v0.2.0

Release Notes

This release improves stability, error safety, performance and usability while also adding support for the Continental SRR520 radar sensor.

Added Sensors

• Continental SRR520 Radar #124

Functionality Changes

• Nebula is now a single node <vendor>RosWrapper. For launch parameters for each vendor/sensor, please refer to the documentation. #127, #147, #148, #151
• Nebula now provides parameter schemas for IDE auto-complete and automatic parameter validation #155
• Hesai sensors now support scan_angle and cut_angle as replacements of scan_phase to allow for more flexible scan cutting #173
• Hesai sensors now support scan and FoV cutting at exact corrected angles instead of the uncorected encoder angles before #173

Other Changes

• Nebula now builds with Clang #160
• Nebula now builds significantly faster #146
• The amount of idle time and copy operations between hardware interface and decoders has been reduced
• The orchestration of TCP connections to the sensor has been improved for Hesai sensors, greatly improving stability
• Error handling and reporting has been improved for Hesai sensors

What's Changed

• fix(hesai_hw_interface): add error handling by @mojomex in #131
• fix(expected.hpp): add missing string include by @mojomex in #152
• chore(pre-commit): autoupdate hooks by @mojomex in #154
• refactor(hesai)!: combine Hesai ROS wrappers into a single node by @mojomex in #127
• refactor(robosense)!: combine Robosense ROS wrappers into a single node by @mojomex in #147
• refactor(velodyne)!: combine Velodyne ROS wrappers into a single node by @mojomex in #148
• feat(continental_ars548): combined continental ars548 ros wrappers into a single node by @knzo25 in #151
• fix: remove git submodules to prevent docs build error by @drwnz in #158
• docs: move README contents to documentation by @drwnz in #159
• fix: make Nebula Clang-compatible by @mojomex in #160
• fix: non steady clock and watchdog by @knzo25 in #156
• feat(nebula_ros): all sensors json schema support by @amadeuszsz in #155
• feat(cmake): make colcon build fast again by @knzo25 in #146
• feat(srr520): initial driver by @knzo25 in #124
• chore: fix pre-commit config and adapt code to make all checks pass by @mojomex in #162
• fix(schema): handle zeros and floats for default config generation by @amadeuszsz in #170
• docs(readme): add boost version requirements by @mojomex in #175
• docs: update sensor models and pointcloud types by @mojomex in #171
• feat: pretty-print sensor configurations by @mojomex in #172
• chore(hesai_decoders): implement clang-tidy fixes (mostly style-related) by @mojomex in #183
• fix(hesai): correctly handle return mode when updating parameters by @mojomex in #185
• fix(hesai): fix supported return modes for Hesai sensors by @mojomex in #188
• feat(hesai_hw_interface): configure and check SO_RCVBUF automatically by @mojomex in #186
• chore(nebula_ros/launch): supply choices for sensor_model launch argument by @mojomex in #189
• fix(nebula_launch.py): make the generic launch file hand off to the correct vendor's launch file by @mojomex in #191
• feat(hesai): multicast support by @mojomex in #187
• feat(nebula_ros): support launch_hw parameter in console again to make replaying rosbags easier by @mojomex in #190
• feat(hesai): software-based precise FoV limit & early publishing by @mojomex in #173
• chore: merge nebula/develop by @mojomex in #176

Full Changelog: v0.0.1...v0.2.0