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https://github.com/stereolabs/zed-ros2-examples
A collection of examples and tutorials to illustrate how to better use the ZED cameras in the ROS2 framework
https://github.com/stereolabs/zed-ros2-examples
examples ros2 rviz-plugins tutorials zed
Last synced: 3 months ago
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A collection of examples and tutorials to illustrate how to better use the ZED cameras in the ROS2 framework
- Host: GitHub
- URL: https://github.com/stereolabs/zed-ros2-examples
- Owner: stereolabs
- License: apache-2.0
- Created: 2020-09-28T07:47:18.000Z (over 4 years ago)
- Default Branch: master
- Last Pushed: 2024-11-12T11:06:31.000Z (3 months ago)
- Last Synced: 2024-11-12T12:19:23.476Z (3 months ago)
- Topics: examples, ros2, rviz-plugins, tutorials, zed
- Language: C++
- Homepage: https://www.stereolabs.com/docs/ros2/
- Size: 5.58 MB
- Stars: 33
- Watchers: 5
- Forks: 29
- Open Issues: 7
-
Metadata Files:
- Readme: README.md
- Contributing: CONTRIBUTING.md
- License: LICENSE
Awesome Lists containing this project
README
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](https://www.stereolabs.com/docs/ros2/)
## 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](https://github.com/stereolabs/zed-ros2-wrapper/)
- [Install](#build-the-package) the Tutorials package
- Read the online documentation for [More information](https://www.stereolabs.com/documentation/guides/using-zed-with-ros/introduction.html)
### Prerequisites
- ROS 2 Foxy Fitzroy or ROS 2 Humble Hawksbill:
- [Foxy on Ubuntu 20.04](https://docs.ros.org/en/foxy/Installation/Linux-Install-Debians.html)
- [Humble on Ubuntu 22.04](https://docs.ros.org/en/humble/Installation/Linux-Install-Debians.html)
### Build the package
The `zed-ros-examples` repository is a collection of [colcon](http://design.ros2.org/articles/build_tool.html) packages.
Open a terminal, clone the repository, update the dependencies and build the packages:
```bash
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](https://github.com/stereolabs/zed-ros2-examples/tree/master/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](https://github.com/stereolabs/zed-ros2-examples/tree/master/rviz-plugin-zed-od)
### Tutorials
- [Images subscription tutorial](https://github.com/stereolabs/zed-ros2-examples/tree/master/tutorials/zed_video_tutorial)
- [Depth subscription tutorial](https://github.com/stereolabs/zed-ros2-examples/tree/master/tutorials/zed_depth_tutorial)
- [Pose/Odometry subscription tutorial](https://github.com/stereolabs/zed-ros2-examples/tree/master/tutorials/zed_pose_tutorial)
- [ROS 2 Composition + BGRA2BGR conversion tutorial](https://github.com/stereolabs/zed-ros2-examples/tree/master/tutorials/zed_rgb_convert)
- [Multi-camera](https://github.com/stereolabs/zed-ros2-examples/tree/master/tutorials/zed_multi_camera)
- [Robot integration](https://github.com/stereolabs/zed-ros2-examples/tree/master/tutorials/zed_robot_integration)
### Examples
* [ZED Localization with ArUco markers](./examples/zed_aruco_localization): use localized ArUco tags as a reference for localization.
* [Convert ZED Depth map to virtual laser scan](./examples/zed_depth_to_laserscan): convert ZED Depth maps into virtual Laser Scans using
* [ROS 2 Composition](https://docs.ros.org/en/humble/Concepts/Intermediate/About-Composition.html): use ROS 2 composition to convert BGRA images to BGR
## Tools
* **ZED Benchmark tool**: used to test topics and get statistics on frequency and bandwidth to be plotted.