CHANGELOG

Changelog for package realsense2_camera

4.57.4 (2025-11-02)

  • Update realsense2_camera package.xml to 4.57.4

  • PR #3441 from remibettan/ros2-development: merging 4.57.3 to ros2-development

  • Merge tag ‘4.57.3’ into ros2-development

  • PR #3437 from Gilaadb: bug fix(rs_node_setup): Fix topic names that were improperly marked as rect (rectified)

  • bug fix(rs_node_setup): Fix topic names that were improperly marked as rect (rectified)

  • Contributors: Gilad Bretter, Nir Azkiel, Remi Bettan

4.57.3 (2025-09-15)

  • PR #3430 from Gilaadb: Create a singleton wrapper to rs2::context

  • PR #3429 from remibettan: intel removed, realsense added

  • PR #3421 from ynyBonfennil: Fix argument names (_usb_port_id and _device_type)

  • PR #3417 from remibettan: Merging ros2 hkr to ros2 dev final

  • PR #3410 from Nir-Az: Update copyrights

  • PR #3356 from ashrafk93: Ashraf/glsl pointcloud

  • PR #3374 from remibettan: kilted added to wrapper

  • PR #3392 from remibettan: adding D436

  • PR #3385 from Gilaadb: Fix RGBD camera_info and frame_id

  • PR #3371 from Gilaadb: replace posix argument with suffix which is what it was meant to be

  • PR #3347 from remibettan: few logs and exceptions catches added

  • PR #41 from remibettan: Merge dev to hkr 2025 05 04

  • PR #3352 from ashrafk93: Fix unit test of Support TF Prefixing

  • PR #3332 from pondersome: Support TF Prefixing

  • PR #3340 from Gilaadb: Support rgbd type and fix bug for FPS lower than 1

  • PR #3325 from ashrafk93: use ykush to switch ports

  • PR #3319 from ashrafk93: Add LifeCycle Node support at compile time

  • PR #3303 from noacoohen: Enable rotation filter for color and depth sensors

  • PR #3293 from remibettan: align_depth_to_infra2 enabled, pointcloud and align_depth filters to own files

  • PR #3284 from noacoohen: Add color format to depth module in the launch file

  • PR #3274 from noacoohen: Enable rotation filter ROS2

  • PR #3276 from remibettan: removing dead code in RosSensor class

  • PR #3214 from acornaglia: Add ROS bag loop option

  • PR #3239 from SamerKhshiboun: Update CMakeLists.txt - remove find_package(fastrtps REQUIRED)

  • PR #3225 from SamerKhshiboun: Use new APIs for motion, accel and gryo streams

  • PR #3222 from SamerKhshiboun: Support D555 and its motion profiles

  • PR #3221 from patrickwasp: fix config typo

  • PR #33 from PrasRsRos: add reset service tests

  • PR #35 from PrasRsRos: align private to public 30.9.2024

  • PR #32 from SamerKhshiboun: Support HWM command as ROS2 service and in the ROS-MQTT bridge node

  • PR #3216 from PrasRsRos: hw_reset implementation

  • PR #30 from SamerKhshiboun: Use new apis of SIC and SP that works directly with JSON inputs/outputs

  • PR #28 from SamerKhshiboun: Fix MQTT Demo and update values for and update TC consecutives failures threshold

  • PR #27 from SamerKhshiboun: Add new flash 0.93 fields to app config

  • PR #3200 from kadiredd: retry thrice finding devices with Ykush reset

  • PR #23 from PrasRsRos: Ros tc implementation

  • PR #20 from SamerKhshiboun: Revert switching to service mode in order to set depth params

  • PR #21 from SamerKhshiboun: Fix l4 threshold to l2 threshold

  • PR #19 from PrasRsRos: DeviceInfo and TC Mqtt tests

  • PR #3178 from kadiredd: disabling FPS & TF tests for ROS-CI

  • PR #16 from PrasRsRos: RS ROS Mqtt bridge unit tests

  • PR #3166 from SamerKhshiboun: Update Calibration Config API

  • PR #13 from SamerKhshiboun: Sٍupport set/get application config as ROS service and in ROS-MQTT bridge

  • PR #3159 from noacoohen: Add D421 PID

  • PR #10 from SamerKhshiboun: Add ROS MQTT Bridge (Python) Node Into realsense-ros-private

