Muilt-Camera ROS2 Wrapper

For context here is the current setup I am using:

  • NVIDIA Jetson AGX Xavier
  • Ubuntu 18.04 LTS
  • Jetpack 4.6
  • ROS2 Eloquent
  • ZED SDK 3.6
  • Stereolabs ZED
  • Stereolabs ZED2i

I’d like to integrate the ZED ROS2 Wrapper with my two ZED cameras. When I try running the both launch files simultaneously, one of them fails to detect its respective camera. How might I go about modifying the ROS2 wrapper to work with a multi-camera setup?

Thanks :slight_smile:

Hi @austinlake04
if the two cameras are connected to the same host machine, then you must open them by using their serial number or idx, otherwise the ZED SDK always tries to open the camera with the lower idx:

Can you elaborate on this part? There is no “zed_id” defined in the existing launch files. Should I create a common.yaml for each of the cameras and write the id’s there or how should I go about it?

@rallpal Yes, that’s a solution.

However, we can add the zed_id and/or serial_number as parameters for the launch files.
Can you please add a feature request issue on Github to keep track of it?
It’s a quick modification…

Perfect, I got it to work, and posted a feature request on git.

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The launch files have been updated with the new zed_id and serial_number parameters