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CHANGELOG.rst

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Changelog for package mola_lidar_odometry

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