Set GEN_1 as default

CHANGELOG.rst

@@ -1,5 +1,10 @@
 LATEST CHANGES
 ==============
+
+2025-01-17
+----------
+- Set the Positional Tracking Mode to `GEN_1` as default as workaround for the random crash issue caused by `GEN_2` mode.
+
 2025-01-14
 ----------
 - Fixed a bug for raw gray image publisher on Zed One Component: raw gray images were not published when the rectified image topic was subscribed. Thx @Alex-Beh 

zed_wrapper/config/common_stereo.yaml

@@ -21,7 +21,7 @@
             camera_flip: false
             self_calib: true # Enable the self-calibration process at camera opening. See https://www.stereolabs.com/docs/api/structsl_1_1InitParameters.html#affeaa06cfc1d849e311e484ceb8edcc5
             serial_number: 0 # usually overwritten by launch file
-            pub_resolution: "NATIVE" # The resolution used for output. 'NATIVE' to use the same `general.grab_resolution` - `CUSTOM` to apply the `general.pub_downscale_factor` downscale factory to reduce bandwidth in transmission
+            pub_resolution: "CUSTOM" # The resolution used for output. 'NATIVE' to use the same `general.grab_resolution` - `CUSTOM` to apply the `general.pub_downscale_factor` downscale factory to reduce bandwidth in transmission
             pub_downscale_factor: 2.0 # rescale factor used to rescale image before publishing when 'pub_resolution' is 'CUSTOM'
             pub_frame_rate: 15.0 # frequency of publishing of visual images and depth images
             gpu_id: -1
@@ -70,7 +70,7 @@
 
         pos_tracking: # Only stereo cameras
             pos_tracking_enabled: true # True to enable positional tracking from start
-            pos_tracking_mode: "GEN_2" # Matches the ZED SDK setting: 'GEN_1', 'GEN_2'
+            pos_tracking_mode: "GEN_1" # Matches the ZED SDK setting: 'GEN_1', 'GEN_2'
             imu_fusion: true # enable/disable IMU fusion. When set to false, only the optical odometry will be used.
             publish_tf: true # [usually overwritten by launch file] publish `odom -> camera_link` TF
             publish_map_tf: true # [usually overwritten by launch file] publish `map -> odom` TF