Zed-ros2-wrapper - Nitros support

Sebastian · July 28, 2025, 4:01pm

My current set up on jetpack 6.2.1 feeding raw images using master branch of Zed wrapper is severely bottle necked by cudaStreamSynchronize and GPU malloc/copy/free etc. All this to say that the nitros support branch is very intriguing to me.

Currently, I only want/need raw image transport. I think rgb is encoded in BGR8 only, and grayscale would be a bonus but I think conversion can be handled by the ISAAC stack.

I see from the docs that there is currently some missing features (depth data memory sharing) but if I just want to get the raw image topics working, is this the right avenue at this time? Is there a way I can help configure/test this with you? If there is something in need of patching, I am happy to help start a PR.

Regards,
Sebastian

Myzhar · July 28, 2025, 4:06pm

Hi @Sebastian
The “NITROS” branch of the ZED ROS2 Wrapper is working correctly.
We have not yet merged it because we must complete the documentation and the examples.

You can find a working example with BGRA8 to BGR8 conversion in the ZED ROS2 Examples repository, in the branch add_nitros_examples:

The launch file shows a trick to automatically configure the data type converter node:

github.com

stereolabs/zed-ros2-examples/blob/add_nitros_examples/isaac_ros/zed_isaac_ros_april_tag/launch/zed_isaac_ros_april_tag.launch.py#L104-L153


      
          # Read the resolution from the ZED parameters file
          with open(camera_config_override_path, 'r') as f:
              configuration = yaml.safe_load(f)
              print(f'Loaded configuration: {configuration}')
              resolution = configuration["/**"]["ros__parameters"]["general"]["grab_resolution"]
              pub_resolution = configuration["/**"]["ros__parameters"]["general"]["pub_resolution"]
              pub_downscale_factor = configuration["/**"]["ros__parameters"]["general"]["pub_downscale_factor"]
              if pub_resolution == 'CUSTOM':
                  rescale = pub_downscale_factor
              else:
                  rescale = 1.0
          
          if resolution == 'HD2K':
              image_width = 2208
              image_height = 1242
          elif resolution == 'HD1200':
              image_width = 1280
              image_height = 720
          elif resolution == 'HD1080':
              image_width = 1920

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Sebastian · July 28, 2025, 4:07pm

Amazing thank you! Incredible work, very excited to be using your product and tech driving it.
Will chime in when things are working.
Regards, Sebastian

Myzhar · July 28, 2025, 4:08pm

Please do not hesitate to send feedback while testing it.
They will be appreciated.

Sebastian · July 29, 2025, 3:42pm

Is there a specific version of isaac_ros/isaac_ros_common/isaac_ros_nitros that is compatible with the nitros branch of zed-ros2-wrapper?

I wonder if the negotiated_interfaces::msg::NegotiatedTopicsInfo_ is not matching or something.

[component_container_mt-1] [INFO] [1753803182.090859227] [zed_left.zed_left_node]: Negotiating
[component_container_mt-1] [INFO] [1753803182.090896665] [zed_left.zed_left_node]: Could not negotiate
[component_container_mt-1] [INFO] [1753803182.090986326] [zed_left.zed_left_node]: Negotiating
[component_container_mt-1] [INFO] [1753803182.091021077] [zed_left.zed_left_node]: Could not negotiate
[component_container_mt-1] [INFO] [1753803182.097483183] [zed_right.zed_right_node]: Negotiating
[component_container_mt-1] [INFO] [1753803182.097581292] [zed_right.zed_right_node]: Could not negotiate
[component_container_mt-1] [INFO] [1753803182.097970526] [zed_right.zed_right_node]: Negotiating
[component_container_mt-1] [INFO] [1753803182.098044827] [zed_right.zed_right_node]: Could not negotiate

As a result, zero-copy breaks, and the default image copy transport is used leading to excess cpu usage.

Thank you

Myzhar · July 29, 2025, 3:49pm

We use the latest APT version of Isaac ROS.
More information will be shared with the oncoming documentation

Sebastian · July 29, 2025, 4:29pm

Okay understood. I beleive this method installs everything natively to the jetson, not using the docker containers. Thank you, excited for the documentation.

Myzhar · July 29, 2025, 4:45pm

Exactly, we faced a few issues by using them.