Getting RTAB-Map running using ros2 & ZEDX Mini
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Getting RTAB-Map running using ros2 & ZEDX Mini
 
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Hello,
I am having a hard time getting RTAB-Map running properly on ros2 Humble with a ZEDX mini camera. I have reviewed other forum posts with similar cameras (zed 2i, zedx etc) however my results are still the same. I have also been trying to follow along with tutorials (for ROS1 and then edit them for ROS2) but am still unsuccessful. Any advice or tutorials to look into that would help me understand what is needed to get ZEDX Mini working with rtabmap would be appreciated. This is how I am currently launching zed and rtabmap:
zed_wrapper_launch = IncludeLaunchDescription(
launch_description_source=PythonLaunchDescriptionSource([
get_package_share_directory('zed_wrapper'),
'/launch/zed_camera.launch.py'
]),
launch_arguments={
'camera_name': camera_name_val,
'camera_model': camera_model_val,
'pos_tracking_enabled': "true",
'pos_tracking_mode': "GEN_2",
'area_memory': "false",
'sensors_image_sync': "true",
}.items(),
condition=IfCondition(start_zed_node)
)
rtabmap_launch = IncludeLaunchDescription(
launch_description_source=PythonLaunchDescriptionSource([
get_package_share_directory('rtabmap_launch'),
'/launch/rtabmap.launch.py'
]),
launch_arguments={
'rtabmap_args': "--delete_db_on_start",
'frame_id': "zed_camera_link",
'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",
'imu_topic': "/zed/zed_node/imu/data",
'wait_imu_to_init': "true",
'approx_sync': "false",
'rviz': "false"
}.items()
and this is what is displayed in console when launching these:
[INFO] [launch]: All log files can be found below /home/user/.ros/log/2024-12-27-13-09-05-675586-GTW-ONX1-D13XHAKC-3338234
[INFO] [launch]: Default logging verbosity is set to INFO
Using common configuration file: /home/user/mini_ee/ros_workspace/install/zed_wrapper/share/zed_wrapper/config/common_stereo.yaml
[INFO] [default_server_endpoint-2]: process started with pid [3338937]
[INFO] [rgbd_odometry-6]: process started with pid [3338945]
[INFO] [rtabmap-7]: process started with pid [3338947]
[INFO] [rtabmap_viz-8]: process started with pid [3338949]
[INFO] [rviz2-1]: process started with pid [3338935]
[INFO] [roi_listener-3]: process started with pid [3338939]
[INFO] [robot_state_publisher-4]: process started with pid [3338941]
[INFO] [component_container_isolated-5]: process started with pid [3338943]
[component_container_isolated-5] [INFO] [1735322947.324522915] [zed.zed_container]: Load Library: /home/user/mini_ee/ros_workspace/install/zed_components/lib/libzed_camera_component.so
[robot_state_publisher-4] [INFO] [1735322947.538369891] [zed.zed_state_publisher]: got segment zed_camera_center
[robot_state_publisher-4] [INFO] [1735322947.538626441] [zed.zed_state_publisher]: got segment zed_camera_link
[robot_state_publisher-4] [INFO] [1735322947.538648457] [zed.zed_state_publisher]: got segment zed_left_camera_frame
[robot_state_publisher-4] [INFO] [1735322947.538660170] [zed.zed_state_publisher]: got segment zed_left_camera_optical_frame
[robot_state_publisher-4] [INFO] [1735322947.538669738] [zed.zed_state_publisher]: got segment zed_right_camera_frame
[robot_state_publisher-4] [INFO] [1735322947.538678410] [zed.zed_state_publisher]: got segment zed_right_camera_optical_frame
[default_server_endpoint-2] [INFO] [1735322947.611244754] [UnityEndpoint]: Starting server on 192.168.0.1:10000
[component_container_isolated-5] [INFO] [1735322947.641575263] [zed.zed_container]: Found class: rclcpp_components::NodeFactoryTemplate<stereolabs::ZedCamera>
[component_container_isolated-5] [INFO] [1735322947.641734435] [zed.zed_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<stereolabs::ZedCamera>
[component_container_isolated-5] [INFO] [1735322947.759754862] [zed.zed_node]: ********************************
[component_container_isolated-5] [INFO] [1735322947.759867472] [zed.zed_node]: ZED Camera Component
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/zed/zed_node' in container '/zed/zed_container'
[component_container_isolated-5] [INFO] [1735322947.759885233] [zed.zed_node]: ********************************
[component_container_isolated-5] [INFO] [1735322947.759900529] [zed.zed_node]: * namespace: /zed
[component_container_isolated-5] [INFO] [1735322947.759914385] [zed.zed_node]: * node name: zed_node
[component_container_isolated-5] [INFO] [1735322947.759923761] [zed.zed_node]: ********************************
[component_container_isolated-5] [INFO] [1735322947.810223010] [zed.zed_node]: *** DEBUG parameters ***
[component_container_isolated-5] [INFO] [1735322947.810701261] [zed.zed_node]: * SDK Verbose: 1
[component_container_isolated-5] [INFO] [1735322947.810873009] [zed.zed_node]: * Debug Common: FALSE
[component_container_isolated-5] [INFO] [1735322947.810943474] [zed.zed_node]: * Debug Simulation: FALSE
[component_container_isolated-5] [INFO] [1735322947.811018164] [zed.zed_node]: * Debug Video/Depth: FALSE
[component_container_isolated-5] [INFO] [1735322947.811090230] [zed.zed_node]: * Debug Control settings: FALSE
[component_container_isolated-5] [INFO] [1735322947.811151415] [zed.zed_node]: * Debug Point Cloud: FALSE
[component_container_isolated-5] [INFO] [1735322947.811240537] [zed.zed_node]: * Debug GNSS: FALSE
[component_container_isolated-5] [INFO] [1735322947.811313083] [zed.zed_node]: * Debug Positional Tracking: FALSE
[component_container_isolated-5] [INFO] [1735322947.811380988] [zed.zed_node]: * Debug sensors: FALSE
[component_container_isolated-5] [INFO] [1735322947.811447230] [zed.zed_node]: * Debug Mapping: FALSE
[component_container_isolated-5] [INFO] [1735322947.811546976] [zed.zed_node]: * Debug Object Detection: FALSE
[component_container_isolated-5] [INFO] [1735322947.811621090] [zed.zed_node]: * Debug Body Tracking: FALSE
[component_container_isolated-5] [INFO] [1735322947.811688035] [zed.zed_node]: * Debug Streaming: FALSE
[component_container_isolated-5] [INFO] [1735322947.811759333] [zed.zed_node]: * Debug ROI: FALSE
[component_container_isolated-5] [INFO] [1735322947.811858567] [zed.zed_node]: * Debug Advanced: FALSE
[component_container_isolated-5] [INFO] [1735322947.811979050] [zed.zed_node]: *** GENERAL parameters ***
[component_container_isolated-5] [INFO] [1735322947.812211599] [zed.zed_node]: * Camera model: zedxm - ZED X Mini
[component_container_isolated-5] [INFO] [1735322947.812315601] [zed.zed_node]: * Camera name: zed
[component_container_isolated-5] [INFO] [1735322947.812403571] [zed.zed_node]: * Camera SN: 0
[component_container_isolated-5] [INFO] [1735322947.812472821] [zed.zed_node]: * Camera timeout [sec]: 5
[component_container_isolated-5] [INFO] [1735322947.812540534] [zed.zed_node]: * Camera reconnection temptatives: 5
[component_container_isolated-5] [INFO] [1735322947.812613816] [zed.zed_node]: * Camera framerate: 30
[component_container_isolated-5] [INFO] [1735322947.812728475] [zed.zed_node]: * GPU ID: -1
[component_container_isolated-5] [INFO] [1735322947.812901983] [zed.zed_node]: * Camera resolution: HD1080
[component_container_isolated-5] [INFO] [1735322947.813023905] [zed.zed_node]: * Publishing resolution: NATIVE
[component_container_isolated-5] [INFO] [1735322947.813109027] [zed.zed_node]: * OpenCV custom calibration:
[component_container_isolated-5] [INFO] [1735322947.813253895] [zed.zed_node]: * Camera self calibration: TRUE
[component_container_isolated-5] [INFO] [1735322947.813342697] [zed.zed_node]: * Camera flip: FALSE
[component_container_isolated-5] [INFO] [1735322947.813475180] [zed.zed_node]: * [DYN] Publish framerate [Hz]: 15
[component_container_isolated-5] [INFO] [1735322947.813502508] [zed.zed_node]: *** VIDEO parameters ***
[component_container_isolated-5] [INFO] [1735322947.813578798] [zed.zed_node]: * [DYN] Saturation: 4
[component_container_isolated-5] [INFO] [1735322947.813679152] [zed.zed_node]: * [DYN] Sharpness: 4
