Modular

.gitignore

@@ -0,0 +1,39 @@
+# C++ objects and libs
+
+*.slo
+*.lo
+*.o
+*.a
+*.la
+*.lai
+*.so
+*.dll
+*.dylib
+
+# Qt-es
+
+/.qmake.cache
+/.qmake.stash
+*.pro.user
+*.pro.user.*
+*.qbs.user
+*.qbs.user.*
+*.moc
+moc_*.cpp
+moc_*.h
+qrc_*.cpp
+ui_*.h
+Makefile*
+*build-*
+
+# QtCreator
+
+*.autosave
+
+# QtCtreator Qml
+*.qmlproject.user
+*.qmlproject.user.*
+
+# QtCtreator CMake
+CMakeLists.txt.user*
+

README.md

@@ -30,7 +30,6 @@ The zed_ros_wrapper is a catkin package. It depends on the following ROS package
    - dynamic_reconfigure
    - urdf
 
-
 Open a terminal and build the package:
 
     cd ~/catkin_ws/src
@@ -43,19 +42,19 @@ Open a terminal and build the package:
 
 To launch the wrapper along with an Rviz preview, open a terminal and launch:
 
-    roslaunch zed_wrapper display.launch # by default open a ZED
+    $ roslaunch zed_display display.launch # by default open a ZED
 
 or
 
-    roslaunch zed_wrapper display_zedm.launch # open a ZED Mini
+    $ roslaunch zed_display display_zedm.launch # open a ZED Mini
 
 
 To launch the wrapper without Rviz, use:
 
-    roslaunch zed_wrapper zed.launch
+    $ roslaunch zed_wrapper zed.launch
 
  To select the ZED from its serial number
 
-    roslaunch zed_wrapper zed.launch serial_number:=1010 #replace 1010 with the actual SN
+    $ roslaunch zed_wrapper zed.launch serial_number:=1010 #replace 1010 with the actual SN
 
 [More](https://www.stereolabs.com/documentation/guides/using-zed-with-ros/introduction.html)

zed_display_rviz/CMakeLists.txt

@@ -0,0 +1,19 @@
+cmake_minimum_required(VERSION 2.8.7)
+
+project(zed_display_rviz)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+#Add all files in subdirectories of the project in
+# a dummy_target so qtcreator have access to all files
+FILE(GLOB_RECURSE extra_files ${CMAKE_SOURCE_DIR}/*)
+add_custom_target(dummy_${PROJECT_NAME} SOURCES ${extra_files})
+
+###############################################################################
+# INSTALL
+
+install(DIRECTORY
+  launch
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

zed_display_rviz/README.md

@@ -0,0 +1,21 @@
+# Stereolabs ZED Camera - ROS Display example
+
+This package lets you visualize in the RViz application all the possible information that can be acquired using a ZED camera.
+
+![ZED rendering on Rviz](images/depthcloud-RGB.png)
+
+### Run the program
+
+If you own a ZED camera launch:
+
+    $ roslaunch zed_display display.launch
+
+![ZED rendering on Rviz](images/ZED-Rviz.png)
+
+If you own a ZED Mini camera launch:
+
+    $ roslaunch zed_display display_zedm.launch
+
+![ZED rendering on Rviz](images/ZEDM-Rviz.png)
+
+[More](https://www.stereolabs.com/documentation/guides/using-zed-with-ros/introduction.html)

launch/display.launch → zed_display_rviz/launch/display.launch

@@ -24,6 +24,6 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
   </include>
 
   <!-- Launch rivz display -->
-  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find zed_wrapper)/rviz/zed.rviz" output="screen" />
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find zed_display_rviz)/rviz/zed.rviz" output="screen" />
 
 </launch>

launch/display_zedm.launch → zed_display_rviz/launch/display_zedm.launch

@@ -17,13 +17,15 @@ THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 -->
 <launch>
+    <arg name="svo_file"                default="" /> <!-- <arg name="svo_file" default="path/to/svo/file.svo"> -->
 
-  <!-- Launch ZED camera wrapper -->
-  <include file="$(find zed_wrapper)/launch/zed.launch">
-      <arg name="camera_model" value="1" /> <!-- 0=ZED, 1=ZEDM-->
-  </include>
+    <!-- Launch ZED camera wrapper -->
+    <include file="$(find zed_wrapper)/launch/zed.launch">
+        <arg name="camera_model"        value="1" /> <!-- 0=ZED, 1=ZEDM-->
+        <arg name="svo_file"            value="$(arg svo_file)" />
+    </include>
 
-  <!-- Launch rivz display -->
-  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find zed_wrapper)/rviz/zedm.rviz" output="screen" />
+    <!-- Launch rivz display -->
+    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find zed_display_rviz)/rviz/zedm.rviz" output="screen" />
 
 </launch>

zed_display_rviz/package.xml

@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>zed_display_rviz</name>
+  <version>1.0.0</version>
+  <description>
+    "zed_display" is a ROS package to visualize in Rviz the information from the "zed_wrapper" node
+  </description>
+  <maintainer email="[email protected]">STEREOLABS</maintainer>
+  <license>BSD</license>
+
+  <buildtool_depend>catkin</buildtool_depend>  
+
+  <exec_depend>rviz</exec_depend>
+  <exec_depend>rviz_imu_plugin</exec_depend>
+  <exec_depend>zed_wrapper</exec_depend>
+</package>