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Releases: IntelRealSense/realsense-ros

ROS Wrapper for Intel® RealSense™ cameras (Build 4.56.1)

20 Aug 20:47
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What's Changed

New Contributors

Full Changelog: 4.55.1...4.56.1

ROS Wrapper for Intel® RealSense™ cameras (Build 4.55.1)

28 May 20:03
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What's Changed

New Contributors

Full Changelog: 4.54.1...4.55.1

ROS2 Wrapper for Intel® RealSense™ Devices (build 4.54.1)

27 Jun 12:18
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What's Changed

New Contributors

Full Changelog: 4.51.1...4.54.1

Supported RealSense SDK

Supported ROS Distributions

  • Rolling (build from source)
  • Humble
  • Iron

Supported Devices

  • Intel® RealSense™ Camera D400-Series:
    • Intel® RealSense™ Depth Cameras D415, D435, D435i and D455.
    • Intel® RealSense™ Depth Modules D400, D405, D410, D420, D430
    • Intel® RealSense™ Vision Processor D4m

Recommended Firmware

Model Firmware
D400 5.15.0.2

ROS2-Beta Wrapper for Intel® RealSense™ Devices (build 4.51.1)

13 Sep 12:47
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Release notice

What's Changed

Full Changelog: 4.0.4...4.51.1

Supported RealSense SDK

Supported ROS Distributions

  • Rolling
  • Humble
  • Galactic
  • Foxy
  • Eloquent
  • Dashing

Supported Devices

  • Intel® RealSense™ LiDAR cameras 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, D405, D410, D420, D430
    • Intel® RealSense™ Vision Processor D4m
  • Intel® RealSense™ Developer Kit SR300

Recommended Firmware

Model Firmware
D400 5.13.0.50 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 1.5.8.1 +

ROS2 Wrapper for Intel® RealSense™ Devices (build 4.0.4)

20 Mar 15:29
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Release notice

This release fixes the required packages that caused Debians build errors.
See former release 4.0.3 for new features and fixed issues list.

  • Contributors: Nir-Az

Supported RealSense SDK

Supported ROS Distributions

  • Rolling
  • Galactic
  • Foxy
  • Eloquent
  • Dashing

Supported Devices

  • Intel® RealSense™ LiDAR cameras 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, D405, D410, D420, D430
    • Intel® RealSense™ Vision Processor D4m
  • Intel® RealSense™ Developer Kit SR300

Recommended Firmware

Model Firmware
D400 5.13.0.50 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 1.5.8.1 +

ROS2 Wrapper for Intel® RealSense™ Devices (build 4.0.3)

16 Mar 12:23
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New Features:

  • Support intra-process zero-copy

Fixed issues:

  • Fix Galactic deprecated-declarations compilation warning

  • Fix Eloquent compilation error

  • Contributors: Eran, Nir-Az, SamerKhshiboun

Known issues:

  • Issues with playback that started with librealsense2 version 2.43.0 still exist. Working with rosbag_filename is unreliable.

Supported RealSense SDK

Supported ROS Distributions

  • Rolling
  • Galactic
  • Foxy
  • Eloquent
  • Dashing

Supported Devices

  • Intel® RealSense™ LiDAR cameras 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, D405, D410, D420, D430
    • Intel® RealSense™ Vision Processor D4m
  • Intel® RealSense™ Developer Kit SR300

Recommended Firmware

Model Firmware
D400 5.13.0.50 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 1.5.8.1 +

ROS2 Wrapper for Intel® RealSense™ Devices (build 4.0.2)

24 Feb 08:06
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New Features:

  • add frequency monitoring to /diagnostics topic.
  • move diagnostic updater for stream frequencies into the RosSensor class.
  • add frequency monitoring to /diagnostics topic.

Fixed issues:

  • version 4.4.0 changed to 4.0.0 in CHANGELOG

  • fix topic_hz.py to recognize message type from topic name. (Naive)

  • fix galactic issue with undeclaring parameters

  • fix to support Rolling.

  • fix dynamic_params syntax.

  • fix issue with Galactic parameters set by default to static which prevents them from being undeclared.

  • Contributors: Haowei Wen, doronhi, remibettan

Known issues:

  • Issues with playback that started with librealsense2 version 2.43.0 still exist. Working with rosbag_filename is unreliable.

