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Merged
jonpol01 merged 2 commits into from
Jun 26, 2019
Merged

Update zed-ros-wrapper #1

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62baac0
Update zed_camera.launch to change imu topic name from other launch f…
yuusuke0126 Jun 26, 2019
cb5be9f
Change params same as rtabmap_navigate.launch.
yuusuke0126 Jun 26, 2019
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8 changes: 8 additions & 0 deletions zed_wrapper/launch/zed_camera.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -34,6 +34,10 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
<arg name="camera_id" default="-1" />
<arg name="gpu_id" default="-1" />

<!-- Imu topic name -->
<arg name="imu_topic" default="/$(arg node_name)/imu/data" />
<arg name="imu_topic_raw" default="/$(arg node_name)/imu/data_raw" />

<!-- ROS URDF description of the ZED -->
<group if="$(arg publish_urdf)">
<param name="zed_description" textfile="$(find zed_wrapper)/urdf/$(arg camera_model).urdf" />
Expand All @@ -57,5 +61,9 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

<!-- GPU ID -->
<param name="general/gpu_id" value="$(arg gpu_id)" />

<!-- Remap imu_topic -->
<remap from="/$(arg node_name)/imu/data" to="$(arg imu_topic)" />
<remap from="/$(arg node_name)/imu/data_raw" to="$(arg imu_topic_raw)" />
</node>
</launch>
8 changes: 4 additions & 4 deletions zed_wrapper/params/common.yaml
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Expand Up @@ -23,7 +23,7 @@ general:
left_camera_optical_frame: 'zed_left_camera_optical_frame' # must be equal to the frame_id used in the URDF file
right_camera_frame: 'zed_right_camera_frame' # must be equal to the frame_id used in the URDF file
right_camera_optical_frame: 'zed_right_camera_optical_frame' # must be equal to the frame_id used in the URDF file
verbose: true
verbose: false
svo_compression: 4 # `0`: RAW (no compression), `1`: LOSSLESS (PNG/ZSTD), `2`: LOSSY (JPEG), `3`: AVCHD (H264 SDK v2.7), `4`: HEVC (H265 SDK v2.7)
self_calib: true # enable/disable self calibration at starting

Expand All @@ -35,7 +35,7 @@ video:
color_enhancement: true # [FUTURE USE] This parameter enhances color spreading on R/G/B channel and increase gamma correction on black areas for a better gray segmentation in black areas. Recommended for computer's vision applications.

depth:
quality: 1 # '0': NONE, '1': PERFORMANCE, '2': MEDIUM, '3': QUALITY, '4': ULTRA
quality: 4 # '0': NONE, '1': PERFORMANCE, '2': MEDIUM, '3': QUALITY, '4': ULTRA
sensing_mode: 0 # '0': STANDARD, '1': FILL
depth_stabilization: 1 # `0`: disabled, `1`: enabled
openni_depth_mode: 0 # '0': 32bit float meters, '1': 16bit uchar millimeters
Expand All @@ -45,8 +45,8 @@ depth:
confidence_root: 'confidence' # default `confidence/confidence_image` and `confidence/confidence_map`

tracking:
publish_tf: true # publish `odom -> base_link` TF
publish_map_tf: true # publish `map -> odom` TF
publish_tf: false # publish `odom -> base_link` TF
publish_map_tf: false # publish `map -> odom` TF
world_frame: 'map' # the reference fixed frame (same as `map_frame` or `odometry_frame`)
map_frame: 'map'
odometry_frame: 'odom'
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