Changelog

Possible types are Added for new features. Changed for changes to the existing functionality. Deprecated for features that will be removed in future versions Removed for deprecated features that were removed in this release. Fixed for all bug fixes. Security to prompt users to update in case of closed vulnerabilities.

Release v3.8.0

  • Added Extra frameid for IMU message

  • Added ROS2 kilted support

  • Changed Fix code block indentation in README

  • Changed README: add layer suffixes explanation and general improvements

  • Changed Optimized CMakeLists.txt (ROS2 distros as list)

  • Fixed Relaxed required field test

  • Fixed ASCII parsing for TiM240

Release v3.7.0

  • Fixed TiM7xx fieldset settings and services, #394, #408

  • Changed README.md and cmake requirements

  • change Publish lferec messages latched, #420

  • Fixed TCP connection timeout, #424

  • Added Support for LRS-4xxx IMU and contamination data, #418

  • Changed Improved TiM-7xx field evaluation status after start, #420

  • Changed Dockertests for ROS-1, ROS-2 and API

  • Fixed Timestamp handling (corrected system time estimation from transmit vs. generation timestamps), #428

  • Fixed Disable UDP-Parsing during reinitialisation

  • Fixed ParameterAlreadyDeclaredException on reinitialisation

  • Added LaserScan messages encode reflector detection through high intensity values

  • Changed user level and user password can be freely specified in the launch file. For picoScan, multiScan and LRS4xxx, the default user level is 4.

Release v3.6.0

  • Added Launchfiles and configuration for picoScan120

  • Added Optional AngleRangeFilter and IntervalFilter for picoScan

  • Fixed Obsolete topic “/sick_multiscan/scan” removed

  • Added IMU automatically deactivated after receiving an error code for IMU activation from picoScan w/o addons

  • Fixed Customization of hash values for authorization #366

  • Fixed Replaced builtin_addressof expressions #370

  • Added Different UDP timeouts for state initial and running, improved UDP timeout handling

  • Fixed Picoscan range_min value in laserScan message #382

  • Added Support for RMS2xxx LIDoutputstate telegrams

  • Fixed sick_generic_caller debug assertion #385

  • Added Check of udp receiver ip at startup

  • Added cmake-option to overwrite optimization level

  • change Documentation restructured

  • Added Improved field evaluation TiM7xx, Tim7xxS (publish LIDinputstate messages, configuration and services for options FieldSetSelectionMethod and ActiveFieldSet)

  • Added PicoScan parameter add_transform_xyz_rpy #399

  • Fixed LMS4000 encoder settings #403

  • Fixed CMake-flag for target sick_scan_xd_api_dockertest #404

  • change Merge PR #405 (typo) and PR #406 (sick_scan_xd_api_test)

Release v3.5.0

  • Added Optional switch between “system timestamps” (default) and “tick timestamps”

  • Added Extract sick_scan_xd version from package.xml

  • Added Add git info to sick_scan_xd version

  • Fixed #316 (blocking API-close in case of wrong ip-address)

  • Added #321, #310 (optional cmake-flag to set a calling convention for API calls)

  • Added Hector SLAM configuration and example for picoScan

  • Added Correction angle shift settings for LRS-36x0 and OEM-15xx

  • Added Update FAQ (Network settings etc.)

  • Added Integration PR #347 (NAV350 landmarks)

  • Added Support for 3D-SLAM (OctoMap, RTAB-Map, timestamps for each scanpoint for deskewing, configuration example for multiScan)

  • Added customisations for gcc 13 (Ubuntu 24)

  • Added Update for bloom releases ROS-2 iron and jazzy

  • Added Configuration multiScan interval filter via launchfile (#352)

  • Added SPDX licence text (PR #354)

  • Fixed Fix #355 (API launchfile parsing error)

  • Added Example configurations for parallel operation multi and picoScan

Release v3.4.0

  • Added azimuth angle table for MRS-1xxx and LMS-1xxx with firmware 2.2.0 oder newer

