realsense-ros

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

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realsense-ros - ROS Wrapper 2.0 for Intel® RealSense™ Devices (build 2.2.4)

Published by doronhi over 5 years ago

New features:

  • allow_no_texture_points

Modified behavior:

  • T265 - fix frame camera_link to match pose frame.
  • imu and synched imu, both sent on _imu_optical_frame.

Fixed issues:

  • stability issues concerning running T265 parallel to other realsense devices.
  • pointcloud: scale with SR300, removing invalid points
  • decimation filter in combination with other post-processing filters.

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 +
realsense-ros - ROS Wrapper 2.0 for Intel® RealSense™ Devices (build 2.2.3)

Published by doronhi over 5 years ago

New features:

  • add hole_filling filter.
realsense-ros - ROS Wrapper 2.0 for Intel® RealSense™ Devices (build 2.2.2)

Published by doronhi over 5 years ago

New features:

  • add launch params: topic_odom_in, calib_odom_file.
  • add launch param: publish_odom_tf
  • Set dynamic_reconfigure defaults from ROS param server

Changes to interfaces

Fixed issues:

  • scale in depth image: For all devices, the scale is always 0.001m.
  • fixed twist coordinates of odometry.

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 5.11.4+
SR300 3.10.10.0 +
realsense-ros - ROS Wrapper 2.0 for Intel® RealSense™ Devices (build 2.2.1)

Published by doronhi over 5 years ago

New features:

  • Automatic hardware reset if needed on startup.
  • Automatic detection if device was disconnected and resuming activity when device is reconnected.
  • add demo_t265.launch file

Changes to interfaces

  • renamed launch option "spatial_frame_id" to "odom_frame_id"
  • removed launch option: enable_tm2 - not required anymore.
  • remove topic align_depth_to_infra2 and align_depth_to_fisheye2
  • changed image format for IR and fisheye images from 8UC1 to MONO8.
  • send odom static transform without subscribing to topic odom.
  • changed package.xml to format 2.

Fixed issues:

  • remove build warnings
  • fix static transformations for t265 sensors.

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 5.11.4+
SR300 3.10.10.0 +
realsense-ros - ROS Wrapper 2.0 for Intel® RealSense™ Devices (build 2.2.0)

Published by doronhi over 5 years ago

New features:

  • Add support for T265 - Tracking Module. This support includes pose, imu and fisheye cameras but does not include features that are still not available though librealsense, such as including wheel odometry.

Changes to interfaces

  • All spaces in variable names for dynamic reconfigure where replaced with underscores to comply with other ROS conventions according to: http://wiki.ros.org/Names.
  • parameters infra1_width and infra2_width are reduced to infra_width. The devices do not support different formats for each sensor's index. Same goes for fisheye1, fisheye2 and for the extensions _width, _height and _fps.
  • Add topic for T265 - images from fisheye1 and fisheye2 are published on topics /camera/fisheye1/image_raw, /camera/fisheye2/image_raw and all the additional topics as the other images.
  • Add topic for T265 pose: /camera/odom/sample

fixed bugs.

  • Enabling depth isn't mandatory anymore if depth is not needed.
  • improve depth align efficiency by not initializing every frame.

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 5.11.1+
SR300 3.10.10.0 +
realsense-ros - ROS Wrapper 2.0 for Intel® RealSense™ Devices (build 2.1.4)

Published by doronhi over 5 years ago

Major modifications:

  • regulated exit with ctrl+C.
  • fixed problems with urdf files for D415, D435
  • fixed bug in align depth to image.
  • add build dependency for librealsense version 2.17.1, although it's best to upgrade to 2.18.0 to enjoy resent benefits.

Supported RealSense SDK

Supported ROS Distributions

  • Kinetic

Supported Platforms

  • Ubuntu 16.04 LTS

Supported Devices

  • 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 5.10.13+
SR300 3.10.10.0 +
realsense-ros - ROS Wrapper 2.0 for Intel® RealSense™ Devices (build 2.1.3)

Published by doronhi almost 6 years ago

Support D435i with IMU

  • IMU topics on /camera/gyro/sample and /camera/accel/sample.
  • If united using unite_imu_method:=copy or unite_imu_method:=linear_interpolation, topic is /camera/imu.
  • Add linear accel covariance - Default: 0.01. modify using option: linear_accel_cov
  • Add option to sync imu and frame messages. Longer processing time for frames cause the latest IMU messages to be sent before frame messages. You can use option hold_back_imu_for_frames to hold back the publishing of imu messages until publication of frame messages.
    The time tags show the measuring time so usually there is no need to cause bursts of IMU messages, hence the default value is false.
  • Set accel_fps to 250 as this is the new maximal rate in librealsense v2.17.0

Changed dynamic reconfigure options as seen in rqt_reconfigure.

