Add launch parameter to disable automatic camera firmware update

By default the Zivid ROS driver always updates the firmware of the
camera. Some have expressed a desire to disable this behavior, so here
we add a launch parameter that can disable this feature. Then the camera
must be updated manually, fex in Zivid Studio or via
ZividFirmwareUpdater.

README.md

@@ -229,6 +229,13 @@ Or, if using `roslaunch` specify the parameter using `<param>`:
 > the command line or rosparam the serial number must be prefixed with a colon (`:12345`).
 > This parameter is optional. By default the driver will connect to the first available camera.
 
+`update_firmware_automatically` (bool, default: true)
+> Specify if the firmware of the connected camera should be automatically updated to the correct
+> version when the Zivid ROS driver starts. If set to false, if the firmware version is out of date
+> then camera must be manually updated, for example using Zivid Studio or `ZividFirmwareUpdater`.
+> Read more about [firmware update in our knowledgebase][firmware-update-kb-url].
+> This parameter is optional, and by default it is true.
+
 ## Services
 
 ### capture_assistant/suggest_settings
@@ -650,4 +657,5 @@ grant agreement No 732287. For more information, visit [rosin-project.eu](http:/
 [zivid-knowledge-base-url]: https://support.zivid.com
 [zivid-software-installation-url]: https://support.zivid.com/latest/getting-started/software-installation.html
 [install-opencl-drivers-ubuntu-url]: https://support.zivid.com/latest/getting-started/software-installation/gpu/install-opencl-drivers-ubuntu.html
-[hdr-getting-good-point-clouds-url]: https://support.zivid.com/latest/academy/camera/capturing-high-quality-point-clouds/getting-the-right-exposure-for-good-point-clouds.html
+[hdr-getting-good-point-clouds-url]: https://support.zivid.com/latest/academy/camera/capturing-high-quality-point-clouds/getting-the-right-exposure-for-good-point-clouds.html
+[firmware-update-kb-url]: https://support.zivid.com/latest/academy/camera/firmware-update.html

zivid_camera/src/zivid_camera.cpp

@@ -137,6 +137,9 @@ ZividCamera::ZividCamera(ros::NodeHandle& nh, ros::NodeHandle& priv)
   priv_.param<bool>("use_latched_publisher_for_snr_image", use_latched_publisher_for_snr_image_, false);
   priv_.param<bool>("use_latched_publisher_for_normals_xyz", use_latched_publisher_for_normals_xyz_, false);
 
+  bool update_firmware_automatically = true;
+  priv_.param<bool>("update_firmware_automatically", update_firmware_automatically, update_firmware_automatically);
+
   if (file_camera_mode)
   {
     ROS_INFO("Creating file camera from file '%s'", file_camera_path.c_str());
@@ -181,11 +184,21 @@ ZividCamera::ZividCamera(ros::NodeHandle& nh, ros::NodeHandle& priv)
 
     if (!Zivid::Firmware::isUpToDate(camera_))
     {
-      ROS_INFO("The camera firmware is not up-to-date, starting update");
-      Zivid::Firmware::update(camera_, [](double progress, const std::string& state) {
-        ROS_INFO("  [%.0f%%] %s", progress, state.c_str());
-      });
-      ROS_INFO("Firmware update completed");
+      if (update_firmware_automatically)
+      {
+        ROS_INFO("The camera firmware is not up-to-date, and update_firmware_automatically is true, starting update");
+        Zivid::Firmware::update(camera_, [](double progress, const std::string& state) {
+          ROS_INFO("  [%.0f%%] %s", progress, state.c_str());
+        });
+        ROS_INFO("Firmware update completed");
+      }
+      else
+      {
+        ROS_ERROR("The camera firmware is not up-to-date, and update_firmware_automatically is false. Throwing error.");
+        throw std::runtime_error("The firmware on camera '" + camera_.info().serialNumber().value() +
+                                 "' is not up to date. The launch parameter update_firmware_automatically "
+                                 "is set to false. Please update the firmware on this camera manually.");
+      }
     }
   }