[component_container_isolated-5] [INFO] [1735322947.813777842] [zed.zed_node]: * [DYN] Gamma: 8
[component_container_isolated-5] [INFO] [1735322947.813854420] [zed.zed_node]: * [DYN] Auto Exposure/Gain: TRUE
[component_container_isolated-5] [INFO] [1735322947.813960599] [zed.zed_node]: * [DYN] Exposure: 80
[component_container_isolated-5] [INFO] [1735322947.814042264] [zed.zed_node]: * [DYN] Gain: 80
[component_container_isolated-5] [INFO] [1735322947.814112218] [zed.zed_node]: * [DYN] Auto White Balance: TRUE
[component_container_isolated-5] [INFO] [1735322947.814219740] [zed.zed_node]: * [DYN] White Balance Temperature: 42
[component_container_isolated-5] [INFO] [1735322947.814305118] [zed.zed_node]: * [DYN] ZED X Exposure time: 16666
[component_container_isolated-5] [INFO] [1735322947.814391552] [zed.zed_node]: * [DYN] ZED X Auto Exp. time range min: 28
[component_container_isolated-5] [INFO] [1735322947.814498435] [zed.zed_node]: * [DYN] ZED X Auto Exp. time range max: 16666
[component_container_isolated-5] [INFO] [1735322947.814736904] [zed.zed_node]: * [DYN] ZED X Exposure comp.: 50
[component_container_isolated-5] [INFO] [1735322947.814840394] [zed.zed_node]: * [DYN] ZED X Analog Gain: 8000
[component_container_isolated-5] [INFO] [1735322947.815058863] [zed.zed_node]: * [DYN] ZED X Auto Analog Gain range min: 1000
[component_container_isolated-5] [INFO] [1735322947.815176498] [zed.zed_node]: * [DYN] ZED X Auto Analog Gain range max: 16000
[component_container_isolated-5] [INFO] [1735322947.815279348] [zed.zed_node]: * [DYN] ZED X Digital Gain: 128
[component_container_isolated-5] [INFO] [1735322947.815482905] [zed.zed_node]: * [DYN] ZED X Auto Digital Gain range min: 1
[component_container_isolated-5] [INFO] [1735322947.815610172] [zed.zed_node]: * [DYN] ZED X Auto Digital Gain range max: 256
[component_container_isolated-5] [INFO] [1735322947.815780448] [zed.zed_node]: * [DYN] ZED X Auto Digital Gain range max: 50
[component_container_isolated-5] [INFO] [1735322947.815820193] [zed.zed_node]: *** DEPTH parameters ***
[component_container_isolated-5] [INFO] [1735322947.815984516] [zed.zed_node]: * Depth mode: NEURAL [4]
[component_container_isolated-5] [INFO] [1735322947.816115303] [zed.zed_node]: * Min depth [m]: 0.3
[component_container_isolated-5] [INFO] [1735322947.816241514] [zed.zed_node]: * Max depth [m]: 10
[component_container_isolated-5] [INFO] [1735322947.816369645] [zed.zed_node]: * Depth Stabilization: 1
[component_container_isolated-5] [INFO] [1735322947.816557553] [zed.zed_node]: * OpenNI mode (16bit point cloud): FALSE
[component_container_isolated-5] [INFO] [1735322947.816689236] [zed.zed_node]: * [DYN] Point cloud rate [Hz]: 5
[component_container_isolated-5] [INFO] [1735322947.816882073] [zed.zed_node]: * [DYN] Depth Confidence: 50
[component_container_isolated-5] [INFO] [1735322947.817020540] [zed.zed_node]: * [DYN] Depth Texture Confidence: 100
[component_container_isolated-5] [INFO] [1735322947.817142942] [zed.zed_node]: * [DYN] Remove saturated areas: TRUE
[component_container_isolated-5] [INFO] [1735322947.817174623] [zed.zed_node]: *** GNSS FUSION parameters ***
[component_container_isolated-5] [INFO] [1735322947.817387940] [zed.zed_node]: * GNSS fusion enabled: FALSE
[component_container_isolated-5] [INFO] [1735322947.817428197] [zed.zed_node]: *** POSITIONAL TRACKING parameters ***
[component_container_isolated-5] [INFO] [1735322947.817564136] [zed.zed_node]: * Positional tracking enabled: TRUE
[component_container_isolated-5] [INFO] [1735322947.817703723] [zed.zed_node]: * Positional tracking mode: GEN 2
[component_container_isolated-5] [INFO] [1735322947.817836942] [zed.zed_node]: * Map frame id: map
[component_container_isolated-5] [INFO] [1735322947.817972017] [zed.zed_node]: * Odometry frame id: odom
[component_container_isolated-5] [INFO] [1735322947.818052051] [zed.zed_node]: * Broadcast Odometry TF: TRUE
[component_container_isolated-5] [INFO] [1735322947.818119157] [zed.zed_node]: * Broadcast Pose TF: TRUE
[component_container_isolated-5] [INFO] [1735322947.818198774] [zed.zed_node]: * [DYN] Depth minimum range: 0
[component_container_isolated-5] [INFO] [1735322947.818266648] [zed.zed_node]: * [DYN] TF timestamp offset: 0
[component_container_isolated-5] [INFO] [1735322947.818337465] [zed.zed_node]: * [DYN] Path publishing rate: 2
[component_container_isolated-5] [INFO] [1735322947.818405723] [zed.zed_node]: * Path history lenght: -1
[component_container_isolated-5] [INFO] [1735322947.818501661] [zed.zed_node]: * Initial pose: [0,0,0,0,0,0,]
[component_container_isolated-5] [INFO] [1735322947.818583135] [zed.zed_node]: * Area Memory: TRUE
[component_container_isolated-5] [INFO] [1735322947.818645184] [zed.zed_node]: * Area Memory DB:
[component_container_isolated-5] [INFO] [1735322947.818705122] [zed.zed_node]: * Camera is static: FALSE
[component_container_isolated-5] [INFO] [1735322947.818774947] [zed.zed_node]: * Gravity as origin [not for ZED]: TRUE
[component_container_isolated-5] [INFO] [1735322947.818835493] [zed.zed_node]: * IMU Fusion [not for ZED]: TRUE
[component_container_isolated-5] [INFO] [1735322947.818900486] [zed.zed_node]: * Floor Alignment: FALSE
[component_container_isolated-5] [INFO] [1735322947.818967048] [zed.zed_node]: * Reset Odometry with Loop Closure: TRUE
[component_container_isolated-5] [INFO] [1735322947.819035977] [zed.zed_node]: * 2D mode: FALSE
[component_container_isolated-5] [INFO] [1735322947.819060202] [zed.zed_node]: *** Region of Interest parameters ***
[component_container_isolated-5] [INFO] [1735322947.819123147] [zed.zed_node]: * Automatic ROI generation: FALSE
[component_container_isolated-5] [INFO] [1735322947.819228974] [zed.zed_node]: * Manual ROI polygon: []
[component_container_isolated-5] [INFO] [1735322947.819254190] [zed.zed_node]: *** SENSORS STACK parameters ***
[component_container_isolated-5] [INFO] [1735322947.819324784] [zed.zed_node]: * Broadcast IMU TF [not for ZED]: TRUE
[component_container_isolated-5] [INFO] [1735322947.819425874] [zed.zed_node]: * Sensors Camera Sync: FALSE
[component_container_isolated-5] [INFO] [1735322947.819536789] [zed.zed_node]: * Sensors publishing rate: 200 Hz
[component_container_isolated-5] [INFO] [1735322947.819576501] [zed.zed_node]: *** Spatial Mapping parameters ***
[component_container_isolated-5] [INFO] [1735322947.819677496] [zed.zed_node]: * Spatial Mapping Enabled: FALSE
[component_container_isolated-5] [INFO] [1735322947.819804283] [zed.zed_node]: * Spatial Mapping resolution [m]: 0.05
[component_container_isolated-5] [INFO] [1735322947.819939614] [zed.zed_node]: * 3D Max Mapping range [m]: 5
[component_container_isolated-5] [INFO] [1735322947.820058720] [zed.zed_node]: * Map publishing rate [Hz]: 1
[component_container_isolated-5] [INFO] [1735322947.820163779] [zed.zed_node]: * Clicked point topic: /clicked_point
[component_container_isolated-5] [INFO] [1735322947.820244485] [zed.zed_node]: * Plane Det. Max Dist. Thresh.: 0.15
[component_container_isolated-5] [INFO] [1735322947.820414088] [zed.zed_node]: * Plane Det. Normals Sim. Thresh.: 15
[component_container_isolated-5] [INFO] [1735322947.820443881] [zed.zed_node]: *** Object Det. parameters ***
[component_container_isolated-5] [INFO] [1735322947.820534571] [zed.zed_node]: * Object Det. enabled: FALSE
[component_container_isolated-5] [INFO] [1735322947.820667886] [zed.zed_node]: * Object Det. model: MULTI CLASS BOX FAST
[component_container_isolated-5] [INFO] [1735322947.820752880] [zed.zed_node]: * Object Det. allow reduced precision: TRUE
[component_container_isolated-5] [INFO] [1735322947.820915924] [zed.zed_node]: * Object Det. maximum range [m]: 20
[component_container_isolated-5] [INFO] [1735322947.821078103] [zed.zed_node]: * Object Det. min. confidence: 75
[component_container_isolated-5] [INFO] [1735322947.821281852] [zed.zed_node]: * Object Det. prediction timeout [sec]: 0.5
