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Merged
Myzhar merged 11 commits into from
Apr 3, 2023
Merged

Devel 4.0 #882

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896eb1b
Update CMakeLists.txt files
Mar 31, 2023
cfe905f
Update CMakeLists.txt files
Myzhar Mar 31, 2023
8aa953b
SDK v4 compatibility OK
Myzhar Mar 31, 2023
0175e32
Add "REBOOTING" status handling
Myzhar Mar 31, 2023
eb70f60
Camera Rebooting handling
Myzhar Mar 31, 2023
7672aed
Copyright date update
Myzhar Mar 31, 2023
63641b8
Update submodule
Myzhar Mar 31, 2023
bee8459
Add support for ZED X
Myzhar Mar 31, 2023
0d25a2e
Update submodule
Myzhar Apr 3, 2023
175c882
Merge branch 'devel_4.0' of github.com:stereolabs/zed-ros-wrapper int…
Myzhar Apr 3, 2023
0694780
Update Info
Myzhar Apr 3, 2023
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Copyright date update
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@Myzhar
Myzhar committed Mar 31, 2023
commit 7672aedd23b5a5146e82de12c7548ed931c46ec6
2 changes: 1 addition & 1 deletion LICENSE
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MIT License

Copyright (c) 2020 Stereolabs
Copyright (c) 2023 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
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2 changes: 1 addition & 1 deletion zed_nodelets/src/rgbd_sensors_demux_nodelet/include/rgbd_sensor_demux.hpp
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///////////////////////////////////////////////////////////////////////////
//
// Copyright (c) 2020, STEREOLABS.
// Copyright (c) 2023, STEREOLABS.
//
// All rights reserved.
//
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2 changes: 1 addition & 1 deletion zed_nodelets/src/rgbd_sensors_demux_nodelet/src/rgbd_sensor_demux.cpp
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///////////////////////////////////////////////////////////////////////////
//
// Copyright (c) 2020, STEREOLABS.
// Copyright (c) 2023, STEREOLABS.
//
// All rights reserved.
//
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2 changes: 1 addition & 1 deletion zed_nodelets/src/rgbd_sensors_sync_nodelet/include/rgbd_sensor_sync.hpp
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///////////////////////////////////////////////////////////////////////////
//
// Copyright (c) 2020, STEREOLABS.
// Copyright (c) 2023, STEREOLABS.
//
// All rights reserved.
//
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2 changes: 1 addition & 1 deletion zed_nodelets/src/rgbd_sensors_sync_nodelet/src/rgbd_sensor_sync.cpp
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///////////////////////////////////////////////////////////////////////////
//
// Copyright (c) 2020, STEREOLABS.
// Copyright (c) 2023, STEREOLABS.
//
// All rights reserved.
//
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8 changes: 4 additions & 4 deletions zed_nodelets/src/tools/include/sl_tools.h
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#ifndef SL_TOOLS_H
#define SL_TOOLS_H

///////////////////////////////////////////////////////////////////////////
//
// Copyright (c) 2020, STEREOLABS.
// Copyright (c) 2023, STEREOLABS.
//
// All rights reserved.
//
Expand All @@ -21,6 +18,9 @@
//
///////////////////////////////////////////////////////////////////////////

#ifndef SL_TOOLS_H
#define SL_TOOLS_H

#include <ros/time.h>
#include <sensor_msgs/Image.h>
#include <sl/Camera.hpp>
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2 changes: 1 addition & 1 deletion zed_nodelets/src/tools/src/sl_tools.cpp
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///////////////////////////////////////////////////////////////////////////
//
// Copyright (c) 2020, STEREOLABS.
// Copyright (c) 2023, STEREOLABS.
//
// All rights reserved.
//
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10 changes: 5 additions & 5 deletions zed_nodelets/src/zed_nodelet/include/zed_wrapper_nodelet.hpp
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#ifndef ZED_WRAPPER_NODELET_H
#define ZED_WRAPPER_NODELET_H

///////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////
//
// Copyright (c) 2020, STEREOLABS.
// Copyright (c) 2023, STEREOLABS.
//
// All rights reserved.
//
Expand All @@ -21,6 +18,9 @@
//
///////////////////////////////////////////////////////////////////////////

#ifndef ZED_WRAPPER_NODELET_H
#define ZED_WRAPPER_NODELET_H

#include <diagnostic_updater/diagnostic_updater.h>
#include <dynamic_reconfigure/server.h>
#include <geometry_msgs/PointStamped.h>
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2 changes: 1 addition & 1 deletion zed_nodelets/src/zed_nodelet/src/zed_wrapper_nodelet.cpp
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///////////////////////////////////////////////////////////////////////////
//
// Copyright (c) 2020, STEREOLABS.
// Copyright (c) 2023, STEREOLABS.
//
// All rights reserved.
//
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2 changes: 1 addition & 1 deletion zed_wrapper/launch/include/zed_camera.launch.xml
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<?xml version="1.0"?>
<!--
Copyright (c) 2020, STEREOLABS.
Copyright (c) 2023, STEREOLABS.

All rights reserved.

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2 changes: 1 addition & 1 deletion zed_wrapper/launch/include/zed_camera_nodelet.launch
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<?xml version="1.0"?>
<!--
Copyright (c) 2020, STEREOLABS.
Copyright (c) 2023, STEREOLABS.

All rights reserved.

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2 changes: 1 addition & 1 deletion zed_wrapper/launch/include/zed_no_tf.launch.xml
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<?xml version="1.0"?>
<!--
Copyright (c) 2020, STEREOLABS.
Copyright (c) 2023, STEREOLABS.

All rights reserved.

