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@kyle-the-voyant kyle-the-voyant released this 09 Jul 19:16
v0.15.0
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v0.15.0

Interface contract: carbon-interface v1.3.3 (unchanged from v0.14.0)
Firmware compatibility: unchanged from v0.14.0

This release adds ARM64 (Raspberry Pi / Jetson) platform support and clearer sensor-liveness feedback in the visualizer, makes point-cloud processing markedly faster, and removes the legacy Meadowlark command-line tools.

New Features

  • ARM64 (aarch64) Linux Python wheels. pip install voyant-api now installs prebuilt wheels on ARM64 Linux — Raspberry Pi, NVIDIA Jetson, and ARM servers — for Python 3.9–3.12. They are built against an older glibc (2.28) so they run across a wide range of ARM Linux distributions.
  • Sensor "signs of life" in the visualizer. The visualizer now indicates whether a sensor is still alive even while it is faulted — separating "still receiving heartbeats" and "MCU still running" from a genuinely dead or disconnected sensor — so a fault no longer looks like a total loss of signal. The MCU-health indicator is precise on recent firmware; on older firmware it falls back to whether heartbeats are still arriving.

Breaking Changes

  • Removed the legacy Meadowlark command-line tools voyant_lidar_client, voyant_ip_client, voyant_points_mock_stream, and voyant_points_receiver_check. These targeted the deprecated Meadowlark dev kit; on Carbon, the mock stream and receiver check are superseded by voyant_carbon_simulator and voyant_carbon_client_check respectively. Scripts invoking the removed binaries must switch to the Carbon equivalents.

Performance

  • Point-cloud processing is a further ~30% faster than v0.14.1 at low scene noise. Two DSP hot-path stages — peak combination and the spatial outlier filter — were optimized with no functional change; output points are identical. The Python and C++ bindings and the ROS driver inherit the full gain directly; the visualizer, dominated by rendering, shows a smaller end-to-end change. Together with the v0.14.1 restructure, core DSP now runs at nearly 2× the throughput of the v0.14.0 and older pipeline (~47% less processing time) at low scene noise; the margin narrows as noise rises.

Bug Fixes

  • ARM64 Debian packages now run on Raspberry Pi OS Bookworm and other glibc-2.36 ARM targets. The aarch64 .deb builds are now produced against glibc 2.35 instead of 2.39, fixing a GLIBC_2.39 not found runtime error on Bookworm.
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