410 lines
8.1 KiB
Markdown
410 lines
8.1 KiB
Markdown
# CHANGLOG
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## v1.5.19 2025-01-22
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### Added
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* Support EMX Gen2.
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## v1.5.18.2 2025-12-23
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### Added
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* Support QNX platform. Optimize input module performance.
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* EM4 Lidar support adjusting ring numbers.
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## v1.5.18.1 2025-11-23
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### Changed
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- Update RSEMX protocol, add pitch offset in MSOP.
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## v1.5.18 2025-05-16
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### Added
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- Update RSAIRY firing tss data according to the Install Mode.
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- Update PCAP Error Code.
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### Fix
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- Fix PCAP playback speed issue.
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- Fix the compilation issue of rs_driver_viewer on Ubuntu 22.04.
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## v1.5.17 2025-02-14
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### Added
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- Support RSAIRY.
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- Support parsing IMU data for RSAIRY and RSE1.
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- Support parsing IMU extrinsics parameters frome difop for RSAIRY.
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### Changed
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- Add feature attribute to point type.
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- Update help document.
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- Update block_time_offset as us for RSE1
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### Fix
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- Fix compilation bug in win/input_socket_select.
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## v1.5.16 2024-08-27
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### Added
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- Support sn parsing of RSMX.
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### Fixed
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- Update msop protocol of RSMX.
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- Fix compilation bug in epoll socket.
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- Fix compilation warning for unit tests.
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## v1.5.15 2024-08-07
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### Added
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- Support RSM3.
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## v1.5.14 2024-07-15
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### Added
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- Support multiple lidars with different multicast addresses and the same port.
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### Fixed
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- Fix the bug that only one lidar was parsed correctly when multiple bp4.0 were used.
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## v1.5.13 2024-05-10
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### Added
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- Support RSMX.
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### Fixed
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- Update timestamp parsing unit and the number of packets per frame in decoder_RSE1.
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- Update firing_tss of Helios/Helios16P/RubyPlus.
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- Fix compilation bug of unit test.
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## v1.5.12 2023-12-28
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### Fixed
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- Fix bug in getting device info and status.
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- Fix bug in getting device temperature.
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## v1.5.11 2023-12-18
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### Added
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- Split frame at the end of frame.
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### Changed
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- Enable modify socket buffer size.
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### Fixed
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- Fix the bug of rs_drvier_viewer.cpp abnormal crash.
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- Fix fir_tss of RSBPV4.
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- Fix rotation direction of RSBPV4 when reversal.
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## v1.5.10 2023-04-11
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### Added
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- Merge RSBPV4 into RSBP
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## v1.5.9 2023-02-17
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### Added
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- Support CRC32 check on MSOP/DIFOP packets.
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- Support parsing DIFOP packets to get config/status data.
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### Changed
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- Filter MOSP/DIFOP messages with two bytes instead of one byte.
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- clear current cloud point when stop the instance of rs_driver.
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- Recover frame_id field for C user.
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### Fixed
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- Fix pcl point cloud message. Adapt it to the format of the output file of rslidar_sdk.
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- Fix timestamp value of XYZIRT for RS128
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## v1.5.8 2022-12-09
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### Added
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- Add User's guide document
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### Changed
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- Rename RSEOS as RSE1
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- Let user's distance values cover LiDAR's
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### Fixed
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- Revert "Report error ERRCODE_MSOP_TIMEOUT if only DIFOP packet is received", to avoid incorrect error report.
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- Fix error distance of RSM2. Change it to 250m.
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## v1.5.7 2022-10-09
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### Added
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- Add tool to save as PCD file
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- Seperate RSBPV4 from RSBP
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- Add demo app demo_online_multi_lidars
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### Changed
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- Disable error report in case of wrong block id for RS128/RS80 temporarily
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### Fixed
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- Fix distance range of helios series. Also update distance ranges of other lidars
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- Report error ERRCODE_MSOP_TIMEOUT if only DIFOP packet is received
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## v1.5.6 2022-09-01
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### Added
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- Add option ENABLE_DOUBLE_RCVBUF to solve the packet-loss problem
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- Add option ENABLE_WAIT_IF_QUEUE_EMPTY to reduce CPU usage.
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- Add option ENABLE_STAMP_WITH_LOCAL to convert point cloud's timestamp to local time
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### Changed
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- Make ERRCODEs different for MSOP/DIFOP Packet
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- Rename error code CLOUDOVERFLOW
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- For RSM2, recover its coordinate to ROS-compatible
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- For RSM2, adapt to increased MSOP packet len
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- Update `demo_pcap` and `rs_driver_viewer` with cloud queue
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- Accept angle.csv with vert angle only
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- Update help documents
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### Fixed
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- For Ruby and Ruby Plus, fix the problem of parsing point cloud' timestamp.