  • All the options available by the underlying librealsense objects are now reflected. This means previously existing options may have changed names.
  • Using ddynamic_reconfigure library: https://github.com/awesomebytes/ddynamic_reconfigure. Thanks guys!
  • Add NOTICE file, to emphasize the contribution of the ddynamic_reconfigure project.

Add SLAM demo

  • Add opensource_tracking.launch - demo that runs realsense2_camera, imu_filter_madgwick, rtabmap and robot_localization to demonstrate Slam with realsense D435i
  • Although the parameters must be better configured (any help will be appreciated) this is a good starting point for having SLAM using realsense D435i. Checkout the wiki page: https://github.com/intel-ros/realsense/wiki/SLAM-with-D435i

Add Hardware reset option.

  • Use option: initial_reset:=true to hardware reset on startup. Takes 5 seconds more but helps against hardware error not sending images.
  • A message "Hardware Reset is needed. use option: initial_reset:=true" will be printed if needed.

Add clipping_distance option.

  • enabled with parameter: clip_distance. units: meters. Default: no clipping.

Supported RealSense SDK

Supported ROS Distributions

  • Kinetic

Supported Platforms

  • Ubuntu 16.04 LTS

Supported Devices

  • 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 5.10.13+
SR300 3.10.10.0 +

Known Issues:

  • Option for toggling sensor on and off while running is missing.
  • It is currently not possible to send all the post processing filters' output simultaneously. Specifically, when filter "colorizer" is active, normal depth topic is not published.
realsense-ros - ROS Wrapper 2.0 for Intel® RealSense™ Devices (build 2.1.2)

Published by doronhi almost 6 years ago

Fix to comply with librealsense v2.17.0.

Supported RealSense SDK

Supported ROS Distributions

  • Kinetic

Supported Platforms

  • Ubuntu 16.04 LTS

Supported Devices

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

Recommended Firmware

Model Firmware
D400 5.10.3+
SR300 3.10.10.0 +

Known Issues:

It is currently not possible to send all the post processing filters' output simultaneously. Specifically, when filter "colorizer" is active, normal depth topic is not published.
Filters options are not configurable.

realsense-ros - ROS Wrapper 2.0 for Intel® RealSense™ Devices (build 2.1.1)

Published by doronhi almost 6 years ago

Add Disparity processing - Enabling this filter converts the depth image to disparity image before all the other filters are applied and then converts it back to depth image. This often improves filtering, especially in longer ranges.
Add Decimation filter - Enabling this filter reduces the resolution of the depth image, closing some holes in the process.
Add dynamic configuration for enabling/disabling sensors. Currently works only for sync mode. (@AndyZe )

  • fix bug: error in setting a dynamic parameter used to stop setting all other parameters.
  • fix bug: depth_auto_exposure was override in initialization by depth_exposure.
  • fix bug: Problems with aligned images.
  • fix bug: Depth was not sent with pointscloud.

Supported RealSense SDK

Supported ROS Distributions

  • Kinetic

Supported Platforms

  • Ubuntu 16.04 LTS

Supported Devices

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

Recommended Firmware

Model Firmware
D400 5.10.3+
SR300 3.10.10.0 +

Known Issues:

It is currently not possible to send all the post processing filters' output simultaneously. Specifically, when filter "colorizer" is active, normal depth topic is not published.
Filters options are not configurable.

realsense-ros - ROS Wrapper 2.0 for Intel® RealSense™ Devices (build 2.1.0)

Published by doronhi about 6 years ago

Enable post processing filters.
Fix issues concerning multiple cameras.

Supported RealSense SDK

Supported ROS Distributions

  • Kinetic

Supported Platforms

  • Ubuntu 16.04 LTS

Supported Devices

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

Recommended Firmware

Model Firmware
D400 5.10.3+
SR300 3.10.10.0 +

Known Issues:

It is currently not possible to send all the post processing filters' output simultaneously. Specifically, when filter "colorizer" is active, normal depth topic is not published.

realsense-ros - ROS Wrapper 2.0 for Intel® RealSense™ Devices (build 2.0.4)

Published by doronhi about 6 years ago

This version provides the following changes:

  • Compatibility with Intel® RealSense™ SDK 2.0 (build 2.16.0)
  • Fixed issues #335, #364, #367, #374, #383, #405, #406, #418
  • Fix urdf files issues: #404,
  • Insert cameras into namespaces: , #426
  • enable reading recording from ros_bag file: #437
  • add rs2_listener.py example and travis check: #437

Supported RealSense SDK

Supported ROS Distributions

  • Kinetic

Supported Platforms

  • Ubuntu 16.04 LTS

Supported Devices

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

Recommended Firmware

Model Firmware
D400 5.10.3+
SR300 3.10.10.0 +
realsense-ros - ROS Wrapper 2.0 for Intel® RealSense™ Devices (build 2.0.3)

Published by icarpis over 6 years ago

This version provides the following changes:

  • Package name has changed to realsense2_camera
  • Fixed issues #332 and #337
  • Added diagnostic_updater package

Supported RealSense SDK

Supported ROS Distributions

  • Indigo
  • Kinetic

Supported Platforms

  • Ubuntu 16.04 LTS and 14.04 LTS

Supported Devices

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

Recommended Firmware

Model Firmware
D400 5.9.2.0 +
SR300 3.10.10.0 +
realsense-ros - ROS Wrapper 2.0 for Intel® RealSense™ Devices (build 2.0.2)

Published by icarpis over 6 years ago

This version provides the following features:

  • RGBD pointcloud
  • Publishing aligned depth topics to other available streams
  • Dynamic reconfigure params for camera controls
  • Working with multiple cameras

Supported RealSense SDK

Supported ROS Distributions

  • Indigo
  • Kinetic

Supported Platforms

  • Ubuntu 16.04 LTS and 14.04 LTS

Supported Devices

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

Recommended Firmware

Model Firmware
D400 5.08.15.0 +
SR300 3.10.10.0 +
realsense-ros - ROS Wrapper 1.0 (build 1.8.1)

Published by dorodnic almost 7 years ago

Builds with LibRealSense 1.12.1

Changes

  • Added missing ZR300 launch file arguments (#259)
  • Fixed ZR300 launch file typo (#244)
  • Added LR200 support (#245)
  • Added RGDB launch file for the ZR300
  • Updated code to cache ZR300 IMU data (#186)
  • Contributors: Benjamin Maidel, Dinesh Bolkensteyn, Itay Carpis, Junya Hayashi, Matt Curfman, Murilo Belluzzo, Reagan Lopez, Sergey Dorodnicov
realsense-ros - ROS Wrapper 2.0 for Intel® RealSense™ Devices (build 2.0.1)

Published by icarpis almost 7 years ago

This version provides 3D point cloud stream with RGB data for SR300, D415 and D435.

Supported RealSense SDK

Supported ROS Distributions

  • Indigo
  • Kinetic

Supported Platforms

  • Ubuntu 16.04 LTS and 14.04 LTS

Supported Devices

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

Recommended Firmware

Model Firmware
D400 5.08.09.0 +
SR300 3.10.10.0 +
realsense-ros - ROS Wrapper 2.0 for Intel® RealSense™ Devices

Published by dorodnic about 7 years ago

This is an initial version of Intel® RealSense™ ROS package for using Intel® RealSense™ depth cameras (D400 series and the SR300) with ROS.

Supported RealSense SDK

Supported ROS Distributions

  • Indigo
  • Kinetic

Supported Platforms

  • Ubuntu 16.04 LTS and 14.04 LTS

Supported Devices

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

Recommended Firmware

Model Firmware
D400 5.08.07.0 +
SR300 3.10.10.0 +
realsense-ros - 1.8.0

Published by mattcurfman over 7 years ago

  • Enable configuration of the TF publication rate when using tf_dynamic
  • Enable roslint when CATKIN_ENABLE_TESTING is True
  • Add option to link against non-catkin librealsense
  • Fixed LR auto exposure (#131)
  • Dynamic reconfig autoexposure/exposure control SR300/F200/R200 (#213)
  • Added check for depth_enable dynamic change
  • Update Debug Tool
  • Added SyncNodelet class as new base for F200/SR300/R200 (#207, #210)
  • Contributors: Amanda Brindle, Dmitry Rozhkov, James Sergeant, Mark Horn, Matthew Hansen, Reagan Lopez, Séverin Le
    maignan
realsense-ros - 1.7.2

Published by mdhorn over 7 years ago

  • Create tool to get debug info
  • Change tf to using setRPY for consistency
  • Changed fisheye_strobe and fisheye_external_trigger to static params
  • Contributors: Amanda Brindle, Mark Horn, Matthew Hansen, Wang Jinliang
realsense-ros - 1.7.1

Published by mdhorn over 7 years ago

1.7.1 (2017-01-14)

  • Generate Warning for non-validated camera firmware
  • Use shared timestamp for SR300/F200 cameras
  • Added retry in tests to avoid random failures
  • Contributors: Amanda Brindle, Mark D Horn, Ning Wang
realsense-ros - 1.7.0

Published by mdhorn almost 8 years ago

  • Enable ROS Lint
  • Update RGBD launch files
  • Add Dynamic Transforms support -- multi-cam (#120)
  • Change color stream default to 30fps
  • Major code refactor to use librealsense callbacks
  • Added imu_start_ts for imu sync
  • Make system wrapper function generic
  • Don't ignore linker flags set by user (Yocto fix)
  • Changed nodelet to use camera timestamps
  • Migrate README.md content to ROS wiki
  • Contributors: Dmitry Rozhkov, Mark D Horn, Matt Hansen
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