Is it possible to have the ZED ROS2 Wrapper accept a camera stream from a remote Device?
Or do i need to send my ROS Topics over the network connection?
Currently Running the SDK 5.1.1 with ROS2 Humble on a Jetson Orin AGX 64GB and a Stereolabs Zedbox mini 16GB as Stream sender.
Hi @MM10,
Yes, it’s possible to use the stream.stream_address and stream.stream_port values in the config file to receive a streaming input from a remote source into the ROS2 wrapper.
More information on this in the docs here: ROS 2 - ZED Stereo Node - Stereolabs
Thank you,
as the Stream is going over UDP to the ROS2 Wrapper, is there any way to make sure, that the Images used by the ROS2 Wrapper are current images sent out by the Streamer. Not any old images stuck in a buffer somewhere?
All messages of the ROS2 wrapper are stamped with the streamer capture timestamp given by sl::getTimestamp() method, so you could check these values to be sure that the data are not too old.
Ah great so the topics by the ROS2 Wrapper will have the timestamp of the Sender. Let me check on that.
Is there any preferred method of you to synchronize the time between the two devices? I would run a NTP-Server on one device, so that the 2nd device can sync to that.
Hi @MM10,
We’ve got a guide in our docs on multi-device time sync using ptp and ntp, hope this helps: Setting Up Multiple 3D Cameras - Stereolabs
The NIC of the Stereolabs Zed Box Mini 16GB does not seem to support PTP. Is there something I’m doing wrong, or will NTP have to suffice?