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Merge branch 'master' of github.com:stereolabs/zed-ros2-examples
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‎README.md

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![](./images/Picto+STEREOLABS_Black.jpg)
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<h1 align="center">
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<img src="./images/Picto+STEREOLABS_Black.jpg" alt="Stereolabs" title="Stereolabs" /><br \>
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ROS 2 Tutorials and Examples
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</h1>
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# Stereolabs ZED Camera - ROS2 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 ROS2 framework
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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 2 framework
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[More information](https://www.stereolabs.com/docs/ros2/)
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## Getting started
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- First, be sure to have installed the main ROS2 package to integrate the ZED cameras in the ROS2 framework: [zed-ros2-wrapper](https://github.com/stereolabs/zed-ros2-wrapper/)
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- First, be sure to have installed the main ROS 2 package to integrate the ZED cameras in the ROS 2 framework: [zed-ros2-wrapper](https://github.com/stereolabs/zed-ros2-wrapper/)
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- [Install](#build-the-package) the Tutorials package
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- Read the online documentation for [More information](https://www.stereolabs.com/documentation/guides/using-zed-with-ros/introduction.html)
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### Prerequisites
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- Ubuntu 20.04
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- [ZED SDK](https://www.stereolabs.com/developers/release/latest/) v3.6 or later
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- [ROS2 ROS 2 Foxy Fitzroy](https://docs.ros.org/en/foxy/Installation/Linux-Install-Debians.html)
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- ROS 2 Foxy Fitzroy or ROS 2 Humble Hawksbill:
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- [Foxy on Ubuntu 20.04](https://docs.ros.org/en/foxy/Installation/Linux-Install-Debians.html)
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- [Humble on Ubuntu 22.04](https://docs.ros.org/en/humble/Installation/Linux-Install-Debians.html)
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### Build the package
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The `zed-ros-examples` repository is a collection of [colcon](http://design.ros2.org/articles/build_tool.html) packages.
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Open a terminal, clone the repository, update the dependencies and build the packages:
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$ cd ~/ros2_ws/src/ #use your current ros2 workspace folder
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$ git clone https://github.com/stereolabs/zed-ros2-examples.git
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$ cd ../
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$ rosdep install --from-paths src --ignore-src -r -y
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$ colcon build --symlink-install --cmake-args=-DCMAKE_BUILD_TYPE=Release
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$ source ~/.bashrc
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```bash
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cd ~/ros2_ws/src/ #use your current ros2 workspace folder
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git clone https://github.com/stereolabs/zed-ros2-examples.git
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cd ../
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sudo apt update
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rosdep update
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rosdep install --from-paths src --ignore-src -r -y
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colcon build --symlink-install --cmake-args=-DCMAKE_BUILD_TYPE=Release
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source ~/.bashrc
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```
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## Run the tutorials and examples
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## Tutorials and examples
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### Rviz visualization examples
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- Example launch files to start a preconfigured instance of Rviz displaying all the ZED Wrapper node information: [zed_display_rviz2](https://github.com/stereolabs/zed-ros2-examples/tree/master/zed_display_rviz2)
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- ROS2 plugin for ZED2 to visualize the results of the Object Detection module (bounding boxes and skeletons): [rviz-plugin-zed-od](https://github.com/stereolabs/zed-ros2-examples/tree/master/rviz-plugin-zed-od)
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- ROS 2 plugin for ZED2 to visualize the results of the Object Detection module (bounding boxes and skeletons): [rviz-plugin-zed-od](https://github.com/stereolabs/zed-ros2-examples/tree/master/rviz-plugin-zed-od)
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### Tutorials
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- [Images subscription tutorial](https://github.com/stereolabs/zed-ros2-examples/tree/master/tutorials/zed_video_tutorial)
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- [Depth subscription tutorial](https://github.com/stereolabs/zed-ros2-examples/tree/master/tutorials/zed_depth_tutorial)
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- [Pose/Odometry subscription tutorial](https://github.com/stereolabs/zed-ros2-examples/tree/master/tutorials/zed_pose_tutorial)
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- [ROS2 Composition + BGRA2BGR conversion tutorial](https://github.com/stereolabs/zed-ros2-examples/tree/master/tutorials/zed_rgb_convert)
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- [ROS 2 Composition + BGRA2BGR conversion tutorial](https://github.com/stereolabs/zed-ros2-examples/tree/master/tutorials/zed_rgb_convert)
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- [Multi-camera](https://github.com/stereolabs/zed-ros2-examples/tree/master/tutorials/zed_multi_camera)
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- [Robot integration](https://github.com/stereolabs/zed-ros2-examples/tree/master/tutorials/zed_robot_integration)
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### Examples
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* [ZED Localization with ArUco markers](./examples/zed_aruco_localization): use localized ArUco tags as a reference for localization.
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* [Convert ZED Depth map to virtual laser scan](./examples/zed_depth_to_laserscan): convert ZED Depth maps into virtual Laser Scans using
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* [ROS 2 Composition](https://docs.ros.org/en/humble/Concepts/Intermediate/About-Composition.html): use ROS 2 composition to convert BGRA images to BGR
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## Tools
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‎examples/README.md

