This documentation is formatted to be read on www.ros2.ifm3d.com.
:::{note} This release is intended to be used with the O3R camera platform ONLY. For other ifm cameras (e.g. O3D3xx and O3X1xx) please see the tagged releases 0.3.0 and 0.7.0 respectively. :::
ifm3d-ros2 is a wrapper around ifm3d enabling the usage of ifm O3R camera platform from within ROS 2 software systems.
ifm3d_ros2 supports O3R camera, IMU, ODS, and PDS integration in ROS 2. Refer to the dedicated documentation sections for details on each component.
For hardware setup instructions, the default port configuration, and how to run the provided launch files out of the box, see the Getting Started guide.
ifm3d_ros2 version |
ifm3d version | O3R firmware version | ROS 2 distribution | Comment |
|---|---|---|---|---|
| 1.4.1 | >1.6.12 | 1.21.16 | Jazzy, Humble | Adds publish_best_effort, use_timestamp_from_device, advanced config path parsing, updated examples, and documentation refinements |
| 1.4.0 | >1.6.12 | 1.21.16 | Jazzy, Humble | Adds PDS modes/actions, standalone IMU node, diagnostics severity semantic fix, and config/docs updates |
| 1.3.0 | 1.6.12 | 1.20.29, 1.21.6 | Jazzy, Humble | Enhanced diagnostics, ODS polar grid, uncompressed images, additional image types |
| 1.2.0 | 1.4.3 and 1.5.3 | 1.4.30 and 1.10.13 | Jazzy, Humble | Added support for ODS applications |
Note: The version numbers listed above for the ifm3d API or the O3R firmware versions are the ones explicitly tested. Any other version might work but is not officially supported.
For a complete list of changes, refer to the changelog.
- Cross-compilation limitations: The
build_container.shscript may encounter issues when cross-compiling from AMD64 to ARM architectures. For ARM-based deployments, we recommend building directly on the target ARM platform or using ARM-compatible build environments. A fix for this issue is being developed and will be included in the next patch release.
The following versions are deprecated and no longer supported.
ifm3d_ros2 version |
ifm3d version | ROS 2 distribution |
|---|---|---|
| 1.1.0 DEPRECATED | 1.0.14 | Humble |
| 1.0.1 DEPRECATED | 0.93.0 | Galactic, Foxy |
| 1.0.0 DEPRECATED | 0.92.0 | Galactic |
| 0.3.0 DEPRECATED | 0.17.0 | Dashing, Eloquent |
| 0.2.0 DEPRECATED | 0.12.0 | Dashing |
| 0.1.1 DEPRECATED | 0.12.0 | Dashing |
| 0.1.0 DEPRECATED | 0.12.0 | Dashing |
Please see the file called LICENSE.