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fix: Vision pack parameter overriding #183

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Merged
jasiex01 merged 5 commits into from
Sep 22, 2026
Merged

fix: Vision pack parameter overriding #183

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49d0e0e
Fix vision pack launch commands
jasiex01 Sep 18, 2026
a9eedc0
Add a note that warns about parameter overriding
jasiex01 Sep 18, 2026
05847d9
Remove parameters that won't take effect
jasiex01 Sep 18, 2026
41da74c
Specify which parameters cannot be overriden in the config file
jasiex01 Sep 18, 2026
e25e77c
Format
jasiex01 Sep 18, 2026
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25 changes: 19 additions & 6 deletions docs/integrations/packs/vision-pack.mdx
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Original file line number Diff line number Diff line change
Expand Up @@ -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:
Expand All @@ -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
Expand All @@ -460,6 +456,23 @@ for the full list of options.

:::

:::warning

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.

:::

### Setting up the ZED wrapper

First, install the ZED SDK for NVIDIA Jetson in the version for JetPack 7.2 (L4T
Expand All @@ -486,7 +499,7 @@ 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
Expand Down Expand Up @@ -595,7 +608,7 @@ 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
Expand Down
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