[component_container_isolated-5] [INFO] [1735322947.821439648] [zed.zed_node]: * Object Det. tracking: TRUE
[component_container_isolated-5] [INFO] [1735322947.821645284] [zed.zed_node]: * Object Filtering mode: 1 - NMS3D
[component_container_isolated-5] [INFO] [1735322947.821850761] [zed.zed_node]: * MultiClassBox people: TRUE
[component_container_isolated-5] [INFO] [1735322947.822035341] [zed.zed_node]: * MultiClassBox vehicles: TRUE
[component_container_isolated-5] [INFO] [1735322947.822255282] [zed.zed_node]: * MultiClassBox bags: TRUE
[component_container_isolated-5] [INFO] [1735322947.822451862] [zed.zed_node]: * MultiClassBox animals: TRUE
[component_container_isolated-5] [INFO] [1735322947.822649915] [zed.zed_node]: * MultiClassBox electronics: TRUE
[component_container_isolated-5] [INFO] [1735322947.822983874] [zed.zed_node]: * MultiClassBox fruits and vegetables: TRUE
[component_container_isolated-5] [INFO] [1735322947.823130694] [zed.zed_node]: * MultiClassBox sport-related objects: TRUE
[component_container_isolated-5] [INFO] [1735322947.823382187] [zed.zed_node]: *** Body Track. parameters ***
[component_container_isolated-5] [INFO] [1735322947.823560751] [zed.zed_node]: * Body Track. enabled: FALSE
[component_container_isolated-5] [INFO] [1735322947.823755188] [zed.zed_node]: * Body Track. model: HUMAN BODY MEDIUM
[component_container_isolated-5] [INFO] [1735322947.823940056] [zed.zed_node]: * Body Track. format: BODY 38
[component_container_isolated-5] [INFO] [1735322947.824067611] [zed.zed_node]: * Body Track. allow reduced precision: TRUE
[component_container_isolated-5] [INFO] [1735322947.824191550] [zed.zed_node]: * Body Track. maximum range [m]: 20
[component_container_isolated-5] [INFO] [1735322947.824313248] [zed.zed_node]: * Body Track. KP selection: FULL
[component_container_isolated-5] [INFO] [1735322947.824420483] [zed.zed_node]: * Body fitting: FALSE
[component_container_isolated-5] [INFO] [1735322947.824526821] [zed.zed_node]: * Body joints tracking: TRUE
[component_container_isolated-5] [INFO] [1735322947.824639144] [zed.zed_node]: * Body Track. prediction timeout [sec]: 0.5
[component_container_isolated-5] [INFO] [1735322947.824729930] [zed.zed_node]: * Body Track. confidence thresh.: 50
[component_container_isolated-5] [INFO] [1735322947.824822348] [zed.zed_node]: * Body Track. min. KP thresh.: 5
[component_container_isolated-5] [INFO] [1735322947.824850317] [zed.zed_node]: *** Streaming Server parameters ***
[component_container_isolated-5] [INFO] [1735322947.824934447] [zed.zed_node]: * Streaming Server enabled: TRUE
[component_container_isolated-5] [INFO] [1735322947.825014320] [zed.zed_node]: * Stream codec: H264
[component_container_isolated-5] [INFO] [1735322947.825096402] [zed.zed_node]: * Stream port:30000
[component_container_isolated-5] [INFO] [1735322947.825191028] [zed.zed_node]: * Stream bitrate: 12500
[component_container_isolated-5] [INFO] [1735322947.825467067] [zed.zed_node]: * Stream GOP size: -1
[component_container_isolated-5] [INFO] [1735322947.825626654] [zed.zed_node]: * Stream Chunk size: 16084
[component_container_isolated-5] [INFO] [1735322947.825745409] [zed.zed_node]: * Adaptive bitrate: FALSE
[component_container_isolated-5] [INFO] [1735322947.825861059] [zed.zed_node]: * Target frame rate:0
[component_container_isolated-5] [INFO] [1735322947.825895908] [zed.zed_node]: *** Advanced parameters ***
[component_container_isolated-5] [INFO] [1735322947.826014343] [zed.zed_node]: * Thread sched. policy: SCHED_BATCH
[component_container_isolated-5] [INFO] [1735322947.826156650] [zed.zed_node]: *** SERVICES ***
[component_container_isolated-5] [INFO] [1735322947.828179192] [zed.zed_node]: * '/zed/zed_node/reset_odometry'
[component_container_isolated-5] [INFO] [1735322947.829181486] [zed.zed_node]: * '/zed/zed_node/reset_pos_tracking'
[component_container_isolated-5] [INFO] [1735322947.834030396] [zed.zed_node]: * '/zed/zed_node/set_pose'
[component_container_isolated-5] [INFO] [1735322947.835130773] [zed.zed_node]: * '/zed/zed_node/enable_obj_det'
[component_container_isolated-5] [INFO] [1735322947.836005673] [zed.zed_node]: * '/zed/zed_node/enable_body_trk'
[component_container_isolated-5] [INFO] [1735322947.836796219] [zed.zed_node]: * '/zed/zed_node/enable_mapping'
[component_container_isolated-5] [INFO] [1735322947.837683055] [zed.zed_node]: * '/zed/zed_node/enable_streaming'
[component_container_isolated-5] [INFO] [1735322947.838594691] [zed.zed_node]: * '/zed/zed_node/start_svo_rec'
[component_container_isolated-5] [INFO] [1735322947.839636891] [zed.zed_node]: * '/zed/zed_node/stop_svo_rec'
[component_container_isolated-5] [INFO] [1735322947.840713459] [zed.zed_node]: * '/zed/zed_node/set_roi'
[component_container_isolated-5] [INFO] [1735322947.841658760] [zed.zed_node]: * '/zed/zed_node/reset_roi'
[component_container_isolated-5] [INFO] [1735322947.841817356] [zed.zed_node]: ***** STARTING CAMERA *****
[component_container_isolated-5] [INFO] [1735322947.975588699] [zed.zed_node]: ZED SDK Version: 4.2.1 - Build 94676_d35891e9
[component_container_isolated-5] [2024-12-27 18:09:07 UTC][ZED][INFO] Logging level INFO
[component_container_isolated-5] [INFO] [1735322947.992854753] [zed.zed_node]: *** CAMERA OPENING ***
[component_container_isolated-5] [INFO] [1735322947.992941187] [zed.zed_node]: Disable async recovery for GMSL2 cameras
[component_container_isolated-5] [2024-12-27 18:09:08 UTC][ZED][INFO] Logging level INFO
[component_container_isolated-5] [2024-12-27 18:09:08 UTC][ZED][INFO] [Init] Depth mode: NEURAL
[rviz2-1] [INFO] [1735322948.881265548] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-1] [INFO] [1735322948.882914290] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rgbd_odometry-6] [INFO] [1735322948.964590375] [rtabmap.rgbd_odometry]: Odometry: frame_id = zed_camera_link
[rgbd_odometry-6] [INFO] [1735322948.965396986] [rtabmap.rgbd_odometry]: Odometry: odom_frame_id = odom
[rgbd_odometry-6] [INFO] [1735322948.965470779] [rtabmap.rgbd_odometry]: Odometry: publish_tf = true
[rgbd_odometry-6] [INFO] [1735322948.965500348] [rtabmap.rgbd_odometry]: Odometry: wait_for_transform = 0.200000
[rgbd_odometry-6] [INFO] [1735322948.965545885] [rtabmap.rgbd_odometry]: Odometry: log_to_rosout_level = 4
[rgbd_odometry-6] [INFO] [1735322948.965654143] [rtabmap.rgbd_odometry]: Odometry: initial_pose = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000
[rgbd_odometry-6] [INFO] [1735322948.965691680] [rtabmap.rgbd_odometry]: Odometry: ground_truth_frame_id =
[rgbd_odometry-6] [INFO] [1735322948.965722209] [rtabmap.rgbd_odometry]: Odometry: ground_truth_base_frame_id =
[rgbd_odometry-6] [INFO] [1735322948.965745601] [rtabmap.rgbd_odometry]: Odometry: config_path =
[rgbd_odometry-6] [INFO] [1735322948.965765698] [rtabmap.rgbd_odometry]: Odometry: publish_null_when_lost = true
[rgbd_odometry-6] [INFO] [1735322948.965784034] [rtabmap.rgbd_odometry]: Odometry: publish_compressed_sensor_data = false
[rgbd_odometry-6] [INFO] [1735322948.965801347] [rtabmap.rgbd_odometry]: Odometry: guess_frame_id =
[rgbd_odometry-6] [INFO] [1735322948.965817155] [rtabmap.rgbd_odometry]: Odometry: guess_min_translation = 0.000000
[rgbd_odometry-6] [INFO] [1735322948.965835844] [rtabmap.rgbd_odometry]: Odometry: guess_min_rotation = 0.000000
[rgbd_odometry-6] [INFO] [1735322948.965853412] [rtabmap.rgbd_odometry]: Odometry: guess_min_time = 0.000000
[rgbd_odometry-6] [INFO] [1735322948.965870820] [rtabmap.rgbd_odometry]: Odometry: expected_update_rate = 0.000000 Hz
[rgbd_odometry-6] [INFO] [1735322948.965888645] [rtabmap.rgbd_odometry]: Odometry: max_update_rate = 0.000000 Hz
[rgbd_odometry-6] [INFO] [1735322948.965906597] [rtabmap.rgbd_odometry]: Odometry: min_update_rate = 0.000000 Hz
[rgbd_odometry-6] [INFO] [1735322948.965924326] [rtabmap.rgbd_odometry]: Odometry: wait_imu_to_init = true
[rgbd_odometry-6] [INFO] [1735322948.965941062] [rtabmap.rgbd_odometry]: Odometry: always_check_imu_tf = true
