diff --git a/cart_endpoints/launch/include/zed_camera_mod.launch b/cart_endpoints/launch/include/zed_camera_mod.launch
new file mode 100644
index 0000000..b3c3ca7
--- /dev/null
+++ b/cart_endpoints/launch/include/zed_camera_mod.launch
@@ -0,0 +1,95 @@
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diff --git a/cart_endpoints/launch/jacart_multi_cam.launch b/cart_endpoints/launch/jacart_multi_cam.launch
new file mode 100644
index 0000000..a9c99fa
--- /dev/null
+++ b/cart_endpoints/launch/jacart_multi_cam.launch
@@ -0,0 +1,135 @@
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+ target_frame: velodyne
+
+ min_height: -0.6
+ max_height: 1.0
+ range_min: 0.01
+ concurrency_level: 1
+ angle_increment: 0.02616
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+ filter_field_name: x
+ filter_limit_min: 0.01
+ filter_limit_max: 8
+ filter_limit_negative: False
+ leaf_size: 0.1
+
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+
+
diff --git a/cart_endpoints/zed_params/common_front.yaml b/cart_endpoints/zed_params/common_front.yaml
new file mode 100644
index 0000000..9a87fa4
--- /dev/null
+++ b/cart_endpoints/zed_params/common_front.yaml
@@ -0,0 +1,69 @@
+# params/common.yaml
+# Common parameters to Stereolabs ZED and ZED mini cameras
+---
+
+# Dynamic parameters cannot have a namespace
+brightness: 4 # Dynamic
+contrast: 4 # Dynamic
+hue: 0 # Dynamic
+saturation: 4 # Dynamic
+sharpness: 4 # Dynamic
+gamma: 8 # Dynamic - Requires SDK >=v3.1
+auto_exposure_gain: true # Dynamic
+gain: 100 # Dynamic - works only if `auto_exposure_gain` is false
+exposure: 100 # Dynamic - works only if `auto_exposure_gain` is false
+auto_whitebalance: true # Dynamic
+whitebalance_temperature: 42 # Dynamic - works only if `auto_whitebalance` is false
+depth_confidence: 50 # Dynamic
+depth_texture_conf: 100 # Dynamic
+pub_frame_rate: 30.0 # Dynamic - frequency of publishing of video and depth data
+point_cloud_freq: 10.0 # Dynamic - frequency of the pointcloud publishing (equal or less to `grab_frame_rate` value)
+
+general:
+ camera_name: zed # A name for the camera (can be different from camera model and node name and can be overwritten by the launch file)
+ zed_id: 0
+ serial_number: 0
+ resolution: 2 # '0': HD2K, '1': HD1080, '2': HD720, '3': VGA
+ grab_frame_rate: 30 # Frequency of frame grabbing for internal SDK operations
+ gpu_id: -1
+ base_frame: 'base_link' # must be equal to the frame_id used in the URDF file
+ verbose: false # Enable info message by the ZED SDK
+ svo_compression: 2 # `0`: LOSSLESS, `1`: AVCHD, `2`: HEVC
+ self_calib: true # enable/disable self calibration at starting
+ camera_flip: false
+
+video:
+ img_downsample_factor: 1.0 # Resample factor for images [0.01,1.0] The SDK works with native image sizes, but publishes rescaled image.
+ extrinsic_in_camera_frame: true # if `false` extrinsic parameter in `camera_info` will use ROS native frame (X FORWARD, Z UP) instead of the camera frame (Z FORWARD, Y DOWN) [`true` use old behavior as for version < v3.1]
+
+depth:
+ quality: 3 # '0': NONE, '1': PERFORMANCE, '2': QUALITY, '3': ULTRA
+ sensing_mode: 0 # '0': STANDARD, '1': FILL (not use FILL for robotic applications)
+ depth_stabilization: 1 # `0`: disabled, `1`: enabled
+ openni_depth_mode: false # 'false': 32bit float meters, 'true': 16bit uchar millimeters
+ depth_downsample_factor: 1.0 # Resample factor for depth data matrices [0.01,1.0] The SDK works with native data sizes, but publishes rescaled matrices (depth map, point cloud, ...)
