I have followed the ISAAC ROS setup instructions, and have successfully used and launched the ZED2i. When trying to launch visual slam, i get the following output:

[INFO] [launch]: All log files can be found below /home/auv-deployment/.ros/log/2024-12-26-00-31-26-054244-Desktop-198309 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [component_container-1]: process started with pid [198325] [component_container-1] [INFO] [1735185686.343624893] [visual_slam_launch_container]: Load Library: /opt/ros/humble/lib/libvisual_slam_node.so [component_container-1] [INFO] [1735185686.383844849] [visual_slam_launch_container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::visual_slam::VisualSlamNode> [component_container-1] [INFO] [1735185686.383891436] [visual_slam_launch_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::visual_slam::VisualSlamNode> [component_container-1] [INFO] [1735185686.394514320] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/std/libgxf_std.so [component_container-1] [INFO] [1735185686.395220208] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_gxf_helpers.so [component_container-1] [INFO] [1735185686.396746145] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_sight.so [component_container-1] [INFO] [1735185686.398299103] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_atlas.so [component_container-1] 2024-12-26 00:31:26.402 WARN external/com_nvidia_gxf/gxf/std/program.cpp@538: No GXF scheduler specified. [component_container-1] [INFO] [1735185686.402402831] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/multimedia/libgxf_multimedia.so [component_container-1] [INFO] [1735185686.404184005] [visual_slam_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber [component_container-1] [INFO] [1735185686.404495917] [visual_slam_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber [component_container-1] [INFO] [1735185686.408120011] [visual_slam_node]: cuVSLAM version: 12.6 [component_container-1] [INFO] [1735185686.522506121] [visual_slam_node]: Time taken by CUVSLAM_WarmUpGPU(): 0.114366 [component_container-1] [INFO] [1735185686.522745117] [visual_slam_node]: Initializing cuVSLAM. [component_container-1] [INFO] [1735185686.522825417] [visual_slam_node]: Use use_gpu: true [component_container-1] [INFO] [1735185686.522829315] [visual_slam_node]: Enable IMU Fusion: true [component_container-1] [INFO] [1735185686.522832070] [visual_slam_node]: gyroscope_noise_density: 0.000244 [component_container-1] [INFO] [1735185686.522835155] [visual_slam_node]: gyroscope_random_walk: 0.000019 [component_container-1] [INFO] [1735185686.522837961] [visual_slam_node]: accelerometer_noise_density: 0.001862 [component_container-1] [INFO] [1735185686.522840746] [visual_slam_node]: accelerometer_random_walk: 0.003000 [component_container-1] [INFO] [1735185686.522843651] [visual_slam_node]: frequency: 400.000000 [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/visual_slam_node' in container '/visual_slam_launch_container' [component_container-1] Save /tmp/cuvslam/stereo.edex [component_container-1] [INFO] [1735185687.646263074] [visual_slam_node]: Time taken by CUVSLAM_CreateTracker(): 1.123414 [component_container-1] [INFO] [1735185687.646491270] [visual_slam_node]: cuVSLAM tracker was successfully initialized.

I am using the following python3 code to launch the node:

` visual_slam_node = ComposableNode(
name='visual_slam_node',
package='isaac_ros_visual_slam',
plugin='nvidia::isaac_ros::visual_slam::VisualSlamNode',
parameters=[{
'enable_localization_n_mapping': True,
'denoise_input_images': False,
'rectified_images': True,
'enable_debug_mode': True,
'debug_dump_path': '/tmp/cuvslam',
'enable_slam_visualization': True,
'enable_landmarks_view': True,
'enable_observations_view': True,
'map_frame': 'map',
'odom_frame': 'odom',
'base_frame': 'zed_camera_center',
'imu_frame': 'zed_imu_link',
'camera_optical_frames': ['zed_left_camera_optical_frame',
'zed_right_camera_optical_frame'],
'enable_imu_fusion': True,
'gyro_noise_density': 0.000244,
'gyro_random_walk': 0.000019393,
'accel_noise_density': 0.001862,
'accel_random_walk': 0.003,
'calibration_frequency': 400.0,
'img_jitter_threshold_ms': 35.00,
'enable_planar_mode': False,
}],
remappings=[('/visual_slam/image_0', '/zed/zed_node/left_gray/image_rect_gray/nitros'),
('/visual_slam/camera_info_0', '/zed/zed_node/left_gray/camera_info'),
('/visual_slam/image_1', '/zed/zed_node/right_gray/image_rect_gray/nitros'),
('/visual_slam/camera_info_1', '/zed/zed_node/right_gray/camera_info'),
('/visual_slam/imu', '/zed/zed_node/imu/data')]
)

visual_slam_launch_container = ComposableNodeContainer(
    name='visual_slam_launch_container',
    namespace='',
    package='rclcpp_components',
    executable='component_container',
    composable_node_descriptions=[
        visual_slam_node
    ],
    output='screen'
)

return launch.LaunchDescription([visual_slam_launch_container])`

After analysing the /tf tree, I recieved the following .pdf:
frames_2024-12-25_23.20.15.pdf

The map, odom, and imu frames are updating, and the rest are static, which to my understanding is to be expected. When trying to echo any /visual_slam topic, nothing is output. I have also tried passing in the non-nitros topics, however this made no difference.

Any help would be greatly appreciated!