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Wavemap 2.0 #66

Merged
merged 164 commits into from
Aug 19, 2024
Merged

Wavemap 2.0 #66

merged 164 commits into from
Aug 19, 2024

Commits on Oct 13, 2023

  1. Implement Quasi Euclidean SDF generator

    @victorreijgwart
    victorreijgwart committed Oct 13, 2023
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  2. Correctly handle surface crossings and negative distances

    @victorreijgwart
    victorreijgwart committed Oct 13, 2023
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Commits on Oct 16, 2023

  1. Minor refactoring

    @victorreijgwart
    victorreijgwart committed Oct 16, 2023
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Commits on Oct 20, 2023

  1. Major refactoring to make the spatial data structures reusable

    @victorreijgwart
    victorreijgwart committed Oct 20, 2023
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  2. Clean up block and cell index conversions for hashed data structures

    @victorreijgwart
    victorreijgwart committed Oct 20, 2023
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  3. Merge branch 'feature/optimize_chunked_integrator' into feature/esdf

    @victorreijgwart
    victorreijgwart committed Oct 20, 2023
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Commits on Oct 26, 2023

  1. Draft full Euclidean SDF generator

    @victorreijgwart
    victorreijgwart committed Oct 26, 2023
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  2. Clean up min distance computation

    @victorreijgwart
    victorreijgwart committed Oct 26, 2023
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Commits on Oct 27, 2023

  1. Implement (de)serialization of HashedBlock maps to files

    @victorreijgwart
    victorreijgwart committed Oct 27, 2023
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  2. Implement (de)serialization of HashedBlocks to ROS msgs

    @victorreijgwart
    victorreijgwart committed Oct 27, 2023
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  3. Extend Rviz plugin to support ESDFs

    @victorreijgwart
    victorreijgwart committed Oct 27, 2023
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  4. Add a small occupancy to ESDF conversion script

    @victorreijgwart
    victorreijgwart committed Oct 27, 2023
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Commits on Nov 15, 2023

  1. Reduce code duplication between hashed dense block data structures

    @victorreijgwart
    victorreijgwart committed Nov 15, 2023
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  2. Move ESDF generation script to examples

    @victorreijgwart
    victorreijgwart committed Nov 15, 2023
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  3. Improve SDF tests

    @victorreijgwart
    victorreijgwart committed Nov 15, 2023
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Commits on Nov 16, 2023

  1. Minor cleanup

    @victorreijgwart
    victorreijgwart committed Nov 16, 2023
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  2. Clean up and extend ray iterator

    @victorreijgwart
    victorreijgwart committed Nov 16, 2023
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  3. Merge branch 'main' into feature/planning_tools

    @victorreijgwart
    victorreijgwart committed Nov 16, 2023
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Commits on Nov 17, 2023

  1. Handle default arguments for non-float types

    @victorreijgwart
    victorreijgwart committed Nov 17, 2023
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Commits on Nov 20, 2023

  1. Draft plugin system

    @victorreijgwart
    victorreijgwart committed Nov 20, 2023
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  2. Update wavemap config schema and configs

    @victorreijgwart
    victorreijgwart committed Nov 20, 2023
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Commits on Nov 21, 2023

  1. Update Livox-only code

    @victorreijgwart
    victorreijgwart committed Nov 21, 2023
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  2. Implement map_crop operation for local mapping

    @victorreijgwart
    victorreijgwart committed Nov 21, 2023
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  3. Drive operations with input message time instead of ros::Time::now()

    @victorreijgwart
    victorreijgwart committed Nov 21, 2023
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  4. Add schema for map crop operation config validation

    @victorreijgwart
    victorreijgwart committed Nov 21, 2023
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Commits on Nov 23, 2023

  1. Add convenience aliases

    @victorreijgwart
    victorreijgwart committed Nov 23, 2023
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Commits on Nov 24, 2023

