realsense2_camera repository

realsense2_camera realsense2_camera_msgs realsense2_description

Repository Summary

Description	ROS Wrapper for RealSense™ Cameras
Checkout URI	https://github.com/IntelRealSense/realsense-ros.git
VCS Type	git
VCS Version	ros2-master
Last Updated	2025-11-27
Dev Status	DEVELOPED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
realsense2_camera	4.56.4
realsense2_camera_msgs	4.56.4
realsense2_description	4.56.4

README

ROS Wrapper for Intel(R) RealSense(TM) Cameras
Latest release notes

[![rolling][rolling-badge]][rolling] [![kilted][kilted-badge]][kilted] [![jazzy][jazzy-badge]][jazzy] [![iron][iron-badge]][iron] [![humble][humble-badge]][humble] [![foxy][foxy-badge]][foxy] [![ubuntu24][ubuntu24-badge]][ubuntu24] [![ubuntu22][ubuntu22-badge]][ubuntu22] [![ubuntu20][ubuntu20-badge]][ubuntu20]

Important Notice

We are happy to announce that the RealSense GitHub repositories have been successfully migrated to the RealSenseAI organization. Please make sure to update your links to the new RealSenseAI organization for both cloning the repositories and accessing specific files within them.

https://github.com/IntelRealSense/realsense-ros –> https://github.com/realsenseai/realsense-ros

Note: A redirection from the previous name IntelRealSense is currently in place, but we cannot guarantee how long it will remain active. We recommend that all users update their references to point to the new GitHub location.

ROS1 and ROS2 Legacy

ROS1 Wrapper for Intel® RealSense™ cameras

ROS1 Wrapper for Intel® RealSense™ cameras is not supported anymore, since our developers team are focusing on ROS2 distro.
For ROS1 wrapper, go to ros1-legacy branch

Moving from ros2-legacy to ros2-master

* Changed Parameters: - **"stereo_module"**, **"l500_depth_sensor"** are replaced by **"depth_module"** - For video streams: **\.profile** replaces **\_width**, **\_height**, **\_fps** - **ROS2-legacy (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-master (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. </details> # Installation on Ubuntu

File truncated at 100 lines [see the full file](https://github.com/IntelRealSense/realsense-ros/tree/ros2-master/README.md)

CONTRIBUTING

How to Contribute

This project welcomes third-party code via GitHub pull requests.

You are welcome to propose and discuss enhancements using project issues.

Branching Policy: The ros2-master branch is considered stable, at all times. If you plan to propose a patch, please commit into the ros2-development branch, or its own feature branch.

In addition, please run pr_check.sh under scripts directory. This scripts verify compliance with project’s standards:

Every example / source file must refer to LICENSE
Every example / source file must include correct copyright notice
For indentation we are using spaces and not tabs
Line-endings must be Unix and not DOS style

Most common issues can be automatically resolved by running ./pr_check.sh --fix

Please familirize yourself with the Apache License 2.0 before contributing.

Step-by-Step

Make sure you have git and cmake installed on your system. On Windows we recommend using Git Extensions for git bash.
Run git clone https://github.com/IntelRealSense/realsense-ros.git and cd realsense-ros
To align with latest status of the ros2-development branch, run:

git fetch origin
git checkout ros2-development
git reset --hard origin/ros2-development

git checkout -b name_of_your_contribution to create a dedicated branch
Make your changes to the local repository
Make sure your local git user is updated, or run git config --global user.email "email@example.com" and git config --global user.user "user" to set it up. This is the user & email that will appear in GitHub history.
git add -p to select the changes you wish to add
git commit -m "Description of the change"
Make sure you have a GitHub user and fork realsense-ros
git remote add fork https://github.com/username/realsense-ros.git with your GitHub username
git fetch fork
git push fork to push name_of_your_contribution branch to your fork
Go to your fork on GitHub at https://github.com/username/realsense-ros
Click the New pull request button
For base combo-box select ros2-development, since you want to submit a PR to that branch
For compare combo-box select name_of_your_contribution with your commit
Review your changes and click Create pull request
Wait for all automated checks to pass
The PR will be approved / rejected after review from the team and the community

To continue to new change, goto step 3. To return to your PR (in order to make more changes):

git stash
git checkout name_of_your_contribution
Repeat items 5-8 from the previous list
git push fork The pull request will be automatically updated

