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| 1 | +# NOTE(remos): This file was copied from stereolabs/zed-ros2-wrapper/zed_wrapper/config/common.yaml |
| 2 | +# and modified according to our needs. |
| 3 | + |
| 4 | +# config/common_yaml |
| 5 | +# Common parameters to Stereolabs ZED and ZED mini cameras |
| 6 | +# |
| 7 | +# Note: the parameter svo_file is passed as exe argumet |
| 8 | +--- |
| 9 | +/**: |
| 10 | + ros__parameters: |
| 11 | + |
| 12 | + general: |
| 13 | + svo_file: "live" # usually overwritten by launch file |
| 14 | + svo_loop: false # Enable loop mode when using an SVO as input source |
| 15 | + svo_realtime: true # if true the SVO will be played trying to respect the original framerate eventually skipping frames, otherwise every frame will be processed respecting the `pub_frame_rate` setting |
| 16 | + camera_timeout_sec: 5 |
| 17 | + camera_max_reconnect: 5 |
| 18 | + camera_flip: false |
| 19 | + zed_id: 0 # IMPORTANT: to be used in simulation to distinguish individual cameras im multi-camera configurations - usually overwritten by launch file |
| 20 | + serial_number: 0 # usually overwritten by launch file |
| 21 | + pub_resolution: 'CUSTOM' # The resolution used for output. 'NATIVE' to use the same `general.grab_resolution` - `CUSTOM` to apply the `general.pub_downscale_factor` downscale factory to reduce bandwidth in transmission |
| 22 | + pub_downscale_factor: 2.0 # rescale factor used to rescale image before publishing when 'pub_resolution' is 'CUSTOM' |
| 23 | + pub_frame_rate: 30.0 # frequency of publishing of visual images and depth images |
| 24 | + gpu_id: -1 |
| 25 | + region_of_interest: '[]' # A polygon defining the ROI where the ZED SDK perform the processing ignoring the rest. Coordinates must be normalized to '1.0' to be resolution independent. |
| 26 | + #region_of_interest: '[[0.25,0.33],[0.75,0.33],[0.75,0.5],[0.5,0.75],[0.25,0.5]]' # A polygon defining the ROI where the ZED SDK perform the processing ignoring the rest. Coordinates must be normalized to '1.0' to be resolution independent. |
| 27 | + #region_of_interest: '[[0.25,0.25],[0.75,0.25],[0.75,0.75],[0.25,0.75]]' # A polygon defining the ROI where the ZED SDK perform the processing ignoring the rest. Coordinates must be normalized to '1.0' to be resolution independent. |
| 28 | + #region_of_interest: '[[0.5,0.25],[0.75,0.5],[0.5,0.75],[0.25,0.5]]' # A polygon defining the ROI where the ZED SDK perform the processing ignoring the rest. Coordinates must be normalized to '1.0' to be resolution independent. |
| 29 | + sdk_verbose: 1 |
| 30 | + |
| 31 | + video: |
| 32 | + brightness: 4 # [DYNAMIC] Not available for ZED X/ZED X Mini |
| 33 | + contrast: 4 # [DYNAMIC] Not available for ZED X/ZED X Mini |
| 34 | + hue: 0 # [DYNAMIC] Not available for ZED X/ZED X Mini |
| 35 | + saturation: 4 # [DYNAMIC] |
| 36 | + sharpness: 4 # [DYNAMIC] |
| 37 | + gamma: 8 # [DYNAMIC] |
| 38 | + auto_exposure_gain: true # [DYNAMIC] |
| 39 | + exposure: 80 # [DYNAMIC] |
| 40 | + gain: 80 # [DYNAMIC] |
| 41 | + auto_whitebalance: true # [DYNAMIC] |
| 42 | + whitebalance_temperature: 42 # [DYNAMIC] - [28,65] works only if `auto_whitebalance` is false |
| 43 | + qos_history: 1 # '1': KEEP_LAST - '2': KEEP_ALL |
| 44 | + qos_depth: 1 # Queue size if using KEEP_LAST |
| 45 | + qos_reliability: 1 # '1': RELIABLE - '2': BEST_EFFORT - |
| 46 | + qos_durability: 2 # '1': TRANSIENT_LOCAL - '2': VOLATILE |
| 47 | + |
| 48 | + depth: |
| 49 | + depth_mode: 'NEURAL' # Matches the ZED SDK setting: 'NONE', 'PERFORMANCE', 'QUALITY', 'ULTRA', 'NEURAL' - Note: if 'NONE' all the modules that requires depth extraction are disabled by default (Pos. Tracking, Obj. Detection, Mapping, ...) |
| 50 | + depth_stabilization: 1 # Forces positional tracking to start if major than 0 - Range: [0,100] |
| 51 | + openni_depth_mode: false # 'false': 32bit float [meters], 'true': 16bit unsigned int [millimeters] |
