Recorded ROS2 bag for Image topics from ZED2i have timestamp always on 0

[nobinov]

Preliminary Checks

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• This issue is not a question, feature request, or anything other than a bug report directly related to this project.

Description

I ran a ZED2i on a Jetson Orin Nano, and tried to record some data from it as a ROS2 bags. However, all image-related topics that I recorded always have 0 timestamp on all messages :

• /zed/zed_node/depth/camera_info
• /zed/zed_node/depth/depth_info
• /zed/zed_node/left/camera_info
• /zed/zed_node/depth/depth_registered
• /zed/zed_node/left/image_rect_color

I tried to record /zed/zed_node/pose, but that topic have non-0 timestamp on all messages.

Steps to Reproduce

1. Start a ZED node using ros2 launch zed_wrapper zed_camera.launch.py
2. Wait for a while for ZED to finish initialization
3. Start a recording using ros2 bag record -o "$BAG_PATH" -s mcap --qos-profile-overrides-path "$QOS_OVERRIDE_YAML" "${BAG_TOPICS[@]}"
   .

Expected Result

header:
  stamp:
    sec: (SHOULD BE NON-ZERO)
    nanosec: (SHOULD BE NON-ZERO)
  frame_id: zed_left_camera_optical_frame
height: 360
width: 640
encoding: bgra8
...

Actual Result

header:
  stamp:
    sec: 0
    nanosec: 0
  frame_id: zed_left_camera_optical_frame
height: 360
width: 640
encoding: bgra8
...

ZED Camera model

ZED2i

Environment

Device : NVIDIA Jetson Orin Nano 
RAM : 8 GB
OS : JetPack 6.2.1+b38
L4T version 36.4.7
ROS2 Version : Humble
ZED SDK Version : 5.0.3
CUDA version : V12.6.68

Anything else?

I have tried these possible solution on bag recording side to fix it, but so far still can't make the timestamp appear :

• Use --qos-profile-overrides-path for zed topics and set reliability: best_effort and durability: volatile for all zed image topics
• Try storage type on both mcap and sqlite3
• Add delay beetween camera start and bag recording
• Use --max-cache-size 0
• Record the bag directly inside Jetson
• Laptop connected to Jetson via LAN, and both Laptop and Jetson is on same ROS2 Domain, and record the bag on the Laptop

I have tested bag recording using another camera (Intel Realsense D455), and recorded topics from there have timestamps (not 0)