# How to Contribute This project welcomes third-party code via GitHub pull requests. You are welcome to propose and discuss enhancements using project [issues](https://github.com/IntelRealSense/realsense-ros/issues). > **Branching Policy**: > The `ros2-master` branch is considered stable, at all times. > If you plan to propose a patch, please commit into the `ros2-development` branch, or its own feature branch. In addition, please run `pr_check.sh` under `scripts` directory. This scripts verify compliance with project's standards: 1. Every example / source file must refer to [LICENSE](https://github.com/IntelRealSense/realsense-ros/blob/ros2-development/LICENSE) 2. Every example / source file must include correct copyright notice 3. For indentation we are using spaces and not tabs 4. Line-endings must be Unix and not DOS style Most common issues can be automatically resolved by running `./pr_check.sh --fix` Please familirize yourself with the [Apache License 2.0](https://github.com/IntelRealSense/realsense-ros/blob/ros2-development/LICENSE) before contributing. ## Step-by-Step 1. Make sure you have `git` and `cmake` installed on your system. On Windows we recommend using [Git Extensions](https://github.com/gitextensions/gitextensions/releases) for git bash. 2. Run `git clone https://github.com/IntelRealSense/realsense-ros.git` and `cd realsense-ros` 3. To align with latest status of the ros2-development branch, run: ``` git fetch origin git checkout ros2-development git reset --hard origin/ros2-development ``` 4. `git checkout -b name_of_your_contribution` to create a dedicated branch 5. Make your changes to the local repository 6. Make sure your local git user is updated, or run `git config --global user.email "email@example.com"` and `git config --global user.user "user"` to set it up. This is the user & email that will appear in GitHub history. 7. `git add -p` to select the changes you wish to add 8. `git commit -m "Description of the change"` 9. Make sure you have a GitHub user and [fork realsense-ros](https://github.com/IntelRealSense/realsense-ros#fork-destination-box) 10. `git remote add fork https://github.com/username/realsense-ros.git` with your GitHub `username` 11. `git fetch fork` 12. `git push fork` to push `name_of_your_contribution` branch to your fork 13. Go to your fork on GitHub at `https://github.com/username/realsense-ros` 14. Click the `New pull request` button 15. For `base` combo-box select `ros2-development`, since you want to submit a PR to that branch 16. For `compare` combo-box select `name_of_your_contribution` with your commit 17. Review your changes and click `Create pull request` 18. Wait for all automated checks to pass 19. The PR will be approved / rejected after review from the team and the community To continue to new change, goto step 3. To return to your PR (in order to make more changes): 1. `git stash` 2. `git checkout name_of_your_contribution` 3. Repeat items 5-8 from the previous list 4. `git push fork` The pull request will be automatically updated

realsense2_camera repository

realsense2_camera realsense2_camera_msgs realsense2_description

Repository Summary

Description	ROS Wrapper for RealSense™ Cameras
Checkout URI	https://github.com/IntelRealSense/realsense-ros.git
VCS Type	git
VCS Version	ros2-master
Last Updated	2025-11-27
Dev Status	DEVELOPED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
realsense2_camera	4.56.4
realsense2_camera_msgs	4.56.4
realsense2_description	4.56.4

README

ROS Wrapper for Intel(R) RealSense(TM) Cameras
Latest release notes

[![rolling][rolling-badge]][rolling] [![kilted][kilted-badge]][kilted] [![jazzy][jazzy-badge]][jazzy] [![iron][iron-badge]][iron] [![humble][humble-badge]][humble] [![foxy][foxy-badge]][foxy] [![ubuntu24][ubuntu24-badge]][ubuntu24] [![ubuntu22][ubuntu22-badge]][ubuntu22] [![ubuntu20][ubuntu20-badge]][ubuntu20]

Important Notice

We are happy to announce that the RealSense GitHub repositories have been successfully migrated to the RealSenseAI organization. Please make sure to update your links to the new RealSenseAI organization for both cloning the repositories and accessing specific files within them.

https://github.com/IntelRealSense/realsense-ros –> https://github.com/realsenseai/realsense-ros

Note: A redirection from the previous name IntelRealSense is currently in place, but we cannot guarantee how long it will remain active. We recommend that all users update their references to point to the new GitHub location.

ROS1 and ROS2 Legacy

ROS1 Wrapper for Intel® RealSense™ cameras

ROS1 Wrapper for Intel® RealSense™ cameras is not supported anymore, since our developers team are focusing on ROS2 distro.
For ROS1 wrapper, go to ros1-legacy branch

Moving from ros2-legacy to ros2-master

* Changed Parameters: - **"stereo_module"**, **"l500_depth_sensor"** are replaced by **"depth_module"** - For video streams: **\.profile** replaces **\_width**, **\_height**, **\_fps** - **ROS2-legacy (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-master (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. </details> # Installation on Ubuntu

File truncated at 100 lines [see the full file](https://github.com/IntelRealSense/realsense-ros/tree/ros2-master/README.md)

CONTRIBUTING

How to Contribute

This project welcomes third-party code via GitHub pull requests.

