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stereolabs / zed-ros-wrapper

ROS wrapper for the ZED SDK
https://www.stereolabs.com/docs/ros/
MIT License
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Unable to receive original imu message (ros_wrapper) when sensors_timestamp_sync is true #538

Closed arenas7307979 closed 4 years ago

arenas7307979 commented 4 years ago

hi, I tried to adjust the parameters of the zed2 camera, and have few questions

  1. Unable to receive original imu message (ros_wrapper) when sensors_timestamp_sync is true
  2. Is there any tool to support calibration of of imu-camera extrinsic parameter and rolling shutter time, I've tried the kalibr tool before, but there were some problems for rolling shutter time
Myzhar commented 4 years ago

Hi @arenas7307979

  1. Can you explain better your problem?
  2. Kalibr is the best tool for this kind of calibration. Check your configuration and be sure to make the right movements while recording the video. Have you read our tutorial? https://support.stereolabs.com/hc/en-us/articles/360012749113-How-can-I-use-Kalibr-with-the-ZED-Mini-camera-in-ROS-
arenas7307979 commented 4 years ago

hii, about first problem I tried to set the sensors_timestamp_sync "true" of the zed2 camera, didn't get any messages from the imu

image

image

set the sensors_timestamp_sync "false", Imu data can be received.

image

Myzhar commented 4 years ago

If you enable the synchronization with the images you must subscribe also to an image topic otherwise there is nothing to synchronize. Open another console and type 'rostopic hz /zed2/zed_node/left/image_rect_color', you will see that the IMU data starts to be published at the same frequency of the image topic

Myzhar commented 4 years ago

Hi @arenas7307979 if your problem is solved please close this issue