Hello,
I am currently using a jetson orin nano on jetpack 6.2 and isaac ros 3.2, alongside a zed 2i camera, with the zed sdk version 5.1.2.
When trying to run the Nvblox example from ZED Camera Examples — isaac_ros_docs documentation , i get the following errors:
admin@ubuntu:/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/2025-12-19-21-09-08-649127-ubuntu-34680
[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 0xffffb68fae00>]
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 [34694]
[INFO] [robot_state_publisher-2]: process started with pid [34696]
[INFO] [rviz2-3]: process started with pid [34698]
[robot_state_publisher-2] [INFO] [1766196549.291897089] [zed.zed_state_publisher]: got segment zed_baro_link
[robot_state_publisher-2] [INFO] [1766196549.292120743] [zed.zed_state_publisher]: got segment zed_camera_center
[robot_state_publisher-2] [INFO] [1766196549.292142823] [zed.zed_state_publisher]: got segment zed_camera_link
[robot_state_publisher-2] [INFO] [1766196549.292153608] [zed.zed_state_publisher]: got segment zed_left_camera_frame
[robot_state_publisher-2] [INFO] [1766196549.292162344] [zed.zed_state_publisher]: got segment zed_left_camera_frame_optical
[robot_state_publisher-2] [INFO] [1766196549.292170760] [zed.zed_state_publisher]: got segment zed_mag_link
[robot_state_publisher-2] [INFO] [1766196549.292179144] [zed.zed_state_publisher]: got segment zed_right_camera_frame
[robot_state_publisher-2] [INFO] [1766196549.292187273] [zed.zed_state_publisher]: got segment zed_right_camera_frame_optical
[robot_state_publisher-2] [INFO] [1766196549.292195049] [zed.zed_state_publisher]: got segment zed_temp_left_link
[robot_state_publisher-2] [INFO] [1766196549.292202825] [zed.zed_state_publisher]: got segment zed_temp_right_link
[rviz2-3] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-admin'
[component_container_mt-1] [INFO] [1766196549.427463640] [nvblox_container]: Load Library: /workspaces/isaac_ros-dev/install/zed_components/lib/libzed_camera_component.so
[component_container_mt-1] [INFO] [1766196549.572304708] [nvblox_container]: Found class: rclcpp_components::NodeFactoryTemplate<stereolabs::ZedCamera>
[component_container_mt-1] [INFO] [1766196549.572448136] [nvblox_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<stereolabs::ZedCamera>
[component_container_mt-1] [INFO] [1766196549.709079195] [zed.zed_node]: ================================
[component_container_mt-1] [INFO] [1766196549.709169501] [zed.zed_node]: ZED Camera Component
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/zed/zed_node' in container 'nvblox_container'
[component_container_mt-1] [INFO] [1766196549.709183678] [zed.zed_node]: ================================
[component_container_mt-1] [INFO] [1766196549.709196734] [zed.zed_node]: * namespace: /zed
[component_container_mt-1] [INFO] [1766196549.709208510] [zed.zed_node]: * node name: zed_node
[component_container_mt-1] [INFO] [1766196549.709216607] [zed.zed_node]: * IPC: disabled
[component_container_mt-1] [INFO] [1766196549.709224095] [zed.zed_node]: ================================
[component_container_mt-1] [INFO] [1766196549.711583677] [nvblox_container]: Load Library: /workspaces/isaac_ros-dev/install/nvblox_ros/lib/libnvblox_ros_lib.so
