Tutorial With Zed



This tutorial demonstrates how to perform stereo-camera-based reconstruction using a Zed camera and disparity_node.


This tutorial requires a compatible ZED camera from the list of available cameras.

Tutorial Walkthrough

  1. Complete the Zed Setup Tutorial.

  2. Open a new terminal and launch the Docker container using the run_dev.sh script:

    cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \
  3. Build and source the workspace:

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


    If you are not using the ZED2i camera, modify the camera_model variable in the launch file to zed, zed2, zed2i, zedm, zedx or zedxm. Also change 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:

    ros2 launch isaac_ros_stereo_image_proc isaac_ros_stereo_image_pipeline_zed.launch.py