Release v2.7.2

New Features

1. Update OrbbecSDK version from v2.6.3 to v2.7.2.
2. Add support for the Gemini 305 device. Reinstallation of udev rules is required, and the launch file is gemini305.launch.py.
   2.1 Gemini 305 supports hardware decimation.
   2.2 Support Dual Color stream output, which can be enabled by setting device_preset parameter to Dual Color Streams.

Improvements

1. Optimize the method for enabling logs. For details, please refer to the documentation.
2. Change depth_work_mode parameter to device_preset for gemini435_le.launch.py, with AMR Perception as the new default.

Fixed Issues

1. Fix incorrect resolution display in the message header during point cloud decimation when the ordered_pc parameter is enabled.

Supported Devices

Products List	Recommended FW Version	Launch File
Gemini 305	1.0.30	gemini305.launch.py
Astra Mini Pro	2.0.03	astra.launch.py
Astra Mini S Pro	2.0.03	astra.launch.py
Gemini 435Le	1.3.6	gemini435_le.launch.py
Gemini 330 series	1.6.00	gemini_330_series.launch.py
Gemini 215	1.0.9	gemini210.launch.py
Gemini 210	1.0.9	gemini210.launch.py
Gemini 2	1.4.98	gemini2.launch.py
Gemini 2 L	1.5.2	gemini2L.launch.py
Femto Bolt	1.1.2	femto_bolt.launch.py
Femto Mega	1.3.1	femto_mega.launch.py
Femto Mega I	2.0.4	femto_mega.launch.py
Astra 2	2.8.20	astra2.launch.py
Gemini 345	1.7.12	gemini345.launch.py
Gemini 345Lg	1.7.12	gemini345_lg.launch.py
Pulsar SL450	2.2.4.5	lidar.launch.py
Pulsar ME450	1.0.0.6	lidar.launch.py

Supported Platforms

• Linux x64: Tested on Ubuntu 22.04 and 24.04
• Linux ARM64: tested on NVIDIA Jetson AGX Orin , NVIDIA Jetson Orin NX , NVIDIA Jetson Orin Nano , NVIDIA Jetson AGX Xavier , NVIDIA Jetson Xavier NX , NVIDIA Jetson Thor

Release v2.6.3

New Features

• Update OrbbecSDK from v2.5.5 to v2.6.3.
• Add support for Pulsar ME450 and Pulsar SL450 lidar devices.
• Add point cloud decimation support, with decimation factors from 1 to 8.
• Add a service to obtain real-time laser status: get_laser_status.
• Add a parameter to enable/disable the image_transport plugin.
• Add parameter log_file_name to customize the SDK log file name (effective when log_level is set to debug).
• Add preset_resolution_config parameter for 435Le to preset depth resolution.

Improvements

• Update URDF files for various modules: a. Moved the camera_link position from the camera connector to the left IR position. b. Update the frame parent-child relationships of the URDF model to be consistent with the camera node. c. Added test_femto_bolt.urdf.xacro.
• Update device_preset to depth_work_mode in gemini435_le.launch.py, with the default value set to AMR Perception.

  Note: In the next version, the parameter will be unified back to device_preset for consistency.

• For 330-series devices, when entering BootLoader for firmware upgrade, the device will automatically reboot after the first upgrade, and the upgrade will be executed again after the reboot completes.
• Change the default value of intra_camera_sync_reference from Middle to empty (long-baseline devices default to End, short-baseline devices default to Middle).

Fixed Issues

• Fix the issue where IR exposure changes did not take effect on 345Lg devices.
• Fix the issue where undistortion did not take effect; when undistortion is enabled, the camera intrinsic P matrix is updated to the undistorted projection matrix.
• Fix the issue where hardware D2C did not take effect on some non-330 modules.
• Fix the crash issue when running gemini_intra_process_demo_launch.py.

Supported Devices

Products List	Recommended FW Version	Launch File
Astra Mini Pro	2.0.03	astra.launch.py
Astra Mini S Pro	2.0.03	astra.launch.py
Gemini 435Le	1.3.6	gemini435_le.launch.py
Gemini 330 series	1.6.00	gemini_330_series.launch.py
Gemini 215	1.0.9	gemini210.launch.py
Gemini 210	1.0.9	gemini210.launch.py
Gemini 2	1.4.98	gemini2.launch.py
Gemini 2 L	1.5.2	gemini2L.launch.py
Femto Bolt	1.1.2	femto_bolt.launch.py
Femto Mega	1.3.1	femto_mega.launch.py
Femto Mega I	2.0.4	femto_mega.launch.py
Astra 2	2.8.20	astra2.launch.py
Gemini 345	1.7.12	gemini345.launch.py
Gemini 345Lg	1.7.12	gemini345_lg.launch.py
Pulsar SL450	2.2.4.5	lidar.launch.py
Pulsar ME450	1.0.0.6	lidar.launch.py

