Changelog

This page aggregates the changelogs from the most relevant MOLA repositories:

mola_bridge_ros2

Changelog for package mola_bridge_ros2

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)

mola_kernel

Changelog for package mola_kernel

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

mola_lidar_odometry

Changelog for package mola_lidar_odometry

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

mola_metric_maps

Changelog for package mola_metric_maps

2.9.0 (2026-05-11)

• fix: KeyframePointCloudMap viz should honor pointSize

• 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

• Contributors: Jose Luis Blanco-Claraco

2.8.0 (2026-04-29)

• Merge pull request #139 from MOLAorg/fix/monothonic-kf-ids Fix: ensure monothonic KF ids

• Fix: ensure monothonic KF ids

• Merge pull request #138 from MOLAorg/fix/kf-map fix: robustify edge cases from last API changes

• fix: robustify edge cases from last API changes

• Merge pull request #137 from MOLAorg/feat/metric-map-changes-for-lo-grav-align mola_metric_maps: per-KF pose plumbing for online gravity rebake

• feat(mola_metric_maps): per-KF pose plumbing for online gravity rebake Add the KeyframePointCloudMap APIs needed by mola_lidar_odometry’s online gravity-rebake feature: - cloneKFPoses: snapshot of all KF poses keyed by id - setKeyframePose: per-KF pose overwrite with cache invalidation - lastInsertedKeyFrameID / nextFreeKeyFrameID_public: id introspection - drainEvictedKeyFrameIDs: pull-then-clear list of KFs dropped during remove_frames_farther_than-driven evictions inside insertObservation Also exports the MOLA_METRIC_MAPS_HAS_KFM_POSE_PLUMBING feature macro so downstream packages in separate repos (mola_lidar_odometry) can guard usage with __has_include + this macro and stay buildable against older mola_metric_maps checkouts. Adds unit-test coverage for the new APIs in test-mola_metric_maps_keyframemap. Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>

• Merge pull request #134 from Zeal-Robotics/perf/keyframe-prewarm-global-submap perf(mola_metric_maps): pre-warm global-frame submap data in icp_get_prepared_as_global

• perf(mola_metric_maps): pre-warm global-frame submap data in icp_get_prepared_as_global icp_get_prepared_as_global() was building, on the search submap, only the local-frame KD-tree and per-point covariances (via KeyFrame::buildCache): - bbox - kdTreeEnsureIndexBuilt3D() on pointcloud_ (local frame) - computeCovariancesAndDensity() (local frame) The very first call to nn_search_cov2cov() then lazily materialized the global-frame counterparts on the caller thread: - pointcloud_global() (deep copy of pointcloud_ rotated by pose()) - kdTreeEnsureIndexBuilt3D() on the global cloud - covariancesGlobal() (rotated covariances) For a non-trivial preloaded local map this stalled the first ICP align() by several seconds (e.g. ~6 s on a typical localization map), defeating the purpose of having a separate “prepare global” hook. Front-ends that explicitly pre-warm via icp_get_prepared_as_global() at startup were hit hardest, since the remaining lazy work then showed up on the very first scan instead of being amortized across startup. Pre-trigger the same three calls at the end of icp_get_prepared_as_global() so the search submap is fully ready by the time ICP::align() / nn_search_cov2cov() runs.

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

2.7.0 (2026-04-22)

• Reorganize website

• 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

2.6.1 (2026-04-02)

• Merge pull request #119 from MOLAorg/fix/thread-safety Fix/thread safety

• mola_metric_maps: FIX potential race conditions They didn’t happen in practice but to be safe code clean up wip

• Fix potential race in KeyframePointCloudMap::icp_get_prepared_as_global()

• Fix MRPT version required for updated insertAnotherMap() API

• Contributors: Jose Luis Blanco Claraco, 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

• Honor the documented disable semantics for max_view_angle_deg

• NDT tests: fix clang-tidy warnings

• view-direction NN filter; add KF map unit tests

• Fix: possible invalid deref

• Better criterion to select active frames

• KeyFramePointCloudMap: Add two debug env vars to control visualization

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

• BUG FIX: creationOptions were not loaded from ini file in KeyframePointCloudMap

• fix clang-tidy warning: avoid std::endl

• Update coyright notes

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

2.5.0 (2026-02-14)

• 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)

• KeyframePointCloudMap: viz now reuses mrpt function for better generalized per-field coloring and avoid code duplication

• Contributors: Jose Luis Blanco-Claraco

2.3.0 (2025-12-15)

• KF metric map: change heuristic to select nearby KFs for NN matching taking into account the orientation

• KeyFramePointCloudMap: new rendering option to show XYZ axes

• Contributors: Jose Luis Blanco-Claraco

2.2.1 (2025-11-08)

• Metric maps: implement missing loading ‘color.A’ from config files

• Contributors: Jose Luis Blanco-Claraco

2.2.0 (2025-10-28)

• format

• Upgrade to use the upcoming MRPT 2.15 API for CGenericsPointsMap

• KeyFrames metric map: new option to visualize (via ROS publish) with a maximum number of points, downsampling for better performance

• Contributors: Jose Luis Blanco-Claraco

2.1.0 (2025-10-20)

• Fix formatting

• Implement getAsSimplePointsMap()

• KeyframePointCloudMap: Fix class must be copy-constructible

• Contributors: Jose Luis Blanco-Claraco

2.0.0 (2025-10-13)

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

• add optional debug viz files; fix race conditions

• cov2cov pairings now saves the sqrt(cov_inv)

• Move to new mp2p_icp cov2cov matcher API

• Update missing copyright notices

• New KeyframePointCloudMap map

• Fix typos and clang-tidy hints

• Fix clang-tidy formatting tips

• Contributors: Jose Luis Blanco-Claraco

1.9.1 (2025-07-07)

1.9.0 (2025-06-06)

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 copyright year

• Contributors: Jose Luis Blanco-Claraco

1.7.0 (2025-05-06)

• fix clang-format

• Metric maps can now be rendered as semitransparent pointclouds

• Contributors: Jose Luis Blanco-Claraco

1.6.4 (2025-04-23)

• robin-map: Update to v1.4.0

• modernize clang-format

• Contributors: Jose Luis Blanco-Claraco

1.6.3 (2025-03-15)

1.6.2 (2025-02-22)

1.6.1 (2025-02-13)

1.6.0 (2025-01-21)

1.5.1 (2024-12-29)

1.5.0 (2024-12-26)

1.4.1 (2024-12-20)

1.4.0 (2024-12-18)

1.3.0 (2024-12-11)

• NDT maps: more render options (enable colormaps,etc.)

• mola_metric_maps: robin-maps upgraded to latest version

• Contributors: Jose Luis Blanco-Claraco

1.2.1 (2024-09-29)

1.2.0 (2024-09-16)

• gcc warning fix

• Avoid gcc warning

• Merge pull request #69 from MOLAorg/new-map-ndt New NDT-3D metric map

• Add NDT-3D map class

• Remove leftover dead .cpp file from MOLA package template

• FIX BUG: missing cmake dependency on robin_map in exported targets

• 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)

• 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)

• Update robin-map to latest version (Fix cmake < 3.5 compatibility warning)

• ament_lint_cmake: clean warnings

• Contributors: Jose Luis Blanco-Claraco

1.0.7 (2024-07-24)

1.0.6 (2024-06-21)

1.0.5 (2024-05-28)

1.0.4 (2024-05-14)

• Metric maps: load insertion options from field ‘insertOpts’ instead of ‘insertionOptions’ for compatibility with all other MRPT maps

• disable clang-format in 3rdparty submodules

• Fix usage of const_cast<> with proper value() method

• bump cmake_minimum_required to 3.5

• Contributors: Jose Luis Blanco-Claraco

1.0.3 (2024-04-22)

