From ad508e069faa246ef6ed52647e63dd7087b55765 Mon Sep 17 00:00:00 2001
From: wraftus <wrraftus@uwaterloo.ca>
Date: Sat, 30 Mar 2019 16:01:39 -0400
Subject: [PATCH 1/2] Move ZED node config params into a yaml file (#78)

---
 uwreact_bringup/launch/configs/zed.yaml | 26 ++++++++++++++++++++++++
 uwreact_bringup/launch/zeds.launch      | 27 +------------------------
 2 files changed, 27 insertions(+), 26 deletions(-)
 create mode 100644 uwreact_bringup/launch/configs/zed.yaml

diff --git a/uwreact_bringup/launch/configs/zed.yaml b/uwreact_bringup/launch/configs/zed.yaml
new file mode 100644
index 0000000..54c05d5
--- /dev/null
+++ b/uwreact_bringup/launch/configs/zed.yaml
@@ -0,0 +1,26 @@
+zed_id: 0
+camera_model: 0
+verbose: false
+
+resolution: 2
+frame_rate: 30
+auto_exposure: true
+mat_resize_factor: 1.0
+
+quality: 1
+sensing_mode: 0
+openni_depth_mode: 0
+confidence: 100
+max_depth: 10.0
+depth_stabilization: 1
+
+pose_smoothing: false
+spatial_memory: false
+floor_alignment: false
+camera_flip: false
+publish_tf: true
+publish_map_tf: true
+init_odom_with_first_valid_pose: true
+publish_pose_covariance: false
+
+base_frame: "zed_camera_center"
diff --git a/uwreact_bringup/launch/zeds.launch b/uwreact_bringup/launch/zeds.launch
index 66c771f..92a62a4 100644
--- a/uwreact_bringup/launch/zeds.launch
+++ b/uwreact_bringup/launch/zeds.launch
@@ -9,32 +9,7 @@
     <!-- First ZED camera -->
     <group ns="zed0">
         <node name="zed_wrapper" pkg="zed_wrapper" type="zed_wrapper_node" output="screen" respawn="true">
-            <param name="zed_id"                value="0" />
-            <param name="camera_model"          value="0" />
-            <param name="verbose"               value="false" />
-            
-            <param name="resolution"            value="2" />
-            <param name="frame_rate"            value="30" />
-            <param name="auto_exposure"         value="true" />
-            <param name="mat_resize_factor"     value="1.0" />
-            
-            <param name="quality"               value="1" />
-            <param name="sensing_mode"          value="0" />
-            <param name="openni_depth_mode"     value="0" />
-            <param name="confidence"            value="100" />
-            <param name="max_depth"             value="10.0" />
-            <param name="depth_stabilization"   value="1" />
-            
-            <param name="pose_smoothing"        value="false" />
-            <param name="spatial_memory"        value="false" />
-            <param name="floor_alignment"       value="false" />
-            <param name="camera_flip"           value="false" />
-            <param name="publish_tf"            value="true" />
-            <param name="publish_map_tf"        value="true" />
-            <param name="init_odom_with_first_valid_pose"   value="true" />
-            <param name="publish_pose_covariance"   value="false" />
-
-            <param name="base_frame"            value="zed_camera_center" />
+            <rosparam command="load" file="$(find uwreact_bringup)/launch/configs/zed.yaml" />
         </node>
 
         <node name="depthimage_to_laserscan" pkg="depthimage_to_laserscan" type="depthimage_to_laserscan">

From 6aa1dcd70529ca511c1f3667dd51fea430d8aa2b Mon Sep 17 00:00:00 2001
From: wraftus <wrraftus@uwaterloo.ca>
Date: Sat, 30 Mar 2019 16:29:53 -0400
Subject: [PATCH 2/2] Add second ZED node

---
 uwreact_bringup/launch/configs/zed.yaml |  3 +--
 uwreact_bringup/launch/zeds.launch      | 18 ++++++++++++++++++
 2 files changed, 19 insertions(+), 2 deletions(-)

diff --git a/uwreact_bringup/launch/configs/zed.yaml b/uwreact_bringup/launch/configs/zed.yaml
index 54c05d5..0942e74 100644
--- a/uwreact_bringup/launch/configs/zed.yaml
+++ b/uwreact_bringup/launch/configs/zed.yaml
@@ -1,6 +1,5 @@
-zed_id: 0
 camera_model: 0
-verbose: false
+verbose: true
 
 resolution: 2
 frame_rate: 30
diff --git a/uwreact_bringup/launch/zeds.launch b/uwreact_bringup/launch/zeds.launch
index 92a62a4..57c8963 100644
--- a/uwreact_bringup/launch/zeds.launch
+++ b/uwreact_bringup/launch/zeds.launch
@@ -9,6 +9,24 @@
     <!-- First ZED camera -->
     <group ns="zed0">
         <node name="zed_wrapper" pkg="zed_wrapper" type="zed_wrapper_node" output="screen" respawn="true">
+            <param name="serial_number"  value="000019980" />
+            <rosparam command="load" file="$(find uwreact_bringup)/launch/configs/zed.yaml" />
+        </node>
+
+        <node name="depthimage_to_laserscan" pkg="depthimage_to_laserscan" type="depthimage_to_laserscan">
+            <remap from="image"            to="depth/depth_registered" />
+
+            <param name="output_frame_id"  value="zed_camera_center" />
+
+            <param name="scan_height"      value="$(arg scan_height)"/> 
+            <param name="range_min"        value="$(arg range_min)"/>
+        </node>
+    </group>
+    
+    <!-- Second ZED Camera -->
+    <group ns="zed1">
+        <node name="zed_wrapper" pkg="zed_wrapper" type="zed_wrapper_node" output="screen" respawn="true">
+            <param name="serial_number"  value="000019981" />
             <rosparam command="load" file="$(find uwreact_bringup)/launch/configs/zed.yaml" />
         </node>