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@Myzhar Myzhar released this 29 Mar 08:29
· 357 commits to master since this release
foxy-humble-v3.8.2
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Learn about vigilant mode.

This is the latest release working with the ZED SDK v3.8.2

Changelog

  • Removed annoying build log messages. Only warning regarding unsupported ROS2 distributions will be displayed when required.

  • Added a check on timestamp to not publish already published point cloud messages in the point cloud thread

  • Added Docker files (docker folder) ready to create Docker images for desktop host devices: Ubuntu 22.04, ROS2 Foxy, ZED SDK v3.8.2.

  • Changed the default depth mode to PERFORMANCE (1) for a faster node start in the case that the NEURAL depth AI model is not present.

  • Change general.grab_resolution and general.pub_resolution from integer to string.

  • Add new LOW value for general.pub_resolution (half the MEDIUM output resolution).

  • Fix distortion model (see Issue #128)

  • Added diagnostic warning if the frequency of the camera grabbing thread is minor than the selected general.grab_frame_rate value.

  • Improved the code for Moving Average calculation for better node diagnostics.

  • Temperature diagnostic is now always updated even if sensors.sensors_image_sync is true and no image topics are subscribed.

  • Improve Grab thread and Video/Depth publishing thread elaboration time diagnostic.

  • Improve thread synchronization when the frequency of the grab SDK function is minor of the expected camera frame rate setting because of a leaking of elaboration power.

  • Removed node parameter general.resolution, replaced by general.grab_resolution.

  • Added node parameter general.pub_resolution used to reduce node computation and message bandwidth.

    • Available output resolutions: HD2K, HD1080, HD720, MEDIUM, VGA. MEDIUM is an optimized output resolution to maximize throughput and minimize processing costs.

  • Removed node parameters video.img_downsample_factor and depth.depth_downsample_factor. Use the new parameter general.pub_resolution instead.

  • Set default DEPTH MODE to NEURAL (4)

  • Improved the zed_camera.launch.py

    • Added support for OpaqueFunction in order to automatically configure the launch file according to the value of the launch parameter cam_model.
    • Changed parameters to set camera pose in launch files. From 6 separated parameters (cam_pos_x,cam_pos_y,cam_pos_z,cam_roll,cam_pitch,cam_yaw) to one single array (cam_pose).
    • Removed the workaround for empty svo_path launch parameter values thanks to TextSubstitution.
    • Modified the "display" launch files in zed-ros2-examples to match the new configuration.
    • Added publish_tf and publish_map_tf launch parameters useful for multi-camera configuretion or external odometry fusion.

  • Added multi-camera example in zed-ros2-examples repository.

  • Added pos_tracking.set_as_static parameters for applications with a static camera monitoring a robotics environment. See PR #122 Thx @gabor-kovacs

  • Code lint and re-formatting according to ROS2 code rules.

  • Add support for automatic lint tools to all the packages.

  • Change LICENSE to Apache 2.0 to match ROS2 license.

  • Added zed_id and serial_number launch parameters to open the correct camera in multi-camera configurations.

Contributors

gabor-kovacs
Assets 2