Compatible with ZED SDK 4.0 and ROS2 humble.
Simplified alternative to https://github.com/stereolabs/zed-ros2-wrapper with a focus on image acquisition only.
Other additional features:
- ros parameters for AEC_AGC_ROI (exposure ROI)
- timerless grab thread
- publisher for raw intrinsics (see below)
- (optional) publish device information, such as serial numbers, as transient_local topic
If raw image publishing is enabled via general.publish_raw, the raw calibration parameters are published to (left|right)/camera_info_raw.
This is done to avoid incompatibilities with common ROS image tools, which often assume camera_info to be in the same namespace as an image (i.e. image_rect).
If you want to use the raw camera info in your image processing node, remap camera_info_raw:=camera_info and camera_info:=camera_info_rect in your instance of zed_acquisition::ZedCamera.