Using Zed Camera with Navigation Stack and mapping

asked 2016-08-31 07:07:23 -0500

Waseem Anjum gravatar image

I have previously built a mobile robot. I used Lidar, Imu and optical encoders for obstacle avoidance, angular and linear odometry respectively. I used gmapping for SLAM and navigation stack (amcl, move_base etc) for autonomous motion.

Now, I want to use Zed Camera with ros navigation and I am expecting it to replace Lidar, Imu and Wheel encoders. I have following concerns regarding Zed Camera.

  • How I can perform mapping using Zed Camera as I have previously used only gmapping with Lidar
  • Will Zed Camera replace Lidar for obstacle avoidance (as I have seen in the documentation that Zed Camera provides point cloud data)
  • Will it also replace Imu and Wheel encoders (as it already publishes the odometry on /odom topic)

If anyone has already used Zed Camera with ROS, kindly guide if it is the right choice to use for outdoor navigation and mapping. Thanks

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Comments

You might want to look at some of the Turtlebot code. The Turtlebot code uses the Kinect and generates a LaserSan message, in much the same way as you could with the Zed.

Mark Rose gravatar imageMark Rose ( 2016-08-31 10:45:54 -0500 )edit