3.2.0 (2026-08-21)

• Merge pull request #198 from Zeal-Robotics/fix/bridge_ros2-tf-buffer-staleness fix(bridge_ros2): keep the TF buffer current under bridge executor load

• fix(bridge_ros2): give the TF listener its own spin thread The listener was constructed with spin_thread=false, against tf2’s own default, on the grounds that the bridge already spins rosNode_ and a second spinner would be redundant. That holds only while the bridge executor keeps up with /tf, and makes buffer freshness a function of everything else the node is handling – sensor callbacks, timers, map publishing. When it does not keep up, the failure is silent: lookups still succeed, they just answer from a buffer that is behind, and the resulting poses look plausible. With spin_thread=true the /tf and /tf_static subscriptions move to a callback group and executor the listener owns, so ingestion is independent of the bridge executor’s load. No new sharing is introduced. The buffer is already read from other threads – publishLocalizationTf() from the localization source’s thread, transform_tree() from whichever module calls it – and tf2::BufferCore serialises readers and writers on a single mutex. The listener’s group is created with automatically_add_to_executor_with_node=false, so add_node() does not adopt it and no second executor can dispatch those subscriptions. Its destructor cancels and joins its thread, and it is declared after tf_buffer_ and rosNode_, so that happens while both are still alive.

• fix(bridge_ros2): drain the ROS queues instead of one message per topic The ROS thread polls spin_some() on a 10 ms sleep. That loop replaced a blocking rclcpp::spin() so the destructor could stop the thread via shouldExit_, and the sleep was only ever there to keep the flag poll from busy-waiting. But spin_some() collects the ready set once and executes each ready entity at most once per call, so the pair caps every subscription at roughly one message per 10 ms and puts a 10 ms floor under handling anything. Any topic arriving faster than ~100 Hz therefore keeps its subscription queue permanently full, and every message the node sees is stale by the whole queue depth. /tf is the worst case: it aggregates every broadcaster on the graph, so on a robot publishing a few hundred transforms/s the listener’s KeepLast(100) queue leaves the TF buffer several hundred ms behind. The visible symptom is REP-105 composition falling back to the stale odom transform with “extrapolation into the future” while the odom broadcaster is publishing on time and a normally-spun listener on the same graph reads it as current. A 200 Hz IMU on the same node loses half its samples the same way. spin_once(timeout) blocks until there is work while still bounding how long shouldExit_ goes unchecked, and spin_all() then drains whatever else is ready. Both are needed: spin_some() and spin_all() each call wait_for_work(0ms), so spin_all() alone returns immediately when idle and would busy-wait. With work pending spin_once() returns at once, so no iteration sleeps while a queue is non-empty. Cost is that the two bounds stack: worst case for observing shouldExit_ goes from 10 ms to 20 ms. Measured with two TF listeners on the same /tf, one per spin strategy: draining fully leaves the buffer 12.6 ms behind the broadcaster, taking one message per 10 ms tick leaves it 358 ms behind. A blocking spin() cancelled via executor.cancel() would remove the poll loop altogether and is the better end state, but cancel() racing the spinning.exchange(true) in spin() means the destructor has to retry until the thread joins. That is left as a separate change.

• Merge remote-tracking branch ‘origin/feat/map-frame-gauge-change’ into feat/map-frame-gauge-change

• Merge branch ‘develop’ into feat/map-frame-gauge-change

• Contributors: Jose Luis Blanco-Claraco, Robin Van Cauwenbergh

3.1.1 (2026-08-10)

• fix build in ros rolling (newer gcc)

• fix format

• mola_bridge_ros2: use tf2_ros .hpp headers instead of deprecated .h Avoids #warning deprecation spam on newer ROS2 distros while building unchanged from Humble to Rolling.

