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: 5 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 (about 5 years ago)
- Default Branch: master
- Last Pushed: 2025-04-22T16:02:35.000Z (6 months ago)
- Last Synced: 2025-04-22T16:48:42.866Z (6 months ago)
- Topics: examples, ros2, rviz-plugins, tutorials, zed
- Language: C++
- Homepage: https://www.stereolabs.com/docs/ros2/
- Size: 6.45 MB
- Stars: 42
- Watchers: 4
- Forks: 31
- 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 contains examples and tutorials for effectively using ZED cameras within 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 (deprecated), ROS 2 Humble Hawksbill, or ROS 2 Jazzy Jalisco:
- [Foxy on Ubuntu 20.04](https://docs.ros.org/en/foxy/Installation/Linux-Install-Debians.html) - [**Not recommended. EOL reached**]
- [Humble on Ubuntu 22.04](https://docs.ros.org/en/humble/Installation/Linux-Install-Debians.html) - [EOL May 2027]
- [Jazzy Jalisco on Ubuntu 24.04](https://docs.ros.org/en/jazzy/Installation/Linux-Install-Debians.html) - [EOL May 2029]
### 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
### Data Visualization Examples
- Example launch files to start a preconfigured instance of **RViz2** displaying all the ZED Wrapper node information: [zed_display_rviz2](./zed_display_rviz2)
- ROS 2 plugin for **RViz2** to visualize the results of the Object Detection module (bounding boxes and skeletons): [rviz-plugin-zed-od](./rviz-plugin-zed-od)
- Example layouts to display ZED Wrapper data in **Foxglove Studio** [zed_display_foxglove](./zed_display_foxglove/)
### Tutorials
- [Images subscription tutorial](./tutorials/zed_video_tutorial)
- [Depth subscription tutorial](./tutorials/zed_depth_tutorial)
- [Pose/Odometry subscription tutorial](./tutorials/zed_pose_tutorial)
- [ROS 2 Composition + BGRA2BGR conversion tutorial](./tutorials/zed_rgb_convert)
- [Multi-camera](./tutorials/zed_multi_camera)
- [Multi-Camera + Intra Process Communication](./tutorials/zed_ipc)
- [Robot integration](./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
## Tools
- **ZED Benchmark tool**: used to test topics and get statistics on frequency and bandwidth to be plotted.