Releases: IntelRealSense/realsense-ros
ROS2 Wrapper for Intel® RealSense™ Devices (build 4.54.1)
What's Changed
- add humble distro to pre-release.yml by @SamerKhshiboun in #2492
- fix ordered_pc arg prefix by @SamerKhshiboun in #2487
- fix extrinsics calculation by @SamerKhshiboun in #2477
- Publish static tf for IMU frames by @Gilaadb in #2436
- publish actual IMU optical frame ID in IMU messages by @Gilaadb in #2516
- rename ros2-beta to ros2-development by @SamerKhshiboun in #2524
- Update stale comment to reflect new branch name by @jaiveersinghNV in #2536
- Windows bringup by @PranavDhulipala in #2537
- Replace deprecated parameter node_name with name by @augustelalande in #2541
- add rolling distro build to github actions by @Nir-Az in #2548
- Update README.md by @jeremy-shannon in #2401
- Explicit mention of parameter value for
unite_imu_methodby @tsadarsh in #2551 - Fix deprecated rolling API by @Nir-Az in #2558
- Properly read camera config files in rs_launch.py by @Gilaadb in #2572
- Publish static transforms when intra porocess communication is enabled by @Yadunund in #2381
- remove galactic from pre release GHA script by @SamerKhshiboun in #2604
- if default profile is not defined, take the first available profile as default by @SamerKhshiboun in #2601
- Fix hdr_merge filter initialization in ros2 launch by @SamerKhshiboun in #2603
- Add D457 by @hsuys in #2557
- T265 clean up by @SamerKhshiboun in #2611
- Fix ros2 parameter descriptions and range values by @SamerKhshiboun in #2600
- enable intra-process communication for point clouds by @christian-rauch in #2599
- Fix Apache License Header and Intel Copyrights by @SamerKhshiboun in #2608
- add cppcheck to GHA by @SamerKhshiboun in #2610
- Use latched QoS for Extrinsic topic when intra-process is used by @Nir-Az in #2619
- Fix #2649: Expose USB port in DeviceInfo service (ros2) by @stwirth in #2655
- fix timestamps by @SamerKhshiboun in #2658
- Fix lower FPS in D405, D455 by @SamerKhshiboun in #2612
- use playback device for rosbags by @SamerKhshiboun in #2669
- refactor README.md by @SamerKhshiboun in #2668
- clone PR1637 to ros2-development by @SamerKhshiboun in #2689
- replace stereo module with depth module by @SamerKhshiboun in #2688
- Fix Swapped TFs Axes by @SamerKhshiboun in #2684
- add info about extrinsic msg format in Extrinsics.msg and README.md by @SamerKhshiboun in #2693
- add D430i support by @sherrysun2018 in #2322
- Fix: /tf and /static_tf topics' inconsistencies by @Arun-Prasad-V in #2676
- Update mesh path by @MarqRazz in #2712
- Update realsense_node_factory.cpp by @danielhonies in #2713
- Update README.md by @tonynajjar in #2778
- Support Iron distro by @SamerKhshiboun in #2787
- Fixing TF frame links b/w multi camera nodes when using custom names by @Arun-Prasad-V in #2709
- Publish /aligned_depth_to_color topic only when color frame present by @Arun-Prasad-V in #2793
- Applying AlignDepth filter after Pointcloud by @Arun-Prasad-V in #2775
New Contributors
- @jaiveersinghNV made their first contribution in #2536
- @PranavDhulipala made their first contribution in #2537
- @augustelalande made their first contribution in #2541
- @jeremy-shannon made their first contribution in #2401
- @tsadarsh made their first contribution in #2551
- @Yadunund made their first contribution in #2381
- @hsuys made their first contribution in #2557
- @christian-rauch made their first contribution in #2599
- @sherrysun2018 made their first contribution in #2322
- @Arun-Prasad-V made their first contribution in #2676
- @MarqRazz made their first contribution in #2712
- @danielhonies made their first contribution in #2713
- @tonynajjar made their first contribution in #2778
Full Changelog: 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 |
Contributors
Assets 2
ROS2-Beta Wrapper for Intel® RealSense™ Devices (build 4.51.1)
Release notice
What's Changed
- Add pre-release testings to ci by @Nir-Az in #2293
- fix CUDA suffix for pointcloud and align_depth topics by @SamerKhshiboun in #2298
- Add copyright and license to all ROS2-beta source files by @SamerKhshiboun in #2302
- [ros2-beta] update readme to show changes from ROS2 by @SamerKhshiboun in #2312
- add colorizer.enable to rs_launch.py by @SamerKhshiboun in #2316
- Add how to echo Extrinsic topic on intra-process to README by @Nir-Az in #2333
- Fix align_depth enable/disable by @SamerKhshiboun in #2332
- Fix colorizer filter which returns null reference ptr by @SamerKhshiboun in #2336
- No need to start/stop sensors for align depth changes by @SamerKhshiboun in #2351
- Publish real frame rate of realsense camera node topics/publishers by @SamerKhshiboun in #2408
- Support ROS2 Humble by @SamerKhshiboun in #2406
- fix rosbag device loading by preventing set_option to HDR/Gain/Exposure by @SamerKhshiboun in #2409
- Update rosbag documentation in readme.me by @SamerKhshiboun in #2419
- Fix crash when activating IMU & aligned depth together by @SamerKhshiboun in #2437
- force cmake version to 3.23.0 by @SamerKhshiboun in #2468
Full Changelog: 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 + |
Contributors
Assets 2
ROS2 Wrapper for Intel® RealSense™ Devices (build 4.0.4)
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 + |
ROS2 Wrapper for Intel® RealSense™ Devices (build 4.0.3)
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 + |
ROS2 Wrapper for Intel® RealSense™ Devices (build 4.0.2)
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 + |
ROS2 Wrapper for Intel® RealSense™ Devices (build 4.0.1)
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 + |
ROS2-Beta Wrapper for Intel® RealSense™ Devices (build 4.0.0)
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 + |
ROS Wrapper for Intel® RealSense™ Devices (build 2.3.2)
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 + |
ROS2 Wrapper for Intel® RealSense™ Devices (build 3.2.3)
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 + |
ROS2 Wrapper for Intel® RealSense™ Devices (build 3.2.2)
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 + |