There is an issue with the Zed Camera (Zed Mini) on the RosBot XL Manipulation Pro Package.
The encoder complains about bitrate setting. overriding it in /etc/husarion/zed-overrides.yaml doesn’t seem to work. the stream_server has a bitrate setting by default. but it does seem to be ignored.
[INFO] [launch]: All log files can be found below /home/husarion/.ros/log/2026-11-03-09-54-58-377191-rosbot-e86659-68319
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [launch.user]: Using common configuration file: /opt/husarion/zed_ws/install/share/zed_wrapper/config/common_stereo.yaml
[INFO] [launch.user]: Using camera configuration file: /opt/husarion/zed_ws/install/share/zed_wrapper/config/zedm.yaml
[INFO] [launch.user]: Using Object Detection configuration file: /opt/husarion/zed_ws/install/share/zed_wrapper/config/object_detection.yaml
[INFO] [launch.user]: Using Custom Object Detection configuration file: /opt/husarion/zed_ws/install/share/zed_wrapper/config/custom_object_detection.yaml
[INFO] [launch.user]: Using ROS parameters override file: /etc/husarion/zed-overrides.yaml
[INFO] [launch.user]: NITROS not installed, skipping IPC/NITROS conflict check.
[INFO] [launch.user]: Loading ZED node `zed` in container `/rosbot_e86659/zed_container`
[INFO] [component_container_isolated-1]: process started with pid [68352]
[component_container_isolated-1] [INFO] [rosbot_e86659.zed_container]: Load Library: /opt/husarion/zed_ws/install/lib/libzed_camera_component.so
[component_container_isolated-1] [INFO] [rosbot_e86659.zed_container]: Found class: rclcpp_components::NodeFactoryTemplate<stereolabs::ZedCamera>
[component_container_isolated-1] [INFO] [rosbot_e86659.zed_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<stereolabs::ZedCamera>
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: ================================
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/rosbot_e86659/zed' in container '/rosbot_e86659/zed_container'
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: ZED Camera Component
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: ================================
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * IPC: enabled
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * namespace: /rosbot_e86659
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * node name: zed
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: ================================
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: Starting node initialization...
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: === DEBUG parameters ===
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * SDK Verbose: 1
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Use Pub Timestamps: FALSE
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * SDK Verbose File:
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Debug Common: FALSE
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Debug Dynamic Parameters: FALSE
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Debug Grab (low level): FALSE
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Debug Simulation: FALSE
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Debug Video/Depth: FALSE
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Debug Control settings: FALSE
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Debug Point Cloud: FALSE
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Debug TF: FALSE
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Debug Positional Tracking: FALSE
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Debug GNSS: FALSE
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Debug sensors: FALSE
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Debug Mapping: FALSE
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Debug Object Detection: FALSE
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Debug Body Tracking: FALSE
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Debug Streaming: FALSE
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Debug ROI: FALSE
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Debug Nitros: FALSE
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Debug Advanced: FALSE
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: === TOPIC selection parameters ===
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Publish Status: TRUE
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Image format: BGR 24-bit
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Publish Left/Right images: FALSE
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Publish Raw images: FALSE
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Publish Gray images: FALSE
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Publish RGB image: TRUE
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Publish Stereo image: FALSE
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Publish ROI Mask image: FALSE
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Publish Depth Map: TRUE
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Publish Depth Info: FALSE
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Publish Point Cloud: TRUE
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Publish Depth Confidence: FALSE
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Publish Disparity: FALSE
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Publish IMU: TRUE
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Publish IMU Raw: FALSE
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Publish LeftCam/IMU Transf.: FALSE
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Publish Magnetometer: FALSE
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Publish Barometer: FALSE
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Publish Temperature: FALSE
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Publish Odometry/Pose: TRUE
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Publish Pose with Covariance: FALSE
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Publish Camera Path: FALSE
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Publish Detection Plane: FALSE
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: === SVO RECORDING parameters ===
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * SVO Encoding preset: DEFAULT
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: === SVO INPUT parameters ===
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * SVO input: DISABLED
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: === LOCAL STREAMING parameters ===
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Local stream input: DISABLED
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: === GENERAL parameters ===
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Camera model: zedm - ZED-M
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Camera name: zed
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Camera SN: 0
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Camera ID: -1
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Camera timeout [sec]: 5
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Camera reconnection temptatives: 5
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Camera framerate: 30
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * GPU ID: -1
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Asynchronous image retrieval: FALSE
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Image Validity Check: 1
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Camera resolution: HD720
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Publishing resolution: NATIVE
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * OpenCV custom calibration:
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Camera self calibration: TRUE
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Camera flip: FALSE
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Publish framerate [Hz]: 0 [DYNAMIC]
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Grab Compute Capping FPS: 0
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * SDK Monotonic Clock: FALSE
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: === VIDEO parameters ===
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Brightness: 4 [DYNAMIC]