| 52 | + point_cloud_freq: 10.0 # [DYNAMIC] - frequency of the pointcloud publishing (equal or less to `grab_frame_rate` value) |
| 53 | + depth_confidence: 10 # [DYNAMIC] |
| 54 | + depth_texture_conf: 100 # [DYNAMIC] |
| 55 | + remove_saturated_areas: true # [DYNAMIC] |
| 56 | + qos_history: 1 # '1': KEEP_LAST - '2': KEEP_ALL |
| 57 | + qos_depth: 1 # Queue size if using KEEP_LAST |
| 58 | + qos_reliability: 1 # '1': RELIABLE - '2': BEST_EFFORT - |
| 59 | + qos_durability: 2 # '1': TRANSIENT_LOCAL - '2': VOLATILE |
| 60 | + |
| 61 | + pos_tracking: |
| 62 | + pos_tracking_enabled: true # True to enable positional tracking from start |
| 63 | + pos_tracking_mode: 'STANDARD' # Matches the ZED SDK setting: 'QUALITY', 'STANDARD' |
| 64 | + imu_fusion: true # enable/disable IMU fusion. When set to false, only the optical odometry will be used. |
| 65 | + publish_tf: true # [usually overwritten by launch file] publish `odom -> base_link` TF |
| 66 | + publish_map_tf: true # [usually overwritten by launch file] publish `map -> odom` TF |
| 67 | + base_frame: "base_link" # usually overwritten by launch file |
| 68 | + map_frame: "map" |
| 69 | + odometry_frame: "odom" |
| 70 | + area_memory_db_path: "" |
| 71 | + area_memory: true # Enable to detect loop closure |
| 72 | + depth_min_range: 0.0 # Set this value for removing fixed zones of the robot in the FoV of the camerafrom the visual odometry evaluation |
| 73 | + set_as_static: false # If 'true' the camera will be static and not move in the environment |
| 74 | + set_gravity_as_origin: true # If 'true' align the positional tracking world to imu gravity measurement. Keep the yaw from the user initial pose. |
| 75 | + floor_alignment: false # Enable to automatically calculate camera/floor offset |
| 76 | + initial_base_pose: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] # Initial position of the `base_frame` in the map -> [X, Y, Z, R, P, Y] |
| 77 | + init_odom_with_first_valid_pose: true # Enable to initialize the odometry with the first valid pose |
| 78 | + path_pub_rate: 2.0 # [DYNAMIC] - Camera trajectory publishing frequency |
| 79 | + path_max_count: -1 # use '-1' for unlimited path size |
| 80 | + two_d_mode: false # Force navigation on a plane. If true the Z value will be fixed to "fixed_z_value", roll and pitch to zero |
| 81 | + fixed_z_value: 0.00 # Value to be used for Z coordinate if `two_d_mode` is true |
| 82 | + transform_time_offset: 0.0 # The value added to the timestamp of `map->odom` and `odom->base_link`` transform being generated |
| 83 | + qos_history: 1 # '1': KEEP_LAST - '2': KEEP_ALL |
| 84 | + qos_depth: 1 # Queue size if using KEEP_LAST |
| 85 | + qos_reliability: 1 # '1': RELIABLE - '2': BEST_EFFORT |
| 86 | + qos_durability: 2 # '1': TRANSIENT_LOCAL - '2': VOLATILE |
| 87 | + |
| 88 | + gnss_fusion: |
| 89 | + gnss_fusion_enabled: false # fuse 'sensor_msg/NavSatFix' message information into pose data |
| 90 | + gnss_fix_topic: "/gps/fix" # Name of the GNSS topic of type NavSatFix to subscribe [Default: "/gps/fix"] |
| 91 | + gnss_init_distance: 5.0 # The minimum distance traveled by the robot required to initilize the GNSS fusion [SDK <= v4.0.5] |
| 92 | + gnss_zero_altitude: false # Set to `true` to ignore GNSS altitude information |
| 93 | + gnss_frame: "gnss_link" # [usually overwritten by launch file] The TF frame of the GNSS sensor |
| 94 | + publish_utm_tf: true # Publish `utm` -> `map` TF |
| 95 | + broadcast_utm_transform_as_parent_frame: false # if 'true' publish `utm` -> `map` TF, otherwise `map` -> `utm` |
| 96 | + enable_reinitialization: true # determines whether reinitialization should be performed between GNSS and VIO fusion when a significant disparity is detected between GNSS data and the current fusion data. It becomes particularly crucial during prolonged GNSS signal loss scenarios. |