You are welcome to propose and discuss enhancements using project issues.

Branching Policy: The ros2-master branch is considered stable, at all times. If you plan to propose a patch, please commit into the ros2-development branch, or its own feature branch.

In addition, please run pr_check.sh under scripts directory. This scripts verify compliance with project’s standards:

Every example / source file must refer to LICENSE
Every example / source file must include correct copyright notice
For indentation we are using spaces and not tabs
Line-endings must be Unix and not DOS style

Most common issues can be automatically resolved by running ./pr_check.sh --fix

Please familirize yourself with the Apache License 2.0 before contributing.

Step-by-Step

Make sure you have git and cmake installed on your system. On Windows we recommend using Git Extensions for git bash.
Run git clone https://github.com/IntelRealSense/realsense-ros.git and cd realsense-ros
To align with latest status of the ros2-development branch, run:

git fetch origin
git checkout ros2-development
git reset --hard origin/ros2-development

git checkout -b name_of_your_contribution to create a dedicated branch
Make your changes to the local repository
Make sure your local git user is updated, or run git config --global user.email "email@example.com" and git config --global user.user "user" to set it up. This is the user & email that will appear in GitHub history.
git add -p to select the changes you wish to add
git commit -m "Description of the change"
Make sure you have a GitHub user and fork realsense-ros
git remote add fork https://github.com/username/realsense-ros.git with your GitHub username
git fetch fork
git push fork to push name_of_your_contribution branch to your fork
Go to your fork on GitHub at https://github.com/username/realsense-ros
Click the New pull request button
For base combo-box select ros2-development, since you want to submit a PR to that branch
For compare combo-box select name_of_your_contribution with your commit
Review your changes and click Create pull request
Wait for all automated checks to pass
The PR will be approved / rejected after review from the team and the community

To continue to new change, goto step 3. To return to your PR (in order to make more changes):

git stash
git checkout name_of_your_contribution
Repeat items 5-8 from the previous list
git push fork The pull request will be automatically updated

# How to Contribute This project welcomes third-party code via GitHub pull requests. You are welcome to propose and discuss enhancements using project [issues](https://github.com/IntelRealSense/realsense-ros/issues). > **Branching Policy**: > The `ros2-master` branch is considered stable, at all times. > If you plan to propose a patch, please commit into the `ros2-development` branch, or its own feature branch. In addition, please run `pr_check.sh` under `scripts` directory. This scripts verify compliance with project's standards: 1. Every example / source file must refer to [LICENSE](https://github.com/IntelRealSense/realsense-ros/blob/ros2-development/LICENSE) 2. Every example / source file must include correct copyright notice 3. For indentation we are using spaces and not tabs 4. Line-endings must be Unix and not DOS style Most common issues can be automatically resolved by running `./pr_check.sh --fix` Please familirize yourself with the [Apache License 2.0](https://github.com/IntelRealSense/realsense-ros/blob/ros2-development/LICENSE) before contributing. ## Step-by-Step 1. Make sure you have `git` and `cmake` installed on your system. On Windows we recommend using [Git Extensions](https://github.com/gitextensions/gitextensions/releases) for git bash. 2. Run `git clone https://github.com/IntelRealSense/realsense-ros.git` and `cd realsense-ros` 3. To align with latest status of the ros2-development branch, run: ``` git fetch origin git checkout ros2-development git reset --hard origin/ros2-development ``` 4. `git checkout -b name_of_your_contribution` to create a dedicated branch 5. Make your changes to the local repository 6. Make sure your local git user is updated, or run `git config --global user.email "email@example.com"` and `git config --global user.user "user"` to set it up. This is the user & email that will appear in GitHub history. 7. `git add -p` to select the changes you wish to add 8. `git commit -m "Description of the change"` 9. Make sure you have a GitHub user and [fork realsense-ros](https://github.com/IntelRealSense/realsense-ros#fork-destination-box) 10. `git remote add fork https://github.com/username/realsense-ros.git` with your GitHub `username` 11. `git fetch fork` 12. `git push fork` to push `name_of_your_contribution` branch to your fork 13. Go to your fork on GitHub at `https://github.com/username/realsense-ros` 14. Click the `New pull request` button 15. For `base` combo-box select `ros2-development`, since you want to submit a PR to that branch 16. For `compare` combo-box select `name_of_your_contribution` with your commit 17. Review your changes and click `Create pull request` 18. Wait for all automated checks to pass 19. The PR will be approved / rejected after review from the team and the community To continue to new change, goto step 3. To return to your PR (in order to make more changes): 1. `git stash` 2. `git checkout name_of_your_contribution` 3. Repeat items 5-8 from the previous list 4. `git push fork` The pull request will be automatically updated

