[INFO] [launch]: Default logging verbosity is set to INFO [INFO] [launch.user]: * Starting a ZED ROS2 node for camera camera_front(zedx/43476218) Using common configuration file: /root/ros2_ws/install/zed_wrapper/share/zed_wrapper/config/common_stereo.yaml [INFO] [launch.user]: * Starting a ZED ROS2 node for camera camera_left(zedxonegs/307472373) Using common configuration file: /root/ros2_ws/install/zed_wrapper/share/zed_wrapper/config/common_mono.yaml [INFO] [launch.user]: * Starting a ZED ROS2 node for camera camera_right(zedxonegs/308559310) Using common configuration file: /root/ros2_ws/install/zed_wrapper/share/zed_wrapper/config/common_mono.yaml [INFO] [robot_state_publisher-1]: process started with pid [382] [INFO] [component_container_isolated-2]: process started with pid [384] [INFO] [robot_state_publisher-3]: process started with pid [386] [INFO] [component_container_isolated-4]: process started with pid [388] [INFO] [robot_state_publisher-5]: process started with pid [390] [INFO] [component_container_isolated-6]: process started with pid [392] [component_container_isolated-4] [INFO] [1738363129.971891367] [camera_left.zed_container]: Load Library: /root/ros2_ws/install/zed_components/lib/libzed_camera_one_component.so [robot_state_publisher-1] [INFO] [1738363129.976847844] [camera_front.zed_state_publisher]: got segment camera_front_camera_center [robot_state_publisher-1] [INFO] [1738363129.977078226] [camera_front.zed_state_publisher]: got segment camera_front_camera_link [robot_state_publisher-1] [INFO] [1738363129.977098824] [camera_front.zed_state_publisher]: got segment camera_front_left_camera_frame [robot_state_publisher-1] [INFO] [1738363129.977110051] [camera_front.zed_state_publisher]: got segment camera_front_left_camera_optical_frame [robot_state_publisher-1] [INFO] [1738363129.977118207] [camera_front.zed_state_publisher]: got segment camera_front_right_camera_frame [robot_state_publisher-1] [INFO] [1738363129.977125723] [camera_front.zed_state_publisher]: got segment camera_front_right_camera_optical_frame [robot_state_publisher-3] [INFO] [1738363129.978018564] [camera_left.zed_state_publisher]: got segment camera_left_camera_center [robot_state_publisher-3] [INFO] [1738363129.978143943] [camera_left.zed_state_publisher]: got segment camera_left_camera_frame [robot_state_publisher-3] [INFO] [1738363129.978163581] [camera_left.zed_state_publisher]: got segment camera_left_camera_link [robot_state_publisher-3] [INFO] [1738363129.978177142] [camera_left.zed_state_publisher]: got segment camera_left_camera_optical_frame [robot_state_publisher-5] [INFO] [1738363129.979144443] [camera_right.zed_state_publisher]: got segment camera_right_camera_center [robot_state_publisher-5] [INFO] [1738363129.979260290] [camera_right.zed_state_publisher]: got segment camera_right_camera_frame [robot_state_publisher-5] [INFO] [1738363129.979278905] [camera_right.zed_state_publisher]: got segment camera_right_camera_link [robot_state_publisher-5] [INFO] [1738363129.979288980] [camera_right.zed_state_publisher]: got segment camera_right_camera_optical_frame [component_container_isolated-2] [INFO] [1738363130.015936071] [camera_front.zed_container]: Load Library: /root/ros2_ws/install/zed_components/lib/libzed_camera_component.so [component_container_isolated-4] [INFO] [1738363130.116450618] [camera_left.zed_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_isolated-4] [INFO] [1738363130.116562915] [camera_left.zed_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [component_container_isolated-2] [INFO] [1738363130.116644604] [camera_front.zed_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_isolated-2] [INFO] [1738363130.116706078] [camera_front.zed_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [component_container_isolated-4] [INFO] [1738363130.126510439] [camera_left.zed_node_1]: ******************************** [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/camera_left/zed_node_1' in container '/camera_left/zed_container' [component_container_isolated-4] [INFO] [1738363130.126588258] [camera_left.zed_node_1]: ZED Camera One Component [component_container_isolated-4] [INFO] [1738363130.126605498] [camera_left.zed_node_1]: ******************************** [component_container_isolated-4] [INFO] [1738363130.126618195] [camera_left.zed_node_1]: * namespace: /camera_left [component_container_isolated-4] [INFO] [1738363130.126630382] [camera_left.zed_node_1]: * node name: zed_node_1 [component_container_isolated-4] [INFO] [1738363130.126644103] [camera_left.zed_node_1]: ******************************** [component_container_isolated-4] [INFO] [1738363130.176956965] [camera_left.zed_node_1]: *** DEBUG parameters *** [component_container_isolated-4] [INFO] [1738363130.177413609] [camera_left.zed_node_1]: * SDK Verbose: 1 [component_container_isolated-4] [INFO] [1738363130.177718934] [camera_left.zed_node_1]: * Debug Common: FALSE [component_container_isolated-4] [INFO] [1738363130.178058290] [camera_left.zed_node_1]: * Debug Image/Depth: FALSE [component_container_isolated-4] [INFO] [1738363130.178342569] [camera_left.zed_node_1]: * Debug Camera Controls: FALSE [component_container_isolated-4] [INFO] [1738363130.178551493] [camera_left.zed_node_1]: * Debug Sensors: FALSE [component_container_isolated-4] [INFO] [1738363130.178758753] [camera_left.zed_node_1]: * Debug Streaming: FALSE [component_container_isolated-4] [INFO] [1738363130.178971258] [camera_left.zed_node_1]: * Debug Advanced: FALSE [component_container_isolated-4] [INFO] [1738363130.179027135] [camera_left.zed_node_1]: *** GENERAL parameters *** [component_container_isolated-4] [INFO] [1738363130.179612997] [camera_left.zed_node_1]: * Camera model: zedxonegs - ZED XOne GS [component_container_isolated-4] [INFO] [1738363130.179828701] [camera_left.zed_node_1]: * Camera name: camera_left [component_container_isolated-4] [INFO] [1738363130.180035545] [camera_left.zed_node_1]: * Camera SN: 307472373 [component_container_isolated-4] [INFO] [1738363130.180257710] [camera_left.zed_node_1]: * Camera timeout [sec]: 5 [component_container_isolated-4] [INFO] [1738363130.180480930] [camera_left.zed_node_1]: * Camera framerate: 30 [component_container_isolated-4] [INFO] [1738363130.180699289] [camera_left.zed_node_1]: * GPU ID: -1 [component_container_isolated-4] [INFO] [1738363130.181277794] [camera_left.zed_node_1]: * Camera resolution: HD1080 [component_container_isolated-4] [INFO] [1738363130.181523404] [camera_left.zed_node_1]: * Publishing resolution: NATIVE [component_container_isolated-4] [INFO] [1738363130.181750910] [camera_left.zed_node_1]: * OpenCV custom calibration: [component_container_isolated-4] [INFO] [1738363130.181792010] [camera_left.zed_node_1]: *** CAMERA CONTROL parameters *** [component_container_isolated-4] [INFO] [1738363130.181994249] [camera_left.zed_node_1]: * Enable HDR: FALSE [component_container_isolated-4] [INFO] [1738363130.182200293] [camera_left.zed_node_1]: * [DYN] Saturation: 4 [component_container_isolated-4] [INFO] [1738363130.182453355] [camera_left.zed_node_1]: * [DYN] Sharpness: 4 [component_container_isolated-4] [INFO] [1738363130.182643855] [camera_left.zed_node_1]: * [DYN] Gamma: 8 [component_container_isolated-6] [INFO] [1738363130.181206500] [camera_right.zed_container]: Load Library: /root/ros2_ws/install/zed_components/lib/libzed_camera_one_component.so [component_container_isolated-4] [INFO] [1738363130.182821818] [camera_left.zed_node_1]: * [DYN] Auto White Balance: TRUE [component_container_isolated-4] [INFO] [1738363130.183058056] [camera_left.zed_node_1]: * [DYN] White Balance Temp (x100): 42 [component_container_isolated-4] [INFO] [1738363130.183259623] [camera_left.zed_node_1]: * [DYN] Auto Exposure: TRUE [component_container_isolated-4] [INFO] [1738363130.183436753] [camera_left.zed_node_1]: * [DYN] Exposure (us): 16000 [component_container_isolated-4] [INFO] [1738363130.183625878] [camera_left.zed_node_1]: * [DYN] Auto Exp Time Min (us): 28 [component_container_isolated-4] [INFO] [1738363130.183800802] [camera_left.zed_node_1]: * [DYN] Auto Exp Time Max (us): 30000 [component_container_isolated-4] [INFO] [1738363130.183973710] [camera_left.zed_node_1]: * [DYN] Exposure Compensation: 50 [component_container_isolated-4] [INFO] [1738363130.184145084] [camera_left.zed_node_1]: * [DYN] Auto Analog Gain: TRUE [component_container_isolated-4] [INFO] [1738363130.184286967] [camera_left.zed_node_1]: * [DYN] Analog Gain: 1255 [component_container_isolated-4] [INFO] [1738363130.184444235] [camera_left.zed_node_1]: * [DYN] Analog Gain Min: 1000 [component_container_isolated-4] [INFO] [1738363130.184578315] [camera_left.zed_node_1]: * [DYN] Analog Gain Max: 16000 [component_container_isolated-4] [INFO] [1738363130.184750008] [camera_left.zed_node_1]: * [DYN] Auto Digital Gain: FALSE [component_container_isolated-4] [INFO] [1738363130.185011834] [camera_left.zed_node_1]: * [DYN] Digital Gain: 1 [component_container_isolated-4] [INFO] [1738363130.185191523] [camera_left.zed_node_1]: * [DYN] Digital Gain Min: 1 [component_container_isolated-4] [INFO] [1738363130.185362513] [camera_left.zed_node_1]: * [DYN] Digital Gain Max: 256 [component_container_isolated-4] [INFO] [1738363130.185650694] [camera_left.zed_node_1]: * [DYN] Denoising: 50 [component_container_isolated-4] [INFO] [1738363130.185697135] [camera_left.zed_node_1]: *** SENSORS parameters *** [component_container_isolated-4] [INFO] [1738363130.185868317] [camera_left.zed_node_1]: * Publish IMU TF: TRUE [component_container_isolated-4] [INFO] [1738363130.186128319] [camera_left.zed_node_1]: * Sensors publishing rate [Hz]: 200 [component_container_isolated-4] [INFO] [1738363130.186168876] [camera_left.zed_node_1]: *** Streaming Server parameters *** [component_container_isolated-4] [INFO] [1738363130.186334588] [camera_left.zed_node_1]: * Stream enabled: FALSE [component_container_isolated-4] [INFO] [1738363130.186503435] [camera_left.zed_node_1]: * Stream codec: H264 [component_container_isolated-4] [INFO] [1738363130.186686802] [camera_left.zed_node_1]: * Stream port:30000 [component_container_isolated-4] [INFO] [1738363130.186854817] [camera_left.zed_node_1]: * Stream bitrate:12500 [component_container_isolated-4] [INFO] [1738363130.187021201] [camera_left.zed_node_1]: * Stream GOP size:-1 [component_container_isolated-4] [INFO] [1738363130.187185346] [camera_left.zed_node_1]: * Stream Chunk size:16084 [component_container_isolated-4] [INFO] [1738363130.187368170] [camera_left.zed_node_1]: * Adaptative bitrate:FALSE [component_container_isolated-4] [INFO] [1738363130.187555759] [camera_left.zed_node_1]: * Target frame rate:0 [component_container_isolated-4] [INFO] [1738363130.187616050] [camera_left.zed_node_1]: *** Advanced parameters *** [component_container_isolated-4] [INFO] [1738363130.187788415] [camera_left.zed_node_1]: * Thread sched. policy: SCHED_BATCH [component_container_isolated-4] [INFO] [1738363130.187828652] [camera_left.zed_node_1]: *** SERVICES *** [component_container_isolated-4] [INFO] [1738363130.189377409] [camera_left.zed_node_1]: * '/camera_left/zed_node_1/enable_streaming' [component_container_isolated-4] [INFO] [1738363130.189442690] [camera_left.zed_node_1]: ***** STARTING CAMERA ***** [component_container_isolated-4] [INFO] [1738363130.190200980] [camera_left.zed_node_1]: ZED SDK Version: 4.2.3 - Build 97134_097b477f [component_container_isolated-4] [INFO] [1738363130.195252241] [camera_left.zed_node_1]: *** CAMERA OPENING *** [component_container_isolated-2] [INFO] [1738363130.221504383] [camera_front.zed_node_0]: ******************************** [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/camera_front/zed_node_0' in container '/camera_front/zed_container' [component_container_isolated-2] [INFO] [1738363130.221576317] [camera_front.zed_node_0]: ZED Camera Component [component_container_isolated-2] [INFO] [1738363130.221593077] [camera_front.zed_node_0]: ******************************** [component_container_isolated-2] [INFO] [1738363130.221603472] [camera_front.zed_node_0]: * namespace: /camera_front [component_container_isolated-2] [INFO] [1738363130.221613483] [camera_front.zed_node_0]: * node name: zed_node_0 [component_container_isolated-2] [INFO] [1738363130.221620999] [camera_front.zed_node_0]: ******************************** [component_container_isolated-6] [INFO] [1738363130.244664609] [camera_right.zed_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_isolated-6] [INFO] [1738363130.244769710] [camera_right.zed_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [component_container_isolated-6] [INFO] [1738363130.251409965] [camera_right.zed_node_2]: ******************************** [component_container_isolated-6] [INFO] [1738363130.251487687] [camera_right.zed_node_2]: ZED Camera One Component [component_container_isolated-6] [INFO] [1738363130.251500673] [camera_right.zed_node_2]: ******************************** [component_container_isolated-6] [INFO] [1738363130.251510716] [camera_right.zed_node_2]: * namespace: /camera_right [component_container_isolated-6] [INFO] [1738363130.251520376] [camera_right.zed_node_2]: * node name: zed_node_2 [component_container_isolated-6] [INFO] [1738363130.251527700] [camera_right.zed_node_2]: ******************************** [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/camera_right/zed_node_2' in container '/camera_right/zed_container' [component_container_isolated-2] [INFO] [1738363130.272298102] [camera_front.zed_node_0]: *** DEBUG parameters *** [component_container_isolated-2] [INFO] [1738363130.272725448] [camera_front.zed_node_0]: * SDK Verbose: 1 [component_container_isolated-2] [INFO] [1738363130.272991176] [camera_front.zed_node_0]: * Debug Common: FALSE [component_container_isolated-2] [INFO] [1738363130.273189192] [camera_front.zed_node_0]: * Debug Simulation: FALSE [component_container_isolated-2] [INFO] [1738363130.273399651] [camera_front.zed_node_0]: * Debug Video/Depth: FALSE [component_container_isolated-2] [INFO] [1738363130.273594149] [camera_front.zed_node_0]: * Debug Control settings: FALSE [component_container_isolated-2] [INFO] [1738363130.273834353] [camera_front.zed_node_0]: * Debug Point Cloud: FALSE [component_container_isolated-2] [INFO] [1738363130.274024757] [camera_front.zed_node_0]: * Debug GNSS: FALSE [component_container_isolated-2] [INFO] [1738363130.274310891] [camera_front.zed_node_0]: * Debug Positional Tracking: FALSE [component_container_isolated-2] [INFO] [1738363130.274481401] [camera_front.zed_node_0]: * Debug sensors: FALSE [component_container_isolated-2] [INFO] [1738363130.274642092] [camera_front.zed_node_0]: * Debug Mapping: FALSE [component_container_isolated-2] [INFO] [1738363130.274794306] [camera_front.zed_node_0]: * Debug Object Detection: FALSE [component_container_isolated-2] [INFO] [1738363130.274953398] [camera_front.zed_node_0]: * Debug Body Tracking: FALSE [component_container_isolated-2] [INFO] [1738363130.275070173] [camera_front.zed_node_0]: * Debug Streaming: FALSE [component_container_isolated-2] [INFO] [1738363130.275154485] [camera_front.zed_node_0]: * Debug ROI: FALSE [component_container_isolated-2] [INFO] [1738363130.275243018] [camera_front.zed_node_0]: * Debug Advanced: FALSE [component_container_isolated-2] [INFO] [1738363130.275482103] [camera_front.zed_node_0]: *** GENERAL parameters *** [component_container_isolated-2] [INFO] [1738363130.276047590] [camera_front.zed_node_0]: * Camera model: zedx - ZED X [component_container_isolated-2] [INFO] [1738363130.276347094] [camera_front.zed_node_0]: * Camera name: camera_front [component_container_isolated-2] [INFO] [1738363130.276556529] [camera_front.zed_node_0]: * Camera SN: 43476218 [component_container_isolated-2] [INFO] [1738363130.276828973] [camera_front.zed_node_0]: * Camera timeout [sec]: 5 [component_container_isolated-2] [INFO] [1738363130.277068154] [camera_front.zed_node_0]: * Camera reconnection temptatives: 5 [component_container_isolated-2] [INFO] [1738363130.277380036] [camera_front.zed_node_0]: * Camera framerate: 30 [component_container_isolated-2] [INFO] [1738363130.277724254] [camera_front.zed_node_0]: * GPU ID: -1 [component_container_isolated-2] [INFO] [1738363130.278099305] [camera_front.zed_node_0]: * Camera resolution: HD1080 [component_container_isolated-2] [INFO] [1738363130.278467479] [camera_front.zed_node_0]: * Publishing resolution: CUSTOM [component_container_isolated-2] [INFO] [1738363130.278752078] [camera_front.zed_node_0]: * Publishing downscale factor: 2 [component_container_isolated-2] [INFO] [1738363130.278975011] [camera_front.zed_node_0]: * OpenCV custom calibration: [component_container_isolated-2] [INFO] [1738363130.279288204] [camera_front.zed_node_0]: * Camera self calibration: TRUE [component_container_isolated-2] [INFO] [1738363130.279511040] [camera_front.zed_node_0]: * Camera flip: FALSE [component_container_isolated-2] [INFO] [1738363130.279731446] [camera_front.zed_node_0]: * [DYN] Publish framerate [Hz]: 15 [component_container_isolated-2] [INFO] [1738363130.279761128] [camera_front.zed_node_0]: *** VIDEO parameters *** [component_container_isolated-2] [INFO] [1738363130.279959976] [camera_front.zed_node_0]: * [DYN] Saturation: 4 [component_container_isolated-2] [INFO] [1738363130.280155881] [camera_front.zed_node_0]: * [DYN] Sharpness: 4 [component_container_isolated-2] [INFO] [1738363130.280355305] [camera_front.zed_node_0]: * [DYN] Gamma: 8 [component_container_isolated-2] [INFO] [1738363130.280537042] [camera_front.zed_node_0]: * [DYN] Auto Exposure/Gain: TRUE [component_container_isolated-2] [INFO] [1738363130.280735058] [camera_front.zed_node_0]: * [DYN] Exposure: 80 [component_container_isolated-2] [INFO] [1738363130.281107103] [camera_front.zed_node_0]: * [DYN] Gain: 80 [component_container_isolated-2] [INFO] [1738363130.281396339] [camera_front.zed_node_0]: * [DYN] Auto White Balance: TRUE [component_container_isolated-2] [INFO] [1738363130.281579739] [camera_front.zed_node_0]: * [DYN] White Balance Temperature: 42 [component_container_isolated-2] [INFO] [1738363130.281775996] [camera_front.zed_node_0]: * [DYN] ZED X Exposure time: 16000 [component_container_isolated-2] [INFO] [1738363130.281963874] [camera_front.zed_node_0]: * [DYN] ZED X Auto Exp. time range min: 28 [component_container_isolated-2] [INFO] [1738363130.282138797] [camera_front.zed_node_0]: * [DYN] ZED X Auto Exp. time range max: 30000 [component_container_isolated-2] [INFO] [1738363130.282319542] [camera_front.zed_node_0]: * [DYN] ZED X Exposure comp.: 50 [component_container_isolated-2] [INFO] [1738363130.282497345] [camera_front.zed_node_0]: * [DYN] ZED X Analog Gain: 1255 [component_container_isolated-2] [INFO] [1738363130.282672684] [camera_front.zed_node_0]: * [DYN] ZED X Auto Analog Gain range min: 1000 [component_container_isolated-2] [INFO] [1738363130.282846200] [camera_front.zed_node_0]: * [DYN] ZED X Auto Analog Gain range max: 16000 [component_container_isolated-2] [INFO] [1738363130.282998095] [camera_front.zed_node_0]: * [DYN] ZED X Digital Gain: 1 [component_container_isolated-2] [INFO] [1738363130.283174074] [camera_front.zed_node_0]: * [DYN] ZED X Auto Digital Gain range min: 1 [component_container_isolated-2] [INFO] [1738363130.283351621] [camera_front.zed_node_0]: * [DYN] ZED X Auto Digital Gain range max: 256 [component_container_isolated-2] [INFO] [1738363130.283530574] [camera_front.zed_node_0]: * [DYN] ZED X Auto Digital Gain range max: 50 [component_container_isolated-2] [INFO] [1738363130.283561471] [camera_front.zed_node_0]: *** DEPTH parameters *** [component_container_isolated-2] [INFO] [1738363130.283861743] [camera_front.zed_node_0]: * Depth mode: NEURAL [4] [component_container_isolated-2] [INFO] [1738363130.284066252] [camera_front.zed_node_0]: * Min depth [m]: 0.3 [component_container_isolated-2] [INFO] [1738363130.284261710] [camera_front.zed_node_0]: * Max depth [m]: 10 [component_container_isolated-2] [INFO] [1738363130.284445557] [camera_front.zed_node_0]: * Depth Stabilization: 1 [component_container_isolated-2] [INFO] [1738363130.284636825] [camera_front.zed_node_0]: * OpenNI mode (16bit point cloud): FALSE [component_container_isolated-2] [INFO] [1738363130.284825886] [camera_front.zed_node_0]: * [DYN] Point cloud rate [Hz]: 5 [component_container_isolated-2] [INFO] [1738363130.285039543] [camera_front.zed_node_0]: * [DYN] Depth Confidence: 50 [component_container_isolated-2] [INFO] [1738363130.285236248] [camera_front.zed_node_0]: * [DYN] Depth Texture Confidence: 100 [component_container_isolated-2] [INFO] [1738363130.285409189] [camera_front.zed_node_0]: * [DYN] Remove saturated areas: TRUE [component_container_isolated-2] [INFO] [1738363130.285439830] [camera_front.zed_node_0]: *** GNSS FUSION parameters *** [component_container_isolated-2] [INFO] [1738363130.285617824] [camera_front.zed_node_0]: * GNSS fusion enabled: FALSE [component_container_isolated-2] [INFO] [1738363130.285648145] [camera_front.zed_node_0]: *** POSITIONAL TRACKING parameters *** [component_container_isolated-2] [INFO] [1738363130.285819871] [camera_front.zed_node_0]: * Positional tracking enabled: TRUE [component_container_isolated-2] [INFO] [1738363130.286011042] [camera_front.zed_node_0]: * Positional tracking mode: GEN 1 [component_container_isolated-2] [INFO] [1738363130.286183983] [camera_front.zed_node_0]: * Map frame id: map [component_container_isolated-2] [INFO] [1738363130.286365623] [camera_front.zed_node_0]: * Odometry frame id: odom [component_container_isolated-2] [INFO] [1738363130.286539044] [camera_front.zed_node_0]: * Broadcast Odometry TF: TRUE [component_container_isolated-2] [INFO] [1738363130.286709266] [camera_front.zed_node_0]: * Broadcast Pose TF: TRUE [component_container_isolated-2] [INFO] [1738363130.286866086] [camera_front.zed_node_0]: * [DYN] Depth minimum range: 0 [component_container_isolated-2] [INFO] [1738363130.287015422] [camera_front.zed_node_0]: * [DYN] TF timestamp offset: 0 [component_container_isolated-2] [INFO] [1738363130.287200549] [camera_front.zed_node_0]: * [DYN] Path publishing rate: 2 [component_container_isolated-2] [INFO] [1738363130.287347806] [camera_front.zed_node_0]: * Path history lenght: -1 [component_container_isolated-2] [INFO] [1738363130.287521258] [camera_front.zed_node_0]: * Initial pose: [0,0,0,0,0,0,] [component_container_isolated-2] [INFO] [1738363130.287701939] [camera_front.zed_node_0]: * Area Memory: TRUE [component_container_isolated-2] [INFO] [1738363130.288083867] [camera_front.zed_node_0]: * Area Memory DB: [component_container_isolated-2] [INFO] [1738363130.288269090] [camera_front.zed_node_0]: * Camera is static: FALSE [component_container_isolated-2] [INFO] [1738363130.288514731] [camera_front.zed_node_0]: * Gravity as origin [not for ZED]: TRUE [component_container_isolated-2] [INFO] [1738363130.288667234] [camera_front.zed_node_0]: * IMU Fusion [not for ZED]: TRUE [component_container_isolated-2] [INFO] [1738363130.288964946] [camera_front.zed_node_0]: * Floor Alignment: FALSE [component_container_isolated-2] [INFO] [1738363130.289161204] [camera_front.zed_node_0]: * Reset Odometry with Loop Closure: TRUE [component_container_isolated-2] [INFO] [1738363130.289356374] [camera_front.zed_node_0]: * 2D mode: FALSE [component_container_isolated-2] [INFO] [1738363130.289385384] [camera_front.zed_node_0]: *** Region of Interest parameters *** [component_container_isolated-2] [INFO] [1738363130.289624052] [camera_front.zed_node_0]: * Automatic ROI generation: FALSE [component_container_isolated-2] [INFO] [1738363130.289857828] [camera_front.zed_node_0]: * Manual ROI polygon: [] [component_container_isolated-2] [INFO] [1738363130.289886518] [camera_front.zed_node_0]: *** SENSORS STACK parameters *** [component_container_isolated-2] [INFO] [1738363130.290084502] [camera_front.zed_node_0]: * Broadcast IMU TF [not for ZED]: TRUE [component_container_isolated-2] [INFO] [1738363130.290307755] [camera_front.zed_node_0]: * Sensors Camera Sync: FALSE [component_container_isolated-2] [INFO] [1738363130.290508618] [camera_front.zed_node_0]: * Sensors publishing rate: 200 Hz [component_container_isolated-2] [INFO] [1738363130.290566094] [camera_front.zed_node_0]: *** Spatial Mapping parameters *** [component_container_isolated-2] [INFO] [1738363130.290745880] [camera_front.zed_node_0]: * Spatial Mapping Enabled: FALSE [component_container_isolated-2] [INFO] [1738363130.290994752] [camera_front.zed_node_0]: * Spatial Mapping resolution [m]: 0.05 [component_container_isolated-2] [INFO] [1738363130.291216661] [camera_front.zed_node_0]: * 3D Max Mapping range [m]: 5 [component_container_isolated-2] [INFO] [1738363130.291386755] [camera_front.zed_node_0]: * Map publishing rate [Hz]: 1 [component_container_isolated-2] [INFO] [1738363130.291559311] [camera_front.zed_node_0]: * Clicked point topic: /clicked_point [component_container_isolated-2] [INFO] [1738363130.291827630] [camera_front.zed_node_0]: * Plane Det. Max Dist. Thresh.: 0.15 [component_container_isolated-2] [INFO] [1738363130.292019570] [camera_front.zed_node_0]: * Plane Det. Normals Sim. Thresh.: 15 [component_container_isolated-2] [INFO] [1738363130.292055264] [camera_front.zed_node_0]: *** Object Det. parameters *** [component_container_isolated-2] [INFO] [1738363130.292263676] [camera_front.zed_node_0]: * Object Det. enabled: FALSE [component_container_isolated-2] [INFO] [1738363130.292729083] [camera_front.zed_node_0]: * Object Det. model: MULTI CLASS BOX FAST [component_container_isolated-2] [INFO] [1738363130.292977732] [camera_front.zed_node_0]: * Object Det. allow reduced precision: TRUE [component_container_isolated-2] [INFO] [1738363130.293186111] [camera_front.zed_node_0]: * Object Det. maximum range [m]: 20 [component_container_isolated-2] [INFO] [1738363130.293413330] [camera_front.zed_node_0]: * Object Det. min. confidence: 75 [component_container_isolated-2] [INFO] [1738363130.293615952] [camera_front.zed_node_0]: * Object Det. prediction timeout [sec]: 0.5 [component_container_isolated-2] [INFO] [1738363130.294114336] [camera_front.zed_node_0]: * Object Det. tracking: TRUE [component_container_isolated-2] [INFO] [1738363130.294767653] [camera_front.zed_node_0]: * Object Filtering mode: 1 - NMS3D [component_container_isolated-2] [INFO] [1738363130.295012175] [camera_front.zed_node_0]: * MultiClassBox people: TRUE [component_container_isolated-2] [INFO] [1738363130.295251227] [camera_front.zed_node_0]: * MultiClassBox vehicles: TRUE [component_container_isolated-2] [INFO] [1738363130.295506656] [camera_front.zed_node_0]: * MultiClassBox bags: TRUE [component_container_isolated-2] [INFO] [1738363130.295728981] [camera_front.zed_node_0]: * MultiClassBox animals: TRUE [component_container_isolated-2] [INFO] [1738363130.295973439] [camera_front.zed_node_0]: * MultiClassBox electronics: TRUE [component_container_isolated-2] [INFO] [1738363130.296209805] [camera_front.zed_node_0]: * MultiClassBox fruits and vegetables: TRUE [component_container_isolated-2] [INFO] [1738363130.296550409] [camera_front.zed_node_0]: * MultiClassBox sport-related objects: TRUE [component_container_isolated-2] [INFO] [1738363130.296699425] [camera_front.zed_node_0]: *** Body Track. parameters *** [component_container_isolated-2] [INFO] [1738363130.296986807] [camera_front.zed_node_0]: * Body Track. enabled: FALSE [component_container_isolated-2] [INFO] [1738363130.297388949] [camera_front.zed_node_0]: * Body Track. model: HUMAN BODY MEDIUM [component_container_isolated-2] [INFO] [1738363130.297650039] [camera_front.zed_node_0]: * Body Track. format: BODY 38 [component_container_isolated-2] [INFO] [1738363130.297802605] [camera_front.zed_node_0]: * Body Track. allow reduced precision: TRUE [component_container_isolated-2] [INFO] [1738363130.297915991] [camera_front.zed_node_0]: * Body Track. maximum range [m]: 20 [component_container_isolated-2] [INFO] [1738363130.298065039] [camera_front.zed_node_0]: * Body Track. KP selection: FULL [component_container_isolated-2] [INFO] [1738363130.298206634] [camera_front.zed_node_0]: * Body fitting: FALSE [component_container_isolated-2] [INFO] [1738363130.298808712] [camera_front.zed_node_0]: * Body joints tracking: TRUE [component_container_isolated-2] [INFO] [1738363130.299047573] [camera_front.zed_node_0]: * Body Track. prediction timeout [sec]: 0.5 [component_container_isolated-2] [INFO] [1738363130.299350915] [camera_front.zed_node_0]: * Body Track. confidence thresh.: 50 [component_container_isolated-2] [INFO] [1738363130.299615363] [camera_front.zed_node_0]: * Body Track. min. KP thresh.: 5 [component_container_isolated-2] [INFO] [1738363130.299644181] [camera_front.zed_node_0]: *** Streaming Server parameters *** [component_container_isolated-2] [INFO] [1738363130.299761789] [camera_front.zed_node_0]: * Streaming Server enabled: FALSE [component_container_isolated-2] [INFO] [1738363130.299960349] [camera_front.zed_node_0]: * Stream codec: H264 [component_container_isolated-2] [INFO] [1738363130.300045492] [camera_front.zed_node_0]: * Stream port:30000 [component_container_isolated-2] [INFO] [1738363130.300176085] [camera_front.zed_node_0]: * Stream bitrate: 12500 [component_container_isolated-2] [INFO] [1738363130.300290686] [camera_front.zed_node_0]: * Stream GOP size: -1 [component_container_isolated-2] [INFO] [1738363130.300392109] [camera_front.zed_node_0]: * Stream Chunk size: 16084 [component_container_isolated-2] [INFO] [1738363130.300467049] [camera_front.zed_node_0]: * Adaptive bitrate: FALSE [component_container_isolated-2] [INFO] [1738363130.300562523] [camera_front.zed_node_0]: * Target frame rate:0 [component_container_isolated-2] [INFO] [1738363130.300585967] [camera_front.zed_node_0]: *** Advanced parameters *** [component_container_isolated-2] [INFO] [1738363130.300837462] [camera_front.zed_node_0]: * Thread sched. policy: SCHED_BATCH [component_container_isolated-6] [INFO] [1738363130.301675074] [camera_right.zed_node_2]: *** DEBUG parameters *** [component_container_isolated-2] [INFO] [1738363130.301897495] [camera_front.zed_node_0]: *** SERVICES *** [component_container_isolated-6] [INFO] [1738363130.301988491] [camera_right.zed_node_2]: * SDK Verbose: 1 [component_container_isolated-6] [INFO] [1738363130.302395591] [camera_right.zed_node_2]: * Debug Common: FALSE [component_container_isolated-6] [INFO] [1738363130.302607936] [camera_right.zed_node_2]: * Debug Image/Depth: FALSE [component_container_isolated-6] [INFO] [1738363130.302796901] [camera_right.zed_node_2]: * Debug Camera Controls: FALSE [component_container_isolated-6] [INFO] [1738363130.302990248] [camera_right.zed_node_2]: * Debug Sensors: FALSE [component_container_isolated-6] [INFO] [1738363130.303170225] [camera_right.zed_node_2]: * Debug Streaming: FALSE [component_container_isolated-6] [INFO] [1738363130.303370161] [camera_right.zed_node_2]: * Debug Advanced: FALSE [component_container_isolated-6] [INFO] [1738363130.303416379] [camera_right.zed_node_2]: *** GENERAL parameters *** [component_container_isolated-2] [INFO] [1738363130.303949977] [camera_front.zed_node_0]: * '/camera_front/zed_node_0/reset_odometry' [component_container_isolated-6] [INFO] [1738363130.304167824] [camera_right.zed_node_2]: * Camera model: zedxonegs - ZED XOne GS [component_container_isolated-6] [INFO] [1738363130.304380874] [camera_right.zed_node_2]: * Camera name: camera_right [component_container_isolated-6] [INFO] [1738363130.304700464] [camera_right.zed_node_2]: * Camera SN: 308559310 [component_container_isolated-2] [INFO] [1738363130.304618551] [camera_front.zed_node_0]: * '/camera_front/zed_node_0/reset_pos_tracking' [component_container_isolated-6] [INFO] [1738363130.305165519] [camera_right.zed_node_2]: * Camera timeout [sec]: 5 [component_container_isolated-6] [INFO] [1738363130.305383142] [camera_right.zed_node_2]: * Camera framerate: 30 [component_container_isolated-6] [INFO] [1738363130.305561968] [camera_right.zed_node_2]: * GPU ID: -1 [component_container_isolated-6] [INFO] [1738363130.305778792] [camera_right.zed_node_2]: * Camera resolution: HD1080 [component_container_isolated-6] [INFO] [1738363130.305952148] [camera_right.zed_node_2]: * Publishing resolution: NATIVE [component_container_isolated-6] [INFO] [1738363130.306130782] [camera_right.zed_node_2]: * OpenCV custom calibration: [component_container_isolated-6] [INFO] [1738363130.306161615] [camera_right.zed_node_2]: *** CAMERA CONTROL parameters *** [component_container_isolated-6] [INFO] [1738363130.306332061] [camera_right.zed_node_2]: * Enable HDR: FALSE [component_container_isolated-6] [INFO] [1738363130.306551347] [camera_right.zed_node_2]: * [DYN] Saturation: 4 [component_container_isolated-6] [INFO] [1738363130.306771625] [camera_right.zed_node_2]: * [DYN] Sharpness: 4 [component_container_isolated-6] [INFO] [1738363130.307099531] [camera_right.zed_node_2]: * [DYN] Gamma: 8 [component_container_isolated-2] [INFO] [1738363130.306912101] [camera_front.zed_node_0]: * '/camera_front/zed_node_0/set_pose' [component_container_isolated-2] [INFO] [1738363130.307283698] [camera_front.zed_node_0]: * '/camera_front/zed_node_0/enable_obj_det' [component_container_isolated-2] [INFO] [1738363130.307594460] [camera_front.zed_node_0]: * '/camera_front/zed_node_0/enable_body_trk' [component_container_isolated-2] [INFO] [1738363130.307893900] [camera_front.zed_node_0]: * '/camera_front/zed_node_0/enable_mapping' [component_container_isolated-2] [INFO] [1738363130.308129306] [camera_front.zed_node_0]: * '/camera_front/zed_node_0/enable_streaming' [component_container_isolated-6] [INFO] [1738363130.307388192] [camera_right.zed_node_2]: * [DYN] Auto White Balance: TRUE [component_container_isolated-6] [INFO] [1738363130.307658557] [camera_right.zed_node_2]: * [DYN] White Balance Temp (x100): 42 [component_container_isolated-6] [INFO] [1738363130.307973222] [camera_right.zed_node_2]: * [DYN] Auto Exposure: TRUE [component_container_isolated-6] [INFO] [1738363130.308265881] [camera_right.zed_node_2]: * [DYN] Exposure (us): 16000 [component_container_isolated-6] [INFO] [1738363130.308494059] [camera_right.zed_node_2]: * [DYN] Auto Exp Time Min (us): 28 [component_container_isolated-6] [INFO] [1738363130.308704357] [camera_right.zed_node_2]: * [DYN] Auto Exp Time Max (us): 30000 [component_container_isolated-6] [INFO] [1738363130.308991675] [camera_right.zed_node_2]: * [DYN] Exposure Compensation: 50 [component_container_isolated-6] [INFO] [1738363130.309174435] [camera_right.zed_node_2]: * [DYN] Auto Analog Gain: TRUE [component_container_isolated-2] [INFO] [1738363130.309325594] [camera_front.zed_node_0]: * '/camera_front/zed_node_0/start_svo_rec' [component_container_isolated-6] [INFO] [1738363130.309400566] [camera_right.zed_node_2]: * [DYN] Analog Gain: 1255 [component_container_isolated-6] [INFO] [1738363130.309572131] [camera_right.zed_node_2]: * [DYN] Analog Gain Min: 1000 [component_container_isolated-6] [INFO] [1738363130.309758153] [camera_right.zed_node_2]: * [DYN] Analog Gain Max: 16000 [component_container_isolated-2] [INFO] [1738363130.310120954] [camera_front.zed_node_0]: * '/camera_front/zed_node_0/stop_svo_rec' [component_container_isolated-6] [INFO] [1738363130.310130038] [camera_right.zed_node_2]: * [DYN] Auto Digital Gain: FALSE [component_container_isolated-6] [INFO] [1738363130.310352171] [camera_right.zed_node_2]: * [DYN] Digital Gain: 1 [component_container_isolated-6] [INFO] [1738363130.310593111] [camera_right.zed_node_2]: * [DYN] Digital Gain Min: 1 [component_container_isolated-6] [INFO] [1738363130.311030788] [camera_right.zed_node_2]: * [DYN] Digital Gain Max: 256 [component_container_isolated-2] [INFO] [1738363130.310953737] [camera_front.zed_node_0]: * '/camera_front/zed_node_0/set_roi' [component_container_isolated-6] [INFO] [1738363130.311403760] [camera_right.zed_node_2]: * [DYN] Denoising: 50 [component_container_isolated-6] [INFO] [1738363130.311441470] [camera_right.zed_node_2]: *** SENSORS parameters *** [component_container_isolated-6] [INFO] [1738363130.311644060] [camera_right.zed_node_2]: * Publish IMU TF: TRUE [component_container_isolated-2] [INFO] [1738363130.311496099] [camera_front.zed_node_0]: * '/camera_front/zed_node_0/reset_roi' [component_container_isolated-2] [INFO] [1738363130.311840477] [camera_front.zed_node_0]: ***** STARTING CAMERA ***** [component_container_isolated-6] [INFO] [1738363130.311951592] [camera_right.zed_node_2]: * Sensors publishing rate [Hz]: 200 [component_container_isolated-6] [INFO] [1738363130.311978938] [camera_right.zed_node_2]: *** Streaming Server parameters *** [component_container_isolated-6] [INFO] [1738363130.312205677] [camera_right.zed_node_2]: * Stream enabled: FALSE [component_container_isolated-6] [INFO] [1738363130.312432576] [camera_right.zed_node_2]: * Stream codec: H264 [component_container_isolated-6] [INFO] [1738363130.312687173] [camera_right.zed_node_2]: * Stream port:30000 [component_container_isolated-6] [INFO] [1738363130.312984949] [camera_right.zed_node_2]: * Stream bitrate:12500 [component_container_isolated-6] [INFO] [1738363130.313236156] [camera_right.zed_node_2]: * Stream GOP size:-1 [component_container_isolated-6] [INFO] [1738363130.313459728] [camera_right.zed_node_2]: * Stream Chunk size:16084 [component_container_isolated-6] [INFO] [1738363130.313692800] [camera_right.zed_node_2]: * Adaptative bitrate:FALSE [component_container_isolated-6] [INFO] [1738363130.313928079] [camera_right.zed_node_2]: * Target frame rate:0 [component_container_isolated-6] [INFO] [1738363130.313959647] [camera_right.zed_node_2]: *** Advanced parameters *** [component_container_isolated-6] [INFO] [1738363130.314183284] [camera_right.zed_node_2]: * Thread sched. policy: SCHED_BATCH [component_container_isolated-6] [INFO] [1738363130.314212006] [camera_right.zed_node_2]: *** SERVICES *** [component_container_isolated-6] [INFO] [1738363130.315170296] [camera_right.zed_node_2]: * '/camera_right/zed_node_2/enable_streaming' [component_container_isolated-6] [INFO] [1738363130.315208677] [camera_right.zed_node_2]: ***** STARTING CAMERA ***** [component_container_isolated-6] [INFO] [1738363130.315299353] [camera_right.zed_node_2]: ZED SDK Version: 4.2.3 - Build 97134_097b477f [component_container_isolated-6] [INFO] [1738363130.320253765] [camera_right.zed_node_2]: *** CAMERA OPENING *** [component_container_isolated-2] [INFO] [1738363130.444273746] [camera_front.zed_node_0]: ZED SDK Version: 4.2.3 - Build 97134_097b477f [component_container_isolated-2] [2025-01-31 22:38:50 UTC][ZED][INFO] Logging level INFO [component_container_isolated-2] [INFO] [1738363130.450577907] [camera_front.zed_node_0]: *** CAMERA OPENING *** [component_container_isolated-4] [WARN] [1738363130.919734046] [camera_left.zed_node_1]: Error opening camera: CAMERA NOT DETECTED [component_container_isolated-4] [INFO] [1738363130.919881079] [camera_left.zed_node_1]: Please verify the camera connection [component_container_isolated-4] [2025-01-31 22:38:50 UTC][ZED][WARNING] CAMERA NOT DETECTED in sl::ERROR_CODE sl::CameraOneImpl::open(const sl::InitParametersOne&) [component_container_isolated-2] [INFO] [1738363131.074629058] [camera_front.zed_node_0]: Disable async recovery for GMSL2 cameras [ERROR] [component_container_isolated-4]: process has died [pid 388, exit code 1, cmd '/opt/ros/humble/lib/rclcpp_components/component_container_isolated --ros-args -r __node:=zed_container -r __ns:=/camera_left']. [component_container_isolated-2] [2025-01-31 22:38:51 UTC][ZED][INFO] Logging level INFO [component_container_isolated-2] [2025-01-31 22:38:52 UTC][ZED][INFO] [Init] Depth mode: NEURAL [component_container_isolated-2] [ZED-X][Warning] Failed to connect to zed_x_daemon. [component_container_isolated-6] [INFO] [1738363133.437969668] [camera_right.zed_node_2]: ZED SDK running on GPU #0 [component_container_isolated-6] [INFO] [1738363133.438117984] [camera_right.zed_node_2]: * Camera Model -> ZED XOne GS [component_container_isolated-6] [INFO] [1738363133.438136983] [camera_right.zed_node_2]: * Serial Number -> [component_container_isolated-6] [INFO] [1738363133.438159085] [camera_right.zed_node_2]: * Focal Lenght -> 2.02663 mm [component_container_isolated-6] [INFO] [1738363133.438176102] [camera_right.zed_node_2]: * Input -> GMSL [component_container_isolated-6] [INFO] [1738363133.438191551] [camera_right.zed_node_2]: * Camera FW Version -> 2001 [component_container_isolated-6] [INFO] [1738363133.438201210] [camera_right.zed_node_2]: * Sensors FW Version -> 1000 [component_container_isolated-6] [INFO] [1738363133.438213397] [camera_right.zed_node_2]: * Camera grab frame size -> 1920x1080 [component_container_isolated-6] [INFO] [1738363133.438230285] [camera_right.zed_node_2]: * Publishing frame size -> 1920x1080 [component_container_isolated-6] [INFO] [1738363133.438246726] [camera_right.zed_node_2]: *** TF FRAMES *** [component_container_isolated-6] [INFO] [1738363133.438259744] [camera_right.zed_node_2]: * Camera link -> camera_right_camera_link [component_container_isolated-6] [INFO] [1738363133.438269435] [camera_right.zed_node_2]: * Camera center -> camera_right_camera_center [component_container_isolated-6] [INFO] [1738363133.438278359] [camera_right.zed_node_2]: * Image -> camera_right_camera_frame [component_container_isolated-6] [INFO] [1738363133.438286803] [camera_right.zed_node_2]: * Optical -> camera_right_camera_optical_frame [component_container_isolated-6] [INFO] [1738363133.438295183] [camera_right.zed_node_2]: * IMU -> camera_right_imu_link [component_container_isolated-6] [INFO] [1738363133.438317509] [camera_right.zed_node_2]: *** PUBLISHED TOPICS *** [component_container_isolated-6] [INFO] [1738363133.438334142] [camera_right.zed_node_2]: +++ IMAGE TOPICS +++ [component_container_isolated-6] [INFO] [1738363133.693229957] [FFMPEGEncoder]: enc: libx264 prof: preset: [component_container_isolated-6] [INFO] [1738363133.693285292] [FFMPEGEncoder]: qmax: 0 bitrate: 4194304 gop: 10 [component_container_isolated-6] [INFO] [1738363133.703447610] [camera_right.zed_node_2]: * Advertised on topic: /camera_right/zed_node_2/rgb/rect/image [component_container_isolated-6] [INFO] [1738363133.703516538] [camera_right.zed_node_2]: * Advertised on topic: /camera_right/zed_node_2/rgb/rect/camera_info [component_container_isolated-6] [INFO] [1738363133.704929911] [FFMPEGEncoder]: enc: libx264 prof: preset: [component_container_isolated-6] [INFO] [1738363133.704960201] [FFMPEGEncoder]: qmax: 0 bitrate: 4194304 gop: 10 [component_container_isolated-6] [INFO] [1738363133.706052056] [camera_right.zed_node_2]: * Advertised on topic: /camera_right/zed_node_2/rgb/raw/image [component_container_isolated-6] [INFO] [1738363133.706095045] [camera_right.zed_node_2]: * Advertised on topic: /camera_right/zed_node_2/rgb/raw/camera_info [component_container_isolated-6] [INFO] [1738363133.707492777] [FFMPEGEncoder]: enc: libx264 prof: preset: [component_container_isolated-6] [INFO] [1738363133.707521947] [FFMPEGEncoder]: qmax: 0 bitrate: 4194304 gop: 10 [component_container_isolated-6] [INFO] [1738363133.708566784] [camera_right.zed_node_2]: * Advertised on topic: /camera_right/zed_node_2/gray/rect/image [component_container_isolated-6] [INFO] [1738363133.708607501] [camera_right.zed_node_2]: * Advertised on topic: /camera_right/zed_node_2/gray/rect/camera_info [component_container_isolated-6] [INFO] [1738363133.709901024] [FFMPEGEncoder]: enc: libx264 prof: preset: [component_container_isolated-6] [INFO] [1738363133.709925013] [FFMPEGEncoder]: qmax: 0 bitrate: 4194304 gop: 10 [component_container_isolated-6] [INFO] [1738363133.710955616] [camera_right.zed_node_2]: * Advertised on topic: /camera_right/zed_node_2/gray/raw/image [component_container_isolated-6] [INFO] [1738363133.710993391] [camera_right.zed_node_2]: * Advertised on topic: /camera_right/zed_node_2/gray/raw/camera_info [component_container_isolated-6] [INFO] [1738363133.711007497] [camera_right.zed_node_2]: +++ SENSOR TOPICS +++ [component_container_isolated-6] [INFO] [1738363133.711657153] [camera_right.zed_node_2]: * Advertised on topic: /camera_right/zed_node_2/temperature [component_container_isolated-6] [INFO] [1738363133.712409994] [camera_right.zed_node_2]: * Advertised on topic: /camera_right/zed_node_2/imu/data [component_container_isolated-6] [INFO] [1738363133.713073020] [camera_right.zed_node_2]: * Advertised on topic: /camera_right/zed_node_2/imu/data_raw [component_container_isolated-6] [INFO] [1738363133.713790934] [camera_right.zed_node_2]: * Advertised on topic: /camera_right/zed_node_2/left_cam_imu_transform [component_container_isolated-6] [INFO] [1738363133.713852122] [camera_right.zed_node_2]: * Camera-IMU Translation: [component_container_isolated-6] -0.0061 0.00708 -0.00196 [component_container_isolated-6] [INFO] [1738363133.713907009] [camera_right.zed_node_2]: * Camera-IMU Rotation: [component_container_isolated-6] FFFF70C1CBA8 [component_container_isolated-6] 0.999766 -0.000864 0.021595 [component_container_isolated-6] 0.000924 0.999996 -0.002777 [component_container_isolated-6] -0.021592 0.002796 0.999763 [component_container_isolated-6] [component_container_isolated-6] [INFO] [1738363133.714211734] [camera_right.zed_node_2]: *** camera_right started *** [component_container_isolated-2] [2025-01-31 22:38:55 UTC][ZED][INFO] [Init] Camera FW version: 2001 [component_container_isolated-2] [2025-01-31 22:38:55 UTC][ZED][INFO] [Init] Video mode: HD1080@30 [component_container_isolated-2] [2025-01-31 22:38:55 UTC][ZED][INFO] [Init] Serial Number: S/N [component_container_isolated-2] [INFO] [1738363135.942386525] [camera_front.zed_node_0]: ZED SDK running on GPU #0 [component_container_isolated-2] [INFO] [1738363135.942521474] [camera_front.zed_node_0]: * Camera Model -> ZED X [component_container_isolated-2] [INFO] [1738363135.942544376] [camera_front.zed_node_0]: * Serial Number -> [component_container_isolated-2] [INFO] [1738363135.942569613] [camera_front.zed_node_0]: * Focal Lenght -> 2.2509 mm [component_container_isolated-2] [INFO] [1738363135.942598048] [camera_front.zed_node_0]: * Input -> GMSL [component_container_isolated-2] [INFO] [1738363135.942620503] [camera_front.zed_node_0]: * Camera FW Version -> 2001 [component_container_isolated-2] [INFO] [1738363135.942635952] [camera_front.zed_node_0]: * Sensors FW Version -> 1000 [component_container_isolated-2] [INFO] [1738363135.942660549] [camera_front.zed_node_0]: * Camera grab frame size -> 1920x1080 [component_container_isolated-2] [INFO] [1738363135.942682172] [camera_front.zed_node_0]: * Publishing frame size -> 960x540 [component_container_isolated-2] [INFO] [1738363135.942712622] [camera_front.zed_node_0]: *** TF FRAMES *** [component_container_isolated-2] [INFO] [1738363135.942727944] [camera_front.zed_node_0]: * Map -> map [component_container_isolated-2] [INFO] [1738363135.942740514] [camera_front.zed_node_0]: * Odometry -> odom [component_container_isolated-2] [INFO] [1738363135.942759482] [camera_front.zed_node_0]: * Base -> camera_front_camera_link [component_container_isolated-2] [INFO] [1738363135.942773492] [camera_front.zed_node_0]: * Camera -> camera_front_camera_center [component_container_isolated-2] [INFO] [1738363135.942786158] [camera_front.zed_node_0]: * Left -> camera_front_left_camera_frame [component_container_isolated-2] [INFO] [1738363135.942797289] [camera_front.zed_node_0]: * Left Optical -> camera_front_left_camera_optical_frame [component_container_isolated-2] [INFO] [1738363135.942809412] [camera_front.zed_node_0]: * RGB -> camera_front_left_camera_frame [component_container_isolated-2] [INFO] [1738363135.942820735] [camera_front.zed_node_0]: * RGB Optical -> camera_front_left_camera_optical_frame [component_container_isolated-2] [INFO] [1738363135.942832282] [camera_front.zed_node_0]: * Right -> camera_front_right_camera_frame [component_container_isolated-2] [INFO] [1738363135.942843221] [camera_front.zed_node_0]: * Right Optical -> camera_front_right_camera_optical_frame [component_container_isolated-2] [INFO] [1738363135.942924529] [camera_front.zed_node_0]: * Depth -> camera_front_left_camera_frame [component_container_isolated-2] [INFO] [1738363135.942939691] [camera_front.zed_node_0]: * Depth Optical -> camera_front_left_camera_optical_frame [component_container_isolated-2] [INFO] [1738363135.942952453] [camera_front.zed_node_0]: * Point Cloud -> camera_front_left_camera_optical_frame [component_container_isolated-2] [INFO] [1738363135.942964480] [camera_front.zed_node_0]: * Disparity -> camera_front_left_camera_frame [component_container_isolated-2] [INFO] [1738363135.942975963] [camera_front.zed_node_0]: * Disparity Optical -> camera_front_left_camera_optical_frame [component_container_isolated-2] [INFO] [1738363135.942987542] [camera_front.zed_node_0]: * Confidence -> camera_front_left_camera_frame [component_container_isolated-2] [INFO] [1738363135.942998929] [camera_front.zed_node_0]: * Confidence Optical -> camera_front_left_camera_optical_frame [component_container_isolated-2] [INFO] [1738363135.943018312] [camera_front.zed_node_0]: * IMU -> camera_front_imu_link [component_container_isolated-2] [INFO] [1738363135.943071025] [camera_front.zed_node_0]: *** PUBLISHED TOPICS *** [component_container_isolated-2] [INFO] [1738363136.125189920] [FFMPEGEncoder]: enc: libx264 prof: preset: [component_container_isolated-2] [INFO] [1738363136.125250086] [FFMPEGEncoder]: qmax: 0 bitrate: 4194304 gop: 10 [component_container_isolated-2] [INFO] [1738363136.137099365] [camera_front.zed_node_0]: Advertised on topic: /camera_front/zed_node_0/rgb/image_rect_color [component_container_isolated-2] [INFO] [1738363136.137174916] [camera_front.zed_node_0]: Advertised on topic: /camera_front/zed_node_0/rgb/camera_info [component_container_isolated-2] [INFO] [1738363136.138417199] [FFMPEGEncoder]: enc: libx264 prof: preset: [component_container_isolated-2] [INFO] [1738363136.138444899] [FFMPEGEncoder]: qmax: 0 bitrate: 4194304 gop: 10 [component_container_isolated-2] [INFO] [1738363136.139473321] [camera_front.zed_node_0]: Advertised on topic: /camera_front/zed_node_0/rgb_gray/image_rect_gray [component_container_isolated-2] [INFO] [1738363136.139523316] [camera_front.zed_node_0]: Advertised on topic: /camera_front/zed_node_0/rgb_gray/camera_info [component_container_isolated-2] [INFO] [1738363136.140813674] [FFMPEGEncoder]: enc: libx264 prof: preset: [component_container_isolated-2] [INFO] [1738363136.140842621] [FFMPEGEncoder]: qmax: 0 bitrate: 4194304 gop: 10 [component_container_isolated-2] [INFO] [1738363136.142244515] [camera_front.zed_node_0]: Advertised on topic: /camera_front/zed_node_0/rgb_raw/image_raw_color [component_container_isolated-2] [INFO] [1738363136.142292622] [camera_front.zed_node_0]: Advertised on topic: /camera_front/zed_node_0/rgb_raw/camera_info [component_container_isolated-2] [INFO] [1738363136.143529595] [FFMPEGEncoder]: enc: libx264 prof: preset: [component_container_isolated-2] [INFO] [1738363136.143555376] [FFMPEGEncoder]: qmax: 0 bitrate: 4194304 gop: 10 [component_container_isolated-2] [INFO] [1738363136.144653752] [camera_front.zed_node_0]: Advertised on topic: /camera_front/zed_node_0/rgb_raw_gray/image_raw_gray [component_container_isolated-2] [INFO] [1738363136.144703043] [camera_front.zed_node_0]: Advertised on topic: /camera_front/zed_node_0/rgb_raw_gray/camera_info [component_container_isolated-2] [INFO] [1738363136.145976512] [FFMPEGEncoder]: enc: libx264 prof: preset: [component_container_isolated-2] [INFO] [1738363136.146006419] [FFMPEGEncoder]: qmax: 0 bitrate: 4194304 gop: 10 [component_container_isolated-2] [INFO] [1738363136.147337464] [camera_front.zed_node_0]: Advertised on topic: /camera_front/zed_node_0/left/image_rect_color [component_container_isolated-2] [INFO] [1738363136.147387458] [camera_front.zed_node_0]: Advertised on topic: /camera_front/zed_node_0/left/camera_info [component_container_isolated-2] [INFO] [1738363136.148603160] [FFMPEGEncoder]: enc: libx264 prof: preset: [component_container_isolated-2] [INFO] [1738363136.148628397] [FFMPEGEncoder]: qmax: 0 bitrate: 4194304 gop: 10 [component_container_isolated-2] [INFO] [1738363136.149711964] [camera_front.zed_node_0]: Advertised on topic: /camera_front/zed_node_0/left_gray/image_rect_gray [component_container_isolated-2] [INFO] [1738363136.149757736] [camera_front.zed_node_0]: Advertised on topic: /camera_front/zed_node_0/left_gray/camera_info [component_container_isolated-2] [INFO] [1738363136.150860175] [FFMPEGEncoder]: enc: libx264 prof: preset: [component_container_isolated-2] [INFO] [1738363136.150886564] [FFMPEGEncoder]: qmax: 0 bitrate: 4194304 gop: 10 [component_container_isolated-2] [INFO] [1738363136.151790463] [camera_front.zed_node_0]: Advertised on topic: /camera_front/zed_node_0/left_raw/image_raw_color [component_container_isolated-2] [INFO] [1738363136.151832781] [camera_front.zed_node_0]: Advertised on topic: /camera_front/zed_node_0/left_raw/camera_info [component_container_isolated-2] [INFO] [1738363136.153114055] [FFMPEGEncoder]: enc: libx264 prof: preset: [component_container_isolated-2] [INFO] [1738363136.153142427] [FFMPEGEncoder]: qmax: 0 bitrate: 4194304 gop: 10 [component_container_isolated-2] [INFO] [1738363136.154045623] [camera_front.zed_node_0]: Advertised on topic: /camera_front/zed_node_0/left_raw_gray/image_raw_gray [component_container_isolated-2] [INFO] [1738363136.154155272] [camera_front.zed_node_0]: Advertised on topic: /camera_front/zed_node_0/left_raw_gray/camera_info [component_container_isolated-2] [INFO] [1738363136.155846865] [FFMPEGEncoder]: enc: libx264 prof: preset: [component_container_isolated-2] [INFO] [1738363136.155883298] [FFMPEGEncoder]: qmax: 0 bitrate: 4194304 gop: 10 [component_container_isolated-2] [INFO] [1738363136.160750167] [camera_front.zed_node_0]: Advertised on topic: /camera_front/zed_node_0/right/image_rect_color [component_container_isolated-2] [INFO] [1738363136.160816507] [camera_front.zed_node_0]: Advertised on topic: /camera_front/zed_node_0/right/camera_info [component_container_isolated-2] [INFO] [1738363136.162132358] [FFMPEGEncoder]: enc: libx264 prof: preset: [component_container_isolated-2] [INFO] [1738363136.162173140] [FFMPEGEncoder]: qmax: 0 bitrate: 4194304 gop: 10 [component_container_isolated-2] [INFO] [1738363136.163295730] [camera_front.zed_node_0]: Advertised on topic: /camera_front/zed_node_0/right_gray/image_rect_gray [component_container_isolated-2] [INFO] [1738363136.163350075] [camera_front.zed_node_0]: Advertised on topic: /camera_front/zed_node_0/right_gray/camera_info [component_container_isolated-2] [INFO] [1738363136.164675585] [FFMPEGEncoder]: enc: libx264 prof: preset: [component_container_isolated-2] [INFO] [1738363136.164707732] [FFMPEGEncoder]: qmax: 0 bitrate: 4194304 gop: 10 [component_container_isolated-2] [INFO] [1738363136.166095775] [camera_front.zed_node_0]: Advertised on topic: /camera_front/zed_node_0/right_raw/image_raw_color [component_container_isolated-2] [INFO] [1738363136.166153543] [camera_front.zed_node_0]: Advertised on topic: /camera_front/zed_node_0/right_raw/camera_info [component_container_isolated-2] [INFO] [1738363136.167495398] [FFMPEGEncoder]: enc: libx264 prof: preset: [component_container_isolated-2] [INFO] [1738363136.167529464] [FFMPEGEncoder]: qmax: 0 bitrate: 4194304 gop: 10 [component_container_isolated-2] [INFO] [1738363136.168604554] [camera_front.zed_node_0]: Advertised on topic: /camera_front/zed_node_0/right_raw_gray/image_raw_gray [component_container_isolated-2] [INFO] [1738363136.168654996] [camera_front.zed_node_0]: Advertised on topic: /camera_front/zed_node_0/right_raw_gray/camera_info [component_container_isolated-2] [INFO] [1738363136.169936686] [FFMPEGEncoder]: enc: libx264 prof: preset: [component_container_isolated-2] [INFO] [1738363136.169965314] [FFMPEGEncoder]: qmax: 0 bitrate: 4194304 gop: 10 [component_container_isolated-2] [INFO] [1738363136.171093181] [camera_front.zed_node_0]: Advertised on topic: /camera_front/zed_node_0/depth/depth_registered [component_container_isolated-2] [INFO] [1738363136.171138154] [camera_front.zed_node_0]: Advertised on topic: /camera_front/zed_node_0/depth/camera_info [component_container_isolated-2] [INFO] [1738363136.171836190] [camera_front.zed_node_0]: Advertised on topic: /camera_front/zed_node_0/depth/depth_info [component_container_isolated-2] [INFO] [1738363136.172975701] [FFMPEGEncoder]: enc: libx264 prof: preset: [component_container_isolated-2] [INFO] [1738363136.173002761] [FFMPEGEncoder]: qmax: 0 bitrate: 4194304 gop: 10 [component_container_isolated-2] [INFO] [1738363136.173744714] [camera_front.zed_node_0]: Advertised on topic: /camera_front/zed_node_0/stereo/image_rect_color [component_container_isolated-2] [INFO] [1738363136.175038591] [FFMPEGEncoder]: enc: libx264 prof: preset: [component_container_isolated-2] [INFO] [1738363136.175071888] [FFMPEGEncoder]: qmax: 0 bitrate: 4194304 gop: 10 [component_container_isolated-2] [INFO] [1738363136.175837416] [camera_front.zed_node_0]: Advertised on topic: /camera_front/zed_node_0/stereo_raw/image_raw_color [component_container_isolated-2] [INFO] [1738363136.176139110] [camera_front.zed_node_0]: Advertised on topic: /camera_front/zed_node_0/confidence/confidence_map [component_container_isolated-2] [INFO] [1738363136.179455574] [camera_front.zed_node_0]: Advertised on topic: /camera_front/zed_node_0/disparity/disparity_image [component_container_isolated-2] [INFO] [1738363136.201359606] [camera_front.zed_node_0]: Advertised on topic: /camera_front/zed_node_0/point_cloud/cloud_registered [component_container_isolated-2] [INFO] [1738363136.202409651] [camera_front.zed_node_0]: Advertised on topic: /camera_front/zed_node_0/pose [component_container_isolated-2] [INFO] [1738363136.203227796] [camera_front.zed_node_0]: Advertised on topic: /camera_front/zed_node_0/pose/status [component_container_isolated-2] [INFO] [1738363136.204115639] [camera_front.zed_node_0]: Advertised on topic: /camera_front/zed_node_0/pose_with_covariance [component_container_isolated-2] [INFO] [1738363136.206498999] [camera_front.zed_node_0]: Advertised on topic: /camera_front/zed_node_0/odom [component_container_isolated-2] [INFO] [1738363136.207562990] [camera_front.zed_node_0]: Advertised on topic: /camera_front/zed_node_0/path_map [component_container_isolated-2] [INFO] [1738363136.208449873] [camera_front.zed_node_0]: Advertised on topic: /camera_front/zed_node_0/path_odom [component_container_isolated-2] [INFO] [1738363136.211029405] [camera_front.zed_node_0]: Advertised on topic: /camera_front/plane_marker [component_container_isolated-2] [INFO] [1738363136.211938551] [camera_front.zed_node_0]: Advertised on topic: /camera_front/plane [component_container_isolated-2] [INFO] [1738363136.212632621] [camera_front.zed_node_0]: Advertised on topic: /camera_front/zed_node_0/imu/data [component_container_isolated-2] [INFO] [1738363136.213402498] [camera_front.zed_node_0]: Advertised on topic: /camera_front/zed_node_0/imu/data_raw [component_container_isolated-2] [INFO] [1738363136.214039473] [camera_front.zed_node_0]: Advertised on topic: /camera_front/zed_node_0/temperature/imu [component_container_isolated-2] [INFO] [1738363136.214745281] [camera_front.zed_node_0]: Advertised on topic: /camera_front/zed_node_0/left_cam_imu_transform [component_container_isolated-2] [INFO] [1738363136.214800202] [camera_front.zed_node_0]: Camera-IMU Translation: [component_container_isolated-2] 0 -0.035649 -0.000147 [component_container_isolated-2] [INFO] [1738363136.214859408] [camera_front.zed_node_0]: Camera-IMU Rotation: [component_container_isolated-2] FFFF47FFC6E0 [component_container_isolated-2] 0.999977 -0.005959 0.003142 [component_container_isolated-2] 0.005958 0.999982 0.000384 [component_container_isolated-2] -0.003144 -0.000365 0.999995 [component_container_isolated-2] [component_container_isolated-2] [INFO] [1738363136.214885029] [camera_front.zed_node_0]: *** Subscribers *** [component_container_isolated-2] [INFO] [1738363136.215799613] [camera_front.zed_node_0]: * Plane detection: '/clicked_point' [component_container_isolated-2] [INFO] [1738363136.531312234] [camera_front.zed_node_0]: *** Starting Positional Tracking *** [component_container_isolated-2] [INFO] [1738363136.531492956] [camera_front.zed_node_0]: * Waiting for valid static transformations... [component_container_isolated-2] [INFO] [1738363136.531703682] [camera_front.zed_node_0]: Static transform ref. CMOS Sensor to Base [camera_front_left_camera_frame -> camera_front_camera_link] [component_container_isolated-2] [INFO] [1738363136.531742385] [camera_front.zed_node_0]: * Translation: {0.010,-0.060,-0.016} [component_container_isolated-2] [INFO] [1738363136.531766151] [camera_front.zed_node_0]: * Rotation: {0.000,-0.000,0.000} [component_container_isolated-2] [INFO] [1738363136.531807957] [camera_front.zed_node_0]: Static transform ref. CMOS Sensor to Camera Center [camera_front_left_camera_frame -> camera_front_camera_center] [component_container_isolated-2] [INFO] [1738363136.531828236] [camera_front.zed_node_0]: * Translation: {0.010,-0.060,0.000} [component_container_isolated-2] [INFO] [1738363136.531856928] [camera_front.zed_node_0]: * Rotation: {0.000,-0.000,0.000} [component_container_isolated-2] [INFO] [1738363136.531892049] [camera_front.zed_node_0]: Static transform Camera Center to Base [camera_front_camera_center -> camera_front_camera_link] [component_container_isolated-2] [INFO] [1738363136.531917286] [camera_front.zed_node_0]: * Translation: {0.000,0.000,-0.016} [component_container_isolated-2] [INFO] [1738363136.531936446] [camera_front.zed_node_0]: * Rotation: {0.000,-0.000,0.000} [component_container_isolated-2] [INFO] [1738363136.533032903] [camera_front.zed_node_0]: Initial ZED left camera pose (ZED pos. tracking): [component_container_isolated-2] [INFO] [1738363136.533103209] [camera_front.zed_node_0]: * T: [-0.01,0.06,0.016] [component_container_isolated-2] [INFO] [1738363136.533138938] [camera_front.zed_node_0]: * Q: [0,0,0,1]