Zed node suddenly dies without explanation

[adrigmz00]

Preliminary Checks

• This issue is not a duplicate. Before opening a new issue, please search existing issues.
• This issue is not a question, feature request, or anything other than a bug report directly related to this project.

Description

Hi,

I have deployed a simple dockerized version of a zed node using the zed-ros2-wrapper for ros2 humble. The docker is being deployed in a Nvidia Jetson Orin with:

• L4T 36.4.4
• Cuda 12.6
• ZED SDK 5.2.0
• Last version of zed-ros2-wrapper. This commit: 4540840

After building the image and launching it, the node launches correctly and works. However, after a few minutes (or even hours), the node suddenly dies.

Steps to Reproduce

1. Use this dockerfile to build the image

FROM dustynv/ros:humble-desktop-l4t-r36.4.0

ARG ZED_SDK_MAJOR=5
ARG ZED_SDK_MINOR=2
ARG ZED_SDK_PATCH=0
ARG L4T_MAJOR=36
ARG L4T_MINOR=4
# Optional: Override ZED SDK URL
ARG CUSTOM_ZED_SDK_URL=""

# ROS2 distribution
ARG ROS2_DIST=humble

# ZED ROS2 Wrapper dependencies version
ARG XACRO_VERSION=2.0.8
ARG DIAGNOSTICS_VERSION=4.0.0
ARG AMENT_LINT_VERSION=0.12.11
ARG ROBOT_LOCALIZATION_VERSION=3.5.3
ARG ZED_MSGS_VERSION=5.1.1
ARG NMEA_MSGS_VERSION=2.0.0
ARG ANGLES_VERSION=1.15.0
ARG GEOGRAPHIC_INFO_VERSION=1.0.6
ARG POINTCLOUD_TRANSPORT_VERSION=1.0.18
ARG POINTCLOUD_TRANSPORT_PLUGINS_VERSION=1.0.11
ARG RMW_CYCLONEDDS_VERSION=1.3.4
ARG BACKWARD_ROS_VERSION=1.0.7
ENV PYPI_URL=https://pypi.jetson-ai-lab.io/jp6/cu126


ENV DEBIAN_FRONTEND=noninteractive

WORKDIR /

# Disable apt-get warnings
RUN curl -fsSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
   apt-get update || true && apt-get install -y --no-install-recommends apt-utils dialog && \
   rm -rf /var/lib/apt/lists/*

ENV TZ=Europe/Paris

RUN ln -snf /usr/share/zoneinfo/$TZ /etc/localtime && echo $TZ > /etc/timezone && \ 
  apt-get update && \
  apt-get install --yes lsb-release wget less udev sudo build-essential cmake python3 python3-dev python3-pip python3-wheel git jq libpq-dev zstd usbutils && \    
  rm -rf /var/lib/apt/lists/*

RUN echo "# R${L4T_MAJOR} (release), REVISION: ${L4T_MINOR}" > /etc/nv_tegra_release && \
  apt-get update -y || true && \
  apt-get install -y --no-install-recommends zstd wget less cmake curl gnupg2 \
  build-essential python3 python3-pip python3-dev python3-setuptools libusb-1.0-0-dev \ 
  libgeographic-dev libdraco-dev zlib1g-dev -y && \
  export PIP_INDEX_URL="${PYPI_URL}" && \
  pip install protobuf 

#### INSTALL SDK ######################################################
RUN mkdir -p /sdk
COPY /sdk /sdk
WORKDIR /sdk
RUN chmod +x ZED_SDK_Tegra_L4T36.4_v5.2.0.zstd.run
RUN ./ZED_SDK_Tegra_L4T36.4_v5.2.0.zstd.run silent skip_tools
RUN rm -rf /usr/local/zed/resources/* && \
  rm -rf /var/lib/apt/lists/*
#######################################################################

####### ROS2 ENVIRONMENT VARIABLES CONFIG #############################
RUN echo "source /opt/ros/humble/install/setup.bash" >> ~/.bashrc
######################################################################

# Copy the sources in the Docker image
WORKDIR /home/ros2_ws/src
COPY src/ ./

# Install missing dependencies from the sources
WORKDIR /home/ros2_ws/src
RUN wget https://github.com/stereolabs/zed-ros2-interfaces/archive/refs/tags/${ZED_MSGS_VERSION}.tar.gz -O - | tar -xvz && \
    mv zed-ros2-interfaces-${ZED_MSGS_VERSION} zed-ros2-interfaces
RUN wget https://github.com/ros/xacro/archive/refs/tags/${XACRO_VERSION}.tar.gz -O - | tar -xvz && mv xacro-${XACRO_VERSION} xacro && \
    wget https://github.com/ros/diagnostics/archive/refs/tags/${DIAGNOSTICS_VERSION}.tar.gz -O - | tar -xvz && mv diagnostics-${DIAGNOSTICS_VERSION} diagnostics && \
    wget https://github.com/ament/ament_lint/archive/refs/tags/${AMENT_LINT_VERSION}.tar.gz -O - | tar -xvz && mv ament_lint-${AMENT_LINT_VERSION} ament-lint && \
    wget https://github.com/cra-ros-pkg/robot_localization/archive/refs/tags/${ROBOT_LOCALIZATION_VERSION}.tar.gz -O - | tar -xvz && mv robot_localization-${ROBOT_LOCALIZATION_VERSION} robot-localization && \
    wget https://github.com/ros-drivers/nmea_msgs/archive/refs/tags/${NMEA_MSGS_VERSION}.tar.gz -O - | tar -xvz && mv nmea_msgs-${NMEA_MSGS_VERSION} nmea_msgs && \
    wget https://github.com/ros/angles/archive/refs/tags/${ANGLES_VERSION}.tar.gz -O - | tar -xvz && mv angles-${ANGLES_VERSION} angles && \
    #wget https://github.com/ros-perception/point_cloud_transport/archive/refs/tags/${POINTCLOUD_TRANSPORT_VERSION}.tar.gz -O - | tar -xvz && mv point_cloud_transport-${POINTCLOUD_TRANSPORT_VERSION} point_cloud_transport && \
    #wget https://github.com/ros-perception/point_cloud_transport_plugins/archive/refs/tags/${POINTCLOUD_TRANSPORT_PLUGINS_VERSION}.tar.gz -O - | tar -xvz && mv point_cloud_transport_plugins-${POINTCLOUD_TRANSPORT_PLUGINS_VERSION} point_cloud_transport_plugins && \
    wget https://github.com/ros2/rmw_cyclonedds/archive/refs/tags/${RMW_CYCLONEDDS_VERSION}.tar.gz -O - | tar -xvz && mv rmw_cyclonedds-${RMW_CYCLONEDDS_VERSION} rmw_cyclonedds && \
    wget https://github.com/ros-geographic-info/geographic_info/archive/refs/tags/${GEOGRAPHIC_INFO_VERSION}.tar.gz -O - | tar -xvz && mv geographic_info-${GEOGRAPHIC_INFO_VERSION} geographic-info && \
    wget https://github.com/pal-robotics/backward_ros/archive/refs/tags/${BACKWARD_ROS_VERSION}.tar.gz -O - | tar -xvz && mv backward_ros-${BACKWARD_ROS_VERSION} backward_ros && \
    cp -r geographic-info/geographic_msgs/ . && \
    rm -rf geographic-info


# Install cython
RUN python3 -m pip install --upgrade cython

#### CYCLONEDDS CONFIGURATION #########################################
ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
ENV ROS_LOCALHOST_ONLY=0
ENV CYCLONEDDS_URI=file:///root/tests/cyclonedds_profile.xml
ENV ROS_DOMAIN_ID=0
#######################################################################

# Build the dependencies and the ZED ROS2 Wrapper
WORKDIR /home/ros2_ws
    
RUN /bin/bash -c "source /opt/ros/$ROS_DISTRO/install/setup.bash && \
  colcon build --parallel-workers $(nproc) --symlink-install \
  --event-handlers console_direct+ --base-paths src \
  --cmake-args ' -DCMAKE_BUILD_TYPE=Release' \
  ' -DCMAKE_LIBRARY_PATH=/usr/local/cuda/lib64/stubs' \
  ' -DCMAKE_CXX_FLAGS="-Wl,--allow-shlib-undefined"' \
  ' --no-warn-unused-cli' "

RUN echo "source /home/ros2_ws/install/setup.bash" >> ~/.bashrc

WORKDIR /

COPY docker/entrypoint.sh /entrypoint.sh
RUN chmod +x /entrypoint.sh

WORKDIR /home/ros2_ws

ENTRYPOINT ["bash", "/entrypoint.sh"]
#ENTRYPOINT ["tail", "-f", "/dev/null"]
######################################################################

2. Be sure to specify this entrypoint.sh

#!/bin/bash
set -e

# setup ros environment
source "/opt/ros/humble/install/setup.bash" --
source "/home/ros2_ws/install/setup.bash" --

####### LIST INITIAL DEPENDENCIES ####################################
apt list --installed > /root/apt-dependencies.txt # apt dependencies
pip list > /root/pip-dependencies.txt             # pip dependencies
ros2 pkg list > /root/ros2-dependencies.txt       # ROS2 dependencies
###################################################################### 

# Keep the container alive
ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zed2i
#tail -f /dev/null 
exit $?

3. Run the container with the following docker compose file:

services:
  zed:
    image: zed:0.0.0
    container_name: zed
    restart: always
    privileged: true
    runtime: nvidia
    ipc: host
    pid: host
    environment:
      - NVIDIA_DRIVER_CAPABILITIES=all
    volumes:
      - /home/gmv/cycloneDDS:/root/tests  # Copied CycloneDDS configuration file from the host
      - /tmp:/tmp
      - /dev:/dev
      - /dev/shm:/dev/shm
      - /var/nvidia/nvcam/settings:/var/nvidia/nvcam/settings
      - /etc/systemd/system/zed_x_daemon.service:/etc/systemd/system/zed_x_daemon.service
      - /usr/local/zed/resources/:/usr/local/zed/resources/
      - /usr/local/zed/settings/:/usr/local/zed/settings/
    network_mode: host  
    logging:
     driver: "json-file"
     options:
      max-size: "50M"
      max-file: "1"   

4. Observe the logs and wait.

Expected Result

The node works without interrumption correctly.

