ZEDX Camera with Scout Mini Integration on Jetson AGX Orin

Software ROS2
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2

Hi @doruk.sonmez,

If you wish to fuse odometry data using different sources, I would recommend following the tutorial from the Nav2 documentation: Using VIO to Augment Robot Odometry — Nav2 1.0.0 documentation

And setting the following parameters in the zed_ros_wrapper config yaml:

pos_tracking:
    publish_tf: false # Disables odom -> base_link TF transformation
    publish_map_tf: false # Disables map -> odom TF transformation, set this as false, nav2 documentation has a typo
    area_memory: false # Disables loop closure computation, but Pose topic for global VSLAM still published (but now pure VIO)

    # Optional optimizations
    two_d_mode: false # Or true, up to you!
    pos_tracking_enabled: true # of course!
    path_max_count: 30
    qos_depth: 5

This will allow using the robot_localization package to fuse the odometry from the ZED and from lidar and use slam_toolbox as your slam source.

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