How to run laserscan nodelet

[dominik]

Hi, I am following this tutorial.

I run:
roslaunch zed_nodelet_example zed_sync_nodelet.launch camera_model:=zed2i

It starts fine, but now I want to see the actual 2d scan, so I open rviz and I picked LaserScan (/zed2i/scan topic) but it shows nothing. In the instructions are two weird steps which I don’t understand.

First:
<!-- "$ sudo apt install ros-kinetic-depthimage-to-laserscan" -->
I use ros noetic, so should I really install it?

Second:

Finally, we must remap the input topic image so DepthImageToLaserScanNodelet can subscribe to the correct sensor_msgs/Image topic providing depth information: depth/depth_registered, with the ZED nodelet name as a prefix.

Can someone explain how to remap it? I am not sure what ‘input image’ topic means, when I run rostopic list there is bunch of topic with ‘image’ in name.

[Myzhar]

Hi @dominik

@dominik

First:
<!-- "$ sudo apt install ros-kinetic-depthimage-to-laserscan" -->
I use ros noetic, so should I really install it?

Simply change the command to match your ROS distribution:
$ sudo apt install ros-noetic-depthimage-to-laserscan

@dominik

Can someone explain how to remap it? I am not sure what ‘input image’ topic means, when I run rostopic list there is bunch of topic with ‘image’ in name.

You must use the remap options when launching the node:
$ roslaunch zed_nodelet_example zed_sync_nodelet.launch camera_model:=zed2i image:=/zed2i/zed_node/depth/depth_registered

For more information: Remapping Arguments - ROS Wiki

[dominik]

I installed the package and run your command, but how to display this 2d scan in rviz?

[Myzhar]

You must open rviz and add a laser scan viewer plugin subscribing to the correct topic.
This is a basic ROS task, you can find more information on the official documentation.

[dominik]

Unfortunately ROS docs about rviz plugins returns 404,
but yes I added LaserScan and RobotModel with zed_description. The topic I subscribed in LaserScan is /zed/scan.

[Myzhar]

You are using a ZED 2i, so I expect that the namespace of the topics reflects the camera model.

You can list all the published topic in a new terminal console by using the command
$ rostopic list.
Also “Robot Description” should match the correct available parameter name.

Finally, what is the value of “Fixed frame” under “Global Options”?

[dominik]

Sorry for my late response, I didn’t have access to my zed workstation.

Also “Robot Description” should match the correct available parameter name.

I tried to change /zed/zed_description to for example /zed/zed_nodelet/depth/depth_registered but the error occurs “parameter does not exist”, but I see this topic in my topics list.

---

It’s my full rviz configuration.

---

And also full list of my topics:

1. full list of my topics:

/clicked_point

/diagnostics

/initialpose

/move_base_simple/goal

/rosout

/rosout_agg

/tf

/tf_static

/zed/depthimage_to_laserscan/parameter_descriptions

/zed/depthimage_to_laserscan/parameter_updates

/zed/joint_states

/zed/scan

/zed/zed_nodelet/atm_press

/zed/zed_nodelet/confidence/confidence_map

/zed/zed_nodelet/depth/camera_info

/zed/zed_nodelet/depth/depth_registered

/zed/zed_nodelet/depth/depth_registered/compressed

/zed/zed_nodelet/depth/depth_registered/compressed/parameter_descriptions

/zed/zed_nodelet/depth/depth_registered/compressed/parameter_updates

/zed/zed_nodelet/depth/depth_registered/compressedDepth

/zed/zed_nodelet/depth/depth_registered/compressedDepth/parameter_descriptions

/zed/zed_nodelet/depth/depth_registered/compressedDepth/parameter_updates

/zed/zed_nodelet/depth/depth_registered/theora

/zed/zed_nodelet/depth/depth_registered/theora/parameter_descriptions

/zed/zed_nodelet/depth/depth_registered/theora/parameter_updates

/zed/zed_nodelet/disparity/disparity_image

/zed/zed_nodelet/imu/data

/zed/zed_nodelet/imu/data_raw

/zed/zed_nodelet/imu/mag

/zed/zed_nodelet/left/camera_info

/zed/zed_nodelet/left/image_rect_color

/zed/zed_nodelet/left/image_rect_color/compressed

/zed/zed_nodelet/left/image_rect_color/compressed/parameter_descriptions

/zed/zed_nodelet/left/image_rect_color/compressed/parameter_updates

/zed/zed_nodelet/left/image_rect_color/compressedDepth

/zed/zed_nodelet/left/image_rect_color/compressedDepth/parameter_descriptions

/zed/zed_nodelet/left/image_rect_color/compressedDepth/parameter_updates

/zed/zed_nodelet/left/image_rect_color/theora

/zed/zed_nodelet/left/image_rect_color/theora/parameter_descriptions

/zed/zed_nodelet/left/image_rect_color/theora/parameter_updates

/zed/zed_nodelet/left/image_rect_gray

/zed/zed_nodelet/left/image_rect_gray/compressed

/zed/zed_nodelet/left/image_rect_gray/compressed/parameter_descriptions

/zed/zed_nodelet/left/image_rect_gray/compressed/parameter_updates

/zed/zed_nodelet/left/image_rect_gray/compressedDepth

/zed/zed_nodelet/left/image_rect_gray/compressedDepth/parameter_descriptions

/zed/zed_nodelet/left/image_rect_gray/compressedDepth/parameter_updates

/zed/zed_nodelet/left/image_rect_gray/theora

/zed/zed_nodelet/left/image_rect_gray/theora/parameter_descriptions

/zed/zed_nodelet/left/image_rect_gray/theora/parameter_updates

/zed/zed_nodelet/left_cam_imu_transform

/zed/zed_nodelet/left_raw/camera_info

/zed/zed_nodelet/left_raw/image_raw_color

/zed/zed_nodelet/left_raw/image_raw_color/compressed

/zed/zed_nodelet/left_raw/image_raw_color/compressed/parameter_descriptions

/zed/zed_nodelet/left_raw/image_raw_color/compressed/parameter_updates

/zed/zed_nodelet/left_raw/image_raw_color/compressedDepth

/zed/zed_nodelet/left_raw/image_raw_color/compressedDepth/parameter_descriptions

/zed/zed_nodelet/left_raw/image_raw_color/compressedDepth/parameter_updates

/zed/zed_nodelet/left_raw/image_raw_color/theora

/zed/zed_nodelet/left_raw/image_raw_color/theora/parameter_descriptions

/zed/zed_nodelet/left_raw/image_raw_color/theora/parameter_updates

/zed/zed_nodelet/left_raw/image_raw_gray

/zed/zed_nodelet/left_raw/image_raw_gray/compressed

/zed/zed_nodelet/left_raw/image_raw_gray/compressed/parameter_descriptions

/zed/zed_nodelet/left_raw/image_raw_gray/compressed/parameter_updates

/zed/zed_nodelet/left_raw/image_raw_gray/compressedDepth

/zed/zed_nodelet/left_raw/image_raw_gray/compressedDepth/parameter_descriptions

