Hi,
I want to use GNSS data for position tracking. Therefore i set the flag “gnss_fusion_enabled” in “stereo_common.yaml” in the ROS2 wrapper to true.
# config/common_stereo.yaml
# Common parameters to Stereolabs ZED Stereo cameras
---
/**:
ros__parameters:
use_sim_time: false # Set to `true` only if there is a publisher for the simulated clock to the `/clock` topic. Normally used in simulation mode.
simulation:
sim_enabled: false # Set to `true` to enable the simulation mode and connect to a simulation server
sim_address: '127.0.0.1' # The connection address of the simulation server. See the documentation of the supported simulation plugins for more information.
sim_port: 30000 # The connection port of the simulation server. See the documentation of the supported simulation plugins for more information.
svo:
use_svo_timestamps: true # Use the SVO timestamps to publish data. If false, data will be published at the system time.
publish_svo_clock: false # [overwritten by launch file options] When use_svo_timestamps is true allows to publish the SVO clock to the `/clock` topic. This is useful for synchronous rosbag playback.
svo_loop: false # Enable loop mode when using an SVO as input source. NOTE: ignored if SVO timestamping is used
svo_realtime: false # if true the SVO will be played trying to respect the original framerate eventually skipping frames, otherwise every frame will be processed respecting the `pub_frame_rate` setting
play_from_frame: 0 # Start playing the SVO from a specific frame
replay_rate: 1.0 # Replay rate for the SVO when not used in realtime mode (between [0.10-5.0])
general:
camera_timeout_sec: 5
camera_max_reconnect: 5
camera_flip: false
self_calib: true # Enable the self-calibration process at camera opening. See https://www.stereolabs.com/docs/api/structsl_1_1InitParameters.html#affeaa06cfc1d849e311e484ceb8edcc5
serial_number: 0 # overwritten by launch file
pub_resolution: 'CUSTOM' # The resolution used for image and depth map publishing. 'NATIVE' to use the same `general.grab_resolution` - `CUSTOM` to apply the `general.pub_downscale_factor` downscale factory to reduce bandwidth in transmission
pub_downscale_factor: 2.0 # rescale factor used to rescale image before publishing when 'pub_resolution' is 'CUSTOM'
pub_frame_rate: 15.0 # frequency of publishing of visual images and depth images
enable_image_validity_check: 1 # [SDK5 required] Sets the image validity check. If set to 1, the SDK will check if the frames are valid before processing.
gpu_id: 0
optional_opencv_calibration_file: '' # Optional path where the ZED SDK can find a file containing the calibration information of the camera computed by OpenCV. Read the ZED SDK documentation for more information: https://www.stereolabs.com/docs/api/structsl_1_1InitParameters.html#a9eab2753374ef3baec1d31960859ba19
async_image_retrieval: false # Enable/disable the asynchronous image retrieval - Note: enable only to improve SVO recording performance
video:
brightness: 4 # [DYNAMIC] Not available for ZED X/ZED X Mini
contrast: 4 # [DYNAMIC] Not available for ZED X/ZED X Mini
hue: 0 # [DYNAMIC] Not available for ZED X/ZED X Mini
saturation: 4 # [DYNAMIC]
sharpness: 4 # [DYNAMIC]
gamma: 8 # [DYNAMIC]
auto_exposure_gain: true # [DYNAMIC]
exposure: 80 # [DYNAMIC]
gain: 80 # [DYNAMIC]
auto_whitebalance: true # [DYNAMIC]
whitebalance_temperature: 42 # [DYNAMIC] - [28,65] x100 - works only if `auto_whitebalance` is false
sensors:
publish_imu_tf: false # [overwritten by launch file options] enable/disable the IMU TF broadcasting
sensors_image_sync: false # Synchronize Sensors messages with latest published video/depth message
sensors_pub_rate: 100. # frequency of publishing of sensors data. MAX: 400. - MIN: grab rate
region_of_interest:
automatic_roi: false # Enable the automatic ROI generation to automatically detect part of the robot in the FoV and remove them from the processing. Note: if enabled the value of `manual_polygon` is ignored
depth_far_threshold_meters: 2.5 # Filtering how far object in the ROI should be considered, this is useful for a vehicle for instance
image_height_ratio_cutoff: 0.5 # By default consider only the lower half of the image, can be useful to filter out the sky
#manual_polygon: '[]' # A polygon defining the ROI where the ZED SDK perform the processing ignoring the rest. Coordinates must be normalized to '1.0' to be resolution independent.
#manual_polygon: '[[0.25,0.33],[0.75,0.33],[0.75,0.5],[0.5,0.75],[0.25,0.5]]' # A polygon defining the ROI where the ZED SDK perform the processing ignoring the rest. Coordinates must be normalized to '1.0' to be resolution independent.
#manual_polygon: '[[0.25,0.25],[0.75,0.25],[0.75,0.75],[0.25,0.75]]' # A polygon defining the ROI where the ZED SDK perform the processing ignoring the rest. Coordinates must be normalized to '1.0' to be resolution independent.
#manual_polygon: '[[0.5,0.25],[0.75,0.5],[0.5,0.75],[0.25,0.5]]' # A polygon defining the ROI where the ZED SDK perform the processing ignoring the rest. Coordinates must be normalized to '1.0' to be resolution independent.
apply_to_depth: true # Apply ROI to depth processing
apply_to_positional_tracking: true # Apply ROI to positional tracking processing
apply_to_object_detection: true # Apply ROI to object detection processing
apply_to_body_tracking: true # Apply ROI to body tracking processing
apply_to_spatial_mapping: true # Apply ROI to spatial mapping processing
depth:
depth_mode: 'NEURAL_LIGHT' # Matches the ZED SDK setting: 'NONE', 'PERFORMANCE', 'QUALITY', 'ULTRA', 'NEURAL', 'NEURAL_PLUS' - Note: if 'NONE' all the modules that requires depth extraction are disabled by default (Pos. Tracking, Obj. Detection, Mapping, ...)
depth_stabilization: 30 # Forces positional tracking to start if major than 0 - Range: [0,100]
openni_depth_mode: false # 'false': 32bit float [meters], 'true': 16bit unsigned int [millimeters]
point_cloud_freq: 15.0 # [DYNAMIC] - frequency of the pointcloud publishing (equal or less to `pub_frame_rate` value)
point_cloud_res: 'COMPACT' # The resolution used for point cloud publishing - 'COMPACT'-Standard resolution. Optimizes processing and bandwidth, 'REDUCED'-Half resolution. Low processing and bandwidth requirements
depth_confidence: 95 # [DYNAMIC]
depth_texture_conf: 100 # [DYNAMIC]
remove_saturated_areas: true # [DYNAMIC]
pos_tracking:
pos_tracking_enabled: true # True to enable positional tracking from start
pos_tracking_mode: 'GEN_2' # Matches the ZED SDK setting: 'GEN_1', 'GEN_2'
imu_fusion: true # enable/disable IMU fusion. When set to false, only the optical odometry will be used.
publish_tf: true # [overwritten by launch file options] publish `odom -> camera_link` TF
publish_map_tf: true # [overwritten by launch file options] publish `map -> odom` TF
map_frame: 'map'
odometry_frame: 'odom'
area_memory_db_path: ''
area_memory: true # Enable to detect loop closure
reset_odom_with_loop_closure: true # Re-initialize odometry to the last valid pose when loop closure happens (reset camera odometry drift)
depth_min_range: 0.0 # Set this value for removing fixed zones of the robot in the FoV of the camerafrom the visual odometry evaluation
set_as_static: false # If 'true' the camera will be static and not move in the environment
set_gravity_as_origin: true # If 'true' align the positional tracking world to imu gravity measurement. Keep the yaw from the user initial pose.
floor_alignment: false # Enable to automatically calculate camera/floor offset
initial_base_pose: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] # Initial position of the `camera_link` frame in the map -> [X, Y, Z, R, P, Y]
path_pub_rate: 2.0 # [DYNAMIC] - Camera trajectory publishing frequency
path_max_count: -1 # use '-1' for unlimited path size
two_d_mode: false # Force navigation on a plane. If true the Z value will be fixed to 'fixed_z_value', roll and pitch to zero
fixed_z_value: 0.00 # Value to be used for Z coordinate if `two_d_mode` is true
transform_time_offset: 0.0 # The value added to the timestamp of `map->odom` and `odom->camera_link` transform being generated
reset_pose_with_svo_loop: true # Reset the camera pose the `initial_base_pose` when the SVO loop is enabled and the SVO playback reaches the end of the file.
gnss_fusion:
gnss_fusion_enabled: true # fuse 'sensor_msg/NavSatFix' message information into pose data
gnss_fix_topic: '/gps/ZED_tracking' # Name of the GNSS topic of type NavSatFix to subscribe [Default: '/gps/fix']
gnss_zero_altitude: false # Set to `true` to ignore GNSS altitude information
h_covariance_mul: 1.0 # Multiplier factor to be applied to horizontal covariance of the received fix (plane X/Y)
v_covariance_mul: 1.0 # Multiplier factor to be applied to vertical covariance of the received fix (Z axis)
publish_utm_tf: false # Publish `utm` -> `map` TF
broadcast_utm_transform_as_parent_frame: false # if 'true' publish `utm` -> `map` TF, otherwise `map` -> `utm`
enable_reinitialization: true # determines whether reinitialization should be performed between GNSS and VIO fusion when a significant disparity is detected between GNSS data and the current fusion data. It becomes particularly crucial during prolonged GNSS signal loss scenarios.
enable_rolling_calibration: true # If this parameter is set to true, the fusion algorithm will used a rough VIO / GNSS calibration at first and then refine it. This allow you to quickly get a fused position.
enable_translation_uncertainty_target: false # When this parameter is enabled (set to true), the calibration process between GNSS and VIO accounts for the uncertainty in the determined translation, thereby facilitating the calibration termination. The maximum allowable uncertainty is controlled by the 'target_translation_uncertainty' parameter.
gnss_vio_reinit_threshold: 5.0 # determines the threshold for GNSS/VIO reinitialization. If the fused position deviates beyond out of the region defined by the product of the GNSS covariance and the gnss_vio_reinit_threshold, a reinitialization will be triggered.
target_translation_uncertainty: 10e-2 # defines the target translation uncertainty at which the calibration process between GNSS and VIO concludes. By default, the threshold is set at 10 centimeters.
target_yaw_uncertainty: 1e-2 # defines the target yaw uncertainty at which the calibration process between GNSS and VIO concludes. The unit of this parameter is in radian. By default, the threshold is set at 0.1 radians.
The topic from my own GPS-node has the name /gps/ZED_tracking and looks as following:
orin@ubuntu:~/NEXT_ros2_ws$ ros2 topic echo /gps/ZED_tracking
header:
stamp:
sec: 1748538538
nanosec: 322010310
frame_id: gps
status:
status: 0
service: 1
latitude: 47.182908243166665
longitude: 9.451345680166666
altitude: 463.0644
position_covariance:
- 4002.207169
- 0.0
- 0.0
- 0.0
- 4002.207169
- 0.0
- 0.0
- 0.0
- 1249.481104
position_covariance_type: 2
---
header:
stamp:
sec: 1748538538
nanosec: 522028629
frame_id: gps
status:
status: 0
service: 1
latitude: 47.18290919616667
longitude: 9.451348274333334
altitude: 463.0489
position_covariance:
- 4002.207169
- 0.0
- 0.0
- 0.0
- 4002.207169
- 0.0
- 0.0
- 0.0
- 1249.481104
position_covariance_type: 2
When I start the ZED node, the output always says: GNSS fusion enabled: FALSE
[component_container_isolated-2] [INFO] [1748538630.497875296] [zed.zed_node]: *** GNSS FUSION parameters ***
[component_container_isolated-2] [INFO] [1748538630.497994305] [zed.zed_node]: * GNSS fusion enabled: FALSE
I also tried to set the flag manually in the launch file, but the the GNSS seems to be enabled, but I get another error:
[robot_state_publisher-1] [INFO] [1748538782.577342466] [zed.zed_state_publisher]: got segment zed_camera_center
[robot_state_publisher-1] [INFO] [1748538782.577743458] [zed.zed_state_publisher]: got segment zed_camera_link
[robot_state_publisher-1] [INFO] [1748538782.577770658] [zed.zed_state_publisher]: got segment zed_left_camera_frame
