Changelog for package mvsim

0.9.2 (2024-03-21)

BUG FIX: 3D lidars should not 'see' XYZ corners of wheels
BUG FIX: gridmaps were published at a too high rate in the ROS 2 node
remove dead code
update header version
Contributors: Jose Luis Blanco-Claraco

0.9.1 (2024-03-05)

Fix use of mrpt bridge to publish XYZIRT point clouds too for ROS 1
Contributors: Jose Luis Blanco-Claraco

0.9.0 (2024-03-02)

Do not publish tf world->map
Expose do_fake_localization as ROS 2 launch file argument
fix build with older mrpt
3D Lidar: also generate "ring" ID per point
Contributors: Jose Luis Blanco-Claraco

0.8.3 (2023-12-05)

Generate ground truth trajectory files in the TUM format
ROS nodes: add a timeout for cmd_vel commands, so the robots stop if input messages stop
Add rviz_plugin_tutorials dependency for ROS1
Contributors: Jose Luis Blanco-Claraco, Michael Grupp

0.8.2 (2023-10-06)

3D LIDARs: Bilinear interpolation (when it makes sense) to obtain much smoother point cloud simulations
Add missing build dep on python3-pip. This was triggering errors on ROS 1 build farm dev builds.
Contributors: Jose Luis Blanco-Claraco

0.8.1 (2023-09-07)

Move the rawlog-generation option to the World global options instead of sensor-wise.
Create CITATION.cff
helios 32fov70 sensor.xml: Fix missing MVSIM_CURRENT_FILE_DIRECTORY tag
Fix crash in edge case with world file path in the current directory
Contributors: Jose Luis Blanco-Claraco

0.8.0 (2023-09-02)

Recursive "include"s are now possible.
All vehicle and sensor definitions are now exposed in public directory 'definitions' and are safe to be included from user worlds
ROS warehouse demos: fix wrong camera topicn ame in rviz
Add missing ROS 2 launch demo for greenhouse world
Add new variable: MVSIM_CURRENT_FILE_DIRECTORY
BUGFIX: In parseVars() in the XML parser
Debugging feature: MVSIM_VERBOSE_PARSE now also traces <variable> definitions
Contributors: Jose Luis Blanco-Claraco

0.7.4 (2023-08-30)

Add new LIDAR 3D models: Helios 32.
Removed LIDAR3D fbo_nrows parameter, automatically computed now from geometry solutions.
More optimal simulation of asymmetric 3D lidars.
Progress with RTD documentation.
Add proper bibliography; fix all docs warnings
ROS 2 warehouse demo: show 2D lidar in RVIZ too; add headless launch argument
New GUI editor feature: move sensor poses
Contributors: Jose Luis Blanco-Claraco

0.7.3 (2023-08-23)

Update python module install method to pip (fixes deprecation)
Improved docs
Contributors: Jose Luis Blanco-Claraco

0.7.2 (2023-08-12)

Joystick driving: added support for direct driving the vehicles with a joystick.
Fix rviz for ros1 demo
Better docs and more modern RST style.
More shadow tuning parameters.
IMU sensor now reads real vehicle linear acceleration.
Contributors: Jose Luis Blanco-Claraco

0.7.1 (2023-06-11)

ROS node: fix potential race condition creating publisher for highrate sensors
Add IMU sensors
New property <visual enabled='true|false'>
lidar2d xml: add option "sensor_custom_visual"
FIX: Crash if launching an empty world
Trigger an error if using use_sim_time to avoid mistakes
Add new (fake) controller: twist_ideal
ROS 1: don't enforce /use_sim_time
Add ROS 2 launch for the 2-robot demo
Fix cmake leftover
Contributors: Jose Luis Blanco-Claraco

0.7.0 (2023-04-21)

Automatic detection of collision shapes
Add turtlebot world demo
Rely on custom build of Box2D to increase the maximum polygon vertices count (8 to 12).
fix inconsistent use_sim_time value for ROS 2 (it should be false)
Expose shadow rendering parameters in the XML world file
Abort simulation on exceptions in headless mode too
ROS 1 and 2 nodes now quit cleanly and quickly with SIGINT
Add ros2 launch for turtlebot world demo
Automatic determination of zmin/zmax for blocks if not explicitly set in XML
Force c++17 for python module
Exit simulator on exceptions in GUI-related threads
More automated testing
Add unit tests in C++ too
Refactor collision shape determination
New UI checkbox: show collision shapes
Allow simply geometry definitions without external 3D model file for "blocks"
Light options are now under <light> XML tag.
Largest default physics simulation timestep changed from 50ms to 5ms
GUI: change light direction
Add GUI checkbox to enable/disable shadows
Add rplidar A2 sensor model
Contributors: Jose Luis Blanco-Claraco

