zed-benchmarking

A catkin workspace containing various packages relating to running the ZED camera

ZED Issues

• https://community.stereolabs.com/t/camera-hardware-failure-during-streaming-requires-unplug/3590
• https://community.stereolabs.com/t/zed2i-unreliable-connection/3090/10
• Update to ZED SDK 4.0.8

Installing

git clone --recursive https://github.com/cornellev/zed-benchmarking.git

Or, to update submodules (if you forgot to clone recursively):

cd <submodule>
git submodule update --init --recursive

Following installation, open the root of the project and enter:

catkin_make # builds all packages, generates build/ and devel/
source devel/setup.sh # or .bash, .zsh

For rtabmap, use: sudo apt install ros-$ROS_DISTRO-rtabmap-ros Then, export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/ros/noetic/lib/x86_64-linux-gnu. In the future, use https://github.com/introlab/rtabmap_ros#installation to add as a submodule

Resources

https://www.stereolabs.com/docs/ros/zed-node http://wiki.ros.org/rtabmap_ros/Tutorials

• http://wiki.ros.org/rtabmap_ros (overview of rtabmap packages)
• http://wiki.ros.org/rtabmap_slam (rtabmap slam package)
• http://wiki.ros.org/rtabmap_odom (rtabmap odom packages)
• http://wiki.ros.org/rtabmap_sync (rtabmap sync packages)

This link (http://wiki.ros.org/rtabmap_ros/Tutorials/SetupOnYourRobot) is also good for seeing the whole stack.

Mapping

roslaunch mapping zed_odom_only.launch
roslaunch mapping sl_rtabmap.launch # localization:= true/false

ZED Odom only publishes the ZED visual odometry data, but not the area-mapping data / their SLAM stuff. This allows rtabmap slam to handle map -> odom tf tree updates. This may not be perfect, but until more tests are done, this setup makes sense to me.

Requirements

• ZED SDK installed (CUDA required) will not build without

Running

Always run the following from the root directory before continuing

source devel/setup.sh # or .bash, .zsh

Run ZED-provided Camera + RViz code:

roslaunch zed_display_rviz display_zed.launch

Run custom ZED package: (NEEDS LAUNCH FILE)

roslaunch zed_wrapper zed.launch # starts running the camera, publishes expected zed topics
chmod +x src/zed-camera/src/camerae_processor.py
rosrun zed-camera camera_processor.py
rviz # can add topics to rviz

Recording Data

Record pose, odometry, and transformation tree from ZED camera:

rosbag record /tf /tf_static /zed/zed_node/pose /zed/zed_node/odom

To playback:

roscore
rosbag play <bagfile..bag>
rviz