From c35662d7a092a496e58d60a005a550f98e23ac13 Mon Sep 17 00:00:00 2001 From: Walter Lucetti Date: Wed, 20 Nov 2024 16:03:48 +0100 Subject: [PATCH 1/3] Fix launch file for Foxy --- zed_wrapper/config/zedxone4k.yaml | 4 ++-- zed_wrapper/config/zedxonegs.yaml | 2 +- zed_wrapper/launch/zed_camera.launch.py | 9 ++++++++- 3 files changed, 11 insertions(+), 4 deletions(-) diff --git a/zed_wrapper/config/zedxone4k.yaml b/zed_wrapper/config/zedxone4k.yaml index 58ceda8e..bc6095eb 100644 --- a/zed_wrapper/config/zedxone4k.yaml +++ b/zed_wrapper/config/zedxone4k.yaml @@ -6,8 +6,8 @@ general: camera_model: 'zedxone4k' camera_name: 'zedxone4k' # usually overwritten by launch file - grab_resolution: 'QHDPLUS' # The native camera grab resolution. 'HD1200', 'QHDPLUS', 'HD1080', 'SVGA', 'AUTO' - grab_frame_rate: 30 # ZED SDK internal grabbing rate (HD1200/HD1080: 60, 30, 15 - SVGA: 120, 60, 30, 15) + grab_resolution: 'QHDPLUS' # The native camera grab resolution. 'HD4K', 'HD1200', 'QHDPLUS', 'HD1080', 'SVGA', 'AUTO' + grab_frame_rate: 30 # ZED SDK internal grabbing rate (HD4K/QHDPLUS: 15 - HD1200/HD1080: 60, 30, 15 - SVGA: 120, 60, 30, 15) video: enable_hdr: false # When set to true, the camera will be set in HDR mode if the camera model and resolution allows it diff --git a/zed_wrapper/config/zedxonegs.yaml b/zed_wrapper/config/zedxonegs.yaml index c43323d8..79e48cde 100644 --- a/zed_wrapper/config/zedxonegs.yaml +++ b/zed_wrapper/config/zedxonegs.yaml @@ -1,5 +1,5 @@ # config/zedxonegs.yaml -# Parameters for Stereolabs ZED X One 4K camera +# Parameters for Stereolabs ZED X One GS camera --- /**: ros__parameters: diff --git a/zed_wrapper/launch/zed_camera.launch.py b/zed_wrapper/launch/zed_camera.launch.py index fe54449f..fda48e84 100644 --- a/zed_wrapper/launch/zed_camera.launch.py +++ b/zed_wrapper/launch/zed_camera.launch.py @@ -234,11 +234,18 @@ def launch_setup(context, *args, **kwargs): ) # ROS 2 Component Container + distro = os.environ['ROS_DISTRO'] + if distro == 'foxy': + # Foxy does not support the isolated mode + container_exec='component_container' + else: + container_exec='component_container_isolated' + zed_container = ComposableNodeContainer( name='zed_container', namespace=camera_name_val, package='rclcpp_components', - executable='component_container_isolated', + executable=container_exec, composable_node_descriptions=[ zed_wrapper_component ], From 3163c62b584b67d2e8c276c010484fec5267b024 Mon Sep 17 00:00:00 2001 From: Walter Lucetti Date: Thu, 21 Nov 2024 20:08:15 +0100 Subject: [PATCH 2/3] Update submodule --- zed-ros2-interfaces | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/zed-ros2-interfaces b/zed-ros2-interfaces index 7a914e4b..c38c2c73 160000 --- a/zed-ros2-interfaces +++ b/zed-ros2-interfaces @@ -1 +1 @@ -Subproject commit 7a914e4b787440f2e00d2ae1ed237645675ac019 +Subproject commit c38c2c73b6e976548c9d4b19964b6b632f7ca181 From 4d423eba3c9727792c71fc077e548713ef767f7d Mon Sep 17 00:00:00 2001 From: Walter Lucetti Date: Thu, 21 Nov 2024 20:09:05 +0100 Subject: [PATCH 3/3] Minor fix --- zed_wrapper/launch/zed_camera.launch.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/zed_wrapper/launch/zed_camera.launch.py b/zed_wrapper/launch/zed_camera.launch.py index fda48e84..01c1bf8e 100644 --- a/zed_wrapper/launch/zed_camera.launch.py +++ b/zed_wrapper/launch/zed_camera.launch.py @@ -223,7 +223,7 @@ def launch_setup(context, *args, **kwargs): parameters=node_parameters, extra_arguments=[{'use_intra_process_comms': True}] ) - else: # 'zedxonegx' or 'zedxone4k') + else: # 'zedxonegs' or 'zedxone4k') zed_wrapper_component = ComposableNode( package='zed_components', namespace=camera_name_val,