Does zed-ros2-wrapper use type adaptation?

In ROS humble there is type adaptation and type negotation that should avoid moving data back to cpu, does zed-ros2-wrapper positional tracking use these features? Thanks!

Hi @tyrellcorp
Welcome to the Stereolabs community.

Could you elaborate more on the ROS 2 Humble feature that you mentioned? It would be helpful if you could provide a link to the relevant ROS 2 documentation. This will help us understand your query accurately and consider adding the feature if it is beneficial and not yet included.

I’ve seen it here:

I’m trying to run some obstacle avoidance code in addition to zed-ros2-wrapper on jetson xavier NX but depth outputs drop below 14 per sec and i need ~30 per sec (720 res)

That is a feature introduced by NVIDIA, not strictly related with the “original” ROS 2 Humble release.
We have not yet studied how to add it to the ZED ROS 2 Wrapper and take advantage of it, but it is surely really interesting and we will work on that in the next few months.

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@tyrellcorp please do not hesitate to share your experience if you decide to try this NVIDIA module.