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Hi

I think basically you are asking you need to publish the same topics from ZED as it is being published by Bumbelbee2? If yes

You need to install the ZED ros package as mentioned in the below link.

http://wiki.ros.org/zed-ros-wrapper

Once you do it you need to launch the ZED camera launch file by this command roslaunch zed_wrapper zed.launch

After this launch the following topics will be published :

/zed/confidence/confidence_image /zed/confidence/confidence_image/compressed /zed/confidence/confidence_image/compressed/parameter_descriptions /zed/confidence/confidence_image/compressed/parameter_updates /zed/confidence/confidence_image/compressedDepth /zed/confidence/confidence_image/compressedDepth/parameter_descriptions /zed/confidence/confidence_image/compressedDepth/parameter_updates /zed/confidence/confidence_image/theora /zed/confidence/confidence_image/theora/parameter_descriptions /zed/confidence/confidence_image/theora/parameter_updates /zed/confidence/confidence_map /zed/depth/camera_info /zed/depth/depth_registered /zed/depth/depth_registered/compressed /zed/depth/depth_registered/compressed/parameter_descriptions /zed/depth/depth_registered/compressed/parameter_updates /zed/depth/depth_registered/compressedDepth /zed/depth/depth_registered/compressedDepth/parameter_descriptions /zed/depth/depth_registered/compressedDepth/parameter_updates /zed/depth/depth_registered/theora /zed/depth/depth_registered/theora/parameter_descriptions /zed/depth/depth_registered/theora/parameter_updates /zed/disparity/disparity_image /zed/joint_states /zed/left/camera_info /zed/left/camera_info_raw /zed/left/image_raw_color /zed/left/image_raw_color/compressed /zed/left/image_raw_color/compressed/parameter_descriptions /zed/left/image_raw_color/compressed/parameter_updates /zed/left/image_raw_color/compressedDepth /zed/left/image_raw_color/compressedDepth/parameter_descriptions /zed/left/image_raw_color/compressedDepth/parameter_updates /zed/left/image_raw_color/theora /zed/left/image_raw_color/theora/parameter_descriptions /zed/left/image_raw_color/theora/parameter_updates /zed/left/image_rect_color /zed/left/image_rect_color/compressed /zed/left/image_rect_color/compressed/parameter_descriptions /zed/left/image_rect_color/compressed/parameter_updates /zed/left/image_rect_color/compressedDepth /zed/left/image_rect_color/compressedDepth/parameter_descriptions /zed/left/image_rect_color/compressedDepth/parameter_updates /zed/left/image_rect_color/theora /zed/left/image_rect_color/theora/parameter_descriptions /zed/left/image_rect_color/theora/parameter_updates /zed/map /zed/odom /zed/point_cloud/cloud_registered /zed/rgb/camera_info /zed/rgb/camera_info_raw /zed/rgb/image_raw_color /zed/rgb/image_raw_color/compressed /zed/rgb/image_raw_color/compressed/parameter_descriptions /zed/rgb/image_raw_color/compressed/parameter_updates /zed/rgb/image_raw_color/compressedDepth /zed/rgb/image_raw_color/compressedDepth/parameter_descriptions /zed/rgb/image_raw_color/compressedDepth/parameter_updates /zed/rgb/image_raw_color/theora /zed/rgb/image_raw_color/theora/parameter_descriptions /zed/rgb/image_raw_color/theora/parameter_updates /zed/rgb/image_rect_color /zed/rgb/image_rect_color/compressed /zed/rgb/image_rect_color/compressed/parameter_descriptions /zed/rgb/image_rect_color/compressed/parameter_updates /zed/rgb/image_rect_color/compressedDepth /zed/rgb/image_rect_color/compressedDepth/parameter_descriptions /zed/rgb/image_rect_color/compressedDepth/parameter_updates /zed/rgb/image_rect_color/theora /zed/rgb/image_rect_color/theora/parameter_descriptions /zed/rgb/image_rect_color/theora/parameter_updates /zed/right/camera_info /zed/right/camera_info_raw /zed/right/image_raw_color /zed/right/image_raw_color/compressed /zed/right/image_raw_color/compressed/parameter_descriptions /zed/right/image_raw_color/compressed/parameter_updates /zed/right/image_raw_color/compressedDepth /zed/right/image_raw_color/compressedDepth/parameter_descriptions /zed/right/image_raw_color/compressedDepth/parameter_updates /zed/right/image_raw_color/theora /zed/right/image_raw_color/theora/parameter_descriptions /zed/right/image_raw_color/theora/parameter_updates /zed/right/image_rect_color /zed/right/image_rect_color/compressed /zed/right/image_rect_color/compressed/parameter_descriptions /zed/right/image_rect_color/compressed/parameter_updates /zed/right/image_rect_color/compressedDepth /zed/right/image_rect_color/compressedDepth/parameter_descriptions /zed/right/image_rect_color/compressedDepth/parameter_updates /zed/right/image_rect_color/theora /zed/right/image_rect_color/theora/parameter_descriptions /zed/right/image_rect_color/theora/parameter_updates /zed/zed_wrapper_node/parameter_descriptions /zed/zed_wrapper_node/parameter_updates

From this list you can easily get the topics you are looking for. One you figure that out you can modify the subscriber in the Grid Map package to subscribe the new topics. I think after this you will be good to go...

All the best!!!!

