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.