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Changelog for package septentrio_gnss_driver

1.4.1 (2024-08-04)

  • Fixes
    • Lever arm calculation from tf
    • NavSatStatus and GPSFixStatus
    • Orientation in pose topic of GNSS

1.4.0 (2024-05-21)

  • New features
    • Send custom commands via ASCII file on startup
    • Save config to boot after setup
    • NTP and PTP server options (BREAKING: NTP is not setup automatically for use_gnss_time: true anymore)
    • Receiver status on /diagnostics
    • Option to publish only valid SBF block messages
    • Option to auto publish available messages for configure_rx: false
  • Changes
    • Change floating point do-not-use-values to NaN (BREAKING in case these values ae used for validity checks downstream)
    • VSM now uses separate TCP device specified IP server
  • Improvements
    • Rework some sections of the README
    • Combine ROS 1 and ROS 2 in one branch
    • Change GPSFix publishing policy to allow for high update rates

1.3.2 (2023-11-19)

  • Merge pull request #106 from thomasemter/dev/next2 Fix IMU units
  • Fix topics namespace
  • Fix units of imu angular rates
  • Merge pull request #96 from septentrio-gnss/dev2 Dev2
  • Contributors: Thomas Emter, Tibor Dome, septentrio-users

1.3.1 (2023-07-06)

  • New Features
    • Recovery from connection interruption
    • Add option to bypass configuration of Rx
    • Add tests
    • OSNMA
    • Latency compensation for ROS timestamps
    • Output of SBf block VelCovCartesian
    • Support for UDP and TCP via IP server
    • New VSM handling allows for unknown variances (INS firmware >= 1.4.1)
    • Add heading angle to GPSFix msg (by diverting dip field, cf. readme)
  • Improvements
    • Rework IO core and message handling
      • Unified stream processing
      • Internal data queue
      • Prevent message loss in file reading
    • Add some explanatory warnings for parameter mismatches
    • Add units to message definitions
  • Fixes
    • navsatfix for INS
    • Empty headers
    • Single antenna receiver setup
  • Preliminary Features
    • Output of localization and tf in ECEF frame, testing and feedback welcome
  • Commits
    • Merge pull request #83 from thomasemter/dev/next2 Update readme
    • Add expected release dates
    • Add known issues to readme
    • Update version
    • Update readme
    • Merge pull request #82 from thomasemter/dev/next2 Fix spelling
    • Categorize stream params
    • Add keep alive check for TCP
    • Fix spelling
    • Add TCP communication via static IP server
    • Add units to msgs
    • Fix spelling
    • Merge pull request #76 from thomasemter/dev/next2 upcoming release
    • Add heading to GPSFix msg
    • Move constant
    • Change log level of firmware check
    • Add improved VSM handling
    • Change INS in GNSS node detection to auto
    • Fix invald v_x var case
    • Refine readme on UDP
    • Improve server duplicate check
    • Add more info un UDP configuration
    • Fix publish check
    • Add more publishing checks for configured Rx
    • Add const for max udp packet size
    • Update readme and changelog
    • Add device check to node
    • Fix param name separators
    • Add checks for IP server duplicates
    • Add latency compensation to att msgs
    • Add device check logic
    • Add UDP params and setup logic
    • Fix multi msg per packet
    • Fix localization stamp and tf publishing
    • Change VSM to be averaged and published with 2 Hz
    • Change VSM to be averaged and published with 2 Hz
    • Always publish raw IMU data as indicated
    • Change to empty fields
    • Refine diagnostics naming scheme and add trigger to ensure emission of ReceiverSetup
    • Change diagnostics naming scheme
    • Add missing new params to gnss.yaml
    • Expand readme on AIM+
    • Reformulate readme about ROS and ROS2
    • Add custom message to report AIM+ status
    • Catch invalid UTM conversion
    • Robustify command reset
    • Add RFStatus diagnostics
    • Add VelCovCartesian output
    • Refine Rx type check
    • Add option for latency compensation
    • Fix param type misinterpretation
    • Add OSNMA msg and diagnostics
    • Update changelog
    • Refine README and fix compiled message logic
    • Update changelog
    • Add warning for configuring INS as GNSS
    • Add warn log for misconfiguration
    • Fix pose publishing rate
    • Fix navsatfix publishing
    • Make vars const
    • Merge rework of internal IO handling
    • Change connection thread
    • Fix attitude cov flipped twice
    • Add cov alignment from true north to grid north
    • Rename meridian convergence and fix sense
    • Remove obsolete define
    • Add tests
    • Rename example launch files so they are found by auto-completion
    • Merge branch 'dev/ros2' into dev/next2
    • Fix lat/long in rad
    • Fix readme concerning ROS 2 distros
    • Reorder localization msg filling
    • Update readme
    • Fix NED to ECEF rotation matrix
    • Add localization ECEF publishing
    • Add ecef localization msg
    • Add local to ecef transforms
    • Contributors: Thomas Emter, Tibor Dome