  • PR #3153 from SamerKhshiboun: TC | Fix feedback and update readme

  • fix feedback and update readme for TC

  • PR #3138 from SamerKhshiboun: Support Triggered Calibration as ROS2 Action

  • implement Triggered Calibration action

  • PR #3135 from kadiredd: Casefolding device name instead of strict case sensitive comparison

  • Casefolding device name instead os strict case sensitive comparison

  • PR #3133 from SamerKhshiboun: update librealsense2 version to 2.56.0

  • update librealsense2 version to 2.56.0 since it includes new API that need for ros2-development

  • PR #3124 from kadiredd: Support testing ROS2 service call device_info

  • PR #3125 from SamerKhshiboun: Support calibration config read/write services

  • PR #5 from SamerKhshiboun: Update README and fix SIC fields in the examples

  • PR #3114 from Arun-Prasad-V: Ubuntu 24.04 support for Rolling and Jazzy distros

  • PR #3 from SamerKhshiboun: Support sic read write services

  • PR #2 from SamerKhshiboun: Support Safety Preset Read/Write Services

  • PR #3102 from fortizcuesta: Allow hw synchronization of several realsense using a synchonization cable

  • PR #3096 from anisotropicity: Update rs_launch.py to add depth_module.color_profile

  • PR #1 from Arun-Prasad-V: Set Safety mode to SERVICE when loading preset

  • PR #3061 from Arun-Prasad-V: Updated rs_launch.py for LPC and Occupancy stream profile names

  • rs-launch.py update

  • PR #3038 from Arun-Prasad-V: Set Safety mode to service before updating Depth controls during launch

  • PR #3032 from SamerKhshiboun: Support occupancy grid cells

  • PR #2971 from SamerKhshiboun: Occupancy Height Fix

  • PR #2952 from Nir-Az: Support 2 res for LPC

  • PR #2827 from SamerKhshiboun: Fix empty frames of rgbd

  • PR #2821 from SamerKhshiboun: fix missing else due to merge from ros2-development

  • PR #2813 from SamerKhshiboun: Fix URDF and LPCL for SC

  • PR #2815 from SamerKhshiboun: fix labeled point cloud publisher reset condition

  • PR #2802 from SamerKhshiboun: add new RGBD topic

  • PR #2800 from SamerKhshiboun: Fix overriding frames on same topics/CV-images due to a bug in PR2759

  • PR #2776 from SamerKhshiboun: Fix LPCL in SC

  • PR #2757 from SamerKhshiboun: Support Depth Mapping Streams

  • PR #2659 from SamerKhshiboun: Warn instead of error for undefined sensor callbacks

  • PR #2590 from SamerKhshiboun: Add SC to ROS

  • Contributors: Aman Chulawala, Arun-Prasad-V, Ashraf Kattoura, AviaAv, Cornaglia, Alessandro, Gilad Bretter, Madhukar Reddy Kadireddy, Nir Azkiel, Ortiz Cuesta, Fernando, Patrick Wspanialy, PrasRsRos, Remi Bettan, Samer Khshiboun, acornaglia, administrator, anisotropicity, louislelay, noacoohen, pondersome, ynyBonfennil

4.55.1 (2024-05-28)

  • PR #3106 from SamerKhshiboun: Remove unused parameter _is_profile_exist

  • PR #3098 from kadiredd: ROS live cam test fixes

  • PR #3094 from kadiredd: ROSCI infra for live camera testing

  • PR #3066 from SamerKhshiboun: Revert Foxy Build Support (From Source)

  • PR #3052 from Arun-Prasad-V: Support for selecting profile for each stream_type

  • PR #3056 from SamerKhshiboun: Add documentation for RealSense ROS2 Wrapper Windows installation

  • PR #3049 from Arun-Prasad-V: Applying Colorizer filter to Aligned-Depth image

  • PR #3053 from Nir-Az: Fix Coverity issues + remove empty warning log

  • PR #3007 from Arun-Prasad-V: Skip updating Exp 1,2 & Gain 1,2 when HDR is disabled

  • PR #3042 from kadiredd: Assert Fail if camera not found

  • PR #3008 from Arun-Prasad-V: Renamed GL GPU enable param

  • PR #2989 from Arun-Prasad-V: Dynamically switching b/w CPU & GPU processing

  • PR #3001 from deep0294: Update ReadMe to run ROS2 Unit Test

  • PR #2998 from SamerKhshiboun: fix calibration intrinsic fail

  • PR #2987 from SamerKhshiboun: Remove D465 SKU

  • PR #2984 from deep0294: Fix All Profiles Test

  • PR #2956 from Arun-Prasad-V: Extending LibRS’s GL support to RS ROS2

  • PR #2953 from Arun-Prasad-V: Added urdf & mesh files for D405 model

  • PR #2940 from Arun-Prasad-V: Fixing the data_type of ROS Params exposure & gain

  • PR #2948 from Arun-Prasad-V: Disabling HDR during INIT

  • PR #2934 from Arun-Prasad-V: Disabling hdr while updating exposure & gain values

  • PR #2946 from gwen2018: fix ros random crash with error hw monitor command for asic temperature failed

  • PR #2865 from PrasRsRos: add live camera tests

  • PR #2891 from Arun-Prasad-V: revert PR2872

  • PR #2853 from Arun-Prasad-V: Frame latency for the ‘/topic’ provided by user

  • PR #2872 from Arun-Prasad-V: Updating _camera_name with RS node’s name

  • PR #2878 from Arun-Prasad-V: Updated ros2 examples and readme

  • PR #2841 from SamerKhshiboun: Remove Dashing, Eloquent, Foxy, L500 and SR300 support

  • PR #2868 from Arun-Prasad-V: Fix Pointcloud topic frame_id

  • PR #2849 from Arun-Prasad-V: Create /imu topic only when motion streams enabled

  • PR #2847 from Arun-Prasad-V: Updated rs_launch param names

  • PR #2839 from Arun-Prasad: Added ros2 examples

  • PR #2861 from SamerKhshiboun: fix readme and nodefactory for ros2 run

  • PR #2859 from PrasRsRos: Fix tests (topic now has camera name)

  • PR #2857 from lge-ros2: Apply camera name in topics

  • PR #2840 from SamerKhshiboun: Support Depth, IR and Color formats in ROS2

  • PR #2764 from lge-ros2 : support modifiable camera namespace

  • PR #2830 from SamerKhshiboun: Add RGBD + reduce changes between hkr and development

  • PR #2811 from Arun-Prasad-V: Exposing stream formats params to user

  • PR #2825 from SamerKhshiboun: Fix align_depth + add test

  • PR #2822 from Arun-Prasad-V: Updated rs_launch configurations

  • PR #2726 from PrasRsRos: Integration test template

  • PR #2742 from danielhonies:Update rs_launch.py

  • PR #2806 from Arun-Prasad-V: Enabling RGB8 Infrared stream

  • PR #2799 from SamerKhshiboun: Fix overriding frames on same topics/CV-images due to a bug in PR2759

  • PR #2759 from SamerKhshiboun: Cleanups and name fixes

  • Contributors: (=YG=) Hyunseok Yang, Arun Prasad, Arun-Prasad-V, Daniel Honies, Hyunseok, Madhukar Reddy Kadireddy, Nir, Nir Azkiel, PrasRsRos, Samer Khshiboun, SamerKhshiboun, deep0294, gwen2018, nairps

4.54.1 (2023-06-27)

  • Applying AlignDepth filter after Pointcloud

  • Publish /aligned_depth_to_color topic only when color frame present

  • Support Iron distro

  • Protect empty string dereference

  • Fix: /tf and /static_tf topics’ inconsistencies

  • Revamped the TF related code

  • Fixing TF frame links b/w multi camera nodes when using custom names

  • Updated TF descriptions in launch py and readme

  • Fixing /tf topic has only TFs of last started sensor

  • add D430i support

  • Fix Swapped TFs Axes

  • replace stereo module with depth module

  • use rs2_to_ros to replace stereo module with depth moudle

  • calculate extriniscs twice in two opposite ways to save inverting rotation matrix

  • fix matrix rotation

  • Merge branch ‘ros2-development’ into readme_fix

  • invert translation

  • Added ‘publish_tf’ param in rs launch files

  • Indentation corrections

  • Fix: Don’t publish /tf when publish_tf is false

  • use playback device for rosbags

  • Avoid configuring dynamic_tf_broadcaster within tf_publish_rate param’s callback

  • Fix lower FPS in D405, D455

  • update rs_launch.py to support enable_auto_exposure and manual exposure

  • fix timestamp calculation metadata header to be aligned with metadata json timestamp

  • Expose USB port in DeviceInfo service

  • Use latched QoS for Extrinsic topic when intra-process is used

  • add cppcheck to GHA

  • Fix Apache License Header and Intel Copyrights

  • apply copyrights and license on project

  • Enable intra-process communication for point clouds

  • Fix ros2 parameter descriptions and range values

  • T265 clean up

  • fix float_to_double method

  • realsense2_camera/src/sensor_params.cpp

  • remove T265 device from ROS Wrapper - step1

  • Enable D457

  • Fix hdr_merge filter initialization in ros2 launch

  • if default profile is not defined, take the first available profile as default

  • changed to static_cast and added descriptor name and type

  • remove extra ‘;’

  • remove unused variable format_str

  • publish point cloud via unique shared pointer

  • make source backward compatible to older versions of cv_bridge and rclcpp

  • add hdr_merge.enable and depth_module.hdr_enabled to rs_launch.py

  • fix compilation errors

  • fix tabs

  • if default profile is not defined, take the first available profile as default

  • Fix ros2 sensor controls steps and add control default value to param description

  • Publish static transforms when intra porocess communication is enabled

  • Properly read camera config files in rs_launch.py

  • fix deprecated API

  • Add D457

  • Windows bring-up

  • publish actual IMU optical frame ID in IMU messages

  • Publish static tf for IMU frames

  • fix extrinsics calculation

  • fix ordered_pc arg prefix

  • publish IMU frames only if unite/sync imu method is not none

  • Publish static tf for IMU frames

  • add D430i support

  • Contributors: Arun Prasad, Arun Prasad V, Arun-Prasad-V, Christian Rauch, Daniel Honies, Gilad Bretter, Nir Azkiel, NirAz, Pranav Dhulipala, Samer Khshiboun, SamerKhshiboun, Stephan Wirth, Xiangyu, Yadunund, nvidia

4.51.1 (2022-09-13)

  • Fix crash when activating IMU & aligned depth together

  • Fix rosbag device loading by preventing set_option to HDR/Gain/Exposure

  • Support ROS2 Humble

  • Publish real frame rate of realsense camera node topics/publishers

  • No need to start/stop sensors for align depth changes

  • Fix colorizer filter which returns null reference ptr

  • Fix align_depth enable/disable

  • Add colorizer.enable to rs_launch.py

  • Add copyright and license to all ROS2-beta source files

  • Fix CUDA suffix for pointcloud and align_depth topics

  • Add ROS build farm pre-release to ci

  • Contributors: Eran, NirAz, SamerKhshiboun

4.0.4 (2022-03-20)

  • fix required packages for building debians for ros2-beta branch

  • Contributors: NirAz

4.0.3 (2022-03-16)

  • Support intra-process zero-copy

  • Update README

  • Fix Galactic deprecated-declarations compilation warning

  • Fix Eloquent compilation error

  • Contributors: Eran, Nir-Az, SamerKhshiboun

4.0.2 (2022-02-24)

  • version 4.4.0 changed to 4.0.0 in CHANGELOG

  • add frequency monitoring to /diagnostics topic.

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

  • move diagnostic updater for stream frequencies into the RosSensor class.

  • add frequency monitoring to /diagnostics topic.

  • 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

4.0.1 (2022-02-01)

  • 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

  • unite_imu_method is now changeable in runtime.

  • fix motion module default values.

  • add missing extrinsics topics

  • fix crash when camera disconnects.

  • fix header timestamp for metadata messages.

  • Contributors: nomumu, JamesChooWK, benlev, doronhi

4.0.0 (2021-11-17)

  • changed parameters: - “stereo_module”, “l500_depth_sensor” are replaced by “depth_module” - for video streams: <module>.profile replaces <stream>_width, <stream>_height, <stream>_fps - removed paramets <stream>_frame_id, <stream>_optical_frame_id. frame_ids are defined by camera_name - “filters” is removed. All filters (or post-processing blocks) are enabled/disabled using “<filter>.enable” - “align_depth” is replaced with “align_depth.enable” - “allow_no_texture_points”, “ordered_pc” replaced by “pointcloud.allow_no_texture_points”, “pointcloud.ordered_pc” - “pointcloud_texture_stream”, “pointcloud_texture_index” are replaced by “pointcloud.stream_filter”, “pointcloud.stream_index_filter”

  • Allow enable/disable of sensors in runtime.

  • Allow enable/disable of filters in runtime.