zed-ros-wrapper

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

Build the program

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

Run the program

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.

Launch file parameters

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