v1.1.0

This release implements (de)serialization of wavemap maps to/from byte streams and files. When running the ROS server, the new functionality can be accessed by calling the save_map and load_map services.

Individual package changelogs

wavemap_io

• Create this new library (can be used without ROS)
• Implement a small serializer to convert maps to/from byte streams and files

wavemap_ros

• Enable file saving in ROS server

v1.0.0

This is the first official release of the wavemap package. After extensive testing on a wide range of datasets, sensor configurations, and real robots, it is ready for general use. The wavemap library is also extensively tested in CI to ensure correctness, well-defined behavior, and memory safety.

Since there are no previous versions to compare to, this release does not include a changelog. However, for developers or researchers that read the wavemap paper [preprint|RSS proceedings], it is relevant to note that the performance of wavemap has significantly improved since the paper was submitted. The main changes are multi-threaded measurement integrators and faster, more memory-efficient data structures inspired by OpenVDB. These changes reduce RAM usage by up to 50% and reduce runtime by an order of magnitude on fast desktop CPUs. The ROS interfaces improved in terms of flexibility, ease of use, and reliability.