<br \> ROS 2 Tutorials and Examples

This package contains examples and tutorials for effectively using ZED cameras within the ROS 2 framework.

More information

Getting started

• First, be sure to have installed the main ROS 2 package to integrate the ZED cameras in the ROS 2 framework: zed-ros2-wrapper
• Install the Tutorials package
• Read the online documentation for More information

Prerequisites

• ROS 2 Foxy Fitzroy (deprecated), ROS 2 Humble Hawksbill, or ROS2 Jazzy Jalisco:
  • Foxy on Ubuntu 20.04 - [Not recommended. EOL reached]
  • Humble on Ubuntu 22.04 - [EOL May 2027]
  • Jazzy Jalisco on Ubuntu 24.04 - [EOL May 2029]

Build the package

The zed-ros-examples repository is a collection of colcon packages.

Open a terminal, clone the repository, update the dependencies and build the packages:

cd ~/ros2_ws/src/ #use your current ros2 workspace folder
git clone https://github.com/stereolabs/zed-ros2-examples.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
source ~/.bashrc

Tutorials and examples

Rviz visualization examples

• Example launch files to start a preconfigured instance of Rviz displaying all the ZED Wrapper node information: zed_display_rviz2
• ROS 2 plugin for ZED2 to visualize the results of the Object Detection module (bounding boxes and skeletons): rviz-plugin-zed-od

Tutorials

• Images subscription tutorial
• Depth subscription tutorial
• Pose/Odometry subscription tutorial
• ROS 2 Composition + BGRA2BGR conversion tutorial
• Multi-camera
• Multi-Camera + Intra Process Communication
• Robot integration

Examples

• ZED Localization with ArUco markers: use localized ArUco tags as a reference for localization.
• Convert ZED Depth map to virtual laser scan: convert ZED Depth maps into virtual Laser Scans using

## Tools

• ZED Benchmark tool: used to test topics and get statistics on frequency and bandwidth to be plotted.

Submitting your code changes

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

• zed-ros2-wrapper
• zed-ros2-interfaces
• 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).