stereolabs · Myzhar · Apr 3, 2023 · Mar 31, 2023 · Mar 31, 2023 · Mar 31, 2023
diff --git a/.github/ISSUE_TEMPLATE/2_bug_report.yml b/.github/ISSUE_TEMPLATE/2_bug_report.yml
@@ -74,8 +74,8 @@ body:
         OS: Operating System
         CPU: e.g. ARM
         GPU: Nvidia Jetson Xavier NX
-        ZED SDK version: e.g. v3.5.3
-        Other info: e.g. ROS Melodic	
+        ZED SDK version: e.g. v4.0
+        Other info: e.g. ROS Noetic	
     validations:
       required: true
   - type: textarea

diff --git a/CHANGELOG.rst b/CHANGELOG.rst
@@ -1,6 +1,17 @@
 CHANGELOG
 =========
 
+2023-03-31
+----------
+- Support for ZED SDK v4.0
+- Remove parameter `object_detection.body_fitting`
+- Remove parameter `depth.sensing_mode`
+- Remove parameter `video.extrinsic_in_camera_frame`
+- Skeleton Tracking is no more available. Migrate to ROS 2 Wrapper if you need it
+- `sensors` and `object_detection` parameters are now in `common.yaml`
+- Move parameters `general.resolution` and `general.grab_frame_rate` to cameras yaml files to support the different configurations on ZED X and ZED X Mini.
+- Remove support for ROS Melodic that reached EOL
+
 v3.8.x
 ------
 - Fix the frame links of barometer, magnetometer, and temperature sensors for ZED2i

diff --git a/LICENSE b/LICENSE
@@ -1,6 +1,6 @@
 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

diff --git a/README.md b/README.md
@@ -17,15 +17,9 @@ This package lets you use the ZED stereo camera with ROS. It outputs the camera
 ### Prerequisites
 
 - Ubuntu 20.04
-- [ZED SDK **≥ 3.8**](https://www.stereolabs.com/developers/) and its dependency [CUDA](https://developer.nvidia.com/cuda-downloads)
+- [ZED SDK **≥ 4.0**](https://www.stereolabs.com/developers/) and its dependency [CUDA](https://developer.nvidia.com/cuda-downloads)
 - [ROS Noetic](http://wiki.ros.org/noetic/Installation/Ubuntu)
 
-or
-
-- Ubuntu 18.04
-- [ZED SDK **≥ 3.8**](https://www.stereolabs.com/developers/) and its dependency [CUDA](https://developer.nvidia.com/cuda-downloads)
-- [ROS Melodic](http://wiki.ros.org/melodic/Installation/Ubuntu)
-
 ### Build the repository
 
 The zed_ros_wrapper is a catkin package. It depends on the following ROS packages:
@@ -68,8 +62,7 @@ Remember to always clean the cache of your catkin workspace before compiling wit
 
     $ roscd
     $ cd ..
-    $ rm -rf build
-    $ rm -rf devel
+    $ rm -rf build devel
     $ catkin_make -DCMAKE_BUILD_TYPE=Release
 
 ### Run the ZED wrapper
@@ -84,20 +77,28 @@ ZED Mini camera:
 
     $ roslaunch zed_wrapper zedm.launch
 
-ZED2 camera:
+ZED 2 camera:
 
     $ roslaunch zed_wrapper zed2.launch
 
-ZED2i camera:
+ZED 2i camera:
+
+    $ roslaunch zed_wrapper zed2i.launch
+
+ZED X camera:
 
-    $ roslaunch zed_wrapper zed2i.launch    
+    $ roslaunch zed_wrapper zedx.launch  
+
+ZED X Mini camera:
+
+    $ roslaunch zed_wrapper zedxm.launch  
 
  To select the ZED from its serial number:
 
      $ roslaunch zed_wrapper zed.launch serial_number:=1010 #replace 1010 with the actual SN
 
