Cannod get point cloud from isaac_ros_visual_slam when connected to ZED2

Hi, I’m using a zed2 and running the isaac_ros docker container. I can launch the node (with an error), the camera node is correctly launched, and the vslam node as well. If I run “ros2 topic list” I can see all the topic needed(**).
The problem is that I rviz2 I cannot see any kind on point cloud. The error is
“Could not find requested resource in ament index
Failed to load node ‘image_format_node_left’ of type ‘nvidia::isaac_ros::image_proc::ImageFormatConverterNode’ in container ‘/visual_slam_launch_container’: Could not find requested resource in ament index”
I followed the instructions here Tutorial for Visual SLAM Using a ZED Camera — isaac_ros_docs documentation
The log for the launch file is as follows:

[INFO] [launch]: All log files can be found below /home/admin/.ros/log/2024-04-11-17-43-58-943468-ubuntu-20415
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [20444]
[INFO] [zed_wrapper-2]: process started with pid [20446]
[robot_state_publisher-1] [INFO] [1712828639.876400844] [zed_state_publisher]: got segment zed2_baro_link
[robot_state_publisher-1] [INFO] [1712828639.876647219] [zed_state_publisher]: got segment zed2_camera_center
[robot_state_publisher-1] [INFO] [1712828639.876671348] [zed_state_publisher]: got segment zed2_camera_link
[robot_state_publisher-1] [INFO] [1712828639.876683380] [zed_state_publisher]: got segment zed2_left_camera_frame
[robot_state_publisher-1] [INFO] [1712828639.876692468] [zed_state_publisher]: got segment zed2_left_camera_optical_frame
[robot_state_publisher-1] [INFO] [1712828639.876700661] [zed_state_publisher]: got segment zed2_mag_link
[robot_state_publisher-1] [INFO] [1712828639.876708149] [zed_state_publisher]: got segment zed2_right_camera_frame
[robot_state_publisher-1] [INFO] [1712828639.876715381] [zed_state_publisher]: got segment zed2_right_camera_optical_frame
[robot_state_publisher-1] [INFO] [1712828639.876722357] [zed_state_publisher]: got segment zed2_temp_left_link
[robot_state_publisher-1] [INFO] [1712828639.876729685] [zed_state_publisher]: got segment zed2_temp_right_link
[zed_wrapper-2] [INFO] [1712828639.951523442] [zed_node]: ********************************
[zed_wrapper-2] [INFO] [1712828639.951851611] [zed_node]: ZED Camera Component
[zed_wrapper-2] [INFO] [1712828639.951874107] [zed_node]: ********************************
[zed_wrapper-2] [INFO] [1712828639.951889180] [zed_node]: * namespace: /
[zed_wrapper-2] [INFO] [1712828639.951903388] [zed_node]: * node name: zed_node
[zed_wrapper-2] [INFO] [1712828639.951914652] [zed_node]: ********************************
[zed_wrapper-2] [INFO] [1712828639.951952285] [zed_node]: *** DEBUG parameters ***
[zed_wrapper-2] [INFO] [1712828639.952076417] [zed_node]: * SDK Verbose: 1
[zed_wrapper-2] [INFO] [1712828639.952192100] [zed_node]: * Debug Common: FALSE
[zed_wrapper-2] [INFO] [1712828639.952261542] [zed_node]: * Debug Simulation: FALSE
[zed_wrapper-2] [INFO] [1712828639.952337832] [zed_node]: * Debug Video/Depth: FALSE
[zed_wrapper-2] [INFO] [1712828639.952415722] [zed_node]: * Debug Control settings: FALSE
[zed_wrapper-2] [INFO] [1712828639.952494604] [zed_node]: * Debug Point Cloud: FALSE
[zed_wrapper-2] [INFO] [1712828639.952583375] [zed_node]: * Debug GNSS: FALSE
[zed_wrapper-2] [INFO] [1712828639.952654385] [zed_node]: * Debug Positional Tracking: FALSE
[zed_wrapper-2] [INFO] [1712828639.952725682] [zed_node]: * Debug sensors: FALSE
[zed_wrapper-2] [INFO] [1712828639.952798036] [zed_node]: * Debug Mapping: FALSE
[zed_wrapper-2] [INFO] [1712828639.952873879] [zed_node]: * Debug Object Detection: FALSE
[zed_wrapper-2] [INFO] [1712828639.952953721] [zed_node]: * Debug Body Tracking: FALSE
[zed_wrapper-2] [INFO] [1712828639.953043835] [zed_node]: * Debug Advanced: FALSE
[zed_wrapper-2] [INFO] [1712828639.953154270] [zed_node]: *** GENERAL parameters ***
[zed_wrapper-2] [INFO] [1712828639.953311074] [zed_node]: * SVO: ‘’
[zed_wrapper-2] [INFO] [1712828639.953558825] [zed_node]: * Camera model: zed2 - ZED 2
[zed_wrapper-2] [INFO] [1712828639.953666508] [zed_node]: * Camera name: zed2
[zed_wrapper-2] [INFO] [1712828639.953748910] [zed_node]: * Camera SN: 0
[zed_wrapper-2] [INFO] [1712828639.953852593] [zed_node]: * Camera timeout [sec]: 5
[zed_wrapper-2] [INFO] [1712828639.953938196] [zed_node]: * Camera reconnection temptatives: 5
[zed_wrapper-2] [INFO] [1712828639.954014454] [zed_node]: * Camera framerate: 30
[zed_wrapper-2] [INFO] [1712828639.954084536] [zed_node]: * GPU ID: -1
[zed_wrapper-2] [INFO] [1712828639.954188922] [zed_node]: * Camera resolution: HD720
[zed_wrapper-2] [WARN] [1712828639.954263581] [zed_node]: Not valid ‘general.pub_resolution’ value: ‘MEDIUM’. Using default setting instead.
[zed_wrapper-2] [INFO] [1712828639.954290141] [zed_node]: * Publishing resolution: NATIVE
[zed_wrapper-2] [INFO] [1712828639.954363935] [zed_node]: * OpenCV custom calibration:
[zed_wrapper-2] [INFO] [1712828639.954459426] [zed_node]: * Region of interest:
[zed_wrapper-2] [INFO] [1712828639.954535428] [zed_node]: * Camera self calibration: TRUE
[zed_wrapper-2] [INFO] [1712828639.954609286] [zed_node]: * Camera flip: FALSE
[zed_wrapper-2] [WARN] [1712828639.954691080] [zed_node]: ‘pub_frame_rate’ cannot be bigger than ‘grab_frame_rate’
[zed_wrapper-2] [INFO] [1712828639.954734921] [zed_node]: * [DYN] Publish framerate [Hz]: 30
[zed_wrapper-2] [INFO] [1712828639.954753034] [zed_node]: *** VIDEO parameters ***
[zed_wrapper-2] [INFO] [1712828639.954821388] [zed_node]: * [DYN] Brightness: 4
[zed_wrapper-2] [INFO] [1712828639.954896270] [zed_node]: * [DYN] Contrast: 4
[zed_wrapper-2] [INFO] [1712828639.954982000] [zed_node]: * [DYN] Hue: 0
[zed_wrapper-2] [INFO] [1712828639.955058002] [zed_node]: * [DYN] Saturation: 4
[zed_wrapper-2] [INFO] [1712828639.955129972] [zed_node]: * [DYN] Sharpness: 4
[zed_wrapper-2] [INFO] [1712828639.955206614] [zed_node]: * [DYN] Gamma: 8
[zed_wrapper-2] [INFO] [1712828639.955277624] [zed_node]: * [DYN] Auto Exposure/Gain: TRUE
[zed_wrapper-2] [INFO] [1712828639.955348058] [zed_node]: * [DYN] Exposure: 80
[zed_wrapper-2] [INFO] [1712828639.955425532] [zed_node]: * [DYN] Gain: 80
[zed_wrapper-2] [INFO] [1712828639.955502718] [zed_node]: * [DYN] Auto White Balance: TRUE
[zed_wrapper-2] [INFO] [1712828639.955579168] [zed_node]: * [DYN] White Balance Temperature: 42
[zed_wrapper-2] [INFO] [1712828639.955661699] [zed_node]: * Video QoS History: KEEP_LAST
[zed_wrapper-2] [INFO] [1712828639.955753125] [zed_node]: * Video QoS History depth: 1
[zed_wrapper-2] [INFO] [1712828639.955833255] [zed_node]: * Video QoS Reliability: RELIABLE
[zed_wrapper-2] [INFO] [1712828639.955904233] [zed_node]: * Video QoS Durability: VOLATILE
[zed_wrapper-2] [INFO] [1712828639.955929578] [zed_node]: *** DEPTH parameters ***
[zed_wrapper-2] [INFO] [1712828639.956021517] [zed_node]: * Depth mode: ULTRA [3]
[zed_wrapper-2] [INFO] [1712828639.956103727] [zed_node]: * Min depth [m]: 0.2
[zed_wrapper-2] [INFO] [1712828639.956204946] [zed_node]: * Max depth [m]: 10
[zed_wrapper-2] [INFO] [1712828639.956283764] [zed_node]: * Depth Stabilization: 1
[zed_wrapper-2] [INFO] [1712828639.956451608] [zed_node]: * OpenNI mode (16bit point cloud): FALSE
[zed_wrapper-2] [INFO] [1712828639.956531546] [zed_node]: * [DYN] Point cloud rate [Hz]: 10
[zed_wrapper-2] [INFO] [1712828639.956617021] [zed_node]: * [DYN] Depth Confidence: 50
[zed_wrapper-2] [INFO] [1712828639.956703743] [zed_node]: * [DYN] Depth Texture Confidence: 100
[zed_wrapper-2] [INFO] [1712828639.956773729] [zed_node]: * [DYN] Remove saturated areas: TRUE
[zed_wrapper-2] [INFO] [1712828639.956851267] [zed_node]: * Depth QoS History: KEEP_LAST
[zed_wrapper-2] [INFO] [1712828639.956928613] [zed_node]: * Depth QoS History depth: 1
[zed_wrapper-2] [INFO] [1712828639.956999367] [zed_node]: * Depth QoS Reliability: RELIABLE
[zed_wrapper-2] [INFO] [1712828639.957072009] [zed_node]: * Depth QoS Durability: VOLATILE
[zed_wrapper-2] [INFO] [1712828639.957100394] [zed_node]: *** GNSS FUSION parameters ***
[zed_wrapper-2] [INFO] [1712828639.957180108] [zed_node]: * GNSS fusion enabled: FALSE
[zed_wrapper-2] [INFO] [1712828639.957202541] [zed_node]: *** POSITIONAL TRACKING parameters ***
[zed_wrapper-2] [INFO] [1712828639.957279855] [zed_node]: * Positional tracking enabled: FALSE
[zed_wrapper-2] [WARN] [1712828639.957371665] [zed_node]: ‘pos_tracking.pos_tracking_mode’ not valid (‘’). Using default value.
[zed_wrapper-2] [INFO] [1712828639.957400082] [zed_node]: * Positional tracking mode: POSITIONAL TRACKING MODE QUALITY
[zed_wrapper-2] [INFO] [1712828639.957484469] [zed_node]: * Map frame id: map
[zed_wrapper-2] [INFO] [1712828639.957567223] [zed_node]: * Odometry frame id: odom
[zed_wrapper-2] [INFO] [1712828639.957644729] [zed_node]: * Broadcast Odometry TF: TRUE
[zed_wrapper-2] [INFO] [1712828639.957720699] [zed_node]: * Broadcast Pose TF: TRUE
[zed_wrapper-2] [INFO] [1712828639.957812445] [zed_node]: * [DYN] Depth minimum range: 0
[zed_wrapper-2] [INFO] [1712828639.957897568] [zed_node]: * [DYN] TF timestamp offset: 0
[zed_wrapper-2] [INFO] [1712828639.957978274] [zed_node]: * [DYN] Path publishing rate: 2
[zed_wrapper-2] [INFO] [1712828639.958055652] [zed_node]: * Path history lenght: -1
[zed_wrapper-2] [INFO] [1712828639.958148807] [zed_node]: * Initial pose: [0,0,0,0,0,0,]
[zed_wrapper-2] [INFO] [1712828639.958233481] [zed_node]: * Area Memory: TRUE
[zed_wrapper-2] [INFO] [1712828639.958310539] [zed_node]: * Area Memory DB:
[zed_wrapper-2] [INFO] [1712828639.958397517] [zed_node]: * Camera is static: FALSE
[zed_wrapper-2] [INFO] [1712828639.958478608] [zed_node]: * Gravity as origin [not for ZED]: TRUE
[zed_wrapper-2] [INFO] [1712828639.958549810] [zed_node]: * IMU Fusion [not for ZED]: TRUE
[zed_wrapper-2] [INFO] [1712828639.958637684] [zed_node]: * Floor Alignment: FALSE