| 97 | + enable_rolling_calibration: true # If this parameter is set to true, the fusion algorithm will used a rough VIO / GNSS calibration at first and then refine it. This allow you to quickly get a fused position. |
| 98 | + enable_translation_uncertainty_target: false # When this parameter is enabled (set to true), the calibration process between GNSS and VIO accounts for the uncertainty in the determined translation, thereby facilitating the calibration termination. The maximum allowable uncertainty is controlled by the 'target_translation_uncertainty' parameter. |
| 99 | + gnss_vio_reinit_threshold: 5 # determines the threshold for GNSS/VIO reinitialization. If the fused position deviates beyond out of the region defined by the product of the GNSS covariance and the gnss_vio_reinit_threshold, a reinitialization will be triggered. |
| 100 | + target_translation_uncertainty: 10e-2 # defines the target translation uncertainty at which the calibration process between GNSS and VIO concludes. By default, the threshold is set at 10 centimeters. |
| 101 | + target_yaw_uncertainty: 0.1 # defines the target yaw uncertainty at which the calibration process between GNSS and VIO concludes. The unit of this parameter is in radian. By default, the threshold is set at 0.1 radians. |
| 102 | + |
| 103 | + mapping: |
| 104 | + mapping_enabled: false # True to enable mapping and fused point cloud pubblication |
| 105 | + resolution: 0.05 # maps resolution in meters [min: 0.01f - max: 0.2f] |
| 106 | + max_mapping_range: 5.0 # maximum depth range while mapping in meters (-1 for automatic calculation) [2.0, 20.0] |
| 107 | + fused_pointcloud_freq: 1.0 # frequency of the publishing of the fused colored point cloud |
| 108 | + clicked_point_topic: "/clicked_point" # Topic published by Rviz when a point of the cloud is clicked. Used for plane detection |
| 109 | + pd_max_distance_threshold: 0.15 # Plane detection: controls the spread of plane by checking the position difference. |
| 110 | + pd_normal_similarity_threshold: 15.0 # Plane detection: controls the spread of plane by checking the angle difference. |
| 111 | + qos_history: 1 # '1': KEEP_LAST - '2': KEEP_ALL |
| 112 | + qos_depth: 1 # Queue size if using KEEP_LAST |
| 113 | + qos_reliability: 1 # '1': RELIABLE - '2': BEST_EFFORT - |
| 114 | + qos_durability: 2 # '1': TRANSIENT_LOCAL - '2': VOLATILE |
| 115 | + |
| 116 | + sensors: |
| 117 | + publish_imu_tf: true # [usually overwritten by launch file] enable/disable the IMU TF broadcasting |
| 118 | + sensors_image_sync: false # Synchronize Sensors messages with latest published video/depth message |
| 119 | + sensors_pub_rate: 200. # frequency of publishing of sensors data. MAX: 400. - MIN: grab rate |
| 120 | + qos_history: 1 # '1': KEEP_LAST - '2': KEEP_ALL |
| 121 | + qos_depth: 1 # Queue size if using KEEP_LAST |
| 122 | + qos_reliability: 1 # '1': RELIABLE - '2': BEST_EFFORT - |
| 123 | + qos_durability: 2 # '1': TRANSIENT_LOCAL - '2': VOLATILE |
| 124 | + |
| 125 | + object_detection: |
| 126 | + od_enabled: false # True to enable Object Detection |
| 127 | + model: 'MULTI_CLASS_BOX_MEDIUM' # 'MULTI_CLASS_BOX_FAST', 'MULTI_CLASS_BOX_MEDIUM', 'MULTI_CLASS_BOX_ACCURATE', 'PERSON_HEAD_BOX_FAST', 'PERSON_HEAD_BOX_ACCURATE' |
| 128 | + allow_reduced_precision_inference: true # Allow inference to run at a lower precision to improve runtime and memory usage |
| 129 | + max_range: 20.0 # [m] Defines a upper depth range for detections |
| 130 | + confidence_threshold: 50.0 # [DYNAMIC] - Minimum value of the detection confidence of an object [0,99] |
| 131 | + prediction_timeout: 0.5 # During this time [sec], the object will have OK state even if it is not detected. Set this parameter to 0 to disable SDK predictions |
| 132 | + filtering_mode: 1 # '0': NONE - '1': NMS3D - '2': NMS3D_PER_CLASS |
| 133 | + mc_people: true # [DYNAMIC] - Enable/disable the detection of persons for 'MULTI_CLASS_X' models |
