Zed-ros-wrapper: [BUG]

[CMartinETH]

Describe the bug
According to the description on the stereolabs homepage (https://www.stereolabs.com/docs/ros/zed-node/) it is possible to change the resolution of the camera with the general -> resolution parameter. I added this parameter and changed it to "VGA", but I keep getting the error:
I also tried the other resolution settings (e.g. HD1080 etc.) and it seems that I cannot change this. All other settings (framerate etc) I tried, do work. I also tried with integers (e.g. 3 for VGA). This does not work either.

Device information:

• OS: Ubuntu
• OS version: 18.04
• CPU: AMD Ryzen 9 3900X
• GPU Nvidia: RTX2080 8GB
• ZED SDK Version: 3.2.0 (newest)
• ROS Wrapper version: latest master
  
  
  
  • Camera: Zed Mini
  
  

Expected behavior
The resolution should change accordingly.

Screenshots

[Myzhar]

Hi @CMartinETH
as illustrated in the comments the resolution parameter is an "integer value" not a "string":
https://github.com/stereolabs/zed-ros-wrapper/blob/master/zed_wrapper/params/common.yaml#L26
so to set VGA resolution you must use
resolution: 3

A note, also frame_rate is an integer parameter, to set 15 FPS you must use
frame_rate: 15

[CMartinETH]

The integers work, but not when written in quotes '' (at least in my case). Writing 3 (for VGA) without quotes works fine.

[Myzhar]

Yes, if you use the quotes the value is identified as a string

[CMartinETH]

Understood, but why does it work with quotes for the frame_rate then and not the resolution? Pure luck?
Thank you anyway for the quick help!

[Myzhar]

Because the default value hard coded for the frame_rate is 15 FPS, the not valid value in the YAML file is replaced with 15 FPS.

Note: according to the names of your parameters you are using an old version of the wrapper.
If you update to a newer version please take care of the name changing:
frame_rate -> grab_frame_rate
The new name has been introduced to distinguish between "grab" rate and "publish" rate.
See the new pub_frame_rate dynamic parameter: http://wiki.ros.org/zed-ros-wrapper#Dynamic_Parameters

[CMartinETH]

@Myzhar Actually the wrapper is the newest version available. But I took the "frame_rate" from your homepage where the options are explained (here: https://www.stereolabs.com/docs/ros/zed-node/). That means that should be updated for future reference.

[Myzhar]

Sorry for the mismatch, I fix it as soon as possible, thank you for reporting