ROS 2 - ZED Node

The easiest way to start a ZED ROS 2 node is by using the command line:

ros2 launch zed_wrapper zed_camera.launch.py camera_model:=<camera model>

Note: the old launch command $ ros2 launch zed_wrapper <camera model>.launch.py is now obsolete and will be removed in a future release of the wrapper.

Published Topics #

The ZED node publishes data to the following topics:

• Left camera

  • ~/left/camera_info: Left camera calibration data.
  • ~/left/image_rect_color: Left camera color rectified image.
  • ~/left_gray/image_rect_gray: Left camera gray rectified image.
  • ~/left_raw/camera_info: Left camera raw calibration data.
  • ~/left_raw/image_rect_color: Left camera color unrectified image.
  • ~/left_raw_gray/image_rect_gray: Left camera gray unrectified image.
  • ~/rgb/camera_info: RGB calibration data.
  • ~/rgb/image_rect_color: RGB color rectified image.
  • ~/rgb_gray/image_rect_gray: RGB gray rectified image.
  • ~/rgb_raw/camera_info: RGB raw calibration data.
  • ~/rgb_raw/image_rect_color: RGB color unrectified image.
  • ~/rgb_raw_gray/image_rect_gray: RGB gray unrectified image.

• Right camera

  • ~/right/camera_info: Right camera calibration data.
  • ~/right/image_rect_color: Right camera color rectified image.
  • ~/right_gray/image_rect_gray: Right camera gray rectified image.
  • ~/right_raw/camera_info: Right camera raw calibration data.
  • ~/right_raw/image_rect_color: Right camera color unrectified image.
  • ~/right_raw_gray/image_rect_gray: Right camera gray unrectified image.

• Stereo pair

  • ~/stereo/image_rect_color: side-by-side left/right rectified stereo pair. Calibration data are available in the topics: ~/left/camera_info and ~/right/camera_info.
  • ~/stereo_raw/image_raw_color: side-by-side left/right unrectified stereo pair. Calibration data are available in the topics: ~/left_raw/camera_info and ~/right_raw/camera_info.

• Depth and point cloud

  • ~/depth/camera_info: Depth camera calibration data.
  • ~/depth/depth_registered: Depth map image registered on left image.
  • ~/depth/depth_info: minimum and maximum depth information (custom message).
  • ~/point_cloud/cloud_registered: Registered color point cloud.
  • ~/confidence/confidence_map: Confidence image (doubleing point values).
  • ~/disparity/disparity_image: Disparity image.

• Sensors data

  • ~/left_cam_imu_transform: Transform from the left camera sensor to the IMU sensor.
  • ~/imu/data: Accelerometer, gyroscope, and orientation data in Earth frame.
  • ~/imu/data_raw: Accelerometer and gyroscope data in Earth frame.
  • ~/imu/mag: Raw magnetometer data (only ZED 2 and ZED 2i).
  • ~/atm_press: atmospheric pressure (only ZED 2 and ZED 2i).
  • ~/temperature/imu: temperature measured by the IMU sensor.
  • ~/temperature/left: temperature measured near the left CMOS sensor (only ZED 2 and ZED 2i).
  • ~/temperature/right: temperature measured near the right CMOS sensor (only ZED 2 and ZED 2i).

• Positional tracking

  • ~/pose: Absolute 3D position and orientation relative to the Map frame (Sensor Fusion algorithm + SLAM).
  • ~/pose/status: the status of the positional tracking module (custom message).
  • ~/pose_with_covariance: Camera pose referred to Map frame with covariance.
  • ~/odom: Absolute 3D position and orientation relative to the Odometry frame (pure visual odometry for ZED, visual-inertial odometry for ZED Mini).
  • ~/odom/status: the status of the odometry from the positional tracking module (custom message).
  • ~/path_map: Sequence of camera poses in Map frame.
  • ~/path_odom: Sequence of camera odometry poses in Map frame.

• Geo Tracking

  • ~/pose/filtered: the GNSS fused pose of the robot
  • ~/pose/filtered/status: the status of the GNSS fused pose (custom message).
  • ~/geo_pose/: the Latitude/Longitude pose of the robot
  • ~/geo_pose/status: the status of the Latitude/Longitude pose (custom message).

• 3D Mapping

  • ~/mapping/fused_cloud: Fused point cloud created when the enable_mapping service is called.

• Object Detection

  • ~/obj_det/objects: detected objects (custom message).

• Body Tracking

  • ~/body_trk/skeletons: detected body skeletons (custom message).

• Plane Detection

  • ~/plane: Detected plane (custom message).
  • ~/plane_marker: Detected plane object to be displayed on RVIZ2.

Note: Each topic has a common prefix created by the launch file as ~ = /<namespace>/<node_name>/, where <namespace> is replaced with the value of the parameter camera_name and <node_name> is the name of the node, e.g. zed_node.

Image Transport #

The ROS 2 wrapper supports the stack image_transport introduced with ROS 2 Crystal Clemmys.

All the image topics are published using the image_transport::CameraPublisher object, that correctly associates the sensor_msgs::msg::CameraInfo message to the relative sensor_msg::msg::Image message and creates the relative compressed image streams.

QoS profiles #

All the topics are configured by default to use the following ROS 2 QoS profile:

• History: KEEP_LAST
• Depth: 5
• Reliability: RELIABLE
• Durability: VOLATILE

The QoS settings can be modified by changing the relative parameters in the YAML files, as described below.

When creating a subscriber, be sure to use a compatible QOS profile according to the following tables:

Compatibility of QoS durability profiles:

Compatibility of QoS reliability profiles:

In order for a connection to be made, all of the policies that affect compatibility must be compatible. For instance, if a publisher-subscriber pair has compatible reliability QoS profiles, but incompatible durability QoS profiles, the connection will not be made.

Configuration parameters #

Specify your launch parameters in the common.yaml, zed.yaml, zedm.yaml, zed2.yaml, and zed2i.yaml files available in the folder zed_wrapper/config.

General parameters #

Namespace: general

common.yaml

Parameter	Description	Value
svo_file	Specify SVO filename	string, Note: relative file paths are not allowed
svo_loop	Restart the SVO if the end of the file is reached	true, false
svo_realtime	if true SVO will be played trying to respect the original framerate eventually skipping frames, otherwise every frame will be processed respecting the pub_frame_rate setting	true, false
camera_timeout_sec	Camera timeout (sec) if communication fails	int
camera_max_reconnect	Reconnection temptatives after timeout, before shutting down	int
camera_flip	Flip the camera data if it is mounted upsidedown	true, false
zed_id	Select a ZED camera by its ID. IDs are assigned by Ubuntu. Useful when multiple cameras are connected. ID is ignored if an SVO path is specified	int, default 0
serial_number	Select a ZED camera by its Serial Number	int
pub_resolution	The resolution used for output. ‘NATIVE’ to use the same general.grab_resolution - CUSTOM to apply the general.pub_downscale_factor downscale factory to reduce bandwidth in transmission	string,‘NATIVE’‘SVGA’, ‘VGA’, ‘LOW’
pub_downscale_factor	Rescale factor used to rescale image before publishing when ‘pub_resolution’ is ‘CUSTOM’	double
pub_frame_rate*	Set the video/depth publish rate	double
gpu_id	Select a GPU device for depth computation	int
region_of_interest	A polygon defining the ROI where the ZED SDK perform the processing ignoring the rest. Coordinates must be normalized to ‘1.0’ to be resolution independent.	string (e.g. "[[0.5,0.25],[0.75,0.5],[0.5,0.75],[0.25,0.5]]")
sdk_verbose	Set the verbosity of the SDK. ‘0’ to disable	int

