[INFO] [launch]: All log files can be found below /home/rzr-admin/.ros/log/2025-11-12-11-28-46-854271-rzr-admin-5572 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [launch.user]: * Starting Composable node container: /zed_multi/zed_multi_container [INFO] [launch.user]: * Starting a ZED ROS2 node for camera front (zedx, serial: 40483530) [INFO] [launch.user]: Using common configuration file: /home/rzr-admin/auto-rzr/install/zed_wrapper/share/zed_wrapper/config/common_stereo.yaml [INFO] [launch.user]: Using camera configuration file: /home/rzr-admin/auto-rzr/install/zed_wrapper/share/zed_wrapper/config/zedx.yaml [INFO] [launch.user]: Using Object Detection configuration file: /home/rzr-admin/auto-rzr/install/zed_wrapper/share/zed_wrapper/config/object_detection.yaml [INFO] [launch.user]: Using Custom Object Detection configuration file: /home/rzr-admin/auto-rzr/install/zed_wrapper/share/zed_wrapper/config/custom_object_detection.yaml [INFO] [launch.user]: Using ROS parameters override file: /home/rzr-admin/auto-rzr/install/launch_files/share/launch_files/launch/hardware_launch/config/zed/zed_override.yaml [INFO] [launch.user]: Loading ZED node `front` in container `/zed_multi/zed_multi_container` [INFO] [launch.user]: * Starting a ZED ROS2 node for camera right (zedx, serial: 44036609) [INFO] [launch.user]: Using common configuration file: /home/rzr-admin/auto-rzr/install/zed_wrapper/share/zed_wrapper/config/common_stereo.yaml [INFO] [launch.user]: Using camera configuration file: /home/rzr-admin/auto-rzr/install/zed_wrapper/share/zed_wrapper/config/zedx.yaml [INFO] [launch.user]: Using Object Detection configuration file: /home/rzr-admin/auto-rzr/install/zed_wrapper/share/zed_wrapper/config/object_detection.yaml [INFO] [launch.user]: Using Custom Object Detection configuration file: /home/rzr-admin/auto-rzr/install/zed_wrapper/share/zed_wrapper/config/custom_object_detection.yaml [INFO] [launch.user]: Using ROS parameters override file: /home/rzr-admin/auto-rzr/install/launch_files/share/launch_files/launch/hardware_launch/config/zed/zed_override.yaml [INFO] [launch.user]: Loading ZED node `right` in container `/zed_multi/zed_multi_container` [INFO] [launch.user]: * Starting a ZED ROS2 node for camera left (zedx, serial: 49440015) [INFO] [launch.user]: Using common configuration file: /home/rzr-admin/auto-rzr/install/zed_wrapper/share/zed_wrapper/config/common_stereo.yaml [INFO] [launch.user]: Using camera configuration file: /home/rzr-admin/auto-rzr/install/zed_wrapper/share/zed_wrapper/config/zedx.yaml [INFO] [launch.user]: Using Object Detection configuration file: /home/rzr-admin/auto-rzr/install/zed_wrapper/share/zed_wrapper/config/object_detection.yaml [INFO] [launch.user]: Using Custom Object Detection configuration file: /home/rzr-admin/auto-rzr/install/zed_wrapper/share/zed_wrapper/config/custom_object_detection.yaml [INFO] [launch.user]: Using ROS parameters override file: /home/rzr-admin/auto-rzr/install/launch_files/share/launch_files/launch/hardware_launch/config/zed/zed_override.yaml [INFO] [launch.user]: Loading ZED node `left` in container `/zed_multi/zed_multi_container` [INFO] [launch.user]: * Starting a ZED ROS2 node for camera rear (zedx, serial: 41385721) [INFO] [launch.user]: Using common configuration file: /home/rzr-admin/auto-rzr/install/zed_wrapper/share/zed_wrapper/config/common_stereo.yaml [INFO] [launch.user]: Using camera configuration file: /home/rzr-admin/auto-rzr/install/zed_wrapper/share/zed_wrapper/config/zedx.yaml [INFO] [launch.user]: Using Object Detection configuration file: /home/rzr-admin/auto-rzr/install/zed_wrapper/share/zed_wrapper/config/object_detection.yaml [INFO] [launch.user]: Using Custom Object Detection configuration file: /home/rzr-admin/auto-rzr/install/zed_wrapper/share/zed_wrapper/config/custom_object_detection.yaml [INFO] [launch.user]: Using ROS parameters override file: /home/rzr-admin/auto-rzr/install/launch_files/share/launch_files/launch/hardware_launch/config/zed/zed_override.yaml [INFO] [launch.user]: Loading ZED node `rear` in container `/zed_multi/zed_multi_container` [INFO] [launch.user]: * Starting robot_state_publisher node to link all the frames: state_publisher [INFO] [novatel_oem7_driver_exe-1]: process started with pid [5593] [INFO] [localizer_node-2]: process started with pid [5595] [INFO] [component_container_isolated-3]: process started with pid [5597] [INFO] [robot_state_publisher-4]: process started with pid [5599] [INFO] [robot_state_publisher-5]: process started with pid [5601] [INFO] [robot_state_publisher-6]: process started with pid [5603] [INFO] [robot_state_publisher-7]: process started with pid [5605] [INFO] [robot_state_publisher-8]: process started with pid [5607] [INFO] [svo_controller-9]: process started with pid [5609] [svo_controller-9] [INFO] [1762964928.961424098] [svo_controller]: ############# TARGET FPS: 30 [novatel_oem7_driver_exe-1] [INFO] [1762964928.978207440] [novatel.oem7.main]: Oem7RawMsg: topic [oem7raw]: frame_id: 'gps'; q size: 200 [novatel_oem7_driver_exe-1] [INFO] [1762964928.984136708] [novatel.oem7.main]: Oem7MessageNode v.; Oct 17 2025 03:22:45 [robot_state_publisher-7] [INFO] [1762964928.986162256] [zed_multi.rear_state_publisher]: got segment rear_camera_center [robot_state_publisher-7] [INFO] [1762964928.986228470] [zed_multi.rear_state_publisher]: got segment rear_camera_link [robot_state_publisher-6] [INFO] [1762964928.986173135] [zed_multi.left_state_publisher]: got segment left_camera_center [robot_state_publisher-6] [INFO] [1762964928.986253213] [zed_multi.left_state_publisher]: got segment left_camera_link [robot_state_publisher-8] [INFO] [1762964928.986168838] [zed_multi.state_publisher]: got segment base_link [robot_state_publisher-8] [INFO] [1762964928.986247594] [zed_multi.state_publisher]: got segment front_camera_link [robot_state_publisher-8] [INFO] [1762964928.986259394] [zed_multi.state_publisher]: got segment left_camera_link [robot_state_publisher-8] [INFO] [1762964928.986267788] [zed_multi.state_publisher]: got segment rear_camera_link [robot_state_publisher-7] [INFO] [1762964928.986236374] [zed_multi.rear_state_publisher]: got segment rear_left_camera_frame [robot_state_publisher-7] [INFO] [1762964928.986241653] [zed_multi.rear_state_publisher]: got segment rear_left_camera_optical_frame [robot_state_publisher-7] [INFO] [1762964928.986246191] [zed_multi.rear_state_publisher]: got segment rear_right_camera_frame [robot_state_publisher-7] [INFO] [1762964928.986250519] [zed_multi.rear_state_publisher]: got segment rear_right_camera_optical_frame [robot_state_publisher-6] [INFO] [1762964928.986264372] [zed_multi.left_state_publisher]: got segment left_left_camera_frame [robot_state_publisher-6] [INFO] [1762964928.986273899] [zed_multi.left_state_publisher]: got segment left_left_camera_optical_frame [robot_state_publisher-6] [INFO] [1762964928.986282684] [zed_multi.left_state_publisher]: got segment left_right_camera_frame [robot_state_publisher-6] [INFO] [1762964928.986291259] [zed_multi.left_state_publisher]: got segment left_right_camera_optical_frame [robot_state_publisher-8] [INFO] [1762964928.986275502] [zed_multi.state_publisher]: got segment right_camera_link [robot_state_publisher-5] [INFO] [1762964928.986206783] [zed_multi.right_state_publisher]: got segment right_camera_center [robot_state_publisher-5] [INFO] [1762964928.986272737] [zed_multi.right_state_publisher]: got segment right_camera_link [robot_state_publisher-5] [INFO] [1762964928.986280430] [zed_multi.right_state_publisher]: got segment right_left_camera_frame [robot_state_publisher-5] [INFO] [1762964928.986285860] [zed_multi.right_state_publisher]: got segment right_left_camera_optical_frame [robot_state_publisher-5] [INFO] [1762964928.986290748] [zed_multi.right_state_publisher]: got segment right_right_camera_frame [robot_state_publisher-5] [INFO] [1762964928.986295236] [zed_multi.right_state_publisher]: got segment right_right_camera_optical_frame [robot_state_publisher-4] [INFO] [1762964928.986835980] [zed_multi.front_state_publisher]: got segment front_camera_center [robot_state_publisher-4] [INFO] [1762964928.986936774] [zed_multi.front_state_publisher]: got segment front_camera_link [robot_state_publisher-4] [INFO] [1762964928.986946200] [zed_multi.front_state_publisher]: got segment front_left_camera_frame [robot_state_publisher-4] [INFO] [1762964928.986951639] [zed_multi.front_state_publisher]: got segment front_left_camera_optical_frame [robot_state_publisher-4] [INFO] [1762964928.986956598] [zed_multi.front_state_publisher]: got segment front_right_camera_frame [robot_state_publisher-4] [INFO] [1762964928.986961356] [zed_multi.front_state_publisher]: got segment front_right_camera_optical_frame [localizer_node-2] [INFO] [1762964928.987694432] [map_frame_publisher]: Localizer is initialized [novatel_oem7_driver_exe-1] [INFO] [1762964928.993587909] [novatel.oem7.main]: Oem7MessageDecoderLib version: 10.1.0 [novatel_oem7_driver_exe-1] [INFO] [1762964928.995570733] [novatel.oem7.main]: PPPPOS: topic [ppppos]: frame_id: 'gps'; q size: 100 [novatel_oem7_driver_exe-1] [INFO] [1762964928.996298019] [novatel.oem7.main]: BESTPOS: topic [bestpos]: frame_id: 'gps'; q size: 100 [novatel_oem7_driver_exe-1] [INFO] [1762964928.996865679] [novatel.oem7.main]: BESTVEL: topic [bestvel]: frame_id: 'gps'; q size: 100 [novatel_oem7_driver_exe-1] [INFO] [1762964928.997408196] [novatel.oem7.main]: BESTGNSSVEL: topic [bestgnssvel]: frame_id: 'gps'; q size: 100 [novatel_oem7_driver_exe-1] [INFO] [1762964928.997894215] [novatel.oem7.main]: BESTUTM: topic [bestutm]: frame_id: 'gps'; q size: 100 [novatel_oem7_driver_exe-1] [INFO] [1762964928.998446569] [novatel.oem7.main]: BESTGNSSPOS: topic [bestgnsspos]: frame_id: 'gps'; q size: 100 [novatel_oem7_driver_exe-1] [INFO] [1762964928.999049320] [novatel.oem7.main]: INSPVA: topic [inspva]: frame_id: 'gps'; q size: 100 [novatel_oem7_driver_exe-1] [INFO] [1762964928.999590524] [novatel.oem7.main]: GPSFix: topic [gps]: frame_id: 'gps'; q size: 100 [novatel_oem7_driver_exe-1] [INFO] [1762964929.001461135] [novatel.oem7.main]: NavSatFix: topic [fix]: frame_id: 'gps'; q size: 100 [novatel_oem7_driver_exe-1] [INFO] [1762964929.002912511] [novatel.oem7.main]: GPSFix position source: BESTPOS or INSPVAS based on quality [novatel_oem7_driver_exe-1] [INFO] [1762964929.003320355] [novatel.oem7.main]: IMU: topic [imu/data]: frame_id: 'imu_link'; q size: 100 [novatel_oem7_driver_exe-1] [INFO] [1762964929.003913029] [novatel.oem7.main]: RAWIMU: topic [imu/data_raw]: frame_id: 'imu_link'; q size: 100 [novatel_oem7_driver_exe-1] [INFO] [1762964929.004363466] [novatel.oem7.main]: CORRIMU: topic [corrimu]: frame_id: 'gps'; q size: 100 [novatel_oem7_driver_exe-1] [INFO] [1762964929.004872856] [novatel.oem7.main]: INSSTDEV: topic [insstdev]: frame_id: 'gps'; q size: 10 [novatel_oem7_driver_exe-1] [INFO] [1762964929.005403322] [novatel.oem7.main]: INSPVAX: topic [inspvax]: frame_id: 'gps'; q size: 10 [novatel_oem7_driver_exe-1] [INFO] [1762964929.005907092] [novatel.oem7.main]: INSCONFIG: topic [insconfig]: frame_id: 'gps'; q size: 10 [novatel_oem7_driver_exe-1] [WARN] [1762964929.006782514] [novatel.oem7.main]: Message 'RAWIMUSX' will not be published. [novatel_oem7_driver_exe-1] [INFO] [1762964929.006961092] [novatel.oem7.main]: HEADING2: topic [heading2]: frame_id: 'gps'; q size: 100 [novatel_oem7_driver_exe-1] [INFO] [1762964929.007537407] [novatel.oem7.main]: RXSTATUS: topic [rxstatus]: frame_id: 'gps'; q size: 10 [novatel_oem7_driver_exe-1] [INFO] [1762964929.008572945] [novatel.oem7.main]: TERRASTARINFO: topic [terrastarinfo]: frame_id: 'gps'; q size: 100 [novatel_oem7_driver_exe-1] [INFO] [1762964929.009172280] [novatel.oem7.main]: TERRASTARSTATUS: topic [terrastarstatus]: frame_id: 'gps'; q size: 100 [novatel_oem7_driver_exe-1] [INFO] [1762964929.009830267] [novatel.oem7.main]: TIME: topic [time]: frame_id: 'gps'; q size: 100 [novatel_oem7_driver_exe-1] [WARN] [1762964929.010411310] [novatel.oem7.main]: Message 'NMEA_Sentence' will not be published. [novatel_oem7_driver_exe-1] [INFO] [1762964929.010735730] [novatel.oem7.main]: Odometry: topic [odom]: frame_id: 'odom'; q size: 100 [novatel_oem7_driver_exe-1] [INFO] [1762964929.012002998] [novatel.oem7.main]: OdometryOrigin: topic [odom_origin]: frame_id: 'odom'; q size: 100 [novatel_oem7_driver_exe-1] [INFO] [1762964929.015274818] [novatel.oem7.main]: Oem7Net TCP['192.168.16.50' : 3002] [novatel_oem7_driver_exe-1] [INFO] [1762964929.015846956] [novatel.oem7.main]: Oem7Net socket open: '1; OS error= 0 [component_container_isolated-3] [INFO] [1762964929.023577896] [zed_multi.zed_multi_container]: Load Library: /home/rzr-admin/auto-rzr/install/zed_components/lib/libzed_camera_component.so [novatel_oem7_driver_exe-1] [INFO] [1762964929.064227721] [novatel.oem7.main]: Standard Receiver Initialization: [novatel_oem7_driver_exe-1] [INFO] [1762964929.074998721] [novatel.oem7.main]: AACmd 'UNLOGALL THISPORT' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762964929.080171603] [novatel.oem7.main]: AACmd 'LOG INSCONFIGB ONCE' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762964929.084735504] [novatel.oem7.main]: AACmd 'LOG TERRASTARINFOB ONCE' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762964929.090263911] [novatel.oem7.main]: AACmd 'LOG TERRASTARSTATUSB ONCE' : 'OK' [component_container_isolated-3] [INFO] [1762964929.094616176] [zed_multi.zed_multi_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_isolated-3] [INFO] [1762964929.094644826] [zed_multi.zed_multi_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [novatel_oem7_driver_exe-1] [INFO] [1762964929.095513596] [novatel.oem7.main]: AACmd 'LOG TERRASTARINFOB ONTIME 300' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762964929.100889700] [novatel.oem7.main]: AACmd 'LOG TERRASTARSTATUSB ONTIME 300' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762964929.106442258] [novatel.oem7.main]: AACmd 'LOG INSCONFIGB ONTIME 300' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762964929.112033443] [novatel.oem7.main]: AACmd 'LOG RXSTATUSB ONCHANGED' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762964929.117127890] [novatel.oem7.main]: AACmd 'LOG BESTPOSB ONTIME 0.1' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762964929.122615977] [novatel.oem7.main]: AACmd 'LOG BESTVELB ONTIME 0.1' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762964929.127996258] [novatel.oem7.main]: AACmd 'LOG BESTGNSSVELB ONTIME 0.1' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762964929.133605784] [novatel.oem7.main]: AACmd 'LOG BESTUTMB ONTIME 1' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762964929.138456982] [novatel.oem7.main]: AACmd 'LOG BESTGNSSPOSB ONTIME 0.1' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762964929.143882330] [novatel.oem7.main]: AACmd 'LOG PPPPOSB ONTIME 1' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762964929.148426888] [novatel.oem7.main]: AACmd 'LOG HEADING2B ONNEW' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762964929.154338827] [novatel.oem7.main]: AACmd 'LOG PSRDOP2B ONCHANGED' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762964929.159899399] [novatel.oem7.main]: AACmd 'LOG INSPVASB ONTIME 0.02' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762964929.168667560] [novatel.oem7.main]: AACmd 'LOG INSPVAXB ONTIME 1' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762964929.174907235] [novatel.oem7.main]: AACmd 'LOG CORRIMUSB ONTIME 0.01' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762964929.180404107] [novatel.oem7.main]: AACmd 'LOG INSSTDEVB ONTIME 1' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762964929.185374389] [novatel.oem7.main]: AACmd 'LOG RAWIMUSXB ONNEW' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762964929.191442919] [novatel.oem7.main]: AACmd 'LOG TIMEB ONTIME 1' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762964929.196700908] [novatel.oem7.main]: AACmd 'LOG VERSIONB ONCE' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762964929.202281725] [novatel.oem7.main]: AACmd 'LOG INSUPDATESTATUSB ONNEW' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762964929.207769973] [novatel.oem7.main]: AACmd 'LOG RAWEPHEMB ONNEW' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762964929.213068542] [novatel.oem7.main]: AACmd 'LOG GLOEPHEMERISB ONNEW' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762964929.218402703] [novatel.oem7.main]: AACmd 'LOG BDSEPHEMERISB ONNEW' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762964929.223590732] [novatel.oem7.main]: AACmd 'LOG GALFNAVEPHEMERISB ONNEW' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762964929.229158887] [novatel.oem7.main]: AACmd 'LOG GALINAVEPHEMERISB ONNEW' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762964929.234628723] [novatel.oem7.main]: AACmd 'LOG RANGEB ONTIME 1' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762964929.234667239] [novatel.oem7.main]: Extended Receiver Initialization: [novatel_oem7_driver_exe-1] [INFO] [1762964929.234684790] [novatel.oem7.main]: Receiver Initialization completed, errors= 0 [novatel_oem7_driver_exe-1] [INFO] [1762964929.235429836] [novatel.oem7.main]: GPSFix position source= INSPVA: 0 --> 0 at GPSTime[0 281540] [novatel_oem7_driver_exe-1] [ERROR] [1762964929.235486534] [novatel.oem7.main]: No BESTPOS or INSPVAX to get undulation [novatel_oem7_driver_exe-1] [ERROR] [1762964929.238639128] [novatel.oem7.main]: No BESTPOS or INSPVAX to get undulation [component_container_isolated-3] [INFO] [1762964929.426199571] [zed_multi.left]: ================================ [component_container_isolated-3] [INFO] [1762964929.426232147] [zed_multi.left]: ZED Camera Component [component_container_isolated-3] [INFO] [1762964929.426238789] [zed_multi.left]: ================================ [component_container_isolated-3] [INFO] [1762964929.426245160] [zed_multi.left]: * namespace: /zed_multi [component_container_isolated-3] [INFO] [1762964929.426251571] [zed_multi.left]: * node name: left [component_container_isolated-3] [INFO] [1762964929.426257792] [zed_multi.left]: * IPC: enabled [component_container_isolated-3] [INFO] [1762964929.426262940] [zed_multi.left]: ================================ [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/zed_multi/left' in container '/zed_multi/zed_multi_container' [component_container_isolated-3] [INFO] [1762964929.427469394] [zed_multi.zed_multi_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_isolated-3] [INFO] [1762964929.427489118] [zed_multi.zed_multi_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [component_container_isolated-3] [INFO] [1762964929.435105971] [zed_multi.right]: ================================ [component_container_isolated-3] [INFO] [1762964929.435128029] [zed_multi.right]: ZED Camera Component [component_container_isolated-3] [INFO] [1762964929.435134360] [zed_multi.right]: ================================ [component_container_isolated-3] [INFO] [1762964929.435139739] [zed_multi.right]: * namespace: /zed_multi [component_container_isolated-3] [INFO] [1762964929.435145068] [zed_multi.right]: * node name: right [component_container_isolated-3] [INFO] [1762964929.435154124] [zed_multi.right]: * IPC: enabled [component_container_isolated-3] [INFO] [1762964929.435158862] [zed_multi.right]: ================================ [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/zed_multi/right' in container '/zed_multi/zed_multi_container' [component_container_isolated-3] [INFO] [1762964929.435864120] [zed_multi.zed_multi_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_isolated-3] [INFO] [1762964929.435880548] [zed_multi.zed_multi_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [component_container_isolated-3] [INFO] [1762964929.443630461] [zed_multi.rear]: ================================ [component_container_isolated-3] [INFO] [1762964929.443650586] [zed_multi.rear]: ZED Camera Component [component_container_isolated-3] [INFO] [1762964929.443656696] [zed_multi.rear]: ================================ [component_container_isolated-3] [INFO] [1762964929.443662086] [zed_multi.rear]: * namespace: /zed_multi [component_container_isolated-3] [INFO] [1762964929.443667154] [zed_multi.rear]: * node name: rear [component_container_isolated-3] [INFO] [1762964929.443672153] [zed_multi.rear]: * IPC: enabled [component_container_isolated-3] [INFO] [1762964929.443676991] [zed_multi.rear]: ================================ [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/zed_multi/rear' in container '/zed_multi/zed_multi_container' [component_container_isolated-3] [INFO] [1762964929.444358158] [zed_multi.zed_multi_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_isolated-3] [INFO] [1762964929.444377952] [zed_multi.zed_multi_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [component_container_isolated-3] [INFO] [1762964929.452398031] [zed_multi.front]: ================================ [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/zed_multi/front' in container '/zed_multi/zed_multi_container' [component_container_isolated-3] [INFO] [1762964929.452417905] [zed_multi.front]: ZED Camera Component [component_container_isolated-3] [INFO] [1762964929.452424246] [zed_multi.front]: ================================ [component_container_isolated-3] [INFO] [1762964929.452429896] [zed_multi.front]: * namespace: /zed_multi [component_container_isolated-3] [INFO] [1762964929.452435355] [zed_multi.front]: * node name: front [component_container_isolated-3] [INFO] [1762964929.452440344] [zed_multi.front]: * IPC: enabled [component_container_isolated-3] [INFO] [1762964929.452445403] [zed_multi.front]: ================================ [component_container_isolated-3] [INFO] [1762964929.477330044] [zed_multi.left]: === DEBUG parameters === [component_container_isolated-3] [INFO] [1762964929.477701776] [zed_multi.left]: * SDK Verbose: 0 [component_container_isolated-3] [INFO] [1762964929.478048976] [zed_multi.left]: * Use Pub Timestamps: FALSE [component_container_isolated-3] [INFO] [1762964929.478231821] [zed_multi.left]: * SDK Verbose File: [component_container_isolated-3] [INFO] [1762964929.478379356] [zed_multi.left]: * Debug Common: FALSE [component_container_isolated-3] [INFO] [1762964929.478516142] [zed_multi.left]: * Debug Simulation: FALSE [component_container_isolated-3] [INFO] [1762964929.478670589] [zed_multi.left]: * Debug Video/Depth: FALSE [component_container_isolated-3] [INFO] [1762964929.478806243] [zed_multi.left]: * Debug Control settings: FALSE [component_container_isolated-3] [INFO] [1762964929.478958296] [zed_multi.left]: * Debug Point Cloud: FALSE [component_container_isolated-3] [INFO] [1762964929.479166255] [zed_multi.left]: * Debug GNSS: FALSE [component_container_isolated-3] [INFO] [1762964929.479365279] [zed_multi.left]: * Debug Positional Tracking: TRUE [component_container_isolated-3] [INFO] [1762964929.479498909] [zed_multi.left]: * Debug sensors: FALSE [component_container_isolated-3] [INFO] [1762964929.479638701] [zed_multi.left]: * Debug Mapping: FALSE [component_container_isolated-3] [INFO] [1762964929.479784542] [zed_multi.left]: * Debug Object Detection: FALSE [component_container_isolated-3] [INFO] [1762964929.479936475] [zed_multi.left]: * Debug Body Tracking: FALSE [component_container_isolated-3] [INFO] [1762964929.480083379] [zed_multi.left]: * Debug Streaming: FALSE [component_container_isolated-3] [INFO] [1762964929.480216869] [zed_multi.left]: * Debug ROI: FALSE [component_container_isolated-3] [INFO] [1762964929.480350430] [zed_multi.left]: * Debug Nitros: FALSE [component_container_isolated-3] [INFO] [1762964929.480487166] [zed_multi.left]: * Debug Advanced: FALSE [component_container_isolated-3] [INFO] [1762964929.480515615] [zed_multi.left]: + Debug Mode enabled + [component_container_isolated-3] [INFO] [1762964929.480534548] [zed_multi.left]: === TOPIC selection parameters === [component_container_isolated-3] [INFO] [1762964929.480672085] [zed_multi.left]: * Publish Status: TRUE [component_container_isolated-3] [INFO] [1762964929.480806307] [zed_multi.left]: * Publish Left/Right images: FALSE [component_container_isolated-3] [INFO] [1762964929.480956707] [zed_multi.left]: * Publish Raw images: FALSE [component_container_isolated-3] [INFO] [1762964929.481097670] [zed_multi.left]: * Publish Gray images: FALSE [component_container_isolated-3] [INFO] [1762964929.481223047] [zed_multi.left]: * Publish RGB image: TRUE [component_container_isolated-3] [INFO] [1762964929.481354183] [zed_multi.left]: * Publish Stereo image: FALSE [component_container_isolated-3] [INFO] [1762964929.481488906] [zed_multi.left]: * Publish ROI Mask image: FALSE [component_container_isolated-3] [INFO] [1762964929.481632854] [zed_multi.left]: * Publish Depth Map: TRUE [component_container_isolated-3] [INFO] [1762964929.481768709] [zed_multi.left]: * Publish Depth Info: TRUE [component_container_isolated-3] [INFO] [1762964929.481901047] [zed_multi.left]: * Publish Point Cloud: TRUE [component_container_isolated-3] [INFO] [1762964929.482061885] [zed_multi.left]: * Publish Depth Confidence: TRUE [component_container_isolated-3] [INFO] [1762964929.482191739] [zed_multi.left]: * Publish Disparity: TRUE [component_container_isolated-3] [INFO] [1762964929.482327163] [zed_multi.left]: * Publish IMU: TRUE [component_container_isolated-3] [INFO] [1762964929.482450656] [zed_multi.left]: * Publish IMU Raw: FALSE [component_container_isolated-3] [INFO] [1762964929.482584858] [zed_multi.left]: * Publish LeftCam/IMU Transf.: FALSE [component_container_isolated-3] [INFO] [1762964929.482713320] [zed_multi.left]: * Publish Magnetometer: FALSE [component_container_isolated-3] [INFO] [1762964929.482837845] [zed_multi.left]: * Publish Barometer: FALSE [component_container_isolated-3] [INFO] [1762964929.483003160] [zed_multi.left]: * Publish Temperature: FALSE [component_container_isolated-3] [INFO] [1762964929.483155213] [zed_multi.left]: * Publish Odometry/Pose: TRUE [component_container_isolated-3] [INFO] [1762964929.483282433] [zed_multi.left]: * Publish Pose with Covariance: FALSE [component_container_isolated-3] [INFO] [1762964929.483425310] [zed_multi.left]: * Publish Camera Path: FALSE [component_container_isolated-3] [INFO] [1762964929.483552339] [zed_multi.left]: * Publish Detection Plane: FALSE [component_container_isolated-3] [INFO] [1762964929.483695917] [zed_multi.left]: === SVO INPUT parameters === [component_container_isolated-3] [INFO] [1762964929.483835157] [zed_multi.left]: === LOCAL STREAMING parameters === [component_container_isolated-3] [INFO] [1762964929.484310328] [zed_multi.left]: * Local stream input: 192.168.16.175:30004 [component_container_isolated-3] [INFO] [1762964929.484339338] [zed_multi.left]: === GENERAL parameters === [component_container_isolated-3] [INFO] [1762964929.484553568] [zed_multi.left]: + Playing a network stream from a ZED X camera model. [component_container_isolated-3] [INFO] [1762964929.484577920] [zed_multi.left]: * Camera model: zedx - ZED X [component_container_isolated-3] [INFO] [1762964929.484733008] [zed_multi.left]: * Camera name: left [component_container_isolated-3] [INFO] [1762964929.484870064] [zed_multi.left]: * Camera SN: 0 [component_container_isolated-3] [INFO] [1762964929.485020083] [zed_multi.left]: * Camera ID: -1 [component_container_isolated-3] [INFO] [1762964929.485212866] [zed_multi.right]: === DEBUG parameters === [component_container_isolated-3] [INFO] [1762964929.485269765] [zed_multi.left]: * Camera timeout [sec]: 5 [component_container_isolated-3] [INFO] [1762964929.485465332] [zed_multi.left]: * Camera reconnection temptatives: 5 [component_container_isolated-3] [INFO] [1762964929.485583687] [zed_multi.right]: * SDK Verbose: 0 [component_container_isolated-3] [INFO] [1762964929.485627903] [zed_multi.left]: * Camera framerate: 30 [component_container_isolated-3] [INFO] [1762964929.485796494] [zed_multi.right]: * Use Pub Timestamps: FALSE [component_container_isolated-3] [INFO] [1762964929.485849706] [zed_multi.left]: * GPU ID: -1 [component_container_isolated-3] [INFO] [1762964929.485968261] [zed_multi.right]: * SDK Verbose File: [component_container_isolated-3] [INFO] [1762964929.486009101] [zed_multi.left]: * Asynchronous image retrieval: FALSE [component_container_isolated-3] [INFO] [1762964929.486156245] [zed_multi.right]: * Debug Common: FALSE [component_container_isolated-3] [INFO] [1762964929.486191887] [zed_multi.left]: * Image Validity Check: 1 [component_container_isolated-3] [INFO] [1762964929.486308078] [zed_multi.right]: * Debug Simulation: FALSE [component_container_isolated-3] [INFO] [1762964929.486391391] [zed_multi.left]: * Camera resolution: HD1200 [component_container_isolated-3] [INFO] [1762964929.486449462] [zed_multi.right]: * Debug Video/Depth: FALSE [component_container_isolated-3] [INFO] [1762964929.486538205] [zed_multi.left]: * Publishing resolution: CUSTOM [component_container_isolated-3] [INFO] [1762964929.486582051] [zed_multi.right]: * Debug Control settings: FALSE [component_container_isolated-3] [INFO] [1762964929.486730627] [zed_multi.left]: * Publishing downscale factor: 2 [component_container_isolated-3] [INFO] [1762964929.486772720] [zed_multi.right]: * Debug Point Cloud: FALSE [component_container_isolated-3] [INFO] [1762964929.486910798] [zed_multi.left]: * OpenCV custom calibration: [component_container_isolated-3] [INFO] [1762964929.486961957] [zed_multi.right]: * Debug GNSS: FALSE [component_container_isolated-3] [INFO] [1762964929.487071035] [zed_multi.left]: * Camera self calibration: TRUE [component_container_isolated-3] [INFO] [1762964929.487142338] [zed_multi.right]: * Debug Positional Tracking: TRUE [component_container_isolated-3] [INFO] [1762964929.487209003] [zed_multi.left]: * Camera flip: FALSE [component_container_isolated-3] [INFO] [1762964929.487282029] [zed_multi.right]: * Debug sensors: FALSE [component_container_isolated-3] [INFO] [1762964929.487355556] [zed_multi.left]: * Publish framerate [Hz]: 15 [component_container_isolated-3] [INFO] [1762964929.487390206] [zed_multi.left]: === VIDEO parameters === [component_container_isolated-3] [INFO] [1762964929.487411593] [zed_multi.right]: * Debug Mapping: FALSE [component_container_isolated-3] [INFO] [1762964929.487542189] [zed_multi.left]: * Saturation: 4 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.487588799] [zed_multi.right]: * Debug Object Detection: FALSE [component_container_isolated-3] [INFO] [1762964929.487678975] [zed_multi.left]: * Sharpness: 4 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.487726357] [zed_multi.right]: * Debug Body Tracking: FALSE [component_container_isolated-3] [INFO] [1762964929.487810923] [zed_multi.left]: * Gamma: 8 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.487856271] [zed_multi.right]: * Debug Streaming: FALSE [component_container_isolated-3] [INFO] [1762964929.488011830] [zed_multi.right]: * Debug ROI: FALSE [component_container_isolated-3] [INFO] [1762964929.488067967] [zed_multi.left]: * Auto Exposure/Gain: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.488209882] [zed_multi.right]: * Debug Nitros: FALSE [component_container_isolated-3] [INFO] [1762964929.488263504] [zed_multi.left]: * Exposure: 80 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.488353870] [zed_multi.right]: * Debug Advanced: FALSE [component_container_isolated-3] [INFO] [1762964929.488375618] [zed_multi.right]: + Debug Mode enabled + [component_container_isolated-3] [INFO] [1762964929.488388410] [zed_multi.right]: === TOPIC selection parameters === [component_container_isolated-3] [INFO] [1762964929.488407222] [zed_multi.left]: * Gain: 80 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.488525757] [zed_multi.right]: * Publish Status: TRUE [component_container_isolated-3] [INFO] [1762964929.488578358] [zed_multi.left]: * Auto White Balance: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.488668524] [zed_multi.right]: * Publish Left/Right images: FALSE [component_container_isolated-3] [INFO] [1762964929.488720203] [zed_multi.left]: * White Balance Temperature: 42 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.488808445] [zed_multi.right]: * Publish Raw images: FALSE [component_container_isolated-3] [INFO] [1762964929.488860645] [zed_multi.left]: * ZED X Exposure time: 16000 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.488954217] [zed_multi.right]: * Publish Gray images: FALSE [component_container_isolated-3] [INFO] [1762964929.489111999] [zed_multi.right]: * Publish RGB image: TRUE [component_container_isolated-3] [INFO] [1762964929.489172925] [zed_multi.left]: * ZED X Auto Exp. time range min: 28 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.489265635] [zed_multi.right]: * Publish Stereo image: FALSE [component_container_isolated-3] [INFO] [1762964929.489311834] [zed_multi.left]: * ZED X Auto Exp. time range max: 30000 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.489409593] [zed_multi.right]: * Publish ROI Mask image: FALSE [component_container_isolated-3] [INFO] [1762964929.489478462] [zed_multi.left]: * ZED X Exposure comp.: 50 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.489543214] [zed_multi.right]: * Publish Depth Map: TRUE [component_container_isolated-3] [INFO] [1762964929.489629994] [zed_multi.left]: * ZED X Analog Gain: 1255 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.489685510] [zed_multi.right]: * Publish Depth Info: TRUE [component_container_isolated-3] [INFO] [1762964929.489788468] [zed_multi.left]: * ZED X Auto Analog Gain range min: 1000 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.489876119] [zed_multi.right]: * Publish Point Cloud: TRUE [component_container_isolated-3] [INFO] [1762964929.489938427] [zed_multi.left]: * ZED X Auto Analog Gain range max: 16000 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.490072127] [zed_multi.right]: * Publish Depth Confidence: TRUE [component_container_isolated-3] [INFO] [1762964929.490120972] [zed_multi.left]: * ZED X Digital Gain: 1 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.490216777] [zed_multi.right]: * Publish Disparity: TRUE [component_container_isolated-3] [INFO] [1762964929.490263308] [zed_multi.left]: * ZED X Auto Digital Gain range min: 1 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.490408588] [zed_multi.right]: * Publish IMU: TRUE [component_container_isolated-3] [INFO] [1762964929.490455259] [zed_multi.left]: * ZED X Auto Digital Gain range max: 256 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.490554711] [zed_multi.right]: * Publish IMU Raw: FALSE [component_container_isolated-3] [INFO] [1762964929.490602173] [zed_multi.left]: * ZED X Auto Digital Gain range max: 50 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.490626515] [zed_multi.left]: === DEPTH parameters === [component_container_isolated-3] [INFO] [1762964929.490705261] [zed_multi.right]: * Publish LeftCam/IMU Transf.: FALSE [component_container_isolated-3] [INFO] [1762964929.490839512] [zed_multi.right]: * Publish Magnetometer: FALSE [component_container_isolated-3] [INFO] [1762964929.490996013] [zed_multi.right]: * Publish Barometer: FALSE [component_container_isolated-3] [INFO] [1762964929.491144940] [zed_multi.right]: * Publish Temperature: FALSE [component_container_isolated-3] [INFO] [1762964929.491278561] [zed_multi.right]: * Publish Odometry/Pose: TRUE [component_container_isolated-3] [INFO] [1762964929.491280324] [zed_multi.left]: * Depth mode: NEURAL [5] [component_container_isolated-3] [INFO] [1762964929.491423090] [zed_multi.right]: * Publish Pose with Covariance: FALSE [component_container_isolated-3] [INFO] [1762964929.491513637] [zed_multi.left]: * Min depth [m]: 2 [component_container_isolated-3] [INFO] [1762964929.491557602] [zed_multi.right]: * Publish Camera Path: FALSE [component_container_isolated-3] [INFO] [1762964929.491676027] [zed_multi.left]: * Max depth [m]: 35 [component_container_isolated-3] [INFO] [1762964929.491729970] [zed_multi.right]: * Publish Detection Plane: FALSE [component_container_isolated-3] [INFO] [1762964929.491819725] [zed_multi.left]: * Depth Stabilization: 80 [component_container_isolated-3] [INFO] [1762964929.491905143] [zed_multi.right]: === SVO INPUT parameters === [component_container_isolated-3] [INFO] [1762964929.491969834] [zed_multi.left]: * OpenNI mode (16bit depth): FALSE [component_container_isolated-3] [INFO] [1762964929.492067733] [zed_multi.right]: === LOCAL STREAMING parameters === [component_container_isolated-3] [INFO] [1762964929.492158069] [zed_multi.left]: * Point cloud rate [Hz]: 10 [component_container_isolated-3] [INFO] [1762964929.492298842] [zed_multi.left]: * Point cloud resolution: COMPACT [component_container_isolated-3] [INFO] [1762964929.492339893] [zed_multi.right]: * Local stream input: 192.168.16.175:30002 [component_container_isolated-3] [INFO] [1762964929.492360249] [zed_multi.right]: === GENERAL parameters === [component_container_isolated-3] [INFO] [1762964929.492452117] [zed_multi.left]: * Depth Confidence: 70 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.492549335] [zed_multi.right]: + Playing a network stream from a ZED X camera model. [component_container_isolated-3] [INFO] [1762964929.492572355] [zed_multi.right]: * Camera model: zedx - ZED X [component_container_isolated-3] [INFO] [1762964929.492590877] [zed_multi.left]: * Depth Texture Confidence: 80 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.492750553] [zed_multi.right]: * Camera name: right [component_container_isolated-3] [INFO] [1762964929.492796903] [zed_multi.left]: * Remove saturated areas: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.492912532] [zed_multi.right]: * Camera SN: 0 [component_container_isolated-3] [INFO] [1762964929.492916659] [zed_multi.left]: === GNSS FUSION parameters === [component_container_isolated-3] [INFO] [1762964929.493108691] [zed_multi.right]: * Camera ID: -1 [component_container_isolated-3] [INFO] [1762964929.493160621] [zed_multi.left]: * GNSS fusion enabled: FALSE [component_container_isolated-3] [INFO] [1762964929.493190322] [zed_multi.left]: === POSITIONAL TRACKING parameters === [component_container_isolated-3] [INFO] [1762964929.493271853] [zed_multi.right]: * Camera timeout [sec]: 5 [component_container_isolated-3] [INFO] [1762964929.493337456] [zed_multi.left]: * Positional tracking enabled: TRUE [component_container_isolated-3] [INFO] [1762964929.493422874] [zed_multi.right]: * Camera reconnection temptatives: 5 [component_container_isolated-3] [DEBUG] [1762964929.493485301] [zed_multi.left]: Comparing 'GEN_1' to 'GEN_2' [component_container_isolated-3] [DEBUG] [1762964929.493505576] [zed_multi.left]: Comparing 'GEN_2' to 'GEN_2' [component_container_isolated-3] [INFO] [1762964929.493518519] [zed_multi.left]: * Positional tracking mode: GEN 2 [component_container_isolated-3] [INFO] [1762964929.493579013] [zed_multi.right]: * Camera framerate: 30 [component_container_isolated-3] [INFO] [1762964929.493652961] [zed_multi.left]: * Map frame id: map [component_container_isolated-3] [INFO] [1762964929.493693962] [zed_multi.rear]: === DEBUG parameters === [component_container_isolated-3] [INFO] [1762964929.493782244] [zed_multi.left]: * Odometry frame id: odom [component_container_isolated-3] [INFO] [1762964929.493735784] [zed_multi.right]: * GPU ID: -1 [component_container_isolated-3] [INFO] [1762964929.493917468] [zed_multi.left]: * Broadcast Odometry TF: FALSE [component_container_isolated-3] [INFO] [1762964929.493981448] [zed_multi.right]: * Asynchronous image retrieval: FALSE [component_container_isolated-3] [INFO] [1762964929.494061576] [zed_multi.rear]: * SDK Verbose: 0 [component_container_isolated-3] [INFO] [1762964929.494111823] [zed_multi.left]: * Depth minimum range: 0 [component_container_isolated-3] [INFO] [1762964929.494157652] [zed_multi.right]: * Image Validity Check: 1 [component_container_isolated-3] [INFO] [1762964929.494243531] [zed_multi.rear]: * Use Pub Timestamps: FALSE [component_container_isolated-3] [INFO] [1762964929.494292806] [zed_multi.left]: * TF timestamp offset: 0 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.494353480] [zed_multi.right]: * Camera resolution: HD1200 [component_container_isolated-3] [INFO] [1762964929.494436454] [zed_multi.rear]: * SDK Verbose File: [component_container_isolated-3] [INFO] [1762964929.494495265] [zed_multi.right]: * Publishing resolution: CUSTOM [component_container_isolated-3] [INFO] [1762964929.494578208] [zed_multi.rear]: * Debug Common: FALSE [component_container_isolated-3] [INFO] [1762964929.494629918] [zed_multi.left]: * Path publishing rate: 2 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.494681477] [zed_multi.right]: * Publishing downscale factor: 2 [component_container_isolated-3] [INFO] [1762964929.494741350] [zed_multi.rear]: * Debug Simulation: FALSE [component_container_isolated-3] [INFO] [1762964929.494844218] [zed_multi.right]: * OpenCV custom calibration: [component_container_isolated-3] [INFO] [1762964929.494892291] [zed_multi.left]: * Path history lenght: -1 [component_container_isolated-3] [INFO] [1762964929.494950321] [zed_multi.rear]: * Debug Video/Depth: FALSE [component_container_isolated-3] [INFO] [1762964929.495006859] [zed_multi.right]: * Camera self calibration: TRUE [component_container_isolated-3] [INFO] [1762964929.495115266] [zed_multi.rear]: * Debug Control settings: FALSE [component_container_isolated-3] [INFO] [1762964929.495157699] [zed_multi.right]: * Camera flip: FALSE [component_container_isolated-3] [INFO] [1762964929.495217482] [zed_multi.left]: * Initial pose: [0,0,0,0,0,0,] [component_container_isolated-3] [INFO] [1762964929.495253244] [zed_multi.rear]: * Debug Point Cloud: FALSE [component_container_isolated-3] [INFO] [1762964929.495320661] [zed_multi.right]: * Publish framerate [Hz]: 15 [component_container_isolated-3] [INFO] [1762964929.495343270] [zed_multi.right]: === VIDEO parameters === [component_container_isolated-3] [INFO] [1762964929.495406228] [zed_multi.rear]: * Debug GNSS: FALSE [component_container_isolated-3] [INFO] [1762964929.495454221] [zed_multi.left]: * Area Memory: TRUE [component_container_isolated-3] [INFO] [1762964929.495506892] [zed_multi.right]: * Saturation: 4 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.495551109] [zed_multi.rear]: * Debug Positional Tracking: TRUE [component_container_isolated-3] [INFO] [1762964929.495671116] [zed_multi.right]: * Sharpness: 4 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.495717165] [zed_multi.left]: * Area Memory File: [component_container_isolated-3] [INFO] [1762964929.495775326] [zed_multi.rear]: * Debug sensors: FALSE [component_container_isolated-3] [INFO] [1762964929.495818851] [zed_multi.right]: * Gamma: 8 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.495876390] [zed_multi.left]: * Save Area Memory on closing: FALSE [component_container_isolated-3] [INFO] [1762964929.495956118] [zed_multi.rear]: * Debug Mapping: FALSE [component_container_isolated-3] [INFO] [1762964929.496008889] [zed_multi.right]: * Auto Exposure/Gain: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.496079211] [zed_multi.left]: * Camera is static: FALSE [component_container_isolated-3] [INFO] [1762964929.496132052] [zed_multi.rear]: * Debug Object Detection: FALSE [component_container_isolated-3] [INFO] [1762964929.496188900] [zed_multi.right]: * Exposure: 80 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.496223339] [zed_multi.left]: * Gravity as origin: TRUE [component_container_isolated-3] [INFO] [1762964929.496298670] [zed_multi.rear]: * Debug Body Tracking: FALSE [component_container_isolated-3] [INFO] [1762964929.496348796] [zed_multi.right]: * Gain: 80 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.496402349] [zed_multi.left]: * IMU Fusion: TRUE [component_container_isolated-3] [INFO] [1762964929.496449310] [zed_multi.rear]: * Debug Streaming: FALSE [component_container_isolated-3] [INFO] [1762964929.496501640] [zed_multi.right]: * Auto White Balance: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.496590183] [zed_multi.rear]: * Debug ROI: FALSE [component_container_isolated-3] [INFO] [1762964929.496642553] [zed_multi.left]: * Floor Alignment: FALSE [component_container_isolated-3] [INFO] [1762964929.496688913] [zed_multi.right]: * White Balance Temperature: 42 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.496747785] [zed_multi.rear]: * Debug Nitros: FALSE [component_container_isolated-3] [INFO] [1762964929.496853928] [zed_multi.right]: * ZED X Exposure time: 16000 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.496902352] [zed_multi.left]: * Reset Odometry with Loop Closure: TRUE [component_container_isolated-3] [INFO] [1762964929.496962917] [zed_multi.rear]: * Debug Advanced: FALSE [component_container_isolated-3] [INFO] [1762964929.496992468] [zed_multi.rear]: + Debug Mode enabled + [component_container_isolated-3] [INFO] [1762964929.497006652] [zed_multi.rear]: === TOPIC selection parameters === [component_container_isolated-3] [INFO] [1762964929.497021768] [zed_multi.right]: * ZED X Auto Exp. time range min: 28 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.497070402] [zed_multi.left]: * Publish 3D Landmarks: FALSE [component_container_isolated-3] [INFO] [1762964929.497153225] [zed_multi.rear]: * Publish Status: TRUE [component_container_isolated-3] [INFO] [1762964929.497204834] [zed_multi.right]: * ZED X Auto Exp. time range max: 30000 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.497274374] [zed_multi.left]: * Publish Landmark Skip Frame:  [component_container_isolated-3] [INFO] [1762964929.497306790] [zed_multi.rear]: * Publish Left/Right images: FALSE [component_container_isolated-3] [INFO] [1762964929.497351467] [zed_multi.right]: * ZED X Exposure comp.: 50 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.497441543] [zed_multi.left]: * 2D mode: FALSE [component_container_isolated-3] [INFO] [1762964929.497482824] [zed_multi.rear]: * Publish Raw images: FALSE [component_container_isolated-3] [INFO] [1762964929.497534143] [zed_multi.right]: * ZED X Analog Gain: 1255 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.497576366] [zed_multi.left]: * Reset pose with SVO loop: TRUE [component_container_isolated-3] [INFO] [1762964929.497600397] [zed_multi.left]: === Region of Interest parameters === [component_container_isolated-3] [INFO] [1762964929.497643171] [zed_multi.rear]: * Publish Gray images: FALSE [component_container_isolated-3] [INFO] [1762964929.497723750] [zed_multi.right]: * ZED X Auto Analog Gain range min: 1000 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.497777092] [zed_multi.left]: * Automatic ROI generation: FALSE [component_container_isolated-3] [INFO] [1762964929.497823923] [zed_multi.rear]: * Publish RGB image: TRUE [component_container_isolated-3] [INFO] [1762964929.497863762] [zed_multi.right]: * ZED X Auto Analog Gain range max: 16000 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.497947236] [zed_multi.left]: * Manual ROI polygon: [] [component_container_isolated-3] [INFO] [1762964929.497972390] [zed_multi.left]: === SENSORS STACK parameters === [component_container_isolated-3] [INFO] [1762964929.497990771] [zed_multi.rear]: * Publish Stereo image: FALSE [component_container_isolated-3] [INFO] [1762964929.498043623] [zed_multi.right]: * ZED X Digital Gain: 1 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.498161516] [zed_multi.rear]: * Publish ROI Mask image: FALSE [component_container_isolated-3] [INFO] [1762964929.498217012] [zed_multi.left]: * Broadcast IMU TF [not for ZED]: FALSE [component_container_isolated-3] [INFO] [1762964929.498262811] [zed_multi.right]: * ZED X Auto Digital Gain range min: 1 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.498315953] [zed_multi.rear]: * Publish Depth Map: TRUE [component_container_isolated-3] [INFO] [1762964929.498417338] [zed_multi.left]: * Sensors Camera Sync: FALSE [component_container_isolated-3] [INFO] [1762964929.498459831] [zed_multi.right]: * ZED X Auto Digital Gain range max: 256 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.498510669] [zed_multi.rear]: * Publish Depth Info: TRUE [component_container_isolated-3] [INFO] [1762964929.498619116] [zed_multi.right]: * ZED X Auto Digital Gain range max: 50 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.498639822] [zed_multi.right]: === DEPTH parameters === [component_container_isolated-3] [INFO] [1762964929.498655680] [zed_multi.rear]: * Publish Point Cloud: TRUE [component_container_isolated-3] [INFO] [1762964929.498712979] [zed_multi.left]: * Sensors publishing rate [Hz]: 100 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.498741478] [zed_multi.left]: === Spatial Mapping parameters === [component_container_isolated-3] [INFO] [1762964929.498812591] [zed_multi.rear]: * Publish Depth Confidence: TRUE [component_container_isolated-3] [INFO] [1762964929.498874838] [zed_multi.right]: * Depth mode: NEURAL [5] [component_container_isolated-3] [INFO] [1762964929.498945741] [zed_multi.left]: * Spatial Mapping Enabled: FALSE [component_container_isolated-3] [INFO] [1762964929.499004222] [zed_multi.rear]: * Publish Disparity: TRUE [component_container_isolated-3] [INFO] [1762964929.499058065] [zed_multi.right]: * Min depth [m]: 2 [component_container_isolated-3] [INFO] [1762964929.499107139] [zed_multi.left]: * Spatial Mapping resolution [m]: 0.05 [component_container_isolated-3] [INFO] [1762964929.499175908] [zed_multi.rear]: * Publish IMU: TRUE [component_container_isolated-3] [INFO] [1762964929.499235491] [zed_multi.right]: * Max depth [m]: 35 [component_container_isolated-3] [INFO] [1762964929.499285377] [zed_multi.left]: * 3D Max Mapping range [m]: 5 [component_container_isolated-3] [INFO] [1762964929.499333380] [zed_multi.rear]: * Publish IMU Raw: FALSE [component_container_isolated-3] [INFO] [1762964929.499404923] [zed_multi.right]: * Depth Stabilization: 80 [component_container_isolated-3] [INFO] [1762964929.499474834] [zed_multi.rear]: * Publish LeftCam/IMU Transf.: FALSE [component_container_isolated-3] [INFO] [1762964929.499529118] [zed_multi.left]: * Map publishing rate [Hz]: 1 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.499565701] [zed_multi.right]: * OpenNI mode (16bit depth): FALSE [component_container_isolated-3] [INFO] [1762964929.499627107] [zed_multi.rear]: * Publish Magnetometer: FALSE [component_container_isolated-3] [INFO] [1762964929.499718655] [zed_multi.right]: * Point cloud rate [Hz]: 10 [component_container_isolated-3] [INFO] [1762964929.499761129] [zed_multi.left]: * Clicked point topic: /clicked_point [component_container_isolated-3] [INFO] [1762964929.499809242] [zed_multi.rear]: * Publish Barometer: FALSE [component_container_isolated-3] [INFO] [1762964929.499859909] [zed_multi.right]: * Point cloud resolution: COMPACT [component_container_isolated-3] [INFO] [1762964929.500028430] [zed_multi.rear]: * Publish Temperature: FALSE [component_container_isolated-3] [INFO] [1762964929.500068800] [zed_multi.right]: * Depth Confidence: 70 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.500120780] [zed_multi.left]: * Plane Det. Max Dist. Thresh.: 0.15 [component_container_isolated-3] [INFO] [1762964929.500203873] [zed_multi.rear]: * Publish Odometry/Pose: TRUE [component_container_isolated-3] [INFO] [1762964929.500259840] [zed_multi.right]: * Depth Texture Confidence: 80 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.500345958] [zed_multi.left]: * Plane Det. Normals Sim. Thresh.: 15 [component_container_isolated-3] [INFO] [1762964929.500410199] [zed_multi.rear]: * Publish Pose with Covariance: FALSE [component_container_isolated-3] [INFO] [1762964929.500462900] [zed_multi.right]: * Remove saturated areas: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.500496428] [zed_multi.right]: === GNSS FUSION parameters === [component_container_isolated-3] [INFO] [1762964929.500547647] [zed_multi.rear]: * Publish Camera Path: FALSE [component_container_isolated-3] [INFO] [1762964929.500619631] [zed_multi.left]: === OBJECT DETECTION parameters === [component_container_isolated-3] [INFO] [1762964929.500635859] [zed_multi.right]: * GNSS fusion enabled: FALSE [component_container_isolated-3] [INFO] [1762964929.500692346] [zed_multi.right]: === POSITIONAL TRACKING parameters === [component_container_isolated-3] [INFO] [1762964929.500724161] [zed_multi.rear]: * Publish Detection Plane: FALSE [component_container_isolated-3] [INFO] [1762964929.500827810] [zed_multi.right]: * Positional tracking enabled: TRUE [component_container_isolated-3] [INFO] [1762964929.500871416] [zed_multi.rear]: === SVO INPUT parameters === [component_container_isolated-3] [DEBUG] [1762964929.501004676] [zed_multi.right]: Comparing 'GEN_1' to 'GEN_2' [component_container_isolated-3] [DEBUG] [1762964929.501028928] [zed_multi.right]: Comparing 'GEN_2' to 'GEN_2' [component_container_isolated-3] [INFO] [1762964929.501043303] [zed_multi.right]: * Positional tracking mode: GEN 2 [component_container_isolated-3] [INFO] [1762964929.501063958] [zed_multi.rear]: === LOCAL STREAMING parameters === [component_container_isolated-3] [INFO] [1762964929.501109136] [zed_multi.left]: * Object Det. enabled: FALSE [component_container_isolated-3] [INFO] [1762964929.501363826] [zed_multi.left]: * Object Det. allow reduced precision: FALSE [component_container_isolated-3] [INFO] [1762964929.501415535] [zed_multi.rear]: * Local stream input: 192.168.16.175:40000 [component_container_isolated-3] [INFO] [1762964929.501440088] [zed_multi.rear]: === GENERAL parameters === [component_container_isolated-3] [INFO] [1762964929.501472133] [zed_multi.right]: * Map frame id: map [component_container_isolated-3] [INFO] [1762964929.501611844] [zed_multi.rear]: + Playing a network stream from a ZED X camera model. [component_container_isolated-3] [INFO] [1762964929.501635225] [zed_multi.rear]: * Camera model: zedx - ZED X [component_container_isolated-3] [INFO] [1762964929.501659897] [zed_multi.left]: * Object Det. maximum range [m]: 20 [component_container_isolated-3] [INFO] [1762964929.501708561] [zed_multi.right]: * Odometry frame id: odom [component_container_isolated-3] [INFO] [1762964929.501767653] [zed_multi.rear]: * Camera name: rear [component_container_isolated-3] [INFO] [1762964929.501876271] [zed_multi.left]: * Object Det. prediction timeout [sec]: 2 [component_container_isolated-3] [INFO] [1762964929.501949558] [zed_multi.right]: * Broadcast Odometry TF: FALSE [component_container_isolated-3] [INFO] [1762964929.502009812] [zed_multi.rear]: * Camera SN: 0 [component_container_isolated-3] [INFO] [1762964929.502080353] [zed_multi.left]: * Object Det. tracking: TRUE [component_container_isolated-3] [INFO] [1762964929.502137602] [zed_multi.right]: * Depth minimum range: 0 [component_container_isolated-3] [INFO] [1762964929.502187759] [zed_multi.rear]: * Camera ID: -1 [component_container_isolated-3] [INFO] [1762964929.502294754] [zed_multi.left]: * Object Filtering mode: NMS3D [component_container_isolated-3] [INFO] [1762964929.502325126] [zed_multi.right]: * TF timestamp offset: 0 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.502373470] [zed_multi.rear]: * Camera timeout [sec]: 5 [component_container_isolated-3] [INFO] [1762964929.502475155] [zed_multi.front]: === DEBUG parameters === [component_container_isolated-3] [INFO] [1762964929.502580567] [zed_multi.rear]: * Camera reconnection temptatives: 5 [component_container_isolated-3] [INFO] [1762964929.502538505] [zed_multi.right]: * Path publishing rate: 2 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.502513732] [zed_multi.left]: * Object Det. model: MULTI CLASS BOX FAST [component_container_isolated-3] [INFO] [1762964929.502774372] [zed_multi.rear]: * Camera framerate: 30 [component_container_isolated-3] [INFO] [1762964929.502836369] [zed_multi.right]: * Path history lenght: -1 [component_container_isolated-3] [INFO] [1762964929.502874775] [zed_multi.left]: * MultiClassBox people: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.502949995] [zed_multi.front]: * SDK Verbose: 0 [component_container_isolated-3] [INFO] [1762964929.503003868] [zed_multi.rear]: * GPU ID: -1 [component_container_isolated-3] [INFO] [1762964929.503047203] [zed_multi.left]: * MultiClassBox vehicles: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.503101056] [zed_multi.right]: * Initial pose: [0,0,0,0,0,0,] [component_container_isolated-3] [INFO] [1762964929.503158625] [zed_multi.front]: * Use Pub Timestamps: FALSE [component_container_isolated-3] [INFO] [1762964929.503196000] [zed_multi.left]: * MultiClassBox bags: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.503279795] [zed_multi.rear]: * Asynchronous image retrieval: FALSE [component_container_isolated-3] [INFO] [1762964929.503331354] [zed_multi.front]: * SDK Verbose File: [component_container_isolated-3] [INFO] [1762964929.503381520] [zed_multi.left]: * MultiClassBox animals: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.503424074] [zed_multi.rear]: * Image Validity Check: 1 [component_container_isolated-3] [INFO] [1762964929.503475723] [zed_multi.right]: * Area Memory: TRUE [component_container_isolated-3] [INFO] [1762964929.503522824] [zed_multi.front]: * Debug Common: FALSE [component_container_isolated-3] [INFO] [1762964929.503606839] [zed_multi.left]: * MultiClassBox electronics: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.503664900] [zed_multi.rear]: * Camera resolution: HD1200 [component_container_isolated-3] [INFO] [1762964929.503706261] [zed_multi.front]: * Debug Simulation: FALSE [component_container_isolated-3] [INFO] [1762964929.503761026] [zed_multi.right]: * Area Memory File: [component_container_isolated-3] [INFO] [1762964929.503807516] [zed_multi.left]: * MultiClassBox fruits and vegetables: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.503861880] [zed_multi.rear]: * Publishing resolution: CUSTOM [component_container_isolated-3] [INFO] [1762964929.503954920] [zed_multi.front]: * Debug Video/Depth: FALSE [component_container_isolated-3] [INFO] [1762964929.504008413] [zed_multi.left]: * MultiClassBox sport-related objects: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.504055744] [zed_multi.right]: * Save Area Memory on closing: FALSE [component_container_isolated-3] [INFO] [1762964929.504111030] [zed_multi.rear]: * Publishing downscale factor: 2 [component_container_isolated-3] [INFO] [1762964929.504155998] [zed_multi.front]: * Debug Control settings: FALSE [component_container_isolated-3] [INFO] [1762964929.504202949] [zed_multi.left]: * MultiClassBox people confidence: 65 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.504300958] [zed_multi.front]: * Debug Point Cloud: FALSE [component_container_isolated-3] [INFO] [1762964929.504354741] [zed_multi.rear]: * OpenCV custom calibration: [component_container_isolated-3] [INFO] [1762964929.504414123] [zed_multi.left]: * MultiClassBox vehicles confidence: 60 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.504460483] [zed_multi.front]: * Debug GNSS: FALSE [component_container_isolated-3] [INFO] [1762964929.504516600] [zed_multi.right]: * Camera is static: FALSE [component_container_isolated-3] [INFO] [1762964929.504567679] [zed_multi.rear]: * Camera self calibration: TRUE [component_container_isolated-3] [INFO] [1762964929.504618546] [zed_multi.front]: * Debug Positional Tracking: TRUE [component_container_isolated-3] [INFO] [1762964929.504671648] [zed_multi.left]: * MultiClassBox bags confidence: 40 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.504745406] [zed_multi.rear]: * Camera flip: FALSE [component_container_isolated-3] [INFO] [1762964929.504822919] [zed_multi.front]: * Debug sensors: FALSE [component_container_isolated-3] [INFO] [1762964929.504878235] [zed_multi.left]: * MultiClassBox animals confidence: 40 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.504943448] [zed_multi.right]: * Gravity as origin: TRUE [component_container_isolated-3] [INFO] [1762964929.504983156] [zed_multi.rear]: * Publish framerate [Hz]: 15 [component_container_isolated-3] [INFO] [1762964929.505009201] [zed_multi.rear]: === VIDEO parameters === [component_container_isolated-3] [INFO] [1762964929.505063835] [zed_multi.front]: * Debug Mapping: FALSE [component_container_isolated-3] [INFO] [1762964929.505120193] [zed_multi.left]: * MultiClassBox electronics confidence: 45 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.505182520] [zed_multi.right]: * IMU Fusion: TRUE [component_container_isolated-3] [INFO] [1762964929.505231685] [zed_multi.rear]: * Saturation: 4 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.505282443] [zed_multi.front]: * Debug Object Detection: FALSE [component_container_isolated-3] [INFO] [1762964929.505337408] [zed_multi.left]: * MultiClassBox fruits and vegetables confidence: 50 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.505369794] [zed_multi.rear]: * Sharpness: 4 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.505439424] [zed_multi.front]: * Debug Body Tracking: FALSE [component_container_isolated-3] [INFO] [1762964929.505502022] [zed_multi.right]: * Floor Alignment: FALSE [component_container_isolated-3] [INFO] [1762964929.505552229] [zed_multi.left]: * MultiClassBox sport-related objects confidence: 30 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.505593049] [zed_multi.left]: === Body Track. parameters === [component_container_isolated-3] [INFO] [1762964929.505601484] [zed_multi.rear]: * Gamma: 8 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.505653984] [zed_multi.front]: * Debug Streaming: FALSE [component_container_isolated-3] [INFO] [1762964929.505748327] [zed_multi.left]: * Body Track. enabled: FALSE [component_container_isolated-3] [INFO] [1762964929.505818769] [zed_multi.rear]: * Auto Exposure/Gain: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.505871750] [zed_multi.right]: * Reset Odometry with Loop Closure: TRUE [component_container_isolated-3] [INFO] [1762964929.505932435] [zed_multi.front]: * Debug ROI: FALSE [component_container_isolated-3] [INFO] [1762964929.505976872] [zed_multi.rear]: * Exposure: 80 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.506049447] [zed_multi.left]: * Body Track. model: HUMAN BODY MEDIUM [component_container_isolated-3] [INFO] [1762964929.506115281] [zed_multi.front]: * Debug Nitros: FALSE [component_container_isolated-3] [INFO] [1762964929.506199997] [zed_multi.rear]: * Gain: 80 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.506264318] [zed_multi.left]: * Body Track. format: BODY 38 [component_container_isolated-3] [INFO] [1762964929.506311079] [zed_multi.front]: * Debug Advanced: FALSE [component_container_isolated-3] [INFO] [1762964929.506359893] [zed_multi.front]: + Debug Mode enabled + [component_container_isolated-3] [INFO] [1762964929.506371614] [zed_multi.right]: * Publish 3D Landmarks: FALSE [component_container_isolated-3] [INFO] [1762964929.506373677] [zed_multi.front]: === TOPIC selection parameters === [component_container_isolated-3] [INFO] [1762964929.506421089] [zed_multi.rear]: * Auto White Balance: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.506462030] [zed_multi.left]: * Body Track. allow reduced precision: FALSE [component_container_isolated-3] [INFO] [1762964929.506561652] [zed_multi.front]: * Publish Status: TRUE [component_container_isolated-3] [INFO] [1762964929.506607912] [zed_multi.right]: * Publish Landmark Skip Frame:  [component_container_isolated-3] [INFO] [1762964929.506659320] [zed_multi.rear]: * White Balance Temperature: 42 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.506712402] [zed_multi.left]: * Body Track. maximum range [m]: 15 [component_container_isolated-3] [INFO] [1762964929.506763270] [zed_multi.front]: * Publish Left/Right images: FALSE [component_container_isolated-3] [INFO] [1762964929.506822031] [zed_multi.rear]: * ZED X Exposure time: 16000 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.506877848] [zed_multi.right]: * 2D mode: FALSE [component_container_isolated-3] [INFO] [1762964929.506936098] [zed_multi.left]: * Body Track. KP selection: FULL [component_container_isolated-3] [INFO] [1762964929.506994309] [zed_multi.front]: * Publish Raw images: FALSE [component_container_isolated-3] [INFO] [1762964929.507048643] [zed_multi.rear]: * ZED X Auto Exp. time range min: 28 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.507106493] [zed_multi.right]: * Reset pose with SVO loop: TRUE [component_container_isolated-3] [INFO] [1762964929.507131947] [zed_multi.right]: === Region of Interest parameters === [component_container_isolated-3] [INFO] [1762964929.507139249] [zed_multi.front]: * Publish Gray images: FALSE [component_container_isolated-3] [INFO] [1762964929.507211504] [zed_multi.left]: * Body fitting: FALSE [component_container_isolated-3] [INFO] [1762964929.507250451] [zed_multi.rear]: * ZED X Auto Exp. time range max: 30000 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.507295759] [zed_multi.front]: * Publish RGB image: TRUE [component_container_isolated-3] [INFO] [1762964929.507343923] [zed_multi.right]: * Automatic ROI generation: FALSE [component_container_isolated-3] [INFO] [1762964929.507430783] [zed_multi.rear]: * ZED X Exposure comp.: 50 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.507495464] [zed_multi.left]: * Body joints tracking: TRUE [component_container_isolated-3] [INFO] [1762964929.507547093] [zed_multi.front]: * Publish Stereo image: FALSE [component_container_isolated-3] [INFO] [1762964929.507609091] [zed_multi.right]: * Manual ROI polygon: [] [component_container_isolated-3] [INFO] [1762964929.507635126] [zed_multi.right]: === SENSORS STACK parameters === [component_container_isolated-3] [INFO] [1762964929.507653577] [zed_multi.rear]: * ZED X Analog Gain: 1255 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.507705888] [zed_multi.left]: * Body Track. prediction timeout [sec]: 0.5 [component_container_isolated-3] [INFO] [1762964929.507754231] [zed_multi.front]: * Publish ROI Mask image: FALSE [component_container_isolated-3] [INFO] [1762964929.507829361] [zed_multi.rear]: * ZED X Auto Analog Gain range min: 1000 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.507881681] [zed_multi.right]: * Broadcast IMU TF [not for ZED]: FALSE [component_container_isolated-3] [INFO] [1762964929.507949919] [zed_multi.left]: * Body Track. confidence thresh.: 50 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.507998503] [zed_multi.front]: * Publish Depth Map: TRUE [component_container_isolated-3] [INFO] [1762964929.508052035] [zed_multi.rear]: * ZED X Auto Analog Gain range max: 16000 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.508099748] [zed_multi.right]: * Sensors Camera Sync: FALSE [component_container_isolated-3] [INFO] [1762964929.508151217] [zed_multi.front]: * Publish Depth Info: TRUE [component_container_isolated-3] [INFO] [1762964929.508207494] [zed_multi.left]: * Body Track. min. KP thresh.: 5 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.508237666] [zed_multi.left]: === STREAMING SERVER parameters === [component_container_isolated-3] [INFO] [1762964929.508254956] [zed_multi.rear]: * ZED X Digital Gain: 1 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.508295556] [zed_multi.front]: * Publish Point Cloud: TRUE [component_container_isolated-3] [INFO] [1762964929.508352675] [zed_multi.right]: * Sensors publishing rate [Hz]: 100 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.508378429] [zed_multi.right]: === Spatial Mapping parameters === [component_container_isolated-3] [INFO] [1762964929.508446226] [zed_multi.rear]: * ZED X Auto Digital Gain range min: 1 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.508498567] [zed_multi.left]: * Streaming Server enabled: FALSE [component_container_isolated-3] [INFO] [1762964929.508545658] [zed_multi.front]: * Publish Depth Confidence: TRUE [component_container_isolated-3] [INFO] [1762964929.508603237] [zed_multi.right]: * Spatial Mapping Enabled: FALSE [component_container_isolated-3] [INFO] [1762964929.508648285] [zed_multi.rear]: * ZED X Auto Digital Gain range max: 256 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.508704873] [zed_multi.left]: * Stream codec: H264 [component_container_isolated-3] [INFO] [1762964929.508754488] [zed_multi.front]: * Publish Disparity: TRUE [component_container_isolated-3] [INFO] [1762964929.508818048] [zed_multi.right]: * Spatial Mapping resolution [m]: 0.05 [component_container_isolated-3] [INFO] [1762964929.508863998] [zed_multi.rear]: * ZED X Auto Digital Gain range max: 50 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.508889421] [zed_multi.rear]: === DEPTH parameters === [component_container_isolated-3] [INFO] [1762964929.508905519] [zed_multi.front]: * Publish IMU: TRUE [component_container_isolated-3] [INFO] [1762964929.508972385] [zed_multi.left]: * Stream port: 30000 [component_container_isolated-3] [INFO] [1762964929.509025026] [zed_multi.right]: * 3D Max Mapping range [m]: 5 [component_container_isolated-3] [INFO] [1762964929.509091210] [zed_multi.rear]: * Depth mode: NEURAL [5] [component_container_isolated-3] [INFO] [1762964929.509126681] [zed_multi.front]: * Publish IMU Raw: FALSE [component_container_isolated-3] [INFO] [1762964929.509175165] [zed_multi.left]: * Stream bitrate: 12500 [component_container_isolated-3] [INFO] [1762964929.509236000] [zed_multi.right]: * Map publishing rate [Hz]: 1 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.509281508] [zed_multi.rear]: * Min depth [m]: 2 [component_container_isolated-3] [INFO] [1762964929.509326005] [zed_multi.front]: * Publish LeftCam/IMU Transf.: FALSE [component_container_isolated-3] [INFO] [1762964929.509375821] [zed_multi.left]: * Stream GOP size: -1 [component_container_isolated-3] [INFO] [1762964929.509479430] [zed_multi.rear]: * Max depth [m]: 35 [component_container_isolated-3] [INFO] [1762964929.509526431] [zed_multi.front]: * Publish Magnetometer: FALSE [component_container_isolated-3] [INFO] [1762964929.509581887] [zed_multi.right]: * Clicked point topic: /clicked_point [component_container_isolated-3] [INFO] [1762964929.509625683] [zed_multi.rear]: * Depth Stabilization: 80 [component_container_isolated-3] [INFO] [1762964929.509676621] [zed_multi.left]: * Stream Chunk size: 16084 [component_container_isolated-3] [INFO] [1762964929.509725004] [zed_multi.front]: * Publish Barometer: FALSE [component_container_isolated-3] [INFO] [1762964929.509827211] [zed_multi.rear]: * OpenNI mode (16bit depth): FALSE [component_container_isolated-3] [INFO] [1762964929.509865427] [zed_multi.left]: * Adaptive