ROS2 Wrapper for Intel® RealSense™ Devices (build 4.0.1)
New Features:
- unite_imu_method is now changeable in runtime.
- add missing extrinsics topics
Fixed issues:
-
fix reset issue when multiple devices are connected
-
fix /rosout issue
-
fix PID for D405 device
-
fix bug: frame_id is based on camera_name
-
fix motion module default values.
-
fix crash when camera disconnects.
-
fix header timestamp for metadata messages.
-
Contributors: nomumu, JamesChooWK, benlev, doronhi
Known issues:
- Issues with playback that started with librealsense2 version 2.43.0 still exist. Working with rosbag_filename is unreliable.
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, D405, D410, D420, D430
- Intel® RealSense™ Vision Processor D4m
- Intel® RealSense™ Developer Kit SR300
Recommended Firmware
| Model | Firmware |
|---|---|
| D400 | 5.13.0.50 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 + |