zed_msgs

Contains message and service definitions used by the ZED ROS2 nodes.

Links

README

ROS 2 Interfaces package for ZED Cameras

The zed-ros2-interfaces repository installs the zed_msgs ROS 2 package which defines the custom topics, services, and actions used by the packages defined in the repositories ZED RO 2 Wrapper and ZED RO 2 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 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.