CHANGELOG

Changelog for package orbbec_camera

1.5.14 (2025-09-30)

  • Bump version to 1.5.14

  • Update OrbbecSDK (v1.10.9 → v1.10.27)

  • Add new params (color/IR settings, rotations, filters, etc.)

  • Add reboot device interface and exception handling

  • Improve device selection, lock handling, error handling & logging

  • Fix device enumeration, depth filter, IMU info, etc.

  • Update launch files (Gemini, Dabai, Astra, Mega, Deeya, etc.)

  • Update udev rules, dependencies (opengl, tf2_eigen, libdw-dev)

  • Refactor camera setup (resolutions, info, topics, post-process filters)

  • Add new features: HDR merge, noise removal, heartbeat, point cloud options

  • Misc bug fixes, cleanup, and stability improvements

  • Contributors: Joe Dong, daiwei, datean, jjiszjj, obyalian, xiexun, zhuangzi

1.5.8 (2024-06-22)

  • chore: Update Orbbec ROS2 SDK version to 1.5.8

  • Update: Fixed wrong depth point cloud

  • Update: Fixed the issue of point cloud distortion in femto bolt

  • Update: fixed iron compile error

  • chore: Add LDP switch

  • chore: Fixed ros2 jazzy compile error

  • chore: set bolt imu to 200hz

  • chore: Remove glog deps

  • chore: Add exposure && gain && white balance params

  • Add laser energy level param limit

  • Add laser energy level param

  • Add print default filter params

  • Fixed femto bolt config

  • Contributors: Joe Dong

1.5.7 (2024-06-05)

  • Update SDK config

  • Bump to v1.5.7

  • Update SDK to v1.10.8

  • fixed save image crash

  • fixed save point cloud crash

  • fixed pid to lower case

  • Bump to v1.5.6

  • Fixed bolt align

  • Update setupPipelineConfig: put set depth scale out

  • Update SDK to v1.10.7

  • update sync mode default to standalone

  • update PointCloud.rviz

  • Contributors: Joe Dong

1.5.5 (2024-05-22)

  • bump to v1.5.5

  • fixed crash

  • Fixed create diagnstic

  • use unique_ptr publish point cloud

  • chore: Disable array bounds warning in CMakeLists.txt

  • Contributors: Joe Dong

1.5.4 (2024-05-15)

  • update Default sync mode

  • add more debug log

  • Update filter default params

  • bump to v1.5.4

  • chore: Refactor OBCameraNode setupPipelineConfig method

  • Fixed filter params

  • Fixed filter params

  • Contributors: Joe Dong

1.5.2 (2024-05-12)

  • Update SDK to v1.10.5

  • chore: Add dependencies libgflags-dev, nlohmann-json-dev, and libgoogle-glog-dev

  • Bump to v1.5.2

  • Update SDK to v1.10.4

  • chore: Remove unused color_frame variable in OBCameraNode

  • chore: Update camera node to use microsecond timestamps for system time

  • Fix depth filter process when frame is nullptr

  • Bump to v1.5.1

  • Update SDK to v1.10.3

  • Update launch file name

  • fixed race condition

  • chore: update list profile

  • chore: use default stream profile

  • chore: rename camera launch file name

  • chore: rename gemini2R to gemini_generic

  • chore: Update launch file for gemini2RF

  • add gemini2RF launch

  • add retry_on_usb3_detection_failure param

  • fixed g2r maybe crash

  • fixed g2 no color point cloud

  • fixed warning

  • add more log

  • fixed crash

  • fixed depth align

  • update README && make package

  • update README && make package

  • Bump to v1.5.0

  • update utils.cpp

  • Fix range validation and error handling in setGainCallback and setAutoExposureCallback

  • Add extrinsics publishers for depth to accelerometer and depth to gyro

  • bump to v1.4.8

  • update sdk

  • Update SDK to 1.10.0

  • fixed maybe crash

  • Add docs

  • update params

  • Update Log

  • Add laser on off mode

  • update SDK

  • fixed baseline params

  • update depth precision setting

  • Fixed maybe crash

  • Remove device info pid && vid

  • Update launch file and device rules

  • add pid

  • Fixed connect device

  • Fixed crash

  • Update build type to ReleaseWithDebInfo

  • Update json meta data field name

  • add laster switch

  • Add temperatures diagnostics updater

  • Add D2C publisher

  • bump to v1.4.7

  • Add support for HdrMerge filter setting pass

  • add gemini2 RL

  • Add processDepthFrameFilter function to OBCameraNode

  • Add connection delay parameter to OBCameraNodeDriver

  • add align mode param

  • Update align mode parameter in OBCameraNode

  • add filter params

  • remove unused static TF

  • update log level

  • update SDK

  • Adapted G2R

  • Update SDK to g2r temp version

  • Add setIRLongExposureCallback to OBCameraNode

  • update readme

  • add femto mega ip addr and port

  • Enable depth scale in OBCameraNode

  • Enable depth scale in OBCameraNode

  • Contributors: Joe Dong

1.4.6 (2024-02-26)

