Add new virtual stereo

CHANGELOG.rst

@@ -26,7 +26,12 @@ LATEST CHANGES
 
 2025-11-24
 ----------
-- Add twist information to the `odom` topic
+- Added twist information to the `odom` topic
+- Added support for the new Virtual Stereo API with SDK v5.1.
+
+  - New launch arguments to setup the virtual camera: `serial_numbers` and `camera_ids`
+  - New `ZedCamera` component parameters to setup the virtual camera: `general.virtual_serial_numbers` and `general.virtual_camera_ids`
+  - **NOTE** ZED MEDIA SERVER IS NO LONGER REQUIRED to create a virtual Stereo camera using two ZED X One cameras.
 
 2025-11-21
 ----------
@@ -35,7 +40,7 @@ LATEST CHANGES
   - From `<camera_name>_left_camera_optical_frame` to `<camera_name>_left_camera_frame_optical`
   - From `<camera_name>_right_camera_optical_frame` to `<camera_name>_right_camera_frame_optical`
   - From `<camera_name>_camera_optical_frame` to `<camera_name>_rgb_camera_frame_optical`
-**NOTE** THIS IS A BREAKING CHANGE. Please update your TF references accordingly.
+  - **NOTE** THIS IS A BREAKING CHANGE. Please update your TF references accordingly.
 
 2025-11-11
 ----------
@@ -45,13 +50,22 @@ LATEST CHANGES
 ----------
 - Fixed `camera_info` publishing when no image topics are subscribed
 
-2025-11-05
+2025-11-09
 ----------
-- Remapped `robot_description` topic to `<camera_name>_description` to allow multi-camera URDF integration
+- Added debug option for TF broadcasting
+
+  - Improved TF debug logs to show frame transformations when enabled
+
+- Static baseline information from URDF is now overwritten by the real baseline value retrieved from the camera calibration file.
+- Removed mandatory `custom_baseline` launch argument for virtual stereo cameras made with two ZED X One cameras.
+  The value is retrieved from the calibration file.
+- IMU TF is now broadcast as static if IPC is disabled.
+- IMU Transform topic is now published with TRANSIENT LOCAL durability if IPC is disabled.
 
 2025-11-05
 ----------
-- Changed minimum depth value to 0.01 meters when using ZED SDK v5.1 or higher 
+- Remapped `robot_description` topic to `<camera_name>_description` to allow multi-camera URDF integration
+- Changed minimum depth value to 0.01 meters when using ZED SDK v5.1 or higher
 
 2025-10-31
 ----------

zed_components/src/include/sl_version.hpp

@@ -21,7 +21,7 @@ namespace stereolabs
 {
 const size_t WRAPPER_MAJOR = 5;
 const size_t WRAPPER_MINOR = 1;
-const size_t WRAPPER_PATCH = 0;
+const size_t WRAPPER_PATCH = 1;
 
 const size_t SDK_MAJOR_MIN_SUPP = 4;
 const size_t SDK_MINOR_MIN_SUPP = 2;

zed_components/src/tools/include/sl_logging.hpp

@@ -74,6 +74,21 @@
 #define DEBUG_STREAM_PC(stream_arg) \
   if (_debugPointCloud) RCLCPP_DEBUG_STREAM(get_logger(), stream_arg)
 
+// TF
+#define DEBUG_TF(...) \
+  if (_debugTf) RCLCPP_DEBUG(get_logger(), __VA_ARGS__)
+#define DEBUG_ONCE_TF(...) \
+  if (_debugTf) RCLCPP_DEBUG_ONCE(get_logger(), __VA_ARGS__)
+#define DEBUG_STREAM_TF(stream_arg) \
+  if (_debugTf) RCLCPP_DEBUG_STREAM(get_logger(), stream_arg)
+#define DEBUG_STREAM_THROTTLE_TF(duration, stream_arg) \
+  if (_debugTf) { \
+    rclcpp::Clock steady_clock(RCL_STEADY_TIME); \
+    RCLCPP_DEBUG_STREAM_THROTTLE( \
+      get_logger(), steady_clock, duration, \
+      stream_arg); \
+  }
+
 // Positional Tracking
 #define DEBUG_PT(...) \
   if (_debugPosTracking) RCLCPP_DEBUG(get_logger(), __VA_ARGS__)

