Ros wrapper for the ZED Stereo Camera SDK
This sample is designed to work with the ZED stereo camera only and requires the ZED SDK. For more information: https://www.stereolabs.com
This sample is a wrapper for the ZED library in order to use the ZED Camera with ROS. You can publish Left+Depth or Left+Right images and camera info on the topics of your choice.
A set of parameters can be specified in the launch file. Two launch files are provided in the launch directory:
- zed_depth.launch: publish left and depth images with their camera info.
- zed_stereo.launch: publish left and right images with their camera info.
The zed_depth_stereo_wrapper is a catkin package made to run on ROS Indigo, and depends on the following ROS packages:
- roscpp
- rosconsole
- sensor_msgs
- opencv2
- cv_bridge
- image_transport
Place the package folder "zed_wrapper" in your catkin workspace source folder "~/catkin_ws/src"
Open a terminal :
$ cd ~/catkin_ws
$ catkin_make
$ source ./devel/setup.bash
Open a terminal :
$ roslaunch zed_wrapper zed_depth.launch
WARNING : to get the depth in meters (it's a requirement for ROS), the baseline has to be set manually to 0.12 using ZED Settings App
| Parameter | Description | Value |
|---|---|---|
| computeDepth | Toggle depth computation. | '0': depth not computed, Left+Right images published |
| | '1': depth computed, Left+Depth images published
svo_file | SVO filename | path to an SVO file
resolution | ZED Camera resolution | '0': HD2K
| | '1': HD1080
| | '2': HD720
| | '3': VGA
quality | Disparity Map quality | '1': PERFORMANCE
| | '2': QUALITY
sensing_mode | Depth sensing mode | '0': FULL
| | '1': RAW
frame_rate | Rate at which images are published | int
left_topic | Topic to which left images are published | string
second_topic | Topic to which depth or right images are published | string
left_cam_info_topic | Topic to which left camera info are published | string
second_cam_info_topic | Topic to which right or depth camera info are published | string
left_frame_id | ID specified in the left image message header | string
second_frame_id | ID specified in the depth or right image message header | string