realsense-ros

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

APACHE-2.0 License

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realsense-ros - ROS2-Foxy Wrapper for Intel® RealSense™ Devices (build 3.1.3)

Published by doronhi almost 4 years ago

Continuing Eloquent version 3.1.2

New Features:

  • Support ROS 2 - Foxy Fitzroy
  • Publish depth confidence image for supporting devices (L515)

Fix bugs:

  • fix bug: dynamic tf publisher.
  • fix realsense2_description's dependency to realsense2_camera_msgs

Fix Eloquent to Foxy issues:

  • remove boost dependency.

  • rename node_namespace to namespace

  • rename node_executable to executable

  • Contributors: 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 5.12.10.0 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 +
realsense-ros - ROS2-Eloquent Wrapper for Intel® RealSense™ Devices (build 3.1.2)

Published by doronhi almost 4 years ago

New Features:

  • Enable launch cmd line params
  • Add infra_rgb option: enable streaming D415's infra stream as RGB.
  • Add notification if connected using USB2.1 port.
  • Add launch option: output:=[screen|log]: enable sending logs to ros log file.
  • Add rs_multi_camera_launch.py on top of rs_launch.py
  • Remove '_' prefix from parameter serial_no. Allow to pass serial_no which is sometimes a string containing only digits.

Fixed Issues:

  • Added pointcloud attributes, when RS2_STREAM_ANY is enabled
  • Colorize the aligned depth image.
  • Fix missing parameters description.
  • Expose stereo extrinsics
  • Avoid currently unsupported Z16H depth format.
  • Fix README.md
  • Remove redundant nav_msgs dependency (caused build error)

Modifications:

  • rename rs.d400_and_t265.launch.py to rs_d400_and_t265_launch.py

  • remove node package, change msg package name

  • Contributors: Ryan Shim, Ting Chang, doronhi

Supported RealSense SDK

Supported ROS Distributions

  • Eloquent

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 5.12.9.0
SR300 3.10.10.0 +
**L500 1.5.1.3 +
realsense-ros - ROS Wrapper 2.0 for Intel® RealSense™ Devices (build 2.2.20)

Published by doronhi almost 4 years ago

New features:

  • Support Noetic
  • Add demo for using intrinsics from camera_info (show_center_depth.py).
  • Add launch option: output:=[screen|log]: enable sending logs to ros log file.
  • get rgb stream from infrared sensor (applies to D415) - use infra_rgb parameter.
  • Add feature: Add notification if connected using USB2.1 port.

Bug fixes:

  • Avoid z16h format
  • monitor streams frequency without subsribing.
  • extrinsics for right stereo camera refers to the left stereo camera.

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 5.12.9.0
SR300 3.10.10.0 +
**L500 1.5.1.3 +
realsense-ros - ROS Wrapper 2.0 for Intel® RealSense™ Devices (build 2.2.18)

Published by doronhi almost 4 years ago

New features:

  • Add service for enabling/disabling all sensors. (service name: enable)
    • Known issues:
      -- parameters persistency.
      -- not full power drop.

Bug fixes:

  • Remove parameter with invalid value.
  • Colorize the aligned depth image.
  • Added pointcloud attributes, when RS2_STREAM_ANY is enabled

Supported RealSense SDK

Supported ROS Distributions

  • Melodic
  • Kinetic

Supported Platforms

  • Ubuntu 16.04 LTS
  • Ubuntu 18.04 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 5.12.8.200+
SR300 3.10.10.0 +
**L500 1.5.1.3 +
realsense-ros - ROS2-Eloquent Wrapper for Intel® RealSense™ Devices (build 3.1.1)

Published by doronhi about 4 years ago

Fixed issues:

  • Fix timestamps.

Still on the pipeline for the upcoming versions:

  • Launch files for running multiple cameras.
  • Import descriptive files (realsense2_description package).
  • Support ROS2 life cycle.
  • Enable and disable sensors and filters on runtime.
  • Dynamically declaring parameters based on available options only.
  • Confirm compliance with REP standards for ROS2.

Supported RealSense SDK

Supported ROS Distributions

  • Eloquent

Supported Platforms

  • Ubuntu 18.04 LTS

Supported Devices

  • Intel® RealSense™ LiDAR camera L515
  • 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 5.12.7.100+
SR300 3.10.10.0 +
**L500 1.5.0.0 +
realsense-ros - ROS2-Eloquent Wrapper for Intel® RealSense™ Devices (build 3.1.0)

Published by doronhi about 4 years ago

New features:

  • Support T265 Tracking Module.

