Hi,
rosbags collected by ROS1 from ZEDx camera drop frames dramatically.
From rqt_bag visualization:
Pose and Odom topics are not published continuously.
common.yaml
pos_tracking:
pos_tracking_enabled: true # True to enable positional tracking from start
pos_tracking_mode: 'GEN_2' # Matches the ZED SDK setting: 'GEN_1', 'GEN_2'
set_gravity_as_origin: true # If 'true' align the positional tracking world to imu gravity measurement. Keep the yaw from the user initial pose.
imu_fusion: true # enable/disable IMU fusion. When set to false, only the optical odometry will be used.
publish_tf: true # publish `odom -> base_link` TF
publish_map_tf: true # publish `map -> odom` TF
map_frame: 'map' # main frame
odometry_frame: 'odom' # odometry frame
area_memory_db_path: '' # file loaded when the node starts to restore the "known visual features" map.
save_area_memory_db_on_exit: false # save the "known visual features" map when the node is correctly closed to the path indicated by `area_memory_db_path`
area_memory: true # Enable to detect loop closure
floor_alignment: false # Enable to automatically calculate camera/floor offset
initial_base_pose: [0.0,0.0,0.0, 0.0,0.0,0.0] # Initial position of the `base_frame` -> [X, Y, Z, R, P, Y]
init_odom_with_first_valid_pose: true # Enable to initialize the odometry with the first valid pose
path_pub_rate: 2.0 # Camera trajectory publishing frequency
path_max_count: -1 # use '-1' for unlimited path size
two_d_mode: false # Force navigation on a plane. If true the Z value will be fixed to "fixed_z_value", roll and pitch to zero
fixed_z_value: 0.00 # Value to be used for Z coordinate if `two_d_mode` is true
depth_min_range: 0.0 # Set this value for removing fixed zones of the robot in the FoV of the camerafrom the visual odometry evaluation
set_as_static: false # If 'true' the camera will be static and not move in the environment
