NX入门教程软件篇-安装ZED SDK和ros包(JetPack 5.0.2)
文章说明
- 本教程主要介绍如何在nx上安装ZED SDK和ros包
- 测试环境：NVIDIA Jetson Xavier NX + Ubuntu 20.04 +ROS Noetic + JetPack 5.0.2+ZED
- 测试环境所用镜像：JP502-xnx-sd-card-image-b231
安装步骤
SDK安装
- JetPack 5.0.2对应的SDK版本为3.7.7 | SDK安装包下载地址
- 赋予权限
$ sudo chmod +x ZED_SDK_Tegra_L4T35.1_v3.7.7.run
- 执行安装程序
$ ./ZED_SDK_Tegra_L4T35.1_v3.7.7.run
- 根据出现的安装提示，完成安装
- 但若出现ZED Python API安装失败，可尝试以下方法单独安装
$ cd /usr/local/zed/
$ python get_python_api.py
- 过程中若出现
urllib.request.urlretrieve(whl_file_URL, whl_file)相关的报错，就注释掉脚本中的这一句，然后手动下载对应whl文件放到/usr/local/zed/目录下，然后再重新运行脚本 - ZED Python API安装完后，可在python3下import pyzed测试是否成功安装
- 测试是否成功安装sdk
$ /usr/local/zed/tools/ZED_Explorer
ros包安装
$ mkdir -p ~/ros1_zed_ws/src
$ cd ~/ros1_zed_ws/src
$ git clone -b v3.7.x --recursive https://ghproxy.com/https://github.com/stereolabs/zed-ros-wrapper
$ git clone -b v3.7.x https://github.com/stereolabs/zed-ros-examples
$ cd ~/ros1_zed_ws/
$ rosdep install --from-paths src --ignore-src -r -y
$ catkin_make -DCMAKE_BUILD_TYPE=Release
$ source ~/ros1_zed_ws/devel/setup.bash
测试步骤
- 第一次使用时，需要下载model，需要等待片刻
$ roslaunch zed_wrapper zed.launch
... logging to /home/ubuntu/.ros/log/80e901b4-0739-11ee-a427-70665563c885/roslaunch-T3DL-V301-8834.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://localhost:44269/
SUMMARY
========
PARAMETERS
* /rosdistro: noetic
* /rosversion: 1.15.11
* /zed/zed_description: <?xml version="1....
* /zed/zed_node/auto_exposure_gain: True
* /zed/zed_node/auto_whitebalance: True
* /zed/zed_node/brightness: 4
* /zed/zed_node/contrast: 4
* /zed/zed_node/depth/depth_downsample_factor: 1.0
* /zed/zed_node/depth/depth_stabilization: 1
* /zed/zed_node/depth/max_depth: 10.0
* /zed/zed_node/depth/min_depth: 0.7
* /zed/zed_node/depth/openni_depth_mode: False
* /zed/zed_node/depth/quality: 4
* /zed/zed_node/depth/sensing_mode: 0
* /zed/zed_node/depth_confidence: 30
* /zed/zed_node/depth_texture_conf: 100
* /zed/zed_node/exposure: 100
* /zed/zed_node/gain: 100
* /zed/zed_node/gamma: 8
* /zed/zed_node/general/base_frame: base_link
* /zed/zed_node/general/camera_flip: False
* /zed/zed_node/general/camera_model: zed
* /zed/zed_node/general/camera_name: zed
* /zed/zed_node/general/gpu_id: -1
* /zed/zed_node/general/grab_frame_rate: 15
* /zed/zed_node/general/resolution: 2
* /zed/zed_node/general/self_calib: True
* /zed/zed_node/general/serial_number: 0
* /zed/zed_node/general/svo_compression: 2
* /zed/zed_node/general/verbose: False
* /zed/zed_node/general/zed_id: 0
* /zed/zed_node/hue: 0
* /zed/zed_node/mapping/fused_pointcloud_freq: 1.0
* /zed/zed_node/mapping/mapping_enabled: False
* /zed/zed_node/mapping/max_mapping_range: -1
* /zed/zed_node/mapping/resolution: 0.05
* /zed/zed_node/point_cloud_freq: 10.0
* /zed/zed_node/pos_tracking/area_memory: True
* /zed/zed_node/pos_tracking/area_memory_db_path: zed_area_memory.area
* /zed/zed_node/pos_tracking/fixed_z_value: 0.0
* /zed/zed_node/pos_tracking/floor_alignment: False
* /zed/zed_node/pos_tracking/init_odom_with_first_valid_pose: True
* /zed/zed_node/pos_tracking/initial_base_pose: [0.0, 0.0, 0.0, 0...
* /zed/zed_node/pos_tracking/map_frame: map
* /zed/zed_node/pos_tracking/odometry_frame: odom
* /zed/zed_node/pos_tracking/path_max_count: -1
* /zed/zed_node/pos_tracking/path_pub_rate: 2.0
* /zed/zed_node/pos_tracking/pos_tracking_enabled: True
* /zed/zed_node/pos_tracking/publish_map_tf: True
* /zed/zed_node/pos_tracking/publish_tf: True
* /zed/zed_node/pos_tracking/save_area_memory_db_on_exit: False
* /zed/zed_node/pos_tracking/two_d_mode: False
* /zed/zed_node/pub_frame_rate: 15.0
* /zed/zed_node/saturation: 4
* /zed/zed_node/sharpness: 4
* /zed/zed_node/stream:
* /zed/zed_node/svo_file:
* /zed/zed_node/video/extrinsic_in_camera_frame: True
* /zed/zed_node/video/img_downsample_factor: 1.0
* /zed/zed_node/whitebalance_temperature: 42
NODES
/zed/
zed_node (zed_wrapper/zed_wrapper_node)
zed_state_publisher (robot_state_publisher/robot_state_publisher)
auto-starting new master
process[master]: started with pid [8854]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 80e901b4-0739-11ee-a427-70665563c885
process[rosout-1]: started with pid [8869]
started core service [/rosout]
process[zed/zed_state_publisher-2]: started with pid [8872]
process[zed/zed_node-3]: started with pid [8874]
[ INFO] [1686365413.086921830]: Initializing nodelet with 6 worker threads.
[ INFO] [1686365426.692881723]: ********** Starting nodelet '/zed/zed_node' **********
[ INFO] [1686365426.693161171]: SDK version : 3.7.7
[ INFO] [1686365426.693451435]: *** GENERAL PARAMETERS ***
[ INFO] [1686365426.695078523]: * Camera Name -> zed
[ INFO] [1686365426.697142014]: * Camera Resolution -> HD720
[ INFO] [1686365426.699739857]: * Camera Grab Framerate -> 15
[ INFO] [1686365426.701231237]: * Gpu ID -> -1
[ INFO] [1686365426.702740057]: * Camera ID -> -1
[ INFO] [1686365426.704271884]: * Verbose -> DISABLED
[ INFO] [1686365426.707153687]: * Camera Flip -> DISABLED
[ INFO] [1686365426.709442388]: * Self calibration -> ENABLED
[ INFO] [1686365426.712184483]: * Camera Model by param -> zed
[ INFO] [1686365426.712328895]: *** VIDEO PARAMETERS ***
[ INFO] [1686365426.713857234]: * Image resample factor -> 1
[ INFO] [1686365426.715466658]: * Extrinsic param. frame -> X RIGHT - Y DOWN - Z FWD
[ INFO] [1686365426.715595198]: *** DEPTH PARAMETERS ***
[ INFO] [1686365426.717520454]: * Depth quality -> NEURAL
[ INFO] [1686365426.719554026]: * Depth Sensing mode -> STANDARD
[ INFO] [1686365426.721222041]: * OpenNI mode -> DISABLED
[ INFO] [1686365426.722851625]: * Depth Stabilization -> ENABLED
[ INFO] [1686365426.724235776]: * Minimum depth -> 0.7 m
[ INFO] [1686365426.725751731]: * Maximum depth -> 10 m
[ INFO] [1686365426.727047021]: * Depth resample factor -> 1
[ INFO] [1686365426.727168106]: *** POSITIONAL TRACKING PARAMETERS ***
[ INFO] [1686365426.729696287]: * Positional tracking -> ENABLED
[ INFO] [1686365426.730939066]: * Path rate -> 2 Hz
[ INFO] [1686365426.732293171]: * Path history size -> 1
[ INFO] [1686365426.735106368]: * Odometry DB path -> /home/ubuntu/.ros/zed_area_memory.area
[ INFO] [1686365426.737626870]: * Save Area Memory on closing -> DISABLED
[ INFO] [1686365426.739994992]: * Area Memory -> ENABLED