• Add macro HASHED_VOXEL_POINT_CLOUD_WITH_CACHED_ACCESS

• Fix package.xml website URL

• Contributors: Jose Luis Blanco-Claraco

1.0.2 (2024-04-04)

1.0.1 (2024-03-28)

1.0.0 (2024-03-19)

• implement cached conversion to pointcloud

• make cfg file section optional

• FIX: error on rendering empty voxel maps

• HashedVoxelPointCloud: add missing reserve()

• copyright update

• Contributors: Jose Luis Blanco-Claraco

0.2.2 (2023-09-08)

mola_state_estimation_simple

Changelog for package mola_state_estimation_simple

2.4.0 (2026-05-11)

• Merge pull request #30 from MOLAorg/bump-cmake-version bump min req cmake version to 3.22

• bump min req cmake version to 3.22

• Merge pull request #29 from MOLAorg/fix/odometry-fuse-pose-twist-corruption fix(state_estimation_simple): correct twist and initial-guess corruption when wheel odometry is active

• Add more unit test cases

• fix: odom twist does not overwrite IMU wx/wy

• fix(state_estimation_simple): correct twist and initial-guess corruption when wheel odometry is active Three inter-related bugs caused the LiDAR adaptive threshold sigma to grow toward maximum_sigma whenever wheel odometry was fused: 1. Wrong twist from fuse_pose() when odometry is active. fuse_pose() computed incrPose = new_ICP - last_pose, but last_pose had been modified by fuse_odometry() / fuse_odometry_3d_pose() between scans. The result was the odometry residual / dt instead of the true robot velocity, corrupting de-skewing and the rot_error term in the adaptive threshold. Fix: per-source SourceState in State tracks each source’s own last absolute pose and timestamp. fuse_pose() now computes incrPose = new_ICP - src.last_pose, which is always the true ICP-to-ICP motion regardless of intervening odom updates. 2. CObservationRobotPose (3D odom path) overwrote last_pose_obs_tim. When BridgeROS2 forwards wheel odometry as CObservationRobotPose (odometry_as_robot_pose_observation=true), onNewObservation() routed it to fuse_pose(), which updated last_pose_obs_tim to the odom timestamp. If the next LiDAR ICP fuse_pose() arrived with a slightly earlier timestamp, dt < 0 and the call was silently rejected. last_pose was then the absolute wheel odometry pose (in the odom frame), producing ~90-degree initial-guess errors for ICP (confirmed by debug traces showing motionModelError with yaw ~ -1.56 rad and pitch ~ 0.51 rad on a stationary ground robot). Fix: route CObservationRobotPose matching do_process_odometry_labels_re to a new fuse_odometry_3d_pose() method that applies an incremental delta to last_pose (keeping it in the SLAM frame) and never touches last_pose_obs_tim. 3. fuse_odometry() ignored the velocity carried in CObservationOdometry. BridgeROS2 always populates hasVelocities / velocityLocal from the ROS /odom twist. Those values were discarded, leaving last_twist stale. Fix: when hasVelocities is true, update last_twist from velocityLocal. IMU angular rates (fuse_imu) still override wx/wy/wz when available. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

• chore: reduce fuse_pose() backwards in time warning rate

• Contributors: Jose Luis Blanco-Claraco

2.3.1 (2026-05-04)

• Merge pull request #28 from Zeal-Robotics/fix/simple-fuse-imu-preserve-linear-twist fix(state_estimation_simple): preserve linear twist across fuse_imu() Regression introduced in 15a1fce (“Add tests for simple estimator”).

