v0.15.0

[0.15.0] 23 September 2023

Added

• Added feature to simulate velocity distortion
  • Added API call to specify the delay between firing each ray:
    • rgl_node_rays_set_time_offsets
  • Added API call to perform raytracing with velocity distortion:
    • rgl_node_raytrace_with_distortion
  • Note: it is a simplified version of that feature
    • The distortion takes into account only sensor velocity
    • The velocity of the objects being scanned by the sensor is not considered
• Improved ray range configuration
  • Added API call to define min and max range for rays:
    • rgl_node_rays_set_range
  • The range for each ray can be specified individually
  • Modified API call:
    • rgl_node_raytrace
    • No longer takes range as a parameter
• Improved tape tools
  • Multi-lidar tapes are now supported by tapeVisualizer

Fixed

• Fixed -march=native imposed compilation option
  • Library builds are compatible with all 64-bit CPUs
  • vcpkg tag has been updated
  • PCL version has been upgraded (1.13.0 -> 1.13.1)
• Fixed missing dependencies for ROS2 standalone build
• Fixed tape for API call rgl_entity_set_id
• Fixed rgl_node_points_visualize
  • Fixed blocking spin loop for up to 1s on some machines
  • Fixed segmentation fault on window close
  • Fixed handling multiple windows at the same time
• Fixed linking the tests on Windows

Known Issues

• Destroying rgl_node_points_visualize may deadlock on some machines if multiple windows are spawn
• Destroying rgl_node_points_visualize may not close window immediately - main thread exit needed

Released binaries

• Linux-x64 - RGL on Ubuntu22 with ROS2 Humble
• Windows-x64 - RGL on Windows with ROS2 Humble
• Linux-x64-jazzy - RGL on Ubuntu24 with ROS2 Jazzy