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Add launch files for multi ZED and multi GPU, add zed_id
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‎README.md‎

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_ | _ | '1': STANDARD
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openni_depth_mode | Convert depth to 16bit in millimeters | '0': 32bit float meters
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_ | _ | '1': 16bit uchar millimeters
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zed_id | ZED Camera ID, ignore if SVO file given | int, default '0'
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gpu_id | GPU device ID, define which CUDA device will handle the computation | int, default '-1' (best device found)
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frame_rate | Rate at which images are published | int
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rgb_topic | Topic to which rgb==default==left images are published | string

‎launch/zed_multi_cam.launch‎

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<launch>
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<include file="$(find zed_wrapper)/launch/zed_tf.launch" />
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<param name="robot_description" textfile="$(find zed_wrapper)/urdf/zed.urdf" />
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<arg name="svo_file1" default=""/>
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<arg name="svo_file2" default=""/>
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<arg name="svo_file3" default="path/to/svo/file.svo"/>
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<group ns="camera">
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<node name="zed_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
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<node name="zed_wrapper_node1" pkg="zed_wrapper" type="zed_wrapper_node" args="$(arg svo_file1)" output="screen">
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<param name="resolution" value="2" />
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<param name="quality" value="1" />
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<param name="sensing_mode" value="1" />
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<param name="frame_rate" value="30" />
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<param name="odometry_DB" value="" />
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<param name="openni_depth_mode" value="0" />
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<param name="gpu_id" value="-1" />
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<param name="zed_id" value="0" />
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<param name="rgb_topic" value="rgb/image_rect_color" />
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<param name="rgb_cam_info_topic" value="rgb/camera_info" />
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<param name="rgb_frame_id" value="/zed_tracked_frame" />
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<param name="left_topic" value="left/image_rect_color" />
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<param name="left_cam_info_topic" value="left/camera_info" />
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<param name="left_frame_id" value="/zed_tracked_frame" />
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<param name="right_topic" value="right/image_rect_color" />
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<param name="right_cam_info_topic" value="right/camera_info" />
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<param name="right_frame_id" value="/zed_tracked_frame" />
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<param name="depth_topic" value="depth/image_rect_color" />
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<param name="depth_cam_info_topic" value="depth/camera_info" />
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<param name="depth_frame_id" value="/zed_tracked_frame" />
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<param name="point_cloud_topic" value="point_cloud/cloud" />
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<param name="cloud_frame_id" value="/zed_tracked_frame" />
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<param name="odometry_topic" value="odom" />
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<param name="odometry_frame_id" value="/zed_initial_frame" />
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<param name="odometry_transform_frame_id" value="/zed_tracked_frame" />
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</node>
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<node name="zed_wrapper_node2" pkg="zed_wrapper" type="zed_wrapper_node" args="$(arg svo_file2)" output="screen">
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<param name="resolution" value="2" />
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<param name="quality" value="1" />
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<param name="sensing_mode" value="1" />
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<param name="frame_rate" value="30" />
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<param name="odometry_DB" value="" />
