realsense-ros

Intel(R) RealSense(TM) ROS Wrapper for Depth Camera

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realsense-ros - ROS2 Wrapper for Intel® RealSense™ Devices (build 4.54.1) Latest Release

Published by SamerKhshiboun over 1 year ago

What's Changed

New Contributors

Full Changelog: https://github.com/IntelRealSense/realsense-ros/compare/4.51.1...4.54.1

Supported RealSense SDK

Supported ROS Distributions

  • Rolling (build from source)
  • Humble
  • Iron

Supported Devices

  • Intel® RealSense™ Camera D400-Series:
    • Intel® RealSense™ Depth Cameras D415, D435, D435i and D455.
    • Intel® RealSense™ Depth Modules D400, D405, D410, D420, D430
    • Intel® RealSense™ Vision Processor D4m

Recommended Firmware

Model Firmware
D400 5.15.0.2
realsense-ros - ROS2-Beta Wrapper for Intel® RealSense™ Devices (build 4.51.1)

Published by SamerKhshiboun about 2 years ago

Release notice

What's Changed

Full Changelog: https://github.com/IntelRealSense/realsense-ros/compare/4.0.4...4.51.1

  • Contributors: @Nir-Az, @SamerKhshiboun

Supported RealSense SDK

Supported ROS Distributions

  • Rolling
  • Humble
  • Galactic
  • Foxy
  • Eloquent
  • Dashing

Supported Devices

  • Intel® RealSense™ LiDAR cameras L515
  • Intel® RealSense™ Tracking Module T265
  • Intel® RealSense™ Camera D400-Series:
    • Intel® RealSense™ Depth Cameras D415, D435, D435i and D455.
    • Intel® RealSense™ Depth Modules D400, D405, D410, D420, D430
    • Intel® RealSense™ Vision Processor D4m
  • Intel® RealSense™ Developer Kit SR300

Recommended Firmware

Model Firmware
D400 5.13.0.50 Important - due to internal firmware changes the users of this FW version are required to upgrade to Librealsense v2.39.0 (+)
SR300 3.10.10.0 +
**L500 1.5.8.1 +
realsense-ros - ROS2 Wrapper for Intel® RealSense™ Devices (build 4.0.4)

Published by Nir-Az over 2 years ago

Release notice

This release fixes the required packages that caused Debians build errors.
See former release 4.0.3 for new features and fixed issues list.

  • Contributors: Nir-Az

Supported RealSense SDK

Supported ROS Distributions

  • Rolling
  • Galactic
  • Foxy
  • Eloquent
  • Dashing

Supported Devices

  • Intel® RealSense™ LiDAR cameras L515
  • Intel® RealSense™ Tracking Module T265
  • Intel® RealSense™ Camera D400-Series:
    • Intel® RealSense™ Depth Cameras D415, D435, D435i and D455.
    • Intel® RealSense™ Depth Modules D400, D405, D410, D420, D430
    • Intel® RealSense™ Vision Processor D4m
  • Intel® RealSense™ Developer Kit SR300

Recommended Firmware

Model Firmware
D400 5.13.0.50 Important - due to internal firmware changes the users of this FW version are required to upgrade to Librealsense v2.39.0 (+)
SR300 3.10.10.0 +
**L500 1.5.8.1 +
realsense-ros - ROS2 Wrapper for Intel® RealSense™ Devices (build 4.0.3)

Published by SamerKhshiboun over 2 years ago

New Features:

  • Support intra-process zero-copy

Fixed issues:

  • Fix Galactic deprecated-declarations compilation warning

  • Fix Eloquent compilation error

  • Contributors: Eran, Nir-Az, SamerKhshiboun

Known issues:

  • Issues with playback that started with librealsense2 version 2.43.0 still exist. Working with rosbag_filename is unreliable.

