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LATEST CHANGES

2025-05-29

  • Separated Video/Depth data publishing into its own thread for more precise control over the publishing rate, independent of the camera grab rate. This enables recording SVO files or processing positional tracking at full grab rate, while publishing data at a reduced rate to optimize bandwidth usage.

2025-05-20

  • Add advanced handling of the Object Detection and Tracking module of the ZED SDK
    • Move the multi-box native object detection parameters to the object_detection.yaml file
    • Add specific parameters to set the confidence threshold for each of the includes object detection classes of the ZED SDK
    • Move the Custom Object Detection parameters to the custom_object_detection.yaml file
    • Support all the new parameters of the ZED SDK v5 separately for each of the custom object detection classes
  • The usage of the new Object Detection support is fully described on the ZED ROS 2 online documentation: - Object Detection: https://www.stereolabs.com/docs/ros2/object-detection/ - Custom Object Detection: https://www.stereolabs.com/docs/ros2/custom-object-detection/

2025-05-19

  • Move brightness, contrast, and hue from common_stereo.yaml to zed.yaml, zed2.yaml, zed2i.yaml, and zedm.yaml files

2025-05-14

  • Add /clock publisher to be used in SVO Mode to synchronize other nodes with the SVO timestamp
  • Add parameter svo.publish_svo_clock to enable the /clock publisher - The parameter 'svo.publish_svo_clock' is normally overridden by the publish_svo_clock launch option

2025-04-30

  • Default SVO Recording Compression mode [0] is forced to H265 replacing the old LOSSLESS mode - H265 is far superior as it uses hardware encoder, resulting in faster, lighter encoding, and dramatically smaller SVO2 files

2025-04-28

  • Add new parameter svo.replay_rate to set the replay rate for the SVO when not used in realtime mode (range [0.10-5.0])
  • Improved diagnostic information for SVO playback

2025-04-23

  • Clean shutdown of ZED components using pre_shutdown_callback

2025-04-22

  • Add backward compatibility with SDK v4.2

2025-04-18

  • Add parameter 'debug.sdk_verbose_log_file' to Stereo and Mono components to set the path of the SDK verbose log file

2025-04-16

  • Fix realtime IMU data publishing when using SVO2

2025-04-15

  • Improve performance with the default stereo configuration
  • Fix Positional Tracking enabling when required by ZED SDK modules

2025-04-01

  • Add Heartbeat status message at 1 Hz: ~/status/heartbeat

2025-03-28

  • Note: requires the latest zed_msgs package v5.0.0
  • Add SVO Status topic to monitor the current SVO status of type zed_msgs::SvoStatus
  • Add fully integrated Health Status topic of type zed_msgs::HealthStatusStamped - Remove the single health status topics to simplicy health monitoring
  • Remove cob_srvs dependency to use the custom zed_msgs::SetSvoFrame service

2025-03-26

  • Add official support for ROS 2 Jazzy Jalisco

v4.2.5

  • Add new parameter 'depth.point_cloud_res' to set a specific point cloud publishing resolution - 'COMPACT': Standard resolution. Optimizes processing and bandwidth - 'REDUCED': Half 'COMPACT' resolution. Low processing and low bandwidth requirements
  • Add uptime and frame drop rate information to node diagnostics
  • Add image validity check support [SDK 5 required] - Add new parameter 'general.enable_image_validity_check' - Add new topic 'health_status/low_image_quality' to publish image quality status - Add new topic 'health_status/low_lighting' to publish low light condition status - Add new topic 'health_status/low_depth_reliability' to publish low depth quality status - Add new topic 'health_status/low_motion_sensors_reliability' to publish low quality of inertial sensors status - Set the Node Disgnostic to WARNING if any of the above conditions are detected
  • Add general.camera_id parameter to set the camera ID for the ZedCamera.
  • Add general.camera_id parameter to set the camera ID for the ZedCameraOne.
  • Add camera_id argument to the zed_camera.launch.py launch file. Useful for GMSL2 multi-camera configurations where camera ID is estabilished by the GMSL2 wire.
  • Improve Node Diagnostics information
  • Add pos_tracking.reset_pose_with_svo_loop parameter to reset the camera pose the initial_base_pose when the SVO loop is enabled and the SVO playback reaches the end of the file.
  • Add svo.play_from_frame parameter to set the starting frame when playing an SVO file.
  • Add set_svo_frame service to set the current frame when playing an SVO file.
  • Remove unused open timeout for ZED X One cameras
  • Add parameter svo.use_svo_timestamps to use the SVO timestamps when publishing data (both stereo and mono components)

