{"id":45436406,"url":"https://github.com/stereolabs/zed-ros-wrapper","last_synced_at":"2026-02-22T03:08:48.343Z","repository":{"id":41190254,"uuid":"42183658","full_name":"stereolabs/zed-ros-wrapper","owner":"stereolabs","description":"ROS wrapper for the ZED SDK","archived":false,"fork":false,"pushed_at":"2025-06-20T13:37:24.000Z","size":11486,"stargazers_count":467,"open_issues_count":27,"forks_count":397,"subscribers_count":20,"default_branch":"master","last_synced_at":"2025-06-20T14:35:15.757Z","etag":null,"topics":["ros","ros-packages","ros-wrapper","slam","stereo-vision","stereolabs","zed","zed-camera","zed-mini","zed2"],"latest_commit_sha":null,"homepage":"https://www.stereolabs.com/docs/ros/","language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"mit","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/stereolabs.png","metadata":{"files":{"readme":"README.md","changelog":"CHANGELOG.rst","contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null,"zenodo":null}},"created_at":"2015-09-09T14:29:32.000Z","updated_at":"2025-06-20T13:37:28.000Z","dependencies_parsed_at":"2023-02-03T20:00:57.103Z","dependency_job_id":"f3891ece-31fa-4f05-bc04-6d600ab34c35","html_url":"https://github.com/stereolabs/zed-ros-wrapper","commit_stats":null,"previous_names":[],"tags_count":22,"template":false,"template_full_name":null,"purl":"pkg:github/stereolabs/zed-ros-wrapper","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/stereolabs%2Fzed-ros-wrapper","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/stereolabs%2Fzed-ros-wrapper/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/stereolabs%2Fzed-ros-wrapper/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/stereolabs%2Fzed-ros-wrapper/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/stereolabs","download_url":"https://codeload.github.com/stereolabs/zed-ros-wrapper/tar.gz/refs/heads/master","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/stereolabs%2Fzed-ros-wrapper/sbom","scorecard":{"id":851881,"data":{"date":"2025-08-11","repo":{"name":"github.com/stereolabs/zed-ros-wrapper","commit":"6e5ab7d2a109eb8e43b8035363e34334ca48eaa4"},"scorecard":{"version":"v5.2.1-40-gf6ed084d","commit":"f6ed084d17c9236477efd66e5b258b9d4cc7b389"},"score":4.2,"checks":[{"name":"Code-Review","score":1,"reason":"Found 3/16 approved changesets -- score normalized to 1","details":null,"documentation":{"short":"Determines if the project requires human code review before pull requests (aka merge requests) are merged.","url":"https://github.com/ossf/scorecard/blob/f6ed084d17c9236477efd66e5b258b9d4cc7b389/docs/checks.md#code-review"}},{"name":"Binary-Artifacts","score":10,"reason":"no binaries found in the repo","details":null,"documentation":{"short":"Determines if the project has generated executable (binary) artifacts in the source repository.","url":"https://github.com/ossf/scorecard/blob/f6ed084d17c9236477efd66e5b258b9d4cc7b389/docs/checks.md#binary-artifacts"}},{"name":"Maintained","score":3,"reason":"2 commit(s) and 2 issue activity found in the last 90 days -- score normalized to 3","details":null,"documentation":{"short":"Determines if the project is \"actively maintained\".","url":"https://github.com/ossf/scorecard/blob/f6ed084d17c9236477efd66e5b258b9d4cc7b389/docs/checks.md#maintained"}},{"name":"Dangerous-Workflow","score":10,"reason":"no dangerous workflow patterns detected","details":null,"documentation":{"short":"Determines if the project's GitHub Action workflows avoid dangerous patterns.","url":"https://github.com/ossf/scorecard/blob/f6ed084d17c9236477efd66e5b258b9d4cc7b389/docs/checks.md#dangerous-workflow"}},{"name":"Packaging","score":-1,"reason":"packaging workflow not detected","details":["Warn: no GitHub/GitLab publishing workflow detected."],"documentation":{"short":"Determines if the project is published as a package that others can easily download, install, easily update, and uninstall.","url":"https://github.com/ossf/scorecard/blob/f6ed084d17c9236477efd66e5b258b9d4cc7b389/docs/checks.md#packaging"}},{"name":"Token-Permissions","score":0,"reason":"detected GitHub workflow tokens with excessive permissions","details":["Warn: no topLevel permission defined: .github/workflows/stale_issues.yml:1","Warn: no topLevel permission defined: .github/workflows/submodule_update.yml:1","Info: no jobLevel write permissions found"],"documentation":{"short":"Determines