Merge branch 'release/3.6.0'

SICKAG · Oct 23, 2024 · 7cab14f · 7cab14f
2 parents 8d3e28b + 375854a
commit 7cab14f
Show file tree

Hide file tree

Showing 149 changed files with 7,357 additions and 5,338 deletions.
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -4,10 +4,29 @@ Possible types are **Added** for new features. **Changed** for changes to the ex
 features that will be removed in future versions **Removed** for deprecated features that were removed in this release.
 **Fixed** for all bug fixes. **Security** to prompt users to update in case of closed vulnerabilities.
 
-## Unreleased ##
-
 ## Released ##
 
+### Release v3.6.0
+  - **add** Launchfiles and configuration for picoScan120
+  - **add** Optional AngleRangeFilter and IntervalFilter for picoScan
+  - **fix** Obsolete topic "/sick_multiscan/scan" removed
+  - **add** IMU automatically deactivated after receiving an error code for IMU activation from picoScan w/o addons
+  - **fix** Customization of hash values for authorization #366
+  - **fix** Replaced builtin_addressof expressions #370
+  - **add** Different UDP timeouts for state initial and running, improved UDP timeout handling
+  - **fix** Picoscan range_min value in laserScan message #382
+  - **add** Support for RMS2xxx LIDoutputstate telegrams
+  - **fix** sick_generic_caller debug assertion #385
+  - **add** Check of udp receiver ip at startup
+  - **add** cmake-option to overwrite optimization level
+  - **change** Documentation restructured
+  - **add** Improved field evaluation TiM7xx, Tim7xxS (publish LIDinputstate messages, configuration and services for options FieldSetSelectionMethod and ActiveFieldSet)
+  - **add** PicoScan parameter add_transform_xyz_rpy #399
+  - **fix** LMS4000 encoder settings #403
+  - **fix** CMake-flag for target sick_scan_xd_api_dockertest #404
+  - **change** Merge PR #405 (typo) and PR #406 (sick_scan_xd_api_test)
+
+
 ### Release v3.5.0
   - **add** Optional switch between "system timestamps" (default) and "tick timestamps"
   - **add** Extract sick_scan_xd version from package.xml
@@ -20,8 +39,8 @@ features that will be removed in future versions **Removed** for deprecated feat
   - **add** Integration PR #347 (NAV350 landmarks)
   - **add** Support for 3D-SLAM (OctoMap, RTAB-Map, timestamps for each scanpoint for deskewing, configuration example for multiScan)
   - **add** customisations for gcc 13 (Ubuntu 24)
-  - **add** Update for bloom releases ROS-2 iron and jazzy 
-  - **add** Configuration multiScan interval filter via launchfile (#352) 
+  - **add** Update for bloom releases ROS-2 iron and jazzy
+  - **add** Configuration multiScan interval filter via launchfile (#352)
   - **add** SPDX licence text (PR #354)
   - **fix** Fix #355 (API launchfile parsing error)
   - **add** Example configurations for parallel operation multi and picoScan
@@ -37,7 +56,7 @@ features that will be removed in future versions **Removed** for deprecated feat
 
 ### Release v3.3.0
 
-  - **add** Option for MRS1xxx azimuth correction table 
+  - **add** Option for MRS1xxx azimuth correction table
   - **add** Support for picoScan100 (single echo w/o addons)
   - **add** API logging functions and verbosity (#270)
   - **add** API documentation (multiple lidars not supported, #281)
@@ -62,7 +81,7 @@ features that will be removed in future versions **Removed** for deprecated feat
 
   - **add** IMU support for multiScan
   - **add** LaserScan output for picoScan
-  - **fix** API reinit 
+  - **fix** API reinit
   - **fix** multiScan data output with range filter activated
   - **fix** adapt multiScan startup and shutdown sequence
   - **fix** adaptations for MRS-1000 v2 firmware
@@ -73,11 +92,11 @@ This release has a new major version as it breaks with the previously used ROS m
 For consistency, the ROS module name has been changed to "sick_scan_xd" to match the name used everywhere else.
 