[rgbd_odometry-6] [INFO] [1735322948.965964774] [rtabmap.rgbd_odometry]: Odometry: sensor_data_compression_format = .jpg
[rgbd_odometry-6] [INFO] [1735322948.965984167] [rtabmap.rgbd_odometry]: Odometry: sensor_data_parallel_compression = true
[rgbd_odometry-6] [INFO] [1735322948.966012968] [rtabmap.rgbd_odometry]: Odometry: stereoParams_=0 visParams_=1 icpParams_=0
[rviz2-1] [INFO] [1735322949.016311384] [rviz2]: Stereo is NOT SUPPORTED
[rtabmap-7] [INFO] [1735322949.050563614] [rtabmap.rtabmap]: rtabmap(maps): latch = true
[rtabmap-7] [INFO] [1735322949.051372624] [rtabmap.rtabmap]: rtabmap(maps): map_filter_radius = 0.000000
[rtabmap-7] [INFO] [1735322949.051438898] [rtabmap.rtabmap]: rtabmap(maps): map_filter_angle = 30.000000
[rtabmap-7] [INFO] [1735322949.051469267] [rtabmap.rtabmap]: rtabmap(maps): map_cleanup = true
[rtabmap-7] [INFO] [1735322949.051490643] [rtabmap.rtabmap]: rtabmap(maps): map_always_update = false
[rtabmap-7] [INFO] [1735322949.051508243] [rtabmap.rtabmap]: rtabmap(maps): map_empty_ray_tracing = true
[rtabmap-7] [INFO] [1735322949.051522228] [rtabmap.rtabmap]: rtabmap(maps): cloud_output_voxelized = true
[rtabmap-7] [INFO] [1735322949.051534132] [rtabmap.rtabmap]: rtabmap(maps): cloud_subtract_filtering = false
[rtabmap-7] [INFO] [1735322949.051545524] [rtabmap.rtabmap]: rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
[rtabmap-7] [INFO] [1735322949.051938461] [rtabmap.rtabmap]: rtabmap(maps): octomap_tree_depth = 16
[rgbd_odometry-6] [INFO] [1735322949.087418751] [rtabmap.rgbd_odometry]: odometry: Subscribing to IMU topic /zed/zed_node/imu/data
[rgbd_odometry-6] [INFO] [1735322949.087524289] [rtabmap.rgbd_odometry]: odometry: qos_imu = 0
[rgbd_odometry-6] [INFO] [1735322949.087549474] [rtabmap.rgbd_odometry]: odometry: imu_queue_size = 200
[rgbd_odometry-6] [INFO] [1735322949.091977670] [rtabmap.rgbd_odometry]: RGBDOdometry: approx_sync = false
[rgbd_odometry-6] [INFO] [1735322949.092129353] [rtabmap.rgbd_odometry]: RGBDOdometry: topic_queue_size = 10
[rgbd_odometry-6] [INFO] [1735322949.092161354] [rtabmap.rgbd_odometry]: RGBDOdometry: sync_queue_size = 10
[rgbd_odometry-6] [INFO] [1735322949.092183659] [rtabmap.rgbd_odometry]: RGBDOdometry: qos = 0
[rgbd_odometry-6] [INFO] [1735322949.092201835] [rtabmap.rgbd_odometry]: RGBDOdometry: qos_camera_info = 0
[rgbd_odometry-6] [INFO] [1735322949.092215083] [rtabmap.rgbd_odometry]: RGBDOdometry: subscribe_rgbd = false
[rgbd_odometry-6] [INFO] [1735322949.092227532] [rtabmap.rgbd_odometry]: RGBDOdometry: rgbd_cameras = 1
[rgbd_odometry-6] [INFO] [1735322949.092239948] [rtabmap.rgbd_odometry]: RGBDOdometry: keep_color = false
[rgbd_odometry-6] [INFO] [1735322949.110555818] [rtabmap.rgbd_odometry]:
[rgbd_odometry-6] rgbd_odometry subscribed to (exact sync, topic_queue_size=10, sync_queue_size=10):
[rgbd_odometry-6] /zed/zed_node/rgb/image_rect_color,
[rgbd_odometry-6] /zed/zed_node/depth/depth_registered,
[rgbd_odometry-6] /zed/zed_node/rgb/camera_info
[rtabmap-7] [INFO] [1735322949.144273956] [rtabmap.rtabmap]: rtabmap: frame_id = zed_camera_link
[rtabmap-7] [INFO] [1735322949.145677443] [rtabmap.rtabmap]: rtabmap: map_frame_id = map
[rtabmap-7] [INFO] [1735322949.145724292] [rtabmap.rtabmap]: rtabmap: log_to_rosout_level = 4
[rtabmap-7] [INFO] [1735322949.145788230] [rtabmap.rtabmap]: rtabmap: initial_pose =
[rtabmap-7] [INFO] [1735322949.145828391] [rtabmap.rtabmap]: rtabmap: use_action_for_goal = false
[rtabmap-7] [INFO] [1735322949.145854055] [rtabmap.rtabmap]: rtabmap: tf_delay = 0.050000
[rtabmap-7] [INFO] [1735322949.145881256] [rtabmap.rtabmap]: rtabmap: tf_tolerance = 0.100000
[rtabmap-7] [INFO] [1735322949.145896328] [rtabmap.rtabmap]: rtabmap: odom_sensor_sync = false
[rtabmap-7] [INFO] [1735322949.145962410] [rtabmap.rtabmap]: rtabmap: pub_loc_pose_only_when_localizing = false
[rtabmap-7] [INFO] [1735322949.145986570] [rtabmap.rtabmap]: rtabmap: wait_for_transform = 0.200000
[rtabmap-7] [INFO] [1735322949.146007339] [rtabmap.rtabmap]: rtabmap: gen_scan = false
[rtabmap-7] [INFO] [1735322949.146021515] [rtabmap.rtabmap]: rtabmap: gen_depth = false
[rtabmap-7] [INFO] [1735322949.235528082] [rtabmap.rtabmap]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="true"
[rtabmap-7] [INFO] [1735322949.236142496] [rtabmap.rtabmap]: Setting RTAB-Map parameter "Mem/InitWMWithAllNodes"="false"
[rtabmap-7] [INFO] [1735322949.278231031] [rtabmap.rtabmap]: RTAB-Map detection rate = 1.000000 Hz
[rtabmap-7] [INFO] [1735322949.280345319] [rtabmap.rtabmap]: rtabmap: Deleted database "/home/user/.ros/rtabmap.db" (--delete_db_on_start or -d are set).
[rtabmap-7] [INFO] [1735322949.280488042] [rtabmap.rtabmap]: rtabmap: Using database from "/home/user/.ros/rtabmap.db" (0 MB).
[rtabmap_viz-8] [INFO] [1735322949.346256888] [rtabmap.rtabmap_viz]: rtabmap_viz: Using configuration from "/home/user/.ros/rtabmapGUI.ini"
[rtabmap-7] [INFO] [1735322949.405568788] [rtabmap.rtabmap]: rtabmap: Database version = "0.21.9".
[rtabmap-7] [INFO] [1735322949.405743512] [rtabmap.rtabmap]: rtabmap: SLAM mode (Mem/IncrementalMemory=true)
[rtabmap-7] [INFO] [1735322949.451498914] [rtabmap.rtabmap]: Setup callbacks
[rtabmap-7] [INFO] [1735322949.452267955] [rtabmap.rtabmap]: rtabmap: subscribe_depth = true
[rtabmap-7] [INFO] [1735322949.452351029] [rtabmap.rtabmap]: rtabmap: subscribe_rgb = true
[rtabmap-7] [INFO] [1735322949.452396630] [rtabmap.rtabmap]: rtabmap: subscribe_stereo = false
[rtabmap-7] [INFO] [1735322949.452440855] [rtabmap.rtabmap]: rtabmap: subscribe_rgbd = false (rgbd_cameras=1)
[rtabmap-7] [INFO] [1735322949.452479192] [rtabmap.rtabmap]: rtabmap: subscribe_sensor_data = false
[rtabmap-7] [INFO] [1735322949.452501721] [rtabmap.rtabmap]: rtabmap: subscribe_odom_info = true
[rtabmap-7] [INFO] [1735322949.452520409] [rtabmap.rtabmap]: rtabmap: subscribe_user_data = false
[rtabmap-7] [INFO] [1735322949.452533209] [rtabmap.rtabmap]: rtabmap: subscribe_scan = false
[rtabmap-7] [INFO] [1735322949.452545178] [rtabmap.rtabmap]: rtabmap: subscribe_scan_cloud = false
[rtabmap-7] [INFO] [1735322949.452560410] [rtabmap.rtabmap]: rtabmap: subscribe_scan_descriptor = false
[rtabmap-7] [INFO] [1735322949.452574330] [rtabmap.rtabmap]: rtabmap: topic_queue_size = 10
[rtabmap-7] [INFO] [1735322949.452590491] [rtabmap.rtabmap]: rtabmap: sync_queue_size = 10
[rtabmap-7] [INFO] [1735322949.452605915] [rtabmap.rtabmap]: rtabmap: qos_image = 0
[rtabmap-7] [INFO] [1735322949.452620251] [rtabmap.rtabmap]: rtabmap: qos_camera_info = 0
[rtabmap-7] [INFO] [1735322949.452634236] [rtabmap.rtabmap]: rtabmap: qos_scan = 0
[rtabmap-7] [INFO] [1735322949.452648252] [rtabmap.rtabmap]: rtabmap: qos_odom = 0
[rtabmap-7] [INFO] [1735322949.452741054] [rtabmap.rtabmap]: rtabmap: qos_user_data = 0
[rtabmap-7] [INFO] [1735322949.452764639] [rtabmap.rtabmap]: rtabmap: approx_sync = false
[rtabmap-7] [INFO] [1735322949.453343980] [rtabmap.rtabmap]: Setup depth callback
[rtabmap-7] [INFO] [1735322949.471074748] [rtabmap.rtabmap]:
[rtabmap-7] rtabmap subscribed to (exact sync):
[rtabmap-7] /rtabmap/odom \
[rtabmap-7] /zed/zed_node/rgb/image_rect_color \
[rtabmap-7] /zed/zed_node/depth/depth_registered \
[rtabmap-7] /zed/zed_node/rgb/camera_info \
[rtabmap-7] /rtabmap/odom_info
[component_container_isolated-5] [2024-12-27 18:09:10 UTC][ZED][INFO] [Init] Camera FW version: 2001
[component_container_isolated-5] [2024-12-27 18:09:10 UTC][ZED][INFO] [Init] Video mode: HD1080@30
[component_container_isolated-5] [2024-12-27 18:09:10 UTC][ZED][INFO] [Init] Serial Number: S/N 50818459
[rtabmap_viz-8] libpng warning: iCCP: known incorrect sRGB profile
[rtabmap_viz-8] libpng warning: iCCP: known incorrect sRGB profile
[rtabmap_viz-8] libpng warning: iCCP: known incorrect sRGB profile
[rtabmap_viz-8] [WARN] [1735322951.432926952] [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-8] [INFO] [1735322951.450892958] [rtabmap.rtabmap_viz]: Reading parameters from the ROS server...
