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Feat yaml params (SDK v2.8) (stereolabs#362)
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* Moved parameters from launch files to YAML files. This makes them clearer and unifies parameters between different launch files.
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@Myzhar @adujardin
Myzhar authored and adujardin committed Apr 19, 2019
1 parent 111725a commit de035d3
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Showing 39 changed files with 2,296 additions and 1,450 deletions.
36 changes: 9 additions & 27 deletions examples/zed_ar_track_alvar_example/launch/zed_ar_track_alvar.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -17,40 +17,22 @@ THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-->
<launch>
<arg name="zed_namespace" default="zed" />
<arg name="zed_namespace" default="zed" />

<arg name="svo_file" default="" /> <!-- <arg name="svo_file" default="path/to/svo/file.svo"> -->

<arg name="camera_model" default="1" />
<arg name="serial_number" default="0" />
<arg name="verbose" default="true" />
<arg name="resolution" default="2" /> <!--0=RESOLUTION_HD2K, 1=RESOLUTION_HD1080, 2=RESOLUTION_HD720, 3=RESOLUTION_VGA -->
<arg name="frame_rate" default="30" />
<!-- RESOLUTION_HD2K -> 2208*1242, available framerates: 15 fps.
RESOLUTION_HD1080 -> 1920*1080, available framerates: 15, 30 fps.
RESOLUTION_HD720 -> 1280*720, available framerates: 15, 30, 60 fps.
RESOLUTION_VGA -> 672*376, available framerates: 15, 30, 60, 100 fps. -->

<arg name="cam_image_topic" default="rgb/image_rect_color" />
<arg name="cam_info_topic" default="rgb/camera_info" />
<arg name="camera_frame" default="zed_left_camera_frame" />
<arg name="zed_node_name" default="zed_node" />
<arg name="camera_model" default="zedm" />

<group ns="$(arg zed_namespace)">
<!-- Pre configured RVIZ -->
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find zed_ar_track_alvar_example)/rviz/zed_ar_track_alvar_example.rviz" output="screen"/>

<!-- ZED Wrapper Node-->
<include file="$(find zed_wrapper)/launch/zed_camera.launch">
<arg name="svo_file" value="$(arg svo_file)" />
<arg name="camera_model" value="$(arg camera_model)" />
<arg name="serial_number" value="$(arg serial_number)" />
<arg name="resolution" value="$(arg resolution)" />
<arg name="frame_rate" value="$(arg frame_rate)" />
<arg name="verbose" value="$(arg verbose)" />

<arg name="rgb_topic" value="$(arg cam_image_topic)" />
<arg name="rgb_info_topic" value="$(arg cam_info_topic)" />
<arg name="left_camera_frame" value="$(arg camera_frame)" />
<arg name="svo_file" value="$(arg svo_file)" />
<arg name="node_name" value="$(arg zed_node_name)" />
<arg name="camera_model" value="$(arg camera_model)" />
</include>

<!-- ar_track_alvar Node -->
Expand All @@ -62,10 +44,10 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
<param name="marker_size" type="double" value="$(arg marker_size)" />
<param name="max_new_marker_error" type="double" value="$(arg max_new_marker_error)" />
<param name="max_track_error" type="double" value="$(arg max_track_error)" />
<param name="output_frame" type="string" value="$(arg camera_frame)" />
<param name="output_frame" type="string" value="zed_left_camera_frame" />

