Add zed camera.

Signed-off-by: Jelmer de Wolde <[email protected]>

Author: Jelmerdw

.devcontainer/docker-compose.yml

@@ -17,6 +17,8 @@ services:
       - "/tmp/.X11-unix:/tmp/.X11-unix"
       - "${HOME}/.vscode-server:/home/rcdt/.vscode-server"
       - "../:/home/rcdt/rcdt_robotics/"
+      - ../.cache/zed/resources:/usr/local/zed/resources
+      - ../.cache/zed/settings:/usr/local/zed/settings
       - "../.personal.bashrc:/home/rcdt/.personal.bashrc"
       - "../.env:/home/rcdt/.env"
       - "../pyproject.toml:/home/rcdt/pyproject.toml"

dockerfiles/install_scripts/core_packages.sh

@@ -14,7 +14,8 @@ apt install -y \
     git-lfs \
     htop \
     nano \
-    python3-pip
+    python3-pip \
+    zstd
 
 apt install -y \
     ros-$ROS_DISTRO-launch-pytest \

dockerfiles/install_scripts/zed_sdk.sh

@@ -0,0 +1,35 @@
+#!/bin/bash -i
+
+# SPDX-FileCopyrightText: Alliander N. V.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+# Based on dockerfile of ZED-ros2-wrapper at: 
+# https://github.com/stereolabs/zed-ros2-wrapper/blob/e9f54907fbf41ee9ce5d54f3bb694af93dad8bb3/docker/Dockerfile.desktop-humble
+
+set -e
+
+UBUNTU_RELEASE_YEAR=24      
+CUDA_MAJOR=12              
+CUDA_MINOR=9                
+ZED_SDK_MAJOR=5
+ZED_SDK_MINOR=0             
+
+###  CUDA “version.txt” marker 
+echo "CUDA Version ${CUDA_MAJOR}.${CUDA_MINOR}.0" > /usr/local/cuda/version.txt || true
+
+###  Download + install ZED SDK 
+installer="ZED_SDK_Ubuntu${UBUNTU_RELEASE_YEAR}_cuda${CUDA_MAJOR}.${CUDA_MINOR}.run"
+sdk_url="https://download.stereolabs.com/zedsdk/${ZED_SDK_MAJOR}.${ZED_SDK_MINOR}/cu${CUDA_MAJOR}/ubuntu${UBUNTU_RELEASE_YEAR}"
+
+echo "Downloading ${sdk_url}  →  ${installer} ..."
+wget -q -O "${installer}" "${sdk_url}"
+chmod +x "${installer}"
+
+echo "Running installer …"
+./"${installer}" -- silent 
+
+chmod -R u+rwX,go+rX /usr/local/zed
+
+rm -f "${installer}"
+rm -rf /var/lib/apt/lists/*

dockerfiles/install_scripts/zed_wrapper.sh

@@ -0,0 +1,21 @@
+#!/bin/bash -i
+
+# SPDX-FileCopyrightText: Alliander N. V.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+set -e
+source /home/$UNAME/.bashrc
+apt update
+
+cd /home/$UNAME
+mkdir zed_ws
+cd /home/$UNAME/zed_ws
+git clone -b jazzy https://github.com/stereolabs/zed-ros2-wrapper.git src/zed_ros2_wrapper
+
+sudo apt update
+rosdep update
+rosdep install --from-paths src --rosdistro $ROS_DISTRO -y -r
+colcon build --symlink-install --cmake-args=-DCMAKE_BUILD_TYPE=Release
+
+echo "source /home/$UNAME/zed_ws/install/setup.bash" >>/home/$UNAME/.bashrc

dockerfiles/rcdt_robotics.Dockerfile

@@ -11,6 +11,12 @@ RUN ./ros2_jazzy.sh
 COPY ./install_scripts/core_packages.sh .
 RUN ./core_packages.sh
 
+COPY ./install_scripts/zed_sdk.sh .
+RUN ./zed_sdk.sh
+
+COPY ./install_scripts/zed_wrapper.sh .
+RUN ./zed_wrapper.sh
+
 COPY ./install_scripts/franka_ros2.sh .
 RUN ./franka_ros2.sh
 

docs/content/platforms.md

@@ -104,6 +104,18 @@ A Realsense camera can be launched in simulation by creating a configuration wit
 
 One can use a Realsense by connecting it with the host device using USB.
 
+## ZED
+
+![ZED](../img/zed/ZED.png)
+
+### Simulation Zed
+
+A ZED camera can be launched in simulation by creating a configuration with an *Camera* of type *zed*.
+
+### Hardware Zed
+
+A ZED camera can be used by connecting it to the host device via USB. To allow non-root users to access the camera, UDEV rules must be installed on the host machine. The required script can be found [here](https://gist.github.com/adujardin/2d5ce8f000fc6a7bd40bee2709749ff8).
+
 ## Velodyne
 
 ![Velodyne](../img/velodyne/velodyne.png)

docs/img/zed/ZED.png

@@ -0,0 +1,3 @@
+SPDX-FileCopyrightText: Alliander N. V.
+
+SPDX-License-Identifier: Apache-2.0

docs/img/zed/ZED.png.license

@@ -22,19 +22,21 @@
         "",
         "lidar",
         "realsense",
+        "zed",
         "franka",
         "franka_double",
         "franka_realsense",
         "panther",
         "panther_realsense",
+        "panther_zed",
         "panther_lidar",
         "mm",
         "mm_lidar",
     ],
 )
 
 
-def launch_setup(context: LaunchContext) -> list:  # noqa: PLR0915
+def launch_setup(context: LaunchContext) -> list:  # noqa: PLR0912, PLR0915
     """Setup the launch description for the Panther robot.
 
