3.2.0 (2026-08-21)

• Merge pull request #192 from MOLAorg/feat/map-frame-gauge-change Support re-expressing estimator and pose-list state in a new frame

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

• mola_kernel: declare transform_frame() last; test SearchablePoseList frame change Appending the new optional virtual only grows the vtable, whereas the previous mid-list position shifted the slot index of the three virtuals after it, breaking any prebuilt NavStateFilter plugin. A note asks that future optional virtuals also go at the end. Adds regression coverage for SearchablePoseList::transform_left_multiply() in both storage modes: that the kd-tree follows the transformed poses (verified to fail if the spatial index is left stale), that the empty and identity cases are no-ops, and that the id-keyed lookup survives.

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

• Support re-expressing estimator and pose-list state in a new frame Adds the two pieces a one-off gauge change of the map frame needs, so that leveling the frame once gravity is known does not have to throw state away: - NavStateFilter::transform_frame(), an optional virtual returning false by default, so existing estimators are unaffected and a caller that gets false falls back to reset(). Guarded by a feature macro for downstream detection. - SearchablePoseList::transform_left_multiply(), so keyframe-density bookkeeping moves with the frame instead of being invalidated by it. Both are pure left-multiplications, p -> b + p. Note that relative motion, and hence any velocity expressed in the vehicle’s own frame, is invariant under this and must NOT be rotated.

• Contributors: Jose Luis Blanco-Claraco

3.1.1 (2026-08-10)

• Fix C++20 build: keep TransformTree/TransformTreeNode aggregates by dropping their defaulted default constructors, which made brace initialization stop compiling on ROS 2 Lyrical (C++20).

• Contributors: 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

• fix formatting

• mola_kernel: don’t flood ERROR logs when GUI preview has no viz module A launch YAML can populate gui_preview_sensors for a sensor without gating that entry behind MOLA_WITH_GUI (several mola_lidar_odometry launch files did exactly this). In that case every observation for that sensor label enqueued a task that threw and caught “Could not find a running MolaViz module” – thousands of ERROR-level log lines per headless run, found via SLAM quality-eval sweeps producing 20k+ of them on a single KITTI sequence. Check once, outside the per-observation lambda, whether a VizInterface is actually running; if not, log a single throttled warning and skip enqueueing entirely instead of relying on every launch file getting its own MOLA_WITH_GUI gate right.

• 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: mola_kernel listed mrpt::gui as dependency but could be removed

• Merge pull request #185 from MOLAorg/chore/remove-keyframe-map-capable Remove the KeyframeMapCapable interface

• chore: remove the KeyframeMapCapable interface This mixin was introduced to expose per-KF pose plumbing to mola_lidar_odometry’s trajectory-rebake experiment, which corrected accumulated tilt by re-integrating the keyframe chain. That experiment is being removed: it was never wired in, and rotating map keyframes without transforming the trajectory consistently leaks vertical position. The interface had exactly one implementation and no callers, so it is removed along with the two methods that existed only for the rebake path, oldestActiveKeyframeID() and applyPivotTransform(). keyframePoses() is kept, since the regroup tests already use it as ordinary map API, and the duplicate cloneKFPoses() (whose only difference was not being the virtual one) is folded into it.

• Merge pull request #183 from MOLAorg/feat/child-loggers-console-hook Let a module expose child loggers for console capture

• feat(kernel): let a module expose child loggers for console capture ExecutableBase gains child_loggers(), an optional hook returning additional mrpt::system::COutputLogger instances a module owns but does not log through itself (e.g. a library engine run on its own background thread). mola_viz_imgui’s console window now discovers and hooks these the same way it already does for the module itself, tagged with a “module/child” source name, so their output is captured without the owning module having to relay each message through its own logger (which would otherwise re-apply the module’s own verbosity gating). Motivated by mola_mapper’s background loop-closure engine (mola_sm_loop_closure), which has its own independent logger whose output was previously invisible to the imgui console.