  1. Rename operations param to operations_pipeline as suggested by @jk-ethz 

    This more clearly expresses the concept and also directly implies that they're run sequentially - i.e. users can change the order of the operations by simply reordering them in the config's yaml array.
    @victorreijgwart
    victorreijgwart committed Nov 24, 2023
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  2. Redesign tree data structure interfaces

    @victorreijgwart
    victorreijgwart committed Nov 24, 2023
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Commits on Nov 29, 2023

  1. Add generic hashed octree data structure

    @victorreijgwart
    victorreijgwart committed Nov 29, 2023
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Commits on Nov 30, 2023

  1. Refactor grid neighborhood utils

    @victorreijgwart
    victorreijgwart committed Nov 30, 2023
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Commits on Dec 1, 2023

  1. Refactor and extend ROS msg conversions

    @victorreijgwart
    victorreijgwart committed Dec 1, 2023
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  2. Add plugin to publish obstacles as fixed-resolution pointcloud

    @victorreijgwart
    victorreijgwart committed Dec 1, 2023
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  3. Update config validation schema to support new operation

    @victorreijgwart
    victorreijgwart committed Dec 1, 2023
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  4. Switch to sensor_msgs::PointCloud2 msg type

    @victorreijgwart
    victorreijgwart committed Dec 1, 2023
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Commits on Dec 2, 2023

  1. Extend and test adjacency utils

    @victorreijgwart
    victorreijgwart committed Dec 2, 2023
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  2. Make Adjacency types and masks more intuitive to use

    @victorreijgwart
    victorreijgwart committed Dec 2, 2023
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  3. Refactor the TypeSelector class to support nicer syntax

    @victorreijgwart
    victorreijgwart committed Dec 2, 2023
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Commits on Dec 4, 2023

  1. Use available methods directly

    @victorreijgwart
    victorreijgwart committed Dec 4, 2023
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Commits on Dec 5, 2023

  1. Avoid unnecessary square root computation in point validity check

    @victorreijgwart
    victorreijgwart committed Dec 5, 2023
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  2. Avoid unnecessary square root computation in point validity check

    @victorreijgwart
    victorreijgwart committed Dec 5, 2023
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  3. Extend AABBs to handle AABB-AABB min and max distance queries

    @victorreijgwart
    victorreijgwart committed Dec 5, 2023
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  4. Use bit_ops::is_bit_set to make code easier to read

    @victorreijgwart
    victorreijgwart committed Dec 5, 2023
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  5. Additional convenience methods

    @victorreijgwart
    victorreijgwart committed Dec 5, 2023
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Commits on Dec 8, 2023

  1. Test NdtreeIndex adjacency checks

    @victorreijgwart
    victorreijgwart committed Dec 8, 2023
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Commits on Dec 11, 2023

  1. Hint GCC that the loop has a small, fixed size

    @victorreijgwart
    victorreijgwart committed Dec 11, 2023
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Commits on Dec 12, 2023

  1. Fix LoD level selection when using Rviz's TopDownOrtho ViewController

    @victorreijgwart
    victorreijgwart committed Dec 12, 2023
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Commits on Dec 14, 2023

  1. Only hallucinate filler leaves when needed

    @victorreijgwart
    victorreijgwart committed Dec 14, 2023
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Commits on Dec 16, 2023

  1. Add query accelerator for Spatial and NdtreeBlock hash data structures

    @victorreijgwart
    victorreijgwart committed Dec 16, 2023
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  2. Replace checks with dchecks

    @victorreijgwart
    victorreijgwart committed Dec 16, 2023
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Commits on Dec 27, 2023

  1. Simplify traversing ChunkedNdtrees by emulating single node ptrs

    @victorreijgwart
    victorreijgwart committed Dec 27, 2023
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  2. Update serialization methods to use the new simulated ptrs

    @victorreijgwart
    victorreijgwart committed Dec 27, 2023
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Commits on Dec 28, 2023

  1. Improve simulated pointer/reference semantics

    @victorreijgwart
    victorreijgwart committed Dec 28, 2023
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  2. Merge branch 'main' into feature/planning_tools