[ INFO] [1686365426.741361640]: * IMU Fusion -> ENABLED
[ INFO] [1686365426.743745377]: * Floor alignment -> DISABLED
[ INFO] [1686365426.746054237]: * Init Odometry with first valid pose data -> ENABLED
[ INFO] [1686365426.748081154]: * Two D mode -> DISABLED
[ INFO] [1686365426.750194115]: *** MAPPING PARAMETERS ***
[ INFO] [1686365426.752270086]: * Mapping -> DISABLED
[ INFO] [1686365426.752376771]: *** OBJECT DETECTION PARAMETERS ***
[ INFO] [1686365426.753384293]: * Object Detection -> DISABLED
[ INFO] [1686365426.753494274]: *** SENSORS PARAMETERS ***
[ INFO] [1686365426.755192272]: * Sensors timestamp sync -> DISABLED
[ INFO] [1686365426.755341036]: *** SVO PARAMETERS ***
[ INFO] [1686365426.757905408]: * SVO input file: ->
[ INFO] [1686365426.759262584]: * SVO REC compression -> H265 (HEVC)
[ INFO] [1686365426.761408153]: *** COORDINATE FRAMES ***
[ INFO] [1686365426.767169583]: * map_frame -> map
[ INFO] [1686365426.767274060]: * odometry_frame -> odom
[ INFO] [1686365426.767370762]: * base_frame -> base_link
[ INFO] [1686365426.767461223]: * camera_frame -> zed_camera_center
[ INFO] [1686365426.767553796]: * imu_link -> zed_imu_link
[ INFO] [1686365426.767723711]: * left_camera_frame -> zed_left_camera_frame
[ INFO] [1686365426.767844764]: * left_camera_optical_frame -> zed_left_camera_optical_frame
[ INFO] [1686365426.767940281]: * right_camera_frame -> zed_right_camera_frame
[ INFO] [1686365426.768030582]: * right_camera_optical_frame -> zed_right_camera_optical_frame
[ INFO] [1686365426.768131315]: * depth_frame -> zed_left_camera_frame
[ INFO] [1686365426.768221520]: * depth_optical_frame -> zed_left_camera_optical_frame
[ INFO] [1686365426.768368844]: * disparity_frame -> zed_left_camera_frame
[ INFO] [1686365426.768528679]: * disparity_optical_frame -> zed_left_camera_optical_frame
[ INFO] [1686365426.768604421]: * confidence_frame -> zed_left_camera_frame
[ INFO] [1686365426.768672611]: * confidence_optical_frame -> zed_left_camera_optical_frame
[ INFO] [1686365426.770964704]: * Broadcast odometry TF -> ENABLED
[ INFO] [1686365426.772913926]: * Broadcast map pose TF -> ENABLED
[ INFO] [1686365426.774003686]: * Broadcast IMU pose TF -> ENABLED
[ INFO] [1686365426.774127331]: *** DYNAMIC PARAMETERS (Init. values) ***
[ INFO] [1686365426.775228546]: * [DYN] Depth confidence -> 30
[ INFO] [1686365426.776184774]: * [DYN] Depth texture conf. -> 100
[ INFO] [1686365426.777275494]: * [DYN] pub_frame_rate -> 15 Hz
[ INFO] [1686365426.778409348]: * [DYN] point_cloud_freq -> 10 Hz
[ INFO] [1686365426.779561283]: * [DYN] brightness -> 4
[ INFO] [1686365426.780674786]: * [DYN] contrast -> 4
[ INFO] [1686365426.781819488]: * [DYN] hue -> 0
[ INFO] [1686365426.782983102]: * [DYN] saturation -> 4
[ INFO] [1686365426.784179355]: * [DYN] sharpness -> 4
[ INFO] [1686365426.785169661]: * [DYN] gamma -> 8
[ INFO] [1686365426.786219550]: * [DYN] auto_exposure_gain -> ENABLED
[ INFO] [1686365426.789125737]: * [DYN] auto_whitebalance -> ENABLED
[ INFO] [1686365426.804325897]: * Camera coordinate system -> Right HANDED Z UP and X FORWARD
[ INFO] [1686365426.804614625]: *** Opening ZED...
Optimized model not found, trying to download it...
/usr/local/zed/resources/neural_depth_1.3.model 100%[======================================================================================================================================>] 16.78M 1.44MB/s in 15s
Optimizing neural_depth_1.3 \ 100.0%[=============================>] Done ! in 19min 38s
[ INFO] [1686366960.923319477]: ZED connection -> SUCCESS
[ INFO] [1686366962.924145080]: ... ZED ready
[ INFO] [1686366962.924345049]: ZED SDK running on GPU #0
[ INFO] [1686366962.927889634]: * CAMERA MODEL -> ZED
[ INFO] [1686366962.928186595]: * Serial Number -> 12222
[ INFO] [1686366962.928394628]: * Camera FW Version -> 1142
[ INFO] [1686366965.802997249]: Advertised on topic /zed/zed_node/rgb/image_rect_color
[ INFO] [1686366965.803180385]: Advertised on topic /zed/zed_node/rgb/camera_info
[ INFO] [1686366965.887200480]: Advertised on topic /zed/zed_node/rgb_raw/image_raw_color
[ INFO] [1686366965.887372673]: Advertised on topic /zed/zed_node/rgb_raw/camera_info
[ INFO] [1686366965.970922686]: Advertised on topic /zed/zed_node/left/image_rect_color
[ INFO] [1686366965.971118751]: Advertised on topic /zed/zed_node/left/camera_info
[ INFO] [1686366966.055383327]: Advertised on topic /zed/zed_node/left_raw/image_raw_color
[ INFO] [1686366966.055608447]: Advertised on topic /zed/zed_node/left_raw/camera_info
[ INFO] [1686366966.136995543]: Advertised on topic /zed/zed_node/right/image_rect_color
[ INFO] [1686366966.137214488]: Advertised on topic /zed/zed_node/right/camera_info
[ INFO] [1686366966.221491320]: Advertised on topic /zed/zed_node/right_raw/image_raw_color
[ INFO] [1686366966.221795928]: Advertised on topic /zed/zed_node/right_raw/camera_info
[ INFO] [1686366966.334990821]: Advertised on topic /zed/zed_node/rgb/image_rect_gray
[ INFO] [1686366966.335221062]: Advertised on topic /zed/zed_node/rgb/camera_info
[ INFO] [1686366966.422402893]: Advertised on topic /zed/zed_node/rgb_raw/image_raw_gray
[ INFO] [1686366966.422618030]: Advertised on topic /zed/zed_node/rgb_raw/camera_info
[ INFO] [1686366966.509440340]: Advertised on topic /zed/zed_node/left/image_rect_gray
[ INFO] [1686366966.509747413]: Advertised on topic /zed/zed_node/left/camera_info
[ INFO] [1686366966.600390374]: Advertised on topic /zed/zed_node/left_raw/image_raw_gray
[ INFO] [1686366966.600644678]: Advertised on topic /zed/zed_node/left_raw/camera_info
[ INFO] [1686366966.687719982]: Advertised on topic /zed/zed_node/right/image_rect_gray
