- Fix the frame links of barometer, magnetometer, and temperature sensors for ZED2i
- Add parameter sensors/max_pub_rate to set the maximum publishing frequency of sensors data
- Improve Sensors thread
- Fix wrong TF broadcasting when calling the set_pose, reset_tracking, and reset_odometry services. Now the initial odometry is coherent with the new starting point.
- Add Plane Detection. See [ZED Documentation](https://www.stereolabs.com/docs/ros/plane_detection/)
- Fix TF timestamp issue in SVO mode
- Fix units for Atmospheric pressure data. Now the value is correctly published in Pascal according to the [topic specification](http://docs.ros.org/en/melodic/api/sensor_msgs/html/msg/FluidPressure.html).
- Add support for the new Neural Depth mode
- Add support for head detection model
- Add support for sport-related object class
- Add support for X_MEDIUM neural network models
- Enable AI for ZED Mini
- Add new <zed>_base_link frame on the base of the camera to easily handle camera positioning on robots. Thx @civerachb-cpr
- Improve URDF by adding 3° slope for ZED and ZED2, X-offset for optical frames to correctly match the CMOS sensors position on the PCB, X-offset for mounting screw on ZED2i
- Add zed_macro.urdf.xacro to be included by other xacro file to easily integrate ZED cameras in the robot descriptions. See [PR #771](stereolabs#771) for details. Thx @civerachb-cpr
- New parameter save_area_memory_db_on_exit to force Area Memory saving when the node is closed and Area Memory is enabled and valid.
- Add service save_Area_map to trigger an Area Memory saving.
- New tool function to transform a relative path to absolute.
- Enabled static IMU TF broadcasting even it publish_tf is set to false, making the two options independent. Thx to @bjsowa
- Moved the zed_interfaces folder in the new [zed-ros-interfaces](https://github.com/stereolabs/zed-ros-interfaces) repository. The new repository is useful to receive the topics from a ZED node on system where the zed-ros-wrapper repository cannot be fully installed, i.e. systems without CUDA support. For this repository nothing changes because the zed_interfaces folder is replaced by the zed-ros-interfaces git submodule to automatically satisfy all the dependencies.
- Fix sensors topics pubblication for ZED2i. The support for the new camera was not complete
- Fix sensor_msgs type for depth image in OpenNI mode, from sensor_msgs::image_encodings::mono16 to sensor_msgs::image_encodings::TYPE_16UC1. Depth image in OpenNI mode is now compatible with the nodelet depthimage_to_laserscan
- Add support for ROS Noetic
- Add support for SDK v3.5
- Add support for the new ZED 2i
- Add new parameter pos_tracking/pos_tracking_enabled to enable positional tracking from start even if not required by any subscribed topic. This is useful, for example, to keep the TF always updated.
- Add new example to start multiple ZED Nodelets inside the same nodelet manager
- Fixed issue #690
- Add support for new DEPTH16_MM data type for depth (OPENNI MODE)
- Fix issue #660: detected objects topic not published if depth computation not active
- Improved support for ZED Object Detection
- Add Skeleton Tracking support
- New Rviz plugin for Object Detection in zed-ros-examples
- New parameters and name changing to fit the new OD features, also the start_object_detection service has been modified to match the new features: - new model parameter to choose the AI model - new max_range parameter to limit the detection range - new sk_body_fitting parameter to enable Skeleton fitting for skeleton AI models - people -> mc_people to indicate that it is related to multiclass AI models - vehicles-> mc_vehicles to indicate that it is related to multiclass AI models - new mc_bag parameter to enable bags detection with multiclass AI models - new mc_animal parameter to enable animals detection with multiclass AI models - new mc_electronics parameter to enable electronic devices detection with multiclass AI models - new mc_fruit_vegetable parameter to enable fruits and vegetables detection with multiclass AI models
- Fixed sync issue between RGB and Depth data (Thx @dennisVi)
- Fixed issues with SVO and sensors data (Thx @dennisVi)
- Object Detection now runs asynchronously respect to data grabbing and Object Detected data are published only when available not affecting the frequency of the publishing of the other data types
