Obstacle detection

Hi

I am new to computer vision.
I bought a zed 2i (sdk running on a Jetson) to detect obstacles in front of a rover and pass on that information to the controller (where i have a path planning algorithm)

I don’t really care what the obstacle is (Tree, human, dog…). It should detect the obstacle(s), put a bounding box, determine the distance to it and pass that information along to take appropriate action.

Could someone point me to the relevant classes/examples…
(I don’t know whether to go with the depth sensing route or the object detection route)