Isaac ROS ZED Setup#

https://media.githubusercontent.com/media/NVIDIA-ISAAC-ROS/.github/release-4.0/resources/isaac_ros_docs/getting_started/zed_parts.png/

ZED cameras require the following to be able to publish data to ROS 2 topics:

  1. ZED SDK (Step 5 of Setup Instructions)

  2. zed-ros2-wrapper (Cloned in Step 1 of Setup Instructions)

  3. ZED X driver (Installed by user on host machine in Step 3 of Setup Instructions)

Note

At the time of release, the ZED SDK has not been updated for compatibility with Jetson Thor. Make sure to check their release notes <https://github.com/stereolabs/zed-sdk/releases> for updates and their most current recommended specifications <https://www.stereolabs.com/docs/development/zed-sdk/specifications> before proceeding.

Camera Compatibility#

All cameras supported by the zed ros2 wrapper work with Isaac ROS.

ZED Model

SQA Testing?

ZED 2i

✓

ZED X

✓

ZED 2

✗

ZED

✗

ZED Mini

✗

ZED X Mini

✗

Setup Instructions#

This tutorial assumes that you have set up your development environment by following the instructions here.

  1. Clone the zed-ros2-wrapper repository on the master branch:

cd ${ISAAC_ROS_WS}/src && \
git clone --recurse-submodules https://github.com/stereolabs/zed-ros2-wrapper

  1. If you are using ZED X or ZED X Mini refer to the appropriate stereolabs setup guide.

    • You do not need to install the ZED SDK because this is done in Step 5 of Setup Instructions.

    • You must install the ZED driver.

  2. Plug in the USB cable of your ZED camera, before activating the Isaac ROS environment in the next step.

  3. Activate the Isaac ROS environment:

isaac-ros activate

  1. Install the ZED SDK.

    Use install-zed-x86_64.sh below if you are running on X86.

sudo chmod +x ${ISAAC_ROS_WS}/src/isaac_ros_common/docker/scripts/install-zed-aarch64.sh && \
${ISAAC_ROS_WS}/src/isaac_ros_common/docker/scripts/install-zed-aarch64.sh

  1. Install the dependencies for the zed_wrapper package and build it:

cd ${ISAAC_ROS_WS} && \
sudo apt update && \
rosdep update && rosdep install --from-paths src/zed-ros2-wrapper --ignore-src -r -y && \
colcon build --symlink-install --packages-up-to zed_wrapper

  1. After the container image is rebuilt and you are inside the container, you can run /usr/local/zed/tools/ZED_Explorer to check that the ZED camera is connected.

/usr/local/zed/tools/ZED_Explorer

If everything is working as expected, verify that you have something similar to the following:

https://media.githubusercontent.com/media/NVIDIA-ISAAC-ROS/.github/release-4.0/resources/isaac_ros_docs/getting_started/zed_explorer.png/