[zed_wrapper-2] [INFO] [1712828639.958718998] [zed_node]: * Init Odometry with first valid pose data: TRUE
[zed_wrapper-2] [INFO] [1712828639.958803833] [zed_node]: * 2D mode: FALSE
[zed_wrapper-2] [INFO] [1712828639.958889659] [zed_node]: * Pose/Odometry QoS History: KEEP_LAST
[zed_wrapper-2] [INFO] [1712828639.958971453] [zed_node]: * Pose/Odometry QoS History depth: 1
[zed_wrapper-2] [INFO] [1712828639.959050367] [zed_node]: * Pose/Odometry QoS Reliability: RELIABLE
[zed_wrapper-2] [INFO] [1712828639.959134434] [zed_node]: * Pose/Odometry QoS Durability: VOLATILE
[zed_wrapper-2] [INFO] [1712828639.959160642] [zed_node]: *** SENSORS STACK parameters ***
[zed_wrapper-2] [INFO] [1712828639.959238948] [zed_node]: * Broadcast IMU TF [not for ZED]: FALSE
[zed_wrapper-2] [INFO] [1712828639.959320551] [zed_node]: * Sensors Camera Sync: FALSE
[zed_wrapper-2] [INFO] [1712828639.959405481] [zed_node]: * Sensors publishing rate: 200 Hz
[zed_wrapper-2] [INFO] [1712828639.959483659] [zed_node]: * Sensors QoS History: KEEP_LAST
[zed_wrapper-2] [INFO] [1712828639.959554029] [zed_node]: * Sensors QoS History depth: 1
[zed_wrapper-2] [INFO] [1712828639.959677456] [zed_node]: * Sensors QoS Reliability: RELIABLE
[zed_wrapper-2] [INFO] [1712828639.959771059] [zed_node]: * Sensors QoS Durability: VOLATILE
[zed_wrapper-2] [INFO] [1712828639.959795700] [zed_node]: *** Spatial Mapping parameters ***
[zed_wrapper-2] [INFO] [1712828639.959872918] [zed_node]: * Spatial Mapping Enabled: FALSE
[zed_wrapper-2] [INFO] [1712828639.959963768] [zed_node]: * Spatial Mapping resolution [m]: 0.05
[zed_wrapper-2] [INFO] [1712828639.960049883] [zed_node]: * 3D Max Mapping range [m]: 5
[zed_wrapper-2] [INFO] [1712828639.960126269] [zed_node]: * Map publishing rate [Hz]: 1
[zed_wrapper-2] [INFO] [1712828639.960220543] [zed_node]: * Clicked point topic: /clicked_point
[zed_wrapper-2] [INFO] [1712828639.960313314] [zed_node]: * Plane Det. Max Dist. Thresh.: 0.15
[zed_wrapper-2] [INFO] [1712828639.960399652] [zed_node]: * Plane Det. Normals Sim. Thresh.: 15
[zed_wrapper-2] [INFO] [1712828639.960506695] [zed_node]: * Sensors QoS History: KEEP_LAST
[zed_wrapper-2] [INFO] [1712828639.960636459] [zed_node]: * Sensors QoS History depth: 1
[zed_wrapper-2] [INFO] [1712828639.960725165] [zed_node]: * Sensors QoS Reliability: RELIABLE
[zed_wrapper-2] [INFO] [1712828639.960816304] [zed_node]: * Sensors QoS Durability: VOLATILE
[zed_wrapper-2] [INFO] [1712828639.960844400] [zed_node]: *** Object Det. parameters ***
[zed_wrapper-2] [INFO] [1712828639.960934803] [zed_node]: * Object Det. enabled: FALSE
[zed_wrapper-2] [INFO] [1712828639.961039478] [zed_node]: * Object Det. model: MULTI CLASS BOX MEDIUM
[zed_wrapper-2] [INFO] [1712828639.961136440] [zed_node]: * Object Det. allow reduced precision: TRUE
[zed_wrapper-2] [INFO] [1712828639.961229723] [zed_node]: * Object Det. maximum range [m]: 20
[zed_wrapper-2] [INFO] [1712828639.961320253] [zed_node]: * Object Det. min. confidence: 50
[zed_wrapper-2] [INFO] [1712828639.961409792] [zed_node]: * Object Det. prediction timeout [sec]: 0.5
[zed_wrapper-2] [INFO] [1712828639.961494274] [zed_node]: * Object Det. tracking: TRUE
[zed_wrapper-2] [INFO] [1712828639.961596741] [zed_node]: * Object Filtering mode: 1 - NMS 3D
[zed_wrapper-2] [INFO] [1712828639.961689319] [zed_node]: * MultiClassBox people: FALSE
[zed_wrapper-2] [INFO] [1712828639.961774890] [zed_node]: * MultiClassBox vehicles: TRUE
[zed_wrapper-2] [INFO] [1712828639.961862860] [zed_node]: * MultiClassBox bags: TRUE
[zed_wrapper-2] [INFO] [1712828639.961941742] [zed_node]: * MultiClassBox animals: TRUE
[zed_wrapper-2] [INFO] [1712828639.962020112] [zed_node]: * MultiClassBox electronics: TRUE
[zed_wrapper-2] [INFO] [1712828639.962097363] [zed_node]: * MultiClassBox fruits and vegetables: TRUE
[zed_wrapper-2] [INFO] [1712828639.962172757] [zed_node]: * MultiClassBox sport-related objects: TRUE
[zed_wrapper-2] [INFO] [1712828639.962250743] [zed_node]: * Obj. Det. QoS History: KEEP_LAST
[zed_wrapper-2] [INFO] [1712828639.962333689] [zed_node]: * Obj. Det. QoS History depth: 1
[zed_wrapper-2] [INFO] [1712828639.962420987] [zed_node]: * Obj. Det. QoS Reliability: RELIABLE
[zed_wrapper-2] [INFO] [1712828639.962503198] [zed_node]: * Obj. Det. QoS Durability: VOLATILE
[zed_wrapper-2] [INFO] [1712828639.962526686] [zed_node]: *** Body Track. parameters ***
[zed_wrapper-2] [INFO] [1712828639.962604608] [zed_node]: * Body Track. enabled: FALSE
[zed_wrapper-2] [INFO] [1712828639.962692995] [zed_node]: * Body Track. model: HUMAN BODY MEDIUM
[zed_wrapper-2] [INFO] [1712828639.962791878] [zed_node]: * Body Track. format: BODY_38
[zed_wrapper-2] [INFO] [1712828639.962885160] [zed_node]: * Body Track. allow reduced precision: TRUE
[zed_wrapper-2] [INFO] [1712828639.962972107] [zed_node]: * Body Track. maximum range [m]: 20
[zed_wrapper-2] [INFO] [1712828639.963066445] [zed_node]: * Body Track. KP selection: FULL
