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v2.5 - New Config System, ROS2 support, and more.
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@goldbattle goldbattle released this 13 Dec 20:46
· 242 commits to master since this release
v2.5
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Learn about vigilant mode.

Key Changes

  • Yaml-based configuration system has been added to support easy ROS1, ROS2 and ROS-free version. The default values can be overridden using ROS parameters allowing for easy integration.
  • Yaml sensor files are now directly read (e.g. from Kalibr) to facility faster integration with new sensors.
  • Support for ROS2 building and publishing with live sensors (subscribe). Documentation has been updated to include instructions on how to build and run datasets.
  • Build system will now link to Python3 for plotting utilities in a more robust manor.
  • Static initialization now checks disparity to ensure the system is stationary.
  • Internal logging levels with print statements have been added #197
  • Docker files for ROS1 and ROS2 for Ubuntu 16.04, 18.04, and 20.04
  • NOTE: CMake version needs to be >3.12, which can be installed using the following:
  • NOTE: https://docs.openvins.com/gs-installing.html#gs-install-cmake

Other Changes

  • Store camera width and height in the camera objects
  • Allow for tracking of dynamic number of features. This is leveraged during initialization to reduce load.
  • Default config files now have a larger grid to allow for more uniform feature extraction.
  • SO(3) and SE(3) log functions have been changed to try to be more accurate
  • Image transport now used so that CompressedImages can be subscribed to see images over wifi
  • Fixed aruco feature publishing ids
  • Simulator now uses the camera classes when generating measurements
  • Other documentation fixes (e.g. #206)
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