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ROS2 Wrapper for Intel® RealSense™ Devices (build 3.2.2)
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@doronhi doronhi released this 01 Jul 06:59
3.2.2
546f2e2

New Features:

  • Support Galactic and Rolling

  • Add udev-rules to Debian installation

  • Add support for L535

  • Add QoS parameters to all publishers

  • Add ros2 launch examples:

    • demo_t265_launch.py
    • rs_t265_launch.py
    • demo_pointcloud_launch.py

  • Added imu frames to _l515.urdf.xacro

  • Add conditional param use_mesh

Fixed issues:

  • Fix reading .yaml config file
    • Add a config_file command line example in README.md
  • No tf broadcaster object is created if publish_tf is set to false
  • fix rs_multi_camera_launch.py to include default separate node names.

Known issues:

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

Contributors: Guillaume Doisy, TSC21, anaelle, Simon Honigmann, doronhi

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 5.12.14.50 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 +
Assets 2
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