1.7.0 (2022-07-08)

• build timings in offline setup (#428) Currently when using the offline setup, it does not build the per-point timing offsets which means when unpacking the packets in the offline mode, you cannot timestamp each point with its packet time. This commit does the following: - call buildTimings from setupOffline function - add model to setupOffline interface - set config model param which is needed by buildTimings
• vls128: add line only once all four banks are processed (#413)
• PCAP timestamps & PCAP+GPS timestamps (#384) * Add pcap_time param and implement gps_time with it * If gps_time == true, ignore pcap_time
• Fixed row_step=0 when init_width=0 (dense cloud) (#404) The PointCloud2 msg will be then valid: http://docs.ros.org/en/melodic/api/sensor_msgs/html/msg/PointCloud2.html Referred issues: * https://answers.ros.org/question/377470/rtabmap-icp_odometrycpp453callbackcloud-fatal-error/ * http://official-rtab-map-forum.67519.x6.nabble.com/Condition-scan3dMsg-data-size-scan3dMsg-row-step-scan3dMsg-height-not-met-td7852.html
• Fix accidental integer division (#391) Intensity values for VLP-16 were being calculated incorrectly.
• Add VLS128 launch and calibration file (#382)
• Fixing incorrect type in velodyne_pointcloud.
• Fixing typo.
• Add support for the velodyne Alpha Prime (#370) * Add support for the velodyne Alpha Prime * Change packet rate for the VLS128 according to the times specified in the manual * Organize setup functions to avoid code duplication. Add a constant for the model ID of the VLS128. * Use the defined constants to calculate the time offset of the points for the VLS128 Co-authored-by: jugo <juan.gonzalez@unibw.de>
• Contributors: Daisuke Nishimatsu, HMellor, Institute for Autonomous Systems Technology, Joshua Whitley, Martin Valgur, Nick Charron, Sebastian Scherer, matlabbe

1.6.1 (2020-11-09)

• Add invalid points in organized cloud (#360) * Set NaN in ordered point cloud in case of no return * Adapt to current master * consider min/max angle and timing_offsets also in organized mode Co-authored-by: Nuernberg Thomas (CR/AEV4) <thomas.nuernberg@de.bosch.com>
• build and export library data_containers so it can be used in other packages (#359)
• Contributors: Sebastian Scherer

1.6.0 (2020-07-09)

• Unify tf frame parameters between transform and cloud nodes (#344) * Unify tf frame parameters between transform and cloud nodes * Use more common ROS terminology instead of 'htm' * Just use tf listener when necessary * Migrate package to tf2 * Explicitly store sensor frame in a dedicated variable to make code easier to read * Avoid unnecessary transforms when sensor_frame == target_frame Co-authored-by: anre <andreas.reich@unibw.de>
• Velodyne pcl (#335) * fix time assignment in organized cloud container * add velodyne_pcl package with point_types.h * add README.md with infos for conversion * rename containers to cover the added time property * Update package.xml to Format2 and package version to 1.5.2 Co-authored-by: Joshua Whitley <josh.whitley@autoware.org>
• Passing fixed_frame and target_frame to Convert object. (#330)
• Updating maintainer email address.
• Increase the max_range of the 32C launch file (#323)
• Getting model param for timings from private node handle. (#318)
• updated model to have a default of "" so that tests run successfully
• Move timing offsets functionality into class private. Also fix linter errors
• Added model param to each of the cloud nodelet starters
• Initial commit to timestamp each point using the timing spec in the manuals
• use correct node handles and node names for diagnostic_updater::Updater
• Added config option to timestamp a full scan based on first velo packet instead of last packet
• Remove a dead store from rawdata.cc.
• fix for #267, transform each packet
• Merge pull request #250 from zhixy/master bug fix for row step
• Merge pull request #253 from ros-drivers/fix/fixed_frame_target_frame Add configurable fixed_frame/target_frame for velodyne_pointcloud
• Merge pull request #214 from spuetz/feature/opc_nopcl Container cleanup and organized pointclouds
• Merge pull request #236 from mpitropov/fix_transform_node_frame_bug set correct output frame
• Merge pull request #234 from kmhallen/c++11 Set minimum C++ standard to C++11
• Merge pull request #223 from mpitropov/feat_Add_fixed_frame Add fixed frame and use ros message time within transform node
• Made static tf publisher test adhere to REP 105
• change more odom to map
• Merge pull request #224 from mpitropov/feat_add_diagnostics Added diagnostic publishing
• Merge pull request #222 from mpitropov/feat_Use_GPS_time Add flag to enable using GPS time from within the Velodyne packet instead of ROS time for scan.
• Created gps_time param to enable this feature
• Contributors: AndreasR30, Chris Lalancette, Daniel Seifert, Ian Colwell, Joshua Whitley, Kevin Hallenbeck, Matthew Pitropov, Sebastian, Sebastian Pütz, Shawn Hanna, zhixiangyang

