Merge pull request #278 from stereolabs/fix_issues_with_foxy

Fix issues with foxy
stereolabs · Nov 21, 2024 · c93a039 · c93a039
2 parents 2330975 + 4d423eb
commit c93a039
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Showing 3 changed files with 12 additions and 5 deletions.
diff --git 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
@@ -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
@@ -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,
@@ -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
             ],