^* Dynamic parameter

zed.yaml, zedm.yaml, zed2.yaml, zed2i.yaml, zedx.yaml, and zedxm.yaml

Parameter	Description	Value
camera_model	Type of Stereolabs camera	string, zed, zedm, zed2, zed2i, zedx, zedxm
camera_name	User name for the camera, can be different from camera model	string
grab_resolution	The native camera grab resolution.	string, ‘HD2K’, ‘HD1200’,‘HD1080’, ‘HD720’, ‘SVGA’, ‘VGA’, ‘AUTO’
grab_frame_rate	ZED SDK internal grabbing rate	int, ‘15’,‘30’,‘60’,‘90’,‘100’,‘120’

Video parameters #

Namespace: video

common.yaml

Parameter	Description	Value
brightness*	Image brightness	int, [0,8]
contrast*	Image contrast	int, [0,8]
hue*	Image hue	int, [0,11]
saturation*	Image saturation	int, [0,8]
sharpness*	Image sharpness	int, [0,8]
gamma*	Image gamma	int, [0,8]
auto_exposure_gain*	Enable the auto exposure and auto gain	true, false
exposure*	Exposure value if auto-exposure is false	int [0,100]
gain*	Gain value if auto-exposure is false	int [0,100]
auto_whitebalance*	Enable the auto white balance	true, false
whitebalance_temperature*	White balance temperature	int [28,65]
qos_history	How to queue messages	0: KEEP_LAST - 1: KEEP_ALL
qos_depth	Size of the queue if KEEP_LAST	int
qos_reliability	Enable resending of not delivered message, if RELIABLE	0: BEST_EFFORT - 1: RELIABLE
qos_durability	Enable storing of unread message if TRANSIENT_LOCAL	0: TRANSIENT_LOCAL - 1: VOLATILE

^* Dynamic parameter

zedx.yaml, and zedxm.yaml

Parameter	Description	Value
exposure_time*	Defines the real exposure time in microseconds. Recommended to control manual exposure (instead of video.exposure setting)	int, [28,30000]
auto_exposure_time_range_min*	Defines the minimum range of exposure auto control in micro seconds	int
auto_exposure_time_range_max*	Defines the maximum range of exposure auto control in micro seconds	int
exposure_compensation*	Defines the Exposure-target compensation made after auto exposure. Reduces the overall illumination target by factor of F-stops.	int, [0 - 100]
analog_gain*	Defines the real analog gain (sensor) in mDB. Recommended to control manual sensor gain (instead of video.gain setting)	int, [1000-16000].
auto_analog_gain_range_min*	Defines the minimum range of sensor gain in automatic control	int
auto_analog_gain_range_max*	Defines the maximum range of sensor gain in automatic control	int
digital_gain*	Defines the real digital gain (ISP) as a factor. Recommended to control manual ISP gain (instead of video.gain setting)	int, [1-256]
auto_digital_gain_range_min*	Defines the minimum range of digital ISP gain in automatic control	int
auto_digital_gain_range_max*	Defines the maximum range of digital ISP gain in automatic control	int
denoising*	Defines the level of denoising applied on both left and right images	int, [0-100]

^* Dynamic parameter

Depth parameters #

Namespace: depth

common.yaml

Parameter	Description	Value
depth_mode	Select depth map quality	string, ‘NONE’, ‘PERFORMANCE’, ‘QUALITY’, ‘ULTRA’, ‘NEURAL’
depth_stabilization	Enable depth stabilization. Stabilizing the depth requires an additional computation load as it enables tracking	int, [0,100]
openni_depth_mode	Enable/disable the depth OpenNI format (16 bit, millimeters)	int, [0,1]
point_cloud_freq*	frequency of the pointcloud publishing (equal or less to grab_frame_rate value)	double
depth_confidence*	Depth confidence threshold (lower values = more filtering)	int [0,100]
depth_texture_conf*	Depth tectureconfidence threshold (lower values = more filtering)	int [0,100]
remove_saturated_areas*	If true color saturated areas are not included in the depth map	true, false
qos_history	How to queue messages	0: KEEP_LAST - 1: KEEP_ALL
qos_depth	Size of the queue if KEEP_LAST	int
qos_reliability	Enable resending of not delivered message, if RELIABLE	0: BEST_EFFORT - 1: RELIABLE
qos_durability	Enable storing of unread message if TRANSIENT_LOCAL	0: TRANSIENT_LOCAL - 1: VOLATILE

