Releases: IntelRealSense/realsense-ros
Releases · IntelRealSense/realsense-ros
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
Supported ROS Distributions
Supported Platforms
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
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:
Supported RealSense SDK
Supported ROS Distributions
Supported Platforms
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
ROS Wrapper 2.0 for Intel® RealSense™ Devices (build 2.2.4)
New features:
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
Supported ROS Distributions
Supported Platforms
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
ROS Wrapper 2.0 for Intel® RealSense™ Devices (build 2.2.3)
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
Fixed issues:
- scale in depth image: For all devices, the scale is always 0.001m.
- fixed twist coordinates of odometry.
Supported RealSense SDK
Supported ROS Distributions
Supported Platforms
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 2.2.1)
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
Supported Platforms
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
Supported Platforms
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
Supported Platforms
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/sample and /camera/accel/sample.
- If united using
unite_imu_method:=copy or unite_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_frames to 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
Supported Platforms
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.
