Re: ZED Stereo camera not functioning in RTAB

Posted by amirx on
URL: http://official-rtab-map-forum.206.s1.nabble.com/ZED-Stereo-camera-not-functioning-in-RTAB-tp2279p2280.html

UPDATE:

I was able to get rgbd mapping to work, I just had to follow the tutorial on the ros wiki for the ZED camera.

Now I am trying to get this working in RViz, but the only thing that shows up is the camera frame.

Here are the commands I am running

Bring up zed wrapper

>> ros core

>> export ROS_NAMESPACE=camera

>> rosrun zed_wrapper zed_wrapper_node

>> rosrun tf static_transform_publisher 0 0 0 -1.5707963267948966 0 -1.5707963267948966 camera_link zed_initial_frame 100

>> rosrun tf static_transform_publisher 0 0 0 -1.57079632648966 0 -1.5707963267948966 map camera_link 100

Bring up RTAB & Rviz

>> roslaunch rtabmap_ros rgbd_mapping.launch rtabmap_args:="--delete_db_on_start" rviz:=true rtabmapviz:=false depth_topic:=/camera/depth/depth_registered

The only thing that shows up is the regular camera frame