From bb2ab24ac6b0ea480bce1d371b0e5e06a3d17b87 Mon Sep 17 00:00:00 2001 From: Ussama Naal <606033+Samahu@users.noreply.github.com> Date: Thu, 9 Nov 2023 15:08:57 -0800 Subject: [PATCH] SW-5622: Bump up ouster_client to 20231031 release (#249) * Bump up ouster_client to 20231031 release * Add a note to CHANGELOG regarding support drop for melodic distro --- .github/workflows/docker-image.yml | 1 - CHANGELOG.rst | 118 ++++++++++++----------------- ouster-sdk | 2 +- package.xml | 2 +- 4 files changed, 51 insertions(+), 72 deletions(-) diff --git a/.github/workflows/docker-image.yml b/.github/workflows/docker-image.yml index ebeaf4db..b723fafd 100644 --- a/.github/workflows/docker-image.yml +++ b/.github/workflows/docker-image.yml @@ -15,7 +15,6 @@ jobs: fail-fast: false matrix: ros_distro: - - melodic - noetic steps: - uses: actions/checkout@v3 diff --git a/CHANGELOG.rst b/CHANGELOG.rst index 677f7e71..4b36cef0 100644 --- a/CHANGELOG.rst +++ b/CHANGELOG.rst @@ -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 @@ -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 diff --git a/ouster-sdk b/ouster-sdk index d7307986..2898060f 160000 --- a/ouster-sdk +++ b/ouster-sdk @@ -1 +1 @@ -Subproject commit d73079865ebadd961d7af81b235bb34747f7cb6a +Subproject commit 2898060fb47a69b4fbf9807d3c17f6fdc8249379 diff --git a/package.xml b/package.xml index b0d260f8..965cec66 100644 --- a/package.xml +++ b/package.xml @@ -1,7 +1,7 @@ ouster_ros - 0.9.3 + 0.10.0 Ouster ROS driver ouster developers BSD