ZED SDK 5.1.2 params ZED SDK 5.1.2 output jetson5@jetson5:~/fg_ws$ ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zed2i [INFO] [launch]: All log files can be found below /home/jetson5/.ros/log/2026-02-08-16-37-26-780664-jetson5-469734 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [launch.user]: Using common configuration file: /home/jetson5/fg_ws/install/zed_wrapper/share/zed_wrapper/config/common_stereo.yaml [INFO] [launch.user]: Using camera configuration file: /home/jetson5/fg_ws/install/zed_wrapper/share/zed_wrapper/config/zed2i.yaml [INFO] [launch.user]: Using Object Detection configuration file: /home/jetson5/fg_ws/install/zed_wrapper/share/zed_wrapper/config/object_detection.yaml [INFO] [launch.user]: Using Custom Object Detection configuration file: /home/jetson5/fg_ws/install/zed_wrapper/share/zed_wrapper/config/custom_object_detection.yaml [INFO] [launch.user]: Loading ZED node `zed_node` in container `/zed/zed_container` [INFO] [robot_state_publisher-1]: process started with pid [469756] [INFO] [component_container_isolated-2]: process started with pid [469758] [robot_state_publisher-1] [INFO] [1770586647.810890307] [zed.zed_state_publisher]: got segment zed_camera_center [robot_state_publisher-1] [INFO] [1770586647.813116244] [zed.zed_state_publisher]: got segment zed_camera_link [robot_state_publisher-1] [INFO] [1770586647.813910373] [zed.zed_state_publisher]: got segment zed_left_camera_frame [robot_state_publisher-1] [INFO] [1770586647.818374949] [zed.zed_state_publisher]: got segment zed_left_camera_frame_optical [robot_state_publisher-1] [INFO] [1770586647.819487805] [zed.zed_state_publisher]: got segment zed_right_camera_frame [robot_state_publisher-1] [INFO] [1770586647.820124683] [zed.zed_state_publisher]: got segment zed_right_camera_frame_optical [component_container_isolated-2] [INFO] [1770586648.008925148] [zed.zed_container]: Load Library: /home/jetson5/fg_ws/install/zed_components/lib/libzed_camera_component.so [component_container_isolated-2] [INFO] [1770586648.067696628] [zed.zed_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_isolated-2] [INFO] [1770586648.067797526] [zed.zed_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [component_container_isolated-2] [INFO] [1770586648.158235259] [zed.zed_node]: ================================ [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/zed/zed_node' in container '/zed/zed_container' [component_container_isolated-2] [INFO] [1770586648.158299101] [zed.zed_node]: ZED Camera Component [component_container_isolated-2] [INFO] [1770586648.158311389] [zed.zed_node]: ================================ [component_container_isolated-2] [INFO] [1770586648.158319933] [zed.zed_node]: * IPC: enabled [component_container_isolated-2] [INFO] [1770586648.208554172] [zed.zed_node]: * namespace: /zed [component_container_isolated-2] [INFO] [1770586648.208660479] [zed.zed_node]: * node name: zed_node [component_container_isolated-2] [INFO] [1770586648.208676255] [zed.zed_node]: ================================ [component_container_isolated-2] [INFO] [1770586648.208685887] [zed.zed_node]: Starting node initialization... [component_container_isolated-2] [INFO] [1770586648.208727104] [zed.zed_node]: === DEBUG parameters === [component_container_isolated-2] [INFO] [1770586648.208979750] [zed.zed_node]: * SDK Verbose: 1 [component_container_isolated-2] [INFO] [1770586648.209102440] [zed.zed_node]: * Use Pub Timestamps: FALSE [component_container_isolated-2] [INFO] [1770586648.209186762] [zed.zed_node]: * SDK Verbose File: [component_container_isolated-2] [INFO] [1770586648.209256332] [zed.zed_node]: * Debug Common: FALSE [component_container_isolated-2] [INFO] [1770586648.209323949] [zed.zed_node]: * Debug Grab (low level): FALSE [component_container_isolated-2] [INFO] [1770586648.209387182] [zed.zed_node]: * Debug Simulation: FALSE [component_container_isolated-2] [INFO] [1770586648.209448304] [zed.zed_node]: * Debug Video/Depth: FALSE [component_container_isolated-2] [INFO] [1770586648.209519793] [zed.zed_node]: * Debug Control settings: FALSE [component_container_isolated-2] [INFO] [1770586648.209579059] [zed.zed_node]: * Debug Point Cloud: FALSE [component_container_isolated-2] [INFO] [1770586648.209637908] [zed.zed_node]: * Debug TF: FALSE [component_container_isolated-2] [INFO] [1770586648.209692565] [zed.zed_node]: * Debug Positional Tracking: FALSE [component_container_isolated-2] [INFO] [1770586648.209751414] [zed.zed_node]: * Debug GNSS: FALSE [component_container_isolated-2] [INFO] [1770586648.209803991] [zed.zed_node]: * Debug sensors: FALSE [component_container_isolated-2] [INFO] [1770586648.209870553] [zed.zed_node]: * Debug Mapping: FALSE [component_container_isolated-2] [INFO] [1770586648.209929978] [zed.zed_node]: * Debug Object Detection: FALSE [component_container_isolated-2] [INFO] [1770586648.209984827] [zed.zed_node]: * Debug Body Tracking: FALSE [component_container_isolated-2] [INFO] [1770586648.210041693] [zed.zed_node]: * Debug Streaming: FALSE [component_container_isolated-2] [INFO] [1770586648.210117054] : * Debug ROI: FALSE [component_container_isolated-2] [INFO] [1770586648.210178752] : * Debug Nitros: FALSE [component_container_isolated-2] [INFO] [1770586648.210241249] : * Debug Advanced: FALSE [component_container_isolated-2] [INFO] [1770586648.210276162]: === TOPIC selection parameters === [component_container_isolated-2] [INFO] [1770586648.210358948] : * Publish Status: TRUE [component_container_isolated-2] [INFO] [1770586648.210429733] : * Image format: BGRA 32-bit [component_container_isolated-2] [INFO] [1770586648.210491974] : * Publish Left/Right images: FALSE [component_container_isolated-2] [INFO] [1770586648.210572520] : * Publish Raw images: FALSE [component_container_isolated-2] [INFO] [1770586648.210711851] [zed.zed_node]: * Publish Gray images: FALSE [component_container_isolated-2] [INFO] [1770586648.210784813] [zed.zed_node]: * Publish RGB image: TRUE [component_container_isolated-2] [INFO] [1770586648.210859118] [zed.zed_node]: * Publish Stereo image: FALSE [component_container_isolated-2] [INFO] [1770586648.210931408] [zed.zed_node]: * Publish ROI Mask image: FALSE [component_container_isolated-2] [INFO] : * Publish Depth Map: TRUE [component_container_isolated-2] [INFO] [1770586648.211064083] [zed.zed_node]: * Publish Depth Info: FALSE [component_container_isolated-2] [INFO] : * Publish Point Cloud: TRUE [component_container_isolated-2] [INFO] [1770586648.211206934] [zed.zed_node]: * Publish Depth Confidence: FALSE [component_container_isolated-2] [INFO] [1770586648.211267863] [zed.zed_node]: * Publish Disparity: FALSE [component_container_isolated-2] [INFO] : * Publish IMU: TRUE [component_container_isolated-2] [INFO] [1770586648.211395194] [zed.zed_node]: * Publish IMU Raw: FALSE [component_container_isolated-2] [INFO] [1770586648.211457179] [zed.zed_node]: * Publish LeftCam/IMU Transf.: FALSE [component_container_isolated-2] [INFO] [1770586648.211525821] [zed.zed_node]: * Publish Magnetometer: FALSE [component_container_isolated-2] [INFO] [1770586648.211597086] [zed.zed_node]: * Publish Barometer: FALSE [component_container_isolated-2] [INFO] [1770586648.211670176] [zed.zed_node]: * Publish Temperature: FALSE [component_container_isolated-2] [INFO] [1770586648.211744449] [zed.zed_node]: * Publish Odometry/Pose: TRUE [component_container_isolated-2] [INFO] [1770586648.211808675] [zed.zed_node]: * Publish Pose with Covariance: FALSE [component_container_isolated-2] [INFO] [1770586648.211958854] [zed.zed_node]: * Publish Camera Path: TRUE [component_container_isolated-2] [INFO] [1770586648.212031848] [zed.zed_node]: * Publish Detection Plane: FALSE [component_container_isolated-2] [INFO] [1770586648.212175339] [zed.zed_node]: === SVO INPUT parameters === [component_container_isolated-2] [INFO] [1770586648.212265901] [zed.zed_node]: === LOCAL STREAMING parameters === [component_container_isolated-2] [INFO] [1770586648.212353263] [zed.zed_node]: === GENERAL parameters === [component_container_isolated-2] [INFO] [1770586648.212496594] [zed.zed_node]: * Camera model: zed2i - ZED 2i [component_container_isolated-2] [INFO] [1770586648.212582388] [zed.zed_node]: * Camera name: zed [component_container_isolated-2] [INFO] [1770586648.212659541] [zed.zed_node]: * Camera SN: 0 [component_container_isolated-2] [INFO] [1770586648.212779384] [zed.zed_node]: * Camera ID: -1 [component_container_isolated-2] [INFO] [1770586648.212867610] [zed.zed_node]: * Camera timeout [sec]: 5 [component_container_isolated-2] [INFO] [1770586648.212935163] [zed.zed_node]: * Camera reconnection temptatives: 5 [component_container_isolated-2] [INFO] [1770586648.213003517] [zed.zed_node]: * Camera framerate: 15 [component_container_isolated-2] [INFO] [1770586648.213124351] [zed.zed_node]: * GPU ID: -1 [component_container_isolated-2] [INFO] [1770586648.213196897] [zed.zed_node]: * Asynchronous image retrieval: FALSE [component_container_isolated-2] [INFO] [1770586648.213323780] [zed.zed_node]: * Image Validity Check: 1 [component_container_isolated-2] [INFO] [1770586648.213422982] [zed.zed_node]: * Camera resolution: HD1080 [component_container_isolated-2] [INFO] [1770586648.213523656] [zed.zed_node]: * Publishing resolution: CUSTOM [component_container_isolated-2] [INFO] [1770586648.213633322] [zed.zed_node]: * Publishing downscale factor: 2 [component_container_isolated-2] [INFO] [1770586648.213750509] [zed.zed_node]: * OpenCV custom calibration: [component_container_isolated-2] [INFO] [1770586648.213825743] [zed.zed_node]: * Camera self calibration: TRUE [component_container_isolated-2] [INFO] [1770586648.213942545] [zed.zed_node]: * Camera flip: FALSE [component_container_isolated-2] [INFO] [1770586648.214027763] [zed.zed_node]: * Publish framerate [Hz]: 15 [component_container_isolated-2] [INFO] [1770586648.214069812] [zed.zed_node]: === VIDEO parameters === [component_container_isolated-2] [INFO] [1770586648.214158358] [zed.zed_node]: * Brightness: 4 [DYNAMIC] [component_container_isolated-2] [INFO] [1770586648.214229047] [zed.zed_node]: * Contrast: 4 [DYNAMIC] [component_container_isolated-2] [INFO] [1770586648.214287801] [zed.zed_node]: * Hue: 0 [DYNAMIC] [component_container_isolated-2] [INFO] [1770586648.214408187] [zed.zed_node]: * Saturation: 4 [DYNAMIC] [component_container_isolated-2] [INFO] [1770586648.214473917] [zed.zed_node]: * Sharpness: 4 [DYNAMIC] [component_container_isolated-2] [INFO] [1770586648.214532030] [zed.zed_node]: * Gamma: 8 [DYNAMIC] [component_container_isolated-2] [INFO] [1770586648.214653216] [zed.zed_node]: * Auto Exposure/Gain: TRUE [DYNAMIC] [component_container_isolated-2] [INFO] [1770586648.214732610] [zed.zed_node]: * Exposure: 80 [DYNAMIC] [component_container_isolated-2] [INFO] [1770586648.214799492] [zed.zed_node]: * Gain: 80 [DYNAMIC] [component_container_isolated-2] [INFO] [1770586648.214900966] [zed.zed_node]: * Auto White Balance: TRUE [DYNAMIC] [component_container_isolated-2] [INFO] [1770586648.215021704] [zed.zed_node]: * White Balance Temperature: 42 [DYNAMIC] [component_container_isolated-2] [INFO] [1770586648.215051273] [zed.zed_node]: === DEPTH parameters === [component_container_isolated-2] [INFO] [1770586648.215191820] [zed.zed_node]: * Depth mode: NEURAL LIGHT [4] [component_container_isolated-2] [INFO] [1770586648.215274158] [zed.zed_node]: * Min depth [m]: 0.01 [component_container_isolated-2] [INFO] [1770586648.215349104] [zed.zed_node]: * Max depth [m]: 15 [component_container_isolated-2] [INFO] [1770586648.215470130] [zed.zed_node]: * Depth Stabilization: 30 [component_container_isolated-2] [INFO] [1770586648.215547412] [zed.zed_node]: * OpenNI mode (16bit depth): FALSE [component_container_isolated-2] [INFO] [1770586648.215620981] [zed.zed_node]: * Point cloud rate [Hz]: 10 [component_container_isolated-2] [INFO] [1770586648.215689111] [zed.zed_node]: * Point cloud resolution: COMPACT [component_container_isolated-2] [INFO] [1770586648.215806489] [zed.zed_node]: * Depth Confidence: 95 [DYNAMIC] [component_container_isolated-2] [INFO] [1770586648.215897467] [zed.zed_node]: * Depth Texture Confidence: 100 [DYNAMIC] [component_container_isolated-2] [INFO] [1770586648.215962941] [zed.zed_node]: * Remove saturated areas: TRUE [DYNAMIC] [component_container_isolated-2] [INFO] [1770586648.215987805] [zed.zed_node]: === GNSS FUSION parameters === [component_container_isolated-2] [INFO] [1770586648.216051167] [zed.zed_node]: * GNSS fusion enabled: FALSE [component_container_isolated-2] [INFO] [1770586648.216073503] [zed.zed_node]: === POSITIONAL TRACKING parameters === [component_container_isolated-2] [INFO] [1770586648.216170817] [zed.zed_node]: * Positional tracking enabled: TRUE [component_container_isolated-2] [INFO] [1770586648.216262883] [zed.zed_node]: * Positional tracking mode: GEN 3 [component_container_isolated-2] [INFO] [1770586648.216369254] [zed.zed_node]: * Map frame id: map [component_container_isolated-2] [INFO] [1770586648.216495720] [zed.zed_node]: * Odometry frame id: odom [component_container_isolated-2] [INFO] [1770586648.216603947] [zed.zed_node]: * Broadcast Odometry TF: TRUE [component_container_isolated-2] [INFO] [1770586648.216718637] [zed.zed_node]: * Broadcast Pose TF: TRUE [component_container_isolated-2] [INFO] [1770586648.216895153] [zed.zed_node]: * Depth minimum range: 0 [component_container_isolated-2] [INFO] [1770586648.217004179] [zed.zed_node]: * TF timestamp offset: 0 [DYNAMIC] [component_container_isolated-2] [INFO] [1770586648.217100213] [zed.zed_node]: * Path publishing rate: 2 [DYNAMIC] [component_container_isolated-2] [INFO] [1770586648.217206648] [zed.zed_node]: * Path history lenght: -1 [component_container_isolated-2] [INFO] [1770586648.217301274] [zed.zed_node]: * Initial pose: [0,0,0,0,0,0,] [component_container_isolated-2] [INFO] [1770586648.217383036] [zed.zed_node]: * Area Memory: TRUE [component_container_isolated-2] [INFO] [1770586648.217450845] [zed.zed_node]: * Area Memory File: [component_container_isolated-2] [INFO] [1770586648.217593024] [zed.zed_node]: * Enable Localization Only: FALSE [component_container_isolated-2] [INFO] [1770586648.217717891] [zed.zed_node]: * Save Area Memory on closing: FALSE [component_container_isolated-2] [INFO] [1770586648.217820645] [zed.zed_node]: * Camera is static: FALSE [component_container_isolated-2] [INFO] [1770586648.217928519] [zed.zed_node]: * Gravity as origin: TRUE [component_container_isolated-2] [INFO] [1770586648.218034090] [zed.zed_node]: * IMU Fusion: TRUE [component_container_isolated-2] [INFO] [1770586648.218126252] [zed.zed_node]: * Floor Alignment: FALSE [component_container_isolated-2] [INFO] [1770586648.218210093] [zed.zed_node]: * Reset Odometry with Loop Closure: TRUE [component_container_isolated-2] [INFO] [1770586648.218344720] [zed.zed_node]: * Publish 3D Landmarks: FALSE [component_container_isolated-2] [INFO] [1770586648.218469491] [zed.zed_node]: * Publish Landmark Skip Frame: [component_container_isolated-2] [INFO] [1770586648.218557461] [zed.zed_node]: * 2D mode: TRUE [component_container_isolated-2] [INFO] [1770586648.218652919] [zed.zed_node]: * Fixed Z value: 0 [component_container_isolated-2] [INFO] [1770586648.218789594] [zed.zed_node]: * Reset pose with SVO loop: TRUE [component_container_isolated-2] [INFO] [1770586648.218816667] [zed.zed_node]: === Region of Interest parameters === [component_container_isolated-2] [INFO] [1770586648.218894812] [zed.zed_node]: * Automatic ROI generation: FALSE [component_container_isolated-2] [INFO] [1770586648.219002911] [zed.zed_node]: * Manual ROI polygon: [] [component_container_isolated-2] [INFO] [1770586648.219025343] [zed.zed_node]: === SENSORS STACK parameters === [component_container_isolated-2] [INFO] [1770586648.219098305] [zed.zed_node]: * Broadcast IMU TF [not for ZED]: FALSE [component_container_isolated-2] [INFO] [1770586648.219202339] [zed.zed_node]: * Sensors Camera Sync: FALSE [component_container_isolated-2] [INFO] [1770586648.219311749] [zed.zed_node]: * Sensors publishing rate [Hz]: 100 [DYNAMIC] [component_container_isolated-2] [INFO] [1770586648.219336486] [zed.zed_node]: === Spatial Mapping parameters === [component_container_isolated-2] [INFO] [1770586648.219414535] [zed.zed_node]: * Spatial Mapping Enabled: FALSE [component_container_isolated-2] [INFO] [1770586648.219521258] [zed.zed_node]: * Spatial Mapping resolution [m]: 0.05 [component_container_isolated-2] [INFO] [1770586648.219611564] [zed.zed_node]: * 3D Max Mapping range [m]: 5 [component_container_isolated-2] [INFO] [1770586648.219749103] [zed.zed_node]: * Map publishing rate [Hz]: 1 [DYNAMIC] [component_container_isolated-2] [INFO] [1770586648.219841809] [zed.zed_node]: * Clicked point topic: /clicked_point [component_container_isolated-2] [INFO] [1770586648.219947475] [zed.zed_node]: * Plane Det. Max Dist. Thresh.: 0.15 [component_container_isolated-2] [INFO] [1770586648.220055733] [zed.zed_node]: * Plane Det. Normals Sim. Thresh.: 15 [component_container_isolated-2] [INFO] [1770586648.220100662] [zed.zed_node]: === OBJECT DETECTION parameters === [component_container_isolated-2] [INFO] [1770586648.220220633] [zed.zed_node]: * Object Det. enabled: FALSE [component_container_isolated-2] [INFO] [1770586648.220314267] [zed.zed_node]: * Object Det. allow reduced precision: FALSE [component_container_isolated-2] [INFO] [1770586648.220458622] [zed.zed_node]: * Object Det. maximum range [m]: 20 [component_container_isolated-2] [INFO] [1770586648.220556224] [zed.zed_node]: * Object Det. prediction timeout [sec]: 2 [component_container_isolated-2] [INFO] [1770586648.220636802] [zed.zed_node]: * Object Det. tracking: TRUE [component_container_isolated-2] [INFO] [1770586648.220801350] [zed.zed_node]: * Object Filtering mode: NMS3D [component_container_isolated-2] [INFO] [1770586648.220940297] [zed.zed_node]: * Object Det. model: MULTI CLASS BOX FAST [component_container_isolated-2] [INFO] [1770586648.221045611] [zed.zed_node]: * MultiClassBox people: TRUE [DYNAMIC] [component_container_isolated-2] [INFO] [1770586648.221172430] [zed.zed_node]: * MultiClassBox vehicles: TRUE [DYNAMIC] [component_container_isolated-2] [INFO] [1770586648.221265392] [zed.zed_node]: * MultiClassBox bags: TRUE [DYNAMIC] [component_container_isolated-2] [INFO] [1770586648.221354577] [zed.zed_node]: * MultiClassBox animals: TRUE [DYNAMIC] [component_container_isolated-2] [INFO] [1770586648.221442131] [zed.zed_node]: * MultiClassBox electronics: TRUE [DYNAMIC] [component_container_isolated-2] [INFO] [1770586648.221522229] [zed.zed_node]: * MultiClassBox fruits and vegetables: TRUE [DYNAMIC] [component_container_isolated-2] [INFO] [1770586648.221599543] [zed.zed_node]: * MultiClassBox sport-related objects: TRUE [DYNAMIC] [component_container_isolated-2] [INFO] [1770586648.221682009] [zed.zed_node]: * MultiClassBox people confidence: 65 [DYNAMIC] [component_container_isolated-2] [INFO] [1770586648.221833884] [zed.zed_node]: * MultiClassBox vehicles confidence: 60 [DYNAMIC] [component_container_isolated-2] [INFO] [1770586648.221925886] [zed.zed_node]: * MultiClassBox bags confidence: 40 [DYNAMIC] [component_container_isolated-2] [INFO] [1770586648.222045920] [zed.zed_node]: * MultiClassBox animals confidence: 40 [DYNAMIC] [component_container_isolated-2] [INFO] [1770586648.222146531] [zed.zed_node]: * MultiClassBox electronics confidence: 45 [DYNAMIC] [component_container_isolated-2] [INFO] [1770586648.222234661] [zed.zed_node]: * MultiClassBox fruits and vegetables confidence: 50 [DYNAMIC] [component_container_isolated-2] [INFO] [1770586648.222369159] [zed.zed_node]: * MultiClassBox sport-related objects confidence: 30 [DYNAMIC] [component_container_isolated-2] [INFO] [1770586648.222397288] [zed.zed_node]: === Body Track. parameters === [component_container_isolated-2] [INFO] [1770586648.222497226] [zed.zed_node]: * Body Track. enabled: FALSE [component_container_isolated-2] [INFO] [1770586648.222614061] [zed.zed_node]: * Body Track. model: HUMAN BODY MEDIUM [component_container_isolated-2] [INFO] [1770586648.222720079] [zed.zed_node]: * Body Track. format: BODY 38 [component_container_isolated-2] [INFO] [1770586648.222828529] [zed.zed_node]: * Body Track. allow reduced precision: FALSE [component_container_isolated-2] [INFO] [1770586648.222927764] [zed.zed_node]: * Body Track. maximum range [m]: 15 [component_container_isolated-2] [INFO] [1770586648.223021206] [zed.zed_node]: * Body Track. KP selection: FULL [component_container_isolated-2] [INFO] [1770586648.223145816] [zed.zed_node]: * Body fitting: FALSE [component_container_isolated-2] [INFO] [1770586648.223228602] [zed.zed_node]: * Body joints tracking: TRUE [component_container_isolated-2] [INFO] [1770586648.223318396] [zed.zed_node]: * Body Track. prediction timeout [sec]: 0.5 [component_container_isolated-2] [INFO] [1770586648.223407070] [zed.zed_node]: * Body Track. confidence thresh.: 50 [DYNAMIC] [component_container_isolated-2] [INFO] [1770586648.223541473] [zed.zed_node]: * Body Track. min. KP thresh.: 5 [DYNAMIC] [component_container_isolated-2] [INFO] [1770586648.223567649] [zed.zed_node]: === STREAMING SERVER parameters === [component_container_isolated-2] [INFO] [1770586648.223653059] [zed.zed_node]: * Streaming Server enabled: FALSE [component_container_isolated-2] [INFO] [1770586648.223740837] [zed.zed_node]: * Stream codec: H264 [component_container_isolated-2] [INFO] [1770586648.223824743] [zed.zed_node]: * Stream port: 30000 [component_container_isolated-2] [INFO] [1770586648.223943818] [zed.zed_node]: * Stream bitrate: 12500 [component_container_isolated-2] [INFO] [1770586648.224027211] [zed.zed_node]: * Stream GOP size: -1 [component_container_isolated-2] [INFO] [1770586648.224106221] [zed.zed_node]: * Stream Chunk size: 16084 [component_container_isolated-2] [INFO] [1770586648.224184879] [zed.zed_node]: * Adaptive bitrate: FALSE [component_container_isolated-2] [INFO] [1770586648.224263888] [zed.zed_node]: * Target frame rate:0 [component_container_isolated-2] [INFO] [1770586648.224290577] [zed.zed_node]: === ADVANCED parameters === [component_container_isolated-2] [INFO] [1770586648.224387667] [zed.zed_node]: * Change thread priority: FALSE [component_container_isolated-2] [INFO] [1770586648.224503606] [zed.zed_node]: === SERVICES === [component_container_isolated-2] [INFO] [1770586648.226562146] [zed.zed_node]: * Advertised on service: '/zed/zed_node/reset_odometry' [component_container_isolated-2] [INFO] [1770586648.227784093] [zed.zed_node]: * Advertised on service: '/zed/zed_node/reset_pos_tracking' [component_container_isolated-2] [INFO] [1770586648.229841097] [zed.zed_node]: * Advertised on service: '/zed/zed_node/set_pose' [component_container_isolated-2] [INFO] [1770586648.230891488] [zed.zed_node]: * Advertised on service: '/zed/zed_node/save_area_memory' [component_container_isolated-2] [INFO] [1770586648.232755336] [zed.zed_node]: * Advertised on service: '/zed/zed_node/enable_obj_det' [component_container_isolated-2] [INFO] [1770586648.233746174] [zed.zed_node]: * Advertised on service: '/zed/zed_node/enable_body_trk' [component_container_isolated-2] [INFO] [1770586648.234675858] [zed.zed_node]: * Advertised on service: '/zed/zed_node/enable_mapping' [component_container_isolated-2] [INFO] [1770586648.235607782] [zed.zed_node]: * Advertised on service: '/zed/zed_node/enable_streaming' [component_container_isolated-2] [INFO] [1770586648.236668957] [zed.zed_node]: * Advertised on service: '/zed/zed_node/start_svo_rec' [component_container_isolated-2] [INFO] [1770586648.237607089] [zed.zed_node]: * Advertised on service: '/zed/zed_node/stop_svo_rec' [component_container_isolated-2] [INFO] [1770586648.238634407] [zed.zed_node]: * Advertised on service: '/zed/zed_node/set_roi' [component_container_isolated-2] [INFO] [1770586648.239539291] [zed.zed_node]: * Advertised on service: '/zed/zed_node/reset_roi' [component_container_isolated-2] [INFO] [1770586648.239608413] [zed.zed_node]: === STARTING CAMERA === [component_container_isolated-2] [INFO] [1770586648.239741695] [zed.zed_node]: ZED SDK Version: 5.1.2 - Build 108212_12a35ea7 [component_container_isolated-2] [INFO] [1770586648.246150410] [zed.zed_node]: === CAMERA OPENING === [component_container_isolated-2] [2026-02-08 16:37:28 UTC][ZED][INFO] Logging level INFO [component_container_isolated-2] [2026-02-08 16:37:30 UTC][ZED][INFO] [Init] Camera successfully opened. [component_container_isolated-2] [2026-02-08 16:37:30 UTC][ZED][INFO] [Init] Camera FW version: 1523 [component_container_isolated-2] [2026-02-08 16:37:30 UTC][ZED][INFO] [Init] Video mode: HD1080@15 [component_container_isolated-2] [2026-02-08 16:37:30 UTC][ZED][INFO] [Init] Serial Number: S/N 30655862 [component_container_isolated-2] [2026-02-08 16:37:30 UTC][ZED][INFO] [Init] Depth mode: NEURAL LIGHT [component_container_isolated-2] [INFO] [1770586650.989853624] [zed.zed_node]: * ZED SDK running on GPU #0 [component_container_isolated-2] [INFO] [1770586650.990049756] [zed.zed_node]: * Camera Model -> ZED 2i [component_container_isolated-2] [INFO] [1770586650.990078812] [zed.zed_node]: * Serial Number -> 30655862 [component_container_isolated-2] [INFO] [1770586650.990363171] [zed.zed_node]: * Focal Length -> 2.13244 mm [component_container_isolated-2] [INFO] [1770586650.990415876] [zed.zed_node]: * Input -> USB [component_container_isolated-2] [INFO] [1770586650.990450437] [zed.zed_node]: * Camera FW Version -> 1523 [component_container_isolated-2] [INFO] [1770586650.990465061] [zed.zed_node]: * Sensors FW Version -> 777 [component_container_isolated-2] [INFO] [1770586650.990481605] [zed.zed_node]: * Camera grab size -> 1920x1080 [component_container_isolated-2] [INFO] [1770586650.990586023] [zed.zed_node]: * Color/Depth publishing size -> 960x540 [component_container_isolated-2] [INFO] [1770586650.990604808] [zed.zed_node]: * Point Cloud publishing size -> 448x256 [component_container_isolated-2] [INFO] [1770586650.990675849] [zed.zed_node]: === TF FRAMES === [component_container_isolated-2] [INFO] [1770586650.990701994] [zed.zed_node]: * Map -> map [component_container_isolated-2] [INFO] [1770586650.990745003] [zed.zed_node]: * Odometry -> odom [component_container_isolated-2] [INFO] [1770586650.990781836] [zed.zed_node]: * Base -> zed_camera_link [component_container_isolated-2] [INFO] [1770586650.990795532] [zed.zed_node]: * Camera -> zed_camera_center [component_container_isolated-2] [INFO] [1770586650.990816108] [zed.zed_node]: * Left -> zed_left_camera_frame [component_container_isolated-2] [INFO] [1770586650.990826861] [zed.zed_node]: * Left Optical -> zed_left_camera_frame_optical [component_container_isolated-2] [INFO] [1770586650.990836429] [zed.zed_node]: * Right -> zed_right_camera_frame [component_container_isolated-2] [INFO] [1770586650.990844685] [zed.zed_node]: * Right Optical -> zed_right_camera_frame_optical [component_container_isolated-2] [INFO] [1770586650.990852909] [zed.zed_node]: * Depth -> zed_left_camera_frame [component_container_isolated-2] [INFO] [1770586650.990861037] [zed.zed_node]: * Depth Optical -> zed_left_camera_frame_optical [component_container_isolated-2] [INFO] [1770586650.990868654] [zed.zed_node]: * Point Cloud -> zed_left_camera_frame [component_container_isolated-2] [INFO] [1770586650.990876622] [zed.zed_node]: * IMU -> zed_imu_link [component_container_isolated-2] [INFO] [1770586650.990884174] [zed.zed_node]: * Barometer -> zed_camera_center [component_container_isolated-2] [INFO] [1770586650.990891790] [zed.zed_node]: * Magnetometer -> zed_imu_link [component_container_isolated-2] [INFO] [1770586650.990899150] [zed.zed_node]: * Left Temperature -> zed_left_camera_frame [component_container_isolated-2] [INFO] [1770586650.990906926] [zed.zed_node]: * Right Temperature -> zed_right_camera_frame [component_container_isolated-2] [INFO] [1770586650.990992944] [zed.zed_node]: === PUBLISHED TOPICS === [component_container_isolated-2] [INFO] [1770586650.997155862] [zed.zed_node]: * Advertised on topic: /zed/zed_node/status/health [component_container_isolated-2] [INFO] [1770586650.999879185] [zed.zed_node]: * Advertised on topic: /zed/zed_node/status/heartbeat [component_container_isolated-2] [INFO] [1770586651.135740121] [FFMPEGPublisher]: using libav encoder: libx264 [component_container_isolated-2] [INFO] [1770586651.149822187] [zed.zed_node]: * Advertised on topic: /zed/zed_node/rgb/color/rect/image [component_container_isolated-2] [INFO] [1770586651.151129640] [zed.zed_node]: * Advertised on topic: /zed/zed_node/rgb/color/rect/image/compressedDepth [image_transport] [component_container_isolated-2] [INFO] [1770586651.151180137] [zed.zed_node]: * Advertised on topic: /zed/zed_node/rgb/color/rect/image/compressed [image_transport] [component_container_isolated-2] [INFO] [1770586651.151195689] [zed.zed_node]: * Advertised on topic: /zed/zed_node/rgb/color/rect/image/ffmpeg [image_transport] [component_container_isolated-2] [INFO] [1770586651.151207689] [zed.zed_node]: * Advertised on topic: /zed/zed_node/rgb/color/rect/image/raw [image_transport] [component_container_isolated-2] [INFO] [1770586651.151217898] [zed.zed_node]: * Advertised on topic: /zed/zed_node/rgb/color/rect/image/theora [image_transport] [component_container_isolated-2] [INFO] [1770586651.156750658] [FFMPEGPublisher]: using libav encoder: libx264 [component_container_isolated-2] [INFO] [1770586651.162115255] [zed.zed_node]: * Advertised on topic: /zed/zed_node/depth/depth_registered [component_container_isolated-2] [INFO] [1770586651.162280442] [zed.zed_node]: * Advertised on topic: /zed/zed_node/depth/depth_registered/compressedDepth [image_transport] [component_container_isolated-2] [INFO] [1770586651.162304731] [zed.zed_node]: * Advertised on topic: /zed/zed_node/depth/depth_registered/compressed [image_transport] [component_container_isolated-2] [INFO] [1770586651.162318395] [zed.zed_node]: * Advertised on topic: /zed/zed_node/depth/depth_registered/ffmpeg [image_transport] [component_container_isolated-2] [INFO] [1770586651.162330267] [zed.zed_node]: * Advertised on topic: /zed/zed_node/depth/depth_registered/raw [image_transport] [component_container_isolated-2] [INFO] [1770586651.162341435] [zed.zed_node]: * Advertised on topic: /zed/zed_node/depth/depth_registered/theora [image_transport] [component_container_isolated-2] [INFO] [1770586651.163983487] [zed.zed_node]: * Advertised on topic: /zed/zed_node/rgb/color/rect/camera_info [component_container_isolated-2] [INFO] [1770586651.164971573] [zed.zed_node]: * Advertised on topic: /zed/zed_node/rgb/color/rect/image/camera_info [component_container_isolated-2] [INFO] [1770586651.166038700] [zed.zed_node]: * Advertised on topic: /zed/zed_node/depth/camera_info [component_container_isolated-2] [INFO] [1770586651.167118435] [zed.zed_node]: * Advertised on topic: /zed/zed_node/depth/depth_registered/camera_info [component_container_isolated-2] [INFO] [1770586651.193532993] [zed.zed_node]: * Advertised on topic: /zed/zed_node/point_cloud/cloud_registered [component_container_isolated-2] [INFO] [1770586651.196397823] [zed.zed_node]: * Advertised on topic: /zed/zed_node/pose [component_container_isolated-2] [INFO] [1770586651.199186812] [zed.zed_node]: * Advertised on topic: /zed/zed_node/pose/status [component_container_isolated-2] [INFO] [1770586651.202935246] [zed.zed_node]: * Advertised on topic: /zed/zed_node/odom [component_container_isolated-2] [INFO] [1770586651.205687401] [zed.zed_node]: * Advertised on topic: /zed/zed_node/path_map [component_container_isolated-2] [INFO] [1770586651.207947898] [zed.zed_node]: * Advertised on topic: /zed/zed_node/path_odom [component_container_isolated-2] [INFO] [1770586651.210626773] [zed.zed_node]: * Advertised on topic: /zed/zed_node/imu/data [component_container_isolated-2] [INFO] [1770586651.210768472] [zed.zed_node]: Camera-IMU Translation: [component_container_isolated-2] -0.002 -0.023061 0.000217 [component_container_isolated-2] [INFO] [1770586651.210835769] [zed.zed_node]: Camera-IMU Rotation: [component_container_isolated-2] FFFF5E7CBEB8 [component_container_isolated-2] 0.999821 -0.018697 -0.002984 [component_container_isolated-2] 0.018758 0.999584 0.021928 [component_container_isolated-2] 0.002572 -0.021980 0.999755 [component_container_isolated-2] [component_container_isolated-2] [INFO] [1770586651.210859674] [zed.zed_node]: === Subscribers === [component_container_isolated-2] [INFO] [1770586651.213598709] [zed.zed_node]: * Plane detection: '/clicked_point' [component_container_isolated-2] [INFO] [1770586651.650040674] [zed.zed_node]: === Starting Positional Tracking === [component_container_isolated-2] [INFO] [1770586651.650148452] [zed.zed_node]: * Waiting for valid static transformations... [component_container_isolated-2] [INFO] [1770586651.650365833] [zed.zed_node]: Static transform ref. CMOS Sensor to Base [zed_left_camera_frame -> zed_camera_link] [component_container_isolated-2] [INFO] [1770586651.650401417] [zed.zed_node]: * Translation: {0.010,-0.060,-0.015} [component_container_isolated-2] [INFO] [1770586651.650454410] [zed.zed_node]: * Rotation: {0.000,-0.000,0.000} [component_container_isolated-2] [INFO] [1770586651.650490123] [zed.zed_node]: Static transform ref. CMOS Sensor to Camera Center [zed_left_camera_frame -> zed_camera_center] [component_container_isolated-2] [INFO] [1770586651.650506284] [zed.zed_node]: * Translation: {0.010,-0.060,0.000} [component_container_isolated-2] [INFO] [1770586651.650518828] [zed.zed_node]: * Rotation: {0.000,-0.000,0.000} [component_container_isolated-2] [INFO] [1770586651.650543212] [zed.zed_node]: Static transform Camera Center to Base [zed_camera_center -> zed_camera_link] [component_container_isolated-2] [INFO] [1770586651.650557325] [zed.zed_node]: * Translation: {0.000,0.000,-0.015} [component_container_isolated-2] [INFO] [1770586651.650568013] [zed.zed_node]: * Rotation: {0.000,-0.000,0.000} [component_container_isolated-2] [INFO] [1770586651.651695301] [zed.zed_node]: Initial ZED left camera pose (ZED pos. tracking): [component_container_isolated-2] [INFO] [1770586651.651753863] [zed.zed_node]: * T: [-0.01,0.06,0.015] [component_container_isolated-2] [INFO] [1770586651.651784327] [zed.zed_node]: * Q: [0,0,0,1]