Re: (Bad 3D map) robot_localization sensor fusion imu and odom

Posted by acp on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Bad-3D-map-robot-localization-sensor-fusion-imu-and-odom-tp5456p5578.html

Hi Mathieu

Well, the thing is that I am using the sdk-zed 2.2 version. I am not using the latest version which is the 2.7, I guess :)


and in the zed_camera.launch I only have:

   <arg name="base_frame"            default="zed_center" />
    <arg name="camera_frame"          default="zed_left_camera" />
    <arg name="depth_frame"           default="zed_depth_camera" />

Where to find or how to set:

/camera_link
 /zed_left_camera_optical_frame

the urdf camera model is:

zed_test.xacro

I can see that in the new zed ros package the following frames are defined:

    <arg name="base_frame"                    default="zed_camera_center" />
    <arg name="left_camera_frame"             default="zed_left_camera_frame" />
    <arg name="left_camera_optical_frame"     default="zed_left_camera_optical_frame" />
    <arg name="right_camera_frame"            default="zed_right_camera_frame" />
    <arg name="right_camera_optical_frame"    default="zed_right_camera_optical_frame" />

I can not update it to the new driver, cos I would need to work with the sdk-zed 2.2 because of compatibility problems.

Any clue?