ZED2 launch is crashing when gnss_fusion is enabled

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Description

I am using ZED2 launch to do the sensor fusion with my already launched GNSS sensor with gnss_fusion flag turned to true in common.yaml and it's getting crashed Command: ros2 launch zed_wrapper zed2.launch.py Output: [INFO] [launch]: All log files can be found below /home/selfsub/.ros/log/2023-07-17-14-55-04-607623-void-desk-118158 [INFO] [launch]: Default logging verbosity is set to INFO [WARNING] [launch_ros.actions.node]: Parameter file path is not a file: . [INFO] [robot_state_publisher-1]: process started with pid [118160] [INFO] [zed_wrapper-2]: process started with pid [118162]

[zed_wrapper-2] [INFO] [1689620105.402939280] [zed2.zed_node]: ZED Camera Component

[zed_wrapper-2] [INFO] [1689620105.402971370] [zed2.zed_node]: namespace: /zed2 [zed_wrapper-2] [INFO] [1689620105.402979725] [zed2.zed_node]: node name: zed_node

[zed_wrapper-2] [INFO] [1689620105.403002528] [zed2.zed_node]: DEBUG parameters [zed_wrapper-2] [INFO] [1689620105.404712999] [zed2.zed_node]: Debug Common: FALSE [zed_wrapper-2] [INFO] [1689620105.405133274] [zed2.zed_node]: Debug Video/Depth: FALSE [zed_wrapper-2] [INFO] [1689620105.406125866] [zed2.zed_node]: Debug Control settings: FALSE [zed_wrapper-2] [INFO] [1689620105.406583760] [zed2.zed_node]: Debug Point Cloud: FALSE [zed_wrapper-2] [INFO] [1689620105.407239894] [zed2.zed_node]: Debug GNSS: TRUE [zed_wrapper-2] [INFO] [1689620105.407502765] [zed2.zed_node]: Debug Positional Tracking: FALSE [zed_wrapper-2] [INFO] [1689620105.407689653] [zed2.zed_node]: Debug sensors: FALSE [zed_wrapper-2] [INFO] [1689620105.407906578] [zed2.zed_node]: Debug Mapping: FALSE [zed_wrapper-2] [INFO] [1689620105.408084210] [zed2.zed_node]: Debug Object Detection: FALSE [zed_wrapper-2] [INFO] [1689620105.408730445] [zed2.zed_node]: Debug Body Tracking: FALSE [zed_wrapper-2] [INFO] [1689620105.408783504] [zed2.zed_node]: + Debug Mode enabled + [zed_wrapper-2] [INFO] [1689620105.408809112] [zed2.zed_node]: GENERAL parameters [zed_wrapper-2] [INFO] [1689620105.409117067] [zed2.zed_node]: SVO: '' [zed_wrapper-2] [INFO] [1689620105.409339922] [zed2.zed_node]: Camera model: zed2 - ZED 2 [zed_wrapper-2] [INFO] [1689620105.409892814] [zed2.zed_node]: SDK Verbose: 1 [zed_wrapper-2] [INFO] [1689620105.410427942] [zed2.zed_node]: Camera name: zed2 [zed_wrapper-2] [INFO] [1689620105.410676225] [zed2.zed_node]: Camera ID: 0 [zed_wrapper-2] [INFO] [1689620105.410850250] [zed2.zed_node]: Camera SN: 0

[zed_wrapper-2] [INFO] [1689620105.411201045] [zed2.zed_node]: Camera reconnection temptatives: 5 [zed_wrapper-2] [INFO] [1689620105.411371964] [zed2.zed_node]: Camera framerate: 30 [zed_wrapper-2] [INFO] [1689620105.411554714] [zed2.zed_node]: GPU ID: -1 [zed_wrapper-2] [INFO] [1689620105.411747404] [zed2.zed_node]: Camera resolution: HD720 [zed_wrapper-2] [INFO] [1689620105.411932730] [zed2.zed_node]: Publishing resolution: MEDIUM [zed_wrapper-2] [INFO] [1689620105.412330812] [zed2.zed_node]: Region of interest: [] [zed_wrapper-2] [INFO] [1689620105.412659355] [zed2.zed_node]: Camera self calibration: TRUE [zed_wrapper-2] [INFO] [1689620105.412880428] [zed2.zed_node]: Camera flip: FALSE

[zed_wrapper-2] [INFO] [1689620105.413122960] [zed2.zed_node]: VIDEO parameters [zed_wrapper-2] [INFO] [1689620105.413763155] [zed2.zed_node]: [DYN] Brightness: 4 [zed_wrapper-2] [INFO] [1689620105.414068094] [zed2.zed_node]: [DYN] Contrast: 4 [zed_wrapper-2] [INFO] [1689620105.414281622] [zed2.zed_node]: [DYN] Hue: 0 [zed_wrapper-2] [INFO] [1689620105.414474322] [zed2.zed_node]: [DYN] Saturation: 4 [zed_wrapper-2] [INFO] [1689620105.414663395] [zed2.zed_node]: [DYN] Sharpness: 4 [zed_wrapper-2] [INFO] [1689620105.414890909] [zed2.zed_node]: [DYN] Gamma: 8 [zed_wrapper-2] [INFO] [1689620105.415489526] [zed2.zed_node]: [DYN] Auto Exposure/Gain: TRUE [zed_wrapper-2] [INFO] [1689620105.415784577] [zed2.zed_node]: [DYN] Exposure: 80 [zed_wrapper-2] [INFO] [1689620105.416371622] [zed2.zed_node]: [DYN] Gain: 80 [zed_wrapper-2] [INFO] [1689620105.416732415] [zed2.zed_node]: [DYN] Auto White Balance: TRUE [zed_wrapper-2] [INFO] [1689620105.416948869] [zed2.zed_node]: [DYN] White Balance Temperature: 42 [zed_wrapper-2] [INFO] [1689620105.417146227] [zed2.zed_node]: Video QoS History: KEEP_LAST [zed_wrapper-2] [INFO] [1689620105.417347462] [zed2.zed_node]: Video QoS History depth: 1 [zed_wrapper-2] [INFO] [1689620105.417545793] [zed2.zed_node]: Video QoS Reliability: RELIABLE [zed_wrapper-2] [INFO] [1689620105.417851874] [zed2.zed_node]: * Video QoS Durability: VOLATILE [zed_wrapper-2] [INFO] [1689620105.417876610] [zed2.zed_node]: DEPTH parameters [zed_wrapper-2] [INFO] [1689620105.418115205] [zed2.zed_node]: * Depth mode: NEURAL [4]

