Changelog for package pf_driver

1.2.0 (2022-05-03)

fix focal point to world link of r2300 #72
fix xacro filename cases #70
viz scanner model in rviz
changed necessary for noetic #68
added urdf for r2000 and r2300 #66
fix deps for CI
add urdf bringup launch file
added urdf for r2300
fix high CPU usage #65 from PepperlFuchs/fix_while_loop
fix pointcloud flickering in rviz
reset cloud when params change in between publish cycle
reduce sleep time for writer thread as observed in #63
wait for the next message from the device with a timeout
fix layers accumulation and low frequency issue #56 from PepperlFuchs/fix_freq
Contributors: Harsh Deshpande

1.1.1 (2021-02-18)

Update package.xml
Contributors: Pepperl+Fuchs SE

1.1.0 (2021-02-09)

Update package.xml
Merge pull request #53 from PepperlFuchs/fix-typo fix typo
fix typo
Merge pull request #52 from PepperlFuchs/fix-exec-name fix exec name
changed default start_angle of R2300
fix start_angle
dummy
fix start_angle
check negative start_angle
fix scan output rviz
fix watchdog
fix set scanconfig
fix private namespace
fix exec name
Merge pull request #50 from wsaihopfsg/rviz_start_angle_max_num_points_scan Rviz start angle max num points scan
updated PFSDP for R2000
resolved merge conflicts
Update pfsdp_2300.hpp To correct the bug for incorrect display when start_angle and max_num_points_scan is specified
Update pfsdp_protocol.hpp To correct the bug in RViz display when start_angle & max_num_points_scan are specified
Update scan_publisher.cpp Consider start_angle & max_num_points_scan for RViz
Merge pull request #49 from wsaihopfsg/dyn_reconfig_start_angle_max_points_scan Dyn reconfig start angle max points scan
Merge pull request #51 from PepperlFuchs/protocol_args Protocol args
fix config not updated
fix indentation
Update pf_interface.cpp Communicates the new config to R2300 after dynamic reconfiguration
Update pfsdp_protocol.hpp Communicates the new config to R2300 during dynamic reconfig
fixed launch files
handle optional args
format check in CI
Merge pull request #46 from wsaihopfsg/config_watchdog Update pfsdp_protocol.hpp
Merge branch 'master' into config_watchdog
Merge pull request #40 from PepperlFuchs/format_lint fixes for formatting and linting errors
Merge branch 'master' into config_watchdog
Update pfsdp_protocol.hpp
fix catkin_lint
fix roslint
applied clang formatting
Merge pull request #39 from PepperlFuchs/pcl_intensities add intensities to PCL fields
Merge branch 'pcl_intensities' of https://github.com/PepperlFuchs/ROS_driver into pcl_intensities
add intensities to PCL fields
fix no return statement warning
fix missing jsoncpp include
Merge pull request #31 from PepperlFuchs/fix-dyn-params fix ip_mode and layer_on
fix ip_mode and layer_on
Merge pull request #26 from MilanoTechnicalGroupInc/r2000_fix R2000 fix
Fix parsing TCP streams/packets UDP transport puts one PSDF packet per UDP packet; TCP jams all PSDF packets into a single stream which is often delivered in chunks that don't match the size of the actual TCP packets. Here, we make two changes to account for this: 1. Restructure the parser to parse an arbitrary number of packets iteratively from its buffer (avoid multiple recursion, though it's probably fine). 2. Restructure the writer to persist any unused bytes from the previous parse and prepend them to the next packet that comes in over the network.
Validate buffer size based on packet header Original implementation compared the computed data size (based on sizes in the packet header) to the buffer size less the nominal size of the known packet header structure. However, some (I guess older?) R2000s use a smaller packet header (60 bytes vs 76). Trying to parse packets from these devices results in almost universal failure, the original condition ends up being "does the packet have at least 16 extra bytes at the end" to which the answer is usually "no" (except if the packet is part of a TCP stream and has the beginning of the next PFSDP packet immediately after it in the buffer). This code is still not ideal, as the first few data bytes are also parsed into the header in that case, so we'll end up with some header fields that might be invalid (with no indication to the user). It also doesn't modify the outer check (in include/pf_driver/pf/pf_parser.h) that verifies that there's at least as much data as the expected header size, so in rare cases (packets with only a few points) we may drop (or delay) those packets; however that should be fairly uncommon (packet sizes are based on scan parameters and AFAICT tend to avoid nearly empty packets).
Default to packet type C for R2000 Basically no reason to use type A; we know how to parse all three types, A and C use the same space, and C gives us additional information. Don't alter the default for R2300, (which I believe means it uses type C1?) This also requires us to add the necessary arguments to request_handle_{tcp,udp} in the PFSDP protocol header.
Refactor HTTP get calls in request_handle_{tcp,udp} - Refactor HTTP get call to allow passing std::map in addition to initializer list (initializer lists are great for quick use, but make constructing complicated queries difficult, since they are immutable) -> Expect this to come in handy if additional arguments to the handle request are added later (e.g. start angle, max number of points per scan, etc) - Properly construct query based on which arguments have been specified
