Skip to content

Latest commit

 

History

History
57 lines (50 loc) · 2.46 KB

CHANGELOG.rst

File metadata and controls

57 lines (50 loc) · 2.46 KB
Raw

Changelog

[20230114]

ouster_ros

  • breaking change: renamed ouster_ros/ros.h to ouster_ros/os_ros.h and ouster_ros/point.h to ouster_ros/os_point.h.
  • breaking change: change the type of the ring field within ouster::Point from uint8_t to uint16_t
  • correct LICENSE file installation path.
  • update code files copyrights period.
  • bug fix: ros driver doesn't use correct udp_dest given by user during launch
  • update published TF transforms time with senosr or ros time based on the active timestamp mode.
  • validate lidar and imu port values. warn users when assigning random port numbers.
  • switch to using the cartesianT method when populating pcl point cloud for performance and reduced cpu utilization
  • reduce dynamic memory allocation within the driver for performance and driver stability
  • add pcl_ros as a dependency to package.xml

ouster_client

  • breaking change: signal multiplier type changed to double to support new FW values of signal multiplier.
  • breaking change: make_xyz_lut takes mat4d beam_to_lidar_transform instead of lidar_origin_to_beam_origin_mm double to accomodate new FWs. Old reference Python implementation was kept, but new reference was also added.
  • address an issue that could cause the processed frame being dropped in favor or the previous frame when the frame_id wraps-around.
  • added a new flag CONFIG_FORCE_REINIT for set_config() method, to force the sensor to reinit even when config params have not changed.
  • breaking change: drop defaults parameters from the shortform init_client() method.
  • added a new method init_logger() to provide control over the logs emitted by ouster_client.
  • add parsing for new FW 3.0 thermal features shot_limiting and thermal_shutdown statuses and countdowns
  • add frame_status to LidarScan
  • introduced a new method cartesianT() which speeds up the computation of point projecion from range image, the method also can process the cartesian product with single float precision. A new unit test cartesian_test which shows achieved speed up gains by the number of valid returns in lidar scan.
  • added RAW_HEADERS ChanField to LidarScan for packing headers and footer (alpha version, may be changed/removed without notice in the future)

[20221004]

ouster_ros

  • Moved ouster-ros into separate repo
  • Refresh the docker file

ouster_sdk

  • Removed ouster_ros