[ INFO] [1686366966.687954190]: Advertised on topic /zed/zed_node/right/camera_info
[ INFO] [1686366966.774993557]: Advertised on topic /zed/zed_node/right_raw/image_raw_gray
[ INFO] [1686366966.775230902]: Advertised on topic /zed/zed_node/right_raw/camera_info
[ INFO] [1686366966.866193192]: Advertised on topic /zed/zed_node/depth/depth_registered
[ INFO] [1686366966.866452520]: Advertised on topic /zed/zed_node/depth/camera_info
[ INFO] [1686366966.954578098]: Advertised on topic /zed/zed_node/stereo/image_rect_color
[ INFO] [1686366967.039159411]: Advertised on topic /zed/zed_node/stereo_raw/image_raw_color
[ INFO] [1686366967.042106843]: Advertised on topic /zed/zed_node/confidence/confidence_map
[ INFO] [1686366967.045364836]: Advertised on topic /zed/zed_node/disparity/disparity_image
[ INFO] [1686366967.049815919]: Advertised on topic /zed/zed_node/point_cloud/cloud_registered
[ INFO] [1686366967.052168886]: Advertised on topic /zed/zed_node/pose
[ INFO] [1686366967.056298081]: Advertised on topic /zed/zed_node/pose_with_covariance
[ INFO] [1686366967.059069672]: Advertised on topic /zed/zed_node/odom
[ INFO] [1686366967.061849359]: Advertised on topic /zed/zed_node/path_odom
[ INFO] [1686366967.064385046]: Advertised on topic /zed/zed_node/path_map
[ INFO] [1686366967.092804194]: *** Starting Positional Tracking ***
[ INFO] [1686366967.094190981]: * Waiting for valid static transformations...
[ INFO] [1686366967.095429481]: Static transform Sensor to Base [zed_left_camera_frame -> base_link]
[ INFO] [1686366967.096467819]: * Translation: {0.001,-0.060,-0.015}
[ INFO] [1686366967.097399662]: * Rotation: {0.000,-2.865,0.000}
[ INFO] [1686366967.098560785]: Static transform Sensor to Camera Center [zed_left_camera_frame -> zed_camera_center]
[ INFO] [1686366967.099496371]: * Translation: {0.000,-0.060,0.000}
[ INFO] [1686366967.100386838]: * Rotation: {0.000,-0.000,0.000}
[ INFO] [1686366967.101375480]: Static transform Camera Center to Base [zed_camera_center -> base_link]
[ INFO] [1686366967.102746684]: * Translation: {0.001,0.000,-0.015}
[ INFO] [1686366967.103786175]: * Rotation: {0.000,-2.865,0.000}
[ INFO] [1686366967.204944460]: Initial ZED left camera pose (ZED pos. tracking):
[ INFO] [1686366967.206567632]: * T: [-1.48803e-20,0.06,0.015]
[ INFO] [1686366967.208030292]: * Q: [0,0.0249967,0,0.999687]
[ WARN] [1686366967.209325527]: area_memory_db_path [/home/ubuntu/.ros/zed_area_memory.area] doesn't exist or is unreachable.