  • bump to v1.4.6

  • upgrade SDK to v1.9.4

  • add use hardware time option

  • fixed save image counter

  • fixed not close ofstream

  • fixed compile error in unbuntu 2204

  • fixed save 10 image

  • save depth to raw image

  • Contributors: Joe Dong

1.4.4 (2024-01-15)

  • Max Pro increases the IR long exposure enable configuration.

  • Update orbbecsdk library to v1.9.3

  • merge master

  • fixed imu frame id.

  • Fix DCL IMU synchronous output abnormal issue。

  • Update version to v1.4.4

  • Update sdk for fix astra pro ission

  • Delete dw2 launch

  • Add dw2 launch

  • Add code to disable frame synchronization processing.

  • Delete redundant software filtering enable configuration from launch

  • Update sdk library 1.9.1-dcw2-P01

  • DCW2,max pro add depth filter config

  • Add max pro launch

  • merge master

  • Fix the issue of ineffective software filtering in depth filtering configuration。

  • Add astra pro2 launch.

  • Gemini2 depth work mode add Obstacle Avoidance.

  • Modify improperly named variables

  • Print log output for gemini2 D2D and depth accuracy information.

  • Print log output for gemini2 D2D and depth accuracy information.

  • Merge branch ‘master’ of code.orbbec.com.cn:OrbbecSDK/OrbbecSDK_ROS2

  • fixed frame_id name

  • Resolving the issue of abnormal simultaneous output of depth point cloud and color point cloud.

  • Fixing the command to control the data stream crash issue.

  • Fixing the command to control the data stream crash issue.

  • fixed distortion model

  • fixed bolt TF

  • Update version to v1.4.3

  • Update gemini2.launch.py for depth filter config

  • Remove softfilter config

  • 1.更新orbbecSDK 1.9.1;2.gemini2增加深度滤波配置功能;3.增加IMU同时输出topic.

  • Resolve Bolt’s coordinate abnormality issue.

  • Fix distortion parameter bugs, see #15

  • Adjust initialization code logic.

  • [Max_Pro]Update orbbecSDK library

  • Fixing the problem of aligning simultaneous output of colored point cloud and depth point cloud.

  • [Max_Pro]Update orbbecSDK for support gemini uw depth 11bit

  • [Max_Pro]Adapter dabai max pro

  • Contributors: Joe Dong, lixiaobin

1.4.2 (2023-12-06)

  • Update version to v1.4.2

  • Update orbbecSDK library to v1.8.3

  • Contributors: lixiaobin

1.4.1 (2023-11-23)

  • Update version to v1.4.1

  • Update the method of reading intrinsic parameters.

  • Update orbbecsdk library to 1.8.2

  • Merge branch ‘ordered_point_cloud’ into ‘master’ add ordered point cloud param See merge request OrbbecSDK/OrbbecSDK_ROS2!7

  • add ordered point cloud param

  • Fix bug for callback color data

  • bump to v1.4.0

  • Modify the py file in the launch to fix the abnormal behavior of multiple device hot-swapping in Foxy ROS2 version.

  • Fix the naming error issue in the color function.

  • Modify gemini2.launch.py to resolve the abnormal program behavior of multiple device reconnection in the Foxy version.

  • Using a new thread to process Color data.

  • Implementing flip function for data stream.

  • Contributors: Joe Dong, lixiaobin, 默存

1.3.9 (2023-10-25)

  • bump to v1.3.9

  • Fix the problem of abnormal internal parameter acquisition for individual USB devices.

  • Adaptation for IR MJPG software decoding processing.

  • Gemini2 X L add service to read left ir exposure.

  • Fix camera information abnormality issue.

  • Contributors: lixiaobin

1.3.8 (2023-10-17)

  • Update OrbbecSDK lib

  • bump to v1.3.8

  • add lock in selectDeviceBySerialNumber func

  • fixed start multi device

  • add check start IMU

  • check rgb buffer avoid crash

  • fixed stop cause crash

  • fixed camera info width && height

  • Update femto bolt,gemini2,gemini2L launch resulation configruation.

  • fixed crash

  • Fixed the issue of resource null pointer during device disconnection.

  • Fixed the issue with the calling of the device PID acquisition interface.