[component_container_mt-1] [INFO] [1766196549.752894975] [nvblox_container]: Found class: rclcpp_components::NodeFactoryTemplate<nvblox::NvbloxNode>
[component_container_mt-1] [INFO] [1766196549.753069763] [nvblox_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvblox::NvbloxNode>
[component_container_mt-1] [INFO] [1766196549.759564526] [zed.zed_node]: === DEBUG parameters ===
[component_container_mt-1] [INFO] [1766196549.760178527] [zed.zed_node]: * SDK Verbose: 1
[component_container_mt-1] [INFO] [1766196549.760660843] [zed.zed_node]: * Use Pub Timestamps: FALSE
[component_container_mt-1] [INFO] [1766196549.760837328] [zed.zed_node]: * SDK Verbose File:
[component_container_mt-1] [INFO] [1766196549.760920690] [zed.zed_node]: * Debug Common: FALSE
[component_container_mt-1] [INFO] [1766196549.761243035] [zed.zed_node]: * Debug Simulation: FALSE
[component_container_mt-1] [INFO] [1766196549.761400927] [zed.zed_node]: * Debug Video/Depth: FALSE
[component_container_mt-1] [INFO] [1766196549.761642661] [zed.zed_node]: * Debug Control settings: FALSE
[component_container_mt-1] [INFO] [1766196549.761754856] [zed.zed_node]: * Debug Point Cloud: FALSE
[component_container_mt-1] [INFO] [1766196549.761832298] [zed.zed_node]: * Debug TF: FALSE
[component_container_mt-1] [INFO] [1766196549.762109746] [zed.zed_node]: * Debug Positional Tracking: FALSE
[component_container_mt-1] [INFO] [1766196549.762292310] [zed.zed_node]: * Debug GNSS: FALSE
[component_container_mt-1] [INFO] [1766196549.762394425] [zed.zed_node]: * Debug sensors: FALSE
[component_container_mt-1] [INFO] [1766196549.762471771] [zed.zed_node]: * Debug Mapping: FALSE
[component_container_mt-1] [INFO] [1766196549.762561341] [zed.zed_node]: * Debug Object Detection: FALSE
[component_container_mt-1] [INFO] [1766196549.762647552] [zed.zed_node]: * Debug Body Tracking: FALSE
[component_container_mt-1] [INFO] [1766196549.762720866] [zed.zed_node]: * Debug Streaming: FALSE
[component_container_mt-1] [INFO] [1766196549.762805796] [zed.zed_node]: * Debug ROI: FALSE
[component_container_mt-1] [INFO] [1766196549.762877606] [zed.zed_node]: * Debug Nitros: FALSE
[component_container_mt-1] [INFO] [1766196549.762946792] [zed.zed_node]: * Debug Advanced: TRUE
[component_container_mt-1] [INFO] [1766196549.762995593] [zed.zed_node]: + Debug Mode enabled +
[component_container_mt-1] [INFO] [1766196549.763088747] [zed.zed_node]: === TOPIC selection parameters ===
[component_container_mt-1] [INFO] [1766196549.763166733] [zed.zed_node]: * Publish Status: TRUE
[component_container_mt-1] [INFO] [1766196549.763248880] [zed.zed_node]: * Image format: BGRA 32-bit
[component_container_mt-1] [INFO] [1766196549.763330130] [zed.zed_node]: * Publish Left/Right images: FALSE
[component_container_mt-1] [INFO] [1766196549.763400500] [zed.zed_node]: * Publish Raw images: FALSE
[component_container_mt-1] [INFO] [1766196549.763479926] [zed.zed_node]: * Publish Gray images: FALSE
[component_container_mt-1] [INFO] [1766196549.763571384] [zed.zed_node]: * Publish RGB image: TRUE
[component_container_mt-1] [INFO] [1766196549.763649402] [zed.zed_node]: * Publish Stereo image: FALSE
[component_container_mt-1] [INFO] [1766196549.763730300] [zed.zed_node]: * Publish ROI Mask image: FALSE
