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Description

Hi, first of all. Sorry if I made any mistakes in this report. I tend to not open issues due to the possibility of errors in my setup. But I wanted to give this a try since I'm not able to fix it. I was using the Zed SDK 4.0 before and reached my roughly 10Hz. After the Update to 4.1 I was getting only ~2Hz. At first I thought that the Jetson we are using is just too slow, but even in PERFORMANCE mode with 30-50% GPU usage I'm still getting only 2Hz

depth: depth_mode: "PERFORMANCE" # Matches the ZED SDK setting: 'NONE', 'PERFORMANCE', 'QUALITY', 'ULTRA', 'NEURAL', 'NEURAL_PLUS' - Note: if 'NONE' all the modules that requires depth extraction are disabled by default (Pos. Tracking, Obj. Detection, Mapping, ...) depth_stabilization: 1 # Forces positional tracking to start if major than 0 - Range: [0,100] openni_depth_mode: false # 'false': 32bit float [meters], 'true': 16bit unsigned int [millimeters] point_cloud_freq: 10.0 # [DYNAMIC] - frequency of the pointcloud publishing (equal or less to grab_frame_rate value) depth_confidence: 50 # [DYNAMIC] removes points on edges to avoid ’linked’ objects. depth_texture_conf: 100 # [DYNAMIC] removes points from images’ uniform areas. remove_saturated_areas: true # [DYNAMIC]

Steps to Reproduce

1.ros2 launch zed_wrapper zed_camera.launch.py \ camera_model:=zed2i \ publish_map_tf:=false \ publish_tf:=false \ sim_mode:=false \ xacro_path:=/zed_setup/zed_descr.urdf.xacro \ config_path:=/zed_setup/common.yaml

ros2 topic hz
...

Expected Result

expected roughly 10Hz for the point cloud

Actual Result

got ~2Hz average rate: 2.303 min: 0.415s max: 0.467s std dev: 0.00710s window: 85 average rate: 2.301 min: 0.415s max: 0.467s std dev: 0.00726s window: 88 average rate: 2.302 min: 0.415s max: 0.467s std dev: 0.00723s window: 91

ZED Camera model

ZED2i

Environment

-Zed2i
- jetson orin nano 8GB
- OS: Jetpack 5.1.2-b104
- Docker
- Current master
- Zed SDK 4.1.0

Anything else?

settings:

config/common_yaml

Common parameters to Stereolabs ZED and ZED mini cameras

/**: ros__parameters: use_sim_time: false # Set to true only if there is a publisher for the simulated clock to the /clock topic. Normally used in simulation mode.

    simulation:
        sim_enabled: false # Set to `true` to enable the simulation mode and connect to a simulation server
        sim_address: "127.0.0.1" # The connection address of the simulation server. See the documentation of the supported simulation plugins for more information.
        sim_port: 30000 # The connection port of the simulation server. See the documentation of the supported simulation plugins for more information.

    svo:
        svo_loop: false # Enable loop mode when using an SVO as input source
        svo_realtime: true # if true the SVO will be played trying to respect the original framerate eventually skipping frames, otherwise every frame will be processed respecting the `pub_frame_rate` setting

    general:
        camera_timeout_sec: 5
        camera_max_reconnect: 5
        camera_flip: false
        serial_number: 0 # usually overwritten by launch file
        pub_resolution: "NATIVE" # The resolution used for output. 'NATIVE' to use the same `general.grab_resolution` - `CUSTOM` to apply the `general.pub_downscale_factor` downscale factory to reduce bandwidth in transmission
        pub_downscale_factor: 2.0 # rescale factor used to rescale image before publishing when 'pub_resolution' is 'CUSTOM'
        pub_frame_rate: 30.0 # frequency of publishing of visual images and depth images
        gpu_id: -1
        optional_opencv_calibration_file: "" # Optional path where the ZED SDK can find a file containing the calibration information of the camera computed by OpenCV. Read the ZED SDK documentation for more information: https://www.stereolabs.com/docs/api/structsl_1_1InitParameters.html#a9eab2753374ef3baec1d31960859ba19

    video:
        brightness: 4 # [DYNAMIC] Not available for ZED X/ZED X Mini
        contrast: 4 # [DYNAMIC] Not available for ZED X/ZED X Mini
        hue: 0 # [DYNAMIC] Not available for ZED X/ZED X Mini
        saturation: 4 # [DYNAMIC]
        sharpness: 4 # [DYNAMIC]
        gamma: 8 # [DYNAMIC]
        auto_exposure_gain: true # [DYNAMIC]
        exposure: 80 # [DYNAMIC]
        gain: 80 # [DYNAMIC]
        auto_whitebalance: true # [DYNAMIC]
        whitebalance_temperature: 42 # [DYNAMIC] - [28,65] works only if `auto_whitebalance` is false

    region_of_interest:
        automatic_roi: false # Enable the automatic ROI generation to automatically detect part of the robot in the FoV and remove them from the processing. Note: if enabled the value of `manual_polygon` is ignored
        depth_far_threshold_meters: 2.5 # Filtering how far object in the ROI should be considered, this is useful for a vehicle for instance
        image_height_ratio_cutoff: 0.5 # By default consider only the lower half of the image, can be useful to filter out the sky
        #manual_polygon: '[]' # A polygon defining the ROI where the ZED SDK perform the processing ignoring the rest. Coordinates must be normalized to '1.0' to be resolution independent.
        #manual_polygon: "[[0.25,0.33],[0.75,0.33],[0.75,0.5],[0.5,0.75],[0.25,0.5]]" # A polygon defining the ROI where the ZED SDK perform the processing ignoring the rest. Coordinates must be normalized to '1.0' to be resolution independent.
        #manual_polygon: '[[0.25,0.25],[0.75,0.25],[0.75,0.75],[0.25,0.75]]' # A polygon defining the ROI where the ZED SDK perform the processing ignoring the rest. Coordinates must be normalized to '1.0' to be resolution independent.
        #manual_polygon: '[[0.5,0.25],[0.75,0.5],[0.5,0.75],[0.25,0.5]]' # A polygon defining the ROI where the ZED SDK perform the processing ignoring the rest. Coordinates must be normalized to '1.0' to be resolution independent.
        apply_to_depth: false # Apply ROI to depth processing
        apply_to_positional_tracking: false # Apply ROI to positional tracking processing
        apply_to_object_detection: true # Apply ROI to object detection processing
        apply_to_body_tracking: true # Apply ROI to body tracking processing
        apply_to_spatial_mapping: true # Apply ROI to spatial mapping processing