  • Add dcw2 pid to 99-obsensor-libusb.rules

  • Resolving the Femto Bolt D2C point cloud issue.

  • Contributors: Joe Dong, lixiaobin

1.3.7 (2023-10-11)

  • Add the enable switch function for network device enumeration.

  • Update version to 1.3.7

  • Add instructions for depth work mode in the Readme.

  • merge master

  • Update OrbbecSDK v1.8.1 library

  • Update OrbbecSDK to v1.8.1

  • Update the data stream configuration of Gemini2 series devices.

  • Modify multi device sync config parameter.

  • Adapter Femto bolt device.

  • Contributors: lixiaobin

1.3.6 (2023-10-07)

  • fixed enable frame sync param

  • add gemini2 VL launch file

  • bump to v1.3.6

  • add help scripts

  • add enable frame sync

  • fixed camera info

  • Contributors: Joe Dong

1.3.5 (2023-09-15 16:54)

  • fixed save point cloud

  • Contributors: Joe Dong

1.3.4 (2023-09-15 15:11)

  • bump to v1.3.4

  • fixed get device by uid

  • change sem to pthread lock

  • Contributors: Joe Dong

1.3.2 (2023-09-13)

  • fixed set ir mirror

  • fixed set ir mirror

  • add dcw2 launch

  • bump to v1.3.2

  • update SDK to sdk v.1.7.4

  • add astra mini s pro pid

  • fix mising close sem

  • update SDK to v1.7.3

  • bump to v1.3.1

  • print more clean log

  • fixed save left && right IR image

  • add imu enable parmeter

  • fixed TF error

  • fixed set and get ir property

  • add license header

  • remove jpeg end zero

  • fixed use nv jpeg decoder

  • add jetson hardware decoder

  • remove sigal handler

  • remove point cloud filter

  • changed default color points topic

  • remove unused parmeter

  • remove unused parmeter

  • Merge branch ‘master’ of code.orbbec.com.cn:OrbbecSDK/OrbbecSDK_ROS2

  • fixed tf calc error

  • Add Dabai max dabai_max.launch.py

  • fixed rk mpp decoder rgb channel error

  • fixed crash

  • remove xml launch file

  • update SDK to v1.7.2

  • update SDK to v1.7.2

  • fixed multi device param name

  • fixed point cloud inv

  • remove unused tf

  • fixed camera info frame id

  • add gemini2 XL launch file

  • update SDK to v1.7.1

  • add cmake log

  • fixed file name typo

  • Merge pull request #6 from orbbec/gst_decoder add gstreamer decode MPEG

  • remove unused code

  • add python launch file

  • add python launch file

  • first work gst decoder

  • disable Use Gstreamer hardware decoder by default

  • fixed source and sink name

  • add gst decoder

  • fixed memory leak

  • bump to v1.3.0

  • Merge branch ‘hw_decoder’ into ‘master’ add mpp hardware decode mjpeg See merge request OrbbecSDK/OrbbecSDK_ROS2!6

  • add mpp hardware decode mjpeg

  • refactory cmake

  • Add imu parameter README

  • Add missing params

  • Contributors: Joe Dong, bajingsi, 默存

1.2.9 (2023-08-23)

  • add list device script

  • add py launch file

  • add py launch file

  • use rclcpp componet

  • add list device script

  • add py launch file

  • add py launch file

  • use rclcpp componet

  • Merge pull request #5 from jian-dong/master Release v1.2.9

  • remove print device type

  • update SDK to v1.6.3

  • update sdk to v1.6.2

  • bump to v1.2.8

  • add astra2 launch file

  • update readme

  • disable enableMultiDeviceSync for OpenNI device

  • bump to v1.2.7

  • update SDK

  • fixed tf error

  • fixed tf

  • fixed log level

  • fixed HUB hot plug bug

  • bump to v1.2.6

  • uncomment IMU code

  • gemini2 L launch file

  • add help scripts

  • update launch file

  • update cmake

  • update cmake

  • update SDK to v1.6.1

  • add read device usb port

  • add uyuv to rgb888

  • fixed camera link frame id

  • fixed TF

  • fixed TF

  • fix ir image step

  • remove lfs

  • remove lfs

  • remove lfs

  • remove lfs

  • slim SDK

  • comment IMU

  • update readme

  • comment start&& stop IMU

  • comment start&& stop IMU

  • add more launch file

  • bump to v1.2.5

  • fixed log not clear

  • fixed gemini2 cannot convert mjpeg

  • Contributors: Joe Dong

1.2.4 (2023-04-28)