/zed/zed_nodelet/left_raw/image_raw_gray/compressedDepth/parameter_updates

/zed/zed_nodelet/left_raw/image_raw_gray/theora

/zed/zed_nodelet/left_raw/image_raw_gray/theora/parameter_descriptions

/zed/zed_nodelet/left_raw/image_raw_gray/theora/parameter_updates

/zed/zed_nodelet/mapping/fused_cloud

/zed/zed_nodelet/obj_det/objects

/zed/zed_nodelet/odom

/zed/zed_nodelet/odom/status

/zed/zed_nodelet/path_map

/zed/zed_nodelet/path_odom

/zed/zed_nodelet/plane

/zed/zed_nodelet/plane_marker

/zed/zed_nodelet/point_cloud/cloud_registered

/zed/zed_nodelet/pose

/zed/zed_nodelet/pose/status

/zed/zed_nodelet/pose_with_covariance

/zed/zed_nodelet/rgb/camera_info

/zed/zed_nodelet/rgb/image_rect_color

/zed/zed_nodelet/rgb/image_rect_color/compressed

/zed/zed_nodelet/rgb/image_rect_color/compressed/parameter_descriptions

/zed/zed_nodelet/rgb/image_rect_color/compressed/parameter_updates

/zed/zed_nodelet/rgb/image_rect_color/compressedDepth

/zed/zed_nodelet/rgb/image_rect_color/compressedDepth/parameter_descriptions

/zed/zed_nodelet/rgb/image_rect_color/compressedDepth/parameter_updates

/zed/zed_nodelet/rgb/image_rect_color/theora

/zed/zed_nodelet/rgb/image_rect_color/theora/parameter_descriptions

/zed/zed_nodelet/rgb/image_rect_color/theora/parameter_updates

/zed/zed_nodelet/rgb/image_rect_gray

/zed/zed_nodelet/rgb/image_rect_gray/compressed

/zed/zed_nodelet/rgb/image_rect_gray/compressed/parameter_descriptions

/zed/zed_nodelet/rgb/image_rect_gray/compressed/parameter_updates

/zed/zed_nodelet/rgb/image_rect_gray/compressedDepth

/zed/zed_nodelet/rgb/image_rect_gray/compressedDepth/parameter_descriptions

/zed/zed_nodelet/rgb/image_rect_gray/compressedDepth/parameter_updates

/zed/zed_nodelet/rgb/image_rect_gray/theora

/zed/zed_nodelet/rgb/image_rect_gray/theora/parameter_descriptions

/zed/zed_nodelet/rgb/image_rect_gray/theora/parameter_updates

/zed/zed_nodelet/rgb_raw/camera_info

/zed/zed_nodelet/rgb_raw/image_raw_color

/zed/zed_nodelet/rgb_raw/image_raw_color/compressed

/zed/zed_nodelet/rgb_raw/image_raw_color/compressed/parameter_descriptions

/zed/zed_nodelet/rgb_raw/image_raw_color/compressed/parameter_updates

/zed/zed_nodelet/rgb_raw/image_raw_color/compressedDepth

/zed/zed_nodelet/rgb_raw/image_raw_color/compressedDepth/parameter_descriptions

/zed/zed_nodelet/rgb_raw/image_raw_color/compressedDepth/parameter_updates

/zed/zed_nodelet/rgb_raw/image_raw_color/theora

/zed/zed_nodelet/rgb_raw/image_raw_color/theora/parameter_descriptions

/zed/zed_nodelet/rgb_raw/image_raw_color/theora/parameter_updates

/zed/zed_nodelet/rgb_raw/image_raw_gray

/zed/zed_nodelet/rgb_raw/image_raw_gray/compressed

/zed/zed_nodelet/rgb_raw/image_raw_gray/compressed/parameter_descriptions

/zed/zed_nodelet/rgb_raw/image_raw_gray/compressed/parameter_updates

/zed/zed_nodelet/rgb_raw/image_raw_gray/compressedDepth

/zed/zed_nodelet/rgb_raw/image_raw_gray/compressedDepth/parameter_descriptions

/zed/zed_nodelet/rgb_raw/image_raw_gray/compressedDepth/parameter_updates

/zed/zed_nodelet/rgb_raw/image_raw_gray/theora

/zed/zed_nodelet/rgb_raw/image_raw_gray/theora/parameter_descriptions

/zed/zed_nodelet/rgb_raw/image_raw_gray/theora/parameter_updates

/zed/zed_nodelet/right/camera_info

/zed/zed_nodelet/right/image_rect_color

/zed/zed_nodelet/right/image_rect_color/compressed

/zed/zed_nodelet/right/image_rect_color/compressed/parameter_descriptions

