated-1] [INFO] [1775743715.185223399] [zed_multi.zed_multi_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/zed_multi/zed_rear' in container '/zed_multi/zed_multi_container' [component_container_isolated-1] [INFO] [1775743715.193286039] [zed_multi.zed_rear]: ================================ [component_container_isolated-1] [INFO] [1775743715.193369846] [zed_multi.zed_rear]: ZED Camera Component [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/zed_multi/zed_left' in container '/zed_multi/zed_multi_container' [component_container_isolated-1] [INFO] [1775743715.193383957] [zed_multi.zed_rear]: ================================ [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/zed_multi/zed_right' in container '/zed_multi/zed_multi_container' [component_container_isolated-1] [INFO] [1775743715.193392085] [zed_multi.zed_rear]: * IPC: enabled [component_container_isolated-1] [INFO] [1775743715.233905345] [zed_multi.zed_left]: * namespace: /zed_multi [component_container_isolated-1] [INFO] [1775743715.234018367] [zed_multi.zed_left]: * node name: zed_left [component_container_isolated-1] [INFO] [1775743715.234037695] [zed_multi.zed_left]: ================================ [component_container_isolated-1] [INFO] [1775743715.234056447] [zed_multi.zed_left]: Starting node initialization... [component_container_isolated-1] [INFO] [1775743715.234106046] [zed_multi.zed_left]: === DEBUG parameters === [component_container_isolated-1] [INFO] [1775743715.234590837] [zed_multi.zed_left]: * SDK Verbose: 1 [component_container_isolated-1] [INFO] [1775743715.234913423] [zed_multi.zed_left]: * Use Pub Timestamps: FALSE [component_container_isolated-1] [INFO] [1775743715.235172811] [zed_multi.zed_left]: * SDK Verbose File: [component_container_isolated-1] [INFO] [1775743715.235392647] [zed_multi.zed_left]: * Debug Common: FALSE [component_container_isolated-1] [INFO] [1775743715.235608643] [zed_multi.zed_left]: * Debug Grab (low level): FALSE [component_container_isolated-1] [INFO] [1775743715.235795200] [zed_multi.zed_left]: * Debug Simulation: FALSE [component_container_isolated-1] [INFO] [1775743715.235974268] [zed_multi.zed_left]: * Debug Video/Depth: FALSE [component_container_isolated-1] [INFO] [1775743715.236155225] [zed_multi.zed_left]: * Debug Control settings: FALSE [component_container_isolated-1] [INFO] [1775743715.236320726] [zed_multi.zed_left]: * Debug Point Cloud: FALSE [component_container_isolated-1] [INFO] [1775743715.236500243] [zed_multi.zed_left]: * Debug TF: FALSE [component_container_isolated-1] [INFO] [1775743715.236674000] [zed_multi.zed_left]: * Debug Positional Tracking: FALSE [component_container_isolated-1] [INFO] [1775743715.236860588] [zed_multi.zed_left]: * Debug GNSS: FALSE [component_container_isolated-1] [INFO] [1775743715.237033833] [zed_multi.zed_left]: * Debug sensors: FALSE [component_container_isolated-1] [INFO] [1775743715.237210534] [zed_multi.zed_left]: * Debug Mapping: FALSE [component_container_isolated-1] [INFO] [1775743715.237408771] [zed_multi.zed_left]: * Debug Object Detection: FALSE [component_container_isolated-1] [INFO] [1775743715.237661374] [zed_multi.zed_left]: * Debug Body Tracking: FALSE [component_container_isolated-1] [INFO] [1775743715.237938393] [zed_multi.zed_left]: * Debug Streaming: FALSE [component_container_isolated-1] [INFO] [1775743715.238225620] [zed_multi.zed_left]: * Debug ROI: FALSE [component_container_isolated-1] [INFO] [1775743715.238501167] [zed_multi.zed_left]: * Debug Nitros: FALSE [component_container_isolated-1] [INFO] [1775743715.238768010] [zed_multi.zed_left]: * Debug Advanced: FALSE [component_container_isolated-1] [INFO] [1775743715.238837289] [zed_multi.zed_left]: === TOPIC selection parameters === [component_container_isolated-1] [INFO] [1775743715.239106916] [zed_multi.zed_left]: * Publish Status: TRUE [component_container_isolated-1] [INFO] [1775743715.239399999] [zed_multi.zed_left]: * Image format: BGRA 32-bit [component_container_isolated-1] [INFO] [1775743715.239786936] [zed_multi.zed_left]: * Publish Left/Right images: FALSE [component_container_isolated-1] [INFO] [1775743715.239983061] [zed_multi.zed_left]: * Publish Raw images: FALSE [component_container_isolated-1] [INFO] [1775743715.240168945] [zed_multi.zed_left]: * Publish Gray images: FALSE [component_container_isolated-1] [INFO] [1775743715.240360846] [zed_multi.zed_left]: * Publish RGB image: TRUE [component_container_isolated-1] [INFO] [1775743715.240554122] [zed_multi.zed_left]: * Publish Stereo image: FALSE [component_container_isolated-1] [INFO] [1775743715.240745479] [zed_multi.zed_left]: * Publish ROI Mask image: FALSE [component_container_isolated-1] [INFO] [1775743715.240931908] [zed_multi.zed_left]: * Publish Depth Map: TRUE [component_container_isolated-1] [INFO] [1775743715.241187679] [zed_multi.zed_left]: * Publish Depth Info: FALSE [component_container_isolated-1] [INFO] [1775743715.241373724] [zed_multi.zed_left]: * Publish Point Cloud: TRUE [component_container_isolated-1] [INFO] [1775743715.241584056] [zed_multi.zed_left]: * Publish Depth Confidence: FALSE [component_container_isolated-1] [INFO] [1775743715.241811796] [zed_multi.zed_left]: * Publish Disparity: FALSE [component_container_isolated-1] [INFO] [1775743715.242079311] [zed_multi.zed_left]: * Publish IMU: TRUE [component_container_isolated-1] [INFO] [1775743715.242349610] [zed_multi.zed_left]: * Publish IMU Raw: FALSE [component_container_isolated-1] [INFO] [1775743715.242592550] [zed_multi.zed_left]: * Publish LeftCam/IMU Transf.: FALSE [component_container_isolated-1] [INFO] [1775743715.242821858] [zed_multi.zed_left]: * Publish Magnetometer: FALSE [component_container_isolated-1] [INFO] [1775743715.243046654] [zed_multi.zed_left]: * Publish Barometer: FALSE [component_container_isolated-1] [INFO] [1775743715.243260762] [zed_multi.zed_left]: * Publish Temperature: FALSE [component_container_isolated-1] [INFO] [1775743715.243492662] [zed_multi.zed_left]: * Publish Odometry/Pose: TRUE [component_container_isolated-1] [INFO] [1775743715.243523797] [zed_multi.zed_rear]: * namespace: /zed_multi [component_container_isolated-1] [INFO] [1775743715.243649427] [zed_multi.zed_rear]: * node name: zed_rear [component_container_isolated-1] [INFO] [1775743715.243693362] [zed_multi.zed_rear]: ================================ [component_container_isolated-1] [INFO] [1775743715.243719090] [zed_multi.zed_left]: * Publish Pose with Covariance: FALSE [component_container_isolated-1] [INFO] [1775743715.243722482] [zed_multi.zed_rear]: Starting node initialization... [component_container_isolated-1] [INFO] [1775743715.243825392] [zed_multi.zed_rear]: === DEBUG parameters === [component_container_isolated-1] [INFO] [1775743715.243961134] [zed_multi.zed_left]: * Publish Camera Path: FALSE [component_container_isolated-1] [INFO] [1775743715.244248584] [zed_multi.zed_rear]: * SDK Verbose: 1 [component_container_isolated-1] [INFO] [1775743715.244263368] [zed_multi.zed_left]: * Publish Detection Plane: FALSE [component_container_isolated-1] [INFO] [1775743715.244484228] [zed_multi.zed_rear]: * Use Pub Timestamps: FALSE [component_container_isolated-1] [INFO] [1775743715.244655649] [zed_multi.zed_rear]: * SDK Verbose File: [component_container_isolated-1] [INFO] [1775743715.244816542] [zed_multi.zed_rear]: * Debug Common: FALSE [component_container_isolated-1] [INFO] [1775743715.244838462] [zed_multi.zed_left]: === SVO INPUT parameters === [component_container_isolated-1] [INFO] [1775743715.244980155] [zed_multi.zed_rear]: * Debug Grab (low level): FALSE [component_container_isolated-1] [INFO] [1775743715.245155896] [zed_multi.zed_rear]: * Debug Simulation: FALSE [component_container_isolated-1] [INFO] [1775743715.245323861] [zed_multi.zed_rear]: * Debug Video/Depth: FALSE [component_container_isolated-1] [INFO] [1775743715.245421972] [zed_multi.zed_left]: * SVO input: DISABLED [component_container_isolated-1] [INFO] [1775743715.245498002] [zed_multi.zed_rear]: * Debug Control settings: FALSE [component_container_isolated-1] [INFO] [1775743715.245586545] [zed_multi.zed_left]: === LOCAL STREAMING parameters === [component_container_isolated-1] [INFO] [1775743715.245742478] [zed_multi.zed_rear]: * Debug Point Cloud: FALSE [component_container_isolated-1] [INFO] [1775743715.245899659] [zed_multi.zed_rear]: * Debug TF: FALSE [component_container_isolated-1] [INFO] [1775743715.246053672] [zed_multi.zed_rear]: * Debug Positional Tracking: FALSE [component_container_isolated-1] [INFO] [1775743715.246091624] [zed_multi.zed_left]: * Local stream input: DISABLED [component_container_isolated-1] [INFO] [1775743715.246153318] [zed_multi.zed_left]: === GENERAL parameters === [component_container_isolated-1] [INFO] [1775743715.246210629] [zed_multi.zed_rear]: * Debug GNSS: FALSE [component_container_isolated-1] [INFO] [1775743715.246474433] [zed_multi.zed_rear]: * Debug sensors: FALSE [component_container_isolated-1] [INFO] [1775743715.246564735] [zed_multi.zed_left]: * Camera model: zedx - ZED X [component_container_isolated-1] [INFO] [1775743715.246698301] [zed_multi.zed_rear]: * Debug Mapping: FALSE [component_container_isolated-1] [INFO] [1775743715.246889625] [zed_multi.zed_rear]: * Debug Object Detection: FALSE [component_container_isolated-1] [INFO] [1775743715.246933209] [zed_multi.zed_left]: * Camera name: zed_left [component_container_isolated-1] [INFO] [1775743715.247107445] [zed_multi.zed_rear]: * Debug Body Tracking: FALSE [component_container_isolated-1] [INFO] [1775743715.247368817] [zed_multi.zed_left]: * Camera SN: 45902679 [component_container_isolated-1] [INFO] [1775743715.247378417] [zed_multi.zed_rear]: * Debug Streaming: FALSE [component_container_isolated-1] [INFO] [1775743715.247643308] [zed_multi.zed_rear]: * Debug ROI: FALSE [component_container_isolated-1] [INFO] [1775743715.247694475] [zed_multi.zed_left]: * Camera ID: -1 [component_container_isolated-1] [INFO] [1775743715.247870280] [zed_multi.zed_rear]: * Debug Nitros: FALSE [component_container_isolated-1] [INFO] [1775743715.248090980] [zed_multi.zed_rear]: * Debug Advanced: FALSE [component_container_isolated-1] [INFO] [1775743715.248117987] [zed_multi.zed_left]: * Camera timeout [sec]: 5 [component_container_isolated-1] [INFO] [1775743715.248152963] [zed_multi.zed_rear]: === TOPIC selection parameters === [component_container_isolated-1] [INFO] [1775743715.248425022] [zed_multi.zed_rear]: * Publish Status: TRUE [component_container_isolated-1] [INFO] [1775743715.248491037] [zed_multi.zed_left]: * Camera reconnection temptatives: 5 [component_container_isolated-1] [INFO] [1775743715.248751000] [zed_multi.zed_rear]: * Image format: BGRA 32-bit [component_container_isolated-1] [INFO] [1775743715.248987156] [zed_multi.zed_left]: * Camera framerate: 30 [component_container_isolated-1] [INFO] [1775743715.248993460] [zed_multi.zed_rear]: * Publish Left/Right images: FALSE [component_container_isolated-1] [INFO] [1775743715.249286670] [zed_multi.zed_left]: * GPU ID: -1 [component_container_isolated-1] [INFO] [1775743715.249305774] [zed_multi.zed_rear]: * Publish Raw images: FALSE [component_container_isolated-1] [INFO] [1775743715.249582889] [zed_multi.zed_left]: * Asynchronous image retrieval: FALSE [component_container_isolated-1] [INFO] [1775743715.249624168] [zed_multi.zed_rear]: * Publish Gray images: FALSE [component_container_isolated-1] [INFO] [1775743715.249851172] [zed_multi.zed_left]: * Image Validity Check: 1 [component_container_isolated-1] [INFO] [1775743715.249855780] [zed_multi.zed_rear]: * Publish RGB image: TRUE [component_container_isolated-1] [INFO] [1775743715.250141439] [zed_multi.zed_rear]: * Publish Stereo image: FALSE [component_container_isolated-1] [INFO] [1775743715.250175103] [zed_multi.zed_left]: * Camera resolution: HD1200 [component_container_isolated-1] [INFO] [1775743715.250402843] [zed_multi.zed_rear]: * Publish ROI Mask image: FALSE [component_container_isolated-1] [INFO] [1775743715.250455642] [zed_multi.zed_left]: * Publishing resolution: CUSTOM [component_container_isolated-1] [INFO] [1775743715.250654902] [zed_multi.zed_rear]: * Publish Depth Map: TRUE [component_container_isolated-1] [INFO] [1775743715.250811219] [zed_multi.zed_left]: * Publishing downscale factor: 2 [component_container_isolated-1] [INFO] [1775743715.250906354] [zed_multi.zed_rear]: * Publish Depth Info: FALSE [component_container_isolated-1] [INFO] [1775743715.251070447] [zed_multi.zed_left]: * OpenCV custom calibration: [component_container_isolated-1] [INFO] [1775743715.251160589] [zed_multi.zed_rear]: * Publish Point Cloud: TRUE [component_container_isolated-1] [INFO] [1775743715.251354346] [zed_multi.zed_left]: * Camera self calibration: TRUE [component_container_isolated-1] [INFO] [1775743715.251412648] [zed_multi.zed_rear]: * Publish Depth Confidence: FALSE [component_container_isolated-1] [INFO] [1775743715.251602405] [zed_multi.zed_left]: * Camera flip: FALSE [component_container_isolated-1] [INFO] [1775743715.251637252] [zed_multi.zed_rear]: * Publish Disparity: FALSE [component_container_isolated-1] [INFO] [1775743715.251894496] [zed_multi.zed_rear]: * Publish IMU: TRUE [component_container_isolated-1] [INFO] [1775743715.251900480] [zed_multi.zed_left]: * Publish framerate [Hz]: 15 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.252142139] [zed_multi.zed_rear]: * Publish IMU Raw: FALSE [component_container_isolated-1] [INFO] [1775743715.252376727] [zed_multi.zed_rear]: * Publish LeftCam/IMU Transf.: FALSE [component_container_isolated-1] [INFO] [1775743715.252485397] [zed_multi.zed_left]: * Grab Compute Capping FPS: 0 [component_container_isolated-1] [INFO] [1775743715.252567412] [zed_multi.zed_left]: === VIDEO parameters === [component_container_isolated-1] [INFO] [1775743715.252616275] [zed_multi.zed_rear]: * Publish Magnetometer: FALSE [component_container_isolated-1] [INFO] [1775743715.252835055] [zed_multi.zed_left]: * Saturation: 4 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.252921838] [zed_multi.zed_rear]: * Publish Barometer: FALSE [component_container_isolated-1] [INFO] [1775743715.253111178] [zed_multi.zed_left]: * Sharpness: 4 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.253198889] [zed_multi.zed_rear]: * Publish Temperature: FALSE [component_container_isolated-1] [INFO] [1775743715.253513859] [zed_multi.zed_rear]: * Publish Odometry/Pose: TRUE [component_container_isolated-1] [INFO] [1775743715.253563138] [zed_multi.zed_left]: * Gamma: 8 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.253813982] [zed_multi.zed_rear]: * Publish Pose with Covariance: FALSE [component_container_isolated-1] [INFO] [1775743715.254064857] [zed_multi.zed_left]: * Auto Exposure/Gain: TRUE [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.254109432] [zed_multi.zed_rear]: * Publish Camera Path: FALSE [component_container_isolated-1] [INFO] [1775743715.254329268] [zed_multi.zed_left]: * Exposure: 80 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.254444626] [zed_multi.zed_rear]: * Publish Detection Plane: FALSE [component_container_isolated-1] [INFO] [1775743715.254575312] [zed_multi.zed_left]: * Gain: 80 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.254715533] [zed_multi.zed_rear]: === SVO INPUT parameters === [component_container_isolated-1] [INFO] [1775743715.254787116] [zed_multi.zed_left]: * Auto White Balance: TRUE [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.254942633] [zed_multi.zed_rear]: * SVO input: DISABLED [component_container_isolated-1] [INFO] [1775743715.254984233] [zed_multi.zed_left]: * White Balance Temperature: 42 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.255008712] [zed_multi.zed_rear]: === LOCAL STREAMING parameters === [component_container_isolated-1] [INFO] [1775743715.255199909] [zed_multi.zed_left]: * ZED X Exposure time: 16000 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.255294915] [zed_multi.zed_rear]: * Local stream input: DISABLED [component_container_isolated-1] [INFO] [1775743715.255353602] [zed_multi.zed_rear]: === GENERAL parameters === [component_container_isolated-1] [INFO] [1775743715.255435233] [zed_multi.zed_left]: * ZED X Auto Exp. time range min: 28 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.255656733] [zed_multi.zed_left]: * ZED X Auto Exp. time range max: 30000 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.255693404] [zed_multi.zed_rear]: * Camera model: zedx - ZED X [component_container_isolated-1] [INFO] [1775743715.255884953] [zed_multi.zed_left]: * ZED X Exposure comp.: 50 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.256027030] [zed_multi.zed_rear]: * Camera name: zed_rear [component_container_isolated-1] [INFO] [1775743715.256102645] [zed_multi.zed_left]: * ZED X Analog Gain: 1255 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.256265202] [zed_multi.zed_left]: * ZED X Auto Analog Gain range min: 1000 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.256288913] [zed_multi.zed_rear]: * Camera SN: 47154076 [component_container_isolated-1] [INFO] [1775743715.256438255] [zed_multi.zed_left]: * ZED X Auto Analog Gain range max: 16000 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.256550413] [zed_multi.zed_rear]: * Camera ID: -1 [component_container_isolated-1] [INFO] [1775743715.256579308] [zed_multi.zed_left]: * ZED X Digital Gain: 1 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.256845831] [zed_multi.zed_rear]: * Camera timeout [sec]: 5 [component_container_isolated-1] [INFO] [1775743715.257105347] [zed_multi.zed_rear]: * Camera reconnection temptatives: 5 [component_container_isolated-1] [INFO] [1775743715.257122818] [zed_multi.zed_left]: * ZED X Auto Digital Gain range min: 1 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.257435069] [zed_multi.zed_rear]: * Camera framerate: 30 [component_container_isolated-1] [INFO] [1775743715.257438397] [zed_multi.zed_left]: * ZED X Auto Digital Gain range max: 256 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.257753815] [zed_multi.zed_left]: * ZED X Auto Digital Gain range max: 50 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.257794166] [zed_multi.zed_left]: === DEPTH parameters === [component_container_isolated-1] [INFO] [1775743715.257893429] [zed_multi.zed_rear]: * GPU ID: -1 [component_container_isolated-1] [INFO] [1775743715.258081169] [zed_multi.zed_left]: * Depth mode: NEURAL LIGHT [4] [component_container_isolated-1] [INFO] [1775743715.258196111] [zed_multi.zed_rear]: * Asynchronous image retrieval: FALSE [component_container_isolated-1] [INFO] [1775743715.258318925] [zed_multi.zed_left]: * Min depth [m]: 0.01 [component_container_isolated-1] [INFO] [1775743715.258501610] [zed_multi.zed_left]: * Max depth [m]: 15 [component_container_isolated-1] [INFO] [1775743715.258543177] [zed_multi.zed_rear]: * Image Validity Check: 1 [component_container_isolated-1] [INFO] [1775743715.258732774] [zed_multi.zed_left]: * Depth Stabilization: 30 [component_container_isolated-1] [INFO] [1775743715.258906531] [zed_multi.zed_rear]: * Camera resolution: HD1200 [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/zed_multi/zed_front' in container '/zed_multi/zed_multi_container' [component_container_isolated-1] [INFO] [1775743715.258954978] [zed_multi.zed_left]: * OpenNI mode (16bit depth): FALSE [component_container_isolated-1] [INFO] [1775743715.259139550] [zed_multi.zed_left]: * Point cloud rate [Hz]: 10 [component_container_isolated-1] [INFO] [1775743715.259170462] [zed_multi.zed_rear]: * Publishing resolution: CUSTOM [component_container_isolated-1] [INFO] [1775743715.259319835] [zed_multi.zed_left]: * Point cloud resolution: COMPACT [component_container_isolated-1] [INFO] [1775743715.259474072] [zed_multi.zed_left]: * Depth Confidence: 95 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.259495736] [zed_multi.zed_rear]: * Publishing downscale factor: 2 [component_container_isolated-1] [INFO] [1775743715.259646453] [zed_multi.zed_left]: * Depth Texture Confidence: 100 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.259800051] [zed_multi.zed_left]: * Remove saturated areas: TRUE [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.259833906] [zed_multi.zed_left]: === POSITIONAL TRACKING parameters === [component_container_isolated-1] [INFO] [1775743715.259836114] [zed_multi.zed_rear]: * OpenCV custom calibration: [component_container_isolated-1] [INFO] [1775743715.259988271] [zed_multi.zed_left]: * Map frame id: map [component_container_isolated-1] [INFO] [1775743715.260135373] [zed_multi.zed_left]: * Odometry frame id: odom [component_container_isolated-1] [INFO] [1775743715.260135725] [zed_multi.zed_rear]: * Camera self calibration: TRUE [component_container_isolated-1] [INFO] [1775743715.260298346] [zed_multi.zed_left]: * Positional tracking enabled: TRUE [component_container_isolated-1] [INFO] [1775743715.260470311] [zed_multi.zed_left]: * Positional tracking mode: GEN 1 [component_container_isolated-1] [INFO] [1775743715.260470471] [zed_multi.zed_rear]: * Camera flip: FALSE [component_container_isolated-1] [INFO] [1775743715.260634916] [zed_multi.zed_left]: * Broadcast Odometry TF: FALSE [component_container_isolated-1] [INFO] [1775743715.260830464] [zed_multi.zed_rear]: * Publish framerate [Hz]: 15 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.260836800] [zed_multi.zed_left]: * Depth minimum range: 0 [component_container_isolated-1] [INFO] [1775743715.261018173] [zed_multi.zed_rear]: * Grab Compute Capping FPS: 0 [component_container_isolated-1] [INFO] [1775743715.261047260] [zed_multi.zed_left]: * TF timestamp offset: 0 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.261060572] [zed_multi.zed_rear]: === VIDEO parameters === [component_container_isolated-1] [INFO] [1775743715.261241721] [zed_multi.zed_left]: * Path publishing rate: 2 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.261327031] [zed_multi.zed_rear]: * Saturation: 4 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.261462421] [zed_multi.zed_left]: * Path history lenght: -1 [component_container_isolated-1] [INFO] [1775743715.261502228] [zed_multi.zed_rear]: * Sharpness: 4 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.261676561] [zed_multi.zed_rear]: * Gamma: 8 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.261856750] [zed_multi.zed_rear]: * Auto Exposure/Gain: TRUE [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.261687729] [zed_multi.zed_left]: * Initial pose: [0,0,0,0,0,0,] [component_container_isolated-1] [INFO] [1775743715.262019723] [zed_multi.zed_rear]: * Exposure: 80 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.262186792] [zed_multi.zed_left]: * Area Memory: TRUE [component_container_isolated-1] [INFO] [1775743715.262196072] [zed_multi.zed_rear]: * Gain: 80 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.262409188] [zed_multi.zed_left]: * Area Memory File: [component_container_isolated-1] [INFO] [1775743715.262410820] [zed_multi.zed_rear]: * Auto White Balance: TRUE [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.262625472] [zed_multi.zed_left]: * Enable Localization Only: FALSE [component_container_isolated-1] [INFO] [1775743715.262640128] [zed_multi.zed_rear]: * White Balance Temperature: 42 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.262879484] [zed_multi.zed_rear]: * ZED X Exposure time: 16000 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.262888091] [zed_multi.zed_left]: * Save Area Memory on closing: FALSE [component_container_isolated-1] [INFO] [1775743715.263139639] [zed_multi.zed_rear]: * ZED X Auto Exp. time range min: 28 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.263152823] [zed_multi.zed_left]: * Camera is static: FALSE [component_container_isolated-1] [INFO] [1775743715.263417170] [zed_multi.zed_rear]: * ZED X Auto Exp. time range max: 30000 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.263446673] [zed_multi.zed_left]: * Gravity as origin: TRUE [component_container_isolated-1] [INFO] [1775743715.263676269] [zed_multi.zed_rear]: * ZED X Exposure comp.: 50 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.263728332] [zed_multi.zed_left]: * IMU Fusion: TRUE [component_container_isolated-1] [INFO] [1775743715.263924585] [zed_multi.zed_left]: * Floor Alignment: FALSE [component_container_isolated-1] [INFO] [1775743715.263944873] [zed_multi.zed_rear]: * ZED X Analog Gain: 1255 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.264147269] [zed_multi.zed_left]: * Reset Odometry with Loop Closure: TRUE [component_container_isolated-1] [INFO] [1775743715.264218500] [zed_multi.zed_rear]: * ZED X Auto Analog Gain range min: 1000 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.264380449] [zed_multi.zed_left]: * Publish 3D Landmarks: FALSE [component_container_isolated-1] [INFO] [1775743715.264489279] [zed_multi.zed_rear]: * ZED X Auto Analog Gain range max: 16000 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.264607229] [zed_multi.zed_left]: * Publish Landmark Skip Frame: [component_container_isolated-1] [INFO] [1775743715.264727195] [zed_multi.zed_rear]: * ZED X Digital Gain: 1 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.264861080] [zed_multi.zed_left]: * 2D mode: FALSE [component_container_isolated-1] [INFO] [1775743715.264995062] [zed_multi.zed_rear]: * ZED X Auto Digital Gain range min: 1 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.265083732] [zed_multi.zed_left]: * Reset pose with SVO loop: TRUE [component_container_isolated-1] [INFO] [1775743715.265140531] [zed_multi.zed_left]: === GNSS FUSION parameters === [component_container_isolated-1] [INFO] [1775743715.265242769] [zed_multi.zed_rear]: * ZED X Auto Digital Gain range max: 256 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.265411598] [zed_multi.zed_left]: * GNSS fusion enabled: FALSE [component_container_isolated-1] [INFO] [1775743715.265468941] [zed_multi.zed_left]: === REGION OF INTEREST parameters === [component_container_isolated-1] [INFO] [1775743715.265511053] [zed_multi.zed_rear]: * ZED X Auto Digital Gain range max: 50 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.265562444] [zed_multi.zed_rear]: === DEPTH parameters === [component_container_isolated-1] [INFO] [1775743715.265687561] [zed_multi.zed_left]: * Automatic ROI generation: FALSE [component_container_isolated-1] [INFO] [1775743715.265822343] [zed_multi.zed_rear]: * Depth mode: NEURAL LIGHT [4] [component_container_isolated-1] [INFO] [1775743715.265963045] [zed_multi.zed_left]: * Manual ROI polygon: [] [component_container_isolated-1] [INFO] [1775743715.266019364] [zed_multi.zed_left]: === SENSORS STACK parameters === [component_container_isolated-1] [INFO] [1775743715.266076130] [zed_multi.zed_rear]: * Min depth [m]: 0.01 [component_container_isolated-1] [INFO] [1775743715.266228864] [zed_multi.zed_left]: * Broadcast IMU TF [not for ZED]: FALSE [component_container_isolated-1] [INFO] [1775743715.266326974] [zed_multi.zed_rear]: * Max depth [m]: 15 [component_container_isolated-1] [INFO] [1775743715.266476859] [zed_multi.zed_left]: * Sensors Camera Sync: FALSE [component_container_isolated-1] [INFO] [1775743715.266550778] [zed_multi.zed_rear]: * Depth Stabilization: 30 [component_container_isolated-1] [INFO] [1775743715.266720311] [zed_multi.zed_left]: * Sensors publishing rate [Hz]: 100 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.266789078] [zed_multi.zed_left]: === Spatial Mapping parameters === [component_container_isolated-1] [INFO] [1775743715.266833973] [zed_multi.zed_rear]: * OpenNI mode (16bit depth): FALSE [component_container_isolated-1] [INFO] [1775743715.266995026] [zed_multi.zed_left]: * Spatial Mapping Enabled: FALSE [component_container_isolated-1] [INFO] [1775743715.267053361] [zed_multi.zed_rear]: * Point cloud rate [Hz]: 10 [component_container_isolated-1] [INFO] [1775743715.267229934] [zed_multi.zed_left]: * Spatial Mapping resolution [m]: 0.05 [component_container_isolated-1] [INFO] [1775743715.267274925] [zed_multi.zed_rear]: * Point cloud resolution: COMPACT [component_container_isolated-1] [INFO] [1775743715.267443466] [zed_multi.zed_left]: * 3D Max Mapping range [m]: 5 [component_container_isolated-1] [INFO] [1775743715.267476073] [zed_multi.zed_rear]: * Depth Confidence: 95 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.267679174] [zed_multi.zed_left]: * Map publishing rate [Hz]: 1 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.267744453] [zed_multi.zed_rear]: * Depth Texture Confidence: 100 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.267896386] [zed_multi.zed_left]: * Clicked point topic: /clicked_point [component_container_isolated-1] [INFO] [1775743715.267952897] [zed_multi.zed_rear]: * Remove saturated areas: TRUE [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.267997248] [zed_multi.zed_rear]: === POSITIONAL TRACKING parameters === [component_container_isolated-1] [INFO] [1775743715.268154717] [zed_multi.zed_left]: * Plane Det. Max Dist. Thresh.: 0.15 [component_container_isolated-1] [INFO] [1775743715.268224508] [zed_multi.zed_rear]: * Map frame id: map [component_container_isolated-1] [INFO] [1775743715.268389881] [zed_multi.zed_left]: * Plane Det. Normals Sim. Thresh.: 15 [component_container_isolated-1] [INFO] [1775743715.268428472] [zed_multi.zed_rear]: * Odometry frame id: odom [component_container_isolated-1] [INFO] [1775743715.268456568] [zed_multi.zed_left]: === OBJECT DETECTION parameters === [component_container_isolated-1] [INFO] [1775743715.268680660] [zed_multi.zed_rear]: * Positional tracking enabled: TRUE [component_container_isolated-1] [INFO] [1775743715.268736179] [zed_multi.zed_left]: * Object Det. enabled: FALSE [component_container_isolated-1] [INFO] [1775743715.268903536] [zed_multi.zed_rear]: * Positional tracking mode: GEN 1 [component_container_isolated-1] [INFO] [1775743715.268911184] [zed_multi.zed_left]: * Object Det. allow reduced precision: FALSE [component_container_isolated-1] [INFO] [1775743715.269144268] [zed_multi.zed_rear]: * Broadcast Odometry TF: FALSE [component_container_isolated-1] [INFO] [1775743715.269180299] [zed_multi.zed_left]: * Object Det. maximum range [m]: 20 [component_container_isolated-1] [INFO] [1775743715.269408391] [zed_multi.zed_left]: * Object Det. prediction timeout [sec]: 2 [component_container_isolated-1] [INFO] [1775743715.269430439] [zed_multi.zed_rear]: * Depth minimum range: 0 [component_container_isolated-1] [INFO] [1775743715.269627395] [zed_multi.zed_left]: * Object Det. tracking: TRUE [component_container_isolated-1] [INFO] [1775743715.269679554] [zed_multi.zed_rear]: * TF timestamp offset: 0 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.269845311] [zed_multi.zed_left]: * Object Filtering mode: NMS3D [component_container_isolated-1] [INFO] [1775743715.269907326] [zed_multi.zed_rear]: * Path publishing rate: 2 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.270075963] [zed_multi.zed_left]: * Object Det. model: MULTI CLASS BOX FAST [component_container_isolated-1] [INFO] [1775743715.270106970] [zed_multi.zed_rear]: * Path history lenght: -1 [component_container_isolated-1] [INFO] [1775743715.270274935] [zed_multi.zed_left]: * MultiClassBox people: TRUE [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.270373750] [zed_multi.zed_rear]: * Initial pose: [0,0,0,0,0,0,] [component_container_isolated-1] [INFO] [1775743715.270471412] [zed_multi.zed_left]: * MultiClassBox vehicles: TRUE [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.270588466] [zed_multi.zed_rear]: * Area Memory: TRUE [component_container_isolated-1] [INFO] [1775743715.270641329] [zed_multi.zed_left]: * MultiClassBox bags: TRUE [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.270829742] [zed_multi.zed_rear]: * Area Memory File: [component_container_isolated-1] [INFO] [1775743715.270860685] [zed_multi.zed_left]: * MultiClassBox animals: TRUE [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.271048202] [zed_multi.zed_rear]: * Enable Localization Only: FALSE [component_container_isolated-1] [INFO] [1775743715.271088201] [zed_multi.zed_left]: * MultiClassBox electronics: TRUE [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.271263206] [zed_multi.zed_rear]: * Save Area Memory on closing: FALSE [component_container_isolated-1] [INFO] [1775743715.271306629] [zed_multi.zed_left]: * MultiClassBox fruits and vegetables: TRUE [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.271462274] [zed_multi.zed_rear]: * Camera is static: FALSE [component_container_isolated-1] [INFO] [1775743715.271500322] [zed_multi.zed_left]: * MultiClassBox sport-related objects: TRUE [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.271775069] [zed_multi.zed_rear]: * Gravity as origin: TRUE [component_container_isolated-1] [INFO] [1775743715.271794780] [zed_multi.zed_left]: * MultiClassBox people confidence: 65 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.271962681] [zed_multi.zed_rear]: * IMU Fusion: TRUE [component_container_isolated-1] [INFO] [1775743715.272069751] [zed_multi.zed_left]: * MultiClassBox vehicles confidence: 60 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.272132918] [zed_multi.zed_rear]: * Floor Alignment: FALSE [component_container_isolated-1] [INFO] [1775743715.272260052] [zed_multi.zed_left]: * MultiClassBox bags confidence: 40 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.272267508] [zed_multi.zed_rear]: * Reset Odometry with Loop Closure: TRUE [component_container_isolated-1] [INFO] [1775743715.272496048] [zed_multi.zed_left]: * MultiClassBox animals confidence: 40 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.272559823] [zed_multi.zed_rear]: * Publish 3D Landmarks: FALSE [component_container_isolated-1] [INFO] [1775743715.272725004] [zed_multi.zed_rear]: * Publish Landmark Skip Frame: [component_container_isolated-1] [INFO] [1775743715.272743371] [zed_multi.zed_left]: * MultiClassBox electronics confidence: 45 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.272916552] [zed_multi.zed_rear]: * 2D mode: FALSE [component_container_isolated-1] [INFO] [1775743715.273078789] [zed_multi.zed_rear]: * Reset pose with SVO loop: TRUE [component_container_isolated-1] [INFO] [1775743715.273119845] [zed_multi.zed_rear]: === GNSS FUSION parameters === [component_container_isolated-1] [INFO] [1775743715.273082021] [zed_multi.zed_left]: * MultiClassBox fruits and vegetables confidence: 50 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.273279810] [zed_multi.zed_rear]: * GNSS fusion enabled: FALSE [component_container_isolated-1] [INFO] [1775743715.273336737] [zed_multi.zed_rear]: === REGION OF INTEREST parameters === [component_container_isolated-1] [INFO] [1775743715.273467486] [zed_multi.zed_rear]: * Automatic ROI generation: FALSE [component_container_isolated-1] [INFO] [1775743715.273514142] [zed_multi.zed_left]: * MultiClassBox sport-related objects confidence: 30 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.273600604] [zed_multi.zed_left]: === Body Track. parameters === [component_container_isolated-1] [INFO] [1775743715.273650971] [zed_multi.zed_rear]: * Manual ROI polygon: [] [component_container_isolated-1] [INFO] [1775743715.273695162] [zed_multi.zed_rear]: === SENSORS STACK parameters === [component_container_isolated-1] [INFO] [1775743715.273804984] [zed_multi.zed_left]: * Body Track. enabled: FALSE [component_container_isolated-1] [INFO] [1775743715.273855032] [zed_multi.zed_rear]: * Broadcast IMU TF [not for ZED]: FALSE [component_container_isolated-1] [INFO] [1775743715.274048084] [zed_multi.zed_rear]: * Sensors Camera Sync: FALSE [component_container_isolated-1] [INFO] [1775743715.274053812] [zed_multi.zed_left]: * Body Track. model: HUMAN BODY MEDIUM [component_container_isolated-1] [INFO] [1775743715.274254192] [zed_multi.zed_rear]: * Sensors publishing rate [Hz]: 100 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.274307791] [zed_multi.zed_rear]: === Spatial Mapping parameters === [component_container_isolated-1] [INFO] [1775743715.274318191] [zed_multi.zed_left]: * Body Track. format: BODY 38 [component_container_isolated-1] [INFO] [1775743715.274492460] [zed_multi.zed_rear]: * Spatial Mapping Enabled: FALSE [component_container_isolated-1] [INFO] [1775743715.274557995] [zed_multi.zed_left]: * Body Track. allow reduced precision: FALSE [component_container_isolated-1] [INFO] [1775743715.274687465] [zed_multi.zed_rear]: * Spatial Mapping resolution [m]: 0.05 [component_container_isolated-1] [INFO] [1775743715.274764071] [zed_multi.zed_left]: * Body Track. maximum range [m]: 15 [component_container_isolated-1] [INFO] [1775743715.274898533] [zed_multi.zed_rear]: * 3D Max Mapping range [m]: 5 [component_container_isolated-1] [INFO] [1775743715.274978275] [zed_multi.zed_left]: * Body Track. KP selection: FULL [component_container_isolated-1] [INFO] [1775743715.275104737] [zed_multi.zed_rear]: * Map publishing rate [Hz]: 1 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.275198720] [zed_multi.zed_left]: * Body fitting: FALSE [component_container_isolated-1] [INFO] [1775743715.275323005] [zed_multi.zed_rear]: * Clicked point topic: /clicked_point [component_container_isolated-1] [INFO] [1775743715.275405756] [zed_multi.zed_left]: * Body joints tracking: TRUE [component_container_isolated-1] [INFO] [1775743715.275532986] [zed_multi.zed_rear]: * Plane Det. Max Dist. Thresh.: 0.15 [component_container_isolated-1] [INFO] [1775743715.275629144] [zed_multi.zed_left]: * Body Track. prediction timeout [sec]: 0.5 [component_container_isolated-1] [INFO] [1775743715.275760341] [zed_multi.zed_rear]: * Plane Det. Normals Sim. Thresh.: 15 [component_container_isolated-1] [INFO] [1775743715.275801237] [zed_multi.zed_rear]: === OBJECT DETECTION parameters === [component_container_isolated-1] [INFO] [1775743715.275845012] [zed_multi.zed_left]: * Body Track. confidence thresh.: 50 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.275972210] [zed_multi.zed_rear]: * Object Det. enabled: FALSE [component_container_isolated-1] [INFO] [1775743715.276044880] [zed_multi.zed_left]: * Body Track. min. KP thresh.: 5 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.276140239] [zed_multi.zed_left]: === STREAMING SERVER parameters === [component_container_isolated-1] [INFO] [1775743715.276205422] [zed_multi.zed_rear]: * Object Det. allow reduced precision: FALSE [component_container_isolated-1] [INFO] [1775743715.276338123] [zed_multi.zed_left]: * Streaming Server enabled: FALSE [component_container_isolated-1] [INFO] [1775743715.276458121] [zed_multi.zed_rear]: * Object Det. maximum range [m]: 20 [component_container_isolated-1] [INFO] [1775743715.276560135] [zed_multi.zed_left]: * Stream codec: H265 [component_container_isolated-1] [INFO] [1775743715.276693669] [zed_multi.zed_rear]: * Object Det. prediction timeout [sec]: 2 [component_container_isolated-1] [INFO] [1775743715.276763364] [zed_multi.zed_left]: * Stream port: 30000 [component_container_isolated-1] [INFO] [1775743715.276931297] [zed_multi.zed_rear]: * Object Det. tracking: TRUE [component_container_isolated-1] [INFO] [1775743715.276980640] [zed_multi.zed_left]: * Stream bitrate: 12500 [component_container_isolated-1] [INFO] [1775743715.277166076] [zed_multi.zed_rear]: * Object Filtering mode: NMS3D [component_container_isolated-1] [INFO] [1775743715.277177148] [zed_multi.zed_left]: * Stream GOP size: -1 [component_container_isolated-1] [INFO] [1775743715.277442167] [zed_multi.zed_rear]: * Object Det. model: MULTI CLASS BOX FAST [component_container_isolated-1] [INFO] [1775743715.277449239] [zed_multi.zed_left]: * Stream Chunk size: 16084 [component_container_isolated-1] [INFO] [1775743715.277654036] [zed_multi.zed_rear]: * MultiClassBox people: TRUE [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.277659380] [zed_multi.zed_left]: * Adaptive bitrate: FALSE [component_container_isolated-1] [INFO] [1775743715.277877776] [zed_multi.zed_rear]: * MultiClassBox vehicles: TRUE [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.277887151] [zed_multi.zed_left]: * Target frame rate:0 [component_container_isolated-1] [INFO] [1775743715.277968654] [zed_multi.zed_left]: === ADVANCED parameters === [component_container_isolated-1] [INFO] [1775743715.278083532] [zed_multi.zed_rear]: * MultiClassBox bags: TRUE [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.278137419] [zed_multi.zed_left]: * Change thread priority: FALSE [component_container_isolated-1] [INFO] [1775743715.278254601] [zed_multi.zed_left]: === SERVICES === [component_container_isolated-1] [INFO] [1775743715.278273065] [zed_multi.zed_rear]: * MultiClassBox animals: TRUE [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.278476741] [zed_multi.zed_rear]: * MultiClassBox electronics: TRUE [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.278675713] [zed_multi.zed_rear]: * MultiClassBox fruits and vegetables: TRUE [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.278852158] [zed_multi.zed_rear]: * MultiClassBox sport-related objects: TRUE [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.279055707] [zed_multi.zed_rear]: * MultiClassBox people confidence: 65 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.279313814] [zed_multi.zed_left]: * Advertised on service: '/zed_multi/zed_left/reset_odometry' [component_container_isolated-1] [INFO] [1775743715.279727375] [zed_multi.zed_rear]: * MultiClassBox vehicles confidence: 60 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.279993418] [zed_multi.zed_rear]: * MultiClassBox bags confidence: 40 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.280384131] [zed_multi.zed_left]: * Advertised on service: '/zed_multi/zed_left/reset_pos_tracking' [component_container_isolated-1] [INFO] [1775743715.280438882] [zed_multi.zed_rear]: * MultiClassBox animals confidence: 40 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.280814843] [zed_multi.zed_rear]: * MultiClassBox electronics confidence: 45 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.281053015] [zed_multi.zed_rear]: * MultiClassBox fruits and vegetables confidence: 50 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.281244883] [zed_multi.zed_rear]: * MultiClassBox sport-related objects confidence: 30 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.281325778] [zed_multi.zed_rear]: === Body Track. parameters === [component_container_isolated-1] [INFO] [1775743715.281496143] [zed_multi.zed_rear]: * Body Track. enabled: FALSE [component_container_isolated-1] [INFO] [1775743715.281707787] [zed_multi.zed_rear]: * Body Track. model: HUMAN BODY MEDIUM [component_container_isolated-1] [INFO] [1775743715.281883752] [zed_multi.zed_rear]: * Body Track. format: BODY 38 [component_container_isolated-1] [INFO] [1775743715.282160611] [zed_multi.zed_rear]: * Body Track. allow reduced precision: FALSE [component_container_isolated-1] [INFO] [1775743715.282301441] [zed_multi.zed_left]: * Advertised on service: '/zed_multi/zed_left/set_pose' [component_container_isolated-1] [INFO] [1775743715.282447294] [zed_multi.zed_rear]: * Body Track. maximum range [m]: 15 [component_container_isolated-1] [INFO] [1775743715.282668282] [zed_multi.zed_rear]: * Body Track. KP selection: FULL [component_container_isolated-1] [INFO] [1775743715.282873206] [zed_multi.zed_rear]: * Body fitting: FALSE [component_container_isolated-1] [INFO] [1775743715.283044339] [zed_multi.zed_rear]: * Body joints tracking: TRUE [component_container_isolated-1] [INFO] [1775743715.283080147] [zed_multi.zed_left]: * Advertised on service: '/zed_multi/zed_left/save_area_memory' [component_container_isolated-1] [INFO] [1775743715.283230416] [zed_multi.zed_rear]: * Body Track. prediction timeout [sec]: 0.5 [component_container_isolated-1] [INFO] [1775743715.283429164] [zed_multi.zed_rear]: * Body Track. confidence thresh.: 50 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.283634569] [zed_multi.zed_rear]: * Body Track. min. KP thresh.: 5 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.283675496] [zed_multi.zed_rear]: === STREAMING SERVER parameters === [component_container_isolated-1] [INFO] [1775743715.283828037] [zed_multi.zed_rear]: * Streaming Server enabled: FALSE [component_container_isolated-1] [INFO] [1775743715.284030786] [zed_multi.zed_rear]: * Stream codec: H265 [component_container_isolated-1] [INFO] [1775743715.284211486] [zed_multi.zed_rear]: * Stream port: 30000 [component_container_isolated-1] [INFO] [1775743715.284340892] [zed_multi.zed_left]: * Advertised on service: '/zed_multi/zed_left/enable_obj_det' [component_container_isolated-1] [INFO] [1775743715.284397211] [zed_multi.zed_rear]: * Stream bitrate: 12500 [component_container_isolated-1] [INFO] [1775743715.284571192] [zed_multi.zed_rear]: * Stream GOP size: -1 [component_container_isolated-1] [INFO] [1775743715.284734549] [zed_multi.zed_rear]: * Stream Chunk size: 16084 [component_container_isolated-1] [INFO] [1775743715.284887090] [zed_multi.zed_rear]: * Adaptive bitrate: FALSE [component_container_isolated-1] [INFO] [1775743715.285005584] [zed_multi.zed_rear]: * Target frame rate:0 [component_container_isolated-1] [INFO] [1775743715.285037776] [zed_multi.zed_rear]: === ADVANCED parameters === [component_container_isolated-1] [INFO] [1775743715.285045104] [zed_multi.zed_left]: * Advertised on service: '/zed_multi/zed_left/enable_body_trk' [component_container_isolated-1] [INFO] [1775743715.285177453] [zed_multi.zed_rear]: * Change thread priority: FALSE [component_container_isolated-1] [INFO] [1775743715.285421801] [zed_multi.zed_rear]: === SERVICES === [component_container_isolated-1] [INFO] [1775743715.285845249] [zed_multi.zed_left]: * Advertised on service: '/zed_multi/zed_left/enable_mapping' [component_container_isolated-1] [INFO] [1775743715.286433463] [zed_multi.zed_rear]: * Advertised on service: '/zed_multi/zed_rear/reset_odometry' [component_container_isolated-1] [INFO] [1775743715.286663667] [zed_multi.zed_left]: * Advertised on service: '/zed_multi/zed_left/enable_streaming' [component_container_isolated-1] [INFO] [1775743715.287053612] [zed_multi.zed_rear]: * Advertised on service: '/zed_multi/zed_rear/reset_pos_tracking' [component_container_isolated-1] [INFO] [1775743715.287606114] [zed_multi.zed_left]: * Advertised on service: '/zed_multi/zed_left/start_svo_rec' [component_container_isolated-1] [INFO] [1775743715.287855005] [zed_multi.zed_rear]: * Advertised on service: '/zed_multi/zed_rear/set_pose' [component_container_isolated-1] [INFO] [1775743715.288119289] [zed_multi.zed_left]: * Advertised on service: '/zed_multi/zed_left/stop_svo_rec' [component_container_isolated-1] [INFO] [1775743715.288601968] [zed_multi.zed_rear]: * Advertised on service: '/zed_multi/zed_rear/save_area_memory' [component_container_isolated-1] [INFO] [1775743715.289037416] [zed_multi.zed_left]: * Advertised on service: '/zed_multi/zed_left/set_roi' [component_container_isolated-1] [INFO] [1775743715.289589310] [zed_multi.zed_rear]: * Advertised on service: '/zed_multi/zed_rear/enable_obj_det' [component_container_isolated-1] [INFO] [1775743715.290044246] [zed_multi.zed_left]: * Advertised on service: '/zed_multi/zed_left/reset_roi' [component_container_isolated-1] [INFO] [1775743715.290096885] [zed_multi.zed_left]: === STARTING CAMERA === [component_container_isolated-1] [INFO] [1775743715.290263730] [zed_multi.zed_left]: ZED SDK Version: 5.2.3 - Build 112767_50a3dc68_3019829 [component_container_isolated-1] [INFO] [1775743715.290333969] [zed_multi.zed_rear]: * Advertised on service: '/zed_multi/zed_rear/enable_body_trk' [component_container_isolated-1] [INFO] [1775743715.290863784] [zed_multi.zed_rear]: * Advertised on service: '/zed_multi/zed_rear/enable_mapping' [component_container_isolated-1] [INFO] [1775743715.291870806] [zed_multi.zed_rear]: * Advertised on service: '/zed_multi/zed_rear/enable_streaming' [component_container_isolated-1] [INFO] [1775743715.292759974] [zed_multi.zed_rear]: * Advertised on service: '/zed_multi/zed_rear/start_svo_rec' [component_container_isolated-1] [INFO] [1775743715.293427258] [zed_multi.zed_rear]: * Advertised on service: '/zed_multi/zed_rear/stop_svo_rec' [component_container_isolated-1] [INFO] [1775743715.294139885] [zed_multi.zed_rear]: * Advertised on service: '/zed_multi/zed_rear/set_roi' [component_container_isolated-1] [INFO] [1775743715.294291146] [zed_multi.zed_left]: === CAMERA OPENING === [component_container_isolated-1] [INFO] [1775743715.294705859] [zed_multi.zed_rear]: * Advertised on service: '/zed_multi/zed_rear/reset_roi' [component_container_isolated-1] [INFO] [1775743715.294938111] [zed_multi.zed_rear]: === STARTING CAMERA === [component_container_isolated-1] [INFO] [1775743715.294967262] [zed_multi.zed_rear]: ZED SDK Version: 5.2.3 - Build 112767_50a3dc68_3019829 [component_container_isolated-1] [INFO] [1775743715.298902968] [zed_multi.zed_rear]: === CAMERA OPENING === [component_container_isolated-1] [INFO] [1775743715.299909030] [zed_multi.zed_multi_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_isolated-1] [INFO] [1775743715.299957701] [zed_multi.zed_multi_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [component_container_isolated-1] [INFO] [1775743715.311037919] [zed_multi.zed_right]: ================================ [component_container_isolated-1] [INFO] [1775743715.311109726] [zed_multi.zed_right]: ZED Camera Component [component_container_isolated-1] [INFO] [1775743715.311127870] [zed_multi.zed_right]: ================================ [component_container_isolated-1] [INFO] [1775743715.311139549] [zed_multi.zed_right]: * IPC: enabled [component_container_isolated-1] [INFO] [1775743715.324941991] [zed_multi.zed_multi_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_isolated-1] [INFO] [1775743715.325021349] [zed_multi.zed_multi_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [component_container_isolated-1] [INFO] [1775743715.336807507] [zed_multi.zed_front]: ================================ [component_container_isolated-1] [INFO] [1775743715.336886257] [zed_multi.zed_front]: ZED Camera Component [component_container_isolated-1] [INFO] [1775743715.336910353] [zed_multi.zed_front]: ================================ [component_container_isolated-1] [INFO] [1775743715.336925649] [zed_multi.zed_front]: * IPC: enabled [component_container_isolated-1] [INFO] [1775743715.361291421] [zed_multi.zed_right]: * namespace: /zed_multi [component_container_isolated-1] [INFO] [1775743715.361414203] [zed_multi.zed_right]: * node name: zed_right [component_container_isolated-1] [INFO] [1775743715.361459034] [zed_multi.zed_right]: ================================ [component_container_isolated-1] [INFO] [1775743715.361479098] [zed_multi.zed_right]: Starting node initialization... [component_container_isolated-1] [INFO] [1775743715.361504089] [zed_multi.zed_right]: === DEBUG parameters === [component_container_isolated-1] [INFO] [1775743715.361812308] [zed_multi.zed_right]: * SDK Verbose: 1 [component_container_isolated-1] [INFO] [1775743715.362057520] [zed_multi.zed_right]: * Use Pub Timestamps: FALSE [component_container_isolated-1] [INFO] [1775743715.362254028] [zed_multi.zed_right]: * SDK Verbose File: [component_container_isolated-1] [INFO] [1775743715.362441513] [zed_multi.zed_right]: * Debug Common: FALSE [component_container_isolated-1] [INFO] [1775743715.362612166] [zed_multi.zed_right]: * Debug Grab (low level): FALSE [component_container_isolated-1] [INFO] [1775743715.362791074] [zed_multi.zed_right]: * Debug Simulation: FALSE [component_container_isolated-1] [INFO] [1775743715.362937472] [zed_multi.zed_right]: * Debug Video/Depth: FALSE [component_container_isolated-1] [INFO] [1775743715.363098621] [zed_multi.zed_right]: * Debug Control settings: FALSE [component_container_isolated-1] [INFO] [1775743715.363247546] [zed_multi.zed_right]: * Debug Point Cloud: FALSE [component_container_isolated-1] [INFO] [1775743715.363395320] [zed_multi.zed_right]: * Debug TF: FALSE [component_container_isolated-1] [INFO] [1775743715.363556661] [zed_multi.zed_right]: * Debug Positional Tracking: FALSE [component_container_isolated-1] [INFO] [1775743715.363711026] [zed_multi.zed_right]: * Debug GNSS: FALSE [component_container_isolated-1] [INFO] [1775743715.363882127] [zed_multi.zed_right]: * Debug sensors: FALSE [component_container_isolated-1] [INFO] [1775743715.364051116] [zed_multi.zed_right]: * Debug Mapping: FALSE [component_container_isolated-1] [INFO] [1775743715.364201833] [zed_multi.zed_right]: * Debug Object Detection: FALSE [component_container_isolated-1] [INFO] [1775743715.364362246] [zed_multi.zed_right]: * Debug Body Tracking: FALSE [component_container_isolated-1] [INFO] [1775743715.364534819] [zed_multi.zed_right]: * Debug Streaming: FALSE [component_container_isolated-1] [INFO] [1775743715.364699648] [zed_multi.zed_right]: * Debug ROI: FALSE [component_container_isolated-1] [INFO] [1775743715.364868381] [zed_multi.zed_right]: * Debug Nitros: FALSE [component_container_isolated-1] [INFO] [1775743715.365018683] [zed_multi.zed_right]: * Debug Advanced: FALSE [component_container_isolated-1] [INFO] [1775743715.365059674] [zed_multi.zed_right]: === TOPIC selection parameters === [component_container_isolated-1] [INFO] [1775743715.365182264] [zed_multi.zed_right]: * Publish Status: TRUE [component_container_isolated-1] [INFO] [1775743715.365329589] [zed_multi.zed_right]: * Image format: BGRA 32-bit [component_container_isolated-1] [INFO] [1775743715.365466867] [zed_multi.zed_right]: * Publish Left/Right images: FALSE [component_container_isolated-1] [INFO] [1775743715.365607760] [zed_multi.zed_right]: * Publish Raw images: FALSE [component_container_isolated-1] [INFO] [1775743715.365745806] [zed_multi.zed_right]: * Publish Gray images: FALSE [component_container_isolated-1] [INFO] [1775743715.365876491] [zed_multi.zed_right]: * Publish RGB image: TRUE [component_container_isolated-1] [INFO] [1775743715.366009897] [zed_multi.zed_right]: * Publish Stereo image: FALSE [component_container_isolated-1] [INFO] [1775743715.366147591] [zed_multi.zed_right]: * Publish ROI Mask image: FALSE [component_container_isolated-1] [INFO] [1775743715.366276932] [zed_multi.zed_right]: * Publish Depth Map: TRUE [component_container_isolated-1] [INFO] [1775743715.366394018] [zed_multi.zed_right]: * Publish Depth Info: FALSE [component_container_isolated-1] [INFO] [1775743715.366602238] [zed_multi.zed_right]: * Publish Point Cloud: TRUE [component_container_isolated-1] [INFO] [1775743715.366752188] [zed_multi.zed_right]: * Publish Depth Confidence: FALSE [component_container_isolated-1] [INFO] [1775743715.366886361] [zed_multi.zed_right]: * Publish Disparity: FALSE [component_container_isolated-1] [INFO] [1775743715.367017271] [zed_multi.zed_right]: * Publish IMU: TRUE [component_container_isolated-1] [INFO] [1775743715.367138613] [zed_multi.zed_right]: * Publish IMU Raw: FALSE [component_container_isolated-1] [INFO] [1775743715.367267923] [zed_multi.zed_right]: * Publish LeftCam/IMU Transf.: FALSE [component_container_isolated-1] [INFO] [1775743715.367398000] [zed_multi.zed_right]: * Publish Magnetometer: FALSE [component_container_isolated-1] [INFO] [1775743715.367523534] [zed_multi.zed_right]: * Publish Barometer: FALSE [component_container_isolated-1] [INFO] [1775743715.367664971] [zed_multi.zed_right]: * Publish Temperature: FALSE [component_container_isolated-1] [INFO] [1775743715.367800393] [zed_multi.zed_right]: * Publish Odometry/Pose: TRUE [component_container_isolated-1] [INFO] [1775743715.367930919] [zed_multi.zed_right]: * Publish Pose with Covariance: FALSE [component_container_isolated-1] [INFO] [1775743715.368063204] [zed_multi.zed_right]: * Publish Camera Path: FALSE [component_container_isolated-1] [INFO] [1775743715.368189410] [zed_multi.zed_right]: * Publish Detection Plane: FALSE [component_container_isolated-1] [INFO] [1775743715.368307264] [zed_multi.zed_right]: === SVO INPUT parameters === [component_container_isolated-1] [INFO] [1775743715.368443230] [zed_multi.zed_right]: * SVO input: DISABLED [component_container_isolated-1] [INFO] [1775743715.368469277] [zed_multi.zed_right]: === LOCAL STREAMING parameters === [component_container_isolated-1] [INFO] [1775743715.368591131] [zed_multi.zed_right]: * Local stream input: DISABLED [component_container_isolated-1] [INFO] [1775743715.368616538] [zed_multi.zed_right]: === GENERAL parameters === [component_container_isolated-1] [INFO] [1775743715.368738136] [zed_multi.zed_right]: * Camera model: zedx - ZED X [component_container_isolated-1] [INFO] [1775743715.368891254] [zed_multi.zed_right]: * Camera name: zed_right [component_container_isolated-1] [INFO] [1775743715.369038835] [zed_multi.zed_right]: * Camera SN: 49061114 [component_container_isolated-1] [INFO] [1775743715.369170865] [zed_multi.zed_right]: * Camera ID: -1 [component_container_isolated-1] [INFO] [1775743715.369326158] [zed_multi.zed_right]: * Camera timeout [sec]: 5 [component_container_isolated-1] [INFO] [1775743715.369475243] [zed_multi.zed_right]: * Camera reconnection temptatives: 5 [component_container_isolated-1] [INFO] [1775743715.369615081] [zed_multi.zed_right]: * Camera framerate: 30 [component_container_isolated-1] [INFO] [1775743715.369757798] [zed_multi.zed_right]: * GPU ID: -1 [component_container_isolated-1] [INFO] [1775743715.369897796] [zed_multi.zed_right]: * Asynchronous image retrieval: FALSE [component_container_isolated-1] [INFO] [1775743715.370028097] [zed_multi.zed_right]: * Image Validity Check: 1 [component_container_isolated-1] [INFO] [1775743715.370178495] [zed_multi.zed_right]: * Camera resolution: HD1200 [component_container_isolated-1] [INFO] [1775743715.370314908] [zed_multi.zed_right]: * Publishing resolution: CUSTOM [component_container_isolated-1] [INFO] [1775743715.370485145] [zed_multi.zed_right]: * Publishing downscale factor: 2 [component_container_isolated-1] [INFO] [1775743715.370636342] [zed_multi.zed_right]: * OpenCV custom calibration: [component_container_isolated-1] [INFO] [1775743715.370774228] [zed_multi.zed_right]: * Camera self calibration: TRUE [component_container_isolated-1] [INFO] [1775743715.370921073] [zed_multi.zed_right]: * Camera flip: FALSE [component_container_isolated-1] [INFO] [1775743715.371070895] [zed_multi.zed_right]: * Publish framerate [Hz]: 15 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.371209804] [zed_multi.zed_right]: * Grab Compute Capping FPS: 0 [component_container_isolated-1] [INFO] [1775743715.371245707] [zed_multi.zed_right]: === VIDEO parameters === [component_container_isolated-1] [INFO] [1775743715.371399497] [zed_multi.zed_right]: * Saturation: 4 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.371548742] [zed_multi.zed_right]: * Sharpness: 4 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.371677668] [zed_multi.zed_right]: * Gamma: 8 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.371821761] [zed_multi.zed_right]: * Auto Exposure/Gain: TRUE [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.371959487] [zed_multi.zed_right]: * Exposure: 80 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.372108412] [zed_multi.zed_right]: * Gain: 80 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.372262777] [zed_multi.zed_right]: * Auto White Balance: TRUE [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.372398039] [zed_multi.zed_right]: * White Balance Temperature: 42 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.372540692] [zed_multi.zed_right]: * ZED X Exposure time: 16000 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.372687858] [zed_multi.zed_right]: * ZED X Auto Exp. time range min: 28 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.372830383] [zed_multi.zed_right]: * ZED X Auto Exp. time range max: 30000 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.372988044] [zed_multi.zed_right]: * ZED X Exposure comp.: 50 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.373198153] [zed_multi.zed_right]: * ZED X Analog Gain: 1255 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.373348902] [zed_multi.zed_right]: * ZED X Auto Analog Gain range min: 1000 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.373499875] [zed_multi.zed_right]: * ZED X Auto Analog Gain range max: 16000 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.373637217] [zed_multi.zed_right]: * ZED X Digital Gain: 1 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.373781918] [zed_multi.zed_right]: * ZED X Auto Digital Gain range min: 1 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.373928124] [zed_multi.zed_right]: * ZED X Auto Digital Gain range max: 256 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.374060697] [zed_multi.zed_right]: * ZED X Auto Digital Gain range max: 50 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.374101080] [zed_multi.zed_right]: === DEPTH parameters === [component_container_isolated-1] [INFO] [1775743715.374253942] [zed_multi.zed_right]: * Depth mode: NEURAL LIGHT [4] [component_container_isolated-1] [INFO] [1775743715.374411123] [zed_multi.zed_right]: * Min depth [m]: 0.01 [component_container_isolated-1] [INFO] [1775743715.374551440] [zed_multi.zed_right]: * Max depth [m]: 15 [component_container_isolated-1] [INFO] [1775743715.374697646] [zed_multi.zed_right]: * Depth Stabilization: 30 [component_container_isolated-1] [INFO] [1775743715.374835723] [zed_multi.zed_right]: * OpenNI mode (16bit depth): FALSE [component_container_isolated-1] [INFO] [1775743715.374977417] [zed_multi.zed_right]: * Point cloud rate [Hz]: 10 [component_container_isolated-1] [INFO] [1775743715.375133958] [zed_multi.zed_right]: * Point cloud resolution: COMPACT [component_container_isolated-1] [INFO] [1775743715.375300867] [zed_multi.zed_right]: * Depth Confidence: 95 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.375448512] [zed_multi.zed_right]: * Depth Texture Confidence: 100 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.375598494] [zed_multi.zed_right]: * Remove saturated areas: TRUE [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.375626717] [zed_multi.zed_right]: === POSITIONAL TRACKING parameters === [component_container_isolated-1] [INFO] [1775743715.375764507] [zed_multi.zed_right]: * Map frame id: map [component_container_isolated-1] [INFO] [1775743715.375903896] [zed_multi.zed_right]: * Odometry frame id: odom [component_container_isolated-1] [INFO] [1775743715.376060117] [zed_multi.zed_right]: * Positional tracking enabled: TRUE [component_container_isolated-1] [INFO] [1775743715.376226354] [zed_multi.zed_right]: * Positional tracking mode: GEN 1 [component_container_isolated-1] [INFO] [1775743715.376379856] [zed_multi.zed_right]: * Broadcast Odometry TF: FALSE [component_container_isolated-1] [INFO] [1775743715.376543277] [zed_multi.zed_right]: * Depth minimum range: 0 [component_container_isolated-1] [INFO] [1775743715.376708906] [zed_multi.zed_right]: * TF timestamp offset: 0 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.376874695] [zed_multi.zed_right]: * Path publishing rate: 2 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.377035172] [zed_multi.zed_right]: * Path history lenght: -1 [component_container_isolated-1] [INFO] [1775743715.377176225] [zed_multi.zed_right]: * Initial pose: [0,0,0,0,0,0,] [component_container_isolated-1] [INFO] [1775743715.378031154] [zed_multi.zed_right]: * Area Memory: TRUE [component_container_isolated-1] [INFO] [1775743715.378193807] [zed_multi.zed_right]: * Area Memory File: [component_container_isolated-1] [INFO] [1775743715.378370252] [zed_multi.zed_right]: * Enable Localization Only: FALSE [component_container_isolated-1] [INFO] [1775743715.378510986] [zed_multi.zed_right]: * Save Area Memory on closing: FALSE [component_container_isolated-1] [INFO] [1775743715.378645031] [zed_multi.zed_right]: * Camera is static: FALSE [component_container_isolated-1] [INFO] [1775743715.378789189] [zed_multi.zed_right]: * Gravity as origin: TRUE [component_container_isolated-1] [INFO] [1775743715.378932898] [zed_multi.zed_right]: * IMU Fusion: TRUE [component_container_isolated-1] [INFO] [1775743715.379073568] [zed_multi.zed_right]: * Floor Alignment: FALSE [component_container_isolated-1] [INFO] [1775743715.379231197] [zed_multi.zed_right]: * Reset Odometry with Loop Closure: TRUE [component_container_isolated-1] [INFO] [1775743715.379367770] [zed_multi.zed_right]: * Publish 3D Landmarks: FALSE [component_container_isolated-1] [INFO] [1775743715.379515608] [zed_multi.zed_right]: * Publish Landmark Skip Frame: [component_container_isolated-1] [INFO] [1775743715.379666741] [zed_multi.zed_right]: * 2D mode: FALSE [component_container_isolated-1] [INFO] [1775743715.379793235] [zed_multi.zed_right]: * Reset pose with SVO loop: TRUE [component_container_isolated-1] [INFO] [1775743715.379819826] [zed_multi.zed_right]: === GNSS FUSION parameters === [component_container_isolated-1] [INFO] [1775743715.379946992] [zed_multi.zed_right]: * GNSS fusion enabled: FALSE [component_container_isolated-1] [INFO] [1775743715.379974735] [zed_multi.zed_right]: === REGION OF INTEREST parameters === [component_container_isolated-1] [INFO] [1775743715.380096653] [zed_multi.zed_right]: * Automatic ROI generation: FALSE [component_container_isolated-1] [INFO] [1775743715.380226507] [zed_multi.zed_right]: * Manual ROI polygon: [] [component_container_isolated-1] [INFO] [1775743715.380251819] [zed_multi.zed_right]: === SENSORS STACK parameters === [component_container_isolated-1] [INFO] [1775743715.380426759] [zed_multi.zed_right]: * Broadcast IMU TF [not for ZED]: FALSE [component_container_isolated-1] [INFO] [1775743715.380562053] [zed_multi.zed_right]: * Sensors Camera Sync: FALSE [component_container_isolated-1] [INFO] [1775743715.380706402] [zed_multi.zed_right]: * Sensors publishing rate [Hz]: 100 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.380734850] [zed_multi.zed_right]: === Spatial Mapping parameters === [component_container_isolated-1] [INFO] [1775743715.380875935] [zed_multi.zed_right]: * Spatial Mapping Enabled: FALSE [component_container_isolated-1] [INFO] [1775743715.381006685] [zed_multi.zed_right]: * Spatial Mapping resolution [m]: 0.05 [component_container_isolated-1] [INFO] [1775743715.381134523] [zed_multi.zed_right]: * 3D Max Mapping range [m]: 5 [component_container_isolated-1] [INFO] [1775743715.381268888] [zed_multi.zed_right]: * Map publishing rate [Hz]: 1 