• Merge pull request #180 from MOLAorg/feat/combobox-fixed-width GUI: add optional fixed_width to ComboBox (both backends)

• Add optional fixed_width to ComboBox, honored by both GUI backends Without it, ImGui::Combo defaults to an item width that scales with the window, so short option lists visibly balloon in wide sub-windows (seen when packing a ComboBox next to a checkbox in a Row). 0 keeps each backend’s current auto-sizing behavior.

• Contributors: Jose Luis Blanco-Claraco

• fix: removed unused mrpt::gui dependency and the unused KeyframeMapCapable interface (dead code from an abandoned trajectory-rebake experiment).

• feat(kernel): added child_loggers() hook to ExecutableBase so modules can expose background-thread loggers for console capture.

• feat: ComboBox GUI widget gained an optional fixed_width parameter (both backends).

• Contributors: Jose Luis Blanco-Claraco

3.0.0 (2026-07-17)

• fix: default-dock Dataset_UI panel at top; fix Console dock on old layouts Add WindowDescription::dock_top_by_default so a window without a saved imgui.ini entry gets docked into a strip reserved at the top of the main window instead of floating; enabled for the per-module Dataset_UI panel. Also make the Console’s default bottom-dock (and the new top-dock) key off whether that specific window has a saved imgui.ini entry, instead of whether the whole ini file already existed. This fixes both never docking new window kinds added to an already-existing layout, and splitting a stale, no-longer-leaf dock node once more than one default dock has been applied.

• fix: avoid enque on shutdown

• Merge branch ‘feat/imviz-metric-plots’ into develop

• Remove deprecated nanogui-specific VizInterface API create_subwindow(), enqueue_custom_nanogui_code(), subwindow_grid_layout() and subwindow_move_resize() have no remaining callers now that create_subwindow_from_description() and enqueue_custom_gui_code() cover their use cases on both backends.

• Merge pull request #172 from MOLAorg/feat/imviz-metric-plots feat(mola_viz_imgui): add metric time-series plot windows

• feat(mola_viz_imgui): add metric time-series plot windows Adds a backend-agnostic register_metric()/push_metric() API to VizInterface (guarded by MOLA_KERNEL_VIZ_HAS_METRICS) so any MOLA module can stream timestamped scalar values to live, autoscrolling plot windows opened from a new “Plots” menu in the mola_viz_imgui (ImGui/ImPlot) backend. The nanogui MolaViz backend implements the API as a no-op, mirroring the set_menu_bar precedent. The Plots menu also gives the Console window its first working close/reopen toggle. Vendors ImPlot as a submodule under mola_viz_imgui/3rdparty/implot.

• NavStateFilter: introduce optional virtual georef setter/getter

• Merge pull request #165 from MOLAorg/imgui-window-icon feat: mola viz imgui set window icon

• feat: mola viz imgui set window icon

• Merge pull request #163 from MOLAorg/fix/race-conditions fix(mola_kernel): guard RawDataSourceBase consumer list against concu…

• fix(mola_kernel): guard RawDataSourceBase consumer list against concurrent attach mola_launcher initializes modules in parallel threads (executor_thread), so when two consumers subscribe to the SAME raw_data_source (e.g. both LidarOdometry and a mapper module use raw_data_source: dataset_input), both call attachToDataConsumer() concurrently and race on the unsynchronized std::vector<RawDataConsumer*> push_back. This corrupted the heap and caused an intermittent SIGSEGV at startup (caught via coredump: _M_realloc_insert into a garbage pointer under RawDataSourceBase::attachToDataConsumer <- FrontEndBase:: initialize <- MolaLauncherApp::executor_thread). Add a mutex guarding rdc_: lock the push_back, and snapshot the list under the lock in sendObservationsToFrontEnds() before dispatching (dispatch itself runs without the lock so onNewObservation() is not serialized). Validated: 16/16 SharedMapOnly startups on MulRan DCC01 with two consumers, 0 crashes / 0 cores.

