Usage of ROS and Stereolab ZED

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Hi,

I am currently working on a project involving a pair of stereo cameras. These stereo cameras will be placed in the environment. These cameras will be used to obtain a 3D map (might use Octomap?) of the environment ( for obstacle avoidance ) and then extended to path planning later.

I have seen a few commercial stereo cameras that might work with ROS. I rejected MIcrosoft Kinect as it has a very short range (0.8 - 4.5 metres) but I came across Stereo Labs ZED as seen here on the ROS wiki page.

My Question:

Does anyone have experience using StereoLabs ZED with ROS ? Is it really as good as it is claims ( depth maps upto 20m ?) I would be grateful if anyone can provide an instance of using ZED with ROS.

Thanks!