Add ZED2i support to simulation

.devcontainer/docker-compose.yml

@@ -22,6 +22,8 @@ services:
       - "../pyproject.toml:/home/rcdt/pyproject.toml"
       - "../.config:/home/rcdt/.config"
       - "/dev:/dev"
+      - "${HOME}/zed_resources:/usr/local/zed/resources"
+      - "${HOME}/zed_settings:/usr/local/zed/settings"
     environment:
       - "DISPLAY"
       - "RCUTILS_COLORIZED_OUTPUT=1"

dockerfiles/general/pre_install.dockerfile

@@ -7,7 +7,6 @@ FROM nvidia/cuda:12.9.1-devel-ubuntu24.04 AS base
 ARG COLCON_BUILD_SEQUENTIAL
 ENV UNAME=rcdt
 ENV UID=1000
-
 # Remove existing user with same UID if exists:
 RUN if getent passwd $UID; then userdel $(id -nu $UID); else :; fi
 
@@ -20,4 +19,4 @@ RUN apt update
 
 # Create bashrc file:
 RUN echo "if test -f ~/.personal.bashrc; then\nsource ~/.personal.bashrc\nfi" >> /home/$UNAME/.bashrc
-RUN echo "if test -f ~/.env; then\nset -a && source ~/.env && set +a\nfi" >> /home/$UNAME/.bashrc
+RUN echo "if test -f ~/.env; then\nset -a && source ~/.env && set +a\nfi" >> /home/$UNAME/.bashrc

dockerfiles/install_scripts/zed_sdk.sh

@@ -0,0 +1,49 @@
+#!/bin/bash -i
+
+# SPDX-FileCopyrightText: Alliander N. V.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+# Based on dockerfile of ZED-ros2-wrapper at: 
+# https://github.com/stereolabs/zed-ros2-wrapper/blob/e9f54907fbf41ee9ce5d54f3bb694af93dad8bb3/docker/Dockerfile.desktop-humble
+
+set -e
+
+UBUNTU_RELEASE_YEAR=24      
+CUDA_MAJOR=12              
+CUDA_MINOR=9                
+ZED_SDK_MAJOR=5
+ZED_SDK_MINOR=0             
+
+###  CUDA “version.txt” marker 
+echo "CUDA Version ${CUDA_MAJOR}.${CUDA_MINOR}.0" > /usr/local/cuda/version.txt || true
+
+###  System prerequisites
+apt-get update -y \
+  && DEBIAN_FRONTEND=noninteractive apt-get install -y --no-install-recommends \
+       lsb-release wget less udev sudo zstd build-essential cmake \
+       python3 python3-pip libpng-dev libgomp1
+
+###  Download + install ZED SDK 
+installer="ZED_SDK_Ubuntu${UBUNTU_RELEASE_YEAR}_cuda${CUDA_MAJOR}.${CUDA_MINOR}.run"
+sdk_url="https://download.stereolabs.com/zedsdk/${ZED_SDK_MAJOR}.${ZED_SDK_MINOR}/cu${CUDA_MAJOR}/ubuntu${UBUNTU_RELEASE_YEAR}"
+
+echo "Downloading ${sdk_url}  →  ${installer} ..."
+wget -q -O "${installer}" "${sdk_url}"
+chmod +x "${installer}"
+
+echo "Running installer …"
+./"${installer}" -- silent 
+
+###  Post-install
+
+ln -sf /lib/x86_64-linux-gnu/libusb-1.0.so.0  /usr/lib/x86_64-linux-gnu/libusb-1.0.so
+
+chmod 755 /usr/local/zed/lib
+find /usr/local/zed/lib -type f -name 'libsl_*.so*' -exec chmod 644 {} +
+chmod -R u+rwX /usr/local/zed/resources /usr/local/zed/settings
+chmod o+rx /usr/local/zed /usr/local/zed/lib
+chmod a+r /usr/local/zed/lib/libsl_zed.so
+
+rm -f "${installer}"
+rm -rf /var/lib/apt/lists/*