Supported RealSense SDK

Supported ROS Distributions

  • Rolling
  • Galactic
  • Foxy
  • Eloquent
  • Dashing

Supported Devices

  • Intel® RealSense™ LiDAR cameras L515
  • Intel® RealSense™ Tracking Module T265
  • Intel® RealSense™ Camera D400-Series:
    • Intel® RealSense™ Depth Cameras D415, D435, D435i and D455.
    • Intel® RealSense™ Depth Modules D400, D405, D410, D420, D430
    • Intel® RealSense™ Vision Processor D4m
  • Intel® RealSense™ Developer Kit SR300

Recommended Firmware

Model Firmware
D400 5.13.0.50 Important - due to internal firmware changes the users of this FW version are required to upgrade to Librealsense v2.39.0 (+)
SR300 3.10.10.0 +
**L500 1.5.8.1 +
realsense-ros - ROS2 Wrapper for Intel® RealSense™ Devices (build 4.0.2)

Published by remibettan over 2 years ago

New Features:

  • add frequency monitoring to /diagnostics topic.
  • move diagnostic updater for stream frequencies into the RosSensor class.
  • add frequency monitoring to /diagnostics topic.

Fixed issues:

  • version 4.4.0 changed to 4.0.0 in CHANGELOG

  • fix topic_hz.py to recognize message type from topic name. (Naive)

  • fix galactic issue with undeclaring parameters

  • fix to support Rolling.

  • fix dynamic_params syntax.

  • fix issue with Galactic parameters set by default to static which prevents them from being undeclared.

  • Contributors: Haowei Wen, doronhi, remibettan

Known issues:

  • Issues with playback that started with librealsense2 version 2.43.0 still exist. Working with rosbag_filename is unreliable.

Supported RealSense SDK

Supported ROS Distributions

  • Rolling
  • Galactic
  • Foxy
  • Eloquent
  • Dashing

Supported Devices

  • Intel® RealSense™ LiDAR cameras L515, L535
  • Intel® RealSense™ Tracking Module T265
  • Intel® RealSense™ Camera D400-Series:
    • Intel® RealSense™ Depth Cameras D415, D435, D435i and D455.
    • Intel® RealSense™ Depth Modules D400, D405, D410, D420, D430
    • Intel® RealSense™ Vision Processor D4m
  • Intel® RealSense™ Developer Kit SR300

Recommended Firmware

Model Firmware
D400 5.13.0.50 Important - due to internal firmware changes the users of this FW version are required to upgrade to Librealsense v2.39.0 (+)
SR300 3.10.10.0 +
**L500 1.5.8.1 +
realsense-ros - ROS2 Wrapper for Intel® RealSense™ Devices (build 4.0.1)

Published by doronhi over 2 years ago

New Features:

  • unite_imu_method is now changeable in runtime.
  • add missing extrinsics topics

Fixed issues:

  • fix reset issue when multiple devices are connected

  • fix /rosout issue

  • fix PID for D405 device

  • fix bug: frame_id is based on camera_name

  • fix motion module default values.

  • fix crash when camera disconnects.

  • fix header timestamp for metadata messages.

  • Contributors: nomumu, JamesChooWK, benlev, doronhi

Known issues:

  • Issues with playback that started with librealsense2 version 2.43.0 still exist. Working with rosbag_filename is unreliable.

Supported RealSense SDK

Supported ROS Distributions

  • Rolling
  • Galactic
  • Foxy
  • Eloquent
  • Dashing

Supported Devices

  • Intel® RealSense™ LiDAR cameras L515, L535
  • Intel® RealSense™ Tracking Module T265
  • Intel® RealSense™ Camera D400-Series:
    • Intel® RealSense™ Depth Cameras D415, D435, D435i and D455.
    • Intel® RealSense™ Depth Modules D400, D405, D410, D420, D430
    • Intel® RealSense™ Vision Processor D4m
  • Intel® RealSense™ Developer Kit SR300

Recommended Firmware

Model Firmware
D400 5.13.0.50 Important - due to internal firmware changes the users of this FW version are required to upgrade to Librealsense v2.39.0 (+)
SR300 3.10.10.0 +
**L500 1.5.8.1 +
realsense-ros - ROS2-Beta Wrapper for Intel® RealSense™ Devices (build 4.0.0)

Published by doronhi almost 3 years ago

Beta release - version 4.0.0

Based upon the ROS2 3.2.3 version, controlling the camera parameters in this version is meant to be more dynamic:

  • Allows starting and stopping separate sensors in runtime using the "enable_" parameters.
  • Exposes all the postprocessing in a "disabled" state allowing the user to enable them at will in runtime.
    ** All parameters can also be defined at start-up by modifying the launch files, as is in the 3.2.3 version.

While many of the parameter names remain as they were in version 3.2.3, many were slightly modified to match the new hierarchy. For instance, in the D400 series, the depth, infrared1, and infrared2 streams belong to one stereo sensor. Therefore, there are no longer infra1_width, infra1_height, infra1_fps, infra2_width, depth_width etc. all of which should have always been set to the same value. Instead, there is a single, depth_module.profile parameter that combines all 3 parameters into one and can also be changed in runtime.

Supported RealSense SDK

Supported ROS Distributions

  • Rolling
  • Galactic
  • Foxy
  • Eloquent
  • Dashing

Supported Devices

  • Intel® RealSense™ LiDAR cameras L515, L535
  • Intel® RealSense™ Tracking Module T265
  • Intel® RealSense™ Camera D400-Series:
    • Intel® RealSense™ Depth Cameras D415, D435, D435i and D455.
    • Intel® RealSense™ Depth Modules D400, D410, D420, D430
    • Intel® RealSense™ Vision Processor D4m
  • Intel® RealSense™ Developer Kit SR300

Recommended Firmware

Model Firmware
D400 5.13.0.50 Important - due to internal firmware changes the users of this FW version are required to upgrade to Librealsense v2.39.0 (+)
SR300 3.10.10.0 +
**L500 1.5.8.1 +
realsense-ros - ROS Wrapper for Intel® RealSense™ Devices (build 2.3.2)

Published by doronhi almost 3 years ago

New features:

  • publish metadata

  • Add echo_metadada.py - An example script for subscribing and parsing metadata topics.

  • Add service: device_info

  • add parameter reconnect_timeout - timeout for connection attempts to a camera (previously was an attempt every 6 seconds).

  • add parameter wait_for_device_timeout - will stop reconnection attempts after a given timeout.

  • Support spaces in the filters Parameter string.

  • show a warning when the requested profile cannot be selected.

  • send only the 4 required distortion coefficients when using equidistant

  • Add D455 description

  • Add missing aluminum material to the d415 model.

Known Issues:

  • Problems running from a bag file (using the "rosbag_filename" option).

  • Contributors: Collin Avidano, Gintaras, Jacco van der Spek, doronhi

Supported RealSense SDK

Supported ROS Distributions

  • Noetic
  • Melodic
  • Kinetic

Supported Platforms

  • Ubuntu 20.04 LTS
  • Ubuntu 18.04 LTS
  • Ubuntu 16.04 LTS

Supported Devices

  • Intel® RealSense™ LiDAR cameras L515, L535
  • Intel® RealSense™ Tracking Module T265
  • Intel® RealSense™ Camera D400-Series:
    • Intel® RealSense™ Depth Cameras D415, D435, D435i and D455.
    • Intel® RealSense™ Depth Modules D400, D410, D420, D430
    • Intel® RealSense™ Vision Processor D4m
  • Intel® RealSense™ Developer Kit SR300

Recommended Firmware

Model Firmware
D400 5.13.0.50 Important - due to internal firmware changes the users of this FW version are required to upgrade to Librealsense v2.39.0 (+)
SR300 3.10.10.0 +
**L500 1.5.8.1 +
realsense-ros - ROS2 Wrapper for Intel® RealSense™ Devices (build 3.2.3)

Published by doronhi almost 3 years ago

New Features:

  • publish metadata

  • Add echo_metadada.py - An example script for subscribing and parsing metadata topics.

  • Add service: device_info

  • default frame_id includes namespace.

  • publish diagnostics topic with Asic and Projector temperature

  • add parameter reconnect_timeout - timeout for connection attempts to a camera (previously was an attempt every 6 seconds).

  • add parameter wait_for_device_timeout - will stop reconnection attempts after a given timeout.

  • Support spaces in the filters Parameter string.

  • Make pointcloud_qos a configurable parameter

  • Add a parameter, diagnostics_period, to control if and how often will messages be published on the diagnostic topic.

  • show a warning when the requested profile cannot be selected.

  • send only the 4 required distortion coefficients when using equidistant

  • Added dummy transformation for multi-camera example

  • Add D455 description

  • Add missing aluminum material to d415 model.

  • Contributors: Guillaume Doisy, Marenix, Nathan Brooks, Jacco van der Spek, Gilad Bretter, doronhi

Fixed issues:

  • Fix deprecation warnings when building on Rolling
  • fixed missing std namespace

Known issues:

  • Issues with playback that started with librealsense2 version 2.43.0 still exist. Working with rosbag_filename is unreliable.

