2.update sdk for ntp functions
3.add set camera FPS function in yaml(10FPS,14.5FPS)
4.release ros driver 0.9.0
5.Add time alignment mode for odin1 device synchronization with host
6.Add new time alignment option (use_host_ros_time=2) to align odin1 sensor timestamps to host time axis using PTP sync data
7.Implement PTP smoothing with 30-sample moving average window for delay and offset calculations
8.Refactor timestamp handling with make_aligned_stamp() helper function to centralize time conversion logic across all data types (IMU, point clouds, images, odometry)
9.Add LIDAR_DT_NTP data type for receiving
10.add imu data record
11.add cloud reprojection demo
1. Update api lidar_get_version which now return a data structure for detailed device firmware version info. Allowed force exit when device firmware version is lower than required.
2. Removed custom_save_map parameter from config yaml to reduce confusion. Added description on how to use it properly instead.
3. Added print message on relocalization sucess, indicated by recieve LIDAR_DT_SLAM_ODOMETRY_TF data type from device
1. add option to use host ros time as data timestamp, not recommanded unless specifically require this setup
2. only pub odm-map tf in relocal mode
3. add option to also not pub odm-base_link tf, not recommanded unless specifically require this setup
4. dev_status.csv now have device timestamp to better help analyzing
5. add control option to enable encrtypted device debug log, should only enable when instructed by official support
黄JY