Releases: ethz-asl/wavemap
v1.5.1
This patch improves the documentation for contributors 🔧
v1.5.0
Summary
This release makes wavemap 20% faster for LiDAR inputs and adds support for Tracy Profiler.
New features
- Annotate code for profiling with Tracy Profiler
- Switch to custom atan2 in LiDAR projection models
- Speeds up wavemap by 20% overall for LiDAR inputs
- No compromise in accuracy (slightly improves AUC, accuracy and recall)
- Minor general optimizations
- Add option to enable DCHECKs even when not compiling in debug mode
- Improve error messages when reading/writing a file fails
Notes on Tracy
By default, Tracy is disabled and introduces zero overhead. To enable profiling with Tracy, see the instructions in PR#19.
Package changelogs
- Libraries
- ROS
Upgrade notes
This release adds a dependency on Tracy Profiler, which we wrapped into a catkin package for easy usage and installation.
Upgrade instructions for
- Catkin
- Go to your catkin workspace src directory:
cd ~/catkin_ws/src - Add the tracy_catkin package:
git clone [email protected]:ethz-asl/tracy_catkin.git# If you're using git with SSH [recommended]git clone https://github.com/ethz-asl/tracy_catkin.git# For git with HTTPS
- Pull the newest wavemap code:
cd wavemap && git checkout main && git pull - Rebuild wavemap:
catkin build wavemap_all
- Go to your catkin workspace src directory:
- Docker
docker build --tag=wavemap --build-arg="VERSION=v1.5.0" - <<< $(curl -s https://raw.githubusercontent.com/ethz-asl/wavemap/main/tooling/docker/incremental.Dockerfile)
For more info, see the installation page in the docs.
v1.4.0
Summary
This release makes wavemap much easier to configure by extending the documentation and adding informative, actionable messages for config loading errors.
New features
- Write documentation page on how to configure wavemap
- Make warnings/errors that can occur when loading configs more descriptive
- When loading a param fails, print an explanation, including
- the offending param's name (to make it easy to find) and type,
- the action that will be taken (e.g. it will be ignored, and default value X will be used instead), and
- for enum types list all supported options (e.g. for an input_handler type: ["pointcloud", "depth_image"])
- When loading a param fails, print an explanation, including
- Annotate the unit of config members (e.g. min_cell_width in meters) using types
- Replaces the previous solution that used enums, which were stored and handled separately
- With this new solution, the units directly and clearly show up in the documentation
- Update all example configs
- Make sure syntax matches newest wavemap version, addressing Issue #24
- Apply recommended settings
- Define a schema for wavemap configs using jsonschema, which also supports YAML, to enable
- Text completion, inline documentation, and real-time validation when editing wavemap configs in IDEs like CLion
- Automatic linting of wavemap configs through .pre-commit hooks
- Do not emit CMake warnings when the optional
livox_ros_driver2dependency is not found (contributed by astumpf).- If users try to initialize a pointcloud input of type
livoxbut the driver is not installed, they will be prompted to install it.
- If users try to initialize a pointcloud input of type
- Add templates for GitHub issues and pull requests
- Makes it easier for users to submit bug reports, feature requests, and open pull requests
Package changelogs
- Libraries
- ROS
Upgrade notes
Upgrading should only be a matter of rebuilding. If you're using
- Catkin: Pull the newest code and run
cd ~/catkin_ws/ && catkin build wavemap_all - Docker:
docker build --tag=wavemap --build-arg="VERSION=v1.4.0" - <<< $(curl -s https://raw.githubusercontent.com/ethz-asl/wavemap/main/tooling/docker/incremental.Dockerfile)
For more info, see the installation page in the docs.
v1.3.2
Summary
This release fixes a minor bug where the header of wavemap ROS messages was not set for certain data structures, as reported and fixed by astumpf.
Detailed bug description
The bug resulted in the header.stamp and header.frame_id fields not being set when the wavemap ROS server transmitted maps stored with data structures other than "hashed_wavelet_octree" and "hashed_chunked_wavelet_octree".