Note: To disable depth calculation set quality to NONE. All the other parameters relative to depth will be ignored and only the video streams and sensors data will be published.

^* Dynamic parameter

zed.yaml, zedm.yaml, zed2.yaml, zed2i.yaml, zedx.yaml, and zedxm.yaml

Parameter	Description	Value
min_depth	Minimum depth value (from the camera) that will be computed	double
max_depth	Maximum range allowed for depth. Values beyond this limit will be reported as TOO_FAR	double, ]0.0,20.0]

^* Dynamic parameter

Positional tracking parameters (Odometry and Localization) #

Namespace: pos_tracking

common.yaml

Parameter	Description	Value
pos_tracking_enabled	Enable positional tracking when the node starts	true, false
pos_tracking_mode	Use ‘QUALITY’ outdoors with ‘ULTRA’ depth mode for improved odometry	string, ‘QUALITY’, ‘STANDARD’
imu_fusion	Enable IMU fusion. When set to false, only the optical odometry will be used.	true, false
publish_tf	Enable publishing of transform odom -> base_link and all the other transforms	true, false
publish_map_tf	Enable publishing of transform map -> odom. Only valid if publish_tf is true	true, false
map_frame	Frame_id of the pose message	string
odometry_frame	Frame_id of the odom message	string
area_memory_db_path	The full path of the space memory DB	string
area_memory	Enable Loop Closing algorithm	true, false
depth_min_range	Set this value for removing fixed zones of the robot in the FoV of the camerafrom the visual odometry evaluation	double
set_as_static	If ’true’ the camera will be static and not move in the environment	true, false
set_gravity_as_origin	If ’true’ align the positional tracking world to imu gravity measurement. Keep the yaw from the user initial pose.	true, false
floor_alignment	Indicates if the floor must be used as origin for height measures	true, false
initial_base_pose	Initial reference pose. Useful if the base_link does not start from the origin	array
init_odom_with_first_valid_pose	Inizitialized odometry from the first valid pose, not from the origin	true, false
path_pub_rate	Frequency (Hz) of publishing of the path messages	double
path_max_count	Maximum number of poses kept in the pose arrays (-1 for infinite)	int
two_d_mode	Enable if robot moves on a planar surface. Forces Z to fixed_z_value, roll and pitch to zero	true, false
fixed_z_value	Fixed value assigned to Z coordinate if two_d_mode is true	double
transform_time_offset	The value added to the timestamp of map->odom and odom->base_link transform being generated	double
qos_history	How to queue messages	0: KEEP_LAST - 1: KEEP_ALL
qos_depth	Size of the queue if KEEP_LAST	int
qos_reliability	Enable resending of not delivered message, if RELIABLE	0: BEST_EFFORT - 1: RELIABLE
qos_durability	Enable storing of unread message if TRANSIENT_LOCAL	0: TRANSIENT_LOCAL - 1: VOLATILE

Geo Tracking #

Namespace: gnss_fusion

common.yaml

Mapping parameters #

Namespace: mapping

common.yaml

Parameter	Description	Value
mapping_enabled	Enable/disable the mapping module	true, false
resolution	Resolution of the fused point cloud [0.01, 0.2]	double, default=0.1
max_mapping_range	Maximum depth range while mapping in meters (-1 for automatic calculation) [2.0, 20.0]	double
fused_pointcloud_freq	Publishing frequency (Hz) of the 3D map as fused point cloud	double
clicked_point_topic	Topic published by Rviz when a point of the cloud is clicked. Used for plane detection	string, default "/clicked_point"
qos_history	How to queue messages	0: KEEP_LAST - 1: KEEP_ALL
qos_depth	Size of the queue if KEEP_LAST	int
qos_reliability	Enable resending of not delivered message, if RELIABLE	0: BEST_EFFORT - 1: RELIABLE
qos_durability	Enable storing of unread message if TRANSIENT_LOCAL	0: TRANSIENT_LOCAL - 1: VOLATILE