[zed_wrapper-2] [INFO] [1712828639.963156784] [zed_node]: * Body fitting: FALSE
[zed_wrapper-2] [INFO] [1712828639.963241298] [zed_node]: * Body joints tracking: TRUE
[zed_wrapper-2] [INFO] [1712828639.963337973] [zed_node]: * Body Track. prediction timeout [sec]: 0.5
[zed_wrapper-2] [INFO] [1712828639.963422839] [zed_node]: * Body Track. confidence thresh.: 50
[zed_wrapper-2] [INFO] [1712828639.963515609] [zed_node]: * Body Track. min. KP thresh.: 5
[zed_wrapper-2] [INFO] [1712828639.963593436] [zed_node]: * Body Track. QoS History: KEEP_LAST
[zed_wrapper-2] [INFO] [1712828639.963674014] [zed_node]: * Body Track. QoS History depth: 1
[zed_wrapper-2] [INFO] [1712828639.963759008] [zed_node]: * Body Track. QoS Reliability: RELIABLE
[zed_wrapper-2] [INFO] [1712828639.963835138] [zed_node]: * Body Track. QoS Durability: VOLATILE
[zed_wrapper-2] [INFO] [1712828639.963860483] [zed_node]: *** Advanced parameters ***
[zed_wrapper-2] [INFO] [1712828639.963945029] [zed_node]: * Thread sched. policy: SCHED_BATCH
[zed_wrapper-2] [INFO] [1712828639.964034856] [zed_node]: *** SERVICES ***
[zed_wrapper-2] [INFO] [1712828639.965193511] [zed_node]: * ‘/zed_node/reset_odometry’
[zed_wrapper-2] [INFO] [1712828639.965703573] [zed_node]: * ‘/zed_node/reset_pos_tracking’
[zed_wrapper-2] [INFO] [1712828639.967009081] [zed_node]: * ‘/zed_node/set_pose’
[zed_wrapper-2] [INFO] [1712828639.967541415] [zed_node]: * ‘/zed_node/enable_obj_det’
[zed_wrapper-2] [INFO] [1712828639.967997076] [zed_node]: * ‘/zed_node/enable_body_trk’
[zed_wrapper-2] [INFO] [1712828639.968467169] [zed_node]: * ‘/zed_node/enable_mapping’
[zed_wrapper-2] [INFO] [1712828639.968989327] [zed_node]: * ‘/zed_node/start_svo_rec’
[zed_wrapper-2] [INFO] [1712828639.969425499] [zed_node]: * ‘/zed_node/stop_svo_rec’
[zed_wrapper-2] [INFO] [1712828639.969939913] [zed_node]: * ‘/zed_node/set_roi’
[zed_wrapper-2] [INFO] [1712828639.970382069] [zed_node]: * ‘/zed_node/reset_roi’
[zed_wrapper-2] [INFO] [1712828639.970419062] [zed_node]: ***** STARTING CAMERA *****
[zed_wrapper-2] [INFO] [1712828639.970437815] [zed_node]: ZED SDK Version: 4.0.6 - Build 76737_a80ced01
[zed_wrapper-2] [INFO] [1712828639.977027435] [zed_node]: *** CAMERA OPENING ***
[zed_wrapper-2] [ZED][INFO] Logging level INFO
[zed_wrapper-2] [ZED][INFO] [Init] Depth mode: ULTRA
[zed_wrapper-2] [ZED][INFO] [Init] Camera successfully opened.
[zed_wrapper-2] [ZED][INFO] [Init] Camera FW version: 1523
[zed_wrapper-2] [ZED][INFO] [Init] Video mode: HD720@30
[zed_wrapper-2] [ZED][INFO] [Init] Serial Number: S/N 23548720
[zed_wrapper-2] [INFO] [1712828643.043485836] [zed_node]: ZED SDK running on GPU #0
[zed_wrapper-2] [INFO] [1712828643.043708818] [zed_node]: * Camera Model → ZED 2
[zed_wrapper-2] [INFO] [1712828643.043755251] [zed_node]: * Serial Number → 23548720
[zed_wrapper-2] [INFO] [1712828643.043816853] [zed_node]: * Focal Lenght → 2.14214 mm
[zed_wrapper-2] [INFO] [1712828643.043907991] [zed_node]: * Input → USB input type
[zed_wrapper-2] [INFO] [1712828643.043966649] [zed_node]: * Camera FW Version → 1523
[zed_wrapper-2] [INFO] [1712828643.044009370] [zed_node]: * Sensors FW Version → 776
[zed_wrapper-2] [INFO] [1712828643.044051515] [zed_node]: * Camera grab frame size → 1280x720
[zed_wrapper-2] [INFO] [1712828643.044092285] [zed_node]: * Publishing frame size → 1280x720
[zed_wrapper-2] [INFO] [1712828643.044198943] [zed_node]: *** TF FRAMES ***
[zed_wrapper-2] [INFO] [1712828643.044259809] [zed_node]: * Map → map
[zed_wrapper-2] [INFO] [1712828643.044300578] [zed_node]: * Odometry → odom
[zed_wrapper-2] [INFO] [1712828643.044329315] [zed_node]: * Base → zed2_camera_link
[zed_wrapper-2] [INFO] [1712828643.044354596] [zed_node]: * Camera → zed2_camera_center
[zed_wrapper-2] [INFO] [1712828643.044379684] [zed_node]: * Left → zed2_left_camera_frame
[zed_wrapper-2] [INFO] [1712828643.044405125] [zed_node]: * Left Optical → zed2_left_camera_optical_frame
[zed_wrapper-2] [INFO] [1712828643.044439430] [zed_node]: * RGB → zed2_left_camera_frame
[zed_wrapper-2] [INFO] [1712828643.044466887] [zed_node]: * RGB Optical → zed2_left_camera_frame
[zed_wrapper-2] [INFO] [1712828643.044489799] [zed_node]: * Right → zed2_right_camera_frame
[zed_wrapper-2] [INFO] [1712828643.044512040] [zed_node]: * Right Optical → zed2_right_camera_optical_frame
[zed_wrapper-2] [INFO] [1712828643.044534409] [zed_node]: * Depth → zed2_left_camera_frame
[zed_wrapper-2] [INFO] [1712828643.044557321] [zed_node]: * Depth Optical → zed2_left_camera_optical_frame
[zed_wrapper-2] [INFO] [1712828643.044580394] [zed_node]: * Point Cloud → zed2_left_camera_optical_frame
[zed_wrapper-2] [INFO] [1712828643.044602954] [zed_node]: * Disparity → zed2_left_camera_frame
[zed_wrapper-2] [INFO] [1712828643.044625867] [zed_node]: * Disparity Optical → zed2_left_camera_optical_frame
[zed_wrapper-2] [INFO] [1712828643.044648588] [zed_node]: * Confidence → zed2_left_camera_frame
