param

Author: rdclab

zed_wrapper/config/common.yaml

@@ -54,7 +54,7 @@
             apply_to_spatial_mapping: true # Apply ROI to spatial mapping processing
 
         depth:
-            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_mode: "PERFORMANCE" # 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)
@@ -63,24 +63,24 @@
             remove_saturated_areas: true # [DYNAMIC]
 
         pos_tracking:
-            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: 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
+            pos_tracking_enabled: true # True to enable positional tracking from start
+            pos_tracking_mode: "GEN_1" # 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
             map_frame: "map"
             odometry_frame: "odom"
             area_memory_db_path: ""
-            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)
+            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)
             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.
             floor_alignment: false # Enable to automatically calculate camera/floor offset
             initial_base_pose: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] # Initial position of the `camera_link` frame in the map -> [X, Y, Z, R, P, Y]
             path_pub_rate: 2.0 # [DYNAMIC] - Camera trajectory publishing frequency
             path_max_count: -1 # use '-1' for unlimited path size
-            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
+            two_d_mode: true # Force navigation on a plane. If true the Z value will be fixed to 'fixed_z_value', roll and pitch to zero
             fixed_z_value: 0.00 # Value to be used for Z coordinate if `two_d_mode` is true
             transform_time_offset: 0.0 # The value added to the timestamp of `map->odom` and `odom->camera_link` transform being generated
 
@@ -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: false # [usually overwritten by launch file] enable/disable the IMU TF broadcasting
+            publish_imu_tf: true # [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

@@ -24,5 +24,5 @@
 
         depth:
           min_depth: 0.3 # Min: 0.3, Max: 3.0
-          max_depth: 10.0 # Max: 20.0
+          max_depth: 20.0 # Max: 20.0