Re: Can I use a bag taken using zed2i? (I used compression.)

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Can-I-use-a-bag-taken-using-zed2i-I-used-compression-tp9395p9407.html

You have this warning:

"[ WARN] [1680717220.570413918]: [image_transport] It looks like you are trying to subscribe directly to a transport-specific image topic '/zed2i/zed_node/left/image_rect_color/compressed', in which case you will likely get a connection error. Try subscribing to the base topic '/zed2i/zed_node/left/image_rect_color' instead with parameter ~image_transport set to 'compressed' (on the command line, _image_transport:=compressed). See http://ros.org/wiki/image_transport for details. "

You should launch rtabmap.launch like:

roslaunch rtabmap_ros rtabmap.launch    \
   rtabmap_args:="--delete_db_on_start"   \
   rgb_topic:=/zed2i/zed_node/left/image_rect_color  \
   depth_topic:=/zed2i/zed_node/depth/depth_registered \
   camera_info_topic:=/zed2i/zed_node/depth/camera_info \
   approx_sync:=false   \
   wait_imu_to_init:=false   \
   imu_topic:=/zed2i/zed_node/imu/data \
   compressed:=true
   ...