add latest dev changes and fixes

CHANGELOG.rst

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+^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package ifm3d-ros
+^^^^^^^^^^^^^^^^^^^^^^^^^
+
+1.0
+===
+
+1.0.0
+------
+
+Braking changes:
++ Restructure the ifm3d-ros package into independent subpackages. Please check your path declarations again, especially for the launch files and messages and services.
+
+Changes between ifm3d_ros 0.6.x and 1.0.0:
++ Order of axis changed in 3D (cloud topic and extrinsic calibration parameters): This wrapper keeps the axis orientation as defined by the underlying API, ifm3d. Therefore, you may see a different axis order for the cloud message compared to older versions of the ifm3d and ifm cameras.
++ Extrinsic calibration parameters: now conistent with SI units, e.g. translation are scaled in `m` and rotation parameters are scaled in `rad`.
++ Added publisher for 2D RGB data
++ Use CameraBase for compatibility with other O3 devices
++ Comment out methods / publisher which are not available for the O3RCamera (at the moment)
++ Comment out the unit vector publishing
++ Changed services trigger and softon, softoff to be compatible with new JSON methods and schema.
++ Changed service trigger to a dummy method until triggers are implemented for the O3R platform. It only has a status message at the moment.
++ Changed service dump: coverts from json to str for displaying the message
+
+added:
++ Added pcic_port to the list of framegrabber arguments
+
+known limitations:
++ This version of the ifm3d-ros package only works with the O3R camera platform.
+
+
+0.6
+===
+
+0.6.2
+-----
+Changes between ifm3d_ros 0.6.1 and 0.6.2
+
+* Updated maintainer email address
+* Added ifm3d-core dependency in preparation for submission to the ROS index
+
+0.6.1
+-----
+
+* Added support syncing the system and camera clocks at startup. Side-effect,
+  is we can now stamp the images with the camera-side capture time and not the
+  host-side reception time.
+* Added the `SyncClocks` Service
+
+0.6.0.
+------
+
+* Added a image transport plugin _blacklist_ to the nodlet launch file. This
+  prevents many of the errors seen in the terminal when running `rosbag -a` to
+  capture camera data
+* Added the `SoftOn` and `SoftOff` service calls
+
+0.5
+===
+
+
+0.5.1
+-----
+
+* Added support for Ubuntu 18.04 and ROS Melodic
+
+0.5.0
+-----
+
+* Converted primary data publisher to a nodelet architecture
+* Provide the `dump` and `config` scripts to call into the exposed ROS services
+  of the nodelet. Removed the older "config node".
+* Added unit tests
+
+0.4
+===
+
+0.4.2
+-----
+
+* Now requires ifm3d 0.9.0 and by association the more modernized tooling
+  (C++14, cmake 3.5, dropped support for 14.04/Indigo, etc.)
+
+0.4.1
+-----
+
+* Now publishing extrinsics on a topic
+
+0.3
+===
+
+* Added `Dump` Service
+* Added `Config` Service
+* Added `Trigger` Service
+
+0.2
+===
+
+* Updates to CMakeLists.txt to support Ubuntu 14.04 and ROS Indigo
+
+0.1
+===
+
+This file has started tracking ifm3d_ros at 0.1.0
+
+* Initial (alpha) release

README.md

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+# ifm3d-ros wrapper around the ifm3d library
+
+# Release versions
+
+:warning: Note that the `v1.0.x` branch is generally in a work in progress state, and you probably want to use a tagged [release version](https://github.com/ifm/ifm3d-ros/releases) for production.
+
+## ifm3d-ros for the O3R
+
+**NOTE: The ifm3d-ros package has had major changes recently. Please be aware that this might cause problems on your system for building pipelines based on our old build instructions.**  
+We tried to ensure backward compatibility where ever possible. If you find any major breaks, please let us know.  
+
+
+ifm3d-ros is a wrapper around [ifm3d](https://github.com/ifm/ifm3d/) enabling the usage of the O3R camera platform (ifm ToF cameras) from within [ROS](http://ros.org) software systems.  
+
+![rviz1](ifm3d_ros_driver/doc/figures/O3R_merged_point_cloud.png)
+
+## Software Compatibility Matrix
+
+|**ifm3d-ros version**|**ifm3d version**|**ROS distribution(s)**|
+| ------------ | ------------ | ------------ |
+| 1.0.0 | in development - latest version checked 0.91.0 | Noetic |
+
+### Internal ifm3d-ros subpackage version structure
+Please see the internal subpackage version structure for a known `ifm3d-ros version`.
+
+|**ifm3d-ros version**|**ifm3d_ros_driver**|**ifm3d_ros_msgs**|**ifm3d_ros_examples**|
+| ------------ | ------------ | ------------ | ------------ |
+| 1.0.0 | 0.7.0 | 0.1.0 | 0.1.0 |
+
+## Organization of the software
+
+The `ifm3d-ros` meta package provides three subpackages:
+- `ifm3d_ros_driver` provides the core interface for receiving data for ifm 3d (O3R) cameras. 
+- `ifm3d_ros_msgs` gathers the ifm-specific messages types and the services for configuring and triggering the camera.
+- `ifm3d_ros_examples` provides additional helper scripts and examples.
+
+The name `ifm3d-ros`  was kept even tough this is not consistent with ROS package naming conventions.   
+This ROS package has been split into three sub packages in an effort to facilitate dependency handling on distributed systems and simplify deployment on embedded platforms. For instance, the package `ifm3d_ros_msgs` can be installed independently of the other packages to control the camera from a separate computing platform. The `ifm3d_ros_examples` holds our launch files and examples.
+
+## Building and installing the software
+
+1. Preparing your system: [Noetic](ifm3d_ros_driver/doc/noetic.md)
+2. [Installing the ifm3d-ros node](ifm3d_ros_driver/doc/building.md)
+
+# LICENSE
+Please see the file called [LICENSE](LICENSE).

ifm3d-ros/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(ifm3d-ros)
+find_package(catkin REQUIRED)
+catkin_metapackage()
+

ifm3d-ros/LICENSE

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ifm3d-ros/package.xml

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+<?xml version="1.0"?>
+<package format="2">
+
+  <name>ifm3d-ros</name>
+  <version>1.0.0</version>
+  <description>metapackage for the ifm3d-ros package group which interacts with the ifm 3D ToF Camera ROS package</description>
+  <maintainer email="[email protected]">ifm CSR group</maintainer>
+  <license>Apache 2</license>
+  <author email="[email protected]">CSR ifm sytron</author>
+
+  <url type="repository">https://github.com/ifm/ifm3d-ros/</url>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <exec_depend>ifm3d_ros_driver</exec_depend>
+  <exec_depend>ifm3d_ros_examples</exec_depend>
+  <exec_depend>ifm3d_ros_msgs</exec_depend>
+
+  <export>
+    <metapackage />
+
+  </export>
+</package>