Setup
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OS: Ubuntu 22.04.5 LTS
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ROS 2: Humble
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GPU: RTX 4070 Laptop
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NVIDIA driver: 570.169
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CUDA: 12.8
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Camera: ZED 2i
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ZED SDK: 5.0.5
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Isaac ROS:
isaac_ros_nvblox+nvblox_examples_bringup
What works
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ZED SDK:
ZED_Explorershows stereo live feed and metadata (see screenshot). -
Isaac ROS Visual SLAM: runs and produces a cloud/trajectory (RViz screenshot attached).
What fails
Launching the ZED nvblox example:
ros2 launch nvblox_examples_bringup zed_example.launch.py camera:=zed2
Results:
- Repeated TF errors in
nvblox_node:
[nvblox_node]: Lookup transform failed for frame zed_camera_link. Layer pointclouds not published
[nvblox_node]: Tried to clear map outside of radius but couldn't look up frame: zed_camera_link
Eventually the ZED node sometimes logs:
[zed.zed_node]: Error opening camera: CAMERA STREAM FAILED TO START
[zed.zed_node]: Please verify the camera connection
[zed.zed_node]: Camera detection timeout
I am tring to run Nvblox which i’ll eventually run along with segmentation for creating memory map but nvblox seem not to run. I found this link Nvblox_examples_bringup isnt working - #16 by smokemonkey101 useful as it was the similar issue but it doesn’t solve my problem as it doesn’t run for 10 mins but crashes.
Zed 2 works inside the container
Vslam works
Nvblxox doesnt work.
admin@mab-Dell-G16-7630:/workspaces/isaac_ros-dev$ ros2 launch nvblox_examples_bringup zed_example.launch.py camera:=zed2
[INFO] [launch]: All log files can be found below /home/admin/.ros/log/2025-08-17-22-22-21-368160-mab-Dell-G16-7630-43429
[INFO] [launch]: Default logging verbosity is set to INFO
Using container type: component_container_mt, with arguments: ['--ros-args', '--log-level', <launch.substitutions.launch_configuration.LaunchConfiguration object at 0x7f3c930999c0>]
Using container type: component_container_mt, with arguments: ['--ros-args', '--log-level', 'info']
Using container type: component_container_mt, with arguments: ['--ros-args', '--log-level', 'info']
[INFO] [launch.user]: Adding nodes [ /zed/zed_node ] to container nvblox_container.
[INFO] [launch.user]: Adding nodes [ /nvblox_node ] to container nvblox_container.
[INFO] [launch.user]: Starting nvblox with the 'zed2' camera in 'static' mode.
[INFO] [component_container_mt-1]: process started with pid [43443]
[INFO] [robot_state_publisher-2]: process started with pid [43445]
[INFO] [rviz2-3]: process started with pid [43447]
[robot_state_publisher-2] [INFO] [1755494541.520092315] [zed.zed_state_publisher]: got segment zed_baro_link
[robot_state_publisher-2] [INFO] [1755494541.520140926] [zed.zed_state_publisher]: got segment zed_camera_center
[robot_state_publisher-2] [INFO] [1755494541.520144415] [zed.zed_state_publisher]: got segment zed_camera_link
[robot_state_publisher-2] [INFO] [1755494541.520146335] [zed.zed_state_publisher]: got segment zed_left_camera_frame
[robot_state_publisher-2] [INFO] [1755494541.520148368] [zed.zed_state_publisher]: got segment zed_left_camera_optical_frame
[robot_state_publisher-2] [INFO] [1755494541.520150276] [zed.zed_state_publisher]: got segment zed_mag_link
[robot_state_publisher-2] [INFO] [1755494541.520152156] [zed.zed_state_publisher]: got segment zed_right_camera_frame
[robot_state_publisher-2] [INFO] [1755494541.520153896] [zed.zed_state_publisher]: got segment zed_right_camera_optical_frame
[robot_state_publisher-2] [INFO] [1755494541.520155591] [zed.zed_state_publisher]: got segment zed_temp_left_link
[robot_state_publisher-2] [INFO] [1755494541.520157342] [zed.zed_state_publisher]: got segment zed_temp_right_link
[rviz2-3] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-admin'
[rviz2-3] [INFO] [1755494541.639619905] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-3] [INFO] [1755494541.639663539] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-3] [INFO] [1755494541.648814448] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-3] [INFO] [1755494541.705886751] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-3] [INFO] [1755494541.716247214] [rviz2]: Stereo is NOT SUPPORTED
[component_container_mt-1] [INFO] [1755494541.742271500] [nvblox_container]: Load Library: /workspaces/isaac_ros-dev/install/zed_components/lib/libzed_camera_component.so
[component_container_mt-1] [INFO] [1755494541.753804453] [nvblox_container]: Found class: rclcpp_components::NodeFactoryTemplate<stereolabs::ZedCamera>
[component_container_mt-1] [INFO] [1755494541.753840157] [nvblox_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<stereolabs::ZedCamera>
[component_container_mt-1] [INFO] [1755494541.861378217] [zed.zed_node]: ********************************
[component_container_mt-1] [INFO] [1755494541.861410009] [zed.zed_node]: ZED Camera Component
[component_container_mt-1] [INFO] [1755494541.861413306] [zed.zed_node]: ********************************
[component_container_mt-1] [INFO] [1755494541.861416579] [zed.zed_node]: * namespace: /zed
[component_container_mt-1] [INFO] [1755494541.861419880] [zed.zed_node]: * node name: zed_node
[component_container_mt-1] [INFO] [1755494541.861422108] [zed.zed_node]: ********************************
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/zed/zed_node' in container 'nvblox_container'
[component_container_mt-1] [INFO] [1755494541.861693105] [nvblox_container]: Load Library: /opt/ros/humble/lib/libnvblox_ros_lib.so
[component_container_mt-1] [INFO] [1755494541.875899656] [nvblox_container]: Found class: rclcpp_components::NodeFactoryTemplate<nvblox::NvbloxNode>
[component_container_mt-1] [INFO] [1755494541.875933164] [nvblox_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvblox::NvbloxNode>
[component_container_mt-1] [INFO] [1755494541.886821297] [nvblox_node]: Create nvblox cuda stream with type: kBlocking
[component_container_mt-1] WARNING: Logging before InitGoogleLogging() is written to STDERR
[component_container_mt-1] I0817 22:22:21.900169 43471 block_memory_pool_impl.h:65] Expanding the memory pool with 2048 blocks. Number of allocated blocks: 2048
[component_container_mt-1] I0817 22:22:21.908957 43471 gpu_hash_interface_impl.cuh:83] Creating a GPUHashImpl with requested capacity of 4096 blocks. Real capacity: 4096
[component_container_mt-1] I0817 22:22:21.910697 43471 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_9TsdfVoxelEEE, voxel_size: 0.05, and memory_type: kDevice to LayerCake.
[component_container_mt-1] [INFO] [1755494541.911531619] [zed.zed_node]: *** DEBUG parameters ***
[component_container_mt-1] [INFO] [1755494541.911649742] [zed.zed_node]: * SDK Verbose: 1
[component_container_mt-1] [INFO] [1755494541.911673090] [zed.zed_node]: * Debug Common: FALSE
[component_container_mt-1] [INFO] [1755494541.911691980] [zed.zed_node]: * Debug Simulation: FALSE
[component_container_mt-1] [INFO] [1755494541.911712112] [zed.zed_node]: * Debug Video/Depth: FALSE
[component_container_mt-1] [INFO] [1755494541.911729491] [zed.zed_node]: * Debug Control settings: FALSE
[component_container_mt-1] [INFO] [1755494541.911745441] [zed.zed_node]: * Debug Point Cloud: FALSE
[component_container_mt-1] [INFO] [1755494541.911762369] [zed.zed_node]: * Debug GNSS: FALSE
[component_container_mt-1] [INFO] [1755494541.911783782] [zed.zed_node]: * Debug Positional Tracking: FALSE
[component_container_mt-1] [INFO] [1755494541.911797104] [zed.zed_node]: * Debug sensors: FALSE
[component_container_mt-1] [INFO] [1755494541.911810639] [zed.zed_node]: * Debug Mapping: FALSE
[component_container_mt-1] [INFO] [1755494541.911823567] [zed.zed_node]: * Debug Object Detection: FALSE
[component_container_mt-1] [INFO] [1755494541.911837093] [zed.zed_node]: * Debug Body Tracking: FALSE
[component_container_mt-1] [INFO] [1755494541.911851146] [zed.zed_node]: * Debug Streaming: FALSE
[component_container_mt-1] [INFO] [1755494541.911865762] [zed.zed_node]: * Debug ROI: FALSE
[component_container_mt-1] [INFO] [1755494541.911878565] [zed.zed_node]: * Debug Advanced: TRUE
[component_container_mt-1] [INFO] [1755494541.911886510] [zed.zed_node]: + Debug Mode enabled +
[component_container_mt-1] [INFO] [1755494541.911905000] [zed.zed_node]: *** GENERAL parameters ***
[component_container_mt-1] [INFO] [1755494541.911956738] [zed.zed_node]: * Camera model: zed2 - ZED 2
[component_container_mt-1] [INFO] [1755494541.911975355] [zed.zed_node]: * Camera name: zed
[component_container_mt-1] [INFO] [1755494541.911991646] [zed.zed_node]: * Camera SN: 0
[component_container_mt-1] [INFO] [1755494541.912008516] [zed.zed_node]: * Camera ID: -1
[component_container_mt-1] [INFO] [1755494541.912024876] [zed.zed_node]: * Camera timeout [sec]: 5
[component_container_mt-1] [INFO] [1755494541.912038553] [zed.zed_node]: * Camera reconnection temptatives: 5
[component_container_mt-1] [INFO] [1755494541.912053295] [zed.zed_node]: * Camera framerate: 60
[component_container_mt-1] [INFO] [1755494541.912066202] [zed.zed_node]: * GPU ID: -1
[component_container_mt-1] [INFO] [1755494541.912086557] [zed.zed_node]: * Asynchronous image retrieval: FALSE
[component_container_mt-1] [INFO] [1755494541.912113509] [zed.zed_node]: * Image Validity Check: ENABLED
[component_container_mt-1] [INFO] [1755494541.912141419] [zed.zed_node]: * Camera resolution: HD720
[component_container_mt-1] [INFO] [1755494541.912160860] [zed.zed_node]: * Publishing resolution: CUSTOM
[component_container_mt-1] [INFO] [1755494541.912192096] [zed.zed_node]: * Publishing downscale factor: 2
[component_container_mt-1] [INFO] [1755494541.912203681] [zed.zed_node]: * OpenCV custom calibration:
[component_container_mt-1] [INFO] [1755494541.912220261] [zed.zed_node]: * Camera self calibration: TRUE
[component_container_mt-1] [INFO] [1755494541.912236487] [zed.zed_node]: * Camera flip: FALSE
[component_container_mt-1] [INFO] [1755494541.912253798] [zed.zed_node]: * [DYN] Publish framerate [Hz]: 30
[component_container_mt-1] [INFO] [1755494541.912261821] [zed.zed_node]: *** VIDEO parameters ***
[component_container_mt-1] [INFO] [1755494541.912276492] [zed.zed_node]: * [DYN] Brightness: 4
[component_container_mt-1] [INFO] [1755494541.912292155] [zed.zed_node]: * [DYN] Contrast: 4
[component_container_mt-1] [INFO] [1755494541.912306661] [zed.zed_node]: * [DYN] Hue: 0
[component_container_mt-1] [INFO] [1755494541.912346849] [zed.zed_node]: * [DYN] Saturation: 4
[component_container_mt-1] [INFO] [1755494541.912358967] [zed.zed_node]: * [DYN] Sharpness: 4
[component_container_mt-1] [INFO] [1755494541.912372631] [zed.zed_node]: * [DYN] Gamma: 8
[component_container_mt-1] [INFO] [1755494541.912386198] [zed.zed_node]: * [DYN] Auto Exposure/Gain: TRUE
[component_container_mt-1] [INFO] [1755494541.912399217] [zed.zed_node]: * [DYN] Exposure: 80
[component_container_mt-1] [INFO] [1755494541.912411498] [zed.zed_node]: * [DYN] Gain: 80
[component_container_mt-1] [INFO] [1755494541.912422797] [zed.zed_node]: * [DYN] Auto White Balance: TRUE
[component_container_mt-1] [INFO] [1755494541.912437894] [zed.zed_node]: * [DYN] White Balance Temperature: 42
[component_container_mt-1] [INFO] [1755494541.912442462] [zed.zed_node]: *** DEPTH parameters ***
[component_container_mt-1] [INFO] [1755494541.912482139] [zed.zed_node]: * Depth mode: ULTRA [3]
[component_container_mt-1] [INFO] [1755494541.912495561] [zed.zed_node]: * Min depth [m]: 0.5
[component_container_mt-1] [INFO] [1755494541.912512098] [zed.zed_node]: * Max depth [m]: 5
[component_container_mt-1] [INFO] [1755494541.912523958] [zed.zed_node]: * Depth Stabilization: 1
[component_container_mt-1] [INFO] [1755494541.912544625] [zed.zed_node]: * OpenNI mode (16bit point cloud): FALSE
[component_container_mt-1] [INFO] [1755494541.912557331] [zed.zed_node]: * [DYN] Point cloud rate [Hz]: 10
[component_container_mt-1] [INFO] [1755494541.912570111] [zed.zed_node]: * Point cloud resolution: COMPACT
[component_container_mt-1] [INFO] [1755494541.912587547] [zed.zed_node]: * [DYN] Depth Confidence: 10
[component_container_mt-1] [INFO] [1755494541.912597970] [zed.zed_node]: * [DYN] Depth Texture Confidence: 100
[component_container_mt-1] [INFO] [1755494541.912612159] [zed.zed_node]: * [DYN] Remove saturated areas: TRUE
[component_container_mt-1] [INFO] [1755494541.912618770] [zed.zed_node]: *** GNSS FUSION parameters ***
[component_container_mt-1] [INFO] [1755494541.912638868] [zed.zed_node]: * GNSS fusion enabled: FALSE
[component_container_mt-1] [INFO] [1755494541.912643134] [zed.zed_node]: *** POSITIONAL TRACKING parameters ***
[component_container_mt-1] [INFO] [1755494541.912658698] [zed.zed_node]: * Positional tracking enabled: TRUE
[component_container_mt-1] [WARN] [1755494541.912677644] [zed.zed_node]: 'pos_tracking.pos_tracking_mode' not valid ('STANDARD'). Using default value.