0.6.1 (2023-03-04)

New XML parameters to enable and tune shadowmap generation
Use finer timestep for prevent wrong simulation of ramp sliding
Fix code notation
Temporary workaround to GH CI problem
Contributors: Jose Luis Blanco-Claraco

0.6.0 (2023-02-26)

Support for SkyBox rendering (requires MRPT >=2.7.0)
More camera options in world.xml files (initial azimuth, elevation, etc.)
Terrain elevation models now support repeated textures (requires MRPT >=2.7.0)
Faster 3D Lidar rendering (Requires MRPT >=2.7.0)
Add Ouster OS1 sensor file
Fix default friction coefficients; draw motor torques too
More accurate Velodyne simulation based on sensor_rpm parameter
Clearer code and code style conventions
Add "<static>" XML tag for large, static world objects
Support for XML tag <if ...>
Refactor xml parser as a registry of tag->function
Examples renamed for conciseness: 'mvsim_demo_*' to 'demo_*'
Added a "greenhouse" example world
Wheels: allow linked-yaw-objects in vehicle viz
Support several <visual> tags in custom visualization models
pybind11 sources simplification. Simplify into one single source tree with conditional compilation for different pybind versions.
Emit clearer warnings and earlier detection of wrong bounding boxes
Add reference to (preprint) paper
Controllers: Made threadsafe
Contributors: Fernando Cañadas, Jose Luis Blanco-Claraco
BUGFIX: program did not quit if using a non-existing launch file.
BUGFIX: unneeded friction coefficient for chassis body
BUGFIX: bbox for compound vehicle models
BUGFIX: <for> loops ignored more than one inner tag
BUGFIX: Add epsilon value for bbox determination in 3D models

0.5.2 (2023-01-27)

FIX build farm errors in armhf builds
Contributors: Jose Luis Blanco-Claraco

0.5.1 (2023-01-26)

FIX: Stuck unit test runs in armhf build farms
Add demo with a large number of robots (100) in a simple setup
Support <for> loops in world definition files
Contributors: Jose Luis Blanco-Claraco

0.5.0 (2023-01-09)

New warehouse demo world file, including ros2 launch.
New feature: download models from remote servers.
Add 3D Lidar sensor.
Add support for headless simulations (mvsim launch --headless), suitable for running inside docker containers
New world element: vertical planes.
Add <for /> loops in XML world files
Support for formulas in XML files via exprtk expressions
Fix naming convention; fix warnings
Move to clang-format-11
More consistent class member naming convention
Add simple Velodyne sensor DAE model
Add wget as build and runtime dep
PubSub system: Implemented the feature to notify subscribed clients about a new publisher for a topic
New 3D model: pioneer3
ROS: Add build and test dep python3-protobuf
Added unit tests
mvsim cli: add the --realtime-factor flag
more topic echo types
publish 2D lidar observations as custom protobuf msgs too
Add new protobuf msg type ObservationLidar2D.proto
add shutdown service
Fixed Python topic subscription and parsing
avoid potential crash during shutdown
FIX: Timelogger verbosity level is now copied from the main World object.
BUGFIX: Lidar sensors with ignore_parent_body=true should neither see the wheels
Tune PID parameters of examples
Refactoring and simplification of mutexes
cache GetServiceInfoRequest() calls (more efficient service calls in comms::Client)
factorize World services into its own .cpp file for clarity
Contributors: Jose Luis Blanco-Claraco