Namespace: sensors

common.yaml

Parameter	Description	Value
publish_imu_tf	Enable publishing of transform imu_link -> left_camera_frame.	true, false
sensors_image_sync	Synchronize Sensors messages with latest published video/depth message	true, false
sensors_pub_rate:	Frequency of publishing of sensors data. MAX: 400. - MIN: grab rate	double
qos_history	How to queue messages	0: KEEP_LAST - 1: KEEP_ALL
qos_depth	Size of the queue if KEEP_LAST	int
qos_reliability	Enable resending of not delivered message, if RELIABLE	0: BEST_EFFORT - 1: RELIABLE
qos_durability	Enable storing of unread message if TRANSIENT_LOCAL	0: TRANSIENT_LOCAL - 1: VOLATILE

Object detection parameters #

Namespace: object_detection

common.yaml

Parameter	Description	Value
od_enabled	Automatically enables Object Detection when the node starts	true, false
model	Detection model	string, ‘MULTI_CLASS_BOX_FAST’, ‘MULTI_CLASS_BOX_MEDIUM’, ‘MULTI_CLASS_BOX_ACCURATE’, ‘PERSON_HEAD_BOX_FAST’, ‘PERSON_HEAD_BOX_ACCURATE’
allow_reduced_precision_inference	Allow inference to run at a lower precision to improve runtime and memory usage	true, false
max_range	Defines a upper depth range for detections [m]	double
confidence_threshold*	Minimum value of the detection confidence of an object	double, [0,99]
prediction_timeout	During this time [sec], the object will have OK state even if it is not detected. Set this parameter to 0 to disable SDK predictions	double
filtering_mode	Defines the filtering mode that should be applied to raw detections.	‘0’: NONE - ‘1’: NMS3D - ‘2’: NMS3D_PER_CLASS
mc_people*	Enable people detection for MULTI_CLASS_BOX and MULTI_CLASS_BOX_ACCURATE models	true, false
mc_vehicle*	Enable vehicles detection for MULTI_CLASS_BOX and MULTI_CLASS_BOX_ACCURATE models	true, false
mc_bag*	Enable bags detection for MULTI_CLASS_BOX and MULTI_CLASS_BOX_ACCURATE models	true, false
mc_animal*	Enable animals detection for MULTI_CLASS_BOX and MULTI_CLASS_BOX_ACCURATE models	true, false
mc_electronics*	Enable electronic devices detection for MULTI_CLASS_BOX and MULTI_CLASS_BOX_ACCURATE models	true, false
mc_fruit_vegetable*	Enable fruits and vegetables detection for MULTI_CLASS_BOX and MULTI_CLASS_BOX_ACCURATE models	true, false
mc_sport*	Enable sport related object detection for MULTI_CLASS_BOX and MULTI_CLASS_BOX_ACCURATE models	true, false
qos_history	How to queue messages	0: KEEP_LAST - 1: KEEP_ALL
qos_depth	Size of the queue if KEEP_LAST	int
qos_reliability	Enable resending of not delivered message, if RELIABLE	0: BEST_EFFORT - 1: RELIABLE
qos_durability	Enable storing of unread message if TRANSIENT_LOCAL	0: TRANSIENT_LOCAL - 1: VOLATILE