[robot_state_publisher-1] [INFO] [1748538782.577784226] [zed.zed_state_publisher]: got segment zed_left_camera_optical_frame
[robot_state_publisher-1] [INFO] [1748538782.577794210] [zed.zed_state_publisher]: got segment zed_right_camera_frame
[robot_state_publisher-1] [INFO] [1748538782.577803586] [zed.zed_state_publisher]: got segment zed_right_camera_optical_frame
[component_container_isolated-2] [INFO] [1748538782.838789502] [zed.zed_container]: Load Library: /home/orin/NEXT_ros2_ws/install/zed_components/lib/libzed_camera_component.so
[component_container_isolated-2] [INFO] [1748538782.903762565] [zed.zed_container]: Found class: rclcpp_components::NodeFactoryTemplate<stereolabs::ZedCamera>
[component_container_isolated-2] [INFO] [1748538782.903870533] [zed.zed_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<stereolabs::ZedCamera>
[component_container_isolated-2] [INFO] [1748538782.988522913] [zed.zed_node]: ********************************
[component_container_isolated-2] [INFO] [1748538782.988612929] [zed.zed_node]: ZED Camera Component
[component_container_isolated-2] [INFO] [1748538782.988628897] [zed.zed_node]: ********************************
[component_container_isolated-2] [INFO] [1748538782.988641281] [zed.zed_node]: * namespace: /zed
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/zed/zed_node' in container '/zed/zed_container'
[component_container_isolated-2] [INFO] [1748538782.988653025] [zed.zed_node]: * node name: zed_node
[component_container_isolated-2] [INFO] [1748538782.988662593] [zed.zed_node]: ********************************
[component_container_isolated-2] [INFO] [1748538783.038940630] [zed.zed_node]: *** DEBUG parameters ***
[component_container_isolated-2] [INFO] [1748538783.039367638] [zed.zed_node]: * SDK Verbose: 1
[component_container_isolated-2] [INFO] [1748538783.039546263] [zed.zed_node]: * SDK Verbose File: /home/orin/NEXT_ros2_ws/src/ZED_SDK_log
[component_container_isolated-2] [INFO] [1748538783.039690551] [zed.zed_node]: * Debug Common: TRUE
[component_container_isolated-2] [INFO] [1748538783.039823319] [zed.zed_node]: * Debug Simulation: FALSE
[component_container_isolated-2] [INFO] [1748538783.039943767] [zed.zed_node]: * Debug Video/Depth: FALSE
[component_container_isolated-2] [INFO] [1748538783.040067063] [zed.zed_node]: * Debug Control settings: FALSE
[component_container_isolated-2] [INFO] [1748538783.040173783] [zed.zed_node]: * Debug Point Cloud: FALSE
[component_container_isolated-2] [INFO] [1748538783.040285175] [zed.zed_node]: * Debug GNSS: TRUE
[component_container_isolated-2] [INFO] [1748538783.040392567] [zed.zed_node]: * Debug Positional Tracking: TRUE
[component_container_isolated-2] [INFO] [1748538783.040504952] [zed.zed_node]: * Debug sensors: TRUE
[component_container_isolated-2] [INFO] [1748538783.040612728] [zed.zed_node]: * Debug Mapping: TRUE
[component_container_isolated-2] [INFO] [1748538783.040719992] [zed.zed_node]: * Debug Object Detection: FALSE
[component_container_isolated-2] [INFO] [1748538783.040823192] [zed.zed_node]: * Debug Body Tracking: FALSE
[component_container_isolated-2] [INFO] [1748538783.040947640] [zed.zed_node]: * Debug Streaming: FALSE
[component_container_isolated-2] [INFO] [1748538783.041052760] [zed.zed_node]: * Debug ROI: FALSE
[component_container_isolated-2] [INFO] [1748538783.041157912] [zed.zed_node]: * Debug Advanced: TRUE
[component_container_isolated-2] [INFO] [1748538783.041190648] [zed.zed_node]: + Debug Mode enabled +
[component_container_isolated-2] [DEBUG] [1748538783.041212088] [zed.zed_node]: [ROS2] Using RMW_IMPLEMENTATION rmw_cyclonedds_cpp
