ROS 2 Tutorials and Examples

This package contains examples and tutorials for effectively using ZED cameras within 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

ROS 2 Foxy Fitzroy or ROS 2 Humble Hawksbill:
- Foxy on Ubuntu 20.04
- Humble on Ubuntu 22.04

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

:pushpin: Note: If you encounter an error during the linking process due to missing libnvinfer and nvonnxparser, you need to install TensorRT. Alternatively, if this example is not required, you can build the repository while ignoring it:
colcon build --symlink-install --cmake-args=-DCMAKE_BUILD_TYPE=Release --packages-ignore zed_custom_od_example

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

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: use ROS 2 composition to convert BGRA images to BGR
zed_custom_od_example: use a custom ONNX YOLO detector engine

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

stereolabs / zed-ros2-examples

readme