[zed_wrapper-2] [INFO] [1712828643.044671628] [zed_node]: * Confidence Optical-> zed2_left_camera_optical_frame
[zed_wrapper-2] [INFO] [1712828643.044694733] [zed_node]: * IMU → zed2_imu_link
[zed_wrapper-2] [INFO] [1712828643.044720270] [zed_node]: * Barometer → zed2_camera_center
[zed_wrapper-2] [INFO] [1712828643.044743982] [zed_node]: * Magnetometer → zed2_imu_link
[zed_wrapper-2] [INFO] [1712828643.044766159] [zed_node]: * Left Temperature → zed2_left_camera_frame
[zed_wrapper-2] [INFO] [1712828643.044816688] [zed_node]: * Right Temperature → zed2_right_camera_frame
[zed_wrapper-2] [INFO] [1712828643.044925523] [zed_node]: *** PUBLISHED TOPICS ***
[zed_wrapper-2] [INFO] [1712828643.255044834] [zed_node]: Advertised on topic: /zed_node/rgb/image_rect_color
[zed_wrapper-2] [INFO] [1712828643.255141157] [zed_node]: Advertised on topic: /zed_node/rgb/camera_info
[zed_wrapper-2] [INFO] [1712828643.260802879] [zed_node]: Advertised on topic: /zed_node/rgb_gray/image_rect_gray
[zed_wrapper-2] [INFO] [1712828643.260867521] [zed_node]: Advertised on topic: /zed_node/rgb_gray/camera_info
[zed_wrapper-2] [INFO] [1712828643.266504187] [zed_node]: Advertised on topic: /zed_node/rgb_raw/image_raw_color
[zed_wrapper-2] [INFO] [1712828643.266572413] [zed_node]: Advertised on topic: /zed_node/rgb_raw/camera_info
[zed_wrapper-2] [INFO] [1712828643.272446814] [zed_node]: Advertised on topic: /zed_node/rgb_raw_gray/image_raw_gray
[zed_wrapper-2] [INFO] [1712828643.272522848] [zed_node]: Advertised on topic: /zed_node/rgb_raw_gray/camera_info
[zed_wrapper-2] [INFO] [1712828643.278568901] [zed_node]: Advertised on topic: /zed_node/left/image_rect_color
[zed_wrapper-2] [INFO] [1712828643.278639303] [zed_node]: Advertised on topic: /zed_node/left/camera_info
[zed_wrapper-2] [INFO] [1712828643.284678284] [zed_node]: Advertised on topic: /zed_node/left_gray/image_rect_gray
[zed_wrapper-2] [INFO] [1712828643.284757486] [zed_node]: Advertised on topic: /zed_node/left_gray/camera_info
[zed_wrapper-2] [INFO] [1712828643.290624078] [zed_node]: Advertised on topic: /zed_node/left_raw/image_raw_color
[zed_wrapper-2] [INFO] [1712828643.290694832] [zed_node]: Advertised on topic: /zed_node/left_raw/camera_info
[zed_wrapper-2] [INFO] [1712828643.296721013] [zed_node]: Advertised on topic: /zed_node/left_raw_gray/image_raw_gray
[zed_wrapper-2] [INFO] [1712828643.296888314] [zed_node]: Advertised on topic: /zed_node/left_raw_gray/camera_info
[zed_wrapper-2] [INFO] [1712828643.303070723] [zed_node]: Advertised on topic: /zed_node/right/image_rect_color
[zed_wrapper-2] [INFO] [1712828643.303150917] [zed_node]: Advertised on topic: /zed_node/right/camera_info
[zed_wrapper-2] [INFO] [1712828643.309282700] [zed_node]: Advertised on topic: /zed_node/right_gray/image_rect_gray
[zed_wrapper-2] [INFO] [1712828643.309358542] [zed_node]: Advertised on topic: /zed_node/right_gray/camera_info
[zed_wrapper-2] [INFO] [1712828643.318082685] [zed_node]: Advertised on topic: /zed_node/right_raw/image_raw_color
[zed_wrapper-2] [INFO] [1712828643.318167295] [zed_node]: Advertised on topic: /zed_node/right_raw/camera_info
[zed_wrapper-2] [INFO] [1712828643.324089217] [zed_node]: Advertised on topic: /zed_node/right_raw_gray/image_raw_gray
[zed_wrapper-2] [INFO] [1712828643.324183748] [zed_node]: Advertised on topic: /zed_node/right_raw_gray/camera_info
[zed_wrapper-2] [INFO] [1712828643.327789350] [zed_node]: Advertised on topic: /zed_node/depth/depth_registered
[zed_wrapper-2] [INFO] [1712828643.327856040] [zed_node]: Advertised on topic: /zed_node/depth/camera_info
[zed_wrapper-2] [INFO] [1712828643.330851226] [zed_node]: Advertised on topic: /zed_node/depth/depth_info
[zed_wrapper-2] [INFO] [1712828643.335683070] [zed_node]: Advertised on topic: /zed_node/stereo/image_rect_color
[zed_wrapper-2] [INFO] [1712828643.338921206] [zed_node]: Advertised on topic: /zed_node/stereo_raw/image_raw_color
[zed_wrapper-2] [INFO] [1712828643.339400164] [zed_node]: Advertised on topic: /zed_node/confidence/confidence_map
[zed_wrapper-2] [INFO] [1712828643.342002603] [zed_node]: Advertised on topic: /zed_node/disparity/disparity_image
[zed_wrapper-2] [INFO] [1712828643.342883811] [zed_node]: Advertised on topic: /zed_node/point_cloud/cloud_registered
[zed_wrapper-2] [INFO] [1712828643.343768603] [zed_node]: Advertised on topic: /zed_node/pose
[zed_wrapper-2] [INFO] [1712828643.344488015] [zed_node]: Advertised on topic: /zed_node/pose/status
[zed_wrapper-2] [INFO] [1712828643.345201922] [zed_node]: Advertised on topic: /zed_node/pose_with_covariance
[zed_wrapper-2] [INFO] [1712828643.347248538] [zed_node]: Advertised on topic: /zed_node/odom
[zed_wrapper-2] [INFO] [1712828643.347792777] [zed_node]: Advertised on topic: /zed_node/odom/status
[zed_wrapper-2] [INFO] [1712828643.348709090] [zed_node]: Advertised on topic: /zed_node/path_map
[zed_wrapper-2] [INFO] [1712828643.349275921] [zed_node]: Advertised on topic: /zed_node/path_odom
