3.2.0 (2026-08-21)

  • Offline CLI Enhancements: Made the offline CLI state estimator deterministic by default, added run totals at shutdown, and exposed range-adaptive matcher thresholds.

  • Offline CLI Linking Fix: Resolved runtime crashes in the offline CLI by correctly linking mola_state_estimation_smoother and its GTSAM dependencies.

  • Wheel Odometry Support: Wired optional wheel odometry (MOLA_ODOMETRY_TOPIC) into the offline rosbag1 CLI path and corrected related documentation.

  • Robust Observation Radius: Introduced observation_radius_quantile to prevent single stray far returns from skewing the scale, while keeping the default max-norm path bit-identical.

  • GICP Tuning & Profiles: Moved tuned GICP defaults (coarse-voxel sizes, IMU deskew) out of global configurations and into per-dataset profiles (KITTI, Oxford) to prevent regressions on untested datasets.

  • New Matching Pipelines: Added lidar3d-ndt-blend.yaml, lidar3d-fastlio-matching.yaml, and lidar3d-icp-blend.yaml to support matching protocol studies.

  • KITTI Profile Updates: Configured the KITTI profile to use the more accurate point-to-point pipeline (lidar3d-icp.yaml) and documented the logic behind its velocity prior settings.

  • BotanicGarden Profile Updates: Switched the profile to IncrementalPointCloud for better mean APE, but reverted experimental deskew/decimation overrides that didn’t confidently improve results.

  • Dataset Profile Consolidation: Unified dataset configurations (topics, extrinsics, layouts) into single shared scripts utilized by both GUI and offline CLI tools.

  • CitrusFarm Multi-part Bags: Updated launch and GUI scripts to properly accept and route multi-part base_*.bag sequences.

  • ICP Threshold Adjustment: Raised the ICP adaptive threshold min_motion from 0.04 to 0.5 to prevent correspondence search windows from collapsing.

  • Voxel Decimation Splitting: Allowed each decimation stage to use its own voxel size for better short-range precision and long-range drift reduction, and exposed the decimation method via environment variables.

  • Observation Layer Bug Fix: Added a step to clear the observation layer in lidar3d-gicp before filling it to prevent crashes when optimize_twist is enabled.

  • Eviction Cube Widened: Increased the default IncrementalPointCloud eviction cube size in lidar3d-gicp.yaml to retain more in-range points.

  • New Environment Overrides: Exposed environment variables for the solver’s inner iteration count, initial twist uncertainties, and MOLA_INITIAL_VX overrides.

  • Reverted Dead Parameters: Removed the freezePairingsAfterIteration parameter exposure after discovering it does not actually exist in the released mp2p_icp library.

  • Dependency Fix: Added a missing execution dependency for mola_viz_imgui.

  • Contributors: Jose Luis Blanco-Claraco, SamueleSandrini

3.1.0 (2026-08-06)

  • fix: keep the local-map render and the IMU worker off the LiDAR critical path (#126)

    Moves the local-map render off the LiDAR thread onto its own worker, and introduces a dedicated imu_state_mtx_ so the IMU handler no longer serializes behind every LiDAR scan via state_mtx_. The render worker now deep-copies the map layers under the map mutex and does the expensive recolorize/OpenGL build on that private copy, unlocked. On Oxford Spires/GrandTour benchmarks this cut onLidar max latency roughly in half (up to ~216 ms -> ~107 ms) and the IMU thread’s total blocked time by more than half, eliminating the scan-queue backlog. Also exposes map_update_decimation as MOLA_GUI_MAP_UPDATE_DECIMATION.

  • Visualize the robot /tf tree in the LO viewer (opt-in) (#125)

    Draws the subtree of coordinate frames below a configurable root frame as the robot moves (e.g. a legged robot’s joint tree), via the new mola::TransformTreeSource. Supports excluding frames/subtrees (tf_tree_exclude_frames), is toggled live from the GUI’s View tab, and is enabled by default for the GrandTour dataset with its non-body frames excluded.

  • Add mola-lo-gui-grandtour launch script for the GrandTour dataset (#124)

    GrandTour publishes one ROS1 bag per topic, so lidar_odometry_from_rosbag1.yaml now accepts up to three bags replayed jointly. The wrapper locates sibling bags from a mission directory and uses the dataset’s own /tf_static for sensor extrinsics.

  • Gate gui_preview_sensors entries behind MOLA_WITH_GUI consistently across all launch YAMLs, removing noisy “no running MolaViz module” warnings in headless CI runs. Also adds the MOLA_WITH_GUI headless toggle to the remaining mola-cli launch files.

  • Launch scripts for the citrus farm dataset; conslam dataset now also accepts ROS2 bags.

  • CLI: reduce/disable the batch progress bar; port CLI argument parsing from mrpt-tclap to CLI11 (#123)

    Adds --progress-bar-period to control per-scan progress logging (useful for Jenkins batch runs), and replaces the legacy TCLAP parser with CLI11, preserving all existing flags/defaults while fixing several --help/docs discrepancies along the way.

  • CI: don’t let rosdep failures on unresolvable packages abort the job before the build/test steps run; mola-lidar-odometry-cli gains --input-rosbag1 support (#122) and now accepts a comma-separated bag list for multi-part recordings.

  • Add lidar3d-gicp-single-filter.yaml: one decimation filter feeding both map and ICP layers instead of two chained ones (#121), plus a DLIO-like pipeline, VoxelAverage/forward-alone decimation-axis variants, and map-policy leave-one-out/decimation-method ablation pipelines from the 809 investigation.

  • Add log_only mode for the map-gravity estimator (validate against ground truth without feeding back into the map frame) and retry the one-shot accelerometer verticality capture on later scans instead of giving up permanently.

  • fix: deadlock rendering the local map without owning state_mtx_, and a related potential deadlock for large maps under the incremental map class (#120). Declare mola_yaml as an explicit dependency (#109).

  • Estimate the map-frame gravity direction online, default off (#116)

    The verticality reference used by the ICP gravity prior was captured once from a single 50 ms accelerometer average and never updated, biasing the map frame by up to several degrees. Wires in mola::imu::MapGravityEstimator, which continuously solves for gravity in the map frame from preintegrated IMU and the odometry’s own relative attitudes/velocities, and uses it as the prior’s up_map reference. The one-shot rigid re-levelling half of this feature was found unsafe on some sequences and deferred to a separate experimental branch.

  • Add option to hide the current-pose XYZ corner OpenGL object (#117); expose the max-range filter as MOLA_MAXIMUM_RANGE_FILTER and add a hybrid cov-to-cov/point-to-point reference pipeline.

  • fix: silently-ignored IMU label filter in state-estimation-simple.yaml (wrong YAML key), yaw-free rank-2 gravity constraint with self-silencing sigma for the ICP solver, removal of the unused trajectory-rebake research scaffold, and a CI fix so one broken distro no longer cancels the sibling x86_64 jobs (#112, #114, #113, #115).

  • feat: make the GICP local-map class selectable via ${MOLA_LOCALMAP_CLASS} between the existing keyframe map and the new mola::IncrementalPointCloud (async k-d tree rebuild off the mapping thread) (#111). Expose local-map update time as a plottable metric.

  • fix: ICP prior information matrix used MRPT’s Euler tangent-index ordering instead of the SE(3) Lie tangent mp2p_icp’s solver expects, swapping roll and yaw in the IMU gravity correction and 2D-lidar constraints (#110).

  • fix: honor MOLA_WITH_GUI for headless runs in the MulRan launcher (#108); six launchers were missing raw_data_source on the state estimator, silently disabling every IMU-based factor (#107).

  • fix: an ICP debug-file functor was installed unconditionally and took priority over mp2p_icp’s own MP2P_ICP_GENERATE_DEBUG_FILES switch, silently disabling native debug-file generation; now only installed when one of its own triggers is actually configured (#105).

  • Share the keyframe-creation policy between the local map and the simplemap, and let it optionally consider a time window instead of pure spatial distance, so revisiting an already-mapped area can still spawn the keyframes loop closure needs (#104).

  • feat: add mola-lo-gui-oxford-spires helper for the Oxford Spires dataset (multi-part rosbag2 stitching, calibration-derived extrinsics) (#103); add mola-lo-gui-conslam/mola-lo-gui-botanicgarden helpers with the smoother state estimator enabled; expose camera_follows_vehicle and a --headless/--no-gui flag.

  • feat(launch): make the localization /tf publish source overridable (localization_publish_tf_source), enabling map->odom to be published directly from the state-estimation smoother instead of being composed by the bridge from a mismatched-timestamp odom lookup (#102).

  • Contributors: Jose Luis Blanco-Claraco

3.0.0 (2026-07-17)

  • Merge pull request #101 from MOLAorg/fix/relocalize-tf-source-and-sigma-recovery fix: two bugs blocking GNSS+IMU relocalization (FromStateEstimator)

  • fix: MOLA_LOCALIZATION_PUBLISH_TF_SOURCE used the wrong module-name string

  • fix: maximum_sigma default equal to initial_sigma made sustained-failure recovery a no-op

  • Remove dead mrpt/gui included

  • fix: enable adaptive-threshold recovery by default; add initial_pose launch arg

  • fix: show sensible errors if in localization only but there’s no local map

  • feat: map freeze after relocalization (#100)

  • fix: drop stale LiDAR scans and keep the freshest under overload (#99)

  • feat: export as plot data the complete onLidar CPU time

  • fix: don’t process/insert a scan into the map before initial localization converges

  • fix: don’t discard a preexisting map on IMU releveling or bad-first-ICP restart

  • Merge pull request #98 from MOLAorg/feature/imu-leveling-preserve-xyzyaw fix: preserve x/y/z/yaw prior in InitLocalization::PitchAndRollFromIMU

  • Merge pull request #97 from MOLAorg/feature/imu-bag-recv-timestamp-env-var Wire MOLA_IMU_USE_BAG_RECV_TIME env var for IMU bag-recv-time timestamp override

  • fix: preserve x/y/z/yaw prior in InitLocalization::PitchAndRollFromIMU

  • lidar_odometry_from_rosbag2.yaml: wire MOLA_IMU_USE_BAG_RECV_TIME env var

  • debug: add env-gated ICP quality/adaptive-threshold trace

  • Merge pull request #95 from MOLAorg/feat/shared-keyframe-velocity-metadata Carry per-keyframe velocity metadata in shared-keyframe push

  • refactor: remove dead pushKeyframeToSharedKeyframeMap helper

  • feat: carry per-keyframe velocity metadata in shared-keyframe push

  • Merge pull request #94 from MOLAorg/feat/icp-metric-plots

  • feat: stream ICP time/goodness to mola_viz_imgui plot windows

  • Merge pull request #93 from MOLAorg/feat/expose-approximate-cov-env-var

  • feat: expose KeyframePointCloudMap’s approximate_cov as MOLA_LOCALMAP_APPROXIMATE_COV

  • docs: show ImGui as the new default

  • feat: expose new simple estimator GNSS fuse params

  • feat: pass georef to state estimator, if compatible

  • feat: expose color changing as public API

  • launch: default viz module to MolaVizImGui with per-app imgui_app_name Sets a unique imgui_app_name in each launch file so Dear ImGui’s layout persistence stores a separate UI configuration per app.

  • fix: uncheck show trajectory never cleared old viz

  • Merge pull request #92 from MOLAorg/feat/viz-decay-lookat-frame-aware feat: frame-aware decay clouds and camera look-at for mapper_3d

  • feat: frame-aware decay clouds and camera look-at for mapper_3d

  • Merge pull request #91 from MOLAorg/feat/use-viz-with-movable-frames

  • feat: viz with movable frames

  • Merge pull request #90 from MOLAorg/feat/push-to-central-map feat: push KFs to central map server

  • Merge pull request #89 from MOLAorg/fix/imu-grav-align fix: bugs in gravity-alignment from IMU accelerometer

  • Merge pull request #88 from MOLAorg/feat/delayed-map-load feat: add delayed map load option

  • Merge pull request #87 from MOLAorg/fix/state-mtx-non-recursive refactor: convert state_mtx_ from recursive_mutex to plain mutex

  • Merge pull request #86 from MOLAorg/fix/lidar-odometry-shutdown-order-segfault fix: avoid use-after-free during shutdown via LidarOdometry::onQuit()

  • Merge pull request #85 from MOLAorg/feat/ros2-launch-tf-no-ns-option

  • feat: add new ros2 launch argument to optionally disable /tf NS remappings

  • Merge pull request #84 from MOLAorg/feat/simpler-adaptive-sigma feat: simplify adaptive sigma algorithm

  • chore: put all yaml files in sync re adaptive parameters

  • feat: simplify adaptive sigma algorithm

  • docs: explain how to select the viz module

  • Merge pull request #83 from MOLAorg/feat/ros1-input

  • feat: Add ros1 bag input helper scripts

  • Contributors: Jose Luis Blanco-Claraco

2.2.1 (2026-06-04)

  • simple state estimator: MOLA_NAVSTATE_VELOCITY_FILTER is now true by default

  • ci: fix Jazzy Jalisco EOL date in CI workflow comment (May 2024 - May 2029)

  • ci: scope arm64 apt-cacher-ng proxy to apt only (fix xmllint test) (#82)

  • chore: add profiler to unit tests

  • ci: add tests run in self-hosted

  • fix self-runner label

  • CI: add self hosted runner jobs too

  • feat: selective disabling each of the imgui tabs

  • gicp yaml: expose more viz params and the new velocity filter param

  • docs: sync pipeline variables from actual yaml

  • Merge pull request #81 from MOLAorg/clean-gui-code GUI: clear dead code and reorganize ImGui tabs

  • fix: multithread issues

  • gui: split in 3 tabs when in imgui mode

  • chore: remove dead code for mola<2.6.0 compatibility

  • Merge pull request #80 from MOLAorg/more-robust-multi-sensor More robust multi sensor

  • fix: gracefully handle missing scans in multi-lidar settings

  • chore: add warning if dropped lidar scans in multi-sensor mode

  • chore: add debug-level traces for multi-lidar settings

  • Contributors: Jose Luis Blanco-Claraco

2.2.0 (2026-05-11)

  • fix: don’t exit upon state estimator lack of convergence

  • Merge pull request #79 from MOLAorg/simplify-ci CI: simplify clang-format helpers and use ros: docker image for jazzy stable

  • CI: simplify clang-format helpers and use ros: docker image for jazzy stable - Replace the old formatter.sh with a new version supporting –check mode - Simplify check-clang-format.yml to just apt-install clang-format-14 and run the script - Use ros:jazzy pre-built image for jazzy stable CI build (faster, no setup-ros needed)

  • Update error threshold in lidar odometry test

  • fix: do not wipe out a loaded map if first scan is bad

  • fix: viz must clear current obs when unchecked live

  • fix: safer thread viz with just one thread

  • chore: set default for adaptive threshold ‘alpha’ low-pass filter 0.99 to 0.90 for adapting faster to changes

  • feat: show sensor pose corners in MolaViz

  • chore: fix comment formatting (seems to trigger a libfyaml/mola_yaml parser bug)

  • fix: initial pose from yaml files expected yaw/pitch/roll in degrees

  • Expose initial sigma as env var too

  • chore: expose viz module as env var (prepare for testing imgui)

  • CI: sensible job names

  • Merge pull request #78 from MOLAorg/bump-cmake-version bump min req cmake version to 3.22

