Zed 2i runs with rtab_map on jetson without any images

Software ROS2
1

Hey!

So I found this wonderful example of using zed 2i with rtab_map. And I have a zed 2i at the lab. So I installed everything and run it. But there is no output in Rviz. There are some warnings in the log which I think is the issue. Can we plz take a look at the log? I will dive deep myself too, but just think it is helpful to ask too!
log.txt (41.5 KB)

2

image
image1300×775 20.9 KB

This is the Rviz

3

Hi @wenxi
The camera is not opening.
What command are you using to launch the nodes?

Does the command
ros2 launch zed_display_rviz2 display_zed_cam.launch.py camera_model:=zed2i
work?

4

Hey Myzhar,

Yes I am able to launch the camera with the command:

image
image1938×988 310 KB

5

I just used these 2 commands to successfully run the rtab_map.

first enable rtab_map with rviz:

ros2 launch rtabmap_launch rtabmap.launch.py \
  rtabmap_args:="--delete_db_on_start" \
  rgb_topic:=/zed/zed_node/rgb/image_rect_color \
  depth_topic:=/zed/zed_node/depth/depth_registered \
  camera_info_topic:=/zed/zed_node/rgb/camera_info \
  imu_topic:=/zed/zed_node/imu/data \
  odom_topic:=/zed/zed_node/odom \
  frame_id:=zed_camera_link \
  approx_sync:=true \
  wait_imu_to_init:=true \
  wait_for_transform_duration:=0.2 \
  always_check_imu_tf:=false \
  rgbd_odometry:=false \
  rviz:=true

open up another terminal and run zed camera:
ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zed2i publish_imu_tf:=true

It seems their example code didn’t enable imu_tf by default which I think is the cause for previous warning log.

2 Likes
6

Thank you for the update