v0.12.0

[0.12.0] 8 March 2023

Added

• ROS2 extension providing a node to publish point cloud into ROS2 topic
  • Added API calls (rgl/api/extensions/ros2.h):
    • rgl_node_points_ros2_publish
    • rgl_node_points_ros2_publish_with_qos
  • Necessary scripting to build ROS2 integration in the standalone mode (not requiring ROS2 installation)
• API call for setting time on the scene
• TapeVisualizer tool (PoC)
  • Currently, it does not handle multiple graphs in the tape, to be improved

Changed

• Rewritten build script from bash to python to enable easy building on Windows

Fixed

• Minor fixes and refactor in the Tape code
  • Use safer .at() instead of operator[]
  • Using alias type APIObjectID instead of size_t

Known Issues

• rclcpp (ROS2 package) is always initialized by RGL. It could cause a double initialization if the client's code also did it before RGL.
  • Fixed in v0.14.1