ubuntu18配置ZED+ros

ubuntu18配置ZED+ros

1.安装nvidia显卡驱动

查看适配自己显卡的驱动

ubuntu-drivers devices

选择recommended版本的驱动

sudo apt-get install nvidia-driver-525

重启

sudo reboot

验证安装是否成功

nvidia-smi

2.安装cuda

安装匹配版本的cuda

去cuda官网，选择rufile local的版本下载
网址：https://developer.nvidia.com

sudo sh cuda_11.8.xxx.xxx.xx_linux.run

将一下代码添加进./bashrc，并更新source ~/.bashrc

export PATH=/usr/local/cuda-11.8/bin${PATH:+:${PATH}}
export LD_LIBRARY_PATH=/usr/local/cuda-11.8/lib64${LD_LIBRARY_PATH:+:${LD_LIBRARY_PATH}}

测试cuda是否安装成功

nvcc -V

3.安装zed-sdk

SDK下载网址：https://www.stereolabs.com/developers/release/
学习资料：https://www.stereolabs.com/docs/get-started-with-zed/

安装

chomd +x xxxx.run
./xxxx.run

测试

./ZED_Explore

4.配置ros

配置ros教程
http://wiki.ros.org/cn/melodic/Installation/Ubuntu
创建catkin_ws空间
https://blog.csdn.net/weixin_43297891/article/details/115426161

5.安装ZED ros包

$ 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