0.4.3 (2022-11-14)

add names to gl objects (useful to debug)
configurable gui open timeout
GUI: new button Editor->Export 3Dscene file
Add a warning if using a physics timestep is incompatible with the sensor periods
FIX: more accurate simulation of timesteps; more mutexes
automatic determination of timestep; FIX bug: constant offset in simul time
fix FBO api for mrpt 2.5.6
fix build against mrpt 2.5.6; fix infinite loop while hitting quit button
refactor TCLAP objects to avoid global object initialization fiasco crashes
handle old and new versions of tf_geometry_msgs
mvsim cli new command: topic hz
Fix ROS2 obsolete header
fix build for u18.04
fix for older zmq versions
fix newest zmq deprecated warnings
FIX: DAE file error to load on newer version of assimp
provide cmake config types for gcc sanitizers
fix zmq API in bionic
avoid zmq_message_t ctor; more parallel threads for ZMQ
make the get_pose() service to answer immediately without needing to acquire the main simulation mutex
fix escaping
more portable makefile comparison for libbox2d version
d/rules: auto detection of system libbox2d version
Contributors: Jose Luis Blanco-Claraco

0.4.2 (2022-10-19)

Disable Python wrappers for python <3.8
Honor DESTDIR when building and installing
Honor cli-provided PYTHON_INSTALL_DIRECTORY via cmake flags
Fix protobuf-generated broken Python3 imports (using protoletariat)
Add new WorldElement type: pointcloud
Add Python3 example for teleop twist
Contributors: Jose Luis Blanco-Claraco

0.4.1 (2022-10-13)

Add more documentation, demo files, and screenshots
Support animations from keyframe list for blocks and vehicles
Refactor common xml params in Simulable interface
Support PARENT_NAME usage in sensor definition files; add "<publish>" tags to tutorial sensors
2D lidar sensor: new XML parameter maxRange
change threshold to decimate sensors preview subwindows
BUGFIX: Uninitialized quaternion in rviz marker (Closes #14)
Allow expressions in include tags
Expose more lidar params in its XML
Contributors: Jose Luis Blanco-Claraco

0.4.0 (2022-09-27)

Major new release with tons of new features.
New sensors: RGB, depth, RGB+D cameras
Support for ROS1 and ROS2.
Sensors now can have 3D models.
New GUI controls to customize visualization.
New 3 and 4 wheels differential kinematic models.
Allow "include"s in XML files.
Add 3D Jackal robot model.
ROS nodes: publishers in parallel thread
mvsim-cli new flag to enable full profiling
Use new nanogui feature to limit GUI refresh rate
Fix running faster than real-time
More consistent timestamping of simulated sensors
mvsim now shows program version info
get_pose() service now also gets twist
Fix elevation maps
pybind11 per-version directory
Remove trailing '/' in tf frame names for consistency with modern conventions.
Rename COPYING -> LICENSE
Contributors: Jose Luis Blanco-Claraco

0.3.2 (2022-06-21)

Install models/ subdirectory too
Changes towards building for both ros1 & ros2
Copyright date bump
Fix build and dependencies for ROS1.
Fix build w/o python
Fix consistent include path for installed targets
BUGFIX: Fix random SIGSEGV due to unsafe shared global object for random number generation
Fix no installation of mvsim_msgs python module
Fix demo robot starts out of the map
Contributors: Jose Luis Blanco-Claraco

0.3.1 (2022-04-25)

update 2 robots demo
Add pybind11 as build dep
fix ros node compilation
fix build w/o ros
Fix compilation of the ROS1 node against the latest mvsim libraries
Fix cmake policy error in pybind11
Add missing ros deps
Add missing build dep box2d-dev
Update README.md
Contributors: Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco

0.3.0 (2022-03-04)