[rtabmap_viz-8] [INFO] [1735322951.550720942] [rtabmap.rtabmap_viz]: Parameters read = 383
[rtabmap_viz-8] [INFO] [1735322951.550857521] [rtabmap.rtabmap_viz]: Parameters successfully read.
[rviz2-1] [INFO] [1735322951.952382883] [rviz2]: Stereo is NOT SUPPORTED
[component_container_isolated-5] [INFO] [1735322951.982029473] [zed.zed_node]: ZED SDK running on GPU #0
[component_container_isolated-5] [INFO] [1735322951.982155331] [zed.zed_node]: * Camera Model -> ZED X Mini
[component_container_isolated-5] [INFO] [1735322951.982177572] [zed.zed_node]: * Serial Number -> 50818459
[component_container_isolated-5] [INFO] [1735322951.982203076] [zed.zed_node]: * Focal Lenght -> 2.20652 mm
[component_container_isolated-5] [INFO] [1735322951.982233765] [zed.zed_node]: * Input -> GMSL
[component_container_isolated-5] [INFO] [1735322951.982257286] [zed.zed_node]: * Camera FW Version -> 2001
[component_container_isolated-5] [INFO] [1735322951.982273350] [zed.zed_node]: * Sensors FW Version -> 1000
[component_container_isolated-5] [INFO] [1735322951.982291206] [zed.zed_node]: * Camera grab frame size -> 1920x1080
[component_container_isolated-5] [INFO] [1735322951.982304679] [zed.zed_node]: * Publishing frame size -> 1920x1080
[component_container_isolated-5] [INFO] [1735322951.982351048] [zed.zed_node]: *** TF FRAMES ***
[component_container_isolated-5] [INFO] [1735322951.982367208] [zed.zed_node]: * Map -> map
[component_container_isolated-5] [INFO] [1735322951.982377640] [zed.zed_node]: * Odometry -> odom
[component_container_isolated-5] [INFO] [1735322951.982387625] [zed.zed_node]: * Base -> zed_camera_link
[component_container_isolated-5] [INFO] [1735322951.982415593] [zed.zed_node]: * Camera -> zed_camera_center
[component_container_isolated-5] [INFO] [1735322951.982427850] [zed.zed_node]: * Left -> zed_left_camera_frame
[component_container_isolated-5] [INFO] [1735322951.982438090] [zed.zed_node]: * Left Optical -> zed_left_camera_optical_frame
[component_container_isolated-5] [INFO] [1735322951.982448234] [zed.zed_node]: * RGB -> zed_left_camera_frame
[component_container_isolated-5] [INFO] [1735322951.982464106] [zed.zed_node]: * RGB Optical -> zed_left_camera_optical_frame
[component_container_isolated-5] [INFO] [1735322951.982474763] [zed.zed_node]: * Right -> zed_right_camera_frame
[component_container_isolated-5] [INFO] [1735322951.982484683] [zed.zed_node]: * Right Optical -> zed_right_camera_optical_frame
[component_container_isolated-5] [INFO] [1735322951.982494475] [zed.zed_node]: * Depth -> zed_left_camera_frame
[component_container_isolated-5] [INFO] [1735322951.982503307] [zed.zed_node]: * Depth Optical -> zed_left_camera_optical_frame
[component_container_isolated-5] [INFO] [1735322951.982512683] [zed.zed_node]: * Point Cloud -> zed_left_camera_optical_frame
[component_container_isolated-5] [INFO] [1735322951.982522636] [zed.zed_node]: * Disparity -> zed_left_camera_frame
[component_container_isolated-5] [INFO] [1735322951.982531948] [zed.zed_node]: * Disparity Optical -> zed_left_camera_optical_frame
[component_container_isolated-5] [INFO] [1735322951.982540908] [zed.zed_node]: * Confidence -> zed_left_camera_frame
[component_container_isolated-5] [INFO] [1735322951.982550764] [zed.zed_node]: * Confidence Optical -> zed_left_camera_optical_frame
[component_container_isolated-5] [INFO] [1735322951.982560365] [zed.zed_node]: * IMU -> zed_imu_link
[component_container_isolated-5] [INFO] [1735322951.982609006] [zed.zed_node]: *** PUBLISHED TOPICS ***
[rviz2-1] [INFO] [1735322952.033465099] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-1] [INFO] [1735322952.098415719] [rviz2]: Stereo is NOT SUPPORTED
[rtabmap_viz-8] [INFO] [1735322952.151669818] [rtabmap.rtabmap_viz]: rtabmap_viz: subscribe_depth = true
[rtabmap_viz-8] [INFO] [1735322952.151828606] [rtabmap.rtabmap_viz]: rtabmap_viz: subscribe_rgb = true
[rtabmap_viz-8] [INFO] [1735322952.151851646] [rtabmap.rtabmap_viz]: rtabmap_viz: subscribe_stereo = false
[rtabmap_viz-8] [INFO] [1735322952.151861950] [rtabmap.rtabmap_viz]: rtabmap_viz: subscribe_rgbd = false (rgbd_cameras=1)
[rtabmap_viz-8] [INFO] [1735322952.151870430] [rtabmap.rtabmap_viz]: rtabmap_viz: subscribe_sensor_data = false
[rtabmap_viz-8] [INFO] [1735322952.151876863] [rtabmap.rtabmap_viz]: rtabmap_viz: subscribe_odom_info = true
[rtabmap_viz-8] [INFO] [1735322952.151882655] [rtabmap.rtabmap_viz]: rtabmap_viz: subscribe_user_data = false
[rtabmap_viz-8] [INFO] [1735322952.151888671] [rtabmap.rtabmap_viz]: rtabmap_viz: subscribe_scan = false
[rtabmap_viz-8] [INFO] [1735322952.151895999] [rtabmap.rtabmap_viz]: rtabmap_viz: subscribe_scan_cloud = false
[rtabmap_viz-8] [INFO] [1735322952.151902111] [rtabmap.rtabmap_viz]: rtabmap_viz: subscribe_scan_descriptor = false
[rtabmap_viz-8] [INFO] [1735322952.151908255] [rtabmap.rtabmap_viz]: rtabmap_viz: topic_queue_size = 10
[rtabmap_viz-8] [INFO] [1735322952.151913919] [rtabmap.rtabmap_viz]: rtabmap_viz: sync_queue_size = 10
[rtabmap_viz-8] [INFO] [1735322952.151919744] [rtabmap.rtabmap_viz]: rtabmap_viz: qos_image = 0
[rtabmap_viz-8] [INFO] [1735322952.152421323] [rtabmap.rtabmap_viz]: rtabmap_viz: qos_camera_info = 0
[rtabmap_viz-8] [INFO] [1735322952.152453004] [rtabmap.rtabmap_viz]: rtabmap_viz: qos_scan = 0
[rtabmap_viz-8] [INFO] [1735322952.152467084] [rtabmap.rtabmap_viz]: rtabmap_viz: qos_odom = 0
[rtabmap_viz-8] [INFO] [1735322952.152474188] [rtabmap.rtabmap_viz]: rtabmap_viz: qos_user_data = 0
[rtabmap_viz-8] [INFO] [1735322952.152479852] [rtabmap.rtabmap_viz]: rtabmap_viz: approx_sync = false
[rtabmap_viz-8] [INFO] [1735322952.152512845] [rtabmap.rtabmap_viz]: Setup depth callback
[component_container_isolated-5] [INFO] [1735322952.227359848] [FFMPEGEncoder]: enc: libx264 prof: preset:
[component_container_isolated-5] [INFO] [1735322952.227431242] [FFMPEGEncoder]: qmax: 0 bitrate: 4194304 gop: 10
[component_container_isolated-5] [INFO] [1735322952.250648375] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb/image_rect_color
[component_container_isolated-5] [INFO] [1735322952.250749657] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb/camera_info
[component_container_isolated-5] [INFO] [1735322952.255593222] [FFMPEGEncoder]: enc: libx264 prof: preset:
[component_container_isolated-5] [INFO] [1735322952.255654536] [FFMPEGEncoder]: qmax: 0 bitrate: 4194304 gop: 10
[component_container_isolated-5] [INFO] [1735322952.260801052] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_gray/image_rect_gray
[component_container_isolated-5] [INFO] [1735322952.260886366] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_gray/camera_info
[component_container_isolated-5] [INFO] [1735322952.265063132] [FFMPEGEncoder]: enc: libx264 prof: preset:
[component_container_isolated-5] [INFO] [1735322952.265119870] [FFMPEGEncoder]: qmax: 0 bitrate: 4194304 gop: 10
[component_container_isolated-5] [INFO] [1735322952.268808113] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_raw/image_raw_color
[component_container_isolated-5] [INFO] [1735322952.268893395] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_raw/camera_info
[rtabmap_viz-8] [INFO] [1735322952.271711379] [rtabmap.rtabmap_viz]:
[rtabmap_viz-8] rtabmap_viz subscribed to (exact sync):
[rtabmap_viz-8] /rtabmap/odom \
[rtabmap_viz-8] /zed/zed_node/rgb/image_rect_color \
[rtabmap_viz-8] /zed/zed_node/depth/depth_registered \
[rtabmap_viz-8] /zed/zed_node/rgb/camera_info \
[rtabmap_viz-8] /rtabmap/odom_info
[component_container_isolated-5] [INFO] [1735322952.273788801] [FFMPEGEncoder]: enc: libx264 prof: preset:
[component_container_isolated-5] [INFO] [1735322952.273846531] [FFMPEGEncoder]: qmax: 0 bitrate: 4194304 gop: 10
[component_container_isolated-5] [INFO] [1735322952.277388915] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_raw_gray/image_raw_gray
[component_container_isolated-5] [INFO] [1735322952.277482069] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_raw_gray/camera_info
[component_container_isolated-5] [INFO] [1735322952.280440312] [FFMPEGEncoder]: enc: libx264 prof: preset:
