Release v2.9.0 - RMSxxxx support and NAV350 support

.gitignore

@@ -93,7 +93,6 @@ demo/scan.csv
 
 # Note: emulator testfiles (pcapng and json records) are ignored except a few very short test examples
 test/emulator/scandata/*.*
-!test/emulator/scandata/20221018_rms_1xxx_ascii_rms2_objects.pcapng.json
 
 test/scripts/run_win64_ros1_simu_lms5xx.cmd
 test/scripts/make_win64_vs2022.cmd
@@ -127,3 +126,4 @@ doc/sick_scan_api/20220905_Anmerkungen_Manuel_technical_pretest.pdf
 doc/sick_scan_api/2022-08-24.minutes.technische.details.generische.api.pdf
 
 tools/python_installer/python-3.9.13-amd64.exe
+*.bak

CHANGELOG.md

@@ -4,10 +4,19 @@ Possible types are **Added** for new features. **Changed** for changes to the ex
 features that will be removed in future versions **Removed** for deprecated features that were removed in this release.
 **Fixed** for all bug fixes. **Security** to prompt users to update in case of closed vulnerabilities.
 
+
 ## Unreleased ##
 
 ## Released ##
 
+### v2.9.0 - RMSxxxx support and NAV350 support
+  - **Added** RMSxxxx support, unification of RMS-1xxx and RMS-2xxx Note: RMSxxxx supports ASCII-communication mode only (Cola-A).
+  - **Update** #159 (nav310 angle setting compability), merge with NAV310 angle settings branch https://github.com/SICKAG/sick_scan_xd/tree/159-nav310-angle-setting-compability
+  - **Update** Documentation LD-LRS3600,LD-LRS3601,LD-LRS3611,LD-OEM1500,LD-OEM1501 support
+  - **Update** Removed obsolete RMS-3xx
+  - **Added** NAV350 support
+  - **Update** Merge lms511_field_mon (fix lms511 field parsing and wait api), default_echo_setting (activate last echo by default), monitoring_ros2_qos (ROS2 QoS configuration), scansegment_xd_support (update build instructions), rename-mrs100-multiscan, rename-fullframe-topic
+
 ### v2.8.15 - Release Jan. 2023
   - **Update** Win64 build instructions
   - **Update** API documentation, driver states diagrams and typos
@@ -17,8 +26,8 @@ features that will be removed in future versions **Removed** for deprecated feat
   - **Fix** catkin_lint warnings
   - **Fix** ROS-2 Humble build
 
-### v2.8.14 - Laserscan messages for Multiscan
-  - **Update** Laserscan messages for Multiscan lidar, #96
+### v2.8.14 - Laserscan messages for multiScan136
+  - **Update** Laserscan messages for multiScan136 lidar, #96
 
 ### v2.8.13 - Dynamical pointcloud transform and QoS configuration
   - **Update** Configuration of ROS quality of service by launchfile, #101
@@ -41,8 +50,8 @@ features that will be removed in future versions **Removed** for deprecated feat
   - **Update** Range filter settings, #98 and #108
   - **Update** Preparation for RMS1xxx support (tutorial, preparation for RMS1/RMS2, not activated)
 
-### v2.8.6 - Multiscan update
-  - **Update** Multiscan update for 16-bit RSSI and modified SOPAS startup sequence
+### v2.8.6 - multiScan136 update
+  - **Update** multiScan136 update for 16-bit RSSI and modified SOPAS startup sequence
 
 ### v2.8.5 - LRS4000 update
   - **Update** LRS4000 extended configuration (glare detection sensitivity, echo-, mean-, median-filter)
@@ -86,7 +95,7 @@ features that will be removed in future versions **Removed** for deprecated feat
   - **Added** Supported for LMDscandatascalefactor (LRS4xxx)
 
 ### v2.7.0 - 
-  - **Added** V2.7.0: Support for Multiscan136 (sick_scansegment_xd)
+  - **Added** V2.7.0: Support for multiScan136 (sick_scansegment_xd)
   - **Fixed** Timestamp LaserScan-message corrected (identical timestamps in LaserScan- and PointCloud2-messages, both by Software-PLL)
 
 ### v2.6.8 - 

CMakeLists.txt

@@ -6,35 +6,39 @@ cmake_minimum_required(VERSION 3.5)
 project(sick_scan)
 
