From 49d0e0e83d8faf471dda5e710ea5421e80c72486 Mon Sep 17 00:00:00 2001 From: Jan Hernas Date: Fri, 18 Sep 2026 14:39:57 +0200 Subject: [PATCH 1/5] Fix vision pack launch commands --- docs/integrations/packs/vision-pack.mdx | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/docs/integrations/packs/vision-pack.mdx b/docs/integrations/packs/vision-pack.mdx index 62c25101..8ae6c765 100644 --- a/docs/integrations/packs/vision-pack.mdx +++ b/docs/integrations/packs/vision-pack.mdx @@ -486,7 +486,7 @@ wrapper for the `zed2i` camera using the previously created configuration: ```bash source ~/ros2_ws/install/setup.bash -ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zed2i ros_params_override_path:=/etc/ros/zed2i.yaml +ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zed2i camera_name:=zed2i publish_tf:=false publish_urdf:=false ros_params_override_path:=/etc/ros/zed2i.yaml ``` At this point the rover computer should see the ZED ROS interfaces. You can @@ -595,7 +595,7 @@ Description=ZED ROS 2 Wrapper [Service] Type=exec ExecStartPre=/usr/bin/nm-online -q -ExecStart=/bin/bash -c 'source ~/ros2_ws/install/setup.bash && exec ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zed2i ros_params_override_path:=/etc/ros/zed2i.yaml' +ExecStart=/bin/bash -c 'source ~/ros2_ws/install/setup.bash && exec ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zed2i camera_name:=zed2i publish_tf:=false publish_urdf:=false ros_params_override_path:=/etc/ros/zed2i.yaml' KillSignal=SIGINT KillMode=mixed TimeoutStopSec=30 From a9eedc0594647f79c91be1fd32da927ae8b7d37d Mon Sep 17 00:00:00 2001 From: Jan Hernas Date: Fri, 18 Sep 2026 14:40:20 +0200 Subject: [PATCH 2/5] Add a note that warns about parameter overriding --- docs/integrations/packs/vision-pack.mdx | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/docs/integrations/packs/vision-pack.mdx b/docs/integrations/packs/vision-pack.mdx index 8ae6c765..6d6fcc1a 100644 --- a/docs/integrations/packs/vision-pack.mdx +++ b/docs/integrations/packs/vision-pack.mdx @@ -460,6 +460,14 @@ for the full list of options. ::: +:::warning + +Some parameters might be later overridden by launch file arguments. For example, +`camera_model`, `camera_name`, and `publish_tf` will not take effect if config +file is passed via the `ros_params_override_path` argument. + +::: + ### Setting up the ZED wrapper First, install the ZED SDK for NVIDIA Jetson in the version for JetPack 7.2 (L4T From 05847d9a721d8e29231b4a63c4b8f2b1a8bb17d9 Mon Sep 17 00:00:00 2001 From: Jan Hernas Date: Fri, 18 Sep 2026 14:57:14 +0200 Subject: [PATCH 3/5] Remove parameters that won't take effect --- docs/integrations/packs/vision-pack.mdx | 4 ---- 1 file changed, 4 deletions(-) diff --git a/docs/integrations/packs/vision-pack.mdx b/docs/integrations/packs/vision-pack.mdx index 6d6fcc1a..d522207a 100644 --- a/docs/integrations/packs/vision-pack.mdx +++ b/docs/integrations/packs/vision-pack.mdx @@ -437,8 +437,6 @@ And add the following content to the file: /**: ros__parameters: general: - camera_model: 'zed2i' - camera_name: 'zed2i' grab_resolution: 'HD1080' grab_frame_rate: 15 video: @@ -448,8 +446,6 @@ And add the following content to the file: depth: min_depth: 0.01 max_depth: 15.0 - pos_tracking: - publish_tf: false ``` :::note From 41da74cd5a4ea4f6a15764906d137f0bdbe308eb Mon Sep 17 00:00:00 2001 From: Jan Hernas Date: Fri, 18 Sep 2026 14:58:52 +0200 Subject: [PATCH 4/5] Specify which parameters cannot be overriden in the config file --- docs/integrations/packs/vision-pack.mdx | 15 ++++++++++++--- 1 file changed, 12 insertions(+), 3 deletions(-) diff --git a/docs/integrations/packs/vision-pack.mdx b/docs/integrations/packs/vision-pack.mdx index d522207a..f1f3aea2 100644 --- a/docs/integrations/packs/vision-pack.mdx +++ b/docs/integrations/packs/vision-pack.mdx @@ -458,9 +458,18 @@ for the full list of options. :::warning -Some parameters might be later overridden by launch file arguments. For example, -`camera_model`, `camera_name`, and `publish_tf` will not take effect if config -file is passed via the `ros_params_override_path` argument. +The following parameters cannot be set via the config file: `use_sim_time`, +`simulation.sim_enabled`, `simulation.sim_address`, `simulation.sim_port`, +`stream.stream_address`, `stream.stream_port`, `general.camera_name`, +`general.camera_model`, `svo.svo_path`, `svo.publish_svo_clock`, +`general.serial_number`, `general.camera_id`, `pos_tracking.publish_tf`, +`pos_tracking.publish_map_tf`, `sensors.publish_imu_tf`, +`gnss_fusion.gnss_fusion_enabled`, `general.virtual_serial_numbers`, +`general.virtual_camera_ids` + +If you want to modify any of these parameters, you will need to do so through +appropriate launch file arguments or through `param_overrides` launch +argument of the `zed_camera.launch.py` file. ::: From e25e77cfcbe0f3b27fbcc1418ee3e09af5117eae Mon Sep 17 00:00:00 2001 From: Jan Hernas Date: Fri, 18 Sep 2026 15:06:52 +0200 Subject: [PATCH 5/5] Format --- docs/integrations/packs/vision-pack.mdx | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/docs/integrations/packs/vision-pack.mdx b/docs/integrations/packs/vision-pack.mdx index f1f3aea2..b69f7b7f 100644 --- a/docs/integrations/packs/vision-pack.mdx +++ b/docs/integrations/packs/vision-pack.mdx @@ -468,8 +468,8 @@ The following parameters cannot be set via the config file: `use_sim_time`, `general.virtual_camera_ids` If you want to modify any of these parameters, you will need to do so through -appropriate launch file arguments or through `param_overrides` launch -argument of the `zed_camera.launch.py` file. +appropriate launch file arguments or through `param_overrides` launch argument +of the `zed_camera.launch.py` file. :::