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LATEST CHANGES

New package: zed_nodelets (2020-03-20)

  • Added the new zed_interfaces/RGBDSensors custom topic that contains RGB, Depth, IMU and Magnetometer synchronized topics
  • Added a new package zed_nodelets that contains the main zed_nodelets/ZEDWrapperNodelet and new nodelets
  • Added a new nodelet zed_nodelets/RgbdSensorsSyncNodelet that subscribes to RGB, Depth, IMU and Magnetometer topics and republish them in a single synchronized message
  • Added a new nodelet zed_nodelets/RgbdSensorsDemuxNodelet that subscribes to RGBDSensors and republish RGB, Depth, IMU and Magnetometer as single topics
  • Renamed zed_interfaces/objects to zed_interfaces/Objects
  • Renamed zed_interfaces/object_stamped to zed_interfaces/ObjectStamped
  • Reorganized the zed_wrapper/launch folder adding the include folder
  • New online documentation to explain in details the new zed_nodelets package: https://www.stereolabs.com/docs/ros/zed_nodelets/

v3.1

  • Added new package zed_interfaces with isolated declarations of custom messages, services and actions
  • Removed not used world_frame parameter
  • Removed thepublish_pose_covariance parameter, now covariance for pose and odometry is always published
  • Removed _m from parameters mapping/resolution_m and mapping/max_mapping_range_m
  • Renamed the parameter depth_resample_factor to depth_downsample_factor
  • Renamed the parameter img_resample_factor to img_downsample_factor
  • Renamed the parameter odometry_db to area_memory_db_path
  • Renamed the parameter frame_rate to grab_frame_rate
  • Added new dynamic parameter pub_frame_rate to reduce Video and Depth publishing frequency respect to grabbing frame rate [grab_frame_rate]
  • Added new dynamic parameter gamma for Gamma Control
  • Added new dynamic parameter depth_texture_conf to filter depth according to textureness information
  • Added new TF frames for all the sensors available on ZED2
  • Added publishers for gray images
  • Added publisher for Camera to IMU transform: /<camera_name>/<node_name>/camera_imu_transform
  • Default value for depth_confidence changed from 100 to 50
  • Added base_frame as launch parameter to propagate the value of the parameter in the Xacro description

Bug fix (2020-03-06)

  • Fix default value for dynamic parameters not set from common.yaml

XACRO and more (2020-01-31)

  • Added xacro support for parametric URDF
  • Removed redundant URDFs and added a single parametric URDF based on xacro
  • Fixed auto white balance at node start (thanks to @kjaget)
  • Removed fixed_covariance and fixed_cov_value parameters (not required anymore)
  • Removed sens_pub_rate parameter
  • Removed confidence_image message
  • Removed color_enhancement parameter, always ON by default
  • Mapping does not use presets for resolution, but a float value in range [0.01,0.2]
  • Added new parameter max_mapping_range_m for mapping depth range (set to -1 for auto calculation)
  • Moved "multi-camera" launch file in zed-ros-examples
  • Added current GPU ID to Diagnostic information
  • The confidence dynamic parameter is now called depth_confidence
  • Removed dynamic parametes map_resize_factor
  • Added new parameter video/img_resample_factor
  • Added new parameter depth/map_resample_factor
  • Updated the names for the parameters of the Object Detection module [only ZED2]

SDK v3.0 (2020-01-27)

  • Added a new repository zed-ros-examples to keep separated the main ZED Wrapper node from Examples and Tutorials. A clean robot installation is now allowed
  • ZED 2 support
  • Color enhancement support
  • Max range is not a dynamic parameter anymore
  • Camera temperature added to diagnostic (only ZED2)
  • New service to start/stop mapping
  • Support for Object Detection (only ZED2)
  • Advanced support for on-board sensors (only ZED-M and ZED2)
  • New tutorials, see zed-ros-examples