Changelog for package realsense2_camera

4.59.1 (2026-10-11)

• Push 4.59.1 release into ros2-master (#3574)
• Push 4.59.1 release into ros2-master
• Freeze 4.59.1: bump version (#3563)
• Update version to 4.59.1
• Enable only the streams the device tags as default (#3561)
• Enable only the streams the device tags as default
• Skip rosbag tests when the installed librealsense2 cannot play compressed db3 (#3558)
• Address review: exempt SDK-independent tests, drop the size filter, log the skip
• Close the maps handle explicitly
• Resolve librealsense2 through the loader, not the ldconfig cache
• Trim the compressed-db3 probe
• Skip rosbag tests when the installed librealsense2 cannot play compressed db3
• Merge branch 'ros2-development' into issue-templates
• Occupancy: publish camera-computed grid + ~/occupancy_certainty; remove host-side raycasting (#3555)
• feat(occupancy): parse self-describing MAP1 in-node; add ~/occupancy_certainty
• Migrate rosbag tests to db3 and deflake align_depth (#3539)
• Default all streams of an untagged sensor to one shared frame rate (#3556)
• Log the frame rate the fallback picked
• Confine the shared frame rate fallback to motion streams
• Say which frame rate the fallback picked
• Default all streams of an untagged sensor to one shared frame rate
• turn the FATAL_ERROR for ROS distro check into a WARNING (#3550)
• remove emoji from status message
• remove trailing whitespace
• always add 'ros_param_backend.cpp' to the sources
• turn the FATAL_ERROR for ROS distro check into a WARNING
• Contributors: Avia Avraham, Christian Rauch, Nir Azkiel, Niv Goren, Ohad Meir

4.58.4 (2026-08-30)

• Update changelogs for 4.58.4
• Freeze 4.58.4: bump version (#3548)
• Update version to 4.58.4
• Merge branch 'ros2-development' into ileniap/add/use-mesh/d455
• Merge branch 'ros2-development' into patch-1
• push ros2-master to ros2-development (#3543)
• reset dev versions
• Merge remote-tracking branch 'origin/ros2-master' into ros2-development
• Ngoren/occupancy gridcells fix (#3536)
• fix(occupancy): symmetric grid centering and review cleanups - Center the grid about the camera axis with float cols/2 in both origin.y and the per-cell y: the integer division shifted odd-column grids (D585S emits 85 cols) half a cell laterally. Verified live: origin.y now -2.975 and the grid aligns with the point cloud. - Reject depth intrinsics with zero width, which would otherwise publish a silent all-unknown grid.
  • Stop the row scan at occupancy_max_range instead of skipping rows.
  • Drop the unreachable bin < 0 guard, document why it cannot trigger.

  - Rename bin_range to fov_span: it is the total FOV window, not the width of one bin.

  • Document occupancy_max_range in the README next to clip_distance.
• occupancy: require depth intrinsics, drop no-FOV fallback
• docs(occupancy): tighten comments
• refine(occupancy): odd-column origin consistency, near-range spread guard, cast and perf cleanups
• feat(occupancy): replace GridCells with OccupancyGrid, angular raycasting, FOV masking and max-range clipping
  • Switch occupancy publisher from nav_msgs/GridCells to nav_msgs/OccupancyGrid
  • Cell semantics: 0=free, 100=occupied, -1=unknown (was all-zero before)
  • FOV masking: cells outside horizontal FOV cone (from depth camera fx) → -1
  • True angular raycasting via θ=atan2(y,x) instead of fixed-Y column scan
  • Shadow propagation: free until first obstacle, unknown behind it per ray

  - Gap-ray fix: obstacle shadow spread across full angular footprint to prevent rays slipping through gaps between adjacent occupied cells

  • occupancy_max_range param (default 2.5m): cells beyond range → -1
• initial grid type adjustment

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