v1.2.0: - Create an ODS node to publish ODS data:

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

v1.1.0

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

v1.0.1

• 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).

v1.0.0

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

known limitations

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

v0.3.0

0.3.0 (2020-01-31)

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