 # Emulator build options
+option(ENABLE_EMULATOR "Build emulator for offline and unittests (ON) or without emulator (OFF)" ON)
 if(CMAKE_ENABLE_EMULATOR EQUAL 1)
-    option(ENABLE_EMULATOR "Build emulator for offline and unittests (ON) or without emulator (OFF)" ON) # OFF (release) or ON (development)
+    set(ENABLE_EMULATOR ON CACHE BOOL "Build emulator for offline and unittests (ON) or without emulator (OFF)" FORCE) # OFF (release) or ON (development)
     message(STATUS "Option CMAKE_ENABLE_EMULATOR = ${CMAKE_ENABLE_EMULATOR}, building ${PROJECT_NAME} with emulator support, ENABLE_EMULATOR=${ENABLE_EMULATOR}")
 else()
-    option(ENABLE_EMULATOR "Build emulator for offline and unittests (ON) or without emulator (OFF)" OFF) # OFF (release) or ON (development)
+    set(ENABLE_EMULATOR OFF CACHE BOOL "Build emulator for offline and unittests (ON) or without emulator (OFF)" FORCE) # OFF (release) or ON (development)
     message(STATUS "Option CMAKE_ENABLE_EMULATOR = ${CMAKE_ENABLE_EMULATOR}, building ${PROJECT_NAME} without emulator support, ENABLE_EMULATOR=${ENABLE_EMULATOR}")
 endif()
 
 # LDMRS build options
+option(BUILD_WITH_LDMRS_SUPPORT "Build ${PROJECT_NAME} with LDMRS support (ON, libsick_ldmrs from https://github.com/SICKAG/libsick_ldmrs required) or without LDMRS support (OFF)" OFF)
 if(WIN32)
-    option(BUILD_WITH_LDMRS_SUPPORT "Build ${PROJECT_NAME} with LDMRS support (ON, libsick_ldmrs from https://github.com/SICKAG/libsick_ldmrs required) or without LDMRS support (OFF)" OFF)
+    set(BUILD_WITH_LDMRS_SUPPORT OFF CACHE BOOL "Build ${PROJECT_NAME} with LDMRS support (ON, libsick_ldmrs from https://github.com/SICKAG/libsick_ldmrs required) or without LDMRS support (OFF)" FORCE)
 elseif(LDMRS EQUAL 0)
-    option(BUILD_WITH_LDMRS_SUPPORT "Build ${PROJECT_NAME} with LDMRS support (ON, libsick_ldmrs from https://github.com/SICKAG/libsick_ldmrs required) or without LDMRS support (OFF)" OFF)
+    set(BUILD_WITH_LDMRS_SUPPORT OFF CACHE BOOL "Build ${PROJECT_NAME} with LDMRS support (ON, libsick_ldmrs from https://github.com/SICKAG/libsick_ldmrs required) or without LDMRS support (OFF)" FORCE)
 else()
-    option(BUILD_WITH_LDMRS_SUPPORT "Build ${PROJECT_NAME} with LDMRS support (ON, libsick_ldmrs from https://github.com/SICKAG/libsick_ldmrs required) or without LDMRS support (OFF)" ON)
+    set(BUILD_WITH_LDMRS_SUPPORT ON CACHE BOOL "Build ${PROJECT_NAME} with LDMRS support (ON, libsick_ldmrs from https://github.com/SICKAG/libsick_ldmrs required) or without LDMRS support (OFF)" FORCE)
 endif()
 
-# MRS100/SCANSEGMENT_XD/MULTISCAN136 build options
+# SCANSEGMENT_XD/MULTISCAN136 build options
+option(BUILD_WITH_SCANSEGMENT_XD_SUPPORT "Build ${PROJECT_NAME} with SCANSEGMENT_XD support (ON) or without SCANSEGMENT_XD support (OFF)" ON)
 if(SCANSEGMENT_XD EQUAL 0)
-    option(BUILD_WITH_SCANSEGMENT_XD_SUPPORT "Build ${PROJECT_NAME} with SCANSEGMENT_XD support (ON) or without SCANSEGMENT_XD support (OFF)" OFF)
+    set(BUILD_WITH_SCANSEGMENT_XD_SUPPORT OFF CACHE BOOL "Build ${PROJECT_NAME} with SCANSEGMENT_XD support (ON) or without SCANSEGMENT_XD support (OFF)" FORCE)
 else()
-    option(BUILD_WITH_SCANSEGMENT_XD_SUPPORT "Build ${PROJECT_NAME} with SCANSEGMENT_XD support (ON) or without SCANSEGMENT_XD support (OFF)" ON)
+    set(BUILD_WITH_SCANSEGMENT_XD_SUPPORT ON CACHE BOOL "Build ${PROJECT_NAME} with SCANSEGMENT_XD support (ON) or without SCANSEGMENT_XD support (OFF)" FORCE)
 endif()
 
