- Add support for the new Neural Depth mode
- Add support for head detection model
- Add support for sport-related object class
- Add support for X_MEDIUM neural network models
- Enable AI for ZED Mini
- 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 otherxacro
file to easily integrate ZED cameras in the robot descriptions. See PR #771 for details. Thx @civerachb-cpr - New parameter
save_area_memory_db_on_exit
to force Area Memory saving when the node is closed and Area Memory is enabled and valid. - Add service
save_Area_map
to trigger an Area Memory saving. - New tool function to transform a relative path to absolute.
- Enabled static IMU TF broadcasting even it
publish_tf
is set to false, making the two options independent. Thx to @bjsowa - Moved the
zed_interfaces
folder in the newzed-ros-interfaces
repository. The new repository is useful to receive the topics from a ZED node on system where thezed-ros-wrapper
repository cannot be fully installed, i.e. systems without CUDA support. For this repository nothing changes because thezed_interfaces
folder is replaced by thezed-ros-interfaces
git submodule to automatically satisfy all the dependencies. - Fix sensors topics pubblication for ZED2i. The support for the new camera was not complete
- Fix sensor_msgs type for depth image in OpenNI mode, from
sensor_msgs::image_encodings::mono16
tosensor_msgs::image_encodings::TYPE_16UC1
. Depth image in OpenNI mode is now compatible with the nodeletdepthimage_to_laserscan
- Add support for ROS Noetic
- 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 new example to start multiple ZED Nodelets inside the same nodelet manager
- Fixed issue #690
- Add support for new DEPTH16_MM data type for depth (OPENNI MODE)
- Fix issue #660: detected objects topic not published if depth computation not active
- Improved support for ZED Object Detection
- Add Skeleton Tracking support
- New Rviz plugin for Object Detection in
zed-ros-examples
- New parameters and name changing to fit the new OD features, also the
start_object_detection
service has been modified to match the new features:- new
model
parameter to choose the AI model - new
max_range
parameter to limit the detection range - new
sk_body_fitting
parameter to enable Skeleton fitting for skeleton AI models people
->mc_people
to indicate that it is related to multiclass AI modelsvehicles
->mc_vehicles
to indicate that it is related to multiclass AI models- new
mc_bag
parameter to enable bags detection with multiclass AI models - new
mc_animal
parameter to enable animals detection with multiclass AI models - new
mc_electronics
parameter to enable electronic devices detection with multiclass AI models - new
mc_fruit_vegetable
parameter to enable fruits and vegetables detection with multiclass AI models
- new
- Fixed sync issue between RGB and Depth data (Thx @dennisVi)
- Fixed issues with SVO and sensors data (Thx @dennisVi)
- Object Detection now runs asynchronously respect to data grabbing and Object Detected data are published only when available not affecting the frequency of the publishing of the other data types
- Depth OpenNI topic name changed from
depth/depth_raw_registered
todepth/depth_registered
- Added new parameter
sensors/publish_imu_tf
to enable/disable IMU TF broadcasting - Fixed duplicated IMU timestamp issue (see ticket #577)
- Fixed problem with IMU TF in Rviz:
odom
andzed_camera_center
TFs are now published at the same frequency of the IMU TF, if available) - IMU TF is now published once as static TF even if the IMU topic is not subscribed
- Fix timestamp update coherency due to parallel threads. Thanks to @matlabbe
- Fix issue with IMU frame link when
publish_tf
andpublish_map_tf
are disabled
- Added the new
zed_interfaces/RGBDSensors
custom topic that contains RGB, Depth, IMU and Magnetometer synchronized topics - Added a new package
zed_nodelets
that contains the mainzed_nodelets/ZEDWrapperNodelet
and new nodelets - Added a new nodelet
zed_nodelets/RgbdSensorsSyncNodelet
that subscribes to RGB, Depth, IMU and Magnetometer topics and republish them in a single synchronized message - Added a new nodelet
zed_nodelets/RgbdSensorsDemuxNodelet
that subscribes to RGBDSensors and republish RGB, Depth, IMU and Magnetometer as single topics - Renamed
zed_interfaces/objects
tozed_interfaces/Objects
- Renamed
zed_interfaces/object_stamped
tozed_interfaces/ObjectStamped
- Reorganized the
zed_wrapper/launch
folder adding theinclude
folder - New online documentation to explain in details the new
zed_nodelets
package: https://www.stereolabs.com/docs/ros/zed_nodelets/
- Added new package
zed_interfaces
with isolated declarations of custom messages, services and actions - Removed not used
world_frame
parameter - Removed the
publish_pose_covariance
parameter, now covariance for pose and odometry is always published - Removed
_m
from parametersmapping/resolution_m
andmapping/max_mapping_range_m
- Renamed the parameter
depth_resample_factor
todepth_downsample_factor
- Renamed the parameter
img_resample_factor
toimg_downsample_factor
- Renamed the parameter
odometry_db
toarea_memory_db_path
- Renamed the parameter
frame_rate
tograb_frame_rate
- Added new dynamic parameter
pub_frame_rate
to reduce Video and Depth publishing frequency respect to grabbing frame rate [grab_frame_rate
] - Added new dynamic parameter
gamma
for Gamma Control - Added new dynamic parameter
depth_texture_conf
to filter depth according to textureness information - Added new TF frames for all the sensors available on ZED2
- Added publishers for gray images
- Added publisher for Camera to IMU transform:
/<camera_name>/<node_name>/camera_imu_transform
- Default value for
depth_confidence
changed from 100 to 50 - Added
base_frame
as launch parameter to propagate the value of the parameter in the Xacro description
- Fix default value for dynamic parameters not set from
common.yaml
- Added xacro support for parametric URDF
- Removed redundant URDFs and added a single parametric URDF based on xacro
- Fixed auto white balance at node start (thanks to @kjaget)
- Removed
fixed_covariance
andfixed_cov_value
parameters (not required anymore) - Removed
sens_pub_rate
parameter - Removed
confidence_image
message - Removed
color_enhancement
parameter, always ON by default - Mapping does not use presets for resolution, but a float value in range [0.01,0.2]
- Added new parameter
max_mapping_range_m
for mapping depth range (set to-1
for auto calculation) - Moved "multi-camera" launch file in
zed-ros-examples
- Added current GPU ID to Diagnostic information
- The
confidence
dynamic parameter is now calleddepth_confidence
- Removed dynamic parametes
map_resize_factor
- Added new parameter
video/img_resample_factor
- Added new parameter
depth/map_resample_factor
- Updated the names for the parameters of the Object Detection module [only ZED2]
- Added a new repository
zed-ros-examples
to keep separated the main ZED Wrapper node from Examples and Tutorials. A clean robot installation is now allowed - ZED 2 support
- Color enhancement support
- Max range is not a dynamic parameter anymore
- Camera temperature added to diagnostic (only ZED2)
- New service to start/stop mapping
- Support for Object Detection (only ZED2)
- Advanced support for on-board sensors (only ZED-M and ZED2)
- New tutorials, see
zed-ros-examples