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apriltags2_ros with ZED mini camera topics trouble

asked 2019-02-27 20:57:20 -0600

matthewbigerton
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I’m currently working on a project where I need to be able to use the Apriltags2_ros node with my ZED Mini, but the problem is that I don’t have the same camera topics (camera_info, and image_rect) coming from my camera to be able to use the node. Instead, the Zed Mini has a left/image_rect_color, a right/image_rect_color, a left/camera_info, 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.

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answered 2019-02-28 04:25:23 -0600

PeteBlackerThe3rd

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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.

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Asked: 2019-02-27 20:57:20 -0600

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Last updated: Feb 28 '19

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apriltags2_ros with ZED mini camera topics trouble