diff --git a/CMakeLists.txt b/CMakeLists.txt
index c677419f..a2c2c9e6 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -43,6 +43,7 @@ find_package(catkin COMPONENTS
   roscpp
   rosconsole
   sensor_msgs
+  stereo_msgs
   dynamic_reconfigure
   tf2_ros
   pcl_conversions
@@ -54,6 +55,7 @@ checkPackage("image_transport" "")
 checkPackage("roscpp" "")
 checkPackage("rosconsole" "")
 checkPackage("sensor_msgs" "")
+checkPackage("stereo_msgs" "")
 checkPackage("dynamic_reconfigure" "")
 checkPackage("tf2_ros" "")
 checkPackage("pcl_conversions" "")
@@ -69,6 +71,7 @@ catkin_package(
     roscpp
     rosconsole
     sensor_msgs
+    stereo_msgs
     opencv
     image_transport
     dynamic_reconfigure
diff --git a/README.md b/README.md
index 97df7155..15b27fdc 100644
--- a/README.md
+++ b/README.md
@@ -25,6 +25,7 @@ The zed_ros_wrapper is a catkin package. It depends on the following ROS package
    - roscpp
    - rosconsole
    - sensor_msgs
+   - stereo_msgs
    - opencv
    - image_transport
    - dynamic_reconfigure
diff --git a/launch/zed_camera.launch b/launch/zed_camera.launch
index fc26c1d6..ec4f09ee 100644
--- a/launch/zed_camera.launch
+++ b/launch/zed_camera.launch
@@ -31,6 +31,7 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
     <arg name="base_frame"            default="zed_center" />
     <arg name="camera_frame"          default="zed_left_camera" />
     <arg name="depth_frame"           default="zed_depth_camera" />
+    <arg name="disparity_frame"       default="zed_depth_camera" />
     <!-- Publish urdf zed -->
     <arg name="publish_urdf"          default="true" />
     
@@ -44,7 +45,8 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
         <param name="base_frame"            value="$(arg base_frame)" />
         <param name="camera_frame"          value="$(arg camera_frame)" />
         <param name="depth_frame"           value="$(arg depth_frame)" />
-    
+        <param name="disparity_frame"       value="$(arg disparity_frame)" />
+        
         <!-- SVO file path -->
         <param name="svo_filepath"          value="$(arg svo_file)" />
 
diff --git a/package.xml b/package.xml
index cb581d5e..c8052dd6 100644
--- a/package.xml
+++ b/package.xml
@@ -16,6 +16,7 @@
   <build_depend>roscpp</build_depend>
   <build_depend>rosconsole</build_depend>
   <build_depend>sensor_msgs</build_depend>
+  <build_depend>stereo_msgs</build_depend>
   <build_depend>opencv</build_depend>
   <build_depend>image_transport</build_depend>
   <build_depend>dynamic_reconfigure</build_depend>
@@ -29,6 +30,7 @@
   <run_depend>roscpp</run_depend>
   <run_depend>rosconsole</run_depend>
   <run_depend>sensor_msgs</run_depend>
+  <run_depend>stereo_msgs</run_depend>
   <run_depend>opencv</run_depend>
   <run_depend>image_transport</run_depend>
   <run_depend>dynamic_reconfigure</run_depend>
diff --git a/src/zed_wrapper_nodelet.cpp b/src/zed_wrapper_nodelet.cpp
index fb20fb5e..61ab6e31 100644
--- a/src/zed_wrapper_nodelet.cpp
+++ b/src/zed_wrapper_nodelet.cpp
@@ -42,6 +42,7 @@
 #include <sensor_msgs/distortion_models.h>
 #include <sensor_msgs/image_encodings.h>
 #include <image_transport/image_transport.h>
+#include <stereo_msgs/DisparityImage.h>
 #include <dynamic_reconfigure/server.h>
 #include <zed_wrapper/ZedConfig.h>
 #include <nav_msgs/Odometry.h>
@@ -100,6 +101,7 @@ namespace zed_wrapper {
         image_transport::Publisher pub_right;
         image_transport::Publisher pub_raw_right;
         image_transport::Publisher pub_depth;
+        ros::Publisher pub_disparity;
         ros::Publisher pub_cloud;
         ros::Publisher pub_rgb_cam_info;
         ros::Publisher pub_left_cam_info;
@@ -116,6 +118,7 @@ namespace zed_wrapper {
         std::string right_frame_id;
         std::string rgb_frame_id;
         std::string depth_frame_id;
+        std::string disparity_frame_id;
         std::string cloud_frame_id;
         std::string odometry_frame_id;
         std::string base_frame_id;
@@ -352,6 +355,26 @@ namespace zed_wrapper {
             }
             pub_depth.publish(imageToROSmsg(depth, encoding, depth_frame_id, t));
         }
+        
+        /* \brief Publish a cv::Mat disparity image with a ros Publisher
+         * \param disparity : the disparity image to publish
+         * \param pub_disparity : the publisher object to use
+         * \param disparity_frame_id : the id of the reference frame of the depth image
+         * \param t : the ros::Time to stamp the depth image
+         */
+        void publishDisparity(cv::Mat disparity, ros::Publisher& pub_disparity, string disparity_frame_id, ros::Time t) {
+            sl::CameraInformation zedParam = zed.getCameraInformation();
+            sensor_msgs::ImagePtr disparity_image = imageToROSmsg(disparity,  sensor_msgs::image_encodings::TYPE_32FC1, disparity_frame_id, t);
+            
+            stereo_msgs::DisparityImage msg;
+            msg.image = *disparity_image;
+            msg.header = msg.image.header;
+            msg.f = zedParam.calibration_parameters.left_cam.fx;
+            msg.T = zedParam.calibration_parameters.T.x;
+            msg.min_disparity = msg.f * msg.T / zed.getDepthMaxRangeValue();
+            msg.max_disparity = msg.f * msg.T / zed.getDepthMinRangeValue();
+            pub_disparity.publish(msg);
+        }
 
