CHANGELOG

Changelog for package mvsim

0.12.0 (2024-12-04)

• DEM: add optional kernel filtering

• document GPS sensors

• Add new <marker> tag

• Update README.md: Add link to ROSCon video

• Fix loss of precision in box2d due to float in case of UTM coordinates

• Merge pull request #57 from MRPT/wip/support_utm_coords Support UTM coords

• Elevation queries: port float->double

• Support world-wise coordinates offset for rendering

• Elevation map: new input mode from DEM XYZRGB files

• Moved Python and C++ tutorials directory to root level

• Logger: show active logging status in GUI; better reordering of csv columns

• Fix doxygen docs generation on RTD

• ROS node: new argument “force_publish_vehicle_namespace”

• Allow vehicle names to be parameterizable via expressions, environment variables, etc.

• FIX: Wrong sensor pose rendering

• Elevation map demo world: add GNSS sensor

• LiDAR3D sensor: generate per-point timestamp (constants)

• FIX: cmake export dependency on mrpt-topography

• ROS node: publish NavSatFix messages

• Add missing build dependency

• Fix clang-format

• Add new sensor: GNSS (GPS) devices

• IMU C++ class: fix interface to replace the sensor with the GUI

• imu.sensor.xml: Add a simple 3D model to visualize the sensor

• Contributors: Jose Luis Blanco-Claraco

0.11.2 (2024-10-20)

• Fix FTBFS in ROS 1

• Contributors: Jose Luis Blanco-Claraco

0.11.1 (2024-10-17)

• Great performance improvement for worlds with many (>100) block objects. Terrain elevation query function has been refactored to use a 2D hash-map instead of naively visiting all objects.

• ROS node: use correct QoS for gridmap publication, and ensure it is published only once.

• ROS 2: turtlebot demo: Fix RViz wrong camera topic name

• ROS 2 1robot demo: update rviz config

• ROS 2: Use correct QoS for (possibly namespaced) /tf & /tf_static

• FIX: demo_1robot ROS2 launch error (wrong order in listing ros launch arguments)

• version.h

• Contributors: Jose Luis Blanco-Claraco

0.11.0 (2024-10-12)

• docs: add new demo world

• Add ros2 launch for new demo world

• Colission fixed for elevation meshes at high speed

• New world demo: road circuit

• ElevationMap: Add option for rotating texture images

• Implement cylinder ground bumps

• demo_1robot: add launch arguments headless and use_rviz

• HorizontalPlane: also supports elevation API now

• Implement moving vehicles over ramps and blocks in general

• Remove #if for older mrpt versions

• FIXBUG: 2D LaserScanner sensor wouldn’t render custom visuals correctly if robot moves in 3D

• Jackal robot model: Add new param “lidar2d_raytrace”

• Finish texture partition of split meshes

• Fix correct query point for determining elevation offset for blocks and vehicles

• Automatically correct elevation of objects initialized on elevation maps

• Move vehicle tilt calculation from ElevationMesh outside to World so it works with many other object types

• source files: split simulation-related stuff into a new World_simul.cpp

• CMake: prefer explicit file lists instead of file(GLOB …)

• Add getElevationAt() virtual interface for all Simulable objects

• Update README.md

• Fix headless ros param name in demo params YAML file

• Use new assimp feature to improve rendering of transparent meshes

• elevation map demo: add trees

• docs: add link to 3D objects repository

• fix build for ROS 1

• ROS: publish camera_info too for each camera sensor Backwards-incompatible change: Camera topics now are named as: veh/camera_name/image_raw instead of veh/camera_name, so the corresponding camera_info exists within its same namespace: veh/camera_name/camera_info.

• Contributors: Jose Luis Blanco-Claraco

0.10.0 (2024-08-28)

• Depend on new mrpt_lib packages (deprecate mrpt2)

• Merge pull request #52 from finani/fix-fake-amcl Fix fake amcl topic (QoS Durability)

• Update outdated copyright years in source files

• Merge pull request #51 from finani/nav2-compatible Nav2 compatible

• Update codebase to new clang-format style

• Merge pull request #48 from finani/refactoring-node Refactoring node

• Merge pull request #45 from finani/develop Add tf pub for each robot (support namespace)

• Merge pull request #43 from kr-jschoi/fix-bug Fix namespace switching bug between mvsim.chassis_shape and mvsim.chassis_shape.wheel3 in /chassis_markers

• Contributors: Inhwan Wee, Jose Luis Blanco-Claraco, finani, kr-jschoi

0.9.4 (2024-05-08)

• Better detection of “in collision” flag.

• Update to clang-format-14

• Upgrade Joystick API so it works correctly with an arbitrary number of axes

• ROS nodes: add collision state publishers for each vehicle

• remove dead code

• Contributors: Jose Luis Blanco-Claraco

0.9.3 (2024-04-24)

• Fix usage of (new explicit) TPoint3D constructors

• Contributors: Jose Luis Blanco-Claraco

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