Release v2.2.3

What's New (since v2.1.1)

● Update Orbbec SDK v2.2.8
● Introduced benchmark to test cpu usage.
● Introduced lower_cpu_usage to reduce cpu usage of one or more cameras in OrbbecSDK_ROS2
● Introduced multi_camera_synced to use multi-camera synced in OrbbecSDK_ROS2
● New service control filter settings - DecimationFilter, HDRMerge, SequenceIdFilter, ThresholdFilter, NoiseRemovalFilter, HardwareNoiseRemoval, SpatialAdvancedFilter and TemporalFilter:/camera/set_filter
● gemini2.launch.py ​​and gemini2L.launch.py ​​add enable_decimation_filter and decimation_filter_scale parameters

● Add new parameters in gemini_330_series.launch.py:

• disparity_range_mode(requires firmware v1.4.60 or above).
• disparity_search_offset(requires firmware v1.4.60 or above).
• disparity_offset_config,offset_index0 and offset_index1(requires firmware v1.4.60 or above).
• frame_aggregate_mode(requires firmware v1.4.60 or above).
• enable_hardware_noise_removal_filter(requires firmware v1.4.60 or above).
• enable_color_auto_exposure_priority
• color_sharpness
• color_gamm
• color_saturation
• color_constrast
• color_hue
• enable_color_backlight_compenstation

Bug Fixes

● Renam decimation_filter_scale_ to decimation_filter_scale
● Fix imu_info frame_id error and initialize quaternion w value to 1.0
● Fix error when interleave_ae_mode is "hdr"
● Gemini 2 laser shutdown caused by using service to disable LDP

Supported devices

Product Serials	Firmware Version	Launch File
Gemini 330 series	1.4.60	gemini_330_series.launch.py
Gemini 335Lg	1.4.60	gemini_330_series.launch.py
Gemini 2	1.4.92	gemini2.launch.py
Gemini 2 L	1.4.53	gemini2L.launch.py
Femto Bolt	1.1.2	femto_bolt.launch.py
Femto Mega	1.3.0	femto_mega.launch.py
Astra 2	2.8.20	astra2.launch.py

Supported Platforms

• Linux x64: Tested on Ubuntu 22.04 and 24.04
• Linux ARM64: Tested on AGX Orin and AGX Xavier