[ INFO] [1686366967.692412444]: Positional tracking -> Searching for a known position [SEARCHING]
[ INFO] [1686366967.695134723]: Odometry aligned to last tracking pose
[ INFO] [1686366967.853086695]: Positional tracking -> OK [OK]
- 查看话题
$ rostopic list
/diagnostics
/rosout
/rosout_agg
/tf
/tf_static
/zed/joint_states
/zed/zed_node/confidence/confidence_map
/zed/zed_node/depth/camera_info
/zed/zed_node/depth/depth_registered
/zed/zed_node/depth/depth_registered/compressed
/zed/zed_node/depth/depth_registered/compressed/parameter_descriptions
/zed/zed_node/depth/depth_registered/compressed/parameter_updates
/zed/zed_node/depth/depth_registered/compressedDepth
/zed/zed_node/depth/depth_registered/compressedDepth/parameter_descriptions
/zed/zed_node/depth/depth_registered/compressedDepth/parameter_updates
/zed/zed_node/depth/depth_registered/theora
/zed/zed_node/depth/depth_registered/theora/parameter_descriptions
/zed/zed_node/depth/depth_registered/theora/parameter_updates
/zed/zed_node/disparity/disparity_image
/zed/zed_node/left/camera_info
/zed/zed_node/left/image_rect_color
/zed/zed_node/left/image_rect_color/compressed
/zed/zed_node/left/image_rect_color/compressed/parameter_descriptions
/zed/zed_node/left/image_rect_color/compressed/parameter_updates
/zed/zed_node/left/image_rect_color/compressedDepth
/zed/zed_node/left/image_rect_color/compressedDepth/parameter_descriptions
/zed/zed_node/left/image_rect_color/compressedDepth/parameter_updates
/zed/zed_node/left/image_rect_color/theora
/zed/zed_node/left/image_rect_color/theora/parameter_descriptions
/zed/zed_node/left/image_rect_color/theora/parameter_updates
/zed/zed_node/left/image_rect_gray
/zed/zed_node/left/image_rect_gray/compressed
/zed/zed_node/left/image_rect_gray/compressed/parameter_descriptions
/zed/zed_node/left/image_rect_gray/compressed/parameter_updates
/zed/zed_node/left/image_rect_gray/compressedDepth
/zed/zed_node/left/image_rect_gray/compressedDepth/parameter_descriptions
/zed/zed_node/left/image_rect_gray/compressedDepth/parameter_updates
/zed/zed_node/left/image_rect_gray/theora
/zed/zed_node/left/image_rect_gray/theora/parameter_descriptions
/zed/zed_node/left/image_rect_gray/theora/parameter_updates
/zed/zed_node/left_raw/camera_info
/zed/zed_node/left_raw/image_raw_color
/zed/zed_node/left_raw/image_raw_color/compressed
/zed/zed_node/left_raw/image_raw_color/compressed/parameter_descriptions
/zed/zed_node/left_raw/image_raw_color/compressed/parameter_updates
/zed/zed_node/left_raw/image_raw_color/compressedDepth
/zed/zed_node/left_raw/image_raw_color/compressedDepth/parameter_descriptions
/zed/zed_node/left_raw/image_raw_color/compressedDepth/parameter_updates
/zed/zed_node/left_raw/image_raw_color/theora
/zed/zed_node/left_raw/image_raw_color/theora/parameter_descriptions
/zed/zed_node/left_raw/image_raw_color/theora/parameter_updates
/zed/zed_node/left_raw/image_raw_gray
/zed/zed_node/left_raw/image_raw_gray/compressed
/zed/zed_node/left_raw/image_raw_gray/compressed/parameter_descriptions
/zed/zed_node/left_raw/image_raw_gray/compressed/parameter_updates
/zed/zed_node/left_raw/image_raw_gray/compressedDepth
/zed/zed_node/left_raw/image_raw_gray/compressedDepth/parameter_descriptions
/zed/zed_node/left_raw/image_raw_gray/compressedDepth/parameter_updates
/zed/zed_node/left_raw/image_raw_gray/theora
