What's Changed

• Merging ros2 hkr to ros2 dev final by @remibettan in #3417
• Fix argument names (_usb_port_id and _device_type) by @ynyBonfennil in #3421
• readme fixed by @remibettan in #3428
• Add logging section to readme by @Nir-Az in #3280
• intel removed, realsense added by @remibettan in #3429
• Create a singleton wrapper to rs2::context by @Gilaadb in #3430

New Contributors

• @noacoohen made their first contribution in #3159
• @Noy-Zini made their first contribution in #3212
• @acornaglia made their first contribution in #3214
• @louislelay made their first contribution in #3215
• @ynyBonfennil made their first contribution in #3421

Full Changelog: 4.55.1...4.57.3

What's Changed

• Support rgbd type and fix bug for FPS lower than 1 by @Gilaadb in #3340
• Support TF Prefixing by @pondersome in #3332
• Fix unit test of Support TF Prefixing by @ashrafk93 in #3352
• few logs and exceptions catches added by @remibettan in #3347
• replace posix argument with suffix which is what it was meant to be by @Gilaadb in #3371
• update ros asc by @ashrafk93 in #3373
• Fix RGBD camera_info and frame_id by @Gilaadb in #3385
• kilted added to wrapper by @remibettan in #3374
• Ashraf/glsl pointcloud by @ashrafk93 in #3356
• remove test dependecies by @ashrafk93 in #3401
• Update copyrights by @Nir-Az in #3410

New Contributors

• @pondersome made their first contribution in #3332

Full Changelog: 4.56.4...4.57.2

What's Changed

• Update rs_launch.py to add depth_module.color_profile by @anisotropicity in #3096
• Allow hw synchronization of several realsense using a synchonization cable by @fortizcuesta in #3102
• Suppress CMake warnings by @jiuguangw in #3100
• Ubuntu 24.04 support for Rolling and Jazzy distros by @Arun-Prasad-V in #3114
• Support calibration config read/write services by @SamerKhshiboun in #3125
• Install specific numpy version to avoid errors in github actions by @SamerKhshiboun in #3130
• [ROS][Test Infra] Support testing ROS2 service call device_info by @kadiredd in #3124
• update librealsense2 version to 2.56.0 by @SamerKhshiboun in #3133
• Update README.md (ROS wrapper to ROS Wrapper for Intel® RealSense™ camera) by @SamerKhshiboun in #3134
• Casefolding device name instead of strict case sensitive comparison by @kadiredd in #3135
• Support Triggered Calibration as ROS2 Action by @SamerKhshiboun in #3138
• update READMEs and CONTRIBUTING files regarding ros2-master by @SamerKhshiboun in #3148
• Update READMEs and CONTRIBUTING files regarding ros2-master by @SamerKhshiboun in #3147
• More updates for jazzy support by @SamerKhshiboun in #3149
• Update librealsense ver in readme by @SamerKhshiboun in #3151
• TC | Fix feedback and update readme by @SamerKhshiboun in #3153
• Add D421 PID by @noacoohen in #3159
• Update Calibration Config API by @SamerKhshiboun in #3166
• disabling FPS & TF tests for ROS-CI by @kadiredd in #3178
• Update librealsense ver in readme by @SamerKhshiboun in #3150
• Update workflows by @SamerKhshiboun in #3140
• retry thrice finding devices with Ykush reset by @kadiredd in #3200
• replace plugins versions withe commit hash by @Noy-Zini in #3212
• hw_reset implementation by @PrasRsRos in #3216
• fix config typo by @patrickwasp in #3221
• Support D555 and its motion profiles by @SamerKhshiboun in #3222
• Use new APIs for motion, accel and gryo streams by @SamerKhshiboun in #3225
• Update CMakeLists.txt - remove find_package(fastrtps REQUIRED) by @SamerKhshiboun in #3239
• Add ROS bag loop option by @acornaglia in #3214
• init _is_first_frame to true by @remibettan in #3276
• Enable rotation filter ROS2 by @noacoohen in #3274
• Fixing gha rolling tests by @remibettan in #3278
• Add color format to depth module in the launch file by @noacoohen in #3284
• align_depth_to_infra2 enabled, pointcloud and align_depth filters to own files by @remibettan in #3293
• Enable rotation filter for color and depth sensors by @noacoohen in #3303
• Updated the topics and services listed in the README by @louislelay in #3215
• Added base_frame_id param to the rs_launch.py file by @FarStryke21 in #3313
• Add LifeCycle Node support at compile time by @ashrafk93 in #3319
• use yakush to switch ports by @ashrafk93 in #3325
• Update version to 4.56.4 + merge master to release branch by @Nir-Az in #3329
• R/4.56.4 by @ashrafk93 in #3398
• Push r/4.56.4 to master by @Nir-Az in #3399
• Fix releases dependencies by @Nir-Az in #3400

