Zed driver SDK update 5.2

Co-authored-by: norbertmarko <norbertmarko92@gmail.com>
Co-authored-by: horverno <horverno@gmail.com>
Co-authored-by: umiklos <ungermiklos1992@gmail.com>

Author: 4 people

config/camera/zed_default_common.yaml

@@ -5,15 +5,20 @@
 ---
 /**:
     ros__parameters:
+        use_sim_time: false # Set to `true` only if there is a publisher for the simulated clock to the `/clock` topic. Normally used in simulation mode.
+        svo:
+            use_svo_timestamps: true # Use the SVO timestamps to publish data. If false, data will be published at the system time.
+            publish_svo_clock: false # [overwritten by launch file options] When use_svo_timestamps is true allows to publish the SVO clock to the `/clock` topic. This is useful for synchronous rosbag playback.
+            svo_loop: false # Enable loop mode when using an SVO as input source. NOTE: ignored if SVO timestamping is used
+            svo_realtime: false # if true the SVO will be played trying to respect the original framerate eventually skipping frames, otherwise every frame will be processed respecting the `pub_frame_rate` setting
+            play_from_frame: 0 # Start playing the SVO from a specific frame
+            replay_rate: 1.0 # Replay rate for the SVO when not used in realtime mode (between [0.10-5.0])
+
         general:
-            svo_file: "" # usually overwritten by launch file
-            svo_loop: false # Enable loop mode when using an SVO as input source
-            svo_realtime: true # if true SVO will be played trying to respect the original framerate eventually skipping frames, otherwise every frame will be processed respecting the `pub_frame_rate` setting
             camera_timeout_sec: 5
             camera_max_reconnect: 5
             camera_flip: false
-            zed_id: 0 # usually overwritten by launch file
-            serial_number: 0 # usually overwritten by launch file
+            serial_number: 30565892 # usually overwritten by launch file
             grab_resolution: 'HD720' # The native camera grab resolution. 'HD2K', 'HD1080', 'HD720', 'VGA'
             pub_resolution: 'HD720' # The resolution used for output. 'HD2K', 'HD1080', 'HD720', 'MEDIUM', 'VGA', 'LOW'
             sdk_verbose: 1
@@ -44,18 +49,23 @@
             qos_durability: 2 # '1': TRANSIENT_LOCAL - '2': VOLATILE
 
         depth:
-            quality: 1 # '0': NONE, '1': PERFORMANCE, '2': QUALITY, '3': ULTRA - '4': NEURAL - Note: if '0' all the modules that requires depth extraction are disabled by default (Pos. Tracking, Obj. Detection, Mapping, ...)
-            sensing_mode: 0 # '0': STANDARD, '1': FILL
-            depth_stabilization: 0 # 
+            depth_mode: 'NEURAL_LIGHT' # Matches the ZED SDK setting: 'NONE', 'NEURAL_LIGHT', 'NEURAL', 'NEURAL_PLUS' - Note: if 'NONE' all the modules that requires depth extraction are disabled by default (Pos. Tracking, Obj. Detection, Mapping, ...)
+            depth_stabilization: 30 # Forces positional tracking to start if major than 0 - Range: [0,100]
             openni_depth_mode: false # 'false': 32bit float [meters], 'true': 16bit unsigned int [millimeters]
-            point_cloud_freq: 15.0 # [DYNAMIC] - frequency of the pointcloud publishing (equal or less to `grab_frame_rate` value)
-            depth_confidence: 50 # [DYNAMIC]
+            point_cloud_freq: 10.0 # [DYNAMIC] Frequency of the pointcloud publishing. This value must be equal or less than the camera framerate.
+            point_cloud_res: 'COMPACT' # The resolution used for point cloud publishing - 'COMPACT'-Standard resolution. Optimizes processing and bandwidth, 'REDUCED'-Half resolution. Low processing and bandwidth requirements
+            depth_confidence: 95 # [DYNAMIC]
             depth_texture_conf: 100 # [DYNAMIC]
             remove_saturated_areas: true # [DYNAMIC]
-            qos_history: 1 # '1': KEEP_LAST - '2': KEEP_ALL
-            qos_depth: 1 # Queue size if using KEEP_LAST
-            qos_reliability: 1 # '1': RELIABLE - '2': BEST_EFFORT -
-            qos_durability: 2 # '1': TRANSIENT_LOCAL - '2': VOLATILE
+            publish_depth_map: true # Advertise the depth map topics that are published only if a node subscribes to them
+            publish_depth_info: false # Advertise the depth info topic that is published only if a node subscribes to it
+            publish_point_cloud: true # Advertise the point cloud topic that is published only if a node subscribes to it
+            publish_depth_confidence: false # Advertise the depth confidence topic that is published only if a node subscribes to it
+            publish_disparity: false # Advertise the disparity topic that is published only if a node subscribes to it
+            # Other parameters are defined, according to the camera model, in the 'zed.yaml', 'zedm.yaml', 'zed2.yaml', 'zed2i.yaml'
+            # 'zedx.yaml', 'zedxmini.yaml', 'virtual.yaml' files
+
+
 