    depth:
        depth_mode: "PERFORMANCE" # Matches the ZED SDK setting: 'NONE', 'PERFORMANCE', 'QUALITY', 'ULTRA', 'NEURAL', 'NEURAL_PLUS' - Note: if 'NONE' all the modules that requires depth extraction are disabled by default (Pos. Tracking, Obj. Detection, Mapping, ...)
        depth_stabilization: 1 # Forces positional tracking to start if major than 0 - Range: [0,100]
        openni_depth_mode: false # 'false': 32bit float [meters], 'true': 16bit unsigned int [millimeters]
        point_cloud_freq: 10.0 # [DYNAMIC] - frequency of the pointcloud publishing (equal or less to `grab_frame_rate` value)
        depth_confidence: 50 # [DYNAMIC] removes points on edges to avoid ’linked’ objects.
        depth_texture_conf: 100 # [DYNAMIC] removes points from images’ uniform areas.
        remove_saturated_areas: true # [DYNAMIC]

    pos_tracking:
        pos_tracking_enabled: false # True to enable positional tracking from start
        pos_tracking_mode: "GEN_2" # Matches the ZED SDK setting: 'GEN_1', 'GEN_2'
        imu_fusion: true # enable/disable IMU fusion. When set to false, only the optical odometry will be used.
        publish_tf: false # [usually overwritten by launch file] publish `odom -> camera_link` TF
        publish_map_tf: false # [usually overwritten by launch file] publish `map -> odom` TF
        map_frame: "map"
        odometry_frame: "robot/odom"
        area_memory_db_path: ""
        area_memory: true # Enable to detect loop closure
        reset_odom_with_loop_closure: true # Re-initialize odometry to the last valid pose when loop closure happens (reset camera odometry drift)
        depth_min_range: 0.0 # Set this value for removing fixed zones of the robot in the FoV of the camerafrom the visual odometry evaluation
        set_as_static: false # If 'true' the camera will be static and not move in the environment
        set_gravity_as_origin: true # If 'true' align the positional tracking world to imu gravity measurement. Keep the yaw from the user initial pose.
        floor_alignment: false # Enable to automatically calculate camera/floor offset
        initial_base_pose: [0.0, 0.0, 1.40, 0.0, 0.436, 0.0] # Initial position of the `camera_link` frame in the map -> [X, Y, Z, R, P, Y]
        path_pub_rate: 2.0 # [DYNAMIC] - Camera trajectory publishing frequency
        path_max_count: -1 # use '-1' for unlimited path size
        two_d_mode: true # Force navigation on a plane. If true the Z value will be fixed to 'fixed_z_value', roll and pitch to zero
        fixed_z_value: 0.00 # Value to be used for Z coordinate if `two_d_mode` is true
        transform_time_offset: 0.0 # The value added to the timestamp of `map->odom` and `odom->camera_link` transform being generated

    gnss_fusion:
        gnss_fusion_enabled: false # fuse 'sensor_msg/NavSatFix' message information into pose data
        gnss_fix_topic: "/fix" # Name of the GNSS topic of type NavSatFix to subscribe [Default: '/gps/fix']
        gnss_zero_altitude: false # Set to `true` to ignore GNSS altitude information
        h_covariance_mul: 1.0 # Multiplier factor to be applied to horizontal covariance of the received fix (plane X/Y)
        v_covariance_mul: 1.0 # Multiplier factor to be applied to vertical covariance of the received fix (Z axis)
        publish_utm_tf: true # Publish `utm` -> `map` TF
        broadcast_utm_transform_as_parent_frame: false # if 'true' publish `utm` -> `map` TF, otherwise `map` -> `utm`
        enable_reinitialization: false # determines whether reinitialization should be performed between GNSS and VIO fusion when a significant disparity is detected between GNSS data and the current fusion data. It becomes particularly crucial during prolonged GNSS signal loss scenarios.
        enable_rolling_calibration: true # If this parameter is set to true, the fusion algorithm will used a rough VIO / GNSS calibration at first and then refine it. This allow you to quickly get a fused position.
        enable_translation_uncertainty_target: false # When this parameter is enabled (set to true), the calibration process between GNSS and VIO accounts for the uncertainty in the determined translation, thereby facilitating the calibration termination. The maximum allowable uncertainty is controlled by the 'target_translation_uncertainty' parameter.
        gnss_vio_reinit_threshold: 5.0 # determines the threshold for GNSS/VIO reinitialization. If the fused position deviates beyond out of the region defined by the product of the GNSS covariance and the gnss_vio_reinit_threshold, a reinitialization will be triggered.
        target_translation_uncertainty: 10e-2 # defines the target translation uncertainty at which the calibration process between GNSS and VIO concludes. By default, the threshold is set at 10 centimeters.
        target_yaw_uncertainty: 1e-2 # defines the target yaw uncertainty at which the calibration process between GNSS and VIO concludes. The unit of this parameter is in radian. By default, the threshold is set at 0.1 radians.

    mapping:
        mapping_enabled: false # True to enable mapping and fused point cloud pubblication
        resolution: 0.05 # maps resolution in meters [min: 0.01f - max: 0.2f]
        max_mapping_range: -1.0 # maximum depth range while mapping in meters (-1 for automatic calculation) [2.0, 20.0]
        fused_pointcloud_freq: 1.0 # frequency of the publishing of the fused colored point cloud
        clicked_point_topic: "/clicked_point" # Topic published by Rviz when a point of the cloud is clicked. Used for plane detection
        pd_max_distance_threshold: 0.15 # Plane detection: controls the spread of plane by checking the position difference.
        pd_normal_similarity_threshold: 15.0 # Plane detection: controls the spread of plane by checking the angle difference.

    sensors:
        publish_imu_tf: true # [usually overwritten by launch file] enable/disable the IMU TF broadcasting
        sensors_image_sync: false # Synchronize Sensors messages with latest published video/depth message
        sensors_pub_rate: 200. # frequency of publishing of sensors data. MAX: 400. - MIN: grab rate

    object_detection:
        od_enabled: false # True to enable Object Detection
        model: "MULTI_CLASS_BOX_MEDIUM" # 'MULTI_CLASS_BOX_FAST', 'MULTI_CLASS_BOX_MEDIUM', 'MULTI_CLASS_BOX_ACCURATE', 'PERSON_HEAD_BOX_FAST', 'PERSON_HEAD_BOX_ACCURATE'
        allow_reduced_precision_inference: true # Allow inference to run at a lower precision to improve runtime and memory usage
        max_range: 20.0 # [m] Defines a upper depth range for detections
        confidence_threshold: 50.0 # [DYNAMIC] - Minimum value of the detection confidence of an object [0,99]
        prediction_timeout: 0.5 # During this time [sec], the object will have OK state even if it is not detected. Set this parameter to 0 to disable SDK predictions
        filtering_mode: 1 # '0': NONE - '1': NMS3D - '2': NMS3D_PER_CLASS
        mc_people: true # [DYNAMIC] - Enable/disable the detection of persons for 'MULTI_CLASS_X' models
        mc_vehicle: true # [DYNAMIC] - Enable/disable the detection of vehicles for 'MULTI_CLASS_X' models
        mc_bag: true # [DYNAMIC] - Enable/disable the detection of bags for 'MULTI_CLASS_X' models
        mc_animal: true # [DYNAMIC] - Enable/disable the detection of animals for 'MULTI_CLASS_X' models
        mc_electronics: true # [DYNAMIC] - Enable/disable the detection of electronic devices for 'MULTI_CLASS_X' models
        mc_fruit_vegetable: true # [DYNAMIC] - Enable/disable the detection of fruits and vegetables for 'MULTI_CLASS_X' models
        mc_sport: true # [DYNAMIC] - Enable/disable the detection of sport-related objects for 'MULTI_CLASS_X' models

