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CHANGELOG.rst

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Changelog for package mola_lidar_odometry

0.7.2 (2025-04-23)

  • better integration of clang-tidy, colcon_defaults, and clangd with vscode
  • Expose two more env vars: MOLA_MAP_CLOUD_DECIMATION, MOLA_ICP_CLOUD_DECIMATION
  • FIX: also initial pose for localmap
  • BUGFIX: Initial twist was wrong for custom initial poses
  • Contributors: Jose Luis Blanco-Claraco

0.7.1 (2025-03-15)

  • FIX: Handle correctly the case of input scans with non-normal numbers
  • docs: format of ros2 launch argument
  • FIX: reset map to start again might lead to divergence; Add new 'reset_state' command via MOLA dynamic variables
  • Force requiring valid poses for IMU and GNSS inputs
  • Refactor implementation source into several smaller files
  • FIX: mola-lo didn't exit due to waiting ICP queue if fed faster than ICP processing
  • FIX: mola-lo-gui apps may show duplicated UI controls in particular circumstances
  • Drop frames warning message now tells the exact drop ratio
  • Initial localization method is now loadable from yaml or ros2 launch file
  • MOLA-LO no longer subscribes to wheels odometry. That is now delegated directly to state estimation modules.
  • Add new ROS2 launch argument: forward_ros_tf_odom_to_mola
  • Contributors: Jose Luis Blanco-Claraco

0.7.0 (2025-02-22)

  • Implement new mola_kernel diagnostics API
  • Ensure map is published after ROS2 bridge is already listening (FIXES: potential loss of map publication if MM map is given via env var)
  • FIX: Proper configurable dropped frames mechanism and stats
  • FIX: Update GUI, publish maps, correctly independently of whether MolaGUI is enabled
  • launch: fix localization source name
  • FIX: Do not ever reset the map when in localization mode
  • Fix: refresh GUI with initial map
  • Allow dropping LiDAR frames in too slow for real-time, but not any other observation type
  • FIX: ensure georef metadata is published when map_load service is called
  • rename kitti ros2 demo file to unclutter ros2 launch autocompletion
  • Add ros launch argument 'use_state_estimator'
  • FIX: publish georeferencing metadata at start up
  • Add ROS2 launch arguments to select an state_estimator method
  • update citation
  • Add more params to smoother state estimation default YAML file
  • Add env variable MOLA_STATE_ESTIMATOR_PUBLISH_RATE to control filtered pose update rate
  • Add new env var MOLA_NAVSTATE_ENFORCE_PLANAR_MOTION and ros2 launch argument for it
  • Add new ros launch argument mola_footprint_to_base_link_tf
  • Fix expected pose format in yaml
  • ROS2 launch: shutdown if mvsim crashes
  • Fix parse error with default .mm and .simplemap launch arguments
  • Contributors: Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco

0.6.2 (2025-02-13)

  • ros2 launch: add .mm and .simplemap optional initial map arguments
  • All exhaustive docs on ros2-related mola launch YAML files with the meaning of all BridgeROS2 parameter
  • Delegate publishing georeference info to BridgeROS2
  • Contributors: Jose Luis Blanco-Claraco

0.6.1 (2025-01-26)

  • Do not re-publish the map if it does not change, e.g. in localization-only mode
  • ros2 launch file: two new arguments 'mola_lo_pipeline' and 'generate_simplemap'
  • Default 3D-LO pipeline: Add new env var 'MOLA_LOCALMAP_LAYER_NAME', useful when localizing with prebuilt maps
  • Merge pull request #12 from r-aguilera/develop fix launch file params
  • fix launch file params
  • Contributors: Jose Luis Blanco-Claraco, Raúl Aguilera

0.6.0 (2025-01-21)

  • Fix: publish map on first iteration
  • Publish georeferencing frames (utm, enu) when loading a metric map with georef. info
  • ros2 lidar odometry launch: add ros argument for /tf reference_frame
  • ROS2 kitti Lidar-Odometry demo: fixed to publish correct /tf's
  • Add new frame parameters to pipeline YAML files
  • Two new parameters (publish_reference_frame, publish_vehicle_frame), to have explicit control on frame names published to both, ROS, and the MOLA state_estimator
  • ROS2 service call for load_map(): more concise error messages
  • Contributors: Jose Luis Blanco-Claraco

0.5.4 (2025-01-16)

  • Add a debug helper env var MOLA_BRIDGE_ROS2_EXPORT_TO_RAWLOG_FILE
  • Do not reset the state estimator on a bad ICP, allowing merging from other sensors or extrapolating.
  • Docs: add missing ros2 launch args
  • More ROS2 launch arguments
  • Contributors: Jose Luis Blanco-Claraco

0.5.3 (2025-01-15)

  • FIX: mola_state_estimator_simple must be available as a build dep too for easier usage of mola-lo-cli
  • Contributors: Jose Luis Blanco-Claraco

0.5.2 (2025-01-11)

