Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Invalid frame ID "base_link" passed to canTransform argument target_frame - frame does not exist. #1217

Open
smokemonkey101 opened this issue Oct 7, 2024 · 4 comments
Open

Invalid frame ID "base_link" passed to canTransform argument target_frame - frame does not exist. #1217

smokemonkey101 opened this issue Oct 7, 2024 · 4 comments

Comments

@smokemonkey101
Copy link

Im trying to run the example on the ros2 branch.
When i run rtabmap i get "Could not transform IMU msg from frame "zed_imu_link" to frame "base_link", TF not available at time"
i dont understand how TF is not available
Is my imu topic wrong?

When running the Zed wrapper with the ZED2i i get a mapping failure
i need mapping for my purposes but it appears to start after trying a 2nd time.
[zed.zed_node]: Mapping not activated: FAILURE

there was a slight change to the launch file for the Zed wrapper compared to the RTABmap example "usage"
Im using

ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zed2i

ros2 launch rtabmap_launch rtabmap.launch.py
rtabmap_args:="--delete_db_on_start"
rgb_topic:=/zed/zed_node/rgb/image_rect_color
depth_topic:=/zed/zed_node/depth/depth_registered
camera_info_topic:=/zed/zed_node/rgb/camera_info
frame_id:=base_link
approx_sync:=false
wait_imu_to_init:=true
imu_topic:=/zed/zed_node/imu/data
qos:=1
rviz:=true