v4.2.x

  • Add new OPTIMIZED mode for general.pub_resolution
  • Add new parameter general.async_image_retrieval to enable/disable the asynchronous image retrieval to be used with SVO recording.
  • Set the Positional Tracking Mode to GEN_1 as default as wa orkaround for the random crash issue caused by GEN_2 mode.
  • Fixed a bug for raw gray image publisher on Zed One Component: raw gray images were not published when the rectified image topic was subscribed. Thx @Alex-Beh
  • Enabled grayscale output for ZED X One cameras (SDK v4.2.3 required)
  • Enabled streaming input for ZED X One cameras (SDK v4.2.3 required)
  • Fixed wrong range check for the general.pub_downscale_factor parameter
  • Enhanced sensor thread rate due to an automatically adjusting sleep time
  • Removed the zed-ros2-interfaces sub-module. The zed_msgs package is now included in ROS 2 Humble binaries and can be installed with sudo apt install ros-humble-zed-msgs.
  • Fixed 4K resolution support for ZED X One 4K cameras
  • Changed C++ version to 17 to follow ROS 2 Humble standard
  • Renamed common.yaml to common_stereo.yaml
  • Added common_mono.yaml for monocular cameras
  • Added video.enable_hdr to zedxone4k.yaml for monocular 4K cameras
  • Changed the name of the package zed_interfaces to zed_msgs to match the ROS2 naming convention
  • Added the new stereolabs::ZedCameraOne component to handle ZED X One cameras
  • Removed the ZED Wrapper executable node.
    • Modified the launch file to create an isolated composable container that loads the stereolabs:ZedCamera or the stereolabs:ZedCameraOne component according to the camera model
  • Added support for custom ONNX detection engine (SDK v4.2 required) - Added value CUSTOM_YOLOLIKE_BOX_OBJECTS to the object_detection.model parameter - Added parameter object_detection.custom_onnx_file to set the full path of the custom ONNX file - Added parameter object_detection.onnx_input_size to set the size of the YOLO input tensor - Added parameter object_detection.custom_label_yaml to set the full path to custom YAML file storing class labels in [COCO format](https://docs.ultralytics.com/datasets/detect/coco/#dataset-yaml)

v4.1.x

  • Updated the Docker files to the CUDA 12.4 (PC), L4T 35.4 (Jetson), SDK v4.1.4
  • Added Local Streaming output
    • Added enable_streaming service to start/stop a streaming server
    • Added Streaming Server diagnostic
    • Added parameter 'stream_server.stream_enabled': enable the streaming server when the camera is open
    • Added parameter 'stream_server.codec': different encoding types for image streaming
    • Added parameter 'stream_server.port': Port used for streaming
    • Added parameter 'stream_server.bitrate': Streaming bitrate (in Kbits/s) used for streaming
    • Added parameter 'stream_server.gop_size': The GOP size determines the maximum distance between IDR/I-frames
    • Added parameter 'stream_server.adaptative_bitrate': Bitrate will be adjusted depending on the number of packets dropped during streaming
    • Added parameter 'stream_server.chunk_size': Stream buffers are divided into X number of chunks where each chunk is chunk_size bytes long
    • Added parameter 'stream_server.target_framerate': Framerate for the streaming output
  • Added Local Streaming input
    • Added 'stream.stream_address' and 'stream.stream_port' parameter to configure the local streaming input
  • GNSS Fusion temporarily disabled (available with 4.1.1)
  • Moved parameter 'general.svo_file' to 'svo.svo_path'
  • Moved parameter 'general.svo_loop' to 'svo.svo_loop'
  • Moved parameter 'general.svo_realtime' to 'svo.svo_realtime'
  • Removed obsolete launch files: 'zed.launch.pi','zed2.launch.pi', 'zed2i.launch.pi', 'zedm.launch.pi', 'zedx.launch.pi', 'zedxm.launch.pi'
  • Removed obsolete display launch file: 'display_zed.launch.py', 'display_zed2.launch.py', 'display_zed2i.launch.py', 'display_zedm.launch.py', 'display_zedx.launch.py', 'display_zedxm.launch.py'
  • Added support for custom virtual stereo cameras made with two calibrated ZED X One cameras (available with 4.1.1)
  • Added parameter pos_tracking.reset_odom_with_loop_closure to automatically reset odometry when a loop closure is detected
  • Added new positional tracking information to the PosTrackStatus message
  • Added new GnssFusionStatus message with GNSS Fusion status information (available with 4.1.1)
  • Added new parameters gnss_fusion.h_covariance_mul and gnss_fusion.v_covariance_mul to control the effects of the GNSS covariance
  • Added support to Automatic ROI
    • Added ROI diagnostic
    • Added parameter debug.debug_roi
    • Publish ROI mask image on the topic ~/roi_mask using image transport
    • Moved the parameter general.region_of_interest to region_of_interest.manual_polygon
    • Added automatic Region of Interest support
    • Added parameter region_of_interest.automatic_roi
    • Added parameter region_of_interest.depth_far_threshold_meters
    • Added parameter region_of_interest.image_height_ratio_cutoff
    • Added parameter region_of_interest.apply_to_depth
    • Added parameter region_of_interest.apply_to_positional_tracking
    • Added parameter region_of_interest.apply_to_object_detection
    • Added parameter region_of_interest.apply_to_body_tracking
    • Added parameter region_of_interest.apply_to_spatial_mapping
  • Removed QoS parameters to use ROS 2 QoS overwrite -> https://design.ros2.org/articles/qos_configurability.html
  • Added support for new NEURAL_PLUS depth mode
  • Added new <camera_name>_gnss_link frame to URDF to set the position of the GNSS antenna with respect to the camera position
  • New Docker configuration files allow to easily create "ZED ROS2 Wrapper" images based on specific tag versions. [Read more](./docker/README.md)
  • Fixed a bug while playing a ZED X stream on a "not-Jetson" host device
  • Add support for point cloud transport [only Humble, no Foxy]
  • Add support for FFMPEG image transport
  • Add new ffmpeg.yaml configuration file
  • Fix ~/imu/data_raw message not containing RAW IMU data

