Posted by
yyz on
URL: http://official-rtab-map-forum.206.s1.nabble.com/zed-mapping-tp3811.html
Hi ,
Using only the ZED, I want to use depthimage_to_laserscan node to create a fake laser scan for rtabmap, but I can't get scan.
Here is my launch file
<?xml version="1.0"?>
<launch>
<arg name="use_zed_odometry" default="false"/>
<arg name="rtabmap_args" default="--delete_db_on_start"/>
<arg name="run_rviz" default="true"/>
<group ns="camera">
<include file="$(find zed_wrapper)/launch/zed_camera.launch">
<arg name="publish_tf" value="$(arg use_zed_odometry)"/>
</include>
</group>
<node pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" name="depthimage_to_laserscan">
<remap from="image" to="/camera/depth/depth_registered"/>
<remap from="camera_info" to="/camera/depth/camera_info"/>
</node>
<arg name="localization" default="false"/>
<include file="$(find rtabmap_ros)/launch/rtabmap.launch">
<arg name="stereo" value="false"/>
<arg name="localization" value="$(arg localization)"/>
<arg name="rtabmap_args" value="$(arg rtabmap_args)"/>
<arg name="frame_id" value="zed_center"/>
<arg name="approx_sync" value="false"/>
<arg name="depth_topic" value="/camera/depth/depth_registered"/>
<arg name="rviz" value="$(arg run_rviz)"/>
<arg name="rtabmapviz" value="false"/>
<arg if="$(arg use_zed_odometry)" name="visual_odometry" value="false"/>
<arg if="$(arg use_zed_odometry)" name="odom_topic" value="/camera/odom"/>
</include>
</launch>