[zed_wrapper-2] [INFO] [1689620105.418842752] [zed2.zed_node]: Depth Stabilization: 1 [zed_wrapper-2] [INFO] [1689620105.419346051] [zed2.zed_node]: OpenNI mode (16bit point cloud): FALSE

[zed_wrapper-2] [INFO] [1689620105.420221004] [zed2.zed_node]: [DYN] Depth Confidence: 50 [zed_wrapper-2] [INFO] [1689620105.420429322] [zed2.zed_node]: [DYN] Depth Texture Confidence: 100 [zed_wrapper-2] [INFO] [1689620105.420655134] [zed2.zed_node]: [DYN] Remove saturated areas: TRUE [zed_wrapper-2] [INFO] [1689620105.420847122] [zed2.zed_node]: Depth QoS History: KEEP_LAST [zed_wrapper-2] [INFO] [1689620105.421030714] [zed2.zed_node]: Depth QoS History depth: 1 [zed_wrapper-2] [INFO] [1689620105.421581843] [zed2.zed_node]: Depth QoS Reliability: RELIABLE [zed_wrapper-2] [INFO] [1689620105.422084150] [zed2.zed_node]: * Depth QoS Durability: VOLATILE [zed_wrapper-2] [INFO] [1689620105.422121009] [zed2.zed_node]: GNSS FUSION parameters [zed_wrapper-2] [INFO] [1689620105.422388388] [zed2.zed_node]: GNSS fusion enabled: TRUE [zed_wrapper-2] [INFO] [1689620105.422609139] [zed2.zed_node]: GNSS frame: navsatfix_frame [zed_wrapper-2] [INFO] [1689620105.423436643] [zed2.zed_node]: GNSS topic name: /NavSatFix [zed_wrapper-2] [INFO] [1689620105.424196862] [zed2.zed_node]: GNSS init. distance: 1 [zed_wrapper-2] [INFO] [1689620105.424541605] [zed2.zed_node]: GNSS Zero Altitude: FALSE [zed_wrapper-2] [INFO] [1689620105.424744924] [zed2.zed_node]: Publish UTM TF: TRUE [zed_wrapper-2] [INFO] [1689620105.424948805] [zed2.zed_node]: * Publish UTM TF as parent of 'map': FALSE [zed_wrapper-2] [INFO] [1689620105.424974543] [zed2.zed_node]: POSITIONAL TRACKING parameters [zed_wrapper-2] [INFO] [1689620105.425172943] [zed2.zed_node]: Positional tracking enabled: TRUE [zed_wrapper-2] [INFO] [1689620105.425420034] [zed2.zed_node]: Base frame id: base_link [zed_wrapper-2] [INFO] [1689620105.425640846] [zed2.zed_node]: Map frame id: map [zed_wrapper-2] [INFO] [1689620105.427187692] [zed2.zed_node]: Odometry frame id: odom [zed_wrapper-2] [INFO] [1689620105.427495085] [zed2.zed_node]: Broadcast Odometry TF: TRUE [zed_wrapper-2] [INFO] [1689620105.428125251] [zed2.zed_node]: Broadcast Pose TF: TRUE

[zed_wrapper-2] [INFO] [1689620105.428924793] [zed2.zed_node]: [DYN] Depth minimum range: 0 [zed_wrapper-2] [INFO] [1689620105.429492903] [zed2.zed_node]: [DYN] TF timestamp offset: 0 [zed_wrapper-2] [INFO] [1689620105.430558872] [zed2.zed_node]: [DYN] Path publishing rate: 2 [zed_wrapper-2] [INFO] [1689620105.431630551] [zed2.zed_node]: Path history lenght: -1 [zed_wrapper-2] [INFO] [1689620105.432103884] [zed2.zed_node]: Initial pose: [0,0,0,0,0,0,] [zed_wrapper-2] [INFO] [1689620105.432136495] [zed2.zed_node]: Area Memory: FALSE - Forced by GNSS usage [zed_wrapper-2] [INFO] [1689620105.432143548] [zed2.zed_node]: Note: loop closure (Area Memory) is disabled when using GNSS fusion [zed_wrapper-2] [INFO] [1689620105.432963318] [zed2.zed_node]: * Camera is static: FALSE

[zed_wrapper-2] [INFO] [1689620105.435346264] [zed2.zed_node]: Floor Alignment: FALSE [zed_wrapper-2] [INFO] [1689620105.435811071] [zed2.zed_node]: Init Odometry with first valid pose data: TRUE [zed_wrapper-2] [INFO] [1689620105.436222939] [zed2.zed_node]: 2D mode: FALSE [zed_wrapper-2] [INFO] [1689620105.436498093] [zed2.zed_node]: Pose/Odometry QoS History: KEEP_LAST [zed_wrapper-2] [INFO] [1689620105.437163494] [zed2.zed_node]: Pose/Odometry QoS History depth: 1 [zed_wrapper-2] [INFO] [1689620105.437662245] [zed2.zed_node]: Pose/Odometry QoS Reliability: RELIABLE [zed_wrapper-2] [INFO] [1689620105.438011947] [zed2.zed_node]: * Pose/Odometry QoS Durability: VOLATILE [zed_wrapper-2] [INFO] [1689620105.438043155] [zed2.zed_node]: SENSORS STACK parameters [zed_wrapper-2] [INFO] [1689620105.438959455] [zed2.zed_node]: Sensors Camera Sync: FALSE [zed_wrapper-2] [INFO] [1689620105.439348882] [zed2.zed_node]: Sensors publishing rate: 200 Hz [zed_wrapper-2] [INFO] [1689620105.439967817] [zed2.zed_node]: Sensors QoS History: KEEP_LAST [zed_wrapper-2] [INFO] [1689620105.440731101] [zed2.zed_node]: Sensors QoS History depth: 1 [zed_wrapper-2] [INFO] [1689620105.441387545] [zed2.zed_node]: Sensors QoS Reliability: RELIABLE [zed_wrapper-2] [INFO] [1689620105.441698876] [zed2.zed_node]: Sensors QoS Durability: VOLATILE [zed_wrapper-2] [INFO] [1689620105.441726237] [zed2.zed_node]: Spatial Mapping parameters [zed_wrapper-2] [INFO] [1689620105.441992113] [zed2.zed_node]: * Spatial Mapping Enabled: FALSE

