Changelog

All notable changes to this project will be documented in this file. The format is based on Keep a Changelog, and this project adheres to Semantic Versioning.

[Unreleased]

Added

Changed

Fixed

Removed

[1.5.4] - 2023.02.15

Fixed

  • [#45042] Fix scanlines overwriting in image creation with the scanline preserving only up

[1.5.3] - 2022.11.24

Changed

  • [#39667] Range and intensity image is created based on strongest return

  • [#43779] Update the ComposableNodeContainer to use multi threading

Fixed

  • [#39667] Fix stripes in images generated for scanline preserving and angle preserving

[1.5.2] - 2022.10.18

Changed

  • [#42724] Use COMPOSITION_BUILDING_DLL instead of MINIMAL_COMPOSITION_DLL and set node plugins

[1.5.1] - 2022.07.05

Fixed

  • [#40410] Fix typos in README and add information for remap and point_id image options

[1.5.0] - 2022.06.29

Added

  • [#37666] Added return id to point cloud fields if multi return is activated (returns_publishing_options: “all”)

  • [#38464] Added publishing of point id image

  • [#39345] Added meters per second sqaured as a unit option for imu acceleration

Changed

  • [#38022] update documentation

  • [#38314] Update publishers to use unique pointers

[1.4.0] - 2022.02.25

Added

  • [#35687] Added composable node implementation

Fixed

  • [#35687] Fixed remapping of output topics for python launch file

[1.3.3] - 2022.01.24

Fixed

  • Fix intensity type

[1.3.2] - 2022.01.21

Changed

  • [#35609] service names are configurable in live_scanner.launch.xml and driver_config.yaml files

  • [#35909] Imu static tf service returns transformation as service response

Fixed

  • Update readme regarding default DDS

[1.3.1] - 2021.10.28

Fixed

  • README formating

Removed

  • Support for ros Eloquent

[1.3.0] - 2021.10.28

Added

  • [closes #30445] Integrate with ros blickfeld driver core

  • [closes #36445] Add on device algorithm setup

  • [closes #36445] publishing 2d point cloud projection based on range, intensity and ambient

  • [closes #31485] Publish IMU data as ros IMU message

  • [closes #31486] Publish IMU static data as static TF transform

Changed

  • Target names and class names have blickfeld as prefix

  • [closes #32741] Create custom message for setScanPatternService call in ros core

  • [closes #31485] Upgrade bsl version to 2.18.2

  • [closes #31485] bsl version in ci_pipeline was changed to 2.18.2

Removed

  • Scanline ID was removed from point cloud published field options

[1.2.4] - 2021.02.01

Changed

  • Updated documentation, switched Note with Default column in parameters table

[1.2.3] - 2021.01.28

Changed

  • Updated documentation

  • Enforce non-standalone BSL. Shows CMake error if BSL without required protocol files is configured.

[1.2.2] - 2020.11.11

Added

  • Added documentation for ROS2 Foxy

[1.2.1] - 2020.09.08

Changed

  • Fix azimuth angle for no return points

[1.2.0] - 2020.07.17

Added

  • Enhance time debug information on RCLCPP debug - ticket [22666]

  • Automatic ci release process - ticket [23492]

[1.1.1] - 2020.06.25

Changed

  • Updated documentation

[1.1.0] - 2020.04.26

Added

  • BSD 3-clause license

  • Debug and warning info frame index

Changed

  • Replaced the row_id with scanline_id to be compliant with protobuf_protocol

  • Replaced the column_id with scanline_point_index to represent the point index in a scanline

  • Unified the usage publish_time_delta

[1.0.0] - 2020.04.06

Added

  • Ability to publish explicit range of points

  • Debug tool to view all point fields in the ROS message

  • Ability to publish Blickfeld PointID (global ID in the frame), ScanLineID (= row_id) and column_id

  • Publish diagnostics data

  • Possibility to publish point measurement time as start_offset_ns as point field

  • Ability to publish multi return points

  • Ability to publish under canonical topic names (names ending with _in/_out for input/output topics)

Changed

  • Update the use of point cloud term - ticket [18362]

  • ROS2 adaptation

[0.3.0] - 2019.10.30

Added

  • Ability to publish intensities, ambient light level, and point without return

  • Multiple return support

  • Try to reconnect after connection loss

Changed

  • Adopt to new BSL API

  • Publish PointCloud2::ConstPtr to make full use of nodelets

Removed

  • Burst mode

  • Old launch files

  • Read from dump since BSL does not support it, yet