^* Dynamic parameter

Body Tracking parameters #

Namespace: body_tracking

common.yaml

Parameter	Description	Value
bt_enabled	True to enable Body Tracking	true, false
model	Detection model	string, ‘HUMAN_BODY_FAST’, ‘HUMAN_BODY_MEDIUM’, ‘HUMAN_BODY_ACCURATE’
body_format	Skeleton format	string, ‘BODY_18’,‘BODY_34’,‘BODY_38’,‘BODY_70’
allow_reduced_precision_inference	Allow inference to run at a lower precision to improve runtime and memory usage	true, false
max_range	Defines a upper depth range for detections [m]	double
body_kp_selection	Defines the body selection outputted by the sdk when retrieveBodies is called	string, ‘FULL’, ‘UPPER_BODY’
enable_body_fitting	Defines if the body fitting will be applied	true, false
enable_tracking	Defines if the object detection will track objects across images flow	true, false
prediction_timeout_s	During this time [sec], the skeleton will have OK state even if it is not detected. Set this parameter to 0 to disable SDK predictions	double
confidence_threshold*	Minimum value of the detection confidence of skeleton key points	double, [0,99]
minimum_keypoints_threshold*	Minimum number of skeleton key points to be detected for a valid skeleton	int
qos_history	How to queue messages	0: KEEP_LAST - 1: KEEP_ALL
qos_depth	Size of the queue if KEEP_LAST	int
qos_reliability	Enable resending of not delivered message, if RELIABLE	0: BEST_EFFORT - 1: RELIABLE
qos_durability	Enable storing of unread message if TRANSIENT_LOCAL	0: TRANSIENT_LOCAL - 1: VOLATILE

^* Dynamic parameter

Debug parameters #

Namespace: debug

common.yaml

Parameter	Description	Value
debug_common	Enable general debug log outputs	true, false
debug_video_depth	Enable video/depth debug log outputs	true, false
debug_camera_controls	Enable camera controls debug log outputs	true, false
debug_point_cloud	Enable point cloud debug log outputs	true, false
debug_positional_tracking	Enable positional tracking debug log outputs	true, false
debug_gnss	Enable GNSS fusion debug log outputs	true, false
debug_sensors	Enable sensors debug log outputs	true, false
debug_mapping	Enable mapping debug log outputs	true, false
debug_terrain_mapping	Enable terrain mapping debug log outputs	true, false
debug_object_detection	Enable object detection debug log outputs	true, false
debug_body_tracking	Enable body tracking debug log outputs	true, false

Dynamic parameters #

The ZED node lets you reconfigure many parameters dynamically during the execution of the node. All the dynamic parameters are indicated with a ^* in the list above and with the tag [DYNAMIC] in the comments of the YAML files.

You can set the parameters using the CLI command ros2 param set, e.g.:

$ ros2 param set /zed/zed_node depth.confidence 80

if the parameter is set successfully, you will get a confirmation message:

Set parameter successful

In the case you tried to set a parameter that’s not dynamically reconfigurable, or you specified an invalid value, you will get this error:

$ ros2 param set /zed/zed_node depth.confidence 150
Set parameter failed

and the ZED node will report a warning message explaining the error type:

1538556595.265117561: [zed.zed_node] [WARN]	The param 'depth.confidence' requires an INTEGER value in the range ]0,100]

You can also use the Configuration -> Dynamic Reconfigure plugin of the rqt tool to dynamically set parameters by using a graphic interface.

Transform frames #

The ZED ROS 2 wrapper broadcasts multiple coordinate frames that each provides information about the camera’s position and orientation. If needed, the reference frames can be changed in the launch file.