   - **add** New topics for additional data and properties
-  - **add** Official ARM64 support 
+  - **add** Official ARM64 support
   - **add** Service for requesting contamination detection information
   - **change** Improvements from customer tickets and documentation enhancements
   - **fix** ROS module name consistency
-           
+
 ### Release v2.10.3
   - **fix** avoid problems with min/max definition in the STL and preprocessor definitions
 
@@ -86,7 +105,7 @@ For consistency, the ROS module name has been changed to "sick_scan_xd" to match
 
 ### Release v2.10.1
   - **update** make Compact format the default for picoScan and multiScan
-  
+
 ### Release v2.10.0
   - **add** picoScan support
   - **add** Compact format support
@@ -112,7 +131,7 @@ For consistency, the ROS module name has been changed to "sick_scan_xd" to match
   - **Update** Win64 build instructions
   - **Update** API documentation, driver states diagrams and typos
   - **Added**  LRS-36xx configuration for upside-down mounting
-  - **Removed** Obsolete service commands and RMS3xx support     
+  - **Removed** Obsolete service commands and RMS3xx support
   - **Fix** LRS-36xx angle configuration
   - **Fix** catkin_lint warnings
   - **Fix** ROS-2 Humble build
@@ -162,7 +181,7 @@ For consistency, the ROS module name has been changed to "sick_scan_xd" to match
   - **Update** README.md restructured
   - **Update** Collected update including previous v2.8.x changes
 
-### v2.8.2 - development branch 
+### v2.8.2 - development branch
   - **Fixed** Update build instructions in README.md, visualization in python API-example with low frequency to reduce cpu usage.
 
 ### v2.8.1 - development branch
@@ -175,68 +194,68 @@ For consistency, the ROS module name has been changed to "sick_scan_xd" to match
   - **Changed** Changed to namespace roswrap in ros wrapper classes
   - **Fixed** Library linker flag #91
 
-### v2.7.5 - 
+### v2.7.5 -
   - **Fixed** MRS6124 pointcloud error #88
 
-### v2.7.4 - 
+### v2.7.4 -
   - **Fixed** ROS2 compilation error #83
 
-### v2.7.3 - 
+### v2.7.3 -
   - **Added** Supported for LFPmeanfilter and LFPmedianfilter (MRS1xxx, LMS1xxx, LMS4xxx, LRS4xxx)
   - **Added** Supported for LMDscandatascalefactor (LRS4xxx)
 
-### v2.7.0 - 
+### v2.7.0 -
   - **Added** V2.7.0: Support for multiScan136 (sick_scansegment_xd)
   - **Fixed** Timestamp LaserScan-message corrected (identical timestamps in LaserScan- and PointCloud2-messages, both by Software-PLL)
 
-### v2.6.8 - 
+### v2.6.8 -
   - **Fixed** Merge pull request #76
 
-### v2.6.7 - 
+### v2.6.7 -
   - **Update** LMS511 configuration #67
 
-### v2.6.6 - 
+### v2.6.6 -
   - **Update** NAV310 + LRS4xxx update, issues #58, #59, #60, #61
 
-### v2.6.5 - 
+### v2.6.5 -
   - **Fixed** LRS4xxx scan configuration #52
 
-### v2.6.4 - 
+### v2.6.4 -
   - **Fixed** LMS5xx echo filter settings corrected
 
-### v2.6.3 - 
+### v2.6.3 -
   - **Fixed** Timestamp Laserscan message corrected
 
-### v2.6.2 - 
+### v2.6.2 -
   - **Fixed** LDMRS spinning problem corrected
 
-### v2.6.1 - 
+### v2.6.1 -
   - **Added** V2.6.1: Support for RMS-1xxx binary protocol
 
-### v2.6.0 - 
+### v2.6.0 -
   - **Changed** V2.6.0: RMS configuration update, issue #7
 
-### v2.5.2 - 
+### v2.5.2 -
   - **Fixed**  Fix LSR-4xxx laserscan angles #28
   - **Fixed**  Fix duplicated laserscan messages #28
 
-### v2.5.1 - 
+### v2.5.1 -
   - **Fixed**  Error after SOPAS command SetAccessMode #27
 
-### v2.5.0 - 
+### v2.5.0 -
   - **Fixed** Issue #24 (stop scanner at exit)
   - **Added** new ros service SickScanExit to stop scanner and exit
 
-### v2.4.6 - 
+### v2.4.6 -
   - **Fixed** Corrected angle shift parameter for LMS-4xxx
   - **Changed** Typo corrected
 
-### v2.4.5 - 
+### v2.4.5 -
   - **Changed** bugfix #158 (driver terminates), modified SOPAS-startup sequence.
 
