Imported upstream version '1.2.1' of 'upstream'

ros2-gbp · Sep 29, 2024 · fef12cf · fef12cf
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diff --git a/README.md b/README.md
@@ -17,6 +17,11 @@ Refer to the [official documentation](https://docs.mola-slam.org/latest/) for bu
 
 ![kitti_demo_06](https://github.com/MOLAorg/mola/assets/5497818/76cf07e2-ab20-41a3-abc6-df5c5ba74b97)
 
+## ROSCon Talk introducing MOLA
+
+[Slides](https://docs.google.com/presentation/d/1Zg1saZCxlE49jZ4SxPBLaRh7WUYGmfC0fiKUunJg-dA/edit?usp=drivesdk)
+
+Video: TBD
 
 ## Individual package build status
 

diff --git a/docs/source/building-maps.rst b/docs/source/building-maps.rst
@@ -130,6 +130,24 @@ or from the :ref:`UI controls <mola_lo_gui_common_parts>` in the ``mola_lidar_od
             .. note::
                 Remember changing ``--lidar-sensor-label /ouster/points`` to your actual raw (unfiltered) LiDAR topic (``sensor_msgs/PointCloud2``).
 
+.. dropdown:: Building 2D maps
+
+    Until ``mola_2d_mapper`` is released, you can also use the generic LiDAR odometry module to 
+    build 2D maps from range finder (2D scanners).
+
+    Just set the ``PIPELINE_YAML`` environment variable pointing to the 2D mapping pipeline (`lidar2d.yaml <https://github.com/MOLAorg/mola_lidar_odometry/blob/develop/pipelines/lidar2d.yaml>`_)
+    shipped with the ``mola_lidar_odometry`` package:
+
+    .. code-block:: bash
+
+        MOLA_LIDAR_TOPIC=/scan1 \
+        PIPELINE_YAML=$(ros2 pkg prefix mola_lidar_odometry)/share/mola_lidar_odometry/pipelines/lidar2d.yaml \
+        MOLA_GENERATE_SIMPLEMAP=true \
+        MOLA_SIMPLEMAP_OUTPUT=myMap.simplemap \
+          mola-lo-gui-rosbag2 /path/to/your/dataset.mcap
+
+    Remember to change ``/scan1`` to your actual topic name of type ``sensor_msgs/LaserScan``.
+
 
 .. hint::
 

diff --git a/docs/source/solutions.rst b/docs/source/solutions.rst
@@ -28,7 +28,7 @@ This functionality is provided by:
   - **Geo-referencing** metric maps with consumer-grade GNSS sensors. See: :ref:`geo-referencing`.
   - Off-line **loop closure** for consistent global maps. (TO-DO: Write docs!)
 
-- ``mola_3d_lidar_slam``: (Coming soon!)
+- ``mola_3d_mapper``: Full SLAM solution. (Coming soon!)
 
 
 .. image:: https://mrpt.github.io/imgs/kaist01_georef_sample.png
@@ -42,7 +42,7 @@ This functionality is provided by:
 Build **georeferenced** consistent global 2D maps from 2D LiDARs.
 This functionality is provided by:
 
-- ``mola_2d_lidar_slam``: (Coming soon!)
+- ``mola_2d_mapper``: Full SLAM solution for 2D LiDARs. (Coming soon!)
 
 
 |

diff --git a/kitti_metrics_eval/CHANGELOG.rst b/kitti_metrics_eval/CHANGELOG.rst
@@ -3,6 +3,9 @@ Changelog for package kitti_metrics_eval
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 
+1.2.1 (2024-09-29)
+------------------
+
 1.2.0 (2024-09-16)
 ------------------
 

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>1.2.0</version>
+  <version>1.2.1</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 +2,9 @@
 Changelog for package mola
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.2.1 (2024-09-29)
+------------------
+
 1.2.0 (2024-09-16)
 ------------------
 

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>1.2.0</version>
+  <version>1.2.1</version>
   <description>Metapackage with all core open-sourced MOLA packages.</description>
 