Supported Platforms

• Linux x64: Tested on Ubuntu 22.04 and 24.04
• Linux ARM64: tested on NVIDIA Jetson AGX Orin , NVIDIA Jetson Orin NX , NVIDIA Jetson Orin Nano , NVIDIA Jetson AGX Xavier , NVIDIA Jetson Xavier NX , NVIDIA Jetson Thor

Release v2.5.4

What's New (since v2.4.7)

New Features & Enhancements

• SDK & Device Support:

  • Updated OrbbecSDK from v2.4.11 to v2.5.5.
  • Added support for Astra Mini S Pro and Astra Mini Pro devices.(Requires firmware version v2.0.03 or above)
  • Added launch files for 345 and 345lg.

• Network Device Management:

  • Added a log of the MAC address for network devices in the device list.
  • Introduced the set_device_ip executable for configuring device IP settings (static IP/DHCP, address, mask, gateway).
  • Implemented a "force IP" feature for network devices using parameters like force_ip_enable, force_ip_mac, force_ip_address, etc.

• Stream & Format Support:

  • Added Y12C4 depth stream format support for Gemini 435Le.
  • Added metadata topic for Gemini 435Le.

• Synchronization:

  • Added an intra_camera_sync_reference parameter for the 330 series, allowing synchronization reference to be set to Start, Middle, or End in trigger modes.
  • Introduced image_sync_example_node, a multi-camera synchronization example that aggregates and displays image streams from multiple devices in a single window.
  • Added a time_sync_period parameter to customize the host time synchronization interval when enable_sync_host_time is active.

• Camera Control & Configuration:

  • Added align_target_stream parameter for Femto Mega and Femto Bolt.
  • Added ISP denoising feature for the Gemini 330 series with the color_denoising_level parameter.This can only be configured when AE is enabled . (Requires firmware version v1.6.00 or above)
  • Added support for the device_preset parameter in the launch files for Femto Mega and Bolt, with the default value updated to "Custom".
  • The backlight compensation parameter was changed from a boolean (enable_color_backlight_compenstation) to an integer (color_backlight_compensation) with a range of 0 to 6.
  • Added services (set_user_calib_params/get_user_calib_params) to write and read custom camera info for Gemini 435Le.
  • Added services (set_streams_enable/get_streams_enable) to control and query the status of all streams globally.
  • Added logic for the enable_publish_extrinsic parameter to control the publishing of extrinsic topics.
  • Added support for specifying calibration files via color_info_url/ir_info_url in launch files.

• Tools & Diagnostics:

  • Added two benchmark tools: common_benchmark_node for monitoring memory usage and service_benchmark_node for statistics on service call success rates.
  • Introduced a device_status topic that publishes frame rates, latency data, and device connection status at 2Hz.
  • The get_device_info service now includes current_sdk_version and hardware_version.
  • Updated the multi-camera synced verification tool.

• Documentation:

  • Most documentation has been moved to GitHub Pages, with the ROS package retaining only basic tutorials.

For specific usage, please refer to the OrbbecSDK ROS2 documentation

Removals

• Removed alternating frame, HDR fusion, and frame sequence filtering features for Gemini 435Le.

Bug Fixes

• Corrected multiple parameter spelling errors:
  • liner_accel_cov to linear_accel_cov
  • enable_disaparity_to_depth to enable_disparity_to_depth
  • color_constrast to color_contrast
  • disaparity_to_depth_mode to disparity_to_depth_mode
• Modified default HDR preset parameters for the Gemini 330 series.
• Fixed other bugs.

Supported devices

Products List	Recommended FW Version	Launch File
Astra Mini Pro	2.0.03	astra.launch.py
Astra Mini S Pro	2.0.03	astra.launch.py
Gemini 435Le	1.3.06	gemini435_le.launch.py
Gemini 330 series	1.6.00	gemini_330_series.launch.py
Gemini 215	1.0.9	gemini210.launch.py
Gemini 210	1.0.9	gemini210.launch.py
Gemini 2	1.4.98	gemini2.launch.py
Gemini 2 L	1.5.02	gemini2L.launch.py
Femto Bolt	1.1.2	femto_bolt.launch.py
Femto Mega	1.3.1	femto_mega.launch.py
Femto Mega I	2.0.4	femto_mega.launch.py
Astra 2	2.8.20	astra2.launch.py