realsense2_camera repository

realsense2_camera realsense2_camera_msgs realsense2_description

Repository Summary

Description	ROS Wrapper for RealSense™ Cameras
Checkout URI	https://github.com/IntelRealSense/realsense-ros.git
VCS Type	git
VCS Version	ros2-master
Last Updated	2025-11-27
Dev Status	DEVELOPED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
realsense2_camera	4.56.4
realsense2_camera_msgs	4.56.4
realsense2_description	4.56.4

README

ROS Wrapper for Intel(R) RealSense(TM) Cameras
Latest release notes

[![rolling][rolling-badge]][rolling] [![kilted][kilted-badge]][kilted] [![jazzy][jazzy-badge]][jazzy] [![iron][iron-badge]][iron] [![humble][humble-badge]][humble] [![foxy][foxy-badge]][foxy] [![ubuntu24][ubuntu24-badge]][ubuntu24] [![ubuntu22][ubuntu22-badge]][ubuntu22] [![ubuntu20][ubuntu20-badge]][ubuntu20]

Important Notice

We are happy to announce that the RealSense GitHub repositories have been successfully migrated to the RealSenseAI organization. Please make sure to update your links to the new RealSenseAI organization for both cloning the repositories and accessing specific files within them.

https://github.com/IntelRealSense/realsense-ros –> https://github.com/realsenseai/realsense-ros

Note: A redirection from the previous name IntelRealSense is currently in place, but we cannot guarantee how long it will remain active. We recommend that all users update their references to point to the new GitHub location.

ROS1 and ROS2 Legacy

ROS1 Wrapper for Intel® RealSense™ cameras

ROS1 Wrapper for Intel® RealSense™ cameras is not supported anymore, since our developers team are focusing on ROS2 distro.
For ROS1 wrapper, go to ros1-legacy branch

Moving from ros2-legacy to ros2-master

* Changed Parameters: - **"stereo_module"**, **"l500_depth_sensor"** are replaced by **"depth_module"** - For video streams: **\.profile** replaces **\_width**, **\_height**, **\_fps** - **ROS2-legacy (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-master (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. </details> # Installation on Ubuntu

File truncated at 100 lines [see the full file](https://github.com/IntelRealSense/realsense-ros/tree/ros2-master/README.md)

CONTRIBUTING

How to Contribute

This project welcomes third-party code via GitHub pull requests.

You are welcome to propose and discuss enhancements using project issues.

Branching Policy: The ros2-master branch is considered stable, at all times. If you plan to propose a patch, please commit into the ros2-development branch, or its own feature branch.

In addition, please run pr_check.sh under scripts directory. This scripts verify compliance with project’s standards:

Every example / source file must refer to LICENSE
Every example / source file must include correct copyright notice
For indentation we are using spaces and not tabs
Line-endings must be Unix and not DOS style

Most common issues can be automatically resolved by running ./pr_check.sh --fix

Please familirize yourself with the Apache License 2.0 before contributing.

Step-by-Step

Make sure you have git and cmake installed on your system. On Windows we recommend using Git Extensions for git bash.
Run git clone https://github.com/IntelRealSense/realsense-ros.git and cd realsense-ros
To align with latest status of the ros2-development branch, run:

git fetch origin
git checkout ros2-development
git reset --hard origin/ros2-development

git checkout -b name_of_your_contribution to create a dedicated branch
Make your changes to the local repository
Make sure your local git user is updated, or run git config --global user.email "email@example.com" and git config --global user.user "user" to set it up. This is the user & email that will appear in GitHub history.
git add -p to select the changes you wish to add
git commit -m "Description of the change"
Make sure you have a GitHub user and fork realsense-ros
git remote add fork https://github.com/username/realsense-ros.git with your GitHub username
git fetch fork
git push fork to push name_of_your_contribution branch to your fork
Go to your fork on GitHub at https://github.com/username/realsense-ros
Click the New pull request button
For base combo-box select ros2-development, since you want to submit a PR to that branch
For compare combo-box select name_of_your_contribution with your commit
Review your changes and click Create pull request
Wait for all automated checks to pass
The PR will be approved / rejected after review from the team and the community

To continue to new change, goto step 3. To return to your PR (in order to make more changes):

git stash
git checkout name_of_your_contribution
Repeat items 5-8 from the previous list
git push fork The pull request will be automatically updated