    body_tracking:
        bt_enabled: false # True to enable Body Tracking
        model: "HUMAN_BODY_MEDIUM" # 'HUMAN_BODY_FAST', 'HUMAN_BODY_MEDIUM', 'HUMAN_BODY_ACCURATE'
        body_format: "BODY_38" # 'BODY_18','BODY_34','BODY_38','BODY_70'
        allow_reduced_precision_inference: false # Allow inference to run at a lower precision to improve runtime and memory usage
        max_range: 20.0 # [m] Defines a upper depth range for detections
        body_kp_selection: "FULL" # 'FULL', 'UPPER_BODY'
        enable_body_fitting: false # Defines if the body fitting will be applied
        enable_tracking: true # Defines if the object detection will track objects across images flow
        prediction_timeout_s: 0.5 # During this time [sec], the skeleton will have OK state even if it is not detected. Set this parameter to 0 to disable SDK predictions
        confidence_threshold: 50.0 # [DYNAMIC] - Minimum value of the detection confidence of skeleton key points [0,99]
        minimum_keypoints_threshold: 5 # [DYNAMIC] - Minimum number of skeleton key points to be detected for a valid skeleton

    stream_server:
        stream_enabled: false # enable the streaming server when the camera is open
        codec: 'H264' # different encoding types for image streaming: 'H264', 'H265'
        port: 30000 # Port used for streaming. Port must be an even number. Any odd number will be rejected.
        bitrate: 12500 # [1000 - 60000] Streaming bitrate (in Kbits/s) used for streaming. See https://www.stereolabs.com/docs/api/structsl_1_1StreamingParameters.html#a873ba9440e3e9786eb1476a3bfa536d0
        gop_size: -1 # [max 256] The GOP size determines the maximum distance between IDR/I-frames. Very high GOP size will result in slightly more efficient compression, especially on static scenes. But latency will increase.
        adaptative_bitrate: false # Bitrate will be adjusted depending the number of packet dropped during streaming. If activated, the bitrate can vary between [bitrate/4, bitrate].
        chunk_size: 16084 # [1024 - 65000] Stream buffers are divided into X number of chunks where each chunk is chunk_size bytes long. You can lower chunk_size value if network generates a lot of packet lost: this will generates more chunk for a single image, but each chunk sent will be lighter to avoid inside-chunk corruption. Increasing this value can decrease latency.
        target_framerate: 0 # Framerate for the streaming output. This framerate must be below or equal to the camera framerate. Allowed framerates are 15, 30, 60 or 100 if possible. Any other values will be discarded and camera FPS will be taken.

    advanced: # WARNING: do not modify unless you are confident of what you are doing
        # Reference documentation: https://man7.org/linux/man-pages/man7/sched.7.html
        thread_sched_policy: "SCHED_BATCH" # 'SCHED_OTHER', 'SCHED_BATCH', 'SCHED_FIFO', 'SCHED_RR' - NOTE: 'SCHED_FIFO' and 'SCHED_RR' require 'sudo'
        thread_grab_priority: 50 # ONLY with 'SCHED_FIFO' and 'SCHED_RR' - [1 (LOW) z-> 99 (HIGH)] - NOTE: 'sudo' required
        thread_sensor_priority: 70 # ONLY with 'SCHED_FIFO' and 'SCHED_RR' - [1 (LOW) z-> 99 (HIGH)] - NOTE: 'sudo' required
        thread_pointcloud_priority: 60 # ONLY with 'SCHED_FIFO' and 'SCHED_RR' - [1 (LOW) z-> 99 (HIGH)] - NOTE: 'sudo' required

    debug:
        sdk_verbose: 1 # Set the verbose level of the ZED SDK
        debug_common: false
        debug_sim: false
        debug_video_depth: false
        debug_camera_controls: false
        debug_point_cloud: false
        debug_positional_tracking: false
        debug_gnss: false
        debug_sensors: false
        debug_mapping: false
        debug_terrain_mapping: false
        debug_object_detection: false
        debug_body_tracking: false
        debug_roi: false
        debug_streaming: false
        debug_advanced: false

I noticed that you have a lot of customization. Please post me a screenshot of the Runtime Monitor diagnostic from rqt and the TF tree.

Also post a log of the node while running.

sorry, but I don't know how to open the Runtime Monitor diagnostic from rqt in ros2. I think I need some guidance for that.

frames_2024-05-06_14.20.16.pdf Screenshot from 2024-05-06 16-08-00

log:

[INFO] [launch]: All log files can be found below /root/.ros/log/2024-05-06-15-07-20-847803-ubuntu-262139
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [262145]
[INFO] [zed_wrapper-2]: process started with pid [262147]
[robot_state_publisher-1] [INFO] [1715000841.407798127] [zed.zed_state_publisher]: got segment robot/base_link
[robot_state_publisher-1] [INFO] [1715000841.407994326] [zed.zed_state_publisher]: got segment zed_camera_center
[robot_state_publisher-1] [INFO] [1715000841.408019415] [zed.zed_state_publisher]: got segment zed_camera_link
[robot_state_publisher-1] [INFO] [1715000841.408031735] [zed.zed_state_publisher]: got segment zed_left_camera_frame
[robot_state_publisher-1] [INFO] [1715000841.408042680] [zed.zed_state_publisher]: got segment zed_left_camera_optical_frame
[robot_state_publisher-1] [INFO] [1715000841.408052888] [zed.zed_state_publisher]: got segment zed_right_camera_frame
[robot_state_publisher-1] [INFO] [1715000841.408063448] [zed.zed_state_publisher]: got segment zed_right_camera_optical_frame
[zed_wrapper-2] [INFO] [1715000841.531961017] [zed.zed_node]: ********************************
[zed_wrapper-2] [INFO] [1715000841.532192002] [zed.zed_node]:       ZED Camera Component 
[zed_wrapper-2] [INFO] [1715000841.532223075] [zed.zed_node]: ********************************
[zed_wrapper-2] [INFO] [1715000841.532241828] [zed.zed_node]:  * namespace: /zed
[zed_wrapper-2] [INFO] [1715000841.532260260] [zed.zed_node]:  * node name: zed_node
[zed_wrapper-2] [INFO] [1715000841.532292101] [zed.zed_node]: ********************************
[zed_wrapper-2] [INFO] [1715000841.532371976] [zed.zed_node]: *** DEBUG parameters ***
[zed_wrapper-2] [INFO] [1715000841.532637682] [zed.zed_node]:  * SDK Verbose: 1
[zed_wrapper-2] [INFO] [1715000841.532827832] [zed.zed_node]:  * Debug Common: FALSE
[zed_wrapper-2] [INFO] [1715000841.533003551] [zed.zed_node]:  * Debug Simulation: FALSE
[zed_wrapper-2] [INFO] [1715000841.533127459] [zed.zed_node]:  * Debug Video/Depth: FALSE
[zed_wrapper-2] [INFO] [1715000841.533307049] [zed.zed_node]:  * Debug Control settings: FALSE
[zed_wrapper-2] [INFO] [1715000841.533564115] [zed.zed_node]:  * Debug Point Cloud: FALSE
[zed_wrapper-2] [INFO] [1715000841.533761018] [zed.zed_node]:  * Debug GNSS: FALSE
[zed_wrapper-2] [INFO] [1715000841.533972001] [zed.zed_node]:  * Debug Positional Tracking: FALSE
[zed_wrapper-2] [INFO] [1715000841.534174728] [zed.zed_node]:  * Debug sensors: FALSE
[zed_wrapper-2] [INFO] [1715000841.534391216] [zed.zed_node]:  * Debug Mapping: FALSE
[zed_wrapper-2] [INFO] [1715000841.534620376] [zed.zed_node]:  * Debug Object Detection: FALSE
[zed_wrapper-2] [INFO] [1715000841.534971493] [zed.zed_node]:  * Debug Body Tracking: FALSE
[zed_wrapper-2] [INFO] [1715000841.535207309] [zed.zed_node]:  * Debug Streaming: FALSE
[zed_wrapper-2] [INFO] [1715000841.535453846] [zed.zed_node]:  * Debug ROI: FALSE
[zed_wrapper-2] [INFO] [1715000841.535708639] [zed.zed_node]:  * Debug Advanced: FALSE
[zed_wrapper-2] [INFO] [1715000841.535986761] [zed.zed_node]: *** GENERAL parameters ***
[zed_wrapper-2] [INFO] [1715000841.536614143] [zed.zed_node]:  * Camera model: zed2i - ZED 2i
[zed_wrapper-2] [INFO] [1715000841.536807654] [zed.zed_node]:  * Camera name: zed
[zed_wrapper-2] [INFO] [1715000841.537097169] [zed.zed_node]:  * Camera SN: 0
[zed_wrapper-2] [INFO] [1715000841.537345273] [zed.zed_node]:  * Camera timeout [sec]: 5
[zed_wrapper-2] [INFO] [1715000841.537588354] [zed.zed_node]:  * Camera reconnection temptatives: 5
[zed_wrapper-2] [INFO] [1715000841.537828555] [zed.zed_node]:  * Camera framerate: 30
[zed_wrapper-2] [INFO] [1715000841.538025394] [zed.zed_node]:  * GPU ID: -1
[zed_wrapper-2] [INFO] [1715000841.538208248] [zed.zed_node]:  * Camera resolution: HD720
[zed_wrapper-2] [INFO] [1715000841.538385887] [zed.zed_node]:  * Publishing resolution: NATIVE
[zed_wrapper-2] [INFO] [1715000841.538552933] [zed.zed_node]:  * OpenCV custom calibration: 
[zed_wrapper-2] [INFO] [1715000841.538724523] [zed.zed_node]:  * Camera self calibration: TRUE
[zed_wrapper-2] [INFO] [1715000841.538898065] [zed.zed_node]:  * Camera flip: FALSE
[zed_wrapper-2] [INFO] [1715000841.539097304] [zed.zed_node]:  * [DYN] Publish framerate [Hz]:  30
[zed_wrapper-2] [INFO] [1715000841.539128249] [zed.zed_node]: *** VIDEO parameters ***
[zed_wrapper-2] [INFO] [1715000841.539368514] [zed.zed_node]:  * [DYN] Brightness: 4
[zed_wrapper-2] [INFO] [1715000841.539546408] [zed.zed_node]:  * [DYN] Contrast: 4
[zed_wrapper-2] [INFO] [1715000841.539780720] [zed.zed_node]:  * [DYN] Hue: 0
[zed_wrapper-2] [INFO] [1715000841.539959575] [zed.zed_node]:  * [DYN] Saturation: 4
[zed_wrapper-2] [INFO] [1715000841.540200223] [zed.zed_node]:  * [DYN] Sharpness: 4
[zed_wrapper-2] [INFO] [1715000841.540363845] [zed.zed_node]:  * [DYN] Gamma: 8
[zed_wrapper-2] [INFO] [1715000841.540558604] [zed.zed_node]:  * [DYN] Auto Exposure/Gain: TRUE
[zed_wrapper-2] [INFO] [1715000841.540723250] [zed.zed_node]:  * [DYN] Exposure: 80
[zed_wrapper-2] [INFO] [1715000841.540892504] [zed.zed_node]:  * [DYN] Gain: 80
[zed_wrapper-2] [INFO] [1715000841.541140257] [zed.zed_node]:  * [DYN] Auto White Balance: TRUE
[zed_wrapper-2] [INFO] [1715000841.541317543] [zed.zed_node]:  * [DYN] White Balance Temperature: 42
[zed_wrapper-2] [INFO] [1715000841.541350824] [zed.zed_node]: *** DEPTH parameters ***
[zed_wrapper-2] [INFO] [1715000841.541530191] [zed.zed_node]:  * Depth mode: PERFORMANCE [1]
[zed_wrapper-2] [INFO] [1715000841.541704021] [zed.zed_node]:  * Min depth [m]: 0.2
[zed_wrapper-2] [INFO] [1715000841.541878619] [zed.zed_node]:  * Max depth [m]: 10
[zed_wrapper-2] [INFO] [1715000841.542119780] [zed.zed_node]:  * Depth Stabilization: 1
[zed_wrapper-2] [INFO] [1715000841.542289962] [zed.zed_node]:  * OpenNI mode (16bit point cloud): FALSE
[zed_wrapper-2] [INFO] [1715000841.542460688] [zed.zed_node]:  * [DYN] Point cloud rate [Hz]: 10
[zed_wrapper-2] [INFO] [1715000841.542628502] [zed.zed_node]:  * [DYN] Depth Confidence: 50
[zed_wrapper-2] [INFO] [1715000841.542804220] [zed.zed_node]:  * [DYN] Depth Texture Confidence: 100
[zed_wrapper-2] [INFO] [1715000841.543040581] [zed.zed_node]:  * [DYN] Remove saturated areas: TRUE
[zed_wrapper-2] [INFO] [1715000841.543101575] [zed.zed_node]: *** GNSS FUSION parameters ***
[zed_wrapper-2] [INFO] [1715000841.543271373] [zed.zed_node]:  * GNSS fusion enabled: FALSE
[zed_wrapper-2] [INFO] [1715000841.543301166] [zed.zed_node]: *** POSITIONAL TRACKING parameters ***
[zed_wrapper-2] [INFO] [1715000841.543468148] [zed.zed_node]:  * Positional tracking enabled: FALSE
[zed_wrapper-2] [INFO] [1715000841.543653562] [zed.zed_node]:  * Positional tracking mode: POSITIONAL TRACKING MODE GEN_2
[zed_wrapper-2] [INFO] [1715000841.543858978] [zed.zed_node]:  * Map frame id: map
[zed_wrapper-2] [INFO] [1715000841.544038760] [zed.zed_node]:  * Odometry frame id: robot/odom
[zed_wrapper-2] [INFO] [1715000841.544237327] [zed.zed_node]:  * Broadcast Odometry TF: FALSE
[zed_wrapper-2] [INFO] [1715000841.544267760] [zed.zed_node]:  * Broadcast Pose TF: FALSE
[zed_wrapper-2] [INFO] [1715000841.544432054] [zed.zed_node]:  * [DYN] Depth minimum range: 0
[zed_wrapper-2] [INFO] [1715000841.544602460] [zed.zed_node]:  * [DYN] TF timestamp offset: 0
[zed_wrapper-2] [INFO] [1715000841.544770946] [zed.zed_node]:  * [DYN] Path publishing rate: 2
[zed_wrapper-2] [INFO] [1715000841.545014635] [zed.zed_node]:  * Path history lenght: -1
[zed_wrapper-2] [INFO] [1715000841.545199249] [zed.zed_node]:  * Initial pose: [0,0,1.4,0,0.436,0,]
[zed_wrapper-2] [INFO] [1715000841.545390040] [zed.zed_node]:  * Area Memory: TRUE
[zed_wrapper-2] [INFO] [1715000841.545569119] [zed.zed_node]:  * Area Memory DB: 
[zed_wrapper-2] [INFO] [1715000841.545749637] [zed.zed_node]:  * Camera is static: FALSE
[zed_wrapper-2] [INFO] [1715000841.545918699] [zed.zed_node]:  * Gravity as origin [not for ZED]: TRUE
[zed_wrapper-2] [INFO] [1715000841.546084273] [zed.zed_node]:  * IMU Fusion [not for ZED]: TRUE
[zed_wrapper-2] [INFO] [1715000841.546257335] [zed.zed_node]:  * Floor Alignment: FALSE
[zed_wrapper-2] [INFO] [1715000841.546426845] [zed.zed_node]:  * Reset Odometry with Loop Closure: TRUE
[zed_wrapper-2] [INFO] [1715000841.546591843] [zed.zed_node]:  * 2D mode: TRUE
[zed_wrapper-2] [INFO] [1715000841.546751753] [zed.zed_node]:  * Fixed Z value: 0
[zed_wrapper-2] [INFO] [1715000841.546780266] [zed.zed_node]: *** Region of Interest parameters ***
[zed_wrapper-2] [INFO] [1715000841.546936239] [zed.zed_node]:  * Automatic ROI generation: FALSE
[zed_wrapper-2] [INFO] [1715000841.547123254] [zed.zed_node]:  * Manual ROI polygon: []
[zed_wrapper-2] [INFO] [1715000841.547526500] [zed.zed_node]: *** SENSORS STACK parameters ***
[zed_wrapper-2] [INFO] [1715000841.547749996] [zed.zed_node]:  * Broadcast IMU TF [not for ZED]: TRUE
[zed_wrapper-2] [INFO] [1715000841.547909874] [zed.zed_node]:  * Sensors Camera Sync: FALSE
[zed_wrapper-2] [INFO] [1715000841.548087832] [zed.zed_node]:  * Sensors publishing rate: 200 Hz
[zed_wrapper-2] [INFO] [1715000841.548121178] [zed.zed_node]: *** Spatial Mapping parameters ***
[zed_wrapper-2] [INFO] [1715000841.548289056] [zed.zed_node]:  * Spatial Mapping Enabled: FALSE
[zed_wrapper-2] [INFO] [1715000841.548485927] [zed.zed_node]:  * Spatial Mapping resolution [m]: 0.05
[zed_wrapper-2] [INFO] [1715000841.548671053] [zed.zed_node]:  * 3D Max Mapping range: AUTO
[zed_wrapper-2] [INFO] [1715000841.548848852] [zed.zed_node]:  * Map publishing rate [Hz]: 1
[zed_wrapper-2] [INFO] [1715000841.549046555] [zed.zed_node]:  * Clicked point topic: /clicked_point
[zed_wrapper-2] [INFO] [1715000841.549239906] [zed.zed_node]:  * Plane Det. Max Dist. Thresh.: 0.15
[zed_wrapper-2] [INFO] [1715000841.549420808] [zed.zed_node]:  * Plane Det. Normals Sim. Thresh.: 15
[zed_wrapper-2] [INFO] [1715000841.549454761] [zed.zed_node]: *** Object Det. parameters ***
[zed_wrapper-2] [INFO] [1715000841.549638192] [zed.zed_node]:  * Object Det. enabled: FALSE
[zed_wrapper-2] [INFO] [1715000841.549832535] [zed.zed_node]:  * Object Det. model: MULTI CLASS BOX MEDIUM
[zed_wrapper-2] [INFO] [1715000841.550030270] [zed.zed_node]:  * Object Det. allow reduced precision: TRUE
[zed_wrapper-2] [INFO] [1715000841.550215940] [zed.zed_node]:  * Object Det. maximum range [m]: 20
[zed_wrapper-2] [INFO] [1715000841.550399115] [zed.zed_node]:  * Object Det. min. confidence: 50
[zed_wrapper-2] [INFO] [1715000841.550569361] [zed.zed_node]:  * Object Det. prediction timeout [sec]: 0.5
[zed_wrapper-2] [INFO] [1715000841.550739863] [zed.zed_node]:  * Object Det. tracking: TRUE
[zed_wrapper-2] [INFO] [1715000841.550922558] [zed.zed_node]:  * Object Filtering mode: 1 - NMS 3D