         /* \brief Publish a pointCloud with a ros Publisher
          * \param width : the width of the point cloud
@@ -523,7 +546,7 @@ namespace zed_wrapper {
             trackParams.area_file_path = odometry_DB.c_str();
 
 
-            sl::Mat leftZEDMat, rightZEDMat, depthZEDMat;
+            sl::Mat leftZEDMat, rightZEDMat, depthZEDMat, disparityZEDMat;
             // Main loop
             while (nh_ns.ok()) {
                 // Check for subscribers
@@ -534,9 +557,10 @@ namespace zed_wrapper {
                 int right_SubNumber = pub_right.getNumSubscribers();
                 int right_raw_SubNumber = pub_raw_right.getNumSubscribers();
                 int depth_SubNumber = pub_depth.getNumSubscribers();
+                int disparity_SubNumber = pub_disparity.getNumSubscribers();
                 int cloud_SubNumber = pub_cloud.getNumSubscribers();
                 int odom_SubNumber = pub_odom.getNumSubscribers();
-                bool runLoop = (rgb_SubNumber + rgb_raw_SubNumber + left_SubNumber + left_raw_SubNumber + right_SubNumber + right_raw_SubNumber + depth_SubNumber + cloud_SubNumber + odom_SubNumber) > 0;
+                bool runLoop = (rgb_SubNumber + rgb_raw_SubNumber + left_SubNumber + left_raw_SubNumber + right_SubNumber + right_raw_SubNumber + depth_SubNumber + disparity_SubNumber + cloud_SubNumber + odom_SubNumber) > 0;
 
                 runParams.enable_point_cloud = false;
                 if (cloud_SubNumber > 0)
@@ -554,7 +578,7 @@ namespace zed_wrapper {
                         zed.disableTracking();
                         tracking_activated = false;
                     }
-                    computeDepth = (depth_SubNumber + cloud_SubNumber + odom_SubNumber) > 0; // Detect if one of the subscriber need to have the depth information
+                    computeDepth = (depth_SubNumber + disparity_SubNumber + cloud_SubNumber + odom_SubNumber) > 0; // Detect if one of the subscriber need to have the depth information
                     ros::Time t = ros::Time::now(); // Get current time
 
                     grabbing = true;
@@ -663,6 +687,14 @@ namespace zed_wrapper {
                         publishDepth(toCVMat(depthZEDMat), pub_depth, depth_frame_id, t); // in meters
                     }
 
+                    // Publish the disparity image if someone has subscribed to
+                    if (disparity_SubNumber > 0) {
+                        zed.retrieveMeasure(disparityZEDMat, sl::MEASURE_DISPARITY);
+                        // Need to flip sign, but cause of this is not sure
+                        cv::Mat disparity = toCVMat(disparityZEDMat) * -1.0;
+                        publishDisparity(disparity, pub_disparity, disparity_frame_id, t);
+                    }
+
                     // Publish the point cloud if someone has subscribed to
                     if (cloud_SubNumber > 0) {
                         // Run the point cloud conversion asynchronously to avoid slowing down all the program
@@ -753,7 +785,8 @@ namespace zed_wrapper {
             nh_ns.param<std::string>("base_frame", base_frame_id, "base_frame");
             nh_ns.param<std::string>("camera_frame", camera_frame_id, "camera_frame");
             nh_ns.param<std::string>("depth_frame", depth_frame_id, "depth_frame");
-
+            nh_ns.param<std::string>("disparity_frame", disparity_frame_id, "dispairty_frame");
+            
             // Get parameters from launch file
             nh_ns.getParam("resolution", resolution);
             nh_ns.getParam("quality", quality);
@@ -814,6 +847,8 @@ namespace zed_wrapper {
 
             string depth_cam_info_topic = "depth/camera_info";
 
+            string disparity_topic = "disparity/disparity_image";
+
             string point_cloud_topic = "point_cloud/cloud_registered";
             cloud_frame_id = camera_frame_id;
 
@@ -837,6 +872,8 @@ namespace zed_wrapper {
             nh_ns.getParam("depth_topic", depth_topic);
             nh_ns.getParam("depth_cam_info_topic", depth_cam_info_topic);
 
+            nh_ns.getParam("disparity_topic", disparity_topic);
+
             nh_ns.getParam("point_cloud_topic", point_cloud_topic);
 
             nh_ns.getParam("odometry_topic", odometry_topic);
@@ -918,6 +955,10 @@ namespace zed_wrapper {
             pub_depth = it_zed.advertise(depth_topic, 1); //depth
             NODELET_INFO_STREAM("Advertized on topic " << depth_topic);
 
+            // Disparity publisher
+            pub_disparity = nh.advertise<stereo_msgs::DisparityImage>(disparity_topic, 1);
+            NODELET_INFO_STREAM("Advertized on topic " << disparity_topic);
+
             //PointCloud publisher
             pub_cloud = nh.advertise<sensor_msgs::PointCloud2> (point_cloud_topic, 1);
             NODELET_INFO_STREAM("Advertized on topic " << point_cloud_topic);