Created SaveAreaDatabase service - Githubissues

stereolabs / zed-ros2-interfaces

ROS2 interfaces for the ZED ROS2 Wrapper

Apache License 2.0

5 stars 11 forks source link

Created SaveAreaDatabase service #12

Open DivyamChandalia opened 2 months ago

DivyamChandalia commented 2 months ago

Pull Request Description

Overview: Enhances zed_interfaces by adding GetAreaDatabase, a new service facilitating area database retrieval via the ZED ROS 2 wrapper.

Changes:

Added GetAreaDatabase service definition to zed_interfaces.
Implemented service call handling in zed_ros2_wrapper to process requests and interact with ZED SDK.

Details:

New Service (GetAreaDatabase):
- Defined in zed_interfaces for ROS 2 nodes to request ZED camera area databases.
- Enhances interaction capabilities for localization and mapping tasks.
Implementation in zed_ros2_wrapper:
- Handles requests, utilizes ZED SDK for database retrieval, and sends responses to clients.

Usage:

Enables dynamic area database retrieval from ZED cameras in ROS 2 applications.
Enhances functionality for spatial awareness and mapping tasks.

Impact:

Improves ZED camera integration in ROS 2, enhancing robotic perception and localization.
Standardizes access to area databases, promoting interoperability across projects.

Testing:

Tested on Stereolabs ZED Box with ZEDX stereo camera.
Test environment used Isaac ROS docker container running Ubuntu 22.04.

Contributor Notes:

Aligns with efforts to expand ZED ROS 2 wrapper functionality.
Welcomes feedback for further optimization and refinement.