release v1.5.17

Added

• Support RSAIRY.
• Support parsing IMU data for RSAIRY and RSE1.
• Support parsing IMU extrinsics parameters frome difop for RSAIRY.

Changed

• Add feature attribute to point type.
• Update help document.
• Update block_time_offset as us for RSE1

Fix

• Fix compilation bug in win/input_socket_select.

release v1.5.16

Added

• Support sn parsing of RSMX.

Fixed

• Update msop protocol of RSMX.
• Fix compilation bug in epoll socket.
• Fix compilation warning for unit tests.

release v1.5.15

Added

• Support RSM3.

release v1.5.14

Added

• Support multiple lidars with different multicast addresses and the same port.

Fixed

• Fixed the bug that only one lidar was parsed correctly when multiple bp4.0 were used.

v1.5.13

Added

• Support RSMX.

Fixed

• Update timestamp parsing unit and the number of packets per frame in decoder_RSE1.
• Update firing_tss of Helios/Helios16P/RubyPlus.
• Fix compilation bug of unit test.

v1.5.12

• Fix bug in getting device info and status.
• Fix bug in getting device temperature.

v1.5.11

Added

• Split frame at the end of frame.

Changed

• Enable modify socket buffer size.

Fixed

• Fix the bug of rs_drvier_viewer.cpp abnormal crash.
• Fix fir_tss of RSBPV4.
• Fix rotation direction of RSBPV4 when reversal.

v1.5.10

• Merge RSBPV4 into RSBP

v1.5.9

Fixed

• Fix timestamp value (T) of XYZIRT for RS128
• Fix PCL point cloud message. Adapt it to the format of the output file of rslidar_sdk.

Added

• Add examples to parse DIFOP packets to get config/status data.
• Support CRC32 check on MSOP/DIFOP packets.

Changed

• Recover frame_id field for C user.
• clear current cloud point when stop the instance of rs_driver.
• Filter MOSP/DIFOP messages with two bytes instead of one byte.

v1.5.8

v1.5.8

Fixed

• Revert "Report error ERRCODE_MSOP_TIMEOUT if only DIFOP packet is received", to avoid incorrect error report.
• Fix error distance of RSM2. Change it to 250m.

Added

• Add User's guide document

Changed

• Rename RSEOS as RSE1
• Let user's distance values cover LiDAR's