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Merge pull request #31 from stereolabs/dev_noetic
Dev noetic
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‎README.md

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![](./images/Picto+STEREOLABS_Black.jpg)
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# Stereolabs ZED Camera - ROS Tutorials and Examples
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# Stereolabs ZED Camera - ROS Noetic Ninjemis Tutorials and Examples
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This package is a collection of examples and tutorials to illustrate how to better use the ZED cameras in the ROS framework
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### Prerequisites
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- Ubuntu 16.04 or newer (Ubuntu 18.04 recommended)
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- [ZED SDK **≥ 3.0**](https://www.stereolabs.com/developers/) and its dependency [CUDA](https://developer.nvidia.com/cuda-downloads)
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- [ROS Kinetic](http://wiki.ros.org/kinetic/Installation/Ubuntu) or [ROS Melodic](http://wiki.ros.org/melodic/Installation/Ubuntu) (recommended)
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- Ubuntu 20.04
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- [ZED SDK **≥ 3.5**](https://www.stereolabs.com/developers/) and its dependency [CUDA](https://developer.nvidia.com/cuda-downloads)
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- [ROS Noetic](http://wiki.ros.org/noetic/Installation/Ubuntu)
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- Ubuntu 18.04
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- [ZED SDK **≥ 3.5**](https://www.stereolabs.com/developers/) and its dependency [CUDA](https://developer.nvidia.com/cuda-downloads)
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- [ROS Melodic](http://wiki.ros.org/melodic/Installation/Ubuntu)
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### Build the program
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‎examples/zed_multicamera_example/launch/zed_camera_mod.launch ‎examples/zed_multicamera_example/launch/include/zed_camera_mod.launch

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‎examples/zed_multicamera_example/launch/include/zed_camera_nodelet_mod.launch

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<?xml version="1.0"?>
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<!--
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Copyright (c) 2020, STEREOLABS.
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All rights reserved.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
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A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
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LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
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THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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-->
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<launch>
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<!-- Camera Model and Name -->
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<arg name="camera_name" default="zed" /> <!-- The name you want -->
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<arg name="camera_model" default="zed" /> <!-- 'zed' or 'zedm' or 'zed2' -->
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<arg name="node_name" default="zed_nodelet" />
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<!-- Load SVO file -->
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<arg name="svo_file" default="" /><!-- <arg name="svo_file" default="path/to/svo/file.svo"> -->
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<!-- Remote stream -->
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<arg name="stream" default="" /> <!-- <arg name="stream" default="<ip_address>:<port>"> -->
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<!-- Base frame -->
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<arg name="base_frame" default="base_link" />
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<!-- Publish ZED urdf -->
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<arg name="publish_urdf" default="true" />
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<!-- Publish TF -->
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<arg name="publish_tf" default="true" />
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<arg name="camera_sn" default="0" />
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<arg name="gpu_id" default="-1" />
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<!-- Position respect to base frame (i.e. "base_link) -->
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<arg name="cam_pos_x" default="0.0" />
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<arg name="cam_pos_y" default="0.0" />
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<arg name="cam_pos_z" default="0.0" />
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<!-- Orientation respect to base frame (i.e. "base_link) -->
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<arg name="cam_roll" default="0.0" />
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<arg name="cam_pitch" default="0.0" />
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<arg name="cam_yaw" default="0.0" />
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<!-- NOTE: THE NODELET MANAGER MUST BE STARTED EXTERNALLY. SEE "zed_nodelet_example" -->
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<!-- Name of the Nodelet Manager -->
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<arg name="nodelet_manager_name" default="zed_nodelet_manager" />
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<!-- ROS URDF description of the ZED -->
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<group if="$(arg publish_urdf)">
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<param name="$(arg camera_name)_description"
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command="$(find xacro)/xacro '$(find zed_wrapper)/urdf/zed_descr.urdf.xacro'
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camera_name:=$(arg camera_name)
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camera_model:=$(arg camera_model)
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base_frame:=$(arg base_frame)
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cam_pos_x:=$(arg cam_pos_x)
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cam_pos_y:=$(arg cam_pos_y)
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cam_pos_z:=$(arg cam_pos_z)
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cam_roll:=$(arg cam_roll)
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cam_pitch:=$(arg cam_pitch)
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cam_yaw:=$(arg cam_yaw)"
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/>
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<node name="$(arg camera_name)_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" output="screen" required="true">
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<remap from="robot_description" to="$(arg camera_name)_description" />
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</node>
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</group>
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<node pkg="nodelet" type="nodelet" name="$(arg node_name)" args="load zed_nodelets/ZEDWrapperNodelet $(arg nodelet_manager_name)" output="screen">
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<rosparam file="$(find zed_wrapper)/params/common.yaml" command="load" />
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<rosparam file="$(find zed_wrapper)/params/$(arg camera_model).yaml" command="load" />
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<!-- Camera name -->
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<param name="general/camera_name" value="$(arg camera_name)" />
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<!-- Base frame -->
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<param name="general/base_frame" value="$(arg base_frame)" />
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<!-- SVO file path -->
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<param name="svo_file" value="$(arg svo_file)" />
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<!-- Remote stream -->
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<param name="stream" value="$(arg stream)" />
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<!-- Camera Serial Number -->
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<param name="general/serial_number" value="$(arg camera_sn)" />
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<!-- GPU ID -->
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<param name="general/gpu_id" value="$(arg gpu_id)" />
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<!-- TF -->
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<param name="pos_tracking/publish_tf" value="$(arg publish_tf)" />
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<param name="pos_tracking/publish_map_tf" value="$(arg publish_tf)" />
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</node>
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</launch>

‎examples/zed_multicamera_example/launch/zed_multi_cam.launch

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<arg name="cam_yaw_2" default="0.0" /> <!-- Orientation respect to base frame (i.e. "base_link) -->
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<group ns="$(arg camera_name_1)">
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<include file="$(find zed_multicamera_example)/launch/zed_camera_mod.launch">
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<include file="$(find zed_multicamera_example)/launch/include/zed_camera_mod.launch">
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<arg name="camera_name" value="$(arg camera_name_1)" />
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<arg name="node_name" value="$(arg node_name_1)" />
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<arg name="camera_model" value="$(arg camera_model_1)" />
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</group>
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<group ns="$(arg camera_name_2)">
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<include file="$(find zed_multicamera_example)/launch/zed_camera_mod.launch">
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<include file="$(find zed_multicamera_example)/launch/include/zed_camera_mod.launch">
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<arg name="camera_name" value="$(arg camera_name_2)" />
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<arg name="node_name" value="$(arg node_name_2)" />
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<arg name="camera_model" value="$(arg camera_model_2)" />

‎examples/zed_multicamera_example/launch/zed_multicam_single_nodelet.launch

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<?xml version="1.0"?>
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<!--
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Copyright (c) 2020, STEREOLABS.
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All rights reserved.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
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A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
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LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
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THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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-->
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<launch>
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<!-- System name -->
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<arg name="system_name" default="zed_multi" />
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<!-- Name of the Nodelet Manager -->
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<arg name="nodelet_manager_name" default="$(arg system_name)_nodelet_manager" />
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<!-- Start Rviz? -->
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<arg name="start_rviz" default="false" />
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<!-- FRONT CAMERA -->
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<arg name="camera_name_1" default="zed2_front" /> <!-- The name you want -->
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<arg name="camera_model_1" default="zed2" /> <!-- 'zed' or 'zedm' or 'zed2' -->
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<arg name="zed_nodelet_name_1" default="zed_nodelet_front" />
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<!-- Base frame -->
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<arg name="base_frame_1" default="base_link" />
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<!-- Publish ZED urdf -->
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<arg name="publish_urdf_1" default="true" />
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<!-- Publish odom TF -->
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<arg name="publish_tf_1" default="true" />
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<arg name="camera_sn_1" default="25555745" /> <!-- Very important to be able to identify the camera uniquely-->
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<arg name="gpu_id_1" default="-1" />
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<!-- Position respect to base frame (i.e. "base_link) -->
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<arg name="cam_pos_x_1" default="0.175" />
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<arg name="cam_pos_y_1" default="0.0" />
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<arg name="cam_pos_z_1" default="0.0" />
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<!-- Orientation respect to base frame (i.e. "base_link) -->
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<arg name="cam_roll_1" default="0.0" />
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<arg name="cam_pitch_1" default="0.0" />
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<arg name="cam_yaw_1" default="0.0" /> <!-- Looking forward -->
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<!-- REAR CAMERA -->
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<arg name="camera_name_2" default="zed2_rear" /> <!-- The name you want -->
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<arg name="camera_model_2" default="zed2" /> <!-- 'zed' or 'zedm' or 'zed2' -->
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<arg name="zed_nodelet_name_2" default="zed_nodelet_rear" />
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<!-- Base frame -->
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<arg name="base_frame_2" default="base_link" />
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<!-- Publish ZED urdf -->
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<arg name="publish_urdf_2" default="true" />
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<!-- Publish odom TF -->
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<arg name="publish_tf_2" default="false" /> <!-- Only one node must pushish TF, unless you use a Kalman filter to fuse odometries -->
