Releases: realsenseai/realsense-ros
Releases · realsenseai/realsense-ros
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 + |
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
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
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
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
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 + |