if the project's workflows follow the principle of least privilege.","url":"https://github.com/ossf/scorecard/blob/f6ed084d17c9236477efd66e5b258b9d4cc7b389/docs/checks.md#token-permissions"}},{"name":"Pinned-Dependencies","score":0,"reason":"dependency not pinned by hash detected -- score normalized to 0","details":["Warn: GitHub-owned GitHubAction not pinned by hash: .github/workflows/stale_issues.yml:11: update your workflow using https://app.stepsecurity.io/secureworkflow/stereolabs/zed-ros-wrapper/stale_issues.yml/master?enable=pin","Warn: GitHub-owned GitHubAction not pinned by hash: .github/workflows/submodule_update.yml:15: update your workflow using https://app.stepsecurity.io/secureworkflow/stereolabs/zed-ros-wrapper/submodule_update.yml/master?enable=pin","Warn: third-party GitHubAction not pinned by hash: .github/workflows/submodule_update.yml:26: update your workflow using https://app.stepsecurity.io/secureworkflow/stereolabs/zed-ros-wrapper/submodule_update.yml/master?enable=pin","Info:   0 out of   2 GitHub-owned GitHubAction dependencies pinned","Info:   0 out of   1 third-party GitHubAction dependencies pinned"],"documentation":{"short":"Determines if the project has declared and pinned the dependencies of its build process.","url":"https://github.com/ossf/scorecard/blob/f6ed084d17c9236477efd66e5b258b9d4cc7b389/docs/checks.md#pinned-dependencies"}},{"name":"CII-Best-Practices","score":0,"reason":"no effort to earn an OpenSSF best practices badge detected","details":null,"documentation":{"short":"Determines if the project has an OpenSSF (formerly CII) Best Practices Badge.","url":"https://github.com/ossf/scorecard/blob/f6ed084d17c9236477efd66e5b258b9d4cc7b389/docs/checks.md#cii-best-practices"}},{"name":"Security-Policy","score":0,"reason":"security policy file not detected","details":["Warn: no security policy file detected","Warn: no security file to analyze","Warn: no security file to analyze","Warn: no security file to analyze"],"documentation":{"short":"Determines if the project has published a security policy.","url":"https://github.com/ossf/scorecard/blob/f6ed084d17c9236477efd66e5b258b9d4cc7b389/docs/checks.md#security-policy"}},{"name":"Vulnerabilities","score":10,"reason":"0 existing vulnerabilities detected","details":null,"documentation":{"short":"Determines if the project has open, known unfixed vulnerabilities.","url":"https://github.com/ossf/scorecard/blob/f6ed084d17c9236477efd66e5b258b9d4cc7b389/docs/checks.md#vulnerabilities"}},{"name":"Fuzzing","score":0,"reason":"project is not fuzzed","details":["Warn: no fuzzer integrations found"],"documentation":{"short":"Determines if the project uses fuzzing.","url":"https://github.com/ossf/scorecard/blob/f6ed084d17c9236477efd66e5b258b9d4cc7b389/docs/checks.md#fuzzing"}},{"name":"License","score":10,"reason":"license file detected","details":["Info: project has a license file: LICENSE:0","Info: FSF or OSI recognized license: MIT License: LICENSE:0"],"documentation":{"short":"Determines if the project has defined a license.","url":"https://github.com/ossf/scorecard/blob/f6ed084d17c9236477efd66e5b258b9d4cc7b389/docs/checks.md#license"}},{"name":"Signed-Releases","score":-1,"reason":"no releases found","details":null,"documentation":{"short":"Determines if the project cryptographically signs release artifacts.","url":"https://github.com/ossf/scorecard/blob/f6ed084d17c9236477efd66e5b258b9d4cc7b389/docs/checks.md#signed-releases"}},{"name":"Branch-Protection","score":-1,"reason":"internal error: error during branchesHandler.setup: internal error: githubv4.Query: Resource not accessible by integration","details":null,"documentation":{"short":"Determines if the default and release branches are protected with GitHub's branch protection settings.","url":"https://github.com/ossf/scorecard/blob/f6ed084d17c9236477efd66e5b258b9d4cc7b389/docs/checks.md#branch-protection"}},{"name":"SAST","score":0,"reason":"SAST tool is not run on all commits -- score normalized to 0","details":["Warn: 0 commits out of 19 are checked with a SAST tool"],"documentation":{"short":"Determines if the project uses static code