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Contrast: 4 [DYNAMIC]
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Hue: 0 [DYNAMIC]
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Saturation: 4 [DYNAMIC]
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Sharpness: 4 [DYNAMIC]
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Gamma: 8 [DYNAMIC]
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Auto Exposure/Gain: TRUE [DYNAMIC]
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Exposure: 80 [DYNAMIC]
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Gain: 80 [DYNAMIC]
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Auto White Balance: TRUE [DYNAMIC]
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * White Balance Temperature: 42 [DYNAMIC]
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: === DEPTH parameters ===
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Depth mode: NEURAL LIGHT [4]
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Min depth [m]: 0.01
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Max depth [m]: 10
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Depth Stabilization: 0
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * OpenNI mode (16bit depth): FALSE
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Point cloud rate [Hz]: 10
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Point cloud resolution: COMPACT
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Voxel Point Cloud: FALSE [DYNAMIC]
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Voxel Size [mm]: -1 [DYNAMIC]
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Voxel Resolution Mode: STEREO_UNCERTAINTY
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Voxel Resolution Scale: 0.2 [DYNAMIC]
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Depth Confidence: 95 [DYNAMIC]
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Depth Texture Confidence: 100 [DYNAMIC]
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Remove saturated areas: TRUE [DYNAMIC]
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: === POSITIONAL TRACKING parameters ===
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Map frame id: map
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Odometry frame id: odom
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Positional tracking enabled: FALSE
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: === REGION OF INTEREST parameters ===
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Automatic ROI generation: FALSE
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Manual ROI polygon: []
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: === SENSORS STACK parameters ===
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Broadcast IMU TF [not for ZED]: FALSE
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Sensors Camera Sync: FALSE
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Sensors publishing rate [Hz]: 100 [DYNAMIC]
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: === OBJECT DETECTION parameters ===
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Object Det. enabled: FALSE
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Object Det. allow reduced precision: FALSE
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Object Det. maximum range [m]: 40
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Object Det. prediction timeout [sec]: 2
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Object Det. tracking: TRUE
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Object Filtering mode: NMS3D
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Object Det. model: MULTI CLASS BOX FAST
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * MultiClassBox people: TRUE [DYNAMIC]
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * MultiClassBox vehicles: TRUE [DYNAMIC]
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * MultiClassBox bags: TRUE [DYNAMIC]
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * MultiClassBox animals: TRUE [DYNAMIC]
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * MultiClassBox electronics: TRUE [DYNAMIC]
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * MultiClassBox fruits and vegetables: TRUE [DYNAMIC]
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * MultiClassBox sport-related objects: TRUE [DYNAMIC]
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * MultiClassBox people confidence: 65 [DYNAMIC]
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * MultiClassBox vehicles confidence: 60 [DYNAMIC]
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * MultiClassBox bags confidence: 40 [DYNAMIC]
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * MultiClassBox animals confidence: 40 [DYNAMIC]
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * MultiClassBox electronics confidence: 45 [DYNAMIC]
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * MultiClassBox fruits and vegetables confidence: 50 [DYNAMIC]
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * MultiClassBox sport-related objects confidence: 30 [DYNAMIC]
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: === Body Track. parameters ===
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Body Track. enabled: FALSE
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Body Track. model: HUMAN BODY MEDIUM
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Body Track. format: BODY 38
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Body Track. allow reduced precision: FALSE
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Body Track. maximum range [m]: 15
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Body Track. KP selection: FULL
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Body fitting: FALSE
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Body joints tracking: TRUE
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Body Track. prediction timeout [sec]: 0.5
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Body Track. confidence thresh.: 50 [DYNAMIC]
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Body Track. min. KP thresh.: 5 [DYNAMIC]
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: === STREAMING SERVER parameters ===
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Streaming Server enabled: FALSE
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Stream codec: H264
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Stream port: 30000
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Stream bitrate: 12500
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Stream GOP size: -1
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Stream Chunk size: 16084
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Adaptive bitrate: FALSE
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Target frame rate:0
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: === ADVANCED parameters ===
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Change thread priority: FALSE
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: === SERVICES ===
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Advertised on service: '/rosbot_e86659/zed/enable_obj_det'
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Advertised on service: '/rosbot_e86659/zed/enable_body_trk'
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Advertised on service: '/rosbot_e86659/zed/enable_streaming'
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Advertised on service: '/rosbot_e86659/zed/start_svo_rec'
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Advertised on service: '/rosbot_e86659/zed/stop_svo_rec'
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Advertised on service: '/rosbot_e86659/zed/set_roi'
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Advertised on service: '/rosbot_e86659/zed/reset_roi'
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: === STARTING CAMERA ===
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: ZED SDK Version: 5.4.1 - Build 117278_137d3e18_3228745
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: === CAMERA OPENING ===
[component_container_isolated-1] [2026-11-03 09:55:00 UTC][ZED][INFO] Logging level INFO
[component_container_isolated-1] [2026-11-03 09:55:07 UTC][ZED][INFO] [Init] Camera successfully opened.