 ### Rviz visualization
-Example launch files to start a pre-configured Rviz environment to visualize the data of ZED, ZED Mini and ZED 2 cameras are provided in the [`zed-ros-examples` repository](https://github.com/stereolabs/zed-ros-examples/tree/master/zed_display_rviz)
+Example launch files to start a pre-configured Rviz environment to visualize the data of ZED, ZED Mini, ZED 2, ZED X, and ZED X Mini cameras are provided in the [`zed-ros-examples` repository](https://github.com/stereolabs/zed-ros-examples/tree/master/zed_display_rviz)
 
 ### SVO recording
 [SVO recording](https://www.stereolabs.com/docs/video/#video-recording) can be started and stopped while the ZED node is running using the service `start_svo_recording` and the service `stop_svo_recording`.
@@ -106,14 +107,20 @@ Example launch files to start a pre-configured Rviz environment to visualize the
 ### Object Detection
 The SDK v3.0 introduces the Object Detection and Tracking module. **The Object Detection module is available only with a ZED 2 camera**. 
 
-The Object Detection can be enabled *automatically* when the node start setting the parameter `object_detection/od_enabled` to `true` in the file `zed2.yaml`.
+The Object Detection can be enabled *automatically* when the node start setting the parameter `object_detection/od_enabled` to `true` in the file `common.yaml`.
 
 The Object Detection can be enabled/disabled *manually* calling the services `start_object_detection` and `stop_object_detection`.
 
+### Body Tracking
+The Body Tracking module is not available for the ZED ROS Wrapper. Please consider migrating to the [ZED ROS2 Wrapper](https://github.com/stereolabs/zed-ros2-wrapper) if you need it.
+
 ### Spatial Mapping
 The Spatial Mapping can be enabled automatically when the node start setting the parameter `mapping/mapping_enabled` to `true` in the file `common.yaml`.
 The Spatial Mapping can be enabled/disabled manually calling the services `start_3d_mapping` and `stop_3d_mapping`.
 
+### Geo Tracking (GNSS Fusion)
+The Geo tracking module is not available for the ZED ROS Wrapper. Please consider migrating to the [ZED ROS2 Wrapper](https://github.com/stereolabs/zed-ros2-wrapper) if you need it.
+
 ### Diagnostic
 The ZED node publishes diagnostic information that can be used by the robotic system using a [diagnostic_aggregator node](http://wiki.ros.org/diagnostic_aggregator).
 

diff --git a/zed-ros-interfaces b/zed-ros-interfaces
diff --git a/zed_nodelets/CMakeLists.txt b/zed_nodelets/CMakeLists.txt
@@ -2,6 +2,9 @@ cmake_minimum_required(VERSION 3.5)
 
 project(zed_nodelets)
 
+## Generate symbols for IDE indexer
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+
 # if CMAKE_BUILD_TYPE is not specified, take 'Release' as default
 IF(NOT CMAKE_BUILD_TYPE)
     SET(CMAKE_BUILD_TYPE Release)
@@ -19,8 +22,8 @@ function(checkPackage package customMessage)
     endif()
 endfunction(checkPackage)
 
-find_package(ZED 3)
-checkPackage("ZED" "ZED SDK v3.x not found, install it from:\n https://www.stereolabs.com/developers/")
+find_package(ZED 4)
+checkPackage("ZED" "ZED SDK v4.x not found, install it from:\n https://www.stereolabs.com/developers/")
 
 exec_program(uname ARGS -p OUTPUT_VARIABLE CMAKE_SYSTEM_NAME2)
 if ( CMAKE_SYSTEM_NAME2 MATCHES "aarch64" ) # Jetson TX

diff --git a/zed_nodelets/src/rgbd_sensors_demux_nodelet/include/rgbd_sensor_demux.hpp b/zed_nodelets/src/rgbd_sensors_demux_nodelet/include/rgbd_sensor_demux.hpp
@@ -1,6 +1,6 @@
 ///////////////////////////////////////////////////////////////////////////
 //
-// Copyright (c) 2020, STEREOLABS.
+// Copyright (c) 2023, STEREOLABS.
 //
 // All rights reserved.
 //

