Build Error Using Stereolabs ROS2 Wrapper

Software
1

Hello everyone. For a university project I am using Isaac Sim 5.0 with the Zed camera. I am following the tutorial to the letter ‘Stereolabs ROS2 Wrapper’ and I encountered this error when I ran colcon build:

Finished <<< rviz_plugin_zed_od [0.63s]                                 
--- stderr: zed_components                              
/root/ros_workspace/src/zed-ros2-wrapper/zed_components/src/zed_camera_one/src/zed_camera_one_component_video.cpp: In member function ‘void stereolabs::ZedCameraOne::retrieveImages(bool)’:
/root/ros_workspace/src/zed-ros2-wrapper/zed_components/src/zed_camera_one/src/zed_camera_one_component_video.cpp:450:32: error: ‘LEFT_BGR’ is not a member of ‘sl::VIEW’; did you mean ‘LEFT_GRAY’?
  450 |         _24bitMode ? sl::VIEW::LEFT_BGR : sl::VIEW::LEFT_BGRA,
      |                                ^~~~~~~~
      |                                LEFT_GRAY
/root/ros_workspace/src/zed-ros2-wrapper/zed_components/src/zed_camera_one/src/zed_camera_one_component_video.cpp:450:53: error: ‘LEFT_BGRA’ is not a member of ‘sl::VIEW’; did you mean ‘LEFT_GRAY’?
  450 |         _24bitMode ? sl::VIEW::LEFT_BGR : sl::VIEW::LEFT_BGRA,
      |                                                     ^~~~~~~~~
      |                                                     LEFT_GRAY
/root/ros_workspace/src/zed-ros2-wrapper/zed_components/src/zed_camera_one/src/zed_camera_one_component_video.cpp:462:32: error: ‘LEFT_UNRECTIFIED_BGR’ is not a member of ‘sl::VIEW’; did you mean ‘LEFT_UNRECTIFIED_GRAY’?
  462 |         _24bitMode ? sl::VIEW::LEFT_UNRECTIFIED_BGR : sl::VIEW::LEFT_UNRECTIFIED_BGRA,
      |                                ^~~~~~~~~~~~~~~~~~~~
      |                                LEFT_UNRECTIFIED_GRAY
/root/ros_workspace/src/zed-ros2-wrapper/zed_components/src/zed_camera_one/src/zed_camera_one_component_video.cpp:462:65: error: ‘LEFT_UNRECTIFIED_BGRA’ is not a member of ‘sl::VIEW’; did you mean ‘LEFT_UNRECTIFIED_GRAY’?
  462 |         _24bitMode ? sl::VIEW::LEFT_UNRECTIFIED_BGR : sl::VIEW::LEFT_UNRECTIFIED_BGRA,
      |                                                                 ^~~~~~~~~~~~~~~~~~~~~
      |                                                                 LEFT_UNRECTIFIED_GRAY
/root/ros_workspace/src/zed-ros2-wrapper/zed_components/src/zed_camera/src/zed_camera_component_video_depth.cpp: In member function ‘bool stereolabs::ZedCamera::retrieveLeftImage(bool)’:
/root/ros_workspace/src/zed-ros2-wrapper/zed_components/src/zed_camera/src/zed_camera_component_video_depth.cpp:1494:30: error: ‘LEFT_BGR’ is not a member of ‘sl::VIEW’; did you mean ‘LEFT_GRAY’?
 1494 |       m24bitMode ? sl::VIEW::LEFT_BGR : sl::VIEW::LEFT_BGRA,
      |                              ^~~~~~~~
      |                              LEFT_GRAY
/root/ros_workspace/src/zed-ros2-wrapper/zed_components/src/zed_camera/src/zed_camera_component_video_depth.cpp:1494:51: error: ‘LEFT_BGRA’ is not a member of ‘sl::VIEW’; did you mean ‘LEFT_GRAY’?
 1494 |       m24bitMode ? sl::VIEW::LEFT_BGR : sl::VIEW::LEFT_BGRA,
      |                                                   ^~~~~~~~~
      |                                                   LEFT_GRAY
/root/ros_workspace/src/zed-ros2-wrapper/zed_components/src/zed_camera/src/zed_camera_component_video_depth.cpp: In member function ‘bool stereolabs::ZedCamera::retrieveLeftRawImage(bool)’:
/root/ros_workspace/src/zed-ros2-wrapper/zed_components/src/zed_camera/src/zed_camera_component_video_depth.cpp:1512:30: error: ‘LEFT_UNRECTIFIED_BGR’ is not a member of ‘sl::VIEW’; did you mean ‘LEFT_UNRECTIFIED_GRAY’?
 1512 |       m24bitMode ? sl::VIEW::LEFT_UNRECTIFIED_BGR : sl::VIEW::LEFT_UNRECTIFIED_BGRA,
      |                              ^~~~~~~~~~~~~~~~~~~~
      |                              LEFT_UNRECTIFIED_GRAY
/root/ros_workspace/src/zed-ros2-wrapper/zed_components/src/zed_camera/src/zed_camera_component_video_depth.cpp:1512:63: error: ‘LEFT_UNRECTIFIED_BGRA’ is not a member of ‘sl::VIEW’; did you mean ‘LEFT_UNRECTIFIED_GRAY’?
 1512 |     m24bitMode ? sl::VIEW::LEFT_UNRECTIFIED_BGR : sl::VIEW::LEFT_UNRECTIFIED_BGRA,
      |                                                             ^~~~~~~~~~~~~~~~~~~~~
      |                                                             LEFT_UNRECTIFIED_GRAY
/root/ros_workspace/src/zed-ros2-wrapper/zed_components/src/zed_camera/src/zed_camera_component_video_depth.cpp: In member function ‘bool stereolabs::ZedCamera::retrieveRightImage(bool)’:
/root/ros_workspace/src/zed-ros2-wrapper/zed_components/src/zed_camera/src/zed_camera_component_video_depth.cpp:1529:30: error: ‘RIGHT_BGR’ is not a member of ‘sl::VIEW’; did you mean ‘RIGHT_GRAY’?
 1529 |       m24bitMode ? sl::VIEW::RIGHT_BGR : sl::VIEW::RIGHT_BGRA,
      |                              ^~~~~~~~~
      |                              RIGHT_GRAY
/root/ros_workspace/src/zed-ros2-wrapper/zed_components/src/zed_camera/src/zed_camera_component_video_depth.cpp:1529:52: error: ‘RIGHT_BGRA’ is not a member of ‘sl::VIEW’; did you mean ‘RIGHT_GRAY’?
 1529 |       m24bitMode ? sl::VIEW::RIGHT_BGR : sl::VIEW::RIGHT_BGRA,
      |                                                    ^~~~~~~~~~
      |                                                    RIGHT_GRAY
/root/ros_workspace/src/zed-ros2-wrapper/zed_components/src/zed_camera/src/zed_camera_component_video_depth.cpp: In member function ‘bool stereolabs::ZedCamera::retrieveRightRawImage(bool)’:
/root/ros_workspace/src/zed-ros2-wrapper/zed_components/src/zed_camera/src/zed_camera_component_video_depth.cpp:1546:30: error: ‘RIGHT_UNRECTIFIED_BGR’ is not a member of ‘sl::VIEW’; did you mean ‘RIGHT_UNRECTIFIED_GRAY’?
 1546 |       m24bitMode ? sl::VIEW::RIGHT_UNRECTIFIED_BGR : sl::VIEW::RIGHT_UNRECTIFIED_BGRA,
      |                              ^~~~~~~~~~~~~~~~~~~~~
      |                              RIGHT_UNRECTIFIED_GRAY
/root/ros_workspace/src/zed-ros2-wrapper/zed_components/src/zed_camera/src/zed_camera_component_video_depth.cpp:1546:64: error: ‘RIGHT_UNRECTIFIED_BGRA’ is not a member of ‘sl::VIEW’; did you mean ‘RIGHT_UNRECTIFIED_GRAY’?
 1546 |    m24bitMode ? sl::VIEW::RIGHT_UNRECTIFIED_BGR : sl::VIEW::RIGHT_UNRECTIFIED_BGRA,
      |                                                             ^~~~~~~~~~~~~~~~~~~~~~
      |                                                             RIGHT_UNRECTIFIED_GRAY
gmake[2]: *** [CMakeFiles/zed_camera_one_component.dir/build.make:160: CMakeFiles/zed_camera_one_component.dir/src/zed_camera_one/src/zed_camera_one_component_video.cpp.o] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:192: CMakeFiles/zed_camera_one_component.dir/all] Error 2
gmake[1]: *** Waiting for unfinished jobs....