Supported Platforms

• Linux x64: tested on Ubuntu 22.04
• Linux ARM64: tested on NVIDIA Jetson AGX Orin , NVIDIA Jetson Orin NX , NVIDIA Jetson Orin Nano , NVIDIA Jetson AGX Xavier , NVIDIA Jetson Xavier NX

Release v2.4.7

What's New (since v2.4.5)

• Upgraded Orbbec SDK to v2.4.11
• Renamed parameter depth_brightness to mean_intensity_set_point
  • Backward compatibility retained: if both parameters are present in a launch file, mean_intensity_set_point takes precedence
• Added static TF frame publishing when IMU data fusion is enabled

Bug Fixes

• Fixed occasional device disconnection when calling the reboot service
• Optimized memory usage growth during device reboot

Supported devices

Products List	Recommended FW Version	Launch File
Gemini 435Le	v1.3.2	gemini435_le.launch.py
Gemini 330 series	1.5.55	gemini_330_series.launch.py
Gemini 215	1.0.9	gemini210.launch.py
Gemini 210	1.0.9	gemini210.launch.py
Gemini 2	1.4.98	gemini2.launch.py
Gemini 2 L	1.5.2	gemini2L.launch.py
Femto Bolt	1.1.2	femto_bolt.launch.py
Femto Mega	1.3.1	femto_mega.launch.py
Astra 2	2.8.20	astra2.launch.py

Supported Platforms

• Linux x64: tested on Ubuntu 22.04
• Linux ARM64: tested on NVIDIA Jetson AGX Orin , NVIDIA Jetson Orin NX , NVIDIA Jetson Orin Nano , NVIDIA Jetson AGX Xavier , NVIDIA Jetson Xavier NX

Release v2.4.5

What's New (since v2.4.3)

● Update Orbbec SDK to v2.4.8
● Added new launch file: gemini210.launch.py
● Modified default value of enumerate_net_device in gemini_330_series.launch.py from false to true
● Added software trigger service interface: /send_software_trigger

• Example usage:

  ros2 service call /camera_01/send_software_trigger std_srvs/srv/SetBool '{data: true}'

Supported devices

Product Serials	Firmware Version	Launch File
Gemini 435Le	1.3.2	gemini435_le.launch.py
Gemini 330 series	1.5.55	gemini_330_series.launch.py
Gemini 215	1.0.9	gemini210.launch.py
Gemini 210	1.0.9	gemini210.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 NVIDIA Jetson AGX Orin and NVIDIA Jetson AGX Xavier

Release v2.4.3

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.py

• 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.py

• 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.py

• 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.py
Gemini 330 series	1.4.60	gemini_330_series.launch.py
Gemini 335Lg	1.4.60	gemini_330_series.launch.py
Gemini 335Le	1.5.31	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 NVIDIA Jetson AGX Orin and NVIDIA Jetson AGX Xavier

Release v2.3.4

What's New (since v2.2.3)

● 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
● Add new parameters in gemini_330_series.launch.py:

• enumerate_net_device(Gemini 335Le connection parameters required).
• net_device_ip(Gemini 335Le connection parameters required).
• net_device_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.py:

• depth_ae_roi_left
• depth_ae_roi_right
• depth_ae_roi_top
• depth_ae_roi_bottom

● Update parameters in femto_bolt.launch.py and femto_mega.launch.py:

• Remove:
  • enable_soft_filter
  • soft_filter_max_diff
  • soft_filter_speckle_size
• Add:
  • enable_threshold_filter
  • threshold_filter_max
  • threshold_filter_min

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.py
Gemini 335Lg	1.4.60	gemini_330_series.launch.py
Gemini 335Le	1.5.31	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 NVIDIA Jetson AGX Orin and NVIDIA Jetson AGX Xavier

Release v2.2.3

What's New (since v2.1.1)

● Update Orbbec SDK v2.2.8

● Add new parameters in gemini_330_series.launch.py:

• enable_hardware_noise_removal_filter(requires firmware v1.4.60 or above).
  Notes:
  enable_hardware_noise_removal_filter reduces CPU usage, but the depth data becomes sparser. On the other hand, enable_noise_removal_filter provides better results but consumes more CPU resources.
  You can use OrbbecViewer to switch between the two filters and observe the depth effect.
• 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_color_auto_exposure_priority
• color_sharpness
• color_gamm
• color_saturation
• color_constrast
• color_hue
• enable_color_backlight_compenstation

● 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

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 NVIDIA Jetson AGX Orin and NVIDIA Jetson 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