✨ feat: launchの追加とconfigの調整（確認コマンド：ros2 topic hz /zed_node/rgb/image_rect_color 出力：average rate: 112.232）

Author: Ryusei-Baba

zed_wrapper/config/common.yaml

@@ -20,9 +20,9 @@
             camera_max_reconnect: 5
             camera_flip: false
             serial_number: 0 # usually overwritten by launch file
-            pub_resolution: "NATIVE" # 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
+            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
             pub_downscale_factor: 2.0 # rescale factor used to rescale image before publishing when 'pub_resolution' is 'CUSTOM'
-            pub_frame_rate: 30.0 # frequency of publishing of visual images and depth images
+            pub_frame_rate: 120.0 # frequency of publishing of visual images and depth images
             gpu_id: -1
             optional_opencv_calibration_file: "" # Optional path where the ZED SDK can find a file containing the calibration information of the camera computed by OpenCV. Read the ZED SDK documentation for more information: https://www.stereolabs.com/docs/api/structsl_1_1InitParameters.html#a9eab2753374ef3baec1d31960859ba19
 
@@ -54,7 +54,7 @@
             apply_to_spatial_mapping: true # Apply ROI to spatial mapping processing
 
         depth:
-            depth_mode: "ULTRA" # Matches the ZED SDK setting: 'NONE', 'PERFORMANCE', 'QUALITY', 'ULTRA', 'NEURAL', 'NEURAL_PLUS' - Note: if 'NONE' all the modules that requires depth extraction are disabled by default (Pos. Tracking, Obj. Detection, Mapping, ...)
+            depth_mode: "NONE" # Matches the ZED SDK setting: 'NONE', 'PERFORMANCE', 'QUALITY', 'ULTRA', 'NEURAL', 'NEURAL_PLUS' - Note: if 'NONE' all the modules that requires depth extraction are disabled by default (Pos. Tracking, Obj. Detection, Mapping, ...)
             depth_stabilization: 1 # Forces positional tracking to start if major than 0 - Range: [0,100]
             openni_depth_mode: false # 'false': 32bit float [meters], 'true': 16bit unsigned int [millimeters]
             point_cloud_freq: 10.0 # [DYNAMIC] - frequency of the pointcloud publishing (equal or less to `grab_frame_rate` value)
@@ -63,16 +63,16 @@
             remove_saturated_areas: true # [DYNAMIC]
 
         pos_tracking:
-            pos_tracking_enabled: true # True to enable positional tracking from start
+            pos_tracking_enabled: false # True to enable positional tracking from start
             pos_tracking_mode: "GEN_2" # Matches the ZED SDK setting: 'GEN_1', 'GEN_2'
-            imu_fusion: true # enable/disable IMU fusion. When set to false, only the optical odometry will be used.
-            publish_tf: true # [usually overwritten by launch file] publish `odom -> camera_link` TF
-            publish_map_tf: true # [usually overwritten by launch file] publish `map -> odom` TF
+            imu_fusion: false # enable/disable IMU fusion. When set to false, only the optical odometry will be used.
+            publish_tf: false # [usually overwritten by launch file] publish `odom -> camera_link` TF
+            publish_map_tf: false # [usually overwritten by launch file] publish `map -> odom` TF
             map_frame: "map"
             odometry_frame: "odom"
             area_memory_db_path: ""
-            area_memory: true # Enable to detect loop closure
-            reset_odom_with_loop_closure: true # Re-initialize odometry to the last valid pose when loop closure happens (reset camera odometry drift)
+            area_memory: false # Enable to detect loop closure
+            reset_odom_with_loop_closure: false # Re-initialize odometry to the last valid pose when loop closure happens (reset camera odometry drift)
             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
             set_as_static: false # If 'true' the camera will be static and not move in the environment
             set_gravity_as_origin: true # If 'true' align the positional tracking world to imu gravity measurement. Keep the yaw from the user initial pose.
@@ -90,10 +90,10 @@
             gnss_zero_altitude: false # Set to `true` to ignore GNSS altitude information
             h_covariance_mul: 1.0 # Multiplier factor to be applied to horizontal covariance of the received fix (plane X/Y)
             v_covariance_mul: 1.0 # Multiplier factor to be applied to vertical covariance of the received fix (Z axis)
-            publish_utm_tf: true # Publish `utm` -> `map` TF
+            publish_utm_tf: false # Publish `utm` -> `map` TF
             broadcast_utm_transform_as_parent_frame: false # if 'true' publish `utm` -> `map` TF, otherwise `map` -> `utm`
             enable_reinitialization: false # 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.
-            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.
+            enable_rolling_calibration: false # 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.
             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.
             gnss_vio_reinit_threshold: 5.0 # 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.
             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.
@@ -109,7 +109,7 @@
             pd_normal_similarity_threshold: 15.0 # Plane detection: controls the spread of plane by checking the angle difference.
 
         sensors:
-            publish_imu_tf: true # [usually overwritten by launch file] enable/disable the IMU TF broadcasting
+            publish_imu_tf: false # [usually overwritten by launch file] enable/disable the IMU TF broadcasting
             sensors_image_sync: false # Synchronize Sensors messages with latest published video/depth message
             sensors_pub_rate: 200. # frequency of publishing of sensors data. MAX: 400. - MIN: grab rate
 

zed_wrapper/config/zedx.yaml

@@ -6,8 +6,8 @@
         general:
           camera_model: 'zedx'
           camera_name: 'zedx' # usually overwritten by launch file
-          grab_resolution: 'HD1200' # The native camera grab resolution. 'HD1200', 'HD1080', 'SVGA', 'AUTO'
-          grab_frame_rate: 30 # ZED SDK internal grabbing rate (HD1200/HD1080: 60, 30, 15 - SVGA: 120, 60, 30, 15)
+          grab_resolution: 'SVGA' # The native camera grab resolution. 'HD1200', 'HD1080', 'SVGA', 'AUTO'
+          grab_frame_rate: 120 # ZED SDK internal grabbing rate (HD1200/HD1080: 60, 30, 15 - SVGA: 120, 60, 30, 15)
 
         video:
           exposure_time: 16000 # Defines the real exposure time in microseconds. Recommended to control manual exposure (instead of `video.exposure` setting)

zed_wrapper/launch/zedx_camera.launch.py

@@ -0,0 +1,29 @@
+import os.path as osp
+from ament_index_python.packages import get_package_share_directory
+
+from launch import LaunchDescription
+from launch.actions import SetEnvironmentVariable
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    zed_wrapper_dir = get_package_share_directory("zed_wrapper")
+    config_common_path = osp.join(zed_wrapper_dir, "config", "common.yaml")
+    config_camera_path = osp.join(zed_wrapper_dir, "config", "zedx.yaml")
+
+    zed_node = Node(
+        package="zed_wrapper",
+        executable="zed_wrapper",
+        name="zed_node",
+        output="screen",
+        parameters=[
+            config_common_path,
+            config_camera_path,
+        ],
+    )
+
+    return LaunchDescription([
+        SetEnvironmentVariable(name="RCUTILS_COLORIZED_OUTPUT", value="1"),
+        zed_node,
+    ])
+