Supported RealSense SDK

Supported ROS Distributions

  • Rolling
  • Galactic
  • Foxy
  • Eloquent
  • Dashing

Supported Devices

  • Intel® RealSense™ LiDAR cameras L515, L535
  • Intel® RealSense™ Tracking Module T265
  • Intel® RealSense™ Camera D400-Series:
    • Intel® RealSense™ Depth Cameras D415, D435, D435i and D455.
    • Intel® RealSense™ Depth Modules D400, D405, D410, D420, D430
    • Intel® RealSense™ Vision Processor D4m
  • Intel® RealSense™ Developer Kit SR300

Recommended Firmware

Model Firmware
D400 5.13.0.50 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 1.5.8.1 +

ROS2 Wrapper for Intel® RealSense™ Devices (build 4.0.1)

01 Feb 13:24
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New Features:

  • unite_imu_method is now changeable in runtime.
  • add missing extrinsics topics

Fixed issues:

  • fix reset issue when multiple devices are connected

  • fix /rosout issue

  • fix PID for D405 device

  • fix bug: frame_id is based on camera_name

  • fix motion module default values.

  • fix crash when camera disconnects.

  • fix header timestamp for metadata messages.

  • Contributors: nomumu, JamesChooWK, benlev, doronhi

Known issues:

  • Issues with playback that started with librealsense2 version 2.43.0 still exist. Working with rosbag_filename is unreliable.

Supported RealSense SDK

Supported ROS Distributions

  • Rolling
  • Galactic
  • Foxy
  • Eloquent
  • Dashing

Supported Devices

  • Intel® RealSense™ LiDAR cameras L515, L535
  • Intel® RealSense™ Tracking Module T265
  • Intel® RealSense™ Camera D400-Series:
    • Intel® RealSense™ Depth Cameras D415, D435, D435i and D455.
    • Intel® RealSense™ Depth Modules D400, D405, D410, D420, D430
    • Intel® RealSense™ Vision Processor D4m
  • Intel® RealSense™ Developer Kit SR300

Recommended Firmware

Model Firmware
D400 5.13.0.50 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 1.5.8.1 +

ROS2-Beta Wrapper for Intel® RealSense™ Devices (build 4.0.0)

17 Nov 06:29
6bec96e
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Beta release - version 4.0.0

Based upon the ROS2 3.2.3 version, controlling the camera parameters in this version is meant to be more dynamic:

  • Allows starting and stopping separate sensors in runtime using the "enable_" parameters.
  • Exposes all the postprocessing in a "disabled" state allowing the user to enable them at will in runtime.
    ** All parameters can also be defined at start-up by modifying the launch files, as is in the 3.2.3 version.

While many of the parameter names remain as they were in version 3.2.3, many were slightly modified to match the new hierarchy. For instance, in the D400 series, the depth, infrared1, and infrared2 streams belong to one stereo sensor. Therefore, there are no longer infra1_width, infra1_height, infra1_fps, infra2_width, depth_width etc. all of which should have always been set to the same value. Instead, there is a single, depth_module.profile parameter that combines all 3 parameters into one and can also be changed in runtime.

Supported RealSense SDK

Supported ROS Distributions

  • Rolling
  • Galactic
  • Foxy
  • Eloquent
  • Dashing

Supported Devices

  • Intel® RealSense™ LiDAR cameras L515, L535
  • 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 5.13.0.50 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 1.5.8.1 +

ROS Wrapper for Intel® RealSense™ Devices (build 2.3.2)

15 Nov 11:31
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New features:

  • publish metadata

  • Add echo_metadada.py - An example script for subscribing and parsing metadata topics.

  • Add service: device_info

  • add parameter reconnect_timeout - timeout for connection attempts to a camera (previously was an attempt every 6 seconds).

  • add parameter wait_for_device_timeout - will stop reconnection attempts after a given timeout.

  • Support spaces in the filters Parameter string.

  • show a warning when the requested profile cannot be selected.

  • send only the 4 required distortion coefficients when using equidistant

  • Add D455 description

  • Add missing aluminum material to the d415 model.

Known Issues:

  • Problems running from a bag file (using the "rosbag_filename" option).

  • Contributors: Collin Avidano, Gintaras, Jacco van der Spek, 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 cameras L515, L535
  • 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 5.13.0.50 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 1.5.8.1 +