<remap from="camera_image" to="$(arg cam_image_topic)" />
<remap from="camera_info" to="$(arg cam_info_topic)" />
<remap from="camera_image" to="$(arg zed_node_name)/rgb/image_rect_color" />
<remap from="camera_info" to="$(arg zed_node_name)/rgb/camera_info" />
</node>
</group>
</launch>
96 changes: 40 additions & 56 deletions examples/zed_ar_track_alvar_example/rviz/zed_ar_track_alvar_example.rviz
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Expand Up @@ -5,12 +5,9 @@ Panels:
Property Tree Widget:
Expanded:
- /Global Options1
- /TF1
- /Camera Model1/Status1
- /TF1/Frames1
- /Left Camera1/Visibility1
- /Pose1
- /Tags1
- /Left Image1
Splitter Ratio: 0.483870953
Tree Height: 853
- Class: rviz/Selection
Expand Down Expand Up @@ -63,7 +60,7 @@ Visualization Manager:
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
imu_link:
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Expand All @@ -72,6 +69,10 @@ Visualization Manager:
Show Axes: false
Show Trail: false
Value: true
zed_imu_link:
Alpha: 1
Show Axes: false
Show Trail: false
zed_left_camera_frame:
Alpha: 1
Show Axes: false
Expand Down Expand Up @@ -103,33 +104,25 @@ Visualization Manager:
Value: true
ar_marker_1:
Value: true
ar_marker_14:
Value: true
ar_marker_144:
Value: true
ar_marker_192:
Value: true
ar_marker_2:
Value: true
ar_marker_3:
Value: true
ar_marker_4:
Value: true
ar_marker_48:
Value: true
ar_marker_5:
Value: true
ar_marker_6:
Value: true
ar_marker_64:
Value: true
ar_marker_7:
Value: true
ar_marker_8:
Value: true
ar_marker_80:
ar_marker_96:
Value: true
ar_marker_9:
base_link:
Value: true
map:
Value: true
Expand All @@ -153,50 +146,41 @@ Visualization Manager:
Tree:
map:
odom:
zed_camera_center:
zed_left_camera_frame:
zed_left_camera_optical_frame:
ar_marker_0:
{}
ar_marker_1:
{}
ar_marker_14:
{}
ar_marker_144:
{}
ar_marker_192:
{}
ar_marker_2:
{}
ar_marker_3:
{}
ar_marker_4:
{}
ar_marker_48:
{}
ar_marker_5:
{}
ar_marker_6:
{}
ar_marker_64:
{}
ar_marker_7:
{}
ar_marker_8:
{}
ar_marker_80:
{}
ar_marker_9:
base_link:
zed_camera_center:
zed_left_camera_frame:
zed_left_camera_optical_frame:
ar_marker_0:
{}
ar_marker_1:
{}
ar_marker_144:
{}
ar_marker_2:
{}
ar_marker_3:
{}
ar_marker_4:
{}
ar_marker_5:
{}
ar_marker_6:
{}
ar_marker_7:
{}
ar_marker_8:
{}
ar_marker_96:
{}
zed_right_camera_frame:
zed_right_camera_optical_frame:
{}
zed_right_camera_frame:
zed_right_camera_optical_frame:
{}
Update Interval: 0
Value: true
- Class: rviz/Camera
Enabled: true
Image Rendering: background and overlay
Image Topic: /zed/left/image_rect_color
Image Topic: /zed/zed_node/left/image_rect_color
Name: Left Camera
Overlay Alpha: 0.25
Queue Size: 1
Expand Down Expand Up @@ -224,7 +208,7 @@ Visualization Manager:
Shaft Length: 1
Shaft Radius: 0.0500000007
Shape: Axes
Topic: /zed/pose
Topic: /zed/zed_node/pose
Unreliable: false
Value: true
- Class: rviz/Marker
Expand All @@ -237,7 +221,7 @@ Visualization Manager:
Value: true
- Class: rviz/Image
Enabled: true
Image Topic: /zed/left/image_rect_color
Image Topic: /zed/zed_node/left/image_rect_color
Max Value: 1
Median window: 5
Min Value: 0
Expand Down Expand Up @@ -312,5 +296,5 @@ Window Geometry:
Views:
collapsed: false
Width: 1855
X: 1985
X: 65
Y: 24
29 changes: 7 additions & 22 deletions examples/zed_nodelet_example/launch/zed_nodelet_laserscan.launch
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Expand Up @@ -19,22 +19,10 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
<launch>
<arg name="svo_file" default=""/>

<!-- Coordinate frame -->
<arg name="camera_model" default="0" /> <!-- 0=ZED, 1=ZEDM-->
<arg name="serial_number" default="0" />
<arg name="verbose" default="true" />

<arg name="left_camera_frame" default="zed_left_camera_frame" />
<arg name="depth_topic" default="depth/depth_registered" />

<arg name="resolution" default="2" /> <!--0=RESOLUTION_HD2K, 1=RESOLUTION_HD1080, 2=RESOLUTION_HD720, 3=RESOLUTION_VGA -->
<arg name="frame_rate" default="30" />
<!-- RESOLUTION_HD2K -> 2208*1242, available framerates: 15 fps.
RESOLUTION_HD1080 -> 1920*1080, available framerates: 15, 30 fps.
RESOLUTION_HD720 -> 1280*720, available framerates: 15, 30, 60 fps.
RESOLUTION_VGA -> 672*376, available framerates: 15, 30, 60, 100 fps. -->

