v2.1.0

We had to do minor structural changes to the repository in order to better integrate new features into RMCL. This repository is now devided into

• "rmcl" which is a ROS-agnostic library that can be compiled and installed as regular CMake project,
• "rmcl_ros" which contains all the nodes,
• "rmcl_msgs" which are the message moved from to this repository. The original msgs repository is not required anymore.

Using the latest rmcl version might break your launch files as the nodes are now located in "rmcl_ros" package. However, it's rather simple to fix that. The new versions of RMCL are v2.1.0 for ROS 2 and v1.3.0 for ROS 1.

Additional patch-changes:

• using rmagine's internal functions for singular value decomposition and covariance math
• unified correspondence search API for EmbreeCorrectors

v1.2.0

Restructuring for the ROS 1 noetic version. We have introduced a new folder structure and changed some namespaces:

• ROS-agnostic library parts were moved to "rmcl"
• ROS-dependent parts are moved to "rmcl_ros"
• Messages are now directly integrated into this repository

v2.0.1

Patch:

• integrated rmagine 2.2.4 support
• removed unused ROS wrappers

New:

• implemented added closest point correspondences to all embree correctors

v2.0.0

ROS2 release. Functionalities almost unchanged to noetic version. Still it is not backwards compatible. So we decided to increase the version to v2.0.0

• Main MICP-L executable has now full integration for O1Dn scan patterns

v1.1.4

• added findRCC functions to all embree simulators
• added rmagine dependency to package.xml since rmagine can now compiled with a ROS workspace

v1.1.3

Patch:

• Use new rmagine cmake components. Minumum version 2.2.1 required.
• Bug fix for CPU-only machines

v1.1.2

No Interface Changes

No Major Changes

Optimizations
Integrated Rmagine versioning and warnings for potential Rmagine version mismatch. Disabled examples

v1.1.1

No Interface Changes

No Major Changes

Optimizations

• Inaccurate Covariances on GPU

v1.1.0

Interface Changes:

• every function has now the order of arguments: dataset first, model second

Bug Fixes:

• correspondences were computed incorrectly
• tf rate influenced the correction rate

New Functionallities:

• added findSPC function for computing the correspondences seperately
• added one-pass and two-pass means and covariance computation

Application Changes:

• In MICP Node RViz visualizations can be enabled
• In MICP Node Correction can be stopped to better visualize correspondences

v1.0.0

RMCL first release

Feature: Mesh ICP Localization (MICP-L)

• Registering any Range sensor to a Triangle Mesh
• Use CPU only or Hardware Acceleration on NVIDIA GPUs with OptiX