Feature/issue update 2409xx

SICKAG · Oct 23, 2024 · c285826 · c285826
1 parent 3638b9d
commit c285826
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diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -6,6 +6,26 @@ features that will be removed in future versions **Removed** for deprecated feat
 
 ## Unreleased ##
 
+### 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)
+
 ## Released ##
 
 ### Release v3.5.0

diff --git a/CHANGELOG.rst b/CHANGELOG.rst
@@ -4,6 +4,25 @@ Changelog for package sick_scan_xd
 
 Forthcoming
 -----------
+* 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-xx-xx)
 ------------------

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()