+
+pos_tracking:
+ pos_tracking_enabled: true # True to enable positional tracking from start
+ publish_tf: false # publish `odom -> base_link` TF
+ publish_map_tf: false # publish `map -> odom` TF
+ map_frame: 'map' # main frame
+ odometry_frame: 'odom' # odometry frame
+ area_memory_db_path: 'zed_area_memory.area' # file loaded when the node starts to restore the "known visual features" map.
+ save_area_memory_db_on_exit: false # save the "known visual features" map when the node is correctly closed to the path indicated by `area_memory_db_path`
+ area_memory: true # Enable to detect loop closure
+ 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 `base_frame` -> [X, Y, Z, R, P, Y]
+ init_odom_with_first_valid_pose: true # Enable to initialize the odometry with the first valid pose
+ path_pub_rate: 2.0 # 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
+ fixed_z_value: 0.00 # Value to be used for Z coordinate if `two_d_mode` is true
+
+mapping:
+ mapping_enabled: false # True to enable mapping and fused point cloud pubblication
+ resolution: 0.05 # maps resolution in meters [0.01f, 0.2f]
+ max_mapping_range: -1 # maximum depth range while mapping in meters (-1 for automatic calculation) [2.0, 20.0]
+ fused_pointcloud_freq: 1.0 # frequency of the publishing of the fused colored point cloud
+
+
diff --git a/cart_endpoints/zed_params/common_passenger.yaml b/cart_endpoints/zed_params/common_passenger.yaml
new file mode 100644
index 0000000..916e1f2
--- /dev/null
+++ b/cart_endpoints/zed_params/common_passenger.yaml
@@ -0,0 +1,69 @@
+# params/common.yaml
+# Common parameters to Stereolabs ZED and ZED mini cameras
+---
+
+# Dynamic parameters cannot have a namespace
+brightness: 4 # Dynamic
+contrast: 4 # Dynamic
+hue: 0 # Dynamic
+saturation: 4 # Dynamic
+sharpness: 4 # Dynamic
+gamma: 8 # Dynamic - Requires SDK >=v3.1
+auto_exposure_gain: true # Dynamic
+gain: 100 # Dynamic - works only if `auto_exposure_gain` is false
+exposure: 100 # Dynamic - works only if `auto_exposure_gain` is false
+auto_whitebalance: true # Dynamic
+whitebalance_temperature: 42 # Dynamic - works only if `auto_whitebalance` is false
+depth_confidence: 50 # Dynamic
+depth_texture_conf: 100 # Dynamic
+pub_frame_rate: 30.0 # Dynamic - frequency of publishing of video and depth data
+point_cloud_freq: 1.0 # Dynamic - frequency of the pointcloud publishing (equal or less to `grab_frame_rate` value)
+
+general:
+ camera_name: zed # A name for the camera (can be different from camera model and node name and can be overwritten by the launch file)
+ zed_id: 0
+ serial_number: 0
+ resolution: 2 # '0': HD2K, '1': HD1080, '2': HD720, '3': VGA
+ grab_frame_rate: 30 # Frequency of frame grabbing for internal SDK operations
+ gpu_id: -1
+ base_frame: 'base_link' # must be equal to the frame_id used in the URDF file
+ verbose: false # Enable info message by the ZED SDK
+ svo_compression: 2 # `0`: LOSSLESS, `1`: AVCHD, `2`: HEVC
+ self_calib: true # enable/disable self calibration at starting
+ camera_flip: false
+
+video:
+ img_downsample_factor: 1.0 # Resample factor for images [0.01,1.0] The SDK works with native image sizes, but publishes rescaled image.
+ extrinsic_in_camera_frame: true # if `false` extrinsic parameter in `camera_info` will use ROS native frame (X FORWARD, Z UP) instead of the camera frame (Z FORWARD, Y DOWN) [`true` use old behavior as for version < v3.1]
+
+depth:
+ quality: 3 # '0': NONE, '1': PERFORMANCE, '2': QUALITY, '3': ULTRA
+ sensing_mode: 0 # '0': STANDARD, '1': FILL (not use FILL for robotic applications)
+ depth_stabilization: 1 # `0`: disabled, `1`: enabled
+ openni_depth_mode: false # 'false': 32bit float meters, 'true': 16bit uchar millimeters
+ depth_downsample_factor: 1.0 # Resample factor for depth data matrices [0.01,1.0] The SDK works with native data sizes, but publishes rescaled matrices (depth map, point cloud, ...)