[zed_wrapper-2] [INFO] [1712828643.352720688] [zed_node]: Advertised on topic: /plane_marker
[zed_wrapper-2] [INFO] [1712828643.354480640] [zed_node]: Advertised on topic: /plane
[zed_wrapper-2] [INFO] [1712828643.355512700] [zed_node]: Advertised on topic: /zed_node/imu/data
[zed_wrapper-2] [INFO] [1712828643.356111052] [zed_node]: Advertised on topic: /zed_node/imu/data_raw
[zed_wrapper-2] [INFO] [1712828643.356966532] [zed_node]: Advertised on topic: /zed_node/temperature/imu
[zed_wrapper-2] [INFO] [1712828643.357769306] [zed_node]: Advertised on topic: /zed_node/imu/mag
[zed_wrapper-2] [INFO] [1712828643.358834199] [zed_node]: Advertised on topic: /zed_node/atm_press
[zed_wrapper-2] [INFO] [1712828643.359411974] [zed_node]: Advertised on topic: /zed_node/temperature/left
[zed_wrapper-2] [INFO] [1712828643.359898068] [zed_node]: Advertised on topic: /zed_node/temperature/right
[zed_wrapper-2] [INFO] [1712828643.360638504] [zed_node]: Advertised on topic: /zed_node/left_cam_imu_transform
[zed_wrapper-2] [INFO] [1712828643.360710346] [zed_node]: Camera-IMU Translation:
[zed_wrapper-2] -0.002 -0.023 0.00022
[zed_wrapper-2] [INFO] [1712828643.360785228] [zed_node]: Camera-IMU Rotation:
[zed_wrapper-2] FFFFDE3C9C10
[zed_wrapper-2] 0.999924 0.012223 0.001371
[zed_wrapper-2] -0.012215 0.999913 -0.005077
[zed_wrapper-2] -0.001433 0.005060 0.999986
[zed_wrapper-2]
[zed_wrapper-2] [INFO] [1712828643.360817517] [zed_node]: *** Subscribers ***
[zed_wrapper-2] [INFO] [1712828643.362057583] [zed_node]: * Plane detection: ‘/clicked_point’
[zed_wrapper-2] [INFO] [1712828643.416860297] [zed_node]: *** Starting Positional Tracking ***
[zed_wrapper-2] [INFO] [1712828643.417046414] [zed_node]: * Waiting for valid static transformations…
[zed_wrapper-2] [INFO] [1712828643.417309717] [zed_node]: Static transform Sensor to Base [zed2_left_camera_frame → zed2_camera_link]
[zed_wrapper-2] [INFO] [1712828643.417336406] [zed_node]: * Translation: {0.011,-0.060,-0.015}
[zed_wrapper-2] [INFO] [1712828643.417365878] [zed_node]: * Rotation: {0.000,-2.865,0.000}
[zed_wrapper-2] [INFO] [1712828643.417408248] [zed_node]: Static transform Sensor to Camera Center [zed2_left_camera_frame → zed2_camera_center]
[zed_wrapper-2] [INFO] [1712828643.417425016] [zed_node]: * Translation: {0.010,-0.060,0.000}
[zed_wrapper-2] [INFO] [1712828643.417521019] [zed_node]: * Rotation: {0.000,-0.000,0.000}
[zed_wrapper-2] [INFO] [1712828643.417568028] [zed_node]: Static transform Camera Center to Base [zed2_camera_center → zed2_camera_link]
[zed_wrapper-2] [INFO] [1712828643.417584668] [zed_node]: * Translation: {0.001,0.000,-0.015}
[zed_wrapper-2] [INFO] [1712828643.417602237] [zed_node]: * Rotation: {0.000,-2.865,0.000}
[zed_wrapper-2] [INFO] [1712828643.418703739] [zed_node]: Initial ZED left camera pose (ZED pos. tracking):
[zed_wrapper-2] [INFO] [1712828643.418724636] [zed_node]: * T: [-0.0099875,0.06,0.0154998]
[zed_wrapper-2] [INFO] [1712828643.418744828] [zed_node]: * Q: [0,0.0249967,0,0.999687]
[zed_wrapper-2] [INFO] [1712828643.609673054] [zed_node]: Odometry aligned to last tracking pose
[zed_wrapper-2] [INFO] [1712828643.609826115] [zed_node]: * Initial odometry [odom → zed2_camera_link] - {0.000,0.000,-0.001} {0.687,-1.057,-0.043}
[INFO] [component_container-3]: process started with pid [20543]
[component_container-3] [ERROR] [1712828645.189521641] [visual_slam_launch_container]: Could not find requested resource in ament index
[ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node ‘image_format_node_left’ of type ‘nvidia::isaac_ros::image_proc::ImageFormatConverterNode’ in container ‘/visual_slam_launch_container’: Could not find requested resource in ament index
[component_container-3] [ERROR] [1712828645.198118644] [visual_slam_launch_container]: Could not find requested resource in ament index
[ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node ‘image_format_node_right’ of type ‘nvidia::isaac_ros::image_proc::ImageFormatConverterNode’ in container ‘/visual_slam_launch_container’: Could not find requested resource in ament index
[component_container-3] [INFO] [1712828645.201448623] [visual_slam_launch_container]: Load Library: /workspaces/isaac_ros-dev/install/isaac_ros_visual_slam/lib/libvisual_slam_node.so
[component_container-3] [INFO] [1712828645.400601906] [visual_slam_launch_container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::visual_slam::VisualSlamNode
[component_container-3] [INFO] [1712828645.400803735] [visual_slam_launch_container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::visual_slam::VisualSlamNode
[component_container-3] [INFO] [1712828645.550615158] [visual_slam_node]: cuVSLAM version: 11.4
[component_container-3] [INFO] [1712828647.859230286] [visual_slam_node]: Time taken by CUVSLAM_WarmUpGPU(): 2.307228
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ‘/visual_slam_node’ in container ‘/visual_slam_launch_container’

