removed tf pub, reduced pub freq

zed_wrapper/config/common_mono.yaml

@@ -13,7 +13,7 @@
 
         video:
             saturation: 4 # [DYNAMIC]
-            sharpness: 4 # [DYNAMIC]
+            sharpness: 8 # [DYNAMIC]
             gamma: 8 # [DYNAMIC]
             auto_whitebalance: true # [DYNAMIC]
             whitebalance_temperature: 42 # [DYNAMIC] - [28,65] x100 - works only if `auto_whitebalance` is false

zed_wrapper/config/common_stereo.yaml

@@ -25,9 +25,9 @@
             camera_flip: false
             self_calib: true # Enable the self-calibration process at camera opening. See https://www.stereolabs.com/docs/api/structsl_1_1InitParameters.html#affeaa06cfc1d849e311e484ceb8edcc5
             serial_number: 0 # overwritten by launch file
-            pub_resolution: 'CUSTOM' # The resolution used for image and depth map publishing. 'NATIVE' to use the same `general.grab_resolution` - `CUSTOM` to apply the `general.pub_downscale_factor` downscale factory to reduce bandwidth in transmission
+            pub_resolution: 'NATIVE' # The resolution used for image and depth map publishing. 'NATIVE' to use the same `general.grab_resolution` - `CUSTOM` to apply the `general.pub_downscale_factor` downscale factory to reduce bandwidth in transmission
             pub_downscale_factor: 2.0 # rescale factor used to rescale image before publishing when 'pub_resolution' is 'CUSTOM'
-            pub_frame_rate: 30.0 # frequency of publishing of visual images and depth images
+            pub_frame_rate: 10.0 # frequency of publishing of visual images and depth images
             enable_image_validity_check: 1 # [SDK5 required] Sets the image validity check. If set to 1, the SDK will check if the frames are valid before processing.
             gpu_id: -1
             optional_opencv_calibration_file: '' # Optional path where the ZED SDK can find a file containing the calibration information of the camera computed by OpenCV. Read the ZED SDK documentation for more information: https://www.stereolabs.com/docs/api/structsl_1_1InitParameters.html#a9eab2753374ef3baec1d31960859ba19
@@ -37,7 +37,7 @@
 
         video:
             saturation: 4 # [DYNAMIC]
-            sharpness: 4 # [DYNAMIC]
+            sharpness: 8 # [DYNAMIC]
             gamma: 8 # [DYNAMIC]
             auto_exposure_gain: true # [DYNAMIC]
             exposure: 80 # [DYNAMIC]
@@ -50,7 +50,7 @@
         sensors:
             publish_imu_tf: false # [overwritten by launch file options] enable/disable the IMU TF broadcasting
             sensors_image_sync: false # Synchronize Sensors messages with latest published video/depth message
-            sensors_pub_rate: 100. # frequency of publishing of sensors data. MAX: 400. - MIN: grab rate
+            sensors_pub_rate: 15. # frequency of publishing of sensors data. MAX: 400. - MIN: grab rate
 
         region_of_interest:
             automatic_roi: false # Enable the automatic ROI generation to automatically detect part of the robot in the FoV and remove them from the processing. Note: if enabled the value of `manual_polygon` is ignored
@@ -68,9 +68,9 @@
 
         depth:
             depth_mode: 'NEURAL_LIGHT' # Matches the ZED SDK setting: 'NONE', 'PERFORMANCE', 'QUALITY', 'ULTRA', 'NEURAL', 'NEURAL_PLUS' - Note: if 'NONE' all the modules that requires depth extraction are disabled by default (Pos. Tracking, Obj. Detection, Mapping, ...)
-            depth_stabilization: 30 # Forces positional tracking to start if major than 0 - Range: [0,100]
+            depth_stabilization: 0 # Forces positional tracking to start if major than 0 - Range: [0,100]
             openni_depth_mode: false # 'false': 32bit float [meters], 'true': 16bit unsigned int [millimeters]
-            point_cloud_freq: 15.0 # [DYNAMIC] - frequency of the pointcloud publishing (equal or less to `pub_frame_rate` value)
+            point_cloud_freq: 2.0 # [DYNAMIC] - frequency of the pointcloud publishing (equal or less to `pub_frame_rate` value)
             point_cloud_res: 'COMPACT' # The resolution used for point cloud publishing - 'COMPACT'-Standard resolution. Optimizes processing and bandwidth, 'REDUCED'-Half resolution. Low processing and bandwidth requirements
             depth_confidence: 95 # [DYNAMIC]
             depth_texture_conf: 100 # [DYNAMIC]
@@ -79,7 +79,7 @@
             # 'zedx.yaml', 'zedxmini.yaml', 'virtual.yaml' files
 
