ROS2-Beta Wrapper for Intel® RealSense™ Devices (build 4.51.1)

Release notice

What's Changed

• Add pre-release testings to ci by @Nir-Az in #2293
• fix CUDA suffix for pointcloud and align_depth topics by @SamerKhshiboun in #2298
• Add copyright and license to all ROS2-beta source files by @SamerKhshiboun in #2302
• [ros2-beta] update readme to show changes from ROS2 by @SamerKhshiboun in #2312
• add colorizer.enable to rs_launch.py by @SamerKhshiboun in #2316
• Add how to echo Extrinsic topic on intra-process to README by @Nir-Az in #2333
• Fix align_depth enable/disable by @SamerKhshiboun in #2332
• Fix colorizer filter which returns null reference ptr by @SamerKhshiboun in #2336
• No need to start/stop sensors for align depth changes by @SamerKhshiboun in #2351
• Publish real frame rate of realsense camera node topics/publishers by @SamerKhshiboun in #2408
• Support ROS2 Humble by @SamerKhshiboun in #2406
• fix rosbag device loading by preventing set_option to HDR/Gain/Exposure by @SamerKhshiboun in #2409
• Update rosbag documentation in readme.me by @SamerKhshiboun in #2419
• Fix crash when activating IMU & aligned depth together by @SamerKhshiboun in #2437
• force cmake version to 3.23.0 by @SamerKhshiboun in #2468

Full Changelog: 4.0.4...4.51.1

• Contributors: @Nir-Az, @SamerKhshiboun

Supported RealSense SDK

• LibRealSense v2.51.1

Supported ROS Distributions

• Rolling
• Humble
• Galactic
• Foxy
• Eloquent
• Dashing

Supported Devices

• Intel® RealSense™ LiDAR cameras L515
• Intel® RealSense™ Tracking Module T265
• Intel® RealSense™ Camera D400-Series:
  • Intel® RealSense™ Depth Cameras D415, D435, D435i and D455.
  • Intel® RealSense™ Depth Modules D400, D405, D410, D420, D430
  • Intel® RealSense™ Vision Processor D4m
• Intel® RealSense™ Developer Kit SR300

Recommended Firmware

Model	Firmware
D400	5.13.0.50 Important - due to internal firmware changes the users of this FW version are required to upgrade to Librealsense v2.39.0 (+)
SR300	3.10.10.0 +
**L500	1.5.8.1 +