 # Linker option visibilty
+option(BUILD_LIB_HIDE_FUNCTIONS "Build ${PROJECT_NAME} library with function hiding except for SickScanApi-functions (ON) or without function hiding (OFF)" ON)
 if(VISIBILITY EQUAL 0)
-    option(BUILD_LIB_HIDE_FUNCTIONS "Build ${PROJECT_NAME} library with function hiding except for SickScanApi-functions (ON) or without function hiding (OFF)" ON)
+    set(BUILD_LIB_HIDE_FUNCTIONS ON CACHE BOOL "Build ${PROJECT_NAME} library with function hiding except for SickScanApi-functions (ON) or without function hiding (OFF)" FORCE)
 else()
-    option(BUILD_LIB_HIDE_FUNCTIONS "Build ${PROJECT_NAME} library with function hiding except for SickScanApi-functions (ON) or without function hiding (OFF)" OFF)
+    set(BUILD_LIB_HIDE_FUNCTIONS OFF CACHE BOOL "Build ${PROJECT_NAME} library with function hiding except for SickScanApi-functions (ON) or without function hiding (OFF)" FORCE)
 endif()
 
 # Debug or Release build options
@@ -79,7 +83,7 @@ if(NOT WIN32)
     set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-format-overflow -fno-var-tracking-assignments")
 endif()
 
-if($ENV{ROS_VERSION})
+if(NOT DEFINED ROS_VERSION AND DEFINED ENV{ROS_VERSION})
     set(ROS_VERSION $ENV{ROS_VERSION})
 endif()
 add_compile_options(-D__ROS_VERSION=${ROS_VERSION})
@@ -172,6 +176,10 @@ if(ROS_VERSION EQUAL 1)
         RadarPreHeaderStatusBlock.msg
         RadarScan.msg
         SickImu.msg
+        NAVLandmarkData.msg
+        NAVOdomVelocity.msg
+        NAVPoseData.msg
+        NAVReflectorData.msg
     )
     add_message_files(
         DIRECTORY msg/ldmrs
@@ -291,6 +299,10 @@ if(ROS_VERSION EQUAL 2)
         "msg/LFErecFieldMsg.msg"
         "msg/LFErecMsg.msg"
         "msg/LIDoutputstateMsg.msg"
+        "msg/NAVLandmarkData.msg"
+        "msg/NAVOdomVelocity.msg"
+        "msg/NAVPoseData.msg"
+        "msg/NAVReflectorData.msg"        
         "msg/ros2/RadarObject.msg"
         "msg/RadarPreHeader.msg"
         "msg/RadarPreHeaderDeviceBlock.msg"
@@ -331,8 +343,8 @@ else()
     message(STATUS "Building ${PROJECT_NAME} without ldmrs support")
 endif()
 
-# Support for MRS100/SCANSEGMENT_XD/MULTISCAN136
-if(BUILD_WITH_SCANSEGMENT_XD_SUPPORT EQUAL ON)
+# Support for SCANSEGMENT_XD/MULTISCAN136
+if(${BUILD_WITH_SCANSEGMENT_XD_SUPPORT} OR BUILD_WITH_SCANSEGMENT_XD_SUPPORT EQUAL ON)
     message(STATUS "Building ${PROJECT_NAME} with SCANSEGMENT_XD support")
     add_compile_options(-DSCANSEGMENT_XD_SUPPORT=1)
     # msgpack11
@@ -495,6 +507,7 @@ if(ROS_VERSION EQUAL 1)
         driver/src/${PROJECT_NAME}_services.cpp
         driver/src/${PROJECT_NAME}_xd_api/api_impl.cpp
         driver/src/${PROJECT_NAME}_xd_api/${PROJECT_NAME}_api_converter.cpp
+        driver/src/sick_nav_scandata_parser.cpp
         driver/src/softwarePLL.cpp
         driver/src/tcp/Mutex.cpp
         driver/src/tcp/SickThread.cpp
@@ -580,6 +593,7 @@ else() # i.e. (ROS_VERSION EQUAL 0 OR ROS_VERSION EQUAL 2)
         driver/src/sick_generic_callback.cpp
         driver/src/sick_generic_field_mon.cpp
         driver/src/sick_generic_imu.cpp
+        driver/src/sick_nav_scandata_parser.cpp        
         driver/src/sick_generic_laser.cpp
         driver/src/sick_generic_monitoring.cpp
         driver/src/sick_generic_parser.cpp
@@ -675,7 +689,7 @@ if(ROS_VERSION EQUAL 2)
 
