SW-5622: Bump up ouster_client to 20231031 release (#249)

* Bump up ouster_client to 20231031 release
* Add a note to CHANGELOG regarding support drop for melodic distro

.github/workflows/docker-image.yml

@@ -15,7 +15,6 @@ jobs:
       fail-fast: false
       matrix:
         ros_distro:
-          - melodic
           - noetic
     steps:
       - uses: actions/checkout@v3

CHANGELOG.rst

@@ -2,26 +2,62 @@
 Changelog
 =========
 
-[unreleased]
-============
+ouster_ros v0.10.0
+==================
+
 ouster_ros(1)
 -------------
-* breaking: publish PCL point clouds destaggered.
+* [BREAKING]: updated ouster_client to the release of ``20231031`` [v0.10.0]; changes listed below.
+* [BREAKING]: with this release the ouster-ros driver is no longer compatible with ROS melodic
+* [BREAKING]: publish PCL point clouds destaggered.
 * introduced a new launch file parameter ``ptp_utc_tai_offset`` which represent offset in seconds
   to be applied to all ROS messages the driver generates when ``TIME_FROM_PTP_1588`` timestamp mode
-  is used.
-* fix: destagger columns timestamp when generating destaggered point clouds.
-* fix: gracefully stop the driver when shutdown is requested.
+  is used. 
+* [BUGFIX]: destagger columns timestamp when generating destaggered point clouds.
+* [BUGFIX]: gracefully stop the driver when shutdown is requested.
+
+ouster_client
+-------------
+* [BREAKING] Updates to ``sensor_info`` include:
+    * new fields added: ``build_date``, ``image_rev``, ``prod_pn``, ``status``, ``cal`` (representing
+      the value stored in the ``calibration_status`` metadata JSON key), ``config`` (representing the
+      value of the ``sensor_config`` metadata JSON key)
+    * the original JSON string is accessible via the ``original_string()`` method
+    * The ``updated_metadata_string()`` now returns a JSON string reflecting any modifications to
+      ``sensor_info``
+    * ``to_string`` is now marked as deprecated
+* [BREAKING] The RANGE field defined in `parsing.cpp`, for the low data rate profile, is now 32 bits
+  wide (originally 16 bits).
+    * Please note this fixes a SDK bug. The underlying UDP format is unchanged.
+* [BREAKING] The NEAR_IR field defined in `parsing.cpp`, for the low data rate profile, is now 16
+  bits wide (originally 8 bits).
+    * Plase note this fixes a SDK bug. The underlying UDP format is unchanged.
+* [BREAKING] changed frame_id return size to 32 bits from 16 bits
+* An array of per-packet timestamps (called ``packet_timestamp``) is added to ``LidarScan``
+* The client now retries failed requests to an Ouster sensor's HTTP API
+* Increased the default timeout for HTTP requests to 40s
+* Added FuSA UDP profile to support Ouster FW 3.1+
+* Improved ``ScanBatcher`` performance by roughly 3x (depending on hardware)
+* Receive buffer size increased from 256KB to 1MB
+* [bugfix] Fixed an issue that caused incorrect Cartesian point computation in the ``viz.Cloud``
+  Python class
+* [bugfix] Fixed an issue that resulted in some ``packet_format`` methods returning an uninitialized
+  value
+* [bugfix] Fixed a libpcap-related linking issue
+* [bugfix] Fixed an eigen 3.3-related linking issue
+* [bugfix] Fixed a zero beam angle calculation issue
+* [bugfix] Fixed dropped columns issue with 4096x5 and 2048x10
 
 
-ouster_ros v0.10.0
+
+ouster_ros v0.9.0
 ==================
 
 ouster_ros(1)
 -------------
-* breaking change: update to ouster_client release 20230403
 * EOL notice: ouster-ros driver will drop support for ``ROS melodic`` by May 2023.
-* bugfix: Address an issue causing the driver to warn about missing non-legacy fields even they exist
+* [BREAKING]: update to ouster_client release 20230403
+* [BUGFIX]: Address an issue causing the driver to warn about missing non-legacy fields even they exist
   in the original metadata file.
 * added a new launch file ``sensor_mtp.launch`` for multicast use case (experimental).
 * added a technique to estimate the the value of the lidar scan timestamp when it is missing packets
@@ -46,72 +82,16 @@ ouster_ros(1)
   the sensor one which is in line with the current behavior.
 * added the ability to change the names of ``sensor_frame``, ``lidar_frame`` and ``imu_frame``
 * added a placeholder for the ``/ouster/reset`` (not implemented for ROS1).
-* breaking: switched back to using static transforms broadcast but with ability to select the frames
-  to be updated dynamically and at what rate through the two new launch file arguments
+* [BREAKING]: switched back to using static transforms broadcast but with ability to select the
+  frames to be updated dynamically and at what rate through the two new launch file arguments
   ``dynamic_transforms_broadcast`` and  ``dynamic_transforms_broadcast_rate``.
 * updated RVIZ color scheme for point clouds to match with the ROS2 version of the driver.
 