    @victorreijgwart
    victorreijgwart committed Dec 28, 2023
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Commits on Dec 29, 2023

  1. Rename VolumetricDataStructure to Map

    @victorreijgwart
    victorreijgwart committed Dec 29, 2023
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  2. Refactor tests

    @victorreijgwart
    victorreijgwart committed Dec 29, 2023
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Commits on Jan 5, 2024

  1. Merge branch 'main' into feature/plugin_system

    @victorreijgwart
    victorreijgwart committed Jan 5, 2024
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  2. Add option to only publish points for changed blocks

    @victorreijgwart
    victorreijgwart committed Jan 5, 2024
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Commits on Jan 10, 2024

  1. Refactor OccupancyClassifier and implement ClassifiedMap

    @victorreijgwart
    victorreijgwart committed Jan 10, 2024
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  2. Test occupancy classifier

    @victorreijgwart
    victorreijgwart committed Jan 10, 2024
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  3. Add query methods and visitors to ClassifiedMap

    @victorreijgwart
    victorreijgwart committed Jan 10, 2024
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Commits on Jan 11, 2024

  1. Expose additional getters

    @victorreijgwart
    victorreijgwart committed Jan 11, 2024
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  2. Add getter for block hash map

    @victorreijgwart
    victorreijgwart committed Jan 11, 2024
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  3. Remove unused member variable

    @victorreijgwart
    victorreijgwart committed Jan 11, 2024
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  4. Start implementing accelerated node getter for NdtreeBlockHashes

    @victorreijgwart
    victorreijgwart committed Jan 11, 2024
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Commits on Jan 15, 2024

  1. Reorganize unit tests to match new utils structure

    @victorreijgwart
    victorreijgwart committed Jan 15, 2024
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  2. Improve readability of initializer

    @victorreijgwart
    victorreijgwart committed Jan 15, 2024
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  3. Minor refactoring

    @victorreijgwart
    victorreijgwart committed Jan 15, 2024
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Commits on Jan 16, 2024

  1. Test classified map

    @victorreijgwart
    victorreijgwart committed Jan 16, 2024
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Commits on Jan 17, 2024

  1. Remove unsafe optimizations

    @victorreijgwart
    victorreijgwart committed Jan 17, 2024
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Commits on Jan 19, 2024

  1. Also call callback for partial matches at termination height

    @victorreijgwart
    victorreijgwart committed Jan 19, 2024
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Commits on Jan 23, 2024

  1. Accelerate all ClassifiedMap query types

    @victorreijgwart
    victorreijgwart committed Jan 23, 2024
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  2. Implement accelerated node getters for generic NdtreeBlockHashes

    @victorreijgwart
    victorreijgwart committed Jan 23, 2024
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  3. Make eraseBlockIf available for more spatial hash data structures

    @victorreijgwart
    victorreijgwart committed Jan 23, 2024
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  4. Minor improvements to ClassifiedMap

    @victorreijgwart
    victorreijgwart committed Jan 23, 2024
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  5. Minor optimizations

    @victorreijgwart
    victorreijgwart committed Jan 23, 2024
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  6. Clean up syntax

    @victorreijgwart
    victorreijgwart committed Jan 23, 2024
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Commits on Jan 25, 2024

  1. Improve consistency

    @victorreijgwart
    victorreijgwart committed Jan 25, 2024
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  2. Reintroduce collision utils

    @victorreijgwart
    victorreijgwart committed Jan 25, 2024
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Commits on Jan 31, 2024

  1. Improve index conversion vector op syntax

    @victorreijgwart
    victorreijgwart committed Jan 31, 2024
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  2. Add method to query the ray's length

    @victorreijgwart
    victorreijgwart committed Jan 31, 2024
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Commits on Feb 1, 2024

  1. Extend random point sampling utils

    @victorreijgwart
    victorreijgwart committed Feb 1, 2024
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Commits on Feb 2, 2024

  1. Add option to inflate the occupancy map based a robot's radius

    @victorreijgwart
    victorreijgwart committed Feb 2, 2024
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Commits on Feb 3, 2024

