RTAB-Map launch file for zed2i

Posted by Parastou Bakhtiari on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTAB-Map-launch-file-for-zed2i-tp10920.html

Hi,

I have a rosbag recorded using a zed2i camera. I launched this lunch file https://github.com/stereolabs/zed-ros-examples/blob/master/examples/zed_rtabmap_example/launch/zed_rtabmap.launch, but I only can see the odomety in localization mode. I want to get the 3D pointcloud map and 2D occupancy grid map. Would you please tell me where can I find the correct launch file? I have shared the rosbag in this shared google drive and I have attached the tf frames of this rosbag for your consideration.

Thank you.
https://drive.google.com/drive/folders/1u5mcmOMRJbasoJY9JD-E07zpUv2Dp5T5?usp=sharing