ZED入门：利用RTAB-MAP做SLAM

环境

JETPACK 3.2
Cuda 9.0
Cudnn 7.2.1
ROS kinetic
Opencv 3.3.1

 

RTAB-MAP是一种基于RGB-D的SLAM方法

ROS上rtabmapp_ros的安装参见

https://github.com/introlab/rtabmap_ros

启动zed

// A) With rtabmap odometry:
$ export ROS_NAMESPACE=camera
$ roslaunch zed_wrapper zed_camera.launch publish_tf:=false

// B) With zed odometry:
$ export ROS_NAMESPACE=camera
$ roslaunch zed_wrapper zed_camera.launch

这里的namespce要和rtabmap.launch中的保持一致。

  <!-- RGB-D related topics -->
  <arg name="rgb_topic"               default="/camera/rgb/image_rect_color" />
  <arg name="depth_topic"             default="/camera/depth_registered/image_raw" />
  <arg name="camera_info_topic"       default="/camera/rgb/camera_info&