ros-melodic-ainstein-radar-filters (2.0.2-1stretch) stretch; urgency=high

  * Minor, fix header exports breaking bloom build
  * Rename input/output radar topics
    Renamed all instances of radardata_in and radardata_out to radar_in and
    radar_out to conform with other packages.
  * Fix laser scan converter params, remove deprecated
    Fixed the min/max range for the laserscan converted to be 0.0 and 100.0
    respectively by default so that the filtering by range doesn't affect
    most radars by default. These paremeters are required by the laserscan
    message and should instead be set from the RadarInfo message, to be
    done soon. Also removed some deprecated code.
  * Remove deprecated file and code from pcl converter
    Removed an old file for testing the pointcloud (pcl) converter class
    and removed old code from the pointcloud converted class which was
    previously used to filter targets based on relative speed.
  * Contributors: Nick Rotella

 -- Nick Rotella <nick.rotella@ainstein.ai>  Tue, 19 Nov 2019 06:00:00 -0000

ros-melodic-ainstein-radar-filters (2.0.1-1stretch) stretch; urgency=high



 -- Nick Rotella <nick.rotella@ainstein.ai>  Tue, 12 Nov 2019 06:00:00 -0000

ros-melodic-ainstein-radar-filters (2.0.0-1stretch) stretch; urgency=high

  * Add K79 people tracking filter launch and params
  * Add tf2_eigen dependency to build
  * Minor, fix jsk messages dependency
  * Add bounding box output from radar tracking filter
    Added publication of bounding boxes for the tracked targets of the
    radar target tracking filter, computed to bound all targets used for
    a Kalman Filter update at each step.  This is a sort of "model-based
    clustering" of radar data since the KF itself tracks with the aid of
    a simple motion model.
    Next, plan to add Cartesian pose+covariance output.
  * Contributors: Nick Rotella

 -- Nick Rotella <nick.rotella@ainstein.ai>  Tue, 12 Nov 2019 06:00:00 -0000

ros-melodic-ainstein-radar-filters (1.1.0-1stretch) stretch; urgency=high

  * Minor, add radar SNR as laserscan intensities
  * Refactor pointcloud and laserscan converters
    Refactored the radar to pointcloud and laserscan conversion class and
    nodes in order to remove deprecated functionality and keep topic names
    consistent between them. The laserscan converter still has filtering
    based on the min/max angle/range parameters which should be removed and
    these parameters should be set from a radar sensor info message similar
    to camera info.
  * Minor fixes to package XML formatting
    Fixed the package XML file formatting and added missing content to
    conform to the suggested style guidelines.
  * Expose radar target array to point cloud conversion
    Exposed a function from ainstein_radar_filters which converts from the
    RadarTargetArray message type to the custom PCL point cloud type which
    includes radar data by making it static.  This was needed for new
    tools which need easy access to a polar-to-cartesian function. It may
    make more sense to pull out such conversions and put them in utility
    class somewhere else.
    Note that the only change to CMakeLists required to expose the header
    from this package to any package which imports it was to add an
    INCLUDE_DIRS line in the catkin_Package() function of this package.
  * Add param for fixed frame to point cloud converter
    Add an optional fixed frame parameter for the radar target array to
    point cloud converted which takes in the name of the fixed frame,
    otherwise defaulting to map. Previously, map was hardcoded.
  * Refactor redundant radar to pointcloud class
    Refactored the old, redundant radar to pointcloud converter class and
    associated node/lets to a radar speed filter class, preserving the
    projected speed filtering functionality. Tested on K79 data and working
    with mock zero speed command, should test further with nonzero GPS
    speed.
    There is still deprecated functionality in this class for testing the
    radar rotated which should be removed at some point as this was only
    experimental.
  * Use custom PCL radar point for data converter class
    Switched from using the normal pcl::PointXYZ type to the custom radar
    specific ainstein_radar_filters::PointRadarTarget type in the radar to
    point cloud conversion class. Tested on radar data and verified that it
    allows coloring clouds according to additional radar-specific fields eg
    range, speed, etc. This permits using existing point cloud-based filter
    node/lets to filter based on radar parameters, deprecating eg the range
    filter class in this repo.
    Also removed a debug printout from the rviz plugin class.
  * Contributors: Nick Rotella

 -- Nick Rotella <nick.rotella@ainstein.ai>  Tue, 29 Oct 2019 05:00:00 -0000

ros-melodic-ainstein-radar-filters (1.0.3-1stretch) stretch; urgency=high

  * Minor bug fix in tracking filter update
    Fixed a small bug in the Kalman Filter state covariance update equation
    which had an extra transpose in it. This likely didn't affect filter
    performance noticeably because it only affected off-diagonal elements.
  * Contributors: Nick Rotella

 -- Nick Rotella <nick.rotella@ainstein.ai>  Thu, 03 Oct 2019 05:00:00 -0000

ros-melodic-ainstein-radar-filters (1.0.2-1stretch) stretch; urgency=high



 -- Nick Rotella <nick.rotella@ainstein.ai>  Wed, 25 Sep 2019 05:00:00 -0000

ros-melodic-ainstein-radar-filters (1.0.1-1stretch) stretch; urgency=high

  * Refactor filters into separate subpkg, fix bug
    Created subpackage ainstein_radar_filters for radar filters and
    conversions, moved all filters from ainstein_radar_drivers into this
    subpkg and tested build and launch on rosbag data.
    Also fixed a small bug in the radar data range filter in which the
    dynamic reconfigure callback was not being registered, preventing the
    filter from working. Now, the filter compiles and works properly.
  * Contributors: Nick Rotella

 -- Nick Rotella <nick.rotella@ainstein.ai>  Tue, 24 Sep 2019 05:00:00 -0000


