zed_rtabmap_example

Stereolabs ZED Camera - RTAB-map example

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

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

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
• frame_id -> name of the camera frame

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="camera_frame"              default="zed_camera_center" />

The corresponding parameters of the ZED node are the following:

• rgb_topic -> rgb_topic
• depth_topic -> depth_topic
• camera_info_topic -> rgb_info_topic
• depth_camera_info_topic -> depth_cam_info_topic
• frame_id -> base_frame

The corresponding parameters of the rtabmap_ros node are the following:

• rgb_topic -> rgb_topic
• depth_topic -> depth_topic
• camera_info_topic -> rgb_info_topic
• 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