v0.2.3

Release Notes

This release contains small bugfixes and improvements, and adds support for Hesai XT16.

Parameter Changes

• Added required ptp_lock_threshold parameter to all Hesai sensors (#239)

Added Sensors

• Hesai XT16 (#137)

Bugfixes

• Fixed rosbag record/replay functionality for Robosense sensors (#213)
• Fixed wrong pointcloud width/height fields for empty pointclouds of Velodyne sensors (#216)
• Robustness and efficiency improvements for Hesai sensors(#208, #226, #231, #235)

Improvements

• For Hesai sensors, PTP lock offset is now configurable (#239)
• Improved diagnostics output(#242, #208)
• Enforce correct mounting angles for ARS548 (#252)

What's Changed

• chore(hesai): add decoder unit tests for OT128, QT128 by @mojomex in #214
• fix(robosense): include DIFOP packets in record/replay functionality by @mojomex in #213
• fix(velodyne): reset pointcloud correctly, including width and height fields by @mojomex in #216
• feat(hesai): add node name to diag name of hesai hw_monitor by @kotaro-hihara in #217
• fix(nebula_examples): fix bugprone-incorrect-roundings by @kobayu858 in #218
• fix(nebula_tests): fix bugprone-incorrect-roundings by @kobayu858 in #219
• refactor(hesai): per-sensor diagnostic struct definitions by @ike-kazu in #208
• docs: add parameter tables generated from schemas per vendor and sensor model by @mojomex in #195
• docs: add contribution guidelines by @mojomex in #202
• fix(docs): install mkdocs plugins in CI workflow by @mojomex in #223
• fix(docs): install requirements CORRECTLY in CI by @mojomex in #224
• chore(docs): disable markdown macro rendering for source file pages by @mojomex in #225
• chore: re-enable all clang-tidy checks by @mojomex in #229
• chore: make clang tidy again by @mojomex in #230
• perf(hesai): remove decoder thread and MtQueue, make everything single-threaded by @mojomex in #226
• feat: add a logging interface, dependency injectable loggers by @mojomex in #233
• feat(hesai_hw_interface): use dependency-injected logger, get rid of RCLCPP dependency by @mojomex in #232
• chore(hesai): make tracking a WARNing instead of an ERROR by @mojomex in #242
• refactor(hesai_hw_interface): case style fixes by @mojomex in #238
• feat: improve script for decoding packets into a new rosbag by @Owen-Liuyuxuan in #236
• fix(hesai_ros_wrapper): demote calibration fallback message to WARN by @mojomex in #244
• fix(hesai): set PTP lock offset on sensor configuration by @mojomex in #239
• feat(nebula_hw_interfaces): better UDP socket by @mojomex in #231
• ci(sync-files): utilize the sync-file-templates repository by @xmfcx in #248
• feat(ars548): disable object output for corner radars by @knzo25 in #252
• chore(build_depends): update the forks of Nebula's dependencies to the Autoware Foundation ones by @mojomex in #255
• ci(pre-commit): autoupdate by @pre-commit-ci in #174
• chore(hesai): replace broadcast host_ip by @mojomex in #256
• feat(hesai_hw_interface): use new UDP socket implementation by @mojomex in #235
• chore: develop merge for v0.2.3 by @mojomex in #257
• chore(pre-commit): fix pre-commit error when prettier has no files to process by @mojomex in #258
• fix(xt16): update default parameters and schema to comply with #239, #256 by @mojomex in #259
• test(nebula_ros): add smoke tests by @mojomex in #240
• test(nebula_ros): fix flaky smoke test by @mojomex in #260

New Contributors

• @kotaro-hihara made their first contribution in #217
• @kobayu858 made their first contribution in #218
• @Owen-Liuyuxuan made their first contribution in #236
• @pre-commit-ci made their first contribution in #174

Full Changelog: v0.2.2...v0.2.3