CatBot ROS 2 workspace

This workspace contains the catbot_launcher package and StereoLabs' official ROS 2 wrapper. The main launch file opens the camera, publishes its video, depth, point-cloud, sensor, odometry, and TF data as ROS 2 topics, and starts a Foxglove bridge for remote diagnostics.

Build

cd /home/catbot/ROS/ros2_ws
source /opt/ros/humble/setup.bash
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install
source install/setup.bash

Launch

ros2 launch catbot_launcher main.launch.py

Foxglove can connect to ws://<robot-ip>:8765. The bridge listens on all network interfaces, so the robot's firewall must allow inbound TCP port 8765.

The default model is zedx. Select the correct model and, optionally, a camera serial number at launch time:

ros2 launch catbot_launcher main.launch.py \
  camera_model:=zedx camera_name:=zed serial_number:=0

Common camera model values include zedx, zedxm, zed2, zed2i, zed, and zedm. Press Ctrl+C to stop the camera node.

Runtime parameters can be overridden in src/catbot_launcher/config/zed_params.yaml. Its examples are commented out, so the StereoLabs defaults are used until an entry is uncommented. A different parameter file can also be selected without rebuilding:

ros2 launch catbot_launcher main.launch.py config_file:=/path/to/zed_params.yaml

Inspect the published data with:

ros2 topic list | grep '^/zed/'
ros2 topic hz /zed/zed_node/rgb/image_rect_color
ros2 topic echo /zed/zed_node/pose --once