/zed/zed_nodelet/right/image_rect_color/compressed/parameter_updates

/zed/zed_nodelet/right/image_rect_color/compressedDepth

/zed/zed_nodelet/right/image_rect_color/compressedDepth/parameter_descriptions

/zed/zed_nodelet/right/image_rect_color/compressedDepth/parameter_updates

/zed/zed_nodelet/right/image_rect_color/theora

/zed/zed_nodelet/right/image_rect_color/theora/parameter_descriptions

/zed/zed_nodelet/right/image_rect_color/theora/parameter_updates

/zed/zed_nodelet/right/image_rect_gray

/zed/zed_nodelet/right/image_rect_gray/compressed

/zed/zed_nodelet/right/image_rect_gray/compressed/parameter_descriptions

/zed/zed_nodelet/right/image_rect_gray/compressed/parameter_updates

/zed/zed_nodelet/right/image_rect_gray/compressedDepth

/zed/zed_nodelet/right/image_rect_gray/compressedDepth/parameter_descriptions

/zed/zed_nodelet/right/image_rect_gray/compressedDepth/parameter_updates

/zed/zed_nodelet/right/image_rect_gray/theora

/zed/zed_nodelet/right/image_rect_gray/theora/parameter_descriptions

/zed/zed_nodelet/right/image_rect_gray/theora/parameter_updates

/zed/zed_nodelet/right_raw/camera_info

/zed/zed_nodelet/right_raw/image_raw_color

/zed/zed_nodelet/right_raw/image_raw_color/compressed

/zed/zed_nodelet/right_raw/image_raw_color/compressed/parameter_descriptions

/zed/zed_nodelet/right_raw/image_raw_color/compressed/parameter_updates

/zed/zed_nodelet/right_raw/image_raw_color/compressedDepth

/zed/zed_nodelet/right_raw/image_raw_color/compressedDepth/parameter_descriptions

/zed/zed_nodelet/right_raw/image_raw_color/compressedDepth/parameter_updates

/zed/zed_nodelet/right_raw/image_raw_color/theora

/zed/zed_nodelet/right_raw/image_raw_color/theora/parameter_descriptions

/zed/zed_nodelet/right_raw/image_raw_color/theora/parameter_updates

/zed/zed_nodelet/right_raw/image_raw_gray

/zed/zed_nodelet/right_raw/image_raw_gray/compressed

/zed/zed_nodelet/right_raw/image_raw_gray/compressed/parameter_descriptions

/zed/zed_nodelet/right_raw/image_raw_gray/compressed/parameter_updates

/zed/zed_nodelet/right_raw/image_raw_gray/compressedDepth

/zed/zed_nodelet/right_raw/image_raw_gray/compressedDepth/parameter_descriptions

/zed/zed_nodelet/right_raw/image_raw_gray/compressedDepth/parameter_updates

/zed/zed_nodelet/right_raw/image_raw_gray/theora

/zed/zed_nodelet/right_raw/image_raw_gray/theora/parameter_descriptions

/zed/zed_nodelet/right_raw/image_raw_gray/theora/parameter_updates

/zed/zed_nodelet/stereo/image_rect_color

/zed/zed_nodelet/stereo/image_rect_color/compressed

/zed/zed_nodelet/stereo/image_rect_color/compressed/parameter_descriptions

/zed/zed_nodelet/stereo/image_rect_color/compressed/parameter_updates

/zed/zed_nodelet/stereo/image_rect_color/compressedDepth

/zed/zed_nodelet/stereo/image_rect_color/compressedDepth/parameter_descriptions

/zed/zed_nodelet/stereo/image_rect_color/compressedDepth/parameter_updates

/zed/zed_nodelet/stereo/image_rect_color/theora

/zed/zed_nodelet/stereo/image_rect_color/theora/parameter_descriptions

/zed/zed_nodelet/stereo/image_rect_color/theora/parameter_updates

/zed/zed_nodelet/stereo_raw/image_raw_color

/zed/zed_nodelet/stereo_raw/image_raw_color/compressed

/zed/zed_nodelet/stereo_raw/image_raw_color/compressed/parameter_descriptions

/zed/zed_nodelet/stereo_raw/image_raw_color/compressed/parameter_updates

/zed/zed_nodelet/stereo_raw/image_raw_color/compressedDepth

/zed/zed_nodelet/stereo_raw/image_raw_color/compressedDepth/parameter_descriptions

