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Builds and installs Almond’s patched version of the Stereolabs ZED GStreamer plugins (zedxonesrc for mono cameras, zedsrc for stereo). The fast camera pipeline for teleop --cameras and collect-data uses them. gst.install installs GStreamer itself, and this command adds the ZED camera plugins.
The one-command install and axol provision run it for you, right after gst.install. It is safe to run again. It skips the build when the installed plugins are already current.

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Why the patched plugins

  • A fresh Jetson has no ZED GStreamer plugins. Without them, Axol falls back to the slower ZED SDK camera path.
  • Accurate timestamps. The stock plugins stamp each frame when the computer receives it, which is later than when the sensor captured it. The patched plugins use the capture time, so each recorded image lines up with the joint positions from the same moment. This matches what policies see at inference time.
  • Newer JetPack. The patched plugins also build zedxonesrc on JetPack 7 (L4T newer than 36), where the stock build leaves it out.

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Requirements

  • An NVIDIA Jetson
  • The ZED SDK at /usr/local/zed
  • Root, to install packages and the plugins. Run as root, or it asks for your sudo password once.
gst.build-zed installs the compiler and other packages it needs before it builds. On a computer that isn’t a Jetson, or that has no ZED SDK, it skips the build and Axol uses the ZED SDK camera path. If the installed plugins are later replaced or overridden, Axol falls back to the ZED SDK camera path until you run gst.build-zed again.

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After a ZED SDK upgrade

The plugins are built against a specific ZED SDK version. After you install a new SDK, GStreamer still lists the plugins but can’t load them (undefined symbol: _ZN2sl9CameraOne8isOpenedEv…). Teleop and collect-data log a warning that names this command, and use the ZED SDK camera path instead. To restore the fast path, run axol gst.build-zed or axol provision. Both detect the new SDK and rebuild. Also run zed.install, so pyzed matches the new SDK.