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CHANGELOG.rst

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Changelog

[unreleased]

ouster_ros(1)

  • breaking: publish PCL point clouds destaggered.
  • introduced a new launch file parameter ptp_utc_tai_offset which represent offset in seconds to be applied to all ROS messages the driver generates when TIME_FROM_PTP_1588 timestamp mode is used.
  • fix: destagger columns timestamp when generating destaggered point clouds.

ouster_ros v0.10.0

ouster_ros(1)

  • breaking change: update to ouster_client release 20230403
  • EOL notice: ouster-ros driver will drop support for ROS melodic by May 2023.
  • bugfix: Address an issue causing the driver to warn about missing non-legacy fields even they exist in the original metadata file.
  • added a new launch file sensor_mtp.launch for multicast use case (experimental).
  • added a technique to estimate the the value of the lidar scan timestamp when it is missing packets at the beginning
  • add frame_id to image topics
  • fixed a potential issue of time values within generated point clouds that could result in a value overflow
  • added a new /ouster/metadata topic that is consumed by os_cloud and os_image nodelets and save it to the bag file on record.
  • make specifying metadata file optional during record and replay modes as of package version 8.1
  • added a no-bond option to the sensor.launch file
  • reduce the publish rate of imu tf transforms
  • implemented a new node named os_driver which combines the functionality of os_sensor, os_cloud and os_image into a single node. The new node can be launch via the new driver.launch file.
  • introduced a new topic /ouster/scan which publishes sensor_msgs::LaserScan messages, the user can pick which beam to be used for the message through the scan_ring launch argument.
  • added ability to pick which messsages to process and through the new proc_mask launch file argument.
  • introduced a new parameter point_cloud_frame to allow users to select which frame to use when publishing the point cloud (choose between sensor and lidar). The default publishing frame the sensor one which is in line with the current behavior.
  • added the ability to change the names of sensor_frame, lidar_frame and imu_frame
  • added a placeholder for the /ouster/reset (not implemented for ROS1).
  • breaking: switched back to using static transforms broadcast but with ability to select the frames to be updated dynamically and at what rate through the two new launch file arguments dynamic_transforms_broadcast and dynamic_transforms_broadcast_rate.
  • updated RVIZ color scheme for point clouds to match with the ROS2 version of the driver.

ouster_ros(2)

  • MVP ouster-ros targeting ros2 distros
  • introduced a reset service to the os_sensor node
  • implemented a new node named os_driver which combines the functionality of os_sensor, os_cloud and os_image into a single node.
  • added support to parse the same parameters provided by the ros2_ouster_driver, the parameters are lidar_ip, computer_ip, proc_mask and use_system_default_qos; the parameters are fully functional and similar to what the ros2_ouster_driver provides.
  • for convenience introduced a new launch file driver_launch.py that is compatible with the ros2_ouster_driver in terms of parameters it accepts and the name of published topics.
  • introduced a new parameter point_cloud_frame to allow users to select which frame to use when publishing the point cloud (choose between sensor and lidar).
  • breaking: lidar frame is the default frame used when publishing point clouds.
  • added the ability to choose between SensorDataQoS or SystemDefaultQoS across all published topics with SensorDataQoS selected by default for live sensor mode and SystemDefaultQoS enabled for record and replay modes.
  • introduced a new topic /ouster/scan which publishes sensor_msgs::msg::LaserScan messages

ouster_client

  • added a new method mtp_init_client to init the client with multicast support (experimental).
  • the class SensorHttp which provides easy access to REST APIs of the sensor has been made public under the ouster::sensor::util namespace.
  • breaking change: get_metadata defaults to outputting non-legacy metadata
  • add debug five_word profile which will be removed later
  • breaking change: remove deprecations on LidarScan

[20230114]

ouster_ros(2)

  • MVP ouster-ros targeting ros2 distros (beta release)
  • introduced a reset service to the os_sensor node
  • breaking change: updated to ouster sdk release 20230403
  • EOL notice: ouster-ros driver will drop support for ROS foxy by May 2023.
  • bugfix: Address an issue causing the driver to warn about missing non-legacy fields even they exist in the original metadata file.
  • added a new launch file sensor_mtp.launch.xml for multicast use case (experimental).
  • added a technique to estimate the the value of the lidar scan timestamp when it is missing packets at the beginning
  • add frame_id to image topics
  • fixed a potential issue of time values within generated point clouds that could result in a value overflow
  • added a new /ouster/metadata topic that is consumed by os_cloud and os_image nodes and save it to the bag file on record
  • make specifying metadata file optional during record and replay modes as of package version 8.1
  • replace tf_prefix from os_cloud with sensor_frame, lidar_frame and imu_frame launch parameters.
  • bugfix: fixed an issue that prevents running multiple instances of the sensor and cloud components in the same process.
  • switch to using static transform publisher for the ros2 driver.

ouster_client

  • added a new method mtp_init_client to init the client with multicast support (experimental).
  • the class SensorHttp which provides easy access to REST APIs of the sensor has been made public under the ouster::sensor::util namespace.
  • breaking change: get_metadata defaults to outputting non-legacy metadata
  • add debug five_word profile which will be removed later
  • breaking change: remove deprecations on LidarScan