/zed/zed_nodelet/stereo_raw/image_raw_color/compressedDepth/parameter_updates

/zed/zed_nodelet/stereo_raw/image_raw_color/theora

/zed/zed_nodelet/stereo_raw/image_raw_color/theora/parameter_descriptions

/zed/zed_nodelet/stereo_raw/image_raw_color/theora/parameter_updates

/zed/zed_nodelet/temperature/imu

/zed/zed_nodelet/temperature/left

/zed/zed_nodelet/temperature/right

/zed/zed_nodelet_manager/bond

/zed/zed_nodelet_manager/parameter_descriptions

/zed/zed_nodelet_manager/parameter_updates

/zed2i/zed_node/depth/depth_registered

/zed2i/zed_node/depth/depth_registered/compressedDepth

/zed2i/zed_node/left/camera_info

/zed2i/zed_node/obj_det/objects /clicked_point

/diagnostics

/initialpose

/move_base_simple/goal

/rosout

/rosout_agg

/tf

/tf_static

/zed/depthimage_to_laserscan/parameter_descriptions

/zed/depthimage_to_laserscan/parameter_updates

/zed/joint_states

/zed/scan

/zed/zed_nodelet/atm_press

/zed/zed_nodelet/confidence/confidence_map

/zed/zed_nodelet/depth/camera_info

/zed/zed_nodelet/depth/depth_registered

/zed/zed_nodelet/depth/depth_registered/compressed

/zed/zed_nodelet/depth/depth_registered/compressed/parameter_descriptions

/zed/zed_nodelet/depth/depth_registered/compressed/parameter_updates

/zed/zed_nodelet/depth/depth_registered/compressedDepth

/zed/zed_nodelet/depth/depth_registered/compressedDepth/parameter_descriptions

/zed/zed_nodelet/depth/depth_registered/compressedDepth/parameter_updates

/zed/zed_nodelet/depth/depth_registered/theora

/zed/zed_nodelet/depth/depth_registered/theora/parameter_descriptions

/zed/zed_nodelet/depth/depth_registered/theora/parameter_updates

/zed/zed_nodelet/disparity/disparity_image

/zed/zed_nodelet/imu/data

/zed/zed_nodelet/imu/data_raw

/zed/zed_nodelet/imu/mag

/zed/zed_nodelet/left/camera_info

/zed/zed_nodelet/left/image_rect_color

/zed/zed_nodelet/left/image_rect_color/compressed

/zed/zed_nodelet/left/image_rect_color/compressed/parameter_descriptions

/zed/zed_nodelet/left/image_rect_color/compressed/parameter_updates

/zed/zed_nodelet/left/image_rect_color/compressedDepth

/zed/zed_nodelet/left/image_rect_color/compressedDepth/parameter_descriptions

/zed/zed_nodelet/left/image_rect_color/compressedDepth/parameter_updates

/zed/zed_nodelet/left/image_rect_color/theora

/zed/zed_nodelet/left/image_rect_color/theora/parameter_descriptions

/zed/zed_nodelet/left/image_rect_color/theora/parameter_updates

/zed/zed_nodelet/left/image_rect_gray

/zed/zed_nodelet/left/image_rect_gray/compressed

/zed/zed_nodelet/left/image_rect_gray/compressed/parameter_descriptions

/zed/zed_nodelet/left/image_rect_gray/compressed/parameter_updates

/zed/zed_nodelet/left/image_rect_gray/compressedDepth

/zed/zed_nodelet/left/image_rect_gray/compressedDepth/parameter_descriptions

/zed/zed_nodelet/left/image_rect_gray/compressedDepth/parameter_updates

/zed/zed_nodelet/left/image_rect_gray/theora

/zed/zed_nodelet/left/image_rect_gray/theora/parameter_descriptions

/zed/zed_nodelet/left/image_rect_gray/theora/parameter_updates