RGBD camera simulation
MRPT 2.x is now required to build mvsim.
Update build dep to mrpt2
License changed to 3-clause BSD.
Merge pull request #11 from SRai22/patch-1 Update install.rst: needs libprotobuf-dev and libpython3-dev for building from source
New checkboxes to see sensor poses and FOVs
Lidar: ignore parent body option
Lidar: realistic 3D raytrace mode
enable textures in planes
add support for ground and ceiling planes
clean elevation mesh code
save_to_rawlog option
register callbacks instead of virtual functions
New command "topic echo NAME"
Add support for intangible blocks; publish relative poses
Add support and example for standalone sensors
allow changing the server IP or address
add optional profiler to Client
Protect main socket with mutex
fix walls rendering; add new walls demo xml
allow custom user 3D objects
timelog format fix
show class name in timelogger
World: expose GUI object
GUI and minor tweaks
much faster models loading
fix wrong collision resetting
safer report collisions
Fix usage of the update_fps parameter
Fix build against mrpt 2.1.8
force build against python3
more standard python3 deb pkg generation
solved python pkg problem in bionic
fix python in bionic
debian: fix python3 install dir
add missing python3 dep
fix deb python packaging
remove useless cmake include
first fully-working set_pose from python
Progress with python wrappers
Enhance python wrapper
Document a minimum size limitation in box2d.
small preliminary test for camera sensor
Use newer mrpt-gui window manager
Fix wallHeight wall parameter correct usage
editor: basic rotate and move objects
refactor gui code into smaller methods
fix rendering of non-custom objects
functional replace by coordinates
Progress with replace GUI
progress with bbox rendering
progress with mouse move UI
refactor: unify all simulable objects in one list
update asserts to latest mrpt2 names
Better service response
safer multithread gui
avoid possible exception in serialization
Return collision state
Detect and report collisions
add setStatic method
progress debugging ramps
Add incremental set_pose srv
add get_pose() service
Import walls working
walls progress
progress loading wall models
Start doxygen integration in docs
fix not seeing the robot owns body
subscription works; example updated
Feature: XML variables parsing
update pybind11
done topic subscriptions; fix proper thread joinable checks.
basic subscription works
progress subscribe topics
fix crash upon exit due to unjoined threads
use -dbg postfix for debug libraries
implemented command topic list
docs on world xml parameters
fix visualization of sensors in custom viz models
add missing file
Add ZMQ monitor to connections
fix install include dir
fix copy pb hdr files
clear leftover traces
auto bbox from visuals
More modular debian packaging
services and set_pose() is working
progress implementing services
Blocks and vehicles publishes their pose
Large code refactor: - Use mrpt::math types for twist and points - Use smart pointers - Remove duplicated code via new methods in base class Simulable
done with publishTopic()
advertise topics
done list nodes command
implement query node list
refactor Client without parallel thread
refactor mvsim-cli sources
progress server
fix cmake exported targets
fix install
unregister nodes
basic python bindings
refactor into modules
progress with server parsing messages
verbosity levels in client
ignore files
refactor into one main cli tool: mvsim
zmq forwards header
add thread names
fix build against zmq<4.4
First zmq message interchanges
basic server thread infraestructure
progress defining client/server protocol
Add alternative 3D visualization to blocks and vehicles
start refactor for visual objects
fix -Werror error in u18.04
Add zmq and protobuf
prefer std::move
Enforce override keyword
use system logger instead of cout
avoid raw pointer for box2d instance
refactor param structures
fix opengl memory leak
Port to nanogui
done port to mrpt2
prefer nullptr
narrower mrpt dependencies
port docs to sphinx
add circle-ci
reorganize badges
fix main doc file
fix debian installed files path
use system libbox2d
add debian packaging files
modernize: cmake exported targets
show box2d system library version
cmake commands to lower case
Contributors: Jose Luis Blanco-Claraco, Shravan S Rai

0.2.1 (2019-04-12)

Fix build against latest mrpt-master & 1.5.x versions.
add ROS build farm badges
Contributors: Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco, Julian Lopez Velasquez

0.2.0 (2018-06-28)

fix build against mrpt1
update to package XML format 2
fix build in mrpt 2.0
use docker in travis
Allow mvsim to be built w/o ROS again
Merge pull request #10 from spsancti/master GSoC contribution to mvsim See discussion thread: https://github.com/MRPT/GSoC2017-discussions/issues/2
Added description of world files
Added description of loggers and Ward-Iagnemma friction model
Added refernce to Torsen-defferntial
Added desctiption of Ackermann-drivetrain dynamics
Added Doxyfile
Added user manual with basic friction model described
Added text logger for CSV format
Add mvsim slam demo.
fix catkin deps: it now requires mrpt_bridge
LaserScanner: new option to make all fixtures invisible
Contributors: Borys Tymchenko, Jose Luis Blanco Claraco, Logrus

0.1.2 (2015-05-24)

Cleaner build against mrpt 1.3.0
Fix build against mrpt 1.3.0
Contributors: Jose Luis Blanco

0.1.1 (2014-12-28)

First public release.
Contributors: Jose Luis Blanco