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IntelRealSense / realsense-ros

ROS Wrapper for Intel(R) RealSense(TM) Cameras
http://wiki.ros.org/RealSense
Apache License 2.0
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Expected timeframe for Jazzy support #3108

Closed KolinGuo closed 5 months ago

KolinGuo commented 6 months ago
Required Info
Camera Model D415 / D435 / D435i / L515
Firmware Version 5.16.0.1
Operating System & Version Ubuntu 24.04 Noble Numbat
Kernel Version (Linux Only) 6.8.0
Platform PC
Librealsense SDK Version N/A
Language C++ / python
Segment Robot
ROS Distro Jazzy / Rolling
RealSense ROS Wrapper Version N/A

Issue Description

Please don't view this as any form of pressure. I'm just curious about when can I expect realsense-ros (and librealsense) to add support for Ubuntu 24.04 and ROS 2 Jazzy?

Thank you for your attention and greatly appreciate the efforts in maintaining realsense-ros!

MartyG-RealSense commented 6 months ago

Hi @KolinGuo Thanks very much for your query. I will highlight it to the RealSense ROS development team.

MohamedAlKayd commented 6 months ago

Hi @KolinGuo Thanks very much for your query. I will highlight it to the RealSense ROS development team.

Would you happen to have any timeline on when it would be released for Ubuntu 24.04 Noble, ROS2 Jazzy, and Gazebo Sim 8 Harmonic?

Thank you.

Nir-Az commented 6 months ago

Hi @MohamedAlKayd , This work is planned, hopefully we can make it for the next release of LibRS + ROS. Please keep track :)

gregoryw3 commented 6 months ago

With the removal of L515 is the current suggestion to compile 2.54.2 (or 2.50.0) and corresponding ros wrapper for Ubuntu 24.04 (or other Jazzy supported distro) if you need L515? Or potentially is it possible to use a Docker container to use the old SDK, Wrappers, and Ubuntu, just for L515 while the host system can use the latest SDK and Drivers?

MartyG-RealSense commented 6 months ago

@gregoryw3 You should be able to use your L515 with an older Ubuntu version in a Docker container (such as 22.04) than the Ubuntu on the host, yes, with ROS2 wrapper 4.54.1. At the time of writing this, the ROS2 wrapper currently supports Humble or Iron on Ubuntu 22.04.

For a ROS1 setup you should ideally use Ubuntu 18.04, ROS1 Noetic, SDK 2.50.0 or 2.51.1 and wrapper 2.3.2.

MartyG-RealSense commented 6 months ago

Does anyone require further assistance with this case, please? Thanks!

MohamedAlKayd commented 6 months ago

Hi @MohamedAlKayd , This work is planned, hopefully we can make it for the next release of LibRS + ROS. Please keep track :)

Thanks for replying, greatly appreciated. I am currently working on a project with the Camera and the versions I told you about, do you know when the next release of LibRS + ROS would be?

MartyG-RealSense commented 6 months ago

Hi @MohamedAlKayd Advance release dates for librealsense SDK or ROS wrapper updates are not provided. In regard to librealsense, I recommend planning for a gap of roughly six months between releases.

New ROS wrapper releases usually do not occur until after a new librealsense version has been released. However, the update model that the previous ROS wrapper 4.54.1 used was to apply regular updates to the source code version of the wrapper instead of waiting for the next librealsense release. So installing the source code version of a wrapper instead of the package version should ensure that you have the latest updates.

MartyG-RealSense commented 5 months ago

Case closed due to no further comments received.

MohamedAlKayd commented 4 months ago

@MartyG-RealSense @Nir-Az Any updates regarding the wrapper for the D415 for ROS Jazzy? It has been 2 months. Regards.

MartyG-RealSense commented 4 months ago

Hi @MohamedAlKayd Earlier in this discussion at https://github.com/IntelRealSense/realsense-ros/issues/3108#issuecomment-2132114923 @Nir-Az stated that it is hoped that Jazzy support will be available in time for the next librealsense + ROS release.

2 weeks ago at https://github.com/IntelRealSense/librealsense/discussions/13072 it was further announced that the next release is planned for around the end of Q3 2024, which would be the end of September 2024.

Nir-Az commented 4 months ago

I can also update that initial version was already published for Jazzy Please check and update :-)

MohamedAlKayd commented 4 months ago

@Nir-Az Thanks for the update, I was able to download it but it is not able to build.

image

This is what I got when I downloaded it. I first try to build the realsense2_camera_msgs package and then the realsense2_camera package. I get a package issue when trying to build the first package.

Have you tested it with ros2 jazzy?

Nir-Az commented 4 months ago

@Nir-Az Thanks for the update, I was able to download it but it is not able to build.

image

This is what I got when I downloaded it. I first try to build the realsense2_camera_msgs package and then the realsense2_camera package. I get a package issue when trying to build the first package.

Have you tested it with ros2 jazzy?

Are you building according to our manual using colcon build command? Note that it is also available through Debain install on ROS Jazzy.

MohamedAlKayd commented 4 months ago

@Nir-Az Where is your manual? I am using Colcon Build but did it by myself. Could you please provide the manual for colcon build and the Debian command? That would be greatly appreciated. Regards.

MartyG-RealSense commented 4 months ago

Hi @MohamedAlKayd You can find installation instructions for package build and colcon build by visiting the link below and clicking on Step 3: Install Intel® RealSense™ ROS2 wrapper to expand open the instructions.

https://github.com/IntelRealSense/realsense-ros?tab=readme-ov-file#installation-on-ubuntu

MohamedAlKayd commented 4 months ago

@Nir-Az @MartyG-RealSense Thank you, I was able to get it working. I wanted to get topics published from the realsense2 on Live feed, Face Recognition, Object Recognition, Depth Map, and Contour Map. Are there existing functions that I can use or would it have to be developed from scratch?

image

MartyG-RealSense commented 4 months ago

Typically you can find packages to add support in ROS for the functions that you need if they are not included by default in the RealSense ROS wrapper.