         pos_tracking:
             pos_tracking_enabled: true # True to enable positional tracking from start
@@ -96,12 +106,18 @@
             qos_durability: 2 # '1': TRANSIENT_LOCAL - '2': VOLATILE
 
         sensors:
+            publish_imu_tf: false # [overwritten by launch file options] enable/disable the IMU TF broadcasting
+            publish_imu: false # Advertise the IMU topic that is published only if a node subscribes to it
+            publish_imu_raw: false # Advertise the raw IMU topic that is published only if a node subscribes to it
             sensors_image_sync: false # Synchronize Sensors messages with latest published video/depth message
             sensors_pub_rate: 200. # frequency of publishing of sensors data. MAX: 400. - MIN: grab rate
             qos_history: 1 # '1': KEEP_LAST - '2': KEEP_ALL
             qos_depth: 1 # Queue size if using KEEP_LAST
             qos_reliability: 1 # '1': RELIABLE - '2': BEST_EFFORT -
             qos_durability: 2 # '1': TRANSIENT_LOCAL - '2': VOLATILE
+            publish_mag: false # Advertise the magnetometer topic that is published only if a node subscribes to it
+            publish_baro: false # Advertise the barometer topic that is published only if a node subscribes to it
+            publish_temp: false # Advertise the temperature topics that are published only if a node subscribes to them
 
         object_detection:
             od_enabled: false # True to enable Object Detection [only ZED 2]
@@ -135,3 +151,22 @@
         debug:
             debug_mode: false
             debug_sensors: false
+
+        stream_server:
+            stream_enabled: false # enable the streaming server when the camera is open
+
+
+        gnss_fusion:
+            gnss_fusion_enabled: false # fuse 'sensor_msg/NavSatFix' message information into pose data
+            gnss_fix_topic: '/lexus3/nova/fix' # TODO: Name of the GNSS topic of type NavSatFix to subscribe [Default: '/gps/fix']
+            gnss_zero_altitude: false # Set to `true` to ignore GNSS altitude information
+            h_covariance_mul: 1.0 # Multiplier factor to be applied to horizontal covariance of the received fix (plane X/Y)
+            v_covariance_mul: 1.0 # Multiplier factor to be applied to vertical covariance of the received fix (Z axis)
+            publish_utm_tf: false # Publish `utm` -> `map` TF
+            broadcast_utm_transform_as_parent_frame: false # if 'true' publish `utm` -> `map` TF, otherwise `map` -> `utm`
+            enable_reinitialization: false # determines whether reinitialization should be performed between GNSS and VIO fusion when a significant disparity is detected between GNSS data and the current fusion data. It becomes particularly crucial during prolonged GNSS signal loss scenarios.
+            enable_rolling_calibration: true # If this parameter is set to true, the fusion algorithm will used a rough VIO / GNSS calibration at first and then refine it. This allow you to quickly get a fused position.
+            enable_translation_uncertainty_target: false # When this parameter is enabled (set to true), the calibration process between GNSS and VIO accounts for the uncertainty in the determined translation, thereby facilitating the calibration termination. The maximum allowable uncertainty is controlled by the 'target_translation_uncertainty' parameter.
+            gnss_vio_reinit_threshold: 5.0 # determines the threshold for GNSS/VIO reinitialization. If the fused position deviates beyond out of the region defined by the product of the GNSS covariance and the gnss_vio_reinit_threshold, a reinitialization will be triggered.
+            target_translation_uncertainty: 0.1 # defines the target translation uncertainty at which the calibration process between GNSS and VIO concludes. By default, the threshold is set at 10 centimeters.
+            target_yaw_uncertainty: 0.1 # defines the target yaw uncertainty at which the calibration process between GNSS and VIO concludes. The unit of this parameter is in radian. By default, the threshold is set at 0.1 radians.

