I have a question about ZED_Wrapper

Software
1

My HW

  • Xavier AGX DevKit
  • ZED2

My SW

  • Ubuntu 20.04
  • nvidia-l4t-core 35.4.1-20230801124926
  • CUDA 11.4
  • ROS1 Noetic

ZED2 is connected normally, SDK installation and ros_wrapper installation are completed. rostopic echo /zed2/zed_node/imu value is entered normally, but /odom twist value is not collected normally. Is there a solution?

2

Hi @MeerKat98
Welcome to the Stereolabs community.

Twist information is indeed not available

3

Thank you for your reply~! I am trying to implement a VIO system by linking with MAVROS using ZED2. If so, do I need a separate construction process to obtain the twist value among the data for ODOM?

4

You can extract it by differentiating consecutive odom poses, but this cannot provide good results in some cases.
For this reason, we are not implementing this feature.

5

[Processing: 20241002_011253.mp4…](네이버 MYBOX)

I just implemented robots_localization. Do you think it will be okay to do this, or is it suitable for using ZED2 on VIO?

6

Can you repost the questions? It’s not clear to me