Supported RealSense SDK

Supported ROS Distributions

  • Rolling
  • Galactic
  • Foxy
  • Eloquent
  • Dashing

Supported Devices

  • Intel® RealSense™ LiDAR cameras L515, L535
  • Intel® RealSense™ Tracking Module T265
  • Intel® RealSense™ Camera D400-Series:
    • Intel® RealSense™ Depth Cameras D415, D435, D435i and D455.
    • Intel® RealSense™ Depth Modules D400, D410, D420, D430
    • Intel® RealSense™ Vision Processor D4m
  • Intel® RealSense™ Developer Kit SR300

Recommended Firmware

Model Firmware
D400 5.13.0.50 Important - due to internal firmware changes the users of this FW version are required to upgrade to Librealsense v2.39.0 (+)
SR300 3.10.10.0 +
**L500 1.5.8.1 +
realsense-ros - ROS2 Wrapper for Intel® RealSense™ Devices (build 3.2.2)

Published by doronhi over 3 years ago

New Features:

  • Support Galactic and Rolling

  • Add udev-rules to Debian installation

  • Add support for L535

  • Add QoS parameters to all publishers

  • Add ros2 launch examples:

    • demo_t265_launch.py
    • rs_t265_launch.py
    • demo_pointcloud_launch.py

  • Added imu frames to _l515.urdf.xacro

  • Add conditional param use_mesh

Fixed issues:

  • Fix reading .yaml config file
    • Add a config_file command line example in README.md
  • No tf broadcaster object is created if publish_tf is set to false
  • fix rs_multi_camera_launch.py to include default separate node names.

Known issues:

  • Issues with playback that started with librealsense2 version 2.43.0 still exist. Working with rosbag_filename is unreliable.

Contributors: Guillaume Doisy, TSC21, anaelle, Simon Honigmann, doronhi

Supported RealSense SDK

Supported ROS Distributions

  • Rolling
  • Galactic
  • Foxy
  • Eloquent
  • Dashing

Supported Devices

  • Intel® RealSense™ LiDAR cameras L515, L535
  • Intel® RealSense™ Tracking Module T265
  • Intel® RealSense™ Camera D400-Series:
    • Intel® RealSense™ Depth Cameras D415, D435, D435i and D455.
    • Intel® RealSense™ Depth Modules D400, D410, D420, D430
    • Intel® RealSense™ Vision Processor D4m
  • Intel® RealSense™ Developer Kit SR300

Recommended Firmware

Model Firmware
D400 5.12.14.50 Important - due to internal firmware changes the users of this FW version are required to upgrade to Librealsense v2.39.0 (+)
SR300 3.10.10.0 +
**L500 1.5.8.1 +
realsense-ros - ROS Wrapper 2.0 for Intel® RealSense™ Devices (build 2.3.1)

Published by doronhi over 3 years ago

New features:

  • add respawn option
  • add udev-rules to Debian installation
  • Add support for L535
  • Add imu frames to _l515.urdf.xacro

Fix bugs:

  • Fix occasional missing diagnostic messages

Known Issues:

  • Problems running from a bag file (using the "rosbag_filename" option).

  • Contributors: Alex Fernandes Neves, Simon Honigmann, doronhi

Supported RealSense SDK

Supported ROS Distributions

  • Noetic
  • Melodic
  • Kinetic

Supported Platforms

  • Ubuntu 20.04 LTS
  • Ubuntu 18.04 LTS
  • Ubuntu 16.04 LTS

Supported Devices

  • Intel® RealSense™ LiDAR cameras L515, L535
  • Intel® RealSense™ Tracking Module T265
  • Intel® RealSense™ Camera D400-Series:
    • Intel® RealSense™ Depth Cameras D415, D435, D435i and D455.
    • Intel® RealSense™ Depth Modules D400, D410, D420, D430
    • Intel® RealSense™ Vision Processor D4m
  • Intel® RealSense™ Developer Kit SR300

Recommended Firmware

Model Firmware
D400 5.12.14.50 Important - due to internal firmware changes the users of this FW version are required to upgrade to Librealsense v2.39.0 (+)
SR300 3.10.10.0 +
**L500 1.5.8.1 +
realsense-ros - ROS2-Foxy Wrapper for Intel® RealSense™ Devices (build 3.2.0)

Published by doronhi over 3 years ago

New Features:

  • Added filling correct Tx, Ty values in projection matrix of the right camera.
  • Fixed frame_id of the right sensor to match the left sensor in a stereo pair.