Regards, Saptarshi

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No.2 Revision

Hi

I think basically you are asking you need to publish the same topics from ZED as it is being published by Bumbelbee2? If yes

You need to install the ZED ros package as mentioned in the below link.

http://wiki.ros.org/zed-ros-wrapper

Once you do it you need to launch the ZED camera launch file by this command roslaunch zed_wrapper zed.launch

After this launch the following topics will be published :

/zed/confidence/confidence_image
/zed/confidence/confidence_image/compressed
/zed/confidence/confidence_image/compressed/parameter_descriptions
/zed/confidence/confidence_image/compressed/parameter_updates
/zed/confidence/confidence_image/compressedDepth
/zed/confidence/confidence_image/compressedDepth/parameter_descriptions
/zed/confidence/confidence_image/compressedDepth/parameter_updates
/zed/confidence/confidence_image/theora
/zed/confidence/confidence_image/theora/parameter_descriptions
/zed/confidence/confidence_image/theora/parameter_updates
/zed/confidence/confidence_map
/zed/depth/camera_info
/zed/depth/depth_registered
/zed/depth/depth_registered/compressed
/zed/depth/depth_registered/compressed/parameter_descriptions
/zed/depth/depth_registered/compressed/parameter_updates
/zed/depth/depth_registered/compressedDepth
/zed/depth/depth_registered/compressedDepth/parameter_descriptions
/zed/depth/depth_registered/compressedDepth/parameter_updates
/zed/depth/depth_registered/theora
/zed/depth/depth_registered/theora/parameter_descriptions
/zed/depth/depth_registered/theora/parameter_updates
/zed/disparity/disparity_image
/zed/joint_states
/zed/left/camera_info
/zed/left/camera_info_raw
/zed/left/image_raw_color
/zed/left/image_raw_color/compressed
/zed/left/image_raw_color/compressed/parameter_descriptions
/zed/left/image_raw_color/compressed/parameter_updates
/zed/left/image_raw_color/compressedDepth
/zed/left/image_raw_color/compressedDepth/parameter_descriptions
/zed/left/image_raw_color/compressedDepth/parameter_updates
/zed/left/image_raw_color/theora
/zed/left/image_raw_color/theora/parameter_descriptions
/zed/left/image_raw_color/theora/parameter_updates
/zed/left/image_rect_color
/zed/left/image_rect_color/compressed
/zed/left/image_rect_color/compressed/parameter_descriptions
/zed/left/image_rect_color/compressed/parameter_updates
/zed/left/image_rect_color/compressedDepth
/zed/left/image_rect_color/compressedDepth/parameter_descriptions
/zed/left/image_rect_color/compressedDepth/parameter_updates
/zed/left/image_rect_color/theora
/zed/left/image_rect_color/theora/parameter_descriptions
/zed/left/image_rect_color/theora/parameter_updates
/zed/map
/zed/odom
/zed/point_cloud/cloud_registered
/zed/rgb/camera_info
/zed/rgb/camera_info_raw
/zed/rgb/image_raw_color
/zed/rgb/image_raw_color/compressed
/zed/rgb/image_raw_color/compressed/parameter_descriptions
/zed/rgb/image_raw_color/compressed/parameter_updates
/zed/rgb/image_raw_color/compressedDepth
/zed/rgb/image_raw_color/compressedDepth/parameter_descriptions
/zed/rgb/image_raw_color/compressedDepth/parameter_updates
/zed/rgb/image_raw_color/theora
/zed/rgb/image_raw_color/theora/parameter_descriptions
/zed/rgb/image_raw_color/theora/parameter_updates
/zed/rgb/image_rect_color
/zed/rgb/image_rect_color/compressed
/zed/rgb/image_rect_color/compressed/parameter_descriptions
/zed/rgb/image_rect_color/compressed/parameter_updates
/zed/rgb/image_rect_color/compressedDepth
/zed/rgb/image_rect_color/compressedDepth/parameter_descriptions
/zed/rgb/image_rect_color/compressedDepth/parameter_updates
/zed/rgb/image_rect_color/theora
/zed/rgb/image_rect_color/theora/parameter_descriptions
/zed/rgb/image_rect_color/theora/parameter_updates
/zed/right/camera_info
/zed/right/camera_info_raw
/zed/right/image_raw_color
/zed/right/image_raw_color/compressed
/zed/right/image_raw_color/compressed/parameter_descriptions
/zed/right/image_raw_color/compressed/parameter_updates
/zed/right/image_raw_color/compressedDepth
/zed/right/image_raw_color/compressedDepth/parameter_descriptions
/zed/right/image_raw_color/compressedDepth/parameter_updates
/zed/right/image_raw_color/theora
/zed/right/image_raw_color/theora/parameter_descriptions
/zed/right/image_raw_color/theora/parameter_updates
/zed/right/image_rect_color
/zed/right/image_rect_color/compressed
/zed/right/image_rect_color/compressed/parameter_descriptions
/zed/right/image_rect_color/compressed/parameter_updates
/zed/right/image_rect_color/compressedDepth
/zed/right/image_rect_color/compressedDepth/parameter_descriptions
/zed/right/image_rect_color/compressedDepth/parameter_updates
/zed/right/image_rect_color/theora
/zed/right/image_rect_color/theora/parameter_descriptions
/zed/right/image_rect_color/theora/parameter_updates
/zed/zed_wrapper_node/parameter_descriptions
/zed/zed_wrapper_node/parameter_updates

/zed/zed_wrapper_node/parameter_updates

From this list you can easily get the topics you are looking for. One you figure that out you can modify the subscriber in the Grid Map package to subscribe the new topics. I think after this you will be good to go...

All the best!!!!

Regards, Saptarshi