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Release 3.3.0
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9 changes: 8 additions & 1 deletion CHANGELOG.md
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Expand Up @@ -4,9 +4,16 @@ Possible types are **Added** for new features. **Changed** for changes to the ex
features that will be removed in future versions **Removed** for deprecated features that were removed in this release.
**Fixed** for all bug fixes. **Security** to prompt users to update in case of closed vulnerabilities.


## Released ##

### Release v3.3.0

- **add** Option for MRS1xxx azimuth correction table
- **add** Support for picoScan100 (single echo w/o addons)
- **add** API logging functions and verbosity (#270)
- **add** API documentation (multiple lidars not supported, #281)
- **changed** API extended (added topic in PointCloud messages, #271)

### Release v3.2.0

- **add** IMU support for multiScan and picoScan
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35 changes: 22 additions & 13 deletions CHANGELOG.rst
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Expand Up @@ -4,19 +4,28 @@ Changelog for package sick_scan_xd

Forthcoming
-----------
* add: IMU support for multiScan and picoScan
* add: support bloom releases for ROS-2 humble
* add: docker tests for ROS1 noetic incl. testcases for multiScan, picoScan, MRS1xxx
* add: PR #255, support picoScan performance profiles
* change: configuration time flag LMDscandatacfg switched off for the TiM240
* fix: #218 (API reinit)
* fix: #220 (Fullframe Laserscan messages multi- and picoScan)
* fix: #221 (No scandata while activated scan range filter)
* fix: #222 (rviz visualization of polar pointclouds)
* fix: #247 (Launchfile option for laserscan topic)
* fix: #256 (Clean API-exit picoScan and multiScan)
* fix: #260 (Provide API-functions to query lidar status, error codes and error messages)
* Contributors: Manuel Aiple
* Release v3.3.0
* add: Option for MRS1xxx azimuth correction table
* add: Support for picoScan100 (single echo w/o addons)
* add: API logging functions and verbosity (#270)
* add: API documentation (multiple lidars not supported, #281)
* changed: API extended (added topic in PointCloud messages, #271)

3.2.0 (2024-02-12)
------------------
* Release v3.1.0
* add: IMU support for multiScan and picoScan
* add: support bloom releases for ROS-2 humble
* add: docker tests for ROS1 noetic incl. testcases for multiScan, picoScan, MRS1xxx
* add: PR #255, support picoScan performance profiles
* changed: configuration time flag LMDscandatacfg switched off for the TiM240
* fix: #218 (API reinit)
* fix: #220 (Fullframe Laserscan messages multi- and picoScan)
* fix: #221 (No scandata while activated scan range filter)
* fix: #222 (rviz visualization of polar pointclouds)
* fix: #247 (Launchfile option for laserscan topic)
* fix: #256 (Clean API-exit picoScan and multiScan)
* fix: #260 (Provide API-functions to query lidar status, error codes and error messages)

3.1.0 (2023-11-21)
------------------
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13 changes: 10 additions & 3 deletions CMakeLists.txt
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Expand Up @@ -95,9 +95,11 @@ elseif(DEFINED SICK_TARGET_ENDIANESS)
endif()

# ROS Version
message(STATUS "ROS_VERSION precheck: ENV{ROS_VERSION}=$ENV{ROS_VERSION} ROS_VERSION=${ROS_VERSION} CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}")
message(STATUS "ROS_VERSION precheck: ENV{ROS_VERSION}=$ENV{ROS_VERSION} ENV{ROS_DISTRO}=$ENV{ROS_DISTRO} ROS_VERSION=${ROS_VERSION} CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}")
if(DEFINED CMAKE_PREFIX_PATH AND "${CMAKE_PREFIX_PATH}" STREQUAL "/opt/ros/humble")
set(ROS_VERSION 2)
set(ROS_VERSION 2) # required for ROS2 humble bloom releases with jenkins buildfarm
elseif(NOT DEFINED ROS_VERSION AND EXISTS "/opt/ros/humble/setup.sh")
set(ROS_VERSION 2) # required for ROS2 humble bloom releases with jenkins buildfarm
endif()
if(NOT DEFINED ROS_VERSION AND DEFINED ENV{ROS_VERSION})
set(ROS_VERSION $ENV{ROS_VERSION})
Expand Down Expand Up @@ -656,7 +658,12 @@ else() # i.e. (ROS_VERSION EQUAL 0 OR ROS_VERSION EQUAL 2)
target_link_libraries(${PROJECT_NAME}_shared_lib ${SICK_LDMRS_LIBRARIES})
endif()
add_executable(sick_generic_caller driver/src/sick_generic_caller.cpp)
target_link_libraries(sick_generic_caller ${PROJECT_NAME}_lib ${SICK_LDMRS_LIBRARIES})
if(ROS_VERSION EQUAL 0 AND NOT WIN32)
target_link_libraries(sick_generic_caller ${PROJECT_NAME}_lib ${SICK_LDMRS_LIBRARIES} "pthread") # pthread required for std::thread
target_link_options(sick_generic_caller PUBLIC "LINKER:--no-as-needed") # fixes exception "Enable multithreading to use std::thread: Operation not permitted"
else()
target_link_libraries(sick_generic_caller ${PROJECT_NAME}_lib ${SICK_LDMRS_LIBRARIES})
endif()

endif()

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2 changes: 1 addition & 1 deletion INSTALL-ROS1.md
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Expand Up @@ -4,7 +4,7 @@ To build resp. install sick_scan_xd on Linux with ROS-1, you can build sick_scan

## Install prebuilt binaries

Run the following steps to install sick_scan_xd on Linux with ROS 1:
Run the following steps to install sick_scan_xd on Linux with ROS 1 noetic:

```
sudo apt update
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15 changes: 15 additions & 0 deletions INSTALL-ROS2.md
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@@ -1,5 +1,20 @@
## Build on Linux ROS2

To build resp. install sick_scan_xd on Linux with ROS-2, you can build sick_scan_xd from sources or install prebuilt binaries.

## Install prebuilt binaries

Run the following steps to install sick_scan_xd on Linux with ROS 2 humble:

```
sudo apt update
sudo apt-get install ros-humble-sick-scan-xd
```

After successful installation, you can run sick_scan_xd using `ros2 launch sick_scan_xd <launchfile>.py`, e.g. `ros2 launch sick_scan_xd sick_multiscan.launch.py` for multiScan. sick_scan_xd can be removed by `sudo apt-get remove ros-humble-sick-scan-xd`.

## Build from sources

Run the following steps to build sick_scan_xd on Linux with ROS 2:

1. Create a workspace folder, e.g. `sick_scan_ws` (or any other name):
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22 changes: 22 additions & 0 deletions README.md
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Expand Up @@ -41,6 +41,28 @@ This project provides a driver for the SICK LiDARs and Radar sensors mentioned [
* sick_scan_xd has no dependencies to 3rd party libraries like boost or pthread.
* sick_scan_xd offers all features on all targets if the devices support the features.

## Repository organization

The repository supports two main branches.

The **"master"** branch is the branch that contains official releases that are tagged and versioned and also included in the ROS distribution.

If you want to work with this official branch, you must explicitly specify this branch in the 'git clone' command by adding "-b master".

The "develop" branch is the default branch and contains the latest development status.

Example:

Checking out the latest revision (usually older than the develop version, but officially released):
```
git clone -b master https://github.com/SICKAG/sick_scan_xd.git
```

Checking out the latest development status:
```
git clone https://github.com/SICKAG/sick_scan_xd.git
```

## Build targets

sick_scan_xd can be build on Linux and Windows, with and without ROS, with and without LDMRS. The following table shows the allowed combinations and how to build.
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12 changes: 5 additions & 7 deletions USAGE.md
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Expand Up @@ -274,22 +274,20 @@ The use of the parameters can be looked up in the launch files. This is also rec
To start the scanner with a specific IP address, option `hostname:=<ip-address>` can be used.
The hostname is the ip-address of the scanner, e.g.
```
sick_generic_caller sick_tim_5xx.launch hostname:=192.168.0.71 # Linux native
sick_generic_caller sick_tim_5xx.launch hostname:=192.168.0.71 # Linux native
roslaunch sick_scan_xd sick_tim_5xx.launch hostname:=192.168.0.71 # Linux ROS-1
ros2 run sick_scan_xd sick_generic_caller sick_tim_5xx.launch hostname:=192.168.0.71 # Linux ROS-2
sick_generic_caller sick_tim_5xx.launch hostname:=192.168.0.71 # Windows native
sick_generic_caller sick_tim_5xx.launch hostname:=192.168.0.71 # Windows native
ros2 run sick_scan_xd sick_generic_caller sick_tim_5xx.launch hostname:=192.168.0.71 # Windows ROS-2
```

### Further useful parameters and features

- `timelimit`
Timelimit in [sec] for max. wait time of incoming sensor reply
- **Timestamps**: If parameter`sw_pll_only_publish` is true (default), an internal Software PLL is used to sync the scan generation timestamps to system timestamps. See [software_pll.md](./doc/software_pll.md) for details.

- `sw_pll_only_publish`
If true, the internal Software PLL is fored to sync the scan generation time stamp to a system timestamp
- **Angle compensation**: For highest angle accuracy the NAV-Lidar series supports an [angle compensation mechanism](./doc/angular_compensation.md).

- Angle compensation: For highest angle accuracy the NAV-Lidar series supports an [angle compensation mechanism](./doc/angular_compensation.md).
- **Angle correction**: MRS-1xxx lidars transmit accurate azimuth angles for each scan point. Therefore, the stride (angle increment) of the MRS-1xxx azimuth angles in polar and cartesian point clouds is not exactly constant. Since laserscan messages assume a constant angle increment, scan points in point cloud and laserscan messages have slightly different azimuth angles.

- **Field monitoring**: The **LMS1xx**, **LMS5xx**, **TiM7xx** and **TiM7xxS** families have [extended settings for field monitoring](./doc/field_monitoring_extensions.md).

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12 changes: 11 additions & 1 deletion doc/bloom.md
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Expand Up @@ -158,6 +158,10 @@
* Check status: https://index.ros.org/p/sick_scan_xd/#noetic
* Install binary release: `sudo apt update ; sudo apt-get install ros-noetic-sick-scan-xd`. Note from https://wiki.ros.org/bloom/Tutorials/FirstTimeRelease: Packages built are periodically synchronized over to the shadow-fixed and public repositories, so it might take as long as a month before your package is available on the public ROS debian repositories (i.e. available via apt-get).

* Troubleshooting, FAQ:
* bloom builds an old sick_scan_xd version:
* Check `devel_branch` in https://github.com/SICKAG/sick_scan_xd-release/blob/master/tracks.yaml. If devel_branch is an old branch, replace it with e.g. `develop` or `master`, or update the `<devel_branch>` to a new version.

## Release build for ROS-2

For ROS-2 follow the instructions on https://docs.ros.org/en/humble/How-To-Guides/Releasing/Releasing-a-Package.html:
Expand Down Expand Up @@ -191,12 +195,18 @@ For ROS-2 follow the instructions on https://docs.ros.org/en/humble/How-To-Guide
sudo rosdep init
rosdep update
```
* Troubleshooting, FAQ:
* bloom builds an old sick_scan_xd version:
* Check `devel_branch` in https://github.com/ros2-gbp/sick_scan_xd-release/blob/master/tracks.yaml. If devel_branch is an old branch, replace it with e.g. `develop` or `master`, or update the `<devel_branch>` to a new version.

## Check status

* ROS-1 release repository: https://github.com/SICKAG/sick_scan_xd-release
* ROS-2 release repository: https://github.com/ros2-gbp/sick_scan_xd-release.git
* Jenkins: https://build.ros.org/search/?q=sick_scan_xd
* ROS-1 jenkins build status: https://build.ros.org/job/Ndev__sick_scan_xd__ubuntu_focal_amd64/lastBuild/
* ROS-2 jenkins build status: https://build.ros2.org/job/Hdev__sick_scan_xd__ubuntu_jammy_amd64/lastBuild/
* ROS-1 jenkins: https://build.ros.org/search/?q=sick_scan_xd
* ROS-2 jenkins: https://build.ros2.org/search/?q=sick_scan_xd
* Documentation: https://index.ros.org/p/sick_scan_xd/#noetic , http://wiki.ros.org/sick_scan_xd

## Useful links and tutorials
Expand Down
10 changes: 10 additions & 0 deletions doc/sick_scan_api/sick_scan_api.md
Original file line number Diff line number Diff line change
Expand Up @@ -15,6 +15,7 @@ The generic sick_scan_xd API ships with the API-header, the library (binary or s
![apiComponentsDiagram1.png](apiComponentsDiagram1.png)

**Note: Running multiple lidars simultaneously in one process is not supported.** Currently the sick_scan_xd API does not support the single or multi-threaded use of 2 or more lidars in one process, since the sick_scan_xd library is not guaranteed to be thread-safe. To run multiple lidars simultaneously, we recommend using ROS or running sick_scan_xd in multiple and separate processes, so that each process serves one sensor.

