0.4.0 (9/23/09)

==Migrating==

• In any launch files:

  • laser_scan_assembler_srv --> laser_scan_assembler

  • point_cloud_assembler_srv --> point_cloud_assembler

    • max_scans --> max_clouds

  • tf_tolerance_secs --> REMOVED

  • ~build_cloud --> ?

  • ? --> scan

  • ? --> cloud

  • scan_to_cloud_filter_chain:

    • preservative --> REMOVED

• In C++ code:

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

  becomes

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

==Changes==

• 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)

0.3.0 (9/17/09)

• 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.