Tutorial With Zed

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.

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 to zed, zed2, zed2i, zedm, zedx or zedxm. Also change the Fixed Frame in RViz to camera_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