Add GPU id param

Author: adujardin

README.md

@@ -85,6 +85,7 @@ Open a terminal :
  _                            | _                                                           | '1': STANDARD               
  openni_depth_mode            | Convert depth to 16bit in millimeters                       | '0': 32bit float meters     
  _                            | _                                                           | '1': 16bit uchar millimeters
+ gpu_id            | GPU device ID, define which CUDA device will handle the computation                       | int, default '-1' (best device found)
  frame_rate                   | Rate at which images are published                          | int                         
  rgb_topic                    | Topic to which rgb==default==left images are published      | string                      
  rgb_cam_info_topic           | Topic to which rgb==default==left camera info are published | string                      

launch/zed.launch

@@ -18,6 +18,7 @@
       <param name="frame_rate"            value="60" />
       <param name="odometry_DB"           value="" />
       <param name="openni_depth_mode"     value="0" />
+      <param name="gpu_id"                value="-1" />
 
       <param name="rgb_topic"             value="rgb/image_rect_color" />
       <param name="rgb_cam_info_topic"    value="rgb/camera_info" />

src/zed_wrapper_node.cpp

@@ -353,6 +353,7 @@ int main(int argc, char **argv) {
     int quality = sl::zed::MODE::PERFORMANCE;
     int sensing_mode = sl::zed::SENSING_MODE::STANDARD;
     int rate = 30;
+    int gpu_id = -1;
     string odometry_DB = "";
 
     std::string img_topic = "image_rect";
@@ -399,6 +400,8 @@ int main(int argc, char **argv) {
     nh_ns.getParam("frame_rate", rate);
     nh_ns.getParam("odometry_DB", odometry_DB);
     nh_ns.getParam("openni_depth_mode", openniDepthMode);
+    nh_ns.getParam("gpu_id", gpu_id);
+
     if (openniDepthMode)
         ROS_INFO_STREAM("Openni depth mode activated");
 
@@ -441,6 +444,7 @@ int main(int argc, char **argv) {
     param.coordinate = COORDINATE_SYSTEM::RIGHT_HANDED;
     param.mode = static_cast<sl::zed::MODE> (quality);
     param.verbose = true;
+    param.device = gpu_id;
 
     ERRCODE err = ERRCODE::ZED_NOT_AVAILABLE;
     while (err != SUCCESS) {