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.381436085] [zed_multi.zed_right]: * Clicked point topic: /clicked_point [component_container_isolated-1] [INFO] [1775743715.381620274] [zed_multi.zed_right]: * Plane Det. Max Dist. Thresh.: 0.15 [component_container_isolated-1] [INFO] [1775743715.381789711] [zed_multi.zed_right]: * Plane Det. Normals Sim. Thresh.: 15 [component_container_isolated-1] [INFO] [1775743715.381824814] [zed_multi.zed_right]: === OBJECT DETECTION parameters === [component_container_isolated-1] [INFO] [1775743715.381998635] [zed_multi.zed_right]: * Object Det. enabled: FALSE [component_container_isolated-1] [INFO] [1775743715.382159496] [zed_multi.zed_right]: * Object Det. allow reduced precision: FALSE [component_container_isolated-1] [INFO] [1775743715.382344293] [zed_multi.zed_right]: * Object Det. maximum range [m]: 20 [component_container_isolated-1] [INFO] [1775743715.382525634] [zed_multi.zed_right]: * Object Det. prediction timeout [sec]: 2 [component_container_isolated-1] [INFO] [1775743715.382709919] [zed_multi.zed_right]: * Object Det. tracking: TRUE [component_container_isolated-1] [INFO] [1775743715.382901819] [zed_multi.zed_right]: * Object Filtering mode: NMS3D [component_container_isolated-1] [INFO] [1775743715.383096440] [zed_multi.zed_right]: * Object Det. model: MULTI CLASS BOX FAST [component_container_isolated-1] [INFO] [1775743715.383271637] [zed_multi.zed_right]: * MultiClassBox people: TRUE [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.383455505] [zed_multi.zed_right]: * MultiClassBox vehicles: TRUE [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.383617710] [zed_multi.zed_right]: * MultiClassBox bags: TRUE [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.383787467] [zed_multi.zed_right]: * MultiClassBox animals: TRUE [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.383931369] [zed_multi.zed_right]: * MultiClassBox electronics: TRUE [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.384062086] [zed_multi.zed_right]: * MultiClassBox fruits and vegetables: TRUE [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.384200804] [zed_multi.zed_right]: * MultiClassBox sport-related objects: TRUE [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.384353025] [zed_multi.zed_right]: * MultiClassBox people confidence: 65 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.384511774] [zed_multi.zed_right]: * MultiClassBox vehicles confidence: 60 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.384671100] [zed_multi.zed_right]: * MultiClassBox bags confidence: 40 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.384814201] [zed_multi.zed_right]: * MultiClassBox animals confidence: 40 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.384959702] [zed_multi.zed_right]: * MultiClassBox electronics confidence: 45 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.385113620] [zed_multi.zed_right]: * MultiClassBox fruits and vegetables confidence: 50 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.385250513] [zed_multi.zed_right]: * MultiClassBox sport-related objects confidence: 30 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.385287665] [zed_multi.zed_right]: === Body Track. parameters === [component_container_isolated-1] [INFO] [1775743715.385428270] [zed_multi.zed_right]: * Body Track. enabled: FALSE [component_container_isolated-1] [INFO] [1775743715.385583787] [zed_multi.zed_right]: * Body Track. model: HUMAN BODY MEDIUM [component_container_isolated-1] [INFO] [1775743715.385727209] [zed_multi.zed_right]: * Body Track. format: BODY 38 [component_container_isolated-1] [INFO] [1775743715.385879910] [zed_multi.zed_right]: * Body Track. allow reduced precision: FALSE [component_container_isolated-1] [INFO] [1775743715.386038883] [zed_multi.zed_right]: * Body Track. maximum range [m]: 15 [component_container_isolated-1] [INFO] [1775743715.386176321] [zed_multi.zed_right]: * Body Track. KP selection: FULL [component_container_isolated-1] [INFO] [1775743715.386329214] [zed_multi.zed_right]: * Body fitting: FALSE [component_container_isolated-1] [INFO] [1775743715.386470523] [zed_multi.zed_right]: * Body joints tracking: TRUE [component_container_isolated-1] [INFO] [1775743715.386617145] [zed_multi.zed_right]: * Body Track. prediction timeout [sec]: 0.5 [component_container_isolated-1] [INFO] [1775743715.386803765] [zed_multi.zed_right]: * Body Track. confidence thresh.: 50 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.386938355] [zed_multi.zed_right]: * Body Track. min. KP thresh.: 5 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.386980530] [zed_multi.zed_right]: === STREAMING SERVER parameters === [component_container_isolated-1] [INFO] [1775743715.386983922] [zed_multi.zed_front]: * namespace: /zed_multi [component_container_isolated-1] [INFO] [1775743715.387068625] [zed_multi.zed_front]: * node name: zed_front [component_container_isolated-1] [INFO] [1775743715.387087920] [zed_multi.zed_front]: ================================ [component_container_isolated-1] [INFO] [1775743715.387101072] [zed_multi.zed_front]: Starting node initialization... [component_container_isolated-1] [INFO] [1775743715.387118352] [zed_multi.zed_front]: === DEBUG parameters === [component_container_isolated-1] [INFO] [1775743715.387103824] [zed_multi.zed_right]: * Streaming Server enabled: FALSE [component_container_isolated-1] [INFO] [1775743715.387276557] [zed_multi.zed_right]: * Stream codec: H265 [component_container_isolated-1] [INFO] [1775743715.387299117] [zed_multi.zed_front]: * SDK Verbose: 1 [component_container_isolated-1] [INFO] [1775743715.387408171] [zed_multi.zed_right]: * Stream port: 30000 [component_container_isolated-1] [INFO] [1775743715.387471018] [zed_multi.zed_front]: * Use Pub Timestamps: FALSE [component_container_isolated-1] [INFO] [1775743715.387542920] [zed_multi.zed_right]: * Stream bitrate: 12500 [component_container_isolated-1] [INFO] [1775743715.387659174] [zed_multi.zed_front]: * SDK Verbose File: [component_container_isolated-1] [INFO] [1775743715.387708965] [zed_multi.zed_right]: * Stream GOP size: -1 [component_container_isolated-1] [INFO] [1775743715.387836195] [zed_multi.zed_front]: * Debug Common: FALSE [component_container_isolated-1] [INFO] [1775743715.387861891] [zed_multi.zed_right]: * Stream Chunk size: 16084 [component_container_isolated-1] [INFO] [1775743715.395141600] [zed_multi.zed_front]: * Debug Grab (low level): FALSE [component_container_isolated-1] [INFO] [1775743715.395234335] [zed_multi.zed_right]: * Adaptive bitrate: FALSE [component_container_isolated-1] [INFO] [1775743715.395474427] [zed_multi.zed_right]: * Target frame rate:0 [component_container_isolated-1] [INFO] [1775743715.395518810] [zed_multi.zed_right]: === ADVANCED parameters === [component_container_isolated-1] [INFO] [1775743715.395603288] [zed_multi.zed_front]: * Debug Simulation: FALSE [component_container_isolated-1] [INFO] [1775743715.395695415] [zed_multi.zed_right]: * Change thread priority: FALSE [component_container_isolated-1] [INFO] [1775743715.395779029] [zed_multi.zed_right]: === SERVICES === [component_container_isolated-1] [INFO] [1775743715.395845684] [zed_multi.zed_front]: * Debug Video/Depth: FALSE [component_container_isolated-1] [INFO] [1775743715.396031729] [zed_multi.zed_front]: * Debug Control settings: FALSE [component_container_isolated-1] [INFO] [1775743715.396866882] [zed_multi.zed_front]: * Debug Point Cloud: FALSE [component_container_isolated-1] [INFO] [1775743715.397118269] [zed_multi.zed_right]: * Advertised on service: '/zed_multi/zed_right/reset_odometry' [component_container_isolated-1] [INFO] [1775743715.397250075] [zed_multi.zed_front]: * Debug TF: FALSE [component_container_isolated-1] [INFO] [1775743715.397482327] [zed_multi.zed_front]: * Debug Positional Tracking: FALSE [component_container_isolated-1] [INFO] [1775743715.398200042] [zed_multi.zed_right]: * Advertised on service: '/zed_multi/zed_right/reset_pos_tracking' [component_container_isolated-1] [INFO] [1775743715.398768864] [zed_multi.zed_front]: * Debug GNSS: FALSE [component_container_isolated-1] [INFO] [1775743715.399082042] [zed_multi.zed_front]: * Debug sensors: FALSE [component_container_isolated-1] [INFO] [1775743715.399274839] [zed_multi.zed_right]: * Advertised on service: '/zed_multi/zed_right/set_pose' [component_container_isolated-1] [INFO] [1775743715.399317206] [zed_multi.zed_front]: * Debug Mapping: FALSE [component_container_isolated-1] [INFO] [1775743715.399530578] [zed_multi.zed_front]: * Debug Object Detection: FALSE [component_container_isolated-1] [INFO] [1775743715.399696207] [zed_multi.zed_front]: * Debug Body Tracking: FALSE [component_container_isolated-1] [INFO] [1775743715.400059113] [zed_multi.zed_front]: * Debug Streaming: FALSE [component_container_isolated-1] [INFO] [1775743715.400377667] [zed_multi.zed_front]: * Debug ROI: FALSE [component_container_isolated-1] [INFO] [1775743715.400503393] [zed_multi.zed_right]: * Advertised on service: '/zed_multi/zed_right/save_area_memory' [component_container_isolated-1] [INFO] [1775743715.400545472] [zed_multi.zed_front]: * Debug Nitros: FALSE [component_container_isolated-1] [INFO] [1775743715.401142645] [zed_multi.zed_front]: * Debug Advanced: FALSE [component_container_isolated-1] [INFO] [1775743715.401200660] [zed_multi.zed_front]: === TOPIC selection parameters === [component_container_isolated-1] [INFO] [1775743715.401393265] [zed_multi.zed_front]: * Publish Status: TRUE [component_container_isolated-1] [INFO] [1775743715.401902760] [zed_multi.zed_front]: * Image format: BGRA 32-bit [component_container_isolated-1] [INFO] [1775743715.401909832] [zed_multi.zed_right]: * Advertised on service: '/zed_multi/zed_right/enable_obj_det' [component_container_isolated-1] [INFO] [1775743715.402128164] [zed_multi.zed_front]: * Publish Left/Right images: FALSE [component_container_isolated-1] [INFO] [1775743715.402320768] [zed_multi.zed_front]: * Publish Raw images: FALSE [component_container_isolated-1] [INFO] [1775743715.402561788] [zed_multi.zed_front]: * Publish Gray images: FALSE [component_container_isolated-1] [INFO] [1775743715.402776856] [zed_multi.zed_front]: * Publish RGB image: TRUE [component_container_isolated-1] [INFO] [1775743715.402972725] [zed_multi.zed_front]: * Publish Stereo image: FALSE [component_container_isolated-1] [INFO] [1775743715.403049523] [zed_multi.zed_right]: * Advertised on service: '/zed_multi/zed_right/enable_body_trk' [component_container_isolated-1] [INFO] [1775743715.403150961] [zed_multi.zed_front]: * Publish ROI Mask image: FALSE [component_container_isolated-1] [INFO] [1775743715.403362286] [zed_multi.zed_front]: * Publish Depth Map: TRUE [component_container_isolated-1] [INFO] [1775743715.403559274] [zed_multi.zed_front]: * Publish Depth Info: FALSE [component_container_isolated-1] [INFO] [1775743715.403607209] [zed_multi.zed_right]: * Advertised on service: '/zed_multi/zed_right/enable_mapping' [component_container_isolated-1] [INFO] [1775743715.403750119] [zed_multi.zed_front]: * Publish Point Cloud: TRUE [component_container_isolated-1] [INFO] [1775743715.403998722] [zed_multi.zed_front]: * Publish Depth Confidence: FALSE [component_container_isolated-1] [INFO] [1775743715.404190591] [zed_multi.zed_front]: * Publish Disparity: FALSE [component_container_isolated-1] [INFO] [1775743715.404211646] [zed_multi.zed_right]: * Advertised on service: '/zed_multi/zed_right/enable_streaming' [component_container_isolated-1] [INFO] [1775743715.404387739] [zed_multi.zed_front]: * Publish IMU: TRUE [component_container_isolated-1] [INFO] [1775743715.404614711] [zed_multi.zed_front]: * Publish IMU Raw: FALSE [component_container_isolated-1] [INFO] [1775743715.404809748] [zed_multi.zed_front]: * Publish LeftCam/IMU Transf.: FALSE [component_container_isolated-1] [INFO] [1775743715.404994032] [zed_multi.zed_right]: * Advertised on service: '/zed_multi/zed_right/start_svo_rec' [component_container_isolated-1] [INFO] [1775743715.405002736] [zed_multi.zed_front]: * Publish Magnetometer: FALSE [component_container_isolated-1] [INFO] [1775743715.405247724] [zed_multi.zed_front]: * Publish Barometer: FALSE [component_container_isolated-1] [INFO] [1775743715.405453832] [zed_multi.zed_front]: * Publish Temperature: FALSE [component_container_isolated-1] [INFO] [1775743715.405652133] [zed_multi.zed_front]: * Publish Odometry/Pose: TRUE [component_container_isolated-1] [INFO] [1775743715.405871297] [zed_multi.zed_front]: * Publish Pose with Covariance: FALSE [component_container_isolated-1] [INFO] [1775743715.406060989] [zed_multi.zed_front]: * Publish Camera Path: FALSE [component_container_isolated-1] [INFO] [1775743715.405885185] [zed_multi.zed_right]: * Advertised on service: '/zed_multi/zed_right/stop_svo_rec' [component_container_isolated-1] [INFO] [1775743715.406266042] [zed_multi.zed_front]: * Publish Detection Plane: FALSE [component_container_isolated-1] [INFO] [1775743715.406479062] [zed_multi.zed_front]: === SVO INPUT parameters === [component_container_isolated-1] [INFO] [1775743715.406645491] [zed_multi.zed_front]: * SVO input: DISABLED [component_container_isolated-1] [INFO] [1775743715.406672818] [zed_multi.zed_front]: === LOCAL STREAMING parameters === [component_container_isolated-1] [INFO] [1775743715.406827984] [zed_multi.zed_front]: * Local stream input: DISABLED [component_container_isolated-1] [INFO] [1775743715.406861167] [zed_multi.zed_front]: === GENERAL parameters === [component_container_isolated-1] [INFO] [1775743715.407105003] [zed_multi.zed_front]: * Camera model: zedx - ZED X [component_container_isolated-1] [INFO] [1775743715.407245928] [zed_multi.zed_right]: * Advertised on service: '/zed_multi/zed_right/set_roi' [component_container_isolated-1] [INFO] [1775743715.407311527] [zed_multi.zed_front]: * Camera name: zed_front [component_container_isolated-1] [INFO] [1775743715.407490788] [zed_multi.zed_front]: * Camera SN: 49061114 [component_container_isolated-1] [INFO] [1775743715.407661217] [zed_multi.zed_front]: * Camera ID: -1 [component_container_isolated-1] [INFO] [1775743715.407827582] [zed_multi.zed_front]: * Camera timeout [sec]: 5 [component_container_isolated-1] [INFO] [1775743715.407985499] [zed_multi.zed_front]: * Camera reconnection temptatives: 5 [component_container_isolated-1] [INFO] [1775743715.408030170] [zed_multi.zed_right]: * Advertised on service: '/zed_multi/zed_right/reset_roi' [component_container_isolated-1] [INFO] [1775743715.408066426] [zed_multi.zed_right]: === STARTING CAMERA === [component_container_isolated-1] [INFO] [1775743715.408124697] [zed_multi.zed_right]: ZED SDK Version: 5.2.3 - Build 112767_50a3dc68_3019829 [component_container_isolated-1] [INFO] [1775743715.408175896] [zed_multi.zed_front]: * Camera framerate: 30 [component_container_isolated-1] [INFO] [1775743715.408429459] [zed_multi.zed_front]: * GPU ID: -1 [component_container_isolated-1] [INFO] [1775743715.442644080] [zed_multi.zed_front]: * Asynchronous image retrieval: FALSE [component_container_isolated-1] [INFO] [1775743715.443611550] [zed_multi.zed_front]: * Image Validity Check: 1 [component_container_isolated-1] [INFO] [1775743715.444262291] [zed_multi.zed_front]: * Camera resolution: HD1200 [component_container_isolated-1] [INFO] [1775743715.444798089] [zed_multi.zed_front]: * Publishing resolution: CUSTOM [component_container_isolated-1] [INFO] [1775743715.445572443] [zed_multi.zed_front]: * Publishing downscale factor: 2 [component_container_isolated-1] [INFO] [1775743715.445946101] [zed_multi.zed_front]: * OpenCV custom calibration: [component_container_isolated-1] [INFO] [1775743715.446421612] [zed_multi.zed_front]: * Camera self calibration: TRUE [component_container_isolated-1] [INFO] [1775743715.447081600] [zed_multi.zed_front]: * Camera flip: FALSE [component_container_isolated-1] [INFO] [1775743715.447432122] [zed_multi.zed_front]: * Publish framerate [Hz]: 15 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.447723637] [zed_multi.zed_right]: === CAMERA OPENING === [component_container_isolated-1] [INFO] [1775743715.447891506] [zed_multi.zed_front]: * Grab Compute Capping FPS: 0 [component_container_isolated-1] [INFO] [1775743715.447930865] [zed_multi.zed_front]: === VIDEO parameters === [component_container_isolated-1] [INFO] [1775743715.448108238] [zed_multi.zed_front]: * Saturation: 4 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.448250284] [zed_multi.zed_front]: * Sharpness: 4 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.448390153] [zed_multi.zed_front]: * Gamma: 8 