  • bump min req cmake version to 3.22

  • FIX: regression in last adaptive sigma PR

  • chore: add minimal agents.md

  • Merge pull request #76 from Zeal-Robotics/feat/sustained-failure-recovery feat: optional adaptive-threshold recovery on sustained ICP failure

  • feat: optional adaptive-threshold recovery on sustained ICP failure The KISS-ICP adaptive threshold only updates sigma on a good ICP, which is correct for isolated bad scans but creates a deadlock under sustained failure: once sigma is frozen at a small value, the matcher window (2*sigma) is too tight to find correspondences, ICP stays bad, sigma stays frozen, and the system cannot recover without an external relocalize. Add three opt-in fields to AdaptiveThreshold: recover_on_sustained_failure (default false) recover_after_n_bad (default 5) recover_growth_factor (default 1.5) After N consecutive bad ICPs, sigma is grown multiplicatively (capped at maximum_sigma) so the next attempt has a wider correspondence search radius. The counter resets on any good ICP, at which point the standard KISS-ICP rule resumes and re-tightens sigma. With the flag off, behavior is identical to before. The four bundled pipeline YAMLs (lidar3d-gicp, -gicp-optimize-twist, -icp, -ndt) gain matching ${MOLA_ADAPT_THRESHOLD_RECOVER*|default} hooks so the feature can be toggled via env vars without forking the YAML.

  • Fix CI escaping

  • fix: CI code coverage flags

  • feat: Add new mola-lo-gui-ouster script

  • Update build-ros.yml to disable known regression in current stable Humble Comment out the configuration for non-testing ROS build.

  • Merge pull request #75 from Zeal-Robotics/fix/cli-warn-no-state-estimator-yaml fix(cli): warn when no –state-estimator-param-file is provided

  • fix(cli): warn when no –state-estimator-param-file is provided When mola-lidar-odometry-cli is invoked without –state-estimator-param-file, the state estimator is constructed but initialize() is never called, so it silently runs with the built-in C++ defaults. These differ from the bundled state-estimator-params/*.yaml shipped with this package and used by the corresponding mola-cli-launchs/*.yaml files, which makes the CLI and the GUI launcher behave noticeably differently for the same estimator. Add an else branch that prints a clear warning naming the active estimator class and pointing at the bundled YAMLs, so users know to pass –state-estimator-param-file (or accept the C++ defaults deliberately). No behaviour change otherwise.

  • fix: GUI update staled in some conditions

  • fix: don’t reduce adaptive threshold on bad ICPs

  • fix: UI text labels never updated if ICP was bad

  • fix: clearing gravity vector

  • IMU buffer for gravity alignment: increase max circular buffer size

  • Merge pull request #62 from MOLAorg/wip/draw-gravity-align-as-arrow Draw arrow from IMU gravity alignment

  • CI: Fix for new ROS rolling

  • feat: Optional visualization of IMU gravity alignment vector

  • tests: show error levels even if test pass

  • gicp: lower covariance floors

  • fix: decaying clouds were not cleared if unchecked UI box

  • icp pipeline yaml: add new covariance selection method params

  • feat: ros2 launch file new “use-sim-time:=true” argument

  • feat: Localmap is now also rendered using ‘intensity’ or whatever color channel

  • docs: clear README

  • Merge pull request #72 from manankharwar/patch-1 docs: add FusionCore to Related projects

  • Update README.md

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

2.1.0 (2026-04-29)

  • FIX: show_localmap was not loaded from YAML file; expose more pipeline env vars

  • Merge pull request #70 from MOLAorg/feat/multiple-scans-per-volume simple estimator params file: expose all hardcoded values as env vars

  • simple estimator params file: expose all hardcoded values as env vars

  • Merge pull request #69 from MOLAorg/feat/multiple-scans-per-volume feat: new option to include multiple scans per space volume

  • feat: new option to include multiple scans per space volume

  • feat: Add IMU & LiDAR configurable QoS (requires latest mola_bridge_ros2)

  • Merge pull request #67 from Zeal-Robotics/fix/pose-timestamp-after-deskew fix: stamp published pose with deskew reference time, not raw obs stamp

  • fix: stamp published pose with deskew reference time, not raw obs stamp The ICP-derived pose corresponds to the vehicle at t=0 of the deskewed cloud. With the default FilterAdjustTimestamps: MiddleIsZero, t=0 is the middle of the scan, while obs->timestamp (taken from the LiDAR driver header) is the start of the scan. The published LocalizationUpdate.timestamp and the timestamp fed back into navstate_fuse->fuse_pose() were both using obs->timestamp, so downstream consumers (and the internal fuser) saw a pose tagged with a time roughly half a scan period (~50 ms at 10 Hz) before the moment the pose actually holds. The absolute reference time is already tracked inside ParameterSource::localVelocityBuffer.get_reference_zero_time(): - Generator seeds it with obs->timestamp - FilterAdjustTimestamps shifts it by the same offset it applies to per-point timestamps - FilterAbsoluteTimestamp already uses it as the absolute reference for per-point timestamps This commit reads it back after the observation pipeline runs and threads it through every pose-time use site: - ICP initial-guess query (estimated_navstate) - ICP result fusion (fuse_pose) - estimated_trajectory insertion - past_simplemaps_observations keyframe key - Published LocalizationUpdate, map, deskewed-scan, debug-trace timestamps Sensor-cadence uses (rate stats, drop-too-close logic, debug log context, last_obs_timestamp, per-label staleness tracking) keep the raw obs->timestamp since they are about when the observation arrived, not when the pose holds. If FilterAdjustTimestamps is not configured the buffer’s reference equals obs->timestamp and behavior is unchanged. There is a fallback to obs->timestamp for safety if the buffer was never seeded.

