This package is a collection of examples and tutorials to illustrate how to better use the ZED cameras in the ROS framework

More information

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

• Ubuntu 20.04
• ZED SDK ≥ and its dependency CUDA
• ROS Noetic

The zed-ros-examples repository is a collection of catkin packages. They depend on the following ROS packages:

• catkin
• zed_wrapper
• sensor_msgs
• roscpp
• nav_msgs
• geometry_msgs
• ar_track_alvar
• ar_track_alvar_msgs
• nodelet
• depthimage_to_laserscan
• rtabmap
• rtabmap_ros
• rviz_imu_plugin
• rviz
• plotjuggler

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

$ cd ~/catkin_ws/src
$ git clone https://github.com/stereolabs/zed-ros-examples.git
$ cd ../
$ rosdep install --from-paths src --ignore-src -r -y
$ catkin_make -DCMAKE_BUILD_TYPE=Release
$ source ./devel/setup.bash

• Example launch files to start a preconfigured instance of Rviz displaying all the ZED Wrapper node information: zed_display_rviz

• Image subscription tutorial
• Depth subscription tutorial
• Tracking subscription tutorial
• Sensors data subscription tutorial
• Object detection subscription tutorial

• AR Track Alvar example
• Nodelet example (point cloud to laser scan)
• RTABmap example