ZED_Bridge

ROS bridge for the ZED 2i camera, since the official shitty one doesn't work.

Setup

Requirements

• ROS Humble
• ZED SDK
• CUDA

Instructions

Docker (recommended for development)

• Run the command docker build -t zed_bridge . to build the image.
• Run the command docker run -it --gpus all zed_bridge to start the container. Inside the container, go to the /catkin_ws directory and make the following:
  • source /opt/ros/humble/setup.bash
  • colcon build --symlink-install --parallel-workers 4
• Exit the container and check its ID with docker ps --all.
• Run the command docker commit --change 'CMD /bin/bash -c "source /opt/ros/humble/setup.bash /&& source /catkin_ws/install/setup.bash && ros2 launch zed_bridge zed_bridge.launch.xml"' <my-container-id> zed_bridge.
• Now, finally, run the command docker run --rm -it --gpus all --network=host --ipc=host --privileged zed_bridge.

Bare metal

• Install ROS Humble, if not already installed.
• Install CUDA, if not already installed.
• Install ZED SDK.
• Create a workspace and put this package in it.
• From the root of the workspace, run the command colcon build --symlink-install --parallel-workers 8.
• Run the command ros2 run zed_bridge zed_bridge.