Changelog for package yasmin_pcl

6.1.0 (2026-07-26)

• refactor(pcl): centralize filter utilities and improve IO robustness Refactor PCL filter states to use shared utility functions and enhance the reliability of file IO operations.

  • Refactor:

  - Move [make_domain_indices]{.title-ref} and [compute_removed_indices]{.title-ref} from individual filter implementations to [filter_state_utils.hpp]{.title-ref}.

  - Standardize index handling and removed index extraction across [CropBoxState]{.title-ref}, [ExtractIndicesState]{.title-ref}, and [RandomSampleState]{.title-ref}.

  - Simplify [RandomSampleState]{.title-ref} by using a deterministic second pass to derive indices.

  • Fix:
  • Add directory existence checks for PCD and PLY save/load operations.

  - Improve PLY camera metadata parsing to handle multi-token properties and skip unsupported binary camera elements.

  - Fix [VoxelGridState]{.title-ref} default filter limits by using infinity instead of zero.

  • Test:

  - Implement [TempFile]{.title-ref} RAII class in [test_utils.hpp]{.title-ref} for safer temporary file management.

  - Replace manual file deletion in tests with [TempFile]{.title-ref} to prevent leaked files on failure.

• Contributors: Miguel Ángel González Santamarta

6.0.0 (2026-07-07)

• relicense to Apache 2.0 (#122)
• refactor: update minimum CMake version to 3.10 across multiple CMakeLists.txt files
• Enhance documentation and improve code clarity across multiple modules
  • Added detailed comments and descriptions for constructors, methods, and parameters in various classes, including [Concurrence]{.title-ref}, [StateMachine]{.title-ref}, and filter states in [yasmin_pcl]{.title-ref}.
  • Improved logging initialization comments in [logs.cpp]{.title-ref} for better understanding of log level settings.
  • Updated [blackboard_pybind11.cpp]{.title-ref} to clarify the registration of [BlackboardPyWrapper]{.title-ref}.
  • Enhanced the [yasmin_demos]{.title-ref} states with additional private member documentation for clarity on their purpose.
  • Improved the [yasmin_factory]{.title-ref} class documentation, particularly around blackboard key and parameter mappings.
  • Added utility functions in [test_utils.hpp]{.title-ref} for creating point clouds and temporary file paths with clear descriptions.
  • Enhanced the [ros_clients_cache]{.title-ref} and [supported_interface_serialization]{.title-ref} classes with detailed comments on cache management and serialization callbacks.
  • Improved the [YasminNode]{.title-ref} and [YasminViewerNode]{.title-ref} classes with comments on copy prevention and connection handling.
  • General code cleanup and formatting improvements for better readability and maintainability.
• refactor: use 'this' pointer for member variable access in multiple state classes
• Refactor and enhance yasmin packages
  • Removed unnecessary destructors from PclToRosPointCloud2State and RosToPclPointCloud2State classes.
  • Added cancellation checks in SavePcdState and SavePlyState execute methods.
  • Improved ActionState to notify when action is done and handle cancellation more effectively.
  • Updated basic_outcomes to use inline constexpr for string constants.
  • Enhanced MonitorState and ServiceState to include cancellation checks and improved locking mechanisms.
  • Refactored ROSClientsCache to use per-map locks for thread safety.
  • Updated get_parameters_state to handle int64_t instead of int for parameter declaration.
  • Improved YasminViewerNode to manage active HTTP connections and handle server shutdown more gracefully.
  • Refactored yasmin_viewer_pub to use unordered_map for better performance and added checks for rclpy state before publishing.
• style: format code for improved readability in multiple files
• refactor: refactor and optimize yasmin code
  • Removed unnecessary code and improved the formatting of plugin headers in discovery_node.py.
  • Simplified metadata loading in plugin_info.py by introducing a

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