Still on the pipeline for the upcoming versions:

  • Launch files for running multiple cameras.
  • Import descriptive files (realsense2_description package).
  • Support ROS2 life cycle.
  • Enable and disable sensors and filters on runtime.
  • Dynamically declaring parameters based on available options only.
  • Confirm compliance with REP standards for ROS2.

Supported RealSense SDK

Supported ROS Distributions

  • Eloquent

Supported Platforms

  • Ubuntu 18.04 LTS

Supported Devices

  • Intel® RealSense™ LiDAR camera L515
  • 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 5.12.7.100+
SR300 3.10.10.0 +
**L500 1.5.0.0 +
realsense-ros - ROS2-Eloquent Wrapper for Intel® RealSense™ Devices (build 3.0.0)

Published by doronhi about 4 years ago

Initial release for ROS2 - Eloquent.

This version is based on the ROS1 wrapper (version 2.2.17).
Most of the features are already imported

Features which are yet to be imported are:

  • T265 support

Still on the pipeline for the upcoming versions:

  • Launch files for running multiple cameras.
  • Import descriptive files (realsense2_description package).
  • Support ROS2 life cycle.
  • Enable and disable sensors and filters on runtime.
  • Dynamically declaring parameters based on available options only.
  • Confirm compliance with REP standards for ROS2.

Supported RealSense SDK

Supported ROS Distributions

  • Eloquent

Supported Platforms

  • Ubuntu 18.04 LTS

Supported Devices

  • Intel® RealSense™ LiDAR camera L515
  • 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 5.12.7.100+
SR300 3.10.10.0 +
**L500 1.5.0.0 +
realsense-ros - ROS Wrapper 2.0 for Intel® RealSense™ Devices (build 2.2.17)

Published by doronhi about 4 years ago

New features:

  • Support Windows - Not fully tested yet.

Supported RealSense SDK

Supported ROS Distributions

  • Melodic
  • Kinetic

Supported Platforms

  • Ubuntu 16.04 LTS
  • Ubuntu 18.04 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 5.12.7.100+
SR300 3.10.10.0 +
**L500 1.5.0.0 +
realsense-ros - ROS Wrapper 2.0 for Intel® RealSense™ Devices (build 2.2.16)

Published by doronhi about 4 years ago

New features:

  • Support D455.
  • Improve instability of dynamic reconfigurable options.

Supported RealSense SDK

Supported ROS Distributions

  • Melodic
  • Kinetic

Supported Platforms

  • Ubuntu 16.04 LTS
  • Ubuntu 18.04 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 5.12.6.0+
SR300 3.10.10.0 +
**L500 1.4.1.2 +
realsense-ros - ROS Wrapper 2.0 for Intel® RealSense™ Devices (build 2.2.15)

Published by doronhi over 4 years ago

New features:

  • Check runtime version of librealsense2 vs. compiled version and issue a warning is mismatch occurs.
  • Set infra, fisheye, IMU and pose streams to be false by default.
  • Add d435i-xacro
  • Comply to ROS Noetic xacro rules.

Supported RealSense SDK

Supported ROS Distributions

  • Melodic
  • Kinetic

Supported Platforms

  • Ubuntu 16.04 LTS
  • Ubuntu 18.04 LTS

Supported Devices

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

Recommended Firmware

Model Firmware
D400 5.12.6.0+
SR300 3.10.10.0 +
**L500 1.4.1.0 +
realsense-ros - ROS Wrapper 2.0 for Intel® RealSense™ Devices (build 2.2.14)

Published by doronhi over 4 years ago

Fixed issues:

  • fix sensor not stopping issues.
  • fix support for L515.
  • fix distortion model for T265.
  • fir urdf issues.

Supported RealSense SDK

Supported ROS Distributions

  • Melodic
  • Kinetic

Supported Platforms

  • Ubuntu 16.04 LTS
  • Ubuntu 18.04 LTS

Supported Devices

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

Recommended Firmware

Model Firmware
D400 5.12.5.0+
SR300 3.10.10.0 +
**L500 1.4.1.0 +
realsense-ros - ROS Wrapper 2.0 for Intel® RealSense™ Devices (build 2.2.13)

Published by doronhi over 4 years ago

New features:

  • support LiDAR camera L515.
  • support simultaneously use of multiple T265 devices.

Fixed issues:

  • fix ctrl-C closing issues.
  • handle device creation exceptions.
  • optimize pointcloud. Contributors: Davide Faconti
  • fix usb port id parsing issues.

