Zed-ros2-wrapper max_depth problem (ZEDX)

Software
1

Hello,

I’m trying to get depth information for the objects far then 10m.
/zed/zed_node/depth/depth_registered/compressedDepth - does not contain information about any object between 10 and 19m

zedx.yaml
    depth:
      min_depth: 1.0 
      max_depth: 19.0

Setup:
zed-ros2-wrapper - latest,
SDK 5.2.1

Also tried(started from) SDK 5.1 and older version of zed-ros2-wrapper

My topics in sample:

/zed/zed_node/depth/depth_registered/compressedDepth
/zed/zed_node/left/color/rect/image/compressed
/zed/zed_node/left/color/rect/image/camera_info

ZED_Depth_Viewer can show the data I’m interested in
Sample based on SDK API - can show.
zed-ros2-wrapper with /zed/zed_node/depth/depth_registered - also can!
but not for /zed/zed_node/depth/depth_registered**/compressedDepth**

Is it expected behavior?
Do you have any recommandation how to get it working with **compressedDepth?
**
Thank you for any helpful information

2

Hi @sergii
have you checked if the point cloud contains depth information in the expected range?

Please share the full node log to check that all the parameters are correctly set.

3

Please also check the parameters of the compressedDepth topic.

It looks like the code of the compressed depth transport has a parameter to set the maximum depth value that is hard coded to 10 meters:

I tested and I cannot see this parameter exposed…

4

Hi, Myzhar

Thank you for your tests. Now I see that compressed_depth_image_transport it is not reliably exposed/configured in a ROS 2-friendly way.

Can you show how you are setting max_depth in from wrapper to compressed_depth_image_transport?
I’m going to prepare a patch for compressed_depth_image_transport.

Now I have
ros2 param get /zed/zed_node depth.max_depth
Double value is: 19.0
But it’s not visible in compressed_depth_image_transport