Foxy-v3.6.x

v3.6.x (2021-12-03)

• Moved the zed_interfaces package to the zed-ros2-interfaces repository to match the same configuration of the ROS1 wrapper
• The zed-ros2-interfaces repository has been added as a sub-module to this repository
• Add new _base_link frame on the base of the camera to easily handle camera positioning on robots. Thx @civerachb-cpr
• Improve URDF by adding 3° slope for ZED and ZED2, X-offset for optical frames to correctly match the CMOS sensors position on the PCB, X-offset for mounting screw on ZED2i
• Add zed_macro.urdf.xacro to be included by other xacro file to easily integrate ZED cameras in the robot descriptions. See ROS1 PR #771 for details. Thx @civerachb-cpr
• Fix URDF height value for ZED, ZED2 and ZED2i
• Fix performances drop on slower platforms. Thx @roncapat
• Fix SVO LOOP wrong behavior. Thx @kevinanschau
• Add xacro support for automatic URDF configuration
• Reworked launch files to support xacro and launch parameters
  • Use ros2 launch zed_wrapper <launch_file> -s to retrieve all the available parameters
• Add svo_path:=<full path to SVO file> as input for all the launch files to start the node using an SVO as input without modifying 'common.yaml`
• Improved diagnostic information adding elaboration time on all the main tasks
• Improved diagnostic time and frequencies calculation
• Added StopWatch to sl_tools
• Enabled Diagnostic status publishing
• Changed the default values of the QoS parameter reliability for all topics from BEST_EFFORT to RELIABLE to guarantee compatibility with all ROS2 tools
• Fixed tab error in zedm.yaml
• Fixed compatibility issue with ZED SDK older than v3.5 - Thanks @PhilippPolterauer
• Migration to ROS2 Foxy Fitzroy