Humble-v4.1.4

v4.1.x for ZED SDK 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 easy creation of "ZED ROS2 Wrapper" images based on specific tag versions. Read more
• 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

Humble-v4.0.8

v4.0.8 for ZED SDK v4.0.8

• The parameter general.sdk_verbose has been moved to debug.sdk_verbose and set to 0 as default.
• Add new parameter general.optional_opencv_calibration_file to use custom OpenCV camera calibrations.
• Add new tutorial to illustrate how to integrate one or more ZED cameras on a robot
• Add 'simulation.sim_enabled' parameter to enable the simulation mode
• Add 'simulation.sim_address' parameter to set the simulation server address
• Add 'simulation.sim_port' parameter to set the simulation server port
• Add /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
• Remove 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
  • Remove parent and origin parameters from zed_macro.urdf.xacro
  • Remove launch argument cam_pose from zed_camera.launch.py
• Move parameter publish_imu_tf from pos_tracking to sensors to make it available also in "no depth" configurations of the node
• Add 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
• Add new GNSS calibration parameters: enable_reinitialization, enable_rolling_calibration, enable_translation_uncertainty_target, gnss_vio_reinit_threshold, target_translation_uncertainty, target_yaw_uncertainty
• Add new Plane Detection parameters: pd_max_distance_threshold, pd_normal_similarity_threshold

Note: ROS 2 Foxy support is deprecated although this version still works with Foxy

Foxy-Humble-v4.0.5

v4.0.5 - ZED SDK from v4.0.0 to 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
• Add 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)
• Add 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. Thank you Esteban Zamora @ezamoraa
• Fix bug with general.pub_resolution value, not allowing to select the correct data publish resolution
• Add 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

Foxy-Humble-v3.8.2

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.

Foxy-Humble-v3.8.x

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.
• [SDK v3.8] Add new parameter pos_tracking.transform_time_offset to fix odometry TF timestamp issues
• [SDK v3.8] 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
• [SDK v3.8] Added new parameter pos_tracking.sensor_world to define the world type that the SDK can use to initialize the Positionnal Tracking module
• [SDK v3.8] Added new parameter object_detection.prediction_timeout for setting the timeout time [sec] of object prediction when not detected.
• [SDK v3.8] 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.

Foxy-v3.7

• Add support for ZED SDK v3.7.x
• ​Add support for sport-related OD objects
• Add remove_saturated_areas dynamic parameter to disable depth filtering when luminance >=255
• Add sl::ObjectDetectionParameters::filtering_mode parameter
• Publish depth_info topic with current min/max depth information
• Fix parameter override problem (Issue #71). Thx @kevinanschau
• Add default xacro path value in zed_camera.launch.py. Thx @sttobia
• Fix zed-ros2-interfaces sub-module url, changing from ssh to https

Foxy-v3.6.x

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
• Add new _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
• Add zed_macro.urdf.xacro to be included by other xacro file to easily integrate ZED cameras in the robot descriptions. See ROS1 PR #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
• Add 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
• Add 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

Foxy - SDK v3.5.x - Compile fix

What's Changed

• fix multiple DIRECTORY keywords by @dusty-nv in #49

Foxy - SDK v3.5.x

• Migration to ROS2 Foxy Fitzroy
• Add 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
• Add 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

Eloquent - SDK v3.5.x

• Fixed tab error in zedm.yaml
• Fixed compatibility issue with ZED SDK older than v3.5 - Thanks @PhilippPolterauer
• Add support for SDK v3.5
• Add support for the new ZED 2i
• Add 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.
• Add 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)