  • Added dockertests for MRS-1xxx, multiScan and picoScan with ROS-2

  • Added API-funktion SickScanApiSendSOPAS to send SOPAS commands (e.g. “sRN SCdevicestate” or “sRN ContaminationResult”)

  • Added generation of TF messages

  • Added Option to deactivate initialization sequence for TiM-7xxS devices

  • Added Documented option “-b master” to clone the release version

  • Fixed #316 API re-init nach close

Release v3.3.0

  • Added Option for MRS1xxx azimuth correction table

  • Added Support for picoScan100 (single echo w/o addons)

  • Added API logging functions and verbosity (#270)

  • Added API documentation (multiple lidars not supported, #281)

  • change API extended (added topic in PointCloud messages, #271)

Release v3.2.0

  • Added IMU support for multiScan and picoScan

  • Added support bloom releases for ROS-2 humble

  • Added docker tests for ROS1 noetic incl. testcases for multiScan, picoScan, MRS1xxx

  • Added PR #255, support picoScan performance profiles

  • change configuration time flag LMDscandatacfg switched off for the TiM240

  • Fixed #218 (API reinit)

  • Fixed #220 (Fullframe Laserscan messages multi- and picoScan)

  • Fixed #221 (No scandata while activated scan range filter)

  • Fixed #222 (rviz visualization of polar pointclouds)

  • Fixed #247 (Launchfile option for laserscan topic)

  • Fixed #256 (Clean API-exit picoScan and multiScan)

  • Fixed #260 (Provide API-functions to query lidar status, error codes and error messages)

Release v3.1.0

  • Added IMU support for multiScan

  • Added LaserScan output for picoScan

  • Fixed API reinit

  • Fixed multiScan data output with range filter activated

  • Fixed adapt multiScan startup and shutdown sequence

  • Fixed adaptations for MRS-1000 v2 firmware

Release v3.0.0

This release has a new major version as it breaks with the previously used ROS module name “sick_scan”. For consistency, the ROS module name has been changed to “sick_scan_xd” to match the name used everywhere else.

  • Added New topics for additional data and properties

  • Added Official ARM64 support

  • Added Service for requesting contamination detection information

  • change Improvements from customer tickets and documentation enhancements

  • Fixed ROS module name consistency

Release v2.10.3

  • Fixed avoid problems with min/max definition in the STL and preprocessor definitions

Release v2.10.2

  • Fixed correct picoScan details in documentation and launch files

Release v2.10.1

  • Changed make Compact format the default for picoScan and multiScan

Release v2.10.0

  • Added picoScan support

  • Added Compact format support

  • Added LMS4000 encoder setting support

  • Fixed multiScan angle range filter parameter unit

  • Fixed MRS1104 diagnostic message

  • Fixed TiM781S login

v2.9.1 - Angle correction

  • Fixed Angle correction (min/max angle settings), fix #166

  • Fixed TiM240 initialization (start measurement)

  • Added Documentation for Interlacing mode

v2.9.0 - RMSxxxx support and NAV350 support

  • Added RMSxxxx support, unification of RMS-1xxx and RMS-2xxx Note: RMSxxxx supports ASCII-communication mode only (Cola-A).

  • Changed #159 (nav310 angle setting compability), merge with NAV310 angle settings branch https://github.com/SICKAG/sick_scan_xd/tree/159-nav310-angle-setting-compability

  • Changed Documentation LD-LRS3600,LD-LRS3601,LD-LRS3611,LD-OEM1500,LD-OEM1501 support