1.2.3 (2022-11-09)

  • New Features
    • Twist output option
    • Example config files for GNSS and INS
    • Get leap seconds from receiver
    • Firmware check
    • VSM from odometry or twist ROS messages
    • Add receiver type in case INS is used in GNSS mode
    • Add publishing of base vector topics
  • Improvements
    • Rework RTK corrections parameters and improve flexibility
  • Fixes
    • /tf not being published without /localization
    • Twist covariance matrix of localization
    • Support 5 ms period for IMU explicitly

1.2.2 (2022-06-22)

  • Fixes
    • Memory corruption under adverse conditions
  • Commits
    • Merge pull request #66 from thomasemter/dev/next2 Fix memory corruption
    • Fix parameter warnings
    • Reset buffer size to 16384
    • Update changelog
    • Fix memory corruption
    • Replace maps with unordered_maps
    • Overload timestamp function
    • Fix frame ids for INS msgs
    • Add define to avoid usage of deprecated header
    • Change readme on gps-msgs packet
    • Add info on user credentials
    • Fix spelling in readme
    • Merge remote-tracking branch 'upstream/ros2' into dev/next2
    • Add comment for heading from pose
    • Contributors: Thomas Emter, Tibor Dome

1.2.1 (2022-05-16)

  • New Features
    • Add login credentials
    • Activate NTP server if use_gnss_time is set to true
  • Improvements
    • Add NED option to localization
  • Fixes
    • IMU orientation for ROS axis convention
  • Commits
    • Merge pull request #63 from thomasemter/dev/next2 Small fixes and additions
    • Merge pull request #60 from wep21/support-rolling fix: modify build error for rolling/humble
    • Revert change for deprecation warning in Humble
    • Change links to reflect ROS2
    • Amend readme regarding robot_localization
    • Fix compiler warnings for humble
    • Add more explanations for IMU orientation in ROS convention
    • Fix formatting in readme
    • Fix package name in readme
    • Update readme
    • Update changelog
    • Fix IMU orientation for ROS axis orientation
    • Activate NTP only if GNSS time is used
    • Add NED option to localization
    • Set NMEA header to GP
    • Update readme and changelog
    • Activate NTP server
    • Add credentials for access control
    • fix: modify build error for rolling/humble
    • Contributors: Daisuke Nishimatsu, Thomas Emter, Tibor Dome

1.2.0 (2022-04-27)