• Contributors: Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco

3.1.0 (2026-08-06)

• Add mola::TransformTreeSource: expose the /tf tree to other MOLA modules (#188) * Add mola::TransformTreeSource: expose the /tf tree to other modules New mola_kernel interface letting a data source publish its tree of coordinate frames, so consumers (e.g. a LiDAR-odometry viewer) can draw a robot’s joints as it moves. transform_tree(root) returns the subtree below ‘root’ with poses already resolved against it. The filtering is done in the source, which is what owns the transform buffer, so a consumer never receives nor walks unrelated subtrees. The interface carries no ROS/tf2 type, keeping mola_kernel ROS-independent. Implemented by Rosbag1Dataset (separate repo), Rosbag2Dataset and BridgeROS2. No locking is added around the subtree walk: tf2::BufferCore guards its own internals, which is also what lets BridgeROS2’s TransformListener feed the buffer from its own thread. * Address review: depth-first comment, cycle guard in the tf walk * No need for include guards inside this same git repo

• Merge pull request #187 from MOLAorg/feat/incremental-point-cloud-kdtree-bake Bake IncrementalPointCloud’s k-d tree index (mm-ipc-bake-kdtree)

• changelog

• fix: ros rolling changed arguments of tf2_ros tf listeners

• fix: GCC error in Rolling due to missing direct rclcpp/Node.hpp include

• totally drop mrpt2 point cloud classes

• Merge pull request #177 from MOLAorg/feat/rep105-loud-stale-odom-warning Make the REP-105 stale-odom fallback loud on first occurrence

• fix(bridge): make the REP-105 stale-odom fallback loud on first occurrence When publish_localization_following_rep105 is on and the exact sensor-stamp odom->base_link transform is unavailable, the bridge composes map->odom against the latest (stale) odom transform. That biases the published TF by the robot’s motion over the stamp gap (motion-correlated jitter, worst mid-turn), and it is the normal path whenever the localizer publishes an estimate extrapolated to “now” while odom only exists in the past. The warning was throttled to 60 s, which hid this persistent timing violation. Emit a loud, explanatory warning the first time the fallback fires, naming the consequence and the recommended fix (have the state estimator publish map->odom directly via StateEstimationSmoother’s publish_map_to_odom_tf, and route the bridge TF source filter to that /map_odom method), then continue with the throttled steady-state warning so logs are not flooded. No behavior change to the published transform itself.

• Contributors: Jose Luis Blanco-Claraco

• fix: ros rolling changed arguments of tf2_ros tf listeners; fixed GCC error in Rolling due to missing direct rclcpp/Node.hpp include; dropped MRPT2 point cloud classes.

• fix(bridge): REP-105 stale-odom TF fallback now logs a loud, explanatory warning the first time it fires (with the recommended fix), instead of only a throttled one.

• Contributors: Jose Luis Blanco-Claraco

3.0.0 (2026-07-17)

• chore: less verbose warning

• fix: rep105 mode made robust against lagging odom frame

• fix: replace rclcpp deprecated spin_some()

• Merge pull request #153 from Zeal-Robotics/fix/bridge_ros2-relocalize-frame fix(bridge_ros2): transform relocalization pose into reference frame

• fix(bridge_ros2): transform relocalization pose into reference frame The relocalization topic callback and the relocalize_near_pose service fed the incoming PoseWithCovarianceStamped straight to relocalize_near_pose_pdf(), ignoring its header.frame_id. The pose was therefore interpreted in the localization reference_frame regardless of the frame it was actually expressed in. When a tool publishes it in a different frame (e.g. RViz’s “2D Pose Estimate” in the fixed frame) that differs from reference_frame, the relocalization lands in the wrong place. Compose reference_frame <- header.frame_id via the tf buffer before relocalizing, in both the topic callback and the service. The covariance is propagated through the rotation by CPose3DPDFGaussian::changeCoordinatesReference(). Requests are skipped (topic) or rejected (service) when the transform is unavailable, instead of silently relocalizing to a wrong pose.