 ### v2.4.4 - 2022-01-25
   - **Added** Support min and max angle configuration for LRS-3601
-  - **Changed** Mirroring for NAV-3xx  
+  - **Changed** Mirroring for NAV-3xx
 
 ### v2.4.3 - 2022-01-18
   - **Changed** Rename class sick_lidar::Util to namespace sick_lidar::util

diff --git a/CHANGELOG.rst b/CHANGELOG.rst
@@ -2,10 +2,29 @@
 Changelog for package sick_scan_xd
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
+3.6.0 (2024-10-23)
 -----------
-
-3.5.0 (2024-xx-xx)
+* Release v3.6.0
+  * add: Launchfiles and configuration for picoScan120
+  * add: Optional AngleRangeFilter and IntervalFilter for picoScan
+  * fix: Obsolete topic "/sick_multiscan/scan" removed
+  * add: IMU automatically deactivated after receiving an error code for IMU activation from picoScan w/o addons
+  * fix: Customization of hash values for authorization #366
+  * fix: Replaced builtin_addressof expressions #370
+  * add: Different UDP timeouts for state initial and running, improved UDP timeout handling
+  * fix: Picoscan range_min value in laserScan message #382
+  * add: Support for RMS2xxx LIDoutputstate telegrams
+  * fix: sick_generic_caller debug assertion #385
+  * add: Check of udp receiver ip at startup
+  * add: cmake-option to overwrite optimization level
+  * change: Documentation restructured
+  * add: Improved field evaluation TiM7xx, Tim7xxS (publish LIDinputstate messages, configuration and services for options FieldSetSelectionMethod and ActiveFieldSet)
+  * fix: PicoScan parameter add_transform_xyz_rpy #399
+  * fix: LMS4000 encoder settings #403
+  * fix: CMake-flag for target sick_scan_xd_api_dockertest #404
+  * change: Merge PR #405 (typo) and PR #406 (sick_scan_xd_api_test)
+
+3.5.0 (2024-07-19)
 ------------------
 * Release v3.5.0
   * add: Optional switch between "system timestamps" (default) and "tick timestamps"
@@ -19,8 +38,8 @@ Forthcoming
   * add: Integration PR #347 (NAV350 landmarks)
   * add: Support for 3D-SLAM (OctoMap, RTAB-Map, timestamps for each scanpoint for deskewing, configuration example for multiScan)
   * add: customisations for gcc 13 (Ubuntu 24)
-  * add: Update for bloom releases ROS-2 iron and jazzy 
-  * add: Configuration multiScan interval filter via launchfile (#352) 
+  * add: Update for bloom releases ROS-2 iron and jazzy
+  * add: Configuration multiScan interval filter via launchfile (#352)
   * add: SPDX licence text (PR #354)
   * fix: Fix #355 (API launchfile parsing error)
   * add: Example configurations for parallel operation multi and picoScan
@@ -39,7 +58,7 @@ Forthcoming
 3.3.0 (2024-03-04)
 ------------------
 * Release v3.3.0
-  * add: Option for MRS1xxx azimuth correction table 
+  * add: Option for MRS1xxx azimuth correction table
   * add: Support for picoScan100 (single echo w/o addons)
   * add: API logging functions and verbosity (#270)
   * add: API documentation (multiple lidars not supported, #281)

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -51,7 +51,19 @@ option(BUILD_DEBUG_TARGET "Build debug target (ON) or release (OFF)" ON) # OFF (
 # endif()
 