bitrate: FALSE [component_container_isolated-3] [INFO] [1762964929.509932332] [zed_multi.right]: * Plane Det. Max Dist. Thresh.: 0.15 [component_container_isolated-3] [INFO] [1762964929.509979033] [zed_multi.front]: * Publish Temperature: FALSE [component_container_isolated-3] [INFO] [1762964929.510031363] [zed_multi.rear]: * Point cloud rate [Hz]: 10 [component_container_isolated-3] [INFO] [1762964929.510082401] [zed_multi.left]: * Target frame rate:0 [component_container_isolated-3] [INFO] [1762964929.510109879] [zed_multi.left]: === ADVANCED parameters === [component_container_isolated-3] [INFO] [1762964929.510142054] [zed_multi.right]: * Plane Det. Normals Sim. Thresh.: 15 [component_container_isolated-3] [INFO] [1762964929.510166767] [zed_multi.right]: === OBJECT DETECTION parameters === [component_container_isolated-3] [INFO] [1762964929.510186782] [zed_multi.rear]: * Point cloud resolution: COMPACT [component_container_isolated-3] [INFO] [1762964929.510235666] [zed_multi.front]: * Publish Odometry/Pose: TRUE [component_container_isolated-3] [INFO] [1762964929.510284470] [zed_multi.left]: * Thread sched. policy: SCHED_BATCH [component_container_isolated-3] [INFO] [1762964929.510342531] [zed_multi.right]: * Object Det. enabled: FALSE [component_container_isolated-3] [INFO] [1762964929.510368055] [zed_multi.left]: === SERVICES === [component_container_isolated-3] [INFO] [1762964929.510409126] [zed_multi.rear]: * Depth Confidence: 70 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.510454033] [zed_multi.front]: * Publish Pose with Covariance: FALSE [component_container_isolated-3] [INFO] [1762964929.510559796] [zed_multi.right]: * Object Det. allow reduced precision: FALSE [component_container_isolated-3] [INFO] [1762964929.510627302] [zed_multi.rear]: * Depth Texture Confidence: 80 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.510670267] [zed_multi.front]: * Publish Camera Path: FALSE [component_container_isolated-3] [INFO] [1762964929.510722437] [zed_multi.right]: * Object Det. maximum range [m]: 20 [component_container_isolated-3] [INFO] [1762964929.510794962] [zed_multi.rear]: * Remove saturated areas: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.510816890] [zed_multi.rear]: === GNSS FUSION parameters === [component_container_isolated-3] [INFO] [1762964929.510846792] [zed_multi.front]: * Publish Detection Plane: FALSE [component_container_isolated-3] [INFO] [1762964929.510904752] [zed_multi.right]: * Object Det. prediction timeout [sec]: 2 [component_container_isolated-3] [INFO] [1762964929.510958524] [zed_multi.rear]: * GNSS fusion enabled: FALSE [component_container_isolated-3] [INFO] [1762964929.510980723] [zed_multi.rear]: === POSITIONAL TRACKING parameters === [component_container_isolated-3] [INFO] [1762964929.511011025] [zed_multi.front]: === SVO INPUT parameters === [component_container_isolated-3] [INFO] [1762964929.511098146] [zed_multi.right]: * Object Det. tracking: TRUE [component_container_isolated-3] [INFO] [1762964929.511268950] [zed_multi.rear]: * Positional tracking enabled: TRUE [component_container_isolated-3] [INFO] [1762964929.511327411] [zed_multi.right]: * Object Filtering mode: NMS3D [component_container_isolated-3] [INFO] [1762964929.511387135] [zed_multi.front]: === LOCAL STREAMING parameters === [component_container_isolated-3] [DEBUG] [1762964929.511438263] [zed_multi.rear]: Comparing 'GEN_1' to 'GEN_2' [component_container_isolated-3] [DEBUG] [1762964929.511464528] [zed_multi.rear]: Comparing 'GEN_2' to 'GEN_2' [component_container_isolated-3] [INFO] [1762964929.511480826] [zed_multi.rear]: * Positional tracking mode: GEN 2 [component_container_isolated-3] [INFO] [1762964929.511528689] [zed_multi.right]: * Object Det. model: MULTI CLASS BOX FAST [component_container_isolated-3] [INFO] [1762964929.511713799] [zed_multi.front]: * Local stream input: 192.168.16.175:30000 [component_container_isolated-3] [INFO] [1762964929.511738692] [zed_multi.front]: === GENERAL parameters === [component_container_isolated-3] [INFO] [1762964929.511762873] [zed_multi.right]: * MultiClassBox people: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.511842621] [zed_multi.rear]: * Map frame id: map [component_container_isolated-3] [INFO] [1762964929.511898297] [zed_multi.front]: + Playing a network stream from a ZED X camera model. [component_container_isolated-3] [INFO] [1762964929.511935592] [zed_multi.front]: * Camera model: zedx - ZED X [component_container_isolated-3] [INFO] [1762964929.511983635] [zed_multi.right]: * MultiClassBox vehicles: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.512081864] [zed_multi.front]: * Camera name: front [component_container_isolated-3] [INFO] [1762964929.512136438] [zed_multi.rear]: * Odometry frame id: odom [component_container_isolated-3] [INFO] [1762964929.512183590] [zed_multi.right]: * MultiClassBox bags: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.512234868] [zed_multi.front]: * Camera SN: 0 [component_container_isolated-3] [INFO] [1762964929.512333028] [zed_multi.right]: * MultiClassBox animals: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.512373768] [zed_multi.front]: * Camera ID: -1 [component_container_isolated-3] [INFO] [1762964929.512465627] [zed_multi.rear]: * Broadcast Odometry TF: FALSE [component_container_isolated-3] [INFO] [1762964929.512498103] [zed_multi.right]: * MultiClassBox electronics: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.512551836] [zed_multi.front]: * Camera timeout [sec]: 5 [component_container_isolated-3] [INFO] [1762964929.512665131] [zed_multi.right]: * MultiClassBox fruits and vegetables: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.512750859] [zed_multi.front]: * Camera reconnection temptatives: 5 [component_container_isolated-3] [INFO] [1762964929.512809771] [zed_multi.rear]: * Depth minimum range: 0 [component_container_isolated-3] [INFO] [1762964929.512858175] [zed_multi.right]: * MultiClassBox sport-related objects: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.512903453] [zed_multi.front]: * Camera framerate: 30 [component_container_isolated-3] [INFO] [1762964929.513037134] [zed_multi.right]: * MultiClassBox people confidence: 65 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.513111973] [zed_multi.rear]: * TF timestamp offset: 0 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.513160497] [zed_multi.front]: * GPU ID: -1 [component_container_isolated-3] [INFO] [1762964929.513238111] [zed_multi.right]: * MultiClassBox vehicles confidence: 60 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.513331392] [zed_multi.rear]: * Path publishing rate: 2 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.513375889] [zed_multi.front]: * Asynchronous image retrieval: FALSE [component_container_isolated-3] [INFO] [1762964929.513455677] [zed_multi.right]: * MultiClassBox bags confidence: 40 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.513553485] [zed_multi.rear]: * Path history lenght: -1 [component_container_isolated-3] [INFO] [1762964929.513594707] [zed_multi.front]: * Image Validity Check: 1 [component_container_isolated-3] [INFO] [1762964929.513764981] [zed_multi.rear]: * Initial pose: [0,0,0,0,0,0,] [component_container_isolated-3] [INFO] [1762964929.513814376] [zed_multi.right]: * MultiClassBox animals confidence: 40 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.513884427] [zed_multi.front]: * Camera resolution: HD1200 [component_container_isolated-3] [INFO] [1762964929.513991812] [zed_multi.rear]: * Area Memory: TRUE [component_container_isolated-3] [INFO] [1762964929.514044764] [zed_multi.right]: * MultiClassBox electronics confidence: 45 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.514123870] [zed_multi.front]: * Publishing resolution: CUSTOM [component_container_isolated-3] [INFO] [1762964929.514204420] [zed_multi.right]: * MultiClassBox fruits and vegetables confidence: 50 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.514306686] [zed_multi.rear]: * Area Memory File: [component_container_isolated-3] [INFO] [1762964929.514357694] [zed_multi.front]: * Publishing downscale factor: 2 [component_container_isolated-3] [INFO] [1762964929.514434817] [zed_multi.right]: * MultiClassBox sport-related objects confidence: 30 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.514461103] [zed_multi.right]: === Body Track. parameters === [component_container_isolated-3] [INFO] [1762964929.514525975] [zed_multi.rear]: * Save Area Memory on closing: FALSE [component_container_isolated-3] [INFO] [1762964929.514572906] [zed_multi.front]: * OpenCV custom calibration: [component_container_isolated-3] [INFO] [1762964929.514664294] [zed_multi.right]: * Body Track. enabled: FALSE [component_container_isolated-3] [INFO] [1762964929.514734865] [zed_multi.rear]: * Camera is static: FALSE [component_container_isolated-3] [INFO] [1762964929.514811698] [zed_multi.front]: * Camera self calibration: TRUE [component_container_isolated-3] [INFO] [1762964929.514877522] [zed_multi.right]: * Body Track. model: HUMAN BODY MEDIUM [component_container_isolated-3] [INFO] [1762964929.514946311] [zed_multi.rear]: * Gravity as origin: TRUE [component_container_isolated-3] [INFO] [1762964929.515041425] [zed_multi.front]: * Camera flip: FALSE [component_container_isolated-3] [INFO] [1762964929.515094516] [zed_multi.right]: * Body Track. format: BODY 38 [component_container_isolated-3] [INFO] [1762964929.515380090] [zed_multi.rear]: * IMU Fusion: TRUE [component_container_isolated-3] [INFO] [1762964929.515412966] [zed_multi.front]: * Publish framerate [Hz]: 15 [component_container_isolated-3] [INFO] [1762964929.515438430] [zed_multi.front]: === VIDEO parameters === [component_container_isolated-3] [INFO] [1762964929.515441085] [zed_multi.right]: * Body Track. allow reduced precision: FALSE [component_container_isolated-3] [INFO] [1762964929.515613392] [zed_multi.front]: * Saturation: 4 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.515680578] [zed_multi.right]: * Body Track. maximum range [m]: 15 [component_container_isolated-3] [INFO] [1762964929.515734061] [zed_multi.rear]: * Floor Alignment: FALSE [component_container_isolated-3] [INFO] [1762964929.515782575] [zed_multi.front]: * Sharpness: 4 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.515832120] [zed_multi.right]: * Body Track. KP selection: FULL [component_container_isolated-3] [INFO] [1762964929.516051148] [zed_multi.rear]: * Reset Odometry with Loop Closure: TRUE [component_container_isolated-3] [INFO] [1762964929.516082102] [zed_multi.front]: * Gamma: 8 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.516128141] [zed_multi.right]: * Body fitting: FALSE [component_container_isolated-3] [INFO] [1762964929.516290702] [zed_multi.front]: * Auto Exposure/Gain: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.516342802] [zed_multi.rear]: * Publish 3D Landmarks: FALSE [component_container_isolated-3] [INFO] [1762964929.516400392] [zed_multi.right]: * Body joints tracking: TRUE [component_container_isolated-3] [INFO] [1762964929.516416049] [zed_multi.left]: * Advertised on service: '/zed_multi/left/reset_odometry' [component_container_isolated-3] [INFO] [1762964929.516501957] [zed_multi.front]: * Exposure: 80 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.516557653] [zed_multi.rear]: * Publish Landmark Skip Frame:  [component_container_isolated-3] [INFO] [1762964929.516609392] [zed_multi.right]: * Body Track. prediction timeout [sec]: 0.5 [component_container_isolated-3] [INFO] [1762964929.516649642] [zed_multi.front]: * Gain: 80 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.516747982] [zed_multi.rear]: * 2D mode: FALSE [component_container_isolated-3] [INFO] [1762964929.516802205] [zed_multi.right]: * Body Track. confidence thresh.: 50 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.516847143] [zed_multi.front]: * Auto White Balance: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.516906996] [zed_multi.rear]: * Reset pose with SVO loop: TRUE [component_container_isolated-3] [INFO] [1762964929.516948738] [zed_multi.rear]: === Region of Interest parameters === [component_container_isolated-3] [INFO] [1762964929.516971888] [zed_multi.right]: * Body Track. min. KP thresh.: 5 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.516995750] [zed_multi.right]: === STREAMING SERVER parameters === [component_container_isolated-3] [INFO] [1762964929.517046527] [zed_multi.front]: * White Balance Temperature: 42 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.517151819] [zed_multi.right]: * Streaming Server enabled: FALSE [component_container_isolated-3] [INFO] [1762964929.517336177] [zed_multi.rear]: * Automatic ROI generation: FALSE [component_container_isolated-3] [INFO] [1762964929.517380975] [zed_multi.front]: * ZED X Exposure time: 16000 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.517434387] [zed_multi.right]: * Stream codec: H264 [component_container_isolated-3] [INFO] [1762964929.517545769] [zed_multi.front]: * ZED X Auto Exp. time range min: 28 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.517603229] [zed_multi.rear]: * Manual ROI polygon: [] [component_container_isolated-3] [INFO] [1762964929.517628502] [zed_multi.rear]: === SENSORS STACK parameters === [component_container_isolated-3] [INFO] [1762964929.517655419] [zed_multi.right]: * Stream port: 30000 [component_container_isolated-3] [INFO] [1762964929.517708581] [zed_multi.front]: * ZED X Auto Exp. time range max: 30000 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.517977715] [zed_multi.right]: * Stream bitrate: 12500 [component_container_isolated-3] [INFO] [1762964929.518025398] [zed_multi.front]: * ZED X Exposure comp.: 50 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.518136880] [zed_multi.left]: * Advertised on service: '/zed_multi/left/reset_pos_tracking' [component_container_isolated-3] [INFO] [1762964929.518186896] [zed_multi.rear]: * Broadcast IMU TF [not for ZED]: FALSE [component_container_isolated-3] [INFO] [1762964929.518245257] [zed_multi.right]: * Stream GOP size: -1 [component_container_isolated-3] [INFO] [1762964929.518300372] [zed_multi.front]: * ZED X Analog Gain: 1255 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.518395076] [zed_multi.rear]: * Sensors Camera Sync: FALSE [component_container_isolated-3] [INFO] [1762964929.518448298] [zed_multi.right]: * Stream Chunk size: 16084 [component_container_isolated-3] [INFO] [1762964929.518540297] [zed_multi.front]: * ZED X Auto Analog Gain range min: 1000 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.518646290] [zed_multi.right]: * Adaptive bitrate: FALSE [component_container_isolated-3] [INFO] [1762964929.518707706] [zed_multi.rear]: * Sensors publishing rate [Hz]: 100 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.518736025] [zed_multi.rear]: === Spatial Mapping parameters === [component_container_isolated-3] [INFO] [1762964929.518764454] [zed_multi.front]: * ZED X Auto Analog Gain range max: 16000 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.518817045] [zed_multi.right]: * Target frame rate:0 [component_container_isolated-3] [INFO] [1762964929.518839523] [zed_multi.right]: === ADVANCED parameters === [component_container_isolated-3] [INFO] [1762964929.518990574] [zed_multi.rear]: * Spatial Mapping Enabled: FALSE [component_container_isolated-3] [INFO] [1762964929.519044017] [zed_multi.right]: * Thread sched. policy: SCHED_BATCH [component_container_isolated-3] [INFO] [1762964929.519089806] [zed_multi.right]: === SERVICES === [component_container_isolated-3] [INFO] [1762964929.519098731] [zed_multi.front]: * ZED X Digital Gain: 1 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.519165436] [zed_multi.rear]: * Spatial Mapping resolution [m]: 0.05 [component_container_isolated-3] [INFO] [1762964929.519421899] [zed_multi.front]: * ZED X Auto Digital Gain range min: 1 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.519480701] [zed_multi.rear]: * 3D Max Mapping range [m]: 5 [component_container_isolated-3] [INFO] [1762964929.519607450] [zed_multi.front]: * ZED X Auto Digital Gain range max: 256 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.519699729] [zed_multi.rear]: * Map publishing rate [Hz]: 1 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.519758911] [zed_multi.front]: * ZED X Auto Digital Gain range max: 50 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.519779667] [zed_multi.front]: === DEPTH parameters === [component_container_isolated-3] [INFO] [1762964929.519879680] [zed_multi.rear]: * Clicked point topic: /clicked_point [component_container_isolated-3] [INFO] [1762964929.520107413] [zed_multi.front]: * Depth mode: NEURAL [5] [component_container_isolated-3] [INFO] [1762964929.520241264] [zed_multi.rear]: * Plane Det. Max Dist. Thresh.: 0.15 [component_container_isolated-3] [INFO] [1762964929.520317446] [zed_multi.front]: * Min depth [m]: 2 [component_container_isolated-3] [INFO] [1762964929.520410035] [zed_multi.rear]: * Plane Det. Normals Sim. Thresh.: 15 [component_container_isolated-3] [INFO] [1762964929.520432474] [zed_multi.rear]: === OBJECT DETECTION parameters === [component_container_isolated-3] [INFO] [1762964929.520525034] [zed_multi.front]: * Max depth [m]: 35 [component_container_isolated-3] [INFO] [1762964929.520616552] [zed_multi.rear]: * Object Det. enabled: FALSE [component_container_isolated-3] [INFO] [1762964929.520685030] [zed_multi.front]: * Depth Stabilization: 80 [component_container_isolated-3] [INFO] [1762964929.520773723] [zed_multi.rear]: * Object Det. allow reduced precision: FALSE [component_container_isolated-3] [INFO] [1762964929.520858871] [zed_multi.front]: * OpenNI mode (16bit depth): FALSE [component_container_isolated-3] [INFO] [1762964929.520949767] [zed_multi.rear]: * Object Det. maximum range [m]: 20 [component_container_isolated-3] [INFO] [1762964929.521074172] [zed_multi.front]: * Point cloud rate [Hz]: 10 [component_container_isolated-3] [INFO] [1762964929.521159419] [zed_multi.rear]: * Object Det. prediction timeout [sec]: 2 [component_container_isolated-3] [INFO] [1762964929.521229741] [zed_multi.front]: * Point cloud resolution: COMPACT [component_container_isolated-3] [INFO] [1762964929.521324424] [zed_multi.rear]: * Object Det. tracking: TRUE [component_container_isolated-3] [INFO] [1762964929.521383456] [zed_multi.front]: * Depth Confidence: 70 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.521480664] [zed_multi.rear]: * Object Filtering mode: NMS3D [component_container_isolated-3] [INFO] [1762964929.521587008] [zed_multi.front]: * Depth Texture Confidence: 80 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.521639468] [zed_multi.rear]: * Object Det. model: MULTI CLASS BOX FAST [component_container_isolated-3] [INFO] [1762964929.521798092] [zed_multi.rear]: * MultiClassBox people: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.521852496] [zed_multi.front]: * Remove saturated areas: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.521881396] [zed_multi.front]: === GNSS FUSION parameters === [component_container_isolated-3] [INFO] [1762964929.521960282] [zed_multi.rear]: * MultiClassBox vehicles: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.522070563] [zed_multi.front]: * GNSS fusion enabled: FALSE [component_container_isolated-3] [INFO] [1762964929.522094604] [zed_multi.front]: === POSITIONAL TRACKING parameters === [component_container_isolated-3] [INFO] [1762964929.522119197] [zed_multi.rear]: * MultiClassBox bags: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.522292436] [zed_multi.rear]: * MultiClassBox animals: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.522345938] [zed_multi.front]: * Positional tracking enabled: TRUE [component_container_isolated-3] [INFO] [1762964929.522541957] [zed_multi.rear]: * MultiClassBox electronics: TRUE [DYNAMIC] [component_container_isolated-3] [DEBUG] [1762964929.522585552] [zed_multi.front]: Comparing 'GEN_1' to 'GEN_2' [component_container_isolated-3] [DEBUG] [1762964929.522624730] [zed_multi.front]: Comparing 'GEN_2' to 'GEN_2' [component_container_isolated-3] [INFO] [1762964929.522639976] [zed_multi.front]: * Positional tracking mode: GEN 2 [component_container_isolated-3] [INFO] [1762964929.522703175] [zed_multi.left]: * Advertised on service: '/zed_multi/left/set_pose' [component_container_isolated-3] [INFO] [1762964929.522762277] [zed_multi.rear]: * MultiClassBox fruits and vegetables: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.522917876] [zed_multi.rear]: * MultiClassBox sport-related objects: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.523047209] [zed_multi.front]: * Map frame id: map [component_container_isolated-3] [INFO] [1762964929.523103336] [zed_multi.rear]: * MultiClassBox people confidence: 65 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.523416197] [zed_multi.rear]: * MultiClassBox vehicles confidence: 60 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.523431864] [zed_multi.front]: * Odometry frame id: odom [component_container_isolated-3] [INFO] [1762964929.523605273] [zed_multi.rear]: * MultiClassBox bags confidence: 40 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.523679882] [zed_multi.front]: * Broadcast Odometry TF: TRUE [component_container_isolated-3] [INFO] [1762964929.523778011] [zed_multi.rear]: * MultiClassBox animals confidence: 40 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.524075655] [zed_multi.front]: * Broadcast Pose TF: TRUE [component_container_isolated-3] [INFO] [1762964929.524110826] [zed_multi.rear]: * MultiClassBox electronics confidence: 45 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.524255876] [zed_multi.right]: * Advertised on service: '/zed_multi/right/reset_odometry' [component_container_isolated-3] [INFO] [1762964929.524320869] [zed_multi.rear]: * MultiClassBox fruits and vegetables confidence: 50 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.524380081] [zed_multi.front]: * Depth minimum range: 0 [component_container_isolated-3] [INFO] [1762964929.524499387] [zed_multi.rear]: * MultiClassBox sport-related objects confidence: 30 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.524521906] [zed_multi.rear]: === Body Track. parameters === [component_container_isolated-3] [INFO] [1762964929.524648014] [zed_multi.front]: * TF timestamp offset: 0 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.524697178] [zed_multi.rear]: * Body Track. enabled: FALSE [component_container_isolated-3] [INFO] [1762964929.524960914] [zed_multi.front]: * Path publishing rate: 2 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.525011040] [zed_multi.rear]: * Body Track. model: HUMAN BODY MEDIUM [component_container_isolated-3] [INFO] [1762964929.525155991] [zed_multi.front]: * Path history lenght: -1 [component_container_isolated-3] [INFO] [1762964929.525216335] [zed_multi.rear]: * Body Track. format: BODY 38 [component_container_isolated-3] [INFO] [1762964929.525460737] [zed_multi.front]: * Initial pose: [0,0,0,0,0,0,] [component_container_isolated-3] [INFO] [1762964929.525504423] [zed_multi.rear]: * Body Track. allow reduced precision: FALSE [component_container_isolated-3] [INFO] [1762964929.525655774] [zed_multi.left]: * Advertised on service: '/zed_multi/left/save_area_memory' [component_container_isolated-3] [INFO] [1762964929.525714205] [zed_multi.rear]: * Body Track. maximum range [m]: 15 [component_container_isolated-3] [INFO] [1762964929.525784576] [zed_multi.front]: * Area Memory: TRUE [component_container_isolated-3] [INFO] [1762964929.525868952] [zed_multi.rear]: * Body Track. KP selection: FULL [component_container_isolated-3] [INFO] [1762964929.526019592] [zed_multi.front]: * Area Memory File: [component_container_isolated-3] [INFO] [1762964929.526141933] [zed_multi.rear]: * Body fitting: FALSE [component_container_isolated-3] [INFO] [1762964929.526241525] [zed_multi.front]: * Save Area Memory on closing: FALSE [component_container_isolated-3] [INFO] [1762964929.526311406] [zed_multi.rear]: * Body joints tracking: TRUE [component_container_isolated-3] [INFO] [1762964929.526425744] [zed_multi.front]: * Camera is static: FALSE [component_container_isolated-3] [INFO] [1762964929.526521709] [zed_multi.rear]: * Body Track. prediction timeout [sec]: 0.5 [component_container_isolated-3] [INFO] [1762964929.526644702] [zed_multi.front]: * Gravity as origin: TRUE [component_container_isolated-3] [INFO] [1762964929.526694317] [zed_multi.rear]: * Body Track. confidence thresh.: 50 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.526818301] [zed_multi.front]: * IMU Fusion: TRUE [component_container_isolated-3] [INFO] [1762964929.526871754] [zed_multi.rear]: * Body Track. min. KP thresh.: 5 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.526894864] [zed_multi.rear]: === STREAMING SERVER parameters === [component_container_isolated-3] [INFO] [1762964929.527032251] [zed_multi.front]: * Floor Alignment: FALSE [component_container_isolated-3] [INFO] [1762964929.527086104] [zed_multi.rear]: * Streaming Server enabled: FALSE [component_container_isolated-3] [INFO] [1762964929.527273788] [zed_multi.front]: * Reset Odometry with Loop Closure: TRUE [component_container_isolated-3] [INFO] [1762964929.527325748] [zed_multi.rear]: * Stream codec: H264 [component_container_isolated-3] [INFO] [1762964929.527467793] [zed_multi.front]: * Publish 3D Landmarks: FALSE [component_container_isolated-3] [INFO] [1762964929.527523639] [zed_multi.rear]: * Stream port: 30000 [component_container_isolated-3] [INFO] [1762964929.527631225] [zed_multi.front]: * Publish Landmark Skip Frame:  [component_container_isolated-3] [INFO] [1762964929.527773761] [zed_multi.rear]: * Stream bitrate: 12500 [component_container_isolated-3] [INFO] [1762964929.527827845] [zed_multi.front]: * 2D mode: FALSE [component_container_isolated-3] [INFO] [1762964929.527968798] [zed_multi.rear]: * Stream GOP size: -1 [component_container_isolated-3] [INFO] [1762964929.528024574] [zed_multi.front]: * Reset pose with SVO loop: TRUE [component_container_isolated-3] [INFO] [1762964929.528047684] [zed_multi.front]: === Region of Interest parameters === [component_container_isolated-3] [INFO] [1762964929.528128424] [zed_multi.rear]: * Stream Chunk size: 16084 [component_container_isolated-3] [INFO] [1762964929.528341171] [zed_multi.rear]: * Adaptive bitrate: FALSE [component_container_isolated-3] [INFO] [1762964929.528391798] [zed_multi.front]: * Automatic ROI generation: FALSE [component_container_isolated-3] [INFO] [1762964929.528675909] [zed_multi.rear]: * Target frame rate:0 [component_container_isolated-3] [INFO] [1762964929.528702495] [zed_multi.rear]: === ADVANCED parameters === [component_container_isolated-3] [INFO] [1762964929.528716079] [zed_multi.front]: * Manual ROI polygon: [] [component_container_isolated-3] [INFO] [1762964929.528740110] [zed_multi.front]: === SENSORS STACK parameters === [component_container_isolated-3] [INFO] [1762964929.528863904] [zed_multi.rear]: * Thread sched. policy: SCHED_BATCH [component_container_isolated-3] [INFO] [1762964929.528902711] [zed_multi.rear]: === SERVICES === [component_container_isolated-3] [INFO] [1762964929.528953358] [zed_multi.front]: * Broadcast IMU TF [not for ZED]: FALSE [component_container_isolated-3] [INFO] [1762964929.529120577] [zed_multi.front]: * Sensors Camera Sync: FALSE [component_container_isolated-3] [INFO] [1762964929.529293205] [zed_multi.right]: * Advertised on service: '/zed_multi/right/reset_pos_tracking' [component_container_isolated-3] [INFO] [1762964929.529340226] [zed_multi.front]: * Sensors publishing rate [Hz]: 100 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.529374896] [zed_multi.front]: === Spatial Mapping parameters === [component_container_isolated-3] [INFO] [1762964929.529549658] [zed_multi.front]: * Spatial Mapping Enabled: FALSE [component_container_isolated-3] [INFO] [1762964929.529820516] [zed_multi.front]: * Spatial Mapping resolution [m]: 0.05 [component_container_isolated-3] [INFO] [1762964929.529996239] [zed_multi.front]: * 3D Max Mapping range [m]: 5 [component_container_isolated-3] [INFO] [1762964929.530158780] [zed_multi.front]: * Map publishing rate [Hz]: 1 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.530380703] [zed_multi.front]: * Clicked point topic: /clicked_point [component_container_isolated-3] [INFO] [1762964929.530595925] [zed_multi.left]: * Advertised on service: '/zed_multi/left/enable_obj_det' [component_container_isolated-3] [INFO] [1762964929.530638238] [zed_multi.front]: * Plane Det. Max Dist. Thresh.: 0.15 [component_container_isolated-3] [INFO] [1762964929.530839936] [zed_multi.front]: * Plane Det. Normals Sim. Thresh.: 15 [component_container_isolated-3] [INFO] [1762964929.530864819] [zed_multi.front]: === OBJECT DETECTION parameters === [component_container_isolated-3] [INFO] [1762964929.531025947] [zed_multi.front]: * Object Det. enabled: FALSE [component_container_isolated-3] [INFO] [1762964929.531249643] [zed_multi.front]: * Object Det. allow reduced precision: FALSE [component_container_isolated-3] [INFO] [1762964929.531444199] [zed_multi.front]: * Object Det. maximum range [m]: 20 [component_container_isolated-3] [INFO] [1762964929.531622888] [zed_multi.front]: * Object Det. prediction timeout [sec]: 2 [component_container_isolated-3] [INFO] [1762964929.531813698] [zed_multi.front]: * Object Det. tracking: TRUE [component_container_isolated-3] [INFO] [1762964929.531996934] [zed_multi.rear]: * Advertised on service: '/zed_multi/rear/reset_odometry' [component_container_isolated-3] [INFO] [1762964929.532038005] [zed_multi.front]: * Object Filtering mode: NMS3D [component_container_isolated-3] [INFO] [1762964929.532285011] [zed_multi.front]: * Object Det. model: MULTI CLASS BOX FAST [component_container_isolated-3] [INFO] [1762964929.532548096] [zed_multi.front]: * MultiClassBox people: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.532726313] [zed_multi.front]: * MultiClassBox vehicles: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.532889876] [zed_multi.front]: * MultiClassBox bags: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.533101331] [zed_multi.front]: * MultiClassBox animals: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.533244128] [zed_multi.right]: * Advertised on service: '/zed_multi/right/set_pose' [component_container_isolated-3] [INFO] [1762964929.533277024] [zed_multi.front]: * MultiClassBox electronics: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.533469036] [zed_multi.front]: * MultiClassBox fruits and vegetables: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.533744992] [zed_multi.front]: * MultiClassBox sport-related objects: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.533954444] [zed_multi.front]: * MultiClassBox people confidence: 65 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.534201921] [zed_multi.front]: * MultiClassBox vehicles confidence: 60 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.534342564] [zed_multi.left]: * Advertised on service: '/zed_multi/left/enable_body_trk' [component_container_isolated-3] [INFO] [1762964929.534392831] [zed_multi.front]: * MultiClassBox bags confidence: 40 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.534679146] [zed_multi.front]: * MultiClassBox animals confidence: 40 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.534972422] [zed_multi.front]: * MultiClassBox electronics confidence: 45 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.535162270] [zed_multi.front]: * MultiClassBox fruits and vegetables confidence: 50 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.535334798] [zed_multi.front]: * MultiClassBox sport-related objects confidence: 30 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.535357187] [zed_multi.front]: === Body Track. parameters === [component_container_isolated-3] [INFO] [1762964929.535517073] [zed_multi.front]: * Body Track. enabled: FALSE [component_container_isolated-3] [INFO] [1762964929.535689701] [zed_multi.rear]: * Advertised on service: '/zed_multi/rear/reset_pos_tracking' [component_container_isolated-3] [INFO] [1762964929.535726665] [zed_multi.front]: * Body Track. model: HUMAN BODY MEDIUM [component_container_isolated-3] [INFO] [1762964929.535946624] [zed_multi.front]: * Body Track. format: BODY 38 [component_container_isolated-3] [INFO] [1762964929.536220537] [zed_multi.front]: * Body Track. allow reduced precision: FALSE [component_container_isolated-3] [INFO] [1762964929.536410435] [zed_multi.front]: * Body Track. maximum range [m]: 15 [component_container_isolated-3] [INFO] [1762964929.536670925] [zed_multi.front]: * Body Track. KP selection: FULL [component_container_isolated-3] [INFO] [1762964929.536840868] [zed_multi.right]: * Advertised on service: '/zed_multi/right/save_area_memory' [component_container_isolated-3] [INFO] [1762964929.536884734] [zed_multi.front]: * Body fitting: FALSE [component_container_isolated-3] [INFO] [1762964929.537096790] [zed_multi.front]: * Body joints tracking: TRUE [component_container_isolated-3] [INFO] [1762964929.537380671] [zed_multi.front]: * Body Track. prediction timeout [sec]: 0.5 [component_container_isolated-3] [INFO] [1762964929.537568335] [zed_multi.front]: * Body Track. confidence thresh.: 50 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.537829746] [zed_multi.front]: * Body Track. min. KP thresh.: 5 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964929.537852996] [zed_multi.front]: === STREAMING SERVER parameters === [component_container_isolated-3] [INFO] [1762964929.537995883] [zed_multi.left]: * Advertised on service: '/zed_multi/left/enable_mapping' [component_container_isolated-3] [INFO] [1762964929.538036213] [zed_multi.front]: * Streaming Server enabled: FALSE [component_container_isolated-3] [INFO] [1762964929.538225189] [zed_multi.front]: * Stream codec: H264 [component_container_isolated-3] [INFO] [1762964929.538506575] [zed_multi.front]: * Stream port: 30000 [component_container_isolated-3] [INFO] [1762964929.538669727] [zed_multi.front]: * Stream bitrate: 12500 [component_container_isolated-3] [INFO] [1762964929.538816881] [zed_multi.front]: * Stream GOP size: -1 [component_container_isolated-3] [INFO] [1762964929.539006178] [zed_multi.front]: * Stream Chunk size: 16084 [component_container_isolated-3] [INFO] [1762964929.539150377] [zed_multi.rear]: * Advertised on service: '/zed_multi/rear/set_pose' [component_container_isolated-3] [INFO] [1762964929.539189194] [zed_multi.front]: * Adaptive bitrate: FALSE [component_container_isolated-3] [INFO] [1762964929.539402682] [zed_multi.front]: * Target frame rate:0 [component_container_isolated-3] [INFO] [1762964929.539421835] [zed_multi.front]: === ADVANCED parameters === [component_container_isolated-3] [INFO] [1762964929.539680352] [zed_multi.front]: * Thread sched. policy: SCHED_BATCH [component_container_isolated-3] [INFO] [1762964929.539719529] [zed_multi.front]: === SERVICES === [component_container_isolated-3] [INFO] [1762964929.540308737] [zed_multi.right]: * Advertised on service: '/zed_multi/right/enable_obj_det' [component_container_isolated-3] [INFO] [1762964929.541430724] [zed_multi.left]: * Advertised on service: '/zed_multi/left/enable_streaming' [component_container_isolated-3] [INFO] [1762964929.542554425] [zed_multi.rear]: * Advertised on service: '/zed_multi/rear/save_area_memory' [component_container_isolated-3] [INFO] [1762964929.543803061] [zed_multi.front]: * Advertised on service: '/zed_multi/front/reset_odometry' [component_container_isolated-3] [INFO] [1762964929.544891871] [zed_multi.right]: * Advertised on service: '/zed_multi/right/enable_body_trk' [component_container_isolated-3] [INFO] [1762964929.546126934] [zed_multi.left]: * Advertised on service: '/zed_multi/left/start_svo_rec' [component_container_isolated-3] [INFO] [1762964929.547293358] [zed_multi.rear]: * Advertised on service: '/zed_multi/rear/enable_obj_det' [component_container_isolated-3] [INFO] [1762964929.548317647] [zed_multi.front]: * Advertised on service: '/zed_multi/front/reset_pos_tracking' [component_container_isolated-3] [INFO] [1762964929.549443892] [zed_multi.right]: * Advertised on service: '/zed_multi/right/enable_mapping' [component_container_isolated-3] [INFO] [1762964929.550593016] [zed_multi.left]: * Advertised on service: '/zed_multi/left/stop_svo_rec' [component_container_isolated-3] [INFO] [1762964929.551670046] [zed_multi.rear]: * Advertised on service: '/zed_multi/rear/enable_body_trk' [component_container_isolated-3] [INFO] [1762964929.552693273] [zed_multi.front]: * Advertised on service: '/zed_multi/front/set_pose' [component_container_isolated-3] [INFO] [1762964929.553859527] [zed_multi.right]: * Advertised on service: '/zed_multi/right/enable_streaming' [component_container_isolated-3] [INFO] [1762964929.554962591] [zed_multi.left]: * Advertised on service: '/zed_multi/left/set_roi' [component_container_isolated-3] [INFO] [1762964929.556028713] [zed_multi.rear]: * Advertised on service: '/zed_multi/rear/enable_mapping' [component_container_isolated-3] [INFO] [1762964929.556999849] [zed_multi.front]: * Advertised on service: '/zed_multi/front/save_area_memory' [component_container_isolated-3] [INFO] [1762964929.558224434] [zed_multi.right]: * Advertised on service: '/zed_multi/right/start_svo_rec' [component_container_isolated-3] [INFO] [1762964929.559325455] [zed_multi.left]: * Advertised on service: '/zed_multi/left/reset_roi' [component_container_isolated-3] [INFO] [1762964929.559369261] [zed_multi.left]: === STARTING CAMERA === [component_container_isolated-3] [INFO] [1762964929.560380868] [zed_multi.rear]: * Advertised on service: '/zed_multi/rear/enable_streaming' [component_container_isolated-3] [INFO] [1762964929.560695241] [zed_multi.left]: ZED SDK Version: 5.1.0 - Build 106231_f4e0c540 [component_container_isolated-3] [INFO] [1762964929.561420723] [zed_multi.front]: * Advertised on service: '/zed_multi/front/enable_obj_det' [component_container_isolated-3] [INFO] [1762964929.562552518] [zed_multi.right]: * Advertised on service: '/zed_multi/right/stop_svo_rec' [component_container_isolated-3] [INFO] [1762964929.563717319] [zed_multi.rear]: * Advertised on service: '/zed_multi/rear/start_svo_rec' [component_container_isolated-3] [INFO] [1762964929.566788793] [zed_multi.front]: * Advertised on service: '/zed_multi/front/enable_body_trk' [component_container_isolated-3] [INFO] [1762964929.567946172] [zed_multi.right]: * Advertised on service: '/zed_multi/right/set_roi' [component_container_isolated-3] [INFO] [1762964929.569066336] [zed_multi.rear]: * Advertised on service: '/zed_multi/rear/stop_svo_rec' [component_container_isolated-3] [INFO] [1762964929.572747673] [zed_multi.front]: * Advertised on service: '/zed_multi/front/enable_mapping' [component_container_isolated-3] [INFO] [1762964929.573863650] [zed_multi.right]: * Advertised on service: '/zed_multi/right/reset_roi' [component_container_isolated-3] [INFO] [1762964929.573956891] [zed_multi.right]: === STARTING CAMERA === [component_container_isolated-3] [INFO] [1762964929.573975894] [zed_multi.right]: ZED SDK Version: 5.1.0 - Build 106231_f4e0c540 [component_container_isolated-3] [INFO] [1762964929.575016621] [zed_multi.rear]: * Advertised on service: '/zed_multi/rear/set_roi' [component_container_isolated-3] [INFO] [1762964929.576858121] [zed_multi.front]: * Advertised on service: '/zed_multi/front/enable_streaming' [component_container_isolated-3] [INFO] [1762964929.578319865] [zed_multi.left]: === LOCAL STREAMING OPENING === [component_container_isolated-3] [INFO] [1762964929.580497235] [zed_multi.rear]: * Advertised on service: '/zed_multi/rear/reset_roi' [component_container_isolated-3] [INFO] [1762964929.580530813] [zed_multi.rear]: === STARTING CAMERA === [component_container_isolated-3] [INFO] [1762964929.580547732] [zed_multi.rear]: ZED SDK Version: 5.1.0 - Build 106231_f4e0c540 [component_container_isolated-3] [INFO] [1762964929.581729934] [zed_multi.front]: * Advertised on service: '/zed_multi/front/start_svo_rec' [component_container_isolated-3] [INFO] [1762964929.586939229] [zed_multi.front]: * Advertised on service: '/zed_multi/front/stop_svo_rec' [component_container_isolated-3] [INFO] [1762964929.587832662] [zed_multi.right]: === LOCAL STREAMING OPENING === [component_container_isolated-3] [INFO] [1762964929.589779504] [zed_multi.front]: * Advertised on service: '/zed_multi/front/set_roi' [component_container_isolated-3] [INFO] [1762964929.591770252] [zed_multi.front]: * Advertised on service: '/zed_multi/front/reset_roi' [component_container_isolated-3] [INFO] [1762964929.591806564] [zed_multi.front]: === STARTING CAMERA === [component_container_isolated-3] [INFO] [1762964929.591823574] [zed_multi.front]: ZED SDK Version: 5.1.0 - Build 106231_f4e0c540 [component_container_isolated-3] [INFO] [1762964929.592934682] [zed_multi.rear]: === LOCAL STREAMING OPENING === [component_container_isolated-3] [INFO] [1762964929.598666761] [zed_multi.front]: === LOCAL STREAMING OPENING === [component_container_isolated-3] [INFO] [1762964931.918347050] [zed_multi.front]: * ZED SDK running on GPU #0 [component_container_isolated-3] [INFO] [1762964931.918411562] [zed_multi.front]: * Camera Model -> ZED X [component_container_isolated-3] [INFO] [1762964931.918420427] [zed_multi.front]: * Serial Number -> 40483530 [component_container_isolated-3] [INFO] [1762964931.918347050] [zed_multi.rear]: * ZED SDK running on GPU #0 [component_container_isolated-3] [INFO] [1762964931.918467919] [zed_multi.rear]: * Camera Model -> ZED X [component_container_isolated-3] [INFO] [1762964931.918495857] [zed_multi.front]: * Focal Length -> 2.20477 mm [component_container_isolated-3] [INFO] [1762964931.918351438] [zed_multi.left]: * ZED SDK running on GPU #0 [component_container_isolated-3] [INFO] [1762964931.918541416] [zed_multi.left]: * Camera Model -> ZED X [component_container_isolated-3] [INFO] [1762964931.918576096] [zed_multi.left]: * Serial Number -> 49440015 [component_container_isolated-3] [INFO] [1762964931.918513568] [zed_multi.front]: * Input -> STREAM [component_container_isolated-3] [INFO] [1762964931.918602491] [zed_multi.front]: * Camera FW Version -> 2001 [component_container_isolated-3] [INFO] [1762964931.918620783] [zed_multi.left]: * Focal Length -> 2.20837 mm [component_container_isolated-3] [INFO] [1762964931.918638664] [zed_multi.left]: * Input -> STREAM [component_container_isolated-3] [INFO] [1762964931.918647790] [zed_multi.left]: * Camera FW Version -> 2001 [component_container_isolated-3] [INFO] [1762964931.918656114] [zed_multi.left]: * Sensors FW Version -> 0 [component_container_isolated-3] [INFO] [1762964931.918666722] [zed_multi.left]: * Camera grab size -> 1920x1200 [component_container_isolated-3] [INFO] [1762964931.918676990] [zed_multi.left]: * Color/Depth publishing size -> 960x600 [component_container_isolated-3] [INFO] [1762964931.918685264] [zed_multi.left]: * Point Cloud publishing size -> 448x256 [component_container_isolated-3] [INFO] [1762964931.918498932] [zed_multi.rear]: * Serial Number -> 41385721 [component_container_isolated-3] [INFO] [1762964931.918620833] [zed_multi.front]: * Sensors FW Version -> 0 [component_container_isolated-3] [INFO] [1762964931.918731845] [zed_multi.front]: * Camera grab size -> 1920x1200 [component_container_isolated-3] [INFO] [1762964931.918738907] [zed_multi.front]: * Color/Depth publishing size -> 960x600 [component_container_isolated-3] [INFO] [1762964931.918746139] [zed_multi.front]: * Point Cloud publishing size -> 448x256 [component_container_isolated-3] [INFO] [1762964931.918700531] [zed_multi.left]: === TF FRAMES === [component_container_isolated-3] [INFO] [1762964931.918766915] [zed_multi.left]: * Map -> map [component_container_isolated-3] [INFO] [1762964931.918775139] [zed_multi.left]: * Odometry -> odom [component_container_isolated-3] [INFO] [1762964931.918782783] [zed_multi.left]: * Base -> left_camera_link [component_container_isolated-3] [INFO] [1762964931.918790626] [zed_multi.left]: * Camera -> left_camera_center [component_container_isolated-3] [INFO] [1762964931.918769520] [zed_multi.rear]: * Focal Length -> 3.81525 mm [component_container_isolated-3] [INFO] [1762964931.918761075] [zed_multi.front]: === TF FRAMES === [component_container_isolated-3] [INFO] [1762964931.918828752] [zed_multi.rear]: * Input -> STREAM [component_container_isolated-3] [INFO] [1762964931.918845431] [zed_multi.rear]: * Camera FW Version -> 2001 [component_container_isolated-3] [INFO] [1762964931.918860026] [zed_multi.rear]: * Sensors FW Version -> 0 [component_container_isolated-3] [INFO] [1762964931.918878278] [zed_multi.rear]: * Camera grab size -> 1920x1200 [component_container_isolated-3] [INFO] [1762964931.918892031] [zed_multi.rear]: * Color/Depth publishing size -> 960x600 [component_container_isolated-3] [INFO] [1762964931.918905064] [zed_multi.rear]: * Point Cloud publishing size -> 448x256 [component_container_isolated-3] [INFO] [1762964931.918347140] [zed_multi.right]: * ZED SDK running on GPU #0 [component_container_isolated-3] [INFO] [1762964931.918830164] [zed_multi.front]: * Map -> map [component_container_isolated-3] [INFO] [1762964931.918968724] [zed_multi.front]: * Odometry -> odom [component_container_isolated-3] [INFO] [1762964931.918982157] [zed_multi.front]: * Base -> front_camera_link [component_container_isolated-3] [INFO] [1762964931.918988127] [zed_multi.front]: * Camera -> front_camera_center [component_container_isolated-3] [INFO] [1762964931.918994899] [zed_multi.front]: * Left -> front_left_camera_frame [component_container_isolated-3] [INFO] [1762964931.919000198] [zed_multi.front]: * Left Optical -> front_left_camera_optical_frame [component_container_isolated-3] [INFO] [1762964931.919006810] [zed_multi.front]: * Right -> front_right_camera_frame [component_container_isolated-3] [INFO] [1762964931.919013120] [zed_multi.front]: * Right Optical -> front_right_camera_optical_frame [component_container_isolated-3] [INFO] [1762964931.919018540] [zed_multi.front]: * Depth -> front_left_camera_frame [component_container_isolated-3] [INFO] [1762964931.919024670] [zed_multi.front]: * Depth Optical -> front_left_camera_optical_frame [component_container_isolated-3] [INFO] [1762964931.919043232] [zed_multi.front]: * Point Cloud -> front_left_camera_frame [component_container_isolated-3] [INFO] [1762964931.919050425] [zed_multi.front]: * IMU -> front_imu_link [component_container_isolated-3] [INFO] [1762964931.918934475] [zed_multi.rear]: === TF FRAMES === [component_container_isolated-3] [INFO] [1762964931.919098328] [zed_multi.rear]: * Map -> map [component_container_isolated-3] [INFO] [1762964931.919114425] [zed_multi.rear]: * Odometry -> odom [component_container_isolated-3] [INFO] [1762964931.919129521] [zed_multi.rear]: * Base -> rear_camera_link [component_container_isolated-3] [INFO] [1762964931.919144327] [zed_multi.rear]: * Camera -> rear_camera_center [component_container_isolated-3] [INFO] [1762964931.919159483] [zed_multi.rear]: * Left -> rear_left_camera_frame [component_container_isolated-3] [INFO] [1762964931.919173798] [zed_multi.rear]: * Left Optical -> rear_left_camera_optical_frame [component_container_isolated-3] [INFO] [1762964931.919188253] [zed_multi.rear]: * Right -> rear_right_camera_frame [component_container_isolated-3] [INFO] [1762964931.919202267] [zed_multi.rear]: * Right Optical -> rear_right_camera_optical_frame [component_container_isolated-3] [INFO] [1762964931.919215710] [zed_multi.rear]: * Depth -> rear_left_camera_frame [component_container_isolated-3] [INFO] [1762964931.919242567] [zed_multi.rear]: * Depth Optical -> rear_left_camera_optical_frame [component_container_isolated-3] [INFO] [1762964931.919255409] [zed_multi.rear]: * Point Cloud -> rear_left_camera_frame [component_container_isolated-3] [INFO] [1762964931.919297552] [zed_multi.rear]: * IMU -> rear_imu_link [component_container_isolated-3] [INFO] [1762964931.918963264] [zed_multi.right]: * Camera Model -> ZED X [component_container_isolated-3] [INFO] [1762964931.919328956] [zed_multi.right]: * Serial Number -> 44036609 [component_container_isolated-3] [INFO] [1762964931.919091726] [zed_multi.front]: === PUBLISHED TOPICS === [component_container_isolated-3] [INFO] [1762964931.919322515] [zed_multi.rear]: === PUBLISHED TOPICS === [component_container_isolated-3] [INFO] [1762964931.918797298] [zed_multi.left]: * Left -> left_left_camera_frame [component_container_isolated-3] [INFO] [1762964931.919392956] [zed_multi.left]: * Left Optical -> left_left_camera_optical_frame [component_container_isolated-3] [INFO] [1762964931.919399578] [zed_multi.left]: * Right -> left_right_camera_frame [component_container_isolated-3] [INFO] [1762964931.919376588] [zed_multi.right]: * Focal Length -> 2.20909 mm [component_container_isolated-3] [INFO] [1762964931.919405057] [zed_multi.left]: * Right Optical -> left_right_camera_optical_frame [component_container_isolated-3] [INFO] [1762964931.919427015] [zed_multi.right]: * Input -> STREAM [component_container_isolated-3] [INFO] [1762964931.919456406] [zed_multi.right]: * Camera FW Version -> 2001 [component_container_isolated-3] [INFO] [1762964931.919465482] [zed_multi.right]: * Sensors FW Version -> 0 [component_container_isolated-3] [INFO] [1762964931.919473696] [zed_multi.right]: * Camera grab size -> 1920x1200 [component_container_isolated-3] [INFO] [1762964931.919482571] [zed_multi.right]: * Color/Depth publishing size -> 960x600 [component_container_isolated-3] [INFO] [1762964931.919491116] [zed_multi.right]: * Point Cloud publishing size -> 448x256 [component_container_isolated-3] [INFO] [1762964931.919501173] [zed_multi.right]: === TF FRAMES === [component_container_isolated-3] [INFO] [1762964931.919510028] [zed_multi.right]: * Map -> map [component_container_isolated-3] [INFO] [1762964931.919528310] [zed_multi.right]: * Odometry -> odom [component_container_isolated-3] [INFO] [1762964931.919536965] [zed_multi.right]: * Base -> right_camera_link [component_container_isolated-3] [INFO] [1762964931.919544758] [zed_multi.right]: * Camera -> right_camera_center [component_container_isolated-3] [INFO] [1762964931.919552602] [zed_multi.right]: * Left -> right_left_camera_frame [component_container_isolated-3] [INFO] [1762964931.919560796] [zed_multi.right]: * Left Optical -> right_left_camera_optical_frame [component_container_isolated-3] [INFO] [1762964931.919568760] [zed_multi.right]: * Right -> right_right_camera_frame [component_container_isolated-3] [INFO] [1762964931.919576483] [zed_multi.right]: * Right Optical -> right_right_camera_optical_frame [component_container_isolated-3] [INFO] [1762964931.919584337] [zed_multi.right]: * Depth -> right_left_camera_frame [component_container_isolated-3] [INFO] [1762964931.919592130] [zed_multi.right]: * Depth Optical -> right_left_camera_optical_frame [component_container_isolated-3] [INFO] [1762964931.919599813] [zed_multi.right]: * Point Cloud -> right_left_camera_frame [component_container_isolated-3] [INFO] [1762964931.919627000] [zed_multi.right]: * IMU -> right_imu_link [component_container_isolated-3] [INFO] [1762964931.919428758] [zed_multi.left]: * Depth -> left_left_camera_frame [component_container_isolated-3] [INFO] [1762964931.919651863] [zed_multi.left]: * Depth Optical -> left_left_camera_optical_frame [component_container_isolated-3] [INFO] [1762964931.919657413] [zed_multi.left]: * Point Cloud -> left_left_camera_frame [component_container_isolated-3] [INFO] [1762964931.919682356] [zed_multi.left]: * IMU -> left_imu_link [component_container_isolated-3] [INFO] [1762964931.919642808] [zed_multi.right]: === PUBLISHED TOPICS === [component_container_isolated-3] [INFO] [1762964931.919695479] [zed_multi.left]: === PUBLISHED TOPICS === [component_container_isolated-3] [INFO] [1762964931.922098208] [zed_multi.front]: * Advertised on topic: /zed_multi/front/status/health [component_container_isolated-3] [INFO] [1762964931.922459622] [zed_multi.rear]: * Advertised on topic: /zed_multi/rear/status/health [component_container_isolated-3] [INFO] [1762964931.922830182] [zed_multi.right]: * Advertised on topic: /zed_multi/right/status/health [component_container_isolated-3] [INFO] [1762964931.923210398] [zed_multi.left]: * Advertised on topic: /zed_multi/left/status/health [component_container_isolated-3] [INFO] [1762964931.923478451] [zed_multi.front]: * Advertised on topic: /zed_multi/front/status/heartbeat [component_container_isolated-3] [INFO] [1762964931.923933186] [zed_multi.rear]: * Advertised on topic: /zed_multi/rear/status/heartbeat [component_container_isolated-3] [INFO] [1762964931.924236941] [zed_multi.right]: * Advertised on topic: /zed_multi/right/status/heartbeat [component_container_isolated-3] [INFO] [1762964931.924495968] [zed_multi.left]: * Advertised on topic: /zed_multi/left/status/heartbeat [component_container_isolated-3] [DEBUG] [1762964932.086410565] [zed_multi.front]: getTopicToAdvertise: /zed_multi/front/rgb/color/rect/image/compressed [component_container_isolated-3] [ERROR] [1762964932.086459650] [zed_multi.right]: Failed to load plugin image_transport/compressed_pub, error string: MultiLibraryClassLoader: Could not create object of class type compressed_image_transport::CompressedPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [ERROR] [1762964932.086450735] [zed_multi.rear]: Failed to load plugin image_transport/compressed_pub, error string: MultiLibraryClassLoader: Could not create object of class type compressed_image_transport::CompressedPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [ERROR] [1762964932.086485946] [zed_multi.left]: Failed to load plugin image_transport/compressed_pub, error string: MultiLibraryClassLoader: Could not create object of class type compressed_image_transport::CompressedPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964932.092107944] [zed_multi.rear]: getTopicToAdvertise: /zed_multi/rear/rgb/color/rect/image/compressedDepth [component_container_isolated-3] [ERROR] [1762964932.092149315] [zed_multi.right]: Failed to load plugin image_transport/compressedDepth_pub, error string: MultiLibraryClassLoader: Could not create object of class type compressed_depth_image_transport::CompressedDepthPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [ERROR] [1762964932.092183825] [zed_multi.left]: Failed to load plugin image_transport/compressedDepth_pub, error string: MultiLibraryClassLoader: Could not create object of class type compressed_depth_image_transport::CompressedDepthPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [ERROR] [1762964932.092218044] [zed_multi.front]: Failed to load plugin image_transport/compressedDepth_pub, error string: MultiLibraryClassLoader: Could not create object of class type compressed_depth_image_transport::CompressedDepthPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [ERROR] [1762964932.145838236] [zed_multi.left]: Failed to load plugin image_transport/ffmpeg_pub, error string: MultiLibraryClassLoader: Could not create object of class type ffmpeg_image_transport::FFMPEGPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [ERROR] [1762964932.145874960] [zed_multi.right]: Failed to load plugin image_transport/ffmpeg_pub, error string: MultiLibraryClassLoader: Could not create object of class type ffmpeg_image_transport::FFMPEGPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [ERROR] [1762964932.145930726] [zed_multi.rear]: Failed to load plugin image_transport/ffmpeg_pub, error string: MultiLibraryClassLoader: Could not create object of class type ffmpeg_image_transport::FFMPEGPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [INFO] [1762964932.150005082] [FFMPEGPublisher]: using libav encoder: libx264 [component_container_isolated-3] [WARN] [1762964932.150488186] [zed_multi.front]: gop_size not set, defaulting to 10. This may severely affect lag and performance! [component_container_isolated-3] [DEBUG] [1762964932.150831098] [zed_multi.front]: getTopicToAdvertise: /zed_multi/front/rgb/color/rect/image/ffmpeg [component_container_isolated-3] [INFO] [1762964932.153125690] [FoxglovePublisher]: using libav encoder: libx264 [component_container_isolated-3] [ERROR] [1762964932.153644617] [zed_multi.rear]: Failed to load plugin image_transport/foxglove_pub, error string: MultiLibraryClassLoader: Could not create object of class type foxglove_compressed_video_transport::Publisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [WARN] [1762964932.153937582] [zed_multi.right]: gop_size not set, defaulting to 1 which is required for foxglove! [component_container_isolated-3] [DEBUG] [1762964932.154253067] [zed_multi.right]: getTopicToAdvertise: /zed_multi/right/rgb/color/rect/image/foxglove [component_container_isolated-3] [ERROR] [1762964932.154303875] [zed_multi.left]: Failed to load plugin image_transport/foxglove_pub, error string: MultiLibraryClassLoader: Could not create object of class type foxglove_compressed_video_transport::Publisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [ERROR] [1762964932.155293133] [zed_multi.front]: Failed to load plugin image_transport/foxglove_pub, error string: MultiLibraryClassLoader: Could not create object of class type foxglove_compressed_video_transport::Publisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964932.156088437] [zed_multi.rear]: getTopicToAdvertise: /zed_multi/rear/rgb/color/rect/image [component_container_isolated-3] [ERROR] [1762964932.157211877] [zed_multi.left]: Failed to load plugin image_transport/raw_pub, error string: MultiLibraryClassLoader: Could not create object of class type image_transport::RawPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [ERROR] [1762964932.158684409] [zed_multi.front]: Failed to load plugin image_transport/raw_pub, error string: MultiLibraryClassLoader: Could not create object of class type image_transport::RawPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [ERROR] [1762964932.159712094] [zed_multi.right]: Failed to load plugin image_transport/raw_pub, error string: MultiLibraryClassLoader: Could not create object of class type image_transport::RawPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964932.163557454] [zed_multi.left]: getTopicToAdvertise: /zed_multi/left/rgb/color/rect/image/theora [component_container_isolated-3] [ERROR] [1762964932.163623648] [zed_multi.front]: Failed to load plugin image_transport/theora_pub, error string: MultiLibraryClassLoader: Could not create object of class type theora_image_transport::TheoraPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [INFO] [1762964932.163657327] [zed_multi.front]: * Advertised on topic: /zed_multi/front/rgb/color/rect/image [component_container_isolated-3] [ERROR] [1762964932.163661554] [zed_multi.right]: Failed to load plugin image_transport/theora_pub, error string: MultiLibraryClassLoader: Could not create object of class type theora_image_transport::TheoraPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [INFO] [1762964932.163699820] [zed_multi.right]: * Advertised on topic: /zed_multi/right/rgb/color/rect/image [component_container_isolated-3] [ERROR] [1762964932.164518914] [zed_multi.rear]: Failed to load plugin image_transport/theora_pub, error string: MultiLibraryClassLoader: Could not create object of class type theora_image_transport::TheoraPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [INFO] [1762964932.164549227] [zed_multi.rear]: * Advertised on topic: /zed_multi/rear/rgb/color/rect/image [component_container_isolated-3] [INFO] [1762964932.165070317] [zed_multi.left]: * Advertised on topic: /zed_multi/left/rgb/color/rect/image [component_container_isolated-3] [INFO] [1762964932.166907239] [zed_multi.front]: * Advertised on topic: /zed_multi/front/rgb/color/rect/image/compressedDepth [image_transport] [component_container_isolated-3] [INFO] [1762964932.166939574] [zed_multi.front]: * Advertised on topic: /zed_multi/front/rgb/color/rect/image/compressed [image_transport] [component_container_isolated-3] [INFO] [1762964932.166950373] [zed_multi.front]: * Advertised on topic: /zed_multi/front/rgb/color/rect/image/ffmpeg [image_transport] [component_container_isolated-3] [INFO] [1762964932.166960100] [zed_multi.front]: * Advertised on topic: /zed_multi/front/rgb/color/rect/image/foxglove [image_transport] [component_container_isolated-3] [INFO] [1762964932.166969286] [zed_multi.front]: * Advertised on topic: /zed_multi/front/rgb/color/rect/image/raw [image_transport] [component_container_isolated-3] [INFO] [1762964932.166978452] [zed_multi.front]: * Advertised on topic: /zed_multi/front/rgb/color/rect/image/theora [image_transport] [component_container_isolated-3] [INFO] [1762964932.167027366] [zed_multi.left]: * Advertised on topic: /zed_multi/left/rgb/color/rect/image/compressedDepth [image_transport] [component_container_isolated-3] [INFO] [1762964932.167046699] [zed_multi.left]: * Advertised on topic: /zed_multi/left/rgb/color/rect/image/compressed [image_transport] [component_container_isolated-3] [INFO] [1762964932.167071072] [zed_multi.left]: * Advertised on topic: /zed_multi/left/rgb/color/rect/image/ffmpeg [image_transport] [component_container_isolated-3] [INFO] [1762964932.167081560] [zed_multi.left]: * Advertised on topic: /zed_multi/left/rgb/color/rect/image/foxglove [image_transport] [component_container_isolated-3] [INFO] [1762964932.167090725] [zed_multi.left]: * Advertised on topic: /zed_multi/left/rgb/color/rect/image/raw [image_transport] [component_container_isolated-3] [INFO] [1762964932.167100372] [zed_multi.left]: * Advertised on topic: /zed_multi/left/rgb/color/rect/image/theora [image_transport] [component_container_isolated-3] [INFO] [1762964932.167114036] [zed_multi.rear]: * Advertised on topic: /zed_multi/rear/rgb/color/rect/image/compressedDepth [image_transport] [component_container_isolated-3] [INFO] [1762964932.167133830] [zed_multi.rear]: * Advertised on topic: /zed_multi/rear/rgb/color/rect/image/compressed [image_transport] [component_container_isolated-3] [INFO] [1762964932.167143677] [zed_multi.rear]: * Advertised on topic: /zed_multi/rear/rgb/color/rect/image/ffmpeg [image_transport] [component_container_isolated-3] [INFO] [1762964932.167152823] [zed_multi.rear]: * Advertised on topic: /zed_multi/rear/rgb/color/rect/image/foxglove [image_transport] [component_container_isolated-3] [INFO] [1762964932.167161968] [zed_multi.rear]: * Advertised on topic: /zed_multi/rear/rgb/color/rect/image/raw [image_transport] [component_container_isolated-3] [INFO] [1762964932.167170984] [zed_multi.right]: * Advertised on topic: /zed_multi/right/rgb/color/rect/image/compressedDepth [image_transport] [component_container_isolated-3] [INFO] [1762964932.167198381] [zed_multi.right]: * Advertised on topic: /zed_multi/right/rgb/color/rect/image/compressed [image_transport] [component_container_isolated-3] [INFO] [1762964932.167208679] [zed_multi.right]: * Advertised on topic: /zed_multi/right/rgb/color/rect/image/ffmpeg [image_transport] [component_container_isolated-3] [INFO] [1762964932.167218236] [zed_multi.right]: * Advertised on topic: /zed_multi/right/rgb/color/rect/image/foxglove [image_transport] [component_container_isolated-3] [INFO] [1762964932.167228523] [zed_multi.right]: * Advertised on topic: /zed_multi/right/rgb/color/rect/image/raw [image_transport] [component_container_isolated-3] [INFO] [1762964932.167238671] [zed_multi.right]: * Advertised on topic: /zed_multi/right/rgb/color/rect/image/theora [image_transport] [component_container_isolated-3] [INFO] [1762964932.167171245] [zed_multi.rear]: * Advertised on topic: /zed_multi/rear/rgb/color/rect/image/theora [image_transport] [component_container_isolated-3] [ERROR] [1762964932.167660590] [zed_multi.front]: Failed to load plugin image_transport/compressed_pub, error string: MultiLibraryClassLoader: Could not create object of class type compressed_image_transport::CompressedPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [ERROR] [1762964932.167778904] [zed_multi.left]: Failed to load plugin image_transport/compressed_pub, error string: MultiLibraryClassLoader: Could not create object of class type compressed_image_transport::CompressedPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [ERROR] [1762964932.167901405] [zed_multi.right]: Failed to load plugin image_transport/compressed_pub, error string: MultiLibraryClassLoader: Could not create object of class type compressed_image_transport::CompressedPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [ERROR] [1762964932.167986943] [zed_multi.rear]: Failed to load plugin image_transport/compressed_pub, error string: MultiLibraryClassLoader: Could not create object of class type compressed_image_transport::CompressedPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [ERROR] [1762964932.168208636] [zed_multi.front]: Failed to load plugin image_transport/compressedDepth_pub, error string: MultiLibraryClassLoader: Could not create object of class type compressed_depth_image_transport::CompressedDepthPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [ERROR] [1762964932.168327561] [zed_multi.left]: Failed to load plugin image_transport/compressedDepth_pub, error string: MultiLibraryClassLoader: Could not create object of class type compressed_depth_image_transport::CompressedDepthPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [ERROR] [1762964932.168446437] [zed_multi.right]: Failed to load plugin image_transport/compressedDepth_pub, error string: MultiLibraryClassLoader: Could not create object of class type compressed_depth_image_transport::CompressedDepthPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [ERROR] [1762964932.168544145] [zed_multi.rear]: Failed to load plugin image_transport/compressedDepth_pub, error string: MultiLibraryClassLoader: Could not create object of class type compressed_depth_image_transport::CompressedDepthPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [ERROR] [1762964932.168714630] [zed_multi.front]: Failed to load plugin image_transport/ffmpeg_pub, error string: MultiLibraryClassLoader: Could not create object of class type ffmpeg_image_transport::FFMPEGPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [ERROR] [1762964932.168820773] [zed_multi.left]: Failed to load plugin image_transport/ffmpeg_pub, error string: MultiLibraryClassLoader: Could not create object of class type ffmpeg_image_transport::FFMPEGPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [ERROR] [1762964932.168949956] [zed_multi.right]: Failed to load plugin image_transport/ffmpeg_pub, error string: MultiLibraryClassLoader: Could not create object of class type ffmpeg_image_transport::FFMPEGPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [ERROR] [1762964932.169070284] [zed_multi.rear]: Failed to load plugin image_transport/ffmpeg_pub, error string: MultiLibraryClassLoader: Could not create object of class type ffmpeg_image_transport::FFMPEGPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [ERROR] [1762964932.169213100] [zed_multi.front]: Failed to load plugin image_transport/foxglove_pub, error string: MultiLibraryClassLoader: Could not create object of class type foxglove_compressed_video_transport::Publisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [ERROR] [1762964932.169320296] [zed_multi.left]: Failed to load plugin image_transport/foxglove_pub, error string: MultiLibraryClassLoader: Could not create object of class type foxglove_compressed_video_transport::Publisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [ERROR] [1762964932.169441946] [zed_multi.right]: Failed to load plugin image_transport/foxglove_pub, error string: MultiLibraryClassLoader: Could not create object of class type foxglove_compressed_video_transport::Publisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [ERROR] [1762964932.169580875] [zed_multi.rear]: Failed to load plugin image_transport/foxglove_pub, error string: MultiLibraryClassLoader: Could not create object of class type foxglove_compressed_video_transport::Publisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [ERROR] [1762964932.169745941] [zed_multi.front]: Failed to load plugin image_transport/raw_pub, error string: MultiLibraryClassLoader: Could not create object of class type image_transport::RawPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [ERROR] [1762964932.169855359] [zed_multi.left]: Failed to load plugin image_transport/raw_pub, error string: MultiLibraryClassLoader: Could not create object of class type image_transport::RawPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [ERROR] [1762964932.169986306] [zed_multi.right]: Failed to load plugin image_transport/raw_pub, error string: MultiLibraryClassLoader: Could not create object of class type image_transport::RawPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [ERROR] [1762964932.170119896] [zed_multi.front]: Failed to load plugin image_transport/theora_pub, error string: MultiLibraryClassLoader: Could not create object of class type theora_image_transport::TheoraPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [ERROR] [1762964932.170134361] [zed_multi.rear]: Failed to load plugin image_transport/raw_pub, error string: MultiLibraryClassLoader: Could not create object of class type image_transport::RawPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [ERROR] [1762964932.170213969] [zed_multi.left]: Failed to load plugin image_transport/theora_pub, error string: MultiLibraryClassLoader: Could not create object of class type theora_image_transport::TheoraPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [ERROR] [1762964932.170337953] [zed_multi.right]: Failed to load plugin image_transport/theora_pub, error string: MultiLibraryClassLoader: Could not create object of class type theora_image_transport::TheoraPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [ERROR] [1762964932.170484155] [zed_multi.rear]: Failed to load plugin image_transport/theora_pub, error string: MultiLibraryClassLoader: Could not create object of class type theora_image_transport::TheoraPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] terminate called recursively [component_container_isolated-3] terminate called after throwing an instance of 'image_transport::Exception' [component_container_isolated-3] terminate called recursively [component_container_isolated-3] terminate called recursively [ERROR] [component_container_isolated-3]: process has died [pid 5597, exit code -6, cmd '/opt/ros/humble/lib/rclcpp_components/component_container_isolated --ros-args --log-level info --ros-args -r __node:=zed_multi_container -r __ns:=/zed_multi'].