diff --git a/zed_nodelets/src/rgbd_sensors_demux_nodelet/src/rgbd_sensor_demux.cpp b/zed_nodelets/src/rgbd_sensors_demux_nodelet/src/rgbd_sensor_demux.cpp
@@ -1,6 +1,6 @@
 ///////////////////////////////////////////////////////////////////////////
 //
-// Copyright (c) 2020, STEREOLABS.
+// Copyright (c) 2023, STEREOLABS.
 //
 // All rights reserved.
 //

diff --git a/zed_nodelets/src/rgbd_sensors_sync_nodelet/include/rgbd_sensor_sync.hpp b/zed_nodelets/src/rgbd_sensors_sync_nodelet/include/rgbd_sensor_sync.hpp
@@ -1,6 +1,6 @@
 ///////////////////////////////////////////////////////////////////////////
 //
-// Copyright (c) 2020, STEREOLABS.
+// Copyright (c) 2023, STEREOLABS.
 //
 // All rights reserved.
 //

diff --git a/zed_nodelets/src/rgbd_sensors_sync_nodelet/src/rgbd_sensor_sync.cpp b/zed_nodelets/src/rgbd_sensors_sync_nodelet/src/rgbd_sensor_sync.cpp
@@ -1,6 +1,6 @@
 ///////////////////////////////////////////////////////////////////////////
 //
-// Copyright (c) 2020, STEREOLABS.
+// Copyright (c) 2023, STEREOLABS.
 //
 // All rights reserved.
 //

diff --git a/zed_nodelets/src/tools/include/sl_tools.h b/zed_nodelets/src/tools/include/sl_tools.h
@@ -1,9 +1,6 @@
-#ifndef SL_TOOLS_H
-#define SL_TOOLS_H
-
 ///////////////////////////////////////////////////////////////////////////
 //
-// Copyright (c) 2020, STEREOLABS.
+// Copyright (c) 2023, STEREOLABS.
 //
 // All rights reserved.
 //
@@ -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>
@@ -29,18 +29,6 @@
 
 namespace sl_tools
 {
-/*! \brief Check if a ZED camera is ready
- * \param serial_number : the serial number of the camera to be checked
- */
-int checkCameraReady(unsigned int serial_number);
-
-/*! \brief Get ZED camera properties
- * \param serial_number : the serial number of the camera
- */
-sl::DeviceProperties getZEDFromSN(unsigned int serial_number);
-
-std::vector<float> convertRodrigues(sl::float3 r);
-
 /*! \brief Test if a file exist
  * \param name : the path to the file
  */

diff --git a/zed_nodelets/src/tools/src/sl_tools.cpp b/zed_nodelets/src/tools/src/sl_tools.cpp
@@ -1,6 +1,6 @@
 ///////////////////////////////////////////////////////////////////////////
 //
-// Copyright (c) 2020, STEREOLABS.
+// Copyright (c) 2023, STEREOLABS.
 //
 // All rights reserved.
 //
@@ -30,105 +30,6 @@
 
