ZED Stereo camera not functioning in RTAB

[amirx]

Hi,

I have a Jetson TX1 and Zed Stereo camera. I am running ROS kinetic with RTABMAP (version 0.11.8-4xenial-20161002-071726-0700) and RTABMAP-ROS (version 0.11.8-1xenial-20161021-184507-0700.) These were installed via apt-get, not compiled from source. OpenGL version is 4.5

I start the zed wrapper,

>> roslaunch zed_wrapper zed.launch


I list the ROS topics and see /zed/depth/depth_registered

I try to launch RTAB with

>> roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" depth_topic:=/zed/depth/depth_registered

and see nothing.

I confirmed that zed is outputing in RVIZ but for some reason it does not work in RTAB.


Thanks


EDIT: Some additional details:

I am running Ubuntu 16.04

Here is the launch file for the zed.

I am thinking their newer version may not output the same topics it used to before looking at the current one and old versions.

How should I approach this?

[amirx]

UPDATE:

I was able to get rgbd mapping to work, I just had to follow the tutorial on the ros wiki for the ZED camera.

Now I am trying to get this working in RViz, but the only thing that shows up is the camera frame.

Here are the commands I am running

Bring up zed wrapper

>> ros core

>> export ROS_NAMESPACE=camera

>> rosrun zed_wrapper zed_wrapper_node

>> rosrun tf static_transform_publisher 0 0 0 -1.5707963267948966 0 -1.5707963267948966 camera_link zed_initial_frame 100

>> rosrun tf static_transform_publisher 0 0 0 -1.57079632648966 0 -1.5707963267948966 map camera_link 100

Bring up RTAB & Rviz

>> roslaunch rtabmap_ros rgbd_mapping.launch rtabmap_args:="--delete_db_on_start" rviz:=true rtabmapviz:=false depth_topic:=/camera/depth/depth_registered

The only thing that shows up is the regular camera frame

[matlabbe]

From the hand-held mapping tutorial:

your last line should be:

$ roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" rviz:=true rtabmapviz:=false depth_topic:=/camera/depth/depth_registered

or

$ roslaunch rtabmap_ros rgbd_mapping.launch rtabmap_args:="--delete_db_on_start" rviz:=true rtabmapviz:=false depth_registered_topic:=/camera/depth/depth_registered

Note that for the second one, a typo make RVIZ not using the default rviz config, it is fixed in this commit. The launch file rgbd_mapping.launch is still here to provide backward compatibility. The examples may be not all updated to use directly rtabmap.launch.

cheers,
Mathieu