launch/drivers/cam_zed_zed2.launch.py

@@ -16,7 +16,7 @@ def generate_launch_description():
 
     zed_camera_name_arg = DeclareLaunchArgument(
         'zed_camera_name',
-        default_value='zed',
+        default_value='lexus3_zed',
         description='Logical camera name for ZED parameters'
     )
 

launch/drivers/gps_nova.launch.py

@@ -36,61 +36,56 @@ def arg(name, default_value, description):
 
 
 def generate_launch_description():
-    nova_namespace_arg = DeclareLaunchArgument(
-        'novatel_ns',
-        default_value='lexus3/gps/nova',
-        description='Namespace for the novatel gps node')
-    
-    nova_ip_arg   = arg('novatel_ip_addr',   '192.168.10.12',    'IP Address of Oem7 Receiver, e.g. 192.168.1.2')
-    nova_port_arg = arg('novatel_port',      '3001',             'TCP or UDP port, e.g. 3002')
-    nova_if_arg   = arg('novatel_interface',  'Oem7ReceiverUdp', 'Interface Type: Oem7ReceiverTcp or Oem7ReceiverUdp')
-    
 
-    nova_node = Node(
+    node = Node(
         package=PKG,
-        namespace=LaunchConfiguration('novatel_ns'),
+        namespace='/lexus3/nova',
         name='main',
         executable='novatel_oem7_driver_exe',
 
         parameters=[
-            get_params("std_msg_handlers.yaml"    ),
-            get_params("std_oem7_raw_msgs.yaml"   ),
-            get_params("std_msg_topics.yaml"      ),
-            get_params("oem7_supported_imus.yaml" ),
-            get_params("std_init_commands.yaml"   ),
-            {
-                # Refer to README for more information on the configuration parameters
-                # Receiver IO Parameters
-                'oem7_max_io_errors' : 10,
-                'oem7_msg_decoder': 'Oem7MessageDecoder',
-                'novatel_interface'  : LaunchConfiguration('novatel_interface'),
-                'novatel_ip_addr'    : LaunchConfiguration('novatel_ip_addr'),
-                'novatel_port'       : LaunchConfiguration('novatel_port'),
-                
-                # Topic Parameters
-                'oem7_position_source' : '', # If not set, then uses INSPVA or BESTPOS based on quality
-                'oem7_imu_rate'   : 0,
-                'oem7_odometry_zero_origin' : False,
-                'oem7_odometry_transform' : False,
+                    get_params("std_msg_handlers.yaml"    ),
+                    get_params("std_oem7_raw_msgs.yaml"   ),
+                    get_params("std_msg_topics.yaml"      ),
+                    get_params("oem7_supported_imus.yaml" ),
+                    get_params("std_init_commands.yaml"   ),
+                    {
+                    # Refer to README for more information on the configuration parameters
+                    # Receiver IO Parameters
+                    'oem7_max_io_errors' : 10,
+                    'oem7_msg_decoder': 'Oem7MessageDecoder',
+                    'oem7_if'         : LaunchConfiguration('oem7_if'),
+                    'oem7_ip_addr'    : LaunchConfiguration('oem7_ip_addr'),
+                    'oem7_port'       : LaunchConfiguration('oem7_port'),
+                    
+                    # Topic Parameters
+                    'oem7_position_source' : '', # If not set, then uses INSPVA or BESTPOS based on quality
+                    'oem7_imu_rate'   : 0,
+                    'oem7_odometry_zero_origin' : False,
+                    'oem7_odometry_transform' : False,
 
-                # Debug/Other Parameters
-                'oem7_receiver_log_file' : '',
-                'oem7_decoder_log_file' : '',
-                'oem7_strict_receiver_init' : True,
-                'oem7_publish_unknown_oem7raw' : False,
-                'oem7_publish_delay' : 0.0
-            },
-            get_override_params() # Must be last to override
-        ],
+                    # Debug/Other Parameters
+                    'oem7_receiver_log_file' : '',
+                    'oem7_decoder_log_file' : '',
+                    'oem7_strict_receiver_init' : True,
+                    'oem7_publish_unknown_oem7raw' : False,
+                    'oem7_publish_delay' : 0.0
+
+                    },
+                    get_override_params() # Must be last to override
+                    ],
 
         output='screen',
     )
 