v4.0.8

  • The parameter general.sdk_verbose has been moved to debug.sdk_verbose and set to 0 as default.
  • Added new parameter general.optional_opencv_calibration_file to use custom OpenCV camera calibrations.
  • Added [new tutorial](https://github.com/stereolabs/zed-ros2-examples/tree/master/tutorials/zed_robot_integration) to illustrate how to integrate one or more ZED cameras on a robot
  • Added 'simulation.sim_enabled' parameter to enable the simulation mode
  • Added 'simulation.sim_address' parameter to set the simulation server address
  • Added 'simulation.sim_port' parameter to set the simulation server port
  • Added /clock subscriber to check the presence of the required message when use_sim_time is true
  • Force grab_frame_rate and pub_frame_rate to 60 Hz in simulation
  • Force grab_resolution to HD1080 in simulation
  • Removed the general.zed_id parameter. Always use general.serial_number to distinguish between different cameras in a multi-camera configuration.
  • The multi-camera example has been updated to match the new TF configuration
  • The old launch files are now obsolete: 'ros2 launch zed_wrapper <camera_model>.launch.py' is replaced by 'ros2 launch zed_wrapper zed_camera.launch.py camera_model:=<camera_model>'
  • The reference link for positional tracking is no longer 'base_link' but <camera_name>_camera_link. This will allow an easier ZED integration in existing robot configuration because the transform base_link -> camera_link is no longer published by the ZED ROS2 Wrapper. Thanks to @SteveMacenski for the advice
    • Removed parent and origin parameters from zed_macro.urdf.xacro
    • Removed launch argument cam_pose from zed_camera.launch.py
  • Moved parameter publish_imu_tf from pos_tracking to sensors to make it available also in "no depth" configurations of the node
  • Added new parameter pos_tracking.pos_tracking_mode to exploit the new ZED SDK QUALITY mode for improved odometry and localization
  • New Video/Depth processing throttling method by using the grab_compute_capping_fps ZED SDK parameter instead of a dedicated thread
  • Advanced parameters to handle Thread scheduling policy and priorities (sudo required):thread_sched_policy,`thread_grab_priority`, thread_sensor_priority,`thread_pointcloud_priority`
  • Added new GNSS calibration parameters: enable_reinitialization, enable_rolling_calibration, enable_translation_uncertainty_target, gnss_vio_reinit_threshold, target_translation_uncertainty, target_yaw_uncertainty
  • Added new Plane Detection parameters: pd_max_distance_threshold, pd_normal_similarity_threshold

