diff --git a/README.md b/README.md
index 49f4a1c47..92755d629 100644
--- a/README.md
+++ b/README.md
@@ -119,7 +119,7 @@
     - For example, for Humble distro: ```sudo apt install ros-humble-librealsense2*```
 
 - #### Option 3: Build from source
-  - Download the latest [Intel® RealSense™ SDK 2.0](https://github.com/IntelRealSense/librealsense/releases/tag/v2.55.1)
+  - Download the latest [Intel® RealSense™ SDK 2.0](https://github.com/IntelRealSense/librealsense)
   - Follow the instructions under [Linux Installation](https://github.com/IntelRealSense/librealsense/blob/master/doc/installation.md)
 
 </details>
@@ -634,6 +634,8 @@ The following post processing filters are available:
     - ```temporal_filter``` - filter the depth image temporally.
     - ```hole_filling_filter``` - apply hole-filling filter.
     - ```decimation_filter``` - reduces depth scene complexity.
+    - ```rotation_filter``` - rotates depth and ir frames.
+    
 
 Each of the above filters have it's own parameters, following the naming convention of `<filter_name>.<parameter_name>` including a `<filter_name>.enable` parameter to enable/disable it. 
 
diff --git a/realsense2_camera/launch/rs_launch.py b/realsense2_camera/launch/rs_launch.py
index fdc2a05f1..67508cb01 100644
--- a/realsense2_camera/launch/rs_launch.py
+++ b/realsense2_camera/launch/rs_launch.py
@@ -80,6 +80,8 @@
                            {'name': 'align_depth.enable',           'default': 'false', 'description': 'enable align depth filter'},
                            {'name': 'colorizer.enable',             'default': 'false', 'description': 'enable colorizer filter'},
                            {'name': 'decimation_filter.enable',     'default': 'false', 'description': 'enable_decimation_filter'},
+                           {'name': 'rotation_filter.enable',       'default': 'false', 'description': 'enable rotation_filter'},
+                           {'name': 'rotation_filter.rotation',     'default': '0.0',   'description': 'rotation value: 0.0, 90.0, -90.0, 180.0'},
                            {'name': 'spatial_filter.enable',        'default': 'false', 'description': 'enable_spatial_filter'},
                            {'name': 'temporal_filter.enable',       'default': 'false', 'description': 'enable_temporal_filter'},
                            {'name': 'disparity_filter.enable',      'default': 'false', 'description': 'enable_disparity_filter'},
diff --git a/realsense2_camera/src/base_realsense_node.cpp b/realsense2_camera/src/base_realsense_node.cpp
index 11126452b..cb1ee3e72 100755
--- a/realsense2_camera/src/base_realsense_node.cpp
+++ b/realsense2_camera/src/base_realsense_node.cpp
@@ -227,6 +227,7 @@ void BaseRealSenseNode::setupFilters()
     _filters.push_back(std::make_shared<NamedFilter>(std::make_shared<rs2::temporal_filter>(), _parameters, _logger));
     _filters.push_back(std::make_shared<NamedFilter>(std::make_shared<rs2::hole_filling_filter>(), _parameters, _logger));
     _filters.push_back(std::make_shared<NamedFilter>(std::make_shared<rs2::disparity_transform>(false), _parameters, _logger));
+    _filters.push_back(std::make_shared<NamedFilter>(std::make_shared<rs2::rotation_filter>(), _parameters, _logger));
 
     /* 
     update_align_depth_func is being used in the align depth filter for triggiring the thread that monitors profile