+
+pos_tracking:
+ pos_tracking_enabled: true # True to enable positional tracking from start
+ publish_tf: false # publish `odom -> base_link` TF
+ publish_map_tf: false # publish `map -> odom` TF
+ map_frame: 'map' # main frame
+ odometry_frame: 'odom' # odometry frame
+ area_memory_db_path: 'zed_area_memory.area' # file loaded when the node starts to restore the "known visual features" map.
+ save_area_memory_db_on_exit: false # save the "known visual features" map when the node is correctly closed to the path indicated by `area_memory_db_path`
+ area_memory: true # Enable to detect loop closure
+ 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 `base_frame` -> [X, Y, Z, R, P, Y]
+ init_odom_with_first_valid_pose: true # Enable to initialize the odometry with the first valid pose
+ path_pub_rate: 2.0 # 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
+ fixed_z_value: 0.00 # Value to be used for Z coordinate if `two_d_mode` is true
+
+mapping:
+ mapping_enabled: false # True to enable mapping and fused point cloud pubblication
+ resolution: 0.05 # maps resolution in meters [0.01f, 0.2f]
+ max_mapping_range: -1 # maximum depth range while mapping in meters (-1 for automatic calculation) [2.0, 20.0]
+ fused_pointcloud_freq: 1.0 # frequency of the publishing of the fused colored point cloud
+
+
diff --git a/cart_endpoints/zed_params/zed2i_front.yaml b/cart_endpoints/zed_params/zed2i_front.yaml
new file mode 100644
index 0000000..9465a88
--- /dev/null
+++ b/cart_endpoints/zed_params/zed2i_front.yaml
@@ -0,0 +1,34 @@
+# params/zed2i.yaml
+# Parameters for Stereolabs ZED2 camera
+---
+
+general:
+ camera_model: 'zed2i'
+ resolution: 2 # '0': HD2K, '1': HD1080, '2': HD720, '3': VGA
+ grab_frame_rate: 15 # Frequency of frame grabbing for internal SDK operations
+
+depth:
+ min_depth: 0.7 # Min: 0.2, Max: 3.0 - Default 0.7 - Note: reducing this value wil require more computational power and GPU memory
+ max_depth: 40.0 # Max: 40.0
+
+pos_tracking:
+ imu_fusion: false # enable/disable IMU fusion. When set to false, only the optical odometry will be used.
+ pos_tracking_enabled: false # we are adding this feild as a test to see if pose tracking can be published from here
+
+sensors:
+ sensors_timestamp_sync: false # Synchronize Sensors messages timestamp with latest received frame
+ publish_imu_tf: false # publish `IMU -> _left_camera_frame` TF
+
+object_detection:
+ od_enabled: true # True to enable Object Detection [only ZED 2]
+ model: 0 # '0': MULTI_CLASS_BOX - '1': MULTI_CLASS_BOX_ACCURATE - '2': HUMAN_BODY_FAST - '3': HUMAN_BODY_ACCURATE
+ confidence_threshold: 40 # Minimum value of the detection confidence of an object [0,100] initially set to 50
+ max_range: 10. # Maximum detection range default range: 15
+ object_tracking_enabled: true # Enable/disable the tracking of the detected objects
+ body_fitting: true # Enable/disable body fitting for 'HUMAN_BODY_FAST' and 'HUMAN_BODY_ACCURATE' models
+ mc_people: true # Enable/disable the detection of persons for 'MULTI_CLASS_BOX' and 'MULTI_CLASS_BOX_ACCURATE' models
+ mc_vehicle: true # Enable/disable the detection of vehicles for 'MULTI_CLASS_BOX' and 'MULTI_CLASS_BOX_ACCURATE' models
+ mc_bag: true # Enable/disable the detection of bags for 'MULTI_CLASS_BOX' and 'MULTI_CLASS_BOX_ACCURATE' models
