V-SLAM using ZED running under Nvidia TX2. current algorithm is ORB_SLAM2 with RGB-D input

Hardware:

Jetson TX2
ZED Camera

Software:

Ubuntu 16.0.4
ROS Kinetic

Dependencies:

Jetson TX2(with a 750 GB SSD. the way to install it is will update later)
ORB SLAM2 - Installed from the instruction here.
ZED Stereo Camera - copy ./zed/src/zed-ros-wrapper to your catkin workspace folder and catkin_make it

Running the code

first untar the ORBvoc.txt in ./SLAM/ORB_SLAM2/Vocabulary
source setup.bash under your catkin workspace
roslaunch zed_wrapper zed.launch
cd ./SLAM/ORB_SLAM2
rosrun ORB_SLAM2 RGBD Vocabulary/ORBvoc.txt Examples/ROS/ORB_SLAM2/Zed.yaml

Troubles faced