[zed_wrapper-2] [INFO] [1715000841.551093476] [zed.zed_node]:  * MultiClassBox people: TRUE
[zed_wrapper-2] [INFO] [1715000841.551261194] [zed.zed_node]:  * MultiClassBox vehicles: TRUE
[zed_wrapper-2] [INFO] [1715000841.551417519] [zed.zed_node]:  * MultiClassBox bags: TRUE
[zed_wrapper-2] [INFO] [1715000841.551607030] [zed.zed_node]:  * MultiClassBox animals: TRUE
[zed_wrapper-2] [INFO] [1715000841.551766780] [zed.zed_node]:  * MultiClassBox electronics: TRUE
[zed_wrapper-2] [INFO] [1715000841.551941762] [zed.zed_node]:  * MultiClassBox fruits and vegetables: TRUE
[zed_wrapper-2] [INFO] [1715000841.552110984] [zed.zed_node]:  * MultiClassBox sport-related objects: TRUE
[zed_wrapper-2] [INFO] [1715000841.552143849] [zed.zed_node]: *** Body Track. parameters ***
[zed_wrapper-2] [INFO] [1715000841.552310767] [zed.zed_node]:  * Body Track. enabled: FALSE
[zed_wrapper-2] [INFO] [1715000841.552503766] [zed.zed_node]:  * Body Track. model: HUMAN BODY MEDIUM
[zed_wrapper-2] [INFO] [1715000841.552699133] [zed.zed_node]:  * Body Track. format: BODY_38
[zed_wrapper-2] [INFO] [1715000841.552890404] [zed.zed_node]:  * Body Track. allow reduced precision: TRUE
[zed_wrapper-2] [INFO] [1715000841.553113292] [zed.zed_node]:  * Body Track. maximum range [m]: 20
[zed_wrapper-2] [INFO] [1715000841.553298642] [zed.zed_node]:  * Body Track. KP selection: FULL
[zed_wrapper-2] [INFO] [1715000841.553500249] [zed.zed_node]:  * Body fitting: FALSE
[zed_wrapper-2] [INFO] [1715000841.553672800] [zed.zed_node]:  * Body joints tracking: TRUE
[zed_wrapper-2] [INFO] [1715000841.553858886] [zed.zed_node]:  * Body Track. prediction timeout [sec]: 0.5
[zed_wrapper-2] [INFO] [1715000841.554044045] [zed.zed_node]:  * Body Track. confidence thresh.: 50
[zed_wrapper-2] [INFO] [1715000841.554242868] [zed.zed_node]:  * Body Track. min. KP thresh.: 5
[zed_wrapper-2] [INFO] [1715000841.554276181] [zed.zed_node]: *** Streaming Server parameters ***
[zed_wrapper-2] [INFO] [1715000841.554448955] [zed.zed_node]:  * Streaming Server enabled: FALSE
[zed_wrapper-2] [INFO] [1715000841.554632770] [zed.zed_node]:  * Stream codec: H264
[zed_wrapper-2] [INFO] [1715000841.554812232] [zed.zed_node]:  * Stream port:30000
[zed_wrapper-2] [INFO] [1715000841.555001391] [zed.zed_node]:  * Stream bitrate: 12500
[zed_wrapper-2] [INFO] [1715000841.555194294] [zed.zed_node]:  * Stream GOP size: -1
[zed_wrapper-2] [INFO] [1715000841.555388957] [zed.zed_node]:  * Stream Chunk size: 16084
[zed_wrapper-2] [INFO] [1715000841.555586436] [zed.zed_node]:  * Adaptive bitrate: FALSE
[zed_wrapper-2] [INFO] [1715000841.555795723] [zed.zed_node]:  * Target frame rate:0
[zed_wrapper-2] [INFO] [1715000841.555831405] [zed.zed_node]: *** Advanced parameters ***
[zed_wrapper-2] [INFO] [1715000841.556023635] [zed.zed_node]:  * Thread sched. policy: SCHED_BATCH
[zed_wrapper-2] [INFO] [1715000841.556140344] [zed.zed_node]: *** SERVICES ***
[zed_wrapper-2] [INFO] [1715000841.557918935] [zed.zed_node]:  * '/zed/zed_node/reset_odometry'
[zed_wrapper-2] [INFO] [1715000841.558546189] [zed.zed_node]:  * '/zed/zed_node/reset_pos_tracking'
[zed_wrapper-2] [INFO] [1715000841.562675873] [zed.zed_node]:  * '/zed/zed_node/set_pose'
[zed_wrapper-2] [INFO] [1715000841.563641219] [zed.zed_node]:  * '/zed/zed_node/enable_obj_det'
[zed_wrapper-2] [INFO] [1715000841.565032149] [zed.zed_node]:  * '/zed/zed_node/enable_body_trk'
[zed_wrapper-2] [INFO] [1715000841.565806128] [zed.zed_node]:  * '/zed/zed_node/enable_mapping'
[zed_wrapper-2] [INFO] [1715000841.566605997] [zed.zed_node]:  * '/zed/zed_node/enable_streaming'
[zed_wrapper-2] [INFO] [1715000841.567665618] [zed.zed_node]:  * '/zed/zed_node/start_svo_rec'
[zed_wrapper-2] [INFO] [1715000841.568118275] [zed.zed_node]:  * '/zed/zed_node/stop_svo_rec'
[zed_wrapper-2] [INFO] [1715000841.568635733] [zed.zed_node]:  * '/zed/zed_node/set_roi'
[zed_wrapper-2] [INFO] [1715000841.569180680] [zed.zed_node]:  * '/zed/zed_node/reset_roi'
[zed_wrapper-2] [INFO] [1715000841.569244875] [zed.zed_node]: ***** STARTING CAMERA *****
[zed_wrapper-2] [INFO] [1715000841.569272556] [zed.zed_node]: ZED SDK Version: 4.1.0 - Build 86185_1f1266b5
[zed_wrapper-2] [INFO] [1715000841.577227559] [zed.zed_node]: *** CAMERA OPENING ***
[zed_wrapper-2] [2024-05-06 13:07:22 UTC][ZED][INFO] Logging level INFO
[zed_wrapper-2] [2024-05-06 13:07:23 UTC][ZED][INFO] [Init]  Depth mode: PERFORMANCE
[zed_wrapper-2] [2024-05-06 13:07:24 UTC][ZED][INFO] [Init]  Camera successfully opened.
[zed_wrapper-2] [2024-05-06 13:07:24 UTC][ZED][INFO] [Init]  Camera FW version: 1523
[zed_wrapper-2] [2024-05-06 13:07:24 UTC][ZED][INFO] [Init]  Video mode: HD720@30
[zed_wrapper-2] [2024-05-06 13:07:24 UTC][ZED][INFO] [Init]  Serial Number: S/N 37366886
[zed_wrapper-2] [INFO] [1715000845.351957750] [zed.zed_node]: ZED SDK running on GPU #0
[zed_wrapper-2] [INFO] [1715000845.352169085] [zed.zed_node]:  * Camera Model  -> ZED 2i
[zed_wrapper-2] [INFO] [1715000845.352225919] [zed.zed_node]:  * Serial Number -> 37366886
[zed_wrapper-2] [INFO] [1715000845.352296066] [zed.zed_node]:  * Focal Lenght -> 2.0856 mm
[zed_wrapper-2] [INFO] [1715000845.352361092] [zed.zed_node]:  * Input   -> USB input type
[zed_wrapper-2] [INFO] [1715000845.352415686] [zed.zed_node]:  * Camera FW Version  -> 1523
[zed_wrapper-2] [INFO] [1715000845.352455623] [zed.zed_node]:  * Sensors FW Version -> 777
