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@msz-rai msz-rai released this 19 Apr 10:26
· 128 commits to main since this release
v0.13.1
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Learn about vigilant mode.

[0.13.1] 19 April 2023

Fixed

  • Improved performance of temporal merge node.
    • The node doubles the array capacity if it's running out (instead of reallocating every iteration).

Changed

  • Point cloud formatting for rgl_graph_write_pcd_file is performed on the CPU now.
    • We prefer to avoid transferring huge point cloud to GPU (risk of cuda out of memory error).

Known Issues

  • rgl_graph_write_pcd_file causes SEH exception on Windows when trying to save point cloud with ~375 000 000 or more points.
    • The issue has been reported to PCL (link).
  • rclcpp (ROS2 package) is always initialized by RGL. It could cause a double initialization if the client's code also did it before RGL.
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