Zed wrapper readout with debug_mapping: true

jetson@jetson:~/ros2_ws$ ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zed2i
[INFO] [launch]: All log files can be found below /home/jetson/.ros/log/2024-10-07-22-58-03-177256-jetson-112855
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [112874]
[INFO] [zed_wrapper-2]: process started with pid [112876]
[robot_state_publisher-1] [INFO] [1728341883.585956074] [zed.zed_state_publisher]: got segment zed_camera_center
[robot_state_publisher-1] [INFO] [1728341883.586132302] [zed.zed_state_publisher]: got segment zed_camera_link
[robot_state_publisher-1] [INFO] [1728341883.586156847] [zed.zed_state_publisher]: got segment zed_left_camera_frame
[robot_state_publisher-1] [INFO] [1728341883.586169359] [zed.zed_state_publisher]: got segment zed_left_camera_optical_frame
[robot_state_publisher-1] [INFO] [1728341883.586179791] [zed.zed_state_publisher]: got segment zed_right_camera_frame
[robot_state_publisher-1] [INFO] [1728341883.586188848] [zed.zed_state_publisher]: got segment zed_right_camera_optical_frame
[zed_wrapper-2] [INFO] [1728341883.654548566] [zed.zed_node]: ********************************
[zed_wrapper-2] [INFO] [1728341883.654809212] [zed.zed_node]:       ZED Camera Component 
[zed_wrapper-2] [INFO] [1728341883.654834653] [zed.zed_node]: ********************************
[zed_wrapper-2] [INFO] [1728341883.654849469] [zed.zed_node]:  * namespace: /zed
[zed_wrapper-2] [INFO] [1728341883.654861310] [zed.zed_node]:  * node name: zed_node
[zed_wrapper-2] [INFO] [1728341883.654871486] [zed.zed_node]: ********************************
[zed_wrapper-2] [INFO] [1728341883.705131186] [zed.zed_node]: *** DEBUG parameters ***
[zed_wrapper-2] [INFO] [1728341883.705346072] [zed.zed_node]:  * SDK Verbose: 1
[zed_wrapper-2] [INFO] [1728341883.705415513] [zed.zed_node]:  * Debug Common: FALSE
[zed_wrapper-2] [INFO] [1728341883.705448250] [zed.zed_node]:  * Debug Simulation: FALSE
[zed_wrapper-2] [INFO] [1728341883.705473211] [zed.zed_node]:  * Debug Video/Depth: FALSE
[zed_wrapper-2] [INFO] [1728341883.705499963] [zed.zed_node]:  * Debug Control settings: FALSE
[zed_wrapper-2] [INFO] [1728341883.705521948] [zed.zed_node]:  * Debug Point Cloud: FALSE
[zed_wrapper-2] [INFO] [1728341883.705540796] [zed.zed_node]:  * Debug GNSS: FALSE
[zed_wrapper-2] [INFO] [1728341883.705559133] [zed.zed_node]:  * Debug Positional Tracking: FALSE
[zed_wrapper-2] [INFO] [1728341883.705582045] [zed.zed_node]:  * Debug sensors: FALSE
[zed_wrapper-2] [INFO] [1728341883.705600574] [zed.zed_node]:  * Debug Mapping: TRUE
[zed_wrapper-2] [INFO] [1728341883.705616862] [zed.zed_node]:  * Debug Object Detection: FALSE
[zed_wrapper-2] [INFO] [1728341883.705633086] [zed.zed_node]:  * Debug Body Tracking: FALSE
[zed_wrapper-2] [INFO] [1728341883.705652735] [zed.zed_node]:  * Debug Streaming: FALSE
[zed_wrapper-2] [INFO] [1728341883.705670591] [zed.zed_node]:  * Debug ROI: FALSE
[zed_wrapper-2] [INFO] [1728341883.705687680] [zed.zed_node]:  * Debug Advanced: FALSE
[zed_wrapper-2] [INFO] [1728341883.705714208] [zed.zed_node]:  + Debug Mode enabled +
[zed_wrapper-2] [INFO] [1728341883.705756897] [zed.zed_node]: *** GENERAL parameters ***
[zed_wrapper-2] [INFO] [1728341883.705827875] [zed.zed_node]:  * Camera model: zed2i - ZED 2i
[zed_wrapper-2] [INFO] [1728341883.705868196] [zed.zed_node]:  * Camera name: zed
[zed_wrapper-2] [INFO] [1728341883.705894277] [zed.zed_node]:  * Camera SN: 0
[zed_wrapper-2] [INFO] [1728341883.705921989] [zed.zed_node]:  * Camera timeout [sec]: 5
[zed_wrapper-2] [INFO] [1728341883.705945638] [zed.zed_node]:  * Camera reconnection temptatives: 5
[zed_wrapper-2] [INFO] [1728341883.705967238] [zed.zed_node]:  * Camera framerate: 30
[zed_wrapper-2] [INFO] [1728341883.705986311] [zed.zed_node]:  * GPU ID: -1
[zed_wrapper-2] [INFO] [1728341883.706032200] [zed.zed_node]:  * Camera resolution: HD1080
[zed_wrapper-2] [INFO] [1728341883.706060489] [zed.zed_node]:  * Publishing resolution: NATIVE
[zed_wrapper-2] [INFO] [1728341883.706083849] [zed.zed_node]:  * OpenCV custom calibration: 
[zed_wrapper-2] [INFO] [1728341883.706104778] [zed.zed_node]:  * Camera self calibration: TRUE
[zed_wrapper-2] [INFO] [1728341883.706137579] [zed.zed_node]:  * Camera flip: FALSE
[zed_wrapper-2] [INFO] [1728341883.706191532] [zed.zed_node]:  * [DYN] Publish framerate [Hz]:  30
[zed_wrapper-2] [INFO] [1728341883.706210956] [zed.zed_node]: *** VIDEO parameters ***
[zed_wrapper-2] [INFO] [1728341883.706236045] [zed.zed_node]:  * [DYN] Brightness: 4
[zed_wrapper-2] [INFO] [1728341883.706258349] [zed.zed_node]:  * [DYN] Contrast: 4
[zed_wrapper-2] [INFO] [1728341883.706277390] [zed.zed_node]:  * [DYN] Hue: 0
[zed_wrapper-2] [INFO] [1728341883.706301839] [zed.zed_node]:  * [DYN] Saturation: 4
[zed_wrapper-2] [INFO] [1728341883.706321839] [zed.zed_node]:  * [DYN] Sharpness: 4
[zed_wrapper-2] [INFO] [1728341883.706346864] [zed.zed_node]:  * [DYN] Gamma: 8
[zed_wrapper-2] [INFO] [1728341883.706367664] [zed.zed_node]:  * [DYN] Auto Exposure/Gain: TRUE
[zed_wrapper-2] [INFO] [1728341883.706386577] [zed.zed_node]:  * [DYN] Exposure: 80
[zed_wrapper-2] [INFO] [1728341883.706411089] [zed.zed_node]:  * [DYN] Gain: 80
[zed_wrapper-2] [INFO] [1728341883.706431346] [zed.zed_node]:  * [DYN] Auto White Balance: TRUE
[zed_wrapper-2] [INFO] [1728341883.706450930] [zed.zed_node]:  * [DYN] White Balance Temperature: 42
[zed_wrapper-2] [INFO] [1728341883.706466578] [zed.zed_node]: *** DEPTH parameters ***
[zed_wrapper-2] [INFO] [1728341883.706498771] [zed.zed_node]:  * Depth mode: PERFORMANCE [1]
[zed_wrapper-2] [INFO] [1728341883.706537716] [zed.zed_node]:  * Min depth [m]: 0.3
[zed_wrapper-2] [INFO] [1728341883.706566549] [zed.zed_node]:  * Max depth [m]: 20
[zed_wrapper-2] [INFO] [1728341883.706589973] [zed.zed_node]:  * Depth Stabilization: 1
[zed_wrapper-2] [INFO] [1728341883.706610422] [zed.zed_node]:  * OpenNI mode (16bit point cloud): FALSE
[zed_wrapper-2] [INFO] [1728341883.706633238] [zed.zed_node]:  * [DYN] Point cloud rate [Hz]: 10
[zed_wrapper-2] [INFO] [1728341883.706659735] [zed.zed_node]:  * [DYN] Depth Confidence: 50
[zed_wrapper-2] [INFO] [1728341883.706770234] [zed.zed_node]:  * [DYN] Depth Texture Confidence: 100
[zed_wrapper-2] [INFO] [1728341883.706796250] [zed.zed_node]:  * [DYN] Remove saturated areas: TRUE
[zed_wrapper-2] [INFO] [1728341883.706811419] [zed.zed_node]: *** GNSS FUSION parameters ***
[zed_wrapper-2] [INFO] [1728341883.706833851] [zed.zed_node]:  * GNSS fusion enabled: FALSE
[zed_wrapper-2] [INFO] [1728341883.706853468] [zed.zed_node]: *** POSITIONAL TRACKING parameters ***
[zed_wrapper-2] [INFO] [1728341883.706879612] [zed.zed_node]:  * Positional tracking enabled: TRUE
[zed_wrapper-2] [INFO] [1728341883.706905213] [zed.zed_node]:  * Positional tracking mode: POSITIONAL TRACKING MODE GEN_2
[zed_wrapper-2] [INFO] [1728341883.706933118] [zed.zed_node]:  * Map frame id: map
[zed_wrapper-2] [INFO] [1728341883.706956830] [zed.zed_node]:  * Odometry frame id: odom
[zed_wrapper-2] [INFO] [1728341883.706981055] [zed.zed_node]:  * Broadcast Odometry TF: TRUE
[zed_wrapper-2] [INFO] [1728341883.707001439] [zed.zed_node]:  * Broadcast Pose TF: TRUE
[zed_wrapper-2] [INFO] [1728341883.707023136] [zed.zed_node]:  * [DYN] Depth minimum range: 0
[zed_wrapper-2] [INFO] [1728341883.707046048] [zed.zed_node]:  * [DYN] TF timestamp offset: 0
[zed_wrapper-2] [INFO] [1728341883.707071233] [zed.zed_node]:  * [DYN] Path publishing rate: 2
[zed_wrapper-2] [INFO] [1728341883.707092481] [zed.zed_node]:  * Path history lenght: -1
[zed_wrapper-2] [INFO] [1728341883.707122306] [zed.zed_node]:  * Initial pose: [0,0,0,0,0,0,]
[zed_wrapper-2] [INFO] [1728341883.707148963] [zed.zed_node]:  * Area Memory: TRUE
[zed_wrapper-2] [INFO] [1728341883.707174563] [zed.zed_node]:  * Area Memory DB: 
[zed_wrapper-2] [INFO] [1728341883.707197060] [zed.zed_node]:  * Camera is static: FALSE
[zed_wrapper-2] [INFO] [1728341883.707217316] [zed.zed_node]:  * Gravity as origin [not for ZED]: TRUE
[zed_wrapper-2] [INFO] [1728341883.707236133] [zed.zed_node]:  * IMU Fusion [not for ZED]: FALSE
[zed_wrapper-2] [INFO] [1728341883.707262566] [zed.zed_node]:  * Floor Alignment: TRUE
[zed_wrapper-2] [INFO] [1728341883.707282694] [zed.zed_node]:  * Reset Odometry with Loop Closure: TRUE
[zed_wrapper-2] [INFO] [1728341883.707301990] [zed.zed_node]:  * 2D mode: FALSE
[zed_wrapper-2] [INFO] [1728341883.707314887] [zed.zed_node]: *** Region of Interest parameters ***
[zed_wrapper-2] [INFO] [1728341883.707332487] [zed.zed_node]:  * Automatic ROI generation: TRUE
[zed_wrapper-2] [INFO] [1728341883.707360712] [zed.zed_node]:  * Depth far threshold [m]: 2.5
[zed_wrapper-2] [INFO] [1728341883.707394601] [zed.zed_node]:  * Image Height Ratio Cut Off: 0.5
[zed_wrapper-2] [INFO] [1728341883.707416553] [zed.zed_node]:  * Apply to depth: TRUE
[zed_wrapper-2] [INFO] [1728341883.707441386] [zed.zed_node]:  * Apply to positional tracking: FALSE
[zed_wrapper-2] [INFO] [1728341883.707459338] [zed.zed_node]:  * Apply to object detection: FALSE
[zed_wrapper-2] [INFO] [1728341883.707480523] [zed.zed_node]:  * Apply to body tracking: FALSE
[zed_wrapper-2] [INFO] [1728341883.707497963] [zed.zed_node]:  * Apply to spatial mapping: FALSE
[zed_wrapper-2] [INFO] [1728341883.707510251] [zed.zed_node]: *** SENSORS STACK parameters ***
[zed_wrapper-2] [INFO] [1728341883.707530092] [zed.zed_node]:  * Broadcast IMU TF [not for ZED]: TRUE
