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UTRA-ART / SLAM-1920

SLAM and Navigation on ROS Kinetic
https://utra-art.github.io/SLAM/
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Slam 55 - Adding stereo cam #81

Closed Federico-PizarroBejarano closed 4 years ago

Federico-PizarroBejarano commented 4 years ago

Added stereo cam, disparity, point cloud, and depth.

erickmu1 commented 4 years ago

Can you give the topics the correct name according to the namespace /zed/zed_node/. See here for the names of the topics you published. Also idk if you need rectified images from the stereo cam... You can also move this into the simulate ZED stereo cam issue

Federico-PizarroBejarano commented 4 years ago

Can you give the topics the correct name according to the namespace /zed/zed_node/. See here for the names of the topics you published. Also idk if you need rectified images from the stereo cam... You can also move this into the simulate ZED stereo cam issue

So the new namespace needs to be /zed/zed_node? where does it say that? The rectified images are produced automatically.

Federico-PizarroBejarano commented 4 years ago

@erickmu1 I added the visual odom package and added it to the gazebo launch file. the topics are created and seem to be working but I don't know how to test it

erickmu1 commented 4 years ago

Can you give the topics the correct name according to the namespace /zed/zed_node/. See here for the names of the topics you published. Also idk if you need rectified images from the stereo cam... You can also move this into the simulate ZED stereo cam issue

So the new namespace needs to be /zed/zed_node? where does it say that? The rectified images are produced automatically.

this is actually happens when you run the launch files they provide, all the topics are namespaced by /zed and it seems there is another layer of namespacing under /zed_node. Hence when you launch the stereo cam, you see topics such as /odom being published under /zed/zed_node/odom. Really this is just how it is when we launch stuff and would make simulation mimic reality a little more (plus less worrying over changing topic names).

erickmu1 commented 4 years ago

@erickmu1 I added the visual odom package and added it to the gazebo launch file. the topics are created and seem to be working but I don't know how to test it

You can move the robot and see if the odom readings match the direction you are moving in. Furthermore, you could compare the values between visual_odom and odom/filtered and see if they are about the same/consistent when the robot is moving. To move the robot u could either give a nav goal or use teleop keyboard, I'll leave it up to you