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Merged
adujardin merged 2 commits into from
Nov 5, 2018
Merged

Fixed TF problems with RTABmap example #324

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9b7333f
Fixed TF problems with RTABmap example
Myzhar Nov 5, 2018
a941132
Update README.md
Myzhar Nov 5, 2018
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13 changes: 8 additions & 5 deletions examples/zed_rtabmap_example/README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -25,10 +25,10 @@ To correctly use the ZED wrapper with the `rtabmap_ros` node we need to match th
The values associated to the above parameters are the following:

```
<arg name="rgb_topic" default="/rgb/image_rect_color" />
<arg name="depth_topic" default="/depth/depth_registered" />
<arg name="camera_info_topic" default="/rgb/camera_info" />
<arg name="depth_camera_info_topic" default="/depth/camera_info" />
<arg name="rgb_topic" default="rgb/image_rect_color" />
<arg name="depth_topic" default="depth/depth_registered" />
<arg name="camera_info_topic" default="rgb/camera_info" />
<arg name="depth_camera_info_topic" default="depth/camera_info" />
<arg name="camera_frame" default="zed_camera_center" />
```

Expand All @@ -48,7 +48,10 @@ The corresponding parameters of the `rtabmap_ros` node are the following:
- `depth_camera_info_topic` -> `depth_cam_info_topic`
- `camera_frame` -> `frame_id`


**Note**: the example as been tested using the packages `rtabmap v0.17.6` and `rtabmap_ros v0.17.6` available with the binary version of ROS Kinetic. To check the version of RTABmap currently installed on your system you can use the commands:
`$ rosversion rtabmap`
and
`$ rosversion rtabmap_ros`



83 changes: 44 additions & 39 deletions examples/zed_rtabmap_example/launch/zed_rtabmap.launch
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Expand Up @@ -17,51 +17,56 @@ THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-->
<launch>
<arg name="zed_namespace" default="zed" />
<arg name="zed_namespace" default="zed" />

<arg name="svo_file" default="" /> <!-- <arg name="svo_file" default="path/to/svo/file.svo"> -->
<arg name="svo_file" default="" /> <!-- <arg name="svo_file" default="path/to/svo/file.svo"> -->

<arg name="camera_model" default="1" /> <!-- 0=ZED, 1=ZEDM-->
<arg name="serial_number" default="0" />
<arg name="verbose" default="true" />
<arg name="resolution" default="2" /> <!--0=RESOLUTION_HD2K, 1=RESOLUTION_HD1080, 2=RESOLUTION_HD720, 3=RESOLUTION_VGA -->
<arg name="frame_rate" default="30" />
<!-- RESOLUTION_HD2K -> 2208*1242, available framerates: 15 fps.
<arg name="camera_model" default="1" /> <!-- 0=ZED, 1=ZEDM-->
<arg name="serial_number" default="0" />
<arg name="verbose" default="true" />
<arg name="resolution" default="2" /> <!--0=RESOLUTION_HD2K, 1=RESOLUTION_HD1080, 2=RESOLUTION_HD720, 3=RESOLUTION_VGA -->
<arg name="frame_rate" default="30" />
<!-- RESOLUTION_HD2K -> 2208*1242, available framerates: 15 fps.
RESOLUTION_HD1080 -> 1920*1080, available framerates: 15, 30 fps.
RESOLUTION_HD720 -> 1280*720, available framerates: 15, 30, 60 fps.
RESOLUTION_VGA -> 672*376, available framerates: 15, 30, 60, 100 fps. -->

<arg name="rgb_topic" default="/rgb/image_rect_color" />
<arg name="depth_topic" default="/depth/depth_registered" />
<arg name="camera_info_topic" default="/rgb/camera_info" />
<arg name="depth_camera_info_topic" default="/depth/camera_info" />
<arg name="camera_frame" default="zed_camera_center" />
<arg name="rgb_topic" default="rgb/image_rect_color" />
<arg name="depth_topic" default="depth/depth_registered" />
<arg name="camera_info_topic" default="rgb/camera_info" />
<arg name="depth_camera_info_topic" default="depth/camera_info" />
<arg name="camera_frame" default="zed_camera_center" />

<group ns="$(arg zed_namespace)">
<!-- ZED Wrapper Node-->
<include file="$(find zed_wrapper)/launch/zed_camera.launch">
<arg name="svo_file" value="$(arg svo_file)" />
<arg name="camera_model" value="$(arg camera_model)" />
<arg name="serial_number" value="$(arg serial_number)" />
<arg name="resolution" value="$(arg resolution)" />
<arg name="frame_rate" value="$(arg frame_rate)" />
<arg name="verbose" value="$(arg verbose)" />

<arg name="rgb_topic" value="$(arg rgb_topic)" />
<arg name="depth_topic" value="$(arg depth_topic)" />
<arg name="rgb_info_topic" value="$(arg camera_info_topic)" />
<arg name="depth_cam_info_topic" value="$(arg depth_camera_info_topic)" />
<arg name="base_frame" value="$(arg camera_frame)" />
</include>
<group ns="$(arg zed_namespace)">
<!-- ZED Wrapper Node-->
<include file="$(find zed_wrapper)/launch/zed_camera.launch">
<arg name="svo_file" value="$(arg svo_file)" />
<arg name="camera_model" value="$(arg camera_model)" />
<arg name="serial_number" value="$(arg serial_number)" />
<arg name="resolution" value="$(arg resolution)" />
<arg name="frame_rate" value="$(arg frame_rate)" />
<arg name="verbose" value="$(arg verbose)" />

<arg name="rgb_topic" value="$(arg rgb_topic)" />
<arg name="depth_topic" value="$(arg depth_topic)" />
<arg name="rgb_info_topic" value="$(arg camera_info_topic)" />
<arg name="depth_cam_info_topic" value="$(arg depth_camera_info_topic)" />
<arg name="base_frame" value="$(arg camera_frame)" />

<arg name="publish_map_tf" value="false" />
</include>
</group>

<!-- RTAB-map Node-->
<include file="$(find rtabmap_ros)/launch/rtabmap.launch">
<arg name="rtabmap_args" value="--delete_db_on_start" />
<arg name="rgb_topic" value="$(arg rgb_topic)" />
<arg name="depth_topic" value="$(arg depth_topic)" />
<arg name="camera_info_topic" value="$(arg camera_info_topic)" />
<arg name="depth_camera_info_topic" value="$(arg depth_camera_info_topic)" />
<arg name="frame_id" value="$(arg camera_frame)" />
</include>
</group>
<!-- RTAB-map Node-->
<include file="$(find rtabmap_ros)/launch/rtabmap.launch">
<arg name="rtabmap_args" value="--delete_db_on_start" />
<arg name="rgb_topic" value="/$(arg zed_namespace)/$(arg rgb_topic)" />
<arg name="depth_topic" value="/$(arg zed_namespace)/$(arg depth_topic)" />
<arg name="camera_info_topic" value="/$(arg zed_namespace)/$(arg camera_info_topic)" />
<arg name="depth_camera_info_topic" value="/$(arg zed_namespace)/$(arg depth_camera_info_topic)" />
<arg name="frame_id" value="$(arg camera_frame)" />
<arg name="approx_sync" value="false" />
<arg name="visual_odometry" value="false" />
<arg name="odom_topic" value="/$(arg zed_namespace)/odom" />
</include>
</launch>