[component_container_mt-1] [INFO] [1766196549.763810014] [zed.zed_node]: * Publish Depth Map: TRUE
[component_container_mt-1] [INFO] [1766196549.763878272] [zed.zed_node]: * Publish Depth Info: FALSE
[component_container_mt-1] [INFO] [1766196549.763965538] [zed.zed_node]: * Publish Point Cloud: TRUE
[component_container_mt-1] [INFO] [1766196549.764043621] [zed.zed_node]: * Publish Depth Confidence: FALSE
[component_container_mt-1] [INFO] [1766196549.764121255] [zed.zed_node]: * Publish Disparity: FALSE
[component_container_mt-1] [INFO] [1766196549.764199945] [zed.zed_node]: * Publish IMU: TRUE
[component_container_mt-1] [INFO] [1766196549.764276075] [zed.zed_node]: * Publish IMU Raw: FALSE
[component_container_mt-1] [INFO] [1766196549.764344716] [zed.zed_node]: * Publish LeftCam/IMU Transf.: FALSE
[component_container_mt-1] [INFO] [1766196549.764412878] [zed.zed_node]: * Publish Magnetometer: FALSE
[component_container_mt-1] [INFO] [1766196549.764611027] [zed.zed_node]: * Publish Barometer: FALSE
[component_container_mt-1] [INFO] [1766196549.764704470] [zed.zed_node]: * Publish Temperature: FALSE
[component_container_mt-1] [INFO] [1766196549.764783352] [zed.zed_node]: * Publish Odometry/Pose: TRUE
[component_container_mt-1] [INFO] [1766196549.764864122] [zed.zed_node]: * Publish Pose with Covariance: FALSE
[component_container_mt-1] [INFO] [1766196549.764945404] [zed.zed_node]: * Publish Camera Path: FALSE
[component_container_mt-1] [INFO] [1766196549.765016446] [zed.zed_node]: * Publish Detection Plane: FALSE
[component_container_mt-1] [INFO] [1766196549.765111009] [zed.zed_node]: === SVO INPUT parameters ===
[component_container_mt-1] [INFO] [1766196549.765228484] [zed.zed_node]: === LOCAL STREAMING parameters ===
[component_container_mt-1] [INFO] [1766196549.765313542] [zed.zed_node]: === GENERAL parameters ===
[component_container_mt-1] [INFO] [1766196549.765424169] [zed.zed_node]: * Camera model: zed2 - ZED 2
[component_container_mt-1] [INFO] [1766196549.765553260] [zed.zed_node]: * Camera name: zed
[component_container_mt-1] [INFO] [1766196549.765705232] [zed.zed_node]: * Camera SN: 0
[component_container_mt-1] [INFO] [1766196549.766104315] [zed.zed_node]: * Camera ID: -1
[component_container_mt-1] [INFO] [1766196549.766467716] [zed.zed_node]: * Camera timeout [sec]: 5
[component_container_mt-1] [INFO] [1766196549.766657897] [zed.zed_node]: * Camera reconnection temptatives: 5
[component_container_mt-1] [INFO] [1766196549.766768940] [zed.zed_node]: * Camera framerate: 60
[component_container_mt-1] [INFO] [1766196549.766874447] [zed.zed_node]: * GPU ID: -1
[component_container_mt-1] [INFO] [1766196549.766986226] [zed.zed_node]: * Asynchronous image retrieval: FALSE
[component_container_mt-1] [INFO] [1766196549.767117014] [zed.zed_node]: * Image Validity Check: 1
[component_container_mt-1] [INFO] [1766196549.767268122] [zed.zed_node]: * Camera resolution: HD720
[component_container_mt-1] [INFO] [1766196549.767399133] [zed.zed_node]: * Publishing resolution: CUSTOM
[component_container_mt-1] [INFO] [1766196549.767589026] [zed.zed_node]: * Publishing downscale factor: 2
[component_container_mt-1] [INFO] [1766196549.767750278] [zed.zed_node]: * OpenCV custom calibration:
[component_container_mt-1] [INFO] [1766196549.767868041] [zed.zed_node]: * Camera self calibration: TRUE
[component_container_mt-1] [INFO] [1766196549.767949836] [zed.zed_node]: * Camera flip: FALSE
[component_container_mt-1] [INFO] [1766196549.768045390] [zed.zed_node]: * Publish framerate [Hz]: 30
[component_container_mt-1] [INFO] [1766196549.768273044] [zed.zed_node]: === VIDEO parameters ===
[component_container_mt-1] [INFO] [1766196549.768437688] [zed.zed_node]: * Brightness: 4 [DYNAMIC]
[component_container_mt-1] [INFO] [1766196549.768532635] [zed.zed_node]: * Contrast: 4 [DYNAMIC]
[component_container_mt-1] [INFO] [1766196549.768639390] [zed.zed_node]: * Hue: 0 [DYNAMIC]
[component_container_mt-1] [INFO] [1766196549.768721728] [zed.zed_node]: * Saturation: 4 [DYNAMIC]
[component_container_mt-1] [INFO] [1766196549.768804386] [zed.zed_node]: * Sharpness: 4 [DYNAMIC]
[component_container_mt-1] [INFO] [1766196549.768903077] [zed.zed_node]: * Gamma: 8 [DYNAMIC]
[component_container_mt-1] [INFO] [1766196549.768986951] [zed.zed_node]: * Auto Exposure/Gain: TRUE [DYNAMIC]
[component_container_mt-1] [INFO] [1766196549.769072425] [zed.zed_node]: * Exposure: 80 [DYNAMIC]
[component_container_mt-1] [INFO] [1766196549.769152331] [zed.zed_node]: * Gain: 80 [DYNAMIC]
[component_container_mt-1] [INFO] [1766196549.769236013] [zed.zed_node]: * Auto White Balance: TRUE [DYNAMIC]
[component_container_mt-1] [INFO] [1766196549.769370833] [zed.zed_node]: * White Balance Temperature: 42 [DYNAMIC]
[component_container_mt-1] [INFO] [1766196549.769409138] [zed.zed_node]: === DEPTH parameters ===
[component_container_mt-1] [INFO] [1766196549.769666809] [zed.zed_node]: * Depth mode: ULTRA [3]
[component_container_mt-1] [INFO] [1766196549.771931157] [zed.zed_node]: * Min depth [m]: 0.5
[component_container_mt-1] [INFO] [1766196549.772619239] [zed.zed_node]: * Max depth [m]: 5
[component_container_mt-1] [INFO] [1766196549.773298617] [zed.zed_node]: * Depth Stabilization: 1
[component_container_mt-1] [INFO] [1766196549.774303187] [zed.zed_node]: * OpenNI mode (16bit depth): DISABLED with NITROS
[component_container_mt-1] [INFO] [1766196549.774896451] [zed.zed_node]: * Point cloud rate [Hz]: 10
[component_container_mt-1] [INFO] [1766196549.776617136] [zed.zed_node]: * Point cloud resolution: COMPACT
[component_container_mt-1] [INFO] [1766196549.777025019] [zed.zed_node]: * Depth Confidence: 10 [DYNAMIC]
[component_container_mt-1] [INFO] [1766196549.777401061] [zed.zed_node]: * Depth Texture Confidence: 100 [DYNAMIC]
[component_container_mt-1] [INFO] [1766196549.777849969] [zed.zed_node]: * Remove saturated areas: TRUE [DYNAMIC]
[component_container_mt-1] [INFO] [1766196549.777915122] [zed.zed_node]: === GNSS FUSION parameters ===
[component_container_mt-1] [INFO] [1766196549.778211418] [zed.zed_node]: * GNSS fusion enabled: FALSE
[component_container_mt-1] [INFO] [1766196549.778270172] [zed.zed_node]: === POSITIONAL TRACKING parameters ===
[component_container_mt-1] [INFO] [1766196549.780070603] [zed.zed_node]: * Positional tracking enabled: TRUE
[component_container_mt-1] [WARN] [1766196549.781751672] [zed.zed_node]: The value of the parameter 'pos_tracking.pos_tracking_mode' is not valid: 'STANDARD'. Using the default value.