-    return LaunchDescription([
-        nova_namespace_arg,
-        nova_ip_arg,
-        nova_port_arg,
-        nova_if_arg,
+    ip_arg   = arg('oem7_ip_addr', '192.168.10.12',               'IP Address of Oem7 Receiver, e.g. 192.168.1.2')
+    port_arg = arg('oem7_port',   '3001',              'TCP or UDP port, e.g. 3002')
+    if_arg   = arg('oem7_if',     'Oem7ReceiverUdp',   'Interface Type: Oem7ReceiverTcp or Oem7ReceiverUdp')
+    
+    return LaunchDescription([ip_arg, port_arg, if_arg, 
+                              node])
+
+    
+
 
-        nova_node
-    ])
+        

launch/tf_static.launch.py

@@ -2,6 +2,7 @@
 from launch_ros.actions import Node
 from launch.actions import DeclareLaunchArgument
 from launch.substitutions import LaunchConfiguration
+from math import pi
 
 
 def generate_launch_description():
@@ -103,6 +104,25 @@ def generate_launch_description():
                 '--child-frame-id', [LaunchConfiguration('tf_static_ns'), '/zed_camera_link']
             ],
         ),
+        Node(
+            package='tf2_ros',
+            executable='static_transform_publisher',
+            name='zed_camera_temporary', # TODO: 
+            output='screen',
+            arguments=[
+                '--x',  '0.0',
+                '--y',  '0.0',
+                '--z',  '0.0',
+                '--qx', '0.0',
+                '--qy', '0.0',
+                '--qz', '0.0',
+                '--qw', '1.0',
+
+                '--frame-id',       [LaunchConfiguration('tf_static_ns'), '/zed_camera_link'],
+                '--child-frame-id', [LaunchConfiguration('tf_static_ns'), '_zed_camera_link']
+            ],
+        ),
+
         Node(
             package='tf2_ros',
             executable='static_transform_publisher',
@@ -148,7 +168,7 @@ def generate_launch_description():
                 '--x',     '0.75',
                 '--y',     '0.5',
                 '--z',     '1.3',
-                '--yaw',   '0.0',
+                '--yaw',   '-3.1415926535',
                 '--pitch', '0.0',
                 '--roll',  '0.0',
 
@@ -165,7 +185,7 @@ def generate_launch_description():
                 '--x',     '1.53',
                 '--y',     '-0.5',
                 '--z',     '1.41',
-                '--yaw',   '0.0',
+                '--yaw',   '-3.1415926535',
                 '--pitch', '0.0',
                 '--roll',  '0.0',
 
@@ -182,7 +202,7 @@ def generate_launch_description():
                 '--x',     '0.75',
                 '--y',     '0.0',
                 '--z',     '1.91',
-                '--yaw',   '0.0',
+                '--yaw',   '-3.1415926535',
                 '--pitch', '0.0',
                 '--roll',  '0.0',
 
@@ -217,7 +237,7 @@ def generate_launch_description():
                 '--z',     '0.0',
                 '--yaw',   '1.04719755',
                 '--pitch', '0.0',
-                '--roll',  '3.141592654',
+                '--roll',  '0.0',
 
                 '--frame-id',       [LaunchConfiguration('tf_static_ns'), '/base_link'],
                 '--child-frame-id', [LaunchConfiguration('tf_static_ns'), '/radar_front_left']
@@ -283,9 +303,9 @@ def generate_launch_description():
                 '--x',     '1.43',
                 '--y',     '-0.3',
                 '--z',     '1.41',
-                '--yaw',   '0.0',
+                '--yaw',   '-0.0174533',
                 '--pitch', '0.0',
-                '--roll',  '-0.0174533',
+                '--roll',  '0.0',
 
                 '--frame-id',       [LaunchConfiguration('tf_static_ns'), '/base_link'],
                 '--child-frame-id', [LaunchConfiguration('tf_static_ns'), '/luminar_lidar_0']