[zed_wrapper-2] [INFO] [1689620105.445171926] [zed2.zed_node]: Clicked point topic: /clicked_point [zed_wrapper-2] [INFO] [1689620105.445555512] [zed2.zed_node]: Sensors QoS History: KEEP_LAST [zed_wrapper-2] [INFO] [1689620105.445870018] [zed2.zed_node]: Sensors QoS History depth: 1 [zed_wrapper-2] [INFO] [1689620105.446867700] [zed2.zed_node]: Sensors QoS Reliability: RELIABLE [zed_wrapper-2] [INFO] [1689620105.447656031] [zed2.zed_node]: * Sensors QoS Durability: VOLATILE [zed_wrapper-2] [INFO] [1689620105.447701556] [zed2.zed_node]: Object Det. parameters [zed_wrapper-2] [INFO] [1689620105.448523038] [zed2.zed_node]: Object Det. enabled: FALSE [zed_wrapper-2] [INFO] [1689620105.449284890] [zed2.zed_node]: Object Det. model: MULTI CLASS BOX MEDIUM [zed_wrapper-2] [INFO] [1689620105.449972964] [zed2.zed_node]: * Object Det. allow reduced precision: TRUE

[zed_wrapper-2] [INFO] [1689620105.451432717] [zed2.zed_node]: * Object Det. min. confidence: 50

[zed_wrapper-2] [INFO] [1689620105.452772547] [zed2.zed_node]: Object Det. tracking: TRUE [zed_wrapper-2] [INFO] [1689620105.453450251] [zed2.zed_node]: Object Filtering mode: 1 - NMS 3D [zed_wrapper-2] [INFO] [1689620105.454076159] [zed2.zed_node]: MultiClassBox people: FALSE [zed_wrapper-2] [INFO] [1689620105.454697578] [zed2.zed_node]: MultiClassBox vehicles: TRUE [zed_wrapper-2] [INFO] [1689620105.455343133] [zed2.zed_node]: MultiClassBox bags: TRUE [zed_wrapper-2] [INFO] [1689620105.455998165] [zed2.zed_node]: MultiClassBox animals: TRUE [zed_wrapper-2] [INFO] [1689620105.456625315] [zed2.zed_node]: MultiClassBox electronics: TRUE [zed_wrapper-2] [INFO] [1689620105.457304613] [zed2.zed_node]: MultiClassBox fruits and vegetables: TRUE [zed_wrapper-2] [INFO] [1689620105.457920341] [zed2.zed_node]: MultiClassBox sport-related objects: TRUE [zed_wrapper-2] [INFO] [1689620105.458526031] [zed2.zed_node]: Obj. Det. QoS History: KEEP_LAST [zed_wrapper-2] [INFO] [1689620105.459110602] [zed2.zed_node]: Obj. Det. QoS History depth: 1 [zed_wrapper-2] [INFO] [1689620105.459721872] [zed2.zed_node]: Obj. Det. QoS Reliability: RELIABLE [zed_wrapper-2] [INFO] [1689620105.460316251] [zed2.zed_node]: * Obj. Det. QoS Durability: VOLATILE [zed_wrapper-2] [INFO] [1689620105.460357829] [zed2.zed_node]: Body Track. parameters [zed_wrapper-2] [INFO] [1689620105.461017590] [zed2.zed_node]: Body Track. enabled: FALSE [zed_wrapper-2] [INFO] [1689620105.461820258] [zed2.zed_node]: Body Track. model: HUMAN BODY MEDIUM [zed_wrapper-2] [INFO] [1689620105.462503743] [zed2.zed_node]: Body Track. format: BODY_38 [zed_wrapper-2] [INFO] [1689620105.463081050] [zed2.zed_node]: Body Track. allow reduced precision: TRUE

[zed_wrapper-2] [INFO] [1689620105.464195910] [zed2.zed_node]: Body Track. KP selection: FULL [zed_wrapper-2] [INFO] [1689620105.464793024] [zed2.zed_node]: Body fitting: FALSE [zed_wrapper-2] [INFO] [1689620105.465367155] [zed2.zed_node]: * Body joints tracking: TRUE

[zed_wrapper-2] [INFO] [1689620105.466515307] [zed2.zed_node]: Body Track. confidence thresh.: 50 [zed_wrapper-2] [INFO] [1689620105.467253084] [zed2.zed_node]: Body Track. min. KP thresh.: 5 [zed_wrapper-2] [INFO] [1689620105.467959682] [zed2.zed_node]: Body Track. QoS History: KEEP_LAST [zed_wrapper-2] [INFO] [1689620105.468470796] [zed2.zed_node]: Body Track. QoS History depth: 1 [zed_wrapper-2] [INFO] [1689620105.468930173] [zed2.zed_node]: Body Track. QoS Reliability: RELIABLE [zed_wrapper-2] [INFO] [1689620105.469464259] [zed2.zed_node]: Body Track. QoS Durability: VOLATILE [zed_wrapper-2] [INFO] [1689620105.469541934] [zed2.zed_node]: SERVICES

[robot_state_publisher-1] [INFO] [1689620105.481646368] [zed2.zed_state_publisher]: got segment base_link [robot_state_publisher-1] [INFO] [1689620105.481763707] [zed2.zed_state_publisher]: got segment zed2_baro_link [robot_state_publisher-1] [INFO] [1689620105.481773606] [zed2.zed_state_publisher]: got segment zed2_base_link [robot_state_publisher-1] [INFO] [1689620105.481780228] [zed2.zed_state_publisher]: got segment zed2_camera_center [robot_state_publisher-1] [INFO] [1689620105.481786129] [zed2.zed_state_publisher]: got segment zed2_left_camera_frame [robot_state_publisher-1] [INFO] [1689620105.481792601] [zed2.zed_state_publisher]: got segment zed2_left_camera_optical_frame [robot_state_publisher-1] [INFO] [1689620105.481798703] [zed2.zed_state_publisher]: got segment zed2_mag_link [robot_state_publisher-1] [INFO] [1689620105.481804373] [zed2.zed_state_publisher]: got segment zed2_right_camera_frame [robot_state_publisher-1] [INFO] [1689620105.481810034] [zed2.zed_state_publisher]: got segment zed2_right_camera_optical_frame [robot_state_publisher-1] [INFO] [1689620105.481815614] [zed2.zed_state_publisher]: got segment zed2_temp_left_link [robot_state_publisher-1] [INFO] [1689620105.481820924] [zed2.zed_state_publisher]: got segment zed2_temp_right_link

[zed_wrapper-2] [INFO] [1689620105.508296631] [zed2.zed_node]: STARTING CAMERA [zed_wrapper-2] [INFO] [1689620105.508307140] [zed2.zed_node]: ZED SDK Version: 4.0.1 - Build 70396_b949737b [zed_wrapper-2] [INFO] [1689620105.521458288] [zed2.zed_node]: CAMERA OPENING [zed_wrapper-2] [ZED][INFO] Logging level INFO [zed_wrapper-2] [ZED][INFO] [Init] Depth mode: NEURAL [zed_wrapper-2] [ZED][INFO] [Init] Camera successfully opened. [zed_wrapper-2] [ZED][INFO] [Init] Camera FW version: 1523 [zed_wrapper-2] [ZED][INFO] [Init] Video mode: HD720@30 [zed_wrapper-2] [ZED][INFO] [Init] Serial Number: S/N 27527485 [zed_wrapper-2] [INFO] [1689620112.486562578] [zed2.zed_node]: ZED SDK running on GPU #0 [zed_wrapper-2] [INFO] [1689620112.486655111] [zed2.zed_node]: Camera Model -> ZED 2 [zed_wrapper-2] [INFO] [1689620112.486677011] [zed2.zed_node]: Serial Number -> 27527485 [zed_wrapper-2] [INFO] [1689620112.486709732] [zed2.zed_node]: Input -> USB input type [zed_wrapper-2] [INFO] [1689620112.486745038] [zed2.zed_node]: Camera FW Version -> 1523 [zed_wrapper-2] [INFO] [1689620112.486763112] [zed2.zed_node]: Sensors FW Version -> 776 [zed_wrapper-2] [INFO] [1689620112.486783450] [zed2.zed_node]: Camera grab frame size -> 1280x720 [zed_wrapper-2] [INFO] [1689620112.486802075] [zed2.zed_node]: * Publishing frame size -> 896x512 [zed_wrapper-2] [INFO] [1689620112.486832722] [zed2.zed_node]: TF FRAMES [zed_wrapper-2] [INFO] [1689620112.486850675] [zed2.zed_node]: Map -> map [zed_wrapper-2] [INFO] [1689620112.486867407] [zed2.zed_node]: Odometry -> odom [zed_wrapper-2] [INFO] [1689620112.486883837] [zed2.zed_node]: Base -> base_link [zed_wrapper-2] [INFO] [1689620112.486900058] [zed2.zed_node]: Camera -> zed2_camera_center [zed_wrapper-2] [INFO] [1689620112.486916779] [zed2.zed_node]: Left -> zed2_left_camera_frame [zed_wrapper-2] [INFO] [1689620112.486933340] [zed2.zed_node]: Left Optical -> zed2_left_camera_optical_frame [zed_wrapper-2] [INFO] [1689620112.486950041] [zed2.zed_node]: RGB -> zed2_left_camera_frame [zed_wrapper-2] [INFO] [1689620112.486966211] [zed2.zed_node]: RGB Optical -> zed2_left_camera_frame [zed_wrapper-2] [INFO] [1689620112.486982361] [zed2.zed_node]: Right -> zed2_right_camera_frame [zed_wrapper-2] [INFO] [1689620112.486998421] [zed2.zed_node]: Right Optical -> zed2_right_camera_optical_frame [zed_wrapper-2] [INFO] [1689620112.487014722] [zed2.zed_node]: Depth -> zed2_left_camera_frame [zed_wrapper-2] [INFO] [1689620112.487030431] [zed2.zed_node]: Depth Optical -> zed2_left_camera_optical_frame [zed_wrapper-2] [INFO] [1689620112.487046501] [zed2.zed_node]: Point Cloud -> zed2_left_camera_optical_frame [zed_wrapper-2] [INFO] [1689620112.487062791] [zed2.zed_node]: Disparity -> zed2_left_camera_frame [zed_wrapper-2] [INFO] [1689620112.487078681] [zed2.zed_node]: Disparity Optical -> zed2_left_camera_optical_frame [zed_wrapper-2] [INFO] [1689620112.487094621] [zed2.zed_node]: Confidence -> zed2_left_camera_frame [zed_wrapper-2] [INFO] [1689620112.487110911] [zed2.zed_node]: Confidence Optical -> zed2_left_camera_optical_frame [zed_wrapper-2] [INFO] [1689620112.487127282] [zed2.zed_node]: IMU -> zed2_imu_link [zed_wrapper-2] [INFO] [1689620112.487145325] [zed2.zed_node]: Barometer -> zed2_camera_center [zed_wrapper-2] [INFO] [1689620112.487161576] [zed2.zed_node]: Magnetometer -> zed2_imu_link [zed_wrapper-2] [INFO] [1689620112.487177886] [zed2.zed_node]: Left Temperature -> zed2_left_camera_frame [zed_wrapper-2] [INFO] [1689620112.487193926] [zed2.zed_node]: Right Temperature -> zed2_right_camera_frame [zed_wrapper-2] [INFO] [1689620112.487249099] [zed2.zed_node]: PUBLISHED TOPICS [zed_wrapper-2] [DEBUG] [1689620112.619320213] [zed2.zed_node]: getTopicToAdvertise: /zed2/zed_node/rgb/image_rect_color/compressedDepth [zed_wrapper-2] [DEBUG] [1689620112.638863937] [zed2.zed_node]: getTopicToAdvertise: /zed2/zed_node/rgb/image_rect_color/compressed [zed_wrapper-2] [DEBUG] [1689620112.646688265] [zed2.zed_node]: getTopicToAdvertise: /zed2/zed_node/rgb/image_rect_color [zed_wrapper-2] [DEBUG] [1689620112.663713901] [zed2.zed_node]: getTopicToAdvertise: /zed2/zed_node/rgb/image_rect_color/theora [zed_wrapper-2] [INFO] [1689620112.669642883] [zed2.zed_node]: Advertised on topic: /zed2/zed_node/rgb/image_rect_color [zed_wrapper-2] [DEBUG] [1689620112.669846844] [zed2.zed_node]: getTopicToAdvertise: /zed2/zed_node/rgb/image_rect_gray/compressedDepth [zed_wrapper-2] [DEBUG] [1689620112.671621354] [zed2.zed_node]: getTopicToAdvertise: /zed2/zed_node/rgb/image_rect_gray/compressed [zed_wrapper-2] [DEBUG] [1689620112.675714812] [zed2.zed_node]: getTopicToAdvertise: /zed2/zed_node/rgb/image_rect_gray [zed_wrapper-2] [DEBUG] [1689620112.677726555] [zed2.zed_node]: getTopicToAdvertise: /zed2/zed_node/rgb/image_rect_gray/theora [zed_wrapper-2] [INFO] [1689620112.681430676] [zed2.zed_node]: Advertised on topic: /zed2/zed_node/rgb/image_rect_gray [zed_wrapper-2] [INFO] [1689620112.681611193] [zed2.zed_node]: Advertised on topic: /zed2/zed_node/rgb/camera_info [zed_wrapper-2] [DEBUG] [1689620112.681720737] [zed2.zed_node]: getTopicToAdvertise: /zed2/zed_node/rgb_raw/image_raw_color/compressedDepth [zed_wrapper-2] [DEBUG] [1689620112.683901055] [zed2.zed_node]: getTopicToAdvertise: /zed2/zed_node/rgb_raw/image_raw_color/compressed [zed_wrapper-2] [DEBUG] [1689620112.689015467] [zed2.zed_node]: getTopicToAdvertise: /zed2/zed_node/rgb_raw/image_raw_color [zed_wrapper-2] [DEBUG] [1689620112.691109505] [zed2.zed_node]: getTopicToAdvertise: /zed2/zed_node/rgb_raw/image_raw_color/theora [zed_wrapper-2] [INFO] [1689620112.695440125] [zed2.zed_node]: Advertised on topic: /zed2/zed_node/rgb_raw/image_raw_color [zed_wrapper-2] [DEBUG] [1689620112.695641941] [zed2.zed_node]: getTopicToAdvertise: /zed2/zed_node/rgb_raw/image_raw_gray/compressedDepth [zed_wrapper-2] [DEBUG] [1689620112.697517611] [zed2.zed_node]: getTopicToAdvertise: /zed2/zed_node/rgb_raw/image_raw_gray/compressed [zed_wrapper-2] [DEBUG] [1689620112.701676500] [zed2.zed_node]: getTopicToAdvertise: /zed2/zed_node/rgb_raw/image_raw_gray [zed_wrapper-2] [DEBUG] [1689620112.702872041] [zed2.zed_node]: getTopicToAdvertise: /zed2/zed_node/rgb_raw/image_raw_gray/theora [zed_wrapper-2] [INFO] [1689620112.705884902] [zed2.zed_node]: Advertised on topic: /zed2/zed_node/rgb_raw/image_raw_gray [zed_wrapper-2] [INFO] [1689620112.705947649] [zed2.zed_node]: Advertised on topic: /zed2/zed_node/rgb_raw/camera_info [zed_wrapper-2] [DEBUG] [1689620112.705996550] [zed2.zed_node]: getTopicToAdvertise: /zed2/zed_node/left/image_rect_color/compressedDepth [zed_wrapper-2] [DEBUG] [1689620112.707180369] [zed2.zed_node]: getTopicToAdvertise: /zed2/zed_node/left/image_rect_color/compressed [zed_wrapper-2] [DEBUG] [1689620112.710740131] [zed2.zed_node]: getTopicToAdvertise: /zed2/zed_node/left/image_rect_color [zed_wrapper-2] [DEBUG] [1689620112.711970516] [zed2.zed_node]: getTopicToAdvertise: /zed2/zed_node/left/image_rect_color/theora [zed_wrapper-2] [INFO] [1689620112.713762239] [zed2.zed_node]: Advertised on topic: /zed2/zed_node/left/image_rect_color [zed_wrapper-2] [DEBUG] [1689620112.713835947] [zed2.zed_node]: getTopicToAdvertise: /zed2/zed_node/left/image_rect_gray/compressedDepth [zed_wrapper-2] [DEBUG] [1689620112.715051805] [zed2.zed_node]: getTopicToAdvertise: /zed2/zed_node/left/image_rect_gray/compressed [zed_wrapper-2] [DEBUG] [1689620112.719091102] [zed2.zed_node]: getTopicToAdvertise: /zed2/zed_node/left/image_rect_gray [zed_wrapper-2] [DEBUG] [1689620112.720282114] [zed2.zed_node]: getTopicToAdvertise: /zed2/zed_node/left/image_rect_gray/theora [zed_wrapper-2] [INFO] [1689620112.722562148] [zed2.zed_node]: Advertised on topic: /zed2/zed_node/left/image_rect_gray [zed_wrapper-2] [INFO] [1689620112.722615137] [zed2.zed_node]: Advertised on topic: /zed2/zed_node/left/camera_info [zed_wrapper-2] [DEBUG] [1689620112.722664459] [zed2.zed_node]: getTopicToAdvertise: /zed2/zed_node/left_raw/image_raw_color/compressedDepth [zed_wrapper-2] [DEBUG] [1689620112.723944397] [zed2.zed_node]: getTopicToAdvertise: /zed2/zed_node/left_raw/image_raw_color/compressed [zed_wrapper-2] [DEBUG] [1689620112.727510029] [zed2.zed_node]: getTopicToAdvertise: /zed2/zed_node/left_raw/image_raw_color [zed_wrapper-2] [DEBUG] [1689620112.728830183] [zed2.zed_node]: getTopicToAdvertise: /zed2/zed_node/left_raw/image_raw_color/theora [zed_wrapper-2] [INFO] [1689620112.730884876] [zed2.zed_node]: Advertised on topic: /zed2/zed_node/left_raw/image_raw_color [zed_wrapper-2] [DEBUG] [1689620112.730963633] [zed2.zed_node]: getTopicToAdvertise: /zed2/zed_node/left_raw/image_raw_gray/compressedDepth [zed_wrapper-2] [DEBUG] [1689620112.732341544] [zed2.zed_node]: getTopicToAdvertise: /zed2/zed_node/left_raw/image_raw_gray/compressed [zed_wrapper-2] [DEBUG] [1689620112.736060983] [zed2.zed_node]: getTopicToAdvertise: /zed2/zed_node/left_raw/image_raw_gray [zed_wrapper-2] [DEBUG] [1689620112.737648445] [zed2.zed_node]: getTopicToAdvertise: /zed2/zed_node/left_raw/image_raw_gray/theora [zed_wrapper-2] [INFO] [1689620112.740687706] [zed2.zed_node]: Advertised on