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LATEST CHANGES

2024-11-27

  • Fixed 4K resolution support for ZED X One 4K cameras
  • Changed C++ version to 17 to follow ROS 2 Humble standard

2024-11-18

  • 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

2024-11-12

  • Changed the name of the package zed_interfaces to zed_msgs to match the ROS2 naming convention

2024-10-28

  • 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

2024-10-18

  • 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 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)