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ROS wrapper for the ZED SDK
| Date | Stars |
|---|---|
| 2026-07-24 | 496 |
| 2026-07-25 | 496 |
| 2026-07-28 | 496 |
| 2026-07-30 | 496 |
| 2026-08-06 | 496 |
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<h1 align="center">
<img src="./images/Picto+STEREOLABS_Black.jpg" alt="Stereolabs" title="Stereolabs" /><br \>
ROS Noetic Ninjemis Integration
</h1>
This package lets you use the ZED stereo camera with ROS. It outputs the camera's left and right images, depth map, point cloud, and pose information and supports the use of multiple ZED cameras.
[More information](https://www.stereolabs.com/documentation/guides/using-zed-with-ros/introduction.html)
**Note:** The `zed_interfaces` package has been removed from this repository and moved to its own [`zed-ros-interfaces` repository](https://github.com/stereolabs/zed-ros-interfaces) to allow better integration of the ZED Wrapper on remote ground stations that do not require the full package to be installed. To update your repository please follow the [new update instructions](https://github.com/stereolabs/zed-ros-wrapper#update-the-repository). For more information please read issue [#750](https://github.com/stereolabs/zed-ros-wrapper/issues/750).
## Getting started
- First, download the latest version of the ZED SDK on [stereolabs.com](https://www.stereolabs.com/developers/)
- [Install](#build-the-program) the ZED ROS wrapper
- For more information, check out our [ROS documentation](https://www.stereolabs.com/documentation/guides/using-zed-with-ros/introduction.html). If you want to customize the wrapper, check the [ZED API documentation](https://www.stereolabs.com/developers/documentation/API/)
### Prerequisites
- Ubuntu 20.04
- [ZED SDK **v4.1**](https://www.stereolabs.com/developers/) and its dependency [CUDA](https://developer.nvidia.com/cuda-downloads)
- [ROS Noetic](http://wiki.ros.org/noetic/Installation/Ubuntu)
### Build the repository
The zed_ros_wrapper is a catkin package. It depends on the following ROS packages:
- roscpp
- image_transport
- rosconsole
- sensor_msgs
- stereo_msgs
- std_msgs
- std_srvs
- message_filters
- tf2_ros
- nodelet
- tf2_geometry_msgs
- message_generation
- diagnostic_updater
- dynamic_reconfigure
- zed_interfaces
Open a terminal, clone the repository, update the dependencies and build the packages:
$ 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
#### Update the local repository
To update the repository to the latest release you must use the following command to retrieve the latest commits of `zed-ros-wrapper` and of all the submodules:
$ git checkout master # if you are not on the main branch
$ git pull --recurse-submodules # update recursively all the submodules
Remember to always clean the cache of your catkin workspace before compiling with the `catkin_make` command to be sure that everything will work as expected:
$ roscd
$ cd ..
$ rm -rf build devel
$ catkin_make -DCMAKE_BUILD_TYPE=Release
### Run the ZED wrapper
To launch the ZED node use
ZED camera:
$ roslaunch zed_wrapper zed.launch
ZED Mini camera:
$ roslaunch zed_wrapper zedm.launch
ZED 2 camera:
$ roslaunch zed_wrapper zed2.launch
ZED 2i camera:
$ roslaunch zed_wrapper zed2i.launch
ZED X camera:
$ roslaunch zed_wrapper zedx.launch
ZED X Mini camera:
$ roslaunch zed_wrapper zedxm.launch
To select the camera from its serial number:
$ roslaunch zed_wrapper zed.launch serial_number:=1010 #replace 1010 with the actual SN
### Rviz visualization
Example launch files to start a pre-configured Rviz environment to visualize the data of ZED, ZED Mini, ZED 2, ZED X, and ZED X Mini cameras are provided in the [`zed-ros-examples` repository](https://github.com/stereolabs/zed-ros-examples/tree/master/zed_display_rviz)
### SVO recording
[SVO recording](https://www.stereolabs.com/docs/video/#video-recording) can be started and stopped while the ZED node is running using the service `start_sExcerpt of 7,636 characters
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