This package lets you use the ZED stereo camera with ROS. It outputs the camera left and right images, depth map, point cloud, pose information and supports the use of multiple ZED cameras.

• First, download the latest version of the ZED SDK on stereolabs.com
• Install the ZED ROS wrapper.
• For more information, check out our ROS documentation or our ROS wiki. If you want to customize the wrapper, check the ZED API documentation.

• Ubuntu 16.04
• ZED SDK ≥ 2.3 and its dependency CUDA
• ROS Kinetic

The zed_ros_wrapper is a catkin package. It depends on the following ROS packages:

• tf2_ros
• tf2_geometry_msgs
• nav_msgs
• roscpp
• rosconsole
• sensor_msgs
• stereo_msgs
• opencv3
• image_transport
• dynamic_reconfigure
• urdf

Open a terminal and build the package:

cd ~/catkin_ws/src
git clone https://github.com/stereolabs/zed-ros-wrapper.git
cd ../
catkin_make
source ./devel/setup.bash

To launch the wrapper along with an Rviz preview, open a terminal and launch:

$ roslaunch zed_display_rviz display.launch # by default open a ZED

or

$ roslaunch zed_display_rviz display_zedm.launch # open a ZED Mini

To launch the wrapper without Rviz, use:

$ roslaunch zed_wrapper zed.launch

To select the ZED from its serial number

$ roslaunch zed_wrapper zed.launch serial_number:=1010 #replace 1010 with the actual SN

Alongside the wrapper itself and the Rviz display, a few other modules are provided to interface the ZED with other ROS packages :

• RTAB-Map : See zed_rtabmap_example
• ROS Nodelet, depthimage_to_laserscan : See zed_nodelet_example

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