Merge branch 'stereolabs:master' into master

.github/ISSUE_TEMPLATE/1_feature_request.yml

@@ -0,0 +1,43 @@
+name: Feature request 🧭
+description: Suggest an idea for this project.
+labels: "feature_request"
+body:
+  - type: markdown
+    attributes:
+      value: |
+        # Welcome 👋 
+
+        Thanks for taking the time to fill out this feature request module.
+        Please fill out each section below. This info allows Stereolabs developers to correctly evaluate your request.
+
+        Useful Links:
+        - Documentation: https://www.stereolabs.com/docs/
+        - Stereolabs support: https://support.stereolabs.com/hc/en-us/
+  - type: checkboxes
+    attributes:
+      label: Preliminary Checks
+      description: Please make sure that you verify each checkbox and follow the instructions for them.
+      options:
+        - label: "This issue is not a duplicate. Before opening a new issue, please search existing issues."
+          required: true
+        - label: "This issue is not a question, bug report, or anything other than a feature request directly related to this project."
+          required: true
+  - type: textarea
+    attributes:
+      label: Proposal
+      description: "What would you like to have as a new feature?"
+      placeholder: "A clear and concise description of what you want to happen."
+    validations:
+      required: true
+  - type: textarea
+    attributes:
+      label: Use-Case
+      description: "How would this help you?"
+      placeholder: "Tell us more what you'd like to achieve."
+    validations:
+      required: false
+  - type: textarea
+    id: anything-else
+    attributes:
+      label: Anything else?
+      description: "Let us know if you have anything else to share"

.github/ISSUE_TEMPLATE/2_bug_report.yml

@@ -0,0 +1,87 @@
+name: Bug Report 🐛
+description: Something isn't working as expected? Report your bugs here.
+labels: "bug"
+body:
+  - type: markdown
+    attributes:
+      value: |
+        # Welcome 👋 
+
+        Thanks for taking the time to fill out this bug report.
+        Please fill out each section below. This info allows Stereolabs developers to diagnose (and fix!) your issue as quickly as possible. Otherwise we might need to close the issue without e.g. clear reproduction steps.
+
+        Bug reports also shoulnd't be used for generic questions, please use the [Stereolabs Community forum](https://community.stereolabs.com/) instead.
+
+        Useful Links:
+        - Documentation: https://www.stereolabs.com/docs/
+        - Stereolabs support: https://support.stereolabs.com/hc/en-us/
+  - type: checkboxes
+    attributes:
+      label: Preliminary Checks
+      description: Please make sure that you verify each checkbox and follow the instructions for them.
+      options:
+        - label: "This issue is not a duplicate. Before opening a new issue, please search existing issues."
+          required: true
+        - label: "This issue is not a question, feature request, or anything other than a bug report directly related to this project."
+          required: true
+  - type: textarea
+    attributes:
+      label: Description
+      description: Describe the issue that you're seeing.
+      placeholder: Be as precise as you can. Feel free to share screenshots, videos, or data. The more information you provide the easier will be to provide you with a fast solution.
+    validations:
+      required: true     
+  - type: textarea
+    attributes:
+      label: Steps to Reproduce
+      description: Clear steps describing how to reproduce the issue.
+      value: |
+        1.
+        2.
+        3.
+        ...
+    validations:
+      required: true
+  - type: textarea
+    attributes:
+      label: Expected Result
+      description: Describe what you expected to happen.
+    validations:
+      required: true
+  - type: textarea
+    attributes:
+      label: Actual Result
+      description: Describe what actually happened.
+    validations:
+      required: true
+  - type: dropdown
+    attributes:
+      label: ZED Camera model
+      description: What model of ZED camera are you using?
+      options:
+        - "ZED"
+        - "ZED Mini"
+        - "ZED2"
+        - "ZED2i"
+    validations:
+      required: true       
+  - type: textarea
+    attributes:
+      label: Environment
+      render: shell
+      description: Useful information about your system.
+      placeholder: |
+        OS: Operating System
+        CPU: e.g. ARM
+        GPU: Nvidia Jetson Xavier NX
+        ZED SDK version: e.g. v3.5.3
+        Other info: e.g. ROS Melodic	
+    validations:
+      required: true
+  - type: textarea
+    attributes:
+      label: Anything else?
+      description: Please add any other information or comment that you think may be useful for solving the problem
+      placeholder:        
+    validations:
+      required: false