# How to Contribute This project welcomes third-party code via GitHub pull requests. You are welcome to propose and discuss enhancements using project [issues](https://github.com/IntelRealSense/realsense-ros/issues). > **Branching Policy**: > The `ros2-master` branch is considered stable, at all times. > If you plan to propose a patch, please commit into the `ros2-development` branch, or its own feature branch. In addition, please run `pr_check.sh` under `scripts` directory. This scripts verify compliance with project's standards: 1. Every example / source file must refer to [LICENSE](https://github.com/IntelRealSense/realsense-ros/blob/ros2-development/LICENSE) 2. Every example / source file must include correct copyright notice 3. For indentation we are using spaces and not tabs 4. Line-endings must be Unix and not DOS style Most common issues can be automatically resolved by running `./pr_check.sh --fix` Please familirize yourself with the [Apache License 2.0](https://github.com/IntelRealSense/realsense-ros/blob/ros2-development/LICENSE) before contributing. ## Step-by-Step 1. Make sure you have `git` and `cmake` installed on your system. On Windows we recommend using [Git Extensions](https://github.com/gitextensions/gitextensions/releases) for git bash. 2. Run `git clone https://github.com/IntelRealSense/realsense-ros.git` and `cd realsense-ros` 3. To align with latest status of the ros2-development branch, run: ``` git fetch origin git checkout ros2-development git reset --hard origin/ros2-development ``` 4. `git checkout -b name_of_your_contribution` to create a dedicated branch 5. Make your changes to the local repository 6. Make sure your local git user is updated, or run `git config --global user.email "email@example.com"` and `git config --global user.user "user"` to set it up. This is the user & email that will appear in GitHub history. 7. `git add -p` to select the changes you wish to add 8. `git commit -m "Description of the change"` 9. Make sure you have a GitHub user and [fork realsense-ros](https://github.com/IntelRealSense/realsense-ros#fork-destination-box) 10. `git remote add fork https://github.com/username/realsense-ros.git` with your GitHub `username` 11. `git fetch fork` 12. `git push fork` to push `name_of_your_contribution` branch to your fork 13. Go to your fork on GitHub at `https://github.com/username/realsense-ros` 14. Click the `New pull request` button 15. For `base` combo-box select `ros2-development`, since you want to submit a PR to that branch 16. For `compare` combo-box select `name_of_your_contribution` with your commit 17. Review your changes and click `Create pull request` 18. Wait for all automated checks to pass 19. The PR will be approved / rejected after review from the team and the community To continue to new change, goto step 3. To return to your PR (in order to make more changes): 1. `git stash` 2. `git checkout name_of_your_contribution` 3. Repeat items 5-8 from the previous list 4. `git push fork` The pull request will be automatically updated

realsense2_camera repository

realsense2_camera realsense2_camera_msgs realsense2_description

Repository Summary

Description	ROS Wrapper for RealSense™ Cameras
Checkout URI	https://github.com/IntelRealSense/realsense-ros.git
VCS Type	git
VCS Version	ros2-master
Last Updated	2025-11-27
Dev Status	DEVELOPED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
realsense2_camera	4.56.4
realsense2_camera_msgs	4.56.4
realsense2_description	4.56.4

README

ROS Wrapper for Intel(R) RealSense(TM) Cameras
Latest release notes

[![rolling][rolling-badge]][rolling] [![kilted][kilted-badge]][kilted] [![jazzy][jazzy-badge]][jazzy] [![iron][iron-badge]][iron] [![humble][humble-badge]][humble] [![foxy][foxy-badge]][foxy] [![ubuntu24][ubuntu24-badge]][ubuntu24] [![ubuntu22][ubuntu22-badge]][ubuntu22] [![ubuntu20][ubuntu20-badge]][ubuntu20]

Important Notice

We are happy to announce that the RealSense GitHub repositories have been successfully migrated to the RealSenseAI organization. Please make sure to update your links to the new RealSenseAI organization for both cloning the repositories and accessing specific files within them.

https://github.com/IntelRealSense/realsense-ros –> https://github.com/realsenseai/realsense-ros

Note: A redirection from the previous name IntelRealSense is currently in place, but we cannot guarantee how long it will remain active. We recommend that all users update their references to point to the new GitHub location.

