v1.6

ceptontech · Sep 4, 2018 · 4aac609 · 4aac609
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diff --git a/CHANGES.md b/CHANGES.md
@@ -1,5 +1,9 @@
 # Cepton ROS Release Notes
 
+## Version 1.6 2018-09-04
+* Updated SDK.
+* Updated tests.
+
 ## Version 1.5 2018-08-10
 * Updated sdk.
 

diff --git a/README.md b/README.md
@@ -38,7 +38,7 @@ $ source devel/setup.bash
 
 Connect the sensor's ethernet cable to the host computer (we recommend using a USB -> Ethernet adapter). The sensor IP address is of the form `192.168.*.*`, and it sends UDP broadcast packets on port 8808. The sensor will start sending packets as soon as the power is connected.
 
-On Ubuntu, it is necessary to assign a static IP address to the host computer's Ethernet interface, e.g. IP=`19.168.0.1`, Netmask=`255.255.0.0`. This can be done through the Network Manager GUI.
+On Ubuntu, it is necessary to assign a static IP address to the host computer's Ethernet interface, e.g. IP=`192.168.0.1`, Netmask=`255.255.0.0`. This can be done through the Network Manager GUI.
 
 First, try viewing the sensor in CeptonViewer, to ensure that it is connected properly. Then, launch the ROS demo (`roscore` must be running already).
 
@@ -54,6 +54,10 @@ Multiple sensors can be viewed using the `driver_multi.launch` file. The driver
 
 A sample transforms file can be found at `samples/cepton_transforms.json`. The rotation is in quaternion format `<x, y, z, w>`. The coordinate system is as follows: `+x` = right, `+y` = forward, `+z` = up.
 
+## Capture Replay
+
+Refer to the launch files in `tests` for examples on how to replay data from PCAP capture files.
+
 ## Troubleshooting
 
 First, try viewing the sensor in CeptonViewer to determine if the issue is ROS or the sensor/network.
@@ -64,4 +68,4 @@ The most common issue is the host computer blocking the sensor packets. Using Wi
 
 ### Driver nodelet
 
-The driver nodelet is a thin wrapper around the Cepton SDK. It publishes sensor information and PointCloud2 topics for each sensor. The point type definitions can be found in `include/cepton_ros/point.hpp`.
+The driver nodelet is a thin wrapper around the Cepton SDK. The point type definitions can be found in `include/cepton_ros/point.hpp`.
diff --git a/config/demo_indoor.rviz b/config/demo_indoor.rviz
diff --git a/docs/_config.yml b/docs/_config.yml
diff --git a/docs/index.md b/docs/index.md
diff --git a/tests/multi/config.rviz b/tests/multi/config.rviz
@@ -26,7 +26,7 @@ Panels:
     Experimental: false
     Name: Time
     SyncMode: 0
-    SyncSource: 4165
+    SyncSource: ""
 Visualization Manager:
   Class: ""
   Displays:
@@ -73,7 +73,7 @@ Visualization Manager:
       Size (Pixels): 2
       Size (m): 0.00999999978
       Style: Points
-      Topic: /cepton_points_4165
+      Topic: /cepton/points/4165
       Unreliable: false
       Use Fixed Frame: true
       Use rainbow: true
@@ -103,7 +103,7 @@ Visualization Manager:
       Size (Pixels): 2
       Size (m): 0.00999999978
       Style: Points
-      Topic: /cepton_points_55
+      Topic: /cepton/points/55
       Unreliable: false
       Use Fixed Frame: true
       Use rainbow: true
@@ -159,7 +159,7 @@ Window Geometry:
   Height: 1056
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd00000004000000000000016a00000402fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000000000000402000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000396000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006500000000000000073f0000030000fffffffb0000000800540069006d006501000000000000045000000000000000000000073f0000040200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a00000402fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000000000000402000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000396000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006500000000000000073f0000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000005cf0000040200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time: