zed_msgs

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

• Links
  • Rosindex
  • Website
  • Repository
  • Bugtracker

• Message Definitions
  • BoundingBox2Df
  • BoundingBox2Di
  • BoundingBox3D
  • DepthInfoStamped
  • GnssFusionStatus
  • HealthStatusStamped
  • Heartbeat
  • Keypoint2Df
  • Keypoint2Di
  • Keypoint3D
  • MagHeadingStatus
  • Object
  • ObjectsStamped
  • PlaneStamped
  • PosTrackStatus
  • Skeleton2D
  • Skeleton3D
  • SvoStatus
• Service Definitions
  • SaveAreaMemory
  • SetPose
  • SetROI
  • SetSvoFrame
  • StartSvoRec
• Standard Documents
  • README
  • CONTRIBUTING
  • LICENSE
  • PACKAGE
  • CHANGELOG
• ROS Package Dependencies
  • std_msgs
  • geometry_msgs
  • shape_msgs
  • rosidl_default_runtime

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.

Custom Topics

• BoundingBox2Df

• BoundingBox2Di

• BoundingBox3D

• DepthInfoStamped

• GnssFusionStatus

• HealthStatusStamped

• Heartbeat

• Keypoint2Df

• Keypoint2Di

• Keypoint3D

• MagHeadingStatus

• Object

• ObjectsStamped

• PlaneStamped

• PosTrackStatus

• Skeleton2D

• Skeleton3D

• SvoStatus

You can get more information by reading the Stereolabs online documentation

Custom Services

• SetPose

• SetROI

• StartSvoRec

• SetSvoFrame.srv

• SaveAreaMemory.srv

You can get more information by reading the Stereolabs online documentation