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

📌 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

• Images subscription tutorial
• Depth subscription tutorial
• Pose/Odometry subscription tutorial
• ROS 2 Composition + BGRA2BGR conversion tutorial
• Multi-camera
• Robot integration

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.