Feat/unify zoom units #13
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- Corrected min zoom absolute value to 1
…availables augments
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This pull request includes significant updates to the PTZ (Pan-Tilt-Zoom) camera control configuration and functionality. The changes involve adding new parameters for zoom control, updating the launch configuration, and modifying the PTZ node implementation to handle these new parameters and improve diagnostics.
Configuration Updates:
config/axis_m5525_ptz_config.yaml: Added new parametersmin_zoom_step,min_zoom_augment, andmax_zoom_augmentfor enhanced zoom control.config/ptz_config.yaml: Added new parametersmin_zoom_augmentandmax_zoom_augmentfor zoom control.Launch File Update:
launch/axis.launch: Changed the node type fromaxis_node.pytoaxis_ptz_node.pyto use the updated PTZ node implementation.PTZ Node Implementation:
src/axis_camera/axis_ptz_node.py:CameraParametersfor publishing zoom information.__init__method to include new zoom parameters:min_zoom_step,min_zoom_augment, andmax_zoom_augment.rosSetup. [1] [2]setCommandPTZto handle zoom commands with new parameters and ensure zoom value normalization.enforcePTZLimits.publishROSto publish zoom parameters and normalize zoom values before publishing. [1] [2]mainfunction to include new zoom parameters in the argument dictionary.