  • Merge pull request #11 from MOLAorg/10-bad-first-icp-re-starting-from-scratch-with-a-new-local-map Fix NaN pointcloud radius in doInitializeEstimatedMaxSensorRange()
  • Unit tests: add test run against MulRan dataset fragment (Lidar+IMU)
  • cli: fix name of example pipeline file when --help invoked
  • unit tests: fix wrong usage of state estimator yaml file
  • mola-lo-gui-mulran: show IMU & GPS data in GUI
  • Define a sensible value for maxRange
  • Fix cmake warning when built w/o mola_state_estimation_simple sourced in the env
  • Contributors: Jose Luis Blanco-Claraco

0.5.1 (2025-01-07)

  • mola-lidar-odometry-cli: add flags to select the state estimation method
  • Contributors: Jose Luis Blanco-Claraco

0.5.0 (2024-12-29)

  • cmake test logic: add find_package() for state_estimation_simple
  • Merge pull request #7 from MOLAorg/wip/new-state-estimators New state estimators (Merge after MOLA 1.5.0 is installable via apt)
  • Split state estimation params so each implementation has its own yaml file
  • CI: build against both, ROS testing and stable
  • Add new state estimator module in all MOLA-CLI yaml files
  • Update to new state estimation packages
  • Reorganization such as state estimator is now an independent external module
  • docs: add new ros-arg publish_localization_following_rep105
  • FIX: publish local map even when not active
  • Contributors: Jose Luis Blanco-Claraco

0.4.1 (2024-12-20)

  • ROS2 launch: add ros argument for new option publish_localization_following_rep105
  • rviz2 demo file: better orbit view
  • ROS2 config file: define env vars for all tf frames (odom, map, base_link)
  • Contributors: Jose Luis Blanco-Claraco

0.4.0 (2024-12-18)

  • demo rviz file: fix lidar topic name
  • Include /tf remaps too in ros2 launch
  • mola launch for ROS 2: Add placeholder for ros args parsing
  • mola launch for ROS 2: add env variables to quickly control verbosity of each module. Env. vars. are: MOLA_VERBOSITY_MOLA_VIZ, MOLA_VERBOSITY_MOLA_LO,MOLA_VERBOSITY_BRIDGE_ROS2 (Default: INFO)
  • Support for ROS2 namespaces in launch file
  • docs; and fix launch var typo
  • ROS 2 launch: add more ros args
  • move MOLA-LO ROS2 docs to the main MOLA repo
  • Expose one more runtime param: generate_simplemap
  • clarify docs on sensor input topic names
  • runtime parameters: update in GUI too
  • publish ICP quality as part of localization updates
  • mola module name changed: 'icp_odom' -> 'lidar_odom'
  • Do not publish localization if ICP is not good
  • Expose runtime parameters using MOLA v1.4.0 configurable parameters: active, mapping_enabled
  • docs clarifications
  • map_load service: allow not having a .simplemap file and don't report it as an error
  • FIX: motion model handling during re-localization
  • Implement map_save
  • reset adaptive sigma upon relocalization
  • Implement map_load; Implement relocalize around pose
  • Forward IMU readings to the navstate fusion module
  • CI and readme: remove ROS2 iron
  • Merge branch 'wip/map_load_save' into develop
  • docs: add ref to yaml extensions
  • Add docs on 3D-NDT pipeline and demo usage with Mulran
  • parameterize maximum_sigma
  • CLI: add flag to retrieve all twists in a file; avoid use of "static" variables
  • LO: Add a getter for the latest pose and twist
  • doc: explain "no tf" error message
  • tune 3D-NDT defaults
  • Kitti and Mulran evaluation scripts: extend so they can be run with other pipelines
  • ros2 launch: Add 'use_rviz' argument
  • NDT pipeline: expose max sigma as parameter too
  • Avoid anoying warning message when not really needed
  • Extend options for GNSS initialization
  • Add docs on mola-lo-gui-rawlog
  • Default pipeline: reduce density of keyframes in simplemap
  • Docs: mola_lo_apps.rst fix PIPELINE_YAML var name
  • Update mola_lo_pipelines.rst: fix format
  • recover passing var args to mola-lo-gui-rosbag2 script
  • UI: show instantaneous max. sensor range too
  • FIX: formula for the estimated max. sensor range fixed for asymmetric cases
  • add new visualization param ground_grid_spacing
  • viz: grow ground grid as the local map grows
  • FIX: disabling visualization of raw observations left last raw observation rendered
  • fix: separate GPS topic and sensorLabel variables
  • Consistent GPS topic name
  • Add another env variable: MOLA_LOCAL_VOXELMAP_RESOLUTION
  • Expose new param for local map max size
  • enable the relocalize API
  • Expose fixed sensor pose coords as optional env variables
  • Readme: add ROS badges for arm64 badges
  • GitHub actions: use ROS2-testing packages
  • Contributors: Jose Luis Blanco-Claraco

0.3.3 (2024-09-01)

  • default 3D pipeline: Expose a couple more parameters as env variables
  • Depend on new mrpt_lib packages (deprecate mrpt2)
  • Contributors: Jose Luis Blanco-Claraco

0.3.2 (2024-08-26)

  • Support input dataset directories for split bags
  • Contributors: Jose Luis Blanco-Claraco

0.3.1 (2024-08-22)

  • add missing exec dependencies to package.xml for mola-lo-* commands.
  • Contributors: Jose Luis Blanco-Claraco

0.3.0 (2024-08-14)

  • First public release
  • Contributors: Jose Luis Blanco-Claraco