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@msz-rai msz-rai released this 16 Mar 12:11
· 1 commit to develop since this release
v0.21.0
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Learn about vigilant mode.

[0.21.0] 16 March 2026

Added

  • Added lidar visibility feature (sensors can now ignore specific entities during raytracing)
    • Added new constants for sensor identification:
      • RGL_SENSOR_ID_DEFAULT
      • RGL_SENSOR_ID_NONE
    • Added API call to set a sensor ID that will ignore a given entity in raytracing:
      • rgl_entity_set_ignored_by_sensor
    • Added API call to assign a sensor identifier to RaytraceNode:
      • rgl_node_raytrace_configure_id
  • Added Agnocast extension enabling zero-copy ROS2 publishing via shared memory
    • Added build option in CMakeLists:
      • RGL_BUILD_AGNOCAST_EXTENSION
    • Added API call to configure Agnocast on a ROS2 publishing node:
      • rgl_node_configure_agnocast
  • Added detection states to radar nodes
    • Extended RadarPostprocessPointsNode cluster statistics with standard deviations of azimuth, elevation, distance, and radial speed
    • Added per-detection state data (azimuth, elevation, distance, radial speed with their standard deviations, RCS, detection ID, object ID) to RadarTrackObjectsNode
  • Added ROS2 RadarTracks publishing
    • Added API call to publish RadarTracks message into ROS2 topic:
      • rgl_node_publish_ros2_radartracks

Changed

  • Bumped minimum supported GPU architecture to NVIDIA Turing (GeForce RTX 2000 series, sm_75)
    • Removed support for older deprecated CUDA architectures
    • Updated runtime requirements documentation accordingly
    • This was required to resolve runtime errors observed when running RGL binaries built against the deprecated architecture on the latest NVIDIA drivers
  • Removed tracking of ROS2 publishers in Ros2InitGuard
    • Creating multiple publishers for the same topic is now allowed

Fixed

  • Fixed recursion when retracing rays through ignored entities moving along a triangle surface
    • Increased the ray iteration offset to reliably avoid re-hitting the same triangle
  • Fixed incorrect error message in RadarPostprocessPointsNode validation
  • Fixed object width calculation in RadarTrackObjectsNode

Released binaries

  • RGL-core-linux-x64 - core build (without any extension) for Linux x64
  • RGL-full-linux-x64-humble - core build + PCL + ROS2 extensions for Linux x64 + ROS 2 Humble
  • RGL-full-linux-x64-jazzy - core build + PCL + ROS2 extensions for Linux x64 + ROS 2 Jazzy
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