Humble-v4.1.4

v4.1.x for ZED SDK v4.1.x

• Updated the Docker files to the CUDA 12.4 (PC), L4T 35.4 (Jetson), SDK v4.1.4
• Added Local Streaming output
  • Added enable_streaming service to start/stop a streaming server
  • Added Streaming Server diagnostic
  • Added parameter 'stream_server.stream_enabled': enable the streaming server when the camera is open
  • Added parameter 'stream_server.codec': different encoding types for image streaming
  • Added parameter 'stream_server.port': Port used for streaming
  • Added parameter 'stream_server.bitrate': Streaming bitrate (in Kbits/s) used for streaming
  • Added parameter 'stream_server.gop_size': The GOP size determines the maximum distance between IDR/I-frames
  • Added parameter 'stream_server.adaptative_bitrate': Bitrate will be adjusted depending on the number of packets dropped during streaming
  • Added parameter 'stream_server.chunk_size': Stream buffers are divided into X number of chunks where each chunk is chunk_size bytes long
  • Added parameter 'stream_server.target_framerate': Framerate for the streaming output
• Added Local Streaming input
  • Added 'stream.stream_address' and 'stream.stream_port' parameter to configure the local streaming input
• GNSS Fusion temporarily disabled (available with 4.1.1)
• Moved parameter 'general.svo_file' to 'svo.svo_path'
• Moved parameter 'general.svo_loop' to 'svo.svo_loop'
• Moved parameter 'general.svo_realtime' to 'svo.svo_realtime'
• Removed obsolete launch files: 'zed.launch.pi','zed2.launch.pi', 'zed2i.launch.pi', 'zedm.launch.pi', 'zedx.launch.pi', 'zedxm.launch.pi'
• Removed obsolete display launch file: 'display_zed.launch.py', 'display_zed2.launch.py', 'display_zed2i.launch.py', 'display_zedm.launch.py', 'display_zedx.launch.py', 'display_zedxm.launch.py'
• Added support for custom virtual stereo cameras made with two calibrated ZED X One cameras (available with 4.1.1)
• Added parameter pos_tracking.reset_odom_with_loop_closure to automatically reset odometry when a loop closure is detected
• Added new positional tracking information to the PosTrackStatus message
• Added new GnssFusionStatus message with GNSS Fusion status information (available with 4.1.1)
• Added new parameters gnss_fusion.h_covariance_mul and gnss_fusion.v_covariance_mul to control the effects of the GNSS covariance
• Added support to Automatic ROI
  • Added ROI diagnostic
  • Added parameter debug.debug_roi
  • Publish ROI mask image on the topic ~/roi_mask using image transport
  • Moved the parameter general.region_of_interest to region_of_interest.manual_polygon
  • Added automatic Region of Interest support
  • Added parameter region_of_interest.automatic_roi
  • Added parameter region_of_interest.depth_far_threshold_meters
  • Added parameter region_of_interest.image_height_ratio_cutoff
  • Added parameter region_of_interest.apply_to_depth
  • Added parameter region_of_interest.apply_to_positional_tracking
  • Added parameter region_of_interest.apply_to_object_detection
  • Added parameter region_of_interest.apply_to_body_tracking
  • Added parameter region_of_interest.apply_to_spatial_mapping
• Removed QoS parameters to use ROS 2 QoS overwrite -> https://design.ros2.org/articles/qos_configurability.html
• Added support for new NEURAL_PLUS depth mode
• Added new <camera_name>_gnss_link frame to URDF to set the position of the GNSS antenna with respect to the camera position
• New Docker configuration files allow easy creation of "ZED ROS2 Wrapper" images based on specific tag versions. Read more
• Fixed a bug while playing a ZED X stream on a "not-Jetson" host device
• Add support for point cloud transport [only Humble, no Foxy]
• Add support for FFMPEG image transport
• Add new ffmpeg.yaml configuration file
• Fix ~/imu/data_raw message not containing RAW IMU data