         pos_tracking:
-            pos_tracking_enabled: true # True to enable positional tracking from start
+            pos_tracking_enabled: false # True to enable positional tracking from start
             pos_tracking_mode: 'GEN_1' # Matches the ZED SDK setting: 'GEN_1', 'GEN_2', 'GEN_3'
             imu_fusion: true # enable/disable IMU fusion. When set to false, only the optical odometry will be used.
             publish_tf: true # [overwritten by launch file options] publish `odom -> camera_link` TF

zed_wrapper/config/zed_launch_config.yaml

@@ -0,0 +1,15 @@
+# ZED Camera Launch Configuration
+# This file determines which launch configuration to use
+
+# Mode selection: "single" or "multi"
+mode: "multi"
+
+# Single camera configuration (used when mode: "single")
+single_camera:
+  camera_model: "zedm"  # Required: zed, zedm, zed2, zed2i, zedx, zedxm
+
+# Multi camera configuration (used when mode: "multi")
+multi_camera:
+  cam_names: ["front_zed", "back_zed"]
+  cam_models: ["zedm", "zedm"]
+  cam_serials: [17296654, 15759272]

zed_wrapper/config/zedm.yaml

@@ -7,14 +7,14 @@
             camera_model: 'zedm'
             camera_name: 'zedm' # overwritten by launch file
             grab_resolution: 'HD2K' # The native camera grab resolution. 'HD2K', 'HD1080', 'HD720', 'VGA', 'AUTO'
-            grab_frame_rate: 30 # ZED SDK internal grabbing rate
+            grab_frame_rate: 15 # ZED SDK internal grabbing rate
 
         video:
             brightness: 4 # [DYNAMIC] Image brightness. Range: 0-8
-            contrast: 4 # [DYNAMIC] Image contrast. Range: 0-8
+            contrast: 8 # [DYNAMIC] Image contrast. Range: 0-8
             hue: 0 # [DYNAMIC] Image hue. Range: 0 to 11
 
         depth:
             min_depth: 0.1 # Min: 0.1, Max: 3.0
-            max_depth: 2.0 # Max: 20.0
+            max_depth: 5.0 # Max: 20.0
 

