URDF for OUSTER to set up on Jackal and perfom 3D SLAM

Hi, My project involves putting up an Ouster 0S0 lidar and a ZED 2 camera on the jackal to get a 3d map of the area. Can someone help me prove the URDF and gazebo plugins for the same.?

Dear @rdj2907,

  • For URDF construction you follow this tutorial.
  • For Gazebo plugin of Ouster tutorial.

ZED2 requires an Nvidia which doesnt come by default on the Jackal. If you do have it the procedure is relatively the same, though I am not sure if the ZED series has a Gazebo plugin, you may have to go for Intel Real-sense Depth camer for the Gazebo plguin or perhaps create one yourself.