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ROS2 Wrapper for Intel® RealSense™ Devices (build 3.2.3)
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@doronhi doronhi released this 11 Nov 12:46
3.2.3
b30a25b

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 +
Assets 2