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A collection of examples and tutorials to illustrate how to better use the ZED cameras in the ROS2 framework

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stereolabs/zed-ros2-examples

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Stereolabs
ROS 2 Tutorials and Examples

This package is a collection of examples and tutorials to illustrate how to better use the ZED cameras in the ROS 2 framework

More information

Getting started

  • First, be sure to have installed the main ROS 2 package to integrate the ZED cameras in the ROS 2 framework: zed-ros2-wrapper
  • Install the Tutorials package
  • Read the online documentation for More information

Prerequisites

Build the package

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 ../
sudo apt update
rosdep update
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install --cmake-args=-DCMAKE_BUILD_TYPE=Release
source ~/.bashrc

Tutorials and examples

Rviz visualization examples

  • Example launch files to start a preconfigured instance of Rviz displaying all the ZED Wrapper node information: zed_display_rviz2
  • ROS 2 plugin for ZED2 to visualize the results of the Object Detection module (bounding boxes and skeletons): rviz-plugin-zed-od

Tutorials

Examples

Tools

  • ZED Benchmark tool: used to test topics and get statistics on frequency and bandwidth to be plotted.