diff --git a/CHANGELOG.md b/CHANGELOG.md index fddf1faa27176215d5a05a358d0602e98952fc0a..9c19b55f7bb6019930ab7f856cbac9272e461abf 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -1,5 +1,52 @@ # SLAM changes history +## *v3.0 (2025/04/01)* + +The key update in v3.0 is the transition of the ROS1/ROS2 wrapper. The ROS2 wrapper has now been merged into the master branch. A new protected branch is created for ROS1 and this branch will no longer be maintained after EOL of ROS NOETIC (May, 2025). + +Additionally, numerous bug fixes and stability enhancements have been made, making v3.0 more robust and reliable. + +The full list of changes is summarized below. + +### Core lib + +**Minor new features:** + +* Allow to apply the offset between external pose and slam odom after PGO (!452) + +**Bug fixes:** + +* Fix loop closure (!429) +* Add sanity check for doubled measurements (!470) +* Fix log of estimated calibration matrix (!470) + +**Compilation / CMake related changes / CI:** + +* Update code for new g2o version (!431) +* Fix CI tests (!432, !433) +* Supply docker files, images and instructions (!435) +* Update to C++ 17 (!461) +* Update superbuild (!466) +* Fix build issue with g2o and eigen (!441) + +### ROS wrapping + +**Major new features:** + +* Create protected ROS1 branch and remove PV wrapping (!462) +* Allow to set pose and reset odom during slam process (!470) + +**Bug fixes:** + +* Add sanity check for Nan value in point cloud (!440) +* Fix time factor in converters (!470) +* Fix for multi-threading (!470) +* Fix tf broadcast for external sensor (!470) + +**Doc:** + +* Update install guide and slam guide (!465) + ## *v2.2 (2024/04/18)* The main novelty for v2.2 is the availability of the ROS2 wrapper in feat/ROS2 branch. diff --git a/CMakeLists.txt b/CMakeLists.txt index d5d7084c4bf92a5dbee37feb5ab4bf1649ae5e9e..2869894021971abb3a438126f21a210daf886fd0 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.9 FATAL_ERROR) project(LidarSlam LANGUAGES CXX - VERSION 2.2) + VERSION 3.0) #------------------------- # CMake parameters diff --git a/ros_wrapping/external_sensors_msg/apriltag_ros/CMakeLists.txt b/ros_wrapping/external_sensors_msg/apriltag_ros/CMakeLists.txt index ba755f554f522fe410e597e0e6c5ce353206d71b..d9acb6a1639f738c80ec2c359bb46246379383c7 100644 --- a/ros_wrapping/external_sensors_msg/apriltag_ros/CMakeLists.txt +++ b/ros_wrapping/external_sensors_msg/apriltag_ros/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.9) -project(apriltag_ros VERSION 1.4) +project(apriltag_ros VERSION 3.0) # Compile as C++14, supported in ROS Kinetic and newer set(CMAKE_CXX_STANDARD 14) diff --git a/ros_wrapping/external_sensors_msg/apriltag_ros/package.xml b/ros_wrapping/external_sensors_msg/apriltag_ros/package.xml index 2201fda42d0da31cad66ccf5370ee5f390df962a..04367e3e3970c17926bcaa00d87eb9e37628ca04 100644 --- a/ros_wrapping/external_sensors_msg/apriltag_ros/package.xml +++ b/ros_wrapping/external_sensors_msg/apriltag_ros/package.xml @@ -1,7 +1,7 @@ apriltag_ros - 2.2.0 + 3.0.0 Messages of external april tag node Julia Sanchez diff --git a/ros_wrapping/gps_conversions/CMakeLists.txt b/ros_wrapping/gps_conversions/CMakeLists.txt index b0243a37643210ed26f98637b8797943224695ec..792c1c0e0e429c571c73b7da976c6b4dfeed5dd2 100644 --- a/ros_wrapping/gps_conversions/CMakeLists.txt +++ b/ros_wrapping/gps_conversions/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.9) -project(gps_conversions VERSION 2.2) +project(gps_conversions VERSION 3.0) ## Compile as C++14, supported in ROS Kinetic and newer set(CMAKE_CXX_STANDARD 14) diff --git a/ros_wrapping/gps_conversions/package.xml b/ros_wrapping/gps_conversions/package.xml index 