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2 changes: 1 addition & 1 deletion zed_wrapper/launch/zed.launch
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<?xml version="1.0"?>
<!--
Copyright (c) 2020, STEREOLABS.
Copyright (c) 2023, STEREOLABS.

All rights reserved.

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2 changes: 1 addition & 1 deletion zed_wrapper/launch/zed2.launch
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<?xml version="1.0"?>
<!--
Copyright (c) 2020, STEREOLABS.
Copyright (c) 2023, STEREOLABS.

All rights reserved.

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2 changes: 1 addition & 1 deletion zed_wrapper/launch/zed2i.launch
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<?xml version="1.0"?>
<!--
Copyright (c) 2020, STEREOLABS.
Copyright (c) 2023, STEREOLABS.

All rights reserved.

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2 changes: 1 addition & 1 deletion zed_wrapper/launch/zed_no_tf.launch
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<?xml version="1.0"?>
<!--
Copyright (c) 2020, STEREOLABS.
Copyright (c) 2023, STEREOLABS.

All rights reserved.

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2 changes: 1 addition & 1 deletion zed_wrapper/launch/zedm.launch
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<?xml version="1.0"?>
<!--
Copyright (c) 2020, STEREOLABS.
Copyright (c) 2023, STEREOLABS.

All rights reserved.

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55 changes: 55 additions & 0 deletions zed_wrapper/launch/zedx.launch
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<?xml version="1.0"?>
<!--
Copyright (c) 2023, STEREOLABS.

All rights reserved.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-->
<launch>
<arg name="svo_file" default="" /> <!-- <arg name="svo_file" default="path/to/svo/file.svo"> -->
<arg name="stream" default="" /> <!-- <arg name="stream" default="<ip_address>:<port>"> -->

<arg name="node_name" default="zed_node" />
<arg name="camera_model" default="zedx" />
<arg name="publish_urdf" default="true" />

<arg name="camera_name" default="zedx" />

<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) -->
<arg name="cam_roll" default="0.0" /> <!-- Orientation respect to base frame (i.e. "base_link) -->
<arg name="cam_pitch" default="0.0" /> <!-- Orientation respect to base frame (i.e. "base_link) -->
<arg name="cam_yaw" default="0.0" /> <!-- Orientation respect to base frame (i.e. "base_link) -->

<group ns="$(arg camera_name)">
<include file="$(find zed_wrapper)/launch/include/zed_camera.launch.xml">
<arg name="camera_name" value="$(arg camera_name)" />
<arg name="svo_file" value="$(arg svo_file)" />
<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="$(arg cam_pos_y)" />
<arg name="cam_pos_z" value="$(arg cam_pos_z)" />
<arg name="cam_roll" value="$(arg cam_roll)" />
<arg name="cam_pitch" value="$(arg cam_pitch)" />
<arg name="cam_yaw" value="$(arg cam_yaw)" />
</include>
</group>
</launch>
55 changes: 55 additions & 0 deletions zed_wrapper/launch/zedxm.launch
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<?xml version="1.0"?>
<!--
Copyright (c) 2023, STEREOLABS.

All rights reserved.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-->
<launch>
<arg name="svo_file" default="" /> <!-- <arg name="svo_file" default="path/to/svo/file.svo"> -->
<arg name="stream" default="" /> <!-- <arg name="stream" default="<ip_address>:<port>"> -->

<arg name="node_name" default="zed_node" />
<arg name="camera_model" default="zedxm" />
<arg name="publish_urdf" default="true" />

<arg name="camera_name" default="zedxm" />

<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) -->
<arg name="cam_roll" default="0.0" /> <!-- Orientation respect to base frame (i.e. "base_link) -->
<arg name="cam_pitch" default="0.0" /> <!-- Orientation respect to base frame (i.e. "base_link) -->
<arg name="cam_yaw" default="0.0" /> <!-- Orientation respect to base frame (i.e. "base_link) -->

<group ns="$(arg camera_name)">
<include file="$(find zed_wrapper)/launch/include/zed_camera.launch.xml">
<arg name="camera_name" value="$(arg camera_name)" />
<arg name="svo_file" value="$(arg svo_file)" />
<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="$(arg cam_pos_y)" />
<arg name="cam_pos_z" value="$(arg cam_pos_z)" />
<arg name="cam_roll" value="$(arg cam_roll)" />
<arg name="cam_pitch" value="$(arg cam_pitch)" />
<arg name="cam_yaw" value="$(arg cam_yaw)" />
</include>
</group>
</launch>
3 changes: 1 addition & 2 deletions zed_wrapper/src/zed_wrapper_node.cpp
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// /////////////////////////////////////////////////////////////////////////

//
// Copyright (c) 2020, STEREOLABS.
// Copyright (c) 2023, STEREOLABS.
//
// All rights reserved.
//
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3 changes: 1 addition & 2 deletions zed_wrapper/urdf/include/materials.urdf.xacro
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<?xml version="1.0"?>

<!--
Copyright (c) 2020, STEREOLABS.
Copyright (c) 2023, STEREOLABS.

All rights reserved.

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3 changes: 1 addition & 2 deletions zed_wrapper/urdf/zed_descr.urdf.xacro
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<?xml version="1.0"?>

<!--
Copyright (c) 2020, STEREOLABS.
Copyright (c) 2023, STEREOLABS.

All rights reserved.

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3 changes: 1 addition & 2 deletions zed_wrapper/urdf/zed_macro.urdf.xacro
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<?xml version="1.0"?>

<!--
Copyright (c) 2020, STEREOLABS.
Copyright (c) 2023, STEREOLABS.

All rights reserved.

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