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Releases: IntelRealSense/realsense-ros

ROS2 Wrapper for Intel® RealSense™ Devices (build 3.2.3)

11 Nov 12:46
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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)

01 Jul 06:59
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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 +

ROS Wrapper 2.0 for Intel® RealSense™ Devices (build 2.3.1)

01 Jul 06:21
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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 +

ROS2-Foxy Wrapper for Intel® RealSense™ Devices (build 3.2.0)

05 May 12:34
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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 +

ROS2-Foxy Wrapper for Intel® RealSense™ Devices (build 3.1.6)

05 May 11:34
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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 +

ROS Wrapper 2.0 for Intel® RealSense™ Devices (build 2.3.0)

05 May 11:57
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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 +

ROS Wrapper 2.0 for Intel® RealSense™ Devices (build 2.2.24)

22 Apr 06:56
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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 +

ROS2-Foxy Wrapper for Intel® RealSense™ Devices (build 3.1.5)

24 Mar 12:26
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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 +

ROS Wrapper 2.0 for Intel® RealSense™ Devices (build 2.2.23)

24 Mar 12:10
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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 +

ROS2-Foxy Wrapper for Intel® RealSense™ Devices (build 3.1.4)

18 Feb 11:15
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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 +