[component_container_isolated-1] [2026-11-03 09:55:07 UTC][ZED][INFO] [Init] Camera FW version: 1523
[component_container_isolated-1] [2026-11-03 09:55:07 UTC][ZED][INFO] [Init] Video mode: HD720@30
[component_container_isolated-1] [2026-11-03 09:55:07 UTC][ZED][INFO] [Init] Serial Number: S/N 13007393
[component_container_isolated-1] [2026-11-03 09:55:07 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-1] [INFO] [rosbot_e86659.zed]: * ZED SDK running on GPU #0
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Camera Model -> ZED-M
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Serial Number -> 13007393
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Focal Length -> 3.07361 mm
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Input -> USB
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Camera FW Version -> 1523
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Sensors FW Version -> 519
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * IMU sampling rate -> 800 Hz
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Camera grab size -> 1280x720
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Color/Depth publishing size -> 1280x720
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Point Cloud publishing size -> 448x256
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: === TF FRAMES ===
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Map -> map
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Odometry -> odom
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Base -> zed_camera_link
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Camera -> zed_camera_center
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Left -> zed_left_camera_frame
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Left Optical -> zed_left_camera_frame_optical
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Right -> zed_right_camera_frame
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Right Optical -> zed_right_camera_frame_optical
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Depth -> zed_left_camera_frame
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Depth Optical -> zed_left_camera_frame_optical
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Point Cloud -> zed_left_camera_frame
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * IMU -> zed_imu_link
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: === PUBLISHED TOPICS ===
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Advertised on topic: /rosbot_e86659/zed/status/health
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Advertised on topic: /rosbot_e86659/zed/status/heartbeat
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Advertised on topic: /rosbot_e86659/zed/rgb/color/rect/image [IPC type-adapted zero-copy]
[component_container_isolated-1] [INFO] [FFMPEGPublisher]: using libav encoder: libx264
[component_container_isolated-1] [WARN] [rosbot_e86659.zed]: gop_size not set, defaulting to 10. This may severely affect lag and performance!
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Advertised on topic: /rosbot_e86659/zed/rgb/color/rect/image
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Advertised on topic: /rosbot_e86659/zed/rgb/color/rect/image/compressed [image_transport]
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Advertised on topic: /rosbot_e86659/zed/rgb/color/rect/image/ffmpeg [image_transport]
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Advertised on topic: /rosbot_e86659/zed/rgb/color/rect/image/theora [image_transport]
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Advertised on topic: /rosbot_e86659/zed/rgb/color/rect/image/zstd [image_transport]
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Advertised on topic: /rosbot_e86659/zed/depth/depth_registered [IPC type-adapted zero-copy]
[component_container_isolated-1] [INFO] [FFMPEGPublisher]: using libav encoder: libx264
[component_container_isolated-1] [WARN] [rosbot_e86659.zed]: gop_size not set, defaulting to 10. This may severely affect lag and performance!
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Advertised on topic: /rosbot_e86659/zed/depth/depth_registered
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Advertised on topic: /rosbot_e86659/zed/depth/depth_registered/compressedDepth [image_transport]
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Advertised on topic: /rosbot_e86659/zed/depth/depth_registered/ffmpeg [image_transport]
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Advertised on topic: /rosbot_e86659/zed/depth/depth_registered/zstd [image_transport]
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Advertised on topic: /rosbot_e86659/zed/rgb/color/rect/camera_info
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Advertised on topic: /rosbot_e86659/zed/rgb/color/rect/image/camera_info
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Advertised on topic: /rosbot_e86659/zed/depth/camera_info
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Advertised on topic: /rosbot_e86659/zed/depth/depth_registered/camera_info
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Advertised on topic: /rosbot_e86659/zed/point_cloud/cloud_registered
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * Advertised on topic: /rosbot_e86659/zed/imu/data
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: Camera-IMU Translation:
[component_container_isolated-1] -0.002 -0.015238 -0.001706
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: Camera-IMU Rotation:
[component_container_isolated-1] FFFF37FFA298
[component_container_isolated-1] 0.999748 0.013357 0.018065
[component_container_isolated-1] -0.013506 0.999876 0.008147
[component_container_isolated-1] -0.017954 -0.008389 0.999804
[component_container_isolated-1]
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: === Subscribers ===
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: * No subscribers
[component_container_isolated-1] [INFO] [rosbot_e86659.zed]: === zed started ===
[component_container_isolated-1] [INFO] [Encoder]: using av_source_pixel_format: yuv420p
[component_container_isolated-1] [INFO] [Encoder]: codec: libx264, bit_rate: -1 qmax: -1 options:
[component_container_isolated-1] [INFO] [Encoder]: cv_bridge_target_format: bgr8 libav: bgr24
[component_container_isolated-1] [INFO] [Encoder]: av_source_pixel_format: yuv420p
[component_container_isolated-1] [INFO] [Encoder]: encoder (hw) format: yuv420p
[component_container_isolated-1] [libx264 @ 0xfffe882a43b0] bitrate not specified
[component_container_isolated-1] [ERROR] [Encoder]: cannot open codec libx264: Generic error in an external library
[component_container_isolated-1] [ERROR] [FFMPEGPublisher]: cannot initialize encoder