     if(WIN32 OR EXISTS "/opt/ros/eloquent" OR EXISTS "/opt/ros/foxy" OR EXISTS "/opt/ros/galactic") # rosidl_typesupport for ROS2 eloquent, foxy, galaxy
         rosidl_target_interfaces(${PROJECT_NAME}_lib ${PROJECT_NAME} "rosidl_typesupport_cpp")
-	    rosidl_target_interfaces(${PROJECT_NAME}_shared_lib ${PROJECT_NAME} "rosidl_typesupport_cpp")
+        rosidl_target_interfaces(${PROJECT_NAME}_shared_lib ${PROJECT_NAME} "rosidl_typesupport_cpp")
         # rosidl_target_interfaces(sick_generic_caller ${PROJECT_NAME} "rosidl_typesupport_cpp")
     else() # rosidl_typesupport for ROS2 humble or later
         rosidl_get_typesupport_target(cpp_typesupport_target ${PROJECT_NAME} "rosidl_typesupport_cpp")
@@ -704,10 +718,20 @@ endif()
 
 # install sick_scan_shared_lib incl. API headerfiles
 if(ROS_VERSION EQUAL 0)
+    include(GNUInstallDirs)
     set_target_properties(${PROJECT_NAME}_shared_lib PROPERTIES PUBLIC_HEADER "include/sick_scan_xd_api/sick_scan_api.h;python/api/sick_scan_api.py")
     install(TARGETS ${PROJECT_NAME}_shared_lib
+        EXPORT sick_scan_xd_Export
         LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
-        PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
+        PUBLIC_HEADER DESTINATION "${CMAKE_INSTALL_INCLUDEDIR}/sick_scan_xd"
+        INCLUDES DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
+    )
+
+    # Export sick_scan_shared_lib target to be used by other projects
+    install(EXPORT sick_scan_xd_Export
+        FILE sick_scan_xd-config.cmake
+        NAMESPACE sick_scan_xd::
+        DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/sick_scan_xd
     )
 endif()
 

INSTALL-GENERIC.md

@@ -26,7 +26,7 @@ Run the following steps to build sick_scan_xd on Linux (no ROS required):
    popd
    ```
 
-4. Build msgpack11 library (required only once for Multiscan136/sick_scansegment_xd):
+4. Build msgpack11 library (required only once for multiScan136):
    ```
    mkdir -p ./build
    pushd ./build
@@ -53,7 +53,7 @@ Note: libsick_ldmrs is only required to support LDMRS sensors. If you do not nee
    cmake -DROS_VERSION=0 -DLDMRS=0 -G "Unix Makefiles" ../sick_scan_xd
    ```
 
-Note: msgpack11 is only required to support Multiscan136/sick_scansegment_xd. If you do not need or want to support Multiscan136/sick_scansegment_xd, you can skip building msgpack. To build sick_generic_caller without Multiscan136/sick_scansegment_xd support, switch off option `BUILD_WITH_SCANSEGMENT_XD_SUPPORT` in [CMakeLists.txt](./CMakeLists.txt) or call cmake with option `-DSCANSEGMENT_XD=0`:
+Note: msgpack11 is only required to support multiScan136. If you do not need or want to support multiScan136, you can skip building msgpack. To build sick_generic_caller without multiScan136 support, switch off option `BUILD_WITH_SCANSEGMENT_XD_SUPPORT` in [CMakeLists.txt](./CMakeLists.txt) or call cmake with option `-DSCANSEGMENT_XD=0`:
    ```
    cmake -DROS_VERSION=0 -DSCANSEGMENT_XD=0 -G "Unix Makefiles" ../sick_scan_xd
    ```
@@ -120,7 +120,7 @@ After successful build, binary files `sick_generic_caller.exe` and `sick_scan_sh
 
 Note: LDMRS sensors are currently not supported on Windows.
 
