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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