This page lists changes that were made in the pre-1.0 series of laser_pipeline (unstable).

Contents

0.9.0 (2010-01-10)
0.6.0 (2009-12-18)
0.5.0 (2009-09-30)
0.4.0 (2009-09-23)
1. Migrating
2. Changes
0.3.0 (2009-09-17)

0.9.0 (2010-01-10)

laser_filters:
- Added unit tests
- Added an angular bounds filter
laser_assembler:
- Added unit tests
laser_geometry:
- Removed deprecated TF usage
- Fixed some internal float->double conversions that were leading to rounding errors

0.6.0 (2009-12-18)

laser_geometry
- Adding support for inverted mode to laser projection 3041
- Removed use of deprecated rosbuild macros.
laser_assembler
- Removed use of deprecated rosbuild macros.

laser_geometry:
- deprecated laser_processor removed from package
laser_filters:
- DEPRECATED: generic_laser_filter_node
- NEW: scan_to_scan_filter_chain replaces generic_laser_filter_node
  - No longer defaults to base_link for the internal message_filter.
  - New parameter: ~tf_message_filter_target_frame optionally specifies which frame to wait for. If not specified the tf::MessageFilter is bypassed.
  - Input topic: scan
  - Output topic: scan_filtered
- Fixes for internal usage of filters.
- Fixed segfault for users of LaserMedianFilter
- LaserMedianFilter deprecated and replaced by LaserArrayFilter
- Changes in scan_to_cloud_filter_chain:
  - ~scan_topic parameter deprecated
    - Replaced by input topic: scan
  - ~cloud_topic parameter deprecated
    - Replaced by output topic: cloud_filtered
  - ~laser_max_range parameter deprecated
  - ~cloud_filters/filter_chain parameter deprecated
    - Replaced by ~cloud_filter_chain
  - ~scan_filters/filter_chain parameter deprecated
    - Replaced by ~scan_filter_chain
laser_assembler
- Added periodic_snapshotter as an example client application
- Deprecating "build_cloud". Assembler service is now "assemble_scans"

In any launch files:
- laser_scan_assembler_srv --> laser_scan_assembler
  - tf_tolerance_secs --> REMOVED
  - scan_in --> scan
- point_cloud_assembler_srv --> point_cloud_assembler
  - max_scans --> max_clouds
  - tf_tolerance_secs --> REMOVED
  - cloud_in --> cloud
- Any node USING a laser_scan_assembler or point_cloud_assembler:
  - assembler/build_cloud --> build_cloud
- scan_to_cloud_filter_chain:
  - preservative --> REMOVED
In filter configuration files:
- LaserScanFootprintFilter --> PR2LaserScanFootprintFilter
- PointCloudFootprintFilter --> PR2PointCloudFootprintFilter

In C++ code:

projector_.transformLaserScanToPointCloud("base_link",
      cloud, *scan_in, listener_);

becomes

projector_.transformLaserScanToPointCloud("base_link",
      *scan_in, cloud, listener_);

projector_.transformLaserScanToPointCloud("base_link",
      cloud, *scan_in, listener_, preservative_, mask_);

becomes

projector_.transformLaserScanToPointCloud("base_link",
      *scan_in, cloud, listener_, channel_options_);

Any of the masks become channel options:
- MASK_INTENSITY --> channel_option::Intensity

laser_assembler
- Deprecated laser_scan_assembler_srv & point_cloud_assembler_srv. These are replaced by laser_scan_assembler and point_cloud_assembler, respectively.
- Changed "max_scans" topic to "max_clouds" for the point_cloud_assembler
- Removed "tf_tolerance_secs" param. This value is auto-computed by the laser_assembler
- build_cloud service no longer in private namespace. ("~build_cloud" is now "build_cloud")
- Input topic for laser_scan_assembler is now 'scan'
- Input topic for point_cloud_assembler is now 'cloud'
laser_geometry:
- The "preservative" argument to projectLaser and transformLaserScanToPointCloud have been deprecated
- getUnitVectors(...) has been deprecated
- The argument order to transformLaserScanToPointCloud has been changed. scan_in now precedes cloud_out
- The MASK_* arguments have been deprecated in favor of channel_option::*
laser_filters:
- scan_to_cloud_filter_chain now uses tf::MessageFilter
- The "preservative" parameter for scan_to_cloud_filter_chain has been deprecated
- The LaserScanFootprintFilter has been deprecated and replaced by PR2LaserScanFootprintFilter (in pr2_laser_filters package)
- The PointCloudFootprintFilter has been deprecated and replaced by PR2PointCloudFootprintFilter (in pr2_laser_filters package)

laser_assembler: Deprecated merge_clouds
laser_geometry: Deprecated laser_processor
- This header does not appear to be used. The original code can still be found in the wg-ros-pkg/people package. Please contact Jeremy Leibs (leibs@willowgarage.com), if you need this functionality and would like to discuss the creation of an appropriate package to hold it.