ROS Wrapper 2.0 for Intel® RealSense™ Devices (build 2.2.11)

Supported RealSense SDK

• LibRealSense v2.31.0

Supported ROS Distributions

• Kinetic

Supported Platforms

• Ubuntu 16.04 LTS

Supported Devices

• 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	5.11.15.0+
SR300	3.10.10.0 +

ROS Wrapper 2.0 for Intel® RealSense™ Devices (build 2.2.10)

New features:

• Fix unite_imu_methods to transmit at gyro's rate.
• Rename frames in xacro files from left_ir, right_ir to infra1, infra2, to comply with librealsense2 convention.
• Add flag "use_nominal_extrinsics" to xacro files to enable visualizing the model while running the realsense2_camera node.
• Add tests to check xarco files' syntax.

Fixed issues:

• Fix USB port regex to work with hub-connected cams.
• Fix wrong PointField Type for Colored Point Clouds

Supported RealSense SDK

• LibRealSense v2.30.0

Supported ROS Distributions

• Kinetic

Supported Platforms

• Ubuntu 16.04 LTS

Supported Devices

• 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	5.11.15.0+
SR300	3.10.10.0 +

ROS Wrapper 2.0 for Intel® RealSense™ Devices (build 2.2.9)

New features:

• Add option to select camera by device type.
• Add option to select camera port id. (i.e. 4-1, etc)
• Add option to disable the publication of odom tf.
• Add option to send static transforms as static or dynamically at specified rate.
• Add option of setting the node to be required.

Fixed issues:

• node crash when device disconnects.
• force IR stream to use the stable Y8 format.
• add missing dependency on xacro.
• fix xacro support for multiple cameras.

Supported RealSense SDK

• LibRealSense v2.29.0

Supported ROS Distributions

• Kinetic

Supported Platforms

• Ubuntu 16.04 LTS

Supported Devices

• 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	5.11.15.0+
SR300	3.10.10.0 +

ROS Wrapper 2.0 for Intel® RealSense™ Devices (build 2.2.8)

New features:

• Add ASIC, projector and motion module temperature reading under /diagnostics topic.
• Enable setting auto exposure ROI using rqt_reconfigure and ros params.

Fixed issues:

• filters options missing from rqt_reconfigure.

Supported RealSense SDK

• LibRealSense v2.25.0

Supported ROS Distributions

• Kinetic

Supported Platforms

• Ubuntu 16.04 LTS

Supported Devices

• 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	5.11.6.250+
SR300	3.10.10.0 +

ROS Wrapper 2.0 for Intel® RealSense™ Devices (build 2.2.7)

New features:

• Add external_manager option to launch files.
• Enable configuring ddynamic_reconfigure parameters before start streaming using rosparam.

Fixed issues:

• publish imu info
• fix scaling issue with SR300.

Supported RealSense SDK

• LibRealSense v2.24.0

Supported ROS Distributions

• Kinetic

Supported Platforms

• Ubuntu 16.04 LTS

Supported Devices

• 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	5.11.6.250+
SR300	3.10.10.0 +

ROS Wrapper 2.0 for Intel® RealSense™ Devices (build 2.2.6)

add librealsense2 dependency

ROS Wrapper 2.0 for Intel® RealSense™ Devices (build 2.2.5)

New features:

• remove own copy of ddynamic_reconfigure. Need to install ros-kinetic-ddynamic-reconfigure now before build.
• split package to 2: realsense2_camera and realsense2_description.

Fixed issues:

• frame_id issue of imu.

Supported RealSense SDK

• LibRealSense v2.22.0

Supported ROS Distributions

• Kinetic

Supported Platforms

• Ubuntu 16.04 LTS

Supported Devices

• 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	5.11.6.200+
SR300	3.10.10.0 +

ROS Wrapper 2.0 for Intel® RealSense™ Devices (build 2.2.4)

New features:

• allow_no_texture_points

Modified behavior:

• T265 - fix frame camera_link to match pose frame.
• imu and synched imu, both sent on _imu_optical_frame.

Fixed issues:

• stability issues concerning running T265 parallel to other realsense devices.
• pointcloud: scale with SR300, removing invalid points
• decimation filter in combination with other post-processing filters.

Supported RealSense SDK

• LibRealSense v2.22.0

Supported ROS Distributions

• Kinetic

Supported Platforms

• Ubuntu 16.04 LTS

Supported Devices

• 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	5.11.6.200+
SR300	3.10.10.0 +

ROS Wrapper 2.0 for Intel® RealSense™ Devices (build 2.2.3)

New features:

• add hole_filling filter.

ROS Wrapper 2.0 for Intel® RealSense™ Devices (build 2.2.2)

New features:

• add launch params: topic_odom_in, calib_odom_file.
• add launch param: publish_odom_tf
• Set dynamic_reconfigure defaults from ROS param server

Changes to interfaces

• dynamic_reconfigure parameter names follows ROS naming convention

Fixed issues:

• scale in depth image: For all devices, the scale is always 0.001m.
• fixed twist coordinates of odometry.

Supported RealSense SDK

• LibRealSense v2.19.0
• LibRealSense v2.19.1
• LibRealSense v2.19.2

Supported ROS Distributions

• Kinetic

Supported Platforms

• Ubuntu 16.04 LTS

Supported Devices

• 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	5.11.4+
SR300	3.10.10.0 +