v4.0.5

  • The parameter general.pub_resolution can now take only NATIVE and CUSTOM values. 'NATIVE' to use the same general.grab_resolution - CUSTOM to apply the general.pub_downscale_factor downscale factory to reduce bandwidth in transmission
  • Added new parameter general.pub_downscale_factor to be used with the new option CUSTOM for the parameter general.pub_resolution
  • ULTRA is the new default value for depth.depth_mode (better performance for odometry and positional tracking)
  • Added resolution HD1080 for ZED X
  • Fix issue with Body Tracking start/stop by service call. Now Body Tracking can be restarted multiple times
  • Fix depth grab performance by removing a [not required PNG Write call](stereolabs#164). Thank you Esteban Zamora @ezamoraa
  • Fix bug with general.pub_resolution value, not allowing to select the correct data publish resolution
  • Added new launch parameter ros_params_override_path to provide the path to a custom YAML file to override the parameters of the ZED Node without modifying the original files in the zed_wrapper/config folder. Thank you David Lu @MetroRobots

v4.0.0

  • Added support for ZED-X and ZED-X Mini
    • Moved general.grab_resolution and general.grab_frame_rate to the yaml file specific for the relative camera model (i.e. zed.yaml, zedm.yaml, zed2.yaml, zed2i.yaml, zedx.yaml, zedxm.yaml)
    • Added zedx.launch.py for ZED-X
    • Added zedxm.launch.py for ZED-X Mini
    • Improve zed_macro.urdf.xacro with specific configuration for the new camera models
    • Added display_zedx.launch.py for ZED-X to ZED-ROS2-Examples
    • Added display_zedxm.launch.py for ZED-X Mini to ZED-ROS2-Examples
    • Added ZED-X and ZED-X Mini STL files to ZED-ROS2-Interfaces
  • Positional Tracking
    • Added pos_tracking.set_as_static parameters for applications with a static camera monitoring a robotics environment. See [PR #122](stereolabs#122 ) Thx @gabor-kovacs
    • Added custom message type PosTrackStatus
    • Publish message on topic ~/pose/status with the current status of the pose from the ZED SDK
    • Publish message on topic ~/odom/status with the current status of the odometry from the ZED SDK
  • Body Tracking
    • Added Support for the new Body Tracking module
    • Added parameter body_tracking.bt_enabled to enable Body Tracking
    • Added parameter body_tracking.model to set the AI model to be used
    • Added parameter body_tracking.body_format to set the Body Format to be used
    • Added parameter body_tracking.allow_reduced_precision_inference to improve performances
    • Added parameter body_tracking.max_range to set the max range for Body Detection
    • Added parameter body_tracking.body_kp_selection to choose the Body key points to be used
    • Added parameter body_tracking.enable_body_fitting to enable body fitting
    • Added parameter body_tracking.enable_tracking to enable the tracking of the detected bodies
    • Added parameter body_tracking.prediction_timeout_s to set the timeout of the prediction phase while tracking
    • Added parameter body_tracking.confidence_threshold to set the detection confidence threshold
    • Added parameter body_tracking.minimum_keypoints_threshold to set the minimum number of detected key points to consider a body valid
    • Publish new message on topic ~/body_trk/skeletons
    • Added service enable_body_trk to start/stop body tracking
  • GNSS fusion integration
    • New param gnss_fusion.gnss_fusion_enabled to enable GNSS fusion
    • New param gnss_fusion.gnss_fix_topic name of the topic containing GNSS Fix data of type sensor_msgs/NavSatFix
    • Added nmea_msgs dependency
    • Added GNSS Fix Diagnostic
    • Added new launch parameter gnss_frame to enable the GNSS link in the ZED URDF
    • Added new node parameter gnss_fusion.gnss_zero_altitude to ignore GNSS altitude information
    • Added new node parameter gnss_fusion.gnss_frame to set the name of the frame link of the GNSS sensor
    • Disable Area Memory (loop closure) when GNSS fusion is enabled
    • Added services toLL and fromLL to use the ZED ROS2 Wrapper with the Nav2 Waypoint Navigation package
    • Added geographic_msgs::msg::GeoPoseStamped message publisher
    • Added parameter gnss_fusion.publish_utm_tf
    • Added parameter gnss_fusion.broadcast_utm_transform_as_parent_frame
    • Added parameter gnss_fusion.gnss_init_distance
    • Publish message on topic ~/geo_pose/status with the current status of the GeoPose from the ZED SDK
    • Publish message on topic ~/pose/filtered with the current GNSS filtered pose in map frame
