Ouster-sdk

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Added
-----

* support for ROS noetic in ``ouster_ros``. Note: this may break building on very old platforms
without a C++14-capable compiler
* an extra extrinsics field in ``sensor_info`` for conveniently passing around an extra user-supplied
transform
* a utility function to convert ``lidar_scan`` data between the "staggered" representation where each
column has the same timestamp and "de-staggered" representation where each column has the same
azimuth angle
* mask support in the visualizer library in ``ouster_viz``

Changed
-------

* ``ouster_ros`` now requires C++14 to support building against noetic libraries
* replaced ``batch_to_iter`` with ``batch_to_scan``, a simplified function that writes directly to a
``lidar_scan`` instead of arbitrary iterator

Fixed
-----

* ipv6 support using dual-stack sockets on all supported platforms. This was broken since the
beta.10 release
* projection to Cartesian coordinates now takes into account the vertical offset the sensor and
lidar frames
* the reference frame of point cloud topics in ``ouster_ros`` is now correctly reported as the "sensor
frame" defined in the user guide

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*no changes*

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*no changes*

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Added
-----

* preliminary support for Windows and macOS for ``ouster_viz`` and ``ouster_client``

Changed
-------

* replaced VTK visualizer library with one based on GLFW
* renamed all instances of "OS1" including namespaces, headers, node and topic names, to reflect
support for other product lines
* updated all xyz point cloud calculations to take into account new ``lidar_origin_to_beam_origin``
parameter reported by sensors
* client and ``os_node`` and ``simple_viz`` now avoid setting the lidar and timestamp modes when
connecting to a client unless values are explicitly specicified

Fixed
-----

* increase the UDP receive buffer size in the client to reduce chances of dropping packets on
platforms with low defaults
* ``os_cloud_node`` output now uses the updated point cloud calculation, taking into account the lidar
origin offset
* minor regression with destaggering in img_node output in previous beta

============================

Added
-----

* support for gen2 hardware in client, visualizer, and ROS sample code
* support for updated "packed" lidar UDP data format for 16 and 32-beam devices with firmware 1.14
* range markers in ``simple_viz`` and ``viz_node``. Toggle display using ``g`` key. Distances can be
configured from ``os1.launch``.
* post-processing to improve ambient image uniformity in visualizer

Changed
-------

* use random ports for lidar and imu data by default when unspecified

=====================

Added
-----

* post-processing to improve ambient image uniformity in visualizer
* make timestamp mode configurable via the client (PR 97)

Changed
-------

* turn on position-independent code by default to make using code in libraries easier (PR 65)
* use random ports for lidar and imu data by default when unspecified

Fixed
-----

* prevent legacy tf prefix from making invalid frame names (PR 56)
* use ``iterator_traits`` to make ``batch_to_iter`` work with more types (PR 70)
* use correct name for json dependency in ``package.xml`` (PR 116)
* handle udp socket creation error gracefully in client