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MyzharMyzhar
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Fix Iron and Foxy build
1 parent c606aa6 commit 5b7acdf

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5 files changed

+31
-100
lines changed

5 files changed

+31
-100
lines changed

‎tools/zed_benchmark/CMakeLists.txt

+1-4
Original file line numberDiff line numberDiff line change
@@ -40,7 +40,7 @@ else()
4040
endif()
4141
################################################
4242

43-
if(${FOUND_ROS2_DISTRO} STREQUAL "humble")
43+
if(${FOUND_ROS2_DISTRO} STREQUAL "humble" OR ${FOUND_ROS2_DISTRO} STREQUAL "iron")
4444
# if CMAKE_BUILD_TYPE is not specified, take 'Release' as default
4545
if(NOT CMAKE_BUILD_TYPE)
4646
set(CMAKE_BUILD_TYPE Release)
@@ -92,9 +92,6 @@ if(${FOUND_ROS2_DISTRO} STREQUAL "humble")
9292
)
9393

9494
ament_package()
95-
else()
96-
97-
9895
endif()
9996

10097

‎tools/zed_benchmark_component/CMakeLists.txt

+1-2
Original file line numberDiff line numberDiff line change
@@ -40,7 +40,7 @@ else()
4040
endif()
4141
################################################
4242

43-
if(${FOUND_ROS2_DISTRO} STREQUAL "humble")
43+
if(${FOUND_ROS2_DISTRO} STREQUAL "humble" OR ${FOUND_ROS2_DISTRO} STREQUAL "iron")
4444
# if CMAKE_BUILD_TYPE is not specified, take 'Release' as default
4545
if(NOT CMAKE_BUILD_TYPE)
4646
set(CMAKE_BUILD_TYPE Release)
@@ -115,7 +115,6 @@ if(${FOUND_ROS2_DISTRO} STREQUAL "humble")
115115
ament_export_libraries(${PROJECT_NAME})
116116
ament_export_dependencies(${DEPENDENCIES})
117117
ament_package()
118-
119118
endif()
120119

121120

‎tools/zed_benchmark_component/src/component/src/topic_benchmark_component.cpp

+8-8
Original file line numberDiff line numberDiff line change
@@ -74,10 +74,10 @@ void TopicBenchmarkComponent::getParam(
7474

7575
if (!get_parameter(paramName, outVal)) {
7676
RCLCPP_WARN_STREAM(
77-
get_logger(), "The parameter '"
78-
<< paramName
79-
<< "' is not available or is not valid, using the default value: "
80-
<< defValue);
77+
get_logger(), "The parameter '" <<
78+
paramName <<
79+
"' is not available or is not valid, using the default value: " <<
80+
defValue);
8181
}
8282

8383
if (!log_info.empty()) {
@@ -161,10 +161,10 @@ void TopicBenchmarkComponent::topicCallback(std::shared_ptr<rclcpp::SerializedMe
161161
double bw = freq * bw_scale * msg->size();
162162
double bw_avg = avg_freq * bw_scale * msg->size();
163163

164-
std::cout << '\r' << std::fixed << std::setprecision(2) << "#" << ++mTopicCount
165-
<< " - Freq: " << freq << " Hz (Avg: " << avg_freq << " Hz) - Bandwidth: " << bw
166-
<< " Mbps (Avg: " << bw_avg << " Mbps) - Msg size: " << msg->size() / (1024. * 1024.)
167-
<< " MB" << std::flush;
164+
std::cout << '\r' << std::fixed << std::setprecision(2) << "#" << ++mTopicCount <<
165+
" - Freq: " << freq << " Hz (Avg: " << avg_freq << " Hz) - Bandwidth: " << bw <<
166+
" Mbps (Avg: " << bw_avg << " Mbps) - Msg size: " << msg->size() / (1024. * 1024.) <<
167+
" MB" << std::flush;
168168

169169
// std::cout << " - Queue size: " << mAvgFreq.size() << std::endl;
170170

‎tutorials/zed_rgb_convert/launch/zed_rgb_convert.launch.py

+2-2
Original file line numberDiff line numberDiff line change
@@ -28,10 +28,10 @@ def generate_launch_description():
2828
# - 'zed' for "ZED" camera
2929
# - 'zedm' for "ZED mini" camera
3030
# - 'zed2' for "ZED2" camera
31-
camera_model = 'zed2'
31+
camera_model = 'zed2i'
3232

