v1.0.16

• Add a function to close UDP connection
• Set the timeout to 1 second for initializeUDP()

v1.0.15

• Modify default lidar and local ip address in example_lidar_udp.cpp

v1.0.14

• Repair occasional segmentation fault when using serial-to-udp board.

v1.0.13

• Modify the serial port reading method in unitree_lidar_sdk. It will block when you call runParse() function, waiting for the serial port to have bytes and then reading the data once.
• Support Serial-to-UDP adapter board

v1.0.12

• Add support of UDP interface, which can parse original bytes from a specified UDP port and send commands to lidar ip and port.
• Update unitree_lidar_ros

v1.0.11

• Add a instruction document for how to parse point cloud and imu data from mavlink messages directly.
• The document is HowToParsePointCloudAndIMUDataFromMavLinkMessages.md

v1.0.10

• Support firmware version: 1.0.1
• Add a UDP publisher written in C++, which can publish lidar data to a specified IP address and port
• Add a UDP subscriber example written in C++, which is able to subscribe scan and imu data mentioned above
• Add a UDP subscriber example written in Python, which is able to subscribe scan and imu data mentioned above
• Add a compiled install package for Windows user, though which you can acquire lidar data in windows.

v1.0.8

• Support firmware version: 1.0.1
• Solve the dependency problem --- cannot find -llz4
• Add mavlink headers for optional use

v1.0.7

• Support firmware version: 1.0.1
• Add coordinate system definition in readme
• Modifiy readme of unitree_lidar_ros and unitree_lidar_ros2

v1.0.6

• Support firmware version: 1.0.1
• Modify the initialize() function to check whether the specified serial port exist.
• If the serial port name does not exist, initialization fails and return -1 rather than throw out an error unexpectedly。
• Add z bias to lidar basis plane