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- Fix ERRCODE_MSOPTIMEOUT problem of input_sock_epoll
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### Removed
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- Remove option ENABLE_RCVMMSG
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## v1.5.5 2022-08-01
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### Added
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- Compiled rs_driver_viewer on Windows, and add help doc
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- Add option to double RECVBUF of UDP sockets
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### Changed
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- Update demo_online to exit orderly.
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### Fixed
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- Fix runtime error of Eigen in case of ENABLE_TRANSFORM
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- Fix Compiling error on QNX
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- Fix pcap_rate
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- Fix the problem with repeated stop and start of driver
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### Removed
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- Remove option of high priority thread
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## v1.5.4 2022-07-01
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### Added
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- Support Ruby_3.0_48
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- Add option to stamp point cloud with first point
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### Updated
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- Distinguish 80/80v with lidar model
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- Use ROS coordinate for EOS
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- Enable PCAP file parsing in default mode
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- Parse DIFOP packet in case of jumbo pcap file
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- Update demo_online example to use ponit cloud queue
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- Update help documents
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### Fixed
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- Fix lidar temperature
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## v1.5.3 2022-06-01
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### Added
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- Add option to receive packet with epoll()
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- Support Jumbo Mode
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### Fixed
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- Check overflow of point cloud
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- Fix compiling error of multiple definition
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## v1.5.2 2022-05-20
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### Added
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- Support RSP128/RSP80/RSP48 lidars
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- Support EOS lidar
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- Add option to usleep() when no packets to be handled
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### Changed
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- Limit error information when error happens
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- Use raw buffer for packet callback
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- Split frame by seq 1 (for MEMS lidars)
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- Remove difop handle thread
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## v1.5.1 - 2022-04-28
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### Changed
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- When replay MSOP/DIFOP file, use the timestamp when it is recording.
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For Mechanical LiDARs,
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- Split frame by block instead of by packet
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- Let every point has its own timestamp, instead of using the block's one.
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-
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## v1.5.0 - 2022-04-21
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-- Refactory the coder part
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## v1.4.6 - 2022-04-21
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### Added
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- Check msop timeout
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- Support M2
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- add cmake option ENABLE_RECVMMSG
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### Changed
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- Optimize point cloud transform
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## v1.4.5 - 2022-03-09
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### Added
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- Support dense attribute
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- Support to bind to a specifed ip
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- Limit max size of packet queue
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- Apply SO_REUSEADDR option to the receiving socket
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- Support user layer and tail layer
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- add macro option to disable the PCAP function.
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### Changed
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- Join multicast group with code instead of shell script
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### Fixed
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- Fix memory leaks problem
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- Fix temperature calculation (for M1 only)
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## v1.4.0 - 2021-11-01
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### Changed
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Optimazation to decrease CPU uage, includes:
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- Replace point with point cloud as template parameter
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- Instead of alloc/free packet, use packet pool
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- Instead of alloc/free point cloud, always keep point cloud memory
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- By default, use conditional macro to disable scan_msg/camera_trigger related code
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## V1.3.1
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### Added
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- Add vlan support
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- Add somip support
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- Add split frame when pkt_cnt < last_pkt_cnt in mems
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- Add temperature in mems
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- Add ROCK support
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### Fixed
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- Fix don't get time when PointType doesn't have timestamp member
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- Fix ROCK light center compensation algorithm
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### Removed
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- Remove redundance condition code in vec.emplace_back(std::move(point)) in mech lidars
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## v1.3.0 - 2020-11-10
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### Added
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- Add RSHELIOS support
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- Add RSM1 (B3) support
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- Add Windows support
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- Add rs_driver_viewer, a small tool to show point cloud
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- Add save_by_rows argument
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- Add multi-cast support
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- Add points transformation function
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### Changed
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- Update some decoding part for LiDARs
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- Change the definition of packet message
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- Update documents
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## v1.2.1 - 2020-09-04
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### Fixed
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- 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.
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## v1.2.0 - 2020-09-01
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### Added
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- Add interface in driver core to get lidar temperature
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- Add support for point type XYZIRT (R - ring id)(T - timestamp)
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- Add RS80 support
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- Add interface in driver core to get camera trigger info
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### Changed
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- Update the decoding part for ruby in echo-dual mode
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- Update the compiler version from C++11 to C++14
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## v1.1.0 - 2020-07-01
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### Added
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- Add the limit of the length of the msop queue
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- Add the exception capture when loading .csv file
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### Fixed
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- Fix the bug in calculating the timestamp of 128
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- Fix the bug in calculating RPM
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### Changed
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- Update some functions' names
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- Update the program structure
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### Removed
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- Remove unused variables in point cloud message
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## v1.0.0 - 2020-06-01
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### Added
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- New program structure
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- Easy to do advanced development
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- Remove the redundant code in old driver.
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