ubuntu16.04,ros kinetic. I have already run rgbdskamv2 using kinect2 and ORBslam2 using zed successfully.And i found zed camera can publish depth topic. like this: it looks normal. So i think why don't try run rgbdslam_v2 using zed camera. And i tried. I did make it works but the result was strange .The depth showed in rgbdslam is different from i see in rviz and the result is whole green!! the cloudpiont is totally green.The depth topic is very white ,more white than in RVIZ. I don't know where is worng .Is the zed's depth topic is different from kinect2's ?