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.