  1. Extend ClassifiedMap interfaces and convenience methods

    @victorreijgwart
    victorreijgwart committed Feb 3, 2024
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  2. Make it possible to pass expressions in param validators

    @victorreijgwart
    victorreijgwart committed Feb 3, 2024
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  3. Directly use the ClassifiedMap to sample random (collision free) points

    @victorreijgwart
    victorreijgwart committed Feb 3, 2024
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Commits on Feb 4, 2024

  1. Improve SDF generator tests

    @victorreijgwart
    victorreijgwart committed Feb 4, 2024
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Commits on Feb 16, 2024

  1. Expose height of last query result

    @victorreijgwart
    victorreijgwart committed Feb 16, 2024
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  2. Improve param variant syntax and add method to get child as given type

    @victorreijgwart
    victorreijgwart committed Feb 16, 2024
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Commits on Feb 17, 2024

  1. Make it possible to fix the PointSampler's random seed

    @victorreijgwart
    victorreijgwart committed Feb 17, 2024
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Commits on Mar 27, 2024

  1. No longer use catkin_simple for wavemap_io

    @victorreijgwart
    victorreijgwart committed Mar 27, 2024
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  2. Merge branch 'feature/plugin_system' into release/v2.0

    @victorreijgwart
    victorreijgwart committed Mar 27, 2024
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  3. Rename wavemap server to make room for ROS agnostic server

    @victorreijgwart
    victorreijgwart committed Mar 27, 2024
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Commits on Mar 28, 2024

  1. Move wavemap_io into regular wavemap library for simplicity

    @victorreijgwart
    victorreijgwart committed Mar 28, 2024
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  2. Remove dependencies on catkinized gflags, glog and Eigen

    @victorreijgwart
    victorreijgwart committed Mar 28, 2024
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  3. Find glog using its included pkgconfig instead of defining our own

    @victorreijgwart
    victorreijgwart committed Mar 28, 2024
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Commits on Apr 4, 2024

  1. Start migration to pure CMake wavemap library

    @victorreijgwart
    victorreijgwart committed Apr 4, 2024
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Commits on May 3, 2024

  1. Clean up library file structure and (transitive) dependency handling

    @victorreijgwart
    victorreijgwart committed May 3, 2024
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Commits on May 6, 2024

  1. Make ROS1 interfaces compatible with CMake-only library

    @victorreijgwart
    victorreijgwart committed May 6, 2024
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Commits on May 7, 2024

  1. Enable unit testing in CMake-only projects

    @victorreijgwart
    victorreijgwart committed May 7, 2024
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  2. Update unit tests in catkin packages and tidy up CMake files

    @victorreijgwart
    victorreijgwart committed May 7, 2024
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  3. Auto-select supported packages in toplevel CMakeLists (for IDEs)

    @victorreijgwart
    victorreijgwart committed May 7, 2024
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Commits on Jul 8, 2024

  1. Minor minkindr code cleanup

    @victorreijgwart
    victorreijgwart committed Jul 8, 2024
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Commits on Jul 17, 2024

  1. Make measurement integration and map operation pipeline ROS-agnostic

    @victorreijgwart
    victorreijgwart committed Jul 17, 2024
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  2. Update config files and schemas

    @victorreijgwart
    victorreijgwart committed Jul 17, 2024
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  3. Update all factories to return unique_ptrs 

    The motivation is that unique_ptrs can automatically be converted to shared_ptrs, while the opposite is not true. More generally, unique_ptrs are a better default than shared_ptrs in our codebase for efficiency and tidiness reasons.
    @victorreijgwart
    victorreijgwart committed Jul 17, 2024
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  4. Move pointcloud undistortion code into ROS-agnostic library

    @victorreijgwart
    victorreijgwart committed Jul 17, 2024
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  5. Make integrator max_update_resolution easier to configure

    @victorreijgwart
    victorreijgwart committed Jul 17, 2024
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Commits on Jul 18, 2024

