I’ve tried to use AMCL to account for this by publishing to the map->odom TF but since the Zed positional tracking jitters around discontinuously in spikes.
It breaks assumptions of continuous motion that AMCL depends on and it doesn’t work.
I was wondering if there was a way to fix the noisy, jittery positional tracking in the first place. Here’s a pastebin link to my Zed parameters if anyone has recommendations.
We have released a new positionnal tracking mode recently with the release of our new SDK 5.0. If you haven’t downloaded it already, please do so here : https://www.stereolabs.com/en-fr/developers/release.
The ros wrapper can be launched with the “GEN_3” mode for positionnal tracking instread of “GEN_2”. Let us know if you observe better behavior, the new mode is intended to be more robust.
Hi Rodolphe, thank you for the suggestion. Do you know if the ros2 wrapper is compatible with this developer release? I’ve tried running the download_and_install_sdk script within the wrapper with the 5.0 version and the download fails with:
./ZED_SDK_Linux_Ubuntu.run: line 1: syntax error near unexpected token `<'
