一、环境要求
硬件：镭神域控 ZED X双目摄像机
ros2-foxy
zed sdk 4.0.8
cuda 11.4
二、CUDA+ZED SDK安装
安装显卡驱动以及CUDA 11.1
参考之前博文：
https://blog.csdn.net/qq_41950533/article/details/135673420?csdn_share_tail=%7B%22type%22%3A%22blog%22%2C%22rType%22%3A%22article%22%2C%22rId%22%3A%22135673420%22%2C%22source%22%3A%22qq_41950533%22%7D
安装ZED SDK ，先去官网找
https://www.stereolabs.com/developers
chmod +x ZED_SDK_Linux_*.run
./ZED_SDK_Linux_*.run
参考：https://www.bilibili.com/read/cv11031642/
三、ROS-FOXY安装
参考fishros：
https://www.fishros.com/
wget http://fishros.com/install -O fishros && . fishros
rviz2: error while loading shared libraries: libOgreMain.so.1.12.1: cannot open shared object file: No such file or directory
source /opt/ros/foxy/setup.bash
https://blog.csdn.net/m0_58638748/article/details/137121004
四、ros zed wrapper
先构建目录，目录结构
- ros_ws
– build
– lib
–src
—zed-ros2-wrapper
—等等
再git
git clone https://github.com/stereolabs/zed-ros-examples.git
git clone https://github.com/stereolabs/zed-ros-interfaces
git clone --recursive https://github.com/stereolabs/zed-ros2-wrapper.git
git clone https://github.com/ros-perception/image_common.git --branch 3.0.0
根据readme，执行
https://github.com/stereolabs/zed-ros2-wrapper
mkdir -p ~/ros2_ws/src/ # create your workspace if it does not exist
cd ~/ros2_ws/src/ #use your current ros2 workspace folder
git clone --recursive https://github.com/stereolabs/zed-ros2-wrapper.git
cd ..
sudo apt update
rosdep install --from-paths src --ignore-src -r -y # install dependencies
colcon build --symlink-install --cmake-args=-DCMAKE_BUILD_TYPE=Release --parallel-workers $(nproc) # build the workspace
echo source $(pwd)/install/local_setup.bash >> ~/.bashrc # automatically source the installation in every new bash (optional)
source ~/.bashrc
五、启动ZED
$ ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zedx
Replace <camera_model> with the model of the camera that you are using: ‘zed’, ‘zedm’, ‘zed2’, ‘zed2i’, ‘zedx’, ‘zedxm’.
然后新启一个终端，在里面可视化：
rviz2
在rviz里通过ADD添加zed的topic
六、开机自启动服务启动不了
背景：首先写了一个shell主要内容是定义了抓取那些ros的话题写进rosbag，在写好启动ros-zed节点的服务和启动bash的服务
但是服务不启动
问题原因：服务有点问题，.service里的地址都是绝对地址，和实际对应不上。
使用指令：
journalctl -u XXX.service
来获取完整的服务日志，然后根据报错来改错
修改了service记得使用daemon-reload来重载服务
sudo systemctl daemon-reload
sudo systemctl enable XXX.service
systemctl enable 服务名 (设置服务开机启动)，对 3 （无界面）和 5 （GUI）运行级别都生效
systemctl disable 服务名 (关闭服务开机启动)，对 3 （无界面）和 5 （GUI）运行级别都生效
systemctl is-enabled 服务名 (查询某个服务是否是自启动的)
参考:
https://blog.csdn.net/qq_41308872/article/details/133743091
https://blog.csdn.net/qq_41684621/article/details/117257839
七、向日葵
按照：https://sunlogin.oray.com/download下载到ubuntu上，同时移动端也要下载上一个向日葵
两个客户端同时登陆一个账号，手机就可以控制电脑了。
软件默认开机自启动+账号自动登陆，注：把设置中的客户端锁定关闭，系统sleep和screen black也关闭