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ROS Wrapper 2.0 for Intel® RealSense™ Devices (build 2.1.3)
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@doronhi doronhi released this 01 Jan 11:42
2.1.3
7743b01
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Learn about vigilant mode.

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

  • Kinetic

Supported Platforms

  • Ubuntu 16.04 LTS

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.
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