ROS2-Beta Wrapper for Intel® RealSense™ Devices (build 4.0.0)

Beta release - version 4.0.0

Based upon the ROS2 3.2.3 version, controlling the camera parameters in this version is meant to be more dynamic:

• Allows starting and stopping separate sensors in runtime using the "enable_" parameters.
• Exposes all the postprocessing in a "disabled" state allowing the user to enable them at will in runtime.
  ** All parameters can also be defined at start-up by modifying the launch files, as is in the 3.2.3 version.

While many of the parameter names remain as they were in version 3.2.3, many were slightly modified to match the new hierarchy. For instance, in the D400 series, the depth, infrared1, and infrared2 streams belong to one stereo sensor. Therefore, there are no longer infra1_width, infra1_height, infra1_fps, infra2_width, depth_width etc. all of which should have always been set to the same value. Instead, there is a single, depth_module.profile parameter that combines all 3 parameters into one and can also be changed in runtime.

Supported RealSense SDK

• LibRealSense v2.50.0

Supported ROS Distributions

• Rolling
• Galactic
• Foxy
• Eloquent
• Dashing

Supported Devices

• Intel® RealSense™ LiDAR cameras L515, L535
• Intel® RealSense™ Tracking Module T265
• Intel® RealSense™ Camera D400-Series:
  • Intel® RealSense™ Depth Cameras D415, D435, D435i and D455.
  • Intel® RealSense™ Depth Modules D400, 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 +