Ask Your Question

Providing PointCloud2 data from ZED camera

asked 2018-02-22 02:00:39 -0600

updated 2018-02-22 02:01:16 -0600

I am trying to run a program that requires PointCloud2 data using only the ZED camera, no LASER. Depthcloud to Laserscan is said to work well with ZED, so could I combine this with the Laserscan to Pointcloud routine in one node, would that work? It appears that the latter code isn't really a ROS node but a routine to be included in another program, correct? The ZED can make Pointcloud output itself but it is too slow, like 2 Hz.

edit retag flag offensive close merge delete


Can you please provide a bit more detail? Where are the LaserScans coming from? A ZED is not a laser scanner, so that confuses me.

gvdhoorn gravatar imagegvdhoorn ( 2018-02-23 04:24:34 -0600 )edit

It appears that the latter code isn't really a ROS node but a routine to be included in another program, correct?

the package provides a library, yes, but there are stand-alone nodes as well.

But again: I'm not sure how those could help with what you are asking.

gvdhoorn gravatar imagegvdhoorn ( 2018-02-23 04:26:21 -0600 )edit

Sorry that I wasn't clear. I'm talking about the depthimage_to_laserscan node. This takes the Zed output and converts it to laserscan data. Now I'm wanting to convert this laserscan data to PointCloud2 data. You say there is a node for this? I haven't found it, but did find laser_geometry.

Rodolfo8 gravatar imageRodolfo8 ( 2018-02-23 12:32:16 -0600 )edit

Would depth_image_proc not be a more direct route?

gvdhoorn gravatar imagegvdhoorn ( 2018-02-23 13:58:16 -0600 )edit

That looks good, I'll study it soon, thanks!

Rodolfo8 gravatar imageRodolfo8 ( 2018-02-23 21:31:23 -0600 )edit

1 Answer

Sort by ยป oldest newest most voted

answered 2018-02-27 20:05:29 -0600

I have found good information on the rtabmap sites! There are tutorials about setup and launch files and video streams. I feel sure that I'll be successful with that depth_image_proc and help from rtabmap sites. The abundance of tutorials is very helpful. Thanks to all that have contributed so much to this resource!

edit flag offensive delete link more


Stereolabs also has a nodelet on their zed_ros_wrapper repo that runs faster than the node. They also have sample launch files to use them.

Rodolfo8 gravatar imageRodolfo8 ( 2018-04-10 14:53:13 -0600 )edit

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

1 follower


Asked: 2018-02-22 02:00:39 -0600

Seen: 333 times

Last updated: Feb 27 '18