Merge branch 'master' of 192.168.1.93:sl/zed-ros2-examples

README.md

@@ -1,6 +1,7 @@
-![](./images/Picto+STEREOLABS_Black.jpg)
-
-# Stereolabs ZED Camera - ROS 2 Tutorials and Examples
+<h1 align="center">
+   <img src="./images/Picto+STEREOLABS_Black.jpg" alt="Stereolabs" title="Stereolabs" /><br \>
+   ROS 2 Tutorials and Examples
+</h1>
 
 This package is a collection of examples and tutorials to illustrate how to better use the ZED cameras in the ROS 2 framework
 

examples/zed_depth_to_laserscan/README.md

@@ -5,7 +5,7 @@ This example demonstrates how to use [ROS 2 Composition](https://docs.ros.org/en
 Usage:
 
 ```bash
-ros2 launch zed_to_laser_scan zed_to_laser_scan.launch.py  camera_model:=<camera_model>
+ros2 launch zed_depth_to_laserscan zed_depth_to_laserscan.launch.py  camera_model:=<camera_model>
 ```
 
 the launch file will start the ZED Wrapper node, the Depth Image to Laser Scan converter node, RVIZ2 for data visualization, and a Robot State Publisher node to broadcast the ZED camera static frames.

images/foo.txt

@@ -0,0 +1 @@
+

tools/zed_benchmark/CMakeLists.txt

@@ -45,43 +45,44 @@ else()
     message("*** WARNING *** ROS2 distro is unknown. This package could not work correctly.")
 endif()
 ################################################
-# if CMAKE_BUILD_TYPE is not specified, take 'Release' as default
-if(NOT CMAKE_BUILD_TYPE)
-    set(CMAKE_BUILD_TYPE Release)
-endif()
 
-# Default to C++14
-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 14)
-endif()
+if(${FOUND_ROS2_DISTRO} STREQUAL "humble" OR ${FOUND_ROS2_DISTRO} STREQUAL "iron")
+  # if CMAKE_BUILD_TYPE is not specified, take 'Release' as default
+  if(NOT CMAKE_BUILD_TYPE)
+      set(CMAKE_BUILD_TYPE Release)
+  endif()
+
+  # Default to C++14
+  if(NOT CMAKE_CXX_STANDARD)
+    set(CMAKE_CXX_STANDARD 14)
+  endif()
+
+  # dependencies
+  set(DEPENDENCIES
+    rclcpp
+    rclcpp_components
+    zed_topic_benchmark_component
+  )
 
-# dependencies
-set(DEPENDENCIES
-  rclcpp
-  rclcpp_components
-  zed_topic_benchmark_component
-)
+  find_package(ament_cmake_auto REQUIRED)
+  ament_auto_find_build_dependencies()
 
-find_package(ament_cmake_auto REQUIRED)
-ament_auto_find_build_dependencies()
+  find_package(rclcpp REQUIRED)
+  find_package(rclcpp_components REQUIRED)
+  find_package(zed_topic_benchmark_component REQUIRED)
 
-find_package(rclcpp REQUIRED)
-find_package(rclcpp_components REQUIRED)
-find_package(zed_topic_benchmark_component REQUIRED)
+  if(BUILD_TESTING)
+    find_package(ament_lint_auto REQUIRED)
+    ament_lint_auto_find_test_dependencies()
+  endif()
 
-if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  ament_lint_auto_find_test_dependencies()
-endif()
+  ###############################################################################
+  # Add all files in subdirectories of the project in
+  # a dummy_target so qtcreator have access to all files
+  file(GLOB_RECURSE extra_files ${CMAKE_SOURCE_DIR}/*)
+  add_custom_target(${PROJECT_NAME}_files SOURCES ${extra_files})
+  ###############################################################################
 
-###############################################################################
-# Add all files in subdirectories of the project in
-# a dummy_target so qtcreator have access to all files
-file(GLOB_RECURSE extra_files ${CMAKE_SOURCE_DIR}/*)
-add_custom_target(${PROJECT_NAME}_files SOURCES ${extra_files})
-###############################################################################
-
-if(${FOUND_ROS2_DISTRO} STREQUAL "humble" OR ${FOUND_ROS2_DISTRO} STREQUAL "iron")
   ## Sources
   set(SRC_CONT src/topic_benchmark_container.cpp)
 
