Merge pull request #67 from stereolabs/devel_3.6

Devel 3.6

.gitmodules

@@ -0,0 +1,3 @@
+[submodule "zed-ros2-interfaces"]
+	path = zed-ros2-interfaces
+	url = [email protected]:stereolabs/zed-ros2-interfaces.git

README.md

@@ -48,7 +48,7 @@ $ sudo apt remove ros-foxy-image-transport-plugins ros-foxy-compressed-depth-ima
 ### Prerequisites
 
 - [Ubuntu 20.04 (Focal Fossa)](https://releases.ubuntu.com/focal/)
-- [ZED SDK](https://www.stereolabs.com/developers/release/latest/) v3.5
+- [ZED SDK](https://www.stereolabs.com/developers/release/latest/) v3.6
 - [CUDA](https://developer.nvidia.com/cuda-downloads) dependency
 - ROS2 Foxy Fitxroy: 
   - [Ubuntu 20.04](https://docs.ros.org/en/foxy/Installation/Linux-Install-Debians.html)
@@ -63,7 +63,7 @@ To install the **zed_ros2_wrapper**, open a bash terminal, clone the package fro
 
 ```bash
 $ cd ~/ros2_ws/src/ #use your current ros2 workspace folder
-$ git clone https://github.com/stereolabs/zed-ros2-wrapper.git
+$ git clone  --recursive https://github.com/stereolabs/zed-ros2-wrapper.git
 $ cd ..
 $ rosdep install --from-paths src --ignore-src -r -y
 $ colcon build --symlink-install --cmake-args=-DCMAKE_BUILD_TYPE=Release
@@ -79,6 +79,21 @@ $ source ~/.bashrc
 
 **Note:** If you are using a different console interface like zsh, you have to change the `source` command as follows: `echo source $(pwd)/install/local_setup.zsh >> ~/.zshrc` and `source ~/.zshrc`.
 
+#### Update the local repository
+
+To update the repository to the latest release you must use the following command to retrieve the latest commits of `zed-ros2-wrapper` and of all the submodules:
+
+    $ git checkout master # if you are not on the main branch  
+    $ git pull --recurse-submodules # update recursively all the submodules
+
+Remember to always clean the cache of your colcon workspace before compiling with the `colcon build` command to be sure that everything will work as expected:
+
+    $ cd <catkin_workspace_root>
+    $ rm -rf install
+    $ rm -rf build
+    $ rm -rf log
+    $ colcon build --symlink-install --cmake-args=-DCMAKE_BUILD_TYPE=Release
+
 ## Starting the ZED node
 
 To start the ZED node, open a terminal and use the [CLI](https://index.ros.org/doc/ros2/Tutorials/Introspection-with-command-line-tools/) command `ros2 launch`:

last_changes.md

@@ -1,40 +1,25 @@
 LATEST CHANGES
 ==============
 
-2021-12-01
-----------
+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 <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
 - 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](https://github.com/stereolabs/zed-ros-wrapper/pull/771) for details. Thx @civerachb-cpr
-
-2021-11-16
-----------
+- Fix URDF `height` value for ZED, ZED2 and ZED2i
 - Fix performances drop on slower platforms. Thx @roncapat
-
-2021-08-06
-----------
 - Fix SVO LOOP wrong behavior. Thx @kevinanschau
-
-2021-07-21
-----------
 - 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`
-
-2021-07-15
-----------
 - Improved diagnostic information adding elaboration time on all the main tasks
 - Improved diagnostic time and frequencies calculation
 - Added StopWatch to sl_tools
-
-2021-07-14
-----------
 - 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
-
-2021-07-12
-----------
 - Fixed tab error in `zedm.yaml`
 - Fixed compatibility issue with ZED SDK older than v3.5 - Thanks @PhilippPolterauer
 - Migration to ROS2 Foxy Fitzroy

zed_components/src/tools/include/sl_tools.h

@@ -88,6 +88,11 @@ rclcpp::Time slTime2Ros(sl::Timestamp t, rcl_clock_type_t clock_type = RCL_ROS_T
  */
 bool isZED2OrZED2i(sl::MODEL camModel);
 
+/*! \brief check if Object Detection is available
+ * \param camModel the camera model to check
+ */
+bool isObjDetAvailable(sl::MODEL camModel);
+
 /*! \brief sl::Mat to ros message conversion
  * \param img : the image to publish
  * \param frameId : the id of the reference frame of the image

zed_components/src/tools/src/sl_tools.cpp

@@ -419,6 +419,24 @@ bool isZED2OrZED2i(sl::MODEL camModel){
     return false;
 }
 
+bool isObjDetAvailable(sl::MODEL camModel)
+{
+    if (camModel == sl::MODEL::ZED2) {
+        return true;
+    }
+#if ZED_SDK_MAJOR_VERSION == 3 && ZED_SDK_MINOR_VERSION >= 5
+    if (camModel == sl::MODEL::ZED2i) {
+        return true;
+    }
+#endif
+#if ZED_SDK_MAJOR_VERSION == 3 && ZED_SDK_MINOR_VERSION >= 6
+    if (camModel == sl::MODEL::ZED_M) {
+        return true;
+    }
+#endif
+    return false;
+}
+
 StopWatch::StopWatch()
 {
     tic(); // Start the timer at creation

zed_components/src/zed_camera/include/zed_camera_component.hpp

@@ -320,7 +320,8 @@ class ZedCamera : public rclcpp::Node
     bool mObjDetAnimalsEnable = true;
     bool mObjDetElectronicsEnable = true;
     bool mObjDetFruitsEnable = true;
-    bool mBodyFitting = false;
+    bool mObjDetBodyFitting = false;
+    sl::BODY_FORMAT mObjDetBodyFmt = sl::BODY_FORMAT::POSE_34;
     sl::DETECTION_MODEL mObjDetModel = sl::DETECTION_MODEL::HUMAN_BODY_FAST;
     // QoS parameters
     // https://github.com/ros2/ros2/wiki/About-Quality-of-Service-Settings