latest_changes.md

LATEST CHANGES

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
• 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 models
  • vehicles-> 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

RGB/Depth sync fix #629 (2020-11-02)

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

ASYNC Object Detection (2020-09-18)

• 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 to depth/depth_registered

IMU timestamp fix (2020-08-25)

• 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 and zed_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

Timestamp fix (2020-06-03)

• Fix timestamp update coherency due to parallel threads. Thanks to @matlabbe

IMU fix (2020-05-24)

• Fix issue with IMU frame link when publish_tf and publish_map_tf are disabled

New package: zed_nodelets (2020-03-20)

• 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/

v3.1

• Added new package zed_interfaces with isolated declarations of custom messages, services and actions
• Removed not used world_frame parameter
• Removed thepublish_pose_covariance parameter, now covariance for pose and odometry is always published
• Removed _m from parameters mapping/resolution_m and mapping/max_mapping_range_m
• Renamed the parameter depth_resample_factor to depth_downsample_factor
• Renamed the parameter img_resample_factor to img_downsample_factor
• Renamed the parameter odometry_db to area_memory_db_path
• Renamed the parameter frame_rate to grab_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

Bug fix (2020-03-06)

• Fix default value for dynamic parameters not set from common.yaml

XACRO and more (2020-01-31)

• 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 and fixed_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 called depth_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]

SDK v3.0 (2020-01-27)

• 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