zed_cpu_ros2_wrapper

Prerequisites

• Stereo camera: ZED 2, ZED, ZED Mini

• Linux OS

• GCC (v7.5+)

• CMake (v3.1+)

• OpenCV (v3.4.0+)

• ROS2 (tested on galactic/humble)

Requirements package

• build-essential (for GCC compiler and build tools)

• cmake

• libusb-1.0-0-dev libhidapi-libusb0 libhidapi-dev

• libboost-dev

• libopencv-dev

Usage

1. Clone this repo in ros workspace

2. Build and source setup.bash

3. Run launch file

ros2 launch zed_cpu_ros2_wrapper zed_cpu_ros2_launch.py resolution:=<RESOLUTION> fps:=<FPS> publish_rate:=<PUBLISH_RATE>

Note : FPS needs to be greater than PUBLISH_RATE

ros2 launch zed_cpu_ros2_wrapper zed_cpu_ros2_launch.py resolution:=HD1080 fps:=15 publish_rate:=10.0

Parameter	Description	Type	Default	Option
resolution	Image resolution	string	HD1080	HD2K, HD1080, HD720, VGA
fps	Camera buffer update rate	int	15	100, 60, 30, 15
publish_rate	Image msg publish frame rate	double	10.0
use_camera_buffer_timestamps	Change timestamp source from ROS TIME to camera buffer time	bool	false
intra_process_comm	Intra process comm	bool	false
left_image_topic_name	Image topic name of left camera	string	zed/left_camera/image_raw
right_image_topic_name	Image topic name of right camera	string	zed/left_camera/image_raw
left_camera_frame_id	Frame id of left camera	string	left_camera
right_camera_frame_id	Frame id of right camera	string	left_camera
use_sensor_data_qos	Use sensor data qos	bool	false