  • New Features
    • Add option to use ROS axis orientations according to REP103
    • Add frame_id parameters
    • Add option to get frames from tf
    • Publishing of cartesian localization in UTM (topic and/or tf) for INS
    • Publishing of IMU topic for INS
    • Publishing of MeasEpoch
    • ROS2 branch
  • Improvements
    • Add multi antenna option
    • Increase number of SBF streams
    • Add option to set polling_period to "on change"
    • Increased buffer size from 8192 to 131072 bytes
    • Add endianess aware parsers
    • Only publish topics set to true
    • Add parameter to switch DEBUG logging on and off
    • Change GPxxx messages to ROS built-in types
    • Remove duplicate INS msg types
  • Fixes
    • Setting of antenna type
    • Publishing rate interconnections of gpsfix and velcovgeodetic
    • Missing quotes for antenna type
    • Broken attitude parsing pose and gpsfix from INS
    • IMU orientation was not sent to Rx
    • Graceful shutdown of threads
  • Commits
    • Merge branch 'dev'
    • Prepare new release
    • Prepare new release
    • Merge pull request #53 from thomasemter/dev/refactor Very last changes
    • Add geographic lib dependency to package.xml
    • Add comment for frame of main antenna
    • Move utm zone locking section in readme
    • Reformulate readme section on frames
    • Merge pull request #52 from thomasemter/dev/refactor Last changes
    • Change frame id back to poi_frame_id
    • Make error log more explicit
    • Merge pull request #49 from thomasemter/dev/refactor Improve IMU blocks sync and do-not-use value handling
    • Fix buffer size in changelog
    • Turn off Nagle's algorithm for TCP
    • Fix changelog formatting
    • Fix readme
    • Set default base frame to base_link
    • Fix valid tow check logic
    • Increase buffer size for extreme stress tests
    • Fix crc check
    • Fix and streamline tf handling
    • Add checks for validity of values
    • Fix rad vs deg
    • Update changelog
    • Add some comments
    • Set stdDevMask to values > 0.0 in node
    • Set stdDevMask to values > 0.0
    • Add info on RNDIS and set it to default
    • Increase default serial baud rate
    • Add parameter to set log level to debug
    • Change defaults for publishers in node
    • Put publish params together and fix mismatch in readme
    • Improve IMU blocks sync and do-not-use value handling
    • Merge pull request #48 from thomasemter/dev/refactor Fix measepoch not publishing without gpsfix
    • Fix measepoch not publishing without gpsfix
    • Merge pull request #47 from thomasemter/dev/refactor Dev/refactor
    • Publish only messages set to true
    • Remove leftover declaration
    • Merge branch 'dev/endianess_agnostic' into dev/refactor
    • Update readme to reflect endianess aware parsing
    • Remove msg smart pointers
    • Fix array assertion failure
    • Cleanup
    • Add ReceiverStatus parser
    • Add QualityInd parser
    • Add DOP parser
    • Add ReceiverSetup parser
    • Fix MeasEpoch and ChannelStatus parsers, add measepoch publishing
    • Add ChannelStatus parser
    • Add MeasEpoch parser
    • Add IMU and VelSensor setup parsers
    • Add Cov SBF parsers
    • Add templated qi parser function
    • Add AttEuler+Cov parser
    • Revert ordering change inside INSNav ROS msgs
    • Add ExtSensorMeas parser
    • Add PVT parsers
    • Add range checks to parsers
    • Replace INSNav grammar with parsers
    • Test parser vs. grammar for better performance
    • Fix sb_list check
    • Add IMU and VelSensor setup grammars
    • Move adapt ROS header to typedefs.h
    • Add revision check to MeasEpoch
    • Fix ReceiverStatus grammar
    • Extend ReceiverSetup and add revision checks
    • Change logger and fix loop range
    • Remove reserved bytes from parsing
    • Remove obsolete structs
    • Directly parse Cov SBFs to ROS msg
    • Directly parse PVT SBFs, remove obsolete ids
    • Rename rev to revision
    • Fix block header parsing
    • Directly parse AttEuler to ROS msg
    • Directly parse to ROS msgs for INSNavXxx
    • Exchange pow with square function and remove casts
    • Merge pull request #46 from thomasemter/dev/refactor Dev/refactor
    • Simplify sync bytes check
    • Move tow/wnc to BlockHeader
    • Adjust order in INSNav ros msgs
    • Fix INSNav grammars
    • Change BlockHeader structure
    • Remove length ref from header
    • Rectify sb_list check of INSNavXxx
    • Add automtatic activation of multi-antenna mode
    • Merge branch 'dev/refactor' of https://github.com/thomasemter/septentrio_gnss_driver into dev/refactor
    • Add automtatic activation of multi-antenna mode
    • Fix wrong scope of phoenix::ref variables
    • Fix AttEuler grammar
    • Add max size checks to QualityInd and ReceiverStatus
    • Replace locals with phoenix::ref in grammars
    • Add revision dependent parsing to PVTs
    • Change offset check to epsilon
    • Change offset check to epsilon
    • Fix parsing checks
    • Set has arrived to false on parsing error
    • Add INSNav grammars
    • Add abs to offset check
    • Add abs to offset check
    • Add Cov grammars
    • Remove superfluous typdefs of structs
    • Add ReceiverStatus grammar
    • Add QualityINd grammar
    • Merge pull request #45 from thomasemter/dev/refactor Dev/refactor
    • Add id check to header grammar
    • Add id check to header grammar
    • Add ReceiverSetup grammar
    • Add DOP grammar