[zed_wrapper-2] [INFO] [1728341883.707550540] [zed.zed_node]:  * Sensors Camera Sync: FALSE
[zed_wrapper-2] [INFO] [1728341883.707579533] [zed.zed_node]:  * Sensors publishing rate: 200 Hz
[zed_wrapper-2] [INFO] [1728341883.707595182] [zed.zed_node]: *** Spatial Mapping parameters ***
[zed_wrapper-2] [INFO] [1728341883.707620814] [zed.zed_node]:  * Spatial Mapping Enabled: TRUE
[zed_wrapper-2] [INFO] [1728341883.707644239] [zed.zed_node]:  * Spatial Mapping resolution [m]: 0.05
[zed_wrapper-2] [INFO] [1728341883.707667439] [zed.zed_node]:  * 3D Max Mapping range [m]: 5
[zed_wrapper-2] [INFO] [1728341883.707694576] [zed.zed_node]:  * Map publishing rate [Hz]: 1
[zed_wrapper-2] [INFO] [1728341883.707716656] [zed.zed_node]:  * Clicked point topic: /clicked_point
[zed_wrapper-2] [INFO] [1728341883.707738577] [zed.zed_node]:  * Plane Det. Max Dist. Thresh.: 0.15
[zed_wrapper-2] [INFO] [1728341883.707768754] [zed.zed_node]:  * Plane Det. Normals Sim. Thresh.: 15
[zed_wrapper-2] [INFO] [1728341883.707794994] [zed.zed_node]: *** Object Det. parameters ***
[zed_wrapper-2] [INFO] [1728341883.707823475] [zed.zed_node]:  * Object Det. enabled: FALSE
[zed_wrapper-2] [INFO] [1728341883.707853044] [zed.zed_node]:  * Object Det. model: MULTI CLASS BOX MEDIUM
[zed_wrapper-2] [INFO] [1728341883.707878804] [zed.zed_node]:  * Object Det. allow reduced precision: TRUE
[zed_wrapper-2] [INFO] [1728341883.707906677] [zed.zed_node]:  * Object Det. maximum range [m]: 20
[zed_wrapper-2] [INFO] [1728341883.707931670] [zed.zed_node]:  * Object Det. min. confidence: 50
[zed_wrapper-2] [INFO] [1728341883.707982455] [zed.zed_node]:  * Object Det. prediction timeout [sec]: 0.5
[zed_wrapper-2] [INFO] [1728341883.708012664] [zed.zed_node]:  * Object Det. tracking: TRUE
[zed_wrapper-2] [INFO] [1728341883.708039768] [zed.zed_node]:  * Object Filtering mode: 1 - NMS 3D
[zed_wrapper-2] [INFO] [1728341883.708061273] [zed.zed_node]:  * MultiClassBox people: TRUE
[zed_wrapper-2] [INFO] [1728341883.708081017] [zed.zed_node]:  * MultiClassBox vehicles: TRUE
[zed_wrapper-2] [INFO] [1728341883.708106490] [zed.zed_node]:  * MultiClassBox bags: TRUE
[zed_wrapper-2] [INFO] [1728341883.708126490] [zed.zed_node]:  * MultiClassBox animals: TRUE
[zed_wrapper-2] [INFO] [1728341883.708145563] [zed.zed_node]:  * MultiClassBox electronics: TRUE
[zed_wrapper-2] [INFO] [1728341883.708168443] [zed.zed_node]:  * MultiClassBox fruits and vegetables: TRUE
[zed_wrapper-2] [INFO] [1728341883.708188092] [zed.zed_node]:  * MultiClassBox sport-related objects: TRUE
[zed_wrapper-2] [INFO] [1728341883.708200764] [zed.zed_node]: *** Body Track. parameters ***
[zed_wrapper-2] [INFO] [1728341883.708220060] [zed.zed_node]:  * Body Track. enabled: FALSE
[zed_wrapper-2] [INFO] [1728341883.708261597] [zed.zed_node]:  * Body Track. model: HUMAN BODY MEDIUM
[zed_wrapper-2] [INFO] [1728341883.708290078] [zed.zed_node]:  * Body Track. format: BODY_38
[zed_wrapper-2] [INFO] [1728341883.708313311] [zed.zed_node]:  * Body Track. allow reduced precision: TRUE
[zed_wrapper-2] [INFO] [1728341883.708358144] [zed.zed_node]:  * Body Track. maximum range [m]: 20
[zed_wrapper-2] [INFO] [1728341883.708391585] [zed.zed_node]:  * Body Track. KP selection: FULL
[zed_wrapper-2] [INFO] [1728341883.708419425] [zed.zed_node]:  * Body fitting: FALSE
[zed_wrapper-2] [INFO] [1728341883.708441698] [zed.zed_node]:  * Body joints tracking: TRUE
[zed_wrapper-2] [INFO] [1728341883.708485539] [zed.zed_node]:  * Body Track. prediction timeout [sec]: 0.5
[zed_wrapper-2] [INFO] [1728341883.708512323] [zed.zed_node]:  * Body Track. confidence thresh.: 50
[zed_wrapper-2] [INFO] [1728341883.708548228] [zed.zed_node]:  * Body Track. min. KP thresh.: 5
[zed_wrapper-2] [INFO] [1728341883.708564901] [zed.zed_node]: *** Streaming Server parameters ***
[zed_wrapper-2] [INFO] [1728341883.708586405] [zed.zed_node]:  * Streaming Server enabled: FALSE
[zed_wrapper-2] [INFO] [1728341883.708606854] [zed.zed_node]:  * Stream codec: H264
[zed_wrapper-2] [INFO] [1728341883.708636358] [zed.zed_node]:  * Stream port:30000
[zed_wrapper-2] [INFO] [1728341883.708657671] [zed.zed_node]:  * Stream bitrate: 12500
[zed_wrapper-2] [INFO] [1728341883.708676999] [zed.zed_node]:  * Stream GOP size: -1
[zed_wrapper-2] [INFO] [1728341883.708703432] [zed.zed_node]:  * Stream Chunk size: 16084
[zed_wrapper-2] [INFO] [1728341883.708724713] [zed.zed_node]:  * Adaptive bitrate: FALSE
[zed_wrapper-2] [INFO] [1728341883.708743369] [zed.zed_node]:  * Target frame rate:0
[zed_wrapper-2] [INFO] [1728341883.708756649] [zed.zed_node]: *** Advanced parameters ***
[zed_wrapper-2] [INFO] [1728341883.708784202] [zed.zed_node]:  * Thread sched. policy: SCHED_BATCH
[zed_wrapper-2] [INFO] [1728341883.708862028] [zed.zed_node]: *** SERVICES ***
[zed_wrapper-2] [INFO] [1728341883.710074857] [zed.zed_node]:  * '/zed/zed_node/reset_odometry'
[zed_wrapper-2] [INFO] [1728341883.710617654] [zed.zed_node]:  * '/zed/zed_node/reset_pos_tracking'
[zed_wrapper-2] [INFO] [1728341883.711906133] [zed.zed_node]:  * '/zed/zed_node/set_pose'
[zed_wrapper-2] [INFO] [1728341883.712487587] [zed.zed_node]:  * '/zed/zed_node/enable_obj_det'
[zed_wrapper-2] [INFO] [1728341883.713022864] [zed.zed_node]:  * '/zed/zed_node/enable_body_trk'
[zed_wrapper-2] [INFO] [1728341883.713530972] [zed.zed_node]:  * '/zed/zed_node/enable_mapping'
[zed_wrapper-2] [INFO] [1728341883.714017959] [zed.zed_node]:  * '/zed/zed_node/enable_streaming'
[zed_wrapper-2] [INFO] [1728341883.714629494] [zed.zed_node]:  * '/zed/zed_node/start_svo_rec'
[zed_wrapper-2] [INFO] [1728341883.715134626] [zed.zed_node]:  * '/zed/zed_node/stop_svo_rec'
[zed_wrapper-2] [INFO] [1728341883.715734129] [zed.zed_node]:  * '/zed/zed_node/set_roi'
[zed_wrapper-2] [INFO] [1728341883.716245501] [zed.zed_node]:  * '/zed/zed_node/reset_roi'
[zed_wrapper-2] [INFO] [1728341883.716294206] [zed.zed_node]: ***** STARTING CAMERA *****
[zed_wrapper-2] [INFO] [1728341883.716326623] [zed.zed_node]: ZED SDK Version: 4.1.4 - Build 93785_853f2635
[zed_wrapper-2] [INFO] [1728341883.722543252] [zed.zed_node]: *** CAMERA OPENING ***
[zed_wrapper-2] [2024-10-07 22:58:04 UTC][ZED][INFO] Logging level INFO
[zed_wrapper-2] [2024-10-07 22:58:05 UTC][ZED][INFO] [Init]  Depth mode: PERFORMANCE
[zed_wrapper-2] [2024-10-07 22:58:06 UTC][ZED][INFO] [Init]  Camera successfully opened.
[zed_wrapper-2] [2024-10-07 22:58:06 UTC][ZED][INFO] [Init]  Camera FW version: 1523
[zed_wrapper-2] [2024-10-07 22:58:06 UTC][ZED][INFO] [Init]  Video mode: HD1080@30
[zed_wrapper-2] [2024-10-07 22:58:06 UTC][ZED][INFO] [Init]  Serial Number: S/N 36962406
[zed_wrapper-2] [INFO] [1728341887.409699681] [zed.zed_node]: ZED SDK running on GPU #0
[zed_wrapper-2] [INFO] [1728341887.409831300] [zed.zed_node]:  * Camera Model  -> ZED 2i
[zed_wrapper-2] [INFO] [1728341887.409854181] [zed.zed_node]:  * Serial Number -> 36962406
[zed_wrapper-2] [INFO] [1728341887.409880197] [zed.zed_node]:  * Focal Lenght -> 2.11683 mm
[zed_wrapper-2] [INFO] [1728341887.409909350] [zed.zed_node]:  * Input	 -> USB input type
[zed_wrapper-2] [INFO] [1728341887.410005608] [zed.zed_node]:  * Camera FW Version  -> 1523
[zed_wrapper-2] [INFO] [1728341887.410025353] [zed.zed_node]:  * Sensors FW Version -> 777
[zed_wrapper-2] [INFO] [1728341887.410041833] [zed.zed_node]:  * Camera grab frame size -> 1920x1080
[zed_wrapper-2] [INFO] [1728341887.410054185] [zed.zed_node]:  * Publishing frame size  -> 1920x1080
[zed_wrapper-2] [INFO] [1728341887.410064266] [zed.zed_node]: *** Enabling Automatic ROI ***
[zed_wrapper-2] [INFO] [1728341887.410722617] [zed.zed_node]:  * Automatic Region of Interest generation started.
[zed_wrapper-2] [INFO] [1728341887.410805851] [zed.zed_node]: *** TF FRAMES ***
[zed_wrapper-2] [INFO] [1728341887.410831964] [zed.zed_node]:  * Map			-> map
[zed_wrapper-2] [INFO] [1728341887.410849500] [zed.zed_node]:  * Odometry		-> odom
[zed_wrapper-2] [INFO] [1728341887.410861405] [zed.zed_node]:  * Base			-> zed_camera_link
[zed_wrapper-2] [INFO] [1728341887.410885885] [zed.zed_node]:  * Camera			-> zed_camera_center
[zed_wrapper-2] [INFO] [1728341887.410897790] [zed.zed_node]:  * Left			-> zed_left_camera_frame
[zed_wrapper-2] [INFO] [1728341887.410908382] [zed.zed_node]:  * Left Optical		-> zed_left_camera_optical_frame
[zed_wrapper-2] [INFO] [1728341887.410918366] [zed.zed_node]:  * RGB			-> zed_left_camera_frame
[zed_wrapper-2] [INFO] [1728341887.410934110] [zed.zed_node]:  * RGB Optical		-> zed_left_camera_optical_frame
[zed_wrapper-2] [INFO] [1728341887.410944607] [zed.zed_node]:  * Right			-> zed_right_camera_frame
[zed_wrapper-2] [INFO] [1728341887.410954367] [zed.zed_node]:  * Right Optical		-> zed_right_camera_optical_frame
[zed_wrapper-2] [INFO] [1728341887.410963903] [zed.zed_node]:  * Depth			-> zed_left_camera_frame
[zed_wrapper-2] [INFO] [1728341887.410972991] [zed.zed_node]:  * Depth Optical		-> zed_left_camera_optical_frame
[zed_wrapper-2] [INFO] [1728341887.410982240] [zed.zed_node]:  * Point Cloud		-> zed_left_camera_optical_frame
[zed_wrapper-2] [INFO] [1728341887.410991296] [zed.zed_node]:  * Disparity		-> zed_left_camera_frame
[zed_wrapper-2] [INFO] [1728341887.411000416] [zed.zed_node]:  * Disparity Optical	-> zed_left_camera_optical_frame
[zed_wrapper-2] [INFO] [1728341887.411009632] [zed.zed_node]:  * Confidence		-> zed_left_camera_frame
[zed_wrapper-2] [INFO] [1728341887.411019041] [zed.zed_node]:  * Confidence Optical	-> zed_left_camera_optical_frame
