v3.0.0 release

[valgur]

With the significantly simpler configuration, dual-return mode support, reworked scan batching and full precise-timing support for all model versions, I am using this opportunity to create a backwards-incompatible v3.0.0 release soon.

These changes reside in the develop branch in the mean time.

Some ideas and loose ends I would still like to implement before the release:

• [x] autodetection of HDL-64E from input file in Python
• [x] gps_time→use_device_time
• [x] Move __init__.py contents into separate Python files.
• [x] StreamDecoder →ScanBatcher
• [x] Return both arrival and device timestamps for scans, drop use_device_time param
• [x] Always use packet stamp for within-scan timestamps
• [x] Add getters for model ID and return mode to PacketDecoder
• [x] https://github.com/ros-drivers/velodyne/pull/518
• [x] Make return_type a separate field
• [x] Add column field
• [ ] Fix __version__ info
• [ ] Unit tests for PCAP decoding by model
• [ ] PCAP → rosbag conversion
• [ ] Support for rosbags library input (#6)
• [ ] Support for re-batching of ROS VelodyneScan packets.
• [ ] HDL-64E calib extraction from rosbag
• [ ] HDL-64E autodetection for rosbag
• [ ] Decode by ROS topic
• [ ] TelemetryPacket output support for PCAP
• [ ] VLS-128 timings validation
• [ ] Update README
• [ ] Update ChangeLog
• [ ] Sphinx documentation

[sjiang95]

Thanks for your work @valgur.

When I tried to use the develop branch.

config = vd.Config(model='VLP16') # also tried 'VLP-16'

Throws a TypeError

__init__(): incompatible constructor arguments. The following argument types are supported:
    1. velodyne_decoder_pylib.Config(*, model: Optional[velodyne_decoder::ModelId] = None, calibration: Optional[velodyne_decoder::Calibration] = None, min_range: float = 0.1, max_range: float = 200, min_angle: float = 0, max_angle: float = 360, timestamp_first_packet: bool = False, gps_time: bool = False)

Invoked with: kwargs: model='VLP16'
  File "filename is manually masked", line 12, in <module>
    config = vd.Config(model='VLP16')
TypeError: __init__(): incompatible constructor arguments. The following argument types are supported:
    1. velodyne_decoder_pylib.Config(*, model: Optional[velodyne_decoder::ModelId] = None, calibration: Optional[velodyne_decoder::Calibration] = None, min_range: float = 0.1, max_range: float = 200, min_angle: float = 0, max_angle: float = 360, timestamp_first_packet: bool = False, gps_time: bool = False)

Invoked with: kwargs: model='VLP16'

May I ask how to solve this?

[valgur]

The model ID is determined automatically from data in the new version, so you should simply leave out the model parameter or leave out the config object altogether when using read_pcap() or read_bag(). But if you still need to set the model ID for some reason, then the new format is config = vd.Config(model=vd.Model.VLP16).

[scottike]

Is the 3.0 version the first to offer dual-return support?

[valgur]

Is the 3.0 version the first to offer dual-return support?

It is, indeed.