First release of LiDAR SLAM as an independent project.

As this is the first 'official' version, most changes are not reported since **v0.0**, and only a small subset of useful or major changes is listed below.

### Core lib

* Numerous misc bug fixes and improvements
* Major code cleaning and refactoring
* Add CI for core SLAM lib
* Add pose graph optimization (PGO)
* Add optional logging of keypoints and trajectory
* Add verbosity modes to display state, steps durations and results
* Replace 6 DoF state vector by `Eigen::Isometry3d`
* Major acceleration of `RollingGrid`
* Add documentation for dependencies and installation

### ROS wrapping

* First version of ROS package `lidar_slam`, supporting all core SLAM lib functionalities
* Add SLAM parameters setting from ROS parameter server
* Optional SLAM/GPS global calibration from trajectories
* Add ROS package `gps_conversions` to manage conversions to standard `gps_common::GPSFix` message and process UTM/WGS84 transformations
* Compute GPS heading from movement when it is not available.
* Add documentation for usage

v1.0 (2019/12/18)

First release of LiDAR SLAM as an independent project. As this is the first 'official' version, most changes are not reported since v0.0, and only a small subset of useful or major changes is listed below.

Core lib

  • Numerous misc bug fixes and improvements
  • Major code cleaning and refactoring
  • Add CI for core SLAM lib
  • Add pose graph optimization (PGO)
  • Add optional logging of keypoints and trajectory
  • Add verbosity modes to display state, steps durations and results
  • Replace 6 DoF state vector by Eigen::Isometry3d
  • Major acceleration of RollingGrid
  • Add documentation for dependencies and installation

ROS wrapping

  • First version of ROS package lidar_slam, supporting all core SLAM lib functionalities
  • Add SLAM parameters setting from ROS parameter server
  • Optional SLAM/GPS global calibration from trajectories
  • Add ROS package gps_conversions to manage conversions to standard gps_common::GPSFix message and process UTM/WGS84 transformations
  • Compute GPS heading from movement when it is not available.
  • Add documentation for usage