Fix required version + sn param launch file

Author: adujardin

CMakeLists.txt

@@ -19,11 +19,7 @@ function(checkPackage package customMessage)
     endif()
 endfunction(checkPackage)
 
-find_package(ZED 2.1)
-if(ZED_VERSION_MINOR LESS 3) # Check ZED SDK for ZED Mini
-    message(WARNING " The ZED Mini support requires ZED SDK >= 2.3")
-endif()
-
+find_package(ZED 2.3)
 checkPackage("ZED" "ZED SDK not found, install it from:\n https://www.stereolabs.com/developers/")
 
 exec_program(uname ARGS -p OUTPUT_VARIABLE CMAKE_SYSTEM_NAME2)

README.md

@@ -54,4 +54,8 @@ To launch the wrapper without Rviz, use:
 
     roslaunch zed_wrapper zed.launch
 
+ To select the ZED from its serial number
+
+    roslaunch zed_wrapper zed.launch serial_number:=1010 #replace 1010 with the actual SN
+
 [More](https://www.stereolabs.com/documentation/guides/using-zed-with-ros/introduction.html)

launch/zed.launch

@@ -18,14 +18,16 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 -->
 <launch>
     <!-- Odometry coordinate frame -->
-    <arg name="odometry_frame"        default="map" />
-    <arg name="camera_model" default="0" /> <!-- 0=ZED, 1=ZEDM-->
+    <arg name="odometry_frame"       default="map" />
+    <arg name="camera_model"          default="0" /> <!-- 0=ZED, 1=ZEDM-->
+    <arg name="serial_number"           default="0" /> 
 
     <group ns="zed">
         <include file="$(find zed_wrapper)/launch/zed_camera.launch">
             <!-- compliant mode for rviz -->
             <arg name="odometry_frame"        value="$(arg odometry_frame)" />
             <arg name="camera_model"        value="$(arg camera_model)" />
+            <arg name="serial_number"           default="$(arg serial_number)" /> 
         </include>
     </group>