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 +

ROS Wrapper 2.0 for Intel® RealSense™ Devices (build 2.2.16)

New features:

• Support D455.
• Improve instability of dynamic reconfigurable options.

Supported RealSense SDK

• LibRealSense v2.37.0

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	5.12.6.0+
SR300	3.10.10.0 +
**L500	1.4.1.2 +

ROS Wrapper 2.0 for Intel® RealSense™ Devices (build 2.2.15)

New features:

• Check runtime version of librealsense2 vs. compiled version and issue a warning is mismatch occurs.
• Set infra, fisheye, IMU and pose streams to be false by default.
• Add d435i-xacro
• Comply to ROS Noetic xacro rules.

Supported RealSense SDK

• LibRealSense v2.36.0

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 and D435i
  • Intel® RealSense™ Depth Modules D400, D410, D420, D430
  • Intel® RealSense™ Vision Processor D4m
• Intel® RealSense™ Developer Kit SR300

Recommended Firmware

Model	Firmware
D400	5.12.6.0+
SR300	3.10.10.0 +
**L500	1.4.1.0 +

ROS Wrapper 2.0 for Intel® RealSense™ Devices (build 2.2.14)

Fixed issues:

• fix sensor not stopping issues.
• fix support for L515.
• fix distortion model for T265.
• fir urdf issues.

Supported RealSense SDK

• LibRealSense v2.35.2

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 and D435i
  • Intel® RealSense™ Depth Modules D400, D410, D420, D430
  • Intel® RealSense™ Vision Processor D4m
• Intel® RealSense™ Developer Kit SR300

Recommended Firmware

Model	Firmware
D400	5.12.5.0+
SR300	3.10.10.0 +
**L500	1.4.1.0 +

ROS Wrapper 2.0 for Intel® RealSense™ Devices (build 2.2.13)

New features:

• support LiDAR camera L515.
• support simultaneously use of multiple T265 devices.

Fixed issues:

• fix ctrl-C closing issues.
• handle device creation exceptions.
• optimize pointcloud. Contributors: Davide Faconti
• fix usb port id parsing issues.

Supported RealSense SDK

• LibRealSense v2.33.1

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 and D435i
  • Intel® RealSense™ Depth Modules D400, D410, D420, D430
  • Intel® RealSense™ Vision Processor D4m
• Intel® RealSense™ Developer Kit SR300

Recommended Firmware

Model	Firmware
D400	5.12.3.0+
SR300	3.10.10.0 +

ROS Wrapper 2.0 for Intel® RealSense™ Devices (build 2.2.12)

Same as version 2.2.11.
Add Eigen dependency - missing for Melodic.