Yaml-based configuration system has been added to support easy ROS1, ROS2 and ROS-free version. The default values can be overridden using ROS parameters allowing for easy integration.
Yaml sensor files are now directly read (e.g. from Kalibr) to facility faster integration with new sensors.
Support for ROS2 building and publishing with live sensors (subscribe). Documentation has been updated to include instructions on how to build and run datasets.
Build system will now link to Python3 for plotting utilities in a more robust manor.
Static initialization now checks disparity to ensure the system is stationary.
Internal logging levels with print statements have been added #197
Docker files for ROS1 and ROS2 for Ubuntu 16.04, 18.04, and 20.04
NOTE: CMake version needs to be >3.12, which can be installed using the following:
Key Changes
Other Changes