Beta 5

Breaking changes

As a result of moving the center of gravity, the vehicle drives a bit different. From now on please use this version for testing if you are participating in FSOnline 2020.

The following lidar settings keys from the settings.json have been renamed:

• Renamed setting NumberOfChannels to NumberOfLasers (link)
• Renamed setting PointsPerSecond to PointsPerScan (link)

Some new lidar competition rules have been added to ensure some level of realism:

• The vertical inter-laser angle must be at least 0,18 degrees be no larger than 180 degrees. (link)
• The rotation frequency must be between 5 and 20 Hz. (link)
  *For each lidar, during a single rotation, the number of collected points for 1 laser must be not higher than 2048 for 360 degrees.
  (link)
• The number of collected points per lidar per laser per second cannot exceed 20480.
  (link)

Enhancements

• #138 #127 #132 Lidar realistic rules, simplify capture configuration and improved documentation.
• #145 #139 Move center of gravity closer to the ground and documented the position.
• #152 Update Rviz and Multiplot helpers
• #150 #123 Spectator car following
• #141 Added frame to GPS ROS message
• #136 #130 Gyro and accelerometer variances to IMU output message
• #147 #146 Better documentation for newcomers

Bugfixes

• #135 #154 Outlier in the IMU angular velocity
• #149 #151 Floating car
• #142 #140 Unreal Training Map contains 19296 cones