  • Merge pull request #66 from MOLAorg/better-grav-aligner-tests review: address gravity-aligner / rebaker review comments

  • review: address gravity-aligner / rebaker review comments - Fix stale Doxygen on onNewKeyframe (window param) and computePublishResidual (drop tail_kf_id reference, document unconditional residual contract). - TrajectoryRebaker::rebake: slide anchor forward to lower_bound when no KF >= anchor_id exists, so corrected_poses and reported anchor_id stay consistent. - Remove redundant empty-input guard in two-arg rebake overload. - Replace composePoint+subtraction delta computation with rotateVector in TrajectoryRebaker and the test helper. - Extract kDefaultAxisEps single source of truth used by Params and rotationFromGravity. - Fix sign in test bodyGravity comment (a_body.z = +g*cos), clarify accelerometer convention. - Wire maxGravityErrorDeg into KnownPitchTilt_converges as a sanity check. - Clarify LinearDrift_recoversHorizontalPath comment that R_grav per-KF exactly cancels T_odom.R (scenario justifying the 5cm Z tolerance).

  • Merge pull request #65 from MOLAorg/feat/better-gravity-align feat: add GravityMapAligner with per-KF IMU pool and robust gravity estimation

  • fix minimum accelerometer noise

  • feat: add TrajectoryRebaker for per-KF gravity-aware pose chain re-integration

  • feat: add GravityMapAligner with per-KF IMU pool and robust gravity estimation New class GravityMapAligner stores one time-averaged body-frame accelerometer sample per keyframe and provides: - estimateGravityVector / estimatePerKFCorrection: IRLS/Huber-robust weighted mean of R_i·a_body_i to estimate gravity direction in the odom frame, with per-window support for the per-KF rebake path. - rotationFromGravity: pitch/roll-only correction (zero yaw by construction) that sends the estimated gravity vector to +Z. - onNewKeyframe / onKeyframeDropped for pool lifecycle management. Unit tests cover: nullopt below threshold, zero-tilt identity correction, 2° pitch convergence (<0.1°), Huber robustness with 20% outlier KFs, pool eviction, yaw-free output, and per-KF windowed estimation. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

  • Merge pull request #64 from MOLAorg/fix/more-rational-use-mutexes FIX: More rational use of mutexes and shared opengl objects

  • FIX: More rational use of mutexes and shared opengl objects

  • Merge pull request #63 from MOLAorg/fix/deadlock-load-map FIX: potential dead locks/long waits requesting relocalization

  • FIX: potential dead locks/long waits requesting relocalization

  • Merge pull request #60 from Zeal-Robotics/fix/sensor-frame-max-range-and-filter-anchors fix(mola_lidar_odometry): anchor ESTIMATED_SENSOR_MAX_RANGE and FilterByRange at the sensor

  • Rename pipeline _sensor_ names to _observation_radius_, document base_link-anchored deadzone The pipeline variables and YAML param keys historically called _SENSOR_MAX_RANGE / *_sensor_range_ are actually the bounding-radius of the latest observation cloud measured from base_link, not anything sensor-anchored. This caused real-world confusion: users reading the name expected sensor-frame semantics and were puzzled when the canonical FilterByRange deadzone removed points around base_link instead of around the sensor. Rename to make the semantics self-documenting: - Dynamic vars (parameter source): ESTIMATED_SENSOR_MAX_RANGE -> ESTIMATED_OBSERVATION_RADIUS INSTANTANEOUS_SENSOR_MAX_RANGE -> INSTANTANEOUS_OBSERVATION_RADIUS - YAML param keys: max_sensor_range_filter_coefficient -> observation_radius_filter_coefficient absolute_minimum_sensor_range -> absolute_minimum_observation_radius - Mirroring C++ symbol renames in state_, params_, and methods (doInitializeEstimatedObservationRadius etc.). GUI label tweaked. All legacy names remain working as deprecated aliases (dynamic vars are double-published; YAML keys fall back via cfg.getOrDefault). A one-shot warning is emitted at init when the loaded YAML still references any legacy name; aliases can be removed in a future release. The user-facing env var MOLA_ABS_MIN_SENSOR_RANGE is intentionally kept unchanged: the YAML ${VAR|default} substitution is single-pass, so the elegant chained-default pattern doesn’t aliasing it cleanly, and a setenv shim has caveats for callers that load pipelines outside of the canonical entry points. The misnomer survives at the env-var name only; docs already point to the renamed concept. Also clarify in lidar3d-gicp.yaml that the Lu221E cube deadzone is intentionally vehicle-anchored (centered at base_link, not at the sensor) so it covers the vehicle body and a person standing next to the robot regardless of where the sensor is mounted. Users who additionally want a sensor-anchored cut can layer one on via observations_prefilter_file. No behavioral change.

