Resilient Teaming Project - ROS Wrapper for ZED stereocamera

This is the ROS wrapper for using the ZED stereocamera with the robots for the Resilient Teaming Project with the Barton Research Group at the University of Michigan.

Prerequisites

• Ubuntu 20.04
• ZED SDK ≥ 3.8 and its dependency CUDA
• ROS Noetic

or

• Ubuntu 18.04
• ZED SDK ≥ 3.8 and its dependency CUDA
• ROS Melodic

Getting started

• First, download the latest version of the ZED SDK on stereolabs.com
• Install the ZED ROS wrapper

Installing the ZED ROS wrapper

Open a terminal, clone the repository, update the dependencies and build the packages:

$ cd ~/catkin_ws/src
$ git clone --recursive https://github.com/AarishShah22/resilient-teaming-zed-ros-wrapper.git
$ cd ../
$ rosdep install --from-paths src --ignore-src -r -y
$ catkin_make -DCMAKE_BUILD_TYPE=Release
$ source ./devel/setup.bash

Update the local repository

To update the repository to the latest release you must use the following command to retrieve the latest commits of zed-ros-wrapper and of all the submodules:

$ git checkout main # if you are not on the main branch  
$ git pull --recurse-submodules # update recursively all the submodules

Remember to always clean the cache of your catkin workspace before compiling with the catkin_make command to be sure that everything will work as expected:

$ roscd
$ cd ..
$ rm -rf build
$ rm -rf devel
$ catkin_make -DCMAKE_BUILD_TYPE=Release

Run the ZED wrapper

To launch the ZED node, first source the workspace:

$ cd ~/catkin_ws
$ source devel/setup.bash

Then, according to your camera, launch the ZED node:

ZED camera:

$ roslaunch zed_wrapper zed.launch

ZED Mini camera:

$ roslaunch zed_wrapper zedm.launch

ZED2 camera:

$ roslaunch zed_wrapper zed2.launch

ZED2i camera:

$ roslaunch zed_wrapper zed2i.launch    

To select the ZED from its serial number:

 $ roslaunch zed_wrapper zed.launch serial_number:=1010 #replace 1010 with the actual SN