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.448511527] [zed_multi.zed_front]: * Auto Exposure/Gain: TRUE [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.448638853] [zed_multi.zed_front]: * Exposure: 80 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.448756291] [zed_multi.zed_front]: * Gain: 80 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.448893408] [zed_multi.zed_front]: * Auto White Balance: TRUE [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.449023934] [zed_multi.zed_front]: * White Balance Temperature: 42 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.449157851] [zed_multi.zed_front]: * ZED X Exposure time: 16000 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.449291033] [zed_multi.zed_front]: * ZED X Auto Exp. time range min: 28 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.449440758] [zed_multi.zed_front]: * ZED X Auto Exp. time range max: 30000 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.449625203] [zed_multi.zed_front]: * ZED X Exposure comp.: 50 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.449776336] [zed_multi.zed_front]: * ZED X Analog Gain: 1255 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.449918638] [zed_multi.zed_front]: * ZED X Auto Analog Gain range min: 1000 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.450071147] [zed_multi.zed_front]: * ZED X Auto Analog Gain range max: 16000 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.450201417] [zed_multi.zed_front]: * ZED X Digital Gain: 1 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.450339910] [zed_multi.zed_front]: * ZED X Auto Digital Gain range min: 1 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.450478052] [zed_multi.zed_front]: * ZED X Auto Digital Gain range max: 256 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.450603938] [zed_multi.zed_front]: * ZED X Auto Digital Gain range max: 50 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.450629345] [zed_multi.zed_front]: === DEPTH parameters === [component_container_isolated-1] [INFO] [1775743715.450787774] [zed_multi.zed_front]: * Depth mode: NEURAL LIGHT [4] [component_container_isolated-1] [INFO] [1775743715.450922556] [zed_multi.zed_front]: * Min depth [m]: 0.01 [component_container_isolated-1] [INFO] [1775743715.451068377] [zed_multi.zed_front]: * Max depth [m]: 15 [component_container_isolated-1] [INFO] [1775743715.451197079] [zed_multi.zed_front]: * Depth Stabilization: 30 [component_container_isolated-1] [INFO] [1775743715.451333749] [zed_multi.zed_front]: * OpenNI mode (16bit depth): FALSE [component_container_isolated-1] [INFO] [1775743715.451490578] [zed_multi.zed_front]: * Point cloud rate [Hz]: 10 [component_container_isolated-1] [INFO] [1775743715.451618767] [zed_multi.zed_front]: * Point cloud resolution: COMPACT [component_container_isolated-1] [INFO] [1775743715.451746285] [zed_multi.zed_front]: * Depth Confidence: 95 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.451866923] [zed_multi.zed_front]: * Depth Texture Confidence: 100 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.451994185] [zed_multi.zed_front]: * Remove saturated areas: TRUE [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.452019528] [zed_multi.zed_front]: === POSITIONAL TRACKING parameters === [component_container_isolated-1] [INFO] [1775743715.452141286] [zed_multi.zed_front]: * Map frame id: map [component_container_isolated-1] [INFO] [1775743715.452270404] [zed_multi.zed_front]: * Odometry frame id: odom [component_container_isolated-1] [INFO] [1775743715.452388802] [zed_multi.zed_front]: * Positional tracking enabled: TRUE [component_container_isolated-1] [INFO] [1775743715.452521599] [zed_multi.zed_front]: * Positional tracking mode: GEN 1 [component_container_isolated-1] [INFO] [1775743715.452647613] [zed_multi.zed_front]: * Broadcast Odometry TF: TRUE [component_container_isolated-1] [INFO] [1775743715.452767899] [zed_multi.zed_front]: * Broadcast Pose TF: TRUE [component_container_isolated-1] [INFO] [1775743715.452908792] [zed_multi.zed_front]: * Depth minimum range: 0 [component_container_isolated-1] [INFO] [1775743715.453050134] [zed_multi.zed_front]: * TF timestamp offset: 0 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.453185651] [zed_multi.zed_front]: * Path publishing rate: 2 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.453405551] [zed_multi.zed_front]: * Path history lenght: -1 [component_container_isolated-1] [INFO] [1775743715.453550061] [zed_multi.zed_front]: * Initial pose: [0,0,0,0,0,0,] [component_container_isolated-1] [INFO] [1775743715.453699338] [zed_multi.zed_front]: * Area Memory: TRUE [component_container_isolated-1] [INFO] [1775743715.453846728] [zed_multi.zed_front]: * Area Memory File: [component_container_isolated-1] [INFO] [1775743715.453985861] [zed_multi.zed_front]: * Enable Localization Only: FALSE [component_container_isolated-1] [INFO] [1775743715.454117411] [zed_multi.zed_front]: * Save Area Memory on closing: FALSE [component_container_isolated-1] [INFO] [1775743715.454261152] [zed_multi.zed_front]: * Camera is static: FALSE [component_container_isolated-1] [INFO] [1775743715.454403326] [zed_multi.zed_front]: * Gravity as origin: TRUE [component_container_isolated-1] [INFO] [1775743715.454530875] [zed_multi.zed_front]: * IMU Fusion: TRUE [component_container_isolated-1] [INFO] [1775743715.454671417] [zed_multi.zed_front]: * Floor Alignment: FALSE [component_container_isolated-1] [INFO] [1775743715.454796215] [zed_multi.zed_front]: * Reset Odometry with Loop Closure: TRUE [component_container_isolated-1] [INFO] [1775743715.454928244] [zed_multi.zed_front]: * Publish 3D Landmarks: FALSE [component_container_isolated-1] [INFO] [1775743715.455079026] [zed_multi.zed_front]: * Publish Landmark Skip Frame: [component_container_isolated-1] [INFO] [1775743715.455227119] [zed_multi.zed_front]: * 2D mode: FALSE [component_container_isolated-1] [INFO] [1775743715.455365356] [zed_multi.zed_front]: * Reset pose with SVO loop: TRUE [component_container_isolated-1] [INFO] [1775743715.455393836] [zed_multi.zed_front]: === GNSS FUSION parameters === [component_container_isolated-1] [INFO] [1775743715.455520746] [zed_multi.zed_front]: * GNSS fusion enabled: FALSE [component_container_isolated-1] [INFO] [1775743715.455559625] [zed_multi.zed_front]: === REGION OF INTEREST parameters === [component_container_isolated-1] [INFO] [1775743715.455678567] [zed_multi.zed_front]: * Automatic ROI generation: FALSE [component_container_isolated-1] [INFO] [1775743715.455833220] [zed_multi.zed_front]: * Manual ROI polygon: [] [component_container_isolated-1] [INFO] [1775743715.455864676] [zed_multi.zed_front]: === SENSORS STACK parameters === [component_container_isolated-1] [INFO] [1775743715.456001345] [zed_multi.zed_front]: * Broadcast IMU TF [not for ZED]: FALSE [component_container_isolated-1] [INFO] [1775743715.456131423] [zed_multi.zed_front]: * Sensors Camera Sync: FALSE [component_container_isolated-1] [INFO] [1775743715.456300252] [zed_multi.zed_front]: * Sensors publishing rate [Hz]: 100 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.456329915] [zed_multi.zed_front]: === Spatial Mapping parameters === [component_container_isolated-1] [INFO] [1775743715.456450617] [zed_multi.zed_front]: * Spatial Mapping Enabled: FALSE [component_container_isolated-1] [INFO] [1775743715.456599190] [zed_multi.zed_front]: * Spatial Mapping resolution [m]: 0.05 [component_container_isolated-1] [INFO] [1775743715.456757364] [zed_multi.zed_front]: * 3D Max Mapping range [m]: 5 [component_container_isolated-1] [INFO] [1775743715.456904913] [zed_multi.zed_front]: * Map publishing rate [Hz]: 1 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.457057678] [zed_multi.zed_front]: * Clicked point topic: /clicked_point [component_container_isolated-1] [INFO] [1775743715.457209228] [zed_multi.zed_front]: * Plane Det. Max Dist. Thresh.: 0.15 [component_container_isolated-1] [INFO] [1775743715.457367273] [zed_multi.zed_front]: * Plane Det. Normals Sim. Thresh.: 15 [component_container_isolated-1] [INFO] [1775743715.457410440] [zed_multi.zed_front]: === OBJECT DETECTION parameters === [component_container_isolated-1] [INFO] [1775743715.457707939] [zed_multi.zed_front]: * Object Det. enabled: FALSE [component_container_isolated-1] [INFO] [1775743715.457915487] [zed_multi.zed_front]: * Object Det. allow reduced precision: FALSE [component_container_isolated-1] [INFO] [1775743715.458088892] [zed_multi.zed_front]: * Object Det. maximum range [m]: 20 [component_container_isolated-1] [INFO] [1775743715.458263641] [zed_multi.zed_front]: * Object Det. prediction timeout [sec]: 2 [component_container_isolated-1] [INFO] [1775743715.458429782] [zed_multi.zed_front]: * Object Det. tracking: TRUE [component_container_isolated-1] [INFO] [1775743715.505138227] [zed_multi.zed_front]: * Object Filtering mode: NMS3D [component_container_isolated-1] [INFO] [1775743715.505596619] [zed_multi.zed_front]: * Object Det. model: MULTI CLASS BOX FAST [component_container_isolated-1] [INFO] [1775743715.505873926] [zed_multi.zed_front]: * MultiClassBox people: TRUE [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.506161857] [zed_multi.zed_front]: * MultiClassBox vehicles: TRUE [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.506439740] [zed_multi.zed_front]: * MultiClassBox bags: TRUE [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.506724023] [zed_multi.zed_front]: * MultiClassBox animals: TRUE [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.506980690] [zed_multi.zed_front]: * MultiClassBox electronics: TRUE [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.507236046] [zed_multi.zed_front]: * MultiClassBox fruits and vegetables: TRUE [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.507464938] [zed_multi.zed_front]: * MultiClassBox sport-related objects: TRUE [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.507817827] [zed_multi.zed_front]: * MultiClassBox people confidence: 65 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.508145373] [zed_multi.zed_front]: * MultiClassBox vehicles confidence: 60 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.508491127] [zed_multi.zed_front]: * MultiClassBox bags confidence: 40 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.508795282] [zed_multi.zed_front]: * MultiClassBox animals confidence: 40 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.509063053] [zed_multi.zed_front]: * MultiClassBox electronics confidence: 45 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.509380519] [zed_multi.zed_front]: * MultiClassBox fruits and vegetables confidence: 50 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.509685570] [zed_multi.zed_front]: * MultiClassBox sport-related objects confidence: 30 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.509746561] [zed_multi.zed_front]: === Body Track. parameters === [component_container_isolated-1] [INFO] [1775743715.509978909] [zed_multi.zed_front]: * Body Track. enabled: FALSE [component_container_isolated-1] [INFO] [1775743715.510284983] [zed_multi.zed_front]: * Body Track. model: HUMAN BODY MEDIUM [component_container_isolated-1] [INFO] [1775743715.510598098] [zed_multi.zed_front]: * Body Track. format: BODY 38 [component_container_isolated-1] [INFO] [1775743715.510899372] [zed_multi.zed_front]: * Body Track. allow reduced precision: FALSE [component_container_isolated-1] [INFO] [1775743715.511311045] [zed_multi.zed_front]: * Body Track. maximum range [m]: 15 [component_container_isolated-1] [INFO] [1775743715.511602752] [zed_multi.zed_front]: * Body Track. KP selection: FULL [component_container_isolated-1] [INFO] [1775743715.511938650] [zed_multi.zed_front]: * Body fitting: FALSE [component_container_isolated-1] [INFO] [1775743715.512304659] [zed_multi.zed_front]: * Body joints tracking: TRUE [component_container_isolated-1] [INFO] [1775743715.512629005] [zed_multi.zed_front]: * Body Track. prediction timeout [sec]: 0.5 [component_container_isolated-1] [INFO] [1775743715.512952392] [zed_multi.zed_front]: * Body Track. confidence thresh.: 50 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.513300289] [zed_multi.zed_front]: * Body Track. min. KP thresh.: 5 [DYNAMIC] [component_container_isolated-1] [INFO] [1775743715.513374016] [zed_multi.zed_front]: === STREAMING SERVER parameters === [component_container_isolated-1] [INFO] [1775743715.513752665] [zed_multi.zed_front]: * Streaming Server enabled: FALSE [component_container_isolated-1] [INFO] [1775743715.514076051] [zed_multi.zed_front]: * Stream codec: H265 [component_container_isolated-1] [INFO] [1775743715.514381134] [zed_multi.zed_front]: * Stream port: 30000 [component_container_isolated-1] [INFO] [1775743715.514718152] [zed_multi.zed_front]: * Stream bitrate: 12500 [component_container_isolated-1] [INFO] [1775743715.515083393] [zed_multi.zed_front]: * Stream GOP size: -1 [component_container_isolated-1] [INFO] [1775743715.515423707] [zed_multi.zed_front]: * Stream Chunk size: 16084 [component_container_isolated-1] [INFO] [1775743715.515761781] [zed_multi.zed_front]: * Adaptive bitrate: FALSE [component_container_isolated-1] [INFO] [1775743715.516115663] [zed_multi.zed_front]: * Target frame rate:0 [component_container_isolated-1] [INFO] [1775743715.516169966] [zed_multi.zed_front]: === ADVANCED parameters === [component_container_isolated-1] [INFO] [1775743715.516438249] [zed_multi.zed_front]: * Change thread priority: FALSE [component_container_isolated-1] [INFO] [1775743715.516563847] [zed_multi.zed_front]: === SERVICES === [component_container_isolated-1] [INFO] [1775743715.518138635] [zed_multi.zed_front]: * Advertised on service: '/zed_multi/zed_front/reset_odometry' [component_container_isolated-1] [INFO] [1775743715.519339125] [zed_multi.zed_front]: * Advertised on service: '/zed_multi/zed_front/reset_pos_tracking' [component_container_isolated-1] [INFO] [1775743715.520591903] [zed_multi.zed_front]: * Advertised on service: '/zed_multi/zed_front/set_pose' [component_container_isolated-1] [INFO] [1775743715.521706763] [zed_multi.zed_front]: * Advertised on service: '/zed_multi/zed_front/save_area_memory' [component_container_isolated-1] [INFO] [1775743715.523586762] [zed_multi.zed_front]: * Advertised on service: '/zed_multi/zed_front/enable_obj_det' [component_container_isolated-1] [INFO] [1775743715.524547992] [zed_multi.zed_front]: * Advertised on service: '/zed_multi/zed_front/enable_body_trk' [component_container_isolated-1] [INFO] [1775743715.525528327] [zed_multi.zed_front]: * Advertised on service: '/zed_multi/zed_front/enable_mapping' [component_container_isolated-1] [INFO] [1775743715.526464534] [zed_multi.zed_front]: * Advertised on service: '/zed_multi/zed_front/enable_streaming' [component_container_isolated-1] [INFO] [1775743715.527449381] [zed_multi.zed_front]: * Advertised on service: '/zed_multi/zed_front/start_svo_rec' [component_container_isolated-1] [INFO] [1775743715.528545297] [zed_multi.zed_front]: * Advertised on service: '/zed_multi/zed_front/stop_svo_rec' [component_container_isolated-1] [INFO] [1775743715.529567679] [zed_multi.zed_front]: * Advertised on service: '/zed_multi/zed_front/set_roi' [component_container_isolated-1] [INFO] [1775743715.530653131] [zed_multi.zed_front]: * Advertised on service: '/zed_multi/zed_front/reset_roi' [component_container_isolated-1] [INFO] [1775743715.530737578] [zed_multi.zed_front]: === STARTING CAMERA === [component_container_isolated-1] [INFO] [1775743715.530784553] [zed_multi.zed_front]: ZED SDK Version: 5.2.3 - Build 112767_50a3dc68_3019829 [component_container_isolated-1] [INFO] [1775743715.549206528] [zed_multi.zed_front]: === CAMERA OPENING === [component_container_isolated-1] [2026-04-09 16:08:35 UTC][ZED][INFO] Logging level INFO [component_container_isolated-1] [2026-04-09 16:08:35 UTC][ZED][INFO] Logging level INFO [component_container_isolated-1] [2026-04-09 16:08:35 UTC][ZED][INFO] Logging level INFO [component_container_isolated-1] [2026-04-09 16:08:36 UTC][ZED][INFO] Logging level INFO [component_container_isolated-1] [2026-04-09 16:08:44 UTC][ZED][INFO] [Init] Camera FW version: 2001 [component_container_isolated-1] [2026-04-09 16:08:44 UTC][ZED][INFO] [Init] Video mode: HD1200@30 [component_container_isolated-1] [2026-04-09 16:08:44 UTC][ZED][INFO] [Init] Serial Number: S/N 45902679 [component_container_isolated-1] [2026-04-09 16:08:44 UTC][ZED][INFO] [Init] Depth mode selected: NEURAL LIGHT. Ensure this mode matches your application's performance and accuracy requirements. See https://www.stereolabs.com/docs/depth-sensing/depth-modes