# Changelog
All notable changes to this project will be documented in this file.
The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/),
and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0.html).

## [Unreleased]

### Added

### Changed

### Fixed

### Removed

## [1.2.3] - 2021.02.01

### Changed
* Updated documentation, switched Note with Default column in parameters table

## [1.2.2] - 2021.01.28

### Added
* Added support for for ROS Noetic. Tested with **BSL 2.13.0**
* Ability to support different options to **publish multiple returns** from a lidar pulse. Possible values are: strongest first last and all

### Changed
* Multi-return options to support different options
* Updated documentation
* Enforce non-standalone BSL. Shows CMake error if BSL without required protocol files is configured.
* [closes #27875] Clarify documentation about ROS driver sources

### Removed
* Removed support for ROS Kinetic

## [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 ROS 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
* Ability to publish Blickfeld PointID (global ID in the frame), ScanLineID (= row_id) and column_id
* Publish diagnostics data
* Ability to publish point measurement time as [`start_offset_ns`](http://enduser-software.pages.muc.blickfeld.com/blickfeld-scanner-lib/protobuf_protocol.html#point) 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]

## [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