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May 10, 2021

@doronhi doronhi released this May 5, 2021

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 +
Assets 2

@doronhi doronhi released this May 5, 2021

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 +
Assets 2

@doronhi doronhi released this May 5, 2021

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 +
Assets 2

@doronhi doronhi released this Apr 22, 2021

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 +
Assets 2

@doronhi doronhi released this Mar 24, 2021

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 +
Assets 2

@doronhi doronhi released this Mar 24, 2021

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 +
Assets 2

@doronhi doronhi released this Feb 18, 2021

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 +
Assets 2

@doronhi doronhi released this Feb 18, 2021

New features:

  • Add reset service.
  • Choose the default profile in case of an invalid request. Notice that the rs_camera.launch file now selects the default profile for each device.
  • Add an option for an Ordered PointCloud (by setting parameter ordered_pc:=true)

Bug fixes:

  • 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

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 5.12.11.0 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 +
Assets 2

@doronhi doronhi released this Dec 31, 2020

New features:

  • Publish depth confidence image for supporting devices (L515)

Bug fixes:

  • fix reading json file with device other than D400 series.

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 5.12.10.0 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 +
Assets 2