    • Publish message on topic ~/pose/filtered/status with the current status of the GNSS filtered pose from the ZED SDK
  • Object Detection
    • Added object_detection.allow_reduced_precision_inference to allow inference to run at a lower precision to improve runtime and memory usage
    • Added object_detection.max_range to defines a upper depth range for detections
    • Removed object_detection.body_format
  • Docker
    • Added Docker files (see docker folder) ready to create Docker images for desktop host devices
  • Examples/Tutorials
    • Added multi-camera example in zed-ros2-examples repository.
  • Added full Terrain Mapping (local obstacle detection) support [EXPERIMENTAL FEATURE AVAILABLE ONLY FOR BETA TESTERS]
    • ZED SDK Terrain Mapping published as GridMap message
    • Added parameter local_mapping.terrain_mapping_enabled to enable terrain mapping publishing a local obstacle map
    • Added parameter local_mapping.data_pub_rate to set the Local Map data publish frequency
    • Added parameter local_mapping.grid_resolution to set the Local Map resolution in meters [min: 0.01 - max: 1.0]
    • Added parameter local_mapping.grid_range to set the maximum depth range for local map generation [min: 1.0 - max: 8.0]
    • Added parameter local_mapping.height_threshold to set the maximum height for obstacles
    • Publish gridmap on topic local_map/gridmap
    • Publish elevation map image on topic local_map/elev_img
    • Publish obstacle color map image on topic local_map/col_img
    • Added traversability cost computation for Terrain Mapping (local_mapping)
      • Change parameter local_mapping.height_threshold to local_mapping.robot_heigth
      • Added parameter local_mapping.robot_radius to set radius of the robot
      • Added parameter local_mapping.robot_max_step to set max height of a step that the robot can overcome
      • Added parameter local_mapping.robot_max_slope to set max slope (degrees) that the robot can overcome
      • Added parameter local_mapping.robot_max_roughness to set max roughness of the terrain that the robot can overcome
  • Added support for simulated data [EXPERIMENTAL FEATURE AVAILABLE ONLY FOR BETA TESTERS]
    • Added parameter use_sim_time to enable SIMULATION mode
    • Added parameter sim_address tos set the local address of the machine running the simulator
    • Change StopWatch to use ROS clock instead of System Clock. In this way diagnostic and time checking work also in simulation
    • Disable camera settings control in simulation
  • Others
    • Removed sensing_mode, no more available in SDK v4.0
    • Removed extrinsic_in_camera_frame, no more available in SDK v4.0
    • Added zed_id and serial_number launch parameters to open the correct camera in multi-camera configurations.
    • Code lint and re-formatting according to [ROS2 code rules](https://docs.ros.org/en/humble/The-ROS2-Project/Contributing/Code-Style-Language-Versions.html).
    • Added support for automatic lint tools to all the packages.
    • 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.
    • Change general.grab_resolution and general.pub_resolution from integer to string.
    • Added new LOW value for general.pub_resolution (half the MEDIUM output resolution).
    • Removed depth.quality parameter (replaced with depth.depth_mode)
    • Added depth.depth_mode parameter: a string reflecting the ZED SDK DEPTH_MODE available value names
    • The parameter depth.depth_stabilization is now an integer in [0,100] reflecting ZED SDK behavior
    • Fix distortion model (see Issue [#128](stereolabs#128))
    • Improve 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.
    • Added a check on timestamp to not publish already published point cloud messages in the point cloud thread
    • 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.
    • Added diagnostic warning if the frequency of the camera grabbing thread is minor than the selected general.grab_frame_rate value.
    • Removed annoying build log messages. Only warning regarding unsupported ROS2 distributions will be displayed when required.
    • Convert shared_ptr to unique_ptr for IPC support
    • Improve 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.
      • Change 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.
      • Modify the "display" launch files in [zed-ros2-examples](https://github.com/stereolabs/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.
    • Change LICENSE to Apache 2.0 to match ROS2 license.

