Re: 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-tp10920p11027.html

what I actually did was to use this launch:
roslaunch rtabmap_launch rtabmap.launch \
   args:="-d" \
   stereo:=true \
   visual_odometry:=true \
   left_image_topic:=/zed2_front/zed_node/left/image_rect_color  \
   left_camera_info_topic:=/zed2_front/zed_node/left/camera_info \
   right_image_topic:=/zed2_front/zed_node/right/image_rect_color \
   right_camera_info_topic:=/zed2_front/zed_node/right/camera_info \
   frame_id:=zed2_front_base_link \
   approx_sync:=false \
   rgbd_sync:=true \
   approx_rgbd_sync:=false \
   compressed:=true  \
   use_sim_time:=true \
   imu_topic:=/zed2_front/zed_node/imu/data \
   wait_imu_to_init:=true

and play the bag
rosbag play --clock tf:=tf_not_used ts_2023_06_23_21h04m38s_one_random_row.bag

then I can see the GUI opensfile:///home/asaas/Pictures/Screenshot%20from%202025-03-23%2014-21-13.png
this is the mapping mode. this is the File menu file:///media/asaas/DATA/jose/documents/extract_data/data/Image.jpeg