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CHANGELOG.rst

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Changelog

Version 0.5

  • LIDAR Modes: This automated LiDAR sensor operates in three modes: Full 360 Degrees Mode for comprehensive, rapid updates around an 'up' vector; LFO Mode for low-frequency, directional readings; and Static Mode for fixed, angle-specific readings, with 360 mode and other settings customizable via flags.
  • BeamNGpy API Update: Updated connection API in BeamNGpy:
    • Added -gfx to <game_client>.open, to choose the renderer i.e., dx11 for DirectX11, and vk for Vulkan.
  • Removed the imu sensor: the classic vehicle-attachable imu sensor is removed.
  • Support for Advanced IMU: Added an automated Advanced IMU to ROS support.
  • Support for AI driving node: AI mode is added to beamng_agent.

Note: use the following code to upgrade your imu to advanceIMU from:

imu_pos = IMU(pos=(0.73, 0.51, 0.8), debug=True)

vehicle.sensors.attach('imu_pos', imu_pos)

readings = vehicle.sensors.poll()['imu_pos']

to:

imu_pos = AdvancedIMU(...)

readings = imu_pos.poll()

Version 0.4

  • LIDAR Orientation: Corrected the orientation of the LIDAR sensor.
  • Electrics Sensors: Fixed attributes of the Electrics sensors.
  • Ultrasonic Sensor API: Fixed the Ultrasonic sensor API.
  • Ultrasonic Sensor Message Type: Changed the message type of the Ultrasonic sensor.
  • BeamNGpy API Update: Updated connection API in BeamNGpy:
    • Removed the remote parameter from <bngpy>.BeamNGpy.
    • Added listen_ip='*' to <game_client>.open.
  • Release Updates: Updated release numbers from 0.1.2 and 0.1.3 to 0.2 and 0.2.1, respectively.
  • Launch Configuration: Removed bridge.launch and now depend only on example.launch. Minimized the arguments by removing ns group.

Version 0.3

  • Automation Sensors: Fixed the API for the automation sensors (Camera, LIDAR, and Ultrasonic).
  • Static Transform: Added a static transform function for the automation sensors.
  • Sensor Categories: Added two categories for sensors: automation sensors and classical sensors.
  • Time Synchronization: Added time synchronization between ROS-bridge and transforms in RViz.
  • LIDAR Visualization: Added LIDAR signals to the RViz visualizer.
  • Acknowledgment: Thanks to @podgorki <https://github.com/podgorki> for the contribution.

Version 0.2.1

  • Code Update: Updated the code with the latest BeamNGpy 1.26 and BeamNG.Tech 0.28.
  • Bug Fix: Fixed the issue with handbrake and throttle.

Version 0.2

  • Keyboard Control: Added beamng_teleop_keyboard for keyboard control of the vehicle (from ROS).
  • New Topic: Added /cmd_vel topic.
  • Handbrake Control: Added handbrake (parking brake) control.

Version 0.1.1

  • Zero Velocity: Added zero velocity by pressing the space bar.

Version 0.1

  • Basic Bridge: Basic bridge with BeamNG.Tech.
  • ROS Packages: Three ROS packages are released:
    • `beamng_control`: To establish communication and load scenarios that can choose the vehicle and the equipped sensors.
    • `beamng_agent`: To give the ability to control the vehicle from ROS using simple commands (move, stop, release - to allow the user to control the vehicle from BeamNG.Tech).
    • `beamng_msgs`: A converter package to adapt BeamNGpy messages with ROS.