<arg name="nodelet_manager_name" default="zed_nodelet_manager" />
<arg name="zed_node_name" default="zed_node" />
<arg name="camera_model" default="zedm" /> <!-- 0=ZED, 1=ZEDM-->

<arg name="nodelet_manager_name" default="zed_nodelet_manager" />

<group ns="zed">
<!-- Nodelet Manager -->
Expand All @@ -45,19 +33,16 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
<arg name="svo_file" value="$(arg svo_file)"/>
<arg name="nodelet_manager_name" value="$(arg nodelet_manager_name)" />
<arg name="camera_model" value="$(arg camera_model)" />
<arg name="serial_number" value="$(arg serial_number)" />
<arg name="resolution" value="$(arg resolution)" />
<arg name="frame_rate" value="$(arg frame_rate)" />
<arg name="verbose" value="$(arg verbose)" />
<arg name="node_name" value="$(arg zed_node_name)" />
</include>

<!-- Virtual laser scan as nodelet -->
<!-- "$ sudo apt install ros-kinetic-depthimage-to-laserscan" -->
<node pkg="nodelet" type="nodelet" name="depthimage_to_laserscan" args="load depthimage_to_laserscan/DepthImageToLaserScanNodelet zed_nodelet_manager">
<param name="scan_height" value="10"/>
<param name="output_frame_id" value="$(arg left_camera_frame)"/>
<param name="output_frame_id" value="zed_left_camera_frame"/>
<param name="range_min" value="0.45"/>
<remap from="image" to="$(arg depth_topic)"/>
<remap from="image" to="$(arg zed_node_name)/depth/depth_registered"/>
</node>

</group>
Expand Down
57 changes: 18 additions & 39 deletions examples/zed_rtabmap_example/launch/zed_rtabmap.launch
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Expand Up @@ -19,54 +19,33 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
<launch>
<arg name="zed_namespace" default="zed" />

<arg name="svo_file" default="" /> <!-- <arg name="svo_file" default="path/to/svo/file.svo"> -->
<arg name="svo_file" default="" /> <!-- <arg name="svo_file" default="path/to/svo/file.svo"> -->

<arg name="camera_model" default="1" /> <!-- 0=ZED, 1=ZEDM-->
<arg name="serial_number" default="0" />
<arg name="verbose" default="true" />
<arg name="resolution" default="2" /> <!--0=RESOLUTION_HD2K, 1=RESOLUTION_HD1080, 2=RESOLUTION_HD720, 3=RESOLUTION_VGA -->
<arg name="frame_rate" default="30" />
<!-- RESOLUTION_HD2K -> 2208*1242, available framerates: 15 fps.
RESOLUTION_HD1080 -> 1920*1080, available framerates: 15, 30 fps.
RESOLUTION_HD720 -> 1280*720, available framerates: 15, 30, 60 fps.
RESOLUTION_VGA -> 672*376, available framerates: 15, 30, 60, 100 fps. -->

<arg name="rgb_topic" default="rgb/image_rect_color" />
<arg name="depth_topic" default="depth/depth_registered" />
<arg name="camera_info_topic" default="rgb/camera_info" />
<arg name="depth_camera_info_topic" default="depth/camera_info" />
<arg name="camera_frame" default="zed_camera_center" />
<arg name="zed_node_name" default="zed_node" />
<arg name="camera_model" default="zedm" /> <!-- 'zed' or 'zedm' -->
<arg name="publish_urdf" default="true" />

<group ns="$(arg zed_namespace)">
<!-- ZED Wrapper Node-->
<include file="$(find zed_wrapper)/launch/zed_camera.launch">
<arg name="svo_file" value="$(arg svo_file)" />
<arg name="camera_model" value="$(arg camera_model)" />
<arg name="serial_number" value="$(arg serial_number)" />
<arg name="resolution" value="$(arg resolution)" />
<arg name="frame_rate" value="$(arg frame_rate)" />
<arg name="verbose" value="$(arg verbose)" />

<arg name="rgb_topic" value="$(arg rgb_topic)" />
<arg name="depth_topic" value="$(arg depth_topic)" />
<arg name="rgb_info_topic" value="$(arg camera_info_topic)" />
<arg name="depth_cam_info_topic" value="$(arg depth_camera_info_topic)" />
<arg name="base_frame" value="$(arg camera_frame)" />