[zed_wrapper-2] [INFO] [1728341887.411028353] [zed.zed_node]:  * IMU			-> zed_imu_link
[zed_wrapper-2] [INFO] [1728341887.411040001] [zed.zed_node]:  * Barometer		-> zed_camera_center
[zed_wrapper-2] [INFO] [1728341887.411049793] [zed.zed_node]:  * Magnetometer		-> zed_imu_link
[zed_wrapper-2] [INFO] [1728341887.411059233] [zed.zed_node]:  * Left Temperature	-> zed_left_camera_frame
[zed_wrapper-2] [INFO] [1728341887.411068322] [zed.zed_node]:  * Right Temperature	-> zed_right_camera_frame
[zed_wrapper-2] [INFO] [1728341887.411119907] [zed.zed_node]: *** PUBLISHED TOPICS ***
[zed_wrapper-2] [DEBUG] [1728341887.574445581] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/rgb/image_rect_color/compressed
[zed_wrapper-2] [DEBUG] [1728341887.583545799] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/rgb/image_rect_color/compressedDepth
[zed_wrapper-2] [DEBUG] [1728341887.586414924] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/rgb/image_rect_color
[zed_wrapper-2] [DEBUG] [1728341887.596261624] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/rgb/image_rect_color/theora
[zed_wrapper-2] [INFO] [1728341887.599304289] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb/image_rect_color
[zed_wrapper-2] [INFO] [1728341887.599368546] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb/camera_info
[zed_wrapper-2] [DEBUG] [1728341887.599555431] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/rgb_gray/image_rect_gray/compressed
[zed_wrapper-2] [DEBUG] [1728341887.600495165] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/rgb_gray/image_rect_gray/compressedDepth
[zed_wrapper-2] [DEBUG] [1728341887.601252111] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/rgb_gray/image_rect_gray
[zed_wrapper-2] [DEBUG] [1728341887.601943712] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/rgb_gray/image_rect_gray/theora
[zed_wrapper-2] [INFO] [1728341887.603150269] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_gray/image_rect_gray
[zed_wrapper-2] [INFO] [1728341887.603283616] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_gray/camera_info
[zed_wrapper-2] [DEBUG] [1728341887.603478629] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/rgb_raw/image_raw_color/compressed
[zed_wrapper-2] [DEBUG] [1728341887.604359738] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/rgb_raw/image_raw_color/compressedDepth
[zed_wrapper-2] [DEBUG] [1728341887.605097675] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/rgb_raw/image_raw_color
[zed_wrapper-2] [DEBUG] [1728341887.605769979] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/rgb_raw/image_raw_color/theora
[zed_wrapper-2] [INFO] [1728341887.607695594] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_raw/image_raw_color
[zed_wrapper-2] [INFO] [1728341887.607736267] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_raw/camera_info
[zed_wrapper-2] [DEBUG] [1728341887.607899438] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/rgb_raw_gray/image_raw_gray/compressed
[zed_wrapper-2] [DEBUG] [1728341887.609525877] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/rgb_raw_gray/image_raw_gray/compressedDepth
[zed_wrapper-2] [DEBUG] [1728341887.611136444] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/rgb_raw_gray/image_raw_gray
[zed_wrapper-2] [DEBUG] [1728341887.612542654] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/rgb_raw_gray/image_raw_gray/theora
[zed_wrapper-2] [INFO] [1728341887.614859797] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_raw_gray/image_raw_gray
[zed_wrapper-2] [INFO] [1728341887.614913271] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_raw_gray/camera_info
[zed_wrapper-2] [DEBUG] [1728341887.615085307] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/left/image_rect_color/compressed
[zed_wrapper-2] [DEBUG] [1728341887.615793292] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/left/image_rect_color/compressedDepth
[zed_wrapper-2] [DEBUG] [1728341887.616276055] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/left/image_rect_color
[zed_wrapper-2] [DEBUG] [1728341887.616784643] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/left/image_rect_color/theora
[zed_wrapper-2] [INFO] [1728341887.617593303] [zed.zed_node]: Advertised on topic: /zed/zed_node/left/image_rect_color
[zed_wrapper-2] [INFO] [1728341887.617638040] [zed.zed_node]: Advertised on topic: /zed/zed_node/left/camera_info
[zed_wrapper-2] [DEBUG] [1728341887.617792636] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/left_gray/image_rect_gray/compressed
[zed_wrapper-2] [DEBUG] [1728341887.618448523] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/left_gray/image_rect_gray/compressedDepth
[zed_wrapper-2] [DEBUG] [1728341887.618883286] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/left_gray/image_rect_gray
[zed_wrapper-2] [DEBUG] [1728341887.619320288] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/left_gray/image_rect_gray/theora
[zed_wrapper-2] [INFO] [1728341887.620035985] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_gray/image_rect_gray
[zed_wrapper-2] [INFO] [1728341887.620078322] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_gray/camera_info
[zed_wrapper-2] [DEBUG] [1728341887.620222614] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/left_raw/image_raw_color/compressed
[zed_wrapper-2] [DEBUG] [1728341887.620906662] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/left_raw/image_raw_color/compressedDepth
[zed_wrapper-2] [DEBUG] [1728341887.621386738] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/left_raw/image_raw_color
[zed_wrapper-2] [DEBUG] [1728341887.621794043] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/left_raw/image_raw_color/theora
[zed_wrapper-2] [INFO] [1728341887.622539149] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_raw/image_raw_color
[zed_wrapper-2] [INFO] [1728341887.622583310] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_raw/camera_info
[zed_wrapper-2] [DEBUG] [1728341887.622724178] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/left_raw_gray/image_raw_gray/compressed
[zed_wrapper-2] [DEBUG] [1728341887.623375361] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/left_raw_gray/image_raw_gray/compressedDepth
[zed_wrapper-2] [DEBUG] [1728341887.623798699] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/left_raw_gray/image_raw_gray
[zed_wrapper-2] [DEBUG] [1728341887.624213205] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/left_raw_gray/image_raw_gray/theora
[zed_wrapper-2] [INFO] [1728341887.624940615] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_raw_gray/image_raw_gray
[zed_wrapper-2] [INFO] [1728341887.624999240] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_raw_gray/camera_info
[zed_wrapper-2] [DEBUG] [1728341887.625148300] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/right/image_rect_color/compressed
[zed_wrapper-2] [DEBUG] [1728341887.625829052] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/right/image_rect_color/compressedDepth
[zed_wrapper-2] [DEBUG] [1728341887.626250182] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/right/image_rect_color
[zed_wrapper-2] [DEBUG] [1728341887.626753074] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/right/image_rect_color/theora
[zed_wrapper-2] [INFO] [1728341887.627519173] [zed.zed_node]: Advertised on topic: /zed/zed_node/right/image_rect_color
[zed_wrapper-2] [INFO] [1728341887.627562854] [zed.zed_node]: Advertised on topic: /zed/zed_node/right/camera_info
[zed_wrapper-2] [DEBUG] [1728341887.627711913] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/right_gray/image_rect_gray/compressed
[zed_wrapper-2] [DEBUG] [1728341887.628396346] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/right_gray/image_rect_gray/compressedDepth
[zed_wrapper-2] [DEBUG] [1728341887.628827300] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/right_gray/image_rect_gray
[zed_wrapper-2] [DEBUG] [1728341887.629260398] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/right_gray/image_rect_gray/theora
[zed_wrapper-2] [INFO] [1728341887.629982880] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_gray/image_rect_gray
[zed_wrapper-2] [INFO] [1728341887.630020033] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_gray/camera_info
[zed_wrapper-2] [DEBUG] [1728341887.630155204] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/right_raw/image_raw_color/compressed
[zed_wrapper-2] [DEBUG] [1728341887.630827380] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/right_raw/image_raw_color/compressedDepth
[zed_wrapper-2] [DEBUG] [1728341887.631235646] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/right_raw/image_raw_color
[zed_wrapper-2] [DEBUG] [1728341887.631647080] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/right_raw/image_raw_color/theora
[zed_wrapper-2] [INFO] [1728341887.632368665] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_raw/image_raw_color
[zed_wrapper-2] [INFO] [1728341887.632408154] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_raw/camera_info
[zed_wrapper-2] [DEBUG] [1728341887.632555229] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/right_raw_gray/image_raw_gray/compressed
[zed_wrapper-2] [DEBUG] [1728341887.633242254] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/right_raw_gray/image_raw_gray/compressedDepth
[zed_wrapper-2] [DEBUG] [1728341887.633674360] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/right_raw_gray/image_raw_gray
