Outdoor Stereo Mapping with ZED 3D camera

Posted by sandmen on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Outdoor-Stereo-Mapping-with-ZED-3D-camera-tp1214.html

Gent's,
I have setup the zed-ros wrapper successful on a Jetson TX1.
And I installed the binarys from rtab-map.

What I want to achieve, is to generate live outdoor stereo mapping :-)
But, really new to rtab-map, ROS...

What I did:
1. start the zed-ros-wraper  "roslaunch zed_wrapper zed.launch"
2. verify the images from camera via "rosrun image_view image_view image:=/camera/rgb/image_rect_color"
3. Look's fine
4. The zed wrapper has different formats you can see here... for example (/camera/depth/image_rect_color)
https://github.com/stereolabs/zed-ros-wrapper

Now back to my question :-)
How can I use the camera, and maybe the already existing deep information's with rtab-map-ros ?

Thanks for your help....