Actual Result

When the node is launched, the logs printed are these:

[INFO] [launch]: All log files can be found below /root/.ros/log/2026-02-12-11-15-10-035520-ubuntu-1272091
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [launch.user]: Using common configuration file: /home/ros2_ws/install/zed_wrapper/share/zed_wrapper/config/common_stereo.yaml
[INFO] [launch.user]: Using camera configuration file: /home/ros2_ws/install/zed_wrapper/share/zed_wrapper/config/zed2i.yaml
[INFO] [launch.user]: Using Object Detection configuration file: /home/ros2_ws/install/zed_wrapper/share/zed_wrapper/config/object_detection.yaml
[INFO] [launch.user]: Using Custom Object Detection configuration file: /home/ros2_ws/install/zed_wrapper/share/zed_wrapper/config/custom_object_detection.yaml
[INFO] [launch.user]: Loading ZED node `zed_node` in container `/zed/zed_container`
[INFO] [robot_state_publisher-1]: process started with pid [1272240]
[INFO] [component_container_isolated-2]: process started with pid [1272242]
[robot_state_publisher-1] [INFO] [1770891310.821403539] [zed.zed_state_publisher]: got segment zed_camera_center
[robot_state_publisher-1] [INFO] [1770891310.821532941] [zed.zed_state_publisher]: got segment zed_camera_link
[robot_state_publisher-1] [INFO] [1770891310.821549805] [zed.zed_state_publisher]: got segment zed_left_camera_frame
[robot_state_publisher-1] [INFO] [1770891310.821559212] [zed.zed_state_publisher]: got segment zed_left_camera_frame_optical
[robot_state_publisher-1] [INFO] [1770891310.821568108] [zed.zed_state_publisher]: got segment zed_right_camera_frame
[robot_state_publisher-1] [INFO] [1770891310.821575020] [zed.zed_state_publisher]: got segment zed_right_camera_frame_optical
[component_container_isolated-2] [INFO] [1770891311.060831387] [zed.zed_container]: Load Library: /home/ros2_ws/install/zed_components/lib/libzed_camera_component.so
[component_container_isolated-2] [INFO] [1770891311.116169890] [zed.zed_container]: Found class: rclcpp_components::NodeFactoryTemplate<stereolabs::ZedCamera>
[component_container_isolated-2] [INFO] [1770891311.116277533] [zed.zed_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<stereolabs::ZedCamera>
[component_container_isolated-2] [INFO] [1770891311.175257523] [zed.zed_node]: ================================
[component_container_isolated-2] [INFO] [1770891311.175324944] [zed.zed_node]:       ZED Camera Component 
[component_container_isolated-2] [INFO] [1770891311.175337552] [zed.zed_node]: ================================
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/zed/zed_node' in container '/zed/zed_container'
[component_container_isolated-2] [INFO] [1770891311.175344847] [zed.zed_node]:  * IPC: enabled
[component_container_isolated-2] [INFO] [1770891311.225588960] [zed.zed_node]:  * namespace: /zed
[component_container_isolated-2] [INFO] [1770891311.225700124] [zed.zed_node]:  * node name: zed_node
[component_container_isolated-2] [INFO] [1770891311.225714139] [zed.zed_node]: ================================
[component_container_isolated-2] [INFO] [1770891311.225722715] [zed.zed_node]: Starting node initialization...
[component_container_isolated-2] [INFO] [1770891311.225768697] [zed.zed_node]: === DEBUG parameters ===
[component_container_isolated-2] [INFO] [1770891311.226057742] [zed.zed_node]:  * SDK Verbose: 1
[component_container_isolated-2] [INFO] [1770891311.226197544] [zed.zed_node]:  * Use Pub Timestamps: FALSE
[component_container_isolated-2] [INFO] [1770891311.226288293] [zed.zed_node]:  * SDK Verbose File: 
[component_container_isolated-2] [INFO] [1770891311.226357730] [zed.zed_node]:  * Debug Common: FALSE
[component_container_isolated-2] [INFO] [1770891311.226428479] [zed.zed_node]:  * Debug Grab (low level): FALSE
[component_container_isolated-2] [INFO] [1770891311.226492892] [zed.zed_node]:  * Debug Simulation: FALSE
[component_container_isolated-2] [INFO] [1770891311.226558842] [zed.zed_node]:  * Debug Video/Depth: FALSE
[component_container_isolated-2] [INFO] [1770891311.226624023] [zed.zed_node]:  * Debug Control settings: FALSE
[component_container_isolated-2] [INFO] [1770891311.226688885] [zed.zed_node]:  * Debug Point Cloud: FALSE
[component_container_isolated-2] [INFO] [1770891311.226756146] [zed.zed_node]:  * Debug TF: FALSE
[component_container_isolated-2] [INFO] [1770891311.226820079] [zed.zed_node]:  * Debug Positional Tracking: FALSE
[component_container_isolated-2] [INFO] [1770891311.226889517] [zed.zed_node]:  * Debug GNSS: FALSE
[component_container_isolated-2] [INFO] [1770891311.226954826] [zed.zed_node]:  * Debug sensors: FALSE
[component_container_isolated-2] [INFO] [1770891311.227020999] [zed.zed_node]:  * Debug Mapping: FALSE
[component_container_isolated-2] [INFO] [1770891311.227079909] [zed.zed_node]:  * Debug Object Detection: FALSE
[component_container_isolated-2] [INFO] [1770891311.227146082] [zed.zed_node]:  * Debug Body Tracking: FALSE
[component_container_isolated-2] [INFO] [1770891311.227214816] [zed.zed_node]:  * Debug Streaming: FALSE
[component_container_isolated-2] [INFO] [1770891311.227285181] [zed.zed_node]:  * Debug ROI: FALSE
[component_container_isolated-2] [INFO] [1770891311.227354490] [zed.zed_node]:  * Debug Nitros: FALSE
[component_container_isolated-2] [INFO] [1770891311.227422871] [zed.zed_node]:  * Debug Advanced: FALSE
[component_container_isolated-2] [INFO] [1770891311.227458966] [zed.zed_node]: === TOPIC selection parameters ===
[component_container_isolated-2] [INFO] [1770891311.227520628] [zed.zed_node]:  * Publish Status: TRUE
[component_container_isolated-2] [INFO] [1770891311.227584913] [zed.zed_node]:  * Image format: BGRA 32-bit
[component_container_isolated-2] [INFO] [1770891311.227657870] [zed.zed_node]:  * Publish Left/Right images: TRUE
[component_container_isolated-2] [INFO] [1770891311.227726891] [zed.zed_node]:  * Publish Raw images: FALSE
[component_container_isolated-2] [INFO] [1770891311.227788105] [zed.zed_node]:  * Publish Gray images: FALSE
[component_container_isolated-2] [INFO] [1770891311.227856518] [zed.zed_node]:  * Publish RGB image: TRUE
[component_container_isolated-2] [INFO] [1770891311.227924387] [zed.zed_node]:  * Publish Stereo image: TRUE
[component_container_isolated-2] [INFO] [1770891311.227991969] [zed.zed_node]:  * Publish ROI Mask image: FALSE
[component_container_isolated-2] [INFO] [1770891311.228065374] [zed.zed_node]:  * Publish Depth Map: TRUE
[component_container_isolated-2] [INFO] [1770891311.228128667] [zed.zed_node]:  * Publish Depth Info: FALSE
[component_container_isolated-2] [INFO] [1770891311.228197945] [zed.zed_node]:  * Publish Point Cloud: TRUE
[component_container_isolated-2] [INFO] [1770891311.228261238] [zed.zed_node]:  * Publish Depth Confidence: FALSE
[component_container_isolated-2] [INFO] [1770891311.228326195] [zed.zed_node]:  * Publish Disparity: FALSE
[component_container_isolated-2] [INFO] [1770891311.228390321] [zed.zed_node]:  * Publish IMU: TRUE
[component_container_isolated-2] [INFO] [1770891311.228452046] [zed.zed_node]:  * Publish IMU Raw: FALSE
[component_container_isolated-2] [INFO] [1770891311.228519980] [zed.zed_node]:  * Publish LeftCam/IMU Transf.: FALSE
[component_container_isolated-2] [INFO] [1770891311.228582953] [zed.zed_node]:  * Publish Magnetometer: FALSE
[component_container_isolated-2] [INFO] [1770891311.228644903] [zed.zed_node]:  * Publish Barometer: FALSE
[component_container_isolated-2] [INFO] [1770891311.228707716] [zed.zed_node]:  * Publish Temperature: FALSE
[component_container_isolated-2] [INFO] [1770891311.228775874] [zed.zed_node]:  * Publish Odometry/Pose: TRUE
[component_container_isolated-2] [INFO] [1770891311.228839583] [zed.zed_node]:  * Publish Pose with Covariance: FALSE
[component_container_isolated-2] [INFO] [1770891311.228971610] [zed.zed_node]:  * Publish Camera Path: FALSE
[component_container_isolated-2] [INFO] [1770891311.229036631] [zed.zed_node]:  * Publish Detection Plane: FALSE
[component_container_isolated-2] [INFO] [1770891311.229114868] [zed.zed_node]: === SVO INPUT parameters ===
[component_container_isolated-2] [INFO] [1770891311.229184177] [zed.zed_node]: === LOCAL STREAMING parameters ===
[component_container_isolated-2] [INFO] [1770891311.229249935] [zed.zed_node]: === GENERAL parameters ===
[component_container_isolated-2] [INFO] [1770891311.229385993] [zed.zed_node]:  * Camera model: zed2i - ZED 2i
[component_container_isolated-2] [INFO] [1770891311.229512132] [zed.zed_node]:  * Camera name: zed
[component_container_isolated-2] [INFO] [1770891311.229588737] [zed.zed_node]:  * Camera SN: 0
[component_container_isolated-2] [INFO] [1770891311.229664158] [zed.zed_node]:  * Camera ID: -1
[component_container_isolated-2] [INFO] [1770891311.229731740] [zed.zed_node]:  * Camera timeout [sec]: 5
[component_container_isolated-2] [INFO] [1770891311.229803385] [zed.zed_node]:  * Camera reconnection temptatives: 5
[component_container_isolated-2] [INFO] [1770891311.229874006] [zed.zed_node]:  * Camera framerate: 15
[component_container_isolated-2] [INFO] [1770891311.229947507] [zed.zed_node]:  * GPU ID: -1
[component_container_isolated-2] [INFO] [1770891311.230011952] [zed.zed_node]:  * Asynchronous image retrieval: FALSE
[component_container_isolated-2] [INFO] [1770891311.230088077] [zed.zed_node]:  * Image Validity Check: 1
[component_container_isolated-2] [INFO] [1770891311.230187465] [zed.zed_node]:  * Camera resolution: HD1080
[component_container_isolated-2] [INFO] [1770891311.230264902] [zed.zed_node]:  * Publishing resolution: CUSTOM
[component_container_isolated-2] [INFO] [1770891311.230377410] [zed.zed_node]:  * Publishing downscale factor: 2
[component_container_isolated-2] [INFO] [1770891311.230454623] [zed.zed_node]:  * OpenCV custom calibration: 
[component_container_isolated-2] [INFO] [1770891311.230524828] [zed.zed_node]:  * Camera self calibration: TRUE
[component_container_isolated-2] [INFO] [1770891311.230602585] [zed.zed_node]:  * Camera flip: FALSE
[component_container_isolated-2] [INFO] [1770891311.230678902] [zed.zed_node]:  * Publish framerate [Hz]:  15
[component_container_isolated-2] [INFO] [1770891311.230715316] [zed.zed_node]: === VIDEO parameters ===
[component_container_isolated-2] [INFO] [1770891311.230796401] [zed.zed_node]:  * Brightness: 4 [DYNAMIC]
[component_container_isolated-2] [INFO] [1770891311.230870414] [zed.zed_node]:  * Contrast: 4 [DYNAMIC]
[component_container_isolated-2] [INFO] [1770891311.230940363] [zed.zed_node]:  * Hue: 0 [DYNAMIC]
[component_container_isolated-2] [INFO] [1770891311.231000969] [zed.zed_node]:  * Saturation: 4 [DYNAMIC]
[component_container_isolated-2] [INFO] [1770891311.231068742] [zed.zed_node]:  * Sharpness: 4 [DYNAMIC]
[component_container_isolated-2] [INFO] [1770891311.231132100] [zed.zed_node]:  * Gamma: 8 [DYNAMIC]
[component_container_isolated-2] [INFO] [1770891311.231198657] [zed.zed_node]:  * Auto Exposure/Gain: TRUE [DYNAMIC]
[component_container_isolated-2] [INFO] [1770891311.231259167] [zed.zed_node]:  * Exposure: 80 [DYNAMIC]
[component_container_isolated-2] [INFO] [1770891311.231316445] [zed.zed_node]:  * Gain: 80 [DYNAMIC]
[component_container_isolated-2] [INFO] [1770891311.231377370] [zed.zed_node]:  * Auto White Balance: TRUE [DYNAMIC]
[component_container_isolated-2] [INFO] [1770891311.231443991] [zed.zed_node]:  * White Balance Temperature: 42 [DYNAMIC]
[component_container_isolated-2] [INFO] [1770891311.231464983] [zed.zed_node]: === DEPTH parameters ===
[component_container_isolated-2] [INFO] [1770891311.231563891] [zed.zed_node]:  * Depth mode: NEURAL LIGHT [4]
[component_container_isolated-2] [INFO] [1770891311.231649071] [zed.zed_node]:  * Min depth [m]: 0.01
[component_container_isolated-2] [INFO] [1770891311.231716301] [zed.zed_node]:  * Max depth [m]: 15
[component_container_isolated-2] [INFO] [1770891311.231782506] [zed.zed_node]:  * Depth Stabilization: 30
[component_container_isolated-2] [INFO] [1770891311.231838920] [zed.zed_node]:  * OpenNI mode (16bit depth): FALSE
[component_container_isolated-2] [INFO] [1770891311.231909509] [zed.zed_node]:  * Point cloud rate [Hz]: 10
