v4.0.8

v4.0.8

• Remove start_object_detection and stop_object_detection services
• Add enable_object_detection service that takes a bool as parameter to enable/disable the OD module (same behavior as in ROS 2 Wrapper)
• Add parameter 'object_detection/allow_reduced_precision_inference'
• Add parameter 'object_detection/prediction_timeout'
• The parameter 'object_detection/model' is no more an integer, but a string with the full name of the supported OD model
• Add pose and odometry status publishers
• Improve odometry and pose publishing and TF broadcasting
• Add ROS '.clang-format'
• Code refactoring
• Add 'set_roi' and 'reset_roi' services
• Add parameter 'pos_tracking/depth_min_range'
• Add parameter 'pos_tracking/set_as_static'
• Change the parameter 'general/resolution' to 'general/grab_resolution' and replace numeric values with strings
• Add 'general.svo_realtime' parameter
• Change 'general/verbose' to 'general/sdk_verbose'
• Add 'general/region_of_interest' parameter
• Change the parameter 'depth/quality' to 'depth/depth_mode' and replace numeric values with strings
• Improve the behavior of the "NO DEPTH" mode
• Remove the parameters 'depth_downsample_factor' and 'img_downsample_factor'
• Add the parameter 'pub_resolution' and 'pub_downscale_factor'
• Add 'pos_tracking/set_gravity_as_origin' parameter. If 'true' align the positional tracking world to imu gravity measurement. Keep the yaw from the user initial pose.
• Add 'pos_tracking/pos_tracking_mode' parameter. Matches the ZED SDK setting: 'QUALITY', 'STANDARD'
• Fix the warning 'Elaboration takes longer [...]'
• 'pub_frame_rate' now controls the 'InitParameters::grab_compute_capping_fps' parameter of the ZED SDK instead of controlling the frequency of a parallel thread. It's not a Dynamic parameter anymore.
• Change 'general/camera_flip' parameter to string: 'AUTO', 'ON', 'OFF'
• Change 'general/verbose' from bool to integer

v4.0.5

v4.0.5

• Support for ZED SDK v4.0
• Remove parameter object_detection.body_fitting
• Remove parameter depth.sensing_mode
• Remove parameter video.extrinsic_in_camera_frame
• Skeleton Tracking is no more available. Migrate to ROS 2 Wrapper if you need it
• sensors and object_detection parameters are now in common.yaml
• Move parameters general.resolution and general.grab_frame_rate to cameras yaml files to support the different configurations on ZED X and ZED X Mini.
• Remove support for ROS Melodic that reached EOL
• Add 1080p for ZED X and ZED X Mini

v3.8.x

v3.8.x

• Fix the frame links of barometer, magnetometer, and temperature sensors for ZED2i
• Add parameter sensors/max_pub_rate to set the maximum publishing frequency of sensors data
• Improve Sensors thread
• Fix wrong TF broadcasting when calling the set_pose, reset_tracking, and reset_odometry services. Now the initial odometry is coherent with the new starting point.
• Add Plane Detection. See ZED Documentation
• Fix TF timestamp issue in SVO mode
• Fix units for Atmospheric pressure data. Now the value is correctly published in Pascal according to the topic specification.

v3.7.x

v3.7.x

• 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 other xacro 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 new zed-ros-interfaces repository. The new repository is useful to receive the topics from a ZED node on system where the zed-ros-wrapper repository cannot be fully installed, i.e. systems without CUDA support. For this repository nothing changes because the zed_interfaces folder is replaced by the zed-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 to sensor_msgs::image_encodings::TYPE_16UC1. Depth image in OpenNI mode is now compatible with the nodelet depthimage_to_laserscan

v3.5

• 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

v3.4.x

Fully compatible with SDK v3.4.x

• 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

v3.2.x

Release compatible with ZED SDK v3.2.x

• Fixed sync issue between RGB and Depth data (Thx @dennisVi)
• Fixed issues with SVO and sensors data (Thx @dennisVi)

v3.1.x

Release compatible with ZED SDK v3.1.x

• Fix timestamp update coherency due to parallel threads. Thanks to @matlabbe
• Fix issue with IMU frame link when publish_tf and publish_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 main zed_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 to zed_interfaces/Objects
• Renamed zed_interfaces/object_stamped to zed_interfaces/ObjectStamped
• Reorganized the zed_wrapper/launch folder adding the include folder
• New online documentation to explain in details the new zed_nodelets package: https://www.stereolabs.com/docs/ros/zed_nodelets/

v3.0.3

Release compatible with ZED SDK v3.0.3

v3.0.2

Release compatible with ZED SDK v3.0.2