Fusing ZED X VIO and GPS with robot_localization on Jetson (ROS 2 Humble)

[Aadesh_Varude]

Hello,
I’m using a Jetson device running ROS 2 Humble along with the ZED X camera. I’m currently trying to fuse the ZED’s visual-inertial odometry (VIO) with GPS data using the robot_localization package.

I’ve noticed that the ZED only publishes visual odometry in the odom frame, and not the fused odometry. The topics that include both visual odometry and IMU data are published in the map frame.

Is there a topic that provides VIO data specifically in the odom frame, or a recommended way to obtain it?

Additionally, I’d like to know if there’s a best practice for fusing visual odometry, IMU, and GPS using the robot_localization package in this setup.

I have tried using zed ros2 wrapper to fuse GPS and VIO but I stuck with this issue.

Thanks in advance!

[Myzhar]

Hi @Aadesh_Varude

@Aadesh_Varude

I’ve noticed that the ZED only publishes visual odometry in the odom frame, and not the fused odometry. The topics that include both visual odometry and IMU data are published in the map frame.

This is not correct. The odometry published with the /odom topic is the result of a Visual Inertial Fusion algorithm.
The /pose message (map frame) is the result of our full localization with loop closure.

@Aadesh_Varude

Additionally, I’d like to know if there’s a best practice for fusing visual odometry, IMU, and GPS using the robot_localization package in this setup.

I recommend you follow the robot_localization package documentation to perform this fusion.

@Aadesh_Varude

I have tried using zed ros2 wrapper to fuse GPS and VIO but I stuck with this issue.

You should follow all the instructions to be able to perform a good calibration.