New Contributors

• @anisotropicity made their first contribution in #3096
• @fortizcuesta made their first contribution in #3102
• @jiuguangw made their first contribution in #3100
• @noacoohen made their first contribution in #3159
• @Noy-Zini made their first contribution in #3212
• @patrickwasp made their first contribution in #3221
• @acornaglia made their first contribution in #3214
• @louislelay made their first contribution in #3215
• @FarStryke21 made their first contribution in #3313

Full Changelog: 4.55.1...4.56.4

This is a Beta release

What's Changed

• Disabling FPS & TF tests for ROS-CI by @kadiredd in #3178
• Update workflows by @SamerKhshiboun in #3140
• Retry finding devices with Ykush reset by @kadiredd in #3200
• Replace plugins versions withe commit hash by @Noy-Zini in #3212
• Hw_reset implementation by @PrasRsRos in #3216
• Fix config typo by @patrickwasp in #3221
• Suppot a new APIs for motion, accel and gyro streams by @SamerKhshiboun in #3225
• Update CMakeLists.txt - remove find_package(fastrtps REQUIRED) by @SamerKhshiboun in #3239

New Contributors

• @Noy-Zini made their first contribution in #3212
• @patrickwasp made their first contribution in #3221

Full Changelog: 4.56.1...4.56.3

What's Changed

• Update rs_launch.py to add depth_module.color_profile by @anisotropicity in #3096
• Allow hw synchronization of several realsense using a synchonization cable by @fortizcuesta in #3102
• Suppress CMake warnings by @jiuguangw in #3100
• Ubuntu 24.04 support for Rolling and Jazzy distros by @Arun-Prasad-V in #3114
• Support calibration config read/write services by @SamerKhshiboun in #3125
• Install specific numpy version to avoid errors in github actions by @SamerKhshiboun in #3130
• [ROS][Test Infra] Support testing ROS2 service call device_info by @kadiredd in #3124
• update librealsense2 version to 2.56.0 by @SamerKhshiboun in #3133
• Update README.md (ROS wrapper to ROS Wrapper for Intel® RealSense™ camera) by @SamerKhshiboun in #3134
• Casefolding device name instead of strict case sensitive comparison by @kadiredd in #3135
• Support Triggered Calibration as ROS2 Action by @SamerKhshiboun in #3138
• Update READMEs and CONTRIBUTING files regarding ros2-master by @SamerKhshiboun in #3147
• More updates for jazzy support by @SamerKhshiboun in #3149
• Update librealsense ver in readme by @SamerKhshiboun in #3151
• TC | Fix feedback and update readme by @SamerKhshiboun in #3153
• Add D421 PID by @noacoohen in #3159
• Update Calibration Config API by @SamerKhshiboun in #3166

New Contributors

• @anisotropicity made their first contribution in #3096
• @fortizcuesta made their first contribution in #3102
• @jiuguangw made their first contribution in #3100
• @noacoohen made their first contribution in #3159