    • Directly intialize vector to parse
    • Add MeasEpoch grammar
    • Remove duplicate msg types
    • Remove obsolete include
    • Add revision and length return to header grammar
    • Merge branch 'feature/endianess_agnostic' into dev/endianess_agnostic
    • Make multi_antenna option also usable for gnss
    • Add typedefs plus some minor changes
    • Add warning concerning pitch angle if antennas are rotated
    • Add multi antenna option to ins and fix antenna offset decimal places trimming
    • Fix identation
    • Distinguish between gnss and ins for spatial config from tf
    • Merge pull request #43 from thomasemter/dev/refactor Dev/refactor
    • Add vehicle frame for clarity
    • Handle missing tf more gently
    • Merge branch 'dev/spatial_config_via_tf' into dev/refactor
    • Update readme
    • Fix antenna offset from tf
    • Add automatic publishing of localization if tf is activated
    • Add automatic publishing of localization if tf is activated
    • Add spatial config via tf, to be tested
    • Fix crashes due to parsing errors (replacing uncatched throws)
    • Add tf broadcasting
    • Add comments
    • Add localization in UTM output
    • Add check to IMU msg sync
    • Change msg sync to allow for 200 Hz IMU msgs
    • Add ROS IMU msg
    • Fix IMU setup message attitude conversion
    • Fix pose from INS data
    • Fix IMU raw data rotation compensation
    • Make antenna attitude offset usable by GNSS
    • Add ros directions option to pose and fix covariances
    • Update readme
    • Merge branch 'feature/ros_axis_orientation' into dev/refactor
    • Add nmea_msgs dependencies
    • Merge branch 'dev/nmea' into dev/refactor
    • Update readme
    • Update readme
    • Add antenna offsets to conversions
    • Fix IMU orientation conversion
    • Change ExtSensorMead temperature to deg C
    • Add axis orientation info to readme
    • Fix IMU axis orientation
    • Change get int param
    • Update readme to reflect removal of aux antenna offset
    • Fix different antenna setup message for INS and remove obsolete aux1 antenna offset for GNSS
    • Fix ExtSensorMeas message filling
    • Fix ExtSensorMeas message to reflect available fields
    • Fix missing INS blocks
    • Fix missing INS blocks
    • WIP, introduce ros axis orientation option, to be tested
    • Add option to set pvt rate to OnChange
    • Add comment on NTP to readme
    • Change to nmea_msgs
    • Add automatic addition of needed sub messages
    • Comment out setting debug level
    • Add comments and fix spelling errors
    • Merge pull request #42 from thomasemter/dev/refactor Dev/refactor
    • Change to quaternion msg typedef
    • Comment out debug logging
    • Remove filling of seq field
    • Change msg definitions to be compatible with ROS2
    • Update readme
    • Change make_shared for portability and add more typedefs
    • Add get param int fallback for numeric antenna serial numbers
    • Change Attitude to be published with pvt rate
    • Add log identifier
    • Add checks for relevant ros params
    • Concatenate multiple SBF blocks in streams
    • Move main into own file
    • Move get ros time to AsyncManager
    • Remove obsolete param comment
    • Move get ros params to base class
    • Change to nsec timestamp internally
    • Add publishing functionality to node base class
    • Move node handle ptr and functions to base class and rename
    • Add stamp to nmea parsing
    • Add logging in PcapReader
    • Add logging in CircularBuffer
    • Add missed logging
    • Add logging in AsyncManager
    • Add getTime function
    • Add logging in RxMessage
    • Add logging in CallbackHandlers
    • Add log function to node by polymorphism, logging in Comm_OI
    • Fix wait function and force use_gnss_time when reading from file
    • Add thread shutdown and remove spurious delete
    • Add typedefs for ins messages
    • Add typedefs for gnss messages
    • Add typedefs for ros messages
    • Refine shutdown
    • Fix shutdown escalating to SIGTERM
    • Move waiting for response in send function
    • Make functions private
    • Change crc to C++
    • Fix variable name
    • Remove global variables from node cpp file
    • Move more global settings to settings struct
    • Move more global settings to settings struct
    • Move global settings to settings struct
    • Move more functions to Comm_IO
    • Move settings to struct and configuration to Comm_IO
    • Merge branch 'dev/change_utc_calculation' into dev/refactor
    • Remove obsolete global variables
    • Move g_unix_time to class
    • Make has_arrived booleans class memebers and rx_message a persistent class
    • Make node handle a class member
    • Fix parsing of ID and rev
    • Finish ChannelStatusGrammar, to be tested
    • WIP, partially fix ChannelStatusGrammar
    • Add SBF length parsing utility
    • Insert spirit parsers
    • WIP, add omission of padding bytes
    • WIP, add more spirit parsers
    • Add parsing utilities for tow, wnc and ID
    • Move getId/Tow/Wnc to parsing utilities
    • Change UTC calculation to use tow and wnc
    • WIP, add boost spirit and endian buffers
    • Change UTC calculation to use tow and wnc
  • ROS2 Commits
    • Prepare ros2 release
    • Merge pull request #54 from thomasemter/dev/ros2 ROS2 branch
    • Port driver to ros2
  • Change UTC calculation to use tow and wnc
  • Contributors: Thomas Emter, Tibor Dome, tibordome

