RoboDog Documentation
  • Introduction
  • Quickstart Guide
  • Introduction to ROS
  • Introduction to the System
    • Available Nodes
    • Style-Guide & Clean Code
  • Hardware
    • Datasheets and Specifications
    • Disassembling the Unitree A1
  • Software
    • Creating a Node
    • Working with the Ouster OS1
    • Working with the ZED2
    • A Remark on Time Zones
    • Connecting the A1 to the Internet
    • NVIDA Jetson Backup
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  • Documentation
  • Launch
  • Configuration
  • Calibration
  • Installation of Required Packages
  1. Software

Working with the ZED2

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Last updated 1 year ago

Warning, for some reason the installation of the libv4l-dev package on the jetson board will break serious stuff.

Documentation

Detailed information about the ZED2 camera and the can be found on the 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/ 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: (note that the config file is custom to the serial number SN) and place it in /usr/local/zed/settings/ on the Jetson NX ()

  • 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.

  2. sudo apt install zstd

  3. cd Downloads

  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

download ( 3.8.2 (Jetson Nano, TX2, Xavier AGX/NX, CUDA 10.2))

ros-wrapper
Stereolabs
http://calib.stereolabs.com/?SN=28000618
unitree@192.168.123.12
ZED SDK for L4T 32.4 (Jetpack 4.4)