apriltags2_ros with ZED mini camera topics trouble

I’m currently working on a project where I need to be able to use the Apriltags2ros node with my ZED Mini, but the problem is that I don’t have the same camera topics (camerainfo, and imagerect) coming from my camera to be able to use the node. Instead, the Zed Mini has a left/imagerectcolor, a right/imagerectcolor, a left/camerainfo, and a right/camera_info.

And so, I’m wondering how I can either mesh the 4 topics into the 2 required topics or if there’s another way in which I can have my ZED Mini output the 2 required topics once I run the ZED Mini launch file which outputs all of its topics.

Asked by matthewbigerton on 2019-02-27 21:57:20 UTC

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Answers

You can make a launch file and use remapping to convert the names of the topics produced by the ZED node so that it will work with the apriltags2_ros package.

Remapping allows you to change the name of a topic that is used internally by a node to a different topic name when seen outside of that node. So in your case you could use two remaps inside the ZED node, to remap from left/image_rect_color to image_rect and from left/camera_info to camera_info.

You can then start the apriltags node in the launch file and it should connect the required topics to the ZED node.

Asked by PeteBlackerThe3rd on 2019-02-28 05:25:23 UTC