[component_container_isolated-2] [INFO] [1770891311.231974722] [zed.zed_node]:  * Point cloud resolution: COMPACT
[component_container_isolated-2] [INFO] [1770891311.232049247] [zed.zed_node]:  * Depth Confidence: 95 [DYNAMIC]
[component_container_isolated-2] [INFO] [1770891311.232112061] [zed.zed_node]:  * Depth Texture Confidence: 100 [DYNAMIC]
[component_container_isolated-2] [INFO] [1770891311.232180282] [zed.zed_node]:  * Remove saturated areas: TRUE [DYNAMIC]
[component_container_isolated-2] [INFO] [1770891311.232203609] [zed.zed_node]: === GNSS FUSION parameters ===
[component_container_isolated-2] [INFO] [1770891311.232265271] [zed.zed_node]:  * GNSS fusion enabled: FALSE
[component_container_isolated-2] [INFO] [1770891311.232298933] [zed.zed_node]: === POSITIONAL TRACKING parameters ===
[component_container_isolated-2] [INFO] [1770891311.232400145] [zed.zed_node]:  * Positional tracking enabled: FALSE
[component_container_isolated-2] [INFO] [1770891311.232512653] [zed.zed_node]:  * Positional tracking mode: GEN 3
[component_container_isolated-2] [INFO] [1770891311.232591050] [zed.zed_node]:  * Map frame id: map
[component_container_isolated-2] [INFO] [1770891311.232666311] [zed.zed_node]:  * Odometry frame id: odom
[component_container_isolated-2] [INFO] [1770891311.232736356] [zed.zed_node]:  * Broadcast Odometry TF: FALSE
[component_container_isolated-2] [INFO] [1770891311.232821569] [zed.zed_node]:  * Depth minimum range: 0
[component_container_isolated-2] [INFO] [1770891311.232940540] [zed.zed_node]:  * TF timestamp offset: 0 [DYNAMIC]
[component_container_isolated-2] [INFO] [1770891311.233020569] [zed.zed_node]:  * Path publishing rate: 2 [DYNAMIC]
[component_container_isolated-2] [INFO] [1770891311.233086838] [zed.zed_node]:  * Path history lenght: -1
[component_container_isolated-2] [INFO] [1770891311.233170195] [zed.zed_node]:  * Initial pose: [0,0,0,0,0,0,]
[component_container_isolated-2] [INFO] [1770891311.233233456] [zed.zed_node]:  * Area Memory: TRUE
[component_container_isolated-2] [INFO] [1770891311.233330316] [zed.zed_node]:  * Area Memory File: 
[component_container_isolated-2] [INFO] [1770891311.233403402] [zed.zed_node]:  * Enable Localization Only: FALSE
[component_container_isolated-2] [INFO] [1770891311.233488742] [zed.zed_node]:  * Save Area Memory on closing: FALSE
[component_container_isolated-2] [INFO] [1770891311.233573603] [zed.zed_node]:  * Camera is static: FALSE
[component_container_isolated-2] [INFO] [1770891311.233649760] [zed.zed_node]:  * Gravity as origin: TRUE
[component_container_isolated-2] [INFO] [1770891311.233730332] [zed.zed_node]:  * IMU Fusion: FALSE
[component_container_isolated-2] [INFO] [1770891311.233799386] [zed.zed_node]:  * Floor Alignment: FALSE
[component_container_isolated-2] [INFO] [1770891311.233874487] [zed.zed_node]:  * Reset Odometry with Loop Closure: TRUE
[component_container_isolated-2] [INFO] [1770891311.233944916] [zed.zed_node]:  * Publish 3D Landmarks: FALSE
[component_container_isolated-2] [INFO] [1770891311.234021137] [zed.zed_node]:  * Publish Landmark Skip Frame: 
[component_container_isolated-2] [INFO] [1770891311.234096590] [zed.zed_node]:  * 2D mode: FALSE
[component_container_isolated-2] [INFO] [1770891311.234166923] [zed.zed_node]:  * Reset pose with SVO loop: TRUE
[component_container_isolated-2] [INFO] [1770891311.234193290] [zed.zed_node]: === Region of Interest parameters ===
[component_container_isolated-2] [INFO] [1770891311.234272967] [zed.zed_node]:  * Automatic ROI generation: FALSE
[component_container_isolated-2] [INFO] [1770891311.234364323] [zed.zed_node]:  * Manual ROI polygon: []
[component_container_isolated-2] [INFO] [1770891311.234388386] [zed.zed_node]: === SENSORS STACK parameters ===
[component_container_isolated-2] [INFO] [1770891311.234462015] [zed.zed_node]:  * Broadcast IMU TF [not for ZED]: FALSE
[component_container_isolated-2] [INFO] [1770891311.234533181] [zed.zed_node]:  * Sensors Camera Sync: FALSE
[component_container_isolated-2] [INFO] [1770891311.234620025] [zed.zed_node]:  * Sensors publishing rate [Hz]: 100 [DYNAMIC]
[component_container_isolated-2] [INFO] [1770891311.234655640] [zed.zed_node]: === Spatial Mapping parameters ===
[component_container_isolated-2] [INFO] [1770891311.234726837] [zed.zed_node]:  * Spatial Mapping Enabled: FALSE
[component_container_isolated-2] [INFO] [1770891311.234804114] [zed.zed_node]:  * Spatial Mapping resolution [m]: 0.05
[component_container_isolated-2] [INFO] [1770891311.234881167] [zed.zed_node]:  * 3D Max Mapping range [m]: 5
[component_container_isolated-2] [INFO] [1770891311.234964523] [zed.zed_node]:  * Map publishing rate [Hz]: 1 [DYNAMIC]
[component_container_isolated-2] [INFO] [1770891311.235037288] [zed.zed_node]:  * Clicked point topic: /clicked_point
[component_container_isolated-2] [INFO] [1770891311.235122437] [zed.zed_node]:  * Plane Det. Max Dist. Thresh.: 0.15
[component_container_isolated-2] [INFO] [1770891311.235198914] [zed.zed_node]:  * Plane Det. Normals Sim. Thresh.: 15
[component_container_isolated-2] [INFO] [1770891311.235238432] [zed.zed_node]: === OBJECT DETECTION parameters ===
[component_container_isolated-2] [INFO] [1770891311.235315645] [zed.zed_node]:  * Object Det. enabled: FALSE
[component_container_isolated-2] [INFO] [1770891311.235381723] [zed.zed_node]:  * Object Det. allow reduced precision: FALSE
[component_container_isolated-2] [INFO] [1770891311.235470807] [zed.zed_node]:  * Object Det. maximum range [m]: 20
[component_container_isolated-2] [INFO] [1770891311.235548308] [zed.zed_node]:  * Object Det. prediction timeout [sec]: 2
[component_container_isolated-2] [INFO] [1770891311.235625457] [zed.zed_node]:  * Object Det. tracking: TRUE
[component_container_isolated-2] [INFO] [1770891311.235725613] [zed.zed_node]:  * Object Filtering mode: NMS3D
[component_container_isolated-2] [INFO] [1770891311.235811818] [zed.zed_node]:  * Object Det. model: MULTI CLASS BOX FAST
[component_container_isolated-2] [INFO] [1770891311.235886119] [zed.zed_node]:  * MultiClassBox people: TRUE [DYNAMIC]
[component_container_isolated-2] [INFO] [1770891311.235952516] [zed.zed_node]:  * MultiClassBox vehicles: TRUE [DYNAMIC]
[component_container_isolated-2] [INFO] [1770891311.236031969] [zed.zed_node]:  * MultiClassBox bags: TRUE [DYNAMIC]
[component_container_isolated-2] [INFO] [1770891311.236097086] [zed.zed_node]:  * MultiClassBox animals: TRUE [DYNAMIC]
[component_container_isolated-2] [INFO] [1770891311.236166204] [zed.zed_node]:  * MultiClassBox electronics: TRUE [DYNAMIC]
[component_container_isolated-2] [INFO] [1770891311.236234745] [zed.zed_node]:  * MultiClassBox fruits and vegetables: TRUE [DYNAMIC]
[component_container_isolated-2] [INFO] [1770891311.236305238] [zed.zed_node]:  * MultiClassBox sport-related objects: TRUE [DYNAMIC]
[component_container_isolated-2] [INFO] [1770891311.236382163] [zed.zed_node]:  * MultiClassBox people confidence: 65 [DYNAMIC]
[component_container_isolated-2] [INFO] [1770891311.236460752] [zed.zed_node]:  * MultiClassBox vehicles confidence: 60 [DYNAMIC]
[component_container_isolated-2] [INFO] [1770891311.236531309] [zed.zed_node]:  * MultiClassBox bags confidence: 40 [DYNAMIC]
[component_container_isolated-2] [INFO] [1770891311.236649704] [zed.zed_node]:  * MultiClassBox animals confidence: 40 [DYNAMIC]
[component_container_isolated-2] [INFO] [1770891311.236718918] [zed.zed_node]:  * MultiClassBox electronics confidence: 45 [DYNAMIC]
[component_container_isolated-2] [INFO] [1770891311.236798850] [zed.zed_node]:  * MultiClassBox fruits and vegetables confidence: 50 [DYNAMIC]
[component_container_isolated-2] [INFO] [1770891311.236873631] [zed.zed_node]:  * MultiClassBox sport-related objects confidence: 30 [DYNAMIC]
[component_container_isolated-2] [INFO] [1770891311.236906302] [zed.zed_node]: === Body Track. parameters ===
[component_container_isolated-2] [INFO] [1770891311.236982331] [zed.zed_node]:  * Body Track. enabled: FALSE
[component_container_isolated-2] [INFO] [1770891311.237065880] [zed.zed_node]:  * Body Track. model: HUMAN BODY MEDIUM
[component_container_isolated-2] [INFO] [1770891311.237153972] [zed.zed_node]:  * Body Track. format: BODY 38
[component_container_isolated-2] [INFO] [1770891311.237221650] [zed.zed_node]:  * Body Track. allow reduced precision: FALSE
[component_container_isolated-2] [INFO] [1770891311.237322926] [zed.zed_node]:  * Body Track. maximum range [m]: 15
[component_container_isolated-2] [INFO] [1770891311.237397003] [zed.zed_node]:  * Body Track. KP selection: FULL
[component_container_isolated-2] [INFO] [1770891311.237492935] [zed.zed_node]:  * Body fitting: FALSE
[component_container_isolated-2] [INFO] [1770891311.237563812] [zed.zed_node]:  * Body joints tracking: TRUE
[component_container_isolated-2] [INFO] [1770891311.237642849] [zed.zed_node]:  * Body Track. prediction timeout [sec]: 0.5
[component_container_isolated-2] [INFO] [1770891311.237711134] [zed.zed_node]:  * Body Track. confidence thresh.: 50 [DYNAMIC]
[component_container_isolated-2] [INFO] [1770891311.237784699] [zed.zed_node]:  * Body Track. min. KP thresh.: 5 [DYNAMIC]
[component_container_isolated-2] [INFO] [1770891311.237807354] [zed.zed_node]: === STREAMING SERVER parameters ===
[component_container_isolated-2] [INFO] [1770891311.237875448] [zed.zed_node]:  * Streaming Server enabled: FALSE
[component_container_isolated-2] [INFO] [1770891311.237940021] [zed.zed_node]:  * Stream codec: H264
[component_container_isolated-2] [INFO] [1770891311.238013874] [zed.zed_node]:  * Stream port: 30000
[component_container_isolated-2] [INFO] [1770891311.238085455] [zed.zed_node]:  * Stream bitrate: 12500
[component_container_isolated-2] [INFO] [1770891311.238150413] [zed.zed_node]:  * Stream GOP size: -1
[component_container_isolated-2] [INFO] [1770891311.238222890] [zed.zed_node]:  * Stream Chunk size: 16084
[component_container_isolated-2] [INFO] [1770891311.238285607] [zed.zed_node]:  * Adaptive bitrate: FALSE
[component_container_isolated-2] [INFO] [1770891311.238359876] [zed.zed_node]:  * Target frame rate:0
[component_container_isolated-2] [INFO] [1770891311.238380004] [zed.zed_node]: === ADVANCED parameters ===
[component_container_isolated-2] [INFO] [1770891311.238444193] [zed.zed_node]:  * Change thread priority: FALSE
[component_container_isolated-2] [INFO] [1770891311.238540125] [zed.zed_node]: === SERVICES ===
[component_container_isolated-2] [INFO] [1770891311.239677072] [zed.zed_node]:  * Advertised on service: '/zed/zed_node/reset_odometry'
[component_container_isolated-2] [INFO] [1770891311.240003779] [zed.zed_node]:  * Advertised on service: '/zed/zed_node/reset_pos_tracking'
[component_container_isolated-2] [INFO] [1770891311.241256625] [zed.zed_node]:  * Advertised on service: '/zed/zed_node/set_pose'
[component_container_isolated-2] [INFO] [1770891311.241627266] [zed.zed_node]:  * Advertised on service: '/zed/zed_node/save_area_memory'
[component_container_isolated-2] [INFO] [1770891311.242181132] [zed.zed_node]:  * Advertised on service: '/zed/zed_node/enable_obj_det'
[component_container_isolated-2] [INFO] [1770891311.242449826] [zed.zed_node]:  * Advertised on service: '/zed/zed_node/enable_body_trk'
[component_container_isolated-2] [INFO] [1770891311.242706327] [zed.zed_node]:  * Advertised on service: '/zed/zed_node/enable_mapping'
[component_container_isolated-2] [INFO] [1770891311.242952206] [zed.zed_node]:  * Advertised on service: '/zed/zed_node/enable_streaming'
[component_container_isolated-2] [INFO] [1770891311.243235874] [zed.zed_node]:  * Advertised on service: '/zed/zed_node/start_svo_rec'
[component_container_isolated-2] [INFO] [1770891311.243463993] [zed.zed_node]:  * Advertised on service: '/zed/zed_node/stop_svo_rec'
[component_container_isolated-2] [INFO] [1770891311.243730735] [zed.zed_node]:  * Advertised on service: '/zed/zed_node/set_roi'
[component_container_isolated-2] [INFO] [1770891311.243956390] [zed.zed_node]:  * Advertised on service: '/zed/zed_node/reset_roi'
[component_container_isolated-2] [INFO] [1770891311.243981061] [zed.zed_node]: === STARTING CAMERA ===
[component_container_isolated-2] [INFO] [1770891311.244481905] [zed.zed_node]: ZED SDK Version: 5.2.0 - Build 110529_227f4589_2898479
