代码拉取完成，页面将自动刷新
This package lets you use the ZED stereo camera with ROS. It outputs the camera left and right images, depth map, point cloud, pose information and supports the use of multiple ZED cameras.
The zed_ros_wrapper is a catkin package. It depends on the following ROS packages:
Open a terminal, clone the repository, update the dependencies and build the packages:
$ cd ~/catkin_ws/src
$ git clone 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
To launch the ZED node use:
$ roslaunch zed_wrapper zed.launch$ roslaunch zed_wrapper zedm.launch$ roslaunch zed_wrapper zed2.launchTo select the ZED from its serial number:
$ roslaunch zed_wrapper zed.launch serial_number:=1010 #replace 1010 with the actual SN
To configure the features of the ZED node you can modify the configuration YAML files in the params folder.
A detailed description of each parameter is available in the official online documentation.
SVO recording can be started and stopped while the ZED node is running using the service start_svo_recording and the service stop_svo_recording.
More information
The SDK v3.0 introduces the Object Detection and Tracking module. The Object Detection module is available only with a ZED 2 camera.
The Object Detection can be enabled automatically when the node start setting the parameter object_detection/od_enabled to true in the file zed2.yaml.
The Object Detection can be enabled/disabled manually calling the services start_object_detection and stop_object_detection.
The Spatial Mapping can be enabled automatically when the node start setting the parameter mapping/mapping_enabled to true in the file common.yaml.
The Spatial Mapping can be enabled/disabled manually calling the services start_3d_mapping and stop_3d_mapping.
The ZED node publishes diagnostic information that can be used by the robotic system using a diagnostic_aggregator node.
With the rqt plugin Runtime monitor, it is possible to retrieve all the diagnostic information, checking that the node
is working as expected.
For robots moving on a planar surface it is possible to activate the "2D mode" (parameter tracking/two_d_mode in common.yaml).
The value of the coordinate Z for odometry and pose will have a fixed value (parameter tracking/fixed_z_value in common.yaml).
Roll and pitch and relative velocities will be fixed to zero.
The ZED node publishes diagnostic information that can be used by the robotic system using a diagnostic_aggregator node.
With the rqt plugin Runtime monitor, it is possible to retrieve all the diagnostic information, checking that the node is working as expected:
A brief explanation of each field:
Component: name of the diagnostic componentMessage: summary of the status of the ZED nodeHardwareID: Model of the ZED camera and its serial numberCapture: grabbing frequency (if video or depth data are subscribed) and the percentage respect to the camera frame rateProcessing time: time in seconds spent to elaborate data and the time limit to achieve max frame rateDepth status: indicates if the depth processing is performedPoint Cloud: point cloud publishing frequency (if there is at least a subscriber) and the percentage respect to the camera frame rateFloor Detection: if the floor detection is enabled, indicates if the floor has been detected and the camera position correctly initializedTracking status: indicates the status of the tracking, if enabledIMU: the publishing frequency of the IMU topics, if the camera is the ZED Mini and there is at least a subscriber此处可能存在不合适展示的内容，页面不予展示。您可通过相关编辑功能自查并修改。
如您确认内容无涉及 不当用语 / 纯广告导流 / 暴力 / 低俗色情 / 侵权 / 盗版 / 虚假 / 无价值内容或违法国家有关法律法规的内容，可点击提交进行申诉，我们将尽快为您处理。
马建仓 AI 助手