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ROS 2 Description package for ZED Cameras

The zed-ros2-description repository installs the zed_description ROS 2 package which defines the ZED Camera models to be used with the 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_description is available in binary format in the official Humble repository.

sudo apt install ros-humble-zed-description

Install the package from the source code

You can install the zed_description 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_description is a colcon package. It depends on the following ROS 2 packages:

• ament_cmake_auto
• builtin_interfaces
• xacro
• 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-description.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 ROS 2 folders during the installation, where possible. Each package in ROS 2 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.

Visualize a camera in Rviz2

You can visualize the 3D model of each camera in Rviz2 (without starting a ZED ROS2 Wrapper node) by using this command:

ros2 launch zed_description zed_viz.launch.py camera_model:=<camera_model>

where camera_model can be one of ‘zed’, ‘zedm’, ‘zed2’, ‘zed2i’, ‘zedx’, ‘zedxm’, ‘zedxhdrmini’, ‘zedxhdr’, ‘zedxhdrmax’,’zedxonegs’,’zedxone4k’,’zedxonehdr’.

:pushpin: Note: This command must be used only to debug the correct URDF behaviors. It does not start a working ZED node.

Contributing to ZED ROS 2 Packages

Submitting your code changes

Code contributions should be made via pull requests to the appropriate repositories:

• zed-ros2-wrapper
• zed-ros2-interfaces
• zed-ros2-description
• zed-ros2-examples

We ask all contributors to follow the practices explained in ROS2 documentation.

Before submitting a pull request please perform this list of tasks from the root of your ROS2 workspace:

1. Automatic code formatting:

   $ ament_uncrustify --reformat src

2. Build the packages to check for compile errors:

   $ colcon build --symlink-install --cmake-args=-DCMAKE_BUILD_TYPE=Release

3. Perform the automatic build tests:

   $ colcon test

4. Analyze and solve eventually reported errors:

   $ colcon test-result --verbose

5. Repeat steps (1) -> (4) until all reported formatting errors have been resolved.

License

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:

5. Submission of Contributions. Unless You explicitly state otherwise,
   any Contribution intentionally submitted for inclusion in the Work
   by You to the Licensor shall be under the terms and conditions of
   this License, without any additional terms or conditions.
   Notwithstanding the above, nothing herein shall supersede or modify
   the terms of any separate license agreement you may have executed
   with Licensor regarding such Contributions.

Contributors must sign-off each commit by adding a Signed-off-by: ... line to commit messages to certify that they have the right to submit the code they are contributing to the project according to the Developer Certificate of Origin (DCO).