[component_container_isolated-2] [INFO] [1770891311.247149287] [zed.zed_node]: === CAMERA OPENING ===
[component_container_isolated-2] [2026-02-12 11:15:11 UTC][ZED][INFO] Logging level INFO
[component_container_isolated-2] [2026-02-12 11:15:13 UTC][ZED][INFO] [Init]  Camera successfully opened.
[component_container_isolated-2] [2026-02-12 11:15:13 UTC][ZED][INFO] [Init]  Camera FW version: 1523
[component_container_isolated-2] [2026-02-12 11:15:13 UTC][ZED][INFO] [Init]  Video mode: HD1080@15
[component_container_isolated-2] [2026-02-12 11:15:13 UTC][ZED][INFO] [Init]  Serial Number: S/N 33147561
[component_container_isolated-2] [2026-02-12 11:15:13 UTC][ZED][INFO] [Init]  Depth mode selected: NEURAL LIGHT. Ensure this mode matches your application's performance and accuracy requirements. See https://www.stereolabs.com/docs/depth-sensing/depth-modes for help.
[component_container_isolated-2] [INFO] [1770891313.830720601] [zed.zed_node]:  * ZED SDK running on GPU #0
[component_container_isolated-2] [INFO] [1770891313.830829876] [zed.zed_node]:  * Camera Model  -> ZED 2i
[component_container_isolated-2] [INFO] [1770891313.830855443] [zed.zed_node]:  * Serial Number -> 33147561
[component_container_isolated-2] [INFO] [1770891313.830988110] [zed.zed_node]:  * Focal Length  -> 2.1193 mm
[component_container_isolated-2] [INFO] [1770891313.831071435] [zed.zed_node]:  * Input -> USB
[component_container_isolated-2] [INFO] [1770891313.831096714] [zed.zed_node]:  * Camera FW Version  -> 1523
[component_container_isolated-2] [INFO] [1770891313.831110377] [zed.zed_node]:  * Sensors FW Version -> 777
[component_container_isolated-2] [INFO] [1770891313.831131016] [zed.zed_node]:  * Camera grab size -> 1920x1080
[component_container_isolated-2] [INFO] [1770891313.831142408] [zed.zed_node]:  * Color/Depth publishing size -> 960x540
[component_container_isolated-2] [INFO] [1770891313.831151783] [zed.zed_node]:  * Point Cloud publishing size -> 448x256
[component_container_isolated-2] [INFO] [1770891313.831172743] [zed.zed_node]: === TF FRAMES ===
[component_container_isolated-2] [INFO] [1770891313.831183302] [zed.zed_node]:  * Map                   -> map
[component_container_isolated-2] [INFO] [1770891313.831197158] [zed.zed_node]:  * Odometry              -> odom
[component_container_isolated-2] [INFO] [1770891313.831207109] [zed.zed_node]:  * Base                  -> zed_camera_link
[component_container_isolated-2] [INFO] [1770891313.831214853] [zed.zed_node]:  * Camera                -> zed_camera_center
[component_container_isolated-2] [INFO] [1770891313.831222885] [zed.zed_node]:  * Left                  -> zed_left_camera_frame
[component_container_isolated-2] [INFO] [1770891313.831230756] [zed.zed_node]:  * Left Optical          -> zed_left_camera_frame_optical
[component_container_isolated-2] [INFO] [1770891313.831238756] [zed.zed_node]:  * Right         -> zed_right_camera_frame
[component_container_isolated-2] [INFO] [1770891313.831246276] [zed.zed_node]:  * Right Optical -> zed_right_camera_frame_optical
[component_container_isolated-2] [INFO] [1770891313.831254179] [zed.zed_node]:  * Depth         -> zed_left_camera_frame
[component_container_isolated-2] [INFO] [1770891313.831261539] [zed.zed_node]:  * Depth Optical -> zed_left_camera_frame_optical
[component_container_isolated-2] [INFO] [1770891313.831269443] [zed.zed_node]:  * Point Cloud           -> zed_left_camera_frame
[component_container_isolated-2] [INFO] [1770891313.831281986] [zed.zed_node]:  * IMU                   -> zed_imu_link
[component_container_isolated-2] [INFO] [1770891313.831290754] [zed.zed_node]:  * Barometer             -> zed_camera_center
[component_container_isolated-2] [INFO] [1770891313.831298850] [zed.zed_node]:  * Magnetometer          -> zed_imu_link
[component_container_isolated-2] [INFO] [1770891313.831306785] [zed.zed_node]:  * Left Temperature      -> zed_left_camera_frame
[component_container_isolated-2] [INFO] [1770891313.831314689] [zed.zed_node]:  * Right Temperature     -> zed_right_camera_frame
[component_container_isolated-2] [INFO] [1770891313.831355039] [zed.zed_node]: === PUBLISHED TOPICS ===
[component_container_isolated-2] [INFO] [1770891313.832155936] [zed.zed_node]:  * Advertised on topic: /zed/zed_node/status/health
[component_container_isolated-2] [INFO] [1770891313.832677867] [zed.zed_node]:  * Advertised on topic: /zed/zed_node/status/heartbeat
[component_container_isolated-2] [INFO] [1770891313.854998547] [zed.zed_node]:  * Advertised on topic: /zed/zed_node/rgb/color/rect/image
[component_container_isolated-2] [INFO] [1770891313.856728590] [zed.zed_node]:  * Advertised on topic: /zed/zed_node/rgb/color/rect/image/compressedDepth [image_transport]
[component_container_isolated-2] [INFO] [1770891313.856768877] [zed.zed_node]:  * Advertised on topic: /zed/zed_node/rgb/color/rect/image/compressed [image_transport]
[component_container_isolated-2] [INFO] [1770891313.856785228] [zed.zed_node]:  * Advertised on topic: /zed/zed_node/rgb/color/rect/image/raw [image_transport]
[component_container_isolated-2] [INFO] [1770891313.858588004] [zed.zed_node]:  * Advertised on topic: /zed/zed_node/left/color/rect/image
[component_container_isolated-2] [INFO] [1770891313.858677697] [zed.zed_node]:  * Advertised on topic: /zed/zed_node/left/color/rect/image/compressedDepth [image_transport]
[component_container_isolated-2] [INFO] [1770891313.858697568] [zed.zed_node]:  * Advertised on topic: /zed/zed_node/left/color/rect/image/compressed [image_transport]
[component_container_isolated-2] [INFO] [1770891313.858710047] [zed.zed_node]:  * Advertised on topic: /zed/zed_node/left/color/rect/image/raw [image_transport]
[component_container_isolated-2] [INFO] [1770891313.860772813] [zed.zed_node]:  * Advertised on topic: /zed/zed_node/right/color/rect/image
[component_container_isolated-2] [INFO] [1770891313.860862666] [zed.zed_node]:  * Advertised on topic: /zed/zed_node/right/color/rect/image/compressedDepth [image_transport]
[component_container_isolated-2] [INFO] [1770891313.860880969] [zed.zed_node]:  * Advertised on topic: /zed/zed_node/right/color/rect/image/compressed [image_transport]
[component_container_isolated-2] [INFO] [1770891313.860893513] [zed.zed_node]:  * Advertised on topic: /zed/zed_node/right/color/rect/image/raw [image_transport]
[component_container_isolated-2] [INFO] [1770891313.862939159] [zed.zed_node]:  * Advertised on topic: /zed/zed_node/depth/depth_registered
[component_container_isolated-2] [INFO] [1770891313.863019572] [zed.zed_node]:  * Advertised on topic: /zed/zed_node/depth/depth_registered/compressedDepth [image_transport]
[component_container_isolated-2] [INFO] [1770891313.863039027] [zed.zed_node]:  * Advertised on topic: /zed/zed_node/depth/depth_registered/compressed [image_transport]
[component_container_isolated-2] [INFO] [1770891313.863050835] [zed.zed_node]:  * Advertised on topic: /zed/zed_node/depth/depth_registered/raw [image_transport]
[component_container_isolated-2] [INFO] [1770891313.865057635] [zed.zed_node]:  * Advertised on topic: /zed/zed_node/stereo/color/rect/image
[component_container_isolated-2] [INFO] [1770891313.865136352] [zed.zed_node]:  * Advertised on topic: /zed/zed_node/stereo/color/rect/image/compressedDepth [image_transport]
[component_container_isolated-2] [INFO] [1770891313.865157855] [zed.zed_node]:  * Advertised on topic: /zed/zed_node/stereo/color/rect/image/compressed [image_transport]
[component_container_isolated-2] [INFO] [1770891313.865172606] [zed.zed_node]:  * Advertised on topic: /zed/zed_node/stereo/color/rect/image/raw [image_transport]
[component_container_isolated-2] [INFO] [1770891313.865929088] [zed.zed_node]:  * Advertised on topic: /zed/zed_node/rgb/color/rect/camera_info
[component_container_isolated-2] [INFO] [1770891313.866584134] [zed.zed_node]:  * Advertised on topic: /zed/zed_node/rgb/color/rect/image/camera_info
[component_container_isolated-2] [INFO] [1770891313.867257996] [zed.zed_node]:  * Advertised on topic: /zed/zed_node/left/color/rect/camera_info
[component_container_isolated-2] [INFO] [1770891313.867962128] [zed.zed_node]:  * Advertised on topic: /zed/zed_node/left/color/rect/image/camera_info
[component_container_isolated-2] [INFO] [1770891313.868597110] [zed.zed_node]:  * Advertised on topic: /zed/zed_node/right/color/rect/camera_info
[component_container_isolated-2] [INFO] [1770891313.869243613] [zed.zed_node]:  * Advertised on topic: /zed/zed_node/right/color/rect/image/camera_info
[component_container_isolated-2] [INFO] [1770891313.869959904] [zed.zed_node]:  * Advertised on topic: /zed/zed_node/depth/camera_info
[component_container_isolated-2] [INFO] [1770891313.870610566] [zed.zed_node]:  * Advertised on topic: /zed/zed_node/depth/depth_registered/camera_info
[component_container_isolated-2] [INFO] [1770891313.872235078] [zed.zed_node]:  * Advertised on topic: /zed/zed_node/point_cloud/cloud_registered
[component_container_isolated-2] [INFO] [1770891313.874202295] [zed.zed_node]:  * Advertised on topic: /zed/zed_node/pose
[component_container_isolated-2] [INFO] [1770891313.875752090] [zed.zed_node]:  * Advertised on topic: /zed/zed_node/pose/status
[component_container_isolated-2] [INFO] [1770891313.878487341] [zed.zed_node]:  * Advertised on topic: /zed/zed_node/odom
[component_container_isolated-2] [INFO] [1770891313.880001169] [zed.zed_node]:  * Advertised on topic: /zed/zed_node/imu/data
[component_container_isolated-2] [INFO] [1770891313.880059118] [zed.zed_node]: Camera-IMU Translation: 
[component_container_isolated-2]  -0.002 -0.023061 0.000217
[component_container_isolated-2] [INFO] [1770891313.880111820] [zed.zed_node]: Camera-IMU Rotation:
[component_container_isolated-2] FFFF5F7EBF28
[component_container_isolated-2] 0.999860 -0.014344 -0.008639
[component_container_isolated-2] 0.014435 0.999840 0.010599
[component_container_isolated-2] 0.008486 -0.010722 0.999907
[component_container_isolated-2] 
[component_container_isolated-2] [INFO] [1770891313.880131340] [zed.zed_node]: === Subscribers ===
[component_container_isolated-2] [INFO] [1770891313.882048959] [zed.zed_node]:  * Plane detection: '/clicked_point'
[component_container_isolated-2] [WARN] [1770891313.986237072] [zed.zed_node]: POSITIONAL TRACKING disabled in the parameters, but forced to ENABLE because required by `depth.depth_stabilization > 0`
[component_container_isolated-2] [INFO] [1770891313.997783557] [zed.zed_node]: === Starting Positional Tracking ===
[component_container_isolated-2] [INFO] [1770891313.997860930] [zed.zed_node]:  * Waiting for valid static transformations...
[component_container_isolated-2] [INFO] [1770891313.998038939] [zed.zed_node]:  Static transform ref. CMOS Sensor to Base [zed_left_camera_frame -> zed_camera_link]
[component_container_isolated-2] [INFO] [1770891313.998062106] [zed.zed_node]:   * Translation: {0.010,-0.060,-0.015}
[component_container_isolated-2] [INFO] [1770891313.998076153] [zed.zed_node]:   * Rotation: {0.000,-0.000,0.000}
[component_container_isolated-2] [INFO] [1770891313.998106648] [zed.zed_node]:  Static transform ref. CMOS Sensor to Camera Center [zed_left_camera_frame -> zed_camera_center]
[component_container_isolated-2] [INFO] [1770891313.998134231] [zed.zed_node]:   * Translation: {0.010,-0.060,0.000}
[component_container_isolated-2] [INFO] [1770891313.998169813] [zed.zed_node]:   * Rotation: {0.000,-0.000,0.000}
[component_container_isolated-2] [INFO] [1770891313.998195124] [zed.zed_node]:  Static transform Camera Center to Base [zed_camera_center -> zed_camera_link]
[component_container_isolated-2] [INFO] [1770891313.998215828] [zed.zed_node]:   * Translation: {0.000,0.000,-0.015}
[component_container_isolated-2] [INFO] [1770891313.998225747] [zed.zed_node]:   * Rotation: {0.000,-0.000,0.000}
[component_container_isolated-2] [INFO] [1770891313.999324071] [zed.zed_node]: Initial ZED left camera pose (ZED pos. tracking): 
[component_container_isolated-2] [INFO] [1770891313.999366150] [zed.zed_node]:  * T: [-0.01,0.06,0.015]
[component_container_isolated-2] [INFO] [1770891313.999390597] [zed.zed_node]:  * Q: [0,0,0,1]

The node dies without explanation and only prints this log:

zed  | [ERROR] [component_container_isolated-2]: process has died [pid 876581, exit code -6, cmd '/opt/ros/humble/install/lib/rclcpp_components/component_container_isolated --use_multi_threaded_executor --ros-args --log-level info --ros-args -r __node:=zed_container -r __ns:=/zed'].

ZED Camera model

ZED2i

Environment

- Nvidia Jetson Orin
- ARM
- L4T 36.4.4
- Cuda 12.6
- ZED SDK 5.2.0
- Last version of zed-ros2-wrapper. This commit: 4540840984da2ddab93daf07fe37b23af55a69ca
- Lasr version of zed_msgs: 5.1.1

Anything else?

No response

[simonbogh]

I experienced the same since 5.1.2. I checked some logs and getting out of memory and then Exit code -9 and the zed node was using 10 GB memory.

oom-kill:constraint=CONSTRAINT_NONE,nodemask=(null),cpuset=zed_x_daemon.service,mems_allowed=0,global_oom,task_memcg=/system.slice/docker-.scope,task=zed_main,pid=3379819,uid=0
Out of memory: Killed process 3379819 (zed_main) total-vm:36504104kB, anon-rss:10052560kB, file-rss:16304kB, shmem-rss:0kB, UID:0 pgtables:34408kB oom_score_adj:0
oom_reaper: reaped process 3379819 (zed_main), now anon-rss:0kB, file-rss:40444kB, shmem-rss:0kB

Do you by any chance have object detection enabled? It only happens to me when I have that enabled and the memory usage keeps increasing, so maybe a potential memory leak.

    object_detection:
      od_enabled: true

[Myzhar]

Please share your configuration, it will help us trying to replicate the issue

[simonbogh]

Camera: zedx
Default settings besides the overrides below where I have turned off object detection.
Have been running this for 10 min now with no memory change, stable at 420 MB. With object detection on I had to stop it at 2.3 GB since it kept increasing.

/**:
  ros__parameters:
    general:
      base_frame: 'base_link'
      publish_status: true

    video:
      publish_gray: true

    depth:
      publish_depth_map: true # Enable depth map topics
      publish_point_cloud: true # Enable point cloud topics

    pos_tracking:
      base_frame: 'base_link'
      publish_pose_cov: true

    gnss_fusion:
      broadcast_utm_transform_as_parent_frame: true
      gnss_frame: 'zed_gnss_link'
      enable_reinitialization: true
      target_translation_uncertainty: 2.0
      enable_translation_uncertainty_target: true
      target_yaw_uncertainty: 0.5
      h_covariance_mul: 1.0
      v_covariance_mul: 1.0
      enable_rolling_calibration: true

    body_tracking:
      bt_enabled: false

    object_detection:
      od_enabled: false

    debug:
      debug_gnss: true

[Myzhar]

Does this happen also with the latest ZED SDK v5.2?
The Object Detection module was already improved with SDK v5.1.2 to solve similar issues.

[simonbogh]

Yes, tested on 5.1.2 and 5.2, same behaviour.

