From 2822beafbfe540c2ecee14a847b9c7989b15084c Mon Sep 17 00:00:00 2001 From: SamerKhshiboun Date: Tue, 5 Apr 2022 10:16:26 +0300 Subject: [PATCH] update readme to include incompatibilities/changes between ROS2 and ROS2-beta --- README.md | 23 ++++++++++++++++++++++- 1 file changed, 22 insertions(+), 1 deletion(-) diff --git a/README.md b/README.md index 48e5dcc563..d6b6fdd6ad 100644 --- a/README.md +++ b/README.md @@ -1,10 +1,31 @@ # ROS2 Wrapper for Intel® RealSense™ Devices These are packages for using Intel RealSense cameras (D400 and L500 series, SR300 camera and T265 Tracking Module) with ROS2. +This version supports ROS2 Dashing, Eloquent, Foxy, Galactic and Rolling. + LibRealSense supported version: v2.50.0 (see [realsense2_camera release notes](https://github.com/IntelRealSense/realsense-ros/releases)) +## Please notice: if you are moving from RealSense [ROS2 branch](https://github.com/IntelRealSense/realsense-ros/tree/ros2) to ROS2-beta: +- **Changed Parameters**: + - **"stereo_module"**, **"l500_depth_sensor"** are replaced by **"depth_module"** + - For video streams: **\.profile** replaces **\_width**, **\_height**, **\_fps** + - **ROS2 (Old)**: + - ros2 launch realsense2_camera rs_launch.py depth_width:=640 depth_height:=480 depth_fps:=30.0 infra1_width:=640 infra1_height:=480 infra1_fps:=30.0 + - **ROS2-beta (New)**: + - ros2 launch realsense2_camera rs_launch.py depth_module.profile:=640x480x30 + - Removed paramets **\_frame_id**, **\_optical_frame_id**. frame_ids are now defined by camera_name + - **"filters"** is removed. All filters (or post-processing blocks) are enabled/disabled using **"\.enable"** + - **"align_depth"** is now a regular processing block and as such the parameter for enabling it is replaced with **"align_depth.enable"** + - **"allow_no_texture_points"**, **"ordered_pc"** are now belong to the pointcloud filter and as such are replaced by **"pointcloud.allow_no_texture_points"**, **"pointcloud.ordered_pc"** + - **"pointcloud_texture_stream"**, **"pointcloud_texture_index"** belong now to the pointcloud filter and were renamed to match their librealsense' names: **"pointcloud.stream_filter"**, **"pointcloud.stream_index_filter"** +- Allow enable/disable of sensors in runtime (parameters **\.enable**) +- Allow enable/disable of filters in runtime (parameters **\.enable**) +- **unite_imu_method** parameter is now changeable in runtime. +- **enable_sync** parameter is now changeable in runtime. + + + ## Installation Instructions -This version supports ROS2 Dashing, Eloquent, Foxy, Galactic and Rolling. ### Step 1: Install the ROS2 distribution - #### Ubuntu 18.04 :