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# Examples
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How to use the ZED ROS2 node with other ROS packages.
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How to use the ZED ROS2 node with other ROS packages or other nodes.
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* [zed_aruco_localization](./zed_aruco_localization): use localized ArUco tag as a reference for localization.
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* [zed_depth_to_laserscan](./zed_depth_to_laserscan): convert ZED Depth maps into virtual Laser Scans using
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* [ROS 2 Composition](https://docs.ros.org/en/humble/Concepts/Intermediate/About-Composition.html): use ROS 2 composition to convert BGRA images to BGR
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‎examples/zed_aruco_localization/.gitignore

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# C++ objects and libs
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*.slo
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*.lo
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*.o
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*.a
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*.la
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*.lai
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*.so
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*.dll
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*.dylib
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# Qt-es
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/.qmake.cache
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/.qmake.stash
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*.pro.user
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*.pro.user.*
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*.qbs.user
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*.qbs.user.*
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*.moc
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moc_*.cpp
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moc_*.h
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qrc_*.cpp
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ui_*.h
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Makefile*
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*build-*
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# QtCreator
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*.autosave
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# QtCtreator Qml
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*.qmlproject.user
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*.qmlproject.user.*
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# QtCtreator CMake
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CMakeLists.txt.user*
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‎examples/zed_aruco_localization/CMakeLists.txt

