[Feat]: Adapt to new version

.github/Jenkinsfile

@@ -0,0 +1 @@
+buildPackage()

.gitignore

@@ -12,4 +12,3 @@ cmake-build-debug/
 version.h
 *.pb.cc
 *.pb.h
-package.xml

.gitmodules

@@ -1,3 +1,4 @@
 [submodule "src/rs_driver"]
 	path = src/rs_driver
 	url = https://github.com/RoboSense-LiDAR/rs_driver.git
+	branch = main

CHANGELOG.md

@@ -1,4 +1,114 @@
-# Changelog
+# CHANGELOG 
+
+## v1.5.16 2024-08-27
+### Added
+- Load config path frome ros2 param.
+### Changed
+- Remove the original compilation method.
+### Fixed
+- Use single package.xml file for both ROS1 and ROS2 @Timple.
+- Update msop protocol of RSMX.
+
+## v1.5.15 2024-08-07
+### Added
+- Support RSM3.
+
+## v1.5.14 2024-07-15
+### Added
+- Support multiple lidars with different multicast addresses and the same port.
+### Fixed
+- Fixed the bug that only one lidar was parsed correctly when multiple bp4.0 were used.
+- Fix version number in the package.xml by @Timple.
+
+## v1.5.13 2024-05-10
+### Added
+- Support RSMX.
+### Fixed
+- Update timestamp parsing unit and the number of packets per frame in decoder_RSE1.
+- Update firing_tss of Helios/Helios16P/RubyPlus.
+- Fix compilation bug of unit test.
+- Remove duplicate text "/rslidar_packets" by @luhuadong.
+
+## v1.5.12 2023-12-28
+### Fixed
+- Fix bug in getting device info and status.
+- Fix bug in getting device temperature.
+
+## v1.5.11 2023-12-18
+
+### Changed
+- Enable modify socket buffer size.
+
+## v1.5.10 - 2023-02-17
+
+### Changed
+- Merge RSBPV4 into RSBP
+
+
+## v1.5.9 - 2023-02-17
+
+### Changed
+- Increase sending DDS buffer queue to avoid packet loss
+
+
+## v1.5.8 - 2022-12-09
+
+### Added
+- Support ROS2/Humble Hawksbill
+- rename RSEOS as RSE1
+
+### Fixed
+- Fix wrong widthxheight while ros_send_by_rows=true
+
+
+## v1.5.7 - 2022-10-09
+
+### Added
+- Seperate RSBPV4 from RSBP
+- Support to receive MSOP/DIFOP packet from rosbag v1.3.x
+- Support option ros_send_by_rows
+
+## v1.5.6 - 2022-09-01
+
+### Added
++ Add a few build options according to rs_driver
++ Update help documents
+
+## v1.5.5 - 2022-08-01
+
+### Changed
+- Output intensity in point cloud as float32
+
+### Fixed
+- Fix compiling and runtime error on ROS2 Elequent
+- Fix frame_id in help docs
+
+## v1.5.4 - 2022-07-01
+
+### Added
+- Support the option to stamp the point cloud with the first point
+
+### Changed
+- Remove the dependency on the protobuf library
+
+## v1.5.3 - 2022-06-01
+
+### Added
+- Support Jumbo Mode
+
+### Fixed
+- Fix compiling error when protobuf is unavailable
+
+## v1.5.0
+
+### Changed
+- refactory the project
+
+### Added
+- support user_layer_bytes and tail_layer_bytes
+- support M2
+- replace point with point cloud, as rs_driver's template parameter
+- handle point cloud in rs_driver's thread
 
 ## v1.3.0 - 2020-11-10
 
@@ -9,7 +119,6 @@
 - Add different point types( XYZI & XYZIRT)
 
 ### Changed
-
 - Update driver core, please refer to CHANGELOG in rs_driver for details
 - Update some documents
 - Change angle_path argument to hiding parameter
@@ -19,15 +128,11 @@
 - Remove RSAUTO for lidar type
 - Remove device_ip argument
 
-
-
 ## v1.2.1 - 2020-09-04
 
 ### Fixed
-
 - Fix bug in driver core, please refer to changelog in rs_driver for details.
 
-
 ## v1.2.0 - 2020-09-01
 
 ### Added
@@ -37,11 +142,9 @@
 - Update driver core, please refer to changelog in rs_driver for details
 - Update the compiler version from C++11 to C++14
 
-
 ## v1.1.0 - 2020-07-01
 
 ### Added
-
 - Add ROS2 support
 
 ### Changed
@@ -55,9 +158,7 @@
 ## v1.0.0 - 2020-06-01
 
 ### Added
-
 - New program structure
-
 - Support ROS & Protobuf-UDP functions
 
-
+