zed_components/src/tools/include/sl_tools.hpp

@@ -165,9 +165,17 @@ bool generateROI(const std::vector<sl::float2> & poly, sl::Mat & out_roi);
  *  \param input
  *  \param error_return
  *  Syntax is [[1.0, 2.0], [3.3, 4.4, 5.5], ...] */
-std::vector<std::vector<float>> parseStringVector(
+std::vector<std::vector<float>> parseStringMultiVector_float(
   const std::string & input, std::string & error_return);
 
+/*! \brief Parse a vector of integer values from a string.
+ *  \param input
+ *  \param error_return
+ *  Syntax is [1, 2, 3, ...] */
+std::vector<int> parseStringVector_int(
+  const std::string & input,
+  std::string & error_return);
+
 /*!
  * @brief Convert thread policy to string
  * @param thread_sched_policy

zed_components/src/tools/src/sl_tools.cpp

@@ -431,7 +431,54 @@ bool generateROI(const std::vector<sl::float2> & poly, sl::Mat & out_roi)
   return true;
 }
 
-std::vector<std::vector<float>> parseStringVector(
+std::vector<int> parseStringVector_int(
+  const std::string & input,
+  std::string & error_return)
+{
+  std::vector<int> result;
+
+  if (input == "[]") {
+    error_return = "";
+    return result;
+  }
+
+  if (input.empty() || input.front() != '[' || input.back() != ']') {
+    error_return = "Vector string must start with [ and end with ]";
+    return result;
+  }
+
+  std::string trimmed = input;
+  trimmed.erase(
+    std::remove(trimmed.begin(), trimmed.end(), '['),
+    trimmed.end());
+  trimmed.erase(
+    std::remove(trimmed.begin(), trimmed.end(), ']'),
+    trimmed.end());
+
+  std::stringstream ss(trimmed);
+  std::string token;
+  while (std::getline(ss, token, ',')) {
+    // Trim leading and trailing whitespace
+    token.erase(0, token.find_first_not_of(" \t\n\r"));
+    token.erase(token.find_last_not_of(" \t\n\r") + 1);
+
+    if (token.empty()) {
+      continue;
+    }
+
+    try {
+      int value = std::stoi(token);
+      result.push_back(value);
+    } catch (const std::exception & e) {
+      error_return = "Failed to parse integer: " + token;
+      return result;
+    }
+  }
+  error_return = "";
+  return result;
+}
+
+std::vector<std::vector<float>> parseStringMultiVector_float(
   const std::string & input, std::string & error_return)
 {
   std::vector<std::vector<float>> result;

zed_components/src/zed_camera/include/zed_camera_component.hpp

@@ -304,6 +304,7 @@ class ZedCamera : public rclcpp::Node
   void publishGnssPoseStatus();
   void publishGeoPoseStatus();
   void publishTFs(rclcpp::Time t);
+  void publishCameraTFs(rclcpp::Time t);
   void publishOdomTF(rclcpp::Time t);
   void publishPoseTF(rclcpp::Time t);
   bool publishSensorsData(rclcpp::Time force_ts = TIMEZERO_ROS);
@@ -371,7 +372,6 @@ class ZedCamera : public rclcpp::Node
   sl::InitParameters mInitParams;
   sl::RuntimeParameters mRunParams;
 
