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	1.3.6	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

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