Humble-v4.0.8

v4.0.8 for ZED SDK v4.0.8

• The parameter general.sdk_verbose has been moved to debug.sdk_verbose and set to 0 as default.
• Add new parameter general.optional_opencv_calibration_file to use custom OpenCV camera calibrations.
• Add new tutorial to illustrate how to integrate one or more ZED cameras on a robot
• Add 'simulation.sim_enabled' parameter to enable the simulation mode
• Add 'simulation.sim_address' parameter to set the simulation server address
• Add 'simulation.sim_port' parameter to set the simulation server port
• Add /clock subscriber to check the presence of the required message when use_sim_time is true
• Force grab_frame_rate and pub_frame_rate to 60 Hz in simulation
• Force grab_resolution to HD1080 in simulation
• Remove the general.zed_id parameter. Always use general.serial_number to distinguish between different cameras in a multi-camera configuration.
• The multi-camera example has been updated to match the new TF configuration
• The old launch files are now obsolete: 'ros2 launch zed_wrapper <camera_model>.launch.py' is replaced by 'ros2
  launch zed_wrapper zed_camera.launch.py camera_model:=<camera_model>'
• The reference link for positional tracking is no longer 'base_link' but <camera_name>_camera_link.
  This will allow an easier ZED integration in existing robot configuration because the transform base_link -> camera_link
  is no longer published by the ZED ROS2 Wrapper. Thanks to @SteveMacenski for the advice
  • Remove parent and origin parameters from zed_macro.urdf.xacro
  • Remove launch argument cam_pose from zed_camera.launch.py
• Move parameter publish_imu_tf from pos_tracking to sensors to make it available also in "no depth" configurations of the node
• Add new parameter pos_tracking.pos_tracking_mode to exploit the new ZED SDK QUALITY mode for improved odometry and localization
• New Video/Depth processing throttling method by using the grab_compute_capping_fps ZED SDK parameter instead of a dedicated thread
• Advanced parameters to handle Thread scheduling policy and priorities (sudo required):thread_sched_policy,thread_grab_priority,
  thread_sensor_priority,thread_pointcloud_priority
• Add new GNSS calibration parameters: enable_reinitialization, enable_rolling_calibration, enable_translation_uncertainty_target, gnss_vio_reinit_threshold, target_translation_uncertainty, target_yaw_uncertainty
• Add new Plane Detection parameters: pd_max_distance_threshold, pd_normal_similarity_threshold

Note: ROS 2 Foxy support is deprecated although this version still works with Foxy