Known issues:

  • The following tests are still removed for known playback issue started with librealsense2 version 2.43.0: align_depth_color_1, align_depth_ir1_1, align_depth_ir1_decimation_1.

  • Contributors: Pavlo Kolomiiets, doronhi

Supported RealSense SDK

Supported ROS Distributions

  • Foxy
  • Eloquent
  • Dashing

Supported Devices

  • Intel® RealSense™ LiDAR camera L515
  • Intel® RealSense™ Tracking Module T265
  • Intel® RealSense™ Camera D400-Series:
    • Intel® RealSense™ Depth Cameras D415, D435, D435i and D455.
    • Intel® RealSense™ Depth Modules D400, D410, D420, D430
    • Intel® RealSense™ Vision Processor D4m
  • Intel® RealSense™ Developer Kit SR300

Recommended Firmware

Model Firmware
D400 5.12.13.50 Important - due to internal firmware changes the users of this FW version are required to upgrade to Librealsense v2.39.0 (+)
SR300 3.10.10.0 +
**L500 1.5.5.0 +
realsense-ros - ROS Wrapper 2.0 for Intel® RealSense™ Devices (build 2.3.0)

Published by doronhi over 3 years ago

New features:

  • Added filling correct Tx, Ty values in projection matrix of the right camera.
  • Fixed frame_id of the right sensor to match left sensor in a stereo pair.

Fix bugs:

  • Fix pointcloud message size when no texture is added.

  • Contributors: Pavlo Kolomiiets, doronhi

Supported RealSense SDK

Supported ROS Distributions

  • Noetic
  • Melodic
  • Kinetic

Supported Platforms

  • Ubuntu 20.04 LTS
  • Ubuntu 18.04 LTS
  • Ubuntu 16.04 LTS

Supported Devices

  • Intel® RealSense™ LiDAR camera L515
  • Intel® RealSense™ Tracking Module T265
  • Intel® RealSense™ Camera D400-Series:
    • Intel® RealSense™ Depth Cameras D415, D435, D435i and D455.
    • Intel® RealSense™ Depth Modules D400, D410, D420, D430
    • Intel® RealSense™ Vision Processor D4m
  • Intel® RealSense™ Developer Kit SR300

Recommended Firmware

Model Firmware
D400 5.12.13.50 Important - due to internal firmware changes the users of this FW version are required to upgrade to Librealsense v2.39.0 (+)
SR300 3.10.10.0 +
**L500 1.5.5.0 +
realsense-ros - ROS2-Foxy Wrapper for Intel® RealSense™ Devices (build 3.1.6)

Published by doronhi over 3 years ago

New Features:

  • enable service to toggle sensors on/off.
  • Option to align pointcloud to color image.
  • Remove option to align depth to sensors other than color.

Fix bugs:

  • Fix pointcloud message size when no texture is added.

Known issues:

  • The following tests are still removed for known playback issue started with librealsense2 version 2.43.0: align_depth_color_1, align_depth_ir1_1, align_depth_ir1_decimation_1.

  • Contributors: anaelle, doronhi

Supported RealSense SDK

Supported ROS Distributions

  • Foxy
  • Eloquent
  • Dashing

Supported Devices

  • Intel® RealSense™ LiDAR camera L515
  • Intel® RealSense™ Tracking Module T265
  • Intel® RealSense™ Camera D400-Series:
    • Intel® RealSense™ Depth Cameras D415, D435, D435i and D455.
    • Intel® RealSense™ Depth Modules D400, D410, D420, D430
    • Intel® RealSense™ Vision Processor D4m
  • Intel® RealSense™ Developer Kit SR300

Recommended Firmware

Model Firmware
D400 5.12.13.50 Important - due to internal firmware changes the users of this FW version are required to upgrade to Librealsense v2.39.0 (+)
SR300 3.10.10.0 +
**L500 1.5.5.0 +
realsense-ros - ROS Wrapper 2.0 for Intel® RealSense™ Devices (build 2.2.24)

Published by doronhi over 3 years ago

New features:

  • Enabling pointcloud while align_depth is set to true creates a pointcloud aligned to color image.
  • Removed option to align depth to other streams other than color.