1.5.2 (2019-01-28)

• Merge pull request #205 from xiesc/master support for 64E-S3
• add an example yaml file for S3
• Contributors: Joshua Whitley, Shichao XIE, xiesc

1.5.1 (2018-12-10)

• Merge pull request #194 from ros-drivers/avoid_unnecessary_computation Avoid unnecessary computation - causes approximately 20% performance increase on VLP-32C - should be similar for other sensors
• std::vector<>::reserve is your friend
• add static to avoid frequence memory allocation
• avoid unecesary calculations in unpack()
• Contributors: Davide Faconti, Joshua Whitley

1.5.0 (2018-10-19)

• Merge pull request #164 from ros-drivers/maint/vlp_32c_support Adding VLP-32C support. This was tested by AutonomouStuff and several external users. Though it does not include new information that I've learned (it appears that the distance resolution is different <50m vs >=50m), it is a good start.
• Merge pull request #189 from kveretennicov/patch-1
• Fix malformed plugin description XML ROS pluginlib only recognizes multiple <library> elements if they are under <class_libraries> XML root. It silently ignores malformed XMLs with multiple <library> "root"s and just reads the first one, due to relaxed way tinyxml2 does parsing. Though if you do rosrun nodelet declared_nodelets, the issue is reported properly. See also similar issue in https://github.com/ros-perception/perception_pcl/issues/131
• Adding distance_resolution to test yaml files.
• Adding VLP-32C support. Based on work done by @rockcdr. Adds distance_resolution calibration value to support 0.004m distance resolution for VLP-32C.
• Contributors: Joshua Whitley, Konstantin Veretennicov

1.4.0 (2018-09-19)

• Merge pull request #178 from sts-thm/bugfix_issue_`#174 <https://github.com/ros-drivers/velodyne/issues/174>`_ Bugfix issue #174
• Merge pull request #177 from C-NR/feature/WrapPointcloudData Feature/wrap pointcloud data
• Changes fixing deadlock for specific cut_angle values.
• moved definition of VPoint and VPointCloud back to namespace rawdata in rawdata.h
• put a wrapper around pointcloud data including a generic setter method to enable the use of arbitrary data structures (pcl pointcloud, depth image, octomaps and so on) to be filled by just using RawData::unpack method with the wrapper object as parameter
• Merge pull request #170 from ros-drivers/maint/move_header_files Moving header files to traditional location inside include folders.
• Merge pull request #160 from ros-drivers/maint/updating_package_xml_to_v2
• Updated all package.xmls to ver 2. Cleaned up catkin_lint errors. All package.xml files are now compatible with version 2 of the package.xml specification in REP 140. Removed some unnecessary execute permissions on a few files. Fixed a missing test_depend.
• Merge pull request #136 from stsundermann/patch-1 Use std::abs instead of abs
• Adding missing 32C configuration file.
• Merge pull request #139 from ASDeveloper00/vlp32 Adding support for VLP-32C.
• Merge pull request #138 from volkandre/cut_at_specified_angle_feature Cut at specified angle feature
• Updated default cut_angle parameters in launch files after switching from deg to rad.
• Use std::abs instead of abs abs is the c version which returns an integer. This is probably not intended here, so use the templated std::abs function.
• Contributors: Andre Volk, Autonomoustuff Developer, CNR, Joshua Whitley, Kyle Rector, Stephan Sundermann, Tobias Athmer, kennouni

1.3.0 (2017-11-10)

• Merge pull request #110 from kmhallen/master Added velodyne_laserscan package
• Merge remote-tracking branch ros-drivers/master
• Merge pull request #129 from kmhallen/pluginlib_macro Modern pluginlib macro
• Update to use non deprecated pluginlib macro
• Merge pull request #127 from swri-robotics/add_vlp16_hires_support Add VLP16 Puck Hi-Res config file
• Add VLP16 Puck Hi-Res support
• velodyne_pointcloud: remove incorrect catkin_package() DEPENDS option (#93) This eliminates a CMake warning when building on Xenial.
• Merge pull request #111 from OrebroUniversity/master Added an interface to set up raw data processing offline
• Added an interface to set up raw data processing from a locally defined calibration file. This method is useful when processing data offline from a bag file, without starting any ros master
• Added velodyne_laserscan package and inserted into existing launch files
• test multiple nodelet manager support (#108)
• add launch args to support multiple devices (#108)
• Merge pull request #105 from fudger/patch-1 Remove unused constants.
• Merge pull request #104 from altrouge/launch_options Add more options in launch files.
• Rearranged alphabetically.
• Remove unused constants. DISTANCE_MAX and DISTANCE_MAX_UNITS are not used anywhere in the code. Furthermore, using them would lead to errors as both VLP-64 manuals state that returns above 120 m should not be used. The VLP-32 manual allows 70 m as the maximum valid sensor range.
• Merge pull request #103 from fudger/patch-1 Fix misleading typecasts.
• Add more options in launch files. - rpm, device_ip, port, read_once, read_fast, repeat_delay
• Fix misleading typecasts. intensity and VPoint::intensity are both of type float.
• update change history
• merge current master (#94)
• Merge pull request #92 from adasta/master GCC Build Warnings
• Modified velodyne_point_cloud/src/lib/rawdata.cc to address warning that last_azimuth_diff variable may be used uninitialized. Variable is now initialized to 0 at creation. velodyne/velodyne_pointcloud/src/lib/rawdata.cc:328:57: error: ‘last_azimuth_diff’ may be used uninitialized in this function [-Werror=maybe-uninitialized] azimuth_corrected_f = azimuth + (azimuth_diff * ((dsr*VLP16_DSR_TOFFSET) + (firing*VLP16_FIRING_TOFFSET)) / VLP16_BLOCK_TDURATION);
• Modified velodyne_pointcloud/src/conversion/colors.cc to remove address build warning for strict-aliasing. velodyne/velodyne_pointcloud/src/conversions/colors.cc:84:58:
• Merge pull request #89 from Tones29/feat_dynrec_driver Add dynamic latency configuration to velodyne_driver
• velodyne_pointcloud: Fix compile warning "Wrong initialization order"
• velodyne_pointcloud: add dynamic reconfig update to change log (#78)
• Merge branch fudger-reconfigure_transform_node
• velodyne_pointcloud: use recommended add_dependencies() CMake variable #78
• velodyne_pointcloud: fix transform unit tests Use tf2_ros static_transform_publisher for more consistent timing (#2)
• Merge branch reconfigure_transform_node of https://github.com/fudger/velodyne
• prepare change history for coming Indigo release (#59)
• calibration: unit test case improvements (#84)
• calibration: read all intensities as float, then convert (#84)
• calibration: add gtest for #84 This currently fails on 64e_s2.1-sztaki.yaml and on issue_84_float_intensities.yaml.
• calibration: make max_intensity and min_intensity optional (#84) This fixes a regression in the 32e and VLP-16 calibrations which do not contain intensity values. There is still a problem with the 64e_s2.1 calibration.
• Merge pull request #76 from pomerlef/master Sign inversion in some equations
• Merge pull request #82 from ros-drivers/fix_pr_80 Fix pr 80; adding travis CI tests.
• fix the yaml-cpp 0.5 code paths
• Merge pull request #80 from ros-drivers/fix_yaml_import allow floats in min/max_intensity and make horiz_offset_correction optional
• allow horiz_offset_correction to be optional with 0 as default
• allow floats instead of ints in min/max_intensity
• Resolve frame ID name using tf prefix.
• Improve coding style.
• Set up dynamic reconfiguration for transform_node. Previously, transform_node has neither read parameters other than frame_id from the command line nor has it exposed these parameters via dynamic reconfigure. As parameters like max_range and view_width have been initialized to zero, the inconfigurable transform_node has returned an empty point cloud. Now, transform_node launches an reconfigure server just as cloud_node. In contrast to cloud_node, transform node exposes another parameter for dynamic reconfiguration: frame_id, i.e. the frame of reference the incoming Velodyne points are transformed to.
• Merge pull request #77 from fudger/pretty_print Fix output of calibration data onto console
• Add a missing space.
• Fix line that always indicates use of model VLP-16.
• Align console output of calibration data.
• Merge branch master of https://github.com/ros-drivers/velodyne
• resolve sign error
• Merge pull request #73 from fudger/master Correct important data type error for VLP-16
• Fix data type error that distorts the point cloud.
• Fix and add a few comments.
• Merge pull request #68 from jlblancoc/patch-1 Remove unused variable
• Remove unused variable I think that dsr was unused. See line 317: for (int dsr=0; ...
• VLP-16: skip badly formatted data packets (#62, #63)
• restore VLP-16 min_range setting to 0.4 (#60) NOTE: There is still some other problem keeping that from working.
• permit min_range settings below 0.9 meters (#60) No known models are currently known to return closer measurements.
• Merge pull request #55 from lemiant/azimuth_bug_VLP16 Fixed azimuth overflow bug.
• Fixed azimuth overflow bug. For interpolated azimuth values between 35999.5 and 36000.0 the nested round(fmod()) yields a value of 36000 which is invalid and overflows the pre-computed sin/cos arrays, since they only go form 0..35999
• Merge pull request #51 from kunlileo/master Added vertical sin angle correction
• Added vertical sin angle correction
• Merge pull request #47 from prclibo/master fixed rounding bug in intensity calculation found by songshiyu
• fixed rounding bug in intensity calculation found by songshiyu
• fix some overly long C++ source lines
• Merge pull request #44 from SISegwayRmp/master adding driver and pointcloud support for the VLP16
• missed the space in the file name which caused the build to fail, removed space before extension
• adding the VLP16 test scripts and updating the CMakeLists to include the test file from http://download.ros.org/data/velodyne/vlp16.pcap
• adding support for the VLP16
• Merge pull request #43 from prclibo/fix_rawdata fixed point computation according to the 64e_s2(.1) velodyne manual
• fixed point computation according to the 64e_s2(.1) velodyne manual, with luopei"s help
• Merge pull request #41 from prclibo/master fixed a calibration file parsing bug
• Merge pull request #42 from prclibo/fix_gen_calibration fixed gen_calibration min/max intensity type
• fixed gen_calibration min/max intensity type
• fixed a calibration file parsing bug
• Contributors: Adam Stambler, Alex Rodrigues, Alexander Schaefer, Andreas Wachaja, Bo Li, Daniel Jartoux, Gabor Meszaros, Jack OQuin, Jose Luis Blanco-Claraco, Joshua Whitley, Kevin Hallenbeck, Kris Kozak, Kun Li, Micho Radovnikovich, Scott K Logan, Thomas Solatges, Todor Stoyanov, William Woodall, jack.oquin, libo24, phussey, piyushk, pomerlef

1.2.0 (2014-08-06)

• velodyne_pointcloud: remove model-dependent "constants" from rawdata.h (#28)
• velodyne_pointcloud: change default min_range to 0.9 meters (#25)
• Added support for YAML-CPP 0.5+ (#23).
• Add dynamic_reconfigure feature.
• Add angular limits to the output point cloud, useful for omitting part of it. (#22).
• Contributors: Jack OQuin, Scott K Logan, Thomas Solatges

1.1.2 (2013-11-05)

• Move unit test data to download.ros.org (#18).
• Install missing gen_calibration.py script (#20).

1.1.1 (2013-07-30)

• Fix lost frame_id transform problem caused by PCL 1.7 fix (#13).
• Add support for HDL-64E S2 and S2.1 models, which were not working before (#11), thanks to Gabor Meszaros (#12).
• Add additional parameters to launch files (#14).
• Contributors: Gabor Meszaros, Jack OQuin

1.1.0 (2013-07-16)

• Fix build problems due to PCL 1.7 API incompatibilities (#8), thanks to William Woodall. This version also works with Groovy, as long as the correct pcl_conversions is installed.
• Fix errors with Mac OSX compiler (#8).
• Install pluginlib XML files (#9).
• Install some launch and parameter files.
• Enable unit tests when CATKIN_ENABLE_TESTING is set (#10).

1.0.1 (2013-06-15)

• Declare explicit pluginlib dependency (#4).

1.0.0 (2013-06-14)

• Convert to catkin (#1).
• Release to Hydro.

0.9.2 (2013-07-08)

• Fix Groovy build problem (#7).

0.9.1 (2012-06-05)

• Only include "enabled" lasers in YAML calibration file.
• New param subdirectory for parameter files.
• Add launch file for the HDL-32E.
• Add rviz_points.vcg file for viewing Velodyne point clouds with rviz.
• Fix bug when reading configuration with default minIntensity.
• Add unit tests with 32E data.
• Released to Electric, Fuerte and Groovy.

0.9.0 (2012-04-03)

• Completely revised API, anticipating a 1.0.0 release.
• HDL-32E device support.
• New YAML configuration file format.
• New velodyne_driver and velodyne_pointcloud packages.
• Old velodyne_common and velodyne_pcl packages no longer included.
• Released to Electric, Fuerte and Groovy.

0.2.6 (2011-02-23)

• Label all timing-dependent tests "realtime" so they do not run by default on the build farm machines.

0.2.5 (2010-11-19)

• Initial implementation of new 0.3 interfaces.
• Support for ROS 1.3 std_msgs::Header changes.

0.2.0 (2010-08-17)

• Initial release to ROS C-turtle.