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last_changes.md

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LATEST CHANGES

2022-06-13

  • Fix "NO DEPTH" mode. By setting depth/quality to 0 now the depth extraction and all the sub-modules depending on it are correctly disabled.
  • Add debug sub-set of parameters with new parameters debug_mode and debug_sensors

2022-05-02

  • Add Plane Detection

2022-03-30

  • Fix set_pose wrong behavior. Now initial odometry is coherent with the new starting point.

v3.7.x

  • Add support for sport-related OD objects
  • Add remove_saturated_areas dynamic parameter to disable depth filtering when luminance >=255
  • Add sl::ObjectDetectionParameters::filtering_mode parameter
  • Publish depth_info topic with current min/max depth information
  • Fix parameter override problem (Issue #71). Thx @kevinanschau
  • Add default xacro path value in zed_camera.launch.py. Thx @sttobia
  • Fix zed-ros2-interfaces sub-module url, changing from ssh to https.

v3.6.x (2021-12-03)

  • Moved the zed_interfaces package to the zed-ros2-interfaces repository to match the same configuration of the ROS1 wrapper
  • The zed-ros2-interfaces repository has been added as a sub-module to this repository
  • Add new _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 ROS1 PR #771 for details. Thx @civerachb-cpr
  • Fix URDF height value for ZED, ZED2 and ZED2i
  • Fix performances drop on slower platforms. Thx @roncapat
  • Fix SVO LOOP wrong behavior. Thx @kevinanschau
  • Add xacro support for automatic URDF configuration
  • Reworked launch files to support xacro and launch parameters
    • Use ros2 launch zed_wrapper <launch_file> -s to retrieve all the available parameters
  • Add svo_path:=<full path to SVO file> as input for all the launch files to start the node using an SVO as input without modifying 'common.yaml`
  • Improved diagnostic information adding elaboration time on all the main tasks
  • Improved diagnostic time and frequencies calculation
  • Added StopWatch to sl_tools
  • Enabled Diagnostic status publishing
  • Changed the default values of the QoS parameter reliability for all topics from BEST_EFFORT to RELIABLE to guarantee compatibility with all ROS2 tools
  • Fixed tab error in zedm.yaml
  • Fixed compatibility issue with ZED SDK older than v3.5 - Thanks @PhilippPolterauer
  • Migration to ROS2 Foxy Fitzroy

v3.5.x (2021-07-05)

  • 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 support for new AI models: MULTI_CLASS_BOX_MEDIUM and HUMAN_BODY_MEDIUM
  • Depth advertising is disabled when depth is disabled (see sl::DETH_MODE::NONE)