ZED2 Camera - ROS with Jetson Xavier

Setup package

• zed-ros-wrapper
  • catkin package
    • nav_msgs
    • tf2_geometry_msgs
    • message_runtime
    • catkin
    • roscpp
    • stereo_msgs
    • rosconsole
    • robot_state_publisher
    • urdf
    • sensor_msgs
    • image_transport
    • roslint
    • diagnostic_updater
    • dynamic_reconfigure
    • tf2_ros
    • message_generation
    • nodelet
  • Setup

  cd ~/catkin_ws/src
  

  git clone --recursive <https://github.com/stereolabs/zed-ros-wrapper.git>
  

  cd ../
  

  rosdep install --from-paths src --ignore-src -r -y
  

  catkin_make -DCMAKE_BUILD_TYPE=Release
  

  source ./devel/setup.bash
  

---

• zed-ros-interfaces
  • catkin package
    • catkin
    • std_msgs
    • sensor_msgs
    • actionlib_msgs
    • geometry_msgs
    • message_generation
  • Setup

  cd ~/catkin_ws/src
  

  git clone <https://github.com/stereolabs/zed-ros-interfaces.git>
  

  cd ../
  

  rosdep install --from-paths src --ignore-src -r -y
  

  catkin_make -DCMAKE_BUILD_TYPE=Release
  

  source ./devel/setup.bash
  

  • Custom Topics
    • BoundingBox2Df
    • BoundingBox2Di
    • BoundingBox3D
    • Keypoint2Df
    • Keypoint2Di
    • Keypoint3D
    • Object
    • ObjectsStamped
    • RGBDSensors
    • Skeleton2D
    • Skeleton3D
  • Custom Services
    • reset_odometry
    • reset_tracking
    • set_led_status
    • set_pose
    • save_3d_map
    • save_area_memory
    • start_3d_mapping
    • start_object_detection
    • start_remote_stream
    • start_svo_recording
    • stop_3d_mapping
    • stop_object_detection
    • stop_remote_stream
    • stop_svo_recording
    • toggle_led
  ?? Error — why?

---

• zed-ros-examples
  • catkin packages
    • catkin
    • zed_wrapper
    • sensor_msgs
    • roscpp
    • nav_msgs
    • geometry_msgs
    • ar_track_alvar
    • ar_track_alvar_msgs
    • nodelet
    • depthimage_to_laserscan
    • rtabmap
    • rtabmap_ros
    • rviz_imu_plugin
    • rviz
  • Setup

  cd ~/catkin_ws/src
  

  git clone <https://github.com/stereolabs/zed-ros-examples.git>
  

  cd ../
  

  rosdep install --from-paths src --ignore-src -r -y
  

  catkin_make -DCMAKE_BUILD_TYPE=Release
  

  source ./devel/setup.bash
  

---

Starting the ZED node

• ZED 2 camera

roslaunch zed_wrapper zed2.launch

---

Displaying ZED data [using Rivz]

• ZED 2 camera

roslaunch zed_display_rviz display_zed.launch

 

Getting IMU and Sensor Data in ROS

Getting IMU and Sensor Data in ROS | Stereolabs

Sensor Data visualization with PlotJuggler

In this tutorial, you will learn in detail how to configure the **PlotJuggler** tool to display data values in multiple dynamic live plots.

The package provides two launch files:

• plot_sensors_zedm.launch: launches the ZED node preconfigured for the ZED-M and PlotJuggler preconfigured to show ZED-M sensor data
• plot_sensors_zed2.launch: launches the ZED node preconfigured for the ZED2 and PlotJuggler preconfigured to show ZED2 sensor data
• plot_sensors_zed2i.launch: launches the ZED node preconfigured for the ZED2i and PlotJuggler preconfigured to show ZED2i sensor data

---

ZED 2

Start the ZED 2 sensor data plotting with the command:

$ roslaunch zed_sensors_sub_tutorial plot_sensors_zed2.launch

Start the ZED 2i sensor data plotting with the command:

$ roslaunch zed_sensors_sub_tutorial plot_sensors_zed2i.launch

Sensor Data visualization with PlotJuggler

In this tutorial, you will learn how to write a simple C++ node that subscribes to messages of type

sensor_msgs/Imu, sensor_msgs/Temperature, sensor_msgs/MagneticField and sensor_msgs/FluidPressure. This lets you retrieve the data from all the sensors available in the ZED2 camera.

Note: the tutorial is valid also for a ZED-M camera, but only topics of type sensor_msgs/Imu will be available

---

• INTRODUCTIONThe ZED node will start to publish object detection data in the network only if there is another node that subscribes to the relative topic.
• $ roslaunch zed_wrapper zed2.launch
• RUNNING THE TUTORIAL

  $ rosrun zed_sensors_sub_tutorial zed_sensors_sub
  

  If the ZED node is running, and a ZED 2  or a ZED 2i  is connected or you have loaded an SVO file, you will receive the following stream of messages confirming that you have correctly subscribed to the ZED image topics (with a ZED Mini  you will receive only the IMU data):
• If you properly followed the ROS Installation Guide, the executable of this tutorial has been compiled and you can run the subscriber node using this command: