ROS Wrapper for Intel® RealSense™ cameras (Build 4.56.3)

This is a Beta release

What's Changed

• Disabling FPS & TF tests for ROS-CI by @kadiredd in #3178
• Update workflows by @SamerKhshiboun in #3140
• Retry finding devices with Ykush reset by @kadiredd in #3200
• Replace plugins versions withe commit hash by @Noy-Zini in #3212
• Hw_reset implementation by @PrasRsRos in #3216
• Fix config typo by @patrickwasp in #3221
• Suppot a new APIs for motion, accel and gyro streams by @SamerKhshiboun in #3225
• Update CMakeLists.txt - remove find_package(fastrtps REQUIRED) by @SamerKhshiboun in #3239

New Contributors

• @Noy-Zini made their first contribution in #3212
• @patrickwasp made their first contribution in #3221

Full Changelog: 4.56.1...4.56.3

ROS Wrapper for Intel® RealSense™ cameras (Build 4.56.1)

What's Changed

• Update rs_launch.py to add depth_module.color_profile by @anisotropicity in #3096
• Allow hw synchronization of several realsense using a synchonization cable by @fortizcuesta in #3102
• Suppress CMake warnings by @jiuguangw in #3100
• Ubuntu 24.04 support for Rolling and Jazzy distros by @Arun-Prasad-V in #3114
• Support calibration config read/write services by @SamerKhshiboun in #3125
• Install specific numpy version to avoid errors in github actions by @SamerKhshiboun in #3130
• [ROS][Test Infra] Support testing ROS2 service call device_info by @kadiredd in #3124
• update librealsense2 version to 2.56.0 by @SamerKhshiboun in #3133
• Update README.md (ROS wrapper to ROS Wrapper for Intel® RealSense™ camera) by @SamerKhshiboun in #3134
• Casefolding device name instead of strict case sensitive comparison by @kadiredd in #3135
• Support Triggered Calibration as ROS2 Action by @SamerKhshiboun in #3138
• Update READMEs and CONTRIBUTING files regarding ros2-master by @SamerKhshiboun in #3147
• More updates for jazzy support by @SamerKhshiboun in #3149
• Update librealsense ver in readme by @SamerKhshiboun in #3151
• TC | Fix feedback and update readme by @SamerKhshiboun in #3153
• Add D421 PID by @noacoohen in #3159
• Update Calibration Config API by @SamerKhshiboun in #3166

New Contributors

• @anisotropicity made their first contribution in #3096
• @fortizcuesta made their first contribution in #3102
• @jiuguangw made their first contribution in #3100
• @noacoohen made their first contribution in #3159

Full Changelog: 4.55.1...4.56.1

ROS Wrapper for Intel® RealSense™ cameras (Build 4.55.1)

What's Changed

• Cleanups and name fixes by @SamerKhshiboun in #2759
• [ros2-development] Fix overriding frames on same topics/CV-images due to a bug in PR2759 by @SamerKhshiboun in #2799
• Enabling RGB8 Infrared stream by @Arun-Prasad-V in #2806
• Replaced Deprecated function mktemp to TemporaryFile by @karina-ranadive in #2817
• Update rs_launch.py by @danielhonies in #2742
• Integration test template by @PrasRsRos in #2726
• Updated rs_launch configurations by @Arun-Prasad-V in #2822
• Fix align_depth + add test by @SamerKhshiboun in #2825
• Exposing stream_format params to user by @Arun-Prasad-V in #2811
• Add RGBD + reduce changes between hkr and development by @SamerKhshiboun in #2830
• Update rs_launch.py by @hyunseok-yang in #2764
• support color and depth/ir formats by @SamerKhshiboun in #2840
• Apply camera name in topics by @hyunseok-yang in #2857
• Added the changes from https://github.com/IntelRealSense/realsense-ro… by @PrasRsRos in #2859
• Update README.md by @SamerKhshiboun in #2863
• fix readme and nodefactory for ros2 run by @SamerKhshiboun in #2861
• Added ros2 examples by @Arun-Prasad-V in #2839
• Updated rs_launch param names by @Arun-Prasad-V in #2847
• Create /imu topic only when motion streams enabled by @Arun-Prasad-V in #2849
• Fix: Pointcloud topic's frame_id by @Arun-Prasad-V in #2868
• Remove Dashing, Eloquent, Foxy, L500 and SR300 support by @SamerKhshiboun in #2841
• Updated ros2 examples and readme by @Arun-Prasad-V in #2878
• Updating _camera_name with RS node's name by @Arun-Prasad-V in #2872
• Frame latency for the '/topic' provided by user by @Arun-Prasad-V in #2853
• Revert 'Updating _camera_name with RS node's name' by @Arun-Prasad-V in #2891
• Added live camera tests by @PrasRsRos in #2865
• Update Anchors Links In README.md by @SamerKhshiboun in #2901
• Update main.yml by @Arun-Prasad-V in #2943
• fix ros random crash with error hw monitor command for asic temperature failed by @gwen2018 in #2946
• Disabling hdr while updating exposure & gain values by @Arun-Prasad-V in #2934
• Disabling HDR during INIT by @Arun-Prasad-V in #2948
• Fixing the data_type of ROS Params exposure & gain by @Arun-Prasad-V in #2940
• Added urdf & mesh files for D405 model by @Arun-Prasad-V in #2953
• to_urdf fun retrun a str, not a BufferedRandom by @hellototoro in #2957
• Set top level permission for GHA for ROS2 branch by @SamerKhshiboun in #2966
• Fix GHA Warning - Remove deprecated nodes usages by @SamerKhshiboun in #2968
• Extending LibRS's GL support to RS ROS2 by @Arun-Prasad-V in #2956
• Fix All Profiles Test by @deep0294 in #2984
• Remove D465 SKU by @SamerKhshiboun in #2987
• Use zeroed intrinsic for profiles that does not have defined intrinsic by @SamerKhshiboun in #2998
• Update ReadMe to run ROS2 Unit Test by @deep0294 in #3001
• add pointcloud QoS description by @gwen2018 in #3000
• [GL-support] Dynamically switching b/w CPU & GPU processing by @Arun-Prasad-V in #2989
• Renamed GL GPU enable param by @Arun-Prasad-V in #3008
• Assert Fail if camera not found by @kadiredd in #3042
• Skip updating Exp 1,2 & Gain 1,2 when HDR is disabled by @Arun-Prasad-V in #3007
• Fix Coverity issues + remove empty warning log by @Nir-Az in #3053
• Applying Colorizer filter to Aligned-Depth image by @Arun-Prasad-V in #3049
• Add documentation for RealSense ROS2 Wrapper Windows installation by @SamerKhshiboun in #3056
• Support for selecting profile for each stream_type by @Arun-Prasad-V in #3052
• Update actions/checkout from v3 to v4 by @SamerKhshiboun in #3064
• Add security.md to the repo main folder as part of SDLe CT256 by @SamerKhshiboun in #3062
• Revert installation from source for foxy distro on ubuntu 20 by @SamerKhshiboun in #3066
• Update notice file (TPP) by @SamerKhshiboun in #3073
• Add Intel Copyright by @SamerKhshiboun in #3074
• Temp fix for Rolling flow by @SamerKhshiboun in #3071
• Updated pr_check.sh script to not verify the year by @Arun-Prasad-V in #3063
• ROSCI infra for live camera testing by @kadiredd in #3094
• ROS live cam test fixes by @kadiredd in #3098
• Remove unused parameter _is_profile_exist by @SamerKhshiboun in #3106

New Contributors

• @karina-ranadive made their first contribution in #2817
• @PrasRsRos made their first contribution in #2726
• @hyunseok-yang made their first contribution in #2764
• @gwen2018 made their first contribution in #2946
• @hellototoro made their first contribution in #2957
• @deep0294 made their first contribution in #2984
• @kadiredd made their first contribution in #3042

Full Changelog: 4.54.1...4.55.1

ROS2 Wrapper for Intel® RealSense™ Devices (build 4.54.1)

