Filtered Depth Not published in ROS topic

[knightwzh]

Preliminary Checks

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• [X] This issue is not a question, feature request, or anything other than a bug report directly related to this project.

Description

I'm using Nvidia Orin, ROS noetic and ZED SDK v4.0.8 with a ZED2 camera. What I try to do is use the predicted depth for downstreaming application, and I try to filter the depth by adjusting parameters "depth_confidence" and "depth_texture_conf" in common.yaml. However, when I use rviz, I find the depth map published by topic "/depth/depth_registered" is the unfiltered depth map. I also try the ZED_Depth_Viewer and adjust the two parameters mentioned above by GUI, and it works as I expected. I am confused that whether the topic "/depth/depth_registered" could publish the filtered depth map.

Steps to Reproduce

1. Adjust the paramter "depth_confidence" and "depth_texture_conf" in common.yaml in ws/zed_ros_wrapper/zed_wrapper/params
2. launch the camera by "roslaunch zed_wrapper zed2.launch"
3. use rviz to monitor the depth map published by topic "/depth/depth_registered" ...

Expected Result

I want to publish the filtered depth map in ROS topic.

Actual Result

ZED Camera model

ZED2

Environment

OS: Ubuntu 20.04
CPU: ARM
GPU: Nvidia Jetson Orin
ZED_SDK_version: 4.0.8
ROS: Noetic

Anything else?

No response

[knightwzh]

Well, I find that either changing the parameters in common.yaml or pass the parameter through command line doesn't work. However, change these parameters directly in the source code and recompile is a feasible approach. This may related to the way I pass the parameters to the ros.

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