 namespace sl_tools
 {
-int checkCameraReady(unsigned int serial_number)
-{
-  int id = -1;
-  auto f = sl::Camera::getDeviceList();
-
-  for (auto& it : f)
-    if (it.serial_number == serial_number && it.camera_state == sl::CAMERA_STATE::AVAILABLE)
-    {
-      id = it.id;
-    }
-
-  return id;
-}
-
-sl::DeviceProperties getZEDFromSN(unsigned int serial_number)
-{
-  sl::DeviceProperties prop;
-  auto f = sl::Camera::getDeviceList();
-
-  for (auto& it : f)
-  {
-    if (it.serial_number == serial_number && it.camera_state == sl::CAMERA_STATE::AVAILABLE)
-    {
-      prop = it;
-    }
-  }
-
-  return prop;
-}
-
-std::vector<float> convertRodrigues(sl::float3 r)
-{
-  float theta = sqrt(r.x * r.x + r.y * r.y + r.z * r.z);
-
-  std::vector<float> R = { 1.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 1.0f };
-
-  if (theta < DBL_EPSILON)
-  {
-    return R;
-  }
-  else
-  {
-    float c = cos(theta);
-    float s = sin(theta);
-    float c1 = 1.f - c;
-    float itheta = theta ? 1.f / theta : 0.f;
-
-    r *= itheta;
-
-    std::vector<float> rrt = { 1.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 1.0f };
-
-    float* p = rrt.data();
-    p[0] = r.x * r.x;
-    p[1] = r.x * r.y;
-    p[2] = r.x * r.z;
-    p[3] = r.x * r.y;
-    p[4] = r.y * r.y;
-    p[5] = r.y * r.z;
-    p[6] = r.x * r.z;
-    p[7] = r.y * r.z;
-    p[8] = r.z * r.z;
-
-    std::vector<float> r_x = { 1.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 1.0f };
-    p = r_x.data();
-    p[0] = 0;
-    p[1] = -r.z;
-    p[2] = r.y;
-    p[3] = r.z;
-    p[4] = 0;
-    p[5] = -r.x;
-    p[6] = -r.y;
-    p[7] = r.x;
-    p[8] = 0;
-
-    // R = cos(theta)*I + (1 - cos(theta))*r*rT + sin(theta)*[r_x]
-
-    sl::Matrix3f eye;
-    eye.setIdentity();
-
-    sl::Matrix3f sl_R(R.data());
-    sl::Matrix3f sl_rrt(rrt.data());
-    sl::Matrix3f sl_r_x(r_x.data());
-
-    sl_R = eye * c + sl_rrt * c1 + sl_r_x * s;
-
-    R[0] = sl_R.r00;
-    R[1] = sl_R.r01;
-    R[2] = sl_R.r02;
-    R[3] = sl_R.r10;
-    R[4] = sl_R.r11;
-    R[5] = sl_R.r12;
-    R[6] = sl_R.r20;
-    R[7] = sl_R.r21;
-    R[8] = sl_R.r22;
-  }
-
-  return R;
-}
-
 bool file_exist(const std::string& name)
 {
   struct stat buffer;

diff --git a/zed_nodelets/src/zed_nodelet/include/zed_wrapper_nodelet.hpp b/zed_nodelets/src/zed_nodelet/include/zed_wrapper_nodelet.hpp
@@ -1,9 +1,6 @@
-#ifndef ZED_WRAPPER_NODELET_H
-#define ZED_WRAPPER_NODELET_H
-
-///////////////////////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////////////////////
 //
-// Copyright (c) 2020, STEREOLABS.
+// Copyright (c) 2023, STEREOLABS.
 //
 // All rights reserved.
 //
@@ -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>
@@ -541,7 +541,6 @@ class ZEDWrapperNodelet : public nodelet::Nodelet {
     sl::RESOLUTION mCamResol;
     int mCamFrameRate;
     sl::DEPTH_MODE mDepthMode;
-    sl::SENSING_MODE mCamSensingMode;
     int mGpuId;
     int mZedId;
     int mDepthStabilization;
@@ -645,7 +644,6 @@ class ZEDWrapperNodelet : public nodelet::Nodelet {
     bool mAreaMemory;
     bool mInitOdomWithPose;
     bool mResetOdom = false;
-    bool mUseOldExtrinsic = false;
     bool mUpdateDynParams = false;
     bool mPublishingData = false;
 
@@ -726,7 +724,7 @@ class ZEDWrapperNodelet : public nodelet::Nodelet {
     bool mObjDetFruitsEnable = true;
     bool mObjDetSportsEnable = true;
 
-    sl::DETECTION_MODEL mObjDetModel = sl::DETECTION_MODEL::MULTI_CLASS_BOX;
+    sl::OBJECT_DETECTION_MODEL mObjDetModel = sl::OBJECT_DETECTION_MODEL::MULTI_CLASS_BOX_MEDIUM;
 
     ros::Publisher mPubObjDet;
 }; // class ZEDROSWrapperNodelet