1.0.8 (2021-10-23)

  • Added INS Support

1.0.7 (2021-05-18)

  • Clang formatting, publishing from SBF log, play-back of PCAP files

1.0.6 (2020-10-16)

  • ROSaic binary installation now available on Melodic & Noetic

1.0.5 (2020-10-15)

  • changed repo name
  • v1.0.4
  • 1.0.3
  • Merge pull request #22 from septentrio-gnss/local_tibor New changelog
  • New changelog
  • Merge pull request #21 from septentrio-gnss/local_tibor Added rosdoc.yaml file
  • Merge pull request #20 from septentrio-gnss/local_tibor Improved doxygen annotations
  • Merge pull request #19 from septentrio-gnss/local_tibor Improved doxygen annotations
  • Update README.md
  • Merge pull request #18 from septentrio-gnss/local_tibor Adopted ROS and C++ conventions, added ROS diagnostics msg,
  • Update README.md
  • Update README.md
  • Update README.md
  • Contributors: septentrio-users, tibordome

1.0.4 (2020-10-11)

  • Added rosdoc.yaml file
  • Improved doxygen annotations
  • Improved doxygen annotations
  • Adopted ROS and C++ conventions, added ROS diagnostics msg, removed ROS garbage value bug, added auto-detection of SBF arrival order for composite ROS msgs
  • Merge branch 'master' of https://github.com/septentrio-gnss/rosaic
  • NTRIP with Datalink, circular buffer, reading connection descriptor, new messages
  • Update README.md
  • Contributors: septentrio-users, tibordome

1.0.3 (2020-09-30)

