Ros wrapper for the ZED Stereo Camera SDK
This sample is designed to work with the ZED stereo camera only and requires the ZED SDK. For more information: https://www.stereolabs.com
This wrapper also requires the PCL library
This sample is a wrapper for the ZED library in order to use the ZED Camera with ROS. It can provide the camera images, the depth map, and a 3D point cloud Published topics:
- /camera/point_cloud/cloud
- /camera/depth/camera_info
- /camera/depth/image_rect_color
- /camera/left/camera_info
- /camera/left/image_rect_color
- /camera/rgb/camera_info
- /camera/rgb/image_rect_color
A set of parameters can be specified in the launch file provided in the launch directory.
- zed.launch
The zed_ros_wrapper is a catkin package made to run on ROS Indigo, and depends on the following ROS packages:
- roscpp
- rosconsole
- sensor_msgs
- opencv2
- cv_bridge
- image_transport
Place the package folder "zed_wrapper" in your catkin workspace source folder "~/catkin_ws/src"
Open a terminal :
$ cd ~/catkin_ws
$ catkin_make
$ source ./devel/setup.bash
Open a terminal to launch the wrapper:
$ roslaunch zed_wrapper zed.launch
Open an other terminal to display images:
$ rosrun image_view image_view image:=/camera/rgb/image_rect_color
If you want to see the point cloud, launch rviz, select zed_optical_frame in Displays->Global Options->Fixed Frame->zed_optical_frame. Then click on 'add' (bottom left), select the 'By Topic' tab, select point_cloud->cloud->PointCloud2 and click 'OK'.
$ rosrun rviz rviz
Note that rviz isn't very good at displaying a camera feed and a point cloud at the same time. You should use an other instance of rviz or the rosrun
command.
Parameter | Description | Value |
---|---|---|
svo_file | SVO filename | path to an SVO file |
resolution | ZED Camera resolution | '0': HD2K |
_ | _ | '1': HD1080 |
_ | _ | '2': HD720 |
_ | _ | '3': VGA |
quality | Disparity Map quality | '1': PERFORMANCE |
_ | _ | '2': QUALITY |
sensing_mode | Depth sensing mode | '0': FULL |
_ | _ | '1': RAW |
frame_rate | Rate at which images are published | int |
rgb_topic | Topic to which rgb==default==left images are published | string |
rgb_cam_info_topic | Topic to which rgb==default==left camera info are published | string |
rgb_frame_id | ID specified in the rgb==default==left image message header | string |
left_topic | Topic to which left images are published | string |
left_cam_info_topic | Topic to which left camera info are published | string |
left_frame_id | ID specified in the left image message header | string |
right_topic | Topic to which right images are published | string |
right_cam_info_topic | Topic to which right camera info are published | string |
right_frame_id | ID specified in the right image message header | string |
depth_topic | Topic to which depth map images are published | string |
depth_cam_info_topic | Topic to which depth camera info are published | string |
depth_frame_id | ID specified in the depth image message header | string |
point_cloud_topic | Topic to which point clouds are published | string |
cloud_frame_id | ID specified in the point cloud message header | string |