Supported RealSense SDK

Supported ROS Distributions

  • Noetic
  • Melodic
  • Kinetic

Supported Platforms

  • Ubuntu 20.04 LTS
  • Ubuntu 18.04 LTS
  • Ubuntu 16.04 LTS

Supported Devices

  • Intel® RealSense™ LiDAR camera L515
  • Intel® RealSense™ Tracking Module T265
  • Intel® RealSense™ Camera D400-Series:
    • Intel® RealSense™ Depth Cameras D415, D435, D435i and D455.
    • Intel® RealSense™ Depth Modules D400, D410, D420, D430
    • Intel® RealSense™ Vision Processor D4m
  • Intel® RealSense™ Developer Kit SR300

Recommended Firmware

Model Firmware
D400 5.12.12.100 Important - due to internal firmware changes the users of this FW version are required to upgrade to Librealsense v2.39.0 (+)
SR300 3.10.10.0 +
**L500 1.5.5.0 +
realsense-ros - ROS2-Foxy Wrapper for Intel® RealSense™ Devices (build 3.1.5)

Published by doronhi over 3 years ago

New Features:

  • Support Foxy, Eloquent and Dashing.
  • Add filter: HDR_merge
  • changed default image QOS to SYSTEM_DEFAULT

Fix bugs:

  • fix initialization of colorizer
  • Remove a wrong dependency
  • Add missing librealsense2 dependency from package.xml
  • fix bug: selection of profile disregarded stream index.

Known issues:

  • The following tests were removed for known playback issue with librealsense2 version 2.43.0: align_depth_color_1, align_depth_ir1_1, align_depth_ir1_decimation_1.

  • Contributors: changseung.yu, doronhi

Supported RealSense SDK

Supported ROS Distributions

  • Foxy
  • Eloquent
  • Dashing

Supported Devices

  • Intel® RealSense™ LiDAR camera L515
  • Intel® RealSense™ Tracking Module T265
  • Intel® RealSense™ Camera D400-Series:
    • Intel® RealSense™ Depth Cameras D415, D435, D435i and D455.
    • Intel® RealSense™ Depth Modules D400, D410, D420, D430
    • Intel® RealSense™ Vision Processor D4m
  • Intel® RealSense™ Developer Kit SR300

Recommended Firmware

Model Firmware
D400 5.12.12.100 Important - due to internal firmware changes the users of this FW version are required to upgrade to Librealsense v2.39.0 (+)
SR300 3.10.10.0 +
**L500 1.5.5.0 +
realsense-ros - ROS Wrapper 2.0 for Intel® RealSense™ Devices (build 2.2.23)

Published by doronhi over 3 years ago

New features:

  • Add filter: HDR_merge
  • add default values to infra stream in rs_camera.launch as non are defined in librealsense2.

Bug fixes:

  • fix bug: selection of profile disregarded stream index.
  • fix initialization of colorizer inner image

Supported RealSense SDK

Supported ROS Distributions

  • Noetic
  • Melodic
  • Kinetic

Supported Platforms

  • Ubuntu 20.04 LTS
  • Ubuntu 18.04 LTS
  • Ubuntu 16.04 LTS

Supported Devices

  • Intel® RealSense™ LiDAR camera L515
  • Intel® RealSense™ Tracking Module T265
  • Intel® RealSense™ Camera D400-Series:
    • Intel® RealSense™ Depth Cameras D415, D435, D435i and D455.
    • Intel® RealSense™ Depth Modules D400, D410, D420, D430
    • Intel® RealSense™ Vision Processor D4m
  • Intel® RealSense™ Developer Kit SR300

Recommended Firmware

Model Firmware
D400 5.12.12.100 Important - due to internal firmware changes the users of this FW version are required to upgrade to Librealsense v2.39.0 (+)
SR300 3.10.10.0 +
**L500 1.5.5.0 +
realsense-ros - ROS2-Foxy Wrapper for Intel® RealSense™ Devices (build 3.1.4)

Published by doronhi over 3 years ago

New Features:

  • Choose the default profile in case of an invalid request. Notice that the rs_launch.py file now selects the device's default profile for each enabled stream.
  • Add selecting QoS option. Check out README.md for available options.
  • Add an option for an Ordered PointCloud (by setting parameter ordered_pc:=true)
  • Import unit-tests from ROS1's version.

