V3.1 (stereolabs#528)

* Add new zed_interfaces package * Removed "world_frame" * removed "_m" from parameters * Remove publish_pose_covariance parameter * - Rename `depth_resample_factor` to `depth_downsample_factor` - Rename `img_resample_factor` to `img_downsample_factor` * Rename `odometry_db` to `area_memory_db_path` * Update Changelog * Support for Textureness Depth Threshold * Minor fixes * ZED2 sensors frames * Improved warning message for missing TF transforms * Minor fixes * Minor fix * Feat gray images (stereolabs#532) * Improved warning message for missing TF transforms * Minor fixes * Add gray images publishing * Gray image publishing correctly working * Camera IMU transform publisher * Left Camera to IMU transform new topic name `left_camera_imu_transform` * Default value for depth_confidence to 50 * Propagate `base_frame` parameter in the Xacro description * Fix zed_no_tf.launch * Add support for new Sensor Information info structures Add support for new extrinsic parameters in ROS frame * Update LICENSE * Add separated publishing frequency for Video and Depth data Add new publishing frequency info to diagnostic Add new publishing frequency to dynamic parameters * Solve conflicts
szenergy · Mar 10, 2020 · 680c09e · 680c09e
1 parent 12cb32f
commit 680c09e
Show file tree

Hide file tree

Showing 35 changed files with 995 additions and 518 deletions.
diff --git a/LICENSE b/LICENSE
@@ -1,6 +1,6 @@
 MIT License
 
-Copyright (c) 2018 Stereolabs
+Copyright (c) 2020 Stereolabs
 
 Permission is hereby granted, free of charge, to any person obtaining a copy
 of this software and associated documentation files (the "Software"), to deal

diff --git a/latest_changes.md b/latest_changes.md
@@ -1,6 +1,25 @@
 LATEST CHANGES
 ==============
 
+v3.1
+-----
+- 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 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`
@@ -24,7 +43,6 @@ XACRO and more (2020-01-31)
 - 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`](https://github.com/stereolabs/zed-ros-examples) to keep separated the main ZED Wrapper node from Examples and Tutorials. A clean robot installation is now allowed