[zed_wrapper-2] [DEBUG] [1728341887.634123203] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/right_raw_gray/image_raw_gray/theora
[zed_wrapper-2] [INFO] [1728341887.634937398] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_raw_gray/image_raw_gray
[zed_wrapper-2] [INFO] [1728341887.634980823] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_raw_gray/camera_info
[zed_wrapper-2] [DEBUG] [1728341887.635127099] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/depth/depth_registered/compressed
[zed_wrapper-2] [DEBUG] [1728341887.635816491] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/depth/depth_registered/compressedDepth
[zed_wrapper-2] [DEBUG] [1728341887.636257622] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/depth/depth_registered
[zed_wrapper-2] [DEBUG] [1728341887.636688992] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/depth/depth_registered/theora
[zed_wrapper-2] [INFO] [1728341887.637502452] [zed.zed_node]: Advertised on topic: /zed/zed_node/depth/depth_registered
[zed_wrapper-2] [INFO] [1728341887.637544757] [zed.zed_node]: Advertised on topic: /zed/zed_node/depth/camera_info
[zed_wrapper-2] [INFO] [1728341887.639920078] [zed.zed_node]: Advertised on topic: /zed/zed_node/depth/depth_info
[zed_wrapper-2] [DEBUG] [1728341887.640113618] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/roi_mask/compressed
[zed_wrapper-2] [DEBUG] [1728341887.641009992] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/roi_mask/compressedDepth
[zed_wrapper-2] [DEBUG] [1728341887.641527604] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/roi_mask
[zed_wrapper-2] [DEBUG] [1728341887.641988095] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/roi_mask/theora
[zed_wrapper-2] [INFO] [1728341887.642792403] [zed.zed_node]: Advertised on topic: /zed/zed_node/roi_mask
[zed_wrapper-2] [DEBUG] [1728341887.642993815] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/stereo/image_rect_color/compressed
[zed_wrapper-2] [DEBUG] [1728341887.643738153] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/stereo/image_rect_color/compressedDepth
[zed_wrapper-2] [DEBUG] [1728341887.644144819] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/stereo/image_rect_color
[zed_wrapper-2] [DEBUG] [1728341887.644580606] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/stereo/image_rect_color/theora
[zed_wrapper-2] [INFO] [1728341887.645101418] [zed.zed_node]: Advertised on topic: /zed/zed_node/stereo/image_rect_color
[zed_wrapper-2] [DEBUG] [1728341887.645282094] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/stereo_raw/image_raw_color/compressed
[zed_wrapper-2] [DEBUG] [1728341887.646004192] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/stereo_raw/image_raw_color/compressedDepth
[zed_wrapper-2] [DEBUG] [1728341887.646414153] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/stereo_raw/image_raw_color
[zed_wrapper-2] [DEBUG] [1728341887.646846932] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/stereo_raw/image_raw_color/theora
[zed_wrapper-2] [INFO] [1728341887.647250269] [zed.zed_node]: Advertised on topic: /zed/zed_node/stereo_raw/image_raw_color
[zed_wrapper-2] [INFO] [1728341887.647652103] [zed.zed_node]: Advertised on topic: /zed/zed_node/confidence/confidence_map
[zed_wrapper-2] [INFO] [1728341887.649584981] [zed.zed_node]: Advertised on topic: /zed/zed_node/disparity/disparity_image
[zed_wrapper-2] [DEBUG] [1728341887.654176579] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/point_cloud/cloud_registered/draco
[zed_wrapper-2] [DEBUG] [1728341887.658181379] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/point_cloud/cloud_registered
[zed_wrapper-2] [DEBUG] [1728341887.661288270] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/point_cloud/cloud_registered/zlib
[zed_wrapper-2] [DEBUG] [1728341887.664220564] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/point_cloud/cloud_registered/zstd
[zed_wrapper-2] [INFO] [1728341887.665138474] [zed.zed_node]: Advertised on topic: /zed/zed_node/point_cloud/cloud_registered
[zed_wrapper-2] [INFO] [1728341887.666330151] [zed.zed_node]: Advertised on topic: /zed/zed_node/pose
[zed_wrapper-2] [INFO] [1728341887.667221756] [zed.zed_node]: Advertised on topic: /zed/zed_node/pose/status
[zed_wrapper-2] [INFO] [1728341887.668164499] [zed.zed_node]: Advertised on topic: /zed/zed_node/pose_with_covariance
[zed_wrapper-2] [INFO] [1728341887.670193219] [zed.zed_node]: Advertised on topic: /zed/zed_node/odom
[zed_wrapper-2] [INFO] [1728341887.671196507] [zed.zed_node]: Advertised on topic: /zed/zed_node/path_map
[zed_wrapper-2] [INFO] [1728341887.671874540] [zed.zed_node]: Advertised on topic: /zed/zed_node/path_odom
[zed_wrapper-2] [DEBUG] [1728341887.672083601] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/mapping/fused_cloud/draco
[zed_wrapper-2] [DEBUG] [1728341887.673759865] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/mapping/fused_cloud
[zed_wrapper-2] [DEBUG] [1728341887.674316070] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/mapping/fused_cloud/zlib
[zed_wrapper-2] [DEBUG] [1728341887.674952245] [zed.zed_node]: getTopicToAdvertise: /zed/zed_node/mapping/fused_cloud/zstd
[zed_wrapper-2] [INFO] [1728341887.675461826] [zed.zed_node]: Advertised on topic /zed/zed_node/mapping/fused_cloud @ 1 Hz
[zed_wrapper-2] [INFO] [1728341887.678345159] [zed.zed_node]: Advertised on topic: /zed/plane_marker
[zed_wrapper-2] [INFO] [1728341887.679862091] [zed.zed_node]: Advertised on topic: /zed/plane
[zed_wrapper-2] [INFO] [1728341887.680849251] [zed.zed_node]: Advertised on topic: /zed/zed_node/imu/data
[zed_wrapper-2] [INFO] [1728341887.681612245] [zed.zed_node]: Advertised on topic: /zed/zed_node/imu/data_raw
[zed_wrapper-2] [INFO] [1728341887.682491306] [zed.zed_node]: Advertised on topic: /zed/zed_node/temperature/imu
[zed_wrapper-2] [INFO] [1728341887.683388607] [zed.zed_node]: Advertised on topic: /zed/zed_node/imu/mag
[zed_wrapper-2] [INFO] [1728341887.684265845] [zed.zed_node]: Advertised on topic: /zed/zed_node/atm_press
[zed_wrapper-2] [INFO] [1728341887.685009670] [zed.zed_node]: Advertised on topic: /zed/zed_node/temperature/left
[zed_wrapper-2] [INFO] [1728341887.685656470] [zed.zed_node]: Advertised on topic: /zed/zed_node/temperature/right
[zed_wrapper-2] [INFO] [1728341887.686493738] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_cam_imu_transform
[zed_wrapper-2] [INFO] [1728341887.686552459] [zed.zed_node]: Camera-IMU Translation: 
[zed_wrapper-2]  -0.002 -0.023061 0.000217
[zed_wrapper-2] [INFO] [1728341887.686613229] [zed.zed_node]: Camera-IMU Rotation:
[zed_wrapper-2] FFFF5E7C6620
[zed_wrapper-2] 0.999961 0.008609 -0.001835
[zed_wrapper-2] -0.008606 0.999961 0.001961
[zed_wrapper-2] 0.001852 -0.001945 0.999996
[zed_wrapper-2] 
[zed_wrapper-2] [INFO] [1728341887.686642925] [zed.zed_node]: *** Subscribers ***
[zed_wrapper-2] [INFO] [1728341887.687880907] [zed.zed_node]:  * Plane detection: '/clicked_point'
[zed_wrapper-2] [INFO] [1728341887.767196568] [zed.zed_node]: *** Starting Positional Tracking ***
[zed_wrapper-2] [INFO] [1728341887.767309691] [zed.zed_node]:  * Waiting for valid static transformations...
[zed_wrapper-2] [INFO] [1728341887.767512447] [zed.zed_node]:  Static transform ref. CMOS Sensor to Base [zed_left_camera_frame -> zed_camera_link]
[zed_wrapper-2] [INFO] [1728341887.767552416] [zed.zed_node]:   * Translation: {0.010,-0.060,-0.015}
[zed_wrapper-2] [INFO] [1728341887.767574369] [zed.zed_node]:   * Rotation: {0.000,-0.000,0.000}
[zed_wrapper-2] [INFO] [1728341887.767609794] [zed.zed_node]:  Static transform ref. CMOS Sensor to Camera Center [zed_left_camera_frame -> zed_camera_center]
[zed_wrapper-2] [INFO] [1728341887.767628450] [zed.zed_node]:   * Translation: {0.010,-0.060,0.000}
[zed_wrapper-2] [INFO] [1728341887.767643203] [zed.zed_node]:   * Rotation: {0.000,-0.000,0.000}
[zed_wrapper-2] [INFO] [1728341887.767671331] [zed.zed_node]:  Static transform Camera Center to Base [zed_camera_center -> zed_camera_link]
[zed_wrapper-2] [INFO] [1728341887.767687140] [zed.zed_node]:   * Translation: {0.000,0.000,-0.015}
[zed_wrapper-2] [INFO] [1728341887.767707556] [zed.zed_node]:   * Rotation: {0.000,-0.000,0.000}
[zed_wrapper-2] [INFO] [1728341887.768801470] [zed.zed_node]: Initial ZED left camera pose (ZED pos. tracking): 
[zed_wrapper-2] [INFO] [1728341887.768829535] [zed.zed_node]:  * T: [-0.01,0.06,0.015]
[zed_wrapper-2] [INFO] [1728341887.768854144] [zed.zed_node]:  * Q: [0,0,0,1]
[zed_wrapper-2] [DEBUG] [1728341888.943093226] [zed.zed_node]: start3dMapping
[zed_wrapper-2] [INFO] [1728341888.943203148] [zed.zed_node]: *** Starting Spatial Mapping ***
[zed_wrapper-2] [WARN] [1728341888.943407345] [zed.zed_node]: Mapping not activated: FAILURE
[zed_wrapper-2] [2024-10-07 22:58:08 UTC][ZED][ERROR] Cannot use Spatial mapping: Positional tracking not enabled
[zed_wrapper-2] [DEBUG] [1728341890.272855329] [zed.zed_node]: start3dMapping
[zed_wrapper-2] [INFO] [1728341890.272948419] [zed.zed_node]: *** Starting Spatial Mapping ***
[zed_wrapper-2] [2024-10-07 22:58:10 UTC][ZED][INFO] init
[zed_wrapper-2] [INFO] [1728341892.463046877] [zed.zed_node]:  * Resolution: 0.05 m
[zed_wrapper-2] [INFO] [1728341892.463163584] [zed.zed_node]:  * Max Mapping Range: 5 m
[zed_wrapper-2] [INFO] [1728341892.463187617] [zed.zed_node]:  * Map point cloud publishing rate: 1 Hz
[zed_wrapper-2] [DEBUG] [1728341893.463418844] [zed.zed_node]: Mapping callback called

rtabmap_launch readout

[INFO] [launch]: All log files can be found below /home/jetson/.ros/log/2024-10-07-22-41-19-573068-jetson-54631
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [rgbd_odometry-1]: process started with pid [54715]
[INFO] [rtabmap-2]: process started with pid [54717]
[INFO] [rtabmap_viz-3]: process started with pid [54719]
[INFO] [rviz2-4]: process started with pid [54721]
[INFO] [point_cloud_xyzrgb-5]: process started with pid [54723]
[rviz2-4] [INFO] [1728340881.501600220] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-4] [INFO] [1728340881.501992683] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rtabmap-2] [INFO] [1728340881.510345600] [rtabmap.rtabmap]: rtabmap(maps): latch                      = true
[rtabmap-2] [INFO] [1728340881.510892308] [rtabmap.rtabmap]: rtabmap(maps): map_filter_radius          = 0.000000
[rtabmap-2] [INFO] [1728340881.510958935] [rtabmap.rtabmap]: rtabmap(maps): map_filter_angle           = 30.000000
[rtabmap-2] [INFO] [1728340881.510984632] [rtabmap.rtabmap]: rtabmap(maps): map_cleanup                = true
[rtabmap-2] [INFO] [1728340881.511000792] [rtabmap.rtabmap]: rtabmap(maps): map_always_update          = false
[rtabmap-2] [INFO] [1728340881.511019513] [rtabmap.rtabmap]: rtabmap(maps): map_empty_ray_tracing      = true
[rtabmap-2] [INFO] [1728340881.511056058] [rtabmap.rtabmap]: rtabmap(maps): cloud_output_voxelized     = true
[rtabmap-2] [INFO] [1728340881.511075067] [rtabmap.rtabmap]: rtabmap(maps): cloud_subtract_filtering   = false
[rtabmap-2] [INFO] [1728340881.511090140] [rtabmap.rtabmap]: rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
[rtabmap-2] [INFO] [1728340881.511272482] [rtabmap.rtabmap]: rtabmap(maps): octomap_tree_depth         = 16
[point_cloud_xyzrgb-5] [INFO] [1728340881.518918781] [point_cloud_xyzrgb]: Approximate time sync = false
[rgbd_odometry-1] [INFO] [1728340881.532620184] [rtabmap.rgbd_odometry]: Odometry: frame_id               = base_link
[rgbd_odometry-1] [INFO] [1728340881.534420955] [rtabmap.rgbd_odometry]: Odometry: odom_frame_id          = odom
[rgbd_odometry-1] [INFO] [1728340881.535412448] [rtabmap.rgbd_odometry]: Odometry: publish_tf             = true
[rgbd_odometry-1] [INFO] [1728340881.536160219] [rtabmap.rgbd_odometry]: Odometry: wait_for_transform     = 0.200000
[rgbd_odometry-1] [INFO] [1728340881.537354248] [rtabmap.rgbd_odometry]: Odometry: log_to_rosout_level    = 4
[rgbd_odometry-1] [INFO] [1728340881.538169382] [rtabmap.rgbd_odometry]: Odometry: initial_pose           = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000
[rgbd_odometry-1] [INFO] [1728340881.538922690] [rtabmap.rgbd_odometry]: Odometry: ground_truth_frame_id  = 
[rgbd_odometry-1] [INFO] [1728340881.539885957] [rtabmap.rgbd_odometry]: Odometry: ground_truth_base_frame_id = 
[rgbd_odometry-1] [INFO] [1728340881.541473792] [rtabmap.rgbd_odometry]: Odometry: config_path            = 
[rgbd_odometry-1] [INFO] [1728340881.542598666] [rtabmap.rgbd_odometry]: Odometry: publish_null_when_lost = true
[rgbd_odometry-1] [INFO] [1728340881.543367206] [rtabmap.rgbd_odometry]: Odometry: publish_compressed_sensor_data = false
[rgbd_odometry-1] [INFO] [1728340881.544117602] [rtabmap.rgbd_odometry]: Odometry: guess_frame_id         = 
[rgbd_odometry-1] [INFO] [1728340881.545326799] [rtabmap.rgbd_odometry]: Odometry: guess_min_translation  = 0.000000
[rgbd_odometry-1] [INFO] [1728340881.546350261] [rtabmap.rgbd_odometry]: Odometry: guess_min_rotation     = 0.000000
[rgbd_odometry-1] [INFO] [1728340881.547225269] [rtabmap.rgbd_odometry]: Odometry: guess_min_time         = 0.000000
[rgbd_odometry-1] [INFO] [1728340881.548173464] [rtabmap.rgbd_odometry]: Odometry: expected_update_rate   = 0.000000 Hz
[rgbd_odometry-1] [INFO] [1728340881.548210329] [rtabmap.rgbd_odometry]: Odometry: max_update_rate        = 0.000000 Hz
[rgbd_odometry-1] [INFO] [1728340881.548227226] [rtabmap.rgbd_odometry]: Odometry: min_update_rate        = 0.000000 Hz
[rgbd_odometry-1] [INFO] [1728340881.548237914] [rtabmap.rgbd_odometry]: Odometry: wait_imu_to_init       = true
[rgbd_odometry-1] [INFO] [1728340881.548247995] [rtabmap.rgbd_odometry]: Odometry: sensor_data_compression_format = .jpg
[rgbd_odometry-1] [INFO] [1728340881.548256667] [rtabmap.rgbd_odometry]: Odometry: sensor_data_parallel_compression = true
[rgbd_odometry-1] [INFO] [1728340881.549006583] [rtabmap.rgbd_odometry]: Odometry: stereoParams_=0 visParams_=1 icpParams_=0
[rtabmap_viz-3] [INFO] [1728340881.567742508] [rtabmap.rtabmap_viz]: rtabmap_viz: Using configuration from "/home/jetson/.ros/rtabmapGUI.ini"
[rgbd_odometry-1] [INFO] [1728340881.595851261] [rtabmap.rgbd_odometry]: odometry: Subscribing to IMU topic /zed/zed_node/imu/data
[rgbd_odometry-1] [INFO] [1728340881.598276182] [rtabmap.rgbd_odometry]: odometry: qos_imu = 1
[rgbd_odometry-1] [INFO] [1728340881.600695760] [rtabmap.rgbd_odometry]: RGBDOdometry: approx_sync    = false
[rgbd_odometry-1] [INFO] [1728340881.601918621] [rtabmap.rgbd_odometry]: RGBDOdometry: topic_queue_size = 1
[rgbd_odometry-1] [INFO] [1728340881.602580310] [rtabmap.rgbd_odometry]: RGBDOdometry: sync_queue_size  = 10
[rgbd_odometry-1] [INFO] [1728340881.602616759] [rtabmap.rgbd_odometry]: RGBDOdometry: qos             = 1
[rgbd_odometry-1] [INFO] [1728340881.602632663] [rtabmap.rgbd_odometry]: RGBDOdometry: qos_camera_info = 1
[rgbd_odometry-1] [INFO] [1728340881.602643960] [rtabmap.rgbd_odometry]: RGBDOdometry: subscribe_rgbd = false
[rgbd_odometry-1] [INFO] [1728340881.602653272] [rtabmap.rgbd_odometry]: RGBDOdometry: rgbd_cameras   = 1
[rgbd_odometry-1] [INFO] [1728340881.602662841] [rtabmap.rgbd_odometry]: RGBDOdometry: keep_color     = false
[rgbd_odometry-1] [INFO] [1728340881.611963089] [rtabmap.rgbd_odometry]: 
[rgbd_odometry-1] rgbd_odometry subscribed to (exact sync):
[rgbd_odometry-1]    /zed/zed_node/rgb/image_rect_color,
[rgbd_odometry-1]    /zed/zed_node/depth/depth_registered,
[rgbd_odometry-1]    /zed/zed_node/rgb/camera_info
[rtabmap-2] [INFO] [1728340881.628271020] [rtabmap.rtabmap]: rtabmap: frame_id      = base_link
[rtabmap-2] [INFO] [1728340881.628358063] [rtabmap.rtabmap]: rtabmap: map_frame_id  = map
[rtabmap-2] [INFO] [1728340881.628376976] [rtabmap.rtabmap]: rtabmap: log_to_rosout_level  = 4
[rtabmap-2] [INFO] [1728340881.628390513] [rtabmap.rtabmap]: rtabmap: initial_pose  = 
[rtabmap-2] [INFO] [1728340881.628403121] [rtabmap.rtabmap]: rtabmap: use_action_for_goal  = false
[rtabmap-2] [INFO] [1728340881.628415218] [rtabmap.rtabmap]: rtabmap: tf_delay      = 0.050000
[rtabmap-2] [INFO] [1728340881.628436050] [rtabmap.rtabmap]: rtabmap: tf_tolerance  = 0.100000
[rtabmap-2] [INFO] [1728340881.628452307] [rtabmap.rtabmap]: rtabmap: odom_sensor_sync   = false
[rtabmap-2] [INFO] [1728340881.628464947] [rtabmap.rtabmap]: rtabmap: pub_loc_pose_only_when_localizing = false
[rtabmap-2] [INFO] [1728340881.628480052] [rtabmap.rtabmap]: rtabmap: gen_scan  = false
[rtabmap-2] [INFO] [1728340881.628492596] [rtabmap.rtabmap]: rtabmap: gen_depth  = false
[rviz2-4] [INFO] [1728340881.646752920] [rviz2]: Stereo is NOT SUPPORTED
[rtabmap-2] [INFO] [1728340881.705132937] [rtabmap.rtabmap]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="true"
[rtabmap-2] [INFO] [1728340881.705620059] [rtabmap.rtabmap]: Setting RTAB-Map parameter "Mem/InitWMWithAllNodes"="false"
[rtabmap-2] [INFO] [1728340881.742846972] [rtabmap.rtabmap]: RTAB-Map detection rate = 1.000000 Hz
[rtabmap-2] [INFO] [1728340881.743281549] [rtabmap.rtabmap]: rtabmap: Deleted database "/home/jetson/.ros/rtabmap.db" (--delete_db_on_start or -d are set).
[rtabmap-2] [INFO] [1728340881.743351983] [rtabmap.rtabmap]: rtabmap: Using database from "/home/jetson/.ros/rtabmap.db" (0 MB).
[rgbd_odometry-1] [ERROR] [1728340881.820033733] [rtabmap.rgbd_odometry]: Could not transform IMU msg from frame "zed_imu_link" to frame "base_link", TF not available at time 1728340881.595716
