Tutorial With Zed
==================

.. figure:: :ir_lfs:`<resources/isaac_ros_docs/repositories_and_packages/isaac_ros_image_pipeline/zed_sgm.png>`
    :align: center

Overview
---------

This tutorial demonstrates how to perform stereo-camera-based
reconstruction using a
`Zed <https://www.stereolabs.com/>`__
camera and
:ir_repo:`disparity_node <isaac_ros_image_pipeline> <isaac_ros_stereo_image_proc/src/disparity_node.cpp>`.

.. note::

    This tutorial requires a compatible ZED camera from the list of available
    :ref:`cameras <getting_started/hardware_setup/sensors/zed_setup:Camera Compatibility>`.

Tutorial Walkthrough
--------------------

1. Complete the :doc:`Zed Setup Tutorial </getting_started/hardware_setup/sensors/zed_setup>`.
2. Open a new terminal and launch the Docker container using the
   ``run_dev.sh`` script:

   .. code:: bash

      cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \
        ./scripts/run_dev.sh

3. Build and source the workspace:

   .. code:: bash

      cd /workspaces/isaac_ros-dev && \
        colcon build --symlink-install && \
        source install/setup.bash

   .. note::

      If you are not using the ZED2i camera, modify the ``camera_model`` variable in the :ir_repo:`launch file <isaac_ros_apriltag> <isaac_ros_apriltag/launch/isaac_ros_apriltag_zed.launch.py>`
      to ``zed``, ``zed2``, ``zed2i``, ``zedm``, ``zedx`` or ``zedxm``.
      Also change the `Fixed Frame <http://wiki.ros.org/rviz/UserGuide#The_Fixed_Frame>`__ in RViz to ``camera_model`` + ``_left_camera_optical_frame``.

4. Run the launch file, which launches the example, and wait for 10
   seconds:

   .. code:: bash

      ros2 launch isaac_ros_stereo_image_proc isaac_ros_stereo_image_pipeline_zed.launch.py