利用zed相机为rtabmap_ros录制rosbag包及其使用

 1，录制rosbag包

rosbag record /zed_node/rgb/image_rect_color /zed_node/rgb/camera_info /zed_node/depth/depth_registered /zed_node/depth/camera_info /zed_node/odom /tf /tf_static /zed_node/pose

2，写launch文件

<launch>
     <arg name="zed_node_name"                default="zed_node" />
    <!-- RTAB-map Node-->
    <include file="$(find rtabmap_ros)/launch/rtabmap.launch">
      <arg name="rtabmap_args"                value="--delete_db_on_start" />
      <arg name="use_sim_time"                value="true"/>
      <arg name="rgb_topic"                   value="/$(arg zed_node_name)/rgb/image_rect_color" />
      <arg name="depth_topic"                 value="/$(arg zed_node_name)/depth/depth_registered" />
      <arg name="camera_info_topic"           value="/$(arg zed_node_name)/rgb/camera_info" />
      <arg name="depth_camera_info_topic"     value="/$(arg zed_node_name)/depth/camera_info" />
      <arg name="odom_topic"                  value="/$(arg zed_node_name)/odom" />

      <arg name="frame_id"                    value="base_link" />
      <arg name="approx_sync"                 value="true" />
      <arg name="visual_odometry"             value="false" />
      <arg name="rviz"                        value="false" />
    </include>
</launch>