• fix: safer owned_rclcpp flag

• Merge pull request #150 from MOLAorg/fix/bridge-ros2-rclcpp-shutdown-ownership feat: bridge ros2 now autodetects rclpp shutdown ownership

• feat: bridge ros2 now autodetects rclpp shutdown ownership

• Merge pull request #149 from MOLAorg/fix/tf-listener-share-ros-node fix(mola_bridge_ros2): share rosNode_ with TF listener for consistent clock/use_sim_time

• fix(mola_bridge_ros2): share rosNode_ with TF listener for consistent clock/use_sim_time handling Pass rosNode_ to TransformListener so its /tf and /tf_static subscriptions share the bridge’s DDS participant, clock, and use_sim_time setting. Without this, the default constructor creates an anonymous node that ignores use_sim_time – causing subtle inconsistencies when playing bags with –clock. spin_thread=false avoids a redundant second spinner since rosNode_ is already spun by the bridge’s main loop.

• Contributors: Jose Luis Blanco-Claraco, Robin Van Cauwenbergh

2.9.0 (2026-05-11)

• Merge pull request #143 from MOLAorg/bump-cmake-version bump min req cmake version to 3.22

• bump min req cmake version to 3.22

• Less verbose output: don’t print covariance matrix for each geo-referenced solution

• Contributors: Jose Luis Blanco-Claraco

2.8.0 (2026-04-29)

• Merge pull request #140 from MOLAorg/feat/bridge-ros2-qos feat: BridgeROS2 now have configurable QoS

• fix: harden parameter parsing

• feat: BridgeROS2 now have configurable QoS

• Merge pull request #135 from MOLAorg/pr-132 feat(bridge_ros2): align REP-105 TF with Nav2 conventions without regressing direct-publish mode

• feat(bridge_ros2): align REP-105 TF publishing with Nav2 conventions This brings the localization /tf publisher in line with the convention used by AMCL, slam_toolbox, RTAB-Map and Cartographer, addressing three issues observed when MOLA is consumed by Nav2-style downstream nodes: 1. REP-105 composition bug (fix). The inner factor of map -> odom = (map -> base)(t_scan) * (base -> odom)(t) was sampled at “latest” via waitForTransform(), which only supports tf2::TimePoint{}. The two factors must be sampled at the same instant or the published correction is biased by the odom-frame motion accumulated during the localizer’s processing latency. Switch to tf_buffer_->lookupTransform(…, scan_tp). On lookup failure the publish is skipped (an empty default-constructed TransformStamped would inject TF_NO_FRAME_ID into every consumer’s tf2 buffer). 2. transform_tolerance (new param, default 0.1s). The published stamp is now node->now() + transform_tolerance so consumers can do lookupTransform(map, base_link, now()) without ExtrapolationException. Mirrors AMCL’s transform_tolerance and RTAB-Map’s tf_tolerance. Uses the ROS clock so use_sim_time is honored automatically. 3. transform_publish_period (new param, default 0.05s = 20 Hz). A wall timer re-broadcasts the cached map -> odom independent of localization update rate, keeping the TF buffer continuously fresh even when the localizer runs slower than the consumer query rate. Set to 0 to disable. Mirrors slam_toolbox’s transform_publish_period and RTAB-Map’s tf_delay. Backwards compat: to exactly preserve the prior (post-bugfix) stamping behavior set transform_tolerance: 0 and transform_publish_period: 0. publish_in_sim_time retains its meaning for all other publishers (sensor TFs, odom messages, etc.); only the localization /tf stamp source changed.

• Merge branch ‘develop’ into perf/keyframe-prewarm-global-submap

• Merge pull request #133 from Zeal-Robotics/fix/bridge-ros2-throttle-tf-lookup-errors fix(bridge_ros2): throttle TF lookup error logging

• fix(bridge_ros2): throttle TF lookup error logging Failed sensor TF lookups (e.g. missing static URDF transforms during bring-up) flooded the console with two unthrottled ERROR lines per observation. With a Livox IMU at ~100 Hz this produced ~200 lines/s per affected topic, drowning out other diagnostics. - Throttle (5 s) every per-observation “Could not forward ROS2 observation to MOLA due to timeout…” in the PointCloud2, LaserScan, Imu, NavSatFix and gps_msgs paths, plus the “Could not get /tf” path that uses lookupSensorPose, and the REP-105 odom->base_link recompute warning in publishLocalizationTf. - Drop the redundant printErrors plumbing from waitForTransform: the inner MRPT_LOG_ERROR(ex.what()) duplicated what callers already print with more context (frames + timestamp). The raw tf2 reason is still emitted at DEBUG for deep diagnostics. Per-callsite throttle state means independent sensors still surface “this stream stopped” promptly; we just stop spamming the same one.

• Contributors: Jose Luis Blanco-Claraco, Robin Van Cauwenbergh

2.7.0 (2026-04-22)

• Merge pull request #131 from MOLAorg/feat/actions-custom-runner CI actions: build for arm64 too

• Merge branch ‘Zeal-Robotics-fix/bridge-ros2-skip-empty-tf-on-rep105-failure’ into develop

• Fix formatting and clarify function arguments

• fix(bridge_ros2): skip TF publish when REP-105 odom lookup fails In publishLocalizationTf, when publish_localization_following_rep105 is enabled, the bridge needs to look up odom_frame -> base_link_frame to compose map -> odom. If that lookup fails (e.g. wheel odometry hasn’t started publishing yet during system startup), the previous code logged the error but still fell through to tf_bc_->sendTransform(tf) with a default-constructed TransformStamped (empty frame_id and child_frame_id). This poisoned every subscriber’s tf2 buffer at the localization rate, producing a continuous stream of TF_NO_FRAME_ID, TF_NO_CHILD_FRAME_ID, and TF_SELF_TRANSFORM errors across every node in the system until the odom TF became available. Fix: return early on lookup failure so no broadcast happens. While here, restructure the function with an early-return guard for publish_tf_from_slam to flatten the nesting, and include the actual frame names in the error message. Behavior unchanged in the success path.

• Merge pull request #129 from MOLAorg/feat/ros2-diagnostics Feature: ROS2 diagnostics

• feat(bridge_ros2): publish REP-107 /diagnostics DiagnosticArray Collect structured diagnostics from modules implementing the new mola::DiagnosticsProvider interface and publish them on the standard ROS 2 /diagnostics topic alongside the existing ad-hoc mola_diagnostics/ topics. Adds the diagnostic_msgs dependency. Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>

• Merge pull request #122 from MOLAorg/feat/ros2-bridge-multiple-odometries Add param ‘odometry_as_robot_pose_observation’ to switch OdometryMsg …

• Skip entries with empty topic name

• Add param ‘odometry_as_robot_pose_observation’ to switch OdometryMsg mapping to MRPT types

• Merge pull request #121 from MOLAorg/fix/clean-up-old-mrpt-version-checks Clean up: remove old mrpt version fallback code sections

• Contributors: Jose Luis Blanco-Claraco, Robin Van Cauwenbergh

2.6.1 (2026-04-02)

2.6.0 (2026-03-12)

• Remove now obsolete version check macro

• Merge pull request #108 from MOLAorg/feat/use-gps-msgs Support gps_msgs data types too for ROS2

• Support gps_msgs as alternative to NavSatFix

• Merge pull request #107 from MOLAorg/fix/viz-decay-clouds Fix/viz-decay-clouds

• Update coyright notes

• Contributors: Jose Luis Blanco-Claraco

2.5.0 (2026-02-14)

• Merge pull request #105 from MOLAorg/feat/refactor-ros2-bridges Refactor to use external rosbag2 conversion in mrpt_ros_bridge

• Use refactored ros2mrpt bridge in live node too

• Fix: potential access to the ROS2 node before it’s ready

• Merge pull request #101 from MOLAorg/fix/mola-bridge-no-pub-queue Fix: mola bridge no pub queue

