This release mainly brings available features from the library to the wrappers and improves the wrappers interfaces. Features available in this version : * Loop closure in ROS * Loop closure detection supervision (PV/ROS) * IMU and wheel encoder in ROS * Automatic calibration with GPS * Generic conversion from any PointCloud2 in ROS * Calibration estimation between 2 trajectories * Handling of Livox sensors in ROS * Pose graph optimization with external poses is allowed In the library, the keypoints extractor is deeply refactored and a new extractor is added to be able to handle dense LiDAR sensors in the future. This new version also solves a lot of bugs and is more stable.