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ROS 2 Interfaces package for ZED Cameras

The zed-ros2-interfaces repository installs the zed_msgs ROS 2 package which defines the custom topics, services, and actions used by the packages defined in the repositories ZED RO 2 Wrapper and ZED RO 2 Examples.

Note: This package does not require CUDA and can be used to receive ZED data on ROS 2 machines without an NVIDIA GPU.

Install the package from the binaries for ROS 2 Humble

The package zed_msgs is available in binary format in the official Humble repository.

sudo apt install ros-humble-zed-msgs

Install the package from the source code

You can install the zed_msgs package from the source code to obtain the latest updates or for distributions other than Humble (e.g. ROS 2 Foxy).

Build the repository

Dependencies

The zed_msgs is a colcon package. It depends on the following ROS 2 packages:

• ament_cmake_auto
• builtin_interfaces
• std_msgs
• geometry_msgs
• shape_msgs
• rosidl_default_generators
• rosidl_default_runtime
• ament_lint_auto
• ament_cmake_copyright
• ament_cmake_cppcheck
• ament_cmake_lint_cmake
• ament_cmake_pep257
• ament_cmake_uncrustify
• ament_cmake_xmllint

Clone and build

Open a terminal, clone the repository, update the dependencies, and build the packages:

cd ~/catkin_ws/src
git clone https://github.com/stereolabs/zed-ros2-interfaces.git
cd ../
sudo apt update
rosdep update
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install --cmake-args=-DCMAKE_BUILD_TYPE=Release
echo source $(pwd)/install/local_setup.bash >> ~/.bashrc
source ~/.bashrc

:pushpin: Note: If the command rosdep is missing, you can install it using the following method:

sudo apt-get install python-rosdep python-rosinstall-generator python-vcstool python-rosinstall build-essential

:pushpin: Note: The option --symlink-install is important, it allows using symlinks instead of copying files to the ROS 2 folders during the installation, where possible. Each package in ROS 2 must be installed and all the files used by the > nodes must be copied into the installation folders. Using symlinks allows you to modify them in your workspace, reflecting the modification during the next executions without the needing to issue a new colcon build command. This is true only for > all the files that don’t need to be compiled (Python scripts, configurations, etc.).

:pushpin: Note: If you are using a different console interface like zsh, you have to change the source command as follows: echo source $(pwd)/install/local_setup.zsh >> ~/.zshrc and source ~/.zshrc.

Custom Topics

• BoundingBox2Df
• BoundingBox2Di
• BoundingBox3D
• DepthInfoStamped
• GnssFusionStatus
• HealthStatusStamped
• Heartbeat
• Keypoint2Df
• Keypoint2Di
• Keypoint3D
• MagHeadingStatus
• Object
• ObjectsStamped
• PlaneStamped
• PosTrackStatus
• Skeleton2D
• Skeleton3D
• SvoStatus

You can get more information by reading the Stereolabs online documentation

Custom Services

• SetPose
• SetROI
• StartSvoRec
• SetSvoFrame.srv
• SaveAreaMemory.srv

You can get more information by reading the Stereolabs online documentation

Changelog for package zed_msgs

Forthcoming

• Improve PosTrackStatus comments: document the values of the deprecated [status]{.title-ref} field ([sl::POSITIONAL_TRACKING_STATE]{.title-ref})
• Contributors: Walter Lucetti

5.5.0 (2026-10-07)

• Add pose_confidence and duplicated_image
• Contributors: Walter Lucetti

5.3.0 (2026-05-05)

• Update PosTrackStatus to GEN_3
• Add "scene_illuminance" to health status message
• Contributors: Walter Lucetti

5.2.1 (2026-03-02)

• Remove unused URDF files and associated references from CMakeLists and README
  • Mesh files are now in the [zed_description]{.title-ref} package available via APT
• Improve formatting and clarity in CONTRIBUTING.md
• Fix CONTRIBUTING
• Fix README
• Contributors: Walter Lucetti

5.1.1 (2025-10-22)

• Add ZED X HDR CAD models
• Update 3D models with smaller files
• Contributors: Walter Lucetti

5.1.0 (2025-10-16)

• Add SaveAreaMemory service definition
• Contributors: Walter Lucetti

5.0.1 (2025-05-26)

• Add SaveAreaMemory custom service
• Contributors: Walter Lucetti

5.0.0 (2025-03-28)

• Add new SvoStatus topic
• Add new HealthStatusStamped topic
• Add new SetSvoFrame service

4.2.5 (2025-03-25)

• Update Object.msg
• Update README.md

Old releases

• Changed the name of the package [zed_interfaces]{.title-ref} to [zed_msgs]{.title-ref} to match the ROS2 naming convention
• Add ZED X One mesh
• Update packages version
• Update cmake_minimum_required
• Fix to support Iron
• Fix Foxy building
• Fix dependencies
• Add ZED X One STL
• Fix PosTrackStatusMsg
• Update PosTrackStatus.msg
• Add new GNSS status message and update PosTrackStatus
• Add mag heading status
• Update PosTrackStatus.msg
• Fix typo in enum for SEARCHING_FLOOR_PLANE
• Improve install info
• Update SetPose srv description
• Add new PosTrackStatus message type
• Add support for new BODY formats
• Add zedx and zedxm meshes
• Remove annoying build log messages
• Fix LINT test
• Add CONTRIBUTING rules
• Add [setRoi]{.title-ref} service
• Add ROS2 distro check
• Add PlaneStamped message
• Add DepthInfoStamped.msg
• Add support for BODY_FORMAT::POSE_34
• Update Object topic
• Add msg, srv, and meshes files
• Initial commit