send ZED RGBD from TX2 over WIFI

[Yuli]

Dear Mathieu,(please see my last reply to this post)
Thank you  very much for your reply on my previous two posts.
I now have connected ZED on TX2 and managed to send images from it to
a laptop,in charge of RTAB-Mapping and built map successfully over  wired network.
But when intending to get data from Wi-Fi, RTAB-Map couldn't receive rgbd data  even though
rostopic hz showed the data was received(in a very low rate,like 0.1,though).
I was trying data_throttle and I have to set decimation to 4 so that rtabmapviz could
display something(red background ,though). I wonder if I can feed the following topics to rtabmap directly

 /camera/rgb/image_rect_color/compressed,
 /camera/depth/depth_registered/compressedDepth,
 /camera/rgb/camera_info,

cause they arrived at the laptop with a much higher rate, like 2-3,
but rtabmap still showed nothing received.

I also tried compression:=true, but nothing received, either.


plus, the image resolution is VGA and framerate is 15.
Thank you!!


Ming

[Yuli]

Just found I haven't had compressed_image_transport and
compressed_depth_image_transport installed on my laptop but TX2.
Working on it!

[Yuli]

roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" depth_topic:=/camera/depth/depth_registered frame_id:=zed_camera_center approx_sync:=false _image_transport:=compressed   _image_transport:=compressedDepth

this worked over wired connection but WiFi,
apparently the flow of data is too low is where the problem is.

[Yuli]

roslaunch rtabmap_ros rtabmap.launch rgb_topic:=/camera/data_throttled_image depth_topic:=/camera/data_throttled_image_depth camera_info_topic:=/camera/data_throttled_camera_info compressed:=true rtabmap_args:="--delete_db_on_start"  frame_id:=zed_camera_center
_image_transport:=compressed   _image_transport:=compressedDepth

this one just worked over WIFI!!!


Yeah~

[matlabbe]

Great you make it working. I put the link on the Remote Mapping Tutorial for reference.