[component_container_mt-1] [INFO] [1755494541.912687566] [zed.zed_node]: * Positional tracking mode: GEN 2
[component_container_mt-1] [INFO] [1755494541.912704295] [zed.zed_node]: * Map frame id: map
[component_container_mt-1] [INFO] [1755494541.912721833] [zed.zed_node]: * Odometry frame id: odom
[component_container_mt-1] [INFO] [1755494541.912735663] [zed.zed_node]: * Broadcast Odometry TF: TRUE
[component_container_mt-1] [INFO] [1755494541.912751385] [zed.zed_node]: * Broadcast Pose TF: TRUE
[component_container_mt-1] [INFO] [1755494541.912767178] [zed.zed_node]: * [DYN] Depth minimum range: 0
[component_container_mt-1] [INFO] [1755494541.912784138] [zed.zed_node]: * [DYN] TF timestamp offset: 0
[component_container_mt-1] [INFO] [1755494541.912801809] [zed.zed_node]: * [DYN] Path publishing rate: 2
[component_container_mt-1] [INFO] [1755494541.912820222] [zed.zed_node]: * Path history lenght: -1
[component_container_mt-1] [INFO] [1755494541.912842582] [zed.zed_node]: * Initial pose: [0,0,0,0,0,0,]
[component_container_mt-1] [INFO] [1755494541.912865316] [zed.zed_node]: * Area Memory: TRUE
[component_container_mt-1] [INFO] [1755494541.912879482] [zed.zed_node]: * Area Memory DB:
[component_container_mt-1] [INFO] [1755494541.912897834] [zed.zed_node]: * Camera is static: FALSE
[component_container_mt-1] [INFO] [1755494541.912913764] [zed.zed_node]: * Gravity as origin [not for ZED]: TRUE
[component_container_mt-1] [INFO] [1755494541.912930805] [zed.zed_node]: * IMU Fusion [not for ZED]: TRUE
[component_container_mt-1] [INFO] [1755494541.912944835] [zed.zed_node]: * Floor Alignment: FALSE
[component_container_mt-1] [INFO] [1755494541.912960346] [zed.zed_node]: * Reset Odometry with Loop Closure: TRUE
[component_container_mt-1] [INFO] [1755494541.912973173] [zed.zed_node]: * 2D mode: FALSE
[component_container_mt-1] [INFO] [1755494541.912989825] [zed.zed_node]: * Reset pose with SVO loop: TRUE
[component_container_mt-1] [INFO] [1755494541.912993832] [zed.zed_node]: *** Region of Interest parameters ***
[component_container_mt-1] [INFO] [1755494541.913009442] [zed.zed_node]: * Automatic ROI generation: FALSE
[component_container_mt-1] [INFO] [1755494541.913040118] [zed.zed_node]: * Manual ROI polygon: []
[component_container_mt-1] [INFO] [1755494541.913044486] [zed.zed_node]: *** SENSORS STACK parameters ***
[component_container_mt-1] [INFO] [1755494541.913063372] [zed.zed_node]: * Broadcast IMU TF [not for ZED]: TRUE
[component_container_mt-1] [INFO] [1755494541.913084863] [zed.zed_node]: * Sensors Camera Sync: FALSE
[component_container_mt-1] [INFO] [1755494541.913103707] [zed.zed_node]: * Sensors publishing rate: 200 Hz
[component_container_mt-1] [INFO] [1755494541.913108323] [zed.zed_node]: *** Spatial Mapping parameters ***
[component_container_mt-1] [INFO] [1755494541.913124768] [zed.zed_node]: * Spatial Mapping Enabled: FALSE
[component_container_mt-1] [INFO] [1755494541.913153380] [zed.zed_node]: * Spatial Mapping resolution [m]: 0.05
[component_container_mt-1] [INFO] [1755494541.913183628] [zed.zed_node]: * 3D Max Mapping range [m]: 5
[component_container_mt-1] [INFO] [1755494541.913200016] [zed.zed_node]: * Map publishing rate [Hz]: 1
[component_container_mt-1] [INFO] [1755494541.913218298] [zed.zed_node]: * Clicked point topic: /clicked_point
[component_container_mt-1] [INFO] [1755494541.913241435] [zed.zed_node]: * Plane Det. Max Dist. Thresh.: 0.15
[component_container_mt-1] [INFO] [1755494541.913259585] [zed.zed_node]: * Plane Det. Normals Sim. Thresh.: 15
[component_container_mt-1] [INFO] [1755494541.913264170] [zed.zed_node]: *** Object Det. parameters ***
[component_container_mt-1] [INFO] [1755494541.913283481] [zed.zed_node]: * Object Det. enabled: FALSE
[component_container_mt-1] [INFO] [1755494541.913313728] [zed.zed_node]: * Object Det. model: MULTI CLASS BOX MEDIUM
[component_container_mt-1] [INFO] [1755494541.913333367] [zed.zed_node]: * Object Det. allow reduced precision: TRUE
[component_container_mt-1] [INFO] [1755494541.913354092] [zed.zed_node]: * Object Det. maximum range [m]: 20
[component_container_mt-1] [INFO] [1755494541.913412761] [zed.zed_node]: * Object Det. min. confidence: 50
[component_container_mt-1] [INFO] [1755494541.913446476] [zed.zed_node]: * Object Det. prediction timeout [sec]: 0.5
[component_container_mt-1] [INFO] [1755494541.913473273] [zed.zed_node]: * Object Det. tracking: TRUE
[component_container_mt-1] [INFO] [1755494541.913505863] [zed.zed_node]: * Object Filtering mode: 1 - NMS3D
[component_container_mt-1] [INFO] [1755494541.913531309] [zed.zed_node]: * MultiClassBox people: TRUE
[component_container_mt-1] [INFO] [1755494541.913570040] [zed.zed_node]: * MultiClassBox vehicles: TRUE
[component_container_mt-1] [INFO] [1755494541.913600931] [zed.zed_node]: * MultiClassBox bags: TRUE
[component_container_mt-1] [INFO] [1755494541.913635549] [zed.zed_node]: * MultiClassBox animals: TRUE
[component_container_mt-1] [INFO] [1755494541.913662566] [zed.zed_node]: * MultiClassBox electronics: TRUE
[component_container_mt-1] [INFO] [1755494541.913691115] [zed.zed_node]: * MultiClassBox fruits and vegetables: TRUE
[component_container_mt-1] [INFO] [1755494541.913723960] [zed.zed_node]: * MultiClassBox sport-related objects: TRUE
[component_container_mt-1] [INFO] [1755494541.913729044] [zed.zed_node]: *** Body Track. parameters ***
[component_container_mt-1] [INFO] [1755494541.913762879] [zed.zed_node]: * Body Track. enabled: FALSE
[component_container_mt-1] [INFO] [1755494541.913801298] [zed.zed_node]: * Body Track. model: HUMAN BODY MEDIUM
[component_container_mt-1] [INFO] [1755494541.913838381] [zed.zed_node]: * Body Track. format: BODY 38
[component_container_mt-1] [INFO] [1755494541.913877734] [zed.zed_node]: * Body Track. allow reduced precision: TRUE
[component_container_mt-1] [INFO] [1755494541.913904315] [zed.zed_node]: * Body Track. maximum range [m]: 20
[component_container_mt-1] [INFO] [1755494541.913928415] [zed.zed_node]: * Body Track. KP selection: FULL
[component_container_mt-1] [INFO] [1755494541.913953006] [zed.zed_node]: * Body fitting: FALSE
[component_container_mt-1] [INFO] [1755494541.913976820] [zed.zed_node]: * Body joints tracking: TRUE
[component_container_mt-1] [INFO] [1755494541.914001650] [zed.zed_node]: * Body Track. prediction timeout [sec]: 0.5
[component_container_mt-1] [INFO] [1755494541.914024758] [zed.zed_node]: * Body Track. confidence thresh.: 50
[component_container_mt-1] [INFO] [1755494541.914051176] [zed.zed_node]: * Body Track. min. KP thresh.: 5
[component_container_mt-1] [INFO] [1755494541.914058543] [zed.zed_node]: *** Streaming Server parameters ***
[component_container_mt-1] [INFO] [1755494541.914087913] [zed.zed_node]: * Streaming Server enabled: FALSE
[component_container_mt-1] [INFO] [1755494541.914119999] [zed.zed_node]: * Stream codec: H264
[component_container_mt-1] [INFO] [1755494541.914145616] [zed.zed_node]: * Stream port: 30000
[component_container_mt-1] [INFO] [1755494541.914175195] [zed.zed_node]: * Stream bitrate: 12500
[component_container_mt-1] [INFO] [1755494541.914197722] [zed.zed_node]: * Stream GOP size: -1
[component_container_mt-1] [INFO] [1755494541.914221547] [zed.zed_node]: * Stream Chunk size: 16084
[component_container_mt-1] [INFO] [1755494541.914245554] [zed.zed_node]: * Adaptive bitrate: FALSE
[component_container_mt-1] [INFO] [1755494541.914270203] [zed.zed_node]: * Target frame rate:0
[component_container_mt-1] [INFO] [1755494541.914274360] [zed.zed_node]: *** Advanced parameters ***
[component_container_mt-1] [INFO] [1755494541.914303125] [zed.zed_node]: * Thread sched. policy: SCHED_BATCH
[component_container_mt-1] [INFO] [1755494541.914339562] [zed.zed_node]: *** SERVICES ***
[component_container_mt-1] [INFO] [1755494541.914783555] [zed.zed_node]: * '/zed/zed_node/reset_odometry'
[component_container_mt-1] [INFO] [1755494541.914952884] [zed.zed_node]: * '/zed/zed_node/reset_pos_tracking'
[component_container_mt-1] [INFO] [1755494541.915338563] [zed.zed_node]: * '/zed/zed_node/set_pose'
