Hello,
I am using the ZED 2i. My system setup includes an NVIDIA Jetson AGX Orin with 64GB of RAM, and I am using ROS 2. When I visualize the pose covariance, the matrix remains fixed at the following value and does not update.
0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 1.00000001e-10,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 1.00000001e-10, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 1.00000001e-10, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
1.00000001e-10, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 1.00000001e-10]
Is there any parameter that I have to setup separately ?
My common.yaml file for pose tracking is as follows:
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'
imu_fusion: true # enable/disable IMU fusion. When set to false, only the optical odometry will be used.
publish_tf: true # [usually overwritten by launch file] publish `odom -> camera_link` TF
publish_map_tf: true # [usually overwritten by launch file] publish `map -> odom` TF
map_frame: "map"
odometry_frame: "odom"
area_memory_db_path: ""
area_memory: true # Enable to detect loop closure
reset_odom_with_loop_closure: true # Re-initialize odometry to the last valid pose when loop closure happens (reset camera odometry drift)
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
set_gravity_as_origin: true # If 'true' align the positional tracking world to imu gravity measurement. Keep the yaw from the user initial pose.
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 `camera_link` frame in the map -> [X, Y, Z, R, P, Y]
path_pub_rate: 2.0 # [DYNAMIC] - 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
transform_time_offset: 0.0 # The value added to the timestamp of `map->odom` and `odom->camera_link` transform being generated
Any help with this will be appreciated.
Thank you