[rtabmap-2] [INFO] [1728340881.856684049] [rtabmap.rtabmap]: rtabmap: Database version = "0.21.6".
[rtabmap-2] [INFO] [1728340881.856807894] [rtabmap.rtabmap]: rtabmap: SLAM mode (Mem/IncrementalMemory=true)
[rtabmap-2] [INFO] [1728340881.899020912] [rtabmap.rtabmap]: Setup callbacks
[rtabmap-2] [INFO] [1728340881.899327131] [rtabmap.rtabmap]: rtabmap: subscribe_depth = true
[rtabmap-2] [INFO] [1728340881.899367389] [rtabmap.rtabmap]: rtabmap: subscribe_rgb = true
[rtabmap-2] [INFO] [1728340881.899385694] [rtabmap.rtabmap]: rtabmap: subscribe_stereo = false
[rtabmap-2] [INFO] [1728340881.899400958] [rtabmap.rtabmap]: rtabmap: subscribe_rgbd = false (rgbd_cameras=1)
[rtabmap-2] [INFO] [1728340881.899416351] [rtabmap.rtabmap]: rtabmap: subscribe_sensor_data = false
[rtabmap-2] [INFO] [1728340881.899430847] [rtabmap.rtabmap]: rtabmap: subscribe_odom_info = true
[rtabmap-2] [INFO] [1728340881.899444544] [rtabmap.rtabmap]: rtabmap: subscribe_user_data = false
[rtabmap-2] [INFO] [1728340881.899457952] [rtabmap.rtabmap]: rtabmap: subscribe_scan = false
[rtabmap-2] [INFO] [1728340881.899471265] [rtabmap.rtabmap]: rtabmap: subscribe_scan_cloud = false
[rtabmap-2] [INFO] [1728340881.899485153] [rtabmap.rtabmap]: rtabmap: subscribe_scan_descriptor = false
[rtabmap-2] [INFO] [1728340881.899499106] [rtabmap.rtabmap]: rtabmap: topic_queue_size = 1
[rtabmap-2] [INFO] [1728340881.899512706] [rtabmap.rtabmap]: rtabmap: sync_queue_size  = 10
[rtabmap-2] [INFO] [1728340881.899526595] [rtabmap.rtabmap]: rtabmap: qos_image       = 1
[rtabmap-2] [INFO] [1728340881.899540195] [rtabmap.rtabmap]: rtabmap: qos_camera_info = 1
[rtabmap-2] [INFO] [1728340881.899553668] [rtabmap.rtabmap]: rtabmap: qos_scan        = 1
[rtabmap-2] [INFO] [1728340881.899566916] [rtabmap.rtabmap]: rtabmap: qos_odom        = 1
[rtabmap-2] [INFO] [1728340881.899580133] [rtabmap.rtabmap]: rtabmap: qos_user_data   = 1
[rtabmap-2] [INFO] [1728340881.899692137] [rtabmap.rtabmap]: rtabmap: approx_sync     = false
[rtabmap-2] [INFO] [1728340881.899736203] [rtabmap.rtabmap]: Setup depth callback
[rtabmap-2] [INFO] [1728340881.912626760] [rtabmap.rtabmap]: 
[rtabmap-2] rtabmap subscribed to (exact sync):
[rtabmap-2]    /rtabmap/odom \
[rtabmap-2]    /zed/zed_node/rgb/image_rect_color \
[rtabmap-2]    /zed/zed_node/depth/depth_registered \
[rtabmap-2]    /zed/zed_node/rgb/camera_info \
[rtabmap-2]    /rtabmap/odom_info
[rgbd_odometry-1] [ERROR] [1728340882.023185602] [rtabmap.rgbd_odometry]: Could not transform IMU msg from frame "zed_imu_link" to frame "base_link", TF not available at time 1728340881.600656
[rgbd_odometry-1] [ERROR] [1728340882.229862136] [rtabmap.rgbd_odometry]: Could not transform IMU msg from frame "zed_imu_link" to frame "base_link", TF not available at time 1728340881.771086
[rgbd_odometry-1] [ERROR] [1728340882.439739524] [rtabmap.rgbd_odometry]: Could not transform IMU msg from frame "zed_imu_link" to frame "base_link", TF not available at time 1728340881.976096
[rgbd_odometry-1] [ERROR] [1728340882.866184884] [rtabmap.rgbd_odometry]: Could not transform IMU msg from frame "zed_imu_link" to frame "base_link", TF not available at time 1728340882.378706
[rtabmap_viz-3] libpng warning: iCCP: known incorrect sRGB profile
[rtabmap_viz-3] libpng warning: iCCP: known incorrect sRGB profile
[rtabmap_viz-3] libpng warning: iCCP: known incorrect sRGB profile
[rgbd_odometry-1] [ERROR] [1728340883.074406143] [rtabmap.rgbd_odometry]: Could not transform IMU msg from frame "zed_imu_link" to frame "base_link", TF not available at time 1728340882.588656
[rtabmap_viz-3] [WARN] [1728340883.182685147] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[rtabmap_viz-3] [INFO] [1728340883.201274665] [rtabmap.rtabmap_viz]: Reading parameters from the ROS server...
[rgbd_odometry-1] [ERROR] [1728340883.277463333] [rtabmap.rgbd_odometry]: Could not transform IMU msg from frame "zed_imu_link" to frame "base_link", TF not available at time 1728340882.798606
[rtabmap_viz-3] [INFO] [1728340883.399339991] [rtabmap.rtabmap_viz]: Parameters read = 377
[rtabmap_viz-3] [INFO] [1728340883.399450331] [rtabmap.rtabmap_viz]: Parameters successfully read.
[rgbd_odometry-1] [ERROR] [1728340883.484099855] [rtabmap.rgbd_odometry]: Could not transform IMU msg from frame "zed_imu_link" to frame "base_link", TF not available at time 1728340882.996206
[rgbd_odometry-1] [ERROR] [1728340883.692526170] [rtabmap.rgbd_odometry]: Could not transform IMU msg from frame "zed_imu_link" to frame "base_link", TF not available at time 1728340883.216036
[rgbd_odometry-1] [ERROR] [1728340883.899060928] [rtabmap.rgbd_odometry]: Could not transform IMU msg from frame "zed_imu_link" to frame "base_link", TF not available at time 1728340883.438336
[rtabmap_viz-3] [INFO] [1728340884.091096299] [rtabmap.rtabmap_viz]: rtabmap_viz: subscribe_depth = true
[rtabmap_viz-3] [INFO] [1728340884.091156717] [rtabmap.rtabmap_viz]: rtabmap_viz: subscribe_rgb = true
[rtabmap_viz-3] [INFO] [1728340884.091166253] [rtabmap.rtabmap_viz]: rtabmap_viz: subscribe_stereo = false
[rtabmap_viz-3] [INFO] [1728340884.091172909] [rtabmap.rtabmap_viz]: rtabmap_viz: subscribe_rgbd = false (rgbd_cameras=1)
[rtabmap_viz-3] [INFO] [1728340884.091180110] [rtabmap.rtabmap_viz]: rtabmap_viz: subscribe_sensor_data = false
[rtabmap_viz-3] [INFO] [1728340884.091186126] [rtabmap.rtabmap_viz]: rtabmap_viz: subscribe_odom_info = true
[rtabmap_viz-3] [INFO] [1728340884.091191982] [rtabmap.rtabmap_viz]: rtabmap_viz: subscribe_user_data = false
[rtabmap_viz-3] [INFO] [1728340884.091197838] [rtabmap.rtabmap_viz]: rtabmap_viz: subscribe_scan = false
[rtabmap_viz-3] [INFO] [1728340884.091203887] [rtabmap.rtabmap_viz]: rtabmap_viz: subscribe_scan_cloud = false
[rtabmap_viz-3] [INFO] [1728340884.091209711] [rtabmap.rtabmap_viz]: rtabmap_viz: subscribe_scan_descriptor = false
[rtabmap_viz-3] [INFO] [1728340884.091215503] [rtabmap.rtabmap_viz]: rtabmap_viz: topic_queue_size = 1
[rtabmap_viz-3] [INFO] [1728340884.091221327] [rtabmap.rtabmap_viz]: rtabmap_viz: sync_queue_size  = 10
[rtabmap_viz-3] [INFO] [1728340884.091227344] [rtabmap.rtabmap_viz]: rtabmap_viz: qos_image       = 1
[rtabmap_viz-3] [INFO] [1728340884.091233392] [rtabmap.rtabmap_viz]: rtabmap_viz: qos_camera_info = 1
[rtabmap_viz-3] [INFO] [1728340884.091239152] [rtabmap.rtabmap_viz]: rtabmap_viz: qos_scan        = 1
[rtabmap_viz-3] [INFO] [1728340884.091244688] [rtabmap.rtabmap_viz]: rtabmap_viz: qos_odom        = 1
[rtabmap_viz-3] [INFO] [1728340884.091250416] [rtabmap.rtabmap_viz]: rtabmap_viz: qos_user_data   = 1
[rtabmap_viz-3] [INFO] [1728340884.091256081] [rtabmap.rtabmap_viz]: rtabmap_viz: approx_sync     = false
[rtabmap_viz-3] [INFO] [1728340884.091272401] [rtabmap.rtabmap_viz]: Setup depth callback
[rgbd_odometry-1] [ERROR] [1728340884.102131105] [rtabmap.rgbd_odometry]: Could not transform IMU msg from frame "zed_imu_link" to frame "base_link", TF not available at time 1728340883.630996
[rtabmap_viz-3] [INFO] [1728340884.107204060] [rtabmap.rtabmap_viz]: 
[rtabmap_viz-3] rtabmap_viz subscribed to (exact sync):
[rtabmap_viz-3]    /rtabmap/odom \
[rtabmap_viz-3]    /zed/zed_node/rgb/image_rect_color \
[rtabmap_viz-3]    /zed/zed_node/depth/depth_registered \
[rtabmap_viz-3]    /zed/zed_node/rgb/camera_info \
[rtabmap_viz-3]    /rtabmap/odom_info
[rtabmap_viz-3] [INFO] [1728340884.112100977] [rtabmap.rtabmap_viz]: rtabmap_viz started.
[rgbd_odometry-1] [ERROR] [1728340884.305210301] [rtabmap.rgbd_odometry]: Could not transform IMU msg from frame "zed_imu_link" to frame "base_link", TF not available at time 1728340883.843416
[rgbd_odometry-1] [ WARN] (2024-10-07 22:41:21.819) MsgConversion.cpp:1994::getTransform() (can transform base_link -> zed_imu_link?) Invalid frame ID "base_link" passed to canTransform argument target_frame - frame does not exist. canTransform returned after 0.203065 timeout was 0.2. (wait_for_transform=0.200000)
@matlabbe
Copy link
Member