3333
# Camera name
34-
camera_name = 'zed2'
34+
camera_name = 'zed2i'
3535

3636
# URDF/xacro file to be loaded by the Robot State Publisher node
3737
xacro_path = os.path.join(

‎zed_display_rviz2/rviz2/zed2.rviz

+19-84
Original file line numberDiff line numberDiff line change
@@ -9,7 +9,7 @@ Panels:
99
- /Video1/Stereo1/Topic1
1010
- /Depth1/Depth Map1/Topic1
1111
- /Depth1/Loc. Point Cloud1
12-
- /Position1/TF1
12+
- /Position1
1313
- /Position1/TF1/Frames1
1414
- /Position1/Pose1/Topic1
1515
- /Position1/Pose Path1/Topic1
@@ -18,13 +18,14 @@ Panels:
1818
- /Mapping1/Planes1
1919
- /Mapping1/Planes1/Topic1
2020
- /Mapping1/Planes1/Namespaces1
21+
- /Objects1
2122
- /Objects1/ZedOdDisplay1
2223
- /Objects1/ZedOdDisplay1/Topic1
2324
- /Sensors1/IMU Temperature1/Topic1
2425
- /Sensors1/Left Temperature1/Topic1
2526
- /Sensors1/Right Temperature1/Topic1
2627
Splitter Ratio: 0.4965358078479767
27-
Tree Height: 752
28+
Tree Height: 471
2829
- Class: rviz_common/Selection
2930
Name: Selection
3031
- Class: rviz_common/Tool Properties
@@ -77,9 +78,6 @@ Visualization Manager:
7778
Expand Link Details: false
7879
Expand Tree: false
7980
Link Tree Style: Links in Alphabetic Order
80-
Mass Properties:
81-
Inertia: false
82-
Mass: false
8381
Name: RobotModel
8482
TF Prefix: ""
8583
Update Interval: 0
@@ -89,7 +87,6 @@ Visualization Manager:
8987
Displays:
9088
- Class: rviz_default_plugins/Camera
9189
Enabled: true
92-
Far Plane Distance: 100
9390
Image Rendering: background
9491
Name: RGB Image
9592
Overlay Alpha: 0.5
@@ -133,7 +130,7 @@ Visualization Manager:
133130
Value: false
134131
Zoom Factor: 1
135132
- Class: rviz_default_plugins/Image
136-
Enabled: true
133+
Enabled: false
137134
Max Value: 1
138135
Median window: 5
139136
Min Value: 0
@@ -145,7 +142,7 @@ Visualization Manager:
145142
History Policy: Keep Last
146143
Reliability Policy: Best Effort
147144
Value: /zed2/zed_node/stereo/image_rect_color
148-
Value: true
145+
Value: false
149146
Enabled: true
150147
Name: Video
151148
- Class: rviz_common/Group
@@ -205,7 +202,6 @@ Visualization Manager:
205202
Topic:
206203
Depth: 1
207204
Durability Policy: Volatile
208-
Filter size: 10
209205
History Policy: Keep Last
210206
Reliability Policy: Best Effort
211207
Value: /zed2/zed_node/point_cloud/cloud_registered
@@ -221,61 +217,13 @@ Visualization Manager:
221217
Frame Timeout: 10
222218
Frames:
223219
All Enabled: false
224-
base_link:
225-
Value: true
226-
map:
227-
Value: true
228-
odom:
229-
Value: true
230-
zed2_baro_link:
231-
Value: false
232-
zed2_base_link:
233-
Value: true
234-
zed2_camera_center:
235-
Value: false
236-
zed2_imu_link:
237-
Value: false
238-
zed2_left_camera_frame:
239-
Value: false
240-
zed2_left_camera_optical_frame:
241-
Value: false
242-
zed2_mag_link:
243-
Value: false
244-
zed2_right_camera_frame:
245-
Value: false
246-
zed2_right_camera_optical_frame:
247-
Value: false
248-
zed2_temp_left_link:
249-
Value: false
250-
zed2_temp_right_link:
251-
Value: false
252220
Marker Scale: 0.30000001192092896
253221
Name: TF
254222
Show Arrows: true
255223
Show Axes: true
256224
Show Names: true
257225
Tree:
258-
map:
259-
odom:
260-
base_link:
261-
zed2_base_link:
262-
zed2_camera_center:
263-
zed2_baro_link:
264-
{}
265-
zed2_left_camera_frame:
266-
zed2_imu_link:
267-
{}
268-
zed2_left_camera_optical_frame:
269-
{}
270-
zed2_temp_left_link:
271-
{}
272-
zed2_mag_link:
273-
{}
274-
zed2_right_camera_frame:
275-
zed2_right_camera_optical_frame:
276-
{}
277-
zed2_temp_right_link:
278-
{}
226+
{}
279227
Update Interval: 0.20000000298023224
280228
Value: true
281229
- Alpha: 0.75
@@ -293,7 +241,6 @@ Visualization Manager:
293241
Topic:
294242
Depth: 1
295243
Durability Policy: Volatile
296-
Filter size: 10
297244
History Policy: Keep Last
298245
Reliability Policy: Best Effort
299246
Value: /zed2/zed_node/pose
@@ -321,7 +268,6 @@ Visualization Manager:
321268
Topic:
322269
Depth: 1
323270
Durability Policy: Volatile
324-
Filter size: 10
325271
History Policy: Keep Last
326272
Reliability Policy: Best Effort
327273
Value: /zed2/zed_node/path_map
@@ -349,7 +295,6 @@ Visualization Manager:
349295
Topic:
350296
Depth: 1
351297
Durability Policy: Volatile
352-
Filter size: 10
353298
History Policy: Keep Last
354299
Reliability Policy: Best Effort
355300
Value: /zed2/zed_node/path_odom
@@ -385,7 +330,6 @@ Visualization Manager:
385330
Topic:
386331
Depth: 1
387332
Durability Policy: Volatile
388-
Filter size: 10
389333
History Policy: Keep Last
390334
Reliability Policy: Best Effort
391335
Value: /zed2/zed_node/mapping/fused_cloud
@@ -400,7 +344,6 @@ Visualization Manager:
400344
Topic:
401345
Depth: 5
402346
Durability Policy: Volatile
403-
Filter size: 10
404347
History Policy: Keep Last
405348
Reliability Policy: Best Effort
406349
Value: /zed2/plane_marker
@@ -410,23 +353,22 @@ Visualization Manager:
410353
- Class: rviz_common/Group
411354
Displays:
412355
- Class: rviz_plugin_zed_od/ZedOdDisplay
413-
Enabled: true
356+
Enabled: false
414357
Joint Radius: 0.05000000074505806
415358
Label Scale: 5
416359
Link Size: 0.02500000037252903
417360
Name: ZedOdDisplay
418-
Show Bounding Boxes: true
419-
Show Labels: true
420-
Show Skeletons: true
361+
Show Bounding Boxes: false
362+
Show Labels: false
363+
Show Skeletons: false
421364
Topic:
422365
Depth: 1
423366
Durability Policy: Volatile
424-
Filter size: 10
425367
History Policy: Keep Last
426-
Reliability Policy: Best Effort
368+
Reliability Policy: Reliable
427369
Value: /zed2/zed_node/obj_det/objects
428370
Transparency: 0.25
429-
Value: true
371+
Value: false
430372
Enabled: true
431373
Name: Objects
432374
- Class: rviz_common/Group
@@ -458,7 +400,6 @@ Visualization Manager:
458400
Topic:
459401
Depth: 1
460402
Durability Policy: Volatile
461-
Filter size: 10
462403
History Policy: Keep Last
463404
Reliability Policy: Best Effort
464405
Value: /zed2/zed_node/atm_press
@@ -492,7 +433,6 @@ Visualization Manager:
492433
Topic:
493434
Depth: 1
494435
Durability Policy: Volatile
495-
Filter size: 10
496436
History Policy: Keep Last
497437
Reliability Policy: Best Effort
498438
Value: /zed2/zed_node/temperature/imu
@@ -526,7 +466,6 @@ Visualization Manager:
526466
Topic:
527467
Depth: 1
528468
Durability Policy: Volatile
529-
Filter size: 10
530469
History Policy: Keep Last
531470
Reliability Policy: Best Effort
532471
Value: /zed2/zed_node/temperature/left
@@ -560,7 +499,6 @@ Visualization Manager:
560499
Topic:
561500
Depth: 1
562501
Durability Policy: Volatile
563-
Filter size: 10
564502
History Policy: Keep Last
565503
Reliability Policy: Best Effort
566504
Value: /zed2/zed_node/temperature/right
@@ -584,9 +522,6 @@ Visualization Manager:
584522
- Class: rviz_default_plugins/Measure
585523
Line color: 128; 128; 0
586524
