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Release v2.8.6

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@ob-yalian ob-yalian released this 30 Apr 16:32
· 398 commits to v2-main since this release
v2.8.6
44e6398

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.py
    • 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. 
    ros2 run orbbec_camera ip_config_tool --help
  5. Added the firmware_update_tool tool, supporting firmware and preset flashing. 
    ros2 run 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 and log storage paths.
    Unified the storage paths for SDK logs and crash files: both are now saved under ~/.ros/Log.

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 where the undistortion result was abnormal when using the distortion model of DabaiA K6.
  3. Fixed an issue with abnormal AE ROI constraint logic.

Supported Devices

Product Series Products List Recommended FW Version Launch File
Gemini 430 Gemini 435Le 1.3.6 gemini435_le.launch.py
Gemini 301 Gemini 305 1.0.70 gemini305.launch.py
Gemini 305g 1.0.70 gemini305_g.launch.py
Gemini 330 Gemini 335 1.6.00 gemini_330_series.launch.py
Gemini 3361.6.00gemini_330_series.launch.py
Gemini 3301.6.00gemini_330_series.launch.py
Gemini 335L1.6.00gemini_330_series.launch.py
Gemini 336L1.6.00gemini_330_series.launch.py
Gemini 330L1.6.00gemini_330_series.launch.py
Gemini 335Lg1.6.00gemini_330_series.launch.py
Gemini 335Le1.6.00gemini_330_series.launch.py
Gemini 340 Gemini 345Lg 1.9.03 gemini345_lg.launch.py
Gemini 2 Gemini 2 1.4.98 gemini2.launch.py
Gemini 2 L 1.5.2 gemini2L.launch.py
Gemini 215 1.0.9 gemini210.launch.py
Gemini 210 1.0.9 gemini210.launch.py
Femto Femto Bolt 1.1.3 femto_bolt.launch.py
Femto Mega 1.3.1 femto_mega.launch.py
Femto Mega I 2.0.4 femto_mega.launch.py
Astra Astra 2 2.8.20 astra2.launch.py
Astra Mini Astra Mini Pro 2.0.03 astra.launch.py
Astra Mini S Pro 2.0.03 astra.launch.py
LiDAR Pulsar ME450 1.0.0.6 lidar.launch.py
Pulsar SL450 2.2.4.5 lidar.launch.py

Supported Platforms

  • Linux x64: Tested on Ubuntu 22.04 and 24.04
  • 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
Assets 6
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