diff --git a/zed_interfaces/CMakeLists.txt b/zed_interfaces/CMakeLists.txt
@@ -0,0 +1,62 @@
+cmake_minimum_required(VERSION 2.8.7)
+
+project(zed_interfaces)
+
+find_package(catkin REQUIRED COMPONENTS
+  std_msgs
+  geometry_msgs
+  #actionlib_msgs
+  message_generation
+)
+
+add_message_files( 
+    DIRECTORY msg 
+    FILES
+    object_stamped.msg
+    objects.msg
+  )
+
+#add_action_files(DIRECTORY action FILES act.action)
+
+add_service_files( 
+    DIRECTORY srv 
+    FILES
+    set_pose.srv
+    reset_odometry.srv
+    reset_tracking.srv
+    start_svo_recording.srv
+    stop_svo_recording.srv
+    start_remote_stream.srv
+    stop_remote_stream.srv
+    set_led_status.srv
+    toggle_led.srv
+    start_3d_mapping.srv
+    stop_3d_mapping.srv
+    start_object_detection.srv
+    stop_object_detection.srv
+  )
+
+generate_messages(
+    DEPENDENCIES
+    #actionlib_msgs
+    std_msgs
+    geometry_msgs
+)
+
+catkin_package(
+    INCLUDE_DIRS include
+    CATKIN_DEPENDS 
+    message_generation 
+    std_msgs 
+    geometry_msgs 
+    #actionlib_msgs
+)
+
+###############################################################################
+
+#Add all files in subdirectories of the project in
+# a dummy_target so qtcreator have access to all files
+FILE(GLOB_RECURSE all_files ${CMAKE_SOURCE_DIR}/*)
+add_custom_target(all_files_${PROJECT_NAME} SOURCES ${all_files})
+
+
diff --git a/zed_interfaces/include/foo b/zed_interfaces/include/foo
diff --git a/zed_wrapper/msg/object_stamped.msg → zed_interfaces/msg/object_stamped.msg b/zed_wrapper/msg/object_stamped.msg → zed_interfaces/msg/object_stamped.msg
diff --git a/zed_wrapper/msg/objects.msg → zed_interfaces/msg/objects.msg b/zed_wrapper/msg/objects.msg → zed_interfaces/msg/objects.msg
diff --git a/zed_interfaces/package.xml b/zed_interfaces/package.xml
@@ -0,0 +1,27 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>zed_interfaces</name>
+  <version>3.1.0</version>
+  <description>zed_interfaces is a packages that defines custom messages, services and actions used by the
+               zed-ros-wrapper package and other packages.</description>
+
+  <maintainer email="support@stereolabs.com">STEREOLABS</maintainer>
+  <license>MIT</license>
+
+  <url type="website">http://stereolabs.com/</url>
+  <url type="repository">https://github.com/stereolabs/zed-ros-wrapper</url>
+  <url type="bugtracker">https://github.com/stereolabs/zed-ros-wrapper/issues</url>
+
+  <buildtool_depend>catkin</buildtool_depend>  
+
+  <build_depend>std_msgs</build_depend>
+  <build_depend>actionlib_msgs</build_depend>
+  <build_depend>geometry_msgs</build_depend>
+  <build_depend>message_generation</build_depend>
+
+  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>actionlib_msgs</exec_depend>
+  <exec_depend>geometry_msgs</exec_depend>
+  <exec_depend>message_generation</exec_depend>
+
+</package>
diff --git a/zed_wrapper/srv/reset_odometry.srv → zed_interfaces/srv/reset_odometry.srv b/zed_wrapper/srv/reset_odometry.srv → zed_interfaces/srv/reset_odometry.srv
diff --git a/zed_wrapper/srv/reset_tracking.srv → zed_interfaces/srv/reset_tracking.srv b/zed_wrapper/srv/reset_tracking.srv → zed_interfaces/srv/reset_tracking.srv
diff --git a/zed_wrapper/srv/set_led_status.srv → zed_interfaces/srv/set_led_status.srv b/zed_wrapper/srv/set_led_status.srv → zed_interfaces/srv/set_led_status.srv
diff --git a/zed_wrapper/srv/set_pose.srv → zed_interfaces/srv/set_pose.srv b/zed_wrapper/srv/set_pose.srv → zed_interfaces/srv/set_pose.srv
diff --git a/zed_wrapper/srv/start_3d_mapping.srv → zed_interfaces/srv/start_3d_mapping.srv b/zed_wrapper/srv/start_3d_mapping.srv → zed_interfaces/srv/start_3d_mapping.srv
diff --git a/zed_wrapper/srv/start_object_detection.srv → ...interfaces/srv/start_object_detection.srv b/zed_wrapper/srv/start_object_detection.srv → ...interfaces/srv/start_object_detection.srv
diff --git a/zed_wrapper/srv/start_remote_stream.srv → zed_interfaces/srv/start_remote_stream.srv b/zed_wrapper/srv/start_remote_stream.srv → zed_interfaces/srv/start_remote_stream.srv
diff --git a/zed_wrapper/srv/start_svo_recording.srv → zed_interfaces/srv/start_svo_recording.srv b/zed_wrapper/srv/start_svo_recording.srv → zed_interfaces/srv/start_svo_recording.srv
diff --git a/zed_wrapper/srv/stop_3d_mapping.srv → zed_interfaces/srv/stop_3d_mapping.srv b/zed_wrapper/srv/stop_3d_mapping.srv → zed_interfaces/srv/stop_3d_mapping.srv
diff --git a/zed_wrapper/srv/stop_object_detection.srv → zed_interfaces/srv/stop_object_detection.srv b/zed_wrapper/srv/stop_object_detection.srv → zed_interfaces/srv/stop_object_detection.srv
diff --git a/zed_wrapper/srv/stop_remote_stream.srv → zed_interfaces/srv/stop_remote_stream.srv b/zed_wrapper/srv/stop_remote_stream.srv → zed_interfaces/srv/stop_remote_stream.srv
diff --git a/zed_wrapper/srv/stop_svo_recording.srv → zed_interfaces/srv/stop_svo_recording.srv b/zed_wrapper/srv/stop_svo_recording.srv → zed_interfaces/srv/stop_svo_recording.srv
diff --git a/zed_wrapper/srv/toggle_led.srv → zed_interfaces/srv/toggle_led.srv b/zed_wrapper/srv/toggle_led.srv → zed_interfaces/srv/toggle_led.srv
diff --git a/zed_wrapper/CMakeLists.txt b/zed_wrapper/CMakeLists.txt
@@ -49,9 +49,9 @@ find_package(catkin COMPONENTS
   tf2_ros
   nodelet
   tf2_geometry_msgs
-  message_generation
-  diagnostic_updater
+  diagnostic_updater  
   roslint
+  zed_interfaces
 )
 