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cmake_minimum_required(VERSION 3.5)
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project(zed_aruco_localization)
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## Generate symbols for IDE indexer
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set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
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################################################
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# Check the ROS2 version
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set(ROS2_FOUND FALSE)
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if(DEFINED ENV{ROS_DISTRO})
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set(FOUND_ROS2_DISTRO $ENV{ROS_DISTRO})
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set(ROS2_FOUND TRUE)
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#message("* Found ROS2 ${FOUND_ROS2_DISTRO}")
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else()
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message("* ROS2 distro variable not set. Trying to figure it out...")
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set(ROS2_DISTROS "ardent;crystal;dashing;eloquent;foxy;galactic;humble;rolling")
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set(ROS2_FOUND FALSE)
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foreach(distro ${ROS2_DISTROS})
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if(NOT ROS2_FOUND)
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find_path(RCLCPP_H rclcpp.hpp PATHS /opt/ros/${distro}/include/rclcpp)
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if(RCLCPP_H)
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message("* Found ROS2 ${distro}")
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set(FOUND_ROS2_DISTRO ${distro})
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set(ROS2_FOUND TRUE)
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endif()
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endif()
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endforeach()
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endif()
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if(ROS2_FOUND)
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if(${FOUND_ROS2_DISTRO} STREQUAL "humble")
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#message("* ROS2 ${FOUND_ROS2_DISTRO} is officially supported by this package.")
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add_definitions(-DFOUND_HUMBLE)
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elseif(${FOUND_ROS2_DISTRO} STREQUAL "iron")
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#message("* ROS2 ${FOUND_ROS2_DISTRO} is officially supported by this package.")
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add_definitions(-DFOUND_IRON)
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else()
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message("*** WARNING *** ROS2 ${FOUND_ROS2_DISTRO} is not officially supported by the package '${PROJECT_NAME}'. Correct operation is not guaranteed.")
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endif()
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else()
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message("*** WARNING *** ROS2 distro is unknown. This package could not work correctly.")
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endif()
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################################################
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# Default to C99
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if(NOT CMAKE_C_STANDARD)
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set(CMAKE_C_STANDARD 99)
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endif()
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# Default to C++14
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if(NOT CMAKE_CXX_STANDARD)
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set(CMAKE_CXX_STANDARD 14)
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endif()
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#if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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# add_compile_options(-Wall -Wextra -Wpedantic)
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#endif()
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# if CMAKE_BUILD_TYPE is not specified, take 'Release' as default
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if(NOT CMAKE_BUILD_TYPE)
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set(CMAKE_BUILD_TYPE Release)
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endif()
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if(CMAKE_BUILD_TYPE MATCHES Release)
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#message(" * Release Mode")
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add_compile_options(-Wno-deprecated-declarations)
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endif()
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if(CMAKE_BUILD_TYPE MATCHES RelWithDebInfo)
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#message(" * Release with Debug Info Mode")
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add_compile_options(-Wno-deprecated-declarations)
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endif()
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if(CMAKE_BUILD_TYPE MATCHES Debug)
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message(" * Debug Mode")
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endif()
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#############################################
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# Dependencies
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find_package(OpenCV 4 REQUIRED)
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find_package(ZED 4 REQUIRED)
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find_package(CUDA REQUIRED)
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set(DEPENDENCIES_COMP
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rclcpp
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rclcpp_components
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builtin_interfaces
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sensor_msgs
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image_transport
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zed_interfaces
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tf2
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tf2_ros
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tf2_geometry_msgs
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)
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find_package(ament_cmake_auto REQUIRED)
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ament_auto_find_build_dependencies()
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find_package(rcutils REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(rclcpp_components REQUIRED)
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find_package(builtin_interfaces REQUIRED)
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find_package(sensor_msgs REQUIRED)
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find_package(image_transport REQUIRED)
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find_package(tf2 REQUIRED)
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find_package(tf2_ros REQUIRED)
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find_package(tf2_geometry_msgs REQUIRED)
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find_package(zed_components)
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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ament_lint_auto_find_test_dependencies()
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endif()
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###############################################################################
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#Add all files in subdirectories of the project in
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# a dummy_target so qtcreator have access to all files
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file(GLOB_RECURSE all_files ${CMAKE_SOURCE_DIR}/*)
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add_custom_target(all_${PROJECT_NAME}_files SOURCES ${all_files})
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# create ament index resource which references the libraries in the binary dir
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set(node_plugins "")
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if( ${FOUND_ROS2_DISTRO} STREQUAL "humble" OR ${FOUND_ROS2_DISTRO} STREQUAL "iron")
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###############################################################################
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# SOURCES
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set(INC
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${CMAKE_CURRENT_SOURCE_DIR}/src/include/aruco_loc_visibility_control.hpp
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)
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set(INC_COMP
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${CMAKE_CURRENT_SOURCE_DIR}/src/component/include/zed_aruco_localization_component.hpp
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${CMAKE_CURRENT_SOURCE_DIR}/src/component/include/aruco.hpp
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)
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set(SRC_COMP
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${CMAKE_CURRENT_SOURCE_DIR}/src/component/src/zed_aruco_localization_component.cpp
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${CMAKE_CURRENT_SOURCE_DIR}/src/component/src/aruco.cpp
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)
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###############################################################################
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# Bin and Install
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# Component
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add_library(${PROJECT_NAME}_component SHARED
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${INC}
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${INC_COMP}
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${SRC_COMP}
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)
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target_compile_definitions(${PROJECT_NAME}_component
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PRIVATE "COMPOSITION_BUILDING_DLL"
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)
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target_include_directories(${PROJECT_NAME}_component
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PUBLIC
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${CMAKE_CURRENT_SOURCE_DIR}/src/include
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${CMAKE_CURRENT_SOURCE_DIR}/src/component/include
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${OpenCV_INCLUDE_DIRS}
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)
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target_link_libraries(${PROJECT_NAME}_component
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${OpenCV_LIBS}
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)
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ament_target_dependencies(${PROJECT_NAME}_component
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${DEPENDENCIES_COMP}
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)
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rclcpp_components_register_nodes(${PROJECT_NAME}_component "stereolabs::ZedArucoLoc")
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set(node_plugins "${node_plugins}stereolabs::ZedArucoLoc;$<TARGET_FILE:${PROJECT_NAME}_component>\n")
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# Install components
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install(TARGETS ${PROJECT_NAME}_component
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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RUNTIME DESTINATION lib/${PROJECT_NAME}
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)
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# Install header files
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install(
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DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/src/include/
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DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/src/component/include/
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DESTINATION include/${PROJECT_NAME}/
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)
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# Install LAUNCH files
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install(DIRECTORY
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launch config rviz2
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DESTINATION share/${PROJECT_NAME}
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)
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ament_export_include_directories(include)
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ament_export_libraries(${PROJECT_NAME}_component)
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ament_export_dependencies(${DEPENDENCIES_COMP})
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endif()
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ament_package()

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