matlabbe commented Oct 8, 2024

Try this (more recent) zed example: https://github.com/introlab/rtabmap_ros/blob/ros2/rtabmap_examples/launch/zed.launch.py

I think zed changed slightly their launch file since the example on the main README.

@smokemonkey101
Copy link
Author

smokemonkey101 commented Oct 8, 2024 •
edited
Loading

Ah that does run.
For some reason the zed.launch.py file wasn't included when i installed using the apt install method. I just manually download it and added it.

Now the problem im getting is the camera flickers strangely. Even the depth map.

I i tried with use zed odom true and false and with approx_sync True and False
'approx_sync':False,
'use_zed_odometry', default_value='true'

[rtabmap-4] [INFO] [1728406742.833590748] [rtabmap]: rtabmap (101): Rate=1.00s, Limit=0.000s, Conversion=0.0019s, RTAB-Map=0.0916s, Maps update=0.0001s pub=0.0016s (local map=4, WM=4)
[rtabmap-4] [WARN] [1728406743.107728087] [rtabmap]: We received odometry message, but we cannot get the corresponding TF odom->zed_camera_link at data stamp 1728406742.837028s (odom msg stamp is 1728406742.837028s). Make sure TF of odometry is also published to get more accurate pose estimation. This warning is only printed once.

[WARN] [1728407211.838314867] [rgbd_sync]: The time difference between rgb and depth frames is high (diff=0.030159s, rgb=1728407211.769395s, depth=1728407211.799554s). You may want to set approx_sync_max_interval lower than 0.01s to reject spurious bad synchronizations or use approx_sync=false if streams have all the exact same timestamp.
Screencast.Flicker.webm

@smokemonkey101
Copy link
Author

smokemonkey101 commented Oct 8, 2024 •
edited
Loading

Sorry it turns out it was my PC, weird. It works just fine on my Jetson Orin

@matlabbe
Copy link
Member

matlabbe commented Oct 9, 2024 •
edited
Loading

Those image corruptions are pretty bad (that would come from the camera driver, not rtabmap), hopefully it works on your orin.

Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Assignees
No one assigned
Labels
None yet
Projects
None yet
Milestone
No milestone
Development

No branches or pull requests
2 participants
@matlabbe @smokemonkey101