What's Changed

• add humble distro to pre-release.yml by @SamerKhshiboun in #2492
• fix ordered_pc arg prefix by @SamerKhshiboun in #2487
• fix extrinsics calculation by @SamerKhshiboun in #2477
• Publish static tf for IMU frames by @Gilaadb in #2436
• publish actual IMU optical frame ID in IMU messages by @Gilaadb in #2516
• rename ros2-beta to ros2-development by @SamerKhshiboun in #2524
• Update stale comment to reflect new branch name by @jaiveersinghNV in #2536
• Windows bringup by @PranavDhulipala in #2537
• Replace deprecated parameter node_name with name by @augustelalande in #2541
• add rolling distro build to github actions by @Nir-Az in #2548
• Update README.md by @jeremy-shannon in #2401
• Explicit mention of parameter value for unite_imu_method by @tsadarsh in #2551
• Fix deprecated rolling API by @Nir-Az in #2558
• Properly read camera config files in rs_launch.py by @Gilaadb in #2572
• Publish static transforms when intra porocess communication is enabled by @Yadunund in #2381
• remove galactic from pre release GHA script by @SamerKhshiboun in #2604
• if default profile is not defined, take the first available profile as default by @SamerKhshiboun in #2601
• Fix hdr_merge filter initialization in ros2 launch by @SamerKhshiboun in #2603
• Add D457 by @hsuys in #2557
• T265 clean up by @SamerKhshiboun in #2611
• Fix ros2 parameter descriptions and range values by @SamerKhshiboun in #2600
• enable intra-process communication for point clouds by @christian-rauch in #2599
• Fix Apache License Header and Intel Copyrights by @SamerKhshiboun in #2608
• add cppcheck to GHA by @SamerKhshiboun in #2610
• Use latched QoS for Extrinsic topic when intra-process is used by @Nir-Az in #2619
• Fix #2649: Expose USB port in DeviceInfo service (ros2) by @stwirth in #2655
• fix timestamps by @SamerKhshiboun in #2658
• Fix lower FPS in D405, D455 by @SamerKhshiboun in #2612
• use playback device for rosbags by @SamerKhshiboun in #2669
• refactor README.md by @SamerKhshiboun in #2668
• clone PR1637 to ros2-development by @SamerKhshiboun in #2689
• replace stereo module with depth module by @SamerKhshiboun in #2688
• Fix Swapped TFs Axes by @SamerKhshiboun in #2684
• add info about extrinsic msg format in Extrinsics.msg and README.md by @SamerKhshiboun in #2693
• add D430i support by @sherrysun2018 in #2322
• Fix: /tf and /static_tf topics' inconsistencies by @Arun-Prasad-V in #2676
• Update mesh path by @MarqRazz in #2712
• Update realsense_node_factory.cpp by @danielhonies in #2713
• Update README.md by @tonynajjar in #2778
• Support Iron distro by @SamerKhshiboun in #2787
• Fixing TF frame links b/w multi camera nodes when using custom names by @Arun-Prasad-V in #2709
• Publish /aligned_depth_to_color topic only when color frame present by @Arun-Prasad-V in #2793
• Applying AlignDepth filter after Pointcloud by @Arun-Prasad-V in #2775

New Contributors

• @jaiveersinghNV made their first contribution in #2536
• @PranavDhulipala made their first contribution in #2537
• @augustelalande made their first contribution in #2541
• @jeremy-shannon made their first contribution in #2401
• @tsadarsh made their first contribution in #2551
• @Yadunund made their first contribution in #2381
• @hsuys made their first contribution in #2557
• @christian-rauch made their first contribution in #2599
• @sherrysun2018 made their first contribution in #2322
• @Arun-Prasad-V made their first contribution in #2676
• @MarqRazz made their first contribution in #2712
• @danielhonies made their first contribution in #2713
• @tonynajjar made their first contribution in #2778

Full Changelog: 4.51.1...4.54.1

Supported RealSense SDK

• LibRealSense v2.54.1

Supported ROS Distributions

• Rolling (build from source)
• Humble
• Iron

Supported Devices

• 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

Recommended Firmware

Model	Firmware
D400	5.15.0.2

ROS2-Beta Wrapper for Intel® RealSense™ Devices (build 4.51.1)

