path_odom: The sequence of camera odometry poses in Map frame.pose_with_covariance: Camera pose referred to Map frame with covariance (if spatial_memory is false in launch parameters).pose: Camera pose referred to Map frame (complete data fusion algorithm is applied).odom: Odometry pose referred to odometry frame (only visual odometry is applied for ZED, visual-inertial for ZED Mini).The ZED position and orientation in space over time are published on the following topics: Note: Displaying point clouds slows down rviz 2, so open a new instance if you want to display other topics.

Setdepth.openni_depth_mode totrue` to get depth in millimeters with 16-bit precision, then restart the ZED node.Ī 3D colored point cloud can be displayed in rviz 2 subscribing to the point_cloud/cloud_registered topic.Īdd it in rviz 2 with point_cloud -> cloud -> PointCloud2. Note: An OpenNI compatibility mode is available by modifying the config/common.yaml file. RVIZ will normalize the depth map on 8-bit and display it as a grayscale depth image. depth/depth_registered: 32-bit depth values in meters.The depth map can be displayed in RVIZ subscribing to the following topic: confidence/confidence_image: Confidence map.left/image_raw_color: Color unrectified left image.left/image_rect_color: Color rectified left image.right/image_raw_color: Color unrectified right image.right/image_rect_color: Color rectified right image.rgb/image_raw_color: Color unrectified image (left image by default).rgb/image_rect_color: Color rectified image (left image by default).Here is a list of the main available image topics (more image topics are available): In rviz 2, select a topic and use the image preview mode. The ZED node publishes both original and stereo-rectified (aligned) left and right images. Note: If you haven’t yet configured your own rviz 2 interface, you can find a detailed tutorial here. Launch the ZED wrapper along with rviz 2 by using the following command (installing the zed-ros2-examples repository is required): Using rviz 2, you can visualize the left and right images acquired by the ZED cameras, the depth image and the 3D colored point cloud, plus other useful information. Rviz 2 is a useful visualization tool in ROS 2. For full descriptions of each available parameter, follow the complete guide. Note: You can set your own configurations by modifying the parameters in the files common.yaml, zed.yaml, zedm.yaml, zed2.yaml, zed2i.yaml, zedx.yaml, and zedxm.yaml available in the folder zed_wrapper/config. The, ,, ,, and are Python scripts that automatically start the ZED node using “ manual composition”, loading the parameters from the correct “YAML files”, and creating the camera model from the “URDF file” that is automatically created from a xacro configuration file. To start the ZED node, open a terminal and use the CLI command ros2 launch: Note: If you are using a different console interface like zsh, you have to change the source command as follows: echo source $(pwd)/install/local_setup.zsh > ~/.zshrc and source ~/.zshrc. This is true only for all the files that don’t need to be compiled (Python launch scripts, YAML configurations, etc). Using symlinks allows you to modify them in your workspace, reflecting the modification during the next executions without the needing to issue a new colcon build command. Each package in ROS 2 must be installed and all the files used by the nodes must be copied into the installation folders. It allows using symlinks instead of copying files to the ROS 2 folders during the installation, where possible. Note: The option -symlink-install is very important. It is very important to use the command -recursive while cloning the repository to retrieve also the latest version of the sub-module repository.

zed-ros2-interfaces contains the definitions of the custom topics and services, and the meshes for the 3D visualization of the camera models on rviz 2. Note: The zed-ros2-wrapper repository contains the repository zed-ros2-interfaces as a sub-module. $ echo source $( pwd )/install/local_setup.bash > ~/.bashrc $ colcon build -symlink-install -cmake-args =-DCMAKE_BUILD_TYPE =Release $ rosdep install -from-paths src -ignore-src -r -y $ cd ~/ros2_ws/src/ #use your current ros 2 workspace folder $ git clone -recursive

Open zed camera