The zed-ros2-interfaces
repository installs the zed_msgs
ROS2 package which defines the custom topics, services, and actions used by the packages defined in the repositories ZED ROS2 Wrapper and ZED ROS2 Examples.
Note: This package does not require CUDA and can be used to receive ZED data on ROS 2 machines without an NVIDIA GPU.
The package zed_msgs
is available in binary format in the official Humble repository.
sudo apt install ros-humble-zed-msgs
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).
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
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
📌 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
📌 Note: The option
--symlink-install
is important, it allows using symlinks instead of copying files to the ROS2 folders during the installation, where possible. Each package in ROS2 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.).
📌 Note: If you are using a different console interface like
zsh
, you have to change thesource
command as follows:echo source $(pwd)/install/local_setup.zsh >> ~/.zshrc and source ~/.zshrc
.
- BoundingBox2Df
- BoundingBox2Di
- BoundingBox3D
- DepthInfoStamped
- GnssFusionStatus
- Heartbeat
- Keypoint2Df
- Keypoint2Di
- Keypoint3D
- MagHeadingStatus
- Object
- ObjectsStamped
- PlaneStamped
- PosTrackStatus
- Skeleton2D
- Skeleton3D
You can get more information by reading the Stereolabs online documentation
You can get more information by reading the Stereolabs online documentation