  • Changed Removed obsolete RMS-3xx

  • Added NAV350 support

  • Changed Merge lms511_field_mon (fix lms511 field parsing and wait api), default_echo_setting (activate last echo by default), monitoring_ros2_qos (ROS2 QoS configuration), scansegment_xd_support (update build instructions), rename-mrs100-multiscan, rename-fullframe-topic

v2.8.15 - Release Jan. 2023

  • Changed Win64 build instructions

  • Changed API documentation, driver states diagrams and typos

  • Added LRS-36xx configuration for upside-down mounting

  • Removed Obsolete service commands and RMS3xx support

  • Fixed LRS-36xx angle configuration

  • Fixed catkin_lint warnings

  • Fixed ROS-2 Humble build

v2.8.14 - Laserscan messages for multiScan136

  • Changed Laserscan messages for multiScan136 lidar, #96

v2.8.13 - Dynamical pointcloud transform and QoS configuration

  • Changed Configuration of ROS quality of service by launchfile, #101

  • Changed Dynamical configuration of an additional pointcloud transform by rosparam, #104

v2.8.11 - LMS 1xxx support

  • Changed LMS 1xxx support with scan configuration (scan frequency and angular resolution for firmware 2.x)

v2.8.10 - RMS ascii emulator and tests

  • Changed RMS ascii emulator and tests

  • Changed RMS2xxx support

v2.8.9 - MRS-1000 layer angle conversion, improved MRS 1xxx support

  • Fixed MRS-1000 layer angle conversion for slam support

v2.8.8 - RMS1xxx Cola-ASCII support

  • Changed Update for RMS1xxx Cola-ASCII support

v2.8.7 - Range filter

  • Changed Range filter settings, #98 and #108

  • Changed Preparation for RMS1xxx support (tutorial, preparation for RMS1/RMS2, not activated)

v2.8.6 - multiScan136 update

  • Changed multiScan136 update for 16-bit RSSI and modified SOPAS startup sequence

v2.8.5 - LRS4000 update

  • Changed LRS4000 extended configuration (glare detection sensitivity, echo-, mean-, median-filter)

  • Added ROS-2 usage example

v2.8.4 - Generic API

  • Changed Fix of version number

  • Added GETTINGSTARTED.md

v2.8.3 - Generic API

  • Changed Update for ROS-2 Humble and docker container

  • Changed Integrate API feedback, documentation and minimalistic usage examples

  • Added Minimalistic API usage examples (Python, C, C++)

  • Changed Documentation

  • Changed Doxygen and numpy.docstring support

  • Fixed Compiler warnings (Visual Studio)

  • Changed README.md restructured

  • Changed Collected update including previous v2.8.x changes

v2.8.2 - development branch

  • Fixed Update build instructions in README.md, visualization in python API-example with low frequency to reduce cpu usage.

v2.8.1 - development branch

  • Added Generic API implementation

  • Fixed LMS-111 field marker

v2.8.0 - development branch

  • Added Generic interface, C-API

  • Changed merge pull request #85 (adapt to ROS2 Humble)

  • Changed Changed to namespace roswrap in ros wrapper classes

  • Fixed Library linker flag #91

v2.7.5 -

  • Fixed MRS6124 pointcloud error #88

v2.7.4 -

  • Fixed ROS2 compilation error #83

v2.7.3 -

  • Added Supported for LFPmeanfilter and LFPmedianfilter (MRS1xxx, LMS1xxx, LMS4xxx, LRS4xxx)

  • Added Supported for LMDscandatascalefactor (LRS4xxx)

v2.7.0 -

  • Added V2.7.0: Support for multiScan136 (sick_scansegment_xd)

  • Fixed Timestamp LaserScan-message corrected (identical timestamps in LaserScan- and PointCloud2-messages, both by Software-PLL)

v2.6.8 -

  • Fixed Merge pull request #76

v2.6.7 -

  • Changed LMS511 configuration #67

v2.6.6 -

  • Changed NAV310 + LRS4xxx update, issues #58, #59, #60, #61

v2.6.5 -

  • Fixed LRS4xxx scan configuration #52

v2.6.4 -

  • Fixed LMS5xx echo filter settings corrected

v2.6.3 -

  • Fixed Timestamp Laserscan message corrected

v2.6.2 -

  • Fixed LDMRS spinning problem corrected

v2.6.1 -

  • Added V2.6.1: Support for RMS-1xxx binary protocol

v2.6.0 -

  • Changed V2.6.0: RMS configuration update, issue #7

v2.5.2 -

  • Fixed Fix LSR-4xxx laserscan angles #28

  • Fixed Fix duplicated laserscan messages #28

v2.5.1 -

  • Fixed Error after SOPAS command SetAccessMode #27

v2.5.0 -

  • Fixed Issue #24 (stop scanner at exit)

  • Added new ros service SickScanExit to stop scanner and exit

v2.4.6 -

  • Fixed Corrected angle shift parameter for LMS-4xxx

  • Changed Typo corrected

v2.4.5 -

  • Changed bugfix #158 (driver terminates), modified SOPAS-startup sequence.

v2.4.4 - 2022-01-25

  • Added Support min and max angle configuration for LRS-3601

  • Changed Mirroring for NAV-3xx

v2.4.3 - 2022-01-18

  • Changed Rename class sick_lidar::Util to namespace sick_lidar::util

  • Fixed FREchoFilter bug for LD-LRS36xx

  • Added Support of TiM240

  • Added Automatic switch to specified SOPAS mode (binary vs. ASCII) during startup

Releases previously logged in CHANGELOG.rst

v1.10.1 (2021-03-18)

  • Update ipconfig.md

  • Update ipconfig.md

  • Update ipconfig.md

  • Contributors: Michael Lehning

v1.7.8 (2020-09-02)

  • fixes #100 <https://github.com/SICKAG/sick_scan/issues/100>_

  • Update software_pll.md

  • software pll information added

  • Update angular_compensation.md

  • angle compensator

  • compensation example plot updated

  • angle compensation fixed for NAV2xx

  • sizt_t warning reduced, bugfix for result flag by changing ip address

  • network comp. to windows

  • pcl dependency modified

  • Contributors: Michael Lehning

v1.6.0 (2020-05-14)

  • NAV 210+NAV245 support added code reformated

  • NAV310 added

  • Contributors: Michael Lehning

v1.4.2 (2019-11-14)

  • fixed timing issues with MRS6124

  • added launch info for lms4xxx

  • added LMS 4xxx support

  • tim_7xxS dependencys included

  • Adding info for 7xxS-Launch-file

  • safety scanner added

  • added dependency for thrusty

  • added information about TIM 7xx launch

  • IMU Support, scan freq. and angle. resolution settings added

  • TiM7xx integrated

  • typical startup sequence

  • added lms1xx hires mode

  • added support for high ang. resolution for LMS 1xx

  • added pointcloud chopping

  • Issue resolve handling added

  • Pointcloud splitting prepared

  • added timing documentation

  • cartographer support improved

  • improved IMU support

  • Update google_cartographer.md

  • added Networktiming PLL

  • improved performance, start of tim7xx integration

  • Contributors: Michael Lehning

v0.0.16 (2019-02-14)

  • Update README.md

  • Improved performance

v0.0.15 (2019-02-05)

  • Update README.md

  • Support for Ubuntu Trusty #001 <https://github.com/SICKAG/sick_scan/issues/001>

  • ip v4 parsing changed due to support of older linux version

  • Contributors: Michael Lehning, Unknown

v0.0.14 (2019-01-31)

  • Merge branch ‘devel’

  • ip address setting support, improved Debug MSG

  • Updated MRS6xxx launchfile

  • getting diagrams otimized for MRS6124

  • Warning option as comment added

  • compilation fixes for uninitialized variables and no return functions

  • writing ip address to eeprom prepared

  • improved imu support

  • added Python script to detect scanners

  • Added first implementation of imu support

  • IMU message handling prepared

  • added Ip arg name

  • Updated meshes

  • Sample file for launching and rviz-config files

  • Added lms1 and lms5 meshes and urdfs for them. The gazebo sensors might still need work

  • Lookup Table for multi echo fixed

  • Test tool integrated into CMakeLists.txt

  • Build receipt for sensor_alighment

  • Fix for startup procedure to enable automatic SOPAS ascii to SOPAS bin.

