Feat/unify zoom units

[rcartarobotnik]

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 parameters min_zoom_step, min_zoom_augment, and max_zoom_augment for enhanced zoom control.
• config/ptz_config.yaml: Added new parameters min_zoom_augment and max_zoom_augment for zoom control.

Launch File Update:

• launch/axis.launch: Changed the node type from axis_node.py to axis_ptz_node.py to use the updated PTZ node implementation.

PTZ Node Implementation:

• src/axis_camera/axis_ptz_node.py:
  • Imported CameraParameters for publishing zoom information.
  • Updated __init__ method to include new zoom parameters: min_zoom_step, min_zoom_augment, and max_zoom_augment.
  • Added a publisher for zoom parameters and initialized zoom augment values in rosSetup. [1] [2]
  • Modified setCommandPTZ to handle zoom commands with new parameters and ensure zoom value normalization.
  • Added logging for PTZ limit enforcement in enforcePTZLimits.
  • Updated publishROS to publish zoom parameters and normalize zoom values before publishing. [1] [2]
  • Updated main function to include new zoom parameters in the argument dictionary.