[INFO] [launch]: All log files can be found below /home/rzr-admin/.ros/log/2025-11-12-13-20-58-275031-rzr-admin-130107 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [launch.user]: Using common configuration file: /home/rzr-admin/auto-rzr/install/zed_wrapper/share/zed_wrapper/config/common_stereo.yaml [INFO] [launch.user]: Using camera configuration file: /home/rzr-admin/auto-rzr/install/zed_wrapper/share/zed_wrapper/config/zedx.yaml [INFO] [launch.user]: Using Object Detection configuration file: /home/rzr-admin/auto-rzr/install/zed_wrapper/share/zed_wrapper/config/object_detection.yaml [INFO] [launch.user]: Using Custom Object Detection configuration file: /home/rzr-admin/auto-rzr/install/zed_wrapper/share/zed_wrapper/config/custom_object_detection.yaml [INFO] [launch.user]: Loading ZED node `zed_node` in container `/front/zed_container` [INFO] [robot_state_publisher-1]: process started with pid [130121] [INFO] [component_container_isolated-2]: process started with pid [130123] [robot_state_publisher-1] [INFO] [1762971658.827481869] [front.front_state_publisher]: got segment front_camera_center [robot_state_publisher-1] [INFO] [1762971658.827549869] [front.front_state_publisher]: got segment front_camera_link [robot_state_publisher-1] [INFO] [1762971658.827557393] [front.front_state_publisher]: got segment front_left_camera_frame [robot_state_publisher-1] [INFO] [1762971658.827562393] [front.front_state_publisher]: got segment front_left_camera_optical_frame [robot_state_publisher-1] [INFO] [1762971658.827566921] [front.front_state_publisher]: got segment front_right_camera_frame [robot_state_publisher-1] [INFO] [1762971658.827571230] [front.front_state_publisher]: got segment front_right_camera_optical_frame [component_container_isolated-2] [INFO] [1762971659.063438566] [front.zed_container]: Load Library: /home/rzr-admin/auto-rzr/install/zed_components/lib/libzed_camera_component.so [component_container_isolated-2] [INFO] [1762971659.115512969] [front.zed_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_isolated-2] [INFO] [1762971659.115562694] [front.zed_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [component_container_isolated-2] [INFO] [1762971659.427577500] [front.zed_node]: ================================ [component_container_isolated-2] [INFO] [1762971659.427622145] [front.zed_node]: ZED Camera Component  [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/front/zed_node' in container '/front/zed_container' [component_container_isolated-2] [INFO] [1762971659.427628056] [front.zed_node]: ================================ [component_container_isolated-2] [INFO] [1762971659.427634448] [front.zed_node]: * namespace: /front [component_container_isolated-2] [INFO] [1762971659.427640390] [front.zed_node]: * node name: zed_node [component_container_isolated-2] [INFO] [1762971659.427646591] [front.zed_node]: * IPC: enabled [component_container_isolated-2] [INFO] [1762971659.427651180] [front.zed_node]: ================================ [component_container_isolated-2] [INFO] [1762971659.477887759] [front.zed_node]: === DEBUG parameters === [component_container_isolated-2] [INFO] [1762971659.478231825] [front.zed_node]: * SDK Verbose: 1 [component_container_isolated-2] [INFO] [1762971659.478333960] [front.zed_node]: * Use Pub Timestamps: FALSE [component_container_isolated-2] [INFO] [1762971659.478402010] [front.zed_node]: * SDK Verbose File:  [component_container_isolated-2] [INFO] [1762971659.478473827] [front.zed_node]: * Debug Common: FALSE [component_container_isolated-2] [INFO] [1762971659.478531497] [front.zed_node]: * Debug Simulation: FALSE [component_container_isolated-2] [INFO] [1762971659.478585570] [front.zed_node]: * Debug Video/Depth: FALSE [component_container_isolated-2] [INFO] [1762971659.478651876] [front.zed_node]: * Debug Control settings: FALSE [component_container_isolated-2] [INFO] [1762971659.478712732] [front.zed_node]: * Debug Point Cloud: FALSE [component_container_isolated-2] [INFO] [1762971659.478785862] [front.zed_node]: * Debug GNSS: FALSE [component_container_isolated-2] [INFO] [1762971659.478843321] [front.zed_node]: * Debug Positional Tracking: FALSE [component_container_isolated-2] [INFO] [1762971659.478876344] [front.zed_node]: * Debug sensors: FALSE [component_container_isolated-2] [INFO] [1762971659.478908856] [front.zed_node]: * Debug Mapping: FALSE [component_container_isolated-2] [INFO] [1762971659.478949894] [front.zed_node]: * Debug Object Detection: FALSE [component_container_isolated-2] [INFO] [1762971659.478989440] [front.zed_node]: * Debug Body Tracking: FALSE [component_container_isolated-2] [INFO] [1762971659.479028304] [front.zed_node]: * Debug Streaming: FALSE [component_container_isolated-2] [INFO] [1762971659.479059734] [front.zed_node]: * Debug ROI: FALSE [component_container_isolated-2] [INFO] [1762971659.479098738] [front.zed_node]: * Debug Nitros: FALSE [component_container_isolated-2] [INFO] [1762971659.479129687] [front.zed_node]: * Debug Advanced: FALSE [component_container_isolated-2] [INFO] [1762971659.479152561] [front.zed_node]: === TOPIC selection parameters === [component_container_isolated-2] [INFO] [1762971659.479190543] [front.zed_node]: * Publish Status: TRUE [component_container_isolated-2] [INFO] [1762971659.479237362] [front.zed_node]: * Publish Left/Right images: FALSE [component_container_isolated-2] [INFO] [1762971659.479272990] [front.zed_node]: * Publish Raw images: FALSE [component_container_isolated-2] [INFO] [1762971659.479308708] [front.zed_node]: * Publish Gray images: FALSE [component_container_isolated-2] [INFO] [1762971659.479339527] [front.zed_node]: * Publish RGB image: TRUE [component_container_isolated-2] [INFO] [1762971659.479378762] [front.zed_node]: * Publish Stereo image: FALSE [component_container_isolated-2] [INFO] [1762971659.479419490] [front.zed_node]: * Publish ROI Mask image: FALSE [component_container_isolated-2] [INFO] [1762971659.479455138] [front.zed_node]: * Publish Depth Map: TRUE [component_container_isolated-2] [INFO] [1762971659.479485956] [front.zed_node]: * Publish Depth Info: FALSE [component_container_isolated-2] [INFO] [1762971659.479516765] [front.zed_node]: * Publish Point Cloud: TRUE [component_container_isolated-2] [INFO] [1762971659.479556461] [front.zed_node]: * Publish Depth Confidence: FALSE [component_container_isolated-2] [INFO] [1762971659.479597359] [front.zed_node]: * Publish Disparity: FALSE [component_container_isolated-2] [INFO] [1762971659.479633408] [front.zed_node]: * Publish IMU: TRUE [component_container_isolated-2] [INFO] [1762971659.479671570] [front.zed_node]: * Publish IMU Raw: FALSE [component_container_isolated-2] [INFO] [1762971659.479711176] [front.zed_node]: * Publish LeftCam/IMU Transf.: FALSE [component_container_isolated-2] [INFO] [1762971659.479746253] [front.zed_node]: * Publish Magnetometer: FALSE [component_container_isolated-2] [INFO] [1762971659.479792461] [front.zed_node]: * Publish Barometer: FALSE [component_container_isolated-2] [INFO] [1762971659.479825664] [front.zed_node]: * Publish Temperature: FALSE [component_container_isolated-2] [INFO] [1762971659.479869287] [front.zed_node]: * Publish Odometry/Pose: TRUE [component_container_isolated-2] [INFO] [1762971659.479906498] [front.zed_node]: * Publish Pose with Covariance: FALSE [component_container_isolated-2] [INFO] [1762971659.479944501] [front.zed_node]: * Publish Camera Path: FALSE [component_container_isolated-2] [INFO] [1762971659.479978245] [front.zed_node]: * Publish Detection Plane: FALSE [component_container_isolated-2] [INFO] [1762971659.480053308] [front.zed_node]: === SVO INPUT parameters === [component_container_isolated-2] [INFO] [1762971659.480093475] [front.zed_node]: === LOCAL STREAMING parameters === [component_container_isolated-2] [INFO] [1762971659.480171904] [front.zed_node]: * Local stream input: 192.168.16.175:30000 [component_container_isolated-2] [INFO] [1762971659.480184568] [front.zed_node]: === GENERAL parameters === [component_container_isolated-2] [INFO] [1762971659.480239964] [front.zed_node]: + Playing a network stream from a ZED X camera model. [component_container_isolated-2] [INFO] [1762971659.480249973] [front.zed_node]: * Camera model: zedx - ZED X [component_container_isolated-2] [INFO] [1762971659.480285220] [front.zed_node]: * Camera name: front [component_container_isolated-2] [INFO] [1762971659.480322461] [front.zed_node]: * Camera SN: 0 [component_container_isolated-2] [INFO] [1762971659.480357167] [front.zed_node]: * Camera ID: -1 [component_container_isolated-2] [INFO] [1762971659.480398306] [front.zed_node]: * Camera timeout [sec]: 5 [component_container_isolated-2] [INFO] [1762971659.480435066] [front.zed_node]: * Camera reconnection temptatives: 5 [component_container_isolated-2] [INFO] [1762971659.480471596] [front.zed_node]: * Camera framerate: 30 [component_container_isolated-2] [INFO] [1762971659.480504849] [front.zed_node]: * GPU ID: -1 [component_container_isolated-2] [INFO] [1762971659.480548803] [front.zed_node]: * Asynchronous image retrieval: FALSE [component_container_isolated-2] [INFO] [1762971659.480597496] [front.zed_node]: * Image Validity Check: 1 [component_container_isolated-2] [INFO] [1762971659.480662259] [front.zed_node]: * Camera resolution: HD1200 [component_container_isolated-2] [INFO] [1762971659.480705702] [front.zed_node]: * Publishing resolution: CUSTOM [component_container_isolated-2] [INFO] [1762971659.480782999] [front.zed_node]: * Publishing downscale factor: 2 [component_container_isolated-2] [INFO] [1762971659.480821222] [front.zed_node]: * OpenCV custom calibration:  [component_container_isolated-2] [INFO] [1762971659.480860116] [front.zed_node]: * Camera self calibration: TRUE [component_container_isolated-2] [INFO] [1762971659.480890294] [front.zed_node]: * Camera flip: FALSE [component_container_isolated-2] [INFO] [1762971659.480937524] [front.zed_node]: * Publish framerate [Hz]: 15 [component_container_isolated-2] [INFO] [1762971659.480955308] [front.zed_node]: === VIDEO parameters === [component_container_isolated-2] [INFO] [1762971659.480994643] [front.zed_node]: * Saturation: 4 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971659.481035010] [front.zed_node]: * Sharpness: 4 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971659.481067943] [front.zed_node]: * Gamma: 8 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971659.481108790] [front.zed_node]: * Auto Exposure/Gain: TRUE [DYNAMIC] [component_container_isolated-2] [INFO] [1762971659.481143767] [front.zed_node]: * Exposure: 80 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971659.481179024] [front.zed_node]: * Gain: 80 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971659.481211707] [front.zed_node]: * Auto White Balance: TRUE [DYNAMIC] [component_container_isolated-2] [INFO] [1762971659.481252264] [front.zed_node]: * White Balance Temperature: 42 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971659.481290126] [front.zed_node]: * ZED X Exposure time: 16000 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971659.481325444] [front.zed_node]: * ZED X Auto Exp. time range min: 28 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971659.481362254] [front.zed_node]: * ZED X Auto Exp. time range max: 30000 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971659.481406698] [front.zed_node]: * ZED X Exposure comp.: 50 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971659.481444781] [front.zed_node]: * ZED X Analog Gain: 1255 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971659.481481942] [front.zed_node]: * ZED X Auto Analog Gain range min: 1000 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971659.481522660] [front.zed_node]: * ZED X Auto Analog Gain range max: 16000 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971659.481560281] [front.zed_node]: * ZED X Digital Gain: 1 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971659.481594316] [front.zed_node]: * ZED X Auto Digital Gain range min: 1 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971659.481627960] [front.zed_node]: * ZED X Auto Digital Gain range max: 256 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971659.481663468] [front.zed_node]: * ZED X Auto Digital Gain range max: 50 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971659.481677385] [front.zed_node]: === DEPTH parameters === [component_container_isolated-2] [INFO] [1762971659.481737179] [front.zed_node]: * Depth mode: NEURAL LIGHT [4] [component_container_isolated-2] [INFO] [1762971659.481800199] [front.zed_node]: * Min depth [m]: 0.01 [component_container_isolated-2] [INFO] [1762971659.481890421] [front.zed_node]: * Max depth [m]: 15 [component_container_isolated-2] [INFO] [1762971659.481979911] [front.zed_node]: * Depth Stabilization: 30 [component_container_isolated-2] [INFO] [1762971659.482056407] [front.zed_node]: * OpenNI mode (16bit depth): FALSE [component_container_isolated-2] [INFO] [1762971659.482127693] [front.zed_node]: * Point cloud rate [Hz]: 10 [component_container_isolated-2] [INFO] [1762971659.482193779] [front.zed_node]: * Point cloud resolution: COMPACT [component_container_isolated-2] [INFO] [1762971659.482299861] [front.zed_node]: * Depth Confidence: 95 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971659.482368141] [front.zed_node]: * Depth Texture Confidence: 100 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971659.482449837] [front.zed_node]: * Remove saturated areas: TRUE [DYNAMIC] [component_container_isolated-2] [INFO] [1762971659.482478682] [front.zed_node]: === GNSS FUSION parameters === [component_container_isolated-2] [INFO] [1762971659.482548555] [front.zed_node]: * GNSS fusion enabled: FALSE [component_container_isolated-2] [INFO] [1762971659.482566750] [front.zed_node]: === POSITIONAL TRACKING parameters === [component_container_isolated-2] [INFO] [1762971659.482635782] [front.zed_node]: * Positional tracking enabled: TRUE [component_container_isolated-2] [INFO] [1762971659.482711486] [front.zed_node]: * Positional tracking mode: GEN 2 [component_container_isolated-2] [INFO] [1762971659.482807209] [front.zed_node]: * Map frame id: map [component_container_isolated-2] [INFO] [1762971659.482903572] [front.zed_node]: * Odometry frame id: odom [component_container_isolated-2] [INFO] [1762971659.482999836] [front.zed_node]: * Broadcast Odometry TF: TRUE [component_container_isolated-2] [INFO] [1762971659.483090058] [front.zed_node]: * Broadcast Pose TF: TRUE [component_container_isolated-2] [INFO] [1762971659.483174098] [front.zed_node]: * Depth minimum range: 0 [component_container_isolated-2] [INFO] [1762971659.483256004] [front.zed_node]: * TF timestamp offset: 0 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971659.483370212] [front.zed_node]: * Path publishing rate: 2 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971659.483472206] [front.zed_node]: * Path history lenght: -1 [component_container_isolated-2] [INFO] [1762971659.483565655] [front.zed_node]: * Initial pose: [0,0,0,0,0,0,] [component_container_isolated-2] [INFO] [1762971659.483646609] [front.zed_node]: * Area Memory: TRUE [component_container_isolated-2] [INFO] [1762971659.483734126] [front.zed_node]: * Area Memory File:  [component_container_isolated-2] [INFO] [1762971659.483848294] [front.zed_node]: * Save Area Memory on closing: FALSE [component_container_isolated-2] [INFO] [1762971659.483935309] [front.zed_node]: * Camera is static: FALSE [component_container_isolated-2] [INFO] [1762971659.484006936] [front.zed_node]: * Gravity as origin: TRUE [component_container_isolated-2] [INFO] [1762971659.484096336] [front.zed_node]: * IMU Fusion: TRUE [component_container_isolated-2] [INFO] [1762971659.484190736] [front.zed_node]: * Floor Alignment: FALSE [component_container_isolated-2] [INFO] [1762971659.484275889] [front.zed_node]: * Reset Odometry with Loop Closure: TRUE [component_container_isolated-2] [INFO] [1762971659.484366582] [front.zed_node]: * Publish 3D Landmarks: FALSE [component_container_isolated-2] [INFO] [1762971659.484464088] [front.zed_node]: * Publish Landmark Skip Frame:  [component_container_isolated-2] [INFO] [1762971659.484565521] [front.zed_node]: * 2D mode: FALSE [component_container_isolated-2] [INFO] [1762971659.484643129] [front.zed_node]: * Reset pose with SVO loop: TRUE [component_container_isolated-2] [INFO] [1762971659.484661714] [front.zed_node]: === Region of Interest parameters === [component_container_isolated-2] [INFO] [1762971659.484732640] [front.zed_node]: * Automatic ROI generation: FALSE [component_container_isolated-2] [INFO] [1762971659.484844333] [front.zed_node]: * Manual ROI polygon: [] [component_container_isolated-2] [INFO] [1762971659.484865713] [front.zed_node]: === SENSORS STACK parameters === [component_container_isolated-2] [INFO] [1762971659.484943351] [front.zed_node]: * Broadcast IMU TF [not for ZED]: FALSE [component_container_isolated-2] [INFO] [1762971659.485037952] [front.zed_node]: * Sensors Camera Sync: FALSE [component_container_isolated-2] [INFO] [1762971659.485145346] [front.zed_node]: * Sensors publishing rate [Hz]: 100 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971659.485166837] [front.zed_node]: === Spatial Mapping parameters === [component_container_isolated-2] [INFO] [1762971659.485260867] [front.zed_node]: * Spatial Mapping Enabled: FALSE [component_container_isolated-2] [INFO] [1762971659.485345288] [front.zed_node]: * Spatial Mapping resolution [m]: 0.05 [component_container_isolated-2] [INFO] [1762971659.485424078] [front.zed_node]: * 3D Max Mapping range [m]: 5 [component_container_isolated-2] [INFO] [1762971659.485534579] [front.zed_node]: * Map publishing rate [Hz]: 1 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971659.485633878] [front.zed_node]: * Clicked point topic: /clicked_point [component_container_isolated-2] [INFO] [1762971659.485740812] [front.zed_node]: * Plane Det. Max Dist. Thresh.: 0.15 [component_container_isolated-2] [INFO] [1762971659.485871461] [front.zed_node]: * Plane Det. Normals Sim. Thresh.: 15 [component_container_isolated-2] [INFO] [1762971659.485908091] [front.zed_node]: === OBJECT DETECTION parameters === [component_container_isolated-2] [INFO] [1762971659.485999435] [front.zed_node]: * Object Det. enabled: FALSE [component_container_isolated-2] [INFO] [1762971659.486074949] [front.zed_node]: * Object Det. allow reduced precision: FALSE [component_container_isolated-2] [INFO] [1762971659.486187614] [front.zed_node]: * Object Det. maximum range [m]: 20 [component_container_isolated-2] [INFO] [1762971659.486298705] [front.zed_node]: * Object Det. prediction timeout [sec]: 2 [component_container_isolated-2] [INFO] [1762971659.486378027] [front.zed_node]: * Object Det. tracking: TRUE [component_container_isolated-2] [INFO] [1762971659.486493056] [front.zed_node]: * Object Filtering mode: NMS3D [component_container_isolated-2] [INFO] [1762971659.486640557] [front.zed_node]: * Object Det. model: MULTI CLASS BOX FAST [component_container_isolated-2] [INFO] [1762971659.486742612] [front.zed_node]: * MultiClassBox people: TRUE [DYNAMIC] [component_container_isolated-2] [INFO] [1762971659.486861128] [front.zed_node]: * MultiClassBox vehicles: TRUE [DYNAMIC] [component_container_isolated-2] [INFO] [1762971659.486944457] [front.zed_node]: * MultiClassBox bags: TRUE [DYNAMIC] [component_container_isolated-2] [INFO] [1762971659.487017225] [front.zed_node]: * MultiClassBox animals: TRUE [DYNAMIC] [component_container_isolated-2] [INFO] [1762971659.487088802] [front.zed_node]: * MultiClassBox electronics: TRUE [DYNAMIC] [component_container_isolated-2] [INFO] [1762971659.487171900] [front.zed_node]: * MultiClassBox fruits and vegetables: TRUE [DYNAMIC] [component_container_isolated-2] [INFO] [1762971659.487245731] [front.zed_node]: * MultiClassBox sport-related objects: TRUE [DYNAMIC] [component_container_isolated-2] [INFO] [1762971659.487331084] [front.zed_node]: * MultiClassBox people confidence: 65 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971659.487434982] [front.zed_node]: * MultiClassBox vehicles confidence: 60 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971659.487519453] [front.zed_node]: * MultiClassBox bags confidence: 40 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971659.487598043] [front.zed_node]: * MultiClassBox animals confidence: 40 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971659.487678626] [front.zed_node]: * MultiClassBox electronics confidence: 45 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971659.487779438] [front.zed_node]: * MultiClassBox fruits and vegetables confidence: 50 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971659.487872085] [front.zed_node]: * MultiClassBox sport-related objects confidence: 30 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971659.487903796] [front.zed_node]: === Body Track. parameters === [component_container_isolated-2] [INFO] [1762971659.487980071] [front.zed_node]: * Body Track. enabled: FALSE [component_container_isolated-2] [INFO] [1762971659.488068830] [front.zed_node]: * Body Track. model: HUMAN BODY MEDIUM [component_container_isolated-2] [INFO] [1762971659.488167859] [front.zed_node]: * Body Track. format: BODY 38 [component_container_isolated-2] [INFO] [1762971659.488244896] [front.zed_node]: * Body Track. allow reduced precision: FALSE [component_container_isolated-2] [INFO] [1762971659.488328716] [front.zed_node]: * Body Track. maximum range [m]: 15 [component_container_isolated-2] [INFO] [1762971659.488414690] [front.zed_node]: * Body Track. KP selection: FULL [component_container_isolated-2] [INFO] [1762971659.488532424] [front.zed_node]: * Body fitting: FALSE [component_container_isolated-2] [INFO] [1762971659.488635250] [front.zed_node]: * Body joints tracking: TRUE [component_container_isolated-2] [INFO] [1762971659.488723609] [front.zed_node]: * Body Track. prediction timeout [sec]: 0.5 [component_container_isolated-2] [INFO] [1762971659.488817097] [front.zed_node]: * Body Track. confidence thresh.: 50 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971659.488898121] [front.zed_node]: * Body Track. min. KP thresh.: 5 [DYNAMIC] [component_container_isolated-2] [INFO] [1762971659.488922778] [front.zed_node]: === STREAMING SERVER parameters === [component_container_isolated-2] [INFO] [1762971659.489007640] [front.zed_node]: * Streaming Server enabled: FALSE [component_container_isolated-2] [INFO] [1762971659.489083675] [front.zed_node]: * Stream codec: H264 [component_container_isolated-2] [INFO] [1762971659.489185850] [front.zed_node]: * Stream port: 30000 [component_container_isolated-2] [INFO] [1762971659.489291461] [front.zed_node]: * Stream bitrate: 12500 [component_container_isolated-2] [INFO] [1762971659.489375321] [front.zed_node]: * Stream GOP size: -1 [component_container_isolated-2] [INFO] [1762971659.489461295] [front.zed_node]: * Stream Chunk size: 16084 [component_container_isolated-2] [INFO] [1762971659.489534996] [front.zed_node]: * Adaptive bitrate: FALSE [component_container_isolated-2] [INFO] [1762971659.489611702] [front.zed_node]: * Target frame rate:0 [component_container_isolated-2] [INFO] [1762971659.489629987] [front.zed_node]: === ADVANCED parameters === [component_container_isolated-2] [INFO] [1762971659.489704879] [front.zed_node]: * Thread sched. policy: SCHED_BATCH [component_container_isolated-2] [INFO] [1762971659.489796033] [front.zed_node]: === SERVICES === [component_container_isolated-2] [INFO] [1762971659.491288048] [front.zed_node]: * Advertised on service: '/front/zed_node/reset_odometry' [component_container_isolated-2] [INFO] [1762971659.492101709] [front.zed_node]: * Advertised on service: '/front/zed_node/reset_pos_tracking' [component_container_isolated-2] [INFO] [1762971659.494089860] [front.zed_node]: * Advertised on service: '/front/zed_node/set_pose' [component_container_isolated-2] [INFO] [1762971659.494911356] [front.zed_node]: * Advertised on service: '/front/zed_node/save_area_memory' [component_container_isolated-2] [INFO] [1762971659.495675813] [front.zed_node]: * Advertised on service: '/front/zed_node/enable_obj_det' [component_container_isolated-2] [INFO] [1762971659.496400024] [front.zed_node]: * Advertised on service: '/front/zed_node/enable_body_trk' [component_container_isolated-2] [INFO] [1762971659.497137560] [front.zed_node]: * Advertised on service: '/front/zed_node/enable_mapping' [component_container_isolated-2] [INFO] [1762971659.497887560] [front.zed_node]: * Advertised on service: '/front/zed_node/enable_streaming' [component_container_isolated-2] [INFO] [1762971659.498647199] [front.zed_node]: * Advertised on service: '/front/zed_node/start_svo_rec' [component_container_isolated-2] [INFO] [1762971659.499401056] [front.zed_node]: * Advertised on service: '/front/zed_node/stop_svo_rec' [component_container_isolated-2] [INFO] [1762971659.500133142] [front.zed_node]: * Advertised on service: '/front/zed_node/set_roi' [component_container_isolated-2] [INFO] [1762971659.500855749] [front.zed_node]: * Advertised on service: '/front/zed_node/reset_roi' [component_container_isolated-2] [INFO] [1762971659.500903200] [front.zed_node]: === STARTING CAMERA === [component_container_isolated-2] [INFO] [1762971659.500986338] [front.zed_node]: ZED SDK Version: 5.1.0 - Build 106231_f4e0c540 [component_container_isolated-2] [INFO] [1762971659.507452757] [front.zed_node]: === LOCAL STREAMING OPENING === [component_container_isolated-2] [2025-11-12 13:21:00 UTC][ZED][INFO] Logging level INFO [component_container_isolated-2] [Streaming] No backward compatibility required. [component_container_isolated-2] [2025-11-12 13:21:00 UTC][ZED][INFO] [Init] Serial Number: S/N 40483530 [component_container_isolated-2] [2025-11-12 13:21:00 UTC][ZED][INFO] [Init] Depth mode: NEURAL LIGHT [component_container_isolated-2] [INFO] [1762971660.931886150] [front.zed_node]: * ZED SDK running on GPU #0 [component_container_isolated-2] [INFO] [1762971660.931948659] [front.zed_node]: * Camera Model -> ZED X [component_container_isolated-2] [INFO] [1762971660.931956193] [front.zed_node]: * Serial Number -> 40483530 [component_container_isolated-2] [INFO] [1762971660.932032899] [front.zed_node]: * Focal Length -> 2.20477 mm [component_container_isolated-2] [INFO] [1762971660.932048790] [front.zed_node]: * Input -> STREAM [component_container_isolated-2] [INFO] [1762971660.932056645] [front.zed_node]: * Camera FW Version -> 2001 [component_container_isolated-2] [INFO] [1762971660.932062195] [front.zed_node]: * Sensors FW Version -> 0 [component_container_isolated-2] [INFO] [1762971660.932069479] [front.zed_node]: * Camera grab size -> 1920x1200 [component_container_isolated-2] [INFO] [1762971660.932076352] [front.zed_node]: * Color/Depth publishing size -> 960x600 [component_container_isolated-2] [INFO] [1762971660.932082404] [front.zed_node]: * Point Cloud publishing size -> 448x256 [component_container_isolated-2] [INFO] [1762971660.932102943] [front.zed_node]: === TF FRAMES === [component_container_isolated-2] [INFO] [1762971660.932109706] [front.zed_node]: * Map -> map [component_container_isolated-2] [INFO] [1762971660.932115246] [front.zed_node]: * Odometry -> odom [component_container_isolated-2] [INFO] [1762971660.932120697] [front.zed_node]: * Base -> front_camera_link [component_container_isolated-2] [INFO] [1762971660.932126327] [front.zed_node]: * Camera -> front_camera_center [component_container_isolated-2] [INFO] [1762971660.932132068] [front.zed_node]: * Left -> front_left_camera_frame [component_container_isolated-2] [INFO] [1762971660.932137008] [front.zed_node]: * Left Optical -> front_left_camera_optical_frame [component_container_isolated-2] [INFO] [1762971660.932142659] [front.zed_node]: * Right -> front_right_camera_frame [component_container_isolated-2] [INFO] [1762971660.932147728] [front.zed_node]: * Right Optical -> front_right_camera_optical_frame [component_container_isolated-2] [INFO] [1762971660.932152828] [front.zed_node]: * Depth -> front_left_camera_frame [component_container_isolated-2] [INFO] [1762971660.932157787] [front.zed_node]: * Depth Optical -> front_left_camera_optical_frame [component_container_isolated-2] [INFO] [1762971660.932162817] [front.zed_node]: * Point Cloud -> front_left_camera_frame [component_container_isolated-2] [INFO] [1762971660.932167937] [front.zed_node]: * IMU -> front_imu_link [component_container_isolated-2] [INFO] [1762971660.932202593] [front.zed_node]: === PUBLISHED TOPICS === [component_container_isolated-2] [INFO] [1762971660.933566824] [front.zed_node]: * Advertised on topic: /front/zed_node/status/health [component_container_isolated-2] [INFO] [1762971660.934063280] [front.zed_node]: * Advertised on topic: /front/zed_node/status/heartbeat [component_container_isolated-2] [INFO] [1762971661.044222135] [FFMPEGPublisher]: using libav encoder: libx264 [component_container_isolated-2] [WARN] [1762971661.044441193] [front.zed_node]: gop_size not set, defaulting to 10. This may severely affect lag and performance! [component_container_isolated-2] [INFO] [1762971661.049281141] [FoxglovePublisher]: using libav encoder: libx264 [component_container_isolated-2] [WARN] [1762971661.049648351] [front.zed_node]: gop_size not set, defaulting to 1 which is required for foxglove! [component_container_isolated-2] [INFO] [1762971661.055776134] [front.zed_node]: * Advertised on topic: /front/zed_node/rgb/color/rect/image [component_container_isolated-2] [INFO] [1762971661.057830070] [front.zed_node]: * Advertised on topic: /front/zed_node/rgb/color/rect/image/compressedDepth [image_transport] [component_container_isolated-2] [INFO] [1762971661.057847793] [front.zed_node]: * Advertised on topic: /front/zed_node/rgb/color/rect/image/compressed [image_transport] [component_container_isolated-2] [INFO] [1762971661.057854837] [front.zed_node]: * Advertised on topic: /front/zed_node/rgb/color/rect/image/ffmpeg [image_transport] [component_container_isolated-2] [INFO] [1762971661.057860989] [front.zed_node]: * Advertised on topic: /front/zed_node/rgb/color/rect/image/foxglove [image_transport] [component_container_isolated-2] [INFO] [1762971661.057867130] [front.zed_node]: * Advertised on topic: /front/zed_node/rgb/color/rect/image/raw [image_transport] [component_container_isolated-2] [INFO] [1762971661.057886858] [front.zed_node]: * Advertised on topic: /front/zed_node/rgb/color/rect/image/theora [image_transport] [component_container_isolated-2] [INFO] [1762971661.058728803] [FFMPEGPublisher]: using libav encoder: libx264 [component_container_isolated-2] [WARN] [1762971661.058950075] [front.zed_node]: gop_size not set, defaulting to 10. This may severely affect lag and performance! [component_container_isolated-2] [INFO] [1762971661.059367371] [FoxglovePublisher]: using libav encoder: libx264 [component_container_isolated-2] [WARN] [1762971661.059763155] [front.zed_node]: gop_size not set, defaulting to 1 which is required for foxglove! [component_container_isolated-2] [INFO] [1762971661.060535788] [front.zed_node]: * Advertised on topic: /front/zed_node/depth/depth_registered [component_container_isolated-2] [INFO] [1762971661.060621923] [front.zed_node]: * Advertised on topic: /front/zed_node/depth/depth_registered/compressedDepth [image_transport] [component_container_isolated-2] [INFO] [1762971661.060631010] [front.zed_node]: * Advertised on topic: /front/zed_node/depth/depth_registered/compressed [image_transport] [component_container_isolated-2] [INFO] [1762971661.060637071] [front.zed_node]: * Advertised on topic: /front/zed_node/depth/depth_registered/ffmpeg [image_transport] [component_container_isolated-2] [INFO] [1762971661.060642842] [front.zed_node]: * Advertised on topic: /front/zed_node/depth/depth_registered/foxglove [image_transport] [component_container_isolated-2] [INFO] [1762971661.060648393] [front.zed_node]: * Advertised on topic: /front/zed_node/depth/depth_registered/raw [image_transport] [component_container_isolated-2] [INFO] [1762971661.060653954] [front.zed_node]: * Advertised on topic: /front/zed_node/depth/depth_registered/theora [image_transport] [component_container_isolated-2] [INFO] [1762971661.061115604] [front.zed_node]: * Advertised on topic: /front/zed_node/rgb/color/rect/camera_info [component_container_isolated-2] [INFO] [1762971661.061379256] [front.zed_node]: * Advertised on topic: /front/zed_node/rgb/color/rect/image/camera_info [component_container_isolated-2] [INFO] [1762971661.061647748] [front.zed_node]: * Advertised on topic: /front/zed_node/depth/camera_info [component_container_isolated-2] [INFO] [1762971661.061907574] [front.zed_node]: * Advertised on topic: /front/zed_node/depth/depth_registered/camera_info [component_container_isolated-2] [INFO] [1762971661.070473776] [front.zed_node]: * Advertised on topic: /front/zed_node/point_cloud/cloud_registered [component_container_isolated-2] [INFO] [1762971661.071113886] [front.zed_node]: * Advertised on topic: /front/zed_node/pose [component_container_isolated-2] [INFO] [1762971661.071646922] [front.zed_node]: * Advertised on topic: /front/zed_node/pose/status [component_container_isolated-2] [INFO] [1762971661.072919879] [front.zed_node]: * Advertised on topic: /front/zed_node/odom [component_container_isolated-2] [INFO] [1762971661.073494224] [front.zed_node]: * Advertised on topic: /front/zed_node/imu/data [component_container_isolated-2] [INFO] [1762971661.073522408] [front.zed_node]: Camera-IMU Translation: [component_container_isolated-2] 0 -0.035649 -0.000147 [component_container_isolated-2] [INFO] [1762971661.073556824] [front.zed_node]: Camera-IMU Rotation: [component_container_isolated-2] 73F60FFFCDB0 [component_container_isolated-2] 0.999921 0.001340 0.012508 [component_container_isolated-2] -0.001246 0.999971 -0.007463 [component_container_isolated-2] -0.012518 0.007447 0.999894 [component_container_isolated-2]  [component_container_isolated-2] [INFO] [1762971661.073566913] [front.zed_node]: ===Subscribers === [component_container_isolated-2] [INFO] [1762971661.074302666] [front.zed_node]: * Plane detection: '/clicked_point' [component_container_isolated-2] [INFO] [1762971661.226871448] [front.zed_node]: === Starting Positional Tracking === [component_container_isolated-2] [INFO] [1762971661.226930310] [front.zed_node]: * Waiting for valid static transformations... [component_container_isolated-2] [INFO] [1762971661.227031814] [front.zed_node]: Static transform ref. CMOS Sensor to Base [front_left_camera_frame -> front_camera_link] [component_container_isolated-2] [INFO] [1762971661.227044979] [front.zed_node]: * Translation: {0.010,-0.060,-0.016} [component_container_isolated-2] [INFO] [1762971661.227054176] [front.zed_node]: * Rotation: {0.000,-0.000,0.000} [component_container_isolated-2] [INFO] [1762971661.227070597] [front.zed_node]: Static transform ref. CMOS Sensor to Camera Center [front_left_camera_frame -> front_camera_center] [component_container_isolated-2] [INFO] [1762971661.227077220] [front.zed_node]: * Translation: {0.010,-0.060,0.000} [component_container_isolated-2] [INFO] [1762971661.227092950] [front.zed_node]: * Rotation: {0.000,-0.000,0.000} [component_container_isolated-2] [INFO] [1762971661.227106496] [front.zed_node]: Static transform Camera Center to Base [front_camera_center -> front_camera_link] [component_container_isolated-2] [INFO] [1762971661.227112417] [front.zed_node]: * Translation: {0.000,0.000,-0.016} [component_container_isolated-2] [INFO] [1762971661.227119391] [front.zed_node]: * Rotation: {0.000,-0.000,0.000} [component_container_isolated-2] [INFO] [1762971661.228198768] [front.zed_node]: Initial ZED left camera pose (ZED pos. tracking):  [component_container_isolated-2] [INFO] [1762971661.228229547] [front.zed_node]: * T: [-0.01,0.06,0.016] [component_container_isolated-2] [INFO] [1762971661.228241139] [front.zed_node]: * Q: [0,0,0,1] [component_container_isolated-2] [2025-11-12 13:21:01 UTC][ZED][WARNING] [Positional Tracking] GEN 2 is deprecated; consider updating to a GEN 3 instead.