 checkPackage("image_transport" "")
@@ -64,33 +64,6 @@ checkPackage("dynamic_reconfigure" "")
 checkPackage("tf2_ros" "")
 checkPackage("nodelet" "")
 checkPackage("tf2_geometry_msgs" "")
-checkPackage("message_generation" "")
-
-add_message_files( FILES
-    object_stamped.msg
-    objects.msg
-  )
-
-add_service_files( FILES
-    set_pose.srv
-    reset_odometry.srv
-    reset_tracking.srv
-    start_svo_recording.srv
-    stop_svo_recording.srv
-    start_remote_stream.srv
-    stop_remote_stream.srv
-    set_led_status.srv
-    toggle_led.srv
-    start_3d_mapping.srv
-    stop_3d_mapping.srv
-    start_object_detection.srv
-    stop_object_detection.srv
-  )
-
-generate_messages(DEPENDENCIES
-    std_msgs
-    geometry_msgs
-)
 
 generate_dynamic_reconfigure_options(
   cfg/Zed.cfg
@@ -107,6 +80,7 @@ catkin_package(
     tf2_ros
     tf2_geometry_msgs
     message_runtime
+    zed_interfaces
 )
 
 ###############################################################################
@@ -147,11 +121,13 @@ set(LINK_LIBRARIES
 
 add_library(ZEDWrapper ${TOOLS_SRC} ${NODELET_SRC})
 target_link_libraries(ZEDWrapper ${LINK_LIBRARIES})
-add_dependencies(ZEDWrapper ${${PROJECT_NAME}_EXPORTED_TARGETS} ${PROJECT_NAME}_gencfg)
+add_dependencies(ZEDWrapper ${catkin_EXPORTED_TARGETS})
+add_dependencies(ZEDWrapper ${PROJECT_NAME}_gencfg)
 
 add_executable(zed_wrapper_node ${NODE_SRC})
 target_link_libraries(zed_wrapper_node ZEDWrapper ${LINK_LIBRARIES})
-add_dependencies(zed_wrapper_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${PROJECT_NAME}_gencfg)
+add_dependencies(zed_wrapper_node ${catkin_EXPORTED_TARGETS})
+add_dependencies(zed_wrapper_node ${PROJECT_NAME}_gencfg)
 
 ###############################################################################
 

diff --git a/zed_wrapper/cfg/Zed.cfg b/zed_wrapper/cfg/Zed.cfg
@@ -6,23 +6,24 @@ from dynamic_reconfigure.parameter_generator_catkin import *
 gen = ParameterGenerator()
 
 group_general = gen.add_group("general")
+group_general.add("pub_frame_rate",         double_t,   0, "Video and Depth data frequency",                        15.0,   0.1,    60.0);
 
 group_depth = gen.add_group("depth")
-group_depth.add("depth_confidence",     int_t,      1, "Depth onfidence threshold, the lower the better",       50,     1,      100)
-group_depth.add("point_cloud_freq",     double_t,   2,  "Point cloud frequency",                                15.0,   0.1,    60.0);
+group_depth.add("depth_confidence",         int_t,      1, "Depth confidence threshold",                            50,     1,      100)
+group_depth.add("depth_texture_conf",       int_t,      2, "Texture confidence threshold",                          100,    1,      100)
+group_depth.add("point_cloud_freq",         double_t,   3, "Point cloud frequency",                                 15.0,   0.1,    60.0);
 
 group_video = gen.add_group("video")
-group_video.add("brightness",           int_t,      3, "Defines the brightness control",                        4,      0,      8);
-group_video.add("contrast",             int_t,      4, "Defines the contrast control",                          4,      0,      8);
-group_video.add("hue",                  int_t,      5, "Defines the hue control",                               0,      0,      11);
-group_video.add("saturation",           int_t,      6, "Defines the saturation control",                        4,      0,      8);
-group_video.add("sharpness",            int_t,      7, "Defines the digital sharpness control",                 4,      0,      8);
-group_video.add("gamma",                int_t,      8, "Defines the gamma control",                             8,      1,      9);
-group_video.add("auto_exposure_gain",   bool_t,     9, "Defines if the Gain and Exposure are in automatic mode or not", True);
-group_video.add("gain",                 int_t,      10, "Defines the gain control",                             100,    0,      100);
-group_video.add("exposure",             int_t,      11, "Defines the exposure control",                         100,    0,      100);
-group_video.add("auto_whitebalance",    bool_t,     12, "Defines if the White balance is in automatic mode or not",     True);
-group_video.add("whitebalance_temperature", int_t,  13, "Defines the color temperature value (x100)",           42,     28,      65);
+group_video.add("brightness",               int_t,      4, "Defines the brightness control",                        4,      0,      8);
+group_video.add("contrast",                 int_t,      5, "Defines the contrast control",                          4,      0,      8);
+group_video.add("hue",                      int_t,      6, "Defines the hue control",                               0,      0,      11);
+group_video.add("saturation",               int_t,      7, "Defines the saturation control",                        4,      0,      8);
+group_video.add("sharpness",                int_t,      8, "Defines the digital sharpness control",                 4,      0,      8);
+group_video.add("gamma",                    int_t,      9, "Defines the gamma control",                             8,      1,      9);
+group_video.add("auto_exposure_gain",       bool_t,     10, "Defines if the Gain and Exposure are in automatic mode or not", True);
+group_video.add("gain",                     int_t,      11, "Defines the gain control",                             100,    0,      100);
+group_video.add("exposure",                 int_t,      12, "Defines the exposure control",                         100,    0,      100);
+group_video.add("auto_whitebalance",        bool_t,     13, "Defines if the White balance is in automatic mode or not",     True);
+group_video.add("whitebalance_temperature", int_t,      14, "Defines the color temperature value (x100)",           42,     28,      65);
 
