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ZED-SDK ROS2 Wrapper

We use the ZED-Mini camera for our robot. The ZED-Mini is a stereo camera with depth sensing capabilities. The camera is connected to the Nvidia Jetson AGX Orin Developer Kit via USB 3.0. The camera is controlled by the ZED-SDK library. The ZED-SDK comes with a ROS2 wrapper that we use. It is straight forward to install and use. Follow the instructions on the ZED-SDK ROS2 wrapper page to install the wrapper.

Requirements

  • Nvidia JetPack 5.1 installed on the Nvidia Jetson AGX Orin Developer Kit.
  • ZED-SDK v3.8.2 installed. The version is important, as this is the minimum version that supports the Nvidia Jetson AGX Orin Developer Kit, at the time of writing.

Usage

With the ZED-SDK ROS2 wrapper installed, you can run the ZED-SDK ROS2 wrapper nodes. The ZED-SDK ROS2 wrapper nodes are:

ros2 launch zed_wrapper zedm.launch.py

This will launch the ZED-Mini camera node. Instead of manually launching the node, you can also use our colcon package rnd-lugbot to launch the ZED Mini together with the ORBSLAM3 ROS2 wrapper nodes.

TODO

ros2 launch ./launch/orbslam3-zedm_launch.py