Skip to main content
Version: ROS 2 Humble

stereolabs_zed

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
Last updated on