[component_container_isolated-2] [INFO] [1748538783.041345720] [zed.zed_node]: *** SVO INPUT parameters ***
[component_container_isolated-2] [INFO] [1748538783.041457753] [zed.zed_node]: *** LOCAL STREAMING parameters ***
[component_container_isolated-2] [INFO] [1748538783.041558905] [zed.zed_node]: *** GENERAL parameters ***
[component_container_isolated-2] [INFO] [1748538783.041693113] [zed.zed_node]: * Camera model: zedx - ZED X
[component_container_isolated-2] [INFO] [1748538783.041805561] [zed.zed_node]: * Camera name: zed
[component_container_isolated-2] [INFO] [1748538783.041921145] [zed.zed_node]: * Camera SN: 0
[component_container_isolated-2] [INFO] [1748538783.042023321] [zed.zed_node]: * Camera ID: -1
[component_container_isolated-2] [INFO] [1748538783.042132857] [zed.zed_node]: * Camera timeout [sec]: 5
[component_container_isolated-2] [INFO] [1748538783.042241593] [zed.zed_node]: * Camera reconnection temptatives: 5
[component_container_isolated-2] [INFO] [1748538783.042357178] [zed.zed_node]: * Camera framerate: 15
[component_container_isolated-2] [INFO] [1748538783.042459834] [zed.zed_node]: * GPU ID: 0
[component_container_isolated-2] [INFO] [1748538783.042574042] [zed.zed_node]: * Asynchronous image retrieval: FALSE
[component_container_isolated-2] [INFO] [1748538783.042681914] [zed.zed_node]: * Image Validity Check: ENABLED
[component_container_isolated-2] [INFO] [1748538783.042830874] [zed.zed_node]: * Camera resolution: HD1080
[component_container_isolated-2] [INFO] [1748538783.042950298] [zed.zed_node]: * Publishing resolution: CUSTOM
[component_container_isolated-2] [INFO] [1748538783.043091770] [zed.zed_node]: * Publishing downscale factor: 2
[component_container_isolated-2] [INFO] [1748538783.043198298] [zed.zed_node]: * OpenCV custom calibration:
[component_container_isolated-2] [INFO] [1748538783.043311323] [zed.zed_node]: * Camera self calibration: TRUE
[component_container_isolated-2] [INFO] [1748538783.043415803] [zed.zed_node]: * Camera flip: FALSE
[component_container_isolated-2] [INFO] [1748538783.043529371] [zed.zed_node]: * [DYN] Publish framerate [Hz]: 15
[component_container_isolated-2] [INFO] [1748538783.043552123] [zed.zed_node]: *** VIDEO parameters ***
[component_container_isolated-2] [INFO] [1748538783.043653691] [zed.zed_node]: * [DYN] Saturation: 4
[component_container_isolated-2] [INFO] [1748538783.043767419] [zed.zed_node]: * [DYN] Sharpness: 4
[component_container_isolated-2] [INFO] [1748538783.043871003] [zed.zed_node]: * [DYN] Gamma: 8
[component_container_isolated-2] [INFO] [1748538783.043979771] [zed.zed_node]: * [DYN] Auto Exposure/Gain: TRUE
[component_container_isolated-2] [INFO] [1748538783.044181115] [zed.zed_node]: * [DYN] Exposure: 80
[component_container_isolated-2] [INFO] [1748538783.044304412] [zed.zed_node]: * [DYN] Gain: 80
[component_container_isolated-2] [INFO] [1748538783.044508412] [zed.zed_node]: * [DYN] Auto White Balance: TRUE
[component_container_isolated-2] [INFO] [1748538783.044625308] [zed.zed_node]: * [DYN] White Balance Temperature: 42
[component_container_isolated-2] [INFO] [1748538783.044733916] [zed.zed_node]: * [DYN] ZED X Exposure time: 16000
[component_container_isolated-2] [INFO] [1748538783.044843196] [zed.zed_node]: * [DYN] ZED X Auto Exp. time range min: 28
[component_container_isolated-2] [INFO] [1748538783.044950908] [zed.zed_node]: * [DYN] ZED X Auto Exp. time range max: 30000
[component_container_isolated-2] [WARN] [1748538783.044973564] [zed.zed_node]: The values of 'video.auto_exposure_time_range_max' is clamped to max(30000,'general.grab_frame_rate'x1000): 30000
[component_container_isolated-2] [INFO] [1748538783.045085212] [zed.zed_node]: * [DYN] ZED X Exposure comp.: 50
