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

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

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

Tools

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