Fix bugs:

  • fix reading json file with a device other than D400 series.

  • fix timestamp domain issues.

  • Avoid aligning confidence image.

  • Fix mass of d415 in urdf file. (realsense2_description package)

  • Fix add_plug consistency in xacros and realsense2_description launch files

  • Contributors: Gabriel Urbain, Isaac I.Y. Saito, Itamar Eliakim, Marc Alban, Manuel Stahl, Tim Übelhör, doronhi

Supported RealSense SDK

Supported ROS Distributions

  • Foxy

Supported Devices

  • Intel® RealSense™ LiDAR camera L515
  • Intel® RealSense™ Tracking Module T265
  • Intel® RealSense™ Camera D400-Series:
    • Intel® RealSense™ Depth Cameras D415, D435, D435i and D455.
    • Intel® RealSense™ Depth Modules D400, D410, D420, D430
    • Intel® RealSense™ Vision Processor D4m
  • Intel® RealSense™ Developer Kit SR300

Recommended Firmware

Model Firmware
D400 5.12.11.0 Important - due to internal firmware changes the users of this FW version are required to upgrade to Librealsense v2.39.0 (+)
SR300 3.10.10.0 +
**L500 1.5.4.1 +
realsense-ros - ROS Wrapper 2.0 for Intel® RealSense™ Devices (build 2.2.22)

Published by doronhi over 3 years ago

New features:

  • Add reset service.
  • Choose the default profile in case of an invalid request. Notice that the rs_camera.launch file now selects the default profile for each device.
  • Add an option for an Ordered PointCloud (by setting parameter ordered_pc:=true)

Bug fixes:

  • fix timestamp domain issues.
  • Avoid aligning confidence image.
  • Fix mass of d415 in urdf file. (realsense2_description package)
  • Fix add_plug consistency in xacros and realsense2_description launch files

Supported RealSense SDK

Supported ROS Distributions

  • Noetic
  • Melodic
  • Kinetic

Supported Platforms

  • Ubuntu 20.04 LTS
  • Ubuntu 18.04 LTS
  • Ubuntu 16.04 LTS

Supported Devices

  • Intel® RealSense™ LiDAR camera L515
  • Intel® RealSense™ Tracking Module T265
  • Intel® RealSense™ Camera D400-Series:
    • Intel® RealSense™ Depth Cameras D415, D435, D435i and D455.
    • Intel® RealSense™ Depth Modules D400, D410, D420, D430
    • Intel® RealSense™ Vision Processor D4m
  • Intel® RealSense™ Developer Kit SR300

Recommended Firmware

Model Firmware
D400 5.12.11.0 Important - due to internal firmware changes the users of this FW version are required to upgrade to Librealsense v2.39.0 (+)
SR300 3.10.10.0 +
**L500 1.5.4.1 +
realsense-ros - ROS Wrapper 2.0 for Intel® RealSense™ Devices (build 2.2.21)

Published by doronhi almost 4 years ago

New features:

  • Publish depth confidence image for supporting devices (L515)

Bug fixes:

  • fix reading json file with device other than D400 series.

Supported RealSense SDK

Supported ROS Distributions

  • Noetic
  • Melodic
  • Kinetic

Supported Platforms

  • Ubuntu 20.04 LTS
  • Ubuntu 18.04 LTS
  • Ubuntu 16.04 LTS

Supported Devices

  • Intel® RealSense™ LiDAR camera L515
  • Intel® RealSense™ Tracking Module T265
  • Intel® RealSense™ Camera D400-Series:
    • Intel® RealSense™ Depth Cameras D415, D435, D435i and D455.
    • Intel® RealSense™ Depth Modules D400, D410, D420, D430
    • Intel® RealSense™ Vision Processor D4m
  • Intel® RealSense™ Developer Kit SR300

Recommended Firmware

Model Firmware
D400 5.12.10.0 Important - due to internal firmware changes the users of this FW version are required to upgrade to Librealsense v2.39.0 (+)
SR300 3.10.10.0 +
**L500 1.5.1.3 +
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Extracted from project README
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