 exit(gen.generate(PACKAGE, "zed_wrapper", "Zed"))
-
diff --git a/zed_wrapper/launch/zed.launch b/zed_wrapper/launch/zed.launch
@@ -26,6 +26,8 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
     <arg name="camera_name"          default="zed" />
 
+    <arg name="base_frame"           default="base_link" />
+
     <arg name="cam_pos_x"             default="0.0" /> <!-- Position respect to base frame (i.e. "base_link) -->
     <arg name="cam_pos_y"             default="0.0" /> <!-- Position respect to base frame (i.e. "base_link) -->
     <arg name="cam_pos_z"             default="0.0" /> <!-- Position respect to base frame (i.e. "base_link) -->
@@ -40,6 +42,7 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
             <arg name="stream"              value="$(arg stream)" />
             <arg name="node_name"           value="$(arg node_name)" />
             <arg name="camera_model"        value="$(arg camera_model)" />
+            <arg name="base_frame"          value="$(arg base_frame)" />
             <arg name="publish_urdf"        value="$(arg publish_urdf)" />
             <arg name="cam_pos_x"           value="$(arg cam_pos_x)" />
             <arg name="cam_pos_y"           value="$(arg cam_pos_y)" />

diff --git a/zed_wrapper/launch/zed2.launch b/zed_wrapper/launch/zed2.launch
@@ -26,6 +26,8 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
     <arg name="camera_name"          default="zed2" />
 
+    <arg name="base_frame"           default="base_link" />
+
     <arg name="cam_pos_x"             default="0.0" /> <!-- Position respect to base frame (i.e. "base_link) -->
     <arg name="cam_pos_y"             default="0.0" /> <!-- Position respect to base frame (i.e. "base_link) -->
     <arg name="cam_pos_z"             default="0.0" /> <!-- Position respect to base frame (i.e. "base_link) -->
@@ -40,6 +42,7 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
             <arg name="stream"              value="$(arg stream)" />
             <arg name="node_name"           value="$(arg node_name)" />
             <arg name="camera_model"        value="$(arg camera_model)" />
+            <arg name="base_frame"          value="$(arg base_frame)" />
             <arg name="publish_urdf"        value="$(arg publish_urdf)" />
             <arg name="cam_pos_x"           value="$(arg cam_pos_x)" />
             <arg name="cam_pos_y"           value="$(arg cam_pos_y)" />

diff --git a/zed_wrapper/launch/zed_camera.launch b/zed_wrapper/launch/zed_camera.launch
@@ -27,6 +27,9 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
     <!-- Remote stream -->
     <arg name="stream"                default="" /> <!-- <arg name="stream" default="<ip_address>:<port>"> -->
 
+    <!-- Base frame -->
+    <arg name="base_frame"            default="base_link" />
+
     <!-- Publish ZED urdf -->
     <arg name="publish_urdf"          default="true" />
 
@@ -49,6 +52,7 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
                command="$(find xacro)/xacro '$(find zed_wrapper)/urdf/zed_descr.urdf.xacro'
                         camera_name:=$(arg camera_name)
                         camera_model:=$(arg camera_model)
+                        base_frame:=$(arg base_frame)
                         cam_pos_x:=$(arg cam_pos_x)
                         cam_pos_y:=$(arg cam_pos_y)
                         cam_pos_z:=$(arg cam_pos_z)
@@ -69,6 +73,9 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
         <!-- Camera name -->
         <param name="general/camera_name"               value="$(arg camera_name)" />
 
+        <!-- Base frame -->
+        <param name="general/base_frame"                value="$(arg base_frame)" />
+
         <!-- SVO file path -->
         <param name="svo_file"                          value="$(arg svo_file)" />