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Merge branch 'master' of 192.168.1.93:sl/zed-ros2-examples
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‎README.md

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![](./images/Picto+STEREOLABS_Black.jpg)
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# Stereolabs ZED Camera - ROS 2 Tutorials and Examples
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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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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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‎examples/zed_depth_to_laserscan/README.md

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Usage:
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```bash
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ros2 launch zed_to_laser_scan zed_to_laser_scan.launch.py camera_model:=<camera_model>
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ros2 launch zed_depth_to_laserscan zed_depth_to_laserscan.launch.py camera_model:=<camera_model>
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```
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the launch file will start the ZED Wrapper node, the Depth Image to Laser Scan converter node, RVIZ2 for data visualization, and a Robot State Publisher node to broadcast the ZED camera static frames.

‎images/Picto+STEREOLABS_Black.jpg

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‎images/foo.txt

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‎tools/zed_benchmark/CMakeLists.txt

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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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# 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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# 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(${FOUND_ROS2_DISTRO} STREQUAL "humble" OR ${FOUND_ROS2_DISTRO} STREQUAL "iron")
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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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# 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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# dependencies
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set(DEPENDENCIES
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rclcpp
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rclcpp_components
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zed_topic_benchmark_component
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)
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# dependencies
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set(DEPENDENCIES
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rclcpp
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rclcpp_components
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zed_topic_benchmark_component
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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(ament_cmake_auto REQUIRED)
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ament_auto_find_build_dependencies()
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find_package(rclcpp REQUIRED)
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find_package(rclcpp_components REQUIRED)
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find_package(zed_topic_benchmark_component REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(rclcpp_components REQUIRED)
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find_package(zed_topic_benchmark_component REQUIRED)
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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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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 extra_files ${CMAKE_SOURCE_DIR}/*)
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add_custom_target(${PROJECT_NAME}_files SOURCES ${extra_files})
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###############################################################################
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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 extra_files ${CMAKE_SOURCE_DIR}/*)
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add_custom_target(${PROJECT_NAME}_files SOURCES ${extra_files})
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###############################################################################
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if(${FOUND_ROS2_DISTRO} STREQUAL "humble" OR ${FOUND_ROS2_DISTRO} STREQUAL "iron")
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## Sources
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set(SRC_CONT src/topic_benchmark_container.cpp)
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LIBRARY DESTINATION lib
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RUNTIME DESTINATION lib/${PROJECT_NAME}
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)
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endif()
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ament_package()
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ament_package()
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endif()
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‎tools/zed_benchmark_component/CMakeLists.txt

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endif()
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################################################
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if(${FOUND_ROS2_DISTRO} STREQUAL "humble" OR ${FOUND_ROS2_DISTRO} STREQUAL "iron")
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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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# 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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# dependencies
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set(DEPENDENCIES
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rclcpp
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rclcpp_components
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zed_topic_benchmark_interfaces
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)
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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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# 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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# dependencies
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set(DEPENDENCIES
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rclcpp
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rclcpp_components
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zed_topic_benchmark_interfaces
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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(ament_cmake_auto REQUIRED)
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ament_auto_find_build_dependencies()
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find_package(rclcpp REQUIRED)
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find_package(rclcpp_components REQUIRED)
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find_package(zed_topic_benchmark_interfaces REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(rclcpp_components REQUIRED)
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find_package(zed_topic_benchmark_interfaces REQUIRED)
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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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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 extra_files ${CMAKE_SOURCE_DIR}/*)
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add_custom_target(${PROJECT_NAME}_files SOURCES ${extra_files})
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###############################################################################
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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 extra_files ${CMAKE_SOURCE_DIR}/*)
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add_custom_target(${PROJECT_NAME}_files SOURCES ${extra_files})
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###############################################################################
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if(${FOUND_ROS2_DISTRO} STREQUAL "humble" OR ${FOUND_ROS2_DISTRO} STREQUAL "iron")
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## Sources
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set(SRC_COMP
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src/component/src/topic_benchmark_component.cpp
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ament_export_include_directories(include)
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ament_export_libraries(${PROJECT_NAME})
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ament_export_dependencies(${DEPENDENCIES})
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ament_package()
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endif()
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ament_package()
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‎tutorials/zed_rgb_convert/launch/zed_rgb_convert.launch.py

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camera_model = 'zed2'
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# Camera name
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camera_name = 'zed2'
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camera_name = 'zed2i'
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# URDF/xacro file to be loaded by the Robot State Publisher node
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xacro_path = os.path.join(

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