[component_container_mt-1] [INFO] [1766196549.781893243] [zed.zed_node]: * Positional tracking mode: GEN 1
[component_container_mt-1] [INFO] [1766196549.782240004] [zed.zed_node]: * Map frame id: map
[component_container_mt-1] [INFO] [1766196549.782659727] [zed.zed_node]: * Odometry frame id: odom
[component_container_mt-1] [INFO] [1766196549.782967896] [zed.zed_node]: * Broadcast Odometry TF: TRUE
[component_container_mt-1] [INFO] [1766196549.783271648] [zed.zed_node]: * Broadcast Pose TF: TRUE
[component_container_mt-1] [INFO] [1766196549.783598280] [zed.zed_node]: * Depth minimum range: 0
[component_container_mt-1] [INFO] [1766196549.783892112] [zed.zed_node]: * TF timestamp offset: 0 [DYNAMIC]
[component_container_mt-1] [INFO] [1766196549.784195288] [zed.zed_node]: * Path publishing rate: 2 [DYNAMIC]
[component_container_mt-1] [INFO] [1766196549.784491104] [zed.zed_node]: * Path history lenght: -1
[component_container_mt-1] [INFO] [1766196549.785993383] [zed.zed_node]: * Initial pose: [0,0,0,0,0,0,]
[component_container_mt-1] [INFO] [1766196549.786132139] [zed.zed_node]: * Area Memory: TRUE
[component_container_mt-1] [INFO] [1766196549.786231086] [zed.zed_node]: * Area Memory File:
[component_container_mt-1] [INFO] [1766196549.786331088] [zed.zed_node]: * Save Area Memory on closing: TRUE
[component_container_mt-1] [WARN] [1766196549.786362641] [zed.zed_node]: * The parameter 'pos_tracking.area_file_path' is empty, no Area Memory File will be saved on closing.
[component_container_mt-1] [INFO] [1766196549.786513973] [zed.zed_node]: * Camera is static: FALSE
[component_container_mt-1] [INFO] [1766196549.786655801] [zed.zed_node]: * Gravity as origin: TRUE
[component_container_mt-1] [INFO] [1766196549.787327755] [zed.zed_node]: * IMU Fusion: TRUE
[component_container_mt-1] [INFO] [1766196549.787540880] [zed.zed_node]: * Floor Alignment: FALSE
[component_container_mt-1] [INFO] [1766196549.787678132] [zed.zed_node]: * Reset Odometry with Loop Closure: TRUE
[component_container_mt-1] [INFO] [1766196549.787797623] [zed.zed_node]: * Publish 3D Landmarks: FALSE
[component_container_mt-1] [INFO] [1766196549.787942203] [zed.zed_node]: * Publish Landmark Skip Frame:
[component_container_mt-1] [INFO] [1766196549.788045726] [zed.zed_node]: * 2D mode: FALSE
[component_container_mt-1] [INFO] [1766196549.788142816] [zed.zed_node]: * Reset pose with SVO loop: TRUE
[component_container_mt-1] [INFO] [1766196549.788189953] [zed.zed_node]: === Region of Interest parameters ===
[component_container_mt-1] [INFO] [1766196549.788286884] [zed.zed_node]: * Automatic ROI generation: FALSE
[component_container_mt-1] [INFO] [1766196549.788441576] [zed.zed_node]: * Manual ROI polygon: []
[component_container_mt-1] [INFO] [1766196549.788485769] [zed.zed_node]: === SENSORS STACK parameters ===
[component_container_mt-1] [INFO] [1766196549.788606476] [zed.zed_node]: * Broadcast IMU TF [not for ZED]: TRUE
[component_container_mt-1] [INFO] [1766196549.788714991] [zed.zed_node]: * Sensors Camera Sync: FALSE
[component_container_mt-1] [INFO] [1766196549.788880308] [zed.zed_node]: * Sensors publishing rate [Hz]: 200 [DYNAMIC]
[component_container_mt-1] [INFO] [1766196549.788922965] [zed.zed_node]: === Spatial Mapping parameters ===
[component_container_mt-1] [INFO] [1766196549.789042328] [zed.zed_node]: * Spatial Mapping Enabled: FALSE
