From e7a4bd8522a51a8cb1c359834185f6ccf1594f40 Mon Sep 17 00:00:00 2001 From: TongFu Date: Tue, 1 Apr 2025 13:44:50 +0200 Subject: [PATCH 1/2] [version] Bump slam version to 3.0 --- CMakeLists.txt | 2 +- ros_wrapping/external_sensors_msg/apriltag_ros/CMakeLists.txt | 2 +- ros_wrapping/external_sensors_msg/apriltag_ros/package.xml | 2 +- ros_wrapping/gps_conversions/CMakeLists.txt | 2 +- ros_wrapping/gps_conversions/package.xml | 2 +- ros_wrapping/lidar_conversions/CMakeLists.txt | 2 +- ros_wrapping/lidar_conversions/package.xml | 2 +- ros_wrapping/lidar_slam/CMakeLists.txt | 2 +- ros_wrapping/lidar_slam/package.xml | 2 +- ros_wrapping/slam_visualization/CMakeLists.txt | 2 +- ros_wrapping/slam_visualization/package.xml | 2 +- ros_wrapping/tests/CMakeLists.txt | 2 +- ros_wrapping/tests/package.xml | 2 +- 13 files changed, 13 insertions(+), 13 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index d5d7084c4..286989402 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 ba755f554..d9acb6a16 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 2201fda42..04367e3e3 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 b0243a376..792c1c0e0 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 08f4d911d..4a6ca0d12 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 4e6aa74bd..ff98a2beb 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 370a98bbe..63c27a9a3 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 65079eef4..5ebbe12f0 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 43ca9d032..5dfab7320 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 4b3c6be81..f9d94841a 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 d30617d82..009250630 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 e13deebb0..a49f0e244 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 8304656c8..9c3639040 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. -- GitLab From 84df94a7de027857bff031d3b58788c30df5de7d Mon Sep 17 00:00:00 2001 From: TongFu Date: Tue, 1 Apr 2025 13:55:46 +0200 Subject: [PATCH 2/2] [doc] Update CHANGELOG --- CHANGELOG.md | 47 +++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 47 insertions(+) diff --git a/CHANGELOG.md b/CHANGELOG.md index fddf1faa2..9c19b55f7 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. -- GitLab