topic: /zed2/zed_node/left_raw/image_raw_gray [zed_wrapper-2] [INFO] [1689620112.740784497] [zed2.zed_node]: Advertised on topic: /zed2/zed_node/left_raw/camera_info [zed_wrapper-2] [DEBUG] [1689620112.740836944] [zed2.zed_node]: getTopicToAdvertise: /zed2/zed_node/right/image_rect_color/compressedDepth [zed_wrapper-2] [DEBUG] [1689620112.742195349] [zed2.zed_node]: getTopicToAdvertise: /zed2/zed_node/right/image_rect_color/compressed [zed_wrapper-2] [DEBUG] [1689620112.746079215] [zed2.zed_node]: getTopicToAdvertise: /zed2/zed_node/right/image_rect_color [zed_wrapper-2] [DEBUG] [1689620112.747537436] [zed2.zed_node]: getTopicToAdvertise: /zed2/zed_node/right/image_rect_color/theora [zed_wrapper-2] [INFO] [1689620112.750811044] [zed2.zed_node]: Advertised on topic: /zed2/zed_node/right/image_rect_color [zed_wrapper-2] [DEBUG] [1689620112.751096456] [zed2.zed_node]: getTopicToAdvertise: /zed2/zed_node/right/image_rect_gray/compressedDepth [zed_wrapper-2] [DEBUG] [1689620112.752781250] [zed2.zed_node]: getTopicToAdvertise: /zed2/zed_node/right/image_rect_gray/compressed [zed_wrapper-2] [DEBUG] [1689620112.756609993] [zed2.zed_node]: getTopicToAdvertise: /zed2/zed_node/right/image_rect_gray [zed_wrapper-2] [DEBUG] [1689620112.758329842] [zed2.zed_node]: getTopicToAdvertise: /zed2/zed_node/right/image_rect_gray/theora [zed_wrapper-2] [INFO] [1689620112.761239701] [zed2.zed_node]: Advertised on topic: /zed2/zed_node/right/image_rect_gray [zed_wrapper-2] [INFO] [1689620112.761291859] [zed2.zed_node]: Advertised on topic: /zed2/zed_node/right/camera_info [zed_wrapper-2] [DEBUG] [1689620112.761340329] [zed2.zed_node]: getTopicToAdvertise: /zed2/zed_node/right_raw/image_raw_color/compressedDepth [zed_wrapper-2] [DEBUG] [1689620112.762943670] [zed2.zed_node]: getTopicToAdvertise: /zed2/zed_node/right_raw/image_raw_color/compressed [zed_wrapper-2] [DEBUG] [1689620112.767097470] [zed2.zed_node]: getTopicToAdvertise: /zed2/zed_node/right_raw/image_raw_color [zed_wrapper-2] [DEBUG] [1689620112.768681816] [zed2.zed_node]: getTopicToAdvertise: /zed2/zed_node/right_raw/image_raw_color/theora [zed_wrapper-2] [INFO] [1689620112.771786429] [zed2.zed_node]: Advertised on topic: /zed2/zed_node/right_raw/image_raw_color [zed_wrapper-2] [DEBUG] [1689620112.771931880] [zed2.zed_node]: getTopicToAdvertise: /zed2/zed_node/right_raw/image_raw_gray/compressedDepth [zed_wrapper-2] [DEBUG] [1689620112.773417422] [zed2.zed_node]: getTopicToAdvertise: /zed2/zed_node/right_raw/image_raw_gray/compressed [zed_wrapper-2] [DEBUG] [1689620112.777302280] [zed2.zed_node]: getTopicToAdvertise: /zed2/zed_node/right_raw/image_raw_gray [zed_wrapper-2] [DEBUG] [1689620112.778964151] [zed2.zed_node]: getTopicToAdvertise: /zed2/zed_node/right_raw/image_raw_gray/theora [zed_wrapper-2] [INFO] [1689620112.782016786] [zed2.zed_node]: Advertised on topic: /zed2/zed_node/right_raw/image_raw_gray [zed_wrapper-2] [INFO] [1689620112.782067390] [zed2.zed_node]: Advertised on topic: /zed2/zed_node/right_raw/camera_info [zed_wrapper-2] [DEBUG] [1689620112.782115630] [zed2.zed_node]: getTopicToAdvertise: /zed2/zed_node/depth/depth_registered/compressedDepth [zed_wrapper-2] [DEBUG] [1689620112.784423767] [zed2.zed_node]: getTopicToAdvertise: /zed2/zed_node/depth/depth_registered/compressed [zed_wrapper-2] [DEBUG] [1689620112.788079308] [zed2.zed_node]: getTopicToAdvertise: /zed2/zed_node/depth/depth_registered [zed_wrapper-2] [DEBUG] [1689620112.789879747] [zed2.zed_node]: getTopicToAdvertise: /zed2/zed_node/depth/depth_registered/theora [zed_wrapper-2] [INFO] [1689620112.793022981] [zed2.zed_node]: Advertised on topic: /zed2/zed_node/depth/depth_registered [zed_wrapper-2] [INFO] [1689620112.793115364] [zed2.zed_node]: Advertised on topic: /zed2/zed_node/depth/camera_info [zed_wrapper-2] [INFO] [1689620112.795738909] [zed2.zed_node]: Advertised on topic: /zed2/zed_node/depth/depth_info [zed_wrapper-2] [DEBUG] [1689620112.795875053] [zed2.zed_node]: getTopicToAdvertise: /zed2/zed_node/stereo/image_rect_color/compressedDepth [zed_wrapper-2] [DEBUG] [1689620112.797584622] [zed2.zed_node]: getTopicToAdvertise: /zed2/zed_node/stereo/image_rect_color/compressed [zed_wrapper-2] [DEBUG] [1689620112.801644567] [zed2.zed_node]: getTopicToAdvertise: /zed2/zed_node/stereo/image_rect_color [zed_wrapper-2] [DEBUG] [1689620112.803541727] [zed2.zed_node]: getTopicToAdvertise: /zed2/zed_node/stereo/image_rect_color/theora [zed_wrapper-2] [INFO] [1689620112.805116094] [zed2.zed_node]: Advertised on topic: /zed2/zed_node/stereo/image_rect_color [zed_wrapper-2] [DEBUG] [1689620112.805209799] [zed2.zed_node]: getTopicToAdvertise: /zed2/zed_node/stereo_raw/image_raw_color/compressedDepth [zed_wrapper-2] [DEBUG] [1689620112.806771683] [zed2.zed_node]: getTopicToAdvertise: /zed2/zed_node/stereo_raw/image_raw_color/compressed [zed_wrapper-2] [DEBUG] [1689620112.811015050] [zed2.zed_node]: getTopicToAdvertise: /zed2/zed_node/stereo_raw/image_raw_color [zed_wrapper-2] [DEBUG] [1689620112.812562648] [zed2.zed_node]: getTopicToAdvertise: /zed2/zed_node/stereo_raw/image_raw_color/theora [zed_wrapper-2] [INFO] [1689620112.813964974] [zed2.zed_node]: Advertised on topic: /zed2/zed_node/stereo_raw/image_raw_color [zed_wrapper-2] [INFO] [1689620112.815545974] [zed2.zed_node]: Advertised on topic: /zed2/zed_node/confidence/confidence_map [zed_wrapper-2] [INFO] [1689620112.818787682] [zed2.zed_node]: Advertised on topic: /zed2/zed_node/disparity/disparity_image [zed_wrapper-2] [INFO] [1689620112.820753189] [zed2.zed_node]: Advertised on topic: /zed2/zed_node/point_cloud/cloud_registered [zed_wrapper-2] [INFO] [1689620112.822885478] [zed2.zed_node]: Advertised on topic: /zed2/zed_node/pose [zed_wrapper-2] [INFO] [1689620112.824817292] [zed2.zed_node]: Advertised on topic: /zed2/zed_node/pose/status [zed_wrapper-2] [INFO] [1689620112.826760367] [zed2.zed_node]: Advertised on topic: /zed2/zed_node/pose_with_covariance [zed_wrapper-2] [INFO] [1689620112.829495059] [zed2.zed_node]: Advertised on topic: /zed2/zed_node/odom [zed_wrapper-2] [INFO] [1689620112.831164414] [zed2.zed_node]: Advertised on topic: /zed2/zed_node/odom/status [zed_wrapper-2] [INFO] [1689620112.833210702] [zed2.zed_node]: Advertised on topic: /zed2/zed_node/path_map [zed_wrapper-2] [INFO] [1689620112.834825996] [zed2.zed_node]: Advertised on topic: /zed2/zed_node/path_odom [zed_wrapper-2] [INFO] [1689620112.836586560] [zed2.zed_node]: Advertised on topic (GNSS): /zed2/zed_node/pose/filtered [zed_wrapper-2] [INFO] [1689620112.838198017] [zed2.zed_node]: Advertised on topic: /zed2/zed_node/pose/filtered/status [zed_wrapper-2] [INFO] [1689620112.840989395] [zed2.zed_node]: Advertised on topic (GNSS): /zed2/zed_node/geo_pose [zed_wrapper-2] [INFO] [1689620112.842845539] [zed2.zed_node]: Advertised on topic (GNSS): /zed2/zed_node/geo_pose/status [zed_wrapper-2] [INFO] [1689620112.844821686] [zed2.zed_node]: Advertised on topic: /zed2/zed_node/imu/data [zed_wrapper-2] [INFO] [1689620112.846306786] [zed2.zed_node]: Advertised on topic: /zed2/zed_node/imu/data_raw [zed_wrapper-2] [INFO] [1689620112.848397357] [zed2.zed_node]: Advertised on topic: /zed2/zed_node/temperature/imu [zed_wrapper-2] [INFO] [1689620112.851015822] [zed2.zed_node]: Advertised on topic: /zed2/zed_node/imu/mag [zed_wrapper-2] [INFO] [1689620112.852880091] [zed2.zed_node]: Advertised on topic: /zed2/zed_node/atm_press [zed_wrapper-2] [INFO] [1689620112.854724572] [zed2.zed_node]: Advertised on topic: /zed2/zed_node/temperature/left [zed_wrapper-2] [INFO] [1689620112.856242824] [zed2.zed_node]: Advertised on topic: /zed2/zed_node/temperature/right [zed_wrapper-2] [INFO] [1689620112.858077788] [zed2.zed_node]: Advertised on topic: /zed2/zed_node/left_cam_imu_transform [zed_wrapper-2] [INFO] [1689620112.858163608] [zed2.zed_node]: Camera-IMU Translation: [zed_wrapper-2] -0.002 -0.023 0.00022 [zed_wrapper-2] [INFO] [1689620112.858265919] [zed2.zed_node]: Camera-IMU Rotation: [zed_wrapper-2] 7FFFF8905ED0 [zed_wrapper-2] 0.999956 0.008886 0.003158 [zed_wrapper-2] -0.008888 0.999960 0.000632 [zed_wrapper-2] -0.003152 -0.000660 0.999995 [zed_wrapper-2] [zed_wrapper-2] [INFO] [1689620112.858284724] [zed2.zed_node]: Subscribers [zed_wrapper-2] [INFO] [1689620112.860433924] [zed2.zed_node]: Plane detection: '/clicked_point' [zed_wrapper-2] [INFO] [1689620112.862716483] [zed2.zed_node]: GNSS Fix: '/NavSatFix' [zed_wrapper-2] [DEBUG] [1689620113.054327464] [zed2.zed_node]: Initialize Fusion module [zed_wrapper-2] [DEBUG] [1689620113.054445444] [zed2.zed_node]: Fusion params OK [zed_wrapper-2] [DEBUG] [1689620113.851430822] [zed2.zed_node]: Fusion communication params OK [zed_wrapper-2] [DEBUG] [1689620113.851668055] [zed2.zed_node]: Camera publishing OK [zed_wrapper-2] [DEBUG] [1689620113.851781506] [zed2.zed_node]: Fusion subscribing OK [zed_wrapper-2] [DEBUG] [1689620113.851805902] [zed2.zed_node]: Fusion module ready [zed_wrapper-2] [INFO] [1689620113.852881920] [zed2.zed_node]: GNSS subscriber [zed_wrapper-2] [INFO] [1689620113.852923597] [zed2.zed_node]: First message received. GNSS Sender