/zed/zed_nodelet/left_cam_imu_transform

/zed/zed_nodelet/left_raw/camera_info

/zed/zed_nodelet/left_raw/image_raw_color

/zed/zed_nodelet/left_raw/image_raw_color/compressed

/zed/zed_nodelet/left_raw/image_raw_color/compressed/parameter_descriptions

/zed/zed_nodelet/left_raw/image_raw_color/compressed/parameter_updates

/zed/zed_nodelet/left_raw/image_raw_color/compressedDepth

/zed/zed_nodelet/left_raw/image_raw_color/compressedDepth/parameter_descriptions

/zed/zed_nodelet/left_raw/image_raw_color/compressedDepth/parameter_updates

/zed/zed_nodelet/left_raw/image_raw_color/theora

/zed/zed_nodelet/left_raw/image_raw_color/theora/parameter_descriptions

/zed/zed_nodelet/left_raw/image_raw_color/theora/parameter_updates

/zed/zed_nodelet/left_raw/image_raw_gray

/zed/zed_nodelet/left_raw/image_raw_gray/compressed

/zed/zed_nodelet/left_raw/image_raw_gray/compressed/parameter_descriptions

/zed/zed_nodelet/left_raw/image_raw_gray/compressed/parameter_updates

/zed/zed_nodelet/left_raw/image_raw_gray/compressedDepth

/zed/zed_nodelet/left_raw/image_raw_gray/compressedDepth/parameter_descriptions

/zed/zed_nodelet/left_raw/image_raw_gray/compressedDepth/parameter_updates

/zed/zed_nodelet/left_raw/image_raw_gray/theora

/zed/zed_nodelet/left_raw/image_raw_gray/theora/parameter_descriptions

/zed/zed_nodelet/left_raw/image_raw_gray/theora/parameter_updates

/zed/zed_nodelet/mapping/fused_cloud

/zed/zed_nodelet/obj_det/objects

/zed/zed_nodelet/odom

/zed/zed_nodelet/odom/status

/zed/zed_nodelet/path_map

/zed/zed_nodelet/path_odom

/zed/zed_nodelet/plane

/zed/zed_nodelet/plane_marker

/zed/zed_nodelet/point_cloud/cloud_registered

/zed/zed_nodelet/pose

/zed/zed_nodelet/pose/status

/zed/zed_nodelet/pose_with_covariance

/zed/zed_nodelet/rgb/camera_info

/zed/zed_nodelet/rgb/image_rect_color

/zed/zed_nodelet/rgb/image_rect_color/compressed

/zed/zed_nodelet/rgb/image_rect_color/compressed/parameter_descriptions

/zed/zed_nodelet/rgb/image_rect_color/compressed/parameter_updates

/zed/zed_nodelet/rgb/image_rect_color/compressedDepth

/zed/zed_nodelet/rgb/image_rect_color/compressedDepth/parameter_descriptions

/zed/zed_nodelet/rgb/image_rect_color/compressedDepth/parameter_updates

/zed/zed_nodelet/rgb/image_rect_color/theora

/zed/zed_nodelet/rgb/image_rect_color/theora/parameter_descriptions

/zed/zed_nodelet/rgb/image_rect_color/theora/parameter_updates

/zed/zed_nodelet/rgb/image_rect_gray

/zed/zed_nodelet/rgb/image_rect_gray/compressed

/zed/zed_nodelet/rgb/image_rect_gray/compressed/parameter_descriptions

/zed/zed_nodelet/rgb/image_rect_gray/compressed/parameter_updates

/zed/zed_nodelet/rgb/image_rect_gray/compressedDepth

/zed/zed_nodelet/rgb/image_rect_gray/compressedDepth/parameter_descriptions

/zed/zed_nodelet/rgb/image_rect_gray/compressedDepth/parameter_updates

/zed/zed_nodelet/rgb/image_rect_gray/theora

/zed/zed_nodelet/rgb/image_rect_gray/theora/parameter_descriptions

/zed/zed_nodelet/rgb/image_rect_gray/theora/parameter_updates

