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Introduction

The ZED Stereo Camera is a lightweight depth camera based on passive stereo vision. It outputs up to 2208x1242 high-resolution stereo video on USB 3.0, and can work in high-speed mode in VGA at 100 FPS. The ZED SDK computes a depth map of the environment on the GPU of the host machine at the frame rate of the camera. It also gives you access to a strong odometry that learn its environment, making it able to relocate itself at any moments. Read More

https://www.stereolabs.com/blog/wp-content/uploads/2015/09/zed_face.jpg

The ZED Mini camera introduces a beautiful black design with an aluminium bezel designed to maintain sensing quality over time. The camera also features new gyroscope and accelerometer for visual-inertial motion tracking and a USB Type-C connector. Read more.

https://i1.wp.com/www.stereolabs.com/blog/wp-content/uploads/2017/09/zed-mini.jpg

Getting Started

Get the package

This package is a wrapper for the ZED SDK in order to use the ZED stereo Camera with ROS. It provides access to the ZED camera stereo images, depth map, 3D point cloud and 6-DOF tracking.

This package is designed to work with the ZED stereo camera and requires the installation of the ZED SDK. For more information: https://www.stereolabs.com

You can download the zed-ros-wrapper on Github: https://github.com/stereolabs/zed-ros-wrapper

Detailed documentation: https://docs.stereolabs.com/integrations/ros/zed_node/

Installation

  1. Get the necessary Point Cloud Library dependencies:
    • sudo apt-get install libpcl1

    • sudo apt-get install ros-kinetic-pcl-ros (where you might want to change "kinetic" to the distro you use)

Note: if you are using a ZED Mini and you want to visualize the IMU information using Rviz you need to install the “Rviz IMU plugin”: sudo apt-get install ros-kinetic-rviz-imu-plugin

  1. Get the package from Github and put it in your catkin src folder

  2. Build the package from your catkin root folder
    • cd ~/catkin

    • catkin_make zed-ros-wrapper

    • source ./devel/setup.bash

Published topics

Services

The ZED node provides the following services: *

Dynamic Parameters

The ZED node let you reconfigure dinamically 5 parameter:

Test the package

Open a terminal and enter the following command :

It will launch the zed-ros-wrapper, so make sure that your ZED camera is connected to your computer. Note that the ZED camera needs to be connected through an USB3.0 port to work at full speed.

To see the rectified image from the ZED camera, just enter the following command in an other terminal :

The easiest way to visualize ZED's topics is to use rviz http://wiki.ros.org/rviz:

You can also see the point could fused with the odometry by subscribing to the 'odom' topic (even in an other rviz or an other node).

To change your referential, use the 'Fixed Frame' parameter at the top-left of rviz.

Launch with a recorded SVO video

With the ZED you can record and play back a stereo video using the .svo file format. To record a video, just use the ZED Explorer as explained in the ZED documentation. https://www.stereolabs.com/developers/documentation/API/page2.html

To launch the zed-ros-wrapper with an SVO file, use the svo_file parameter in the command line at the launch of the package.

An SSD drive is recommended for real-time video capture and playback.

"svo_file" is just one of the parameters available in the package. For the full list of available parameters, please check the documetation on Stereolabs website: https://docs.stereolabs.com/integrations/ros/zed_node/

Using the URDF file

The zed-ros-wrapper provides the URDF model of the ZED to help you visualize and integrate the ZED in your robot. The topic name of the URDF description is zed_description.

3D mapping using RTAB-map

An example package is provided to interface with the RTAB-map package and to start to generate 3D maps:

Report an Issue

If you encounter an issue with the zed-ros-wrapper, please refer to the dedicated issue list on Github at https://github.com/stereolabs/zed-ros-wrapper/issues


2018-12-08 13:38