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.