Static Reconstruction with ZED

https://media.githubusercontent.com/media/NVIDIA-ISAAC-ROS/.github/main/resources/isaac_ros_docs/repositories_and_packages/isaac_ros_nvblox/zed_example.gif/

This tutorial demonstrates how to perform depth-camera based reconstruction using a ZED camera.

Note

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

Host System Setup

The ROS 2 message delivery can be unreliable under high load without some small modifications to the QoS profile (especially on weaker machines). Before running this example, run one of the following:

To set the parameter temporarily, until reboot:

sudo sysctl -w net.core.rmem_max=8388608 net.core.rmem_default=8388608

To set the parameter permanently, run:

echo -e "net.core.rmem_max=8388608\nnet.core.rmem_default=8388608\n" | sudo tee /etc/sysctl.d/60-cyclonedds.conf

See DDS tuning for more details.

Installing the Dependencies

  1. Complete steps 1 and 2 described in the Nvblox Quickstart Guide to set up your development environment and clone the required repositories.

  2. Complete the Isaac ROS ZED Setup to set up ZED.

Example with ZED Live Data

  1. Complete the sections above.

  2. Connect the ZED device to your machine using a USB 3 cable/port.

  3. Run the ROS Docker container using the run_dev.sh script:

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

  4. Build and source the workspace:

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

  5. At this point, you can check that the ZED camera is connected by running the ZED_Explorer:

    /usr/local/zed/tools/ZED_Explorer

  6. If successful, run the launch file to spin up the example:

    ros2 launch nvblox_examples_bringup zed_example.launch.py