  1. Handle integrator names natively through config system

    @victorreijgwart
    victorreijgwart committed Jul 18, 2024
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  2. Print clear error msgs when measurement_integrator_names fail to parse

    @victorreijgwart
    victorreijgwart committed Jul 18, 2024
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  3. Fetch schema standard over HTTPS not HTTP

    @victorreijgwart
    victorreijgwart committed Jul 18, 2024
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Commits on Jul 19, 2024

  1. Make wavemap catkin installable

    @victorreijgwart
    victorreijgwart committed Jul 19, 2024
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  2. Make 'catkin test wavemap' run the library's tests

    @victorreijgwart
    victorreijgwart committed Jul 19, 2024
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Commits on Jul 24, 2024

  1. Remove minkindr install dep as it is no longer needed

    @victorreijgwart
    victorreijgwart committed Jul 24, 2024
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  2. Remove Docker stage to build from-source deps as no longer needed

    @victorreijgwart
    victorreijgwart committed Jul 24, 2024
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  3. Build wavemap_msgs without catkin_simple

    @victorreijgwart
    victorreijgwart committed Jul 24, 2024
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  4. Simplify Docker and CI scripts now that we no longer build deps from src

    @victorreijgwart
    victorreijgwart committed Jul 24, 2024
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  5. Build wavemap_ros_conversions without catkin_simple

    @victorreijgwart
    victorreijgwart committed Jul 24, 2024
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  6. Mark wavemap_ros_conversions library and headers for installation

    @victorreijgwart
    victorreijgwart committed Jul 24, 2024
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  7. Reintroduce clang-tidy CI integration

    @victorreijgwart
    victorreijgwart committed Jul 24, 2024
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  8. Update doc generation scripts

    @victorreijgwart
    victorreijgwart committed Jul 24, 2024
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  9. Fix catkin install errors found in CI

    @victorreijgwart
    victorreijgwart committed Jul 24, 2024
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  10. Revert doc page paths due to issues with PDF generation

    @victorreijgwart
    victorreijgwart committed Jul 24, 2024
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  11. Bump GitHub actions versions to address deprecation warnings

    @victorreijgwart
    victorreijgwart committed Jul 24, 2024
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Commits on Jul 25, 2024

  1. Shorten map_operations_pipeline param name to map_operations

    @victorreijgwart
    victorreijgwart committed Jul 25, 2024
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  2. Fix GCC hanging when compiling with UBSAN enabled

    @victorreijgwart
    victorreijgwart committed Jul 25, 2024
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  3. Bump docker/build-push-action from v3 to v6

    @victorreijgwart
    victorreijgwart committed Jul 25, 2024
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Commits on Jul 26, 2024

  1. Restructure examples into generic cpp and ros1-specific examples

    @victorreijgwart
    victorreijgwart committed Jul 26, 2024
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Commits on Jul 29, 2024

  1. Simplify DECLARE_CONFIG_MEMBERS macro

    @victorreijgwart
    victorreijgwart committed Jul 29, 2024
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Commits on Jul 31, 2024

  1. Add option to pull in missing dependencies with FetchContent

    @victorreijgwart
    victorreijgwart committed Jul 31, 2024
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  2. Minor dependency management fixes after testing in Docker

    @victorreijgwart
    victorreijgwart committed Jul 31, 2024
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Commits on Aug 2, 2024

  1. Make wavemap library installable

    @victorreijgwart
    victorreijgwart committed Aug 2, 2024
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  2. Disable option to install if not all deps are available as system libs

    @victorreijgwart
    victorreijgwart committed Aug 2, 2024
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  3. Fix conflicts between plain CMake and catkin install rules

    @victorreijgwart
    victorreijgwart committed Aug 2, 2024
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Commits on Aug 3, 2024

  1. Start updating the documentation

    @victorreijgwart
    victorreijgwart committed Aug 3, 2024
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Commits on Aug 6, 2024

  1. Cleaner dependency handling in catkin

    @victorreijgwart
    victorreijgwart committed Aug 6, 2024
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  2. Use more future proof names for ROS input handlers