- Class: rviz_default_plugins/SetInitialPose
587-
Covariance x: 0.25
588-
Covariance y: 0.25
589-
Covariance yaw: 0.06853891909122467
590525
Topic:
591526
Depth: 5
592527
Durability Policy: Volatile
@@ -615,7 +550,7 @@ Visualization Manager:
615550
Views:
616551
Current:
617552
Class: rviz_default_plugins/Orbit
618-
Distance: 2.348249673843384
553+
Distance: 1.5654734373092651
619554
Enable Stereo Rendering:
620555
Stereo Eye Separation: 0.05999999865889549
621556
Stereo Focal Distance: 1
@@ -630,10 +565,10 @@ Visualization Manager:
630565
Invert Z Axis: false
631566
Name: Current View
632567
Near Clip Distance: 0.009999999776482582
633-
Pitch: 0.28539833426475525
568+
Pitch: 0.34039831161499023
634569
Target Frame: base_link
635570
Value: Orbit (rviz_default_plugins)
636-
Yaw: 2.980398416519165
571+
Yaw: 2.870396375656128
637572
Saved: ~
638573
Window Geometry:
639574
Confidence:
@@ -645,7 +580,7 @@ Window Geometry:
645580
Height: 1016
646581
Hide Left Dock: false
647582
Hide Right Dock: false
648-
QMainWindow State: 000000ff00000000fd00000004000000000000019f0000039efc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000039e000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d006500720061000000020c000001270000000000000000fb0000000a0049006d00610067006502000002800000027e000001ec0000015100000001000001cc0000039efc0200000007fb0000001200520047004200200049006d006100670065010000003d000000e60000002800fffffffb00000012004400650070007400680020004d006100700100000129000000e60000002800fffffffb0000000c00530074006500720065006f0100000215000000a50000002800fffffffb000000140043006f006e0066006900640065006e00630065000000032f000000b70000002800fffffffb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007301000002c00000011b000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000003cf0000039e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
583+
QMainWindow State: 000000ff00000000fd00000004000000000000019f0000039efc020000000dfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000285000000c900fffffffb0000000a0056006900650077007301000002c800000113000000a400fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d006500720061000000020c000001270000000000000000fb0000000a0049006d00610067006502000002800000027e000001ec00000151fb000000140043006f006e0066006900640065006e0063006500000001ea000000780000002800fffffffb0000000c00530074006500720065006f00000002bf0000008b0000002800ffffff00000001000001cc0000039efc0200000008fb0000001200520047004200200049006d006100670065010000003d000002160000002800fffffffb00000012004400650070007400680020004d006100700100000259000001820000002800fffffffb0000000c00530074006500720065006f0100000215000000a50000000000000000fb000000140043006f006e0066006900640065006e00630065000000032f000000b70000000000000000fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb00000012004400650070007400680020004d00610070010000003d000001b50000000000000000fb0000001200520047004200200049006d00610067006501000001f8000001e30000000000000000fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000003c10000039e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
649584
RGB Image:
650585
collapsed: false
651586
Selection:
@@ -656,6 +591,6 @@ Window Geometry:
656591
collapsed: false
657592
Views:
658593
collapsed: false
659-
Width: 1862
660-
X: 58
661-
Y: 430
594+
Width: 1848
595+
X: 72
596+
Y: 27

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