^^^^^^^^^^^^^^^^^^^^^^^^^ 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