Before anything, cd src

First build rtabmap and rtabmap ros

You can find detailed instructions below.

https://github.com/introlab/rtabmap_ros#installation

Tip: Packages will have standard error.
If you see Policy CMP0074 is not set: find_package uses <PackageName>_ROOT variables, you can safely ignore this.

You should also build the Zed ROS2 wrapper and Zed Ros2 examples packages.

https://github.com/stereolabs/zed-ros2-wrapper

Finally, build the new mapping_module.

cd rover_ROS_ws/ colcon build --symlink ## or colcon build --symlink --packages-select mapping_module
depending on what you're doing.

Of course, remember to source before running:
source rover_ROS_ws/install/setup.bash
source /opt/ros/humble/setup.bash

ros2 launch mapping_module new_rtab.launch.py camera_model:=zed2i

• Pose / Odometry
  • /odom
  • /map → odom TF
• Point Clouds
  • Local and global
• OctoMap (optional)
• 2D Occupancy Grid
  • /map (nav_msgs/OccupancyGrid)

Data flow:
Depth → 3D cloud → raycasting → 2D projection → occupancy map

Do not connect the Zed2i camera if not in use.
If camera is not connecting, restart Ubuntu (or reset your USB bus / PCI connections, if you know what you're doing.)