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Cannot generate elevation map with ZED2 stereo camera #230
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Hi @JohnerzZ did you succeed to handle with that issue? |
Hi @nimiCurtis yes I did solve that issue. My ZED2 now successfuly works with the elevation_mapping package. I had to change my sensor_processor to realsense_d435.yaml in my .launch file and my sensor_processor type to structured_light in my zed2.yaml. The sensor_processor parameters had to change accordingly as well. I also had some errors when naming my topics. TLDR, the working .launch file and .yaml file: zed2.launch: <launch>
<arg name="svo_file" default="" /> <!-- <arg name="svo_file" default="path/to/svo/file.svo"> -->
<arg name="stream" default="" /> <!-- <arg name="stream" default="<ip_address>:<port>"> -->
<arg name="zed_node_name" default="zed_node" />
<arg name="camera_model" default="zed2" />
<arg name="publish_urdf" default="true" />
<arg name="camera_name" default="zed" />
<arg name="base_frame" default="base_link" />
<!-- ZED Wrapper Node-->
<include file="$(find zed_wrapper)/launch/include/zed_camera.launch.xml">
<arg name="camera_name" value="$(arg camera_name)" />
<arg name="svo_file" value="$(arg svo_file)" />
<arg name="stream" value="$(arg stream)" />
<arg name="node_name" value="$(arg zed_node_name)" />
<arg name="camera_model" value="$(arg camera_model)" />
<arg name="base_frame" value="$(arg base_frame)" />
<arg name="publish_urdf" value="$(arg publish_urdf)" />
</include>
<!-- Publish tf 'base_footprint' as pose.-->
<node pkg="elevation_mapping_demos" type="tf_to_pose_publisher.py" name="tf_to_pose_publisher">
<param name="from_frame" type="string" value="odom" />
<param name="to_frame" type="string" value="base_link" />
</node>
<!-- Elevation mapping node -->
<node pkg="elevation_mapping" type="elevation_mapping" name="elevation_mapping" output="screen">
<rosparam command="load" file="$(find elevation_mapping_demos)/config/robots/zed2.yaml" />
<rosparam command="load" file="$(find elevation_mapping_demos)/config/elevation_maps/long_range.yaml" />
<rosparam command="load" file="$(find elevation_mapping)/config/sensor_processors/realsense_d435.yaml" />
<rosparam command="load" file="$(find elevation_mapping_demos)/config/postprocessing/postprocessor_pipeline.yaml" />
</node>
<!-- Launch visualizations for the resulting elevation map -->
<include file="$(find elevation_mapping_demos)/launch/visualization.launch" />
<!-- Launch RViz with the demo configuration -->
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find elevation_mapping_demos)/rviz/elevation_map_visualization_pointcloud.rviz" />
</launch>
zed2.yaml: input_sources:
zed:
type: pointcloud
topic: "/zed_node/point_cloud/cloud_registered"
queue_size: 1
publish_on_update: true
sensor_processor:
ignore_points_above: .inf
ignore_points_below: -.inf
cutoff_min_depth: 0.2
cutoff_max_depth: 3.25
type: structured_light
normal_factor_a: 0.000611
normal_factor_b: 0.003587
normal_factor_c: 0.3515
normal_factor_d: 0
normal_factor_e: 1
lateral_factor: 0.01576
map_frame_id: "odom"
robot_base_frame_id: "base_link"
robot_pose_with_covariance_topic: "/base_link_pose"
robot_pose_cache_size: 200
track_point_frame_id: "base_link"
track_point_x: 0.0
track_point_y: 0.0
track_point_z: 0.0 |
Thanks a lot @JohnerzZ! it is now working for me as well. |
Hi @JohnerzZ ,it's greet to meet you! I'm trying to use the elevation mapping node with a D435i camera.But always fail.So, could you share your files to help me with the task?Thanks so much! |
Hi and thanks a lot for your work.
I'm trying to use the elevation mapping node with a ZED2 camera. I have previously successfully used it with a D435i camera so I followed the same procedure.
My zed2.launch file is:
and my zed2.yaml is:
Both the zed2 node and the elevation mapping node intialize just fine. However, the grid map is not shown in rviz, as i demonstrate in the following image:
However, the pointcloud and pose with covariance from ZED2 are being published correctly as seen here:
For debugging purposes, I am checking the tf_frames and the rqt_graph but i cannot find anything wrong with this setup.
I have seen older issues and it is recommended to change the sensor type from stereo to structured_light but this does not seem to work either.
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