Preliminary Checks

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Proposal

To use images from a ZED camera via ROS 2 on systems where the ZED SDK is not usable (e.g. when using the PREEMPT_RT real-time kernel for to control a Franka robot arm).

I saw in #38 (comment) that you do not support ROS 2 wrapper for ZED Open Capture. I have started an implementation for this as part of my thesis project, in this fork: https://github.com/jellehierck/zed-open-capture-ros.

I am curious if you would be interested to integrate this into the ZED Open Capture project once it is (a lot) more mature, and what important requirements are for integration.

Use-Case

In my robotics application using ROS 2 (Humble), I would like to do hand-eye calibration with a Franka Research 3 robot and a ZED 2 or Mini as the eye-in-hand camera.

I need to run the PREEMPT_RT linux kernel to control the robot arm, so using CUDA and the ZED SDK is impossible. For my eye-in-hand calibration, I only need the images from the ZED camera so ZED Open Capture is an ideal solution.

Anything else?

In my fork https://github.com/jellehierck/zed-open-capture-ros, I currently have a rudimentary clone of image_tools's cam2image, which can publish the images from the ZED camera into two separate ROS 2 topics.

Output using imagetools's showimage:

Node graph: