CHANGELOG

Changelog for package realsense2_camera

4.56.4 (2025-07-22)

PR #3329 from Nir-Az: Update version to 4.56.4
update version to 4.56.4
PR #3325 from ashrafk93: use ykush to switch ports
test ci
disable all ports
change port logic
map ports dynamically
use yakush to switch ports
PR #3319 from ashrafk93: Add LifeCycle Node support at compile time
Remove message on default normal node
Fix typo
Update config file name
Update README
Fix PR markups
Add lifecycle node dependency
Merge pull request #3313 from FarStryke21/ros2-development Added base_frame_id param to the rs_launch.py file
Added base_frame_id param to the rs_launch.py file
Merge remote-tracking branch ‘origin/ros2-development’ into change_topics_in_readme
PR #3303 from noacoohen: Enable rotation filter for color and depth sensors
rotate infra sensor
enable rotation filter for color and depth
PR #3293 from remibettan: align_depth_to_infra2 enabled, pointcloud and align_depth filters to own files
cr adjustments
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
edit description
add color foramt for depth module for d405
PR #3274 from noacoohen: Enable rotation filter ROS2
PR #3276 from remibettan: removing dead code in RosSensor class runFirstFrameInitialization and _first_frame_functions_stack removed
removing dead code
init _is_first_frame to true
Update rs_launch.py to include additional rotation filter support
add rotation filter to ros2
PR #3214 from acornaglia: Add ROS bag loop option
Merge branch ‘ros2-development’ into change_topics_in_readme
PR #3239 from SamerKhshiboun: Update CMakeLists.txt - remove find_package(fastrtps REQUIRED)
Update CMakeLists.txt
Update CMakeLists.txt
Merge branch ‘ros2-development’ of github.com:IntelRealSense/realsense-ros into rosbag_loop
Using variable for avoiding double function call
Merge branch ‘ros2-development’ into rosbag_loop
PR #3225 from SamerKhshiboun: Use new APIs for motion, accel and gryo streams
use new APIs for motion, accel and gryo streams
PR #3222 from SamerKhshiboun: Support D555 and its motion profiles
support latched QoS for imu_info
adjusments to DDS Support for ROS Wrapper
Add D555 PID
PR #3221 from patrickwasp: fix config typo
fix config typo
PR #3216 from PrasRsRos: hw_reset implementation
Added rosbag_loop parameter to launch_from_rosbag example
Added loop back argument description to launch_from_rosbag README
Added hw_reset service implementation Added a test in D455 to validate the hw_reset
Added hw_reset service implementation Added a test in D455 to validate the hw_reset
Added hw_reset service implementation Added a test in D455 to validate the hw_reset
Added hw_reset service call to reset the device Added a test in D455 to test the reset device
Added hw_reset service call to reset the device
Fixed bag looping mechanism
Fixed compilation error
Added ROS bag loop option
PR #3200 from kadiredd: retry thrice finding devices with Ykush reset
retry thrice finding devices with Ykush reset
retry thrice finding devices with Ykush reset
PR #3178 from kadiredd: disabling FPS & TF tests for ROS-CI
disabling FPS & TF tests for ROS-CI
PR #3166 from SamerKhshiboun: Update Calibration Config API
update calib config usage to the new API, and update readme
PR #3159 from noacoohen: Add D421 PID
add D421 pid
PR #3153 from SamerKhshiboun: TC | Fix feedback and update readme
fix feedback and update readme for TC
PR #3147 from SamerKhshiboun: Update READMEs and CONTRIBUTING files regarding ros2-master
PR #3148 from SamerKhshiboun: update READMEs and CONTRIBUTING files regarding ros2-master
update READMEs and CONTRIBUTING files regarding ros2-master
update READMEs and CONTRIBUTING files regarding ros2-master
PR #3138 from SamerKhshiboun: Support Triggered Calibration as ROS2 Action
implement Triggered Calibration action
Update CMakeLists.txt
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
support calib config read/write services
[ROS][Test Infra] Support testing ROS2 service call device_info
PR #3114 from Arun-Prasad-V: Ubuntu 24.04 support for Rolling and Jazzy distros
Ubuntu 24.04 support for Rolling and Jazzy
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
Expose depth_module.inter_cam_sync_mode in launch files
Revert changes
Merge branch ‘ros2-development’ into feature/ros2-development-allow-hw-synchronization
Allow hw synchronization of several realsense devices
Update rs_launch.py to add depth_module.color_profile Fix for not being able to set the color profile for D405 cameras. See https://github.com/IntelRealSense/realsense-ros/issues/3090
Contributors: Aman Chulawala, Arun-Prasad-V, Ashraf Kattoura, Cornaglia, Alessandro, Madhukar Reddy Kadireddy, Nir Azkiel, Ortiz Cuesta, Fernando, Patrick Wspanialy, PrasRsRos, Remi Bettan, Samer Khshiboun, SamerKhshiboun, acornaglia, administrator, anisotropicity, louislelay, noacoohen, remibettan

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.