v4.0.8

v4.0.8

• Remove start_object_detection and stop_object_detection services
• Add enable_object_detection service that takes a bool as parameter to enable/disable the OD module (same behavior as in ROS 2 Wrapper)
• Add parameter 'object_detection/allow_reduced_precision_inference'
• Add parameter 'object_detection/prediction_timeout'
• The parameter 'object_detection/model' is no more an integer, but a string with the full name of the supported OD model
• Add pose and odometry status publishers
• Improve odometry and pose publishing and TF broadcasting
• Add ROS '.clang-format'
• Code refactoring
• Add 'set_roi' and 'reset_roi' services
• Add parameter 'pos_tracking/depth_min_range'
• Add parameter 'pos_tracking/set_as_static'
• Change the parameter 'general/resolution' to 'general/grab_resolution' and replace numeric values with strings
• Add 'general.svo_realtime' parameter
• Change 'general/verbose' to 'general/sdk_verbose'
• Add 'general/region_of_interest' parameter
• Change the parameter 'depth/quality' to 'depth/depth_mode' and replace numeric values with strings
• Improve the behavior of the "NO DEPTH" mode
• Remove the parameters 'depth_downsample_factor' and 'img_downsample_factor'
• Add the parameter 'pub_resolution' and 'pub_downscale_factor'
• Add 'pos_tracking/set_gravity_as_origin' parameter. If 'true' align the positional tracking world to imu gravity measurement. Keep the yaw from the user initial pose.
• Add 'pos_tracking/pos_tracking_mode' parameter. Matches the ZED SDK setting: 'QUALITY', 'STANDARD'
• Fix the warning 'Elaboration takes longer [...]'
• 'pub_frame_rate' now controls the 'InitParameters::grab_compute_capping_fps' parameter of the ZED SDK instead of controlling the frequency of a parallel thread. It's not a Dynamic parameter anymore.
• Change 'general/camera_flip' parameter to string: 'AUTO', 'ON', 'OFF'
• Change 'general/verbose' from bool to integer