Releases: realsenseai/realsense-ros
Releases · realsenseai/realsense-ros
ROS Wrapper 2.0 for Intel® RealSense™ Devices (build 2.2.1)
New features:
- Automatic hardware reset if needed on startup.
- Automatic detection if device was disconnected and resuming activity when device is reconnected.
- add demo_t265.launch file
Changes to interfaces
- renamed launch option "spatial_frame_id" to "odom_frame_id"
- removed launch option: enable_tm2 - not required anymore.
- remove topic align_depth_to_infra2 and align_depth_to_fisheye2
- changed image format for IR and fisheye images from 8UC1 to MONO8.
- send odom static transform without subscribing to topic odom.
- changed package.xml to format 2.
Fixed issues:
- remove build warnings
- fix static transformations for t265 sensors.
Supported RealSense SDK
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 + |
ROS Wrapper 2.0 for Intel® RealSense™ Devices (build 2.2.0)
New features:
- Add support for T265 - Tracking Module. This support includes pose, imu and fisheye cameras but does not include features that are still not available though librealsense, such as including wheel odometry.
Changes to interfaces
- All spaces in variable names for dynamic reconfigure where replaced with underscores to comply with other ROS conventions according to: http://wiki.ros.org/Names.
- parameters infra1_width and infra2_width are reduced to infra_width. The devices do not support different formats for each sensor's index. Same goes for fisheye1, fisheye2 and for the extensions _width, _height and _fps.
- Add topic for T265 - images from fisheye1 and fisheye2 are published on topics /camera/fisheye1/image_raw, /camera/fisheye2/image_raw and all the additional topics as the other images.
- Add topic for T265 pose: /camera/odom/sample
fixed bugs.
- Enabling depth isn't mandatory anymore if depth is not needed.
- improve depth align efficiency by not initializing every frame.
Supported RealSense SDK
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 | 5.11.1+ |
| SR300 | 3.10.10.0 + |
ROS Wrapper 2.0 for Intel® RealSense™ Devices (build 2.1.4)
Major modifications:
- regulated exit with ctrl+C.
- fixed problems with urdf files for D415, D435
- fixed bug in align depth to image.
- add build dependency for librealsense version 2.17.1, although it's best to upgrade to 2.18.0 to enjoy resent benefits.
Supported RealSense SDK
Supported ROS Distributions
- Kinetic
Supported Platforms
- Ubuntu 16.04 LTS
Supported Devices
- 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 | 5.10.13+ |
| SR300 | 3.10.10.0 + |
ROS Wrapper 2.0 for Intel® RealSense™ Devices (build 2.1.3)
Support D435i with IMU
- IMU topics on
/camera/gyro/sampleand/camera/accel/sample. - If united using
unite_imu_method:=copyorunite_imu_method:=linear_interpolation, topic is/camera/imu. - Add linear accel covariance - Default: 0.01. modify using option:
linear_accel_cov - Add option to sync imu and frame messages. Longer processing time for frames cause the latest IMU messages to be sent before frame messages. You can use option
hold_back_imu_for_framesto hold back the publishing of imu messages until publication of frame messages.
The time tags show the measuring time so usually there is no need to cause bursts of IMU messages, hence the default value is false. - Set accel_fps to 250 as this is the new maximal rate in librealsense v2.17.0
Changed dynamic reconfigure options as seen in rqt_reconfigure.
- All the options available by the underlying librealsense objects are now reflected. This means previously existing options may have changed names.
- Using ddynamic_reconfigure library: https://github.com/awesomebytes/ddynamic_reconfigure. Thanks guys!
- Add NOTICE file, to emphasize the contribution of the ddynamic_reconfigure project.
Add SLAM demo
- Add opensource_tracking.launch - demo that runs realsense2_camera, imu_filter_madgwick, rtabmap and robot_localization to demonstrate Slam with realsense D435i
- Although the parameters must be better configured (any help will be appreciated) this is a good starting point for having SLAM using realsense D435i. Checkout the wiki page: https://github.com/intel-ros/realsense/wiki/SLAM-with-D435i
Add Hardware reset option.
- Use option: initial_reset:=true to hardware reset on startup. Takes 5 seconds more but helps against hardware error not sending images.
- A message "Hardware Reset is needed. use option: initial_reset:=true" will be printed if needed.
Add clipping_distance option.
- enabled with parameter: clip_distance. units: meters. Default: no clipping.
Supported RealSense SDK
Supported ROS Distributions
- Kinetic
Supported Platforms
- Ubuntu 16.04 LTS
Supported Devices
- 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 | 5.10.13+ |
| SR300 | 3.10.10.0 + |
Known Issues:
- Option for toggling sensor on and off while running is missing.
- It is currently not possible to send all the post processing filters' output simultaneously. Specifically, when filter "colorizer" is active, normal depth topic is not published.
ROS Wrapper 2.0 for Intel® RealSense™ Devices (build 2.1.2)
Fix to comply with librealsense v2.17.0.
Supported RealSense SDK
Supported ROS Distributions
- Kinetic
Supported Platforms
- Ubuntu 16.04 LTS
Supported Devices
- Intel® RealSense™ Camera D400-Series:
- Intel® RealSense™ Depth Cameras D415 and D435
- Intel® RealSense™ Depth Modules D400, D410, D420, D430
- Intel® RealSense™ Vision Processor D4m
- Intel® RealSense™ Developer Kit SR300
Recommended Firmware
| Model | Firmware |
|---|---|
| D400 | 5.10.3+ |
| SR300 | 3.10.10.0 + |
Known Issues:
It is currently not possible to send all the post processing filters' output simultaneously. Specifically, when filter "colorizer" is active, normal depth topic is not published.