  • Merge branch ‘Zeal-Robotics-perf/prewarm-icp-search-on-startup’ into develop

  • perf(initialize): pre-warm ICP search structures for preloaded local maps When the local map is loaded from disk via load_existing_local_map (the multi-session SLAM / localization-only path), each layer that implements mp2p_icp::IcpPrepareCapable defers building its ICP search structures (per-keyframe global-frame cloud materialization, merged submap construction, KD-tree build, …) until the first call to mp2p_icp::ICP::align(). For a non-trivial preloaded map this is seconds of work that blocks the lidar worker on the very first scan, backs the bag-feed up, and freezes the GUI. Move that cost to startup by walking state_.local_map->layers right after load_from_file and calling icp_get_prepared_as_global() on every IcpPrepareCapable layer, using the configured initial pose as the reference point. The total amount of work is unchanged; it just happens alongside load_from_file (where the user already expects a delay) instead of during real-time playback. If the actual first ICP estimate ends up far from the initial pose, the selected sub-keyframe set may be rebuilt then, but the per-keyframe point-cloud and cache data is already materialized so that rebuild is cheap.

  • Merge pull request #59 from Zeal-Robotics/feat/expose-transform-tolerance-env-vars feat(launch): expose transform_tolerance and transform_publish_period

  • feat(launch): expose transform_tolerance and transform_publish_period Plumbs the two new BridgeROS2 params through the standard MOLA_ROS2_* env-var convention so they can be overridden from ros2 launch without editing YAML: MOLA_ROS2_TRANSFORM_TOLERANCE default 0.1 MOLA_ROS2_TRANSFORM_PUBLISH_PERIOD default 0.05 (20 Hz; 0 disables) Defaults match BridgeROS2 and the AMCL / slam_toolbox / RTAB-Map convention, so consumers can lookupTransform(map, base_link, now()) without tf2 ExtrapolationException.

  • Add MOLA_DESKEW_IGNORE_ACCELEROMETER env var

  • consistent ros2 topic name var MOLA_ODOMETRY_TOPIC for both offline/online

  • Merge pull request #58 from MOLAorg/feat/ros2-diagnostics Implement new mola_kernel diagnostics API

  • clang format

  • diagnostics: use wall-clock reception time for input-data staleness check last_obs_timestamp stores the sensor hardware timestamp which may not be synchronized to system time (GPS-disciplined lidars, unsync’d clocks, etc.). Introduce last_obs_reception_time (set via mrpt::Clock::now() when each scan arrives) and use it for the Input Data stale/error age computation so the check reflects actual data flow rather than sensor-vs-host clock drift. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

  • docs/launch: alphabetical ordering for use_* args; drop spurious tf remap from aggregator - mola_lo_ros_node.rst: move use_diagnostic_aggregator before use_imu_for_lio - launch.py: remove remappings=tf_remaps from diagnostic_aggregator node (it only needs diagnostics topics, not tf) Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

  • diagnostics: fix ICP quality startup false-ERROR, timing period source, and overall scope - ICP Quality: treat as STALE (not ERROR) until state_.last_icp_timestamp is set - Timing: derive sensorPeriod from observed scan interval (last_observed_scan_period_sec) rather than params_.min_time_between_scans throttle threshold - Overall Status: iterate only over entries added by this provider (startIndex..end) so unrelated providers’ diagnostics do not influence the overall level Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

  • diagnostics: validate threshold ordering in Parameters::Diagnostics::initialize Assert that warn < error for icp_quality, input_stale_sec, and dropped_ratio, and that all values are in their valid ranges, so misconfiguration cannot silently invert severities at runtime. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

  • Add optional diagnostic_aggregator launch + sample config Off by default (use_diagnostic_aggregator:=True to enable). Intended for isolated bring-up/demos; in a larger stack a central aggregator should group LidarOdometry statuses instead. Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>

  • docs: add REP-107 diagnostics page for MOLA-LO Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>

  • Implement new mola_kernel diagnostics API (exported to ROS2 via BridgeROS2)

  • ros2 launch: improved configuration validator

  • ros2 launch: Add missing mola_bridge_odometry_frame argument; fix broken behavior

  • Merge pull request #57 from MOLAorg/feat/clarify-usage-modes docs: clarify usage modes; cli: add /tf selection args

  • ros2 launch: safe guard against importing duplicated odometry

  • ros2 launch: add wheels odometry arguments; fix opaque function must come last

  • docs: clarify usage modes; cli: add /tf selection args

  • Auto-transition to active mode after state estimator convergence

  • GUI: Add message when lidar stream starts

  • Merge pull request #55 from MOLAorg/feat/add-odom-frame-env-var ros2 launch: export MOLA_TF_ESTIMATED_ODOMETRY

  • ros2 launch: export MOLA_TF_ESTIMATED_ODOMETRY from mola_lo_reference_frame for consistency

  • Merge pull request #54 from MOLAorg/fix-missing-ros2-launch-base-link BUGFIX: Changing base_link in ros2 launch didn’t propagate to LO

  • BUGFIX: Changing base_link in ros2 launch didn’t propagate to LO

  • Merge pull request #45 from MOLAorg/fix/init-from-gps-imu Support initialization from state estimator

  • Support initialization from state estimator

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

  • Rename the family of _sensor_ pipeline names that actually meant observation-from-base_link to _observation_radius_ / *_OBSERVATION_RADIUS to clarify semantics. The legacy names remain as deprecated aliases so existing pipelines keep working unchanged; a one-shot warning is emitted at init when the loaded YAML still references any legacy name. The aliases will be removed in a future release.

