Remote Mapping - ZED Stream Throttle

[DavideR]

Hi Mathieu,

I am considering to do mapping on a remote computer with more capabilities than the Jetson TX1.

CONFIGURATION

LAPTOP [ROS Master] (Odometry - LaserScans ) <-- WiFi --> Jetson TX1 ( ZED RGB-D )


Hence the need to throttle the RGBD stream computed by the Jetson TX1 ( Published by the zed_ros_wrapper )

Looking at the tutorial on the website, it seems that the nodelets are intended to be used with a Kinect camera.

Is there a possibility to achieve the same pipeline using a ZED camera?

Thank you for your support!

cheers

[matlabbe]

Hi,

yes, you have to remap the correct topics in the throttling example. However, if the ZED wrapper has already a framerate parameter, you may use it directly instead of throttling the topics.

cheers,
Mathieu

[DavideR]

Thank you Mathieu,
I remapped the topics to make the nodelet working with the ZED.
I share here the launch file for the community :

ZED CAMERA DATA THROTTLE - Launch File

<launch>
  <arg name="rate"  default="3"/>
  <arg name="decimation"  default="1"/> <!-- Reduce the image size, e.g., 2 means "width/2 x height/2". -->
  <arg name="approx_sync" default="false" />

  <!-- Use same nodelet used by ZED -->
  <group ns="zed">
    <node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_ros/data_throttle zed_nodelet_manager" output="screen">

      <param name="rate" type="double" value="$(arg rate)"/>
      <param name="decimation" type="int" value="$(arg decimation)"/>
      <param name="approx_sync" type="bool" value="$(arg approx_sync)"/>

      <remap from="rgb/image_in"       to="/zed/rgb/image_rect_color"/>
      <remap from="depth/image_in"     to="/zed/depth/depth_registered"/>
      <remap from="rgb/camera_info_in" to="/zed/rgb/camera_info"/>

      <remap from="rgb/image_out"       to="/zed/throttled/rgb/image_rect_color"/>
      <remap from="depth/image_out"     to="/zed/throttled/depth/depth_registered"/>
      <remap from="rgb/camera_info_out" to="/zed/throttled/rgb/camera_info"/>

    </node>
  </group>
</launch>

Here some Github issues about the ZED camera and framerate :

https://github.com/stereolabs/zed-ros-wrapper/issues/363
https://github.com/stereolabs/zed-ros-wrapper/issues/292

Cheers