使用ZED运行RTABMAP(debugging)

很多教程告诉我们只要运行下面两个代码就可以直接的用zed手持建图

1.roslaunch zed_wrapper zed.launch camera_model:=zed
2.roslaunch rtabmap_ros rtabmap.launch 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 frame_id:=base_link approx_sync:=false visual_odometry:=false odom_topic:=/zed/zed_node/odom

首先我要说明，上面这句话声明的topic名，的确与roslaunch zed_wrapper zed.launch camera_model:=zed的topic名字相同，所以有错的话，应该不是这些topic名字不对，和rtabmap不对应的关系。
可是当我运行上面代码的时候，发现如下报错

terminate called after throwing an instance of 'std::bad_alloc'
  what():  std::bad_alloc

提示了内存溢出
下面是报红的错误，

[rtabmap/rtabmapviz-2] process has died [pid 8312, exit code -6, cmd /home/asber/catkin_ws/devel/lib/rtabmap_ros/rtabmapviz -d ~/.ros/rtabmap_gui.ini rgb/image:=/zed/zed_node/rgb/image_rect_color depth/image:=/zed/zed_node/depth/depth_registered rgb/camera_info:=/zed/zed_node/rgb/camera_info rgbd_image:=rgbd_image_relay left/image_rect:=/stereo_camera/left/image_rect_color right/image_rect:=/stereo_camera/right/image_rect left/camera_info:=/stereo_camera/left/camera_info right/camera_info:=/stereo_camera/right/camera_info scan:=/scan scan_cloud:=/scan_cloud odom:=/zed/zed_node/odom __name:=rtabmapviz __log:=/home/asber/.ros/log/8b2f382e-3928-11ea-9130-74dfbfcbcc4c/rtabmap-rtabmapviz-2.log].
log file: /home/asber/.ros/log/8b2f382e-3928-11ea-9130-74dfbfcbcc4c/rtabmap-rtabmapviz-2*.log

pid 8312, exit code -6, cmd /home/asber/catkin_ws/devel/lib/rtabmap_ros/rtabmapviz -d ~/.ros/rtabmap_gui.ini
这句话只是表明我们要执行这个线程的时候错误了，线程终止
rgb/image:=/zed/zed_node/rgb/image_rect_color
depth/image:=/zed/zed_node/depth/depth_registered
rgb/camera_info:=/zed/zed_node/rgb/camera_info
rgbd_image:=rgbd_image_relay #我们没有rgbd，是双目
left/image_rect:=/stereo_camera/left/image_rect_color #此处topic不对，应该是/zed/zed_node/left/image_rect_color
right/image_rect:=/stereo_camera/right/image_rect #此处topic不对，应该是/zed/zed_node/right/image_rect_color
left/camera_info:=/stereo_camera/left/camera_info #此处topic不对，应该是/zed/zed_node/left/camera_info
right/camera_info:=/stereo_camera/right/