Filters options are not configurable.
ROS Wrapper 2.0 for Intel® RealSense™ Devices (build 2.1.1)
Add Disparity processing - Enabling this filter converts the depth image to disparity image before all the other filters are applied and then converts it back to depth image. This often improves filtering, especially in longer ranges.
Add Decimation filter - Enabling this filter reduces the resolution of the depth image, closing some holes in the process.
Add dynamic configuration for enabling/disabling sensors. Currently works only for sync mode. (@AndyZe )
- fix bug: error in setting a dynamic parameter used to stop setting all other parameters.
- fix bug: depth_auto_exposure was override in initialization by depth_exposure.
- fix bug: Problems with aligned images.
- fix bug: Depth was not sent with pointscloud.
Supported RealSense SDK
Supported ROS Distributions
- Kinetic
Supported Platforms
- Ubuntu 16.04 LTS
Supported Devices
- Intel® RealSense™ Camera D400-Series:
- Intel® RealSense™ Depth Cameras D415 and D435
- Intel® RealSense™ Depth Modules D400, D410, D420, D430
- Intel® RealSense™ Vision Processor D4m
- Intel® RealSense™ Developer Kit SR300
Recommended Firmware
| Model | Firmware |
|---|---|
| D400 | 5.10.3+ |
| SR300 | 3.10.10.0 + |
Known Issues:
It is currently not possible to send all the post processing filters' output simultaneously. Specifically, when filter "colorizer" is active, normal depth topic is not published.
Filters options are not configurable.
ROS Wrapper 2.0 for Intel® RealSense™ Devices (build 2.1.0)
Enable post processing filters.
Fix issues concerning multiple cameras.
Supported RealSense SDK
Supported ROS Distributions
- Kinetic
Supported Platforms
- Ubuntu 16.04 LTS
Supported Devices
- Intel® RealSense™ Camera D400-Series:
- Intel® RealSense™ Depth Cameras D415 and D435
- Intel® RealSense™ Depth Modules D400, D410, D420, D430
- Intel® RealSense™ Vision Processor D4m
- Intel® RealSense™ Developer Kit SR300
Recommended Firmware
| Model | Firmware |
|---|---|
| D400 | 5.10.3+ |
| SR300 | 3.10.10.0 + |
Known Issues:
It is currently not possible to send all the post processing filters' output simultaneously. Specifically, when filter "colorizer" is active, normal depth topic is not published.
ROS Wrapper 2.0 for Intel® RealSense™ Devices (build 2.0.4)
This version provides the following changes:
- Compatibility with Intel® RealSense™ SDK 2.0 (build 2.16.0)
- Fixed issues #335, #364, #367, #374, #383, #405, #406, #418
- Fix urdf files issues: #404,
- Insert cameras into namespaces: , #426
- enable reading recording from ros_bag file: #437
- add rs2_listener.py example and travis check: #437
Supported RealSense SDK
Supported ROS Distributions
- Kinetic
Supported Platforms
- Ubuntu 16.04 LTS
Supported Devices
- Intel® RealSense™ Camera D400-Series:
- Intel® RealSense™ Depth Cameras D415 and D435
- Intel® RealSense™ Depth Modules D400, D410, D420, D430
- Intel® RealSense™ Vision Processor D4m
- Intel® RealSense™ Developer Kit SR300
Recommended Firmware
| Model | Firmware |
|---|---|
| D400 | 5.10.3+ |
| SR300 | 3.10.10.0 + |
ROS Wrapper 2.0 for Intel® RealSense™ Devices (build 2.0.3)
This version provides the following changes:
- Package name has changed to
realsense2_camera - Fixed issues #332 and #337
- Added
diagnostic_updaterpackage
Supported RealSense SDK
Supported ROS Distributions
- Indigo
- Kinetic
Supported Platforms
- Ubuntu 16.04 LTS and 14.04 LTS
Supported Devices
- Intel® RealSense™ Camera D400-Series:
- Intel® RealSense™ Depth Cameras D415 and D435
- Intel® RealSense™ Depth Modules D400, D410, D420, D430
- Intel® RealSense™ Vision Processor D4m
- Intel® RealSense™ Developer Kit SR300
Recommended Firmware
| Model | Firmware |
|---|---|
| D400 | 5.9.2.0 + |
| SR300 | 3.10.10.0 + |
ROS Wrapper 2.0 for Intel® RealSense™ Devices (build 2.0.2)
This version provides the following features:
- RGBD pointcloud
- Publishing aligned depth topics to other available streams
- Dynamic reconfigure params for camera controls
- Working with multiple cameras
Supported RealSense SDK
Supported ROS Distributions
- Indigo
- Kinetic
Supported Platforms
- Ubuntu 16.04 LTS and 14.04 LTS
Supported Devices
- Intel® RealSense™ Camera D400-Series:
- Intel® RealSense™ Depth Cameras D415 and D435
- Intel® RealSense™ Depth Modules D400, D410, D420, D430
- Intel® RealSense™ Vision Processor D4m
- Intel® RealSense™ Developer Kit SR300
Recommended Firmware
| Model | Firmware |
|---|---|
| D400 | 5.08.15.0 + |
| SR300 | 3.10.10.0 + |