for help. [component_container_isolated-1] [INFO] [1775743726.971197342] [zed_multi.zed_left]: * ZED SDK running on GPU #0 [component_container_isolated-1] [INFO] [1775743726.971332731] [zed_multi.zed_left]: * Camera Model -> ZED X [component_container_isolated-1] [INFO] [1775743726.971362459] [zed_multi.zed_left]: * Serial Number -> 45902679 [component_container_isolated-1] [INFO] [1775743726.971528824] [zed_multi.zed_left]: * Focal Length -> 2.20557 mm [component_container_isolated-1] [INFO] [1775743726.971585943] [zed_multi.zed_left]: * Input -> GMSL [component_container_isolated-1] [INFO] [1775743726.971616086] [zed_multi.zed_left]: * Camera FW Version -> 2001 [component_container_isolated-1] [INFO] [1775743726.971634358] [zed_multi.zed_left]: * Sensors FW Version -> 1000 [component_container_isolated-1] [INFO] [1775743726.971654645] [zed_multi.zed_left]: * Camera grab size -> 1920x1200 [component_container_isolated-1] [INFO] [1775743726.971671125] [zed_multi.zed_left]: * Color/Depth publishing size -> 960x600 [component_container_isolated-1] [INFO] [1775743726.971687349] [zed_multi.zed_left]: * Point Cloud publishing size -> 448x256 [component_container_isolated-1] [INFO] [1775743726.971717972] [zed_multi.zed_left]: === TF FRAMES === [component_container_isolated-1] [INFO] [1775743726.971736884] [zed_multi.zed_left]: * Map -> map [component_container_isolated-1] [INFO] [1775743726.971752436] [zed_multi.zed_left]: * Odometry -> odom [component_container_isolated-1] [INFO] [1775743726.971767635] [zed_multi.zed_left]: * Base -> zed_left_camera_link [component_container_isolated-1] [INFO] [1775743726.971782867] [zed_multi.zed_left]: * Camera -> zed_left_camera_center [component_container_isolated-1] [INFO] [1775743726.971797843] [zed_multi.zed_left]: * Left -> zed_left_left_camera_frame [component_container_isolated-1] [INFO] [1775743726.971812403] [zed_multi.zed_left]: * Left Optical -> zed_left_left_camera_frame_optical [component_container_isolated-1] [INFO] [1775743726.971827826] [zed_multi.zed_left]: * Right -> zed_left_right_camera_frame [component_container_isolated-1] [INFO] [1775743726.971842738] [zed_multi.zed_left]: * Right Optical -> zed_left_right_camera_frame_optical [component_container_isolated-1] [INFO] [1775743726.971857618] [zed_multi.zed_left]: * Depth -> zed_left_left_camera_frame [component_container_isolated-1] [INFO] [1775743726.971872018] [zed_multi.zed_left]: * Depth Optical -> zed_left_left_camera_frame_optical [component_container_isolated-1] [INFO] [1775743726.971886385] [zed_multi.zed_left]: * Point Cloud -> zed_left_left_camera_frame [component_container_isolated-1] [INFO] [1775743726.971900849] [zed_multi.zed_left]: * IMU -> zed_left_imu_link [component_container_isolated-1] [INFO] [1775743726.971954896] [zed_multi.zed_left]: === PUBLISHED TOPICS === [component_container_isolated-1] [INFO] [1775743726.974221543] [zed_multi.zed_left]: * Advertised on topic: /zed_multi/zed_left/status/health [component_container_isolated-1] [INFO] [1775743726.975899049] [zed_multi.zed_left]: * Advertised on topic: /zed_multi/zed_left/status/heartbeat [component_container_isolated-1] [INFO] [1775743727.107775056] [zed_multi.zed_left]: * Advertised on topic: /zed_multi/zed_left/rgb/color/rect/image [component_container_isolated-1] [INFO] [1775743727.108056843] [zed_multi.zed_left]: * Advertised on topic: /zed_multi/zed_left/rgb/color/rect/image/compressedDepth [image_transport] [component_container_isolated-1] [INFO] [1775743727.108081931] [zed_multi.zed_left]: * Advertised on topic: /zed_multi/zed_left/rgb/color/rect/image/compressed [image_transport] [component_container_isolated-1] [INFO] [1775743727.108095434] [zed_multi.zed_left]: * Advertised on topic: /zed_multi/zed_left/rgb/color/rect/image/raw [image_transport] [component_container_isolated-1] [INFO] [1775743727.108105866] [zed_multi.zed_left]: * Advertised on topic: /zed_multi/zed_left/rgb/color/rect/image/theora [image_transport] [component_container_isolated-1] [INFO] [1775743727.118917865] [zed_multi.zed_left]: * Advertised on topic: /zed_multi/zed_left/depth/depth_registered [component_container_isolated-1] [INFO] [1775743727.119001191] [zed_multi.zed_left]: * Advertised on topic: /zed_multi/zed_left/depth/depth_registered/compressedDepth [image_transport] [component_container_isolated-1] [INFO] [1775743727.119018695] [zed_multi.zed_left]: * Advertised on topic: /zed_multi/zed_left/depth/depth_registered/compressed [image_transport] [component_container_isolated-1] [INFO] [1775743727.119030695] [zed_multi.zed_left]: * Advertised on topic: /zed_multi/zed_left/depth/depth_registered/raw [image_transport] [component_container_isolated-1] [INFO] [1775743727.119040326] [zed_multi.zed_left]: * Advertised on topic: /zed_multi/zed_left/depth/depth_registered/theora [image_transport] [component_container_isolated-1] [INFO] [1775743727.120594795] [zed_multi.zed_left]: * Advertised on topic: /zed_multi/zed_left/rgb/color/rect/camera_info [component_container_isolated-1] [INFO] [1775743727.121479931] [zed_multi.zed_left]: * Advertised on topic: /zed_multi/zed_left/rgb/color/rect/image/camera_info [component_container_isolated-1] [INFO] [1775743727.122319724] [zed_multi.zed_left]: * Advertised on topic: /zed_multi/zed_left/depth/camera_info [component_container_isolated-1] [INFO] [1775743727.123081342] [zed_multi.zed_left]: * Advertised on topic: /zed_multi/zed_left/depth/depth_registered/camera_info [component_container_isolated-1] [INFO] [1775743727.125793614] [zed_multi.zed_left]: * Advertised on topic: /zed_multi/zed_left/point_cloud/cloud_registered [component_container_isolated-1] [INFO] [1775743727.128611195] [zed_multi.zed_left]: * Advertised on topic: /zed_multi/zed_left/pose [component_container_isolated-1] [INFO] [1775743727.131002416] [zed_multi.zed_left]: * Advertised on topic: /zed_multi/zed_left/pose/status [component_container_isolated-1] [INFO] [1775743727.133882877] [zed_multi.zed_left]: * Advertised on topic: /zed_multi/zed_left/odom [component_container_isolated-1] [INFO] [1775743727.135507904] [zed_multi.zed_left]: * Advertised on topic: /zed_multi/zed_left/imu/data [component_container_isolated-1] [INFO] [1775743727.135593822] [zed_multi.zed_left]: Camera-IMU Translation: [component_container_isolated-1] 0 -0.035649 -0.000147 [component_container_isolated-1] [INFO] [1775743727.135649661] [zed_multi.zed_left]: Camera-IMU Rotation: [component_container_isolated-1] FFFF4654BED8 [component_container_isolated-1] 0.999976 -0.006898 -0.001041 [component_container_isolated-1] 0.006902 0.999967 0.004300 [component_container_isolated-1] 0.001011 -0.004307 0.999990 [component_container_isolated-1] [component_container_isolated-1] [INFO] [1775743727.135669725] [zed_multi.zed_left]: === Subscribers === [component_container_isolated-1] [INFO] [1775743727.137228257] [zed_multi.zed_left]: * Plane detection: '/clicked_point' [component_container_isolated-1] [INFO] [1775743727.337975254] [zed_multi.zed_left]: === zed_left started === [component_container_isolated-1] [INFO] [1775743727.486396309] [zed_multi.zed_left]: === Starting Positional Tracking === [component_container_isolated-1] [INFO] [1775743727.486562354] [zed_multi.zed_left]: * Waiting for valid static transformations... [component_container_isolated-1] [INFO] [1775743727.486803053] [zed_multi.zed_left]: Static transform ref. CMOS Sensor to Base [zed_left_left_camera_frame -> zed_left_camera_link] [component_container_isolated-1] [INFO] [1775743727.486862540] [zed_multi.zed_left]: * Translation: {0.010,-0.060,-0.016} [component_container_isolated-1] [INFO] [1775743727.486901932] [zed_multi.zed_left]: * Rotation: {0.000,-0.000,0.000} [component_container_isolated-1] [INFO] [1775743727.486969034] [zed_multi.zed_left]: Static transform ref. CMOS Sensor to Camera Center [zed_left_left_camera_frame -> zed_left_camera_center] [component_container_isolated-1] [INFO] [1775743727.487012586] [zed_multi.zed_left]: * Translation: {0.010,-0.060,0.000} [component_container_isolated-1] [INFO] [1775743727.487044969] [zed_multi.zed_left]: * Rotation: {0.000,-0.000,0.000} [component_container_isolated-1] [INFO] [1775743727.487102280] [zed_multi.zed_left]: Static transform Camera Center to Base [zed_left_camera_center -> zed_left_camera_link] [component_container_isolated-1] [INFO] [1775743727.487134951] [zed_multi.zed_left]: * Translation: {0.000,0.000,-0.016} [component_container_isolated-1] [INFO] [1775743727.487163879] [zed_multi.zed_left]: * Rotation: {0.000,-0.000,0.000} [component_container_isolated-1] [INFO] [1775743727.488292723] [zed_multi.zed_left]: Initial ZED left camera pose (ZED pos. tracking): [component_container_isolated-1] [INFO] [1775743727.488365233] [zed_multi.zed_left]: * T: [-0.01,0.06,0.016] [component_container_isolated-1] [INFO] [1775743727.488396017] [zed_multi.zed_left]: * Q: [0,0,0,1] [component_container_isolated-1] [2026-04-09 16:08:48 UTC][ZED][INFO] [Init] Camera FW version: 2001 [component_container_isolated-1] [2026-04-09 16:08:48 UTC][ZED][INFO] [Init] Video mode: HD1200@30 [component_container_isolated-1] [2026-04-09 16:08:48 UTC][ZED][INFO] [Init] Serial Number: S/N 47154076 [component_container_isolated-1] [2026-04-09 16:08:48 UTC][ZED][INFO] [Init] Depth mode selected: NEURAL LIGHT. Ensure this mode matches your application's performance and accuracy requirements. See https://www.stereolabs.com/docs/depth-sensing/depth-modes for help. [component_container_isolated-1] [2026-04-09 16:08:48 UTC][ZED][WARNING] [Init] Self-calibration was skipped due to low texture or occlusion in the scene. Tracking accuracy may be affected. [component_container_isolated-1] [INFO] [1775743730.105092736] [zed_multi.zed_rear]: * ZED SDK running on GPU #0 [component_container_isolated-1] [INFO] [1775743730.105239229] [zed_multi.zed_rear]: * Camera Model -> ZED X [component_container_isolated-1] [INFO] [1775743730.105261533] [zed_multi.zed_rear]: * Serial Number -> 47154076 [component_container_isolated-1] [INFO] [1775743730.105373115] [zed_multi.zed_rear]: * Focal Length -> 2.20788 mm [component_container_isolated-1] [INFO] [1775743730.105413146] [zed_multi.zed_rear]: * Input -> GMSL [component_container_isolated-1] [INFO] [1775743730.105429146] [zed_multi.zed_rear]: * Camera FW Version -> 2001 [component_container_isolated-1] [INFO] [1775743730.105440218] [zed_multi.zed_rear]: * Sensors FW Version -> 1000 [component_container_isolated-1] [INFO] [1775743730.105451769] [zed_multi.zed_rear]: * Camera grab size -> 1920x1200 [component_container_isolated-1] [INFO] [1775743730.105462457] [zed_multi.zed_rear]: * Color/Depth publishing size -> 960x600 [component_container_isolated-1] [INFO] [1775743730.105473017] [zed_multi.zed_rear]: * Point Cloud publishing size -> 448x256 [component_container_isolated-1] [INFO] [1775743730.105487737] [zed_multi.zed_rear]: === TF FRAMES === [component_container_isolated-1] [INFO] [1775743730.105498681] [zed_multi.zed_rear]: * Map -> map [component_container_isolated-1] [INFO] [1775743730.105520248] [zed_multi.zed_rear]: * Odometry -> odom [component_container_isolated-1] [INFO] [1775743730.105531160] [zed_multi.zed_rear]: * Base -> zed_rear_camera_link [component_container_isolated-1] [INFO] [1775743730.105540632] [zed_multi.zed_rear]: * Camera -> zed_rear_camera_center [component_container_isolated-1] [INFO] [1775743730.105550424] [zed_multi.zed_rear]: * Left -> zed_rear_left_camera_frame [component_container_isolated-1] [INFO] [1775743730.105559991] [zed_multi.zed_rear]: * Left Optical -> zed_rear_left_camera_frame_optical [component_container_isolated-1] [INFO] [1775743730.105570007] [zed_multi.zed_rear]: * Right -> zed_rear_right_camera_frame [component_container_isolated-1] [INFO] [1775743730.105579255] [zed_multi.zed_rear]: * Right Optical -> zed_rear_right_camera_frame_optical [component_container_isolated-1] [INFO] [1775743730.105588471] [zed_multi.zed_rear]: * Depth -> zed_rear_left_camera_frame [component_container_isolated-1] [INFO] [1775743730.105597175] [zed_multi.zed_rear]: * Depth Optical -> zed_rear_left_camera_frame_optical [component_container_isolated-1] [INFO] [1775743730.105606103] [zed_multi.zed_rear]: * Point Cloud -> zed_rear_left_camera_frame [component_container_isolated-1] [INFO] [1775743730.105615798] [zed_multi.zed_rear]: * IMU -> zed_rear_imu_link [component_container_isolated-1] [INFO] [1775743730.105646806] [zed_multi.zed_rear]: === PUBLISHED TOPICS === [component_container_isolated-1] [INFO] [1775743730.108384805] [zed_multi.zed_rear]: * Advertised on topic: /zed_multi/zed_rear/status/health [component_container_isolated-1] [INFO] [1775743730.110853369] [zed_multi.zed_rear]: * Advertised on topic: /zed_multi/zed_rear/status/heartbeat [component_container_isolated-1] [INFO] [1775743730.114847505] [zed_multi.zed_rear]: * Advertised on topic: /zed_multi/zed_rear/rgb/color/rect/image [component_container_isolated-1] [INFO] [1775743730.114929840] [zed_multi.zed_rear]: * Advertised on topic: /zed_multi/zed_rear/rgb/color/rect/image/compressedDepth [image_transport] [component_container_isolated-1] [INFO] [1775743730.114947087] [zed_multi.zed_rear]: * Advertised on topic: /zed_multi/zed_rear/rgb/color/rect/image/compressed [image_transport] [component_container_isolated-1] [INFO] [1775743730.114959055] [zed_multi.zed_rear]: * Advertised on topic: /zed_multi/zed_rear/rgb/color/rect/image/raw [image_transport] [component_container_isolated-1] [INFO] [1775743730.114969199] [zed_multi.zed_rear]: * Advertised on topic: /zed_multi/zed_rear/rgb/color/rect/image/theora [image_transport] [component_container_isolated-1] [INFO] [1775743730.117877435] [zed_multi.zed_rear]: * Advertised on topic: /zed_multi/zed_rear/depth/depth_registered [component_container_isolated-1] [INFO] [1775743730.117955097] [zed_multi.zed_rear]: * Advertised on topic: /zed_multi/zed_rear/depth/depth_registered/compressedDepth [image_transport] [component_container_isolated-1] [INFO] [1775743730.117972761] [zed_multi.zed_rear]: * Advertised on topic: /zed_multi/zed_rear/depth/depth_registered/compressed [image_transport] [component_container_isolated-1] [INFO] [1775743730.117984409] [zed_multi.zed_rear]: * Advertised on topic: /zed_multi/zed_rear/depth/depth_registered/raw [image_transport] [component_container_isolated-1] [INFO] [1775743730.117994457] [zed_multi.zed_rear]: * Advertised on topic: /zed_multi/zed_rear/depth/depth_registered/theora [image_transport] [component_container_isolated-1] [INFO] [1775743730.118435761] [zed_multi.zed_rear]: * Advertised on topic: /zed_multi/zed_rear/rgb/color/rect/camera_info [component_container_isolated-1] [INFO] [1775743730.118881289] [zed_multi.zed_rear]: * Advertised on topic: /zed_multi/zed_rear/rgb/color/rect/image/camera_info [component_container_isolated-1] [INFO] [1775743730.119353728] [zed_multi.zed_rear]: * Advertised on topic: /zed_multi/zed_rear/depth/camera_info [component_container_isolated-1] [INFO] [1775743730.119836344] [zed_multi.zed_rear]: * Advertised on topic: /zed_multi/zed_rear/depth/depth_registered/camera_info [component_container_isolated-1] [INFO] [1775743730.120955172] [zed_multi.zed_rear]: * Advertised on topic: /zed_multi/zed_rear/point_cloud/cloud_registered [component_container_isolated-1] [INFO] [1775743730.122131503] [zed_multi.zed_rear]: * Advertised on topic: /zed_multi/zed_rear/pose [component_container_isolated-1] [INFO] [1775743730.123002719] [zed_multi.zed_rear]: * Advertised on topic: /zed_multi/zed_rear/pose/status [component_container_isolated-1] [INFO] [1775743730.123934766] [zed_multi.zed_rear]: * Advertised on topic: /zed_multi/zed_rear/odom [component_container_isolated-1] [INFO] [1775743730.124827422] [zed_multi.zed_rear]: * Advertised on topic: /zed_multi/zed_rear/imu/data [component_container_isolated-1] [INFO] [1775743730.124872765] [zed_multi.zed_rear]: Camera-IMU Translation: [component_container_isolated-1] 0 -0.035649 -0.000147 [component_container_isolated-1] [INFO] [1775743730.124914141] [zed_multi.zed_rear]: Camera-IMU Rotation: [component_container_isolated-1] FFFF45D3BED8 [component_container_isolated-1] 1.000000 0.000000 0.000764 [component_container_isolated-1] -0.000001 1.000000 0.000512 [component_container_isolated-1] -0.000764 -0.000512 1.000000 [component_container_isolated-1] [component_container_isolated-1] [INFO] [1775743730.124930300] [zed_multi.zed_rear]: === Subscribers === [component_container_isolated-1] [INFO] [1775743730.125953770] [zed_multi.zed_rear]: * Plane detection: '/clicked_point' [component_container_isolated-1] [2026-04-09 