[component_container_mt-1] [INFO] [1766196549.789193436] [zed.zed_node]: * Spatial Mapping resolution [m]: 0.05
[component_container_mt-1] [INFO] [1766196549.789329983] [zed.zed_node]: * 3D Max Mapping range [m]: 5
[component_container_mt-1] [INFO] [1766196549.789465635] [zed.zed_node]: * Map publishing rate [Hz]: 1 [DYNAMIC]
[component_container_mt-1] [INFO] [1766196549.789871406] [zed.zed_node]: * Clicked point topic: /clicked_point
[component_container_mt-1] [INFO] [1766196549.790031538] [zed.zed_node]: * Plane Det. Max Dist. Thresh.: 0.15
[component_container_mt-1] [INFO] [1766196549.790142805] [zed.zed_node]: * Plane Det. Normals Sim. Thresh.: 15
[component_container_mt-1] [INFO] [1766196549.790209623] [zed.zed_node]: === OBJECT DETECTION parameters ===
[component_container_mt-1] [INFO] [1766196549.790308217] [zed.zed_node]: * Object Det. enabled: FALSE
[component_container_mt-1] [INFO] [1766196549.790428764] [zed.zed_node]: * Object Det. allow reduced precision: TRUE
[component_container_mt-1] [INFO] [1766196549.790677603] [zed.zed_node]: * Object Det. maximum range [m]: 20
[component_container_mt-1] [INFO] [1766196549.790836807] [zed.zed_node]: * Object Det. prediction timeout [sec]: 0.5
[component_container_mt-1] [INFO] [1766196549.790962922] [zed.zed_node]: * Object Det. tracking: TRUE
[component_container_mt-1] [WARN] [1766196549.791161488] [zed.zed_node]: The value of the parameter 'object_detection.filtering_mode' is not valid: '1'. Using the default value.
[component_container_mt-1] [INFO] [1766196549.791203665] [zed.zed_node]: * Object Filtering mode: NMS3D
[component_container_mt-1] [WARN] [1766196549.796459995] [zed.zed_node]: The value of the parameter 'object_detection.model' is not valid: ''. Stopping the node
[component_container_mt-1] CUDA error = 4 at /workspaces/isaac_ros-dev/src/isaac_ros_nvblox/nvblox_ros/nvblox_core/nvblox/src/core/cuda_stream.cpp:36 'cudaStreamCreateWithFlags(&stream_, flags)'. Error string: driver shutting down.
[rviz2-3] [INFO] [1766196550.087060651] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-3] [INFO] [1766196550.087310706] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[ERROR] [component_container_mt-1]: process has died [pid 34694, exit code -11, 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] [1766196550.161742045] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-3] [INFO] [1766196550.495990541] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-3] [INFO] [1766196550.541215574] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-3] [INFO] [1766196550.732449002] [rclcpp]: signal_handler(signum=2)
[robot_state_publisher-2] [INFO] [1766196550.733795181] [rclcpp]: signal_handler(signum=2)
[INFO] [robot_state_publisher-2]: process has finished cleanly [pid 34696]
[INFO] [rviz2-3]: process has finished cleanly [pid 34698]
[WARNING] [launch_ros.actions.load_composable_nodes]: Abandoning wait for the 'nvblox_container/_container/load_node' service response, due to shutdown.
I’ve tried modifying the config yaml files to be like the ones in the examples for Isaac Ros 4, but the same issue still happens.
Any ideas as to how this could be fixed, or the Zed 2i is just not supported at all, despite being listed here: Isaac ROS ZED Setup — isaac_ros_docs documentation ? I have tested the camera, and it does work correctly with the jetson.
Thanks for your help :)