• <camera_name>_camera_link is the current position and orientation of the ZED base center. It corresponds to the bottom central fixing hole.
• <camera_name>_camera_center is the current position and orientation of ZED middle baseline, determined by visual odometry and the tracking module.
• <camera_name>_right_camera is the position and orientation of the ZED’s right camera.
• <camera_name>_right_camera_optical is the position and orientation of the ZED’s right camera optical frame.
• <camera_name>_left_camera is the position and orientation of the ZED’s left camera.
• <camera_name>_left_camera_optical is the position and orientation of the ZED’s left camera optical frame.
• <camera_name>_imu_link is the origin of the inertial data frame (not available with ZED).
• <camera_name>_mag_link is the origin of the magnetometer frame (ZED2/ZED2i only).
• <camera_name>_baro_link is the origin of the barometer frame (ZED2/ZED2i only).
• <camera_name>_temp_left_link is the origin of the left temperature frame (ZED2/ZED2i only).
• <camera_name>_temp_right_link is the origin of the right temperature frame (ZED2/ZED2i only).

For RVIZ2 compatibilty, the root frame map_frame is called map. The TF tree generated by the zed_wrapper reflects the standard descripted in REP105. The odometry frame is updated using only the “visual inertial odometry” information (loop closure is not applied). The map frame is updated using the Positional Tracking algorithm provided by the Stereolabs SDK, fusing the inertial information from the IMU sensor, and applying loop closure information.

map_frame (`map`)
└─odometry_frame (`odom`)
    └─camera_link (`<camera_name>_camera_link`)
      └─camera_frame (`<camera_name>_camera_center`)
        └─left_camera_frame (`<camera_name>_left_camera_frame`)
        | └─left_camera_optical_frame (`<camera_name>_left_camera_optical_frame`)
        | └─imu_frame (`<camera_name>_imu_link`)
        └─right_camera_frame (`<camera_name>_right_camera_frame`) 
          └─right_camera_optical_frame (`<camera_name>_right_camera_optical_frame`)

When the Geo Tracking module is enabled the ZED Node TF Tree reflects the following diagram:

Services #

The ZED node provides the following services:

• ~/enable_body_trk: enable/disable body tracking.
• ~/enable_mapping: enable/disable spatial mapping.
• ~/enable_obj_det: enable/disable object detection.
• ~/reset_odometry: Resets the odometry values eliminating the drift due to the Visual Odometry algorithm. The new odometry value is set to the latest camera pose received from the tracking algorithm.
• ~/reset_pos_tracking: Restarts the Tracking algorithm setting the initial pose to the value available in the param server or to the latest pose set with the service set_pose.
• ~/reset_roi: Reset the Region of Interest to the full image frame.
• ~/set_pose: Restarts the Tracking algorithm setting the initial pose of the camera to the value passed as vector parameter -> [X, Y, Z, R, P, Y]
• ~/set_roi: Set the Region of Interest to the described polygon.
• ~/start_svo_rec: Start recording an SVO file. If no filename is provided the default zed.svo is used. If no path is provided with the filename the default recording folder is ~/.ros/
• ~/stop_svo_rec: Stop an active SVO recording.
• ~/toggle_svo_pause: set/reset SVO playing pause. Note: Only available if general.svo_realtime is false and if an SVO as been chosen as input source.
• ~/fromLL: converts from Latitude/Longitude to map coordinate frame Note: Only available if GNSS fusion is enabled
• ~/toLL: converts from map coordinate frame to Latitude/Longitude Note: Only available if GNSS fusion is enabled

Services can be called using the rqt graphical tool by enabling the plugin Plugins -> Services -> Service caller.

It is possible to call a service also by using the CLI command $ ros2 service call.

For example to start Object Detection for the ZED2 camera:

$ ros2 service call /zed/zed_node/enable_obj_det std_srvs/srv/SetBool data:\ true\

and the service server will reply:

waiting for service to become available...
requester: making request: std_srvs.srv.SetBool_Request(data=True)

response:
std_srvs.srv.SetBool_Response(success=True, message='Object Detection started')

Assigning a GPU to a camera #

To improve performance, you can specify the gpu_id of the graphic card that will be used for the depth computation in the common.yaml configuration file. The default value (-1) will select the GPU with the highest number of CUDA cores. When using multiple ZEDs, you can assign each camera to a GPU to increase performance.