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@github-actions github-actions released this 23 Oct 12:29
· 336 commits to main since this release
v1.6.0
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Summary

This release improves the performance of wavemap's measurement integrators by up to 30% and the Rviz plugin by up to 5x. It also extends the documentation with code usage examples and introduces several new utility methods and visualization options.

New features

  • Wavemap library
    • Add map query acceleration utils
    • Add trilinear interpolation utils
  • ROS server
    • Make ROS logging level configurable through ROS params
    • Make the number of threads to use configurable through ROS params
    • Add option to TF handler to directly query the most up-to-date transform
    • Add service that resets the map (enabled through ROS params, disabled by default)
  • Rviz plugin
    • Add option to load and display maps directly from files
    • Add option to only draw surface voxels
    • Add button to call the wavemap_server's reset map service

Improvements

  • Wavemap library
    • Refactor wavemap utils into an extendable toolbox
    • Optimize measurement integration
  • ROS server (and ROS interface libraries)
    • Update incremental map transmission to communicate block deletions
    • Add option for multi-threaded block to ROS msg serialization
    • Simplify incremental map transmission logic
    • Consistently use ROS logging in all ROS packages
    • Do not latch map topic
    • Improve example configs
  • Rviz plugin
    • General UI improvements
    • Improve block drawing scheduling for faster and smoother rendering
    • Update visualizers to handle deleted blocks
    • Rename "grid" to "voxels" in UI and code for clarity
    • Clean up and optimize visibility query handling
    • Clean up and optimize alpha handling
    • Add Tracy annotations for profiling
  • Tools
    • Show documentation preview without using Python HTTP server

Documentation

  • Add initial usage examples
  • Add initial initial FAQs
  • Add instructions on how to load maps from files in Rviz

Bug fixes

  • Wavemap server
    • Fix bug causing delays when transmitting blocks with identical timestamps
  • Rviz plugin
    • Fix bug causing delays when drawing blocks with identical timestamps
    • Fix bug causing segfaults when destroying instances of the Rviz plugin

For more information on the performance improvements, see PR #37.

Package changelogs

Upgrade notes

Upgrade instructions for

  • Catkin
    • Go to your catkin workspace src directory: cd ~/catkin_ws/src
    • Pull the newest wavemap code: cd wavemap && git checkout main && git pull
    • Rebuild wavemap, including its messages: catkin build wavemap_all --force-cmake
  • Docker
    • docker build --tag=wavemap --build-arg="VERSION=v1.6.0" - <<< $(curl -s https://raw.githubusercontent.com/ethz-asl/wavemap/main/tooling/docker/incremental.Dockerfile)

For more info, see the installation page in the docs.

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