[component_container_mt-1] [INFO] [1755494541.915532180] [zed.zed_node]: * '/zed/zed_node/enable_obj_det'
[component_container_mt-1] I0817 22:22:21.915629 43471 block_memory_pool_impl.h:65] Expanding the memory pool with 2048 blocks. Number of allocated blocks: 2048
[component_container_mt-1] [INFO] [1755494541.915678835] [zed.zed_node]: * '/zed/zed_node/enable_body_trk'
[component_container_mt-1] [INFO] [1755494541.915819327] [zed.zed_node]: * '/zed/zed_node/enable_mapping'
[component_container_mt-1] [INFO] [1755494541.915953820] [zed.zed_node]: * '/zed/zed_node/enable_streaming'
[component_container_mt-1] [INFO] [1755494541.916144853] [zed.zed_node]: * '/zed/zed_node/start_svo_rec'
[component_container_mt-1] [INFO] [1755494541.916283520] [zed.zed_node]: * '/zed/zed_node/stop_svo_rec'
[component_container_mt-1] [INFO] [1755494541.916445534] [zed.zed_node]: * '/zed/zed_node/set_roi'
[component_container_mt-1] [INFO] [1755494541.916588707] [zed.zed_node]: * '/zed/zed_node/reset_roi'
[component_container_mt-1] [INFO] [1755494541.916598066] [zed.zed_node]: ***** STARTING CAMERA *****
[component_container_mt-1] I0817 22:22:21.916631 43471 gpu_hash_interface_impl.cuh:83] Creating a GPUHashImpl with requested capacity of 4096 blocks. Real capacity: 4096
[component_container_mt-1] I0817 22:22:21.918555 43471 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_10ColorVoxelEEE, voxel_size: 0.05, and memory_type: kDevice to LayerCake.
[component_container_mt-1] I0817 22:22:21.923382 43471 block_memory_pool_impl.h:65] Expanding the memory pool with 2048 blocks. Number of allocated blocks: 2048
[component_container_mt-1] I0817 22:22:21.924065 43471 gpu_hash_interface_impl.cuh:83] Creating a GPUHashImpl with requested capacity of 4096 blocks. Real capacity: 4096
[component_container_mt-1] I0817 22:22:21.925882 43471 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_14FreespaceVoxelEEE, voxel_size: 0.05, and memory_type: kDevice to LayerCake.
[component_container_mt-1] I0817 22:22:21.929834 43471 block_memory_pool_impl.h:65] Expanding the memory pool with 2048 blocks. Number of allocated blocks: 2048
[component_container_mt-1] I0817 22:22:21.933296 43471 gpu_hash_interface_impl.cuh:83] Creating a GPUHashImpl with requested capacity of 4096 blocks. Real capacity: 4096
[component_container_mt-1] I0817 22:22:21.933422 43471 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_14OccupancyVoxelEEE, voxel_size: 0.05, and memory_type: kDevice to LayerCake.
[component_container_mt-1] I0817 22:22:21.942365 43471 block_memory_pool_impl.h:65] Expanding the memory pool with 2048 blocks. Number of allocated blocks: 2048
[component_container_mt-1] I0817 22:22:21.944785 43471 gpu_hash_interface_impl.cuh:83] Creating a GPUHashImpl with requested capacity of 4096 blocks. Real capacity: 4096
[component_container_mt-1] I0817 22:22:21.944977 43471 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_9EsdfVoxelEEE, voxel_size: 0.05, and memory_type: kDevice to LayerCake.
[component_container_mt-1] I0817 22:22:21.945266 43471 block_memory_pool_impl.h:65] Expanding the memory pool with 2048 blocks. Number of allocated blocks: 2048
[component_container_mt-1] I0817 22:22:21.946312 43471 gpu_hash_interface_impl.cuh:83] Creating a GPUHashImpl with requested capacity of 4096 blocks. Real capacity: 4096
[component_container_mt-1] I0817 22:22:21.946512 43471 layer_cake_impl.h:32] Adding Layer with type: N6nvblox10BlockLayerINS_9MeshBlockEEE, voxel_size: 0.05, and memory_type: kDevice to LayerCake.
[component_container_mt-1] I0817 22:22:21.946519 43471 layer_cake_streamer_impl.h:79] Adding Streamer with type: N6nvblox25LayerStreamerOldestBlocksINS_15VoxelBlockLayerINS_9TsdfVoxelEEEEE to LayerCake.
[component_container_mt-1] I0817 22:22:21.946522 43471 layer_cake_streamer_impl.h:79] Adding Streamer with type: N6nvblox25LayerStreamerOldestBlocksINS_15VoxelBlockLayerINS_10ColorVoxelEEEEE to LayerCake.
[component_container_mt-1] I0817 22:22:21.946524 43471 layer_cake_streamer_impl.h:79] Adding Streamer with type: N6nvblox25LayerStreamerOldestBlocksINS_15VoxelBlockLayerINS_14FreespaceVoxelEEEEE to LayerCake.
[component_container_mt-1] I0817 22:22:21.946527 43471 layer_cake_streamer_impl.h:79] Adding Streamer with type: N6nvblox25LayerStreamerOldestBlocksINS_15VoxelBlockLayerINS_14OccupancyVoxelEEEEE to LayerCake.
[component_container_mt-1] I0817 22:22:21.946529 43471 layer_cake_streamer_impl.h:79] Adding Streamer with type: N6nvblox25LayerStreamerOldestBlocksINS_15VoxelBlockLayerINS_9EsdfVoxelEEEEE to LayerCake.
[component_container_mt-1] I0817 22:22:21.946534 43471 layer_cake_streamer_impl.h:79] Adding Streamer with type: N6nvblox25LayerStreamerOldestBlocksINS_10BlockLayerINS_9MeshBlockEEEEE to LayerCake.
[component_container_mt-1] I0817 22:22:21.952006 43471 block_memory_pool_impl.h:65] Expanding the memory pool with 2048 blocks. Number of allocated blocks: 2048
[component_container_mt-1] I0817 22:22:21.956037 43471 gpu_hash_interface_impl.cuh:83] Creating a GPUHashImpl with requested capacity of 4096 blocks. Real capacity: 4096
[component_container_mt-1] I0817 22:22:21.956454 43471 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_9TsdfVoxelEEE, voxel_size: 0.05, and memory_type: kDevice to LayerCake.
[component_container_mt-1] I0817 22:22:21.960379 43471 block_memory_pool_impl.h:65] Expanding the memory pool with 2048 blocks. Number of allocated blocks: 2048
[component_container_mt-1] I0817 22:22:21.961587 43471 gpu_hash_interface_impl.cuh:83] Creating a GPUHashImpl with requested capacity of 4096 blocks. Real capacity: 4096
[component_container_mt-1] I0817 22:22:21.961649 43471 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_10ColorVoxelEEE, voxel_size: 0.05, and memory_type: kDevice to LayerCake.
[component_container_mt-1] I0817 22:22:21.965638 43471 block_memory_pool_impl.h:65] Expanding the memory pool with 2048 blocks. Number of allocated blocks: 2048
[component_container_mt-1] I0817 22:22:21.968724 43471 gpu_hash_interface_impl.cuh:83] Creating a GPUHashImpl with requested capacity of 4096 blocks. Real capacity: 4096
[component_container_mt-1] I0817 22:22:21.968778 43471 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_14FreespaceVoxelEEE, voxel_size: 0.05, and memory_type: kDevice to LayerCake.
[component_container_mt-1] I0817 22:22:21.971948 43471 block_memory_pool_impl.h:65] Expanding the memory pool with 2048 blocks. Number of allocated blocks: 2048
[component_container_mt-1] I0817 22:22:21.974037 43471 gpu_hash_interface_impl.cuh:83] Creating a GPUHashImpl with requested capacity of 4096 blocks. Real capacity: 4096
[component_container_mt-1] I0817 22:22:21.974225 43471 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_14OccupancyVoxelEEE, voxel_size: 0.05, and memory_type: kDevice to LayerCake.
[component_container_mt-1] I0817 22:22:21.978765 43471 block_memory_pool_impl.h:65] Expanding the memory pool with 2048 blocks. Number of allocated blocks: 2048
[component_container_mt-1] I0817 22:22:21.979007 43471 gpu_hash_interface_impl.cuh:83] Creating a GPUHashImpl with requested capacity of 4096 blocks. Real capacity: 4096
[component_container_mt-1] I0817 22:22:21.979478 43471 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_9EsdfVoxelEEE, voxel_size: 0.05, and memory_type: kDevice to LayerCake.
[component_container_mt-1] I0817 22:22:21.979660 43471 block_memory_pool_impl.h:65] Expanding the memory pool with 2048 blocks. Number of allocated blocks: 2048
[component_container_mt-1] I0817 22:22:21.980408 43471 gpu_hash_interface_impl.cuh:83] Creating a GPUHashImpl with requested capacity of 4096 blocks. Real capacity: 4096
[component_container_mt-1] I0817 22:22:21.980502 43471 layer_cake_impl.h:32] Adding Layer with type: N6nvblox10BlockLayerINS_9MeshBlockEEE, voxel_size: 0.05, and memory_type: kDevice to LayerCake.
[component_container_mt-1] I0817 22:22:21.980506 43471 layer_cake_streamer_impl.h:79] Adding Streamer with type: N6nvblox25LayerStreamerOldestBlocksINS_15VoxelBlockLayerINS_9TsdfVoxelEEEEE to LayerCake.
