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.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

• LibRealSense v2.42.0

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 +

ROS Wrapper 2.0 for Intel® RealSense™ Devices (build 2.2.21)

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

• LibRealSense v2.41.0

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 +

ROS2-Foxy Wrapper for Intel® RealSense™ Devices (build 3.1.3)

Continuing Eloquent version 3.1.2

New Features:

• Support ROS 2 - Foxy Fitzroy
• Publish depth confidence image for supporting devices (L515)

Fix bugs:

• fix bug: dynamic tf publisher.
• fix realsense2_description's dependency to realsense2_camera_msgs

Fix Eloquent to Foxy issues:

• remove boost dependency.

• rename node_namespace to namespace

• rename node_executable to executable

• Contributors: doronhi

Supported RealSense SDK

• LibRealSense v2.41.0

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	5.12.10.0 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 +

ROS2-Eloquent Wrapper for Intel® RealSense™ Devices (build 3.1.2)

New Features:

• Enable launch cmd line params
• Add infra_rgb option: enable streaming D415's infra stream as RGB.
• Add notification if connected using USB2.1 port.
• Add launch option: output:=[screen|log]: enable sending logs to ros log file.
• Add rs_multi_camera_launch.py on top of rs_launch.py
• Remove '_' prefix from parameter serial_no. Allow to pass serial_no which is sometimes a string containing only digits.

Fixed Issues:

• Added pointcloud attributes, when RS2_STREAM_ANY is enabled
• Colorize the aligned depth image.
• Fix missing parameters description.
• Expose stereo extrinsics
• Avoid currently unsupported Z16H depth format.
• Fix README.md
• Remove redundant nav_msgs dependency (caused build error)

Modifications:

• rename rs.d400_and_t265.launch.py to rs_d400_and_t265_launch.py

• remove node package, change msg package name

• Contributors: Ryan Shim, Ting Chang, doronhi

Supported RealSense SDK

• LibRealSense v2.40.0

Supported ROS Distributions

• Eloquent

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	5.12.9.0
SR300	3.10.10.0 +
**L500	1.5.1.3 +

ROS Wrapper 2.0 for Intel® RealSense™ Devices (build 2.2.20)

New features:

• Support Noetic
• Add demo for using intrinsics from camera_info (show_center_depth.py).
• Add launch option: output:=[screen|log]: enable sending logs to ros log file.
• get rgb stream from infrared sensor (applies to D415) - use infra_rgb parameter.
• Add feature: Add notification if connected using USB2.1 port.

Bug fixes:

• Avoid z16h format
• monitor streams frequency without subsribing.
• extrinsics for right stereo camera refers to the left stereo camera.

Supported RealSense SDK

• LibRealSense v2.40.0

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	5.12.9.0
SR300	3.10.10.0 +
**L500	1.5.1.3 +

ROS Wrapper 2.0 for Intel® RealSense™ Devices (build 2.2.18)

New features:

• Add service for enabling/disabling all sensors. (service name: enable)
  • Known issues:
    -- parameters persistency.
    -- not full power drop.

Bug fixes:

• Remove parameter with invalid value.
• Colorize the aligned depth image.
• Added pointcloud attributes, when RS2_STREAM_ANY is enabled

Supported RealSense SDK

• LibRealSense v2.39.0

Supported ROS Distributions

• Melodic
• Kinetic

Supported Platforms

• Ubuntu 16.04 LTS
• Ubuntu 18.04 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	5.12.8.200+
SR300	3.10.10.0 +
**L500	1.5.1.3 +

ROS2-Eloquent Wrapper for Intel® RealSense™ Devices (build 3.1.1)

Fixed issues:

• Fix timestamps.

Still on the pipeline for the upcoming versions:

• Launch files for running multiple cameras.
• Import descriptive files (realsense2_description package).
• Support ROS2 life cycle.
• Enable and disable sensors and filters on runtime.
• Dynamically declaring parameters based on available options only.
• Confirm compliance with REP standards for ROS2.

Supported RealSense SDK

• LibRealSense v2.38.1

Supported ROS Distributions

• Eloquent

Supported Platforms

• Ubuntu 18.04 LTS

Supported Devices

• Intel® RealSense™ LiDAR camera L515
• 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	5.12.7.100+
SR300	3.10.10.0 +
**L500	1.5.0.0 +

ROS2-Eloquent Wrapper for Intel® RealSense™ Devices (build 3.1.0)

New features:

• Support T265 Tracking Module.

Still on the pipeline for the upcoming versions:

• Launch files for running multiple cameras.
• Import descriptive files (realsense2_description package).
• Support ROS2 life cycle.
• Enable and disable sensors and filters on runtime.
• Dynamically declaring parameters based on available options only.
• Confirm compliance with REP standards for ROS2.

Supported RealSense SDK

• LibRealSense v2.38.1

Supported ROS Distributions

• Eloquent

Supported Platforms

• Ubuntu 18.04 LTS

Supported Devices

• Intel® RealSense™ LiDAR camera L515
• 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	5.12.7.100+
SR300	3.10.10.0 +
**L500	1.5.0.0 +

ROS2-Eloquent Wrapper for Intel® RealSense™ Devices (build 3.0.0)

Initial release for ROS2 - Eloquent.

This version is based on the ROS1 wrapper (version 2.2.17).
Most of the features are already imported

Features which are yet to be imported are:

• T265 support

Still on the pipeline for the upcoming versions:

• Launch files for running multiple cameras.
• Import descriptive files (realsense2_description package).
• Support ROS2 life cycle.
• Enable and disable sensors and filters on runtime.
• Dynamically declaring parameters based on available options only.
• Confirm compliance with REP standards for ROS2.

Supported RealSense SDK

• LibRealSense v2.38.1

Supported ROS Distributions

• Eloquent

Supported Platforms

• Ubuntu 18.04 LTS

Supported Devices

• Intel® RealSense™ LiDAR camera L515
• 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	5.12.7.100+
SR300	3.10.10.0 +
**L500	1.5.0.0 +

ROS Wrapper 2.0 for Intel® RealSense™ Devices (build 2.2.17)

New features:

• Support Windows - Not fully tested yet.

Supported RealSense SDK

• LibRealSense v2.38.1

Supported ROS Distributions

• Melodic
• Kinetic

Supported Platforms

• Ubuntu 16.04 LTS
• Ubuntu 18.04 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	5.12.7.100+
SR300	3.10.10.0 +
**L500	1.5.0.0 +