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SW-5622: Bump up ouster_client to 20231031 release #249

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1 change: 0 additions & 1 deletion .github/workflows/docker-image.yml
Original file line number Diff line number Diff line change
Expand Up @@ -15,7 +15,6 @@ jobs:
fail-fast: false
matrix:
ros_distro:
- melodic
- noetic
steps:
- uses: actions/checkout@v3
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118 changes: 49 additions & 69 deletions CHANGELOG.rst
Original file line number Diff line number Diff line change
Expand Up @@ -2,26 +2,62 @@
Changelog
=========

[unreleased]
============
ouster_ros v0.10.0
==================

ouster_ros(1)
-------------
* breaking: publish PCL point clouds destaggered.
* [BREAKING] updated ouster_client to the release of ``20231031`` [v0.10.0]; changes listed below.
* [BREAKING]: with this release the ouster-ros driver is no longer compatible with ROS melodic
* [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.
* fix: gracefully stop the driver when shutdown is requested.
is used.
* [BUGFIX]: destagger columns timestamp when generating destaggered point clouds.
* [BUGFIX]: gracefully stop the driver when shutdown is requested.

ouster_client
-------------
* [BREAKING] Updates to ``sensor_info`` include:
* new fields added: ``build_date``, ``image_rev``, ``prod_pn``, ``status``, ``cal`` (representing
the value stored in the ``calibration_status`` metadata JSON key), ``config`` (representing the
value of the ``sensor_config`` metadata JSON key)
* the original JSON string is accessible via the ``original_string()`` method
* The ``updated_metadata_string()`` now returns a JSON string reflecting any modifications to
``sensor_info``
* ``to_string`` is now marked as deprecated
* [BREAKING] The RANGE field defined in `parsing.cpp`, for the low data rate profile, is now 32 bits
wide (originally 16 bits).
* Please note this fixes a SDK bug. The underlying UDP format is unchanged.
* [BREAKING] The NEAR_IR field defined in `parsing.cpp`, for the low data rate profile, is now 16
bits wide (originally 8 bits).
* Plase note this fixes a SDK bug. The underlying UDP format is unchanged.
* [BREAKING] changed frame_id return size to 32 bits from 16 bits
* An array of per-packet timestamps (called ``packet_timestamp``) is added to ``LidarScan``
* The client now retries failed requests to an Ouster sensor's HTTP API
* Increased the default timeout for HTTP requests to 40s
* Added FuSA UDP profile to support Ouster FW 3.1+
* Improved ``ScanBatcher`` performance by roughly 3x (depending on hardware)
* Receive buffer size increased from 256KB to 1MB
* [bugfix] Fixed an issue that caused incorrect Cartesian point computation in the ``viz.Cloud``
Python class
* [bugfix] Fixed an issue that resulted in some ``packet_format`` methods returning an uninitialized
value
* [bugfix] Fixed a libpcap-related linking issue
* [bugfix] Fixed an eigen 3.3-related linking issue
* [bugfix] Fixed a zero beam angle calculation issue
* [bugfix] Fixed dropped columns issue with 4096x5 and 2048x10


ouster_ros v0.10.0

ouster_ros v0.9.0
==================

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
* [BREAKING]: update to ouster_client release 20230403
* [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
Expand All @@ -46,72 +82,16 @@ ouster_ros(1)
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
* [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
* [BREAKING]: get_metadata defaults to outputting non-legacy metadata
* add debug five_word profile which will be removed later
* breaking change: remove deprecations on LidarScan
* [BREAKING]: remove deprecations on LidarScan
2 changes: 1 addition & 1 deletion ouster-sdk
2 changes: 1 addition & 1 deletion package.xml
Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
<?xml version="1.0"?>
<package format="3">
<name>ouster_ros</name>
<version>0.9.3</version>
<version>0.10.0</version>
<description>Ouster ROS driver</description>
<maintainer email="[email protected]">ouster developers</maintainer>
<license file="LICENSE">BSD</license>
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