ros-humble-mola-lidar-odometry (0.8.0-1jammy) jammy; urgency=high

  * Publish mp2p_icp metric map metadata, if existing in loaded maps.
  * state estimation config yaml file: expose IMU sensor name env var
  * Update mola_lo_pipelines.rst: explicitly show an example of using the NDT pipeline
  * ros2 launch: add new argument to control the scan validity filter based on minimum point count (now, enabled by default)
  * Update broken link to ROS Index
  * mola-lidar-odometry-cli: now also forward raw sensor data to state estimator
  * Fix build against mola <1.8.0
  * Docs: better explain existing variables to override sensor poses
  * gui option: implement show as orthographic camera
  * Contributors: Jose Luis Blanco-Claraco

 -- Jose-Luis Blanco-Claraco <joseluisblancoc@gmail.com>  Thu, 05 Jun 2025 22:00:00 -0000

ros-humble-mola-lidar-odometry (0.7.3-1jammy) jammy; urgency=high

  * feature: new threshold to discard state estimation as invalid if uncertainty is too high
  * Fixed unit tests in CI
  * Prepare GUI for ortho camera option
  * progress implementing init pitch/roll from IMU
  * pipelines YAML files reformated with RedHat YAML formatter
  * Update env var name to explicitly mention LO: MOLA_LO_INITIAL_LOCALIZATION_METHOD
  * docs: on initial localization methods
  * ROS2 launch: Add new mola_state_estimator_reference_frame argument.
    It should be used together with mola_lo_reference_frame to use an alternative reference map TF frame than the default map.
  * Fix wrong namespace in class name (it worked anyway because of a fall-back mechanism using unqualified names)
  * Expose env vars to change the reference frame_id for smoother (MOLA_TF_MAP)
  * fix: potential missing publication of updated poses if there is no map subscriber
  * lidar 3d pipeline: add rendering options for local map
  * Contributors: Jose Luis Blanco-Claraco

 -- Jose-Luis Blanco-Claraco <joseluisblancoc@gmail.com>  Sat, 24 May 2025 22:00:00 -0000

ros-humble-mola-lidar-odometry (0.7.2-1jammy) jammy; urgency=high

  * 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

 -- Jose-Luis Blanco-Claraco <joseluisblancoc@gmail.com>  Tue, 22 Apr 2025 22:00:00 -0000

ros-humble-mola-lidar-odometry (0.7.1-1jammy) jammy; urgency=high

  * 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

 -- Jose-Luis Blanco-Claraco <joseluisblancoc@gmail.com>  Fri, 14 Mar 2025 23:00:00 -0000

ros-humble-mola-lidar-odometry (0.7.0-1jammy) jammy; urgency=high

  * 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

 -- Jose-Luis Blanco-Claraco <joseluisblancoc@gmail.com>  Fri, 21 Feb 2025 23:00:00 -0000

ros-humble-mola-lidar-odometry (0.6.2-1jammy) jammy; urgency=high

  * 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

 -- Jose-Luis Blanco-Claraco <joseluisblancoc@gmail.com>  Wed, 12 Feb 2025 23:00:00 -0000

ros-humble-mola-lidar-odometry (0.6.1-1jammy) jammy; urgency=high

  * 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

 -- Jose-Luis Blanco-Claraco <joseluisblancoc@gmail.com>  Sat, 25 Jan 2025 23:00:00 -0000

ros-humble-mola-lidar-odometry (0.6.0-1jammy) jammy; urgency=high

  * 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

 -- Jose-Luis Blanco-Claraco <joseluisblancoc@gmail.com>  Mon, 20 Jan 2025 23:00:00 -0000

ros-humble-mola-lidar-odometry (0.5.4-1jammy) jammy; urgency=high

  * 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

 -- Jose-Luis Blanco-Claraco <joseluisblancoc@gmail.com>  Wed, 15 Jan 2025 23:00:00 -0000

ros-humble-mola-lidar-odometry (0.5.3-1jammy) jammy; urgency=high

  * 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

 -- Jose-Luis Blanco-Claraco <joseluisblancoc@gmail.com>  Tue, 14 Jan 2025 23:00:00 -0000

ros-humble-mola-lidar-odometry (0.5.2-1jammy) jammy; urgency=high

  * 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

 -- Jose-Luis Blanco-Claraco <joseluisblancoc@gmail.com>  Fri, 10 Jan 2025 23:00:00 -0000

ros-humble-mola-lidar-odometry (0.5.1-1jammy) jammy; urgency=high

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

 -- Jose-Luis Blanco-Claraco <joseluisblancoc@gmail.com>  Mon, 06 Jan 2025 23:00:00 -0000

ros-humble-mola-lidar-odometry (0.5.0-1jammy) jammy; urgency=high

  * 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

 -- Jose-Luis Blanco-Claraco <joseluisblancoc@gmail.com>  Sat, 28 Dec 2024 23:00:00 -0000

ros-humble-mola-lidar-odometry (0.4.1-1jammy) jammy; urgency=high

  * 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

 -- Jose-Luis Blanco-Claraco <joseluisblancoc@gmail.com>  Thu, 19 Dec 2024 23:00:00 -0000

ros-humble-mola-lidar-odometry (0.4.0-1jammy) jammy; urgency=high

  * 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

 -- Jose-Luis Blanco-Claraco <joseluisblancoc@gmail.com>  Tue, 17 Dec 2024 23:00:00 -0000

ros-humble-mola-lidar-odometry (0.3.3-1jammy) jammy; urgency=high

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

 -- Jose-Luis Blanco-Claraco <joseluisblancoc@gmail.com>  Sat, 31 Aug 2024 22:00:00 -0000

ros-humble-mola-lidar-odometry (0.3.2-1jammy) jammy; urgency=high

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

 -- Jose-Luis Blanco-Claraco <joseluisblancoc@gmail.com>  Sun, 25 Aug 2024 22:00:00 -0000

ros-humble-mola-lidar-odometry (0.3.1-1jammy) jammy; urgency=high

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

 -- Jose-Luis Blanco-Claraco <joseluisblancoc@gmail.com>  Wed, 21 Aug 2024 22:00:00 -0000

ros-humble-mola-lidar-odometry (0.3.0-1jammy) jammy; urgency=high

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

 -- Jose-Luis Blanco-Claraco <joseluisblancoc@gmail.com>  Tue, 13 Aug 2024 22:00:00 -0000