     Args:
@@ -63,6 +65,8 @@ def launch_setup(context: LaunchContext) -> list:  # noqa: PLR0915
             Lidar("velodyne", [0, 0, 0.5])
         case "realsense":
             Camera("realsense", [0, 0, 0.5])
+        case "zed":
+            Camera("zed", [0, 0, 0.5], namespace="zed")
         case "franka":
             if not use_sim:
                 Rviz.load_motion_planning_plugin = True
@@ -80,6 +84,9 @@ def launch_setup(context: LaunchContext) -> list:  # noqa: PLR0915
         case "panther_realsense":
             panther = Vehicle("panther", [0, 0, 0.2])
             Camera("realsense", [0, 0, 0.5], parent=panther)
+        case "panther_zed":
+            panther = Vehicle("panther", [0, 0, 0.2])
+            Camera("zed", [0, 0, 0.5], parent=panther)
         case "panther_lidar":
             panther = Vehicle("panther", [0, 0, 0.2], navigation=True)
             Lidar("velodyne", [0.13, -0.13, 0.35], parent=panther)

ros2_ws/src/rcdt_launch/launch/robots.launch.py

@@ -86,8 +86,16 @@ def order_platforms() -> None:
         Therefore we can load all Franka robots before other platforms by rearranging the list using this method.
         When launching a vehicle with Nav2, lidar sensor output is required.
         Therefore we load a lidar before a vehicle.
+
+        Raises:
+            ValueError: If an unknown platform is encountered.
         """
-        order = ["franka", "velodyne", "realsense", "panther"]
+        order = ["franka", "velodyne", "realsense", "zed", "panther"]
+
+        for platform in Platform.platforms:
+            if platform.platform not in order:
+                raise ValueError(f"Unknown platform to order: {platform.platform}")
+
         Platform.platforms = sorted(
             Platform.platforms, key=lambda platform: order.index(platform.platform)
         )
@@ -265,20 +273,22 @@ def create_map_links() -> list[Node]:
 
     def __init__(
         self,
-        platform: Literal["panther", "franka", "velodyne", "realsense"],
+        platform: Literal["panther", "franka", "velodyne", "realsense", "zed"],
         position: list,
         namespace: str | None = None,
         parent: "Platform" | None = None,
     ):
         """Initialize a robot instance.
 
         Args:
-            platform (Literal["panther", "franka", "velodyne", "realsense"]): The platform type of the robot.
+            platform (Literal["panther", "franka", "velodyne", "realsense", "zed"]): The platform type of the robot.
             position (list): The initial position of the robot.
             namespace (str | None): The namespace of the robot. If None, a unique namespace will be generated.
             parent (Platform | None): The parent robot, if any.
         """
-        self.platform: Literal["panther", "franka", "velodyne", "realsense"] = platform
+        self.platform: Literal["panther", "franka", "velodyne", "realsense", "zed"] = (
+            platform
+        )
         self.parent = parent
         self.childs = []
         Platform.add(self)
@@ -364,6 +374,8 @@ def xacro_path(self) -> str:
                 return get_file_path(
                     "rcdt_sensors", ["urdf"], "rcdt_realsense_d435.urdf.xacro"
                 )
+            case "zed":
+                return get_file_path("rcdt_sensors", ["urdf"], "rcdt_zed2i.urdf.xacro")
             case _:
                 raise ValueError("Unknown platform.")
 
@@ -386,6 +398,8 @@ def base_link(self) -> str:
                 return "base_link"
             case "realsense":
                 return "base_link"
+            case "zed":
+                return "base_link"
             case _:
                 raise ValueError("Unable to provide base_link: Unknown platform.")
 
@@ -555,8 +569,24 @@ def create_launch_description(self) -> list[RegisteredLaunchDescription]:
         launch_descriptions = []
         if self.platform == "realsense":
             launch_descriptions.append(self.create_realsense_launch())
+        if self.platform == "zed":
+            launch_descriptions.append(self.create_zed_launch())
         return launch_descriptions
 
+    def create_zed_launch(self) -> RegisteredLaunchDescription:
+        """Create the Zed launch description.
+
+        Returns:
+            RegisteredLaunchDescription: The launch description for the Zed.
+        """
+        return RegisteredLaunchDescription(
+            get_file_path("rcdt_sensors", ["launch"], "zed.launch.py"),
+            launch_arguments={
+                "simulation": str(Platform.simulation),
+                "namespace": self.namespace,
+            },
+        )
+
     def create_realsense_launch(self) -> RegisteredLaunchDescription:
         """Create the Realsense launch description.