Release v2.2.3

What's New (since v2.1.1)

● Update Orbbec SDK v2.2.8
● Introduced benchmark to test cpu usage.
● Introduced lower_cpu_usage to reduce cpu usage of one or more cameras in OrbbecSDK_ROS2
● Introduced multi_camera_synced to use multi-camera synced in OrbbecSDK_ROS2
● New service control filter settings - DecimationFilter, HDRMerge, SequenceIdFilter, ThresholdFilter, NoiseRemovalFilter, HardwareNoiseRemoval, SpatialAdvancedFilter and TemporalFilter:/camera/set_filter
● gemini2.launch.py ​​and gemini2L.launch.py ​​add enable_decimation_filter and decimation_filter_scale parameters

● Add new parameters in gemini_330_series.launch.py:

• disparity_range_mode(requires firmware v1.4.60 or above).
• disparity_search_offset(requires firmware v1.4.60 or above).
• disparity_offset_config,offset_index0 and offset_index1(requires firmware v1.4.60 or above).
• frame_aggregate_mode(requires firmware v1.4.60 or above).
• enable_hardware_noise_removal_filter(requires firmware v1.4.60 or above).
• enable_color_auto_exposure_priority
• color_sharpness
• color_gamm
• color_saturation
• color_constrast
• color_hue
• enable_color_backlight_compenstation

Bug Fixes

● Renam decimation_filter_scale_ to decimation_filter_scale
● Fix imu_info frame_id error and initialize quaternion w value to 1.0
● Fix error when interleave_ae_mode is "hdr"
● Gemini 2 laser shutdown caused by using service to disable LDP

Supported devices

Product Serials	Firmware Version	Launch File
Gemini 330 series	1.4.60	gemini_330_series.launch.py
Gemini 335Lg	1.4.60	gemini_330_series.launch.py
Gemini 2	1.4.92	gemini2.launch.py
Gemini 2 L	1.4.53	gemini2L.launch.py
Femto Bolt	1.1.2	femto_bolt.launch.py
Femto Mega	1.3.0	femto_mega.launch.py
Astra 2	2.8.20	astra2.launch.py

Supported Platforms

• Linux x64: Tested on Ubuntu 22.04 and 24.04
• Linux ARM64: Tested on AGX Orin and AGX Xavier

Release v2.1.1

Changelog (since v2.0.7)

1. Update Orbbec SDK v2.1.1
2. Fix service settings for abnormal laser switch
3. Fix the issue of invalid usb_port startup for a single camera specified under multiple cameras
4. Two encoding formats have been added to the color stream: RGBA and BGRA
5. Three new features have been added to the services:

• set_reset_timestamp:Clear timestamp function,only takes effect when the device is set in time_domain
• set_sync_interleaverlaser:Using laser pattern sync with alternating frames and multi cameras synchronization
• set_sync_hosttime:Sync immediate function under multi cameras synchronization,only takes effect when the device is set in time_domain

6. The metadataexport, metadatasave, and multisavergbir tool nodes use json files to pass in parameters
7. Abandoning use_hardware_time in the launch file instead of time_domain
8. Update OrbbecSDKConfig_v1.0.xml to OrbbecSDKConfig_v2.0.xml
9. Set auto_exposure to take precedence over exposure parameters
10. Add interleave_ae related parameters in launch
11. Remove laser_on_off_mode param in launch
12. Delete timed sync
13. Other bug fixed

Issues Addressed (since v2.0.7)

1. Sync_mode Not Working When Connecting Multiple Femto Bolt Devices
2. Error on camera info topics retrieval in ROS2

Limitations

Using uvc_backend param, you need to unplug the camera when switching from libuvc to v4l2, otherwise the camera device will not be found

Release v2.0.7

Release Notes

With the major update of the new branch v2-main in October 2024, OrbbecSDK_ROS2 is connected to the open source version of OrbbecSDK v2, which will make OrbbecSDK_ROS2 more flexible and extensible.
This is the first stable release of OrbbecSDK_ROS2 v2. Thank you for your interest in Orbbec! If you have any questions or feedback, please let us know in the issues channel.

Changelog (since v1.5.8-rc)

1. access to the open source version of OrbbecSDK v2
2. Update Orbbec SDK v2.0.18
3. Add several test tools
4. Other improvements and several bug fixes

Supported Platforms

• Linux x64: Tested on Ubuntu 20.04, 22.04 and 24.04
• Linux ARM64: Tested on AGX Orin and AGX Xavier

Supported devices

Product Serials	Firmware Version	Launch File
Astra2	2.8.20	astra2.launch.py
Femto mega	1.1.7 / 1.2.7	femto_mega.launch.py
Femto bolt	1.0.6 / 1.0.9	femto_bolt.launch.py
Gemini2	1.4.60 / 1.4.76	gemini2.launch.py
Gemini2L	1.4.32	gemini2L.launch.py
Gemini 335	1.2.20	gemini_330_series.launch.py
Gemini 335L	1.2.20	gemini_330_series.launch.py
Gemini 335Lg	1.3.46	gemini_330_series.launch.py
Gemini 336	1.2.20	gemini_330_series.launch.py
Gemini 336L	1.2.20	gemini_330_series.launch.py

Release v1.5.8

What's Changed

• Fix CMakeLists.txt at orbbec_description by @Kashery in #41
• Fixed jazzy and iron compile error
• Remove glog dependence
• Fixed the issue of point cloud distortion in femto bolt

New Contributors

• @Kashery made their first contribution in #41

Full Changelog: v1.5.7...v1.5.8

Release v1.5.7

• Update OrbbecSDK v1.10.8

Release v1.5.5

• Fixed crash when point cloud is not enabled

Release v1.5.4

Release Notes

1、fix the alignment issue of the colored point cloud.
2、Modify the default value of noise_removal_filter_min_diff in the launch file for the Gemini 330 series.
3、update Documentation

Release v1.5.2

Release Notes for Version 1.5.2

New Features:

• G330 Series Camera Support: Now supporting the G330 series. For more details, see the OrbbecSDK 1.10.5 release notes at OrbbecSDK v1.10.5.
• Metadata Topic for Frames: Added a new topic for reading metadata from frames.
• IMU Info Topic: Introduced a new topic for IMU information.

Bug Fixes:

• Fixed other potential bugs that could lead to crashes.

We recommend updating to the latest version for improved functionality and stability.

Release v1.4.6

• upgrade OrbbecSDK to v1.9.4

Release v1.4.4

• Update OrbbecSDK to version 1.9.3.
• Gemini2 series devices support Gyro and Accel data synchronization output.
• Add depth-filtering JSON configuration items for the Gemini2 launch.
• Add support for DCW2, DW2, Gemini EW, and Gemini EW Lite.
• Fixed some issues.