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<param name="openni_depth_mode" value="0" />
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<param name="gpu_id" value="-1" />
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<param name="zed_id" value="1" />
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<param name="rgb_topic" value="rgb/image_rect_color_1" />
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<param name="rgb_cam_info_topic" value="rgb/camera_info_1" />
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<param name="rgb_frame_id" value="/zed_tracked_frame_1" />
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<param name="left_topic" value="left/image_rect_color_1" />
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<param name="left_cam_info_topic" value="left/camera_info_1" />
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<param name="left_frame_id" value="/zed_tracked_frame_1" />
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<param name="right_topic" value="right/image_rect_color_1" />
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<param name="right_cam_info_topic" value="right/camera_info_1" />
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<param name="right_frame_id" value="/zed_tracked_frame_1" />
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<param name="depth_topic" value="depth/image_rect_color_1" />
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<param name="depth_cam_info_topic" value="depth/camera_info_1" />
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<param name="depth_frame_id" value="/zed_tracked_frame_1" />
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<param name="point_cloud_topic" value="point_cloud/cloud_1" />
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<param name="cloud_frame_id" value="/zed_tracked_frame_1" />
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<param name="odometry_topic" value="odom_1" />
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<param name="odometry_frame_id" value="/zed_initial_frame_1" />
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<param name="odometry_transform_frame_id" value="/zed_tracked_frame_1" />
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</node>
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<!-- <node name="zed_wrapper_node3" pkg="zed_wrapper" type="zed_wrapper_node" args="$(arg svo_file3)" output="screen">
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<param name="resolution" value="2" />
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<param name="quality" value="1" />
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<param name="sensing_mode" value="1" />
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<param name="frame_rate" value="15" />
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<param name="odometry_DB" value="" />
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<param name="openni_depth_mode" value="0" />
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<param name="gpu_id" value="-1" />
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<param name="rgb_topic" value="rgb/image_rect_color_2" />
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<param name="rgb_cam_info_topic" value="rgb/camera_info_2" />
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<param name="rgb_frame_id" value="/zed_tracked_frame_2" />
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<param name="left_topic" value="left/image_rect_color_2" />
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<param name="left_cam_info_topic" value="left/camera_info_2" />
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<param name="left_frame_id" value="/zed_tracked_frame_2" />
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<param name="right_topic" value="right/image_rect_color_2" />
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<param name="right_cam_info_topic" value="right/camera_info_2" />
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<param name="right_frame_id" value="/zed_tracked_frame_2" />
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<param name="depth_topic" value="depth/image_rect_color_2" />
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<param name="depth_cam_info_topic" value="depth/camera_info_2" />
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<param name="depth_frame_id" value="/zed_tracked_frame_2" />
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<param name="point_cloud_topic" value="point_cloud/cloud_2" />
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<param name="cloud_frame_id" value="/zed_tracked_frame_2" />
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<param name="odometry_topic" value="odom_2" />
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<param name="odometry_frame_id" value="/zed_initial_frame_2" />
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<param name="odometry_transform_frame_id" value="/zed_tracked_frame_2" />
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</node> -->
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</group>
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</launch>