[component_container_isolated-5] [INFO] [1735322952.280498841] [FFMPEGEncoder]: qmax: 0 bitrate: 4194304 gop: 10
[component_container_isolated-5] [INFO] [1735322952.283195990] [zed.zed_node]: Advertised on topic: /zed/zed_node/left/image_rect_color
[component_container_isolated-5] [INFO] [1735322952.283278168] [zed.zed_node]: Advertised on topic: /zed/zed_node/left/camera_info
[component_container_isolated-5] [INFO] [1735322952.286167545] [FFMPEGEncoder]: enc: libx264 prof: preset:
[component_container_isolated-5] [INFO] [1735322952.286228891] [FFMPEGEncoder]: qmax: 0 bitrate: 4194304 gop: 10
[component_container_isolated-5] [INFO] [1735322952.288961208] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_gray/image_rect_gray
[component_container_isolated-5] [INFO] [1735322952.289043034] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_gray/camera_info
[component_container_isolated-5] [INFO] [1735322952.291870522] [FFMPEGEncoder]: enc: libx264 prof: preset:
[component_container_isolated-5] [INFO] [1735322952.291923131] [FFMPEGEncoder]: qmax: 0 bitrate: 4194304 gop: 10
[component_container_isolated-5] [INFO] [1735322952.295354793] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_raw/image_raw_color
[component_container_isolated-5] [INFO] [1735322952.295596238] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_raw/camera_info
[component_container_isolated-5] [INFO] [1735322952.298465807] [FFMPEGEncoder]: enc: libx264 prof: preset:
[component_container_isolated-5] [INFO] [1735322952.298522032] [FFMPEGEncoder]: qmax: 0 bitrate: 4194304 gop: 10
[component_container_isolated-5] [INFO] [1735322952.301397105] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_raw_gray/image_raw_gray
[component_container_isolated-5] [INFO] [1735322952.301473203] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_raw_gray/camera_info
[component_container_isolated-5] [INFO] [1735322952.304073806] [FFMPEGEncoder]: enc: libx264 prof: preset:
[component_container_isolated-5] [INFO] [1735322952.304128943] [FFMPEGEncoder]: qmax: 0 bitrate: 4194304 gop: 10
[component_container_isolated-5] [INFO] [1735322952.307050481] [zed.zed_node]: Advertised on topic: /zed/zed_node/right/image_rect_color
[component_container_isolated-5] [INFO] [1735322952.307131411] [zed.zed_node]: Advertised on topic: /zed/zed_node/right/camera_info
[component_container_isolated-5] [INFO] [1735322952.311742011] [FFMPEGEncoder]: enc: libx264 prof: preset:
[component_container_isolated-5] [INFO] [1735322952.311800572] [FFMPEGEncoder]: qmax: 0 bitrate: 4194304 gop: 10
[component_container_isolated-5] [INFO] [1735322952.314702750] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_gray/image_rect_gray
[component_container_isolated-5] [INFO] [1735322952.314781504] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_gray/camera_info
[component_container_isolated-5] [INFO] [1735322952.317625216] [FFMPEGEncoder]: enc: libx264 prof: preset:
[component_container_isolated-5] [INFO] [1735322952.317683169] [FFMPEGEncoder]: qmax: 0 bitrate: 4194304 gop: 10
[component_container_isolated-5] [INFO] [1735322952.320728006] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_raw/image_raw_color
[component_container_isolated-5] [INFO] [1735322952.320802792] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_raw/camera_info
[component_container_isolated-5] [INFO] [1735322952.323605223] [FFMPEGEncoder]: enc: libx264 prof: preset:
[component_container_isolated-5] [INFO] [1735322952.323657544] [FFMPEGEncoder]: qmax: 0 bitrate: 4194304 gop: 10
[component_container_isolated-5] [INFO] [1735322952.326686541] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_raw_gray/image_raw_gray
[component_container_isolated-5] [INFO] [1735322952.326761262] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_raw_gray/camera_info
[component_container_isolated-5] [INFO] [1735322952.329719185] [FFMPEGEncoder]: enc: libx264 prof: preset:
[component_container_isolated-5] [INFO] [1735322952.329771891] [FFMPEGEncoder]: qmax: 0 bitrate: 4194304 gop: 10
[rtabmap_viz-8] [INFO] [1735322952.339057060] [rtabmap.rtabmap_viz]: rtabmap_viz started.
[component_container_isolated-5] [INFO] [1735322952.337191386] [zed.zed_node]: Advertised on topic: /zed/zed_node/depth/depth_registered
[component_container_isolated-5] [INFO] [1735322952.337420127] [zed.zed_node]: Advertised on topic: /zed/zed_node/depth/camera_info
[component_container_isolated-5] [INFO] [1735322952.343551882] [zed.zed_node]: Advertised on topic: /zed/zed_node/depth/depth_info
[component_container_isolated-5] [INFO] [1735322952.351206967] [FFMPEGEncoder]: enc: libx264 prof: preset:
[component_container_isolated-5] [INFO] [1735322952.351284569] [FFMPEGEncoder]: qmax: 0 bitrate: 4194304 gop: 10
[component_container_isolated-5] [INFO] [1735322952.354755783] [zed.zed_node]: Advertised on topic: /zed/zed_node/stereo/image_rect_color
[component_container_isolated-5] [INFO] [1735322952.359073897] [FFMPEGEncoder]: enc: libx264 prof: preset:
[component_container_isolated-5] [INFO] [1735322952.359222956] [FFMPEGEncoder]: qmax: 0 bitrate: 4194304 gop: 10
[component_container_isolated-5] [INFO] [1735322952.365179699] [zed.zed_node]: Advertised on topic: /zed/zed_node/stereo_raw/image_raw_color
[component_container_isolated-5] [INFO] [1735322952.366712757] [zed.zed_node]: Advertised on topic: /zed/zed_node/confidence/confidence_map
[component_container_isolated-5] [INFO] [1735322952.370616109] [zed.zed_node]: Advertised on topic: /zed/zed_node/disparity/disparity_image
[component_container_isolated-5] [INFO] [1735322952.400060199] [zed.zed_node]: Advertised on topic: /zed/zed_node/point_cloud/cloud_registered
[component_container_isolated-5] [INFO] [1735322952.402725827] [zed.zed_node]: Advertised on topic: /zed/zed_node/pose
[component_container_isolated-5] [INFO] [1735322952.405644357] [zed.zed_node]: Advertised on topic: /zed/zed_node/pose/status
[component_container_isolated-5] [INFO] [1735322952.408149918] [zed.zed_node]: Advertised on topic: /zed/zed_node/pose_with_covariance
[component_container_isolated-5] [INFO] [1735322952.412411166] [zed.zed_node]: Advertised on topic: /zed/zed_node/odom
[component_container_isolated-5] [INFO] [1735322952.415387873] [zed.zed_node]: Advertised on topic: /zed/zed_node/path_map
[component_container_isolated-5] [INFO] [1735322952.417612275] [zed.zed_node]: Advertised on topic: /zed/zed_node/path_odom
[component_container_isolated-5] [INFO] [1735322952.421869204] [zed.zed_node]: Advertised on topic: /zed/plane_marker
[component_container_isolated-5] [INFO] [1735322952.425337090] [zed.zed_node]: Advertised on topic: /zed/plane
[component_container_isolated-5] [INFO] [1735322952.429961322] [zed.zed_node]: Advertised on topic: /zed/zed_node/imu/data
[component_container_isolated-5] [INFO] [1735322952.433874307] [zed.zed_node]: Advertised on topic: /zed/zed_node/imu/data_raw
[component_container_isolated-5] [INFO] [1735322952.436210232] [zed.zed_node]: Advertised on topic: /zed/zed_node/temperature/imu
[component_container_isolated-5] [INFO] [1735322952.438383337] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_cam_imu_transform
[component_container_isolated-5] [INFO] [1735322952.438492043] [zed.zed_node]: Camera-IMU Translation:
[component_container_isolated-5] 0 -0.034502 -0.004356
[component_container_isolated-5] [INFO] [1735322952.438565773] [zed.zed_node]: Camera-IMU Rotation:
[component_container_isolated-5] FFFF67E7C6A0
[component_container_isolated-5] 0.999992 0.001274 0.003784
[component_container_isolated-5] -0.001298 0.999979 0.006345
[component_container_isolated-5] -0.003775 -0.006350 0.999973
[component_container_isolated-5]
[component_container_isolated-5] [INFO] [1735322952.438598414] [zed.zed_node]: *** Subscribers ***
[component_container_isolated-5] [INFO] [1735322952.441139431] [zed.zed_node]: * Plane detection: '/clicked_point'
[component_container_isolated-5] [INFO] [1735322952.731319076] [zed.zed_node]: *** Starting Positional Tracking ***
[component_container_isolated-5] [INFO] [1735322952.731486248] [zed.zed_node]: * Waiting for valid static transformations...
