Re: Getting RTAB-Map running using ros2 & ZEDX Mini

Posted by fallyn.logan on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Getting-RTAB-Map-running-using-ros2-ZEDX-Mini-tp10814p10839.html

Yes I have tried that example with the same results. When I ros2 topic hz these are the results

ros2 topic hz /zed/zed_node/rgb/image_rect_color
WARNING: topic [/zed/zed_node/rgb/image_rect_color] does not appear to be published yet
average rate: 4.128
	min: 0.157s max: 0.447s std dev: 0.11117s window: 6
average rate: 3.425
	min: 0.157s max: 0.633s std dev: 0.15698s window: 9
average rate: 3.309
	min: 0.157s max: 0.633s std dev: 0.13166s window: 13
average rate: 3.320
	min: 0.157s max: 0.680s std dev: 0.15730s window: 17
average rate: 3.425
	min: 0.157s max: 0.680s std dev: 0.15553s window: 21
average rate: 3.560
	min: 0.157s max: 0.680s std dev: 0.14646s window: 26
average rate: 3.785
	min: 0.157s max: 0.680s std dev: 0.13900s window: 32

 ros2 topic hz /zed/zed_node/depth/depth_registered
WARNING: topic [/zed/zed_node/depth/depth_registered] does not appear to be published yet
average rate: 1.061
	min: 0.513s max: 1.371s std dev: 0.42861s window: 2
average rate: 2.054
	min: 0.164s max: 1.371s std dev: 0.42469s window: 6
average rate: 2.776
	min: 0.164s max: 1.371s std dev: 0.34562s window: 11
average rate: 2.910
	min: 0.164s max: 1.371s std dev: 0.29994s window: 15
average rate: 3.154
	min: 0.160s max: 1.371s std dev: 0.26687s window: 20

ros2 topic hz /zed/zed_node/rgb/camera_info
average rate: 6.197
	min: 0.154s max: 0.167s std dev: 0.00427s window: 8
average rate: 6.089
	min: 0.154s max: 0.177s std dev: 0.00631s window: 14
average rate: 6.062
	min: 0.154s max: 0.178s std dev: 0.00677s window: 21
average rate: 6.022
	min: 0.154s max: 0.184s std dev: 0.00699s window: 27
average rate: 6.043
	min: 0.154s max: 0.184s std dev: 0.00684s window: 34
average rate: 5.985
	min: 0.154s max: 0.184s std dev: 0.00803s window: 40

does this mean that the topics are not published?
When I ros2 topic list I see all of these zed topics