    • Dynamic variables: ESTIMATED_SENSOR_MAX_RANGE → ESTIMATED_OBSERVATION_RADIUS, INSTANTANEOUS_SENSOR_MAX_RANGE → INSTANTANEOUS_OBSERVATION_RADIUS.

    • YAML param keys: max_sensor_range_filter_coefficient → observation_radius_filter_coefficient, absolute_minimum_sensor_range → absolute_minimum_observation_radius.

2.0.0 (2026-04-02)

  • Merge pull request #53 from MOLAorg/feat/use-imu-grav-align Use IMU readings to estimate gravity up vector as ICP prior constraint

  • Add formal CLA

  • mola-cli-launch files: apply yaml format

  • FIX: mola-lidar-odometry-cli now can handle the two types of GPS messages too

  • gui stats: more robust sensor rate estimation (include gnss now too)

  • docs: add layer name to pipeline table

  • gicp pipeline: expose new KF-metric map parameters as optional env vars

  • ros2 launch: add new argument ‘gpsfix_topic_name’ for GPSFix messages

  • Merge pull request #50 from MOLAorg/feat/refactor-gui Port to the new backend agnostic GUI API

  • Port to the new backend agnostic GUI API

  • ROS2 node and ros2bags: support gps_msgs/GpsFix messages too

  • On bad ICP, do neither publish or show deskewed scans

  • gicp pipeline: expose more env vars for KF map params

  • Merge pull request #48 from MOLAorg/feat/selective-icp-log New env var to debug bad ICP cases: MOLA_WRITE_DEBUG_ICP_LOG_IF_QUALITY_UNDER

  • New env var to debug bad ICP cases: MOLA_WRITE_DEBUG_ICP_LOG_IF_QUALITY_UNDER

  • CSV stats: include icp_quality too

  • Merge pull request #47 from MOLAorg/better-deskew-performance More efficient deskew and visualization

  • refactor deskew and viz updates

  • Ensure no detached threads (#46) * Fix: potential miss error report saving mm files * Ensure no detached threads for disk io * minor fixes

  • fix obsolete usage of ament_target_dependencies()

  • Remove no longer needed param period_publish_new_localization (Removed in BridgeROS2)

  • Fix: provide a mechanism to read 2D lidar from ROS (#43) * Fix: provide a mechanism to read 2D lidar from ROS * docs: add new ros launch argument lidar_topic_type * doc: better roslaunch arg description

  • Fix building against older versions of mrpt & mp2p_icp

  • Saving simplemap with lazy-load is done in its own detaled thread

  • Merge pull request #40 from MOLAorg/feat/more-clang-tidy-checks Add many more clang-tidy checks

  • Remove thread_local aux variable for viz camera rotation

  • Increase level of clang-tidy warnings, and fix them

  • Copyright year bump

  • Merge pull request #39 from MOLAorg/feat/optional-prefilter-pipeline Add optional prefilter pipeline for all ICP methods

  • Add many more clang-tidy checks

  • Add optional prefilter pipeline for all ICP methods

  • Contributors: Jose Luis Blanco-Claraco

1.3.1 (2025-12-29)

  • Merge pull request #36 from MOLAorg/feat/use-generic-map-fields Use CGenericPointsMap to propagate all sensor per-point fields thru mapping pipelines

  • Support to visualize clouds in MOLA Viz recolorized by any cloud point field

  • Use CGenericPointsMap to propagate all sensor per-point fields thru mapping pipelines

  • Contributors: Jose Luis Blanco-Claraco

1.3.0 (2025-12-15)

  • Add CI and documentation badges to README Added badges for CI build, clang-format, documentation, and code coverage.

  • Add option ‘use_imu_orientation’ to disable using IMU orientation for initialization

  • docs: add table clarifying localmap types

  • Make it compatible with observations w/o cov

  • Discard GPS readings with invalid cov matrix

  • Add warning if sensor stamps go backwards in time

  • Update usage instructions for mola_lo_apps.rst Added usage instructions for LIO with Ouster in mola_lo_apps.rst.

  • Contributors: Jose Luis Blanco-Claraco

1.2.2 (2025-11-08)

  • Add quick instructions to launch mola-lo-gui on an Ouster dataset

  • Add option to store persistent settings and check version

  • Fix: missing publication of LocalMap if BridgeROS2 loads after this module.

