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Release v2.9.3

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@ob-yalian ob-yalian released this 17 Jul 02:49
· 198 commits to v2-main since this release
v2.9.3
ce08bce

The built-in OrbbecSDK has been updated to v2.9.3, and license files for third-party open-source libraries have been added to the release package.

Important

The upgrade_firmware and preset_firmware_path parameters in the camera node are deprecated and will be removed in the next release. Please migrate firmware and preset upgrades to the standalone firmware_update_tool (--firmware_path / --preset_path).

New Features

  • Added enhanced depth filtering support for LingBot. For details, refer to: enhanced_depth_filter
  • Added the FalsePositiveFilter texture filter for the Gemini 330 series, as well as the DispOutliersFilter disparity outlier filter for the DaBai Max series. For details, refer to: false_positive_filter
  • Extended the Preset import and export capabilities of the Gemini 330 series. Presets can now save both device parameters and Application Config settings, including stream configurations, alignment modes, point cloud settings, and HDR Merge status. For details, refer to: sdk_json_config
  • Added URDF models for the Gemini 301 series and Gemini 340 series.
  • Added SDK Bag recording and playback. Recording and playback files can be specified through parameters, and the recording status can be controlled through services.
  • Added support for switching video stream profiles and depth-to-color image alignment modes at runtime.
  • Added SDK timestamp clock source configuration, with support for realtime and monotonic.
  • Added FPS Boost support for the Gemini 330 series.
  • Added an LRM obstacle distance publishing topic.
  • Enhanced the device enumeration and network configuration tools. They can now display Preset information, MAC addresses, and the CCP status of network devices. Persistent IP configuration is also supported.
  • Consolidated the Gemini 305 and Gemini 305g launch files into the Gemini 301 series launch files.

Improvements and Bug Fixes

  • Improved stream startup stability for the Gemini 301 series after device reconnection or restart.
  • Optimized the RGB and MJPEG image publishing process.
  • Improved image undistortion performance and added a topic for undistorted image camera intrinsics.
  • Camera control services are now created dynamically based on device capabilities. Services unsupported by the device are no longer displayed.
  • Improved parameter validation. Some enumeration parameters are now case-insensitive.
  • Enhanced dropped-frame logging and timestamp CSV recording.
  • Added support for configuring log directories through ORBBEC_LOG_DIR and ROS_LOG_DIR.
  • Changed the default value of frames_per_trigger to 1.
  • Simplified the Gemini 301 series launch files and YAML configurations by removing redundant parameters and enabling the hardware noise reduction filter by default.
  • Fixed an issue where the color and depth camera intrinsics were inconsistent after D2C alignment.
  • Fixed issues where timestamp CSV entries could be recorded out of order or the recording process could not complete correctly.
  • Fixed an issue where IMU callbacks could continue to execute while the camera was shutting down.

Key New Parameters, Services, and Topics

For more information about the following parameters, services, and topics, search the official documentation.

Configuration and Runtime Control Services

  • export_config_json
  • get_device_config
  • set_stream_profile
  • set_image_registration_mode
  • set_bag_recording
  • set_sync_io_voltage_level

Major New Parameters

  • timestamp_clock_type
  • bag_record_filename
  • bag_filename
  • color_mjpeg_quality
  • enable_fps_boost
  • enable_enhanced_depth
  • enhanced_depth_model_path
  • enhanced_depth_confidence_threshold
  • enable_disp_outliers_filter
  • disp_outliers_filter_search_mode
  • enable_edge_noise_removal_filter
  • sync_io_voltage_level

New Topic

  • lrm/obstacle_distance

Supported Devices

Product Series Products List Recommended FW Version Launch File
Gemini 430 Gemini 435Le 1.3.19 gemini435_le.launch.py
Gemini 301 Gemini 305 1.0.70 gemini_301_series.launch.py
Gemini 305g 1.0.70 gemini_301_series.launch.py
Gemini 330 Gemini 335 1.8.10 gemini_330_series.launch.py
Gemini 3361.8.10gemini_330_series.launch.py
Gemini 3301.8.10gemini_330_series.launch.py
Gemini 335L1.8.10gemini_330_series.launch.py
Gemini 336L1.8.10gemini_330_series.launch.py
Gemini 330L1.8.10gemini_330_series.launch.py
Gemini 335Lg1.8.10gemini_330_series.launch.py
Gemini 335Le1.8.10gemini_330_series.launch.py
Gemini 338Le1.8.17gemini_330_series.launch.py
Gemini 338Lg1.8.17gemini_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
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