[adrigmz00]

Hi, @Myzhar
Thanks for answering. The configuration I'm using is as follows. The common_stereo.yaml:

# config/common_stereo.yaml
# Common parameters to Stereolabs ZED Stereo cameras

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

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

        svo:
            use_svo_timestamps: true # Use the SVO timestamps to publish data. If false, data will be published at the system time.
            publish_svo_clock: false # [overwritten by launch file options] When use_svo_timestamps is true allows to publish the SVO clock to the `/clock` topic. This is useful for synchronous rosbag playback.
            svo_loop: false # Enable loop mode when using an SVO as input source. NOTE: ignored if SVO timestamping is used
            svo_realtime: false # if true the SVO will be played trying to respect the original framerate eventually skipping frames, otherwise every frame will be processed respecting the `pub_frame_rate` setting
            play_from_frame: 0 # Start playing the SVO from a specific frame
            replay_rate: 1.0 # Replay rate for the SVO when not used in realtime mode (between [0.10-5.0])

        general:
            camera_timeout_sec: 5
            camera_max_reconnect: 5
            camera_flip: false
            self_calib: true # Enable the self-calibration process at camera opening. See https://www.stereolabs.com/docs/api/structsl_1_1InitParameters.html#affeaa06cfc1d849e311e484ceb8edcc5
            serial_number: 0 # overwritten by launch file
            pub_resolution: 'CUSTOM' # The resolution used for image and depth map publishing. 'NATIVE' to use the same `general.grab_resolution` - `CUSTOM` to apply the `general.pub_downscale_factor` downscale factory to reduce bandwidth in transmission
            pub_downscale_factor: 2.0 # rescale factor used to rescale image before publishing when 'pub_resolution' is 'CUSTOM'
            pub_frame_rate: 15.0 # [DYNAMIC] Frequency of publishing of visual images and depth data (not the Point Cloud, see 'depth.point_cloud_freq'). This value must be equal or less than the camera framerate.
            enable_image_validity_check: 1 # [SDK5 required] Sets the image validity check. If set to 1, the SDK will check if the frames are valid before processing.
            gpu_id: -1
            optional_opencv_calibration_file: '' # Optional path where the ZED SDK can find a file containing the calibration information of the camera computed by OpenCV. Read the ZED SDK documentation for more information: https://www.stereolabs.com/docs/api/structsl_1_1InitParameters.html#a9eab2753374ef3baec1d31960859ba19
            async_image_retrieval: false # If set to true will camera image retrieve at a framerate different from \ref grab() application framerate. This is useful for recording SVO or sending camera stream at different rate than application.
            publish_status: true # Advertise the status topics that are published only if a node subscribes to them
            # Other parameters are defined, according to the camera model, in the 'zed.yaml', 'zedm.yaml', 'zed2.yaml', 'zed2i.yaml'
            # 'zedx.yaml', 'zedxmini.yaml', 'virtual.yaml' files

        video:
            saturation: 4 # [DYNAMIC]
            sharpness: 4 # [DYNAMIC]
            gamma: 8 # [DYNAMIC]
            auto_exposure_gain: true # [DYNAMIC]
            exposure: 80 # [DYNAMIC]
            gain: 80 # [DYNAMIC]
            auto_whitebalance: true # [DYNAMIC]
            whitebalance_temperature: 42 # [DYNAMIC] - [28,65] x100 - works only if `auto_whitebalance` is false
            enable_24bit_output: false # [SDK >= 5.1] Enable BGR 24-bit output for lower bandwidth usage. If false, BGRA 32-bit output is used (old way before SDK v5.1)
            publish_rgb: true # Advertise the RGB image topics that are published only if a node subscribes to them
            publish_left_right: true # Advertise the left and right image topics that are published only if a node subscribes to them
            publish_raw: false # Advertise the raw image topics that are published only if a node subscribes to them
            publish_gray: false # Advertise the gray image topics that are published only if a node subscribes to them
            publish_stereo: true # Advertise the stereo image topic that is published only if a node subscribes to it
            # Other parameters are defined, according to the camera model, in the 'zed.yaml', 'zedm.yaml', 'zed2.yaml', 'zed2i.yaml'
            # 'zedx.yaml', 'zedxmini.yaml', 'virtual.yaml' files

        sensors:
            publish_imu_tf: true # [overwritten by launch file options] enable/disable the IMU TF broadcasting
            sensors_image_sync: false # Synchronize Sensors messages with latest published video/depth message
            sensors_pub_rate: 100. # frequency of publishing of sensors data. MAX: 400. - MIN: grab rate
            publish_imu: true # Advertise the IMU topic that is published only if a node subscribes to it
            publish_imu_raw: false # Advertise the raw IMU topic that is published only if a node subscribes to it
            publish_cam_imu_transf: false # Advertise the CAMERA-IMU transformation topic that is published only if a node subscribes to it
            publish_mag: false # Advertise the magnetometer topic that is published only if a node subscribes to it
            publish_baro: false # Advertise the barometer topic that is published only if a node subscribes to it
            publish_temp: false # Advertise the temperature topics that are published only if a node subscribes to them

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

        depth:
            depth_mode: 'NEURAL_LIGHT' # Matches the ZED SDK setting: 'NONE', 'NEURAL_LIGHT', 'NEURAL', 'NEURAL_PLUS' - Note: if 'NONE' all the modules that requires depth extraction are disabled by default (Pos. Tracking, Obj. Detection, Mapping, ...)
            depth_stabilization: 30 # Forces positional tracking to start if major than 0 - Range: [0,100]
            openni_depth_mode: false # 'false': 32bit float [meters], 'true': 16bit unsigned int [millimeters]
            point_cloud_freq: 10.0 # [DYNAMIC] Frequency of the pointcloud publishing. This value must be equal or less than the camera framerate.
            point_cloud_res: 'COMPACT' # The resolution used for point cloud publishing - 'COMPACT'-Standard resolution. Optimizes processing and bandwidth, 'REDUCED'-Half resolution. Low processing and bandwidth requirements
            depth_confidence: 95 # [DYNAMIC]
            depth_texture_conf: 100 # [DYNAMIC]
            remove_saturated_areas: true # [DYNAMIC]
            publish_depth_map: true # Advertise the depth map topics that are published only if a node subscribes to them
            publish_depth_info: false # Advertise the depth info topic that is published only if a node subscribes to it
            publish_point_cloud: true # Advertise the point cloud topic that is published only if a node subscribes to it
            publish_depth_confidence: false # Advertise the depth confidence topic that is published only if a node subscribes to it
            publish_disparity: false # Advertise the disparity topic that is published only if a node subscribes to it
            # Other parameters are defined, according to the camera model, in the 'zed.yaml', 'zedm.yaml', 'zed2.yaml', 'zed2i.yaml'
            # 'zedx.yaml', 'zedxmini.yaml', 'virtual.yaml' files

        pos_tracking:
            pos_tracking_enabled: false # True to enable positional tracking from start
            pos_tracking_mode: 'GEN_3' # Matches the ZED SDK setting: 'GEN_1', 'GEN_2', 'GEN_3'
            imu_fusion: false # enable/disable IMU fusion. When set to false, only the optical odometry will be used.
            publish_tf: false # [overwritten by launch file options] publish `odom -> camera_link` TF
            publish_map_tf: false # [overwritten by launch file options] publish `map -> odom` TF
            map_frame: 'map'
            odometry_frame: 'odom'
            area_memory: true # Enable to detect loop closure
            area_file_path: '' # Path to the area memory file for relocalization and loop closure in a previously explored environment. 
            enable_localization_only: false # If true, the camera will only localize in the loaded area memory without updating the map with new information.
            save_area_memory_on_closing: false # Save Area memory before closing the camera if `area_file_path` is not empty. You can also use the `save_area_memory` service to save the area memory at any time.
            reset_odom_with_loop_closure: true # Re-initialize odometry to the last valid pose when loop closure happens (reset camera odometry drift)
            publish_3d_landmarks: false # Publish 3D landmarks used by the positional tracking algorithm
            publish_lm_skip_frame: 5 # Publish the landmarks every X frames to reduce bandwidth. Set to 0 to publish all landmarks
            depth_min_range: 0.0 # Set this value for removing fixed zones of the robot in the FoV of the camerafrom the visual odometry evaluation
            set_as_static: false # If 'true' the camera will be static and not move in the environment
            set_gravity_as_origin: true # If 'true' align the positional tracking world to imu gravity measurement. Keep the yaw from the user initial pose.
            floor_alignment: false # Enable to automatically calculate camera/floor offset
            initial_base_pose: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] # Initial position of the `camera_link` frame in the map -> [X, Y, Z, R, P, Y]
            path_pub_rate: 2.0 # [DYNAMIC] - Camera trajectory publishing frequency
            path_max_count: -1 # use '-1' for unlimited path size
            two_d_mode: false # Force navigation on a plane. If true the Z value will be fixed to 'fixed_z_value', roll and pitch to zero
            fixed_z_value: 0.0 # Value to be used for Z coordinate if `two_d_mode` is true
            transform_time_offset: 0.0 # The value added to the timestamp of `map->odom` and `odom->camera_link` transform being generated
            reset_pose_with_svo_loop: true # Reset the camera pose the `initial_base_pose` when the SVO loop is enabled and the SVO playback reaches the end of the file.
            publish_odom_pose: true # Advertise the odometry and pose topics that are published only if a node subscribes to them
            publish_pose_cov: false # Advertise the pose with covariance topic that is published only if a node subscribes to it
            publish_cam_path: false # Advertise the camera odometry and pose path topics that are published only if a node subscribes to them

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

        mapping:
            mapping_enabled: false # True to enable mapping t # Pand fused point cloud pubblication
            resolution: 0.05 # maps resolution in meters [min: 0.01f - max: 0.2f]
            max_mapping_range: 5.0 # maximum depth range while mapping in meters (-1 for automatic calculation) [2.0, 20.0]
            fused_pointcloud_freq: 1.0 # frequency of the publishing of the fused colored point cloud
            clicked_point_topic: '/clicked_point' # Topic published by Rviz when a point of the cloud is clicked. Used for plane detection
            pd_max_distance_threshold: 0.15 # Plane detection: controls the spread of plane by checking the position difference.
            pd_normal_similarity_threshold: 15.0 # Plane detection: controls the spread of plane by checking the angle difference.
            publish_det_plane: false # Advertise the plane detection topics that is published only if a node subscribes to it

        object_detection:
            od_enabled: false # True to enable Object Detection
            enable_tracking: true # Whether the object detection system includes object tracking capabilities across a sequence of images.
            detection_model: 'MULTI_CLASS_BOX_FAST' # 'MULTI_CLASS_BOX_FAST', 'MULTI_CLASS_BOX_MEDIUM', 'MULTI_CLASS_BOX_ACCURATE', 'PERSON_HEAD_BOX_FAST', 'PERSON_HEAD_BOX_ACCURATE', 'CUSTOM_YOLOLIKE_BOX_OBJECTS'
            max_range: 20.0 # [m] Upper depth range for detections.The value cannot be greater than 'depth.max_depth'
            filtering_mode: 'NMS3D' # Filtering mode that should be applied to raw detections: 'NONE', 'NMS3D', 'NMS3D_PER_CLASS'
            prediction_timeout: 2.0 # During this time [sec], the object will have OK state even if it is not detected. Set this parameter to 0 to disable SDK predictions
            allow_reduced_precision_inference: false # Allow inference to run at a lower precision to improve runtime and memory usage
            # Other parameters are defined in the 'object_detection.yaml' and 'custom_object_detection.yaml' files

        body_tracking:
            bt_enabled: false # True to enable Body Tracking
            model: 'HUMAN_BODY_MEDIUM' # 'HUMAN_BODY_FAST', 'HUMAN_BODY_MEDIUM', 'HUMAN_BODY_ACCURATE'
            body_format: 'BODY_38' # 'BODY_18','BODY_34','BODY_38'
            allow_reduced_precision_inference: false # Allow inference to run at a lower precision to improve runtime and memory usage
            max_range: 15.0 # [m] Defines a upper depth range for detections
            body_kp_selection: 'FULL' # 'FULL', 'UPPER_BODY'
            enable_body_fitting: false # Defines if the body fitting will be applied
            enable_tracking: true # Defines if the object detection will track objects across images flow
            prediction_timeout_s: 0.5 # During this time [sec], the skeleton will have OK state even if it is not detected. Set this parameter to 0 to disable SDK predictions
            confidence_threshold: 50.0 # [DYNAMIC] - Minimum value of the detection confidence of skeleton key points [0,99]
            minimum_keypoints_threshold: 5 # [DYNAMIC] - Minimum number of skeleton key points to be detected for a valid skeleton

