Tutorial With Zed
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Overview
This tutorial demonstrates how to perform stereo-camera-based reconstruction using a Zed camera and disparity_node.
Note
This tutorial requires a compatible ZED camera from the list of available cameras.
Tutorial Walkthrough
Complete the Zed Setup Tutorial.
Open a new terminal and launch the Docker container using the
run_dev.sh
script:cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \ ./scripts/run_dev.sh
Build and source the workspace:
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 launch file tozed
,zed2
,zed2i
,zedm
,zedx
orzedxm
. Also change the Fixed Frame in RViz tocamera_model
+_left_camera_optical_frame
.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