3.1.0 (2020-11-17)

• Change: publish all images on */image_rect topics, meaning don't filter out1 low in alternate mode

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• Change: always publish *_out1_low and *_out1_high topics even if no iocontrol license is available

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• debug messages when GenICam params are changed

• rename adaptive_out1_reduction to out1_reduction

• add Out1High camera_exp_auto_mode (requires rc_visard firmware <= 20.10.1)

• add depth_double_shot parameter (requires rc_visard firmware <= 20.10.1)

3.0.5 (2020-10-20)

• add noise, test, adaptive_out1_reduction and brightness to CameraParam extra_data if available

3.0.4 (2020-09-23)

• Removed forgotten debug log output

3.0.3 (2020-09-22)

• Removed parameter disparity range as it will be removed on rc_visard >= 20.10.0 (Use dynamic parameters depth_mindepth and depth_maxdepth for controlling the

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  depth range and coloring of disparity_color images.)

3.0.2 (2020-07-28)

• Fixed filtering out images with projection if stereo matching is used single shot and controls a random dot projector
• Removed parameter depth_median as it will be removed on rc_visard >= 20.10.0
• rc_pick_client: fix grasp markers
• Fixed dockerfiles
• Update readme

3.0.1 (2020-05-14)

3.0.0 (2020-05-13)

• rc_visard_driver depends on rc_common_msgs >= 0.5
• Added estimated noise level of image as extra_data in CameraParam message
• Added dynamic parameter camera_exp_auto_mode with backward compatibility to old rc_visards
• Only update dynamic out1_mode parameter from buffers with intensity images or by polling global nodemap
• Ensure that the alternate active mode is set before publishing images
• Used updating of out1_mode to check for valid connection, even if no buffers are expected.
• dynamic reconfigure parameter out1_mode is automatically updated if changed on sensor
• Disparity range that is used for disparity images and visualization now correctly considers quality setting
• warn if DepthAcquisitionMode is not supported by rc_visard firmware version
• add complete_buffers_total to diagnostics
• Publish rc_common_msgs/CameraParams with every image. This provides information that is missing in CameraInfo, like current exposure time and gain.
• add imu2cam as static tf which is published once the driver is ready - driver checks if cam2imu transform can be retrieved from sensor or if sensor image is too old - in first case static tf is published - in latter case old behaviour is implemented, i.e. tf is published when subscribed to dynamics stream
• fix empty error message
• change to warning for those logs that inform about missing left images for disp images
• Implemented depth acquisition mode SingleFrameOut1
• Contributors: Christian Emmerich, Felix Ruess, Heiko Hirschmueller

2.7.0 (2019-07-19)

• replaced std_srvs/Trigger with rc_common_msgs/Trigger
• add support for setting exposure region via dynamic_reconfigure

2.6.4 (2019-06-19)

• fix race condition when changing exposure mode from auto to manual
• require ROS version with SteadyTime
• use enums in dynamic reconfigure for easier usage

2.6.3 (2019-06-12)

2.6.2 (2019-06-11)

2.6.1 (2019-05-20)

2.6.0 (2019-05-20)

• auto-start dynamics only on the very first startup
• improve handling and error messages for dynamics streams
• update exposure and gain after switching from auto to manual
• add check if rc_visard ready (genicam feature: RcSystemReady)
• if multipart is available, still send single components per buffer
• refactoring/cleanup

2.5.0 (2019-02-05)

• add parameter for max number of reconnections
• fix: enable driver to try to recover even if the very first time no connection worked out
• add diagnostics
• fix reporting of package size
• Fixed hanging image streams after restart of sensor
• Support for rc_visard firmware v1.5.0 additions (require StereoPlus license) * quality full * advanced smoothing
• improved driver's auto-connect behavior
• also reapply dynamic_reconfigure params after recovery
• fix projection matrix in published right CameraInfo

2.4.2 (2018-10-29)

2.4.1 (2018-10-29)

• Fixed link error if rc_genicam_api is not installed in a standard directory
• docker images: upgrade packages first

2.4.0 (2018-10-16)

• added depth_acquisition_mode parameter
• added depth_acquisition_trigger service call
• Reduced latency for passing changes of dynamic parameters and topic discriptions to GenICam
• Fixed using wrong disparity range in disparity color publisher
• now depends on rc_genicam_api >= 2.0.0

2.3.0 (2018-08-21)

• read params from parameter server before falling back to current device params
• New image topics ...out1_low and ...out1_high are offered if iocontrol module is available

2.2.1 (2018-07-05)

• Changed to component intensity before changing pixel format for supporting color rc_visards with version >= 1.3.0

2.2.0 (2018-07-03)

• fix out1_mode/out2_mode description and default
• change/add service calls for onboard SLAM module: - rename dynamics_reset_slam to slam_reset - rename get_trajectory to slam_get_trajectory - add slam_save_map, slam_load_map and slam_remove_map
• install Rviz example config file

2.1.1 (2018-06-15)

• Adjusting disparity range to content of disparity image for colored disparity visualization
• Added debug message if left and disparity images cannot be synchronized for creating point clouds
• Implemented parameters for IO control and relaxed time synchronization in case of exposure alternate mode

2.1.0 (2018-04-23)

• add ptp_enabled dynamic_reconfigure parameter (to enable PrecisionTimeProtocol Slave on rc_visard)
• add reset service for SLAM
• README updates
• use 'rc_visard' as default device name (works with one rc_visard with factory settings connected)

2.0.0 (2018-02-27)

• rc_genicam_api and rc_dynamics_api as dependency instead of submodule
• don't reset if datastreams time out
• added get_trajectory service
• Use new statemachine interface Return codes are now strings.
• Add services start_slam, restart_slam and stop_slam
• Publishing dynamics as odometry message
• visualizing dynamics message - angular velocity, linear accelerarion published as marker for visualization - cam2imu-transform is published with re-created timestamp
• Contributors: Christian Emmerich, Felix Endres, Felix Ruess, Heiko Hirschmueller

1.2.1 (2018-02-26)

• use rc_genicam_api as dependency instead of including as submodule also remove launchfile, as the device is a required parameter anyway...
• Contributors: Felix Ruess

1.2.0 (2018-02-11)

• Setting default of median to 1 instead of 0, which also means off
• install rc_visard_driver node in package lib dir, so start it with rosrun rc_visard_driver rc_visard_driver

1.1.3 (2017-04-13)

• Added possibility to start as ROS node alternatively to nodelet
• Printing shutdown information to stdout, since ROS log messages just before exit disappear

1.1.2 (2017-04-11)

• The module reconnects to the GigE Vision server in case of errors
• Added reporting enabled componets and missing images

1.1.0 (2017-04-10)

• Implemented setting camera framerate via dynamic reconfigure
• Implementation of dynamic reconfigure parameters for controlling the depth image

1.0.1 (2017-03-16)

• Focal length of disparity image now relates to the size of the disparity image
• Use color for point cloud if color images are available

1.0.0 (2017-03-05)

• Initial release