syncing master of original repo

launch/zed_camera.launch

@@ -50,6 +50,8 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
     <!-- Publish urdf zed -->
     <arg name="publish_urdf"          default="true" />
 
+    <!-- to flip or not to flip -->
+    <arg name="camera_flip"         default="true" />
     <arg name="rgb_topic"           default="rgb/image_rect_color" />
     <arg name="rgb_info_topic"      default="rgb/camera_info" />
     <arg name="depth_topic"         default="depth/depth_registered" />
@@ -61,6 +63,8 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
         <!-- publish pose frame -->
         <param name="publish_tf"            value="$(arg publish_tf)" />
 
+        <!-- flip camera -->
+        <param name="camera_flip"           value="$(arg camera_flip)" />
         <!-- Configuration frame camera -->    
         <param name="pose_frame"                    value="$(arg pose_frame)" />
         <param name="odometry_frame"                value="$(arg odometry_frame)" />

src/nodelet/include/zed_wrapper_nodelet.hpp

@@ -284,6 +284,7 @@ class ZEDWrapperNodelet : public nodelet::Nodelet {
     boost::shared_ptr<tf2_ros::Buffer> tfBuffer;
     boost::shared_ptr<tf2_ros::TransformListener> tfListener;
     bool publishTf;
+    bool cameraFlip;
 
     // Launch file parameters
     int resolution;

src/nodelet/src/zed_wrapper_nodelet.cpp

@@ -132,6 +132,8 @@ void ZEDWrapperNodelet::onInit() {
   // Publish odometry tf
   nhNs.param<bool>("publish_tf", publishTf, true);
 
+  nhNs.param<bool>("camera_flip", cameraFlip, false);
+
   if (serial_number > 0)
     NODELET_INFO_STREAM("SN : " << serial_number);
 
@@ -152,6 +154,7 @@ void ZEDWrapperNodelet::onInit() {
   // Status of map TF
   NODELET_INFO_STREAM("Publish " << mapFrameId << " ["
                                  << (publishTf ? "TRUE" : "FALSE") << "]");
+  NODELET_INFO_STREAM("Camera Flip [" << (cameraFlip ? "TRUE" : "FALSE") << "]");
 
   // Status of odometry TF
   // NODELET_INFO_STREAM("Publish " << odometry_frame_id << " [" << (publish_tf
@@ -338,7 +341,8 @@ void ZEDWrapperNodelet::onInit() {
   param.sdk_verbose = verbose;
   param.sdk_gpu_id = gpuId;
   param.depth_stabilization = depthStabilization;
-
+  param.camera_image_flip = cameraFlip;
+
   sl::ERROR_CODE err = sl::ERROR_CODE_CAMERA_NOT_DETECTED;
   while (err != sl::SUCCESS) {
     err = zed.open(param);