Hotfix

Creating this release to replace the package in the python pypi.org repo

Improve rosbag support

What's Changed

This PR brings all the power of kiss-icp to NON-ROS environments. An example (tested) is a macOS on a M2 chip. Since we can't natively install ROS1 or ROS2, relying on such tools forbids the use of the pipeline for simple rosbags. Therefore, building on top of the rosbags library, we now support loading ROS1/ROS2 and .mcap files on any target system.

This PR can be considered a continuation of #75.

Other changes:

• Better guessing of user intentions: kiss_icp_pipeline <path-to-any-ros-related-bag-or-dir> now works. With bagfiles, ROS2 databases, multiple bagfiles, etc. No need to select the topic beforehand, we will guess or guide you through it
• Improve error msgs in case the topic is wrongly specified
• ROS 1 / ROS 2 dataloaders merged into one unique one
• Support to read the directory if the user specifies the metadata.yaml file
• Support for multiple .bag files inside on unqiue directory. Finally!
• Merge "a bit" the mcap and ros dataloadres
• Improve help message
• rosbags is now. a hard dependency for any ROS related pipeline. Before, we had the option to avoid installing it and using the native ROS 1 support. Since this is such a tiny library, it doesn't hurt to do this

Full Changelog: v0.2.5...v0.2.6

Use official oneAPI/TBB

What's Changed

• Add black and clang-format style checks + pre-commit config by @nachovizzo in #102
• Nacho/add mcap dataloader by @nachovizzo in #104
• Move style checks to pre-commit by @ahans in #103
• Enable and fix warnings by @ahans in #100
• Build ROS/ROS 2 nodes in CI by @ahans in #105
• More robust detection of ROS 1 vs ROS 2 by @jlblancoc in #107
• Nacho/improve mcap dataloader by @nachovizzo in #109
• Use sum() over channel_message_counts by @jtbandes in #114
• Add timestamps - KITTI, Rosbag by @saurabh1002 in #120
• Remove clang hacks by @ahans in #121
• Use official TBB v2021.8.0 release by @ahans in #126
• Nacho/cleanup 3rdparty cmake by @nachovizzo in #129
• Fix python pipeline by @nachovizzo in #131
• Fix macOS cibuildwheel by @nachovizzo in #132
• Nacho/fix release pipeline by @nachovizzo in #133

New Contributors

• @ahans made their first contribution in #103
• @jlblancoc made their first contribution in #107
• @jtbandes made their first contribution in #114
• @saurabh1002 made their first contribution in #120

Full Changelog: v0.2.3...v0.2.5

Add github actions

No real code changed

Improve ROS1 and ROS2 readers

v0.2.2

Improve rosbag ROS1 and ROS2 dataloaders

Fix out of tree builds

v0.2.1

Fix out-of-tree ROS and Python builds

Add ROS2 support

Major refactor of KISS-ICP to add ROS2 support

major changes

• Add Sophus dependency to improve readability of the registration pipeline
• Move registration loop inside the Registracion.cpp module for better consistency
• Re arrange folder structure

New features

• Python folder is now a standalone project that can be used independently of the git repository
• ROS folder is now a standalone project that can be used independently of the git repository
• ROS2 support, alongside with ROS1 support. Pick the one you like the most.

Fix rotation and voxel types

New features:

• config files are now optional thanks @markuspi
• new voxel type, improves readability and a bit performance @tizianoGuadagnino
• Rotations stays "roatations", the Python API still opeartes on 4x4 matrices @tizianoGuadagnino and @mattalvarado
• some typos fixed @LimHyungTae

Thanks everyone for the contributions!

kiss_sample.mp4

Add ROS1 support for KISS-ICP

Just:

$ cd ~/catkin_ws/ && git clone https://github.com/PRBonn/kiss-icp && catkin build

and enjoy!

kiss_icp_ros.mp4

New Project Structure

Just moving files here and there :-)

ROS support coming soon...