@@ -97,8 +98,8 @@ if(${FOUND_ROS2_DISTRO} STREQUAL "humble" OR ${FOUND_ROS2_DISTRO} STREQUAL "iron
     LIBRARY DESTINATION lib
     RUNTIME DESTINATION lib/${PROJECT_NAME}
   )
-endif()
 
-ament_package()
+  ament_package()
+endif()
 
 

tools/zed_benchmark_component/CMakeLists.txt

@@ -43,44 +43,43 @@ else()
 endif()
 ################################################
 
+if(${FOUND_ROS2_DISTRO} STREQUAL "humble" OR ${FOUND_ROS2_DISTRO} STREQUAL "iron")
+  # if CMAKE_BUILD_TYPE is not specified, take 'Release' as default
+  if(NOT CMAKE_BUILD_TYPE)
+      set(CMAKE_BUILD_TYPE Release)
+  endif()
+
+  # Default to C++14
+  if(NOT CMAKE_CXX_STANDARD)
+    set(CMAKE_CXX_STANDARD 14)
+  endif()
+
+  # dependencies
+  set(DEPENDENCIES
+    rclcpp
+    rclcpp_components
+    zed_topic_benchmark_interfaces
+  )
 
-# if CMAKE_BUILD_TYPE is not specified, take 'Release' as default
-if(NOT CMAKE_BUILD_TYPE)
-    set(CMAKE_BUILD_TYPE Release)
-endif()
-
-# Default to C++14
-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 14)
-endif()
-
-# dependencies
-set(DEPENDENCIES
-  rclcpp
-  rclcpp_components
-  zed_topic_benchmark_interfaces
-)
-
-find_package(ament_cmake_auto REQUIRED)
-ament_auto_find_build_dependencies()
+  find_package(ament_cmake_auto REQUIRED)
+  ament_auto_find_build_dependencies()
 
-find_package(rclcpp REQUIRED)
-find_package(rclcpp_components REQUIRED)
-find_package(zed_topic_benchmark_interfaces REQUIRED)
+  find_package(rclcpp REQUIRED)
+  find_package(rclcpp_components REQUIRED)
+  find_package(zed_topic_benchmark_interfaces REQUIRED)
 
-if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  ament_lint_auto_find_test_dependencies()
-endif()
+  if(BUILD_TESTING)
+    find_package(ament_lint_auto REQUIRED)
+    ament_lint_auto_find_test_dependencies()
+  endif()
 
-###############################################################################
-# Add all files in subdirectories of the project in
-# a dummy_target so qtcreator have access to all files
-file(GLOB_RECURSE extra_files ${CMAKE_SOURCE_DIR}/*)
-add_custom_target(${PROJECT_NAME}_files SOURCES ${extra_files})
-###############################################################################
+  ###############################################################################
+  # Add all files in subdirectories of the project in
+  # a dummy_target so qtcreator have access to all files
+  file(GLOB_RECURSE extra_files ${CMAKE_SOURCE_DIR}/*)
+  add_custom_target(${PROJECT_NAME}_files SOURCES ${extra_files})
+  ###############################################################################
 
-if(${FOUND_ROS2_DISTRO} STREQUAL "humble" OR ${FOUND_ROS2_DISTRO} STREQUAL "iron")
   ## Sources
   set(SRC_COMP
     src/component/src/topic_benchmark_component.cpp
@@ -120,8 +119,9 @@ if(${FOUND_ROS2_DISTRO} STREQUAL "humble" OR ${FOUND_ROS2_DISTRO} STREQUAL "iron
   ament_export_include_directories(include)
   ament_export_libraries(${PROJECT_NAME})
   ament_export_dependencies(${DEPENDENCIES})
+  ament_package()
 endif()
 
-ament_package()
+
 
 

tutorials/zed_rgb_convert/launch/zed_rgb_convert.launch.py

@@ -31,7 +31,7 @@ def generate_launch_description():
     camera_model = 'zed2'
 
     # Camera name
-    camera_name = 'zed2'
+    camera_name = 'zed2i'
 
     # URDF/xacro file to be loaded by the Robot State Publisher node
     xacro_path = os.path.join(