Release v2.4.2

What's New (since v2.3.4)

● Update Orbbec SDK v2.4.3
● New support devices --Gemini 435Le
● Added do_rectify in the /camera_info topic (its function is to output whether the current image is dedistorted)

gemini_330_series.launch

• Added upgrade_firmware param
• Added color_powerline_freq param
• Added enable_accel_data_correction param
• Added enable_gyro_data_correction param
• Added enable_disaparity_to_depth param
• Added depth_precision param
• Added align_target_stream param
• Added [color|depth|left_ir|right_ir|ir]_rotation param
• Added [color|depth|left_ir|right_ir|ir]_flip param
• Added [color|depth|left_ir|right_ir|ir]_mirror param
• Added enable_ptp_config param(Only Gemini 335Le)
• Added disaparity_to_depth_mode param
• Removed enable_hardware_d2d param

gemini2.launch

• Added color_ae_roi_[left|right|top|bottom] param
• Added depth_ae_roi_[left|right|top|bottom] param

femto_bolt.launch.py & femto_mega.launch

• Added noise_removal_filter related parameters
• Added decimation_filter related parameters
• Added spatial_filter related parameters
• Added temporal_filter related parameters
• Added hole_filling_filter related parameters

service

• Added /camera/set_[color|depth|left_ir|right_ir|ir]_flip service
• Added /camera/set_[color|depth|left_ir|right_ir|ir]_rotation service
  For usage, please refer to service document

Bug Fixes

● Fixed the issue that decimation_filter_scale cannot be set to 8 and 0
● Fixed the program crash caused by using /camera/set_filter service

Supported devices

Product Serials	Firmware Version	Launch File
Gemini 435Le	coming soon	gemini435_le.launch
Gemini 330 series	1.4.60	gemini_330_series.launch
Gemini 335Lg	1.4.60	gemini_330_series.launch
Gemini 335Le	1.5.31	gemini_330_series.launch
Gemini 2	1.4.92	gemini2.launch
Gemini 2 L	1.4.53	gemini2L.launch
Femto Bolt	1.1.2	femto_bolt.launch
Femto Mega	1.3.0	femto_mega.launch
Astra 2	2.8.20	astra2.launch

Supported Platforms

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

Release v2.3.4

What's New (since v2.2.4)

● Update Orbbec SDK v2.3.5
● New support device --Gemini 335Le
● Modify the default value of the enable_hardware_noise_removal_filter parameter -- from true to false
● Modify the default value of the enable_noise_removal_filter parameter -- from false to true
● Add new parameters in gemini_330_series.launch:

• enumerate_net_device(Gemini 335Le connection parameters required).
• ip_address(Gemini 335Le connection parameters required).
• port(Gemini 335Le connection parameters required).
• exposure_range_mode(Only Gemini 335Le)
• hardware_noise_removal_filter_threshold
• enable_left_ir_sequence_id_filter
• left_ir_sequence_id_filter_id
• enable_right_ir_sequence_id_filter
• right_ir_sequence_id_filter_id

● Add new parameters in gemini2.launch:

• depth_ae_roi_left
• depth_ae_roi_right
• depth_ae_roi_top
• depth_ae_roi_bottom

● Remove parameters in femto_bolt.launch and femto_mega.launch:

• enable_decimation_filter and other filter parameters
• enable_hdr_merge and other filter parameters
• enable_sequenced_filter and other filter parameters
• enable_noise_removal_filter and other filter parameters
• enable_spatial_filter and other filter parameters
• enable_temporal_filter and other filter parameters
• enable_hole_filling_filter and other filter parameters
• sequence_id_filter_id and other filter parameters

Bug Fixes

● Fixed the problem that the distortion_model in the camera_info topic is always rational_polynomial. Now the current version of distortion_model outputs the correct distortion model

Supported devices

Product Serials	Firmware Version	Launch File
Gemini 330 series	1.4.60	gemini_330_series.launch
Gemini 335Lg	1.4.60	gemini_330_series.launch
Gemini 335Le	1.5.31	gemini_330_series.launch
Gemini 2	1.4.92	gemini2.launch
Gemini 2 L	1.4.53	gemini2L.launch
Femto Bolt	1.1.2	femto_bolt.launch
Femto Mega	1.3.0	femto_mega.launch
Astra 2	2.8.20	astra2.launch

Supported Platforms

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

Release v2.2.4

What's New (since v2.1.0)

● Update Orbbec SDK v2.2.8
● Introduced lower_cpu_usage to reduce cpu usage of one or more cameras in OrbbecSDK_ROS1

● Add new parameters in gemini_330_series.launch:

• 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).
• uvc_backend

Bug Fixes

● Fix imu_info frame_id error and initialize quaternion w value to 1.0
● Fix error when interleave_ae_mode is "hdr"
● Fix enable_sync_host_time_ default value error

Supported devices

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

Supported Platforms

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

v2.1.0

Changelog (since v2.0.9)

1.Update Orbbec SDK v2.1.1
2.Update OrbbecSDKConfig_v1.0.xml to OrbbecSDKConfig_v2.0.xml
3.Add enable_hardware_d2d param in launch file
4.Add time domain param in launch file
5.Add view_gemini335_336_model.launch、view_gemini335L_336L_model.launch、view_gemini2L_model.launch、view_gemini2_model.launch and view_astra2_model.launch
6.Add uvc_backend param in launch
7.Remove use_hardware_time in launch file
8.Remove laser_on_off_mode param in launch
9.The enable_laser parameter is removed from the launch of Gemini 2, Femto and Astra series
10.The period of sync_host_time is changed to 60s
11.Refactor depth filter configuration and image format handling
12.Other bug fixed

Issues Addressed (since v2.0.9)

1. Wrong frame_id published for imu accel_gyro sync output

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 v2.0.9

Release Notes

With the major update of the new branch v2-main in October 2024, OrbbecSDK_ROS1 is connected to the open source version of OrbbecSDK v2, which will make OrbbecSDK_ROS1 more flexible and extensible.
This is the first stable release of OrbbecSDK_ROS1 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. The color stream supports RGBA and BGRA encoding formats
4. Other improvements and several bug fixes

Supported Platforms

• Linux x64: Tested on Ubuntu 20.04
• 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

• Remove glog dependence
• Fixed the issue of point cloud distortion in femto bolt

Full Changelog: orbbec/OrbbecSDK_ROS2@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 v1.5.3

• Fixed crash issues