This release contains the initial code from our most recent paper, "Foundations of Spatial Perception for Robotics: Hierarchical Representations and Real-time Systems". Notable changes include:

• We have moved the majority of our ROS interface to a new repository, located here. Following the installation instructions for this repository will still install the ROS interface. Hydra itself still requires ROS.
• We have condensed the packages hydra_utils, hydra_topology, and hydra_dsg_builder into the hydra package. We have also renamed the namespace topology to places to be a little more consistent with the purpose of the code
• The room detection code is consistent with our most recent paper
• We have included our new method for extracting a sparse graph of places from the GVD. It is possible to toggle between this and the original method we previously released
• We include the GNN-based models for scene-graph loop-closure detection as described in our most recent paper

We still have a few different things to clean up on our end before we finalize this release. Please note that the code may not be fully stable until we do actually finish the last few changes. In particular, issues may arise when running with Kimera-VIO.