As shipped from the factory, the MultiSense S21 is configured to communicate on a network with a Maximum Transmission Unit (MTU) size of 7200 bytes.
On Linux-based systems the MTU settings of a network interface can be checked by issuing the following command.
INTERFACE_NAME should be replaced with the name of network interface in question, most likely
The output of this command will include information about the current MTU setting of the network interface.
Verify that the network hardware supports the necessary frame size by explicitly setting its MTU to 7200:
sudo /sbin/ifconfig INTERFACE_NAME mtu 7200
INTERFACE_NAME is again replaced by the name of the network interface in question.
Check that the change was successful by querying the settings again:
The ROS driver release v3.3 is designed to be fully backwards compatible with all released firmware versions, back to and including the 2.0 release. If the ROS driver detects an older firmware version, only the appropriate topics and capabilities (including dynamic_reconfigure variables) will be presented. In addition the 3.3 ROS driver supports both the rosbuild and catkin build systems.
The 3.1 firmware release is designed to be fully backwards compatible with older ROS driver releases, back to and including the 2.0 release. However, older ROS drivers will only be capable of exposing functionality that existed at the time of their release.