Any idea on what can be possibly be missing?

(**)/clicked_point
/diagnostics
/joint_states
/parameter_events
/plane
/plane_marker
/robot_description
/rosout
/tf
/tf_static
/visual_slam/status
/visual_slam/tracking/odometry
/visual_slam/tracking/slam_path
/visual_slam/tracking/vo_path
/visual_slam/tracking/vo_pose
/visual_slam/tracking/vo_pose_covariance
/visual_slam/vis/gravity
/visual_slam/vis/landmarks_cloud
/visual_slam/vis/localizer
/visual_slam/vis/localizer_loop_closure_cloud
/visual_slam/vis/localizer_map_cloud
/visual_slam/vis/localizer_observations_cloud
/visual_slam/vis/loop_closure_cloud
/visual_slam/vis/observations_cloud
/visual_slam/vis/pose_graph_edges
/visual_slam/vis/pose_graph_edges2
/visual_slam/vis/pose_graph_nodes
/visual_slam/vis/slam_odometry
/visual_slam/vis/velocity
/zed_node/atm_press
/zed_node/confidence/confidence_map
/zed_node/depth/camera_info
/zed_node/depth/depth_info
/zed_node/depth/depth_registered
/zed_node/depth/depth_registered/compressed
/zed_node/depth/depth_registered/compressedDepth
/zed_node/depth/depth_registered/theora
/zed_node/disparity/disparity_image
/zed_node/imu/data
/zed_node/imu/data_raw
/zed_node/imu/mag
/zed_node/left/camera_info
/zed_node/left/image_rect_color
/zed_node/left/image_rect_color/compressed
/zed_node/left/image_rect_color/compressedDepth
/zed_node/left/image_rect_color/theora
/zed_node/left/image_rect_color_rgb
/zed_node/left_cam_imu_transform
/zed_node/left_gray/camera_info
/zed_node/left_gray/image_rect_gray
/zed_node/left_gray/image_rect_gray/compressed
/zed_node/left_gray/image_rect_gray/compressedDepth
/zed_node/left_gray/image_rect_gray/theora
/zed_node/left_raw/camera_info
/zed_node/left_raw/image_raw_color
/zed_node/left_raw/image_raw_color/compressed
/zed_node/left_raw/image_raw_color/compressedDepth
/zed_node/left_raw/image_raw_color/theora
/zed_node/left_raw_gray/camera_info
/zed_node/left_raw_gray/image_raw_gray
/zed_node/left_raw_gray/image_raw_gray/compressed
/zed_node/left_raw_gray/image_raw_gray/compressedDepth
/zed_node/left_raw_gray/image_raw_gray/theora
/zed_node/odom
/zed_node/odom/status
/zed_node/path_map
/zed_node/path_odom
/zed_node/point_cloud/cloud_registered
/zed_node/pose
/zed_node/pose/status
/zed_node/pose_with_covariance
/zed_node/rgb/camera_info
/zed_node/rgb/image_rect_color
/zed_node/rgb/image_rect_color/compressed
/zed_node/rgb/image_rect_color/compressedDepth
/zed_node/rgb/image_rect_color/theora
/zed_node/rgb_gray/camera_info
/zed_node/rgb_gray/image_rect_gray
/zed_node/rgb_gray/image_rect_gray/compressed
/zed_node/rgb_gray/image_rect_gray/compressedDepth
/zed_node/rgb_gray/image_rect_gray/theora
/zed_node/rgb_raw/camera_info
/zed_node/rgb_raw/image_raw_color
/zed_node/rgb_raw/image_raw_color/compressed
/zed_node/rgb_raw/image_raw_color/compressedDepth
/zed_node/rgb_raw/image_raw_color/theora
/zed_node/rgb_raw_gray/camera_info
/zed_node/rgb_raw_gray/image_raw_gray
/zed_node/rgb_raw_gray/image_raw_gray/compressed
/zed_node/rgb_raw_gray/image_raw_gray/compressedDepth
/zed_node/rgb_raw_gray/image_raw_gray/theora
/zed_node/right/camera_info
/zed_node/right/image_rect_color
/zed_node/right/image_rect_color/compressed
/zed_node/right/image_rect_color/compressedDepth
/zed_node/right/image_rect_color/theora
/zed_node/right/image_rect_color_rgb
/zed_node/right_gray/camera_info
/zed_node/right_gray/image_rect_gray
/zed_node/right_gray/image_rect_gray/compressed
/zed_node/right_gray/image_rect_gray/compressedDepth
/zed_node/right_gray/image_rect_gray/theora
/zed_node/right_raw/camera_info
/zed_node/right_raw/image_raw_color
/zed_node/right_raw/image_raw_color/compressed
/zed_node/right_raw/image_raw_color/compressedDepth
/zed_node/right_raw/image_raw_color/theora
/zed_node/right_raw_gray/camera_info
/zed_node/right_raw_gray/image_raw_gray
/zed_node/right_raw_gray/image_raw_gray/compressed
/zed_node/right_raw_gray/image_raw_gray/compressedDepth
/zed_node/right_raw_gray/image_raw_gray/theora
/zed_node/stereo/image_rect_color
/zed_node/stereo/image_rect_color/compressed
/zed_node/stereo/image_rect_color/compressedDepth
/zed_node/stereo/image_rect_color/theora
/zed_node/stereo_raw/image_raw_color
/zed_node/stereo_raw/image_raw_color/compressed
/zed_node/stereo_raw/image_raw_color/compressedDepth
/zed_node/stereo_raw/image_raw_color/theora
/zed_node/temperature/imu

