This package is a collection of examples and tutorials to illustrate how to better use the ZED cameras in the ROS2 framework
- First, be sure to have installed the main ROS2 package to integrate the ZED cameras in the ROS2 framework: zed-ros2-wrapper
- Install the Tutorials package
- Read the online documentation for More information
- ROS2 Foxy Fitxroy or ROS2 Humble Hawksbill:
The zed-ros-examples repository is a collection of colcon packages.
Open a terminal, clone the repository, update the dependencies and build the packages:
$ cd ~/ros2_ws/src/ #use your current ros2 workspace folder
$ git clone https://github.com/stereolabs/zed-ros2-examples.git
$ cd ../
$ rosdep install --from-paths src --ignore-src -r -y
$ colcon build --symlink-install --cmake-args=-DCMAKE_BUILD_TYPE=Release
$ source ~/.bashrc
- Example launch files to start a preconfigured instance of Rviz displaying all the ZED Wrapper node information: zed_display_rviz2
- ROS2 plugin for ZED2 to visualize the results of the Object Detection module (bounding boxes and skeletons): rviz-plugin-zed-od
- Images subscription tutorial
- Depth subscription tutorial
- Pose/Odometry subscription tutorial
- ROS2 Composition + BGRA2BGR conversion tutorial
- Multi-camera
- ZED Localization with ArUco markers: use localized ArUco tags as a reference for localization.
- Convert ZED Depth map to virtual laser scan: convert ZED Depth maps into virtual Laser Scans using ROS 2 Composition.
- ZED Benchmark tool: used to test topics and get statistics on frequency and bandwidth to be plotted.