Release v0.19.0 · RobotecAI/RobotecGPULidar

[0.19.0] 27 September 2024

Added skeleton animation (mesh skinning) performed on GPU
- Added API call to assign bone weights to the mesh
  - rgl_mesh_set_bone_weights
- Added API call to assign restposes to the mesh
  - rgl_mesh_set_restposes
- Added API call to set the current pose of the given Entity in world coordinates
  - rgl_entity_set_pose_world
Added multi-return outputs
- Multi-return point clouds can be post-processed and outputted by RGL
- Added more return types supported (second, strongest, second strongest)
- Added API call to configure return mode
  - rgl_node_raytrace_configure_return_mode
Added support for ROS 2 Jazzy

Changed API calls for handling animations resulted from external animation system
- Removed API call to update vertices of the mesh
  - rgl_mesh_update_vertices
- Added API call to update vertices of the entity
  - rgl_entity_apply_external_animation
- In current implementation, meshes that are animated can be shared between entities
  - Previously, such meshes must be duplicated because vertices were updated in the mesh object
  - Now, the entity holds its copy of animated vertices
Renamed API call for setting transform of the entity
- rgl_entity_set_pose -> rgl_entity_set_transform
- Pose is considered as set of skeleton bones transforms

Fixed error message from yield node when trying to get field data that was not requested

Removed API call to switch between return modes:
- rgl_node_multi_return_switch
- Replaced by rgl_node_raytrace_configure_return_mode

RGL-core-linux-x64 - core build (without any extension) for Linux x64
RGL-full-linux-x64-humble - core build + PCL + ROS2 extensions for Linux x64 + ROS 2 Humble
RGL-full-linux-x64-jazzy - core build + PCL + ROS2 extensions for Linux x64 + ROS 2 Jazzy
RGL-full-windows-x64-humble - core build + PCL + ROS2 extensions for Windows x64 + ROS 2 Humble
RGL-full-windows-x64-jazzy - core build + PCL + ROS2 extensions for Windows x64 + ROS 2 Jazzy