README

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.