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

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

        debug:
            sdk_verbose: 1 # Set the verbose level of the ZED SDK
            sdk_verbose_log_file: '' # Path to the file where the ZED SDK will log its messages. If empty, no file will be created. The log level can be set using the `sdk_verbose` parameter.
            use_pub_timestamps: false # Use the current ROS time for the message timestamp instead of the camera timestamp. This is useful to test data communication latency.
            debug_common: false
            debug_sim: false
            debug_video_depth: false
            debug_camera_controls: false
            debug_point_cloud: false
            debug_tf: false
            debug_positional_tracking: false
            debug_gnss: false
            debug_sensors: false
            debug_mapping: false
            debug_terrain_mapping: false
            debug_object_detection: false
            debug_body_tracking: false
            debug_roi: false
            debug_streaming: false
            debug_advanced: false
            debug_nitros: false
            disable_nitros: false # If available, disable NITROS usage for debugging and testing purposes

And the launch file that I'm using is:

# Copyright 2025 Stereolabs
#
# Licensed under the Apache License, Version 2.0 (the 'License');
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an 'AS IS' BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

import os
import sys

from ament_index_python.packages import get_package_share_directory

from launch import LaunchDescription
from launch.actions import (
    DeclareLaunchArgument,
    OpaqueFunction,
    LogInfo
)
from launch.conditions import IfCondition
from launch.substitutions import (
    LaunchConfiguration,
    Command,
    TextSubstitution
)
from launch_ros.actions import (
    Node,
    ComposableNodeContainer,
    LoadComposableNodes
)
from launch_ros.descriptions import ComposableNode

# Enable colored output
os.environ["RCUTILS_COLORIZED_OUTPUT"] = "1"

# ZED Configurations to be loaded by ZED Node
default_config_common = os.path.join(
    get_package_share_directory('zed_wrapper'),
    'config',
    'common'
)

# Object Detection Configuration to be loaded by ZED Node
default_object_detection_config_path = os.path.join(
    get_package_share_directory('zed_wrapper'),
    'config',
    'object_detection.yaml'
)
# Custom Object Detection Configuration to be loaded by ZED Node
default_custom_object_detection_config_path = os.path.join(
    get_package_share_directory('zed_wrapper'),
    'config',
    'custom_object_detection.yaml'
)

# URDF/xacro file to be loaded by the Robot State Publisher node
default_xacro_path = os.path.join(
    get_package_share_directory('zed_wrapper'),
    'urdf',
    'zed_descr.urdf.xacro'
)

# Function to parse array-like launch arguments
def parse_array_param(param):
    cleaned = param.replace('[', '').replace(']', '').replace(' ', '')
    if not cleaned:
        return []
    return cleaned.split(',')

def launch_setup(context, *args, **kwargs):
    return_array = []

    # Launch configuration variables
    node_log_type = LaunchConfiguration('node_log_type')

    svo_path = LaunchConfiguration('svo_path')
    publish_svo_clock = LaunchConfiguration('publish_svo_clock')

    enable_ipc = LaunchConfiguration('enable_ipc')
    use_sim_time = LaunchConfiguration('use_sim_time')
    sim_mode = LaunchConfiguration('sim_mode')
    sim_address = LaunchConfiguration('sim_address')
    sim_port = LaunchConfiguration('sim_port')

    stream_address = LaunchConfiguration('stream_address')
    stream_port = LaunchConfiguration('stream_port')

    container_name = LaunchConfiguration('container_name')
    namespace = LaunchConfiguration('namespace')
    camera_name = LaunchConfiguration('camera_name')
    camera_model = LaunchConfiguration('camera_model')

    node_name = LaunchConfiguration('node_name')

    ros_params_override_path = LaunchConfiguration('ros_params_override_path')
    object_detection_config_path = LaunchConfiguration('object_detection_config_path')
    custom_object_detection_config_path = LaunchConfiguration('custom_object_detection_config_path')

    serial_number = LaunchConfiguration('serial_number')
    camera_id = LaunchConfiguration('camera_id')

    serial_numbers = LaunchConfiguration('serial_numbers')
    camera_ids = LaunchConfiguration('camera_ids')

    publish_urdf = LaunchConfiguration('publish_urdf')
    publish_tf = LaunchConfiguration('publish_tf')
    publish_map_tf = LaunchConfiguration('publish_map_tf')
    publish_imu_tf = LaunchConfiguration('publish_imu_tf')
    xacro_path = LaunchConfiguration('xacro_path')

    enable_gnss = LaunchConfiguration('enable_gnss')
    gnss_antenna_offset = LaunchConfiguration('gnss_antenna_offset')

    node_log_type_val = node_log_type.perform(context)
    container_name_val = container_name.perform(context)
    namespace_val = namespace.perform(context)
    camera_name_val = camera_name.perform(context)
    camera_model_val = camera_model.perform(context)
    node_name_val = node_name.perform(context)
    enable_gnss_val = enable_gnss.perform(context)
    gnss_coords = parse_array_param(gnss_antenna_offset.perform(context))
    serial_numbers_val = serial_numbers.perform(context)
    camera_ids_val = camera_ids.perform(context)

    if(node_log_type_val == 'both'):
        node_log_effective = 'both'
    else:  # 'screen' or 'log'
        node_log_effective = {
            'stdout': node_log_type_val,
            'stderr': node_log_type_val
            }

    if (camera_name_val == ''):
        camera_name_val = 'zed'

    if (camera_model_val == 'virtual'):
        # Virtual Stereo Camera setup
        serials = parse_array_param(serial_numbers_val)
        ids = parse_array_param(camera_ids_val)

        # If not in live mode, at least one of serials or ids must be a valid 2-values array
        if(len(serials) != 2 and len(ids) != 2 and svo_path.perform(context) == 'live'):
            return [
                LogInfo(msg=TextSubstitution(
                    text='With a Virtual Stereo Camera setup, one of `serial_numbers` or `camera_ids` launch arguments must contain two valid values (Left and Right camera identification).'))
            ]
    
    if(namespace_val == ''):
        namespace_val = camera_name_val
    else:
        node_name_val = camera_name_val
    
    # Common configuration file
    if (camera_model_val == 'zed' or 
        camera_model_val == 'zedm' or 
        camera_model_val == 'zed2' or 
        camera_model_val == 'zed2i' or 
        camera_model_val == 'zedx' or 
        camera_model_val == 'zedxm' or
        camera_model_val == 'zedxhdr' or
        camera_model_val == 'zedxhdrmini' or
        camera_model_val == 'zedxhdrmax' or
        camera_model_val == 'virtual'):
        config_common_path_val = default_config_common + '_stereo.yaml'
    else:
        config_common_path_val = default_config_common + '_mono.yaml'

    info = 'Using common configuration file: ' + config_common_path_val
    return_array.append(LogInfo(msg=TextSubstitution(text=info)))

    # Camera configuration file
    config_camera_path = os.path.join(
        get_package_share_directory('zed_wrapper'),
        'config',
        camera_model_val + '.yaml'
    )

    info = 'Using camera configuration file: ' + config_camera_path
    return_array.append(LogInfo(msg=TextSubstitution(text=info)))

    # Object Detection configuration file
    info = 'Using Object Detection configuration file: ' + object_detection_config_path.perform(context)
    return_array.append(LogInfo(msg=TextSubstitution(text=info)))
    
    # Custom Object Detection configuration file
    info = 'Using Custom Object Detection configuration file: ' + custom_object_detection_config_path.perform(context)
    return_array.append(LogInfo(msg=TextSubstitution(text=info)))

    # ROS parameters override file
    ros_params_override_path_val = ros_params_override_path.perform(context)
    if(ros_params_override_path_val != ''):
        info = 'Using ROS parameters override file: ' + ros_params_override_path_val
        return_array.append(LogInfo(msg=TextSubstitution(text=info)))

    # Xacro command with options
    xacro_command = []
    xacro_command.append('xacro')
    xacro_command.append(' ')
    xacro_command.append(xacro_path.perform(context))
    xacro_command.append(' ')
    xacro_command.append('camera_name:=')
    xacro_command.append(camera_name_val)
    xacro_command.append(' ')
    xacro_command.append('camera_model:=')
    xacro_command.append(camera_model_val)
    xacro_command.append(' ')
    if(enable_gnss_val=='true'):
        xacro_command.append(' ')
        xacro_command.append('enable_gnss:=true')
        xacro_command.append(' ')
        if(len(gnss_coords)==3):
            xacro_command.append('gnss_x:=')
            xacro_command.append(gnss_coords[0])
            xacro_command.append(' ')
            xacro_command.append('gnss_y:=')
            xacro_command.append(gnss_coords[1])
            xacro_command.append(' ')
            xacro_command.append('gnss_z:=')
            xacro_command.append(gnss_coords[2])
            xacro_command.append(' ')

    # Robot State Publisher node
    rsp_name = camera_name_val + '_state_publisher'
    rsp_node = Node(
        condition=IfCondition(publish_urdf),
        package='robot_state_publisher',
        namespace=namespace_val,
        executable='robot_state_publisher',
        name=rsp_name,
        output=node_log_effective,
        parameters=[{
            'use_sim_time': publish_svo_clock,
            'robot_description': Command(xacro_command)
        }],
        remappings=[('robot_description', camera_name_val+'_description')]
    )
    return_array.append(rsp_node)

    # ROS 2 Component Container
    if(container_name_val == ''):
        container_name_val='zed_container'
        distro = os.environ['ROS_DISTRO']
        if distro == 'foxy':
            # Foxy does not support the isolated mode
            container_exec='component_container'
            arguments_val=['--ros-args', '--log-level', 'info']
        else:
            container_exec='component_container_isolated'
            arguments_val=['--use_multi_threaded_executor','--ros-args', '--log-level', 'info']
            #arguments_val=['--use_multi_threaded_executor','--ros-args', '--log-level', 'debug']
        
        zed_container = ComposableNodeContainer(
                name=container_name_val,
                namespace=namespace_val,
                package='rclcpp_components',
                executable=container_exec,
                arguments=arguments_val,
                output=node_log_effective,
                composable_node_descriptions=[]
        )
        return_array.append(zed_container)

    # ZED Node parameters
    node_parameters = [
            # YAML files
            config_common_path_val,  # Common parameters
            config_camera_path,  # Camera related parameters
            object_detection_config_path, # Object detection parameters
            custom_object_detection_config_path # Custom object detection parameters
    ]

    if( ros_params_override_path_val != ''):
        node_parameters.append(ros_params_override_path)

    node_parameters.append( 
            # Launch arguments must override the YAML files values
            {
                'use_sim_time': use_sim_time,
                'simulation.sim_enabled': sim_mode,
                'simulation.sim_address': sim_address,
                'simulation.sim_port': sim_port,
                'stream.stream_address': stream_address,
                'stream.stream_port': stream_port,
                'general.camera_name': camera_name_val,
                'general.camera_model': camera_model_val,
                'svo.svo_path': svo_path,
                'svo.publish_svo_clock': publish_svo_clock,
                'general.serial_number': serial_number,
                'general.camera_id': camera_id,
                'pos_tracking.publish_tf': publish_tf,
                'pos_tracking.publish_map_tf': publish_map_tf,
                'sensors.publish_imu_tf': publish_imu_tf,
                'gnss_fusion.gnss_fusion_enabled': enable_gnss,
                'general.virtual_serial_numbers': serial_numbers_val,
                'general.virtual_camera_ids': camera_ids_val
            }
    )

    # ZED Wrapper component
    if( camera_model_val=='zed' or
        camera_model_val=='zedm' or
        camera_model_val=='zed2' or
        camera_model_val=='zed2i' or
        camera_model_val=='zedx' or
        camera_model_val=='zedxm' or
        camera_model_val == 'zedxhdr' or
        camera_model_val == 'zedxhdrmini' or
        camera_model_val == 'zedxhdrmax' or
        camera_model_val=='virtual'):
        zed_wrapper_component = ComposableNode(
            package='zed_components',
            namespace=namespace_val,
            plugin='stereolabs::ZedCamera',
            name=node_name_val,
            parameters=node_parameters,
            extra_arguments=[{'use_intra_process_comms': enable_ipc}]
        )
    else: # camera_model_val == 'zedxonegs' or camera_model_val == 'zedxone4k' or camera_model_val == 'zedxonehdr'
        zed_wrapper_component = ComposableNode(
            package='zed_components',
            namespace=namespace_val,
            plugin='stereolabs::ZedCameraOne',
            name=node_name_val,
            parameters=node_parameters,
            extra_arguments=[{'use_intra_process_comms': enable_ipc}]
        )
    
    full_container_name = '/' + namespace_val + '/' + container_name_val
    info = 'Loading ZED node `' + node_name_val + '` in container `' + full_container_name + '`'
    return_array.append(LogInfo(msg=TextSubstitution(text=info)))
    
    load_composable_node = LoadComposableNodes(
        target_container=full_container_name,
        composable_node_descriptions=[zed_wrapper_component]
    )
    return_array.append(load_composable_node)

    return return_array

def generate_launch_description():
    return LaunchDescription(
        [
            # Declare launch arguments
            DeclareLaunchArgument(
                'node_log_type',
                default_value=TextSubstitution(text='both'),
                description='The log type of the node. It can be `screen`, `log` or `both`. The `log` type will save the log in a file in the `~/.ros/log/` folder. The `screen` type will print the log on the terminal. The `both` type will do both.',
                choices=['screen', 'log', 'both']),
            DeclareLaunchArgument(
                'camera_name',
                default_value=TextSubstitution(text='zed'),
                description='The name of the camera. It can be different from the camera model and it will be used as node `namespace`.'),
            DeclareLaunchArgument(
                'camera_model',
                description='[REQUIRED] The model of the camera. Using a wrong camera model can disable camera features.',
                choices=['zed', 'zedm', 'zed2', 'zed2i', 'zedx', 'zedxm', 'zedxhdr', 'zedxhdrmini', 'zedxhdrmax', 'virtual', 'zedxonegs', 'zedxone4k', 'zedxonehdr']),
            DeclareLaunchArgument(
                'container_name',
                default_value='',
                description='The name of the container to be used to load the ZED component. If empty (default) a new container will be created.'),
            DeclareLaunchArgument(
                'namespace',
                default_value='',
                description='The namespace of the node. If empty (default) the camera name is used.'),
            DeclareLaunchArgument(
                'node_name',
                default_value='zed_node',
                description='The name of the zed_wrapper node. All the topic will have the same prefix: `/<camera_name>/<node_name>/`. If a namespace is specified, the node name is replaced by the camera name.'),
            DeclareLaunchArgument(
                'ros_params_override_path',
                default_value='',
                description='The path to an additional parameters file to override the default values.'),
            DeclareLaunchArgument(
                'object_detection_config_path',
                default_value=TextSubstitution(text=default_object_detection_config_path),
                description='Path to the YAML configuration file for the Object Detection parameters.'),
            DeclareLaunchArgument(
                'custom_object_detection_config_path',
                default_value=TextSubstitution(text=default_custom_object_detection_config_path),
                description='Path to the YAML configuration file for the Custom Object Detection parameters.'),
            DeclareLaunchArgument(
                'serial_number',
                default_value='0',
                description='The serial number of the camera to be opened. It is mandatory to use this parameter or camera ID in multi-camera rigs to distinguish between different cameras. Use `ZED_Explorer -a` to retrieve the serial number of all the connected cameras.'),
            DeclareLaunchArgument(
                'serial_numbers',
                default_value='[]',
                description='The serial numbers of the two cameras to be opened to compose a Virtual Stereo Camera, [left_sn,right_sn]. Use `ZED_Explorer -a` to retrieve the serial number of all the connected cameras.'),
            DeclareLaunchArgument(
                'camera_id',
                default_value='-1',
                description='The ID of the camera to be opened. It is mandatory to use this parameter or serial number in multi-camera rigs to distinguish between different cameras.  Use `ZED_Explorer -a` to retrieve the ID of all the connected cameras.'),
            DeclareLaunchArgument(
                'camera_ids',
                default_value='[]',
                description='The IDs of the two cameras to be opened to compose a Virtual Stereo Camera, [left_id,right_id]. Use `ZED_Explorer -a` to retrieve the ID of all the connected cameras.'),
            DeclareLaunchArgument(
                'publish_urdf',
                default_value='true',
                description='Enable URDF processing and starts Robot State Published to propagate static TF.',
                choices=['true', 'false']),
            DeclareLaunchArgument(
                'publish_tf',
                default_value='false',
                description='Enable publication of the `odom -> camera_link` TF.',
                choices=['true', 'false']),
            DeclareLaunchArgument(
                'publish_map_tf',
                default_value='false',
                description='Enable publication of the `map -> odom` TF. Note: Ignored if `publish_tf` is False.',
                choices=['true', 'false']),
            DeclareLaunchArgument(
                'publish_imu_tf',
                default_value='false',
                description='Enable publication of the IMU TF. Note: Ignored if `publish_tf` is False.',
                choices=['true', 'false']),
            DeclareLaunchArgument(
                'xacro_path',
                default_value=TextSubstitution(text=default_xacro_path),
                description='Path to the camera URDF file as a xacro file.'),
            DeclareLaunchArgument(
                'svo_path',
                default_value=TextSubstitution(text='live'),
                description='Path to an input SVO file.'),
            DeclareLaunchArgument(
                'publish_svo_clock',
                default_value='false',
                description='If set to `true` the node will act as a clock server publishing the SVO timestamp. This is useful for node synchronization'),
            DeclareLaunchArgument(
                'enable_gnss',
                default_value='false',
                description='Enable GNSS fusion to fix positional tracking pose with GNSS data from messages of type `sensor_msgs::msg::NavSatFix`. The fix topic can be customized in `common_stereo.yaml`.',
                choices=['true', 'false']),
            DeclareLaunchArgument(
                'gnss_antenna_offset',
                default_value='[]',
                description='Position of the GNSS antenna with respect to the mounting point of the ZED camera. Format: [x,y,z]'),
            DeclareLaunchArgument(
                'enable_ipc',
                default_value='true',
                description='Enable intra-process communication (IPC) with ROS 2 Composition',
                choices=['true', 'false']),
            DeclareLaunchArgument(
                'use_sim_time',
                default_value='false',
                description='If set to `true` the node will wait for messages on the `/clock` topic to start and will use this information as the timestamp reference',
                choices=['true', 'false']),
            DeclareLaunchArgument(
                'sim_mode',
                default_value='false',
                description='Enable simulation mode. Set `sim_address` and `sim_port` to configure the simulator input.',
                choices=['true', 'false']),
            DeclareLaunchArgument(
                'sim_address',
                default_value='127.0.0.1',
                description='The connection address of the simulation server. See the documentation of the supported simulation plugins for more information.'),
            DeclareLaunchArgument(
                'sim_port',
                default_value='30000',
                description='The connection port of the simulation server. See the documentation of the supported simulation plugins for more information.'),
            DeclareLaunchArgument(
                'stream_address',
                default_value='',
                description='The connection address of the input streaming server.'),
            DeclareLaunchArgument(
                'stream_port',
                default_value='30000',
                description='The connection port of the input streaming server.'),
            OpaqueFunction(function=launch_setup)
        ]
    )

And I'm running it with the following command (as I indicated in the entrypoint.sh that I shared:

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

Although I have disabled the positional tracking feature, it enables as the parameter depth.depth_stabilitation is >30 (I note this just to clarify what is happenning).

I will try to check the memory leak issue that @simonbogh commented.

[Myzhar]

There's a new package in the wrapper in the zed_debug folder.
It allows you to start a node in a single process using static composition instead of dynamic composition.
The README describes how to use the package for debugging.

It would be useful if you could try to use it to launch the node with the same setup and eventually share the backtrace it generates when the node crashes.

[simonbogh]

@Myzhar didn't manage to try zed_debug yet, but noticed since last time I just left the computer run idling with od_enabled: false, and today the zed node uses 11 GB system memory starting from 450 MB, so it still increases, just more slowly.

Will see if I can get a chance to try zed_debug tomorrow.

[Myzhar]

Please try to change the Positional Tracking mode to GEN_1 and GEN_2.
If the problem persists, then the cause it's not the object detection module, but the positional tracking module.
This test can help the ZED SDK team to identify and fix the problem

[simonbogh]

pos_tracking_mode: GEN_1
od_enabled: true

Memory use is stable at around 480 MB.

---

pos_tracking_mode: GEN_2
od_enabled: true

Memory use keeps increasing with the system idle until out of memory.

[Myzhar]

Thank you for the useful information. The ZED SDK is working to fix the issue.

[Myzhar]

@simonbogh I have another request:
Please set the parameter debub.debug_grab to true. You must manually add it in common_stereo.yaml:
debug_grab: true here
Set also debug_positional_tracking to true.

Start the node, and please send me the part of the log that corresponds to:

• Positional Tracking parameters
• Grab thread: Grab parameters
• Grab thread: Init parameters

They are in JSON format.

Finally, please record and share with us an SVO in the same conditions to allow us to replicate the same behaviors on the same data in our labs.