^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ Changelog for package orbbec_camera ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 1.5.20 (2026-06-23) ------------------- * Update OrbbecSDK to v1.10.36 * Add color auto exposure max gain launch parameter ``color_ae_max_gain`` for Gemini2 and Gemini2L * Add ``uvc_backend`` launch parameter for OpenNI devices with UVC Color backend support * Add DaBaiMax series depth filter config support for outlier filtering through JSON files 1.5.14 (2025-09-30) ------------------- * Bump version to 1.5.14 * Update OrbbecSDK (v1.10.9 → v1.10.27) * Add new params (color/IR settings, rotations, filters, etc.) * Add reboot device interface and exception handling * Improve device selection, lock handling, error handling & logging * Fix device enumeration, depth filter, IMU info, etc. * Update launch files (Gemini, Dabai, Astra, Mega, Deeya, etc.) * Update udev rules, dependencies (opengl, tf2_eigen, libdw-dev) * Refactor camera setup (resolutions, info, topics, post-process filters) * Add new features: HDR merge, noise removal, heartbeat, point cloud options * Misc bug fixes, cleanup, and stability improvements * Contributors: Joe Dong, daiwei, datean, jjiszjj, obyalian, xiexun, zhuangzi 1.5.8 (2024-06-22) ------------------ * chore: Update Orbbec ROS2 SDK version to 1.5.8 * Update: Fixed wrong depth point cloud * Update: Fixed the issue of point cloud distortion in femto bolt * Update: fixed iron compile error * chore: Add LDP switch * chore: Fixed ros2 jazzy compile error * chore: set bolt imu to 200hz * chore: Remove glog deps * chore: Add exposure && gain && white balance params * Add laser energy level param limit * Add laser energy level param * Add print default filter params * Fixed femto bolt config * Contributors: Joe Dong 1.5.7 (2024-06-05) ------------------ * Update SDK config * Bump to v1.5.7 * Update SDK to v1.10.8 * fixed save image crash * fixed save point cloud crash * fixed pid to lower case * Bump to v1.5.6 * Fixed bolt align * Update setupPipelineConfig: put set depth scale out * Update SDK to v1.10.7 * update sync mode default to standalone * update PointCloud.rviz * Contributors: Joe Dong 1.5.5 (2024-05-22) ------------------ * bump to v1.5.5 * fixed crash * Fixed create diagnstic * use unique_ptr publish point cloud * chore: Disable array bounds warning in CMakeLists.txt * Contributors: Joe Dong 1.5.4 (2024-05-15) ------------------ * update Default sync mode * add more debug log * Update filter default params * bump to v1.5.4 * chore: Refactor OBCameraNode setupPipelineConfig method * Fixed filter params * Fixed filter params * Contributors: Joe Dong 1.5.2 (2024-05-12) ------------------ * Update SDK to v1.10.5 * chore: Add dependencies libgflags-dev, nlohmann-json-dev, and libgoogle-glog-dev * Bump to v1.5.2 * Update SDK to v1.10.4 * chore: Remove unused color_frame variable in OBCameraNode * chore: Update camera node to use microsecond timestamps for system time * Fix depth filter process when frame is nullptr * Bump to v1.5.1 * Update SDK to v1.10.3 * Update launch file name * fixed race condition * chore: update list profile * chore: use default stream profile * chore: rename camera launch file name * chore: rename gemini2R to gemini_generic * chore: Update launch file for gemini2RF * add gemini2RF launch * add retry_on_usb3_detection_failure param * fixed g2r maybe crash * fixed g2 no color point cloud * fixed warning * add more log * fixed crash * fixed depth align * update README && make package * update README && make package * Bump to v1.5.0 * update utils.cpp * Fix range validation and error handling in setGainCallback and setAutoExposureCallback * Add extrinsics publishers for depth to accelerometer and depth to gyro * bump to v1.4.8 * update sdk * Update SDK to 1.10.0 * fixed maybe crash * Add docs * update params * Update Log * Add laser on off mode * update SDK * fixed baseline params * update depth precision setting * Fixed maybe crash * Remove device info pid && vid * Update launch file and device rules * add pid * Fixed connect device * Fixed crash * Update build