/zed/zed_nodelet/rgb_raw/camera_info

/zed/zed_nodelet/rgb_raw/image_raw_color

/zed/zed_nodelet/rgb_raw/image_raw_color/compressed

/zed/zed_nodelet/rgb_raw/image_raw_color/compressed/parameter_descriptions

/zed/zed_nodelet/rgb_raw/image_raw_color/compressed/parameter_updates

/zed/zed_nodelet/rgb_raw/image_raw_color/compressedDepth

/zed/zed_nodelet/rgb_raw/image_raw_color/compressedDepth/parameter_descriptions

/zed/zed_nodelet/rgb_raw/image_raw_color/compressedDepth/parameter_updates

/zed/zed_nodelet/rgb_raw/image_raw_color/theora

/zed/zed_nodelet/rgb_raw/image_raw_color/theora/parameter_descriptions

/zed/zed_nodelet/rgb_raw/image_raw_color/theora/parameter_updates

/zed/zed_nodelet/rgb_raw/image_raw_gray

/zed/zed_nodelet/rgb_raw/image_raw_gray/compressed

/zed/zed_nodelet/rgb_raw/image_raw_gray/compressed/parameter_descriptions

/zed/zed_nodelet/rgb_raw/image_raw_gray/compressed/parameter_updates

/zed/zed_nodelet/rgb_raw/image_raw_gray/compressedDepth

/zed/zed_nodelet/rgb_raw/image_raw_gray/compressedDepth/parameter_descriptions

/zed/zed_nodelet/rgb_raw/image_raw_gray/compressedDepth/parameter_updates

/zed/zed_nodelet/rgb_raw/image_raw_gray/theora

/zed/zed_nodelet/rgb_raw/image_raw_gray/theora/parameter_descriptions

/zed/zed_nodelet/rgb_raw/image_raw_gray/theora/parameter_updates

/zed/zed_nodelet/right/camera_info

/zed/zed_nodelet/right/image_rect_color

/zed/zed_nodelet/right/image_rect_color/compressed

/zed/zed_nodelet/right/image_rect_color/compressed/parameter_descriptions

/zed/zed_nodelet/right/image_rect_color/compressed/parameter_updates

/zed/zed_nodelet/right/image_rect_color/compressedDepth

/zed/zed_nodelet/right/image_rect_color/compressedDepth/parameter_descriptions

/zed/zed_nodelet/right/image_rect_color/compressedDepth/parameter_updates

/zed/zed_nodelet/right/image_rect_color/theora

/zed/zed_nodelet/right/image_rect_color/theora/parameter_descriptions

/zed/zed_nodelet/right/image_rect_color/theora/parameter_updates

/zed/zed_nodelet/right/image_rect_gray

/zed/zed_nodelet/right/image_rect_gray/compressed

/zed/zed_nodelet/right/image_rect_gray/compressed/parameter_descriptions

/zed/zed_nodelet/right/image_rect_gray/compressed/parameter_updates

/zed/zed_nodelet/right/image_rect_gray/compressedDepth

/zed/zed_nodelet/right/image_rect_gray/compressedDepth/parameter_descriptions

/zed/zed_nodelet/right/image_rect_gray/compressedDepth/parameter_updates

/zed/zed_nodelet/right/image_rect_gray/theora

/zed/zed_nodelet/right/image_rect_gray/theora/parameter_descriptions

/zed/zed_nodelet/right/image_rect_gray/theora/parameter_updates

/zed/zed_nodelet/right_raw/camera_info

/zed/zed_nodelet/right_raw/image_raw_color

/zed/zed_nodelet/right_raw/image_raw_color/compressed

/zed/zed_nodelet/right_raw/image_raw_color/compressed/parameter_descriptions

/zed/zed_nodelet/right_raw/image_raw_color/compressed/parameter_updates

/zed/zed_nodelet/right_raw/image_raw_color/compressedDepth

/zed/zed_nodelet/right_raw/image_raw_color/compressedDepth/parameter_descriptions

