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Updated answer for the most recent zed_ros_wrapper version (April 2020).

There is an issue where images published by the zed node don't have always the same stamps, so this causes synchronization issues (large latencies) for rtabmap. Make sure your have this pull request. Refer to this rtabmap+zed tutorial, which has been also updated.

With rtabmap odometry:

$ roslaunch zed_wrapper zed_no_tf.launch
$ rosrun dynamic_reconfigure dynparam set zed_node depth_confidence 99
$ rosrun dynamic_reconfigure dynparam set zed_node depth_texture_conf 90
$ rosrun dynamic_reconfigure dynparam set zed_node depth_confidence 100
$ roslaunch rtabmap_ros rtabmap.launch \
    rtabmap_args:="--delete_db_on_start" \
    rgb_topic:=/zed_node/rgb/image_rect_color \
    depth_topic:=/zed_node/depth/depth_registered \
    camera_info_topic:=/zed_node/rgb/camera_info \
    frame_id:=base_link \
    approx_sync:=false

With zed odometry:

$ roslaunch zed_wrapper zed2.launch
$ rosrun dynamic_reconfigure dynparam set /zed2/zed_node depth_confidence 99
$ rosrun dynamic_reconfigure dynparam set /zed2/zed_node depth_texture_conf 90
$ rosrun dynamic_reconfigure dynparam set /zed2/zed_node depth_confidence 100
$ roslaunch rtabmap_ros rtabmap.launch \
    rtabmap_args:="--delete_db_on_start" \
    rgb_topic:=/zed2/zed_node/rgb/image_rect_color \
    depth_topic:=/zed2/zed_node/depth/depth_registered \
    camera_info_topic:=/zed2/zed_node/depth/camera_info \
    odom_topic:=/zed2/zed_node/odom \
    visual_odometry:=false \
    frame_id:=base_link \
    approx_sync:=false \
    rgbd_sync:=true \
    approx_rgbd_sync:=false

Updated answer for the most recent zed_ros_wrapper version (April 2020).

There is an issue where images published by the zed node don't have always the same stamps, so this causes causing synchronization issues (large latencies) for rtabmap. Make sure your have this pull request. Refer to this rtabmap+zed tutorial, which has been also updated.

With rtabmap odometry:

$ roslaunch zed_wrapper zed_no_tf.launch
$ rosrun dynamic_reconfigure dynparam set zed_node depth_confidence 99
$ rosrun dynamic_reconfigure dynparam set zed_node depth_texture_conf 90
$ rosrun dynamic_reconfigure dynparam set zed_node depth_confidence 100
$ roslaunch rtabmap_ros rtabmap.launch \
    rtabmap_args:="--delete_db_on_start" \
    rgb_topic:=/zed_node/rgb/image_rect_color \
    depth_topic:=/zed_node/depth/depth_registered \
    camera_info_topic:=/zed_node/rgb/camera_info \
    frame_id:=base_link \
    approx_sync:=false

With zed odometry:

$ roslaunch zed_wrapper zed2.launch
$ rosrun dynamic_reconfigure dynparam set /zed2/zed_node depth_confidence 99
$ rosrun dynamic_reconfigure dynparam set /zed2/zed_node depth_texture_conf 90
$ rosrun dynamic_reconfigure dynparam set /zed2/zed_node depth_confidence 100
$ roslaunch rtabmap_ros rtabmap.launch \
    rtabmap_args:="--delete_db_on_start" \
    rgb_topic:=/zed2/zed_node/rgb/image_rect_color \
    depth_topic:=/zed2/zed_node/depth/depth_registered \
    camera_info_topic:=/zed2/zed_node/depth/camera_info \
    odom_topic:=/zed2/zed_node/odom \
    visual_odometry:=false \
    frame_id:=base_link \
    approx_sync:=false \
    rgbd_sync:=true \
    approx_rgbd_sync:=false