Help Getting Started with ZED2 + ROS2 on NVIDIA AGX Orin (Docker Preferred)

[idtres]

Hello everyone,

I’m new to the forums and also fairly new to working with the ZED SDK on embedded systems. I’ve recently set up my ZED2 over USB on an NVIDIA AGX Orin, and I was able to install the SDK and run a few examples successfully. However, I’ve hit a bit of a wall trying to properly integrate everything with ROS2, especially when Docker gets involved.

I think what I want to achieve is relatively straightforward, but I’m unsure of the best path to get there — especially coming in fresh.

Here’s what I’d like to do:

• Start from a clean, fresh install (just flashed the latest Jetpack on the Orin).
• Use ROS2 (ideally in a Docker container).
• Visualize the point cloud from the ZED2 in RViz2.
• Eventually build my whole project inside a Docker container, so I’d love to follow best practices from the start.

My main questions:

• Is there a recommended tutorial or guide that covers this setup (ZED2 + ROS2 + Docker + AGX Orin)?
• Are there specific Jetpack or SDK versions I should stick to for best compatibility?
• Any official or community Docker containers I should base my work on?

Any help, tips, or links to relevant examples would be greatly appreciated!

Thanks in advance!

[Myzhar]

Hi @idtres
Welcome to the Stereolabs community.

@idtres

Here’s what I’d like to do:

• Start from a clean, fresh install (just flashed the latest Jetpack on the Orin).
• Use ROS2 (ideally in a Docker container).
• Visualize the point cloud from the ZED2 in RViz2.
• Eventually build my whole project inside a Docker container, so I’d love to follow best practices from the start.

You can read our exhaustive online documentation, which covers all the topics you listed.

@idtres

Is there a recommended tutorial or guide that covers this setup (ZED2 + ROS2 + Docker + AGX Orin)?

Here it is: Create and use Docker images for ZED and ROS 2 - Stereolabs
Together with ready GitHub resources: zed-ros2-wrapper/docker at master · stereolabs/zed-ros2-wrapper · GitHub

@idtres

Are there specific Jetpack or SDK versions I should stick to for best compatibility?

The master branch of the ZED ROS2 Wrapper is normally compatible with the latest ZED SDK.
We recommend you use JP6 and ROS2 Humble for a straightforward user experience.

@idtres

Any official or community Docker containers I should base my work on?

Here you can find all the info: zed-ros2-wrapper/docker at master · stereolabs/zed-ros2-wrapper · GitHub

[idtres]

Hello @Myzhar, thank you once again for the prompt response!
I’ve started reviewing the documentation, and it looks excellent so far.

I have two projects in mind:

The first is an occupancy detection system using a fixed-position camera in a parking lot. The objective is to determine whether a defined area is occupied—ideally by leveraging point cloud collision rather than conventional object detection methods.

The second involves mounting the camera on a moving vehicle to estimate potential near-collisions—what I believe is referred to as Forward Collision Avoidance (FCA).

I’d really appreciate it if you could point me toward any additional documentation, topics, or resources that might help me achieve these goals.
Thanks again!

[Myzhar]

@idtres

The first is an occupancy detection system using a fixed-position camera in a parking lot. The objective is to determine whether a defined area is occupied—ideally by leveraging point cloud collision rather than conventional object detection methods.

Occupancy maps in Nav2 can help you a lot with this.

@idtres

The second involves mounting the camera on a moving vehicle to estimate potential near-collisions—what I believe is referred to as Forward Collision Avoidance (FCA).

Again, Nav2 can help you a lot with this.