Full Changelog: 4.55.1...4.56.1

What's Changed

• Cleanups and name fixes by @SamerKhshiboun in #2759
• [ros2-development] Fix overriding frames on same topics/CV-images due to a bug in PR2759 by @SamerKhshiboun in #2799
• Enabling RGB8 Infrared stream by @Arun-Prasad-V in #2806
• Replaced Deprecated function mktemp to TemporaryFile by @karina-ranadive in #2817
• Update rs_launch.py by @danielhonies in #2742
• Integration test template by @PrasRsRos in #2726
• Updated rs_launch configurations by @Arun-Prasad-V in #2822
• Fix align_depth + add test by @SamerKhshiboun in #2825
• Exposing stream_format params to user by @Arun-Prasad-V in #2811
• Add RGBD + reduce changes between hkr and development by @SamerKhshiboun in #2830
• Update rs_launch.py by @hyunseok-yang in #2764
• support color and depth/ir formats by @SamerKhshiboun in #2840
• Apply camera name in topics by @hyunseok-yang in #2857
• Added the changes from https://github.com/IntelRealSense/realsense-ro… by @PrasRsRos in #2859
• Update README.md by @SamerKhshiboun in #2863
• fix readme and nodefactory for ros2 run by @SamerKhshiboun in #2861
• Added ros2 examples by @Arun-Prasad-V in #2839
• Updated rs_launch param names by @Arun-Prasad-V in #2847
• Create /imu topic only when motion streams enabled by @Arun-Prasad-V in #2849
• Fix: Pointcloud topic's frame_id by @Arun-Prasad-V in #2868
• Remove Dashing, Eloquent, Foxy, L500 and SR300 support by @SamerKhshiboun in #2841
• Updated ros2 examples and readme by @Arun-Prasad-V in #2878
• Updating _camera_name with RS node's name by @Arun-Prasad-V in #2872
• Frame latency for the '/topic' provided by user by @Arun-Prasad-V in #2853
• Revert 'Updating _camera_name with RS node's name' by @Arun-Prasad-V in #2891
• Added live camera tests by @PrasRsRos in #2865
• Update Anchors Links In README.md by @SamerKhshiboun in #2901
• Update main.yml by @Arun-Prasad-V in #2943
• fix ros random crash with error hw monitor command for asic temperature failed by @gwen2018 in #2946
• Disabling hdr while updating exposure & gain values by @Arun-Prasad-V in #2934
• Disabling HDR during INIT by @Arun-Prasad-V in #2948
• Fixing the data_type of ROS Params exposure & gain by @Arun-Prasad-V in #2940
• Added urdf & mesh files for D405 model by @Arun-Prasad-V in #2953
• to_urdf fun retrun a str, not a BufferedRandom by @hellototoro in #2957
• Set top level permission for GHA for ROS2 branch by @SamerKhshiboun in #2966
• Fix GHA Warning - Remove deprecated nodes usages by @SamerKhshiboun in #2968
• Extending LibRS's GL support to RS ROS2 by @Arun-Prasad-V in #2956
• Fix All Profiles Test by @deep0294 in #2984
• Remove D465 SKU by @SamerKhshiboun in #2987
• Use zeroed intrinsic for profiles that does not have defined intrinsic by @SamerKhshiboun in #2998
• Update ReadMe to run ROS2 Unit Test by @deep0294 in #3001
• add pointcloud QoS description by @gwen2018 in #3000
• [GL-support] Dynamically switching b/w CPU & GPU processing by @Arun-Prasad-V in #2989
• Renamed GL GPU enable param by @Arun-Prasad-V in #3008
• Assert Fail if camera not found by @kadiredd in #3042
• Skip updating Exp 1,2 & Gain 1,2 when HDR is disabled by @Arun-Prasad-V in #3007
• Fix Coverity issues + remove empty warning log by @Nir-Az in #3053
• Applying Colorizer filter to Aligned-Depth image by @Arun-Prasad-V in #3049
• Add documentation for RealSense ROS2 Wrapper Windows installation by @SamerKhshiboun in #3056
• Support for selecting profile for each stream_type by @Arun-Prasad-V in #3052
• Update actions/checkout from v3 to v4 by @SamerKhshiboun in #3064
• Add security.md to the repo main folder as part of SDLe CT256 by @SamerKhshiboun in #3062
• Revert installation from source for foxy distro on ubuntu 20 by @SamerKhshiboun in #3066
• Update notice file (TPP) by @SamerKhshiboun in #3073
• Add Intel Copyright by @SamerKhshiboun in #3074
• Temp fix for Rolling flow by @SamerKhshiboun in #3071
• Updated pr_check.sh script to not verify the year by @Arun-Prasad-V in #3063
• ROSCI infra for live camera testing by @kadiredd in #3094
• ROS live cam test fixes by @kadiredd in #3098
• Remove unused parameter _is_profile_exist by @SamerKhshiboun in #3106

New Contributors

• @karina-ranadive made their first contribution in #2817
• @PrasRsRos made their first contribution in #2726
• @hyunseok-yang made their first contribution in #2764
• @gwen2018 made their first contribution in #2946
• @hellototoro made their first contribution in #2957
• @deep0294 made their first contribution in #2984
• @kadiredd made their first contribution in #3042