-
   // ----> Fusion module
   std::shared_ptr<sl::FusionConfiguration> mFusionConfig;
   sl::Fusion mFusion;
@@ -436,6 +436,7 @@ class ZedCamera : public rclcpp::Node
   bool _debugVideoDepth = false;
   bool _debugCamCtrl = false;
   bool _debugPointCloud = false;
+  bool _debugTf = false;
   bool _debugPosTracking = false;
   bool _debugGnss = false;
   bool _debugSensors = false;
@@ -481,6 +482,8 @@ class ZedCamera : public rclcpp::Node
   // General
   int mCamSerialNumber = 0;
   int mCamId = -1;
+  std::vector<int> mCamVirtualSerialNumbers;
+  std::vector<int> mCamVirtualCameraIds;
   bool mSimMode = false;     // Expecting simulation data?
   bool mUseSimTime = false;  // Use sim time?
   std::string mSimAddr =
@@ -617,7 +620,6 @@ class ZedCamera : public rclcpp::Node
   std::unordered_map<int, std::string> mCustomLabels;
   std::unordered_map<std::string, int> mCustomClassIdMap;
 
-
   bool mBodyTrkEnabled = false;
   sl::BODY_TRACKING_MODEL mBodyTrkModel =
     sl::BODY_TRACKING_MODEL::HUMAN_BODY_FAST;
@@ -692,30 +694,33 @@ class ZedCamera : public rclcpp::Node
   // <---- QoS
 
   // ----> Frame IDs
-  std::string mDepthFrameId;
-  std::string mDepthOptFrameId;
+  bool mStaticTfPublished = false;
+  bool mStaticImuTfPublished = false;
+
+  std::string mBaseFrameId = "";
+  std::string mCenterFrameId = "";
+
+  std::string mRightCamFrameId = "";
+  std::string mRightCamOptFrameId = "";
+  std::string mLeftCamFrameId = "";
+  std::string mLeftCamOptFrameId = "";
+
+  std::string mImuFrameId = "";
+  std::string mBaroFrameId = "";
+  std::string mMagFrameId = "";
+  std::string mTempLeftFrameId = "";
+  std::string mTempRightFrameId = "";
 
-  std::string mPointCloudFrameId;
+  std::string mDepthFrameId = "";
+  std::string mDepthOptFrameId = "";
+
+  std::string mPointCloudFrameId = "";
 
   std::string mUtmFrameId = "utm";
   std::string mMapFrameId = "map";
   std::string mOdomFrameId = "odom";
-  std::string mBaseFrameId = "";
   std::string mGnssFrameId = "";
   std::string mGnssOriginFrameId = "gnss_ref_pose";
-
-  std::string mCameraFrameId;
-
-  std::string mRightCamFrameId;
-  std::string mRightCamOptFrameId;
-  std::string mLeftCamFrameId;
-  std::string mLeftCamOptFrameId;
-
-  std::string mImuFrameId;
-  std::string mBaroFrameId;
-  std::string mMagFrameId;
-  std::string mTempLeftFrameId;
-  std::string mTempRightFrameId;
   // <---- Frame IDs
 
   // ----> Stereolabs Mat Info
@@ -731,6 +736,7 @@ class ZedCamera : public rclcpp::Node
   // ----> initialization Transform listener
   std::unique_ptr<tf2_ros::Buffer> mTfBuffer;
   std::unique_ptr<tf2_ros::TransformListener> mTfListener;
+  std::unique_ptr<tf2_ros::StaticTransformBroadcaster> mStaticTfBroadcaster;
   std::unique_ptr<tf2_ros::TransformBroadcaster> mTfBroadcaster;
   // <---- initialization Transform listener
 
@@ -1035,6 +1041,7 @@ class ZedCamera : public rclcpp::Node
 
   // ----> Diagnostic
   sl_tools::StopWatch mUptimer;
+  bool mUsingIPC = false;
   float mTempImu = NOT_VALID_TEMP;
   float mTempLeft = NOT_VALID_TEMP;
   float mTempRight = NOT_VALID_TEMP;