analysis.","url":"https://github.com/ossf/scorecard/blob/f6ed084d17c9236477efd66e5b258b9d4cc7b389/docs/checks.md#sast"}}]},"last_synced_at":"2025-08-23T22:45:08.038Z","repository_id":41190254,"created_at":"2025-08-23T22:45:08.038Z","updated_at":"2025-08-23T22:45:08.038Z"},"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":286080680,"owners_count":29704406,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2026-02-21T23:35:04.139Z","status":"online","status_checked_at":"2026-02-22T02:00:08.193Z","response_time":110,"last_error":null,"robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":true,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["ros","ros-packages","ros-wrapper","slam","stereo-vision","stereolabs","zed","zed-camera","zed-mini","zed2"],"created_at":"2026-02-22T03:08:47.896Z","updated_at":"2026-02-22T03:08:48.331Z","avatar_url":"https://github.com/stereolabs.png","language":"C++","funding_links":[],"categories":[],"sub_categories":[],"readme":"\u003ch1 align=\"center\"\u003e\n   \u003cimg src=\"./images/Picto+STEREOLABS_Black.jpg\" alt=\"Stereolabs\" title=\"Stereolabs\" /\u003e\u003cbr \\\u003e\n   ROS Noetic Ninjemis Integration\n\u003c/h1\u003e\n\nThis package lets you use the ZED stereo camera with ROS. It outputs the camera's left and right images, depth map, point cloud, and pose information and supports the use of multiple ZED cameras.\n\n[More information](https://www.stereolabs.com/documentation/guides/using-zed-with-ros/introduction.html)\n\n**Note:** The `zed_interfaces` package has been removed from this repository and moved to its own [`zed-ros-interfaces` repository](https://github.com/stereolabs/zed-ros-interfaces) to allow better integration of the ZED Wrapper on remote ground stations that do not require the full package to be installed. To update your repository please follow the [new update instructions](https://github.com/stereolabs/zed-ros-wrapper#update-the-repository). For more information please read issue [#750](https://github.com/stereolabs/zed-ros-wrapper/issues/750).\n\n## Getting started\n\n- First, download the latest version of the ZED SDK on [stereolabs.com](https://www.stereolabs.com/developers/)\n- [Install](#build-the-program) the ZED ROS wrapper\n- For more information, check out our [ROS documentation](https://www.stereolabs.com/documentation/guides/using-zed-with-ros/introduction.html). If you want to customize the wrapper, check the [ZED API documentation](https://www.stereolabs.com/developers/documentation/API/)\n\n### Prerequisites\n\n- Ubuntu 20.04\n- [ZED SDK **v4.1**](https://www.stereolabs.com/developers/) and its dependency [CUDA](https://developer.nvidia.com/cuda-downloads)\n- [ROS Noetic](http://wiki.ros.org/noetic/Installation/Ubuntu)\n\n### Build the repository\n\nThe zed_ros_wrapper is a catkin package. It depends on the following ROS packages:\n\n - roscpp\n- image_transport\n- rosconsole\n- sensor_msgs\n- stereo_msgs\n- std_msgs\n- std_srvs\n- message_filters\n- tf2_ros\n- nodelet\n- tf2_geometry_msgs\n- message_generation\n- diagnostic_updater    \n- dynamic_reconfigure\n- zed_interfaces\n\nOpen a terminal, clone the repository, update the dependencies and build the packages:\n\n    $ cd ~/catkin_ws/src\n    $ git clone --recursive https://github.com/stereolabs/zed-ros-wrapper.git\n    $ cd ../\n    $ rosdep install --from-paths src --ignore-src -r -y\n    $ catkin_make -DCMAKE_BUILD_TYPE=Release\n    $ source ./devel/setup.bash\n\n#### Update the local repository\n\nTo update the repository to the latest release you must use the following command to retrieve the latest commits of `zed-ros-wrapper` and of all the submodules:\n\n    $ git checkout master # if you are not on the main branch  \n    $ git pull --recurse-submodules # update recursively all the submodules\n\nRemember to always clean the cache of your catkin workspace before compiling with the `catkin_make` command to be sure that everything will work as expected:\n\n    $ roscd\n    $ cd ..\n    $ rm -rf build devel\n    $ catkin_make -DCMAKE_BUILD_TYPE=Release\n\n### Run the ZED wrapper\n\nTo launch the ZED node use\n\nZED camera:\n\n    $ roslaunch zed_wrapper zed.launch\n   \nZED Mini camera:\n\n    $ roslaunch zed_wrapper zedm.launch\n   \nZED 2 camera:\n\n    $ roslaunch zed_wrapper zed2.launch\n\nZED 2i camera:\n\n    $ roslaunch zed_wrapper zed2i.launch\n\nZED X camera:\n\n    $ roslaunch zed_wrapper zedx.launch  \n\nZED X Mini camera:\n\n    $ roslaunch zed_wrapper zedxm.launch  \n\n To select the camera from its serial number:\n \n     $ roslaunch zed_wrapper zed.launch serial_number:=1010 #replace 1010 with the actual SN\n\n### Rviz visualization\nExample launch files to start a pre-configured Rviz environment to visualize the data of ZED, ZED Mini, ZED 2, ZED X, and ZED X Mini cameras are provided in the [`zed-ros-examples` repository](https://github.com/stereolabs/zed-ros-examples/tree/master/zed_display_rviz)\n    \n### SVO recording\n[SVO recording](https://www.stereolabs.com/docs/video/#video-recording) can be started and stopped while the ZED node is running using the service `start_svo_recording` and the service `stop_svo_recording`.