[component_container_mt-1] I0817 22:22:21.980507 43471 layer_cake_streamer_impl.h:79] Adding Streamer with type: N6nvblox25LayerStreamerOldestBlocksINS_15VoxelBlockLayerINS_10ColorVoxelEEEEE to LayerCake.
[component_container_mt-1] I0817 22:22:21.980508 43471 layer_cake_streamer_impl.h:79] Adding Streamer with type: N6nvblox25LayerStreamerOldestBlocksINS_15VoxelBlockLayerINS_14FreespaceVoxelEEEEE to LayerCake.
[component_container_mt-1] I0817 22:22:21.980508 43471 layer_cake_streamer_impl.h:79] Adding Streamer with type: N6nvblox25LayerStreamerOldestBlocksINS_15VoxelBlockLayerINS_14OccupancyVoxelEEEEE to LayerCake.
[component_container_mt-1] I0817 22:22:21.980511 43471 layer_cake_streamer_impl.h:79] Adding Streamer with type: N6nvblox25LayerStreamerOldestBlocksINS_15VoxelBlockLayerINS_9EsdfVoxelEEEEE to LayerCake.
[component_container_mt-1] I0817 22:22:21.980512 43471 layer_cake_streamer_impl.h:79] Adding Streamer with type: N6nvblox25LayerStreamerOldestBlocksINS_10BlockLayerINS_9MeshBlockEEEEE to LayerCake.
[component_container_mt-1] [INFO] [1755494541.981746789] [nvblox_node]: Initialize Mapper:
[component_container_mt-1] [INFO] [1755494541.981777494] [nvblox_node]: static_mapper.do_depth_preprocessing: 0
[component_container_mt-1] [INFO] [1755494541.981782514] [nvblox_node]: static_mapper.depth_preprocessing_num_dilations: 3
[component_container_mt-1] [INFO] [1755494541.981788271] [nvblox_node]: static_mapper.esdf_slice_min_height: -0.1
[component_container_mt-1] [INFO] [1755494541.981791747] [nvblox_node]: static_mapper.esdf_slice_max_height: 0.3
[component_container_mt-1] [INFO] [1755494541.981795288] [nvblox_node]: static_mapper.esdf_slice_height: 0
[component_container_mt-1] [INFO] [1755494541.981798387] [nvblox_node]: static_mapper.exclude_last_view_from_decay: 1
[component_container_mt-1] [INFO] [1755494541.981801484] [nvblox_node]: static_mapper.projective_integrator_max_integration_distance_m: 5
[component_container_mt-1] [INFO] [1755494541.981805490] [nvblox_node]: static_mapper.lidar_projective_integrator_max_integration_distance_m: 10
[component_container_mt-1] [INFO] [1755494541.981808639] [nvblox_node]: static_mapper.projective_integrator_truncation_distance_vox: 4
[component_container_mt-1] [INFO] [1755494541.981811870] [nvblox_node]: static_mapper.projective_integrator_weighting_mode: inverse_square_tsdf_distance_penalty
[component_container_mt-1] [INFO] [1755494541.981816847] [nvblox_node]: static_mapper.projective_integrator_max_weight: 5
[component_container_mt-1] [INFO] [1755494541.981831093] [nvblox_node]: static_mapper.projective_tsdf_integrator_invalid_depth_decay_factor: -1
[component_container_mt-1] [INFO] [1755494541.981834677] [nvblox_node]: static_mapper.free_region_occupancy_probability: 0.45
[component_container_mt-1] [INFO] [1755494541.981837942] [nvblox_node]: static_mapper.occupied_region_occupancy_probability: 0.55
[component_container_mt-1] [INFO] [1755494541.981841248] [nvblox_node]: static_mapper.unobserved_region_occupancy_probability: 0.5
[component_container_mt-1] [INFO] [1755494541.981844554] [nvblox_node]: static_mapper.occupied_region_half_width_m: 0.1
[component_container_mt-1] [INFO] [1755494541.981847637] [nvblox_node]: static_mapper.raycast_subsampling_factor: 4
[component_container_mt-1] [INFO] [1755494541.981850795] [nvblox_node]: static_mapper.workspace_bounds_type: unbounded
[component_container_mt-1] [INFO] [1755494541.981855746] [nvblox_node]: static_mapper.workspace_bounds_min_height_m: -0.5
[component_container_mt-1] [INFO] [1755494541.981859140] [nvblox_node]: static_mapper.workspace_bounds_max_height_m: 2
[component_container_mt-1] [INFO] [1755494541.981862213] [nvblox_node]: static_mapper.workspace_bounds_min_corner_x_m: 0
[component_container_mt-1] [INFO] [1755494541.981866051] [nvblox_node]: static_mapper.workspace_bounds_max_corner_x_m: 0
[component_container_mt-1] [INFO] [1755494541.981869406] [nvblox_node]: static_mapper.workspace_bounds_min_corner_y_m: 0
[component_container_mt-1] [INFO] [1755494541.981872439] [nvblox_node]: static_mapper.workspace_bounds_max_corner_y_m: 0
[component_container_mt-1] [INFO] [1755494541.981875712] [nvblox_node]: static_mapper.esdf_integrator_min_weight: 0.1
[component_container_mt-1] [INFO] [1755494541.981878727] [nvblox_node]: static_mapper.esdf_integrator_max_site_distance_vox: 2
[component_container_mt-1] [INFO] [1755494541.981881831] [nvblox_node]: static_mapper.esdf_integrator_max_distance_m: 2
[component_container_mt-1] [INFO] [1755494541.981885028] [nvblox_node]: static_mapper.mesh_integrator_min_weight: 0.1
[component_container_mt-1] [INFO] [1755494541.981888024] [nvblox_node]: static_mapper.mesh_integrator_weld_vertices: 1
[component_container_mt-1] [INFO] [1755494541.981890987] [nvblox_node]: static_mapper.decay_integrator_deallocate_decayed_blocks: 1
[component_container_mt-1] [INFO] [1755494541.981896748] [nvblox_node]: static_mapper.tsdf_decay_factor: 0.95
[component_container_mt-1] [INFO] [1755494541.981900056] [nvblox_node]: static_mapper.tsdf_decayed_weight_threshold: 0.001
[component_container_mt-1] [INFO] [1755494541.981902916] [nvblox_node]: static_mapper.tsdf_set_free_distance_on_decayed: 0
[component_container_mt-1] [INFO] [1755494541.981905944] [nvblox_node]: static_mapper.tsdf_decayed_free_distance_vox: 4
[component_container_mt-1] [INFO] [1755494541.981908994] [nvblox_node]: static_mapper.free_region_decay_probability: 0.55
[component_container_mt-1] [INFO] [1755494541.981911972] [nvblox_node]: static_mapper.occupied_region_decay_probability: 0.4
[component_container_mt-1] [INFO] [1755494541.981914866] [nvblox_node]: static_mapper.occupancy_decay_to_free: 0
[component_container_mt-1] [INFO] [1755494541.981918142] [nvblox_node]: static_mapper.max_tsdf_distance_for_occupancy_m: 0.15
[component_container_mt-1] [INFO] [1755494541.981950671] [nvblox_node]: static_mapper.max_unobserved_to_keep_consecutive_occupancy_ms: 200
[component_container_mt-1] [INFO] [1755494541.981954062] [nvblox_node]: static_mapper.min_duration_since_occupied_for_freespace_ms: 1000
[component_container_mt-1] [INFO] [1755494541.981956964] [nvblox_node]: static_mapper.min_consecutive_occupancy_duration_for_reset_ms: 2000
[component_container_mt-1] [INFO] [1755494541.981960323] [nvblox_node]: static_mapper.check_neighborhood: 1
[component_container_mt-1] [INFO] [1755494541.981963108] [nvblox_node]: Initialize Mapper:
[component_container_mt-1] [INFO] [1755494541.981970139] [nvblox_node]: dynamic_mapper.do_depth_preprocessing: 0
[component_container_mt-1] [INFO] [1755494541.981973422] [nvblox_node]: dynamic_mapper.depth_preprocessing_num_dilations: 4
[component_container_mt-1] [INFO] [1755494541.981976739] [nvblox_node]: dynamic_mapper.esdf_slice_min_height: -0.1
[component_container_mt-1] [INFO] [1755494541.981979795] [nvblox_node]: dynamic_mapper.esdf_slice_max_height: 0.3
[component_container_mt-1] [INFO] [1755494541.981982902] [nvblox_node]: dynamic_mapper.esdf_slice_height: 0
[component_container_mt-1] [INFO] [1755494541.981985890] [nvblox_node]: dynamic_mapper.exclude_last_view_from_decay: 0
[component_container_mt-1] [INFO] [1755494541.981988933] [nvblox_node]: dynamic_mapper.projective_integrator_max_integration_distance_m: 7
[component_container_mt-1] [INFO] [1755494541.981992408] [nvblox_node]: dynamic_mapper.lidar_projective_integrator_max_integration_distance_m: 10
[component_container_mt-1] [INFO] [1755494541.981995677] [nvblox_node]: dynamic_mapper.projective_integrator_truncation_distance_vox: 4
[component_container_mt-1] [INFO] [1755494541.982003159] [nvblox_node]: dynamic_mapper.projective_integrator_weighting_mode: kInverseSquareWeight
[component_container_mt-1] [WARN] [1755494541.982006131] [nvblox_node]: Requested weighting function: "kInverseSquareWeight" not recognized. Defaulting to: kInverseSquareWeight
[component_container_mt-1] [INFO] [1755494541.982010215] [nvblox_node]: dynamic_mapper.projective_integrator_max_weight: 5
[component_container_mt-1] [INFO] [1755494541.982013797] [nvblox_node]: dynamic_mapper.projective_tsdf_integrator_invalid_depth_decay_factor: -1
[component_container_mt-1] [INFO] [1755494541.982016896] [nvblox_node]: dynamic_mapper.free_region_occupancy_probability: 0.3
[component_container_mt-1] [INFO] [1755494541.982019997] [nvblox_node]: dynamic_mapper.occupied_region_occupancy_probability: 0.7
[component_container_mt-1] [INFO] [1755494541.982023083] [nvblox_node]: dynamic_mapper.unobserved_region_occupancy_probability: 0.5
[component_container_mt-1] [INFO] [1755494541.982026357] [nvblox_node]: dynamic_mapper.occupied_region_half_width_m: 0.1
[component_container_mt-1] [INFO] [1755494541.982029562] [nvblox_node]: dynamic_mapper.raycast_subsampling_factor: 4
[component_container_mt-1] [INFO] [1755494541.982032785] [nvblox_node]: dynamic_mapper.workspace_bounds_type: kUnbounded
[component_container_mt-1] [WARN] [1755494541.982043244] [nvblox_node]: Requested workspace bounds type: "kUnbounded" not recognized. Defaulting to: kUnbounded
[component_container_mt-1] [INFO] [1755494541.982046798] [nvblox_node]: dynamic_mapper.workspace_bounds_min_height_m: 0
[component_container_mt-1] [INFO] [1755494541.982049907] [nvblox_node]: dynamic_mapper.workspace_bounds_max_height_m: 1
[component_container_mt-1] [INFO] [1755494541.982052948] [nvblox_node]: dynamic_mapper.workspace_bounds_min_corner_x_m: 0
[component_container_mt-1] [INFO] [1755494541.982055819] [nvblox_node]: dynamic_mapper.workspace_bounds_max_corner_x_m: 0
[component_container_mt-1] [INFO] [1755494541.982058691] [nvblox_node]: dynamic_mapper.workspace_bounds_min_corner_y_m: 2
[component_container_mt-1] [INFO] [1755494541.982061631] [nvblox_node]: dynamic_mapper.workspace_bounds_max_corner_y_m: 2
[component_container_mt-1] [INFO] [1755494541.982065178] [nvblox_node]: dynamic_mapper.esdf_integrator_min_weight: 0.0001
[component_container_mt-1] [INFO] [1755494541.982069665] [nvblox_node]: dynamic_mapper.esdf_integrator_max_site_distance_vox: 1
[component_container_mt-1] [INFO] [1755494541.982074268] [nvblox_node]: dynamic_mapper.esdf_integrator_max_distance_m: 2
