Changelog Notes
While there is an official changelog for each package, this page summarizes the major changes between distributions
Changes in Jazzy Jalisco
There are several major change between Iron
and Jazzy
:
All components now properly support
image_transport
paramter, ordepth_image_transport
parameter if the topic is a depth image. In most places, this consists of simply adding the parameter, or making the parameter work, however two cases should be noted where the parameter was renamed:
image_view::ExtractImages: incorrectly named parameter
transport
was renamed to more consistentimage_transport
.imaeg_view::StereoView: incorrectly named parameter
transport
was renamed to more consistentimage_transport
.Improvements to QoS support:
Most components now support QoS overrides via ROS 2 parameters
The
use_system_default_qos
parameter has been removed from stereo_image_proc::DisparityNode and stereo_image_proc::PointCloudNode as the QoS overrides are the newer, preferred method.All components now properly support remapping the
camera_info
topic for an associatedimage
topic. For instance, if you remapimage
tomy/image
thenmy/camera_info
will be used. Previously you would have to manually remap thecamera_info
topic. See also Remapping camera_info Topics.The input of
depth_image_proc/point_cloud_xyz_radial
is renamed fromimage_raw
todepth/image_raw
for consistency.The inputs of
depth_image_proc/point_cloud_xyzrgb_radial
are renamed fromdepth_registered/image_rect
todepth/image_raw
andrgb/image_rect_color
torgb/image_raw
to make clear that the unrectified camera projection matrix is used, and for consistency with other radial nodes.The boolen parameter
full_dp
from the DisparityNode has been deleted and a new integer parametersgbm_mode
added to enable all the variations of the stereo matching algorithm SGBM available from the OpenCV library.