Changelog for package realsense2_camera

4.58.4 (2026-08-30)

• Update changelogs for 4.58.4
• Freeze 4.58.4: bump version (#3548)
• Update version to 4.58.4
• Merge branch 'ros2-development' into ileniap/add/use-mesh/d455
• Merge branch 'ros2-development' into patch-1
• push ros2-master to ros2-development (#3543)
• reset dev versions
• Merge remote-tracking branch 'origin/ros2-master' into ros2-development
• Ngoren/occupancy gridcells fix (#3536)
• fix(occupancy): symmetric grid centering and review cleanups - Center the grid about the camera axis with float cols/2 in both origin.y and the per-cell y: the integer division shifted odd-column grids (D585S emits 85 cols) half a cell laterally. Verified live: origin.y now -2.975 and the grid aligns with the point cloud. - Reject depth intrinsics with zero width, which would otherwise publish a silent all-unknown grid.
  • Stop the row scan at occupancy_max_range instead of skipping rows.
  • Drop the unreachable bin < 0 guard, document why it cannot trigger.

  - Rename bin_range to fov_span: it is the total FOV window, not the width of one bin.

  • Document occupancy_max_range in the README next to clip_distance.
• occupancy: require depth intrinsics, drop no-FOV fallback
• docs(occupancy): tighten comments
• refine(occupancy): odd-column origin consistency, near-range spread guard, cast and perf cleanups
• feat(occupancy): replace GridCells with OccupancyGrid, angular raycasting, FOV masking and max-range clipping
  • Switch occupancy publisher from nav_msgs/GridCells to nav_msgs/OccupancyGrid
  • Cell semantics: 0=free, 100=occupied, -1=unknown (was all-zero before)
  • FOV masking: cells outside horizontal FOV cone (from depth camera fx) → -1
  • True angular raycasting via θ=atan2(y,x) instead of fixed-Y column scan
  • Shadow propagation: free until first obstacle, unknown behind it per ray

  - Gap-ray fix: obstacle shadow spread across full angular footprint to prevent rays slipping through gaps between adjacent occupied cells

  • occupancy_max_range param (default 2.5m): cells beyond range → -1
• initial grid type adjustment
• LRS-1181: Make TF tests robust to split /tf_static publishing (#3535)
• cmake: add ROS 2 Lyrical to supported distros (#3525)
• Merge branch 'ros2-development' into worktree-remove-mqtt
• fix: track frame timestamp per-stream in HW clock mode (silences false reset warnings on DDS) (#3531)
• Remove PID whitelist in startDevice (let librealsense gate which cameras are supported) (#3532)
• fix: track previous frame timestamp per-stream to avoid false HW clock reset warnings The hardware-clock branch of frameSystemTimeSec compared every incoming frame's timestamp against a single shared _previous_frame_time. With multi-stream sources (e.g. DDS devices, where frames are tagged with RS2_TIMESTAMP_DOMAIN_HARDWARE_CLOCK), frames from different streams running at different rates interleave out of order against that one global value, triggering false "Hardware clock reset detected" warnings and spurious time-base resets on nearly every frame. Make _previous_frame_time a per-stream map keyed by the rs2 stream unique_id, so each stream's monotonicity is checked only against itself. On a real backward jump, clear the map so other streams re-seed silently against the new time base on their next frame. USB devices (GLOBAL_TIME domain) are unaffected — they don't enter this branch. Co-Authored-By: Claude Opus 4.7 <<noreply@anthropic.com>>
• making ros wrapper work with all realsense cameras
• Merge branch 'ros2-master' into patch-1
• Contributors: Ilenia, Nir Azkiel, Nir-Az, Niv Goren, Remi Bettan, ileniap, remibettan
• Freeze 4.58.4: bump version (#3548)
• Update version to 4.58.4
• Merge branch 'ros2-development' into ileniap/add/use-mesh/d455
• Merge branch 'ros2-development' into patch-1
• push ros2-master to ros2-development (#3543)
• reset dev versions
• Merge remote-tracking branch 'origin/ros2-master' into ros2-development
• Ngoren/occupancy gridcells fix (#3536)
• fix(occupancy): symmetric grid centering and review cleanups - Center the grid about the camera axis with float cols/2 in both

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