/zed/joint_states
/zed/plane
/zed/plane_marker
/zed/robot_description
/zed/zed_node/confidence/confidence_map
/zed/zed_node/depth/camera_info
/zed/zed_node/depth/depth_info
/zed/zed_node/depth/depth_registered
/zed/zed_node/depth/depth_registered/compressed
/zed/zed_node/depth/depth_registered/compressedDepth
/zed/zed_node/depth/depth_registered/ffmpeg
/zed/zed_node/depth/depth_registered/theora
/zed/zed_node/disparity/disparity_image
/zed/zed_node/imu/data
/zed/zed_node/imu/data_raw
/zed/zed_node/left/camera_info
/zed/zed_node/left/image_rect_color
/zed/zed_node/left/image_rect_color/compressed
/zed/zed_node/left/image_rect_color/compressedDepth
/zed/zed_node/left/image_rect_color/ffmpeg
/zed/zed_node/left/image_rect_color/theora
/zed/zed_node/left_cam_imu_transform
/zed/zed_node/left_gray/camera_info
/zed/zed_node/left_gray/image_rect_gray
/zed/zed_node/left_gray/image_rect_gray/compressed
/zed/zed_node/left_gray/image_rect_gray/compressedDepth
/zed/zed_node/left_gray/image_rect_gray/ffmpeg
/zed/zed_node/left_gray/image_rect_gray/theora
/zed/zed_node/left_raw/camera_info
/zed/zed_node/left_raw/image_raw_color
/zed/zed_node/left_raw/image_raw_color/compressed
/zed/zed_node/left_raw/image_raw_color/compressedDepth
/zed/zed_node/left_raw/image_raw_color/ffmpeg
/zed/zed_node/left_raw/image_raw_color/theora
/zed/zed_node/left_raw_gray/camera_info
/zed/zed_node/left_raw_gray/image_raw_gray
/zed/zed_node/left_raw_gray/image_raw_gray/compressed
/zed/zed_node/left_raw_gray/image_raw_gray/compressedDepth
/zed/zed_node/left_raw_gray/image_raw_gray/ffmpeg
/zed/zed_node/left_raw_gray/image_raw_gray/theora
/zed/zed_node/odom
/zed/zed_node/path_map
/zed/zed_node/path_odom
/zed/zed_node/point_cloud/cloud_registered
/zed/zed_node/point_cloud/cloud_registered/draco
/zed/zed_node/point_cloud/cloud_registered/zlib
/zed/zed_node/point_cloud/cloud_registered/zstd
/zed/zed_node/pose
/zed/zed_node/pose/status
/zed/zed_node/pose_with_covariance
/zed/zed_node/rgb/camera_info
/zed/zed_node/rgb/image_rect_color
/zed/zed_node/rgb/image_rect_color/compressed
/zed/zed_node/rgb/image_rect_color/compressedDepth
/zed/zed_node/rgb/image_rect_color/ffmpeg
/zed/zed_node/rgb/image_rect_color/theora
/zed/zed_node/rgb_gray/camera_info
/zed/zed_node/rgb_gray/image_rect_gray
/zed/zed_node/rgb_gray/image_rect_gray/compressed
/zed/zed_node/rgb_gray/image_rect_gray/compressedDepth
/zed/zed_node/rgb_gray/image_rect_gray/ffmpeg
/zed/zed_node/rgb_gray/image_rect_gray/theora
/zed/zed_node/rgb_raw/camera_info
/zed/zed_node/rgb_raw/image_raw_color
/zed/zed_node/rgb_raw/image_raw_color/compressed
/zed/zed_node/rgb_raw/image_raw_color/compressedDepth
/zed/zed_node/rgb_raw/image_raw_color/ffmpeg
/zed/zed_node/rgb_raw/image_raw_color/theora
/zed/zed_node/rgb_raw_gray/camera_info
/zed/zed_node/rgb_raw_gray/image_raw_gray
/zed/zed_node/rgb_raw_gray/image_raw_gray/compressed
/zed/zed_node/rgb_raw_gray/image_raw_gray/compressedDepth
/zed/zed_node/rgb_raw_gray/image_raw_gray/ffmpeg
/zed/zed_node/rgb_raw_gray/image_raw_gray/theora
/zed/zed_node/right/camera_info
/zed/zed_node/right/image_rect_color
/zed/zed_node/right/image_rect_color/compressed
/zed/zed_node/right/image_rect_color/compressedDepth
/zed/zed_node/right/image_rect_color/ffmpeg
/zed/zed_node/right/image_rect_color/theora
/zed/zed_node/right_gray/camera_info
/zed/zed_node/right_gray/image_rect_gray
/zed/zed_node/right_gray/image_rect_gray/compressed
/zed/zed_node/right_gray/image_rect_gray/compressedDepth
/zed/zed_node/right_gray/image_rect_gray/ffmpeg
/zed/zed_node/right_gray/image_rect_gray/theora
/zed/zed_node/right_raw/camera_info
/zed/zed_node/right_raw/image_raw_color
/zed/zed_node/right_raw/image_raw_color/compressed
/zed/zed_node/right_raw/image_raw_color/compressedDepth
/zed/zed_node/right_raw/image_raw_color/ffmpeg
/zed/zed_node/right_raw/image_raw_color/theora
/zed/zed_node/right_raw_gray/camera_info
/zed/zed_node/right_raw_gray/image_raw_gray
/zed/zed_node/right_raw_gray/image_raw_gray/compressed
/zed/zed_node/right_raw_gray/image_raw_gray/compressedDepth
/zed/zed_node/right_raw_gray/image_raw_gray/ffmpeg
/zed/zed_node/right_raw_gray/image_raw_gray/theora
/zed/zed_node/stereo/image_rect_color
/zed/zed_node/stereo/image_rect_color/compressed
/zed/zed_node/stereo/image_rect_color/compressedDepth
/zed/zed_node/stereo/image_rect_color/ffmpeg
/zed/zed_node/stereo/image_rect_color/theora
/zed/zed_node/stereo_raw/image_raw_color
/zed/zed_node/stereo_raw/image_raw_color/compressed
/zed/zed_node/stereo_raw/image_raw_color/compressedDepth
/zed/zed_node/stereo_raw/image_raw_color/ffmpeg
/zed/zed_node/stereo_raw/image_raw_color/theora
/zed/zed_node/temperature/imu