    @victorreijgwart
    victorreijgwart committed Aug 6, 2024
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  3. Restructure docs and extend C++ and ROS1 specific tutorials

    @victorreijgwart
    victorreijgwart committed Aug 6, 2024
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Commits on Aug 7, 2024

  1. Add examples/cpp to wavemap_ide CMake for introspection in IDEs

    @victorreijgwart
    victorreijgwart committed Aug 7, 2024
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  2. Add methods to configure the C++ library's logging level (verbosity)

    @victorreijgwart
    victorreijgwart committed Aug 7, 2024
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  3. Update the documentation on how to configure wavemap

    @victorreijgwart
    victorreijgwart committed Aug 7, 2024
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Commits on Aug 8, 2024

  1. Move C++ library into subfolder to make space for Python API

    @victorreijgwart
    victorreijgwart committed Aug 8, 2024
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  2. Address @LionelOtt's first set of comments on PR #66

    @victorreijgwart
    victorreijgwart committed Aug 8, 2024
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  3. Make utility scripts ROS agnostic and remove wavemap_utils ROS pkg

    @victorreijgwart
    victorreijgwart committed Aug 8, 2024
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  4. Check and update documentation links

    @victorreijgwart
    victorreijgwart committed Aug 8, 2024
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Commits on Aug 9, 2024

  1. Remove last dependencies on catkin_simple

    @victorreijgwart
    victorreijgwart committed Aug 9, 2024
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  2. Remove rosdep skip-keys that are no longer applicable

    @victorreijgwart
    victorreijgwart committed Aug 9, 2024
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  3. Clean up CI workflows by using Docker image default args

    @victorreijgwart
    victorreijgwart committed Aug 9, 2024
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  4. Clean up Docker build context

    @victorreijgwart
    victorreijgwart committed Aug 9, 2024
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  5. Add example Dockerfiles for wavemap C++ on Alpine and Debian

    @victorreijgwart
    victorreijgwart committed Aug 9, 2024
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  6. Switch from CI to local release management

    @victorreijgwart
    victorreijgwart committed Aug 9, 2024
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  7. Address CI clang-tidy warnings

    @victorreijgwart
    victorreijgwart committed Aug 9, 2024
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  8. Revert fix for clang-tidy unused variable warning

    @victorreijgwart
    victorreijgwart committed Aug 9, 2024
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  9. Add script to update changelogs and version numbers incl. non-ROS pkgs

    @victorreijgwart
    victorreijgwart committed Aug 9, 2024
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  10. Remove hard coded CMake project name

    @victorreijgwart
    victorreijgwart committed Aug 9, 2024
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Commits on Aug 12, 2024

  1. Update documentation links in README

    @victorreijgwart
    victorreijgwart committed Aug 12, 2024
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  2. Extend changelog script to include previous paths for migrated packages

    @victorreijgwart
    victorreijgwart committed Aug 12, 2024
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  3. Include contributors in changelogs

    @victorreijgwart
    victorreijgwart committed Aug 12, 2024
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  4. Update changelogs

    @victorreijgwart
    victorreijgwart committed Aug 12, 2024
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Commits on Aug 16, 2024

  1. Anchor links from docs to GH code against current commit to avoid expiry

    @victorreijgwart
    victorreijgwart committed Aug 16, 2024
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  2. Add missing gitpython CI dep

    @victorreijgwart
    victorreijgwart committed Aug 16, 2024
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  3. Improve prepare_release script

    @victorreijgwart
    victorreijgwart committed Aug 16, 2024
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  4. Address doc generation not finding git repo in CI

    @victorreijgwart
    victorreijgwart committed Aug 16, 2024
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  5. Add helper to draft release notes

    @victorreijgwart
    victorreijgwart committed Aug 16, 2024
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Commits on Aug 19, 2024

  1. Rename wavemap ROS1 Docker img to make space for pure C++ and ROS2 imgs

    @victorreijgwart
    victorreijgwart committed Aug 19, 2024
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