.github/ISSUE_TEMPLATE/config.yml

@@ -0,0 +1,12 @@
+blank_issues_enabled: false
+contact_links:
+  - name: Online Documentation
+    url: https://www.stereolabs.com/docs/
+    about: Check out the Stereolabs documentation for answers to common questions.
+  - name: Stereolabs Community [Ask a question]
+    url: https://community.stereolabs.com/
+    about: Ask questions & discuss with other users and Stereolabs developers.
+  - name: Stereolabs Twitter
+    url: https://twitter.com/Stereolabs3D
+    about: The official Stereolabs Twitter account to ask questions, comment our products and share your projects with the ZED community. 
+

.github/stale.yml

@@ -0,0 +1,62 @@
+# Configuration for probot-stale - https://github.com/probot/stale
+
+# Number of days of inactivity before an Issue or Pull Request becomes stale
+daysUntilStale: 28
+
+# Number of days of inactivity before an Issue or Pull Request with the stale label is closed.
+# Set to false to disable. If disabled, issues still need to be closed manually, but will remain marked as stale.
+daysUntilClose: 3
+
+# Only issues or pull requests with all of these labels are check if stale. Defaults to `[]` (disabled)
+onlyLabels: []
+
+# Issues or Pull Requests with these labels will never be considered stale. Set to `[]` to disable
+exemptLabels:
+  - pinned
+  - feature_request
+
+# Set to true to ignore issues in a project (defaults to false)
+exemptProjects: false
+
+# Set to true to ignore issues in a milestone (defaults to false)
+exemptMilestones: false
+
+# Set to true to ignore issues with an assignee (defaults to false)
+exemptAssignees: false
+
+# Label to use when marking as stale
+staleLabel: closed_for_stale
+
+# Comment to post when marking as stale. Set to `false` to disable
+markComment: >
+  This issue has been automatically marked as stale because it has not had
+  recent activity. It will be closed in 72h if no further activity occurs. Thank you
+  for your contributions.
+
+# Comment to post when removing the stale label.
+# unmarkComment: >
+#   Your comment here.
+
+# Comment to post when closing a stale Issue or Pull Request.
+closeComment: >
+  This issue has been closed automatically because it has not had
+  recent activity. Please feel free to re-open in case new info
+  is available or further job is required.
+
+# Limit the number of actions per hour, from 1-30. Default is 30
+limitPerRun: 100
+
+# Limit to only `issues` or `pulls`
+only: issues
+
+# Optionally, specify configuration settings that are specific to just 'issues' or 'pulls':
+# pulls:
+#   daysUntilStale: 30
+#   markComment: >
+#     This pull request has been automatically marked as stale because it has not had
+#     recent activity. It will be closed if no further activity occurs. Thank you
+#     for your contributions.
+
+# issues:
+#   exemptLabels:
+#     - confirmed

zed_nodelets/src/zed_nodelet/include/zed_wrapper_nodelet.hpp

@@ -414,7 +414,7 @@ class ZEDWrapperNodelet : public nodelet::Nodelet
 
   bool mStopNode = false;
 
-  const double mSensPubRate = 400.0;
+  const double mSensPubRate = 400.0; // Maximum ODR for ZED2/ZED2i. You can change this to 800 for ZED-M, but it's not recommended
 
   // Publishers
   image_transport::CameraPublisher mPubRgb;       //

zed_wrapper/params/common.yaml

@@ -16,15 +16,15 @@ auto_whitebalance:          true                                # Dynamic
 whitebalance_temperature:   42                                  # Dynamic - works only if `auto_whitebalance` is false
 depth_confidence:           50                                  # Dynamic
 depth_texture_conf:         100                                 # Dynamic
-pub_frame_rate:             15.0                                # Dynamic - frequency of publishing of video and depth data
-point_cloud_freq:           15.0                                # Dynamic - frequency of the pointcloud publishing (equal or less to `grab_frame_rate` value)
+pub_frame_rate:             100.0                                # Dynamic - frequency of publishing of video and depth data
+point_cloud_freq:           100.0                                # Dynamic - frequency of the pointcloud publishing (equal or less to `grab_frame_rate` value)
 
 general:
     camera_name:                zed                             # A name for the camera (can be different from camera model and node name and can be overwritten by the launch file)
     zed_id:                     0
     serial_number:              0
-    resolution:                 2                               # '0': HD2K, '1': HD1080, '2': HD720, '3': VGA
-    grab_frame_rate:            30                              # Frequency of frame grabbing for internal SDK operations
+    resolution:                 3                                # '0': HD2K, '1': HD1080, '2': HD720, '3': VGA
+    grab_frame_rate:            100                              # Frequency of frame grabbing for internal SDK operations
     gpu_id:                     -1
     base_frame:                 'base_link'                     # must be equal to the frame_id used in the URDF file
     verbose:                    false                           # Enable info message by the ZED SDK