This is the ROS wrapper for using the ZED stereocamera with the robots for the Resilient Teaming Project with the Barton Research Group at the University of Michigan.
- Ubuntu 20.04
- ZED SDK ≥ 3.8 and its dependency CUDA
- ROS Noetic
or
- Ubuntu 18.04
- ZED SDK ≥ 3.8 and its dependency CUDA
- ROS Melodic
- First, download the latest version of the ZED SDK on stereolabs.com
- Install the ZED ROS wrapper
Open a terminal, clone the repository, update the dependencies and build the packages:
$ cd ~/catkin_ws/src
$ git clone --recursive https://github.com/AarishShah22/resilient-teaming-zed-ros-wrapper.git
$ cd ../
$ rosdep install --from-paths src --ignore-src -r -y
$ catkin_make -DCMAKE_BUILD_TYPE=Release
$ source ./devel/setup.bash
To update the repository to the latest release you must use the following command to retrieve the latest commits of zed-ros-wrapper
and of all the submodules:
$ git checkout main # if you are not on the main branch
$ git pull --recurse-submodules # update recursively all the submodules
Remember to always clean the cache of your catkin workspace before compiling with the catkin_make
command to be sure that everything will work as expected:
$ roscd
$ cd ..
$ rm -rf build
$ rm -rf devel
$ catkin_make -DCMAKE_BUILD_TYPE=Release
To launch the ZED node, first source the workspace:
$ cd ~/catkin_ws
$ source devel/setup.bash
Then, according to your camera, launch the ZED node:
ZED camera:
$ roslaunch zed_wrapper zed.launch
ZED Mini camera:
$ roslaunch zed_wrapper zedm.launch
ZED2 camera:
$ roslaunch zed_wrapper zed2.launch
ZED2i camera:
$ roslaunch zed_wrapper zed2i.launch
To select the ZED from its serial number:
$ roslaunch zed_wrapper zed.launch serial_number:=1010 #replace 1010 with the actual SN