Using the create_workspace.sh script.

Since we're utilizing the Dockerfile and src from husky_ws and zed_ws, we can safely remove the template.

To ensure code maintenance ease, refrain from altering the code in husky_ws here. You may update husky_ws to the latest version independently. However, if you intend to simulate in Gazebo, you'll need to reintegrate the ZED URDF. Please refer to the commits made after this one.

To ensure code maintenance ease, refrain from altering the code in zed_ws here. You may update zed_ws to the latest version independently.

Consider that this commit could potentially be replaced by utilizing git submodules.

Using the create_workspace.sh script.

Commented out the ROS_LOCALHOST_ONLY environment variable, and mount the shared memory.

Replace "realsense" with "zed". The remaining part remains the same.

The final "cmd_vel" is published by the twist_mux. Remapping the topic in the launch file is the easiest way to implement this.

Implement a P controller to adjust the Husky's speed based on the depth. The previous mode is still functional, and you can switch between modes within the main.py file.

Reference: https://www.stereolabs.com/docs/ros2/depth-sensing