ROS1 and ROS2 Legacy

ROS1 Wrapper for Intel® RealSense™ cameras

ROS1 Wrapper for Intel® RealSense™ cameras is not supported anymore, since our developers team are focusing on ROS2 distro.
For ROS1 wrapper, go to ros1-legacy branch

Moving from ros2-legacy to ros2-master

* Changed Parameters: - **"stereo_module"**, **"l500_depth_sensor"** are replaced by **"depth_module"** - For video streams: **\.profile** replaces **\_width**, **\_height**, **\_fps** - **ROS2-legacy (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-master (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. </details> # Installation on Ubuntu

File truncated at 100 lines [see the full file](https://github.com/IntelRealSense/realsense-ros/tree/ros2-master/README.md)

CONTRIBUTING

How to Contribute

This project welcomes third-party code via GitHub pull requests.

You are welcome to propose and discuss enhancements using project issues.

Branching Policy: The ros2-master branch is considered stable, at all times. If you plan to propose a patch, please commit into the ros2-development branch, or its own feature branch.

In addition, please run pr_check.sh under scripts directory. This scripts verify compliance with project’s standards:

Every example / source file must refer to LICENSE
Every example / source file must include correct copyright notice
For indentation we are using spaces and not tabs
Line-endings must be Unix and not DOS style

Most common issues can be automatically resolved by running ./pr_check.sh --fix

Please familirize yourself with the Apache License 2.0 before contributing.

Step-by-Step

Make sure you have git and cmake installed on your system. On Windows we recommend using Git Extensions for git bash.
Run git clone https://github.com/IntelRealSense/realsense-ros.git and cd realsense-ros
To align with latest status of the ros2-development branch, run:

git fetch origin
git checkout ros2-development
git reset --hard origin/ros2-development

git checkout -b name_of_your_contribution to create a dedicated branch
Make your changes to the local repository
Make sure your local git user is updated, or run git config --global user.email "email@example.com" and git config --global user.user "user" to set it up. This is the user & email that will appear in GitHub history.
git add -p to select the changes you wish to add
git commit -m "Description of the change"
Make sure you have a GitHub user and fork realsense-ros
git remote add fork https://github.com/username/realsense-ros.git with your GitHub username
git fetch fork
git push fork to push name_of_your_contribution branch to your fork
Go to your fork on GitHub at https://github.com/username/realsense-ros
Click the New pull request button
For base combo-box select ros2-development, since you want to submit a PR to that branch
For compare combo-box select name_of_your_contribution with your commit
Review your changes and click Create pull request
Wait for all automated checks to pass
The PR will be approved / rejected after review from the team and the community

To continue to new change, goto step 3. To return to your PR (in order to make more changes):

git stash
git checkout name_of_your_contribution
Repeat items 5-8 from the previous list
git push fork The pull request will be automatically updated

# How to Contribute This project welcomes third-party code via GitHub pull requests. You are welcome to propose and discuss enhancements using project [issues](https://github.com/IntelRealSense/realsense-ros/issues). > **Branching Policy**: > The `ros2-master` branch is considered stable, at all times. > If you plan to propose a patch, please commit into the `ros2-development` branch, or its own feature branch. In addition, please run `pr_check.sh` under `scripts` directory. This scripts verify compliance with project's standards: 1. Every example / source file must refer to [LICENSE](https://github.com/IntelRealSense/realsense-ros/blob/ros2-development/LICENSE) 2. Every example / source file must include correct copyright notice 3. For indentation we are using spaces and not tabs 4. Line-endings must be Unix and not DOS style Most common issues can be automatically resolved by running `./pr_check.sh --fix` Please familirize yourself with the [Apache License 2.0](https://github.com/IntelRealSense/realsense-ros/blob/ros2-development/LICENSE) before contributing. ## Step-by-Step 1. Make sure you have `git` and `cmake` installed on your system. On Windows we recommend using [Git Extensions](https://github.com/gitextensions/gitextensions/releases) for git bash. 2. Run `git clone https://github.com/IntelRealSense/realsense-ros.git` and `cd realsense-ros` 3. To align with latest status of the ros2-development branch, run: ``` git fetch origin git checkout ros2-development git reset --hard origin/ros2-development ``` 4. `git checkout -b name_of_your_contribution` to create a dedicated branch 5. Make your changes to the local repository 6. Make sure your local git user is updated, or run `git config --global user.email "email@example.com"` and `git config --global user.user "user"` to set it up. This is the user & email that will appear in GitHub history. 7. `git add -p` to select the changes you wish to add 8. `git commit -m "Description of the change"` 9. Make sure you have a GitHub user and [fork realsense-ros](https://github.com/IntelRealSense/realsense-ros#fork-destination-box) 10. `git remote add fork https://github.com/username/realsense-ros.git` with your GitHub `username` 11. `git fetch fork` 12. `git push fork` to push `name_of_your_contribution` branch to your fork 13. Go to your fork on GitHub at `https://github.com/username/realsense-ros` 14. Click the `New pull request` button 15. For `base` combo-box select `ros2-development`, since you want to submit a PR to that branch 16. For `compare` combo-box select `name_of_your_contribution` with your commit 17. Review your changes and click `Create pull request` 18. Wait for all automated checks to pass 19. The PR will be approved / rejected after review from the team and the community To continue to new change, goto step 3. To return to your PR (in order to make more changes): 1. `git stash` 2. `git checkout name_of_your_contribution` 3. Repeat items 5-8 from the previous list 4. `git push fork` The pull request will be automatically updated