Release notice

What's Changed

• Add pre-release testings to ci by @Nir-Az in #2293
• fix CUDA suffix for pointcloud and align_depth topics by @SamerKhshiboun in #2298
• Add copyright and license to all ROS2-beta source files by @SamerKhshiboun in #2302
• [ros2-beta] update readme to show changes from ROS2 by @SamerKhshiboun in #2312
• add colorizer.enable to rs_launch.py by @SamerKhshiboun in #2316
• Add how to echo Extrinsic topic on intra-process to README by @Nir-Az in #2333
• Fix align_depth enable/disable by @SamerKhshiboun in #2332
• Fix colorizer filter which returns null reference ptr by @SamerKhshiboun in #2336
• No need to start/stop sensors for align depth changes by @SamerKhshiboun in #2351
• Publish real frame rate of realsense camera node topics/publishers by @SamerKhshiboun in #2408
• Support ROS2 Humble by @SamerKhshiboun in #2406
• fix rosbag device loading by preventing set_option to HDR/Gain/Exposure by @SamerKhshiboun in #2409
• Update rosbag documentation in readme.me by @SamerKhshiboun in #2419
• Fix crash when activating IMU & aligned depth together by @SamerKhshiboun in #2437
• force cmake version to 3.23.0 by @SamerKhshiboun in #2468

Full Changelog: 4.0.4...4.51.1

• Contributors: @Nir-Az, @SamerKhshiboun

Supported RealSense SDK

• LibRealSense v2.51.1

Supported ROS Distributions

• Rolling
• Humble
• Galactic
• Foxy
• Eloquent
• Dashing

Supported Devices

• Intel® RealSense™ LiDAR cameras L515
• 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 +

ROS2 Wrapper for Intel® RealSense™ Devices (build 4.0.4)

Release notice

This release fixes the required packages that caused Debians build errors.
See former release 4.0.3 for new features and fixed issues list.

• Contributors: Nir-Az

Supported RealSense SDK

• LibRealSense v2.50.0

Supported ROS Distributions

• Rolling
• Galactic
• Foxy
• Eloquent
• Dashing

Supported Devices

• Intel® RealSense™ LiDAR cameras L515
• 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 +

ROS2 Wrapper for Intel® RealSense™ Devices (build 4.0.3)

New Features:

• Support intra-process zero-copy

Fixed issues:

• Fix Galactic deprecated-declarations compilation warning

• Fix Eloquent compilation error

• Contributors: Eran, Nir-Az, SamerKhshiboun

Known issues:

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

Supported RealSense SDK

• LibRealSense v2.50.0

Supported ROS Distributions

• Rolling
• Galactic
• Foxy
• Eloquent
• Dashing

Supported Devices

• Intel® RealSense™ LiDAR cameras L515
• 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 +

ROS2 Wrapper for Intel® RealSense™ Devices (build 4.0.2)

New Features:

• add frequency monitoring to /diagnostics topic.
• move diagnostic updater for stream frequencies into the RosSensor class.
• add frequency monitoring to /diagnostics topic.

Fixed issues:

• version 4.4.0 changed to 4.0.0 in CHANGELOG

• fix topic_hz.py to recognize message type from topic name. (Naive)

• fix galactic issue with undeclaring parameters

• fix to support Rolling.

• fix dynamic_params syntax.

• fix issue with Galactic parameters set by default to static which prevents them from being undeclared.

• Contributors: Haowei Wen, doronhi, remibettan

Known issues:

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

Supported RealSense SDK

• LibRealSense v2.50.0

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 +

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

• LibRealSense v2.50.0

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 +

ROS2-Beta Wrapper for Intel® RealSense™ Devices (build 4.0.0)

Beta release - version 4.0.0

Based upon the ROS2 3.2.3 version, controlling the camera parameters in this version is meant to be more dynamic:

• Allows starting and stopping separate sensors in runtime using the "enable_" parameters.
• Exposes all the postprocessing in a "disabled" state allowing the user to enable them at will in runtime.
  ** All parameters can also be defined at start-up by modifying the launch files, as is in the 3.2.3 version.

While many of the parameter names remain as they were in version 3.2.3, many were slightly modified to match the new hierarchy. For instance, in the D400 series, the depth, infrared1, and infrared2 streams belong to one stereo sensor. Therefore, there are no longer infra1_width, infra1_height, infra1_fps, infra2_width, depth_width etc. all of which should have always been set to the same value. Instead, there is a single, depth_module.profile parameter that combines all 3 parameters into one and can also be changed in runtime.

Supported RealSense SDK

• LibRealSense v2.50.0

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	5.13.0.50 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 +