---
# System prepended metadata

title: ZED ROS
tags: [視覺組]

---

###### tags: `視覺組`
> [name=楊育陞(bbnoir83@gmail.com)]

Reference:
https://www.stereolabs.com/docs/ros/

# Build The Packages
共有三個ros package:
[zed-ros-wrapper](https://github.com/stereolabs/zed-ros-wrapper):主要產生node的package，安裝在處理影像的裝置即可(xavier)
[zed-ros-interface](https://github.com/stereolabs/zed-ros-interfaces):包含在zed-ros-wrapper中，用於遠端監視用的裝置(PC)
[zed-ros-examples](https://github.com/stereolabs/zed-ros-examples):使用wrapper的範例程式

在建立好的catkin環境執行以下程式，安裝zed-ros-wrapper
```=
cd ~/catkin_ws/src
git clone --recursive https://github.com/stereolabs/zed-ros-wrapper.git
cd ../
rosdep install --from-paths src --ignore-src -r -y
catkin_make -DCMAKE_BUILD_TYPE=Release
source ./devel/setup.bash
```
將第2行的`zed-ros-wrapper.git`，改成`zed-ros-interface`或是`zed-ros-examples`，安裝另外兩個package。

# Starting the ZED node

```
roslaunch zed_wrapper zed.launch
```

# Displaying ZED data
在有安裝`zed-ros-examples`的環境執行:
```
roslaunch zed_display_rviz display_zed.launch
```

# Container
https://www.stereolabs.com/docs/docker/install-guide-jetson/