-ouster_ros(2)
--------------
-* MVP ouster-ros targeting ros2 distros
-* introduced a ``reset`` service to the ``os_sensor`` node
-* implemented a new node named ``os_driver`` which combines the functionality of ``os_sensor``,
-  ``os_cloud`` and ``os_image`` into a single node.
-* added support to parse the same parameters provided by the ``ros2_ouster_driver``, the parameters
-  are ``lidar_ip``, ``computer_ip``, ``proc_mask`` and ``use_system_default_qos``; the parameters
-  are fully functional and similar to what the ``ros2_ouster_driver`` provides.
-* for convenience introduced a new launch file ``driver_launch.py`` that is compatible with the 
-  ``ros2_ouster_driver`` in terms of parameters it accepts and the name of published topics.
-* introduced a new parameter ``point_cloud_frame`` to allow users to select which frame to use when
-  publishing the point cloud (choose between ``sensor`` and ``lidar``).
-* breaking: ``lidar`` frame is the default frame used when publishing point clouds.
-* added the ability to choose between ``SensorDataQoS`` or ``SystemDefaultQoS`` across all published
-  topics with ``SensorDataQoS`` selected by default for live sensor mode and ``SystemDefaultQoS``
-  enabled for record and replay modes.
-* introduced a new topic ``/ouster/scan`` which publishes ``sensor_msgs::msg::LaserScan`` messages
-
-
-ouster_client
--------------
-* added a new method ``mtp_init_client`` to init the client with multicast support (experimental).
-* the class ``SensorHttp``  which provides easy access to REST APIs of the sensor has been made public
-  under the ``ouster::sensor::util`` namespace.
-* breaking change: get_metadata defaults to outputting non-legacy metadata
-* add debug five_word profile which will be removed later
-* breaking change: remove deprecations on LidarScan
-
-
-[20230114]
-==========
-
-ouster_ros(2)
--------------
-* MVP ouster-ros targeting ros2 distros (beta release)
-* introduced a ``reset`` service to the ``os_sensor`` node
-* breaking change: updated to ouster sdk release 20230403
-* EOL notice: ouster-ros driver will drop support for ``ROS foxy`` by May 2023.
-* bugfix: Address an issue causing the driver to warn about missing non-legacy fields even they exist
-  in the original metadata file.
-* added a new launch file ``sensor_mtp.launch.xml`` for multicast use case (experimental).
-* added a technique to estimate the the value of the lidar scan timestamp when it is missing packets
-  at the beginning
-* add frame_id to image topics
-* fixed a potential issue of time values within generated point clouds that could result in a value
-  overflow
-* added a new ``/ouster/metadata`` topic that is consumed by os_cloud and os_image nodes and save it
-  to the bag file on record
-* make specifying metadata file optional during record and replay modes as of package version 8.1
-* replace ``tf_prefix`` from ``os_cloud`` with ``sensor_frame``, ``lidar_frame`` and ``imu_frame``
-  launch parameters.
-* bugfix: fixed an issue that prevents running multiple instances of the sensor and cloud components
-  in the same process.
-* switch to using static transform publisher for the ros2 driver.
-
 ouster_client
 -------------
 * added a new method ``mtp_init_client`` to init the client with multicast support (experimental).
 * the class ``SensorHttp``  which provides easy access to REST APIs of the sensor has been made public
   under the ``ouster::sensor::util`` namespace.
-* breaking change: get_metadata defaults to outputting non-legacy metadata
+* [BREAKING]: get_metadata defaults to outputting non-legacy metadata
 * add debug five_word profile which will be removed later
-* breaking change: remove deprecations on LidarScan
+* [BREAKING]: remove deprecations on LidarScan

package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>ouster_ros</name>
-  <version>0.9.3</version>
+  <version>0.10.0</version>
   <description>Ouster ROS driver</description>
   <maintainer email="[email protected]">ouster developers</maintainer>
   <license file="LICENSE">BSD</license>