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juanr55/zed_rostcp

By juanr55

•Updated over 1 year ago

ROS2 stereo camera pipeline for Unity/VR with ZED-M: ZEDROS2 Wrapper, bridge, ROS TCP endpoint.

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juanr55/zed_rostcp repository overview

⁠🚀 What’s Inside

ComponentDescription
zed-ros2-wrapperOfficial Stereolabs ZED ROS2 driver⁠
zed_image_bridge.pyCustom ROS2 node to convert and republish stereo images for Unity
ros_tcp_endpointTCP interface to send ROS2 topics to Unity

⁠🧠 Key Features

  • Automatically launches:
    • ZED camera driver
    • Image bridge
    • Unity-compatible ROS TCP endpoint
  • Publishes:
    • /zed2_unity/left_image
    • /zed2_unity/right_image
  • GPU-enabled (CUDA & ZED SDK ready)
  • Compatible with ROS2 Humble and Unity ROS TCP Connector

⁠🧪 Topics Published

TopicTypeDescription
/zed2_unity/left_imagesensor_msgs/ImageLeft eye color image for Unity
/zed2_unity/right_imagesensor_msgs/ImageRight eye color image for Unity
  • Ensure you have the GPU drivers already installed and that nvidia-docker is configured to access the GPU:
sudo apt install -y nvidia-container-toolkit
  • 🛰️ Inside the container
docker exec -it vr_zed_container bash
ros2 launch middle_nodes zed_vr_conexion.launch.py

This container is designed to be triggered remotely via SSH by Unity (SSHRunner.cs) and forms the ZED System node in a multi-host robotic VR pipeline.

See full system repo: VR_TELEOP_INTERFACE⁠

Tag summary

Content type

Image

Digest

sha256:b485ae303…

Size

6.6 GB

Last updated

over 1 year ago

docker pull juanr55/zed_rostcp:v5