From 5bd1400a52bb803667e467ff6afdd3c8bee48293 Mon Sep 17 00:00:00 2001
From: Walter Lucetti <walter.lucetti@stereolabs.com>
Date: Fri, 3 Dec 2021 15:42:28 +0100
Subject: [PATCH 1/3] Update README.md

---
 README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/README.md b/README.md
index 277e894c..1394700a 100644
--- a/README.md
+++ b/README.md
@@ -57,7 +57,7 @@ Open a terminal, clone the repository, update the dependencies and build the pac
     $ catkin_make -DCMAKE_BUILD_TYPE=Release
     $ source ./devel/setup.bash
 
-#### Update the repository
+#### Update the local repository
 
 To update the repository to the latest release you must use the following command to retrieve the latest commits of `zed-ros-wrapper` and of all the submodules:
 

From ab88ea16e29d135971aea4c90a600fbce5456691 Mon Sep 17 00:00:00 2001
From: Walter Lucetti <walter.lucetti@stereolabs.com>
Date: Fri, 3 Dec 2021 15:53:22 +0100
Subject: [PATCH 2/3] Fix wrong ZED, ZED2, and ZED2i height value

---
 zed_wrapper/urdf/zed_macro.urdf.xacro | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/zed_wrapper/urdf/zed_macro.urdf.xacro b/zed_wrapper/urdf/zed_macro.urdf.xacro
index 81e4d188..8d07dbd2 100644
--- a/zed_wrapper/urdf/zed_macro.urdf.xacro
+++ b/zed_wrapper/urdf/zed_macro.urdf.xacro
@@ -32,7 +32,7 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
   <xacro:macro name="zed_camera" params="name=zed model=zed parent *origin">
     <xacro:if value="${model == 'zed'}">
       <xacro:property name="baseline" value="0.12" />
-      <xacro:property name="height" value="0.033" />
+      <xacro:property name="height" value="0.03" />
       <xacro:property name="bottom_slope" value="0.05" />
       <xacro:property name="screw_offset_x" value="0.0" />
       <xacro:property name="optical_offset_x" value="-0.01" />
@@ -46,14 +46,14 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
     </xacro:if>
     <xacro:if value="${model == 'zed2'}">
       <xacro:property name="baseline" value="0.12" />
-      <xacro:property name="height" value="0.033" />
+      <xacro:property name="height" value="0.03" />
       <xacro:property name="bottom_slope" value="0.05" />
       <xacro:property name="screw_offset_x" value="0.0" />
       <xacro:property name="optical_offset_x" value="-0.01" />
     </xacro:if>
     <xacro:if value="${model == 'zed2i'}">
       <xacro:property name="baseline" value="0.12" />
-      <xacro:property name="height" value="0.033" />
+      <xacro:property name="height" value="0.03" />
       <xacro:property name="bottom_slope" value="0.0" />
       <xacro:property name="screw_offset_x" value="-0.01" />
       <xacro:property name="optical_offset_x" value="-0.01" />

From dcd9d972e62c2fd2bd4d3114d70194934fad364c Mon Sep 17 00:00:00 2001
From: Walter Lucetti <walter.lucetti@stereolabs.com>
Date: Fri, 3 Dec 2021 15:54:51 +0100
Subject: [PATCH 3/3] Update latest_changes.md

---
 latest_changes.md | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/latest_changes.md b/latest_changes.md
index b0396535..4cf3678f 100644
--- a/latest_changes.md
+++ b/latest_changes.md
@@ -1,6 +1,10 @@
 LATEST CHANGES
 ==============
 
+2021-12-03
+----------
+- Fixed wrong ZED, ZED2, and ZED2i height value. See issue [#797](https://github.com/stereolabs/zed-ros-wrapper/issues/797). Thx @zulfiz
+
 2021-11-24
 ----------
 - Add new `<zed>_base_link` frame on the base of the camera to easily handle camera positioning on robots. Thx @civerachb-cpr