type to ReleaseWithDebInfo * Update json meta data field name * add laster switch * Add temperatures diagnostics updater * Add D2C publisher * bump to v1.4.7 * Add support for HdrMerge filter setting pass * add gemini2 RL * Add processDepthFrameFilter function to OBCameraNode * Add connection delay parameter to OBCameraNodeDriver * add align mode param * Update align mode parameter in OBCameraNode * add filter params * remove unused static TF * update log level * update SDK * Adapted G2R * Update SDK to g2r temp version * Add setIRLongExposureCallback to OBCameraNode * update readme * add femto mega ip addr and port * Enable depth scale in OBCameraNode * Enable depth scale in OBCameraNode * Contributors: Joe Dong 1.4.6 (2024-02-26) ------------------ * bump to v1.4.6 * upgrade SDK to v1.9.4 * add use hardware time option * fixed save image counter * fixed not close ofstream * fixed compile error in unbuntu 2204 * fixed save 10 image * save depth to raw image * Contributors: Joe Dong 1.4.4 (2024-01-15) ------------------ * Max Pro increases the IR long exposure enable configuration. * Update orbbecsdk library to v1.9.3 * merge master * fixed imu frame id. * Fix DCL IMU synchronous output abnormal issue。 * Update version to v1.4.4 * Update sdk for fix astra pro ission * Delete dw2 launch * Add dw2 launch * Add code to disable frame synchronization processing. * Delete redundant software filtering enable configuration from launch * Update sdk library 1.9.1-dcw2-P01 * DCW2,max pro add depth filter config * Add max pro launch * merge master * Fix the issue of ineffective software filtering in depth filtering configuration。 * Add astra pro2 launch. * Gemini2 depth work mode add Obstacle Avoidance. * Modify improperly named variables * Print log output for gemini2 D2D and depth accuracy information. * Print log output for gemini2 D2D and depth accuracy information. * Merge branch 'master' of code.orbbec.com.cn:OrbbecSDK/OrbbecSDK_ROS2 * fixed frame_id name * Resolving the issue of abnormal simultaneous output of depth point cloud and color point cloud. * Fixing the command to control the data stream crash issue. * Fixing the command to control the data stream crash issue. * fixed distortion model * fixed bolt TF * Update version to v1.4.3 * Update gemini2.launch.py for depth filter config * Remove softfilter config * 1.更新orbbecSDK 1.9.1;2.gemini2增加深度滤波配置功能;3.增加IMU同时输出topic. * Resolve Bolt's coordinate abnormality issue. * Fix distortion parameter bugs, see #15 * Adjust initialization code logic. * [Max_Pro]Update orbbecSDK library * Fixing the problem of aligning simultaneous output of colored point cloud and depth point cloud. * [Max_Pro]Update orbbecSDK for support gemini uw depth 11bit * [Max_Pro]Adapter dabai max pro * Contributors: Joe Dong, lixiaobin 1.4.2 (2023-12-06) ------------------ * Update version to v1.4.2 * Update orbbecSDK library to v1.8.3 * Contributors: lixiaobin 1.4.1 (2023-11-23) ------------------ * Update version to v1.4.1 * Update the method of reading intrinsic parameters. * Update orbbecsdk library to 1.8.2 * Merge branch 'ordered_point_cloud' into 'master' add ordered point cloud param See merge request OrbbecSDK/OrbbecSDK_ROS2!7 * add ordered point cloud param * Fix bug for callback color data * bump to v1.4.0 * Modify the py file in the launch to fix the abnormal behavior of multiple device hot-swapping in Foxy ROS2 version. * Fix the naming error issue in the color function. * Modify gemini2.launch.py to resolve the abnormal program behavior of multiple device reconnection in the Foxy version. * Using a new thread to process Color data. * Implementing flip function for data stream. * Contributors: Joe Dong, lixiaobin, 默存 1.3.9 (2023-10-25) ------------------ * bump to v1.3.9 * Fix the problem of abnormal internal parameter acquisition for individual USB devices. * Adaptation for IR MJPG software decoding processing. * Gemini2 X L add service to read left ir exposure. * Fix camera information abnormality issue. * Contributors: lixiaobin 1.3.8 (2023-10-17) ------------------ * Update OrbbecSDK lib * bump to v1.3.8 * add lock in