Version 4.0.0 of the MultiSense ROS driver for the CRL MultiSense line of products was released on 2/6/2016. The version includes:
- Xacro formats for all MultiSense cameras (SL, S7, S21) which allow easy standalone use and embedded use of the MultiSense URDF model in systems.
- Support and dynamic reconfigure interface for new Firmware Version 3.5 which allows a 4MP imagers to be windowed as 2MP and the window position to be adjusted.
- Dynamic reconfigure interface for adjustable transmit delay, a new feature of Firmware Version 3.5 feature.