v3.8.x

  • Fixed set_pose wrong behavior. Now initial odometry is coherent with the new starting point.
  • Added Plane Detection.
  • Fixed "NO DEPTH" mode. By setting depth/quality to 0 now the depth extraction and all the sub-modules depending on it are correctly disabled.
  • Added debug sub-set of parameters with new parameters debug_mode and debug_sensors.
  • Added support for ROS2 Humble. Thx @nakai-omer. The two ROS2 LTS releases are now supported simoultaneously.
  • Set read_only flag in parameter descriptors for non-dynamic parameters. Thx @bjsowa.
  • Enabled Intra Process Communication. The ZED node no longer publishes topics with TRANSIENT LOCAL durability.
  • Improved TF broadcasting at grabbing frequency
  • Improved IMU/Left Camera TF broadcasting at IMU frequency
  • Fixed data grabbing frame rate when publishing is set to a lower value
  • Added TF broadcasting diagnostic
  • The parameter general.sdk_verbose is now an integer accepting different SDK verbose levels.
  • Moved Object Detection parameters from cameras configuration files to common.yaml
  • Moved Sensor Parameters from cameras configuration files to common.yaml
  • New data thread configuration to maximize data publishing frequency
    • Sensor data publishing moved from timer to thread
    • RGB/Depth data publishing moved from timer to thread
  • Fixed random errors when closing the node
  • Fixed wrong timing when playing SVO in real-time mode
  • Fixed units for atmospheric pressure data. Now pressure is published in Pascals according to the [definition of the topic](https://github.com/ros2/common_interfaces/blob/humble/sensor_msgs/msg/FluidPressure.msg).
  • Added new parameter pos_tracking.transform_time_offset to fix odometry TF timestamp issues
  • Added new parameter pos_tracking.depth_min_range for removing fixed zones of the robot in the FoV of the camerafrom the visual odometry evaluation
  • Added new parameter pos_tracking.sensor_world to define the world type that the SDK can use to initialize the Positionnal Tracking module
  • Added new parameter object_detection.prediction_timeout for setting the timeout time [sec] of object prediction when not detected.
  • Added support for ZED SDK Regiorn of Interest:
    • Added parameter general.region_of_interest to set the region of interest for SDK processing.
    • Added the service resetRoi to reset the region of interest.
    • Added the service setRoi to set a new region of interest.

v3.7.x

  • Added support for sport-related OD objects
  • Added remove_saturated_areas dynamic parameter to disable depth filtering when luminance >=255
  • Added sl::ObjectDetectionParameters::filtering_mode parameter
  • Publish depth_info topic with current min/max depth information
  • Fix parameter override problem (Issue #71). Thx @kevinanschau
  • Added default xacro path value in zed_camera.launch.py. Thx @sttobia
  • Fix zed-ros2-interfaces sub-module url, changing from ssh to https.

v3.6.x (2021-12-03)

  • Moved the zed_interfaces package to the zed-ros2-interfaces repository to match the same configuration of the ROS1 wrapper

  • The zed-ros2-interfaces repository has been added as a sub-module to this repository

  • Added new <zed>_base_link frame on the base of the camera to easily handle camera positioning on robots. Thx @civerachb-cpr

  • Improve URDF by adding 3° slope for ZED and ZED2, X-offset for optical frames to correctly match the CMOS sensors position on the PCB, X-offset for mounting screw on ZED2i

  • Added zed_macro.urdf.xacro to be included by other xacro file to easily integrate ZED cameras in the robot descriptions. See ROS1 PR [#771](stereolabs/zed-ros-wrapper#771) for details. Thx @civerachb-cpr

  • Fix URDF height value for ZED, ZED2 and ZED2i

  • Fix performances drop on slower platforms. Thx @roncapat

  • Fix SVO LOOP wrong behavior. Thx @kevinanschau

  • Added xacro support for automatic URDF configuration

  • Reworked launch files to support xacro and launch parameters

    • Use ros2 launch zed_wrapper <launch_file> -s to retrieve all the available parameters

  • Added svo_path:=<full path to SVO file> as input for all the launch files to start the node using an SVO as input without modifying 'common.yaml`

  • Improved diagnostic information adding elaboration time on all the main tasks

  • Improved diagnostic time and frequencies calculation

  • Added StopWatch to sl_tools

  • Enabled Diagnostic status publishing

  • Changed the default values of the QoS parameter reliability for all topics from BEST_EFFORT to RELIABLE to guarantee compatibility with all ROS2 tools

  • Fixed tab error in zedm.yaml

  • Fixed compatibility issue with ZED SDK older than v3.5 - Thanks @PhilippPolterauer

  • Migration to ROS2 Foxy Fitzroy

v3.5.x (2021-07-05)

  • Added support for SDK v3.5
  • Added support for the new ZED 2i
  • Added new parameter pos_tracking/pos_tracking_enabled to enable positional tracking from start even if not required by any subscribed topic. This is useful, for example, to keep the TF always updated.
  • Added support for new AI models: MULTI_CLASS_BOX_MEDIUM and HUMAN_BODY_MEDIUM
  • Depth advertising is disabled when depth is disabled (see sl::DETH_MODE::NONE)