Version: ROS 2 Humble

Stereolabs Zed 2

Item Numbers

Description	CPR Item	Sales Kit	Installation Kit, With Fasteners
ZED 2 sensor	023611	028960	028959
ZED 2i sensor	025844	026872	027210

Specifications

Description	Value, ZED 2	Value, ZED 2i
Mass	166 g	166 g
Voltage, Minimum	4.75 V	4.75 V
Voltage, Maximum	5.25 V	5.25 V
Voltage, Sensor	USB (5 VDC)	USB (5 VDC)
Power, Average	1.9 W	1.9 W
Data	USB 3.0	USB 3.0
Range, Minimum	0.3 m	0.2 m
Range, Maximum	20 m	20 m
View, Horizontal	110°	110°
View, Vertical	70°	70°
Ingress Protection, Solids	Unknown ( assume 4 )	6
Ingress Protection, Liquids	Unknown ( assume 0 )	6
Operating Temperature, Min	-10 °C	-10 °C
Operating Temperature, Max	45 °C	45 °C

Software Bringup

This sensor is included in the Clearpath Robotics robot package that is installed on all of our robots. This allows you to add or remove the sensor from your robot's software description by modifying the robot configuration yaml.

camera:
  - model: stereolabs_zed
    urdf_enabled: true
    launch_enabled: true
    parent: base_link
    xyz: [0.0, 0.0, 0.0]
    rpy: [0.0, 0.0, 0.0]
    ros_parameters:
      stereolabs_zed:
        general.grab_frame_rate: 30
        general.serial_number: 0
        general.camera_model: 'zed2'
        general.grab_resolution: 'AUTO'

Package and Setup

The Stereolabs Zed cameras use the zed-ros2-wrapper ROS 2 driver. The driver is open source, maintained by Stereolabs, and hosted on GitHub. The zed_wrapper nodes depend on the the ZED SDK. The zed-ros2-wrapper ROS packages and the ZED SDK are not installed by ROS dependencies because the SDK and the wrapper depend on CUDA and need to be built against the specific version installed on your computer. Therefore, **you will have to install these manually by following the instructions in the zed-ros2-wrapper repository.

For specifics on the way Clearpath's configuration system launches the camera, see the Stereolabs Zed launch file and the default parameter file in clearpath_sensors.

Camera Model

The general.camera_model parameter must be modified to the match the type of Zed camera being used. See the list below for all models:

zed
zedm
zed2
zed2i
zedx
zedxm
virtual

Serial Number

The general.serial_number parameter can be left at 0 if only one camera is connected to that computer. If multiple cameras are connected, make sure to define a serial number for each.

Resolution

The general.grab_resolution parameter can be modified to change the resolution preset of the camera. Not all cameras support all presets. See the list below for all presets:

AUTO
HD2K
HD1080
HD720
VGA

Troubleshooting

Clearpath is committed to your success. Please get in touch with us and we will do our best to get you rolling again quickly: support@clearpathrobotics.com.

To get in touch with a salesperson regarding Clearpath Robotics products, please email research-sales@clearpathrobotics.com.

If you have an issue that is specifically about ROS and is something which may be of interest to the broader community, consider asking it on https://robotics.stackexchange.com. If you do not get a satisfactory response, please ping us and include a link to your question as posted there. If appropriate, we will answer in the ROS Answers context for the benefit of the community.

Item Numbers​

Specifications​

Software Bringup​

Package and Setup​

Camera Model​

Serial Number​

Resolution​

Troubleshooting​

Further Reading​