Full Changelog: 4.54.1...4.55.1

What's Changed

• add humble distro to pre-release.yml by @SamerKhshiboun in #2492
• fix ordered_pc arg prefix by @SamerKhshiboun in #2487
• fix extrinsics calculation by @SamerKhshiboun in #2477
• Publish static tf for IMU frames by @Gilaadb in #2436
• publish actual IMU optical frame ID in IMU messages by @Gilaadb in #2516
• rename ros2-beta to ros2-development by @SamerKhshiboun in #2524
• Update stale comment to reflect new branch name by @jaiveersinghNV in #2536
• Windows bringup by @PranavDhulipala in #2537
• Replace deprecated parameter node_name with name by @augustelalande in #2541
• add rolling distro build to github actions by @Nir-Az in #2548
• Update README.md by @jeremy-shannon in #2401
• Explicit mention of parameter value for unite_imu_method by @tsadarsh in #2551
• Fix deprecated rolling API by @Nir-Az in #2558
• Properly read camera config files in rs_launch.py by @Gilaadb in #2572
• Publish static transforms when intra porocess communication is enabled by @Yadunund in #2381
• remove galactic from pre release GHA script by @SamerKhshiboun in #2604
• if default profile is not defined, take the first available profile as default by @SamerKhshiboun in #2601
• Fix hdr_merge filter initialization in ros2 launch by @SamerKhshiboun in #2603
• Add D457 by @hsuys in #2557
• T265 clean up by @SamerKhshiboun in #2611
• Fix ros2 parameter descriptions and range values by @SamerKhshiboun in #2600
• enable intra-process communication for point clouds by @christian-rauch in #2599
• Fix Apache License Header and Intel Copyrights by @SamerKhshiboun in #2608
• add cppcheck to GHA by @SamerKhshiboun in #2610
• Use latched QoS for Extrinsic topic when intra-process is used by @Nir-Az in #2619
• Fix #2649: Expose USB port in DeviceInfo service (ros2) by @stwirth in #2655
• fix timestamps by @SamerKhshiboun in #2658
• Fix lower FPS in D405, D455 by @SamerKhshiboun in #2612
• use playback device for rosbags by @SamerKhshiboun in #2669
• refactor README.md by @SamerKhshiboun in #2668
• clone PR1637 to ros2-development by @SamerKhshiboun in #2689
• replace stereo module with depth module by @SamerKhshiboun in #2688
• Fix Swapped TFs Axes by @SamerKhshiboun in #2684
• add info about extrinsic msg format in Extrinsics.msg and README.md by @SamerKhshiboun in #2693
• add D430i support by @sherrysun2018 in #2322
• Fix: /tf and /static_tf topics' inconsistencies by @Arun-Prasad-V in #2676
• Update mesh path by @MarqRazz in #2712
• Update realsense_node_factory.cpp by @danielhonies in #2713
• Update README.md by @tonynajjar in #2778
• Support Iron distro by @SamerKhshiboun in #2787
• Fixing TF frame links b/w multi camera nodes when using custom names by @Arun-Prasad-V in #2709
• Publish /aligned_depth_to_color topic only when color frame present by @Arun-Prasad-V in #2793
• Applying AlignDepth filter after Pointcloud by @Arun-Prasad-V in #2775

New Contributors

• @jaiveersinghNV made their first contribution in #2536
• @PranavDhulipala made their first contribution in #2537
• @augustelalande made their first contribution in #2541
• @jeremy-shannon made their first contribution in #2401
• @tsadarsh made their first contribution in #2551
• @Yadunund made their first contribution in #2381
• @hsuys made their first contribution in #2557
• @christian-rauch made their first contribution in #2599
• @sherrysun2018 made their first contribution in #2322
• @Arun-Prasad-V made their first contribution in #2676
• @MarqRazz made their first contribution in #2712
• @danielhonies made their first contribution in #2713
• @tonynajjar made their first contribution in #2778

Full Changelog: 4.51.1...4.54.1

Supported RealSense SDK

• LibRealSense v2.54.1

Supported ROS Distributions

• Rolling (build from source)
• Humble
• Iron

Supported Devices

• 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

Recommended Firmware

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

Release notice

This release fixes the required packages that caused Debians build errors.
See former release 4.0.3 for new features and fixed issues list.

• Contributors: Nir-Az

Supported RealSense SDK

• LibRealSense v2.50.0

Supported ROS Distributions

• Rolling
• 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

New Features:

• Support intra-process zero-copy

Fixed issues:

• Fix Galactic deprecated-declarations compilation warning

• Fix Eloquent compilation error

• Contributors: Eran, Nir-Az, SamerKhshiboun

Known issues:

• Issues with playback that started with librealsense2 version 2.43.0 still exist. Working with rosbag_filename is unreliable.

Supported RealSense SDK

• LibRealSense v2.50.0

Supported ROS Distributions

• Rolling
• 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