Hi @anna.astolfi

Welcome to the Isaac ROS forum.

Your issue is pretty similar to this other topic Isaac ros visual slam isn't starting subscribers for stereo camera

I asked the engineer to update the documentation for the ZED camera. A new version of the documentation will be available with the next release.

Best,
Raffaello

I can try and help, can you upload your VSLAM launch file and your rviz launch file. if you also include an RQT graph that would be awesome. Thanks.

Thank you @conorspalvieri1 and @Raffaello ,
I solved the issue. My problem was in fact similar to the one mentioned by @Raffaello, and it solved part of the problem by adjusting the config file to be compliant with the zed2 camera.

But in the end the point cloud was not generated because of a missing dependence with the package isaac-ros-image-proc (in the documentation it was mentioned to include only isaac-ros-stero-image-proc. See step 5 of Tutorial for Visual SLAM Using a ZED Camera — isaac_ros_docs documentation (nvidia-isaac-ros.github.io) ). Thank you anyways for your reply !

Best,
Anna

1 Like

I also just encountered this same issue and Anna’s solution worked. I just wanted to clarify your answer as I was I didn’t realize which package you were talking about at first.

That is–yes–the docs only tell you to install the stereo-image-proc package, but it seems you actually need the image-proc package instead/also.

I.e., run sudo apt install ros-humble-isaac-ros-image-proc, and then try launching VLSAM again.

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