[zed_wrapper-2] [INFO] [1715000845.352495497] [zed.zed_node]:  * Camera grab frame size -> 1280x720
[zed_wrapper-2] [INFO] [1715000845.352529290] [zed.zed_node]:  * Publishing frame size  -> 1280x720
[zed_wrapper-2] [INFO] [1715000845.352593932] [zed.zed_node]: *** TF FRAMES ***
[zed_wrapper-2] [INFO] [1715000845.352630542] [zed.zed_node]:  * Map                    -> map
[zed_wrapper-2] [INFO] [1715000845.352759218] [zed.zed_node]:  * Odometry               -> robot/odom
[zed_wrapper-2] [INFO] [1715000845.352799540] [zed.zed_node]:  * Base                   -> zed_camera_link
[zed_wrapper-2] [INFO] [1715000845.352827925] [zed.zed_node]:  * Camera                 -> zed_camera_center
[zed_wrapper-2] [INFO] [1715000845.352853621] [zed.zed_node]:  * Left                   -> zed_left_camera_frame
[zed_wrapper-2] [INFO] [1715000845.352879350] [zed.zed_node]:  * Left Optical           -> zed_left_camera_optical_frame
[zed_wrapper-2] [INFO] [1715000845.352895639] [zed.zed_node]:  * RGB                    -> zed_left_camera_frame
[zed_wrapper-2] [INFO] [1715000845.352946201] [zed.zed_node]:  * RGB Optical            -> zed_left_camera_optical_frame
[zed_wrapper-2] [INFO] [1715000845.352973754] [zed.zed_node]:  * Right                  -> zed_right_camera_frame
[zed_wrapper-2] [INFO] [1715000845.352991482] [zed.zed_node]:  * Right Optical          -> zed_right_camera_optical_frame
[zed_wrapper-2] [INFO] [1715000845.353008123] [zed.zed_node]:  * Depth                  -> zed_left_camera_frame
[zed_wrapper-2] [INFO] [1715000845.353024092] [zed.zed_node]:  * Depth Optical          -> zed_left_camera_optical_frame
[zed_wrapper-2] [INFO] [1715000845.353039836] [zed.zed_node]:  * Point Cloud            -> zed_left_camera_optical_frame
[zed_wrapper-2] [INFO] [1715000845.353055901] [zed.zed_node]:  * Disparity              -> zed_left_camera_frame
[zed_wrapper-2] [INFO] [1715000845.353071357] [zed.zed_node]:  * Disparity Optical      -> zed_left_camera_optical_frame
[zed_wrapper-2] [INFO] [1715000845.353086750] [zed.zed_node]:  * Confidence             -> zed_left_camera_frame
[zed_wrapper-2] [INFO] [1715000845.353101886] [zed.zed_node]:  * Confidence Optical     -> zed_left_camera_optical_frame
[zed_wrapper-2] [INFO] [1715000845.353117087] [zed.zed_node]:  * IMU                    -> zed_imu_link
[zed_wrapper-2] [INFO] [1715000845.353135552] [zed.zed_node]:  * Barometer              -> zed_camera_center
[zed_wrapper-2] [INFO] [1715000845.353156480] [zed.zed_node]:  * Magnetometer           -> zed_imu_link
[zed_wrapper-2] [INFO] [1715000845.353172673] [zed.zed_node]:  * Left Temperature       -> zed_left_camera_frame
[zed_wrapper-2] [INFO] [1715000845.353188993] [zed.zed_node]:  * Right Temperature      -> zed_right_camera_frame
[zed_wrapper-2] [INFO] [1715000845.353270660] [zed.zed_node]: *** PUBLISHED TOPICS ***
[zed_wrapper-2] [INFO] [1715000845.421272413] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb/image_rect_color
[zed_wrapper-2] [INFO] [1715000845.421384321] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb/camera_info
[zed_wrapper-2] [INFO] [1715000845.431626702] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_gray/image_rect_gray
[zed_wrapper-2] [INFO] [1715000845.431724049] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_gray/camera_info
[zed_wrapper-2] [INFO] [1715000845.441967422] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_raw/image_raw_color
[zed_wrapper-2] [INFO] [1715000845.442055106] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_raw/camera_info
[zed_wrapper-2] [INFO] [1715000845.452576761] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_raw_gray/image_raw_gray
[zed_wrapper-2] [INFO] [1715000845.452680252] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_raw_gray/camera_info
[zed_wrapper-2] [INFO] [1715000845.462981164] [zed.zed_node]: Advertised on topic: /zed/zed_node/left/image_rect_color
[zed_wrapper-2] [INFO] [1715000845.463077391] [zed.zed_node]: Advertised on topic: /zed/zed_node/left/camera_info
[zed_wrapper-2] [INFO] [1715000845.472646404] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_gray/image_rect_gray
[zed_wrapper-2] [INFO] [1715000845.472740904] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_gray/camera_info
[zed_wrapper-2] [INFO] [1715000845.482369279] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_raw/image_raw_color
[zed_wrapper-2] [INFO] [1715000845.482483139] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_raw/camera_info
[zed_wrapper-2] [INFO] [1715000845.492564170] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_raw_gray/image_raw_gray
[zed_wrapper-2] [INFO] [1715000845.492660238] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_raw_gray/camera_info
[zed_wrapper-2] [INFO] [1715000845.503255495] [zed.zed_node]: Advertised on topic: /zed/zed_node/right/image_rect_color
[zed_wrapper-2] [INFO] [1715000845.503348331] [zed.zed_node]: Advertised on topic: /zed/zed_node/right/camera_info
[zed_wrapper-2] [INFO] [1715000845.512890015] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_gray/image_rect_gray
[zed_wrapper-2] [INFO] [1715000845.512986690] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_gray/camera_info
[zed_wrapper-2] [INFO] [1715000845.523189934] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_raw/image_raw_color
[zed_wrapper-2] [INFO] [1715000845.523375925] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_raw/camera_info