zed_wrapper/launch/zed_auto.launch.py

@@ -0,0 +1,153 @@
+# Copyright 2024 Stereolabs
+#
+# Licensed under the Apache License, Version 2.0 (the 'License');
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an 'AS IS' BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import os
+import yaml
+
+from ament_index_python.packages import get_package_share_directory
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
+from launch import LaunchDescription
+from launch.actions import (
+    DeclareLaunchArgument,
+    OpaqueFunction,
+    IncludeLaunchDescription,
+    LogInfo
+)
+from launch.substitutions import (
+    LaunchConfiguration,
+    TextSubstitution
+)
+
+def load_config_file(config_path):
+    """Load and parse the YAML configuration file"""
+    try:
+        with open(config_path, 'r') as file:
+            config = yaml.safe_load(file)
+        return config
+    except Exception as e:
+        print(f"Error loading config file {config_path}: {e}")
+        return None
+
+def launch_setup(context, *args, **kwargs):
+    """Setup function that determines which launch file to use based on config"""
+
+    actions = []
+
+    # Automatically find the config file
+    wrapper_dir = get_package_share_directory('zed_wrapper')
+    config_path = os.path.join(wrapper_dir, 'config', 'zed_launch_config.yaml')
+
+    actions.append(LogInfo(msg=TextSubstitution(text=f"Loading config from: {config_path}")))
+
+    # Load configuration
+    config = load_config_file(config_path)
+    if config is None:
+        return [LogInfo(msg=TextSubstitution(text="Failed to load configuration file. Using default single camera mode."))]
+
+    mode = config.get('mode', 'single').lower()
+
+    # Log the selected mode
+    actions.append(LogInfo(msg=TextSubstitution(text=f"ZED Launch Mode: {mode}")))
+
+    # wrapper_dir already defined above
+
+    if mode == 'single':
+        # Single camera configuration
+        single_config = config.get('single_camera', {})
+
+        actions.append(LogInfo(msg=TextSubstitution(text="Launching single ZED camera configuration")))
+
+        # Prepare launch arguments for single camera - only pass specified parameters
+        launch_args = {}
+
+        # Required parameter
+        if 'camera_model' in single_config:
+            launch_args['camera_model'] = single_config['camera_model']
+        else:
+            actions.append(LogInfo(msg=TextSubstitution(text="ERROR: camera_model is required in single_camera config")))
+            return actions
+
+        # Optional parameters - only add if specified in config
+        if 'camera_name' in single_config:
+            launch_args['camera_name'] = single_config['camera_name']
+        if 'serial_number' in single_config:
+            launch_args['serial_number'] = str(single_config['serial_number'])
+        if 'camera_id' in single_config:
+            launch_args['camera_id'] = str(single_config['camera_id'])
+        if 'namespace' in single_config:
+            launch_args['namespace'] = single_config['namespace']
+
+        # Include single camera launch file
+        single_camera_launch = IncludeLaunchDescription(
+            launch_description_source=PythonLaunchDescriptionSource([
+                wrapper_dir, '/launch/zed_camera.launch.py'
+            ]),
+            launch_arguments=launch_args.items()
+        )
+        actions.append(single_camera_launch)
+
+    elif mode == 'multi':
+        # Multi camera configuration
+        multi_config = config.get('multi_camera', {})
+
+        actions.append(LogInfo(msg=TextSubstitution(text="Launching multi ZED camera configuration")))
+
+        # Required parameters
+        if 'cam_names' not in multi_config or 'cam_models' not in multi_config:
+            actions.append(LogInfo(msg=TextSubstitution(text="ERROR: cam_names and cam_models are required in multi_camera config")))
+            return actions
+
+        cam_names = multi_config['cam_names']
+        cam_models = multi_config['cam_models']
+
+        # Optional parameters
+        cam_serials = multi_config.get('cam_serials', [])
+        cam_ids = multi_config.get('cam_ids', [])
+
+        # Format arrays as strings
+        cam_names_str = '[' + ','.join(cam_names) + ']'
+        cam_models_str = '[' + ','.join(cam_models) + ']'
+        cam_serials_str = '[' + ','.join(map(str, cam_serials)) + ']' if cam_serials else '[]'
+        cam_ids_str = '[' + ','.join(map(str, cam_ids)) + ']' if cam_ids else '[]'
+
+        # Prepare launch arguments for multi camera - only required ones
+        launch_args = {
+            'cam_names': cam_names_str,
+            'cam_models': cam_models_str,
+            'cam_serials': cam_serials_str,
+            'cam_ids': cam_ids_str
+        }
+
+        # Include multi camera launch file
+        multi_camera_launch = IncludeLaunchDescription(
+            launch_description_source=PythonLaunchDescriptionSource([
+                wrapper_dir, '/launch/zed_multi_camera.launch.py'
+            ]),
+            launch_arguments=launch_args.items()
+        )
+        actions.append(multi_camera_launch)
+
+    else:
+        actions.append(LogInfo(msg=TextSubstitution(
+            text=f"Unknown mode '{mode}'. Please set mode to 'single' or 'multi' in the config file.")))
+
+    return actions
+
+def generate_launch_description():
+    """Generate the launch description"""
+
+    return LaunchDescription([
+        OpaqueFunction(function=launch_setup)
+    ])

zed_wrapper/launch/zed_camera.launch.py

@@ -267,7 +267,7 @@ def launch_setup(context, *args, **kwargs):
     ]
 
     if( ros_params_override_path_val != ''):
-        node_parameters.append(ros_params_override_path)
+        node_parameters.append(ros_params_override)
 
     node_parameters.append( 
             # Launch arguments must override the YAML files values
@@ -291,6 +291,13 @@ def launch_setup(context, *args, **kwargs):
             }
     )
 
+    # Ensure only raw image_transport plugins are used at startup to avoid
+    # intermittent plugin loading issues for compressed publishers
+    node_parameters.append({
+        'image_transport/publisher_plugins': ['raw'],
+        'image_transport/subscriber_plugins': ['raw']
+    })
+
 
     # ZED Wrapper component
     if( camera_model_val=='zed' or
@@ -384,7 +391,7 @@ def generate_launch_description():
                 choices=['true', 'false']),
             DeclareLaunchArgument(
                 'publish_tf',
-                default_value='true',
+                default_value='false',
                 description='Enable publication of the `odom -> camera_link` TF.',
                 choices=['true', 'false']),
             DeclareLaunchArgument(