-Note: msgpack11 is only required to support Multiscan136/sick_scansegment_xd. If you do not need or want to support Multiscan136/sick_scansegment_xd, you can skip building msgpack. To build sick_generic_caller without Multiscan136/sick_scansegment_xd support, switch off option `BUILD_WITH_SCANSEGMENT_XD_SUPPORT` in [CMakeLists.txt](./CMakeLists.txt) or call cmake with option `-DSCANSEGMENT_XD=0`:
+Note: msgpack11 is only required to support multiScan136. If you do not need or want to support multiScan136, you can skip building msgpack. To build sick_generic_caller without multiScan136 support, switch off option `BUILD_WITH_SCANSEGMENT_XD_SUPPORT` in [CMakeLists.txt](./CMakeLists.txt) or call cmake with option `-DSCANSEGMENT_XD=0`:
    ```
    cmake -DROS_VERSION=0 -DSCANSEGMENT_XD=0 -G "%_cmake_string%" ..
    ```

INSTALL-ROS1.md

@@ -16,9 +16,9 @@ Run the following steps to build sick_scan_xd on Linux with ROS 1:
    git clone https://github.com/SICKAG/msgpack11.git
    git clone https://github.com/SICKAG/sick_scan_xd.git
    popd
+   rm -rf ./build ./build_isolated/ ./devel ./devel_isolated/ ./install ./install_isolated/ ./log/ # remove any files from a previous build
    ```
-
-3. Build msgpack11 library (required only once for Multiscan136/sick_scansegment_xd):
+3. Build msgpack11 library (required only once for multiScan136):
    ```
    mkdir -p ./build/msgpack11
    pushd ./build/msgpack11
@@ -42,17 +42,37 @@ Note: libsick_ldmrs is only required to support LDMRS sensors. If you do not nee
    catkin_make_isolated --install --cmake-args -DROS_VERSION=1 -DLDMRS=0 -Wno-dev
    ```
 
-Note: msgpack11 is only required to support Multiscan136/sick_scansegment_xd. If you do not need or want to support Multiscan136/sick_scansegment_xd, you can skip building msgpack. To build sick_generic_caller without Multiscan136/sick_scansegment_xd support, switch off option `BUILD_WITH_SCANSEGMENT_XD_SUPPORT` in [CMakeLists.txt](./CMakeLists.txt) or call cmake with option `-DSCANSEGMENT_XD=0`:
+Note: msgpack11 is only required to support multiScan136. If you do not need or want to support multiScan136, you can skip building msgpack. To build sick_generic_caller without multiScan136 support, switch off option `BUILD_WITH_SCANSEGMENT_XD_SUPPORT` in [CMakeLists.txt](./CMakeLists.txt) or call cmake with option `-DSCANSEGMENT_XD=0`:
    ```
    catkin_make_isolated --install --cmake-args -DROS_VERSION=1 -DSCANSEGMENT_XD=0 -Wno-dev
    ```
 
-cmake flags can be combined. Use flags `-DLDMRS=0 -DSCANSEGMENT_XD=0` to build without LDMRS and scansegment_xd support:
+cmake flags can be combined. Use flags `-DLDMRS=0 -DSCANSEGMENT_XD=0` to build **without LDMRS** and **without scansegment_xd support**:
    ```
    catkin_make_isolated --install --cmake-args -DROS_VERSION=1 -DLDMRS=0 -DSCANSEGMENT_XD=0 -Wno-dev
    ```
 
+### Summary for the different build options:
+
+* **Without LDMRS-support** and **without Multiscan136 support**
+```
+   catkin_make_isolated --install --cmake-args -DROS_VERSION=1 -DLDMRS=0 -DSCANSEGMENT_XD=0 -Wno-dev
+```
+* **Without LDMRS-support** and **with Multiscan136 support**
+```
+   catkin_make_isolated --install --cmake-args -DROS_VERSION=1 -DLDMRS=0 -Wno-dev
+```
+* **with LDMRS-support** and **without Multiscan136 support**
+```
+   catkin_make_isolated --install --cmake-args -DROS_VERSION=1 -DSCANSEGMENT_XD=0 -Wno-dev
+```
+* **with LDMRS-support** and **with Multiscan136 support**
+```
+   catkin_make_isolated --install --cmake-args -DROS_VERSION=1 -Wno-dev
+```
+
 Note: To create source code documentation by doxygen, run
+
 ```
 cd ./doxygen
 doxygen ./docs/Doxyfile