## Build and test shared library

The shared library, which implements the C-API, is built native on Linux or Windows (i.e. without ROS). Follow the instructions on [Build on Linux generic without ROS](../../INSTALL-GENERIC.md#build-on-linux-generic-without-ros) for Linux resp. [Build on Windows](../../INSTALL-GENERIC.md#build-on-windows) for Windows.
Expand Down Expand Up @@ -167,6 +168,13 @@ The sick_scan_xd API can be used on Linux or Windows in any language with suppor
* [Complete usage example in C++](#complete-usage-example-in-c)
* [Complete usage example in Python](#complete-usage-example-in-python)

Note for multiScan and picoScan lidars:

* The WaitNext-functions of the API return the next received message. For multiScan and picoScan, this can be a scan segment (i.e. a part of the full scan) or a fullframe poincloud (i.e. all scan points of a 360 degree scan). Depending on the timing, you may not receive all messages, i.e. you may e.g. receive scan points of different segments. We therefore recommend to register a message callback instead of a WaitNext-function. With a registered message callback, you will get all fullframe and segment pointcloud messages.

* For multiScan and picoScan, pointcloud messages can contain a scan segment (i.e. a part of the full scan) or a fullframe poincloud (i.e. all scan points of a 360 degree scan). The type can be determined by the topic (default: "/cloud_unstructured_segments" for segments, "/cloud_unstructured_fullframe" for fullframe pointclouds) or by segment index (-1 for fullframe, 0 up to 11 for segment pointclouds).


3. Close lidar and API by
* `SickScanApiDeregister<MsgType>Msg`-functions
* SickScanApiClose
Expand Down Expand Up @@ -335,6 +343,8 @@ The API provides the following functions for diagnostics:

* SickScanApiGetStatus queries the current status. This function returns the current status code (OK=0 i.e. normal operation, WARN=1, ERROR=2, INIT=3 i.e. initialization after startup or reconnection or EXIT=4) and the descriptional status message.

* SickScanApiSetVerboseLevel and SickScanApiGetVerboseLevel sets resp. returns the verbose level. The verbose level can be 0=DEBUG, 1=INFO, 2=WARN, 3=ERROR, 4=FATAL or 5=QUIET (equivalent to ros\:\:console\:\:levels). Default verbose level is 1 (INFO), i.e. sick_scan_xd prints informational, warnings and error messages on the console. Logging callbacks registered with SickScanApiRegisterLogMsg will receive all informational, warnings and error messages independant of the verbose level.

To monitor sick_scan_xd resp. the lidar, it is recommended to register a callback for diagnostic messages using SickScanApiRegisterDiagnosticMsg and to display the error message in case for status code 2 (error). See [sick_scan_xd_api_test.cpp](../../test/src/sick_scan_xd_api/sick_scan_xd_api_test.cpp) and [sick_scan_xd_api_test.py](../../test/python/sick_scan_xd_api/sick_scan_xd_api_test.py) for an example.

### Simulation and unittest
Expand Down
5 changes: 2 additions & 3 deletions driver/src/ldmrs/sick_ldmrs_driver.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -75,7 +75,6 @@ SickLDMRS::SickLDMRS(rosNodePtr nh, Manager *manager, std::shared_ptr<diagnostic
std::string nodename;
rosDeclareParam(nh, "nodename", nodename);
rosGetParam(nh, "nodename", nodename);
std::string cloud_topic_val = "cloud";
rosDeclareParam(nh, "cloud_topic", cloud_topic_val);
rosGetParam(nh, "cloud_topic", cloud_topic_val);
m_add_transform_xyz_rpy = sick_scan_xd::SickCloudTransform(nh, true);
Expand Down Expand Up @@ -169,8 +168,8 @@ void SickLDMRS::setData(BasicData &data)

ros_sensor_msgs::PointCloud2 msg, msg_polar;
ldmrsScanToPointCloud2(scan, m_add_transform_xyz_rpy, m_range_filter, scannerInfos[0].isRearMirrorSide(), config_.frame_id, msg, msg_polar);
sick_scan_xd::PointCloud2withEcho sick_cloud_msg(&msg, 1, 0);
sick_scan_xd::PointCloud2withEcho sick_cloud_msg_polar(&msg_polar, 1, 0);
sick_scan_xd::PointCloud2withEcho sick_cloud_msg(&msg, 1, 0, cloud_topic_val);
sick_scan_xd::PointCloud2withEcho sick_cloud_msg_polar(&msg_polar, 1, 0, cloud_topic_val);
notifyPolarPointcloudListener(nh_, &sick_cloud_msg_polar);
notifyCartesianPointcloudListener(nh_, &sick_cloud_msg);
if(diagnosticPub_)
Expand Down
6 changes: 3 additions & 3 deletions driver/src/sick_generic_callback.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -54,15 +54,15 @@
*/
#include <sick_scan/sick_generic_callback.h>

