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ROS Wrapper 2.0 for Intel® RealSense™ Devices (build 2.2.0)
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@doronhi doronhi released this 17 Feb 13:37
2.2.0
4e6ab82
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Learn about vigilant mode.

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 +
Assets 2
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