Added

• Support RSM3.

Added

• Support multiple lidars with different multicast addresses and the same port.

Fixed

• Fixed the bug that only one lidar was parsed correctly when multiple bp4.0 were used.

Added

• Support RSMX.

Fixed

• Update timestamp parsing unit and the number of packets per frame in decoder_RSE1.
• Update firing_tss of Helios/Helios16P/RubyPlus.
• Fix compilation bug of unit test.

• Fix bug in getting device info and status.
• Fix bug in getting device temperature.

Added

• Split frame at the end of frame.

Changed

• Enable modify socket buffer size.

Fixed

• Fix the bug of rs_drvier_viewer.cpp abnormal crash.
• Fix fir_tss of RSBPV4.
• Fix rotation direction of RSBPV4 when reversal.

• Merge RSBPV4 into RSBP

Fixed

• Fix timestamp value (T) of XYZIRT for RS128
• Fix PCL point cloud message. Adapt it to the format of the output file of rslidar_sdk.

Added

• Add examples to parse DIFOP packets to get config/status data.
• Support CRC32 check on MSOP/DIFOP packets.

Changed

• Recover frame_id field for C user.
• clear current cloud point when stop the instance of rs_driver.
• Filter MOSP/DIFOP messages with two bytes instead of one byte.

v1.5.8

Fixed

• Revert "Report error ERRCODE_MSOP_TIMEOUT if only DIFOP packet is received", to avoid incorrect error report.
• Fix error distance of RSM2. Change it to 250m.

Added

• Add User's guide document

Changed

• Rename RSEOS as RSE1
• Let user's distance values cover LiDAR's

Fixed

• Fix distance range of RSHELIOS series. Also update distance ranges of other lidars. (important !)
• Report error ERRCODE_MSOP_TIMEOUT if only DIFOP packets are received

Added

• Seperate RSBPV4 from RSBP (important !)
• Add a tool to save point cloud as PCD file
• Add a demo app demo_online_multi_lidars

Changed

• Disable error report in case of wrong block id for RS128/RS80 temporarily

Fixed

• For Ruby and Ruby Plus, fix the problem of parsing point cloud' timestamp (important!)
• Fix ERRCODE_MSOPTIMEOUT problem of input_sock_epoll

Added

• Add option ENABLE_DOUBLE_RCVBUF to solve the packet-loss problem on a few platforms
• Add option ENABLE_WAIT_IF_QUEUE_EMPTY to reduce CPU usage.
• Add option ENABLE_STAMP_WITH_LOCAL to convert point cloud's timestamp to local time

Changed

• Make ERRCODEs different for MSOP/DIFOP Packet
• Rename error code CLOUDOVERFLOW
• For RSM2, recover its coordinate to ROS-compatible
• For RSM2, adapt to increased MSOP packet len
• Update demo_pcap and rs_driver_viewer with cloud queue
• Accept angle.csv with vert angle only
• Update help documents