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zed_rtabmap_example package from tx2_stereoslam repo

orb_slam2_ros qt_build qt_create qt_ros qt_tutorials rover tx2_slam zed_ar_track_alvar_example zed_multicamera_example zed_nodelet_example zed_rtabmap_example zed_depth_sub_tutorial zed_obj_det_sub_tutorial zed_sensors_sub_tutorial zed_tracking_sub_tutorial zed_video_sub_tutorial zed_display_rviz zed_examples zed_interfaces zed_ros zed_wrapper

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Package Summary

Tags No category tags.
Version 3.0.0
License MIT
Build type CATKIN
Use RECOMMENDED

Repository Summary

Description 🍀 Develop a SLAM algorithm based on ORB_SLAM2 along with TX2、ZED2、ROS and a mobile platform
Checkout URI https://github.com/shieldqiqi/tx2_stereoslam.git
VCS Type git
VCS Version master
Last Updated 2021-11-25
Dev Status UNKNOWN
CI status No Continuous Integration
Released UNRELEASED
Tags ros orb-slam2 visual-slam jetson-tx2 zed2
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

"zed_rtabmap_example" is a ROS package to show how to use the ROS wrapper with

Additional Links

Maintainers

  • STEREOLABS

Authors

No additional authors.
src/zed-ros-examples/examples/zed_rtabmap_example/README.md

Stereolabs ZED Camera - RTAB-map example

This package shows how to use the ZED Wrapper with RTAB-map

Installation

Follow the install guide

Run the program

To launch the example, open a terminal and launch:

$ roslaunch zed_rtabmap_example zed_rtabmap.launch

Example of indoor 3D mapping using RTAB-map and ZED

Example of indoor 3D mapping

The launch file explained

To correctly use the ZED wrapper with the rtabmap_ros node we need to match the following RTABmap parameters:

  • rgb_topic -> topic of the color information to be associated to the points of the 3D map
  • depth_topic -> topic of the depth information
  • camera_info_topic -> topic of RGB camera parameters used to create the association of each color pixel to the relative 3D point
  • depth_camera_info_topic -> topic of the depth camera parameter, to convert the 2D depth image to a 3D point cloud
  • odom_topic -> name of the camera frame

The values associated to the above parameters are the following:

    <arg name="odom_topic"              default="zed_node/odom" />
    <arg name="rgb_topic"               default="zed_node/rgb/image_rect_color" />
    <arg name="depth_topic"             default="zed_node/depth/depth_registered" />
    <arg name="camera_info_topic"       default="zed_node/rgb/camera_info" />
    <arg name="depth_camera_info_topic" default="zed_node/depth/camera_info" />

Note: the example as been tested using the packages rtabmap v0.19.3 and rtabmap_ros v0.19.3 available with the binary version of ROS Melodic. To check the version of RTABmap currently installed on your system you can use the commands: $ rosversion rtabmap and $ rosversion rtabmap_ros

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
catkin
rtabmap
rtabmap_ros
zed_wrapper
rviz

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
zed_examples

Launch files

  • launch/zed_rtabmap.launch
    • Copyright (c) 2018, STEREOLABS. All rights reserved. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
      • zed_namespace [default: zed]
      • svo_file [default: ]
      • zed_node_name [default: zed_node]
      • camera_model [default: zed2]
      • publish_urdf [default: true]
      • custom_rtabmap_launch_file [default: $(find zed_rtabmap_example)/launch/include/sl_rtabmap.launch.xml]
      • odom_topic [default: zed_node/odom]
      • rgb_topic [default: zed_node/rgb/image_rect_color]
      • depth_topic [default: zed_node/depth/depth_registered]
      • camera_info_topic [default: zed_node/rgb/camera_info]
      • depth_camera_info_topic [default: zed_node/depth/camera_info]
  • launch/include/sl_rtabmap.launch.xml
    • RTAB-Map launcher
      • localization [default: false]
      • args [default: ]
      • args [default: --delete_db_on_start]
      • rgb_topic [default: zed/zed_node/rgb/image_rect_color]
      • depth_topic [default: zed/zed_node/depth/depth_registered]
      • camera_info_topic [default: zed/zed_node/rgb/camera_info]
      • depth_camera_info_topic [default: zed/zed_node/depth/camera_info]
      • odom_topic [default: zed/zed_node/odom]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged zed_rtabmap_example at Robotics Stack Exchange

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