/zed/zed_node/left_raw/image_raw_gray/theora/parameter_descriptions
/zed/zed_node/left_raw/image_raw_gray/theora/parameter_updates
/zed/zed_node/odom
/zed/zed_node/parameter_descriptions
/zed/zed_node/parameter_updates
/zed/zed_node/path_map
/zed/zed_node/path_odom
/zed/zed_node/point_cloud/cloud_registered
/zed/zed_node/pose
/zed/zed_node/pose_with_covariance
/zed/zed_node/rgb/camera_info
/zed/zed_node/rgb/image_rect_color
/zed/zed_node/rgb/image_rect_color/compressed
/zed/zed_node/rgb/image_rect_color/compressed/parameter_descriptions
/zed/zed_node/rgb/image_rect_color/compressed/parameter_updates
/zed/zed_node/rgb/image_rect_color/compressedDepth
/zed/zed_node/rgb/image_rect_color/compressedDepth/parameter_descriptions
/zed/zed_node/rgb/image_rect_color/compressedDepth/parameter_updates
/zed/zed_node/rgb/image_rect_color/theora
/zed/zed_node/rgb/image_rect_color/theora/parameter_descriptions
/zed/zed_node/rgb/image_rect_color/theora/parameter_updates
/zed/zed_node/rgb/image_rect_gray
/zed/zed_node/rgb/image_rect_gray/compressed
/zed/zed_node/rgb/image_rect_gray/compressed/parameter_descriptions
/zed/zed_node/rgb/image_rect_gray/compressed/parameter_updates
/zed/zed_node/rgb/image_rect_gray/compressedDepth
/zed/zed_node/rgb/image_rect_gray/compressedDepth/parameter_descriptions
/zed/zed_node/rgb/image_rect_gray/compressedDepth/parameter_updates
/zed/zed_node/rgb/image_rect_gray/theora
/zed/zed_node/rgb/image_rect_gray/theora/parameter_descriptions
/zed/zed_node/rgb/image_rect_gray/theora/parameter_updates
/zed/zed_node/rgb_raw/camera_info
/zed/zed_node/rgb_raw/image_raw_color
/zed/zed_node/rgb_raw/image_raw_color/compressed
/zed/zed_node/rgb_raw/image_raw_color/compressed/parameter_descriptions
/zed/zed_node/rgb_raw/image_raw_color/compressed/parameter_updates
/zed/zed_node/rgb_raw/image_raw_color/compressedDepth
/zed/zed_node/rgb_raw/image_raw_color/compressedDepth/parameter_descriptions
/zed/zed_node/rgb_raw/image_raw_color/compressedDepth/parameter_updates
/zed/zed_node/rgb_raw/image_raw_color/theora
/zed/zed_node/rgb_raw/image_raw_color/theora/parameter_descriptions
/zed/zed_node/rgb_raw/image_raw_color/theora/parameter_updates
/zed/zed_node/rgb_raw/image_raw_gray
/zed/zed_node/rgb_raw/image_raw_gray/compressed
/zed/zed_node/rgb_raw/image_raw_gray/compressed/parameter_descriptions
/zed/zed_node/rgb_raw/image_raw_gray/compressed/parameter_updates
/zed/zed_node/rgb_raw/image_raw_gray/compressedDepth
/zed/zed_node/rgb_raw/image_raw_gray/compressedDepth/parameter_descriptions
/zed/zed_node/rgb_raw/image_raw_gray/compressedDepth/parameter_updates
/zed/zed_node/rgb_raw/image_raw_gray/theora
/zed/zed_node/rgb_raw/image_raw_gray/theora/parameter_descriptions
/zed/zed_node/rgb_raw/image_raw_gray/theora/parameter_updates
/zed/zed_node/right/camera_info
/zed/zed_node/right/image_rect_color
/zed/zed_node/right/image_rect_color/compressed
/zed/zed_node/right/image_rect_color/compressed/parameter_descriptions
/zed/zed_node/right/image_rect_color/compressed/parameter_updates
/zed/zed_node/right/image_rect_color/compressedDepth
/zed/zed_node/right/image_rect_color/compressedDepth/parameter_descriptions
/zed/zed_node/right/image_rect_color/compressedDepth/parameter_updates
/zed/zed_node/right/image_rect_color/theora