Supported RealSense SDK

Supported ROS Distributions

  • Melodic
  • Kinetic

Supported Platforms

  • Ubuntu 16.04 LTS
  • Ubuntu 18.04 LTS

Supported Devices

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

Recommended Firmware

Model Firmware
D400 5.12.3.0+
SR300 3.10.10.0 +
realsense-ros - ROS Wrapper 2.0 for Intel® RealSense™ Devices (build 2.2.12)

Published by doronhi almost 5 years ago

Same as version 2.2.11.
Add Eigen dependency - missing for Melodic.

realsense-ros - ROS Wrapper 2.0 for Intel® RealSense™ Devices (build 2.2.11)

Published by doronhi almost 5 years ago

Supported RealSense SDK

Supported ROS Distributions

  • Kinetic

Supported Platforms

  • Ubuntu 16.04 LTS

Supported Devices

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

Recommended Firmware

Model Firmware
D400 5.11.15.0+
SR300 3.10.10.0 +
realsense-ros - ROS Wrapper 2.0 for Intel® RealSense™ Devices (build 2.2.10)

Published by doronhi almost 5 years ago

New features:

  • Fix unite_imu_methods to transmit at gyro's rate.
  • Rename frames in xacro files from left_ir, right_ir to infra1, infra2, to comply with librealsense2 convention.
  • Add flag "use_nominal_extrinsics" to xacro files to enable visualizing the model while running the realsense2_camera node.
  • Add tests to check xarco files' syntax.

Fixed issues:

  • Fix USB port regex to work with hub-connected cams.
  • Fix wrong PointField Type for Colored Point Clouds

Supported RealSense SDK

Supported ROS Distributions

  • Kinetic

Supported Platforms

  • Ubuntu 16.04 LTS

Supported Devices

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

Recommended Firmware

Model Firmware
D400 5.11.15.0+
SR300 3.10.10.0 +
realsense-ros - ROS Wrapper 2.0 for Intel® RealSense™ Devices (build 2.2.9)

Published by doronhi almost 5 years ago

New features:

  • Add option to select camera by device type.
  • Add option to select camera port id. (i.e. 4-1, etc)
  • Add option to disable the publication of odom tf.
  • Add option to send static transforms as static or dynamically at specified rate.
  • Add option of setting the node to be required.

Fixed issues:

  • node crash when device disconnects.
  • force IR stream to use the stable Y8 format.
  • add missing dependency on xacro.
  • fix xacro support for multiple cameras.

Supported RealSense SDK

Supported ROS Distributions

  • Kinetic

Supported Platforms

  • Ubuntu 16.04 LTS

Supported Devices

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

Recommended Firmware

Model Firmware
D400 5.11.15.0+
SR300 3.10.10.0 +
realsense-ros - ROS Wrapper 2.0 for Intel® RealSense™ Devices (build 2.2.8)

Published by doronhi about 5 years ago

New features:

  • Add ASIC, projector and motion module temperature reading under /diagnostics topic.
  • Enable setting auto exposure ROI using rqt_reconfigure and ros params.

Fixed issues:

  • filters options missing from rqt_reconfigure.

Supported RealSense SDK

Supported ROS Distributions

  • Kinetic

Supported Platforms

  • Ubuntu 16.04 LTS

Supported Devices

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

Recommended Firmware

Model Firmware
D400 5.11.6.250+
SR300 3.10.10.0 +
realsense-ros - ROS Wrapper 2.0 for Intel® RealSense™ Devices (build 2.2.7)

Published by doronhi over 5 years ago

New features:

  • Add external_manager option to launch files.
  • Enable configuring ddynamic_reconfigure parameters before start streaming using rosparam.

Fixed issues:

  • publish imu info
  • fix scaling issue with SR300.

Supported RealSense SDK

Supported ROS Distributions

  • Kinetic

Supported Platforms

  • Ubuntu 16.04 LTS

Supported Devices

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

Recommended Firmware

Model Firmware
D400 5.11.6.250+
SR300 3.10.10.0 +
realsense-ros - ROS Wrapper 2.0 for Intel® RealSense™ Devices (build 2.2.6)

Published by doronhi over 5 years ago

realsense-ros - ROS Wrapper 2.0 for Intel® RealSense™ Devices (build 2.2.5)

Published by doronhi over 5 years ago

New features:

  • remove own copy of ddynamic_reconfigure. Need to install ros-kinetic-ddynamic-reconfigure now before build.
  • split package to 2: realsense2_camera and realsense2_description.

Fixed issues:

  • frame_id issue of imu.

Supported RealSense SDK

Supported ROS Distributions

  • Kinetic

Supported Platforms

  • Ubuntu 16.04 LTS

Supported Devices

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

Recommended Firmware

Model Firmware
D400 5.11.6.200+
SR300 3.10.10.0 +
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