active. [zed_wrapper-2] [INFO] [1689620113.852946190] [zed2.zed_node]: Service: [zed_wrapper-2] [DEBUG] [1689620113.852967028] [zed2.zed_node]: GNSS Ts: 358 sec + 226926000 nsec = 358226926000 nsec fused [zed_wrapper-2] [DEBUG] [1689620113.852986314] [zed2.zed_node]: GNSS dT: 358226926000 nsec [zed_wrapper-2] [DEBUG] [1689620113.853009317] [zed2.zed_node]: Stored Ts: 358226926000 [zed_wrapper-2] [DEBUG] [1689620113.853063308] [zed2.zed_node]: GNSS: valid fix received. [zed_wrapper-2] [DEBUG] [1689620113.853097221] [zed2.zed_node]: * First valid datum - Lat: 24.728457200° - Long: -81.030931000° - Alt: -25669.000000000 m [zed_wrapper-2] [INFO] [1689620113.857225063] [zed2.zed_node]: Starting Positional Tracking [zed_wrapper-2] [INFO] [1689620113.857276359] [zed2.zed_node]: Waiting for valid static transformations... [zed_wrapper-2] [INFO] [1689620113.857339647] [zed2.zed_node]: Static transform Sensor to Base [zed2_left_camera_frame -> base_link] [zed_wrapper-2] [INFO] [1689620113.857350187] [zed2.zed_node]: Translation: {0.011,-0.060,-0.015} [zed_wrapper-2] [INFO] [1689620113.857365876] [zed2.zed_node]: Rotation: {0.000,-2.865,0.000} [zed_wrapper-2] [INFO] [1689620113.857381505] [zed2.zed_node]: Static transform Sensor to Camera Center [zed2_left_camera_frame -> zed2_camera_center] [zed_wrapper-2] [INFO] [1689620113.857391033] [zed2.zed_node]: Translation: {0.010,-0.060,0.000} [zed_wrapper-2] [INFO] [1689620113.857401172] [zed2.zed_node]: Rotation: {0.000,-0.000,0.000} [zed_wrapper-2] [INFO] [1689620113.857413505] [zed2.zed_node]: Static transform Camera Center to Base [zed2_camera_center -> base_link] [zed_wrapper-2] [INFO] [1689620113.857424225] [zed2.zed_node]: Translation: {0.001,0.000,-0.015} [zed_wrapper-2] [INFO] [1689620113.857434003] [zed2.zed_node]: Rotation: {0.000,-2.865,0.000} [zed_wrapper-2] [INFO] [1689620114.357523975] [zed2.zed_node]: Initial ZED left camera pose (ZED pos. tracking): [zed_wrapper-2] [INFO] [1689620114.357591130] [zed2.zed_node]: T: [-0.0099875,0.06,0.0154998] [zed_wrapper-2] [INFO] [1689620114.357625194] [zed2.zed_node]: Q: [0,0.0249979,0,0.999687] [zed_wrapper-2] [DEBUG] [1689620114.487720141] [zed2.zed_node]: Fusion Positional Tracking started [zed_wrapper-2] [ERROR] [1689620114.619782478] [zed2.zed_node]: Fusion error: FAILURE [zed_wrapper-2] [INFO] [1689620114.620101273] [zed2.zed_node]: Odometry aligned to last tracking pose [zed_wrapper-2] [INFO] [1689620114.620128284] [zed2.zed_node]: Initial odometry [odom -> base_link] - {0.011,-0.060,-0.015} {0.000,-2.865,0.000} [zed_wrapper-2] [DEBUG] [1689620114.620225775] [zed2.zed_node]: Getting static TF from 'navsatfix_frame' to 'base_link' [zed_wrapper-2] [INFO] [1689620114.620265069] [zed2.zed_node]: Static transform Sensor to Base [navsatfix_frame -> base_link] [zed_wrapper-2] [INFO] [1689620114.620283443] [zed2.zed_node]: Translation: {0.000,0.000,-0.500} [zed_wrapper-2] [INFO] [1689620114.620306847] [zed2.zed_node]: Rotation: {0.000,-0.000,0.000} [zed_wrapper-2] [DEBUG] [1689620114.620477325] [zed2.zed_node]: Waiting for a valid GNSS fused pose... [zed_wrapper-2] [ERROR] [1689620114.713966494] [zed2.zed_node]: Fusion error: FAILURE [zed_wrapper-2] [DEBUG] [1689620114.714269560] [zed2.zed_node]: Waiting for a valid GNSS fused pose... [zed_wrapper-2] [DEBUG] [1689620114.759760615] [zed2.zed_node]: GNSS Ts: 359 sec + 308881000 nsec = 359308881000 nsec fused [zed_wrapper-2] [DEBUG] [1689620114.759823002] [zed2.zed_node]: GNSS dT: 1081955000 nsec [zed_wrapper-2] [DEBUG] [1689620114.759834824] [zed2.zed_node]: Stored Ts: 359308881000 [zed_wrapper-2] [DEBUG] [1689620114.759854481] [zed2.zed_node]: Datum ingested - [359308881000 nsec] 24.7285°,-81.0309° / -25678 m [ERROR] [zed_wrapper-2]: process has died [pid 118162, exit code -11, cmd '/home/selfsub/voidwalking/ros2_ws/install/zed_wrapper/lib/zed_wrapper/zed_wrapper --ros-args -r __node:=zed_node -r __ns:=/zed2 --params-file /home/selfsub/voidwalking/ros2_ws/install/zed_wrapper/share/zed_wrapper/config/common.yaml --params-file /home/selfsub/voidwalking/ros2_ws/install/zed_wrapper/share/zed_wrapper/config/zed2.yaml --params-file /tmp/launch_params_1quahhgx'].

Steps to Reproduce

Launch the GNSS module
Launch ZED2 with changed flag to true for gnss_fusion

Expected Result

I want to see the result as gnss data is fused with visual odometry data of ZED2 and get the fused data on topics ~/pose/filtered, ~/geo_pose etc.

Actual Result

Pasted the output above

ZED Camera model

ZED2

Environment

Using with ROS2 and Ubuntu 22.04

Anything else?

No response

stereolabs / zed-sdk