Humble-v4.2.x

v4.2.x

• Add new OPTIMIZED mode for general.pub_resolution
• Add new parameter general.async_image_retrieval to enable/disable the asynchronous image retrieval to be used with SVO recording.
• Set the Positional Tracking Mode to GEN_1 as default as wa orkaround for the random crash issue caused by GEN_2 mode.
• Fixed a bug for raw gray image publisher on Zed One Component: raw gray images were not published when the rectified image topic was subscribed. Thx @Alex-Beh
• Enabled grayscale output for ZED X One cameras (SDK v4.2.3 required)
• Enabled streaming input for ZED X One cameras (SDK v4.2.3 required)
• Fixed wrong range check for the general.pub_downscale_factor parameter
• Enhanced sensor thread rate due to an automatically adjusting sleep time
• Removed the zed-ros2-interfaces sub-module. The zed_msgs package is now included in ROS 2 Humble binaries and can be installed with sudo apt install ros-humble-zed-msgs.
• Fixed 4K resolution support for ZED X One 4K cameras
• Changed C++ version to 17 to follow ROS 2 Humble standard
• Renamed common.yaml to common_stereo.yaml
• Added common_mono.yaml for monocular cameras
• Added video.enable_hdr to zedxone4k.yaml for monocular 4K cameras
• Changed the name of the package zed_interfaces to zed_msgs to match the ROS2 naming convention
• Added the new stereolabs::ZedCameraOne component to handle ZED X One cameras
• Removed the ZED Wrapper executable node.
  • Modified the launch file to create an isolated composable container that loads the stereolabs:ZedCamera or the stereolabs:ZedCameraOne component according to the camera model
• Added support for custom ONNX detection engine (SDK v4.2 required)
  • Added value CUSTOM_YOLOLIKE_BOX_OBJECTS to the object_detection.model parameter
  • Added parameter object_detection.custom_onnx_file to set the full path of the custom ONNX file
  • Added parameter object_detection.onnx_input_size to set the size of the YOLO input tensor
  • Added parameter object_detection.custom_label_yaml to set the full path to custom YAML file storing class labels in COCO format