These are the steps I took to get the ZED ROS driver working on a fresh install of L4T from the JetPack:
Install git
sudo apt-get install git
Install ZED SDK for the JTX1 and make a link in the home directory
wget 'https://www.stereolabs.com/download_327af3/ZED_SDK_Linux_JTX1_v0.9.2_alpha.run'
chmod +x ZED_SDK_Linux_JTX1_v0.9.2_alpha.run
./ZED_SDK_Linux_JTX1_v0.9.2_alpha.run
ln -s /usr/local/zed/ ~/zed
The OpenGL Extension Wrangler Library was missing, install it to run the ZED explorer and depth viewer
sudo apt-get instal libglew-dev
Install ROS base ( from http://wiki.ros.org/indigo/Installation/UbuntuARM )
I had to run this before rviz would work on the JTX1 (as noted on the ROS installation page)
#for running rviz on arm
unset GTK_IM_MODULE
Create a catkin workspace
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
cd ..
catkin_make
Install some dependencies
sudo apt-get install libopencv-videostab2.4
Clone the ZED ROS wrapper from github (this is a modified version from our team’s github)
cd ~/catkin_ws/src
git clone https://github.com/zastrix/zed-ros-wrapper.git
cd ..
catkin_make
At this point I got a few errors, missing packages etc. here’s what I did to solve them (if anyone can see the underlying workings of why this step is needed, I’d love to hear it)
sudo apt-get autoremove
sudo apt-get remove libopencv4tegra
sudo apt-get install ros-indigo-image-transport
sudo apt-get install ros-indigo-cv-bridge
Now the ZED ROS wrapper should compile
catkin_make
These steps allowed me to run the ZED ROS wrapper and publish rgb and depth images, as well as camera info. These topics will be used with rtabmap for our SLAM application. If something is missing or someone has an idea of how I could do this better, please let me know. I hope this helps someone!