[component_container_isolated-5] [INFO] [1735322952.731665260] [zed.zed_node]: Static transform ref. CMOS Sensor to Base [zed_left_camera_frame -> zed_camera_link]
[component_container_isolated-5] [INFO] [1735322952.731701997] [zed.zed_node]: * Translation: {0.010,-0.025,-0.016}
[component_container_isolated-5] [INFO] [1735322952.731722733] [zed.zed_node]: * Rotation: {0.000,-0.000,0.000}
[component_container_isolated-5] [INFO] [1735322952.731762894] [zed.zed_node]: Static transform ref. CMOS Sensor to Camera Center [zed_left_camera_frame -> zed_camera_center]
[component_container_isolated-5] [INFO] [1735322952.731781359] [zed.zed_node]: * Translation: {0.010,-0.025,0.000}
[component_container_isolated-5] [INFO] [1735322952.731794511] [zed.zed_node]: * Rotation: {0.000,-0.000,0.000}
[component_container_isolated-5] [INFO] [1735322952.731818544] [zed.zed_node]: Static transform Camera Center to Base [zed_camera_center -> zed_camera_link]
[component_container_isolated-5] [INFO] [1735322952.731833232] [zed.zed_node]: * Translation: {0.000,0.000,-0.016}
[component_container_isolated-5] [INFO] [1735322952.731845520] [zed.zed_node]: * Rotation: {0.000,-0.000,0.000}
[component_container_isolated-5] [INFO] [1735322952.732910600] [zed.zed_node]: Initial ZED left camera pose (ZED pos. tracking):
[component_container_isolated-5] [INFO] [1735322952.732965641] [zed.zed_node]: * T: [-0.01,0.025,0.016]
[component_container_isolated-5] [INFO] [1735322952.732998314] [zed.zed_node]: * Q: [0,0,0,1]
[rgbd_odometry-6] [WARN] [1735322954.119092324] [rtabmap.rgbd_odometry]: rgbd_odometry: Did not receive data since 5 seconds! Make sure the input topics are published ("$ rostopic hz my_topic") and the timestamps in their header are set. Parameter "approx_sync" is false, which means that input topics should have all the exact timestamp for the callback to be called.
[rgbd_odometry-6] rgbd_odometry subscribed to (exact sync, topic_queue_size=10, sync_queue_size=10):
[rgbd_odometry-6] /zed/zed_node/rgb/image_rect_color,
[rgbd_odometry-6] /zed/zed_node/depth/depth_registered,
[rgbd_odometry-6] /zed/zed_node/rgb/camera_info
[rtabmap-7] [WARN] [1735322954.476999932] [rtabmap.rtabmap]: rtabmap: Did not receive data since 5 seconds! Make sure the input topics are published ("$ ros2 topic hz my_topic") and the timestamps in their header are set. If topics are coming from different computers, make sure the clocks of the computers are synchronized ("ntpdate"). Ajusting topic_queue_size (10) and sync_queue_size (10) can also help for better synchronization if framerates and/or delays are different. Parameter "approx_sync" is false, which means that input topics should have all the exact timestamp for the callback to be called.
[rtabmap-7] rtabmap subscribed to (exact sync):
[rtabmap-7] /rtabmap/odom \
[rtabmap-7] /zed/zed_node/rgb/image_rect_color \
[rtabmap-7] /zed/zed_node/depth/depth_registered \
[rtabmap-7] /zed/zed_node/rgb/camera_info \
[rtabmap-7] /rtabmap/odom_info
[component_container_isolated-5] [2024-12-27 18:09:15 UTC][ZED][INFO] [Init] Notice: The streaming is using STREAM version 2, enabled by default starting from SDK version 4.1. To revert to the original stream version, set the environment variable "ZED_SDK_STREAM_VERSION" to 1
[component_container_isolated-5] NvMMLiteOpen : Block : BlockType = 4
[component_container_isolated-5] ===== NvVideo: NVENC =====
[component_container_isolated-5] NvMMLiteBlockCreate : Block : BlockType = 4
[component_container_isolated-5] H264: Profile = 77 Level = 50
[component_container_isolated-5] [INFO] [1735322955.144360932] [zed.zed_node]: Streaming server started
[component_container_isolated-5] NVMEDIA: Need to set EMC bandwidth : 2872000
[component_container_isolated-5] NvVideo: bBlitMode is set to TRUE
[component_container_isolated-5] Opening in BLOCKING MODE
[component_container_isolated-5] [Streaming] Streaming is now running....
[rgbd_odometry-6] [ WARN] (2024-12-27 13:09:15.952) MsgConversion.cpp:2005::getTransform() (getting transform zed_camera_link -> zed_imu_link) Lookup would require extrapolation into the future. Requested time 1735322955.689119 but the latest data is at time 1735322955.459622, when looking up transform from frame [zed_imu_link] to frame [zed_camera_link] (wait_for_transform=0.200000)
[rgbd_odometry-6] [WARN] [1735322955.953009029] [rtabmap.rgbd_odometry]: Dropping imu data! A valid TF between zed_camera_link and zed_imu_link is required to initialize IMU.
[rtabmap_viz-8] [WARN] [1735322957.335668145] [rtabmap.rtabmap_viz]: rtabmap_viz: Did not receive data since 5 seconds! Make sure the input topics are published ("$ ros2 topic hz my_topic") and the timestamps in their header are set. If topics are coming from different computers, make sure the clocks of the computers are synchronized ("ntpdate"). Ajusting topic_queue_size (10) and sync_queue_size (10) can also help for better synchronization if framerates and/or delays are different. Parameter "approx_sync" is false, which means that input topics should have all the exact timestamp for the callback to be called.
[rtabmap_viz-8] rtabmap_viz subscribed to (exact sync):
[rtabmap_viz-8] /rtabmap/odom \
[rtabmap_viz-8] /zed/zed_node/rgb/image_rect_color \
[rtabmap_viz-8] /zed/zed_node/depth/depth_registered \
[rtabmap_viz-8] /zed/zed_node/rgb/camera_info \
[rtabmap_viz-8] /rtabmap/odom_info
[rgbd_odometry-6] [WARN] [1735322959.119128574] [rtabmap.rgbd_odometry]: rgbd_odometry: Did not receive data since 5 seconds! Make sure the input topics are published ("$ rostopic hz my_topic") and the timestamps in their header are set. Parameter "approx_sync" is false, which means that input topics should have all the exact timestamp for the callback to be called.
[rgbd_odometry-6] rgbd_odometry subscribed to (exact sync, topic_queue_size=10, sync_queue_size=10):
[rgbd_odometry-6] /zed/zed_node/rgb/image_rect_color,
[rgbd_odometry-6] /zed/zed_node/depth/depth_registered,
[rgbd_odometry-6] /zed/zed_node/rgb/camera_info
[rtabmap-7] [WARN] [1735322959.476990164] [rtabmap.rtabmap]: rtabmap: Did not receive data since 5 seconds! Make sure the input topics are published ("$ ros2 topic hz my_topic") and the timestamps in their header are set. If topics are coming from different computers, make sure the clocks of the computers are synchronized ("ntpdate"). Ajusting topic_queue_size (10) and sync_queue_size (10) can also help for better synchronization if framerates and/or delays are different. Parameter "approx_sync" is false, which means that input topics should have all the exact timestamp for the callback to be called.
[rtabmap-7] rtabmap subscribed to (exact sync):
[rtabmap-7] /rtabmap/odom \
[rtabmap-7] /zed/zed_node/rgb/image_rect_color \
[rtabmap-7] /zed/zed_node/depth/depth_registered \
[rtabmap-7] /zed/zed_node/rgb/camera_info \
[rtabmap-7] /rtabmap/odom_info
[rgbd_odometry-6] [WARN] [1735322962.273369610] [rtabmap.rgbd_odometry]: Dropping imu data!
[rgbd_odometry-6] [WARN] [1735322962.284300033] [rtabmap.rgbd_odometry]: Dropping imu data!
[rgbd_odometry-6] [WARN] [1735322962.289005708] [rtabmap.rgbd_odometry]: Dropping imu data!
[rgbd_odometry-6] [WARN] [1735322962.299270932] [rtabmap.rgbd_odometry]: Dropping imu data!
[rgbd_odometry-6] [WARN] [1735322962.308487620] [rtabmap.rgbd_odometry]: Dropping imu data!
[rgbd_odometry-6] [WARN] [1735322962.316880834] [rtabmap.rgbd_odometry]: Dropping imu data!
[rgbd_odometry-6] [WARN] [1735322962.328363269] [rtabmap.rgbd_odometry]: Dropping imu data!
[rgbd_odometry-6] [WARN] [1735322962.332492866] [rtabmap.rgbd_odometry]: Dropping imu data!
