Commented out zed camera interface.

arm_teleop/teleop_helper_functions.py

 import sys
-import pyzed.sl as sl
+# import pyzed.sl as sl
 from geometry_msgs.msg import TransformStamped, PoseStamped
 import rclpy
 from scipy.spatial.transform import Rotation as R
@@ -52,37 +52,37 @@ def broadcast_tf(self, base_name, frame_name, position, quaternion):
     
     return t
 
-def init_zed_camera():
-    # Create a ZED camera object
-    zed = sl.Camera()
-
-    # Set configuration parameters
-    input_type = sl.InputType()
-    if len(sys.argv) >= 2 :
-        input_type.set_from_svo_file(sys.argv[1])
-    init = sl.InitParameters(input_t=input_type)
-    init.camera_resolution = sl.RESOLUTION.HD1080
-    init.depth_mode = sl.DEPTH_MODE.PERFORMANCE
-    init.coordinate_units = sl.UNIT.MILLIMETER
-
-    # Open the camera
-    err = zed.open(init)
-    if err != sl.ERROR_CODE.SUCCESS :
-        print(repr(err))
-        zed.close()
-        exit(1)
-
-    # Set runtime parameters after opening the camera
-    runtime = sl.RuntimeParameters()
-
-    # Prepare new image size to retrieve half-resolution images
-    image_size = zed.get_camera_information().camera_configuration.resolution
-    image_size.width = image_size.width /2
-    image_size.height = image_size.height /2
-
-    # Declare your sl.Mat matrices
-    image_zed = sl.Mat(image_size.width, image_size.height, sl.MAT_TYPE.U8_C4)
-    depth_image_zed = sl.Mat(image_size.width, image_size.height, sl.MAT_TYPE.U8_C4)
-    point_cloud = sl.Mat()
-
-    return zed, runtime, image_size, image_zed, depth_image_zed, point_cloud
\ No newline at end of file
+# def init_zed_camera():
+#     # Create a ZED camera object
+#     zed = sl.Camera()
+
+#     # Set configuration parameters
+#     input_type = sl.InputType()
+#     if len(sys.argv) >= 2 :
+#         input_type.set_from_svo_file(sys.argv[1])
+#     init = sl.InitParameters(input_t=input_type)
+#     init.camera_resolution = sl.RESOLUTION.HD1080
+#     init.depth_mode = sl.DEPTH_MODE.PERFORMANCE
+#     init.coordinate_units = sl.UNIT.MILLIMETER
+
+#     # Open the camera
+#     err = zed.open(init)
+#     if err != sl.ERROR_CODE.SUCCESS :
+#         print(repr(err))
+#         zed.close()
+#         exit(1)
+
+#     # Set runtime parameters after opening the camera
+#     runtime = sl.RuntimeParameters()
+
+#     # Prepare new image size to retrieve half-resolution images
+#     image_size = zed.get_camera_information().camera_configuration.resolution
+#     image_size.width = image_size.width /2
+#     image_size.height = image_size.height /2
+
+#     # Declare your sl.Mat matrices
+#     image_zed = sl.Mat(image_size.width, image_size.height, sl.MAT_TYPE.U8_C4)
+#     depth_image_zed = sl.Mat(image_size.width, image_size.height, sl.MAT_TYPE.U8_C4)
+#     point_cloud = sl.Mat()
+
+#     return zed, runtime, image_size, image_zed, depth_image_zed, point_cloud
\ No newline at end of file