- Depth OpenNI topic name changed from depth/depth_raw_registered to depth/depth_registered
- Added new parameter sensors/publish_imu_tf to enable/disable IMU TF broadcasting
- Fixed duplicated IMU timestamp issue (see ticket #577)
- Fixed problem with IMU TF in Rviz: odom and zed_camera_center TFs are now published at the same frequency of the IMU TF, if available)
- IMU TF is now published once as static TF even if the IMU topic is not subscribed
- Fix timestamp update coherency due to parallel threads. Thanks to @matlabbe
- Fix issue with IMU frame link when publish_tf and publish_map_tf are disabled
- Added the new zed_interfaces/RGBDSensors custom topic that contains RGB, Depth, IMU and Magnetometer synchronized topics
- Added a new package zed_nodelets that contains the main zed_nodelets/ZEDWrapperNodelet and new nodelets
- Added a new nodelet zed_nodelets/RgbdSensorsSyncNodelet that subscribes to RGB, Depth, IMU and Magnetometer topics and republish them in a single synchronized message
- Added a new nodelet zed_nodelets/RgbdSensorsDemuxNodelet that subscribes to RGBDSensors and republish RGB, Depth, IMU and Magnetometer as single topics
- Renamed zed_interfaces/objects to zed_interfaces/Objects
- Renamed zed_interfaces/object_stamped to zed_interfaces/ObjectStamped
- Reorganized the zed_wrapper/launch folder adding the include folder
- New online documentation to explain in details the new zed_nodelets package: https://www.stereolabs.com/docs/ros/zed_nodelets/
- Added new package zed_interfaces with isolated declarations of custom messages, services and actions
- Removed not used world_frame parameter
- Removed the`publish_pose_covariance` parameter, now covariance for pose and odometry is always published
- Removed _m from parameters mapping/resolution_m and mapping/max_mapping_range_m
- Renamed the parameter depth_resample_factor to depth_downsample_factor
- Renamed the parameter img_resample_factor to img_downsample_factor
- Renamed the parameter odometry_db to area_memory_db_path
- Renamed the parameter frame_rate to grab_frame_rate
- Added new dynamic parameter pub_frame_rate to reduce Video and Depth publishing frequency respect to grabbing frame rate [grab_frame_rate]
- Added new dynamic parameter gamma for Gamma Control
- Added new dynamic parameter depth_texture_conf to filter depth according to textureness information
- Added new TF frames for all the sensors available on ZED2
- Added publishers for gray images
- Added publisher for Camera to IMU transform: /<camera_name>/<node_name>/camera_imu_transform
- Default value for depth_confidence changed from 100 to 50
- Added base_frame as launch parameter to propagate the value of the parameter in the Xacro description
- Fix default value for dynamic parameters not set from common.yaml
- Added xacro support for parametric URDF
- Removed redundant URDFs and added a single parametric URDF based on xacro
- Fixed auto white balance at node start (thanks to @kjaget)
- Removed fixed_covariance and fixed_cov_value parameters (not required anymore)
- Removed sens_pub_rate parameter
- Removed confidence_image message
- Removed color_enhancement parameter, always ON by default
- Mapping does not use presets for resolution, but a float value in range [0.01,0.2]
- Added new parameter max_mapping_range_m for mapping depth range (set to -1 for auto calculation)
- Moved "multi-camera" launch file in [zed-ros-examples](https://github.com/stereolabs/zed-ros-examples/tree/master/examples/zed_multicamera_example)
- Added current GPU ID to Diagnostic information
- The confidence dynamic parameter is now called depth_confidence
- Removed dynamic parametes map_resize_factor
- Added new parameter video/img_resample_factor
- Added new parameter depth/map_resample_factor
- Updated the names for the parameters of the Object Detection module [only ZED2]
- Added a new repository [zed-ros-examples](https://github.com/stereolabs/zed-ros-examples) to keep separated the main ZED Wrapper node from Examples and Tutorials. A clean robot installation is now allowed
- ZED 2 support
- Color enhancement support
- Max range is not a dynamic parameter anymore
- Camera temperature added to diagnostic (only ZED2)
- New service to start/stop mapping
- Support for Object Detection (only ZED2)
- Advanced support for on-board sensors (only ZED-M and ZED2)
- New tutorials, see [zed-ros-examples](https://github.com/stereolabs/zed-ros-examples)