Changelog for package realsense2_camera

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.