16:08:50 UTC][ZED][INFO] Cannot find a valid camera. [component_container_isolated-1] [2026-04-09 16:08:50 UTC][ZED][ERROR] [ZED] Camera Open Internal Error: 3 [component_container_isolated-1] [2026-04-09 16:08:50 UTC][ZED][ERROR] CAMERA FAILED TO SETUP in sl::ERROR_CODE sl::Camera::open(sl::InitParameters) [component_container_isolated-1] [WARN] [1775743730.152173172] [zed_multi.zed_front]: Error opening camera: CAMERA FAILED TO SETUP [component_container_isolated-1] [INFO] [1775743730.152257779] [zed_multi.zed_front]: Please verify the camera connection [component_container_isolated-1] [INFO] [1775743730.213859171] [zed_multi.zed_rear]: === Starting Positional Tracking === [component_container_isolated-1] [INFO] [1775743730.213966785] [zed_multi.zed_rear]: * Waiting for valid static transformations... [component_container_isolated-1] [INFO] [1775743730.214034560] [zed_multi.zed_rear]: Static transform ref. CMOS Sensor to Base [zed_rear_left_camera_frame -> zed_rear_camera_link] [component_container_isolated-1] [INFO] [1775743730.214058944] [zed_multi.zed_rear]: * Translation: {0.010,-0.060,-0.016} [component_container_isolated-1] [INFO] [1775743730.214074911] [zed_multi.zed_rear]: * Rotation: {0.000,-0.000,0.000} [component_container_isolated-1] [INFO] [1775743730.214099103] [zed_multi.zed_rear]: Static transform ref. CMOS Sensor to Camera Center [zed_rear_left_camera_frame -> zed_rear_camera_center] [component_container_isolated-1] [INFO] [1775743730.214112703] [zed_multi.zed_rear]: * Translation: {0.010,-0.060,0.000} [component_container_isolated-1] [INFO] [1775743730.214124478] [zed_multi.zed_rear]: * Rotation: {0.000,-0.000,0.000} [component_container_isolated-1] [INFO] [1775743730.214149470] [zed_multi.zed_rear]: Static transform Camera Center to Base [zed_rear_camera_center -> zed_rear_camera_link] [component_container_isolated-1] [INFO] [1775743730.214162014] [zed_multi.zed_rear]: * Translation: {0.000,0.000,-0.016} [component_container_isolated-1] [INFO] [1775743730.214172862] [zed_multi.zed_rear]: * Rotation: {0.000,-0.000,0.000} [component_container_isolated-1] [INFO] [1775743730.215246698] [zed_multi.zed_rear]: Initial ZED left camera pose (ZED pos. tracking): [component_container_isolated-1] [INFO] [1775743730.215262058] [zed_multi.zed_rear]: * T: [-0.01,0.06,0.016] [component_container_isolated-1] [INFO] [1775743730.215279306] [zed_multi.zed_rear]: * Q: [0,0,0,1] [component_container_isolated-1] [2026-04-09 16:08:50 UTC][ZED][INFO] [Init] Camera FW version: 2001 [component_container_isolated-1] [2026-04-09 16:08:50 UTC][ZED][INFO] [Init] Video mode: HD1200@30 [component_container_isolated-1] [2026-04-09 16:08:50 UTC][ZED][INFO] [Init] Serial Number: S/N 49061114 [component_container_isolated-1] [2026-04-09 16:08:50 UTC][ZED][INFO] [Init] Depth mode selected: NEURAL LIGHT. Ensure this mode matches your application's performance and accuracy requirements. See https://www.stereolabs.com/docs/depth-sensing/depth-modes for help. [component_container_isolated-1] [INFO] [1775743730.790634342] [zed_multi.zed_right]: * ZED SDK running on GPU #0 [component_container_isolated-1] [INFO] [1775743730.790746244] [zed_multi.zed_right]: * Camera Model -> ZED X [component_container_isolated-1] [INFO] [1775743730.790767460] [zed_multi.zed_right]: * Serial Number -> 49061114 [component_container_isolated-1] [INFO] [1775743730.790874658] [zed_multi.zed_right]: * Focal Length -> 2.20576 mm [component_container_isolated-1] [INFO] [1775743730.790921025] [zed_multi.zed_right]: * Input -> GMSL [component_container_isolated-1] [INFO] [1775743730.790943616] [zed_multi.zed_right]: * Camera FW Version -> 2001 [component_container_isolated-1] [INFO] [1775743730.790960960] [zed_multi.zed_right]: * Sensors FW Version -> 1000 [component_container_isolated-1] [INFO] [1775743730.790977120] [zed_multi.zed_right]: * Camera grab size -> 1920x1200 [component_container_isolated-1] [INFO] [1775743730.790993056] [zed_multi.zed_right]: * Color/Depth publishing size -> 960x600 [component_container_isolated-1] [INFO] [1775743730.791009919] [zed_multi.zed_right]: * Point Cloud publishing size -> 448x256 [component_container_isolated-1] [INFO] [1775743730.791030943] [zed_multi.zed_right]: === TF FRAMES === [component_container_isolated-1] [INFO] [1775743730.791048415] [zed_multi.zed_right]: * Map -> map [component_container_isolated-1] [INFO] [1775743730.791063678] [zed_multi.zed_right]: * Odometry -> odom [component_container_isolated-1] [INFO] [1775743730.791080158] [zed_multi.zed_right]: * Base -> zed_right_camera_link [component_container_isolated-1] [INFO] [1775743730.791106078] [zed_multi.zed_right]: * Camera -> zed_right_camera_center [component_container_isolated-1] [INFO] [1775743730.791122653] [zed_multi.zed_right]: * Left -> zed_right_left_camera_frame [component_container_isolated-1] [INFO] [1775743730.791137949] [zed_multi.zed_right]: * Left Optical -> zed_right_left_camera_frame_optical [component_container_isolated-1] [INFO] [1775743730.791254235] [zed_multi.zed_right]: * Right -> zed_right_right_camera_frame [component_container_isolated-1] [INFO] [1775743730.791283162] [zed_multi.zed_right]: * Right Optical -> zed_right_right_camera_frame_optical [component_container_isolated-1] [INFO] [1775743730.791300986] [zed_multi.zed_right]: * Depth -> zed_right_left_camera_frame [component_container_isolated-1] [INFO] [1775743730.791316538] [zed_multi.zed_right]: * Depth Optical -> zed_right_left_camera_frame_optical [component_container_isolated-1] [INFO] [1775743730.791331577] [zed_multi.zed_right]: * Point Cloud -> zed_right_left_camera_frame [component_container_isolated-1] [INFO] [1775743730.791346681] [zed_multi.zed_right]: * IMU -> zed_right_imu_link [component_container_isolated-1] [INFO] [1775743730.791385177] [zed_multi.zed_right]: === PUBLISHED TOPICS === [component_container_isolated-1] [INFO] [1775743730.794042953] [zed_multi.zed_right]: * Advertised on topic: /zed_multi/zed_right/status/health [component_container_isolated-1] [INFO] [1775743730.796016198] [zed_multi.zed_right]: * Advertised on topic: /zed_multi/zed_right/status/heartbeat [component_container_isolated-1] [INFO] [1775743730.802908938] [zed_multi.zed_right]: * Advertised on topic: /zed_multi/zed_right/rgb/color/rect/image [component_container_isolated-1] [INFO] [1775743730.803027080] [zed_multi.zed_right]: * Advertised on topic: /zed_multi/zed_right/rgb/color/rect/image/compressedDepth [image_transport] [component_container_isolated-1] [INFO] [1775743730.803070215] [zed_multi.zed_right]: * Advertised on topic: /zed_multi/zed_right/rgb/color/rect/image/compressed [image_transport] [component_container_isolated-1] [INFO] [1775743730.803102375] [zed_multi.zed_right]: * Advertised on topic: /zed_multi/zed_right/rgb/color/rect/image/raw [image_transport] [component_container_isolated-1] [INFO] [1775743730.803129926] [zed_multi.zed_right]: * Advertised on topic: /zed_multi/zed_right/rgb/color/rect/image/theora [image_transport] [component_container_isolated-1] [INFO] [1775743730.809687217] [zed_multi.zed_right]: * Advertised on topic: /zed_multi/zed_right/depth/depth_registered [component_container_isolated-1] [INFO] [1775743730.809764207] [zed_multi.zed_right]: * Advertised on topic: /zed_multi/zed_right/depth/depth_registered/compressedDepth [image_transport] [component_container_isolated-1] [INFO] [1775743730.809781455] [zed_multi.zed_right]: * Advertised on topic: /zed_multi/zed_right/depth/depth_registered/compressed [image_transport] [component_container_isolated-1] [INFO] [1775743730.809792463] [zed_multi.zed_right]: * Advertised on topic: /zed_multi/zed_right/depth/depth_registered/raw [image_transport] [component_container_isolated-1] [INFO] [1775743730.809801679] [zed_multi.zed_right]: * Advertised on topic: /zed_multi/zed_right/depth/depth_registered/theora [image_transport] [component_container_isolated-1] [INFO] [1775743730.810173032] [zed_multi.zed_right]: * Advertised on topic: /zed_multi/zed_right/rgb/color/rect/camera_info [component_container_isolated-1] [INFO] [1775743730.813142035] [zed_multi.zed_right]: * Advertised on topic: /zed_multi/zed_right/rgb/color/rect/image/camera_info [component_container_isolated-1] [INFO] [1775743730.814485595] [zed_multi.zed_right]: * Advertised on topic: /zed_multi/zed_right/depth/camera_info [component_container_isolated-1] [INFO] [1775743730.815505160] [zed_multi.zed_right]: * Advertised on topic: /zed_multi/zed_right/depth/depth_registered/camera_info [component_container_isolated-1] [INFO] [1775743730.818015579] [zed_multi.zed_right]: * Advertised on topic: /zed_multi/zed_right/point_cloud/cloud_registered [component_container_isolated-1] [INFO] [1775743730.819952409] [zed_multi.zed_right]: * Advertised on topic: /zed_multi/zed_right/pose [component_container_isolated-1] [INFO] [1775743730.821825879] [zed_multi.zed_right]: * Advertised on topic: /zed_multi/zed_right/pose/status [component_container_isolated-1] [INFO] [1775743730.824530151] [zed_multi.zed_right]: * Advertised on topic: /zed_multi/zed_right/odom [component_container_isolated-1] [INFO] [1775743730.826824126] [zed_multi.zed_right]: * Advertised on topic: /zed_multi/zed_right/imu/data [component_container_isolated-1] [INFO] [1775743730.826919900] [zed_multi.zed_right]: Camera-IMU Translation: [component_container_isolated-1] 0 -0.035649 -0.000147 [component_container_isolated-1] [INFO] [1775743730.826985915] [zed_multi.zed_right]: Camera-IMU Rotation: [component_container_isolated-1] FFFF2FFFBED8 [component_container_isolated-1] 0.999996 -0.000479 0.002729 [component_container_isolated-1] 0.000501 0.999968 -0.007978 [component_container_isolated-1] -0.002725 0.007980 0.999965 [component_container_isolated-1] [component_container_isolated-1] [INFO] [1775743730.827015578] [zed_multi.zed_right]: === Subscribers === [component_container_isolated-1] [INFO] [1775743730.829823176] [zed_multi.zed_right]: * Plane detection: '/clicked_point' [component_container_isolated-1] [INFO] [1775743730.885173544] [zed_multi.zed_right]: === Starting Positional Tracking === [component_container_isolated-1] [INFO] [1775743730.885292646] [zed_multi.zed_right]: * Waiting for valid static transformations... [component_container_isolated-1] [INFO] [1775743730.885381605] [zed_multi.zed_right]: Static transform ref. CMOS Sensor to Base [zed_right_left_camera_frame -> zed_right_camera_link] [component_container_isolated-1] [INFO] [1775743730.885462243] [zed_multi.zed_right]: * Translation: {0.010,-0.060,-0.016} [component_container_isolated-1] [INFO] [1775743730.885483075] [zed_multi.zed_right]: * Rotation: {0.000,-0.000,0.000} [component_container_isolated-1] [INFO] [1775743730.885508578] [zed_multi.zed_right]: Static transform ref. CMOS Sensor to Camera Center [zed_right_left_camera_frame -> zed_right_camera_center] [component_container_isolated-1] [INFO] [1775743730.885523522] [zed_multi.zed_right]: * Translation: {0.010,-0.060,0.000} [component_container_isolated-1] [INFO] [1775743730.885538018] [zed_multi.zed_right]: * Rotation: {0.000,-0.000,0.000} [component_container_isolated-1] [INFO] [1775743730.885563169] [zed_multi.zed_right]: Static transform Camera Center to Base [zed_right_camera_center -> zed_right_camera_link] [component_container_isolated-1] [INFO] [1775743730.885575745] [zed_multi.zed_right]: * Translation: {0.000,0.000,-0.016} [component_container_isolated-1] [INFO] [1775743730.885589825] [zed_multi.zed_right]: * Rotation: {0.000,-0.000,0.000} [component_container_isolated-1] [INFO] [1775743730.886669229] [zed_multi.zed_right]: Initial ZED left camera pose (ZED pos. tracking): [component_container_isolated-1] [INFO] [1775743730.886703693] [zed_multi.zed_right]: * T: [-0.01,0.06,0.016] [component_container_isolated-1] [INFO] [1775743730.886759788] [zed_multi.zed_right]: * Q: [0,0,0,1] [component_container_isolated-1] [2026-04-09 16:08:55 UTC][ZED][INFO] Logging level INFO [component_container_isolated-1] [2026-04-09 16:08:55 UTC][ZED][ERROR] CAMERA STREAM FAILED TO START in sl::ERROR_CODE sl::Camera::open(sl::InitParameters) [component_container_isolated-1] [WARN] [1775743735.983496558] [zed_multi.zed_front]: Error opening camera: CAMERA STREAM FAILED TO START [component_container_isolated-1] [INFO] [1775743735.983612940] [zed_multi.zed_front]: Please verify the camera connection [component_container_isolated-1] [2026-04-09 16:09:01 UTC][ZED][INFO] Logging level INFO [component_container_isolated-1] [2026-04-09 16:09:01 UTC][ZED][ERROR] CAMERA STREAM FAILED TO START in sl::ERROR_CODE sl::Camera::open(sl::InitParameters) [component_container_isolated-1] [WARN] [1775743741.781947114] [zed_multi.zed_front]: Error opening camera: CAMERA STREAM FAILED TO START [component_container_isolated-1] [INFO] [1775743741.782069991] [zed_multi.zed_front]: Please verify the camera connection [component_container_isolated-1] [ERROR] [1775743741.782102599] [zed_multi.zed_front]: Camera detection timeout [component_container_isolated-1] (Argus) Error EndOfFile: Unexpected error in reading socket (in src/rpc/socket/client/ClientSocketManager.cpp, function recvThreadCore(), line 277) [component_container_isolated-1] (Argus) Error EndOfFile: Receive worker failure, notifying 4 waiting threads (in src/rpc/socket/client/ClientSocketManager.cpp, function recvThreadCore(), line 350) [component_container_isolated-1] (Argus) Error EndOfFile: Client thread received an error from socket (in src/rpc/socket/client/ClientSocketManager.cpp, function send(), line 145) [component_container_isolated-1] (Argus) Error EndOfFile: (propagating from src/rpc/socket/client/SocketClientDispatch.cpp, function dispatch(), line 92) [component_container_isolated-1] (Argus) Error InvalidState: Receive thread is not running cannot send. (in src/rpc/socket/client/ClientSocketManager.cpp, function send(), line 96) [component_container_isolated-1] (Argus) Error InvalidState: (propagating from src/rpc/socket/client/SocketClientDispatch.cpp, function dispatch(), line 92) [component_container_isolated-1] (Argus) Error InvalidState: Argus client is exiting with 3 outstanding client threads (in src/rpc/socket/client/ClientSocketManager.cpp, function recvThreadCore(), line 366) [component_container_isolated-1] (Argus) Error EndOfFile: Receiving thread terminated with error (in src/rpc/socket/client/ClientSocketManager.cpp, function recvThreadWrapper(), line 379) [component_container_isolated-1] (Argus) Error EndOfFile: Client thread received an error from socket (in src/rpc/socket/client/ClientSocketManager.cpp, function send(), line 145) [component_container_isolated-1] (Argus) Error EndOfFile: (propagating from src/rpc/socket/client/SocketClientDispatch.cpp, function dispatch(), line 92) [component_container_isolated-1] (Argus) Error InvalidState: Receive thread is not running cannot send. (in src/rpc/socket/client/ClientSocketManager.cpp, function send(), line 96) [component_container_isolated-1] (Argus) Error InvalidState: (propagating from src/rpc/socket/client/SocketClientDispatch.cpp, function dispatch(), line 92) [component_container_isolated-1] (Argus) Error EndOfFile: Client thread received an error from socket (in src/rpc/socket/client/ClientSocketManager.cpp, function send(), line 145) [component_container_isolated-1] (Argus) Error EndOfFile: (propagating from src/rpc/socket/client/SocketClientDispatch.cpp, function dispatch(), line 92) [component_container_isolated-1] (Argus) Error InvalidState: Receive thread is not running cannot send. (in src/rpc/socket/client/ClientSocketManager.cpp, function send(), line 96) [component_container_isolated-1] (Argus) Error InvalidState: (propagating from src/rpc/socket/client/SocketClientDispatch.cpp, function dispatch(), line 92) [component_container_isolated-1] (Argus) Error EndOfFile: Client thread received an error from socket (in src/rpc/socket/client/ClientSocketManager.cpp, function send(), line 145) [component_container_isolated-1] (Argus) Error EndOfFile: (propagating from src/rpc/socket/client/SocketClientDispatch.cpp, function dispatch(), line 92) [component_container_isolated-1] (NvCameraUtils) Error InvalidState: Mutex not initialized (/dvs/git/dirty/git-master_linux/camera/argus/src/rpc/client/ClientObjectManager.cpp:60) (in Mutex.cpp, function lock(), line 79) [component_container_isolated-1] double free or corruption (out) [ERROR] [component_container_isolated-1]: process has died [pid 23871, exit code -6, cmd '/opt/ros/humble/lib/rclcpp_components/component_container_isolated --ros-args --log-level info --ros-args -r __node:=zed_multi_container -r __ns:=/zed_multi'].