[component_container_isolated-2] [INFO] [1748538783.045201788] [zed.zed_node]: * [DYN] ZED X Analog Gain: 1255
[component_container_isolated-2] [INFO] [1748538783.045320317] [zed.zed_node]: * [DYN] ZED X Auto Analog Gain range min: 1000
[component_container_isolated-2] [INFO] [1748538783.045432477] [zed.zed_node]: * [DYN] ZED X Auto Analog Gain range max: 16000
[component_container_isolated-2] [INFO] [1748538783.045549341] [zed.zed_node]: * [DYN] ZED X Digital Gain: 1
[component_container_isolated-2] [INFO] [1748538783.045657981] [zed.zed_node]: * [DYN] ZED X Auto Digital Gain range min: 1
[component_container_isolated-2] [INFO] [1748538783.045774109] [zed.zed_node]: * [DYN] ZED X Auto Digital Gain range max: 256
[component_container_isolated-2] [INFO] [1748538783.045879485] [zed.zed_node]: * [DYN] ZED X Auto Digital Gain range max: 50
[component_container_isolated-2] [INFO] [1748538783.045910461] [zed.zed_node]: *** DEPTH parameters ***
[component_container_isolated-2] [INFO] [1748538783.046044253] [zed.zed_node]: * Depth mode: NEURAL LIGHT [4]
[component_container_isolated-2] [INFO] [1748538783.046164605] [zed.zed_node]: * Min depth [m]: 0.5
[component_container_isolated-2] [INFO] [1748538783.046276894] [zed.zed_node]: * Max depth [m]: 20
[component_container_isolated-2] [INFO] [1748538783.046394302] [zed.zed_node]: * Depth Stabilization: 30
[component_container_isolated-2] [INFO] [1748538783.046501278] [zed.zed_node]: * OpenNI mode (16bit point cloud): FALSE
[component_container_isolated-2] [INFO] [1748538783.046619358] [zed.zed_node]: * [DYN] Point cloud rate [Hz]: 15
[component_container_isolated-2] [INFO] [1748538783.046732894] [zed.zed_node]: * Point cloud resolution: COMPACT
[component_container_isolated-2] [INFO] [1748538783.046864990] [zed.zed_node]: * [DYN] Depth Confidence: 95
[component_container_isolated-2] [INFO] [1748538783.046971774] [zed.zed_node]: * [DYN] Depth Texture Confidence: 100
[component_container_isolated-2] [INFO] [1748538783.047083710] [zed.zed_node]: * [DYN] Remove saturated areas: TRUE
[component_container_isolated-2] [INFO] [1748538783.047108638] [zed.zed_node]: *** GNSS FUSION parameters ***
[component_container_isolated-2] [INFO] [1748538783.047222239] [zed.zed_node]: * GNSS fusion enabled: TRUE
[component_container_isolated-2] [INFO] [1748538783.047357599] [zed.zed_node]: * GNSS topic name: /gps/ZED_tracking
[component_container_isolated-2] [INFO] [1748538783.047466303] [zed.zed_node]: * GNSS Reinitialization: TRUE
[component_container_isolated-2] [INFO] [1748538783.047583327] [zed.zed_node]: * GNSS Rolling Calibration: TRUE
[component_container_isolated-2] [INFO] [1748538783.047692703] [zed.zed_node]: * GNSS Transl. Uncert. Target: FALSE
[component_container_isolated-2] [INFO] [1748538783.047808159] [zed.zed_node]: * GNSS VIO Reinit. Thresh.: 5
[component_container_isolated-2] terminate called after throwing an instance of 'rclcpp::exceptions::InvalidParameterTypeException'
[component_container_isolated-2] what(): parameter 'gnss_fusion.target_translation_uncertainty' has invalid type: Wrong parameter type, parameter {gnss_fusion.target_translation_uncertainty} is of type {double}, setting it to {string} is not allowed.
[ERROR] [component_container_isolated-2]: process has died [pid 804093, exit code -6, cmd '/opt/ros/humble/lib/rclcpp_components/component_container_isolated --use_multi_threaded_executor --ros-args --log-level info --ros-args -r __node:=zed_container -r __ns:=/zed'].
Is it possible that I am doing something wrong? I am using a jetson Orin AGX with Jetpack 6.0 and the latest release of the SDK 5.0.1 RC.
Many thank for the support