Package changelogs
- ROS
Upgrade notes
Upgrading should only be a matter of rebuilding. If you're using
- Catkin: Pull the newest code and run
cd ~/catkin_ws/ && catkin build wavemap_all - Docker:
docker build --tag=wavemap --build-arg="VERSION=v1.3.2" - <<< $(curl -s https://raw.githubusercontent.com/ethz-asl/wavemap/main/tooling/docker/incremental.Dockerfile)
For more info, see the installation page in the docs.
v1.3.1
This release makes wavemap available under the BSD-3 license.
v1.3.0
Summary
This release introduces a fully redesigned wavemap Rviz plugin, which is easier to use and much faster.
New features
- Communication
- Incremental transmission of the map (avoids exceeding ROS message size limits for very large maps)
- Rewritten map<->ROS msg conversions, matching the new map<->byte stream implementation
- Rviz plugin UI
- Support different render modes (slice; grid) in a single WavemapDisplay instance
- Each render mode can be configured through its own foldout menu
- The map is only stored once per plugin instance and shared among the render mode handlers
- Grid render mode
- Expose grid color options in the UI
- Add option to set maximum grid drawing resolution
- E.g. to improve frame rate when displaying large maps on computers with no GPU
- Improve default settings s.t. it can be used with minimal tuning in most scenarios
- Support different render modes (slice; grid) in a single WavemapDisplay instance
- Rviz plugin performance improvements
- Only redraw map blocks that changed
- Render grid blocks with Level of Detail based on their distance to the camera
- Use a work queue and limit the update time per frame, to avoid stalling Rviz when large map changes occur
- Interface directly with Ogre, instead of using rviz::Pointcloud as an intermediary for rendering
Removed features:
- Remove the option to render map meshes
- This render mode does not yet produce good iso-surfaces and is currently very slow. It will be reintroduced once its more mature.
Detailed package changelogs
- Libraries
- ROS
- Tooling
Upgrade notes
Upgrading should only be a matter of rebuilding. If you're using
- Catkin:
cd ~/catkin_ws/ && catkin build wavemap_all - Docker:
docker build --tag=wavemap --build-arg="VERSION=v1.3.0" - <<< $(curl -s https://raw.githubusercontent.com/ethz-asl/wavemap/main/tooling/docker/incremental.Dockerfile)
For more info, see the installation page in the docs.
v1.2.0
This release improves the documentation and the ease of installing wavemap, by including Docker as an alternative install method.
Individual package changelogs
wavemap_utils
- Add instructions on how to use Docker containers
- Add Dockerfile for incremental builds
- Move package to improve repo structure
catkin_setup & wavemap_all helper packages
- Move package to improve repo structure
Upgrade notes
If you're using ROS and previously built wavemap with catkin, you might get errors like this when building this new release:
CMake Error: The source directory "/home/victor/catkin_ws/src/wavemap/tooling/wavemap_utils" does not exist.because we moved the wavemap_all, wavemap_utils and catkin_setup helper packages to a new directory. To resolve it, run:
catkin clean wavemap_all
rm -r ~/catkin_ws/build/wavemap_all
catkin build wavemap_allv1.1.0
This release implements (de)serialization of wavemap maps to/from byte streams and files. When running the ROS server, the new functionality can be accessed by calling the save_map and load_map services.
Individual package changelogs
wavemap_io
- Create this new library (can be used without ROS)
- Implement a small serializer to convert maps to/from byte streams and files
wavemap_ros
- Enable file saving in ROS server
v1.0.0
This is the first official release of the wavemap package. After extensive testing on a wide range of datasets, sensor configurations, and real robots, it is ready for general use. The wavemap library is also extensively tested in CI to ensure correctness, well-defined behavior, and memory safety.
Since there are no previous versions to compare to, this release does not include a changelog. However, for developers or researchers that read the wavemap paper [preprint|RSS proceedings], it is relevant to note that the performance of wavemap has significantly improved since the paper was submitted. The main changes are multi-threaded measurement integrators and faster, more memory-efficient data structures inspired by OpenVDB. These changes reduce RAM usage by up to 50% and reduce runtime by an order of magnitude on fast desktop CPUs. The ROS interfaces improved in terms of flexibility, ease of use, and reliability.