\n[More information](https://www.stereolabs.com/docs/ros/zed_node/#services)\n\n### Object Detection\nThe SDK v3.0 introduces the Object Detection and Tracking module. **The Object Detection module is available only with a ZED 2 camera**. \n\nThe Object Detection can be enabled *automatically* when the node start setting the parameter `object_detection/od_enabled` to `true` in the file `common.yaml`.\n\nThe Object Detection can be enabled/disabled *manually* calling the service `enable_object_detection`.\n\n### Body Tracking\nThe Body Tracking module is not available for the ZED ROS Wrapper. Please consider migrating to the [ZED ROS2 Wrapper](https://github.com/stereolabs/zed-ros2-wrapper) if you need it.\n\n### Spatial Mapping\nThe Spatial Mapping can be enabled automatically when the node start setting the parameter `mapping/mapping_enabled` to `true` in the file `common.yaml`.\nThe Spatial Mapping can be enabled/disabled manually calling the services `start_3d_mapping` and `stop_3d_mapping`.\n\n### Geo Tracking (GNSS Fusion)\nThe Geo tracking module is not available for the ZED ROS Wrapper. Please consider migrating to the [ZED ROS2 Wrapper](https://github.com/stereolabs/zed-ros2-wrapper) if you need it.\n\n### Diagnostic\nThe ZED node publishes diagnostic information that can be used by the robotic system using a [diagnostic_aggregator node](http://wiki.ros.org/diagnostic_aggregator).\n\nWith the `rqt` plugin `Runtime monitor`, it is possible to retrieve all the diagnostic information, checking that the node \nis working as expected.\n\n### 2D mode\nFor robots moving on a planar surface it is possible to activate the \"2D mode\" (parameter `tracking/two_d_mode` in `common.yaml`). \nThe value of the coordinate Z for odometry and pose will have a fixed value (parameter `tracking/fixed_z_value` in `common.yaml`). \nRoll and pitch and relative velocities will be fixed to zero.\n\n## Examples and Tutorials\nExamples and tutorials are provided to better understand how to use the ZED wrapper and how to integrate it in the ROS framework.\nSee the [`zed-ros-examples` repository](https://github.com/stereolabs/zed-ros-examples)\n\n### Examples\nAlongside the wrapper itself and the Rviz display, a few examples are provided to interface the ZED with other ROS packages :\n\n- [RTAB-Map](http://introlab.github.io/rtabmap/): See [zed_rtabmap_example](https://github.com/stereolabs/zed-ros-examples/tree/master/examples/zed_rtabmap_example/README.md)\n- ROS Nodelet, `depthimage_to_laserscan`: See [zed_nodelet_example](https://github.com/stereolabs/zed-ros-examples/tree/master/examples/zed_nodelet_example/README.md)\n- AR Track Alvar: See [zed_ar_track_alvar_example](https://github.com/stereolabs/zed-ros-examples/tree/master/examples/zed_ar_track_alvar_example/README.md)\n\n### Tutorials\n\nA few tutorials are provided to understand how to use the ZED node in the ROS environment :\n\n - [Image subscription tutorial](https://github.com/stereolabs/zed-ros-examples/tree/master/tutorials/zed_video_sub_tutorial/README.md)\n - [Depth subscription tutorial](https://github.com/stereolabs/zed-ros-examples/tree/master/tutorials/zed_depth_sub_tutorial/README.md)\n - [Tracking subscription tutorial](https://github.com/stereolabs/zed-ros-examples/tree/master/tutorials/zed_tracking_sub_tutorial/README.md) \n - [Sensors data subscription tutorial](https://github.com/stereolabs/zed-ros-examples/blob/master/tutorials/zed_sensors_sub_tutorial/README.md) \n - [Object detection subscription tutorial](https://github.com/stereolabs/zed-ros-examples/blob/master/tutorials/zed_obj_det_sub_tutorial/README.md) \n\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fstereolabs%2Fzed-ros-wrapper","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fstereolabs%2Fzed-ros-wrapper","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fstereolabs%2Fzed-ros-wrapper/lists"}