v2.1.0

Highlights

• Added user management support to the driver
• Added heartbeat and frequency output to diagnostic
• Added scan pattern watch and update/add scan pattern info to diagnostic
• Added a watchdog to monitor the connection to Qb2
• Added interface for point cloud reader and simplified the get/read from stream of frame
• Fixed include issue for standalone build
• Removed duplicated and unnecessary info from diagnostic

v1.1.3

Highlights

• Added diagnostic updater for the snapshot and stream nodes
• Added retries to get the a point cloud from each Qb2 in snapshot mode in case of failure
• Handling communication issues with Qb2 in snapshot mode
• Fixed the disconnect issue with snapshot node
• Fixed the snapshot service calls from getting buffered in slow/unreliable connections to Qb2
• Revert to C++17 since foxy packages should support max C++17
• Adapted the buffer size for the publisher to 1 to avoid buffering and transmitting old frames
• Updated and fixed Documentation

v1.0.0

Highlights

The main function of the Qb2 ROS2 driver is to convert the point cloud data from the Qb2 into a ROS PointCloud2 msg.

• ROS2 driver for Blickfeld Qb2 supporting both Foxy and Humble distros.
• Two nodes are available:
  • Qb2Driver: The live node connects to one Qb2 and publishes the point cloud based on the scan pattern frequency set on the device.
  • Qb2SnapshotDriver: The snapshot node can connect to multiple Qb2s and request single frames from all connected Qb2s based on the frequency configured for the node. The driver sequentially requests the point clouds from each device and publishes all point clouds onto their respective topics simultaneously and with the same timestamp.
• Support for manually triggering the snapshot with ROS service call.