> For the complete documentation index, see [llms.txt](https://robodog.gitbook.io/robodog-docs/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://robodog.gitbook.io/robodog-docs/software/working-with-the-zed2.md).

# Working with the ZED2

{% hint style="info" %}
**Warning,** for some reason the installation of the `libv4l-dev` package on the jetson board will break serious stuff.
{% endhint %}

## Documentation

Detailed information about the ZED2 camera and the [ros-wrapper](https://github.com/stereolabs/zed-ros-wrapper/tree/master) can be found on the [Stereolabs](https://www.stereolabs.com/docs/ros/) website.

## Launch

Running `roslaunch zed_wrapper zed2.launch` on the robot should launch all neccesary nodes.

## Configuration

The ZED nodes can be configured with the `zed-ros-wrapper/zed_wrapper/launch/`\
\&#xNAN;***`ZED2.launch`*** and the `zed-ros-wrapper/zed_wrapper/params/`***`common.yaml`*** file.

## Calibration

* Serial Number: `28000618`
* should a error with the configuration file occur, dowload a new factory config file at: <http://calib.stereolabs.com/?SN=28000618> (note that the config file is custom to the serial number SN) and place it in `/usr/local/zed/settings/` on the Jetson NX (<unitree@192.168.123.12>)
* the camera can be reconfigured by running the calibration programm located in `/us/local/zed/tools/ZED_Calibration...` with the command `./ZED_Calibration...`

## Installation of Required Packages

Perform these steps on the robots NVIDIA Jetson board.

1. download ( [ZED SDK for L4T 32.4 (Jetpack 4.4)](https://download.stereolabs.com/zedsdk/3.8/l4t32.4/jetsons)3.8.2 (Jetson Nano, TX2, Xavier AGX/NX, CUDA 10.2))
2. `sudo apt install zstd`
3. `cd Downloads`&#x20;
4. `chmod +x ZED_SDK_Ubuntu22_cuda11.7_v3.8.2.zstd.run`
5. `./ZED_SDK_Ubuntu22_cuda11.7_v3.8.2.zstd.run`
6. `q` to close license agreement
7. `y` to accept
8. `y` to install cuda


---

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