/zed/zed_node/right/image_rect_color/theora/parameter_descriptions
/zed/zed_node/right/image_rect_color/theora/parameter_updates
/zed/zed_node/right/image_rect_gray
/zed/zed_node/right/image_rect_gray/compressed
/zed/zed_node/right/image_rect_gray/compressed/parameter_descriptions
/zed/zed_node/right/image_rect_gray/compressed/parameter_updates
/zed/zed_node/right/image_rect_gray/compressedDepth
/zed/zed_node/right/image_rect_gray/compressedDepth/parameter_descriptions
/zed/zed_node/right/image_rect_gray/compressedDepth/parameter_updates
/zed/zed_node/right/image_rect_gray/theora
/zed/zed_node/right/image_rect_gray/theora/parameter_descriptions
/zed/zed_node/right/image_rect_gray/theora/parameter_updates
/zed/zed_node/right_raw/camera_info
/zed/zed_node/right_raw/image_raw_color
/zed/zed_node/right_raw/image_raw_color/compressed
/zed/zed_node/right_raw/image_raw_color/compressed/parameter_descriptions
/zed/zed_node/right_raw/image_raw_color/compressed/parameter_updates
/zed/zed_node/right_raw/image_raw_color/compressedDepth
/zed/zed_node/right_raw/image_raw_color/compressedDepth/parameter_descriptions
/zed/zed_node/right_raw/image_raw_color/compressedDepth/parameter_updates
/zed/zed_node/right_raw/image_raw_color/theora
/zed/zed_node/right_raw/image_raw_color/theora/parameter_descriptions
/zed/zed_node/right_raw/image_raw_color/theora/parameter_updates
/zed/zed_node/right_raw/image_raw_gray
/zed/zed_node/right_raw/image_raw_gray/compressed
/zed/zed_node/right_raw/image_raw_gray/compressed/parameter_descriptions
/zed/zed_node/right_raw/image_raw_gray/compressed/parameter_updates
/zed/zed_node/right_raw/image_raw_gray/compressedDepth
/zed/zed_node/right_raw/image_raw_gray/compressedDepth/parameter_descriptions
/zed/zed_node/right_raw/image_raw_gray/compressedDepth/parameter_updates
/zed/zed_node/right_raw/image_raw_gray/theora
/zed/zed_node/right_raw/image_raw_gray/theora/parameter_descriptions
/zed/zed_node/right_raw/image_raw_gray/theora/parameter_updates
/zed/zed_node/stereo/image_rect_color
/zed/zed_node/stereo/image_rect_color/compressed
/zed/zed_node/stereo/image_rect_color/compressed/parameter_descriptions
/zed/zed_node/stereo/image_rect_color/compressed/parameter_updates
/zed/zed_node/stereo/image_rect_color/compressedDepth
/zed/zed_node/stereo/image_rect_color/compressedDepth/parameter_descriptions
/zed/zed_node/stereo/image_rect_color/compressedDepth/parameter_updates
/zed/zed_node/stereo/image_rect_color/theora
/zed/zed_node/stereo/image_rect_color/theora/parameter_descriptions
/zed/zed_node/stereo/image_rect_color/theora/parameter_updates
/zed/zed_node/stereo_raw/image_raw_color
/zed/zed_node/stereo_raw/image_raw_color/compressed
/zed/zed_node/stereo_raw/image_raw_color/compressed/parameter_descriptions
/zed/zed_node/stereo_raw/image_raw_color/compressed/parameter_updates
/zed/zed_node/stereo_raw/image_raw_color/compressedDepth
/zed/zed_node/stereo_raw/image_raw_color/compressedDepth/parameter_descriptions
/zed/zed_node/stereo_raw/image_raw_color/compressedDepth/parameter_updates
/zed/zed_node/stereo_raw/image_raw_color/theora
/zed/zed_node/stereo_raw/image_raw_color/theora/parameter_descriptions
/zed/zed_node/stereo_raw/image_raw_color/theora/parameter_updates
- 查看画面，选择话题：
/zedm/zed_node/rgb/image_rect_color
$ rqt_image_view
参考资料
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