  • fixed gemini e enum device

  • disable gemini_e color point cloud by default

  • add sync_signal_trigger_out param

  • bump v1.2.4

  • Merge branch ‘feature/imu’ into ‘master’ 添加 IMU topic * 添加了读取IMU数据流，并发布相关topic，目前只支持gemini2 See merge request OrbbecSDK/OrbbecSDK_ROS2!5

  • add IMU topic

  • fix drop bad mjpeg frame

  • add soft filter max diff

  • fix point cloud dist

  • fix read orbbec config

  • fixed depth image value

  • add sync mode

  • add soft filter&& AE switch

  • add list depth work mode

  • bump to v1.2.3

  • fixed gemini2 get stuck

  • update launch file

  • update SDK to v1.5.7

  • bump to v1.2.2

  • bump to v1.2.2

  • add d2c viewer topic

  • add enable hardware d2d

  • fix get camera info

  • update SDK to v1.5.6

  • add switch IR camera

  • fixed broken SDK soft link

  • rewrite install rules script

  • fix astra mini pro launch file

  • Contributors: Joe Dong, 默存

1.2.1 (2023-02-20)

  • add save point cloud and image

  • fixed typo

  • clean .make_deb

  • ignore undeclare paramer exception

  • add d2c viewer

  • rename camer_node_factory to camera_node_driver

  • fixed device count

  • refactory startDevice

  • add get ldp status

  • change set_fan_mode to set_fan_work_mode

  • update README

  • remove wrong static_tf_broadcaster_ init

  • fixed all launch file error

  • bump to v1.2.1

  • fixed multi camera namespace error

  • update log

  • fixed get camera params

  • fixed get camera params

  • fixed enum openNI device

  • fixed code format

  • fixed crash

  • fixed catch error

  • add more launch file

  • update SDK to v1.5.5

  • bump to v1.2.0

  • update usb rules

  • fixed check null ptr

  • Merge branch ‘refactory’ into ‘master’ Big refactoring code See merge request OrbbecSDK/OrbbecSDK_ROS2!4

  • Big refactoring code * Removal of unnecessary files * Optimized multi-camera launch * Explicitly list the parameters in the launch file

  • clean shm

  • add check connection timer

  • refactory get stream

  • remove unused code

  • fixed multi camera start

  • replace SDK to v1.4.3

  • replace SDK to v1.4.1

  • Merge branch ‘develop’ into ‘master’ Small fix See merge request OrbbecSDK/OrbbecSDK_ROS2!3

  • Small fix

  • add install usb rules

  • Contributors: Joe Dong, 默存

1.0.4 (2022-07-07)

  • remove unuse file

  • bump to v1.0.4

  • add make deb scripts

  • update orbbec SDK install way

  • update SDK

  • Contributors: Joe Dong

1.0.3 (2022-07-04 17:05)

  • bump to v1.0.3

  • Contributors: Joe Dong

1.0.2 (2022-07-04 16:52)

  • roll back sdk

  • update sdk

  • update sdk

  • remove multiple thread publish point cloud

  • use single thread publish point cloud

  • fix ir auto exposure

  • remove openMP

  • bump to v1.0.2

  • remove libuvc debug flag

  • add stream format as parmeters

  • add rgb point cloud topic

  • fix crash

  • add auto white balance ctrl

  • remove debug msg

  • add OBFormatFromString

  • fix point cloud filter

  • fix typo

  • Merge branch ‘release/1.0.1’ into ‘master’ add more config See merge request OrbbecSDK/orbbecros2sdk!2

  • [fix] only YUYV and I420 support color point cloud

  • [fix] print enum name

  • [add][scripts] recv point cloud

  • [add][glog] update readme

  • [fix][cmake] find image_publisher

  • add NOTICE

  • add multi camera rivz config

  • fix multi camera

  • use pid adapter color format

  • add toggle sesror service

  • Merge branch ‘dev’ into ‘master’ Fix point cloud direction See merge request OrbbecSDK/orbbecros2sdk!1

  • Fix point cloud direction

  • Contributors: Joe Dong, 默存

1.0.0 (2022-06-10)

  • change ‘get_api_version’ to ‘get_sdk_version’

  • update readme

  • remove orbbec dir

  • add dependencies

  • use bash echo latch messsage

  • fix ob_sdk from system

  • fix get ob sdk version

  • fix publish rgb point cloud

  • catch publish point cloud exception

  • add rbgFormatConvertRGB888

  • change a better name

  • add get verion api

  • change topic name

  • clean code

  • fixed warning

  • fixed stop device

  • fixed hotplug

  • remove debug msg

  • fix use frame timestamp

  • add get device info srv

  • print time cost

  • set response status

  • catch error when ctrl camera

  • add help scripts

  • fix point cloud color

  • fix tf frame error

  • init commit

  • Contributors: Joe Dong