Changelog for package ifm3d-ros2
Update for compatibility with O3R FW >= 1.0.14 and ifm3d >= 1.2.6 * Using ifm3d::O3R instead of ifm3d::Device to access camera * Added buffer_id_list param to define which data to get from the device and consequently which topics to publish. Maps to ifm3d buffer_id.
Remove the need to use cyclonedds: TODO: verification
Remove dependency to Boost library
Include Dockerfile and helper scripts: * Dockerfile for building the ROS2 node inside a Docker container * Helper build and launch scripts for ROS Docker images * Adds docker-compose example files for launching the ROS node on a O3R edge device: VPU
Moved Publishers into node namespace: This matches the ifm3d-ros2 node version’s naming (<= 1.0.x).
Switch to a new camera.launch.py launch file (instead of camera_managed and camera_standalone): launches and activates a single camera node * focusses on configurability * camera_default_parameters.yaml contains only default params * Add option for visualization to launch file: If visualization is true, RViz2 with the config file from etc is opened * Formatting of node names improved
old launch files are marked as deprecated and will be removed with next release: please migrate your launch files to the new structure
Switching json handling to ifm3d::json
Reduce logging level for continuous outputs.
Added topics: * diagnostics (published to global /diagnostic topic), * camera_info, * TOF_INFO, * RGB_INFO, * extrinsics
Added parameters: * log_level, * tf related parameters (see parameters doc for more details), * buffer_id_list, * diag_mode
Updating to underlying ifm3d API version 1.1.1
Name change for TOF_INFO and RGB_INFO buffer.
Added Error, AsynError and AsyncNotification callbacks.
Updating to underlying ifm3d API version 1.0.1
Switching to using buffer_ids instead of schemas to determine data types.
Introducing buffer_id_utils.hpp for buffer_id handling.
Fixed tf chain in launchfiles
Removed dependencies to OpenCV and PCL and the Image module of the ifm3d library. Now using the StlImage module of ifm3d.
The RGB image is published as a compressed JPEG image. To view it with RViz, you can use the image_transport republish node (see documentation).
Update the launchfiles for compatibility with pyyaml 6.0 (backward compatibility maintained down to pyyaml 5.1).
Update the ROS node for the O3R camera platform
add a 2D RGB data publisher
add support for specifying the PCIC data communication TCP port
add example yaml files and launch file for multi PCIC TCP port settings
add service functions for setting each camera head to RUN / IDLE state
update the dump and config service to O3R JSON structure
removed unit vector publishing: please use the intrinsic camera calibration parameters instead
removed the temperature publisher until diagnose chunk is available
removed axis permutation for ROS node specific axis order
removed xyz image publisher
DDS settings need to be set to cyclonedds - ROS 2 Galactic is the preferred ROS 2 distro atm.
Publish camera temperature (Thanks @dustingooding of Houston Mechatronics)
Tested on Eloquent
Provided an implementation of the Dump service
Provided an implementation of the dump command-line tool
Provided an implementation of the Config service
Provided an implementation of the config command-line tool
Unit vectors are published on a “latched topic”. Please see qos.hpp for the specifics of the QoS profile ifm3d_ros2::LatchedQoS.
On-camera extrinsics in support of off-line point cloud computation are now exposed.
Bootstrapped some unit tests
Cleaned up some documentation.
Initial (alpha) release