Changelog for package ifm3d-ros2

1.2

1.2.0

• Create an ODS node to publish ODS data: * The launch file ods.launch.py can be used, * Add two topics, “~/ods_info” and “~/ods_occupancy_map_ros”, * An example launch configuration for ODS is provided ods_default_parameters.yaml and can be used with the launch file, * It is expected that ODS is configured before the node is launched. Alternatively, one can use the new config_file parameter.

• Remove the diag_mode parameter: diagnostic is always polled periodically and published to “/diagnostic”

• Add the GetDiag service for polling filtered diagnostic data.

• Camera info topic: * Add a “~/camera_info” topic for RGB cameras. * The “~/camera_info” topic for the TOF cameras is published when the TOF_INFO buffer is requested, instead of the INTRINSIC buffer.

• Add a config_file parameter. It should be formatted in JSON and will be used to configure the device when the CONFIGURE state is triggered.

• Transforms: * The cloud_link was renamed to ifm_base_link, and is used as the reference ifm calibrated coordinate system for all ifm data (RGB, 3D and ODS). * The transforms between the cloud_link (now ifm_base_link), and the mounting_link and optical_link are fixed. * The mounting_link to optical_link transform is read when the first TOF_INFO or RGB_INFO buffer is received, and remains constant. * The ifm_base_link to mounting_link transform is published once when the first TOF_INFO or RGB_INFO buffer is received, and is only re-published subsequently if changed. * The camera node parameters related to tf publication got reworked, the new parameters are:

  • tf.base_frame_name: Name for ifm reference frame

* tf.mounting_frame_name: Name for the mounting point frame

* tf.optical_frame_name: Name for the optical frame

* tf.publish_base_to_mounting: Whether the transform from the ifm base link to the camera mounting point should be published

* tf.publish_mounting_to_optical: Whether the transform from the cameras mounting point to the optical center should be published

1.1

1.1.0 (unreleased preparations for FW 1.4 release)

• Update for compatibility with O3R FW 1.4.x and ifm3d >= 1.4.3 * Tested with FW 1.4.22 and ifm3d API 1.4.3 * Tested with FW 1.4.22 and ifm3d API 1.5.3

1.1.0

• Update for compatibility with O3R FW >= 1.0.14 and ifm3d >= 1.2.6 * Using ifm3d::O3R instead of ifm3d::Device to access camera * Added buffer_id_list param to define which data to get from the device and consequently which topics to publish. Maps to ifm3d buffer_id.

• Remove the need to use cyclonedds: TODO: verification

• Remove dependency to Boost library

• Include Dockerfile and helper scripts: * Dockerfile for building the ROS2 node inside a Docker container * Helper build and launch scripts for ROS Docker images * Adds docker-compose example files for launching the ROS node on a O3R edge device: VPU

• Moved Publishers into node namespace: This matches the ifm3d-ros2 node version’s naming (<= 1.0.x).

• Switch to a new camera.launch.py launch file (instead of camera_managed and camera_standalone): launches and activates a single camera node * focusses on configurability * camera_default_parameters.yaml contains only default params * Add option for visualization to launch file: If visualization is true, RViz2 with the config file from etc is opened * Formatting of node names improved

• old launch files are marked as deprecated and will be removed with next release: please migrate your launch files to the new structure

• Switching json handling to ifm3d::json

• Reduce logging level for continuous outputs.

• Added topics: * diagnostics (published to global /diagnostic topic), * camera_info, * TOF_INFO, * RGB_INFO, * extrinsics

• Added parameters: * log_level, * tf related parameters (see parameters doc for more details), * buffer_id_list, * diag_mode

1.0

1.0.4 (unreleased)

• Updating to underlying ifm3d API version 1.1.1

• Name change for TOF_INFO and RGB_INFO buffer.

• Added Error, AsynError and AsyncNotification callbacks.

1.0.3 (unreleased)

• Updating to underlying ifm3d API version 1.0.1

• Switching to using buffer_ids instead of schemas to determine data types.

• Introducing buffer_id_utils.hpp for buffer_id handling.

1.0.2

• Fixed tf chain in launchfiles

1.0.1

• Removed dependencies to OpenCV and PCL and the Image module of the ifm3d library. Now using the StlImage module of ifm3d.

• The RGB image is published as a compressed JPEG image. To view it with RViz, you can use the image_transport republish node (see documentation).

• Update the launchfiles for compatibility with pyyaml 6.0 (backward compatibility maintained down to pyyaml 5.1).

1.0.0

• Update the ROS node for the O3R camera platform

• add a 2D RGB data publisher

• add support for specifying the PCIC data communication TCP port

• add example yaml files and launch file for multi PCIC TCP port settings

• add service functions for setting each camera head to RUN / IDLE state

• update the dump and config service to O3R JSON structure

• removed unit vector publishing: please use the intrinsic camera calibration parameters instead

• removed the temperature publisher until diagnose chunk is available

• removed axis permutation for ROS node specific axis order

• removed xyz image publisher

known limitations

• DDS settings need to be set to cyclonedds - ROS 2 Galactic is the preferred ROS 2 distro atm.

0.3.0 (2020-01-31)

• Publish camera temperature (Thanks @dustingooding of Houston Mechatronics)

• Tested on Eloquent

0.2.0 (2019-06-26)

• Provided an implementation of the Dump service

• Provided an implementation of the dump command-line tool

• Provided an implementation of the Config service

• Provided an implementation of the config command-line tool

0.1.1 (2019-06-25)

• Unit vectors are published on a “latched topic”. Please see qos.hpp for the specifics of the QoS profile ifm3d_ros2::LatchedQoS.

• On-camera extrinsics in support of off-line point cloud computation are now exposed.

• Bootstrapped some unit tests

• Cleaned up some documentation.

0.1.0 (2019-06-06)

• Initial (alpha) release