• BridgeRos2: publish localization updates immediately, do not buffer them

• Add debug traces

• Merge pull request #99 from MOLAorg/feat/ros2-bridge-pub-geographic ROS2 bridge: publish geographic poses too

• ros2 bridge: use geographic_msgs, store the last georeference info internally, and publish georef poses merge of these commits: - Enable many more clang-tidy checks - lint clean - implement publishing georeferenced poses - mola-viz: fix potential crash on edge case with all points having NaN value - FIX: potential crash if no MapServer is present and map services are called

• fix clang-format

• FIX: potential deadlock in BridgeROS2 dtor due to early errors before ros2 is initialized

• Contributors: Jose Luis Blanco-Claraco

2.4.0 (2025-12-28)

• Prepare for not using deprecated mrpt_maps types starting for mrpt >=3.0.0

• FIX: Potential segfault if observations come before ROS2 /tf broadcasters are initialized

• Contributors: Jose Luis Blanco-Claraco

2.3.0 (2025-12-15)

• Import all pcd fields from ros2 messages using CGenericPointsMap

• Contributors: Jose Luis Blanco-Claraco

2.2.1 (2025-11-08)

• BridgeROS2: more debug traces in map publishing

• Contributors: Jose Luis Blanco-Claraco

2.2.0 (2025-10-28)

• format

• Fix build against upcoming mrpt v2.15.0

• Contributors: Jose Luis Blanco-Claraco

2.1.0 (2025-10-20)

• Publish to ROS all map types implementing getAsSimplePointsMap()

• format

• FIX: ROS2 bridge must use timestamps for map updates to publish maps and deskewed clouds

• Support publishing several maps from the same source per iteration to ROS

• clang-format

• Make use of ConstPtr across API

• Contributors: Jose Luis Blanco-Claraco

2.0.0 (2025-10-13)

• fix clang-format

• Modernize copyright notice

• Contributors: Jose Luis Blanco-Claraco

1.9.1 (2025-07-07)

1.9.0 (2025-06-06)

• fix clang-format

• Implement publishing of optional “metadata” map field too

• Contributors: Jose Luis Blanco-Claraco

1.8.1 (2025-05-28)

• Fix: Do not use the deprecated ament_target_dependencies()

• Contributors: Jose Luis Blanco-Claraco

1.8.0 (2025-05-25)

• Update license tag to “BSD-3-Clause”

• Update copyright year

• Contributors: Jose Luis Blanco-Claraco

1.7.0 (2025-05-06)

1.6.4 (2025-04-23)

• fix: Correctly handling Livox cloud timestamps (“double”s, but in nanoseconds) in BridgeROS2 and bag2 data sources. They are automatically detected, no need to change any parameter.

• modernize clang-format

• Merge pull request #82 from ahpinder/develop Add Support for Voxel Map ROS2 Publishing Via Point Map Conversion

• fixed Clang formatting

• Clean up voxel map publishing code

• Added voxel map point cloud publishing Added code to timerPubMap to publish the occupied voxels of a mrpt::maps::CVoxelMap as a point cloud to ROS2, allowing for real-time ROS2 visualization of 2D map capture

• Contributors: Jose Luis Blanco-Claraco, ahpinder

1.6.3 (2025-03-15)

• clang-tidy: const correctness

• Service renamed: RelocalizeFromGNSS -> RelocalizeFromStateEstimator

• FIX: Potential deadlock in initialization

• Contributors: Jose Luis Blanco-Claraco

1.6.2 (2025-02-22)

• Implement publish Diagnostics per mola module & ROS2 publishers refactored (code clean up)

• BridgeROS2: add source filter for forwarding localization updates to ROS2

• ROS2: base_footprint_frame /tf is broadcasted now as base_link -> base_footprint to avoid /tf warnings (better as a child than as a second parent in the tf tree)

• FIX: In parsing base_footprint_to_base_link_tf

• Contributors: Jose Luis Blanco-Claraco

1.6.1 (2025-02-13)

• Add new option: publish_tf_from_slam; add better docs on the meaning of all parameters

• Publish georef /tf as /tf_static

• ROS2 bridge now publishes georeferenced map metadata as /tf’s and as mrpt_nav_interfaces/GeoreferencingMetadata

• Revert “Feature: all MOLA modules got its MRPT logger to ROS console for easier debugging” This reverts commit 8a84611d85022f37b80d8bdcb7acaa1910669fc1.

• FIX: wrong variable in former commit

• Merge pull request #75 from MOLAorg/feature/mrpt-to-ros-console Feature: all MOLA modules got its MRPT logger to ROS console for easier debugging

• Feature: all MOLA modules got its MRPT logger to ROS console for easier debugging

• Contributors: Jose Luis Blanco-Claraco

1.6.0 (2025-01-21)

• Publish gridmaps too

• ros2 bridge: rep105 only for map->base_link tfs

• BridgeROS2: support forwarding more than one localization message per timer call

• Fix published /tf’s: those from LocalizationSources now can explicitly define their parent and child frames

• Contributors: Jose Luis Blanco-Claraco

1.5.1 (2024-12-29)

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

• BUG FIX: Published odometry msg lacked target frame_id

• Rename method for better reflecting its goal

• Contributors: Jose Luis Blanco-Claraco

1.4.0 (2024-12-18)

• Publish localization quality topic

• Forward –ros-args to BridgeROS2

• expose services for runtime parameters

• Load relocalize_from_topic from yaml file

• ros2bridge: handle /initialpose topic -> relocalize service

• Contributors: Jose Luis Blanco-Claraco

1.3.0 (2024-12-11)

• Support publishing IMU readings MOLA -> ROS2

• Contributors: Jose Luis Blanco-Claraco

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

• Contributors: Jose Luis Blanco-Claraco

1.1.3 (2024-08-28)

• Depend on new mrpt_lib packages (deprecate mrpt2)

• Contributors: Jose Luis Blanco-Claraco

1.1.2 (2024-08-26)

1.1.1 (2024-08-23)

1.1.0 (2024-08-18)

• Merge pull request #65 from MOLAorg/add-more-srvs Add more Services

• Offer ROS2 services for the new MOLA MapServer interface

• clang-format: switch to 100 columns

• ros2bridge: offer ROS2 services for relocalization

• Merge pull request #62 from MOLAorg/docs-fixes Docs fixes

• Fix ament_xmllint warnings in package.xml

• change ament linters to apply in test builds

• Contributors: Jose Luis Blanco-Claraco

1.0.8 (2024-07-29)

• ament_lint_cmake: clean warnings

• Contributors: Jose Luis Blanco-Claraco

1.0.7 (2024-07-24)

• Fix GNSS typo

• Contributors: Jose Luis Blanco-Claraco

1.0.6 (2024-06-21)

1.0.5 (2024-05-28)

1.0.4 (2024-05-14)

• bump cmake_minimum_required to 3.5

• Contributors: Jose Luis Blanco-Claraco

1.0.3 (2024-04-22)

• BridgeROS2: more robust /tf find_transform by using tf2::BufferCore

• FIXBUG: inverse sensor poses in rosbag2 reader. Also: unify notation in C++ calls to lookupTransform()

• Fix package.xml website URL

• Contributors: Jose Luis Blanco-Claraco

1.0.2 (2024-04-04)

• update docs

• Contributors: Jose Luis Blanco-Claraco

1.0.1 (2024-03-28)

• BridgeROS2: do not quit on temporary /tf timeout

• mola_bridge_ros2: option to publish /tf_static for base_footprint

• mola_bridge_ros2: implement missing MOLA->ROS2 conversion for GNSS observations

• BUGFIX: Inverted value of “use_fixed_sensor_pose” was used

• Contributors: Jose Luis Blanco-Claraco

1.0.0 (2024-03-19)

• Comply with ROS2 REP-2003

• Merge ROS2 input and output in one module

• Contributors: Jose Luis Blanco-Claraco

0.2.2 (2023-09-08)