Imported upstream version '1.5.1' of 'upstream'

ros2-gbp · Dec 29, 2024 · ecfbb01 · ecfbb01
1 parent 870c168
commit ecfbb01
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diff --git a/.github/workflows/build-ros.yml b/.github/workflows/build-ros.yml
@@ -22,17 +22,29 @@ jobs:
           # Humble Hawksbill (May 2022 - May 2027)
           - docker_image: ubuntu:jammy
             ros_distribution: humble
-            ros_version: 2
+            use_ros_testing: false
+
+          - docker_image: ubuntu:jammy
+            ros_distribution: humble
+            use_ros_testing: true
 
           # Jazzy (2024 - ??)
           - docker_image: ubuntu:noble
             ros_distribution: jazzy
-            ros_version: 2
+            use_ros_testing: false
+
+          - docker_image: ubuntu:noble
+            ros_distribution: jazzy
+            use_ros_testing: true
 
           # Rolling Ridley (No End-Of-Life)
           - docker_image: ubuntu:noble
             ros_distribution: rolling
-            ros_version: 2
+            use_ros_testing: false
+
+          - docker_image: ubuntu:noble
+            ros_distribution: rolling
+            use_ros_testing: true
 
     container:
       image: ${{ matrix.docker_image }}
@@ -50,8 +62,8 @@ jobs:
       - name: setup ROS environment
         uses: ros-tooling/setup-ros@v0.7
         with:
-          use-ros2-testing: true
           required-ros-distributions: ${{ matrix.ros_distribution }}
+          use-ros2-testing: ${{ matrix.use_ros_testing }}
 
       - name: Install rosdep dependencies
         run: |

diff --git a/README.md b/README.md
@@ -36,7 +36,6 @@ Note: Rows within each cell are for ``amd64`` and ``arm64`` architectures.
 | mola | [![Build Status](https://build.ros2.org/job/Hbin_uJ64__mola__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Hbin_uJ64__mola__ubuntu_jammy_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Hbin_ujv8_uJv8__mola__ubuntu_jammy_arm64__binary/badge/icon)](https://build.ros2.org/job/Hbin_ujv8_uJv8__mola__ubuntu_jammy_arm64__binary/)  | [![Build Status](https://build.ros2.org/job/Jbin_uN64__mola__ubuntu_noble_amd64__binary/badge/icon)](https://build.ros2.org/job/Jbin_uN64__mola__ubuntu_noble_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Jbin_unv8_uNv8__mola__ubuntu_noble_arm64__binary/badge/icon)](https://build.ros2.org/job/Jbin_unv8_uNv8__mola__ubuntu_noble_arm64__binary/)  | [![Build Status](https://build.ros2.org/job/Rbin_uN64__mola__ubuntu_noble_amd64__binary/badge/icon)](https://build.ros2.org/job/Rbin_uN64__mola__ubuntu_noble_amd64__binary/)<br> [![Build Status](https://build.ros2.org/job/Rbin_unv8_uNv8__mola__ubuntu_noble_arm64__binary/badge/icon)](https://build.ros2.org/job/Rbin_unv8_uNv8__mola__ubuntu_noble_arm64__binary/) | 
 | mola_bridge_ros2 | [![Build Status](https://build.ros2.org/job/Hbin_uJ64__mola_bridge_ros2__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Hbin_uJ64__mola_bridge_ros2__ubuntu_jammy_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Hbin_ujv8_uJv8__mola_bridge_ros2__ubuntu_jammy_arm64__binary/badge/icon)](https://build.ros2.org/job/Hbin_ujv8_uJv8__mola_bridge_ros2__ubuntu_jammy_arm64__binary/)  | [![Build Status](https://build.ros2.org/job/Jbin_uN64__mola_bridge_ros2__ubuntu_noble_amd64__binary/badge/icon)](https://build.ros2.org/job/Jbin_uN64__mola_bridge_ros2__ubuntu_noble_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Jbin_unv8_uNv8__mola_bridge_ros2__ubuntu_noble_arm64__binary/badge/icon)](https://build.ros2.org/job/Jbin_unv8_uNv8__mola_bridge_ros2__ubuntu_noble_arm64__binary/)  | [![Build Status](https://build.ros2.org/job/Rbin_uN64__mola_bridge_ros2__ubuntu_noble_amd64__binary/badge/icon)](https://build.ros2.org/job/Rbin_uN64__mola_bridge_ros2__ubuntu_noble_amd64__binary/)<br> [![Build Status](https://build.ros2.org/job/Rbin_unv8_uNv8__mola_bridge_ros2__ubuntu_noble_arm64__binary/badge/icon)](https://build.ros2.org/job/Rbin_unv8_uNv8__mola_bridge_ros2__ubuntu_noble_arm64__binary/) | 
 | mola_demos | [![Build Status](https://build.ros2.org/job/Hbin_uJ64__mola_demos__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Hbin_uJ64__mola_demos__ubuntu_jammy_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Hbin_ujv8_uJv8__mola_demos__ubuntu_jammy_arm64__binary/badge/icon)](https://build.ros2.org/job/Hbin_ujv8_uJv8__mola_demos__ubuntu_jammy_arm64__binary/)  | [![Build Status](https://build.ros2.org/job/Jbin_uN64__mola_demos__ubuntu_noble_amd64__binary/badge/icon)](https://build.ros2.org/job/Jbin_uN64__mola_demos__ubuntu_noble_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Jbin_unv8_uNv8__mola_demos__ubuntu_noble_arm64__binary/badge/icon)](https://build.ros2.org/job/Jbin_unv8_uNv8__mola_demos__ubuntu_noble_arm64__binary/)  | [![Build Status](https://build.ros2.org/job/Rbin_uN64__mola_demos__ubuntu_noble_amd64__binary/badge/icon)](https://build.ros2.org/job/Rbin_uN64__mola_demos__ubuntu_noble_amd64__binary/)<br> [![Build Status](https://build.ros2.org/job/Rbin_unv8_uNv8__mola_demos__ubuntu_noble_arm64__binary/badge/icon)](https://build.ros2.org/job/Rbin_unv8_uNv8__mola_demos__ubuntu_noble_arm64__binary/) | 
-| mola_imu_preintegration | [![Build Status](https://build.ros2.org/job/Hbin_uJ64__mola_imu_preintegration__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Hbin_uJ64__mola_imu_preintegration__ubuntu_jammy_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Hbin_ujv8_uJv8__mola_imu_preintegration__ubuntu_jammy_arm64__binary/badge/icon)](https://build.ros2.org/job/Hbin_ujv8_uJv8__mola_imu_preintegration__ubuntu_jammy_arm64__binary/)  | [![Build Status](https://build.ros2.org/job/Jbin_uN64__mola_imu_preintegration__ubuntu_noble_amd64__binary/badge/icon)](https://build.ros2.org/job/Jbin_uN64__mola_imu_preintegration__ubuntu_noble_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Jbin_unv8_uNv8__mola_imu_preintegration__ubuntu_noble_arm64__binary/badge/icon)](https://build.ros2.org/job/Jbin_unv8_uNv8__mola_imu_preintegration__ubuntu_noble_arm64__binary/)  | [![Build Status](https://build.ros2.org/job/Rbin_uN64__mola_imu_preintegration__ubuntu_noble_amd64__binary/badge/icon)](https://build.ros2.org/job/Rbin_uN64__mola_imu_preintegration__ubuntu_noble_amd64__binary/)<br> [![Build Status](https://build.ros2.org/job/Rbin_unv8_uNv8__mola_imu_preintegration__ubuntu_noble_arm64__binary/badge/icon)](https://build.ros2.org/job/Rbin_unv8_uNv8__mola_imu_preintegration__ubuntu_noble_arm64__binary/) | 
 | mola_input_euroc_dataset | [![Build Status](https://build.ros2.org/job/Hbin_uJ64__mola_input_euroc_dataset__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Hbin_uJ64__mola_input_euroc_dataset__ubuntu_jammy_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Hbin_ujv8_uJv8__mola_input_euroc_dataset__ubuntu_jammy_arm64__binary/badge/icon)](https://build.ros2.org/job/Hbin_ujv8_uJv8__mola_input_euroc_dataset__ubuntu_jammy_arm64__binary/)  | [![Build Status](https://build.ros2.org/job/Jbin_uN64__mola_input_euroc_dataset__ubuntu_noble_amd64__binary/badge/icon)](https://build.ros2.org/job/Jbin_uN64__mola_input_euroc_dataset__ubuntu_noble_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Jbin_unv8_uNv8__mola_input_euroc_dataset__ubuntu_noble_arm64__binary/badge/icon)](https://build.ros2.org/job/Jbin_unv8_uNv8__mola_input_euroc_dataset__ubuntu_noble_arm64__binary/)  | [![Build Status](https://build.ros2.org/job/Rbin_uN64__mola_input_euroc_dataset__ubuntu_noble_amd64__binary/badge/icon)](https://build.ros2.org/job/Rbin_uN64__mola_input_euroc_dataset__ubuntu_noble_amd64__binary/)<br> [![Build Status](https://build.ros2.org/job/Rbin_unv8_uNv8__mola_input_euroc_dataset__ubuntu_noble_arm64__binary/badge/icon)](https://build.ros2.org/job/Rbin_unv8_uNv8__mola_input_euroc_dataset__ubuntu_noble_arm64__binary/) | 
 | mola_input_kitti360_dataset | [![Build Status](https://build.ros2.org/job/Hbin_uJ64__mola_input_kitti360_dataset__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Hbin_uJ64__mola_input_kitti360_dataset__ubuntu_jammy_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Hbin_ujv8_uJv8__mola_input_kitti360_dataset__ubuntu_jammy_arm64__binary/badge/icon)](https://build.ros2.org/job/Hbin_ujv8_uJv8__mola_input_kitti360_dataset__ubuntu_jammy_arm64__binary/)  | [![Build Status](https://build.ros2.org/job/Jbin_uN64__mola_input_kitti360_dataset__ubuntu_noble_amd64__binary/badge/icon)](https://build.ros2.org/job/Jbin_uN64__mola_input_kitti360_dataset__ubuntu_noble_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Jbin_unv8_uNv8__mola_input_kitti360_dataset__ubuntu_noble_arm64__binary/badge/icon)](https://build.ros2.org/job/Jbin_unv8_uNv8__mola_input_kitti360_dataset__ubuntu_noble_arm64__binary/)  | [![Build Status](https://build.ros2.org/job/Rbin_uN64__mola_input_kitti360_dataset__ubuntu_noble_amd64__binary/badge/icon)](https://build.ros2.org/job/Rbin_uN64__mola_input_kitti360_dataset__ubuntu_noble_amd64__binary/)<br> [![Build Status](https://build.ros2.org/job/Rbin_unv8_uNv8__mola_input_kitti360_dataset__ubuntu_noble_arm64__binary/badge/icon)](https://build.ros2.org/job/Rbin_unv8_uNv8__mola_input_kitti360_dataset__ubuntu_noble_arm64__binary/) | 
 | mola_input_kitti_dataset | [![Build Status](https://build.ros2.org/job/Hbin_uJ64__mola_input_kitti_dataset__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Hbin_uJ64__mola_input_kitti_dataset__ubuntu_jammy_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Hbin_ujv8_uJv8__mola_input_kitti_dataset__ubuntu_jammy_arm64__binary/badge/icon)](https://build.ros2.org/job/Hbin_ujv8_uJv8__mola_input_kitti_dataset__ubuntu_jammy_arm64__binary/)  | [![Build Status](https://build.ros2.org/job/Jbin_uN64__mola_input_kitti_dataset__ubuntu_noble_amd64__binary/badge/icon)](https://build.ros2.org/job/Jbin_uN64__mola_input_kitti_dataset__ubuntu_noble_amd64__binary/) <br> [![Build Status](https://build.ros2.org/job/Jbin_unv8_uNv8__mola_input_kitti_dataset__ubuntu_noble_arm64__binary/badge/icon)](https://build.ros2.org/job/Jbin_unv8_uNv8__mola_input_kitti_dataset__ubuntu_noble_arm64__binary/)  | [![Build Status](https://build.ros2.org/job/Rbin_uN64__mola_input_kitti_dataset__ubuntu_noble_amd64__binary/badge/icon)](https://build.ros2.org/job/Rbin_uN64__mola_input_kitti_dataset__ubuntu_noble_amd64__binary/)<br> [![Build Status](https://build.ros2.org/job/Rbin_unv8_uNv8__mola_input_kitti_dataset__ubuntu_noble_arm64__binary/badge/icon)](https://build.ros2.org/job/Rbin_unv8_uNv8__mola_input_kitti_dataset__ubuntu_noble_arm64__binary/) | 

diff --git a/docs/source/index.rst b/docs/source/index.rst
@@ -33,7 +33,7 @@ MOLA
   :hidden:
   :caption: State estimation
 
-  mola_sta_est_index
+  mola_state_estimators
 
 .. toctree::
   :maxdepth: 2
@@ -93,6 +93,11 @@ Get started:
    :align: middle
    :target: https://index.ros.org/search/?term=mp2p_icp
 
+.. |badgeHrel_SE| image:: https://img.shields.io/ros/v/humble/mola_state_estimation
+   :scale: 100%
+   :align: middle
+   :target: https://index.ros.org/search/?term=mola_state_estimation
+
 .. iron badges ------
 
 .. |badgeIrel| image:: https://img.shields.io/ros/v/iron/mola
@@ -127,6 +132,10 @@ Get started:
    :align: middle
    :target: https://index.ros.org/search/?term=mp2p_icp
 
+.. |badgeJrel_SE| image:: https://img.shields.io/ros/v/jazzy/mola_state_estimation
+   :scale: 100%
+   :align: middle
+   :target: https://index.ros.org/search/?term=mola_state_estimation
 
 .. rolling badges ------
 
@@ -145,6 +154,11 @@ Get started:
    :align: middle
    :target: https://index.ros.org/search/?term=mp2p_icp
 
+.. |badgeRrel_SE| image:: https://img.shields.io/ros/v/rolling/mola_state_estimation
+   :scale: 100%
+   :align: middle
+   :target: https://index.ros.org/search/?term=mola_state_estimation
+
 
 .. _installing:
 
@@ -167,6 +181,7 @@ How to install all MOLA modules:
         # Install core MOLA modules and 3D LiDAR odometry:
         sudo apt install \
          ros-$ROS_DISTRO-mola \
+         ros-$ROS_DISTRO-mola-state-estimation \
          ros-$ROS_DISTRO-mola-lidar-odometry
 
         # (OPTIONAL) Install example small datasets to run demos/unit tests:
@@ -194,6 +209,8 @@ How to install all MOLA modules:
     +----------------------+--------------------+----------------+----------------+
     | mola_lidar_odometry  | |badgeHrel_LO|     | |badgeJrel_LO| | |badgeRrel_LO| |
     +----------------------+--------------------+----------------+----------------+
+    | mola_state_estimation| |badgeHrel_SE|     | |badgeJrel_SE| | |badgeRrel_SE| |
+    +----------------------+--------------------+----------------+----------------+
     | mp2p_icp             | |badgeHrel_MP|     | |badgeJrel_MP| | |badgeRrel_MP| |
     +----------------------+--------------------+----------------+----------------+
 
@@ -226,6 +243,7 @@ How to install all MOLA modules:
         git clone https://github.com/MOLAorg/mola_common.git
         git clone https://github.com/MOLAorg/mp2p_icp.git --recursive
         git clone https://github.com/MOLAorg/mola.git --recursive
+        git clone https://github.com/MOLAorg/mola_state_estimation.git
         git clone https://github.com/MOLAorg/mola_test_datasets.git
 
         # MOLA lidar odometry package:

diff --git a/docs/source/localization.rst b/docs/source/localization.rst
@@ -62,7 +62,7 @@ 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>
 
 |

diff --git a/docs/source/mola_sta_est_index.rst b/docs/source/mola_sta_est_index.rst
diff --git a/docs/source/mola_state_estimators.rst b/docs/source/mola_state_estimators.rst
@@ -0,0 +1,3 @@
+:github_url: https://github.com/MOLAorg/mola_state_estimation/blob/master/docs/mola_state_estimators.rst
+
+.. include:: ../../../mola_state_estimation/docs/mola_state_estimators.rst
diff --git a/kitti_metrics_eval/CHANGELOG.rst b/kitti_metrics_eval/CHANGELOG.rst
@@ -3,6 +3,9 @@ Changelog for package kitti_metrics_eval
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 
+1.5.1 (2024-12-29)
+------------------
+
 1.5.0 (2024-12-26)
 ------------------
 

diff --git a/kitti_metrics_eval/package.xml b/kitti_metrics_eval/package.xml
@@ -5,7 +5,7 @@
 -->
 <package format="3">
   <name>kitti_metrics_eval</name>
-  <version>1.5.0</version>
+  <version>1.5.1</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>

diff --git a/mola/CHANGELOG.rst b/mola/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package mola
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.5.1 (2024-12-29)
+------------------
+* Update docs on how to install the state estimators packages
+* Contributors: Jose Luis Blanco-Claraco
+
 1.5.0 (2024-12-26)
 ------------------
 * Move state estimation packages out of this repo to its own: https://github.com/MOLAorg/mola_state_estimation

diff --git a/mola/package.xml b/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>1.5.0</version>
+  <version>1.5.1</version>
   <description>Metapackage with all core open-sourced MOLA packages.</description>
 
   <maintainer email="jlblanco@ual.es">Jose-Luis Blanco-Claraco</maintainer>
@@ -13,7 +13,6 @@
   <depend>kitti_metrics_eval</depend>
   <depend>mola_bridge_ros2</depend>
   <depend>mola_demos</depend>
-  <depend>mola_imu_preintegration</depend>
   <depend>mola_input_euroc_dataset</depend>
   <depend>mola_input_kitti360_dataset</depend>
   <depend>mola_input_kitti_dataset</depend>

diff --git a/mola_bridge_ros2/CHANGELOG.rst b/mola_bridge_ros2/CHANGELOG.rst
@@ -3,6 +3,9 @@ Changelog for package mola_bridge_ros2
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 
+1.5.1 (2024-12-29)
+------------------
+
 1.5.0 (2024-12-26)
 ------------------
 

diff --git a/mola_bridge_ros2/package.xml b/mola_bridge_ros2/package.xml
@@ -5,7 +5,7 @@
 -->
 <package format="3">
   <name>mola_bridge_ros2</name>
-  <version>1.5.0</version>
+  <version>1.5.1</version>
   <description>Bidirectional bridge ROS2-MOLA</description>
 
   <maintainer email="joseluisblancoc@gmail.com">Jose-Luis Blanco-Claraco</maintainer>

diff --git a/mola_demos/CHANGELOG.rst b/mola_demos/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package mola_demos
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.5.1 (2024-12-29)
+------------------
+
 1.5.0 (2024-12-26)
 ------------------
 

diff --git a/mola_demos/package.xml b/mola_demos/package.xml
@@ -5,7 +5,7 @@
 -->
 <package format="3">
   <name>mola_demos</name>
-  <version>1.5.0</version>
+  <version>1.5.1</version>
   <description>Demo and example launch files for MOLA</description>
 
   <maintainer email="joseluisblancoc@gmail.com">Jose-Luis Blanco-Claraco</maintainer>

diff --git a/mola_imu_preintegration/.clang-format b/mola_imu_preintegration/.clang-format
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1,3 @@
		:github_url: https://github.com/MOLAorg/mola_state_estimation/blob/master/docs/mola_state_estimators.rst

		.. include:: ../../../mola_state_estimation/docs/mola_state_estimators.rst
-Original file line number
+Diff line change
@@ Expand Up / @@ -3,6 +3,9 @@ Changelog for package kitti_metrics_eval @@
     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+.5.1 (2024-12-29)
+    ------------------
 .5.0 (2024-12-26)
     ------------------
@@ Expand Down @@