In the src folder I cloned the two repositories (wrapper and example). This is the Docker file I am using:

# Use the base image ZED SDK 5.0 with CUDA 12.8 on Ubuntu 22.04
FROM stereolabs/zed:5.0-gl-devel-cuda12.8-ubuntu22.04 

# Define the ROS 2 distribution
ENV ROS_DISTRO=humble
ENV LANG=C.UTF-8
ENV LC_ALL=C.UTF-8

# Install ROS 2 Humble + dependencies
RUN apt-get update -y && \
    DEBIAN_FRONTEND=noninteractive apt-get install -y tzdata curl wget gnupg lsb-release && \
    \
    # Add the ROS 2 repository
    curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc \
    | gpg --dearmor -o /usr/share/keyrings/ros-archive-keyring.gpg && \
    echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] \
    http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" \
    > /etc/apt/sources.list.d/ros2.list && \
    \
    # Install ROS 2 + build dependencies
    apt-get update -y && \
    DEBIAN_FRONTEND=noninteractive apt-get install -y \
        ros-$ROS_DISTRO-desktop-full \
        ros-$ROS_DISTRO-vision-msgs \
        ros-$ROS_DISTRO-ament-cmake-auto \
        build-essential \
        python3-rosdep \
        cmake \
        python3-colcon-common-extensions \
        usbutils \
        libusb-1.0-0-dev \
        git \
        --no-install-recommends && \
    \
    # Clean APT cache
    rm -rf /var/lib/apt/lists/*

# Initialize rosdep and update
RUN rosdep init && \
    rosdep update

Any help would be greatly appreciated. Thank you in advance!

2

Please use the latest ZED SDK v5.1.1

3

Thanks for your reply. I hope that installing v5.1 will fix the issue.

4

Yes, it will fix the issue.

Meanwhile, I’m fixing the wrapper to disable features that are only available with SDDK v5.1 when using it with older versions

5

The colcon build works, thanks for the advice. But now I have an error in the Isaac sim terminal (I don’t know if this belongs to your domain):

[Streaming] Error: failed to create RTP Session (err:-74)
2025-11-26T10:05:43Z [367,404ms] [Error] [sl.sensor.camera.bridge.plugin] Error during zed streamer initialization 0
terminate called without an active exception
2025-11-26T10:05:44Z [0ms] [Warning] [carb.crashreporter-breakpad.plugin] [crash] A crash has occurred.
6

This error does not come from the ZED ROS2 Wrapper components.

7

Okay, I’ll look for something on the NVIDIA forum. Thanks again for your help.

1 Like