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

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Getting-RTAB-Map-running-using-ros2-ZEDX-Mini-tp10814p10849.html

You are using exact synchronization (approx_sync: false) and camera topic frame rates is pretty low and not the same. With exact sync, all camera topics should have exactly the same stamp. You could try to debug if all topics are provided with exact same stamp, in 3 different terminals you can do:

ros2 topic echo /zed/zed_node/rgb/image_rect_color --field header
ros2 topic echo /zed/zed_node/depth/depth_registered --field header
ros2 topic echo /zed/zed_node/rgb/camera_info --field header

Then check if you see topics with same stamp for all three.

Another note is that you cannot use rgbd_odometry with images at 2-3 Hz. I suggest to decrease the resolution of the zed camera driver to publish smaller images, that could increase the frame rate. With low computation power, you may also want to use ZED's computed odometry directly instead of recomputing one. See this example with `use_zed_odometry:=true`.