‎launch/zed_multi_gpu.launch‎

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<launch>
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<include file="$(find zed_wrapper)/launch/zed_tf.launch" />
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<param name="robot_description" textfile="$(find zed_wrapper)/urdf/zed.urdf" />
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<arg name="svo_file0" default=""/>
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<arg name="svo_file1" default=""/>
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<group ns="camera">
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<node name="zed_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
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<node name="zed_wrapper_node_gpu0" pkg="zed_wrapper" type="zed_wrapper_node" args="$(arg svo_file0)" output="screen">
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<param name="resolution" value="2" />
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<param name="quality" value="1" />
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<param name="sensing_mode" value="1" />
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<param name="frame_rate" value="30" />
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<param name="odometry_DB" value="" />
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<param name="openni_depth_mode" value="0" />
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<param name="gpu_id" value="0" />
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<param name="zed_id" value="0" />
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<param name="rgb_topic" value="rgb/image_rect_color" />
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<param name="rgb_cam_info_topic" value="rgb/camera_info" />
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<param name="rgb_frame_id" value="/zed_tracked_frame" />
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<param name="left_topic" value="left/image_rect_color" />
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<param name="left_cam_info_topic" value="left/camera_info" />
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<param name="left_frame_id" value="/zed_tracked_frame" />
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<param name="right_topic" value="right/image_rect_color" />
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<param name="right_cam_info_topic" value="right/camera_info" />
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<param name="right_frame_id" value="/zed_tracked_frame" />
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<param name="depth_topic" value="depth/image_rect_color" />
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<param name="depth_cam_info_topic" value="depth/camera_info" />
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<param name="depth_frame_id" value="/zed_tracked_frame" />
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<param name="point_cloud_topic" value="point_cloud/cloud" />
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<param name="cloud_frame_id" value="/zed_tracked_frame" />
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<param name="odometry_topic" value="odom" />
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<param name="odometry_frame_id" value="/zed_initial_frame" />
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<param name="odometry_transform_frame_id" value="/zed_tracked_frame" />
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</node>
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<node name="zed_wrapper_node_gpu1" pkg="zed_wrapper" type="zed_wrapper_node" args="$(arg svo_file1)" output="screen">
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<param name="resolution" value="2" />
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<param name="quality" value="1" />
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<param name="sensing_mode" value="1" />
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<param name="frame_rate" value="30" />
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<param name="odometry_DB" value="" />
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<param name="openni_depth_mode" value="0" />
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<param name="gpu_id" value="1" />
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<param name="zed_id" value="1" />
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<param name="rgb_topic" value="rgb/image_rect_color_1" />
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<param name="rgb_cam_info_topic" value="rgb/camera_info_1" />
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<param name="rgb_frame_id" value="/zed_tracked_frame_1" />
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<param name="left_topic" value="left/image_rect_color_1" />
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<param name="left_cam_info_topic" value="left/camera_info_1" />
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<param name="left_frame_id" value="/zed_tracked_frame_1" />
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<param name="right_topic" value="right/image_rect_color_1" />
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<param name="right_cam_info_topic" value="right/camera_info_1" />
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<param name="right_frame_id" value="/zed_tracked_frame_1" />
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<param name="depth_topic" value="depth/image_rect_color_1" />
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<param name="depth_cam_info_topic" value="depth/camera_info_1" />
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<param name="depth_frame_id" value="/zed_tracked_frame_1" />
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<param name="point_cloud_topic" value="point_cloud/cloud_1" />
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<param name="cloud_frame_id" value="/zed_tracked_frame_1" />
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<param name="odometry_topic" value="odom_1" />
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<param name="odometry_frame_id" value="/zed_initial_frame_1" />
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<param name="odometry_transform_frame_id" value="/zed_tracked_frame_1" />
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</node>
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</group>
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</launch>

‎src/zed_wrapper_node.cpp‎

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int sensing_mode = sl::zed::SENSING_MODE::STANDARD;
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int rate = 30;
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int gpu_id = -1;
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int zed_id = 0;
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string odometry_DB = "";
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std::string img_topic = "image_rect";
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nh_ns.getParam("odometry_DB", odometry_DB);
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nh_ns.getParam("openni_depth_mode", openniDepthMode);
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nh_ns.getParam("gpu_id", gpu_id);
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nh_ns.getParam("zed_id", zed_id);
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if (openniDepthMode)
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ROS_INFO_STREAM("Openni depth mode activated");
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zed.reset(new sl::zed::Camera(argv[1])); // Argument "svo_file" in launch file
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ROS_INFO_STREAM("Reading SVO file : " << argv[1]);
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} else {
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zed.reset(new sl::zed::Camera(static_cast<sl::zed::ZEDResolution_mode> (resolution), rate));
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zed.reset(new sl::zed::Camera(static_cast<sl::zed::ZEDResolution_mode> (resolution), rate, zed_id));
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ROS_INFO_STREAM("Using ZED Camera");
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}
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zed.reset(new sl::zed::Camera(argv[1])); // Argument "svo_file" in launch file
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ROS_INFO_STREAM("Reading SVO file : " << argv[1]);
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} else {
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zed.reset(new sl::zed::Camera(static_cast<sl::zed::ZEDResolution_mode> (resolution), rate));
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zed.reset(new sl::zed::Camera(static_cast<sl::zed::ZEDResolution_mode> (resolution), rate, zed_id));
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ROS_INFO_STREAM("Using ZED Camera");
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}
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ROS_INFO("Reinit camera");

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