+ mc_animal: true # Enable/disable the detection of animals for 'MULTI_CLASS_BOX' and 'MULTI_CLASS_BOX_ACCURATE' models
+ mc_electronics: true # Enable/disable the detection of electronic devices for 'MULTI_CLASS_BOX' and 'MULTI_CLASS_BOX_ACCURATE' models
+ mc_fruit_vegetable: true # Enable/disable the detection of fruits and vegetables for 'MULTI_CLASS_BOX' and 'MULTI_CLASS_BOX_ACCURATE' models
diff --git a/cart_endpoints/zed_params/zed2i_passenger.yaml b/cart_endpoints/zed_params/zed2i_passenger.yaml
new file mode 100644
index 0000000..185f05e
--- /dev/null
+++ b/cart_endpoints/zed_params/zed2i_passenger.yaml
@@ -0,0 +1,34 @@
+# params/zed2i.yaml
+# Parameters for Stereolabs ZED2 camera
+---
+
+general:
+ camera_model: 'zed2i'
+ resolution: 2 # '0': HD2K, '1': HD1080, '2': HD720, '3': VGA
+ grab_frame_rate: 15 # Frequency of frame grabbing for internal SDK operations
+
+depth:
+ min_depth: 0..3 # Min: 0.2, Max: 3.0 - Default 0.7 - Note: reducing this value wil require more computational power and GPU memory
+ max_depth: 40.0 # Max: 40.0
+
+pos_tracking:
+ imu_fusion: false # enable/disable IMU fusion. When set to false, only the optical odometry will be used.
+ pos_tracking_enabled: false # we are adding this feild as a test to see if pose tracking can be published from here
+
+sensors:
+ sensors_timestamp_sync: false # Synchronize Sensors messages timestamp with latest received frame
+ publish_imu_tf: false # publish `IMU -> _left_camera_frame` TF
+
+object_detection:
+ od_enabled: false # True to enable Object Detection [only ZED 2]
+ model: 0 # '0': MULTI_CLASS_BOX - '1': MULTI_CLASS_BOX_ACCURATE - '2': HUMAN_BODY_FAST - '3': HUMAN_BODY_ACCURATE
+ confidence_threshold: 40 # Minimum value of the detection confidence of an object [0,100] initially set to 50
+ max_range: 10. # Maximum detection range default range: 15
+ object_tracking_enabled: true # Enable/disable the tracking of the detected objects
+ body_fitting: true # Enable/disable body fitting for 'HUMAN_BODY_FAST' and 'HUMAN_BODY_ACCURATE' models
+ mc_people: true # Enable/disable the detection of persons for 'MULTI_CLASS_BOX' and 'MULTI_CLASS_BOX_ACCURATE' models
+ mc_vehicle: true # Enable/disable the detection of vehicles for 'MULTI_CLASS_BOX' and 'MULTI_CLASS_BOX_ACCURATE' models
+ mc_bag: true # Enable/disable the detection of bags for 'MULTI_CLASS_BOX' and 'MULTI_CLASS_BOX_ACCURATE' models
+ mc_animal: true # Enable/disable the detection of animals for 'MULTI_CLASS_BOX' and 'MULTI_CLASS_BOX_ACCURATE' models
+ mc_electronics: true # Enable/disable the detection of electronic devices for 'MULTI_CLASS_BOX' and 'MULTI_CLASS_BOX_ACCURATE' models
+ mc_fruit_vegetable: true # Enable/disable the detection of fruits and vegetables for 'MULTI_CLASS_BOX' and 'MULTI_CLASS_BOX_ACCURATE' models
diff --git a/run.sh b/run.sh
index 088256a..f679adb 100755
--- a/run.sh
+++ b/run.sh
@@ -36,7 +36,7 @@ wait
# Zed camera launch all new
echo "Launching Zed camera nodes"
#gnome-terminal --tab -e 'sh -c "cd ~; roslaunch zed_wrapper jacart_multi_cam.launch node_name_2:=passenger camera_name_2:=passenger_cam node_name_1:=front camera_name_1:=front_cam; exec bash"'
-gnome-terminal --tab -e 'sh -c "cd ~; roslaunch zed_wrapper jacart_multi_cam.launch; exec bash"'
+gnome-terminal --tab -e 'sh -c "cd ~; roslaunch cart_endpoints jacart_multi_cam.launch; exec bash"'
sleep 4
# end new Zed launch