<br \> ROS 2 Interfaces

The zed-ros2-interfaces repository installs the zed_msgs ROS2 package which defines the custom topics, services, and actions used by the packages defined in the repositories ZED ROS2 Wrapper and ZED ROS2 Examples.

Note: This package does not require CUDA and can be used to receive ZED data on ROS 2 machines without an NVIDIA GPU.

Install the package from the binaries for ROS 2 Humble

The package zed_msgs is available in binary format in the official Humble repository.

sudo apt install ros-humble-zed-msgs

Install the package from the source code

You can install the zed_msgs package from the source code to obtain the latest updates or for distributions other than Humble (e.g. ROS 2 Foxy).

Build the repository

Dependencies

The zed_msgs is a colcon package. It depends on the following ROS 2 packages:

• ament_cmake_auto
• builtin_interfaces
• std_msgs
• geometry_msgs
• shape_msgs
• rosidl_default_generators
• rosidl_default_runtime
• ament_lint_auto
• ament_cmake_copyright
• ament_cmake_cppcheck
• ament_cmake_lint_cmake
• ament_cmake_pep257
• ament_cmake_uncrustify
• ament_cmake_xmllint

Clone and build

Open a terminal, clone the repository, update the dependencies, and build the packages:

cd ~/catkin_ws/src
git clone https://github.com/stereolabs/zed-ros2-interfaces.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
echo source $(pwd)/install/local_setup.bash >> ~/.bashrc
source ~/.bashrc

:pushpin: Note: If the command rosdep is missing, you can install it using the following method:

sudo apt-get install python-rosdep python-rosinstall-generator python-vcstool python-rosinstall build-essential

:pushpin: Note: The option --symlink-install is important, it allows using symlinks instead of copying files to the ROS2 folders during the installation, where possible. Each package in ROS2 must be installed and all the files used by the > nodes must be copied into the installation folders. Using symlinks allows you to modify them in your workspace, reflecting the modification during the next executions without the needing to issue a new colcon build command. This is true only for > all the files that don’t need to be compiled (Python scripts, configurations, etc.).

:pushpin: Note: If you are using a different console interface like zsh, you have to change the source command as follows: echo source $(pwd)/install/local_setup.zsh >> ~/.zshrc and source ~/.zshrc.

Custom Topics

• BoundingBox2Df
• BoundingBox2Di
• BoundingBox3D
• DepthInfoStamped
• GnssFusionStatus
• Heartbeat
• Keypoint2Df
• Keypoint2Di
• Keypoint3D
• MagHeadingStatus
• Object
• ObjectsStamped
• PlaneStamped
• PosTrackStatus
• Skeleton2D
• Skeleton3D

You can get more information by reading the Stereolabs online documentation

Custom Services

• SetPose
• SetROI
• StartSvoRec

You can get more information by reading the Stereolabs online documentation

3D meshes for RVIZ rendering

• virtual
• zed
• zed2
• zed2i
• zedm
• zedx
• zedxm
• zedxone4k
• zedxonegs

Changelog for package zed_msgs

Forthcoming

• Changed the name of the package [zed_interfaces]{.title-ref} to [zed_msgs]{.title-ref} to match the ROS2 naming convention
• Add ZED X One mesh
• Update packages version
• Update cmake_minimum_required
• Fix to support Iron
• Fix Foxy building
• Fix dependencies
• Add ZED X One STL
• Fix PosTrackStatusMsg
• Update PosTrackStatus.msg
• Add new GNSS status message and update PosTrackStatus
• Add mag heading status
• Update PosTrackStatus.msg
• Fix typo in enum for SEARCHING_FLOOR_PLANE
• Improve install info
• Update SetPose srv description
• Add new PosTrackStatus message type
• Add support for new BODY formats
• Add zedx and zedxm meshes
• Remove annoying build log messages
• Fix LINT test
• Add CONTRIBUTING rules
• Add [setRoi]{.title-ref} service
• Add ROS2 distro check
• Add PlaneStamped message
• Add DepthInfoStamped.msg
• Add support for BODY_FORMAT::POSE_34
• Update Object topic
• Add msg, srv, and meshes files
• Initial commit