Imported upstream version '1.5.0' of 'upstream'

README.md

@@ -48,8 +48,6 @@ Note: Rows within each cell are for ``amd64`` and ``arm64`` architectures.
 | mola_launcher | [![Build Status](https://build.ros2.org/job/Hbin_uJ64__mola_launcher__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Hbin_uJ64__mola_launcher__ubuntu_jammy_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Hbin_ujv8_uJv8__mola_launcher__ubuntu_jammy_arm64__binary/badge/icon)](https://build.ros2.org/job/Hbin_ujv8_uJv8__mola_launcher__ubuntu_jammy_arm64__binary/)  | [![Build Status](https://build.ros2.org/job/Jbin_uN64__mola_launcher__ubuntu_noble_amd64__binary/badge/icon)](https://build.ros2.org/job/Jbin_uN64__mola_launcher__ubuntu_noble_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Jbin_unv8_uNv8__mola_launcher__ubuntu_noble_arm64__binary/badge/icon)](https://build.ros2.org/job/Jbin_unv8_uNv8__mola_launcher__ubuntu_noble_arm64__binary/)  | [![Build Status](https://build.ros2.org/job/Rbin_uN64__mola_launcher__ubuntu_noble_amd64__binary/badge/icon)](https://build.ros2.org/job/Rbin_uN64__mola_launcher__ubuntu_noble_amd64__binary/)<br> [![Build Status](https://build.ros2.org/job/Rbin_unv8_uNv8__mola_launcher__ubuntu_noble_arm64__binary/badge/icon)](https://build.ros2.org/job/Rbin_unv8_uNv8__mola_launcher__ubuntu_noble_arm64__binary/) | 
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-| mola_navstate_fg | [![Build Status](https://build.ros2.org/job/Hbin_uJ64__mola_navstate_fg__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Hbin_uJ64__mola_navstate_fg__ubuntu_jammy_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Hbin_ujv8_uJv8__mola_navstate_fg__ubuntu_jammy_arm64__binary/badge/icon)](https://build.ros2.org/job/Hbin_ujv8_uJv8__mola_navstate_fg__ubuntu_jammy_arm64__binary/)  | [![Build Status](https://build.ros2.org/job/Jbin_uN64__mola_navstate_fg__ubuntu_noble_amd64__binary/badge/icon)](https://build.ros2.org/job/Jbin_uN64__mola_navstate_fg__ubuntu_noble_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Jbin_unv8_uNv8__mola_navstate_fg__ubuntu_noble_arm64__binary/badge/icon)](https://build.ros2.org/job/Jbin_unv8_uNv8__mola_navstate_fg__ubuntu_noble_arm64__binary/)  | [![Build Status](https://build.ros2.org/job/Rbin_uN64__mola_navstate_fg__ubuntu_noble_amd64__binary/badge/icon)](https://build.ros2.org/job/Rbin_uN64__mola_navstate_fg__ubuntu_noble_amd64__binary/)<br> [![Build Status](https://build.ros2.org/job/Rbin_unv8_uNv8__mola_navstate_fg__ubuntu_noble_arm64__binary/badge/icon)](https://build.ros2.org/job/Rbin_unv8_uNv8__mola_navstate_fg__ubuntu_noble_arm64__binary/) | 
-| mola_navstate_fuse | [![Build Status](https://build.ros2.org/job/Hbin_uJ64__mola_navstate_fuse__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Hbin_uJ64__mola_navstate_fuse__ubuntu_jammy_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Hbin_ujv8_uJv8__mola_navstate_fuse__ubuntu_jammy_arm64__binary/badge/icon)](https://build.ros2.org/job/Hbin_ujv8_uJv8__mola_navstate_fuse__ubuntu_jammy_arm64__binary/)  | [![Build Status](https://build.ros2.org/job/Jbin_uN64__mola_navstate_fuse__ubuntu_noble_amd64__binary/badge/icon)](https://build.ros2.org/job/Jbin_uN64__mola_navstate_fuse__ubuntu_noble_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Jbin_unv8_uNv8__mola_navstate_fuse__ubuntu_noble_arm64__binary/badge/icon)](https://build.ros2.org/job/Jbin_unv8_uNv8__mola_navstate_fuse__ubuntu_noble_arm64__binary/)  | [![Build Status](https://build.ros2.org/job/Rbin_uN64__mola_navstate_fuse__ubuntu_noble_amd64__binary/badge/icon)](https://build.ros2.org/job/Rbin_uN64__mola_navstate_fuse__ubuntu_noble_amd64__binary/)<br> [![Build Status](https://build.ros2.org/job/Rbin_unv8_uNv8__mola_navstate_fuse__ubuntu_noble_arm64__binary/badge/icon)](https://build.ros2.org/job/Rbin_unv8_uNv8__mola_navstate_fuse__ubuntu_noble_arm64__binary/) | 
 | mola_pose_list | [![Build Status](https://build.ros2.org/job/Hbin_uJ64__mola_pose_list__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Hbin_uJ64__mola_pose_list__ubuntu_jammy_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Hbin_ujv8_uJv8__mola_pose_list__ubuntu_jammy_arm64__binary/badge/icon)](https://build.ros2.org/job/Hbin_ujv8_uJv8__mola_pose_list__ubuntu_jammy_arm64__binary/)  | [![Build Status](https://build.ros2.org/job/Jbin_uN64__mola_pose_list__ubuntu_noble_amd64__binary/badge/icon)](https://build.ros2.org/job/Jbin_uN64__mola_pose_list__ubuntu_noble_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Jbin_unv8_uNv8__mola_pose_list__ubuntu_noble_arm64__binary/badge/icon)](https://build.ros2.org/job/Jbin_unv8_uNv8__mola_pose_list__ubuntu_noble_arm64__binary/)  | [![Build Status](https://build.ros2.org/job/Rbin_uN64__mola_pose_list__ubuntu_noble_amd64__binary/badge/icon)](https://build.ros2.org/job/Rbin_uN64__mola_pose_list__ubuntu_noble_amd64__binary/)<br> [![Build Status](https://build.ros2.org/job/Rbin_unv8_uNv8__mola_pose_list__ubuntu_noble_arm64__binary/badge/icon)](https://build.ros2.org/job/Rbin_unv8_uNv8__mola_pose_list__ubuntu_noble_arm64__binary/) | 
 | mola_relocalization | [![Build Status](https://build.ros2.org/job/Hbin_uJ64__mola_relocalization__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Hbin_uJ64__mola_relocalization__ubuntu_jammy_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Hbin_ujv8_uJv8__mola_relocalization__ubuntu_jammy_arm64__binary/badge/icon)](https://build.ros2.org/job/Hbin_ujv8_uJv8__mola_relocalization__ubuntu_jammy_arm64__binary/)  | [![Build Status](https://build.ros2.org/job/Jbin_uN64__mola_relocalization__ubuntu_noble_amd64__binary/badge/icon)](https://build.ros2.org/job/Jbin_uN64__mola_relocalization__ubuntu_noble_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Jbin_unv8_uNv8__mola_relocalization__ubuntu_noble_arm64__binary/badge/icon)](https://build.ros2.org/job/Jbin_unv8_uNv8__mola_relocalization__ubuntu_noble_arm64__binary/)  | [![Build Status](https://build.ros2.org/job/Rbin_uN64__mola_relocalization__ubuntu_noble_amd64__binary/badge/icon)](https://build.ros2.org/job/Rbin_uN64__mola_relocalization__ubuntu_noble_amd64__binary/)<br> [![Build Status](https://build.ros2.org/job/Rbin_unv8_uNv8__mola_relocalization__ubuntu_noble_arm64__binary/badge/icon)](https://build.ros2.org/job/Rbin_unv8_uNv8__mola_relocalization__ubuntu_noble_arm64__binary/) | 
 | mola_traj_tools | [![Build Status](https://build.ros2.org/job/Hbin_uJ64__mola_traj_tools__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Hbin_uJ64__mola_traj_tools__ubuntu_jammy_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Hbin_ujv8_uJv8__mola_traj_tools__ubuntu_jammy_arm64__binary/badge/icon)](https://build.ros2.org/job/Hbin_ujv8_uJv8__mola_traj_tools__ubuntu_jammy_arm64__binary/)  | [![Build Status](https://build.ros2.org/job/Jbin_uN64__mola_traj_tools__ubuntu_noble_amd64__binary/badge/icon)](https://build.ros2.org/job/Jbin_uN64__mola_traj_tools__ubuntu_noble_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Jbin_unv8_uNv8__mola_traj_tools__ubuntu_noble_arm64__binary/badge/icon)](https://build.ros2.org/job/Jbin_unv8_uNv8__mola_traj_tools__ubuntu_noble_arm64__binary/)  | [![Build Status](https://build.ros2.org/job/Rbin_uN64__mola_traj_tools__ubuntu_noble_amd64__binary/badge/icon)](https://build.ros2.org/job/Rbin_uN64__mola_traj_tools__ubuntu_noble_amd64__binary/)<br> [![Build Status](https://build.ros2.org/job/Rbin_unv8_uNv8__mola_traj_tools__ubuntu_noble_arm64__binary/badge/icon)](https://build.ros2.org/job/Rbin_unv8_uNv8__mola_traj_tools__ubuntu_noble_arm64__binary/) | 

docs/source/index.rst

@@ -28,6 +28,13 @@ MOLA
   mola_lo_pipelines
   wrappers_3rd_party
 
+.. toctree::
+  :maxdepth: 2
+  :hidden:
+  :caption: State estimation
+
+  mola_sta_est_index
+
 .. toctree::
   :maxdepth: 2
   :hidden:
@@ -37,17 +44,16 @@ MOLA
   mp2p_icp_basics
   mp2p_icp_optimal-transformations
   mp2p_icp_applications
-  mp2p_icp_demos
 
 .. toctree::
   :maxdepth: 2
   :hidden:
   :caption: Learn more
 
-  mola_architecture
   tutorials
-  supported-sensors
+  mola_architecture
   dataset-conversions
+  supported-sensors
   modules
   doxygen-index
   bibliography
@@ -56,7 +62,7 @@ MOLA
 :octicon:`mark-github` `MOLA`_ is a Modular system for Localization and Mapping.
 
 Get started:
- - Read: :ref:`building-maps`.
+ - Follow the tutorials: :ref:`Building your first map <building-maps>`, :ref:`Mapping and localization <tutorial-mola-lo-map-and-localize>`.
  - Read :octicon:`rocket` :ref:`mola_lidar_odometry` documentation.
  - See :ref:`use-cases` for examples of use.
  - See :ref:`installing` and :ref:`how to cite it <citing_mola>`.

docs/source/mola_sta_est_index.rst

@@ -0,0 +1,3 @@
+:github_url: https://github.com/MOLAorg/mola_state_estimation/blob/master/docs/mola_sta_est_index.rst
+
+.. include:: ../../../mola_state_estimation/docs/mola_sta_est_index.rst

docs/source/ros2api.rst

@@ -126,8 +126,19 @@ And this is who is responsible of publishing each transformation:
 
 |
 
+.. _ros2api_topics:
 
-5. Map publishing
+5. Published topics
+--------------------------------------
+Write me!
+
+|
+
+----
+
+|
+
+6. Map publishing
 --------------------------------------
 There are two ways of publishing maps to ROS:
 
@@ -159,12 +170,12 @@ The metric map layer C++ class will determine the ROS topic type to use.
 
 .. _ros2api_runtime_params:
 
-6. Runtime dynamic reconfiguration
+7. Runtime dynamic reconfiguration
 ----------------------------------------
 MOLA modules may expose a subset of their parameters through an interface that allows
 runtime reconfiguration via ROS 2 service requests:
 
-6.1. Runtime parameters for ``mola_lidar_odometry``
+7.1. Runtime parameters for ``mola_lidar_odometry``
 ======================================================
 
 List all existing parameters:

docs/source/tutorial-mola-lo-map-and-localize.rst

@@ -19,7 +19,7 @@ This video shows the steps in the tutorial:
 .. raw:: html
 
     <div style="margin-top:10px;">
-      <iframe width="560" height="315" src="https://www.youtube.com/embed/xxxx" title="YouTube video player" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share" referrerpolicy="strict-origin-when-cross-origin" allowfullscreen></iframe>
+      <iframe width="560" height="315" src="https://www.youtube.com/embed/CXiU_2vYMQE" title="YouTube video player" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share" referrerpolicy="strict-origin-when-cross-origin" allowfullscreen></iframe>
     </div>
 
 |
@@ -136,10 +136,8 @@ the robot needs to operate so it can localize correctly.
 |
 
 
-
-
-3. Load a prebuilt map in localize-only mode
----------------------------------------------
+3. Load a prebuilt map in localization-only mode
+--------------------------------------------------
 
 ..  note::
 
@@ -163,13 +161,20 @@ Again, we will use **three terminals**:
       .. code-block:: bash
 
           MOLA_MAPPING_ENABLED=false \
+          MOLA_START_ACTIVE=false \
           ros2 launch mola_lidar_odometry ros2-lidar-odometry.launch.py \
             lidar_topic_name:=/lidar1_points
 
       .. note::
 
         Remember replacing ``/lidar1_points`` with your actual PointCloud2 topic with raw LiDAR data.
 
+      Explanation:
+
+      - ``MOLA_MAPPING_ENABLED=false`` disables map updates, so the loaded map will remain static.
+      - ``MOLA_START_ACTIVE=false`` is recommended so LO does not attempt to match incoming sensor
+        data until a relocalization method or rough initial localization is set (see next section below).
+
     .. tab-item:: #3: Load the map
 
         Next, in terminal #3, let's order MOLA-LO to **load our former map** from disk:
@@ -198,6 +203,7 @@ Again, we will use **three terminals**:
     .. code-block:: bash
 
         MOLA_MAPPING_ENABLED=false \
+        MOLA_START_ACTIVE=false \
         MOLA_LOAD_MM=/tmp/my_map.mm \
         MOLA_LOAD_SM=/tmp/my_map.simplemap \
         ros2 launch mola_lidar_odometry ros2-lidar-odometry.launch.py \
@@ -231,6 +237,8 @@ relocalization via ROS 2 API.
       Just use the RViz2's button ``2D pose estimate`` or FoxGlove's "Pose Estimate"
       to pick a pose and MOLA-LO will try to re-localize the vehicle in the given area.
 
+      .. image:: https://mrpt.github.io/imgs/mola-lo-relocalization-from-fox-glove.jpg
+
     .. tab-item:: Re-localize with a service
 
       There is also a ROS 2 service for programmatically request a relocalization, and
@@ -239,6 +247,19 @@ relocalization via ROS 2 API.
       - Service default name: ``/relocalize_near_pose``
       - Service interface: `mola_msgs::srv::RelocalizeNearPose <https://docs.ros.org/en/rolling/p/mola_msgs/interfaces/srv/RelocalizeNearPose.html>`_
 
+|
+
+Once MOLA-LO knows how to handle initialization, we can activate it, either from the GUI (click the "active" checkbox)
+or via this command (see all other similar commands):
+
+   .. code-block:: bash
+
+      # active: true
+      ros2 service call /mola_runtime_param_set mola_msgs/srv/MolaRuntimeParamSet \
+         "{parameters: \"mola::LidarOdometry:lidar_odom:\n  active: true\n\"}"
+
+Then, the module will start to produce localization estimates via ``/tf``, ``Odometry`` messages,
+together with a localization quality metric (see all :ref:`published topics <ros2api_topics>`).
 
 |
 

kitti_metrics_eval/CHANGELOG.rst

@@ -3,6 +3,9 @@ Changelog for package kitti_metrics_eval
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 
+1.5.0 (2024-12-26)
+------------------
+
 1.4.1 (2024-12-20)
 ------------------
 

kitti_metrics_eval/package.xml

@@ -5,7 +5,7 @@
 -->
 <package format="3">
   <name>kitti_metrics_eval</name>
-  <version>1.4.1</version>
+  <version>1.5.0</version>
   <description>CLI tool to evaluate the KITTI odometry bechmark metrics to trajectory files</description>
 
   <maintainer email="joseluisblancoc@gmail.com">Jose-Luis Blanco-Claraco</maintainer>

mola/CHANGELOG.rst

@@ -2,6 +2,11 @@
 Changelog for package mola
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.5.0 (2024-12-26)
+------------------
+* Move state estimation packages out of this repo to its own: https://github.com/MOLAorg/mola_state_estimation
+* Contributors: Jose Luis Blanco-Claraco
+
 1.4.1 (2024-12-20)
 ------------------
 

mola/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>mola</name>
-  <version>1.4.1</version>
+  <version>1.5.0</version>
   <description>Metapackage with all core open-sourced MOLA packages.</description>
 
   <maintainer email="jlblanco@ual.es">Jose-Luis Blanco-Claraco</maintainer>
@@ -24,8 +24,6 @@
   <depend>mola_kernel</depend>
   <depend>mola_launcher</depend>
   <depend>mola_metric_maps</depend>
-  <depend>mola_navstate_fg</depend>
-  <depend>mola_navstate_fuse</depend>
   <depend>mola_pose_list</depend>
   <depend>mola_relocalization</depend>
   <depend>mola_traj_tools</depend>

mola_bridge_ros2/CHANGELOG.rst

@@ -3,6 +3,9 @@ Changelog for package mola_bridge_ros2
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 
+1.5.0 (2024-12-26)
+------------------
+
 1.4.1 (2024-12-20)
 ------------------
 * BridgeROS2: add option (now enabled by default) to publish /tfs following REP105 order

mola_bridge_ros2/package.xml

@@ -5,7 +5,7 @@
 -->
 <package format="3">
   <name>mola_bridge_ros2</name>
-  <version>1.4.1</version>
+  <version>1.5.0</version>
   <description>Bidirectional bridge ROS2-MOLA</description>
 
   <maintainer email="joseluisblancoc@gmail.com">Jose-Luis Blanco-Claraco</maintainer>

mola_demos/CHANGELOG.rst

@@ -2,6 +2,9 @@
 Changelog for package mola_demos
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.5.0 (2024-12-26)
+------------------
+
 1.4.1 (2024-12-20)
 ------------------
 

mola_demos/package.xml

@@ -5,7 +5,7 @@
 -->
 <package format="3">
   <name>mola_demos</name>
-  <version>1.4.1</version>
+  <version>1.5.0</version>
   <description>Demo and example launch files for MOLA</description>
 
   <maintainer email="joseluisblancoc@gmail.com">Jose-Luis Blanco-Claraco</maintainer>

mola_imu_preintegration/CHANGELOG.rst

@@ -2,6 +2,9 @@
 Changelog for package mola_imu_preintegration
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.5.0 (2024-12-26)
+------------------
+
 1.4.1 (2024-12-20)
 ------------------
 

mola_imu_preintegration/package.xml

@@ -5,7 +5,7 @@
 -->
 <package format="3">
   <name>mola_imu_preintegration</name>
-  <version>1.4.1</version>
+  <version>1.5.0</version>
   <description>Integrator of IMU angular velocity readings</description>
 
   <maintainer email="joseluisblancoc@gmail.com">Jose-Luis Blanco-Claraco</maintainer>

mola_input_euroc_dataset/CHANGELOG.rst

@@ -2,6 +2,9 @@
 Changelog for package mola_input_euroc_dataset
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.5.0 (2024-12-26)
+------------------
+
 1.4.1 (2024-12-20)
 ------------------
 

mola_input_euroc_dataset/package.xml

@@ -5,7 +5,7 @@
 -->
 <package format="3">
   <name>mola_input_euroc_dataset</name>
-  <version>1.4.1</version>
+  <version>1.5.0</version>
   <description>Offline RawDataSource from EUROC SLAM datasets</description>
 
   <maintainer email="joseluisblancoc@gmail.com">Jose-Luis Blanco-Claraco</maintainer>

mola_input_kitti360_dataset/CHANGELOG.rst

@@ -2,6 +2,9 @@
 Changelog for package mola_input_kitti_dataset
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.5.0 (2024-12-26)
+------------------
+
 1.4.1 (2024-12-20)
 ------------------
 

mola_input_kitti360_dataset/package.xml

@@ -5,7 +5,7 @@
 -->
 <package format="3">
   <name>mola_input_kitti360_dataset</name>
-  <version>1.4.1</version>
+  <version>1.5.0</version>
   <description>Offline RawDataSource from Kitti-360 datasets</description>
 
   <maintainer email="joseluisblancoc@gmail.com">Jose-Luis Blanco-Claraco</maintainer>

mola_input_kitti_dataset/CHANGELOG.rst

@@ -2,6 +2,9 @@
 Changelog for package mola_input_kitti_dataset
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.5.0 (2024-12-26)
+------------------
+
 1.4.1 (2024-12-20)
 ------------------