  • Add new config/rover.yaml file
  • Add config/rover.yaml to .gitignore
  • Merge pull request #17 from septentrio-gnss/local_tibor NTRIP with Datalink, circular buffer, reading connection descriptor..
  • Merge branch 'local_tibor'
  • NTRIP with Datalink, circular buffer, reading connection descriptor, new messages
  • Update README.md
  • Update README.md
  • Update README.md
  • Merge pull request #16 from septentrio-gnss/local_tibor NTRIP parameters added, reconnect_delay_s implemented,
  • Update README.md
  • Update README.md
  • Update README.md
  • Update README.md
  • Update README.md
  • Update README.md
  • Merge pull request #15 from tibordome/local_tibor GPSFix completed, datum as new parameter
  • Update README.md
  • Update README.md
  • Update README.md
  • Update README.md
  • Update README.md
  • Update README.md
  • Update README.md
  • Update README.md
  • Update README.md
  • Update README.md
  • Update README.md
  • Update README.md
  • Update README.md
  • Merge pull request #14 from tibordome/local_tibor GPSFix completed, datum as new parameter
  • Update README.md
  • Update README.md
  • Update README.md
  • Update README.md
  • Update README.md
  • Update README.md
  • Merge pull request #13 from tibordome/local_tibor Added AttCovEuler.msg and AttEuler.msg
  • Merge pull request #12 from tibordome/local_tibor Fixed service field of NavSatStatus
  • Contributors: Tibor Dome, septentrio-users, tibordome

1.0.2 (2020-09-25)

  • NTRIP parameters added, reconnect_delay_s implemented, package.xml updated, ROSaic now detects connection descriptor automatically, mosaic serial port parameter added
  • GPSFix completed, datum as new parameter, ANT type and marker-to-arp distances as new parameters, BlockLength() method corrected, sending multiple commands to Rx corrected by means of mutex
  • Contributors: tibordome

1.0.1 (2020-09-22)

  • GPSFix completed, datum as new parameter, ANT type and marker-to-arp distances as new parameters, BlockLength() method corrected, sending multiple commands to Rx corrected by means of mutex
  • Added AttCovEuler.msg and AttEuler.msg
  • Fixed service field of NavSatStatus, fixed ROS header's seq field of each published ROS message, added write method for sending commands to Rx, successfully tested, added AttEuler, added AttCovEuler
  • Update README.md
  • Update README.md
  • Update README.md
  • Update README.md
  • Update README.md
  • Update README.md
  • Update README.md
  • Update README.md
  • Update README.md
  • Update README.md
  • Update README.md
  • Merge pull request #11 from tibordome/local_tibor rosconsole_backend_interface dependency not needed
  • rosconsole_backend_interface dependency not needed
  • Merge pull request #10 from tibordome/local_tibor rosconsole_log4cxx dep not needed
  • rosconsole_log4cxx dep not needed
  • Merge pull request #9 from tibordome/local_tibor rosconsole_log4cxx dep not needed
  • rosconsole_log4cxx dep not needed
  • Merge pull request #8 from tibordome/local_tibor Local tibor
  • Update README.md
  • Merge pull request #7 from tibordome/local_tibor Ready for First Release
  • Update README.md
  • Update README.md
  • Update README.md
  • Merge pull request #6 from tibordome/local_tibor Local tibor
  • Merge pull request #5 from tibordome/local_tibor TCP seems to work
  • Contributors: Tibor Dome, tibordome

1.0.0 (2020-09-11)

  • Ready for first release
  • Added Gpgga.msg and PosCovGeodetic.msg files
  • Ready for First Release
  • Ready for first release
  • Ready for first release
  • Ready for first release
  • TCP bug removed
  • TCP bug removed
  • TCP seems to work
  • Merge pull request #4 from tibordome/v0.2 V0.2
  • PVTCartesian and PVTGeodetic publishing works on serial
  • PVTCartesian and PVTGeodetic publishing works on serial
  • Merge pull request #3 from tibordome/v0.2 Add doxygen_out and Doxyfile 2nd trial
  • Add doxygen_out and Doxyfile 2nd trial
  • Merge pull request #2 from tibordome/v0.1 Add doxygen_out and Doxyfile
  • Add doxygen_out and Doxyfile
  • Update README.md
  • Create README.md
  • Update LICENSE
  • Merge pull request #1 from tibordome/add-license-1 Create LICENSE
  • Create LICENSE
  • Create LICENSE
  • Commit
  • Successfully tested publishing to /gpgga topic via serial
  • To make sure master branch exists
  • Contributors: Tibor Dome, tibordome