Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

apriltags2_ros with ZED mini camera topics trouble

asked 2019-02-27 20:57:20 -0500

matthewbigerton
1 ●2 ●2 ●3

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.

edit retag flag offensive close merge delete

add a comment

1 Answer

Sort by » oldest newest most voted

answered 2019-02-28 04:25:23 -0500

PeteBlackerThe3rd

flag of United Kingdom of Great Britain and Northern Ireland

9529 ●30 ●143 ●135 https://www.linkedin.c...

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.

edit flag offensive delete link

add a comment

Question Tools

1 follower

Stats

Asked: 2019-02-27 20:57:20 -0500

Seen: 230 times

Last updated: Feb 28 '19

apriltags2_ros with ZED mini camera topics trouble edit

1 Answer

Question Tools

Stats

Related questions

apriltags2_ros with ZED mini camera topics trouble