[component_container_mt-1] [INFO] [1755494541.982079898] [nvblox_node]: dynamic_mapper.mesh_integrator_min_weight: 0.0001
[component_container_mt-1] [INFO] [1755494541.982083140] [nvblox_node]: dynamic_mapper.mesh_integrator_weld_vertices: 1
[component_container_mt-1] [INFO] [1755494541.982085891] [nvblox_node]: dynamic_mapper.decay_integrator_deallocate_decayed_blocks: 1
[component_container_mt-1] [INFO] [1755494541.982089250] [nvblox_node]: dynamic_mapper.tsdf_decay_factor: 0.95
[component_container_mt-1] [INFO] [1755494541.982098958] [nvblox_node]: dynamic_mapper.tsdf_decayed_weight_threshold: 0.001
[component_container_mt-1] [INFO] [1755494541.982106979] [nvblox_node]: dynamic_mapper.tsdf_set_free_distance_on_decayed: 0
[component_container_mt-1] [INFO] [1755494541.982111523] [nvblox_node]: dynamic_mapper.tsdf_decayed_free_distance_vox: 4
[component_container_mt-1] [INFO] [1755494541.982120583] [nvblox_node]: dynamic_mapper.free_region_decay_probability: 0.55
[component_container_mt-1] [INFO] [1755494541.982124079] [nvblox_node]: dynamic_mapper.occupied_region_decay_probability: 0.4
[component_container_mt-1] [INFO] [1755494541.982126875] [nvblox_node]: dynamic_mapper.occupancy_decay_to_free: 0
[component_container_mt-1] [INFO] [1755494541.982130393] [nvblox_node]: dynamic_mapper.max_tsdf_distance_for_occupancy_m: 0.15
[component_container_mt-1] [INFO] [1755494541.982133273] [nvblox_node]: dynamic_mapper.max_unobserved_to_keep_consecutive_occupancy_ms: 200
[component_container_mt-1] [INFO] [1755494541.982136246] [nvblox_node]: dynamic_mapper.min_duration_since_occupied_for_freespace_ms: 1000
[component_container_mt-1] [INFO] [1755494541.982139042] [nvblox_node]: dynamic_mapper.min_consecutive_occupancy_duration_for_reset_ms: 2000
[component_container_mt-1] [INFO] [1755494541.982141862] [nvblox_node]: dynamic_mapper.check_neighborhood: 1
[component_container_mt-1] [INFO] [1755494541.982145991] [nvblox_node]: Initialize MultiMapper:
[component_container_mt-1] [INFO] [1755494541.982149988] [nvblox_node]: multi_mapper.connected_mask_component_size_threshold: 2000
[component_container_mt-1] [INFO] [1755494541.982153230] [nvblox_node]: multi_mapper.remove_small_connected_components: 1
[component_container_mt-1] [INFO] [1755494541.982226442] [nvblox_node]: NvbloxNode::subscribeToTopics()
[component_container_mt-1] [INFO] [1755494541.982343583] [nvblox_node]: Subscribing input topics with QoS: SENSOR_DATA
[component_container_mt-1] [INFO] [1755494541.983224864] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/std/libgxf_std.so
[component_container_mt-1] [INFO] [1755494541.984157502] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_gxf_helpers.so
[component_container_mt-1] [INFO] [1755494541.986324178] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_sight.so
[component_container_mt-1] [INFO] [1755494541.988898546] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_atlas.so
[component_container_mt-1] 2025-08-17 22:22:21.993 WARN gxf/std/program.cpp@538: No GXF scheduler specified.
[component_container_mt-1] [INFO] [1755494541.993565242] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/multimedia/libgxf_multimedia.so
[component_container_mt-1] [INFO] [1755494541.996225516] [nvblox_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1755494541.996793942] [nvblox_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1755494541.997142005] [nvblox_node]: NvbloxNode::setupTimers()
[component_container_mt-1] [INFO] [1755494541.997163277] [nvblox_node]: NvbloxNode::advertiseTopics()
[component_container_mt-1] [INFO] [1755494541.998556734] [nvblox_node]: NvbloxNode::advertiseServices()
[component_container_mt-1] [INFO] [1755494541.999456862] [nvblox_node]: Started up nvblox node in frame odom and voxel size 0.05
[component_container_mt-1] [INFO] [1755494541.999467958] [nvblox_node]: Mapping type: kStaticTsdf
[component_container_mt-1] [INFO] [1755494541.999968185] [nvblox_node]: nvblox parameters:
[component_container_mt-1] nvblox_node
[component_container_mt-1] cuda_stream_type: kBlocking
[component_container_mt-1] global_frame: odom
[component_container_mt-1] voxel_size: 0.050000
[component_container_mt-1] max_back_projection_distance: 7.000000
[component_container_mt-1] layer_visualization_min_tsdf_weight: 0.100000
[component_container_mt-1] layer_visualization_exclusion_height_m: 2.000000
[component_container_mt-1] layer_visualization_exclusion_radius_m: 7.000000
[component_container_mt-1] layer_streamer_bandwidth_limit_mbps: -1.000000
[component_container_mt-1] distance_map_unknown_value_optimistic: 1000.000000
[component_container_mt-1] distance_map_unknown_value_pessimistic: -1000.000000
[component_container_mt-1] esdf_mode: 2d
[component_container_mt-1] mapping_type: static_tsdf
[component_container_mt-1] pose_frame: base_link
[component_container_mt-1] map_clearing_frame_id: zed_camera_link
[component_container_mt-1] after_shutdown_map_save_path:
[component_container_mt-1] esdf_slice_bounds_visualization_attachment_frame_id: zed_camera_link
[component_container_mt-1] workspace_height_bounds_visualization_attachment_frame_id: base_link
[component_container_mt-1] publish_esdf_distance_slice: 1
[component_container_mt-1] use_color: 1
[component_container_mt-1] use_depth: 1
[component_container_mt-1] use_segmentation: 0
[component_container_mt-1] use_lidar: 0
[component_container_mt-1] use_non_equal_vertical_fov_lidar_params: 0
[component_container_mt-1] print_timings_to_console: 0
[component_container_mt-1] print_rates_to_console: 0
[component_container_mt-1] print_queue_drops_to_console: 0
[component_container_mt-1] print_delays_to_console: 0
[component_container_mt-1] layer_visualization_undo_gamma_correction: 0
[component_container_mt-1] output_pessimistic_distance_map: 1
[component_container_mt-1] num_cameras: 1
[component_container_mt-1] lidar_width: 1800
[component_container_mt-1] lidar_height: 31
[component_container_mt-1] tick_period_ms: 10
[component_container_mt-1] print_statistics_on_console_period_ms: 10000
[component_container_mt-1] maximum_input_queue_length: 10
[component_container_mt-1] back_projection_subsampling: 1
[component_container_mt-1] lidar_vertical_fov_rad: 0.523599
[component_container_mt-1] lidar_min_valid_range_m: 0.100000
[component_container_mt-1] lidar_max_valid_range_m: 50.000000
[component_container_mt-1] min_angle_below_zero_elevation_rad: 0.349066
[component_container_mt-1] max_angle_above_zero_elevation_rad: 0.261799
[component_container_mt-1] esdf_slice_bounds_visualization_side_length: 10.000000
[component_container_mt-1] workspace_height_bounds_visualization_side_length: 10.000000
[component_container_mt-1] integrate_depth_rate_hz: 40.000000
[component_container_mt-1] integrate_color_rate_hz: 5.000000
[component_container_mt-1] integrate_lidar_rate_hz: 40.000000
[component_container_mt-1] update_mesh_rate_hz: 5.000000
[component_container_mt-1] update_esdf_rate_hz: 10.000000
[component_container_mt-1] publish_layer_rate_hz: 5.000000
[component_container_mt-1] publish_debug_vis_rate_hz: 2.000000
[component_container_mt-1] decay_tsdf_rate_hz: 5.000000
[component_container_mt-1] decay_dynamic_occupancy_rate_hz: 10.000000
[component_container_mt-1] clear_map_outside_radius_rate_hz: 1.000000
[component_container_mt-1] map_clearing_radius_m: 7.000000
[component_container_mt-1] esdf_and_gradients_unobserved_value: -1000.000000
[component_container_mt-1] multi_mapper
[component_container_mt-1] connected_mask_component_size_threshold: 2000
[component_container_mt-1] background_mapper
[component_container_mt-1] voxel_size_m: 0.050000
[component_container_mt-1] memory_type: kDevice
[component_container_mt-1] projective_layer_type: kTsdf
[component_container_mt-1] esdf_mode: kUnset
[component_container_mt-1] do_depth_preprocessing: 0
[component_container_mt-1] depth_preprocessing_num_dilations: 3
[component_container_mt-1] exclude_last_view_from_decay: 1
[component_container_mt-1] camera_tsdf_integrator
[component_container_mt-1] max_weight:: 5.000000
[component_container_mt-1] marked_unobserved_voxels_distance_m:: -1.000000
[component_container_mt-1] marked_unobserved_voxels_weight:: 0.100000
[component_container_mt-1] weighting_function_type:: kInverseSquareTsdfDistancePenalty
[component_container_mt-1] invalid_depth_decay_factor:: -1.000000
[component_container_mt-1] projective_integrator
[component_container_mt-1] lidar_linear_interpolation_max_allowable_difference_vox:: 2.000000
[component_container_mt-1] lidar_nearest_interpolation_max_allowable_dist_to_ray_vox:: 0.500000
[component_container_mt-1] truncation_distance_vox:: 4.000000
[component_container_mt-1] max_integration_distance_m:: 5.000000
[component_container_mt-1] view_calculator
[component_container_mt-1] raycast_subsampling_factor: 4
[component_container_mt-1] workspace_bounds_type: kUnbounded
[component_container_mt-1] workspace_bounds_min_height_m: -0.500000
[component_container_mt-1] workspace_bounds_max_height_m: 2.000000
[component_container_mt-1] workspace_bounds_min_corner_x_m: 0.000000
[component_container_mt-1] workspace_bounds_max_corner_x_m: 0.000000
[component_container_mt-1] workspace_bounds_min_corner_y_m: 0.000000
[component_container_mt-1] workspace_bounds_max_corner_y_m: 0.000000
[component_container_mt-1] lidar_tsdf_integrator
[component_container_mt-1] max_weight:: 5.000000
[component_container_mt-1] marked_unobserved_voxels_distance_m:: -1.000000
[component_container_mt-1] marked_unobserved_voxels_weight:: 0.100000
[component_container_mt-1] weighting_function_type:: kInverseSquareWeight
[component_container_mt-1] invalid_depth_decay_factor:: -1.000000
[component_container_mt-1] projective_integrator
[component_container_mt-1] lidar_linear_interpolation_max_allowable_difference_vox:: 2.000000
[component_container_mt-1] lidar_nearest_interpolation_max_allowable_dist_to_ray_vox:: 0.500000
[component_container_mt-1] truncation_distance_vox:: 4.000000
[component_container_mt-1] max_integration_distance_m:: 10.000000