  • Contributors: Jose Luis Blanco-Claraco

1.2.1 (2025-10-28)

  • Fix build against upcoming mrpt v2.15.0

  • Reduce the limit of published points to avoid FoxGlove WS overflow

  • docs: show first usage with rosbags & rawlogs

  • Contributors: Jose Luis Blanco-Claraco

1.2.0 (2025-10-21)

  • Tune ROS2 publication rates for reduced viz load

  • New option ‘publish_deskewed_scans’

  • Fix unit tests

  • ros2 launch: sort arguments

  • Contributors: Jose Luis Blanco-Claraco

1.1.0 (2025-10-20)

  • Docs: describe the new GICP and LIO pipelines

  • Update rviz settings

  • Prefer to publish deskewed clouds in ‘map’ frame

  • FIX: ROS2 interface must use correct cloud and pose timestamps

  • Update and fix LIO ROS2 launch demo and docs

  • ROS: support rendering deskewed clouds

  • Replace deprecated ament_target_dependencies() with pure cmake

  • Publish deskewed scans for ROS visualization

  • Make use of ConstPtr for processing incoming observations

  • Code clean up: remove macros for building against very old mola_kernel versions

  • ros2 launch: add argument ‘mola_tf_base_link’

  • Contributors: Jose Luis Blanco-Claraco

1.0.0 (2025-10-13)

  • Merge pull request #26 from MOLAorg/feature/better-lio Better LIO & new GICP pipeline

  • CI: Run on ROS testing only

  • Add custom ‘name’ to pipeline stages for profiler

  • Update docs: Show example of use for MOLA_TF_BASE_LINK=os_sensor

  • Feature: add option to save deskewed clouds

  • refactor part of processScan() for code clarity

  • fix clang-tidy warnings

  • New config flag MOLA_SAVE_MM to save final metric map at session end

  • add option to re-colorize clouds by intensity (local map)

  • Add a clear message at initialization showing the name of the used pipeline

  • Fix macro to detect newer mp2p_icp version

  • cli app: show LO pose

  • Refactor the way Lidar scans are enqueued depending on LO/LIO usage

  • ICP pipelines: renamed old ‘default’ as ‘icp’, and add new ‘default’ symlink pointing to ‘gicp’

  • cli: use MOLA YAML parser for state estimation files

  • Fix kitti eval scripts

  • cli: fix expected contents of state estimation param files

  • Debug traces: more covariance data

  • GUI: Show keyframe stats

  • configurable icp quality setpoint

  • Fix lidar rate for multiple lidars

  • New param to change the color of trajectory in the GUI

  • reset local viz clouds when re-localizing

  • gicp pipeline: use 2 resolutions (icp / map)

  • Auto-scale intensity for visualization

  • Less aggressive P controller for adaptive sigma

  • Use adaptive sampler

  • Update to latest mp2p_icp library API

  • Progress optimizing new gicp pipeline

  • New GICP pipeline file

  • Fix for latest mola imu API changes

  • Send velocity and orientations to the local velocity buffer

  • Better visualization of current / past clouds, with configurable colormaps from the yaml file

  • Move to the new deskew_method flag in mp2p_icp

  • README.md: update bibtex reference

  • Move IMU initialization to package mola_imu_preintegration

  • IMU initializer moved out to the mola_imu_preintegration package for better reusability

  • PitchRoll init: Add to-do note on IMU bias

  • GUI: show lidar & imu rates

  • remove obsolete pipeline

  • Fix typos in YAML comments

  • Configurable GUI background color

  • Implement display dense local map (decaying deskewed clouds)

  • Implement visualization of past clouds as transparent, decaying clouds

  • Add missing header for latest mola_kernel

  • option to show mulran dataset clouds with their real intensity channel

  • Visualization: show the deskewed current observation instead of raw

  • Contributors: Jose Luis Blanco-Claraco

0.9.0 (2025-08-26)

  • FIX: bug in formula for pitch-roll initialization from IMU

  • Store local IMU velocity buffer in key-frame simplemaps

  • mola-lidar-odometry-cli: New CLI arguments to support datasets with IMUs

  • Implement precise IMU-based deskew (requires latest mp2p_icp library)

  • fix clang-format

  • Modernize copyright notices

  • rosbag2 mola-cli launch file: add MOLA_ROS2BAG_EXPORT_TO_RAWLOG_FILE optional env var

  • Contributors: Jose Luis Blanco-Claraco

0.8.0 (2025-06-06)

  • 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

0.7.3 (2025-05-25)

  • 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

0.7.2 (2025-04-23)

  • 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

0.7.1 (2025-03-15)

  • 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

0.7.0 (2025-02-22)

  • 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

0.6.2 (2025-02-13)

  • 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

0.6.1 (2025-01-26)

  • 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

0.6.0 (2025-01-21)

  • 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

0.5.4 (2025-01-16)

  • 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

0.5.3 (2025-01-15)

  • 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

0.5.2 (2025-01-11)

  • 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

0.5.1 (2025-01-07)

  • mola-lidar-odometry-cli: add flags to select the state estimation method

  • Contributors: Jose Luis Blanco-Claraco

0.5.0 (2024-12-29)

  • 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

0.4.1 (2024-12-20)

  • 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

0.4.0 (2024-12-18)

  • 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

0.3.3 (2024-09-01)

  • default 3D pipeline: Expose a couple more parameters as env variables

  • Depend on new mrpt_lib packages (deprecate mrpt2)

  • Contributors: Jose Luis Blanco-Claraco

0.3.2 (2024-08-26)

  • Support input dataset directories for split bags

  • Contributors: Jose Luis Blanco-Claraco

0.3.1 (2024-08-22)

  • add missing exec dependencies to package.xml for mola-lo-* commands.

  • Contributors: Jose Luis Blanco-Claraco

0.3.0 (2024-08-14)

  • First public release

  • Contributors: Jose Luis Blanco-Claraco