Releases: IntelRealSense/realsense-ros
Releases · IntelRealSense/realsense-ros
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 + |
ROS Wrapper 2.0 for Intel® RealSense™ Devices (build 2.3.1)
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)
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)
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)
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)
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)
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)
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)
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 + |
ROS Wrapper 2.0 for Intel® RealSense™ Devices (build 2.2.22)
New features:
- Add reset service.
- Choose the default profile in case of an invalid request. Notice that the
rs_camera.launchfile 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 + |