[rtabmap_viz-8] [WARN] [1735322962.335717419] [rtabmap.rtabmap_viz]: rtabmap_viz: Did not receive data since 5 seconds! Make sure the input topics are published ("$ ros2 topic hz my_topic") and the timestamps in their header are set. If topics are coming from different computers, make sure the clocks of the computers are synchronized ("ntpdate"). Ajusting topic_queue_size (10) and sync_queue_size (10) can also help for better synchronization if framerates and/or delays are different. Parameter "app
I feel like there is a gap in my understanding as far as what needs to be running in order to get RTAB-Map configured properly with my ZED X Mini but I cannot figure out what is missing. All I am doing is calling on these two launch files and passing in the args. Is there other setup necessary in order to get this working properly? Thank you |
Administrator
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Did you also try this ROS2 example: https://github.com/introlab/rtabmap_ros/blob/ros2/rtabmap_examples/launch/zed.launch.py
Otherwise, it seems rgbd_odometry is not receiving these topics, you may do a ros2 topic hz on each of them to make sure they are published. /zed/zed_node/rgb/image_rect_color, /zed/zed_node/depth/depth_registered /zed/zed_node/rgb/camera_info |
Re: Getting RTAB-Map running using ros2 & ZEDX Mini
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Yes I have tried that example with the same results. When I ros2 topic hz these are the results
ros2 topic hz /zed/zed_node/rgb/image_rect_color WARNING: topic [/zed/zed_node/rgb/image_rect_color] does not appear to be published yet average rate: 4.128 min: 0.157s max: 0.447s std dev: 0.11117s window: 6 average rate: 3.425 min: 0.157s max: 0.633s std dev: 0.15698s window: 9 average rate: 3.309 min: 0.157s max: 0.633s std dev: 0.13166s window: 13 average rate: 3.320 min: 0.157s max: 0.680s std dev: 0.15730s window: 17 average rate: 3.425 min: 0.157s max: 0.680s std dev: 0.15553s window: 21 average rate: 3.560 min: 0.157s max: 0.680s std dev: 0.14646s window: 26 average rate: 3.785 min: 0.157s max: 0.680s std dev: 0.13900s window: 32 ros2 topic hz /zed/zed_node/depth/depth_registered WARNING: topic [/zed/zed_node/depth/depth_registered] does not appear to be published yet average rate: 1.061 min: 0.513s max: 1.371s std dev: 0.42861s window: 2 average rate: 2.054 min: 0.164s max: 1.371s std dev: 0.42469s window: 6 average rate: 2.776 min: 0.164s max: 1.371s std dev: 0.34562s window: 11 average rate: 2.910 min: 0.164s max: 1.371s std dev: 0.29994s window: 15 average rate: 3.154 min: 0.160s max: 1.371s std dev: 0.26687s window: 20 ros2 topic hz /zed/zed_node/rgb/camera_info average rate: 6.197 min: 0.154s max: 0.167s std dev: 0.00427s window: 8 average rate: 6.089 min: 0.154s max: 0.177s std dev: 0.00631s window: 14 average rate: 6.062 min: 0.154s max: 0.178s std dev: 0.00677s window: 21 average rate: 6.022 min: 0.154s max: 0.184s std dev: 0.00699s window: 27 average rate: 6.043 min: 0.154s max: 0.184s std dev: 0.00684s window: 34 average rate: 5.985 min: 0.154s max: 0.184s std dev: 0.00803s window: 40 does this mean that the topics are not published? When I ros2 topic list I see all of these zed topics /zed/joint_states /zed/plane /zed/plane_marker /zed/robot_description /zed/zed_node/confidence/confidence_map /zed/zed_node/depth/camera_info /zed/zed_node/depth/depth_info /zed/zed_node/depth/depth_registered /zed/zed_node/depth/depth_registered/compressed /zed/zed_node/depth/depth_registered/compressedDepth /zed/zed_node/depth/depth_registered/ffmpeg /zed/zed_node/depth/depth_registered/theora /zed/zed_node/disparity/disparity_image /zed/zed_node/imu/data /zed/zed_node/imu/data_raw /zed/zed_node/left/camera_info /zed/zed_node/left/image_rect_color /zed/zed_node/left/image_rect_color/compressed /zed/zed_node/left/image_rect_color/compressedDepth /zed/zed_node/left/image_rect_color/ffmpeg /zed/zed_node/left/image_rect_color/theora /zed/zed_node/left_cam_imu_transform /zed/zed_node/left_gray/camera_info /zed/zed_node/left_gray/image_rect_gray /zed/zed_node/left_gray/image_rect_gray/compressed /zed/zed_node/left_gray/image_rect_gray/compressedDepth /zed/zed_node/left_gray/image_rect_gray/ffmpeg /zed/zed_node/left_gray/image_rect_gray/theora /zed/zed_node/left_raw/camera_info /zed/zed_node/left_raw/image_raw_color /zed/zed_node/left_raw/image_raw_color/compressed /zed/zed_node/left_raw/image_raw_color/compressedDepth /zed/zed_node/left_raw/image_raw_color/ffmpeg /zed/zed_node/left_raw/image_raw_color/theora /zed/zed_node/left_raw_gray/camera_info /zed/zed_node/left_raw_gray/image_raw_gray /zed/zed_node/left_raw_gray/image_raw_gray/compressed /zed/zed_node/left_raw_gray/image_raw_gray/compressedDepth /zed/zed_node/left_raw_gray/image_raw_gray/ffmpeg /zed/zed_node/left_raw_gray/image_raw_gray/theora /zed/zed_node/odom /zed/zed_node/path_map /zed/zed_node/path_odom /zed/zed_node/point_cloud/cloud_registered /zed/zed_node/point_cloud/cloud_registered/draco /zed/zed_node/point_cloud/cloud_registered/zlib /zed/zed_node/point_cloud/cloud_registered/zstd /zed/zed_node/pose /zed/zed_node/pose/status /zed/zed_node/pose_with_covariance /zed/zed_node/rgb/camera_info /zed/zed_node/rgb/image_rect_color /zed/zed_node/rgb/image_rect_color/compressed /zed/zed_node/rgb/image_rect_color/compressedDepth /zed/zed_node/rgb/image_rect_color/ffmpeg /zed/zed_node/rgb/image_rect_color/theora /zed/zed_node/rgb_gray/camera_info /zed/zed_node/rgb_gray/image_rect_gray /zed/zed_node/rgb_gray/image_rect_gray/compressed /zed/zed_node/rgb_gray/image_rect_gray/compressedDepth /zed/zed_node/rgb_gray/image_rect_gray/ffmpeg /zed/zed_node/rgb_gray/image_rect_gray/theora /zed/zed_node/rgb_raw/camera_info /zed/zed_node/rgb_raw/image_raw_color /zed/zed_node/rgb_raw/image_raw_color/compressed /zed/zed_node/rgb_raw/image_raw_color/compressedDepth /zed/zed_node/rgb_raw/image_raw_color/ffmpeg /zed/zed_node/rgb_raw/image_raw_color/theora /zed/zed_node/rgb_raw_gray/camera_info /zed/zed_node/rgb_raw_gray/image_raw_gray /zed/zed_node/rgb_raw_gray/image_raw_gray/compressed /zed/zed_node/rgb_raw_gray/image_raw_gray/compressedDepth /zed/zed_node/rgb_raw_gray/image_raw_gray/ffmpeg /zed/zed_node/rgb_raw_gray/image_raw_gray/theora /zed/zed_node/right/camera_info /zed/zed_node/right/image_rect_color /zed/zed_node/right/image_rect_color/compressed /zed/zed_node/right/image_rect_color/compressedDepth /zed/zed_node/right/image_rect_color/ffmpeg /zed/zed_node/right/image_rect_color/theora /zed/zed_node/right_gray/camera_info /zed/zed_node/right_gray/image_rect_gray /zed/zed_node/right_gray/image_rect_gray/compressed /zed/zed_node/right_gray/image_rect_gray/compressedDepth /zed/zed_node/right_gray/image_rect_gray/ffmpeg /zed/zed_node/right_gray/image_rect_gray/theora /zed/zed_node/right_raw/camera_info /zed/zed_node/right_raw/image_raw_color /zed/zed_node/right_raw/image_raw_color/compressed /zed/zed_node/right_raw/image_raw_color/compressedDepth /zed/zed_node/right_raw/image_raw_color/ffmpeg /zed/zed_node/right_raw/image_raw_color/theora /zed/zed_node/right_raw_gray/camera_info /zed/zed_node/right_raw_gray/image_raw_gray /zed/zed_node/right_raw_gray/image_raw_gray/compressed /zed/zed_node/right_raw_gray/image_raw_gray/compressedDepth /zed/zed_node/right_raw_gray/image_raw_gray/ffmpeg /zed/zed_node/right_raw_gray/image_raw_gray/theora /zed/zed_node/stereo/image_rect_color /zed/zed_node/stereo/image_rect_color/compressed /zed/zed_node/stereo/image_rect_color/compressedDepth /zed/zed_node/stereo/image_rect_color/ffmpeg /zed/zed_node/stereo/image_rect_color/theora /zed/zed_node/stereo_raw/image_raw_color /zed/zed_node/stereo_raw/image_raw_color/compressed /zed/zed_node/stereo_raw/image_raw_color/compressedDepth /zed/zed_node/stereo_raw/image_raw_color/ffmpeg /zed/zed_node/stereo_raw/image_raw_color/theora /zed/zed_node/temperature/imu |
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You are using exact synchronization (approx_sync: false) and camera topic frame rates is pretty low and not the same. With exact sync, all camera topics should have exactly the same stamp. You could try to debug if all topics are provided with exact same stamp, in 3 different terminals you can do:
ros2 topic echo /zed/zed_node/rgb/image_rect_color --field header ros2 topic echo /zed/zed_node/depth/depth_registered --field header ros2 topic echo /zed/zed_node/rgb/camera_info --field header Then check if you see topics with same stamp for all three. Another note is that you cannot use rgbd_odometry with images at 2-3 Hz. I suggest to decrease the resolution of the zed camera driver to publish smaller images, that could increase the frame rate. With low computation power, you may also want to use ZED's computed odometry directly instead of recomputing one. See this example with `use_zed_odometry:=true`. |
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