08f4d911df2e5887048a1c5fd9da44a46556e0a5..4a6ca0d121b3827dd95fdc29e60facdd9091176c 100644 --- a/ros_wrapping/gps_conversions/package.xml +++ b/ros_wrapping/gps_conversions/package.xml @@ -1,7 +1,7 @@ gps_conversions - 2.2.0 + 3.0.0 GPS to/from UTM conversions in WGS84 format. diff --git a/ros_wrapping/lidar_conversions/CMakeLists.txt b/ros_wrapping/lidar_conversions/CMakeLists.txt index 4e6aa74bdaf7dcde92e2c0b68045c468134929ca..ff98a2bebb412659b6bdbfa322550be2d43ef48c 100644 --- a/ros_wrapping/lidar_conversions/CMakeLists.txt +++ b/ros_wrapping/lidar_conversions/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.9) -project(lidar_conversions VERSION 2.2) +project(lidar_conversions VERSION 3.0) # Compile as C++14, supported in ROS Kinetic and newer set(CMAKE_CXX_STANDARD 14) diff --git a/ros_wrapping/lidar_conversions/package.xml b/ros_wrapping/lidar_conversions/package.xml index 370a98bbe7bc79c8cda016d470314e2b34aa2c75..63c27a9a3f6084d4d39065324695ed96a5fb41c4 100644 --- a/ros_wrapping/lidar_conversions/package.xml +++ b/ros_wrapping/lidar_conversions/package.xml @@ -1,7 +1,7 @@ lidar_conversions - 2.2.0 + 3.0.0 Point type conversion from sensor driver to LidarPoint used in SLAM process. diff --git a/ros_wrapping/lidar_slam/CMakeLists.txt b/ros_wrapping/lidar_slam/CMakeLists.txt index 65079eef4d968e620dea4ee246f7287af2d2afbd..5ebbe12f062e69d12c0fac1bab313ff7aafdbc40 100644 --- a/ros_wrapping/lidar_slam/CMakeLists.txt +++ b/ros_wrapping/lidar_slam/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.9) -project(lidar_slam VERSION 2.2) +project(lidar_slam VERSION 3.0) # If you're not familiar with catkin, please have a look at these useful links. # Catkin documentation: diff --git a/ros_wrapping/lidar_slam/package.xml b/ros_wrapping/lidar_slam/package.xml index 43ca9d03253b6e3bbc2e731c2145fc9e5973ed79..5dfab7320110a6e5d6ce46567e6f73935332751a 100644 --- a/ros_wrapping/lidar_slam/package.xml +++ b/ros_wrapping/lidar_slam/package.xml @@ -1,7 +1,7 @@ lidar_slam - 2.0.0 + 3.0.0 ROS wrapping of Kitware LiDAR SLAM algorithm. diff --git a/ros_wrapping/slam_visualization/CMakeLists.txt b/ros_wrapping/slam_visualization/CMakeLists.txt index 4b3c6be81da2c1e6fc1b65ad28ef911d55f512b8..f9d94841a164b3e2080d225a40797fd314244a43 100644 --- a/ros_wrapping/slam_visualization/CMakeLists.txt +++ b/ros_wrapping/slam_visualization/CMakeLists.txt @@ -1,6 +1,6 @@ cmake_minimum_required(VERSION 3.0.2) project(slam_visualization - VERSION 0.1.0) + VERSION 3.0.0) set(CMAKE_CXX_STANDARD 14) diff --git a/ros_wrapping/slam_visualization/package.xml b/ros_wrapping/slam_visualization/package.xml index d30617d82a1a3ad6e47a53fbd4bc13e0532ad7ee..009250630b68d17d7e3e644dddc1b18b80e46d88 100644 --- a/ros_wrapping/slam_visualization/package.xml +++ b/ros_wrapping/slam_visualization/package.xml @@ -1,7 +1,7 @@ slam_visualization - 2.0.0 + 3.0.0 The slam_visualization package Julia Sanchez diff --git a/ros_wrapping/tests/CMakeLists.txt b/ros_wrapping/tests/CMakeLists.txt index e13deebb052b012e3a7abc068cce74c10bc11faf..a49f0e244036d35f9856200b5dc46457c1e00da8 100644 --- a/ros_wrapping/tests/CMakeLists.txt +++ b/ros_wrapping/tests/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.9) -project(lidar_slam_test VERSION 2.2) +project(lidar_slam_test VERSION 3.0) # Compile as C++14, supported in ROS Kinetic and newer set(CMAKE_CXX_STANDARD 14) diff --git a/ros_wrapping/tests/package.xml b/ros_wrapping/tests/package.xml index 8304656c8736aea59f03d2bfc481618071fd0392..9c36390407781d7ebbdd7ea1f804252ee6d1be92 100644 --- a/ros_wrapping/tests/package.xml +++ b/ros_wrapping/tests/package.xml @@ -1,7 +1,7 @@ lidar_slam_test - 2.2.0 + 3.0.0 ROS tests on LiDAR SLAM library.