  • stopScanData introduced, init flag introduced, signal handler introduced change start process to state machine

  • radar_object_marker launch file updated

  • Radar Simulation optimized

  • Parsing of PreHeader fixed and simulation optimized Raw target added for simulatoin

  • RMS3xx documentation

  • Preheading Parsing optimized

  • Radar preheader parsing extended

  • Radar datagram explanation

  • Only first echo for MRS6124 as default to reduct data volume

  • radar visualization optimized

  • marker optimized

  • clean of of radar_object_marker

  • support hector slam

  • SLAM-Support documentation

  • hector slam support

  • initial radar documentation added

  • cleanup test program

  • test launch file added to show pointcloud2 AND scans for the MRS1xxx

  • timestamp of radar msg. improved, pointcloud2 debug messages for raw target and object targets added

  • launch file for rosbag testing added

  • Launch file for combination of laser scanner and radar added

  • PCL converter ignores missing intensity values

  • point cloud2image filter added, timestamping optimized

  • Device Identiier handling opimized for MRS1xxx and LMS1xxx

  • test files added

  • omitting of laserscan frameid fixed

  • debug messages removed from test script

  • generation of test launch file without starting the test can be controlled by using setting flag entry launch_only to true.

  • Switching of radar properties improved

  • Tracking method and output selection for radar

  • Test application for using min/max-interval checking and added more test parameter

  • support for rms3xx prepared

  • Copyright added

  • licensed under apache 2.0

  • file based simulation based on file name pattern added and evaluated.

  • patches for ubuntu

  • pointcloud2 prepared

  • Parsing and test driven development optimized

  • Simulation for objects added

  • support of radar simulation

  • Contributors: Dave Niewinski, Michael Lehning, Sai Kishor Kothakota, Unknown, unknown

v0.0.13 (2018-05-02)

  • moved some cpp files to ensure Debian compatibility

  • Contributors: Unknown

v0.0.12 (2018-04-25)

  • Added script to start all test sequentially

  • Added RSSi and Range Deviation Test to sick_scan_test

  • channel handling for 8 bit rssi values corrected

  • Defines for param keyword introduced

  • added ros param for rssi data size 16 or 8 Bit

  • added rssi resolution configswitch

  • support for LMS_5xx and LMS_1xx added

  • testprogramm can now handle comments;

  • Test instructions added

  • Generation of result file

  • inital test revisited

  • Initial version protocol tester

  • Tiny XML Parser added

  • added Sopas protocol param

  • Added Tools and driver folder, removed unnecessary libusb dep.

  • Added scanner_type to parameter set to allow the processing of parallel scanners

  • timeout handling improved

  • reading thread times after connection lost Timeout settings optimized

  • protocol switching supported

  • Protocol switching implemented

  • added timeout and binary/ascii detection

  • Support of LMS1104 debugged, skipping scan mgs. publish for MRS6124 (only pointcloud)

  • Adding MRS6124 link to supported scanner table Edited trouble shooting

  • Add documentation for network stack

  • scandataCfg for binary commands prepared

  • min_ang, max_ang adapted for MRS6xxx

  • LMS1000 support continue, Bug fix for parsing distance value MRS6xxx, mrs6xxx.launch modified

  • COLA_A and COLA_B prepared

  • Package handling optimized (for asynchron tcp data transfer)

  • Debug info added for receiving tcp packets

  • Support of MRS1104

  • Cleanup and supporting Tim571

  • errorhandler added

  • First version with 9413 bytes packet

  • tcp handling optimized

  • Queue introduced

  • colaa+colab libs included

  • Parsing of MRS6xxx-data packages integrated

  • Timeout incremented due to startup wait phase for MRS6xxx

  • Sleep duration between inital commands changed from 2.0 to 0.2

  • Sleep of 10 Sec. introducted after start scandata to ensure that the scanner comes up.