realsense2_camera repository

No version for distro github. Known supported distros are highlighted in the buttons above.

realsense2_camera repository

No version for distro galactic. Known supported distros are highlighted in the buttons above.

realsense2_camera repository

realsense2_camera realsense2_camera_msgs realsense2_description

Repository Summary

Description	ROS Wrapper for RealSense™ Cameras
Checkout URI	https://github.com/IntelRealSense/realsense-ros.git
VCS Type	git
VCS Version	ros2-master
Last Updated	2025-11-27
Dev Status	DEVELOPED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
realsense2_camera	4.56.4
realsense2_camera_msgs	4.56.4
realsense2_description	4.56.4

README

ROS Wrapper for Intel(R) RealSense(TM) Cameras
Latest release notes

[![rolling][rolling-badge]][rolling] [![kilted][kilted-badge]][kilted] [![jazzy][jazzy-badge]][jazzy] [![iron][iron-badge]][iron] [![humble][humble-badge]][humble] [![foxy][foxy-badge]][foxy] [![ubuntu24][ubuntu24-badge]][ubuntu24] [![ubuntu22][ubuntu22-badge]][ubuntu22] [![ubuntu20][ubuntu20-badge]][ubuntu20]

Important Notice

We are happy to announce that the RealSense GitHub repositories have been successfully migrated to the RealSenseAI organization. Please make sure to update your links to the new RealSenseAI organization for both cloning the repositories and accessing specific files within them.

https://github.com/IntelRealSense/realsense-ros –> https://github.com/realsenseai/realsense-ros

Note: A redirection from the previous name IntelRealSense is currently in place, but we cannot guarantee how long it will remain active. We recommend that all users update their references to point to the new GitHub location.

ROS1 and ROS2 Legacy

ROS1 Wrapper for Intel® RealSense™ cameras

ROS1 Wrapper for Intel® RealSense™ cameras is not supported anymore, since our developers team are focusing on ROS2 distro.
For ROS1 wrapper, go to ros1-legacy branch

Moving from ros2-legacy to ros2-master

* Changed Parameters: - **"stereo_module"**, **"l500_depth_sensor"** are replaced by **"depth_module"** - For video streams: **\.profile** replaces **\_width**, **\_height**, **\_fps** - **ROS2-legacy (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-master (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. </details> # Installation on Ubuntu

File truncated at 100 lines [see the full file](https://github.com/IntelRealSense/realsense-ros/tree/ros2-master/README.md)

CONTRIBUTING

How to Contribute

This project welcomes third-party code via GitHub pull requests.

You are welcome to propose and discuss enhancements using project issues.

Branching Policy: The ros2-master branch is considered stable, at all times. If you plan to propose a patch, please commit into the ros2-development branch, or its own feature branch.

In addition, please run pr_check.sh under scripts directory. This scripts verify compliance with project’s standards:

Every example / source file must refer to LICENSE
Every example / source file must include correct copyright notice
For indentation we are using spaces and not tabs
Line-endings must be Unix and not DOS style

Most common issues can be automatically resolved by running ./pr_check.sh --fix

Please familirize yourself with the Apache License 2.0 before contributing.

Step-by-Step

Make sure you have git and cmake installed on your system. On Windows we recommend using Git Extensions for git bash.
Run git clone https://github.com/IntelRealSense/realsense-ros.git and cd realsense-ros
To align with latest status of the ros2-development branch, run:

git fetch origin
git checkout ros2-development
git reset --hard origin/ros2-development

git checkout -b name_of_your_contribution to create a dedicated branch
Make your changes to the local repository
Make sure your local git user is updated, or run git config --global user.email "email@example.com" and git config --global user.user "user" to set it up. This is the user & email that will appear in GitHub history.
git add -p to select the changes you wish to add
git commit -m "Description of the change"
Make sure you have a GitHub user and fork realsense-ros
git remote add fork https://github.com/username/realsense-ros.git with your GitHub username
git fetch fork
git push fork to push name_of_your_contribution branch to your fork
Go to your fork on GitHub at https://github.com/username/realsense-ros
Click the New pull request button
For base combo-box select ros2-development, since you want to submit a PR to that branch
For compare combo-box select name_of_your_contribution with your commit
Review your changes and click Create pull request
Wait for all automated checks to pass
The PR will be approved / rejected after review from the team and the community