/zed/zed_nodelet/right_raw/image_raw_color/compressedDepth/parameter_updates

/zed/zed_nodelet/right_raw/image_raw_color/theora

/zed/zed_nodelet/right_raw/image_raw_color/theora/parameter_descriptions

/zed/zed_nodelet/right_raw/image_raw_color/theora/parameter_updates

/zed/zed_nodelet/right_raw/image_raw_gray

/zed/zed_nodelet/right_raw/image_raw_gray/compressed

/zed/zed_nodelet/right_raw/image_raw_gray/compressed/parameter_descriptions

/zed/zed_nodelet/right_raw/image_raw_gray/compressed/parameter_updates

/zed/zed_nodelet/right_raw/image_raw_gray/compressedDepth

/zed/zed_nodelet/right_raw/image_raw_gray/compressedDepth/parameter_descriptions

/zed/zed_nodelet/right_raw/image_raw_gray/compressedDepth/parameter_updates

/zed/zed_nodelet/right_raw/image_raw_gray/theora

/zed/zed_nodelet/right_raw/image_raw_gray/theora/parameter_descriptions

/zed/zed_nodelet/right_raw/image_raw_gray/theora/parameter_updates

/zed/zed_nodelet/stereo/image_rect_color

/zed/zed_nodelet/stereo/image_rect_color/compressed

/zed/zed_nodelet/stereo/image_rect_color/compressed/parameter_descriptions

/zed/zed_nodelet/stereo/image_rect_color/compressed/parameter_updates

/zed/zed_nodelet/stereo/image_rect_color/compressedDepth

/zed/zed_nodelet/stereo/image_rect_color/compressedDepth/parameter_descriptions

/zed/zed_nodelet/stereo/image_rect_color/compressedDepth/parameter_updates

/zed/zed_nodelet/stereo/image_rect_color/theora

/zed/zed_nodelet/stereo/image_rect_color/theora/parameter_descriptions

/zed/zed_nodelet/stereo/image_rect_color/theora/parameter_updates

/zed/zed_nodelet/stereo_raw/image_raw_color

/zed/zed_nodelet/stereo_raw/image_raw_color/compressed

/zed/zed_nodelet/stereo_raw/image_raw_color/compressed/parameter_descriptions

/zed/zed_nodelet/stereo_raw/image_raw_color/compressed/parameter_updates

/zed/zed_nodelet/stereo_raw/image_raw_color/compressedDepth

/zed/zed_nodelet/stereo_raw/image_raw_color/compressedDepth/parameter_descriptions

/zed/zed_nodelet/stereo_raw/image_raw_color/compressedDepth/parameter_updates

/zed/zed_nodelet/stereo_raw/image_raw_color/theora

/zed/zed_nodelet/stereo_raw/image_raw_color/theora/parameter_descriptions

/zed/zed_nodelet/stereo_raw/image_raw_color/theora/parameter_updates

/zed/zed_nodelet/temperature/imu

/zed/zed_nodelet/temperature/left

/zed/zed_nodelet/temperature/right

/zed/zed_nodelet_manager/bond

/zed/zed_nodelet_manager/parameter_descriptions

/zed/zed_nodelet_manager/parameter_updates

/zed2i/zed_node/depth/depth_registered

/zed2i/zed_node/depth/depth_registered/compressedDepth

/zed2i/zed_node/left/camera_info

/zed2i/zed_node/obj_det/objects

[Myzhar]

According to rviz you are correctly receiving the scan messages, you can confirm it by typing the command $ rostopic hz /zed/scan

You problem is that rviz is configured correctly. What’s the value of “Global Option” → “Fixed Frame”?
Is that frame available in the TF tree?
Try to change this value to an existing frame

[dominik]

Yes, topic /zed/scan is publishing.
If I understand correctly value of “Global Option” → “Fixed Frame” is ‘map’.

This is my full TF tree:

So yes map is available in tree

[Myzhar]

What’s the output of the command $ rotopic echo /zed/scan?

[dominik]

average rate: 4.001
	min: 0.227s max: 0.283s std dev: 0.00820s window: 89
average rate: 3.999
	min: 0.227s max: 0.283s std dev: 0.00815s window: 93
average rate: 4.000
	min: 0.227s max: 0.283s std dev: 0.00806s window: 97
average rate: 4.001
	min: 0.227s max: 0.283s std dev: 0.00791s window: 101
average rate: 3.999
	min: 0.227s max: 0.283s std dev: 0.00781s window: 105
average rate: 3.999
	min: 0.227s max: 0.283s std dev: 0.00768s window: 109
average rate: 3.999
	min: 0.227s max: 0.283s std dev: 0.00764s window: 113
average rate: 3.999
	min: 0.227s max: 0.283s std dev: 0.00811s window: 117
average rate: 3.999
	min: 0.227s max: 0.283s std dev: 0.00799s window: 121
average rate: 3.999
	min: 0.227s max: 0.283s std dev: 0.00788s window: 125
average rate: 3.999
	min: 0.227s max: 0.283s std dev: 0.00775s window: 129
average rate: 3.998
	min: 0.227s max: 0.283s std dev: 0.00767s window: 133

[Myzhar]

This is $ rotopic hz /zed/scan.
I need the output of $ rotopic echo /zed/scan

[dominik]

Apologize.

rostopic echo /zed/scan output is :

---
header: 
  seq: 40
  stamp: 
    secs: 1697549616
    nsecs: 326849640
  frame_id: "zed_left_camera_frame"
angle_min: nan
angle_max: nan
angle_increment: nan
time_increment: 0.0
scan_time: 0.032999999821186066
range_min: 0.10000000149011612
range_max: 10.0
ranges: [0.4646923243999481, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan]
intensities: []

[Myzhar]

@dominik

zed_left_camera_frame

What if you set zed_left_camera_frame as fixed frame?

In any case, I see a lot of nan value in the laser scan, it seems that there is only ONE valid value… what’s the camera pointing at?
Can you send me a picture of the scene that you are acquiring?

[dominik]

I changed it (Fixed Frame under Global Options) and the result is the same.

Sure there is (more or less) my scene.