[zed_wrapper-2] [INFO] [1715000845.533254997] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_raw_gray/image_raw_gray
[zed_wrapper-2] [INFO] [1715000845.533350232] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_raw_gray/camera_info
[zed_wrapper-2] [INFO] [1715000845.542879948] [zed.zed_node]: Advertised on topic: /zed/zed_node/depth/depth_registered
[zed_wrapper-2] [INFO] [1715000845.542967887] [zed.zed_node]: Advertised on topic: /zed/zed_node/depth/camera_info
[zed_wrapper-2] [INFO] [1715000845.546097343] [zed.zed_node]: Advertised on topic: /zed/zed_node/depth/depth_info
[zed_wrapper-2] [INFO] [1715000845.554269346] [zed.zed_node]: Advertised on topic: /zed/zed_node/stereo/image_rect_color
[zed_wrapper-2] [INFO] [1715000845.562409028] [zed.zed_node]: Advertised on topic: /zed/zed_node/stereo_raw/image_raw_color
[zed_wrapper-2] [INFO] [1715000845.564412012] [zed.zed_node]: Advertised on topic: /zed/zed_node/confidence/confidence_map
[zed_wrapper-2] [INFO] [1715000845.568545119] [zed.zed_node]: Advertised on topic: /zed/zed_node/disparity/disparity_image
[zed_wrapper-2] [INFO] [1715000845.571819060] [zed.zed_node]: Advertised on topic: /zed/zed_node/point_cloud/cloud_registered
[zed_wrapper-2] [INFO] [1715000845.575122794] [zed.zed_node]: Advertised on topic: /zed/zed_node/pose
[zed_wrapper-2] [INFO] [1715000845.578201143] [zed.zed_node]: Advertised on topic: /zed/zed_node/pose/status
[zed_wrapper-2] [INFO] [1715000845.581291141] [zed.zed_node]: Advertised on topic: /zed/zed_node/pose_with_covariance
[zed_wrapper-2] [INFO] [1715000845.586142994] [zed.zed_node]: Advertised on topic: /zed/zed_node/odom
[zed_wrapper-2] [INFO] [1715000845.589534955] [zed.zed_node]: Advertised on topic: /zed/zed_node/path_map
[zed_wrapper-2] [INFO] [1715000845.592613849] [zed.zed_node]: Advertised on topic: /zed/zed_node/path_odom
[zed_wrapper-2] [INFO] [1715000845.598330725] [zed.zed_node]: Advertised on topic: /zed/plane_marker
[zed_wrapper-2] [INFO] [1715000845.601571416] [zed.zed_node]: Advertised on topic: /zed/plane
[zed_wrapper-2] [INFO] [1715000845.604768202] [zed.zed_node]: Advertised on topic: /zed/zed_node/imu/data
[zed_wrapper-2] [INFO] [1715000845.607837496] [zed.zed_node]: Advertised on topic: /zed/zed_node/imu/data_raw
[zed_wrapper-2] [INFO] [1715000845.611083052] [zed.zed_node]: Advertised on topic: /zed/zed_node/temperature/imu
[zed_wrapper-2] [INFO] [1715000845.614193114] [zed.zed_node]: Advertised on topic: /zed/zed_node/imu/mag
[zed_wrapper-2] [INFO] [1715000845.617492560] [zed.zed_node]: Advertised on topic: /zed/zed_node/atm_press
[zed_wrapper-2] [INFO] [1715000845.620610783] [zed.zed_node]: Advertised on topic: /zed/zed_node/temperature/left
[zed_wrapper-2] [INFO] [1715000845.623613994] [zed.zed_node]: Advertised on topic: /zed/zed_node/temperature/right
[zed_wrapper-2] [INFO] [1715000845.626782363] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_cam_imu_transform
[zed_wrapper-2] [INFO] [1715000845.626878431] [zed.zed_node]: Camera-IMU Translation: 
[zed_wrapper-2]  -0.002 -0.023061 0.000217
[zed_wrapper-2] [INFO] [1715000845.626952161] [zed.zed_node]: Camera-IMU Rotation:
[zed_wrapper-2] FFFFF97CB910
[zed_wrapper-2] 0.999995 -0.002910 -0.000912
[zed_wrapper-2] 0.002909 0.999995 -0.001172
[zed_wrapper-2] 0.000915 0.001170 0.999999
[zed_wrapper-2] 
[zed_wrapper-2] [INFO] [1715000845.626990371] [zed.zed_node]: *** Subscribers ***
[zed_wrapper-2] [INFO] [1715000845.630380540] [zed.zed_node]:  * Plane detection: '/clicked_point'
[zed_wrapper-2] [INFO] [1715000845.680595450] [zed.zed_node]: *** Starting Positional Tracking ***
[zed_wrapper-2] [INFO] [1715000845.680719198] [zed.zed_node]:  * Waiting for valid static transformations...
[zed_wrapper-2] [INFO] [1715000845.680902277] [zed.zed_node]:  Static transform ref. CMOS Sensor to Base [zed_left_camera_frame -> zed_camera_link]
[zed_wrapper-2] [INFO] [1715000845.680947526] [zed.zed_node]:   * Translation: {0.010,-0.060,-0.015}
[zed_wrapper-2] [INFO] [1715000845.680982760] [zed.zed_node]:   * Rotation: {0.000,-0.000,0.000}
[zed_wrapper-2] [INFO] [1715000845.681019017] [zed.zed_node]:  Static transform ref. CMOS Sensor to Camera Center [zed_left_camera_frame -> zed_camera_center]
[zed_wrapper-2] [INFO] [1715000845.681037065] [zed.zed_node]:   * Translation: {0.010,-0.060,0.000}
[zed_wrapper-2] [INFO] [1715000845.681054890] [zed.zed_node]:   * Rotation: {0.000,-0.000,0.000}
[zed_wrapper-2] [INFO] [1715000845.681077771] [zed.zed_node]:  Static transform Camera Center to Base [zed_camera_center -> zed_camera_link]
[zed_wrapper-2] [INFO] [1715000845.681093227] [zed.zed_node]:   * Translation: {0.000,0.000,-0.015}
[zed_wrapper-2] [INFO] [1715000845.681112716] [zed.zed_node]:   * Rotation: {0.000,-0.000,0.000}
[zed_wrapper-2] [INFO] [1715000845.682299831] [zed.zed_node]: Initial ZED left camera pose (ZED pos. tracking): 
[zed_wrapper-2] [INFO] [1715000845.682332216] [zed.zed_node]:  * T: [-0.00272973,0.06,1.41782]
[zed_wrapper-2] [INFO] [1715000845.682361177] [zed.zed_node]:  * Q: [0,0.216277,0,0.976332]
[zed_wrapper-2] [INFO] [1715003984.510968408] [zed.zed_node]: *** Odometry reset for LOOP CLOSURE event ***
[zed_wrapper-2] [INFO] [1715004148.412838775] [zed.zed_node]: *** Odometry reset for LOOP CLOSURE event ***

stereolabs / zed-ros2-wrapper

Low pointcloud frequency with SDK 4.1 #228