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Changelog for package ifm3d-ros2

1.2

1.2.0

  • Create an ODS node to publish ODS data: * The launch file ods.launch.py can be used, * Add two topics, "~/ods_info" and "~/ods_occupancy_map_ros", * An example launch configuration for ODS is provided ods_default_parameters.yaml and can be used with the launch file, * It is expected that ODS is configured before the node is launched. Alternatively, one can use the new config_file parameter.

  • Remove the diag_mode parameter: diagnostic is always polled periodically and published to "/diagnostic"

  • Add the GetDiag service for polling filtered diagnostic data.

  • Camera info topic: * Add a "~/camera_info" topic for RGB cameras. * The "~/camera_info" topic for the TOF cameras is published when the TOF_INFO buffer is requested, instead of the INTRINSIC buffer.

  • Add a config_file parameter. It should be formatted in JSON and will be used to configure the device when the CONFIGURE state is triggered.

  • Transforms: * The cloud_link was renamed to ifm_base_link, and is used as the reference ifm calibrated coordinate system for all ifm data (RGB, 3D and ODS). * The transforms between the cloud_link (now ifm_base_link), and the mounting_link and optical_link are fixed. * The mounting_link to optical_link transform is read when the first TOF_INFO or RGB_INFO buffer is received, and remains constant. * The ifm_base_link to mounting_link transform is published once when the first TOF_INFO or RGB_INFO buffer is received, and is only re-published subsequently if changed. * The camera node parameters related to tf publication got reworked, the new parameters are:

    • tf.base_frame_name: Name for ifm reference frame
* tf.mounting_frame_name: Name for the mounting point frame
* tf.optical_frame_name: Name for the optical frame
* tf.publish_base_to_mounting: Whether the transform from the ifm base link to the camera mounting point should be published
* tf.publish_mounting_to_optical: Whether the transform from the cameras mounting point to the optical center should be published

1.1

1.1.0 (unreleased preparations for FW 1.4 release)

  • Update for compatibility with O3R FW 1.4.x and ifm3d >= 1.4.3 * Tested with FW 1.4.22 and ifm3d API 1.4.3 * Tested with FW 1.4.22 and ifm3d API 1.5.3

1.1.0

  • Update for compatibility with O3R FW >= 1.0.14 and ifm3d >= 1.2.6 * Using ifm3d::O3R instead of ifm3d::Device to access camera * Added buffer_id_list param to define which data to get from the device and consequently which topics to publish. Maps to ifm3d buffer_id.
  • Remove the need to use cyclonedds: TODO: verification
  • Remove dependency to Boost library
  • Include Dockerfile and helper scripts: * Dockerfile for building the ROS2 node inside a Docker container * Helper build and launch scripts for ROS Docker images * Adds docker-compose example files for launching the ROS node on a O3R edge device: VPU
  • Moved Publishers into node namespace: This matches the ifm3d-ros2 node version's naming (<= 1.0.x).
  • Switch to a new camera.launch.py launch file (instead of camera_managed and camera_standalone): launches and activates a single camera node * focusses on configurability * camera_default_parameters.yaml contains only default params * Add option for visualization to launch file: If visualization is true, RViz2 with the config file from etc is opened * Formatting of node names improved
  • old launch files are marked as deprecated and will be removed with next release: please migrate your launch files to the new structure
  • Switching json handling to ifm3d::json
  • Reduce logging level for continuous outputs.
  • Added topics: * diagnostics (published to global /diagnostic topic), * camera_info, * TOF_INFO, * RGB_INFO, * extrinsics
  • Added parameters: * log_level, * tf related parameters (see parameters doc for more details), * buffer_id_list, * diag_mode

1.0

1.0.4 (unreleased)

  • Updating to underlying ifm3d API version 1.1.1
  • Name change for TOF_INFO and RGB_INFO buffer.
  • Added Error, AsynError and AsyncNotification callbacks.

1.0.3 (unreleased)

  • Updating to underlying ifm3d API version 1.0.1
  • Switching to using buffer_ids instead of schemas to determine data types.
  • Introducing buffer_id_utils.hpp for buffer_id handling.

1.0.2

  • Fixed tf chain in launchfiles

1.0.1

  • Removed dependencies to OpenCV and PCL and the Image module of the ifm3d library. Now using the StlImage module of ifm3d.
  • The RGB image is published as a compressed JPEG image. To view it with RViz, you can use the image_transport republish node (see documentation).
  • Update the launchfiles for compatibility with pyyaml 6.0 (backward compatibility maintained down to pyyaml 5.1).

1.0.0

  • Update the ROS node for the O3R camera platform
  • add a 2D RGB data publisher
  • add support for specifying the PCIC data communication TCP port
  • add example yaml files and launch file for multi PCIC TCP port settings
  • add service functions for setting each camera head to RUN / IDLE state
  • update the dump and config service to O3R JSON structure
  • removed unit vector publishing: please use the intrinsic camera calibration parameters instead
  • removed the temperature publisher until diagnose chunk is available
  • removed axis permutation for ROS node specific axis order
  • removed xyz image publisher

known limitations

  • DDS settings need to be set to cyclonedds - ROS 2 Galactic is the preferred ROS 2 distro atm.

0.3.0 (2020-01-31)

  • Publish camera temperature (Thanks @dustingooding of Houston Mechatronics)
  • Tested on Eloquent

0.2.0 (2019-06-26)

  • Provided an implementation of the Dump service
  • Provided an implementation of the dump command-line tool
  • Provided an implementation of the Config service
  • Provided an implementation of the config command-line tool

0.1.1 (2019-06-25)

  • Unit vectors are published on a "latched topic". Please see qos.hpp for the specifics of the QoS profile ifm3d_ros2::LatchedQoS.
  • On-camera extrinsics in support of off-line point cloud computation are now exposed.
  • Bootstrapped some unit tests
  • Cleaned up some documentation.

0.1.0 (2019-06-06)

  • Initial (alpha) release