   <maintainer email="jlblanco@ual.es">Jose-Luis Blanco-Claraco</maintainer>

diff --git a/mola_bridge_ros2/CHANGELOG.rst b/mola_bridge_ros2/CHANGELOG.rst
@@ -3,6 +3,11 @@ Changelog for package mola_bridge_ros2
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 
+1.2.1 (2024-09-29)
+------------------
+* BUGFIX: Prevent potential race condition
+* Contributors: Jose Luis Blanco-Claraco
+
 1.2.0 (2024-09-16)
 ------------------
 * sort <depend> entries

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>1.2.0</version>
+  <version>1.2.1</version>
   <description>Bidirectional bridge ROS2-MOLA</description>
 
   <maintainer email="joseluisblancoc@gmail.com">Jose-Luis Blanco-Claraco</maintainer>

diff --git a/mola_bridge_ros2/src/BridgeROS2.cpp b/mola_bridge_ros2/src/BridgeROS2.cpp
@@ -917,7 +917,9 @@ void BridgeROS2::doLookForNewMolaSubs()
     }
 
     // Advertise relocalization ROS 2 service now if not done already:
-    if (!molaSubs_.relocalization.empty() && !srvRelocGNNS_)
+    auto lckNode = mrpt::lockHelper(rosNodeMtx_);
+
+    if (!molaSubs_.relocalization.empty() && !srvRelocGNNS_ && rosNode_)
     {
         using namespace std::placeholders;
 
@@ -956,7 +958,7 @@ void BridgeROS2::doLookForNewMolaSubs()
     }
 
     // Advertise map server ROS 2 services now if not done already:
-    if (!molaSubs_.mapServers.empty() && !srvMapLoad_)
+    if (!molaSubs_.mapServers.empty() && !srvMapLoad_ && rosNode_)
     {
         using namespace std::placeholders;
 

diff --git a/mola_demos/CHANGELOG.rst b/mola_demos/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package mola_demos
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.2.1 (2024-09-29)
+------------------
+
 1.2.0 (2024-09-16)
 ------------------
 

diff --git a/mola_demos/package.xml b/mola_demos/package.xml
@@ -5,7 +5,7 @@
 -->
 <package format="3">
   <name>mola_demos</name>
-  <version>1.2.0</version>
+  <version>1.2.1</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/CHANGELOG.rst b/mola_imu_preintegration/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package mola_imu_preintegration
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.2.1 (2024-09-29)
+------------------
+
 1.2.0 (2024-09-16)
 ------------------
 

diff --git a/mola_imu_preintegration/package.xml b/mola_imu_preintegration/package.xml
@@ -5,7 +5,7 @@
 -->
 <package format="3">
   <name>mola_imu_preintegration</name>
-  <version>1.2.0</version>
+  <version>1.2.1</version>
   <description>Integrator of IMU angular velocity readings</description>
 
   <maintainer email="joseluisblancoc@gmail.com">Jose-Luis Blanco-Claraco</maintainer>

diff --git a/mola_input_euroc_dataset/CHANGELOG.rst b/mola_input_euroc_dataset/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package mola_input_euroc_dataset
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.2.1 (2024-09-29)
+------------------
+
 1.2.0 (2024-09-16)
 ------------------
 

diff --git a/mola_input_euroc_dataset/package.xml b/mola_input_euroc_dataset/package.xml
@@ -5,7 +5,7 @@
 -->
 <package format="3">
   <name>mola_input_euroc_dataset</name>
-  <version>1.2.0</version>
+  <version>1.2.1</version>
   <description>Offline RawDataSource from EUROC SLAM datasets</description>
 
   <maintainer email="joseluisblancoc@gmail.com">Jose-Luis Blanco-Claraco</maintainer>

diff --git a/mola_input_kitti360_dataset/CHANGELOG.rst b/mola_input_kitti360_dataset/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package mola_input_kitti_dataset
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.2.1 (2024-09-29)
+------------------
+
 1.2.0 (2024-09-16)
 ------------------
 

diff --git a/mola_input_kitti360_dataset/package.xml b/mola_input_kitti360_dataset/package.xml
@@ -5,7 +5,7 @@
 -->
 <package format="3">
   <name>mola_input_kitti360_dataset</name>
-  <version>1.2.0</version>
+  <version>1.2.1</version>
   <description>Offline RawDataSource from Kitti-360 datasets</description>
 
   <maintainer email="joseluisblancoc@gmail.com">Jose-Luis Blanco-Claraco</maintainer>

diff --git a/mola_input_kitti_dataset/CHANGELOG.rst b/mola_input_kitti_dataset/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package mola_input_kitti_dataset
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.2.1 (2024-09-29)
+------------------
+
 1.2.0 (2024-09-16)
 ------------------
 

diff --git a/mola_input_kitti_dataset/package.xml b/mola_input_kitti_dataset/package.xml
@@ -5,7 +5,7 @@
 -->
 <package format="3">
   <name>mola_input_kitti_dataset</name>
-  <version>1.2.0</version>
+  <version>1.2.1</version>
   <description>Offline RawDataSource from Kitti odometry/SLAM datasets</description>
 
   <maintainer email="joseluisblancoc@gmail.com">Jose-Luis Blanco-Claraco</maintainer>

diff --git a/mola_input_mulran_dataset/CHANGELOG.rst b/mola_input_mulran_dataset/CHANGELOG.rst
@@ -3,6 +3,9 @@ Changelog for package mola_input_mulran_dataset
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 
+1.2.1 (2024-09-29)
+------------------
+
 1.2.0 (2024-09-16)
 ------------------
 

diff --git a/mola_input_mulran_dataset/package.xml b/mola_input_mulran_dataset/package.xml
@@ -5,7 +5,7 @@
 -->
 <package format="3">
   <name>mola_input_mulran_dataset</name>
-  <version>1.2.0</version>
+  <version>1.2.1</version>
   <description>Offline RawDataSource from MulRan datasets</description>
 
   <maintainer email="joseluisblancoc@gmail.com">Jose-Luis Blanco-Claraco</maintainer>

diff --git a/mola_input_paris_luco_dataset/CHANGELOG.rst b/mola_input_paris_luco_dataset/CHANGELOG.rst
@@ -3,6 +3,9 @@ Changelog for package mola_input_paris_luco_dataset
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 
+1.2.1 (2024-09-29)
+------------------
+
 1.2.0 (2024-09-16)
 ------------------
 

diff --git a/mola_input_paris_luco_dataset/package.xml b/mola_input_paris_luco_dataset/package.xml
@@ -5,7 +5,7 @@
 -->
 <package format="3">
   <name>mola_input_paris_luco_dataset</name>
-  <version>1.2.0</version>
+  <version>1.2.1</version>
   <description>Offline RawDataSource from Paris LUCO (CT-ICP) odometry/SLAM datasets</description>
 
   <maintainer email="joseluisblancoc@gmail.com">Jose-Luis Blanco-Claraco</maintainer>

diff --git a/mola_input_rawlog/CHANGELOG.rst b/mola_input_rawlog/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package mola_input_rawlog
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.2.1 (2024-09-29)
+------------------
+
 1.2.0 (2024-09-16)
 ------------------
 

diff --git a/mola_input_rawlog/package.xml b/mola_input_rawlog/package.xml
@@ -5,7 +5,7 @@
 -->
 <package format="3">
   <name>mola_input_rawlog</name>
-  <version>1.2.0</version>
+  <version>1.2.1</version>
   <description>Offline RawDataSource from MRPT rawlog datasets</description>
 
   <maintainer email="joseluisblancoc@gmail.com">Jose-Luis Blanco-Claraco</maintainer>

diff --git a/mola_input_rosbag2/CHANGELOG.rst b/mola_input_rosbag2/CHANGELOG.rst
@@ -3,6 +3,9 @@ Changelog for package mola_input_rosbag2
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 
+1.2.1 (2024-09-29)
+------------------
+
 1.2.0 (2024-09-16)
 ------------------
 * Merge pull request `#70 <https://github.com/MOLAorg/mola/issues/70>`_ from MOLAorg/fix/rosbag2-memory-free

diff --git a/mola_input_rosbag2/package.xml b/mola_input_rosbag2/package.xml
@@ -5,7 +5,7 @@
 -->
 <package format="3">
   <name>mola_input_rosbag2</name>
-  <version>1.2.0</version>
+  <version>1.2.1</version>
   <description>Offline RawDataSource from rosbag2 datasets</description>
 
   <maintainer email="joseluisblancoc@gmail.com">Jose-Luis Blanco-Claraco</maintainer>

diff --git a/mola_kernel/CHANGELOG.rst b/mola_kernel/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package mola_kernel
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.2.1 (2024-09-29)
+------------------
+
 1.2.0 (2024-09-16)
 ------------------
 * Update RTTI macros for upcoming MRPT 2.14.0

diff --git a/mola_kernel/package.xml b/mola_kernel/package.xml
@@ -5,7 +5,7 @@
 -->
 <package format="3">
   <name>mola_kernel</name>
-  <version>1.2.0</version>
+  <version>1.2.1</version>
   <description>Fundamental C++ virtual interfaces and data types for the rest of MOLA modules</description>
 
   <maintainer email="joseluisblancoc@gmail.com">Jose-Luis Blanco-Claraco</maintainer>

diff --git a/mola_launcher/CHANGELOG.rst b/mola_launcher/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package mola_launcher
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.2.1 (2024-09-29)
+------------------
+
 1.2.0 (2024-09-16)
 ------------------
 

diff --git a/mola_launcher/package.xml b/mola_launcher/package.xml
@@ -5,7 +5,7 @@
 -->
 <package format="3">
   <name>mola_launcher</name>
-  <version>1.2.0</version>
+  <version>1.2.1</version>
   <description>Launcher app for MOLA systems</description>
 
   <maintainer email="joseluisblancoc@gmail.com">Jose-Luis Blanco-Claraco</maintainer>

diff --git a/mola_metric_maps/CHANGELOG.rst b/mola_metric_maps/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package mola_metric_maps
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.2.1 (2024-09-29)
+------------------
+
 1.2.0 (2024-09-16)
 ------------------
 * gcc warning fix

diff --git a/mola_metric_maps/package.xml b/mola_metric_maps/package.xml
@@ -5,7 +5,7 @@
 -->
 <package format="3">
   <name>mola_metric_maps</name>
-  <version>1.2.0</version>
+  <version>1.2.1</version>
   <description>Advanced metric map classes, using the generic `mrpt::maps::CMetricMap` interface, for use in other MOLA odometry and SLAM modules.</description>
 
   <maintainer email="joseluisblancoc@gmail.com">Jose-Luis Blanco-Claraco</maintainer>

diff --git a/mola_msgs/CHANGELOG.rst b/mola_msgs/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package mola_msgs
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.2.1 (2024-09-29)
+------------------
+
 1.2.0 (2024-09-16)
 ------------------
 

diff --git a/mola_msgs/package.xml b/mola_msgs/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_msgs</name>
-  <version>1.2.0</version>
+  <version>1.2.1</version>
   <description>ROS message, services, and actions used in other MOLA packages.</description>
 
   <maintainer email="joseluisblancoc@gmail.com">Jose Luis Blanco-Claraco</maintainer>

diff --git a/mola_navstate_fg/CHANGELOG.rst b/mola_navstate_fg/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package mola_navstate_fg
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.2.1 (2024-09-29)
+------------------
+
 1.2.0 (2024-09-16)
 ------------------
 

diff --git a/mola_navstate_fg/package.xml b/mola_navstate_fg/package.xml
@@ -5,7 +5,7 @@
 -->
 <package format="3">
   <name>mola_navstate_fg</name>
-  <version>1.2.0</version>
+  <version>1.2.1</version>
   <description>SE(3) pose and twist path data fusion estimator</description>
 
   <maintainer email="joseluisblancoc@gmail.com">Jose-Luis Blanco-Claraco</maintainer>
-Original file line number
+Diff line change
@@ Expand Up / @@ -3,6 +3,9 @@ Changelog for package kitti_metrics_eval @@
     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+.2.1 (2024-09-29)
+    ------------------
 .2.0 (2024-09-16)
     ------------------
@@ Expand Down @@