 if(NOT WIN32)
-    add_compile_options(-O3)
+    if(O EQUAL 0)
+        add_compile_options(-g -O0)
+        message(STATUS "Building sick_scan_xd with -g -O0")
+    elseif(O EQUAL 1)
+        add_compile_options(-g -O1)
+        message(STATUS "Building sick_scan_xd with -O1")
+    elseif(O EQUAL 2)
+        add_compile_options(-g -O2)
+        message(STATUS "Building sick_scan_xd with -O2")
+    else()
+        add_compile_options(-O3)
+        message(STATUS "Building sick_scan_xd with -O3")
+    endif()
 endif()
 # Added CMP0022 and CMP0048 to avoid cmake warnings
 if (POLICY CMP0022)
@@ -238,6 +250,7 @@ if(ROS_VERSION EQUAL 1)
         Encoder.msg
         LFErecFieldMsg.msg
         LFErecMsg.msg
+        LIDinputstateMsg.msg
         LIDoutputstateMsg.msg
         RadarObject.msg
         RadarPreHeader.msg
@@ -265,6 +278,8 @@ if(ROS_VERSION EQUAL 1)
         FILES
         ColaMsgSrv.srv
         ECRChangeArrSrv.srv
+        FieldSetReadSrv.srv
+        FieldSetWriteSrv.srv
         GetContaminationResultSrv.srv
         LIDoutputstateSrv.srv
         SCdevicestateSrv.srv
@@ -370,6 +385,7 @@ if(ROS_VERSION EQUAL 2)
         "msg/ImuExtended.msg"
         "msg/LFErecFieldMsg.msg"
         "msg/LFErecMsg.msg"
+        "msg/LIDinputstateMsg.msg"
         "msg/LIDoutputstateMsg.msg"
         "msg/NAVLandmarkData.msg"
         "msg/NAVOdomVelocity.msg"
@@ -388,6 +404,8 @@ if(ROS_VERSION EQUAL 2)
         # service files
         "srv/ColaMsgSrv.srv"
         "srv/ECRChangeArrSrv.srv"
+        "srv/FieldSetReadSrv.srv"
+        "srv/FieldSetWriteSrv.srv"        
         "srv/GetContaminationResultSrv.srv"
         "srv/LIDoutputstateSrv.srv"
         "srv/SCdevicestateSrv.srv"
@@ -813,23 +831,25 @@ if(BUILD_SICK_SCAN_XD_API_TEST EQUAL 1)
         elseif(ROS_VERSION EQUAL 2)
             target_link_libraries(sick_scan_xd_api_test "pthread") # pthread required for std::thread
         endif()
-    endif()
-    add_executable(sick_scan_xd_api_dockertest
-        driver/src/sick_scan_xd_api/sick_scan_api_converter.cpp
-        test/src/sick_scan_xd_api/sick_scan_xd_api_dockertest.cpp
-        test/src/sick_scan_xd_api/sick_scan_xd_api_wrapper.c
-    )
-    target_link_libraries(sick_scan_xd_api_dockertest ${LIB_JSONCPP})
-    if(NOT WIN32)
-        target_link_libraries(sick_scan_xd_api_dockertest "dl") # link with dl for dynamic library loading
-        if(ROS_VERSION EQUAL 0)
-            target_link_libraries(sick_scan_xd_api_dockertest "pthread") # pthread required for std::thread
-            target_link_options(sick_scan_xd_api_dockertest PUBLIC "LINKER:--no-as-needed") # fixes exception "Enable multithreading to use std::thread: Operation not permitted" 
-        elseif(ROS_VERSION EQUAL 1)
-            target_link_libraries(sick_scan_xd_api_dockertest ${catkin_LIBRARIES})
-            add_dependencies(sick_scan_xd_api_dockertest ${PROJECT_NAME}_gencfg ${catkin_EXPORTED_TARGETS} ${${PROJECT_NAME}_EXPORTED_TARGETS})
-        elseif(ROS_VERSION EQUAL 2)
-            target_link_libraries(sick_scan_xd_api_dockertest "pthread") # pthread required for std::thread
+    endif()    
+    if(${ENABLE_EMULATOR} OR ENABLE_EMULATOR EQUAL ON OR CMAKE_ENABLE_DOCKERTESTS EQUAL 1) # i.e. development or dockertests
+        add_executable(sick_scan_xd_api_dockertest
+            driver/src/sick_scan_xd_api/sick_scan_api_converter.cpp
+            test/src/sick_scan_xd_api/sick_scan_xd_api_dockertest.cpp
+            test/src/sick_scan_xd_api/sick_scan_xd_api_wrapper.c
+        )
+        target_link_libraries(sick_scan_xd_api_dockertest ${LIB_JSONCPP})
+        if(NOT WIN32)
+            target_link_libraries(sick_scan_xd_api_dockertest "dl") # link with dl for dynamic library loading
+            if(ROS_VERSION EQUAL 0)
+                target_link_libraries(sick_scan_xd_api_dockertest "pthread") # pthread required for std::thread
+                target_link_options(sick_scan_xd_api_dockertest PUBLIC "LINKER:--no-as-needed") # fixes exception "Enable multithreading to use std::thread: Operation not permitted" 
+            elseif(ROS_VERSION EQUAL 1)
+                target_link_libraries(sick_scan_xd_api_dockertest ${catkin_LIBRARIES})
+                add_dependencies(sick_scan_xd_api_dockertest ${PROJECT_NAME}_gencfg ${catkin_EXPORTED_TARGETS} ${${PROJECT_NAME}_EXPORTED_TARGETS})
+            elseif(ROS_VERSION EQUAL 2)
+                target_link_libraries(sick_scan_xd_api_dockertest "pthread") # pthread required for std::thread
+            endif()
         endif()
     endif()
 endif()