| 134 | + mc_vehicle: true # [DYNAMIC] - Enable/disable the detection of vehicles for 'MULTI_CLASS_X' models |
| 135 | + mc_bag: true # [DYNAMIC] - Enable/disable the detection of bags for 'MULTI_CLASS_X' models |
| 136 | + mc_animal: true # [DYNAMIC] - Enable/disable the detection of animals for 'MULTI_CLASS_X' models |
| 137 | + mc_electronics: true # [DYNAMIC] - Enable/disable the detection of electronic devices for 'MULTI_CLASS_X' models |
| 138 | + mc_fruit_vegetable: true # [DYNAMIC] - Enable/disable the detection of fruits and vegetables for 'MULTI_CLASS_X' models |
| 139 | + mc_sport: true # [DYNAMIC] - Enable/disable the detection of sport-related objects for 'MULTI_CLASS_X' models |
| 140 | + qos_history: 1 # '1': KEEP_LAST - '2': KEEP_ALL |
| 141 | + qos_depth: 1 # Queue size if using KEEP_LAST |
| 142 | + qos_reliability: 1 # '1': RELIABLE - '2': BEST_EFFORT |
| 143 | + qos_durability: 2 # '1': TRANSIENT_LOCAL - '2': VOLATILE |
| 144 | + |
| 145 | + body_tracking: |
| 146 | + bt_enabled: false # True to enable Body Tracking |
| 147 | + model: 'HUMAN_BODY_MEDIUM' # 'HUMAN_BODY_FAST', 'HUMAN_BODY_MEDIUM', 'HUMAN_BODY_ACCURATE' |
| 148 | + body_format: 'BODY_38' # 'BODY_18','BODY_34','BODY_38','BODY_70' |
| 149 | + allow_reduced_precision_inference: false # Allow inference to run at a lower precision to improve runtime and memory usage |
| 150 | + max_range: 20.0 # [m] Defines a upper depth range for detections |
| 151 | + body_kp_selection: 'FULL' # 'FULL', 'UPPER_BODY' |
| 152 | + enable_body_fitting: false # Defines if the body fitting will be applied |
| 153 | + enable_tracking: true # Defines if the object detection will track objects across images flow |
| 154 | + prediction_timeout_s: 0.5 # During this time [sec], the skeleton will have OK state even if it is not detected. Set this parameter to 0 to disable SDK predictions |
| 155 | + confidence_threshold: 50.0 # [DYNAMIC] - Minimum value of the detection confidence of skeleton key points [0,99] |
| 156 | + minimum_keypoints_threshold: 5 # [DYNAMIC] - Minimum number of skeleton key points to be detected for a valid skeleton |
| 157 | + qos_history: 1 # '1': KEEP_LAST - '2': KEEP_ALL |
| 158 | + qos_depth: 1 # Queue size if using KEEP_LAST |
| 159 | + qos_reliability: 1 # '1': RELIABLE - '2': BEST_EFFORT |
| 160 | + qos_durability: 2 # '1': TRANSIENT_LOCAL - '2': VOLATILE |
| 161 | + |
| 162 | + use_sim_time: false # EXPERIMENTAL (only for development) - Set to true to enable SIMULATION mode # |
| 163 | + sim_address: '192.168.1.90' # EXPERIMENTAL (only for development) - The local address of the machine running the simulator |
| 164 | + |
| 165 | + advanced: # WARNING: do not modify unless you are confident of what you are doing |
| 166 | + # Reference documentation: https://man7.org/linux/man-pages/man7/sched.7.html |
| 167 | + thread_sched_policy: 'SCHED_BATCH' # 'SCHED_OTHER', 'SCHED_BATCH', 'SCHED_FIFO', 'SCHED_RR' - NOTE: 'SCHED_FIFO' and 'SCHED_RR' require 'sudo' |
| 168 | + thread_grab_priority: 50 # ONLY with 'SCHED_FIFO' and 'SCHED_RR' - [1 (LOW) z-> 99 (HIGH)] - NOTE: 'sudo' required |
| 169 | + thread_sensor_priority: 70 # ONLY with 'SCHED_FIFO' and 'SCHED_RR' - [1 (LOW) z-> 99 (HIGH)] - NOTE: 'sudo' required |
| 170 | + thread_pointcloud_priority: 60 # ONLY with 'SCHED_FIFO' and 'SCHED_RR' - [1 (LOW) z-> 99 (HIGH)] - NOTE: 'sudo' required |
| 171 | + |
| 172 | + |
| 173 | + debug: |
| 174 | + debug_common: false |
| 175 | + debug_video_depth: false |
| 176 | + debug_camera_controls: false |
| 177 | + debug_point_cloud: false |
| 178 | + debug_positional_tracking: false |
| 179 | + debug_gnss: false |
| 180 | + debug_sensors: false |
| 181 | + debug_mapping : false |
| 182 | + debug_terrain_mapping : false |
| 183 | + debug_object_detection : false |
| 184 | + debug_body_tracking : false |
| 185 | + debug_advanced: true |
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