• Merge pull request #162 from MOLAorg/feat/viz-decay-lookat-frame-aware feat: frame-aware parentFrame for decay clouds and camera look-at

• fix: decay eviction uses per-entry container; look-at fails on missing frame Four reviewer findings, all confirmed valid: 1. VizInterface.h comment: add update_viewport_look_at() to the list of APIs covered by MOLA_KERNEL_VIZ_HAS_MOVABLE_FRAMES (it was omitted). 2/3. Decay cloud eviction (both backends): the eviction path inside insert_point_cloud_with_decay() was removing the oldest cloud from the current insertion’s container rather than the container that cloud was originally placed in. If parentFrame ever changes between calls the wrong container would be used, leaking the cloud in the scene. Fix: add a container member to DecayingCloud and store the owning container at insert time; use it at eviction time. 4/5. Look-at frame not found (both backends): when parentFrame is non-empty but the frame node does not yet exist in the scene, the code was silently falling back to treating the raw local-frame coordinates as world-space and moving the camera to the wrong position. Fix: return false so the camera is not moved until the frame node is present.

• feat: extend VizInterface for frame-aware decay clouds and camera look-at insert_point_cloud_with_decay() and update_viewport_look_at() now both accept an optional parentFrame argument (same semantics as the existing parentFrame on update_3d_object()): when non-empty, the backend looks up the named movable frame node and composes its current scene pose with the supplied point before inserting the cloud / moving the camera. This lets callers (e.g. mola_lidar_odometry) pass a local-odom-frame point while the camera and transient clouds still end up at the correct world-space position when a central mapper (mola_mapper_3d) is continuously repositioning the frame node. Both backends (MolaViz / MolaVizImGuiCore) and the MolaVizImGui forwarder are updated. The MOLA_KERNEL_VIZ_HAS_MOVABLE_FRAMES feature macro already covers both new parameters; no additional macro is added.

• Merge pull request #160 from MOLAorg/feat/viz-with-movable-frames feat: viz with movable frames

• feat: viz with movable frames

• Merge pull request #159 from MOLAorg/feat/central-map feat: Add virtual interface for central keyframe map for mapper-3d

• feat: Add virtual interface for central keyframe map for mapper-3d

• Merge pull request #151 from MOLAorg/fix/imgui-slider fix: imgui slider

• fix: imgui slider

• Contributors: Jose Luis Blanco-Claraco

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

• Merge pull request #142 from MOLAorg/feat/add-keyframe-map-capable-api feat: Add keyframe map capable API

• feat: Add keyframe map capable API

• kernel: utils RegexCache made thread-safe

• Contributors: Jose Luis Blanco-Claraco

2.8.0 (2026-04-29)

• Merge branch ‘Zeal-Robotics-fix/map-source-latched-replay’ into develop

• chore: transient callbacks done with a copy of last updates

• fix(mola_kernel): replay latched MapUpdates to late subscribers MapSourceBase::subscribeToMapUpdates() now caches the most recent MapUpdate per map_name whenever it was advertised with keep_last_one_only=true, and replays it once into any callback registered later. This mirrors ROS’ transient_local durability at the MOLA-callback layer. Without this, a producer that advertises its initial map before a consumer has had a chance to subscribe (e.g. mola_lidar_odometry publishing the loaded .mm on its first scan, before mola_bridge_ros2::doLookForNewMolaSubs() has run for the first time) would silently lose that update. The race is more likely with small maps, where odometry initialization is fast enough to beat the bridge’s first sub-discovery poll. With this change the late subscriber receives the cached update on registration, and the ROS publisher created by the bridge then carries the map onward via its existing transient_local QoS. Updates flagged with keep_last_one_only=false (e.g. deskewed scans) are intentionally not cached, matching their fire-and-forget semantics.

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

2.7.0 (2026-04-22)

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

• feat(kernel): add DiagnosticsProvider interface for REP-107 diagnostics Introduce an opt-in mix-in interface for modules to publish structured, severity-tagged diagnostics, to be bridged to ROS 2 /diagnostics by mola_bridge_ros2 in a follow-up. Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>

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

• Bump minimum required MRPT version to 2.15.0

• Clean up: remove old mrpt version fallback code sections

• Contributors: Jose Luis Blanco-Claraco

2.6.1 (2026-04-02)

• Merge pull request #116 from MOLAorg/update-rds-gui Update RDS gui creation to new backend agnostic API

• RDS: Fix parsing initial window pos and width

• Update RDS gui creation to new backend agnostic API

• Contributors: Jose Luis Blanco-Claraco

2.6.0 (2026-03-12)

• Merge pull request #113 from MOLAorg/feat/kf-map-view-vectors Feat:kf map view vectors filter for NN search

• comments formatting

• Merge pull request #109 from MOLAorg/feat/support-imgui Feature: GUI backend agnostic API in mola_kernel (Step towards supporting imgui)

• safer multithread

• Several visual and safety fixes in the new GUI interface

• Add support for menu bars

• VizInterface made backend agnostic (ImGUI and Nanogui)

• 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

• fix typo in comments

• Update coyright notes

• fix clang-tidy warnings

• Contributors: Jose Luis Blanco-Claraco

2.5.0 (2026-02-14)

• Merge pull request #104 from MOLAorg/feat/better-regex Explain error on bad regex

• Explain error on bad regex

• Merge pull request #103 from MOLAorg/feat/RegexCache Add utility RegexCache

• Add utility RegexCache

• Add has_converged_localization() method for state estimation

• Merge pull request #100 from MOLAorg/fix/remove-mrpt-deprecated-maps Remove use of mrpt deprecated maps

• Avoid use of deprecated mrpt::maps classes

• 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

• Contributors: Jose Luis Blanco-Claraco

2.4.0 (2025-12-28)

2.3.0 (2025-12-15)

2.2.1 (2025-11-08)

2.2.0 (2025-10-28)

2.1.0 (2025-10-20)

• Send sensor_rate_decimation to Viz

• interfaces/MapSourceBase: Add keep_last_one_only property

• Make use of ConstPtr across API

• Contributors: Jose Luis Blanco-Claraco

2.0.0 (2025-10-13)

• Merge pull request #93 from MOLAorg/feature/better-lio Changes for new LIO

• MolaViz: Add method clear_all_point_clouds_with_decay()

• MolaViz: Add support for inserting clouds with decay_time

• Large clean up of unused code from older MOLA versions. In particular, all abstract definitions of factors, entities, and WorldModel have been removed. It seems more natural and efficient to keep them in the specific SLAM modules.

• Allow extra parameters in mola_viz per-sensor preview windows

• fix clang-format

• Modernize copyright notice

• Remove old code that was needed to support very old MRPT versions

• Contributors: Jose Luis Blanco-Claraco

1.9.1 (2025-07-07)

1.9.0 (2025-06-06)

• MapSourceBase: add a new optional field “metadata”

• NavStateFilter interface: Now is a RawDataConsumer too

• Contributors: Jose Luis Blanco-Claraco

1.8.1 (2025-05-28)

1.8.0 (2025-05-25)

• Update Viz interface: add methods to run arbitrary Scene manipulation and camera orthographic mode

• Update copyright year

• fix reversed logic

• clang-format fix

• Add mola::Synchronizer for grouping observations

• Contributors: Jose Luis Blanco-Claraco

1.7.0 (2025-05-06)

• code clean up: remove useless dtors, and mark the required copy ctors as deleted

• Contributors: Jose Luis Blanco-Claraco

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

• Contributors: Jose Luis Blanco-Claraco

1.6.3 (2025-03-15)

1.6.2 (2025-02-22)

• ExecutableBase inteface: added diagnostics API

• Contributors: Jose Luis Blanco Claraco

1.6.1 (2025-02-13)

• mola_kernel: Add Georeferencing structure and add it to map updates

• Contributors: Jose Luis Blanco-Claraco

1.6.0 (2025-01-21)

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

• LocalizationSources now can explicitly define both, their reference and child frames for each estimated pose

• docs: add state estimation images

• Contributors: Jose Luis Blanco-Claraco

1.5.1 (2024-12-29)

• NavStateFilter API: add estimated_trajectory()

• Contributors: Jose Luis Blanco-Claraco

1.5.0 (2024-12-26)

• NavStateFilter Interface now also inherits from ExecutableBase for convenience

• MinimalModuleContainer ctor should not be explicit

• Add mola::MinimalModuleContainer

• Drop dependency on mrpt-gui in kernel by abstracting MolaViz subwindow layout operations

• Contributors: Jose Luis Blanco-Claraco

1.4.1 (2024-12-20)

1.4.0 (2024-12-18)

• MOLA system yaml files: added “enabled” optional property for modules and rds visualizers

• Add field for localization quality

• cmake: remove duplicated info message

• ExecutableBase: Add support for runtime-configurable parameter API

• mola-kernel Doxygen docs: add groups

• Contributors: Jose Luis Blanco-Claraco

1.3.0 (2024-12-11)

• NavStateFilter interface: add API for merging GNSS observations

• Contributors: Jose Luis Blanco-Claraco

1.2.1 (2024-09-29)

1.2.0 (2024-09-16)

• Update RTTI macros for upcoming MRPT 2.14.0

• 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)

• add <mola_kernel/version.h> with a version-checking macro

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

• Avoid cmake file glob expressions

• mola_kernel: add MapServer interface

• mola_kernel: add public symbols MOLA_{MAJOR,MINOR,PATCH}_VERSION

• Update clang-format style; add reformat bash script

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

• Fix ament_xmllint warnings in package.xml

• Contributors: Jose Luis Blanco-Claraco

1.0.8 (2024-07-29)

• mola_kernel: add C++ virtual interface for relocalization methods

• ament_lint_cmake: clean warnings

• Contributors: Jose Luis Blanco-Claraco

1.0.7 (2024-07-24)

• Viz interface: add API for rotate camera

• Contributors: Jose Luis Blanco-Claraco

1.0.6 (2024-06-21)

• Create new NavStateFilter interface and separate the simple fuser and the factor-graph approach in two packages

• mola_kernel: renamed factor FactorConstVelKinematics

• Contributors: Jose Luis Blanco-Claraco

1.0.5 (2024-05-28)

• viz: fix mismatched free/delete inside nanogui layout

• Contributors: Jose Luis Blanco-Claraco

1.0.4 (2024-05-14)

• bump cmake_minimum_required to 3.5

• Avoid global static objects

• remove useless #include’s

• Define Dataset_UI dtor/ctor in a separate translation unit

• Contributors: Jose Luis Blanco-Claraco

1.0.3 (2024-04-22)

• Fix package.xml website URL

• Contributors: Jose Luis Blanco-Claraco

1.0.2 (2024-04-04)

1.0.1 (2024-03-28)

• Remove now-useless build dependencies and includes for mola-kernel

• Contributors: Jose Luis Blanco-Claraco

1.0.0 (2024-03-19)

• add methods to query for subscribers

• New interfaces

• Refactor initialize()

• mola_kernel: new UI interface for datasets

• New option to shutdown automatically mola-cli after dataset ends

• viz API: add enqueue_custom_nanogui_code()

• mola_viz: show console messages

• Correct usage of mola:: namespace in cmake targets

• copyright update

• mola_viz: support visualizing velodyne observations

• Add look_at() viz interface

• Fewer mutex locking()

• dont force by default load() lazy-load observations

• FrontEndBase: attach to VizInterface too

• Fix loss of yaml key/values when using import-from-file feature

• kitti eval cli moves to its own package

• port to mrpt::lockHelper()

• reorganize as monorepo

• Contributors: Jose Luis Blanco-Claraco

0.2.2 (2023-09-08)

• Correct references to the license.

• viz interface: new service update_3d_object()

• Fix const-correctness of observations

• FIX missing dependency on mrpt::gui for public header

• Contributors: Jose Luis Blanco-Claraco

0.2.1 (2023-09-02)

• Add virtual interface for dataset groundtruth

• Update copyright date

• Update to new colcon ROS2 build system

• Contributors: Jose Luis Blanco-Claraco