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<arg name="camera_sn_2" default="23154724" /> <!-- Very important to be able to identify the camera uniquely-->
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<arg name="gpu_id_2" default="-1" />
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<!-- Position respect to base frame (i.e. "base_link) -->
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<arg name="cam_pos_x_2" default="-0.175" />
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<arg name="cam_pos_y_2" default="0.0" />
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<arg name="cam_pos_z_2" default="0.0" />
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<!-- Orientation respect to base frame (i.e. "base_link) -->
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<arg name="cam_roll_2" default="0.0" />
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<arg name="cam_pitch_2" default="0.0" />
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<arg name="cam_yaw_2" default="3.141592654" /> <!-- Looking backward -->
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<!-- Start Rviz-->
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<group if="$(eval arg('start_rviz')==true)">
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<node name="rviz" pkg="rviz" type="rviz" args="-d $(find zed_multicamera_example)/rviz/multi_cam_single_nodelet.rviz" output="screen" />
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</group>
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<!-- Start nodelet manager and two nodelets in the "system_name" namespace-->
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<group ns="$(arg system_name)">
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<!-- Common nodelet Manager -->
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<node pkg="nodelet" type="nodelet" name="$(arg nodelet_manager_name)" args="manager" output="screen" />
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<group ns="$(arg camera_name_1)">
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<!-- Load ZED wrapper nodelet for camera 1 -->
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<include file="$(find zed_multicamera_example)/launch/include/zed_camera_nodelet_mod.launch">
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<arg name="nodelet_manager_name" value="/$(arg system_name)/$(arg nodelet_manager_name)" />
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<arg name="camera_name" value="$(arg camera_name_1)" />
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<arg name="node_name" value="$(arg zed_nodelet_name_1)" />
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<arg name="camera_model" value="$(arg camera_model_1)" />
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<arg name="base_frame" value="$(arg base_frame_1)" />
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<arg name="publish_urdf" value="$(arg publish_urdf_1)" />
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<arg name="publish_tf" value="$(arg publish_tf_1)" />
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<arg name="camera_sn" value="$(arg camera_sn_1)" />
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<arg name="gpu_id" value="$(arg gpu_id_1)" />
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<arg name="cam_pos_x" value="$(arg cam_pos_x_1)" />
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<arg name="cam_pos_y" value="$(arg cam_pos_y_1)" />
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<arg name="cam_pos_z" value="$(arg cam_pos_z_1)" />
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<arg name="cam_roll" value="$(arg cam_roll_1)" />
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<arg name="cam_pitch" value="$(arg cam_pitch_1)" />
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<arg name="cam_yaw" value="$(arg cam_yaw_1)" />
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</include>
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</group>
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<group ns="$(arg camera_name_2)">
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<!-- Load ZED wrapper nodelet for camera 2-->
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<include file="$(find zed_multicamera_example)/launch/include/zed_camera_nodelet_mod.launch">
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<arg name="nodelet_manager_name" value="/$(arg system_name)/$(arg nodelet_manager_name)" />
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<arg name="camera_name" value="$(arg camera_name_2)" />
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<arg name="node_name" value="$(arg zed_nodelet_name_2)" />
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<arg name="camera_model" value="$(arg camera_model_2)" />
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<arg name="base_frame" value="$(arg base_frame_2)" />
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<arg name="publish_urdf" value="$(arg publish_urdf_2)" />
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<arg name="publish_tf" value="$(arg publish_tf_2)" />
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<arg name="camera_sn" value="$(arg camera_sn_2)" />
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<arg name="gpu_id" value="$(arg gpu_id_2)" />
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<arg name="cam_pos_x" value="$(arg cam_pos_x_2)" />
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<arg name="cam_pos_y" value="$(arg cam_pos_y_2)" />
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<arg name="cam_pos_z" value="$(arg cam_pos_z_2)" />
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<arg name="cam_roll" value="$(arg cam_roll_2)" />
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<arg name="cam_pitch" value="$(arg cam_pitch_2)" />
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<arg name="cam_yaw" value="$(arg cam_yaw_2)" />
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</include>
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</group>
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</group>
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</launch>

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