<arg name="publish_map_tf" value="false" />
<arg name="svo_file" value="$(arg svo_file)" />
<arg name="node_name" value="$(arg zed_node_name)" />
<arg name="camera_model" value="$(arg camera_model)" />
<arg name="publish_urdf" value="$(arg publish_urdf)" />
</include>
</group>

<!-- RTAB-map Node-->
<include file="$(find rtabmap_ros)/launch/rtabmap.launch">
<arg name="rtabmap_args" value="--delete_db_on_start" />
<arg name="rgb_topic" value="/$(arg zed_namespace)/$(arg rgb_topic)" />
<arg name="depth_topic" value="/$(arg zed_namespace)/$(arg depth_topic)" />
<arg name="camera_info_topic" value="/$(arg zed_namespace)/$(arg camera_info_topic)" />
<arg name="depth_camera_info_topic" value="/$(arg zed_namespace)/$(arg depth_camera_info_topic)" />
<arg name="frame_id" value="$(arg camera_frame)" />
<arg name="approx_sync" value="false" />
<arg name="visual_odometry" value="false" />
<arg name="odom_topic" value="/$(arg zed_namespace)/odom" />
<arg name="rtabmap_args" value="--delete_db_on_start" />
<arg name="rgb_topic" value="/$(arg zed_namespace)/$(arg zed_node_name)/rgb/image_rect_color" />
<arg name="depth_topic" value="/$(arg zed_namespace)/$(arg zed_node_name)/depth/depth_registered" />
<arg name="camera_info_topic" value="/$(arg zed_namespace)/$(arg zed_node_name)/rgb/camera_info" />
<arg name="depth_camera_info_topic" value="/$(arg zed_namespace)/$(arg zed_node_name)/depth/camera_info" />
<arg name="frame_id" value="base_link" />
<arg name="approx_sync" value="false" />
<arg name="visual_odometry" value="false" />
<arg name="odom_topic" value="/$(arg zed_namespace)/$(arg zed_node_name)/odom" />
<arg name="rviz" value="true" />
</include>
</launch>
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2 changes: 1 addition & 1 deletion tutorials/zed_depth_sub_tutorial/src/zed_depth_sub_tutorial.cpp
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Expand Up @@ -84,7 +84,7 @@ int main(int argc, char** argv) {
* is the number of messages that will be buffered up before beginning to throw
* away the oldest ones.
*/
ros::Subscriber subDepth = n.subscribe("/zed/depth/depth_registered", 10, depthCallback);
ros::Subscriber subDepth = n.subscribe("/zed/zed_node/depth/depth_registered", 10, depthCallback);


/**
Expand Down
4 changes: 2 additions & 2 deletions tutorials/zed_tracking_sub_tutorial/src/zed_tracking_sub_tutorial.cpp
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Expand Up @@ -131,8 +131,8 @@ int main(int argc, char** argv) {
* is the number of messages that will be buffered up before beginning to throw
* away the oldest ones.
*/
ros::Subscriber subOdom = n.subscribe("/zed/odom", 10, odomCallback);
ros::Subscriber subPose = n.subscribe("/zed/pose", 10, poseCallback);
ros::Subscriber subOdom = n.subscribe("/zed/zed_node/odom", 10, odomCallback);
ros::Subscriber subPose = n.subscribe("/zed/zed_node/pose", 10, poseCallback);

/**
* ros::spin() will enter a loop, pumping callbacks. With this version, all
Expand Down
6 changes: 4 additions & 2 deletions tutorials/zed_video_sub_tutorial/src/zed_video_sub_tutorial.cpp
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Expand Up @@ -76,8 +76,10 @@ int main(int argc, char** argv) {
* is the number of messages that will be buffered up before beginning to throw
* away the oldest ones.
*/
ros::Subscriber subRightRectified = n.subscribe("/zed/right/image_rect_color", 10, imageRightRectifiedCallback);
ros::Subscriber subLeftRectified = n.subscribe("/zed/left/image_rect_color", 10, imageLeftRectifiedCallback);
ros::Subscriber subRightRectified = n.subscribe("/zed/zed_node/right/image_rect_color", 10,
imageRightRectifiedCallback);
ros::Subscriber subLeftRectified = n.subscribe("/zed/zed_node/left/image_rect_color", 10,
imageLeftRectifiedCallback);

/**
* ros::spin() will enter a loop, pumping callbacks. With this version, all
Expand Down
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