Re: rtabmap ros2 zed2i

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/rtabmap-ros2-zed2i-tp10335p10355.html

Following example conversion from here with the ros1 examples with zed odometry from here:

ros2 launch zed_wrapper zed_camera.launch.py \
   publish_map_tf:=false \
   camera_model:=zed2i

ros2 launch rtabmap_launch rtabmap.launch.py \
   args:="--delete_db_on_start" \
   frame_id:=zed_camera_link \
   odom_topic:=/zed/zed_node/odom \
   visual_odometry:=false \
   rgb_topic:=/zed/zed_node/rgb/image_rect_color \
   depth_topic:=/zed/zed_node/depth/depth_registered \
   camera_info_topic:=/zed/zed_node/rgb/camera_info \
   wait_imu_to_init:=true \
   imu_topic:=/zed/zed_node/imu/data \
   rviz:=true \
   approx_sync:=false \
   rgbd_sync:=true \
   approx_rgbd_sync:=false \
   topic_queue_size:=2