ZED深度相机的使用--zed-ros-wrapper

ZED相机能做什么

可以获取3D RGB点云用于生成地图，带有imu传感器可以获取位姿与移动轨迹，下面是厂家的宣传内容。

 

 

下载并安装ZED SDK

ZED SDK 3.6 - Download | Stereolabs

Developer Center | Stereolabs

 下载完成后更改权限，然后运行

chmod +x ZED_SDK_Tegra_JP46_v3.6.2.run
./ZED_SDK_Tegra_JP46_v3.6.2.run

 安装完成之后，切换到/usr/local/zed/tool目录

./ZED_Explorer

 

安装zed-ros-wrapper

cd ~/catkin_ws/src
git clone --recursive https://github.com/stereolabs/zed-ros-wrapper.git
git clone https://github.com/stereolabs/zed-ros-interfaces.git
git clone https://github.com/stereolabs/zed-ros-examples.git
cd ../
rosdep install --from-paths src --ignore-src -r -y
catkin_make -DCMAKE_BUILD_TYPE=Release
source ./devel/setup.bash
roslaunch zed_display_rviz display_zed.launch

Getting Started with ROS and ZED | Stereolabs