Parse R2000 packet type B properly Useful code was commented out for some reason. Changing it slightly to match the other packet types and for more efficiency.
Publish echo amplitudes as intensities in ROS LaserScan messages Except for R2000 packet type A, which doesn't include intensity
Merge pull request #29 from PepperlFuchs/fix-dyn-params Fixed setting scan output config
Merge branch 'master' into fix-dyn-params
Merge pull request #27 from MilanoTechnicalGroupInc/param_fix Minor fixes for dynamic reconfigure on R2000
Only set up one dynamic reconfigure server per node Otherwise only the later of the two is active (I think?) and we end up unable to use dynamic reconfigure on R2000. Also move the server setup to a more sensible place, now that this is getting more complicated.
Fix a few R2000 config parameters several "value" fields weren't appropriately set (spaces, or longer names used instead), and one of the "Watchdog" enum values had a copy/paste error.
Fixed setting scan output config
Merge pull request #24 from MilanoTechnicalGroupInc/buildfix Fix clean build
Fix clean build Missing dependencies caused fresh builds to fail because the message headers weren't generated until too late
Merge pull request #21 from PepperlFuchs/cleanup Added dynamic reconf for R2000
Added dynamic reconf for R2000
Merge pull request #20 from PepperlFuchs/cleanup Cleanup
fix protocol interface build
fix dynamic reconf
handle product versions
Merge pull request #19 from PepperlFuchs/cleanup Cleanup & Fixed device handling
handle product versions
removed unused files & reshuffled files
Merge pull request #18 from PepperlFuchs/curl fix flicker
fix flicker
Merge pull request #15 from PepperlFuchs/curl fix pointcloud
fix pointcloud
Merge pull request #14 from PepperlFuchs/curl Refactor
laserscan to pointcloud
added dynamic reconf
publish R2300 header scan still not visible properly
R2000 with data parsing
revamped transport
replaced cpprestsdk with curlpp
scan publisher
Initializes R2300
complete pipeline for R2000 packet A
publishes scans with full message TODO: display is not correct
pipeline from TCP to publish header
removed files
simplified buf read
Refactored code. Handles connection well TODO: parse data
added lock-free queue
moved files
removed / moved files
Merge pull request #13 from PepperlFuchs/protocol_classes Protocol classes
message for param not found
added new dynamic params
Merge branch 'master' of https://github.com/PepperlFuchs/ROS_driver
separate classes for R2000 and R2300
install workspace
Merge pull request #5 from MilanoTechnicalGroupInc/master Update r2300_allscans launch file to pass args
Merge pull request #11 from PepperlFuchs/fix_compile Fix compile
Merge branch 'master' into fix_compile
Fixed gitk issues
clang formatting
Added ROS tests
Imrpoved error handling for PFSDP
Added gtests Currently only for HTTPInterface, need to extend it to other classes
Added error checking for HTTP GET
[WIP] added error handling for protocol
Applied clang formatting
[WIP] Small test to de-serialize packet header using ROS
Merge pull request #8 from PepperlFuchs/merge_scans merges all laser scans into pointcloud
Merge branch 'master' into merge_scans
merges all laser scans into pointcloud
Merge pull request #7 from PepperlFuchs/ros_serialization Ros serialization
clang formatting
Added ROS tests
Imrpoved error handling for PFSDP
Added gtests Currently only for HTTPInterface, need to extend it to other classes
Added error checking for HTTP GET
[WIP] added error handling for protocol
Applied clang formatting
[WIP] Small test to de-serialize packet header using ROS
Merge pull request #6 from PepperlFuchs/dyn_recfg Dynamic reconfigure
Merge branch 'master' into dyn_recfg
Update r2300_allscans launch file to pass args
Merge pull request #4 from PepperlFuchs/issue_ip Fixed hard-coded host address
Fixed hard-coded host address
Added dynamic reconfigure for scan_frequency parameter
Fixed calculations for angle_min and angle_max
Sets timestamp and angular_increment from ROS message Calculates time_increment from timestamp
Invalid echoes set to NAN
Merge pull request #10 from ipa320/rings Fixed angle_min and angle_max
Fixed angle_min and angle_max
Merge pull request #9 from ipa320/rings Added static_transform to visualize R2300 rings
Starts only 1 publisher in case of R2000
Added static transforms to viz all rings as per datasheet
Merge pull request #8 from ipa320/rings Rings
publishes rings with respective frame_id
Visualizes data cleanly without crash
Changed string to basic_string<u_char>
Merge pull request #7 from ipa320/rings Publishes rings on respective topics
Publishes rings on respective topics
Merge pull request #6 from ipa320/generic Generic code for R2000 and R2300
Generic code for R2000 and R2300
Applied clang-format
Added Apache 2.0 license
Basic working code for R2300
Contributors: Andres, Ben Kurtz, Benjamin Kurtz, Harsh Deshpande, Pepperl+Fuchs AG, Pepperl+Fuchs SE, wsaihopfsg