Firmware version 2.3.1 includes the following features:
- Exposes raw IMU sensors (accelerometer, gyroscope, and magnetometer) along with a flexible configuration interface.
- Adds support for CMV4000 imagers (2048x2048.)
- Many small bugfixes and feature enhancements.
- Addresses an issue with Firmware Version 2.3 that could lead to incorrect image rectification
Please note this firmware release is only supported for MultiSense-SL and S7 units.
To upgrade an existing MultiSense-SL, first download and build the latest ROS driver from bitbucket:
Detailed instructions on how to do this can be found in section 1.2 of the attached document, MultiSense-SL ROS Driver_v2.3.pdf.
If you are upgrading an existing ROS driver installation, make sure to issue a "--pre-clean" directive when rebuilding:
$ rosmake --pre-clean multisense
After building the latest ROS driver, your MultiSense-SL can be field upgraded to v2.3 firmware by downloading the multisense_firmware_v2_3_1.slf file and issuing the following command from the ROS driver environment:
$ rosrun multisense_lib MultiSenseUpdater 10.66.171.21 multisense_firmware_v2_3_1.slf
(assuming the IP address of the MultiSense-SL is "10.66.171.21")
WARNING: Before upgrading, please refer to section 2.5.6 of the MultiSense-SL ROS Driver_v2.3.pdf document for important instructions regarding the use of the MultiSenseUpdater utility.