dockerfiles/install_scripts/zed_wrapper.sh

@@ -0,0 +1,21 @@
+#!/bin/bash -i
+
+# SPDX-FileCopyrightText: Alliander N. V.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+set -e
+source /home/$UNAME/.bashrc
+apt update
+
+cd /home/$UNAME
+mkdir zed_ws
+cd /home/$UNAME/zed_ws
+git clone -b jazzy https://github.com/stereolabs/zed-ros2-wrapper.git src/zed_ros2_wrapper
+
+sudo apt update
+rosdep update
+rosdep install --from-paths src --rosdistro $ROS_DISTRO -y -r
+colcon build --symlink-install --cmake-args=-DCMAKE_BUILD_TYPE=Release
+
+echo "source /home/$UNAME/zed_ws/install/setup.bash" >>/home/$UNAME/.bashrc

dockerfiles/rcdt_robotics.Dockerfile

@@ -11,6 +11,12 @@ RUN ./ros2_jazzy.sh
 COPY ./install_scripts/core_packages.sh .
 RUN ./core_packages.sh
 
+COPY ./install_scripts/zed_sdk.sh .
+RUN ./zed_sdk.sh
+
+COPY ./install_scripts/zed_wrapper.sh .
+RUN ./zed_wrapper.sh
+
 COPY ./install_scripts/franka_ros2.sh .
 RUN ./franka_ros2.sh
 

docs/content/panther.md

@@ -69,7 +69,7 @@ To use the ZED 2i camera, ssh into the *ThinkStation*. Here you can find the clo
 cd ~/zed-docker/demo;
 xhost local:root;
 export ZED_IMAGE=husarion/zed-desktop:humble;
-export CAMERA_MODEL=zed2;
+export CAMERA_MODEL=zed2i;
 docker compose up zed;
 ```
 

ros2_ws/src/rcdt_sensors/urdf/rcdt_zed2i.urdf.xacro

@@ -0,0 +1,61 @@
+<?xml version="1.0"?>
+<!--
+SPDX-FileCopyrightText: Alliander N. V.
+SPDX-License-Identifier: Apache-2.0
+-->
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="rcdt_zed2i">
+
+  <xacro:macro name="rcdt_zed2i"
+               params="robot_namespace
+                       device_namespace
+                       parent:=world
+                       model:=zed2i
+                       enable_gnss:=false
+                       xyz:='0 0 0' rpy:='0 0 0' ">
+
+    <xacro:include filename="$(find zed_wrapper)/urdf/zed_macro.urdf.xacro"/>
+
+    <xacro:zed_camera name="${device_namespace}"
+                      model="${model}"
+                      enable_gnss="${enable_gnss}">
+      <origin xyz="${xyz}" rpy="${rpy}"/>
+
+    </xacro:zed_camera>
+
+    <gazebo reference="${device_namespace}_left_camera_frame">
+      <sensor type="camera" name="${device_namespace}_rgb">
+        <!-- Shift the lens 1 cm forward in +X (robot-forward) -->
+        <pose>0.01 0 0  0 0 0</pose>
+
+        <always_on>true</always_on>
+        <update_rate>30.0</update_rate>
+        <topic>/zed/zed_node/rgb/image_rect_color</topic>
+        <visualize>false</visualize>
+        <camera>
+          <horizontal_fov>1.204277</horizontal_fov>
+          <image><width>640</width><height>360</height></image>
+          <clip><near>0.02</near><far>300.0</far></clip>
+        </camera>
+      </sensor>
+    </gazebo>
+
+    <gazebo reference="${device_namespace}_left_camera_frame">
+      <sensor type="depth_camera" name="${device_namespace}_depth">
+      <pose>0.01 0 0  0 0 0</pose>
+      <always_on>true</always_on>
+      <update_rate>30.0</update_rate>
+      <topic>/zed/zed_node/depth/depth_registered</topic>
+      <visualize>false</visualize>
+      <camera>
+        <horizontal_fov>1.204277</horizontal_fov>
+        <image><width>640</width><height>360</height></image>
+        <clip>
+          <near>0.01</near>
+          <far>65.536</far>
+        </clip>
+      </camera>
+      </sensor>
+    </gazebo>
+
+  </xacro:macro>
+</robot>