Zed-ros-wrapper: [Question] where are the /obj_det/object_markers ?

[jaronski]

i would like to visualize the Markers on the zed2 pointcloud as it was possible in previous version in RVIZ. Am i missing the topic? was the object_marker removed on purpose?

[Myzhar]

Hi @jaronski
we removed that topic because it was computationally expensive.
To visualize the result of the object detection with Rviz we instead added a plugin that subscribes to the detected objects topic and renders all the information.
The plugin is available in the zed-ros-examples repository.
You can get more information by reading the Stereolabs online documentation:
https://www.stereolabs.com/docs/ros/object-detection/

I hope you will enjoy the improved object detection module, please do not hesitate to provide us with your feedback.

[jaronski]

Wow this really cool! i run the zed_wrapper on a Xavier AGX and rviz visualization plugin on a different PC... fantastic ! exactly what i needed

[Myzhar]

We made this modification exactly for this kind of configuration. In your case, the Xavier AGX does not perform anymore any kind of elaboration related to object detection visualization, they are all moved on the receiving PC running RViz and the new ZedOdDisplay plugin.

[jaronski]

I noticed this ERROR
and this Warning:
do you have a solution ?

[Myzhar]

Sure:
$ sudo apt install ros-noetic-rviz-imu-plugin
replace noetic with your current ROS version