static sick_scan_xd::SickCallbackHandler<rosNodePtr,sick_scan_xd::PointCloud2withEcho> s_cartesian_poincloud_callback_handler;
static sick_scan_xd::SickCallbackHandler<rosNodePtr,sick_scan_xd::PointCloud2withEcho> s_polar_poincloud_callback_handler;
static sick_scan_xd::SickCallbackHandler<rosNodePtr,sick_scan_xd::PointCloud2withEcho> s_cartesian_poincloud_callback_handler;
static sick_scan_xd::SickCallbackHandler<rosNodePtr,sick_scan_xd::PointCloud2withEcho> s_polar_poincloud_callback_handler;
static sick_scan_xd::SickCallbackHandler<rosNodePtr,ros_sensor_msgs::Imu> s_imu_callback_handler;
static sick_scan_xd::SickCallbackHandler<rosNodePtr,sick_scan_msg::LIDoutputstateMsg> s_lidoutputstate_callback_handler;
static sick_scan_xd::SickCallbackHandler<rosNodePtr,sick_scan_msg::LFErecMsg> s_lferec_callback_handler;
static sick_scan_xd::SickCallbackHandler<rosNodePtr,sick_scan_msg::SickLdmrsObjectArray> s_ldmrsobjectarray_callback_handler;
static sick_scan_xd::SickCallbackHandler<rosNodePtr,sick_scan_msg::RadarScan> s_radarscan_callback_handler;
static sick_scan_xd::SickCallbackHandler<rosNodePtr,ros_visualization_msgs::MarkerArray> s_visualizationmarker_callback_handler;
static sick_scan_xd::SickCallbackHandler<rosNodePtr,sick_scan_xd::NAV350mNPOSData> s_navposelandmark_callback_handler;
static sick_scan_xd::SickCallbackHandler<rosNodePtr,sick_scan_xd::NAV350mNPOSData> s_navposelandmark_callback_handler;

namespace sick_scan_xd
{
Expand Down
17 changes: 16 additions & 1 deletion driver/src/sick_generic_laser.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -92,7 +92,7 @@
#include <signal.h>

#define SICK_GENERIC_MAJOR_VER "3"
#define SICK_GENERIC_MINOR_VER "2"
#define SICK_GENERIC_MINOR_VER "3"
#define SICK_GENERIC_PATCH_LEVEL "0"

#define DELETE_PTR(p) if(p){delete(p);p=0;}
Expand Down Expand Up @@ -147,6 +147,7 @@ static GenericLaserCallable* s_generic_laser_thread = 0;
static NodeRunState runState = scanner_init;
SICK_DIAGNOSTIC_STATUS s_status_code = SICK_DIAGNOSTIC_STATUS::INIT;
std::string s_status_message = "";
int32_t s_verbose_level = 1; // verbose level: 0=DEBUG, 1=INFO, 2=WARN, 3=ERROR, 4=FATAL or 5=QUIET (equivalent to ros::console::levels), default verbose level is 1 (INFO), i.e. print informational, warnings and error messages.

/*!
\brief splitting expressions like <tag>:=<value> into <tag> and <value>
Expand Down Expand Up @@ -255,6 +256,20 @@ void getDiagnosticStatus(SICK_DIAGNOSTIC_STATUS& status_code, std::string& statu
status_message = s_status_message;
}

// Set verbose level 0=DEBUG, 1=INFO, 2=WARN, 3=ERROR, 4=FATAL or 5=QUIET (equivalent to ros::console::levels),
// i.e. print messages on console above the given verbose level.
// Default verbose level is 1 (INFO), i.e. print informational, warnings and error messages.
void setVerboseLevel(int32_t verbose_level)
{
s_verbose_level = verbose_level;
}

// Returns the current verbose level 0=DEBUG, 1=INFO, 2=WARN, 3=ERROR, 4=FATAL or 5=QUIET. Default verbose level is 1 (INFO)
int32_t getVerboseLevel()
{
return s_verbose_level;
}

inline bool ends_with(std::string const &value, std::string const &ending)
{
if (ending.size() > value.size())
Expand Down
2 changes: 1 addition & 1 deletion driver/src/sick_generic_radar.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -1668,7 +1668,7 @@ namespace sick_scan_xd
if (numFilteredTargets < numTargets)
m_range_filter.resizePointCloud(numFilteredTargets, cloud_); // targets dropped by range filter, resize pointcloud
#ifndef ROSSIMU
sick_scan_xd::PointCloud2withEcho sick_cloud_msg(&cloud_, 1, 0);
sick_scan_xd::PointCloud2withEcho sick_cloud_msg(&cloud_, 1, 0, "radar");
switch (iLoop)
{
case RADAR_PROC_RAW_TARGET:
Expand Down
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