zed mapping

[yyz]

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>

[matlabbe]

Make sure they are the right topics for depthimage_to_laserscan. Is the scan published?

[yyz]

they are the right topics for depthimage_to_laserscan. Scan is published but no data.
I think tf has a problem?




and I echo scan topic:

[matlabbe]

What look like the depth image? That code is quite simple, it takes the middle line of the depth image as the scan. TF is not used I think for that.

[yyz]

It is strange.There is no data when I use rviz.But when I select "Transport Hint" as compressedDepth,
rviz shows the depth image.

[matlabbe]

Are you on the same computer? Maybe too much bandwidth is required to get the raw depth image.