selectDeviceBySerialNumber func * fixed start multi device * add check start IMU * check rgb buffer avoid crash * fixed stop cause crash * fixed camera info width && height * Update femto bolt,gemini2,gemini2L launch resulation configruation. * fixed crash * Fixed the issue of resource null pointer during device disconnection. * Fixed the issue with the calling of the device PID acquisition interface. * Add dcw2 pid to 99-obsensor-libusb.rules * Resolving the Femto Bolt D2C point cloud issue. * Contributors: Joe Dong, lixiaobin 1.3.7 (2023-10-11) ------------------ * Add the enable switch function for network device enumeration. * Update version to 1.3.7 * Add instructions for depth work mode in the Readme. * merge master * Update OrbbecSDK v1.8.1 library * Update OrbbecSDK to v1.8.1 * Update the data stream configuration of Gemini2 series devices. * Modify multi device sync config parameter. * Adapter Femto bolt device. * Contributors: lixiaobin 1.3.6 (2023-10-07) ------------------ * fixed enable frame sync param * add gemini2 VL launch file * bump to v1.3.6 * add help scripts * add enable frame sync * fixed camera info * Contributors: Joe Dong 1.3.5 (2023-09-15 16:54) ------------------------ * fixed save point cloud * Contributors: Joe Dong 1.3.4 (2023-09-15 15:11) ------------------------ * bump to v1.3.4 * fixed get device by uid * change sem to pthread lock * Contributors: Joe Dong 1.3.2 (2023-09-13) ------------------ * fixed set ir mirror * fixed set ir mirror * add dcw2 launch * bump to v1.3.2 * update SDK to sdk v.1.7.4 * add astra mini s pro pid * fix mising close sem * update SDK to v1.7.3 * bump to v1.3.1 * print more clean log * fixed save left && right IR image * add imu enable parmeter * fixed TF error * fixed set and get ir property * add license header * remove jpeg end zero * fixed use nv jpeg decoder * add jetson hardware decoder * remove sigal handler * remove point cloud filter * changed default color points topic * remove unused parmeter * remove unused parmeter * Merge branch 'master' of code.orbbec.com.cn:OrbbecSDK/OrbbecSDK_ROS2 * fixed tf calc error * Add Dabai max dabai_max.launch.py * fixed rk mpp decoder rgb channel error * fixed crash * remove xml launch file * update SDK to v1.7.2 * update SDK to v1.7.2 * fixed multi device param name * fixed point cloud inv * remove unused tf * fixed camera info frame id * add gemini2 XL launch file * update SDK to v1.7.1 * add cmake log * fixed file name typo * Merge pull request #6 from orbbec/gst_decoder add gstreamer decode MPEG * remove unused code * add python launch file * add python launch file * first work gst decoder * disable Use Gstreamer hardware decoder by default * fixed source and sink name * add gst decoder * fixed memory leak * bump to v1.3.0 * Merge branch 'hw_decoder' into 'master' add mpp hardware decode mjpeg See merge request OrbbecSDK/OrbbecSDK_ROS2!6 * add mpp hardware decode mjpeg * refactory cmake * Add imu parameter README * Add missing params * Contributors: Joe Dong, bajingsi, 默存 1.2.9 (2023-08-23) ------------------ * add list device script * add py launch file * add py launch file * use rclcpp componet * add list device script * add py launch file * add py launch file * use rclcpp componet * Merge pull request #5 from jian-dong/master Release v1.2.9 * remove print device type * update SDK to v1.6.3 * update sdk to v1.6.2 * bump to v1.2.8 * add astra2 launch file * update readme * disable enableMultiDeviceSync for OpenNI device * bump to v1.2.7 * update SDK * fixed tf error * fixed tf * fixed log level * fixed HUB hot plug bug * bump to v1.2.6 * uncomment IMU code * gemini2 L launch file * add help scripts * update launch file * update cmake * update cmake * update SDK to v1.6.1 * add read device usb port * add uyuv to rgb888 * fixed camera link frame id * fixed TF * fixed TF * fix ir image step * remove lfs * remove lfs * remove lfs * remove lfs * slim SDK * comment IMU * update readme * comment start&& stop IMU * comment start&& stop IMU * add more launch file * bump to v1.2.5 * fixed log not clear * fixed gemini2 cannot convert mjpeg * Contributors: Joe Dong 1.2.4 (2023-04-28) ------------------ * fixed gemini e enum device * disable gemini_e color point cloud by default * add sync_signal_trigger_out param * bump v1.2.4 * Merge branch 'feature/imu' into 'master' 添加 IMU topic * 添加了读取IMU数据流，并发布相关topic，目前只支持gemini2 See merge request OrbbecSDK/OrbbecSDK_ROS2!5 * add IMU topic * fix drop bad mjpeg frame * add soft filter max diff * fix point cloud dist * fix read orbbec config * fixed depth image value * add sync mode * add soft filter&& AE switch * add list depth work mode * bump to v1.2.3 * fixed gemini2 get stuck * update launch file * update SDK to v1.5.7 * bump to v1.2.2 * bump to v1.2.2 * add d2c viewer topic * add enable hardware d2d * fix get camera info * update SDK to v1.5.6 * add switch IR camera * fixed broken SDK soft link * rewrite install rules script * fix astra mini pro launch file * Contributors: Joe Dong, 默存 1.2.1 (2023-02-20) ------------------ * add save point cloud and image * fixed typo * clean .make_deb * ignore undeclare paramer exception * add d2c viewer * rename camer_node_factory to camera_node_driver * fixed device count * refactory startDevice * add get ldp status * change set_fan_mode to set_fan_work_mode * update README * remove wrong static_tf_broadcaster\_ init * fixed all launch file error * bump to v1.2.1 * fixed multi camera namespace error * update log * fixed get camera params * fixed get camera params * fixed enum openNI device * fixed code format * fixed crash * fixed catch error * add more launch file * update SDK to v1.5.5 * bump to v1.2.0 * update usb rules * fixed check null ptr * Merge branch 'refactory' into 'master' Big refactoring code See merge request OrbbecSDK/OrbbecSDK_ROS2!4 * Big refactoring code * Removal of unnecessary files * Optimized multi-camera launch * Explicitly list the parameters in the launch file * clean shm * add check connection timer * refactory get stream * remove unused code * fixed multi camera start * replace SDK to v1.4.3 * replace SDK to v1.4.1 * Merge branch 'develop' into 'master' Small fix See merge request OrbbecSDK/OrbbecSDK_ROS2!3 * Small fix * add install usb rules * Contributors: Joe Dong, 默存 1.0.4 (2022-07-07) ------------------ * remove unuse file * bump to v1.0.4 * add make deb scripts * update orbbec SDK install way * update SDK * Contributors: Joe Dong 1.0.3 (2022-07-04 17:05) ------------------------ * bump to v1.0.3 * Contributors: Joe Dong 1.0.2 (2022-07-04 16:52) ------------------------ * roll back sdk * update sdk * update sdk * remove multiple thread publish point cloud * use single thread publish point cloud * fix ir auto exposure * remove openMP * bump to v1.0.2 * remove libuvc debug flag * add stream format as parmeters * add rgb point cloud topic * fix crash * add auto white balance ctrl * remove debug msg * add OBFormatFromString * fix point cloud filter * fix typo * Merge branch 'release/1.0.1' into 'master' add more config See merge request OrbbecSDK/orbbecros2sdk!2 * [fix] only YUYV and I420 support color point cloud * [fix] print enum name * [add][scripts] recv point cloud * [add][glog] update readme * [fix][cmake] find image_publisher * add NOTICE * add multi camera rivz config * fix multi camera * use pid adapter color format * add toggle sesror service * Merge branch 'dev' into 'master' Fix point cloud direction See merge request OrbbecSDK/orbbecros2sdk!1 * Fix point cloud direction * Contributors: Joe Dong, 默存 1.0.0 (2022-06-10) ------------------ * change 'get_api_version' to 'get_sdk_version' * update readme * remove orbbec dir * add dependencies * use bash echo latch messsage * fix ob_sdk from system * fix get ob sdk version * fix publish rgb point cloud * catch publish point cloud exception * add rbgFormatConvertRGB888 * change a better name * add get verion api * change topic name * clean code * fixed warning * fixed stop device * fixed hotplug * remove debug msg * fix use frame timestamp * add get device info srv * print time cost * set response status * catch error when ctrl camera * add help scripts * fix point cloud color * fix tf frame error * init commit * Contributors: Joe Dong