[component_container_mt-1] view_calculator
[component_container_mt-1] raycast_subsampling_factor: 4
[component_container_mt-1] workspace_bounds_type: kUnbounded
[component_container_mt-1] workspace_bounds_min_height_m: 0.000000
[component_container_mt-1] workspace_bounds_max_height_m: 1.000000
[component_container_mt-1] workspace_bounds_min_corner_x_m: 0.000000
[component_container_mt-1] workspace_bounds_max_corner_x_m: 0.000000
[component_container_mt-1] workspace_bounds_min_corner_y_m: 2.000000
[component_container_mt-1] workspace_bounds_max_corner_y_m: 2.000000
[component_container_mt-1] projective_color_integrator
[component_container_mt-1] sphere_tracing_ray_subsampling_factor:: 4
[component_container_mt-1] max_weight:: 5.000000
[component_container_mt-1] weighting_function_type:: kInverseSquareTsdfDistancePenalty
[component_container_mt-1] projective_integrator
[component_container_mt-1] lidar_linear_interpolation_max_allowable_difference_vox:: 2.000000
[component_container_mt-1] lidar_nearest_interpolation_max_allowable_dist_to_ray_vox:: 0.500000
[component_container_mt-1] truncation_distance_vox:: 4.000000
[component_container_mt-1] max_integration_distance_m:: 5.000000
[component_container_mt-1] view_calculator
[component_container_mt-1] raycast_subsampling_factor: 4
[component_container_mt-1] workspace_bounds_type: kUnbounded
[component_container_mt-1] workspace_bounds_min_height_m: 0.000000
[component_container_mt-1] workspace_bounds_max_height_m: 1.000000
[component_container_mt-1] workspace_bounds_min_corner_x_m: 0.000000
[component_container_mt-1] workspace_bounds_max_corner_x_m: 0.000000
[component_container_mt-1] workspace_bounds_min_corner_y_m: 2.000000
[component_container_mt-1] workspace_bounds_max_corner_y_m: 2.000000
[component_container_mt-1] view_calculator
[component_container_mt-1] raycast_subsampling_factor: 4
[component_container_mt-1] workspace_bounds_type: kUnbounded
[component_container_mt-1] workspace_bounds_min_height_m: -0.500000
[component_container_mt-1] workspace_bounds_max_height_m: 2.000000
[component_container_mt-1] workspace_bounds_min_corner_x_m: 0.000000
[component_container_mt-1] workspace_bounds_max_corner_x_m: 0.000000
[component_container_mt-1] workspace_bounds_min_corner_y_m: 0.000000
[component_container_mt-1] workspace_bounds_max_corner_y_m: 0.000000
[component_container_mt-1] camera_occupancy_integrator
[component_container_mt-1] free_region_log_odds:: -0.200671
[component_container_mt-1] occupied_region_log_odds:: 0.200671
[component_container_mt-1] unobserved_region_log_odds:: 0.000000
[component_container_mt-1] occupied_region_half_width_m:: 0.100000
[component_container_mt-1] projective_integrator
[component_container_mt-1] lidar_linear_interpolation_max_allowable_difference_vox:: 2.000000
[component_container_mt-1] lidar_nearest_interpolation_max_allowable_dist_to_ray_vox:: 0.500000
[component_container_mt-1] truncation_distance_vox:: 4.000000
[component_container_mt-1] max_integration_distance_m:: 5.000000
[component_container_mt-1] view_calculator
[component_container_mt-1] raycast_subsampling_factor: 4
[component_container_mt-1] workspace_bounds_type: kUnbounded
[component_container_mt-1] workspace_bounds_min_height_m: 0.000000
[component_container_mt-1] workspace_bounds_max_height_m: 1.000000
[component_container_mt-1] workspace_bounds_min_corner_x_m: 0.000000
[component_container_mt-1] workspace_bounds_max_corner_x_m: 0.000000
[component_container_mt-1] workspace_bounds_min_corner_y_m: 2.000000
[component_container_mt-1] workspace_bounds_max_corner_y_m: 2.000000
[component_container_mt-1] lidar_occupancy_integrator
[component_container_mt-1] free_region_log_odds:: -0.200671
[component_container_mt-1] occupied_region_log_odds:: 0.200671
[component_container_mt-1] unobserved_region_log_odds:: 0.000000
[component_container_mt-1] occupied_region_half_width_m:: 0.100000
[component_container_mt-1] projective_integrator
[component_container_mt-1] lidar_linear_interpolation_max_allowable_difference_vox:: 2.000000
[component_container_mt-1] lidar_nearest_interpolation_max_allowable_dist_to_ray_vox:: 0.500000
[component_container_mt-1] truncation_distance_vox:: 4.000000
[component_container_mt-1] max_integration_distance_m:: 10.000000
[component_container_mt-1] view_calculator
[component_container_mt-1] raycast_subsampling_factor: 4
[component_container_mt-1] workspace_bounds_type: kUnbounded
[component_container_mt-1] workspace_bounds_min_height_m: 0.000000
[component_container_mt-1] workspace_bounds_max_height_m: 1.000000
[component_container_mt-1] workspace_bounds_min_corner_x_m: 0.000000
[component_container_mt-1] workspace_bounds_max_corner_x_m: 0.000000
[component_container_mt-1] workspace_bounds_min_corner_y_m: 2.000000
[component_container_mt-1] workspace_bounds_max_corner_y_m: 2.000000
[component_container_mt-1] esdf_integrator
[component_container_mt-1] max_esdf_distance_m:: 2.000000
[component_container_mt-1] max_tsdf_site_distance_vox:: 2.000000
[component_container_mt-1] tsdf_min_weight:: 0.100000
[component_container_mt-1] occupied_threshold_log_odds:: 0.000000
[component_container_mt-1] esdf_slice_min_height:: -0.100000
[component_container_mt-1] esdf_slice_max_height:: 0.300000
[component_container_mt-1] esdf_slice_height:: 0.000000
[component_container_mt-1] slice_height_above_plane_m:: 0.000000
[component_container_mt-1] slice_height_thickness_m:: 0.100000
[component_container_mt-1] mesh_integrator
[component_container_mt-1] min_weight:: 0.100000
[component_container_mt-1] cutoff_distance_vox:: 5.000000
[component_container_mt-1] weld_vertices:: 1
[component_container_mt-1] occupancy_decay_integrator
[component_container_mt-1] free_space_decay_log_odds:: 0.200671
[component_container_mt-1] occupied_space_decay_log_odds:: -0.405465
[component_container_mt-1] decay_to_log_odds_:: 0.000000
[component_container_mt-1] decay_integrator
[component_container_mt-1] deallocate_decayed_blocks:: 1
[component_container_mt-1] tsdf_decay_integrator
[component_container_mt-1] decay_factor:: 0.950000
[component_container_mt-1] decayed_weight_theshold:: 0.001000
[component_container_mt-1] set_free_distance_on_decayed:: 0
[component_container_mt-1] free_distance_vox:: 4.000000
[component_container_mt-1] decay_integrator
[component_container_mt-1] deallocate_decayed_blocks:: 1
[component_container_mt-1] freespace_integrator
[component_container_mt-1] max_tsdf_distance_for_occupancy_m:: 0.150000
[component_container_mt-1] max_unobserved_to_keep_consecutive_occupancy_ms:: 200
[component_container_mt-1] min_duration_since_occupied_for_freespace_ms:: 1000
[component_container_mt-1] min_consecutive_occupancy_duration_for_reset_ms:: 2000
[component_container_mt-1] check_neighborhood:: 1
[component_container_mt-1] foreground_mapper
[component_container_mt-1] voxel_size_m: 0.050000
[component_container_mt-1] memory_type: kDevice
[component_container_mt-1] projective_layer_type: kNone
[component_container_mt-1] esdf_mode: kUnset
[component_container_mt-1] do_depth_preprocessing: 0
[component_container_mt-1] depth_preprocessing_num_dilations: 4
[component_container_mt-1] exclude_last_view_from_decay: 0
[component_container_mt-1] camera_tsdf_integrator
[component_container_mt-1] max_weight:: 5.000000
[component_container_mt-1] marked_unobserved_voxels_distance_m:: -1.000000
[component_container_mt-1] marked_unobserved_voxels_weight:: 0.100000
[component_container_mt-1] weighting_function_type:: kInverseSquareWeight
[component_container_mt-1] invalid_depth_decay_factor:: -1.000000
[component_container_mt-1] projective_integrator
[component_container_mt-1] lidar_linear_interpolation_max_allowable_difference_vox:: 2.000000
[component_container_mt-1] lidar_nearest_interpolation_max_allowable_dist_to_ray_vox:: 0.500000
[component_container_mt-1] truncation_distance_vox:: 4.000000
[component_container_mt-1] max_integration_distance_m:: 7.000000
[component_container_mt-1] view_calculator
[component_container_mt-1] raycast_subsampling_factor: 4
[component_container_mt-1] workspace_bounds_type: kUnbounded
[component_container_mt-1] workspace_bounds_min_height_m: 0.000000
[component_container_mt-1] workspace_bounds_max_height_m: 1.000000
[component_container_mt-1] workspace_bounds_min_corner_x_m: 0.000000
[component_container_mt-1] workspace_bounds_max_corner_x_m: 0.000000
[component_container_mt-1] workspace_bounds_min_corner_y_m: 2.000000
[component_container_mt-1] workspace_bounds_max_corner_y_m: 2.000000
[component_container_mt-1] lidar_tsdf_integrator
[component_container_mt-1] max_weight:: 5.000000
[component_container_mt-1] marked_unobserved_voxels_distance_m:: -1.000000
[component_container_mt-1] marked_unobserved_voxels_weight:: 0.100000
[component_container_mt-1] weighting_function_type:: kInverseSquareWeight
[component_container_mt-1] invalid_depth_decay_factor:: -1.000000
[component_container_mt-1] projective_integrator
[component_container_mt-1] lidar_linear_interpolation_max_allowable_difference_vox:: 2.000000
[component_container_mt-1] lidar_nearest_interpolation_max_allowable_dist_to_ray_vox:: 0.500000
[component_container_mt-1] truncation_distance_vox:: 4.000000
[component_container_mt-1] max_integration_distance_m:: 10.000000
[component_container_mt-1] view_calculator
[component_container_mt-1] raycast_subsampling_factor: 4
[component_container_mt-1] workspace_bounds_type: kUnbounded
[component_container_mt-1] workspace_bounds_min_height_m: 0.000000
[component_container_mt-1] workspace_bounds_max_height_m: 1.000000
[component_container_mt-1] workspace_bounds_min_corner_x_m: 0.000000
[component_container_mt-1] workspace_bounds_max_corner_x_m: 0.000000
[component_container_mt-1] workspace_bounds_min_corner_y_m: 2.000000
[component_container_mt-1] workspace_bounds_max_corner_y_m: 2.000000
[component_container_mt-1] projective_color_integrator
[component_container_mt-1] sphere_tracing_ray_subsampling_factor:: 4
[component_container_mt-1] max_weight:: 5.000000
[component_container_mt-1] weighting_function_type:: kInverseSquareWeight
[component_container_mt-1] projective_integrator
[component_container_mt-1] lidar_linear_interpolation_max_allowable_difference_vox:: 2.000000
[component_container_mt-1] lidar_nearest_interpolation_max_allowable_dist_to_ray_vox:: 0.500000
[component_container_mt-1] truncation_distance_vox:: 4.000000
[component_container_mt-1] max_integration_distance_m:: 7.000000
[component_container_mt-1] view_calculator
[component_container_mt-1] raycast_subsampling_factor: 4
[component_container_mt-1] workspace_bounds_type: kUnbounded
[component_container_mt-1] workspace_bounds_min_height_m: 0.000000
[component_container_mt-1] workspace_bounds_max_height_m: 1.000000
[component_container_mt-1] workspace_bounds_min_corner_x_m: 0.000000
[component_container_mt-1] workspace_bounds_max_corner_x_m: 0.000000
[component_container_mt-1] workspace_bounds_min_corner_y_m: 2.000000
[component_container_mt-1] workspace_bounds_max_corner_y_m: 2.000000
[component_container_mt-1] view_calculator
[component_container_mt-1] raycast_subsampling_factor: 4
[component_container_mt-1] workspace_bounds_type: kUnbounded
[component_container_mt-1] workspace_bounds_min_height_m: 0.000000
[component_container_mt-1] workspace_bounds_max_height_m: 1.000000
[component_container_mt-1] workspace_bounds_min_corner_x_m: 0.000000
[component_container_mt-1] workspace_bounds_max_corner_x_m: 0.000000
[component_container_mt-1] workspace_bounds_min_corner_y_m: 2.000000
[component_container_mt-1] workspace_bounds_max_corner_y_m: 2.000000
[component_container_mt-1] camera_occupancy_integrator
[component_container_mt-1] free_region_log_odds:: -0.847298
[component_container_mt-1] occupied_region_log_odds:: 0.847298
[component_container_mt-1] unobserved_region_log_odds:: 0.000000
[component_container_mt-1] occupied_region_half_width_m:: 0.100000
[component_container_mt-1] projective_integrator
[component_container_mt-1] lidar_linear_interpolation_max_allowable_difference_vox:: 2.000000
[component_container_mt-1] lidar_nearest_interpolation_max_allowable_dist_to_ray_vox:: 0.500000
[component_container_mt-1] truncation_distance_vox:: 4.000000
[component_container_mt-1] max_integration_distance_m:: 7.000000
[component_container_mt-1] view_calculator
[component_container_mt-1] raycast_subsampling_factor: 4
[component_container_mt-1] workspace_bounds_type: kUnbounded
[component_container_mt-1] workspace_bounds_min_height_m: 0.000000
[component_container_mt-1] workspace_bounds_max_height_m: 1.000000
[component_container_mt-1] workspace_bounds_min_corner_x_m: 0.000000
[component_container_mt-1] workspace_bounds_max_corner_x_m: 0.000000
[component_container_mt-1] workspace_bounds_min_corner_y_m: 2.000000
[component_container_mt-1] workspace_bounds_max_corner_y_m: 2.000000
[component_container_mt-1] lidar_occupancy_integrator
[component_container_mt-1] free_region_log_odds:: -0.847298
[component_container_mt-1] occupied_region_log_odds:: 0.847298
[component_container_mt-1] unobserved_region_log_odds:: 0.000000
[component_container_mt-1] occupied_region_half_width_m:: 0.100000
[component_container_mt-1] projective_integrator
[component_container_mt-1] lidar_linear_interpolation_max_allowable_difference_vox:: 2.000000
[component_container_mt-1] lidar_nearest_interpolation_max_allowable_dist_to_ray_vox:: 0.500000
[component_container_mt-1] truncation_distance_vox:: 4.000000
[component_container_mt-1] max_integration_distance_m:: 10.000000
[component_container_mt-1] view_calculator
[component_container_mt-1] raycast_subsampling_factor: 4
[component_container_mt-1] workspace_bounds_type: kUnbounded
[component_container_mt-1] workspace_bounds_min_height_m: 0.000000
[component_container_mt-1] workspace_bounds_max_height_m: 1.000000
[component_container_mt-1] workspace_bounds_min_corner_x_m: 0.000000
[component_container_mt-1] workspace_bounds_max_corner_x_m: 0.000000
[component_container_mt-1] workspace_bounds_min_corner_y_m: 2.000000
[component_container_mt-1] workspace_bounds_max_corner_y_m: 2.000000
[component_container_mt-1] esdf_integrator
[component_container_mt-1] max_esdf_distance_m:: 2.000000
[component_container_mt-1] max_tsdf_site_distance_vox:: 1.000000
[component_container_mt-1] tsdf_min_weight:: 0.000100
[component_container_mt-1] occupied_threshold_log_odds:: 0.000000
[component_container_mt-1] esdf_slice_min_height:: -0.100000
[component_container_mt-1] esdf_slice_max_height:: 0.300000
[component_container_mt-1] esdf_slice_height:: 0.000000
[component_container_mt-1] slice_height_above_plane_m:: 0.000000
[component_container_mt-1] slice_height_thickness_m:: 0.100000
[component_container_mt-1] mesh_integrator
[component_container_mt-1] min_weight:: 0.000100
[component_container_mt-1] cutoff_distance_vox:: 5.000000
[component_container_mt-1] weld_vertices:: 1
[component_container_mt-1] occupancy_decay_integrator
[component_container_mt-1] free_space_decay_log_odds:: 0.200671
[component_container_mt-1] occupied_space_decay_log_odds:: -0.405465
[component_container_mt-1] decay_to_log_odds_:: 0.000000
[component_container_mt-1] decay_integrator
[component_container_mt-1] deallocate_decayed_blocks:: 1
[component_container_mt-1] tsdf_decay_integrator
[component_container_mt-1] decay_factor:: 0.950000
[component_container_mt-1] decayed_weight_theshold:: 0.001000
[component_container_mt-1] set_free_distance_on_decayed:: 0
[component_container_mt-1] free_distance_vox:: 4.000000
[component_container_mt-1] decay_integrator
[component_container_mt-1] deallocate_decayed_blocks:: 1
[component_container_mt-1] freespace_integrator
[component_container_mt-1] max_tsdf_distance_for_occupancy_m:: 0.150000
[component_container_mt-1] max_unobserved_to_keep_consecutive_occupancy_ms:: 200
[component_container_mt-1] min_duration_since_occupied_for_freespace_ms:: 1000
[component_container_mt-1] min_consecutive_occupancy_duration_for_reset_ms:: 2000
[component_container_mt-1] check_neighborhood:: 1
[component_container_mt-1] image_masker
[component_container_mt-1] occlusion_threshold_m:: 0.250000
[component_container_mt-1] ground_plane_estimator
[component_container_mt-1] ground_points_candidates_min_z_m:: -0.100000
[component_container_mt-1] ground_points_candidates_max_z_m:: 0.150000
[component_container_mt-1] ransac_plane_fitter
[component_container_mt-1] num_ransac_iterations:: 1000
[component_container_mt-1] ransac_distance_threshold_m:: 0.200000
[component_container_mt-1] tsdf_zero_crossings_extractor
[component_container_mt-1] min_tsdf_weight:: 0.100000
[component_container_mt-1] max_crossings:: 360000
[component_container_mt-1]
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/nvblox_node' in container 'nvblox_container'
[component_container_mt-1] [INFO] [1755494542.007429674] [nvblox_node]: Tried to clear map outside of radius but couldn't look up frame: zed_camera_link
[component_container_mt-1] [INFO] [1755494542.007622448] [nvblox_node]: Lookup transform failed for frame zed_camera_link. Layer pointclouds not published
[component_container_mt-1] [INFO] [1755494542.046861254] [zed.zed_node]: ZED SDK Version: 5.0.5 - Build 103094_e8068fce
[component_container_mt-1] [INFO] [1755494542.053169430] [zed.zed_node]: *** CAMERA OPENING ***
[component_container_mt-1] [2025-08-18 05:22:22 UTC][ZED][INFO] Logging level INFO
[component_container_mt-1] [WARN] [1755494542.762284842] [zed.zed_node]: Error opening camera: CAMERA STREAM FAILED TO START
[component_container_mt-1] [INFO] [1755494542.762320361] [zed.zed_node]: Please verify the camera connection
[component_container_mt-1] [2025-08-18 05:22:22 UTC][ZED][WARNING] CAMERA STREAM FAILED TO START in sl::ERROR_CODE sl::Camera::open(sl::InitParameters)
[component_container_mt-1] [INFO] [1755494543.017330673] [nvblox_node]: Tried to clear map outside of radius but couldn't look up frame: zed_camera_link
[component_container_mt-1] [INFO] [1755494543.037407164] [nvblox_node]: Lookup transform failed for frame zed_camera_link. Layer pointclouds not published
[component_container_mt-1] [INFO] [1755494544.027442217] [nvblox_node]: Tried to clear map outside of radius but couldn't look up frame: zed_camera_link
[component_container_mt-1] [INFO] [1755494544.067424139] [nvblox_node]: Lookup transform failed for frame zed_camera_link. Layer pointclouds not published
[component_container_mt-1] [INFO] [1755494545.027539886] [nvblox_node]: Tried to clear map outside of radius but couldn't look up frame: zed_camera_link
[component_container_mt-1] [INFO] [1755494545.087473868] [nvblox_node]: Lookup transform failed for frame zed_camera_link. Layer pointclouds not published
[component_container_mt-1] [INFO] [1755494546.037400236] [nvblox_node]: Tried to clear map outside of radius but couldn't look up frame: zed_camera_link
[component_container_mt-1] [INFO] [1755494546.107447563] [nvblox_node]: Lookup transform failed for frame zed_camera_link. Layer pointclouds not published
[component_container_mt-1] [INFO] [1755494547.037411089] [nvblox_node]: Tried to clear map outside of radius but couldn't look up frame: zed_camera_link
[component_container_mt-1] [INFO] [1755494547.147415267] [nvblox_node]: Lookup transform failed for frame zed_camera_link. Layer pointclouds not published
[component_container_mt-1] [INFO] [1755494548.037446546] [nvblox_node]: Tried to clear map outside of radius but couldn't look up frame: zed_camera_link
[component_container_mt-1] [INFO] [1755494548.167422473] [nvblox_node]: Lookup transform failed for frame zed_camera_link. Layer pointclouds not published
[component_container_mt-1] [2025-08-18 05:22:28 UTC][ZED][INFO] Logging level INFO
[component_container_mt-1] [WARN] [1755494548.472506760] [zed.zed_node]: Error opening camera: CAMERA STREAM FAILED TO START
[component_container_mt-1] [INFO] [1755494548.472576698] [zed.zed_node]: Please verify the camera connection
[component_container_mt-1] [2025-08-18 05:22:28 UTC][ZED][WARNING] CAMERA STREAM FAILED TO START in sl::ERROR_CODE sl::Camera::open(sl::InitParameters)
[component_container_mt-1] [INFO] [1755494549.047490424] [nvblox_node]: Tried to clear map outside of radius but couldn't look up frame: zed_camera_link
