CHANGLOG

Unreleased

Changed

v1.5.10 2023-04-11

Added

Merge RSBPV4 into RSBP

v1.5.9 2023-02-17

Added

Support CRC32 check on MSOP/DIFOP packets.
Support parsing DIFOP packets to get config/status data.

Changed

Filter MOSP/DIFOP messages with two bytes instead of one byte.
clear current cloud point when stop the instance of rs_driver.
Recover frame_id field for C user.

Fixed

Fix pcl point cloud message. Adapt it to the format of the output file of rslidar_sdk.
Fix timestamp value of XYZIRT for RS128

v1.5.8 2022-12-09

Added

Add User's guide document

Changed

Rename RSEOS as RSE1
Let user's distance values cover LiDAR's

Fixed

Revert "Report error ERRCODE_MSOP_TIMEOUT if only DIFOP packet is received", to avoid incorrect error report.
Fix error distance of RSM2. Change it to 250m.

v1.5.7 2022-10-09

Added

Add tool to save as PCD file
Seperate RSBPV4 from RSBP
Add demo app demo_online_multi_lidars

Changed

Disable error report in case of wrong block id for RS128/RS80 temporarily

Fixed

Fix distance range of helios series. Also update distance ranges of other lidars
Report error ERRCODE_MSOP_TIMEOUT if only DIFOP packet is received

v1.5.6 2022-09-01

Added

Add option ENABLE_DOUBLE_RCVBUF to solve the packet-loss problem
Add option ENABLE_WAIT_IF_QUEUE_EMPTY to reduce CPU usage.
Add option ENABLE_STAMP_WITH_LOCAL to convert point cloud's timestamp to local time

Changed

Make ERRCODEs different for MSOP/DIFOP Packet
Rename error code CLOUDOVERFLOW
For RSM2, recover its coordinate to ROS-compatible
For RSM2, adapt to increased MSOP packet len
Update demo_pcap and rs_driver_viewer with cloud queue
Accept angle.csv with vert angle only
Update help documents

Fixed

For Ruby and Ruby Plus, fix the problem of parsing point cloud' timestamp.
Fix ERRCODE_MSOPTIMEOUT problem of input_sock_epoll

Removed

Remove option ENABLE_RCVMMSG

v1.5.5 2022-08-01

Added

Compiled rs_driver_viewer on Windows, and add help doc
Add option to double RECVBUF of UDP sockets

Changed

Update demo_online to exit orderly.

Fixed

Fix runtime error of Eigen in case of ENABLE_TRANSFORM
Fix Compiling error on QNX
Fix pcap_rate
Fix the problem with repeated stop and start of driver

Removed

Remove option of high priority thread

v1.5.4 2022-07-01

Added

Support Ruby_3.0_48
Add option to stamp point cloud with first point

Updated

Distinguish 80/80v with lidar model
Use ROS coordinate for EOS
Enable PCAP file parsing in default mode
Parse DIFOP packet in case of jumbo pcap file
Update demo_online example to use ponit cloud queue
Update help documents

Fixed

Fix lidar temperature

v1.5.3 2022-06-01

Added

Add option to receive packet with epoll()
Support Jumbo Mode

Fixed

Check overflow of point cloud
Fix compiling error of multiple definition

v1.5.2 2022-05-20

Added

Support RSP128/RSP80/RSP48 lidars
Support EOS lidar
Add option to usleep() when no packets to be handled

Changed

Limit error information when error happens
Use raw buffer for packet callback
Split frame by seq 1 (for MEMS lidars)
Remove difop handle thread

v1.5.1 - 2022-04-28

Changed

When replay MSOP/DIFOP file, use the timestamp when it is recording. For Mechanical LiDARs,
Split frame by block instead of by packet
Let every point has its own timestamp, instead of using the block's one.

v1.5.0 - 2022-04-21

-- Refactory the coder part

v1.4.6 - 2022-04-21

Added

Check msop timeout
Support M2
add cmake option ENABLE_RECVMMSG

Changed

Optimize point cloud transform

v1.4.5 - 2022-03-09

Added

Support dense attribute
Support to bind to a specifed ip
Limit max size of packet queue
Apply SO_REUSEADDR option to the receiving socket
Support user layer and tail layer
add macro option to disable the PCAP function.

Changed

Join multicast group with code instead of shell script

Fixed

Fix memory leaks problem
Fix temperature calculation (for M1 only)

v1.4.0 - 2021-11-01

Changed

Optimazation to decrease CPU uage, includes:

Replace point with point cloud as template parameter
Instead of alloc/free packet, use packet pool
Instead of alloc/free point cloud, always keep point cloud memory
By default, use conditional macro to disable scan_msg/camera_trigger related code

V1.3.1

Added

Add vlan support
Add somip support
Add split frame when pkt_cnt < last_pkt_cnt in mems
Add temperature in mems
Add ROCK support

Fixed

Fix don't get time when PointType doesn't have timestamp member
Fix ROCK light center compensation algorithm

Removed

Remove redundance condition code in vec.emplace_back(std::move(point)) in mech lidars

v1.3.0 - 2020-11-10

Added

Add RSHELIOS support
Add RSM1 (B3) support
Add Windows support
Add rs_driver_viewer, a small tool to show point cloud
Add save_by_rows argument
Add multi-cast support
Add points transformation function

Changed

Update some decoding part for LiDARs
Change the definition of packet message
Update documents

v1.2.1 - 2020-09-04

Fixed

Fix the timestamp calculation for RS16,RS32 & RSBP. Now the output lidar timestamp will be UTC time and will not be affected by system time zone.

v1.2.0 - 2020-09-01

Added

Add interface in driver core to get lidar temperature
Add support for point type XYZIRT (R - ring id)(T - timestamp)
Add RS80 support
Add interface in driver core to get camera trigger info

Changed

Update the decoding part for ruby in echo-dual mode
Update the compiler version from C++11 to C++14

v1.1.0 - 2020-07-01

Added

Add the limit of the length of the msop queue
Add the exception capture when loading .csv file

Fixed

Fix the bug in calculating the timestamp of 128
Fix the bug in calculating RPM

Changed

Update some functions' names
Update the program structure

Removed

Remove unused variables in point cloud message

v1.0.0 - 2020-06-01

Added

New program structure
Easy to do advanced development
Remove the redundant code in old driver.