To continue to new change, goto step 3. To return to your PR (in order to make more changes):

git stash
git checkout name_of_your_contribution
Repeat items 5-8 from the previous list
git push fork The pull request will be automatically updated

# How to Contribute This project welcomes third-party code via GitHub pull requests. You are welcome to propose and discuss enhancements using project [issues](https://github.com/IntelRealSense/realsense-ros/issues). > **Branching Policy**: > The `ros2-master` branch is considered stable, at all times. > If you plan to propose a patch, please commit into the `ros2-development` branch, or its own feature branch. In addition, please run `pr_check.sh` under `scripts` directory. This scripts verify compliance with project's standards: 1. Every example / source file must refer to [LICENSE](https://github.com/IntelRealSense/realsense-ros/blob/ros2-development/LICENSE) 2. Every example / source file must include correct copyright notice 3. For indentation we are using spaces and not tabs 4. Line-endings must be Unix and not DOS style Most common issues can be automatically resolved by running `./pr_check.sh --fix` Please familirize yourself with the [Apache License 2.0](https://github.com/IntelRealSense/realsense-ros/blob/ros2-development/LICENSE) before contributing. ## Step-by-Step 1. Make sure you have `git` and `cmake` installed on your system. On Windows we recommend using [Git Extensions](https://github.com/gitextensions/gitextensions/releases) for git bash. 2. Run `git clone https://github.com/IntelRealSense/realsense-ros.git` and `cd realsense-ros` 3. To align with latest status of the ros2-development branch, run: ``` git fetch origin git checkout ros2-development git reset --hard origin/ros2-development ``` 4. `git checkout -b name_of_your_contribution` to create a dedicated branch 5. Make your changes to the local repository 6. Make sure your local git user is updated, or run `git config --global user.email "email@example.com"` and `git config --global user.user "user"` to set it up. This is the user & email that will appear in GitHub history. 7. `git add -p` to select the changes you wish to add 8. `git commit -m "Description of the change"` 9. Make sure you have a GitHub user and [fork realsense-ros](https://github.com/IntelRealSense/realsense-ros#fork-destination-box) 10. `git remote add fork https://github.com/username/realsense-ros.git` with your GitHub `username` 11. `git fetch fork` 12. `git push fork` to push `name_of_your_contribution` branch to your fork 13. Go to your fork on GitHub at `https://github.com/username/realsense-ros` 14. Click the `New pull request` button 15. For `base` combo-box select `ros2-development`, since you want to submit a PR to that branch 16. For `compare` combo-box select `name_of_your_contribution` with your commit 17. Review your changes and click `Create pull request` 18. Wait for all automated checks to pass 19. The PR will be approved / rejected after review from the team and the community To continue to new change, goto step 3. To return to your PR (in order to make more changes): 1. `git stash` 2. `git checkout name_of_your_contribution` 3. Repeat items 5-8 from the previous list 4. `git push fork` The pull request will be automatically updated

realsense2_camera repository

No version for distro melodic. Known supported distros are highlighted in the buttons above.

realsense2_camera repository

No version for distro noetic. Known supported distros are highlighted in the buttons above.

realsense2_camera repository

Repository Summary

Packages

README

Important Notice

Table of contents

ROS1 and ROS2 Legacy

CONTRIBUTING

How to Contribute

Step-by-Step

realsense2_camera repository

Repository Summary

Packages

README

Important Notice

Table of contents

ROS1 and ROS2 Legacy

CONTRIBUTING

How to Contribute

Step-by-Step

realsense2_camera repository

Repository Summary

Packages

README

Important Notice

Table of contents

ROS1 and ROS2 Legacy

CONTRIBUTING

How to Contribute

Step-by-Step

realsense2_camera repository

Repository Summary

Packages

README

Important Notice

Table of contents

ROS1 and ROS2 Legacy

CONTRIBUTING

How to Contribute

Step-by-Step

realsense2_camera repository

realsense2_camera repository

realsense2_camera repository

Repository Summary

Packages

README

Important Notice

Table of contents

ROS1 and ROS2 Legacy

CONTRIBUTING

How to Contribute

Step-by-Step

realsense2_camera repository

realsense2_camera repository