[component_container_mt-1] [INFO] [1755494549.197482680] [nvblox_node]: Lookup transform failed for frame zed_camera_link. Layer pointclouds not published
[component_container_mt-1] [INFO] [1755494550.057467872] [nvblox_node]: Tried to clear map outside of radius but couldn't look up frame: zed_camera_link
[component_container_mt-1] [INFO] [1755494550.227815913] [nvblox_node]: Lookup transform failed for frame zed_camera_link. Layer pointclouds not published
[component_container_mt-1] [INFO] [1755494551.057538013] [nvblox_node]: Tried to clear map outside of radius but couldn't look up frame: zed_camera_link
[component_container_mt-1] [INFO] [1755494551.267474450] [nvblox_node]: Lookup transform failed for frame zed_camera_link. Layer pointclouds not published
[component_container_mt-1] [INFO] [1755494552.057655598] [nvblox_node]: Tried to clear map outside of radius but couldn't look up frame: zed_camera_link
[component_container_mt-1] [INFO] [1755494552.297517158] [nvblox_node]: Lookup transform failed for frame zed_camera_link. Layer pointclouds not published
[component_container_mt-1] [INFO] [1755494553.057703684] [nvblox_node]: Tried to clear map outside of radius but couldn't look up frame: zed_camera_link
[component_container_mt-1] [INFO] [1755494553.327535004] [nvblox_node]: Lookup transform failed for frame zed_camera_link. Layer pointclouds not published
[component_container_mt-1] [2025-08-18 05:22:33 UTC][ZED][INFO] Logging level INFO
[component_container_mt-1] [INFO] [1755494554.067838342] [nvblox_node]: Tried to clear map outside of radius but couldn't look up frame: zed_camera_link
[component_container_mt-1] [WARN] [1755494554.180748716] [zed.zed_node]: Error opening camera: CAMERA STREAM FAILED TO START
[component_container_mt-1] [INFO] [1755494554.180799736] [zed.zed_node]: Please verify the camera connection
[component_container_mt-1] [2025-08-18 05:22:34 UTC][ZED][WARNING] CAMERA STREAM FAILED TO START in sl::ERROR_CODE sl::Camera::open(sl::InitParameters)
[component_container_mt-1] [INFO] [1755494554.347523561] [nvblox_node]: Lookup transform failed for frame zed_camera_link. Layer pointclouds not published
[component_container_mt-1] [INFO] [1755494555.077516723] [nvblox_node]: Tried to clear map outside of radius but couldn't look up frame: zed_camera_link
[component_container_mt-1] [INFO] [1755494555.377565572] [nvblox_node]: Lookup transform failed for frame zed_camera_link. Layer pointclouds not published
[component_container_mt-1] [INFO] [1755494556.077553720] [nvblox_node]: Tried to clear map outside of radius but couldn't look up frame: zed_camera_link
[component_container_mt-1] [INFO] [1755494556.397621975] [nvblox_node]: Lookup transform failed for frame zed_camera_link. Layer pointclouds not published
[component_container_mt-1] [INFO] [1755494557.077597505] [nvblox_node]: Tried to clear map outside of radius but couldn't look up frame: zed_camera_link
[component_container_mt-1] [INFO] [1755494557.417552721] [nvblox_node]: Lookup transform failed for frame zed_camera_link. Layer pointclouds not published
[component_container_mt-1] [INFO] [1755494558.087615380] [nvblox_node]: Tried to clear map outside of radius but couldn't look up frame: zed_camera_link
[component_container_mt-1] [INFO] [1755494558.457584016] [nvblox_node]: Lookup transform failed for frame zed_camera_link. Layer pointclouds not published
[component_container_mt-1] [INFO] [1755494559.097575962] [nvblox_node]: Tried to clear map outside of radius but couldn't look up frame: zed_camera_link
[component_container_mt-1] [INFO] [1755494559.467619329] [nvblox_node]: Lookup transform failed for frame zed_camera_link. Layer pointclouds not published
[component_container_mt-1] [2025-08-18 05:22:39 UTC][ZED][INFO] Logging level INFO
[component_container_mt-1] [WARN] [1755494559.890667214] [zed.zed_node]: Error opening camera: CAMERA STREAM FAILED TO START
[component_container_mt-1] [INFO] [1755494559.890723294] [zed.zed_node]: Please verify the camera connection
[component_container_mt-1] [2025-08-18 05:22:39 UTC][ZED][WARNING] CAMERA STREAM FAILED TO START in sl::ERROR_CODE sl::Camera::open(sl::InitParameters)
[component_container_mt-1] [INFO] [1755494560.097629175] [nvblox_node]: Tried to clear map outside of radius but couldn't look up frame: zed_camera_link
[component_container_mt-1] [INFO] [1755494560.497708921] [nvblox_node]: Lookup transform failed for frame zed_camera_link. Layer pointclouds not published
[component_container_mt-1] [INFO] [1755494561.097657219] [nvblox_node]: Tried to clear map outside of radius but couldn't look up frame: zed_camera_link
[component_container_mt-1] [INFO] [1755494561.527762868] [nvblox_node]: Lookup transform failed for frame zed_camera_link. Layer pointclouds not published
[component_container_mt-1] [INFO] [1755494562.107960576] [nvblox_node]: Tried to clear map outside of radius but couldn't look up frame: zed_camera_link
[component_container_mt-1] [INFO] [1755494562.567753440] [nvblox_node]: Lookup transform failed for frame zed_camera_link. Layer pointclouds not published
[component_container_mt-1] [INFO] [1755494563.117722815] [nvblox_node]: Tried to clear map outside of radius but couldn't look up frame: zed_camera_link
[component_container_mt-1] [INFO] [1755494563.587995543] [nvblox_node]: Lookup transform failed for frame zed_camera_link. Layer pointclouds not published
[component_container_mt-1] [INFO] [1755494564.637693621] [nvblox_node]: Lookup transform failed for frame zed_camera_link. Layer pointclouds not published
[component_container_mt-1] [INFO] [1755494565.127665738] [nvblox_node]: Tried to clear map outside of radius but couldn't look up frame: zed_camera_link
[component_container_mt-1] [2025-08-18 05:22:45 UTC][ZED][INFO] Logging level INFO
[component_container_mt-1] [WARN] [1755494565.600030128] [zed.zed_node]: Error opening camera: CAMERA STREAM FAILED TO START
[component_container_mt-1] [INFO] [1755494565.600065900] [zed.zed_node]: Please verify the camera connection
[component_container_mt-1] [2025-08-18 05:22:45 UTC][ZED][WARNING] CAMERA STREAM FAILED TO START in sl::ERROR_CODE sl::Camera::open(sl::InitParameters)
[component_container_mt-1] [INFO] [1755494565.657852305] [nvblox_node]: Lookup transform failed for frame zed_camera_link. Layer pointclouds not published
[component_container_mt-1] [INFO] [1755494566.127724559] [nvblox_node]: Tried to clear map outside of radius but couldn't look up frame: zed_camera_link
[component_container_mt-1] [INFO] [1755494566.687730007] [nvblox_node]: Lookup transform failed for frame zed_camera_link. Layer pointclouds not published
[component_container_mt-1] [INFO] [1755494567.127745752] [nvblox_node]: Tried to clear map outside of radius but couldn't look up frame: zed_camera_link
[component_container_mt-1] [INFO] [1755494567.707907024] [nvblox_node]: Lookup transform failed for frame zed_camera_link. Layer pointclouds not published
[component_container_mt-1] [INFO] [1755494568.127758502] [nvblox_node]: Tried to clear map outside of radius but couldn't look up frame: zed_camera_link
[component_container_mt-1] [INFO] [1755494568.747748507] [nvblox_node]: Lookup transform failed for frame zed_camera_link. Layer pointclouds not published
[component_container_mt-1] [INFO] [1755494569.127892510] [nvblox_node]: Tried to clear map outside of radius but couldn't look up frame: zed_camera_link
[component_container_mt-1] [INFO] [1755494569.777784399] [nvblox_node]: Lookup transform failed for frame zed_camera_link. Layer pointclouds not published
[component_container_mt-1] [INFO] [1755494570.137773737] [nvblox_node]: Tried to clear map outside of radius but couldn't look up frame: zed_camera_link
[component_container_mt-1] [INFO] [1755494570.798069146] [nvblox_node]: Lookup transform failed for frame zed_camera_link. Layer pointclouds not published
[component_container_mt-1] [2025-08-18 05:22:51 UTC][ZED][INFO] Logging level INFO
[component_container_mt-1] [INFO] [1755494571.138176128] [nvblox_node]: Tried to clear map outside of radius but couldn't look up frame: zed_camera_link
[component_container_mt-1] [WARN] [1755494571.312091526] [zed.zed_node]: Error opening camera: CAMERA STREAM FAILED TO START
[component_container_mt-1] [INFO] [1755494571.312156389] [zed.zed_node]: Please verify the camera connection
[component_container_mt-1] [ERROR] [1755494571.312170665] [zed.zed_node]: Camera detection timeout
[component_container_mt-1] [2025-08-18 05:22:51 UTC][ZED][WARNING] CAMERA STREAM FAILED TO START in sl::ERROR_CODE sl::Camera::open(sl::InitParameters)
[component_container_mt-1] malloc_consolidate(): unaligned fastbin chunk detected
[ERROR] [component_container_mt-1]: process has died [pid 43443, exit code -6, cmd '/opt/ros/humble/lib/rclcpp_components/component_container_mt --ros-args --log-level info --ros-args -r __node:=nvblox_container'].
[INFO] [launch]: process[component_container_mt-1] was required: shutting down launched system
[INFO] [rviz2-3]: sending signal 'SIGINT' to process[rviz2-3]
[INFO] [robot_state_publisher-2]: sending signal 'SIGINT' to process[robot_state_publisher-2]
[rviz2-3] [INFO] [1755494572.020866090] [rclcpp]: signal_handler(signum=2)
[robot_state_publisher-2] [INFO] [1755494572.021249543] [rclcpp]: signal_handler(signum=2)
[INFO] [robot_state_publisher-2]: process has finished cleanly [pid 43445]
[ERROR] [rviz2-3]: process[rviz2-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM'
[INFO] [rviz2-3]: sending signal 'SIGTERM' to process[rviz2-3]
[rviz2-3] [INFO] [1755494577.026292383] [rclcpp]: signal_handler(signum=15)
[ERROR] [rviz2-3]: process[rviz2-3] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL'
[INFO] [rviz2-3]: sending signal 'SIGKILL' to process[rviz2-3]
[ERROR] [rviz2-3]: process has died [pid 43447, exit code -9, cmd '/opt/ros/humble/lib/rviz2/rviz2 -d /opt/ros/humble/share/nvblox_examples_bringup/config/visualization/zed_example.rviz --ros-args'].
admin@mab-Dell-G16-7630:/workspaces/isaac_ros-dev$