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Release v2.8.6

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@ob-yalian ob-yalian released this 30 Apr 16:41
· 285 commits to v2-main since this release
v2.8.6
ddd3185

New Features

  1. Update the OrbbecSDK version from v2.7.6 to v2.8.6.
  2. Added device capabilities:
    • Added support for the Gemini 305g device and provided a dedicated launch file: gemini305_g.launch
    • Added support for publishing intrinsics and extrinsics in Gemini 305 dual color mode
    • Added the anti-flicker control parameter color_anti_flicker for the Gemini 305 series
      Requires firmware v1.0.70 or later.
    • Added support for dual IR mode switching on Gemini2L, with a new configuration example: gemini2L_dual_ir.yaml
      It can be loaded and switched using config_file_path.
  3. Added the depth_filters/status topic for filter status monitoring.
    The legacy topic depth_filters_status is still supported for compatibility, but will be deprecated in the next version.
  4. Added the ip_config_tool tool for device network configuration.
    The capabilities of the original set_device_ip tool have been merged into this tool. 
    rosrun orbbec_camera ip_config_tool --help
  5. Added the firmware_update_tool tool, supporting firmware and preset flashing. 
    rosrun orbbec_camera firmware_update_tool --help
  6. Added services for disparity range mode and disparity search offset control:
    • set_disparity_range_mode
    • set_disparity_search_offset
  7. Added the independent firmware log switch parameter enable_firmware_log.
    This parameter independently controls device firmware log output and is decoupled from the heartbeat function.
  8. The list_camera_profile_mode_node tool now supports specifying a serial number.
  9. Added SDK exception log status code output.

Improvements

  1. Adjusted parameter names for the 305 series only:
    • ae_mode → ae_reference_stream
    • enable_sports_mode → ae_strategy
  2. Improved the stability and safety of the set_filter service.
  3. Improved log output.

Fixed Issues

  1. Fixed an issue where image frames could be blocked by the time synchronization process when using the v4l2 backend with the time domain set to device.
  2. Fixed an issue with abnormal AE ROI constraint logic.

Supported Devices

Products List Recommended FW Version Launch File
Astra Mini Pro 2.0.03 astra.launch
Astra Mini S Pro 2.0.03 astra.launch
Gemini 435Le 1.3.2 gemini435_le.launch
Gemini 330 series 1.6.00 gemini_330_series.launch
Gemini 305 1.0.30 gemini305.launch
Gemini 305G 1.0.30 gemini305_g.launch
Gemini 215 1.0.9 gemini210.launch
Gemini 210 1.0.9 gemini210.launch
Gemini 2 1.4.98 gemini2.launch
Gemini 2 L 1.5.2 gemini2L.launch
Femto Bolt 1.1.2 femto_bolt.launch
Femto Mega 1.3.1 femto_mega.launch
Femto Mega I 2.0.4 femto_mega.launch
Astra 2 2.8.20 astra2.launch
Gemini 345 1.7.12 gemini345.launch
Gemini 345Lg 1.7.12 gemini345_lg.launch
Pulsar SL450 2.2.4.5 lidar.launch
Pulsar ME450 1.0.0.6 lidar.launch

Supported Platforms

  • Linux x64: tested on Ubuntu 20.04
  • Linux ARM64: tested on NVIDIA Jetson AGX Orin , NVIDIA Jetson Orin NX , NVIDIA Jetson Orin Nano , NVIDIA Jetson AGX Xavier , NVIDIA Jetson Xavier NX , NVIDIA Jetson Thor
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