v2.2.0

Summary

This release simplifies interacting with chunked octrees, improves performance, and extends the QueryAccelerator to support HashedChunkedWaveletOctree maps.

Detailed description

Release 2.0.0 introduced experimental NodePtr and NodeRef classes, enabling traversal of chunked octrees as if they were regular octrees. This PR finalizes their implementation and uses them to simplify map operations and measurement integrators, and extend the QueryAccelerator to support chunked octrees.

For a detailed summary, list of API changes, and benchmarking results, please see PR #84.

Package changelogs

Libraries

• C++
• Python

Interfaces

• ROS1
  • wavemap_ros_conversions
  • wavemap_ros

Upgrade notes

Upgrade instructions for

• C++ Library
  • To use wavemap as a standalone CMake project, please see these instructions
• Python Library
  • To install wavemap's Python API, please see these instructions
• ROS1
  • Catkin
    • Go to your catkin workspace src directory: cd ~/catkin_ws/src
    • Pull the newest wavemap code:cd wavemap && git checkout main && git pull
    • Rebuild wavemap: catkin build wavemap_all
  • Docker
    • docker build --tag=wavemap_ros1 --build-arg='VERSION=v2.2.0' -<<< $(curl -s https://raw.githubusercontent.com/ethz-asl/wavemap/v2.2.0/tooling/docker/ros1/incremental.Dockerfile)

For more info, see our guides on installing wavemap.