一、系统与驱动层参考https://blog.csdn.net/2302_80099075/article/details/1460696771. 显卡驱动 CUDANVIDIA 驱动 ≥ 5705060 要求CUDA 12.8系统nvcc --version显示 12.8nvidia-smi正常切独显渲染防 rviz/Explorer 闪sudo prime-select nvidia reboot2. 装 ZED SDK 5.4CUDA 12 版cd ~/Downloads chmod x ZED_SDK_Ubuntu22_cuda12.8_tensorrt10.9_v5.4.1.zstd.run ./ZED_SDK_Ubuntu22_cuda12.8_tensorrt10.9_v5.4.1.zstd.run -- silent skip_od_module4. 插相机确认 USBlsusb -t | grep -i 2b03看到5000MDriveruvcvideo才继续若是 480M 换口/翻 Type-C 重插。二、ROS 2 Humble 工作空间核心编译5. 建空间 拉源码mkdir -p ~/zed_ws/src cd ~/zed_ws/src git clone https://github.com/stereolabs/zed-ros2-wrapper.git cd ~/zed_ww6. 初始化 rosdep首次sudo rosdep init rosdep update7. 关 conda 清环境conda deactivate conda config --set auto_activate_base false cd ~/zed_ws rm -rf build install log8. 装依赖rosdep install --from-paths src --ignore-src -r -y9. colcon 编译跳过 zed_debugcolcon build --symlink-install \ --packages-skip zed_debug \ --cmake-args -DCMAKE_BUILD_TYPERelease -DPYTHON_EXECUTABLE/usr/bin/python310. 写 bashrcecho source ~/zed_ws/install/local_setup.bash ~/.bashrc source ~/.bashrc三、启动相机 rviz2 看画面每次用相机都这样11. 终端 A启动 ZED Mini 节点ros2 launch zed_wrapper zed_camera.launch.py camera_model:zedm成功标志终端打印Camera opened successfully无红色 ERROR。12. 终端 B看话题ros2 topic list ros2 topic hz /zed/zed_node/rgb/color/rect/image应有/zed/zed_node/rgb/color/rect/image等hz 稳定 30或配置值。13. 终端 C开 rviz2rviz2在rviz进行配置Global Options → Fixed FrameodomAdd → Image → Topic/zed/zed_node/rgb/color/rect/imageAdd → PointCloud2 → Topic/zed/zed_node/point_cloud/cloud_registeredAdd → Imu → Topic/zed/zed_node/imu/data看到稳定彩色图 点云随相机移动就通了四、最简化# 每次开机 sudo prime-select nvidia # 第一次设过就不用 source ~/zed_ws/install/local_setup.bash ros2 launch zed_wrapper zed_camera.launch.py camera_model:zedm # 新终端 rviz2