• Merge pull request #26 from MOLAorg/fix/smoother-issues Fix misc smoother issues

• Remove copies of RegexCache.h and use the shared version in mola_kernel

• Merge pull request #25 from MOLAorg/feat/simple-also-process-robot-pose-obs feat: Simple estimator now also processes CObservationsRobotPose

• add regex filtering

• feat: Simple estimator now also processes CObservationsRobotPose

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

2.3.0 (2026-04-29)

• Merge pull request #24 from MOLAorg/fix/bugs-in-simple-estimator-cov Fix: Avoid double covariance increment

• fix: don’t use twist cov in propagating pose uncertainty in this simple mode

• Fix: Avoid double covariance increment

• Contributors: Jose Luis Blanco-Claraco

2.2.0 (2026-03-03)

2.1.0 (2026-02-14)

• Merge pull request #13 from MOLAorg/feat/publish-georef-on-converge Publish geo-ref on convergence

• Include the RDC API in the tests

• Refactor publish georef and sensor label regex fix filtering observations by sensor label regex refactor to publish georef on converged automatically fix build against older mola_kernel Fix wrong logic in GNSS fuse

• remove old mola version guards

• Contributors: Jose Luis Blanco-Claraco

2.0.1 (2026-01-15)

2.0.0 (2026-01-14)

• Merge pull request #7 from MOLAorg/feature/tricycle-kinematic Add tricycle kinematics

• lint clean ups

• Copyright year bump

• Merge pull request #8 from MOLAorg/fix/add-simple-estimator-unit-tests Add tests for simple estimator

• Add tests for simple estimator

• Merge pull request #5 from MOLAorg/feature/fuse-gnss-imu-odom Refactor: new packages mola_georeferencing, mola_gtsam_factors, functional smoother state estimator

• One further fix for cmake

• integrate code coverage in cmake

• Refactor to expose all gtsam factors into a new library ‘mola_gtsam_factors’

• Contributors: Jose Luis Blanco-Claraco

1.11.1 (2025-10-20)

• Update to build against MOLA>=2.1.0 with ConstPtr API

• Contributors: Jose Luis Blanco-Claraco

1.11.0 (2025-10-05)

• Move mola_imu_preintegration out of this repo The new repository is: https://github.com/MOLAorg/mola_imu_preintegration

• Merge pull request #4 from MOLAorg/feature/imu Refactor IMU library

• Fix using new IMU integration API

• Move LocalVelocityBuffer class here from mp2p_icp repository

• Contributors: Jose Luis Blanco-Claraco

1.10.0 (2025-09-07)

• Update copyright notice

• Make unhandled sensor input topic message less verbose

• Contributors: Jose Luis Blanco-Claraco

1.9.0 (2025-06-06)

• State estimation interface is now raw data consumer too

• FIX: Error if sensor labels were provided in config yaml file

• Contributors: Jose Luis Blanco-Claraco

1.8.1 (2025-05-25)

• Feature: Implement basic twist covariance handling in the SimpleEstimator

• fixes for clang-tidy

• Contributors: Jose Luis Blanco-Claraco

1.8.0 (2025-03-15)

• const correctness

• State estimation modules now are proper MOLA raw inputs, so they automatically subscribe and consume input sensors (IMU, GPS, wheels odometry)

• Contributors: Jose Luis Blanco-Claraco

1.7.0 (2025-02-22)

• Add parameter enforce_planar_motion

• Contributors: Jose Luis Blanco-Claraco

1.6.1 (2025-01-10)

• Merge pull request #1 from MOLAorg/9-need-help-on-integrating-imu-for-lidar-odometry More stable integration of IMU twist information

• Shorter logger name

• Fix package.xml URLs

• tolerate unsorted sensor inputs without throwing

• Contributors: Jose Luis Blanco-Claraco

1.6.0 (2025-01-03)

• Simple estimator: Integrate IMU angular velocity readings

• Contributors: Jose Luis Blanco-Claraco

1.5.0 (2024-12-26)

1.4.1 (2024-12-20)

1.4.0 (2024-12-18)

• Allow zero variances for some pose components

• Contributors: Jose Luis Blanco-Claraco

1.3.0 (2024-12-11)

• Start integrating GNSS observation. Added a new CLI program mola-navstate-cli for testing state fusion

• Contributors: Jose Luis Blanco-Claraco

1.2.1 (2024-09-29)

1.2.0 (2024-09-16)

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 #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)

• ament_lint_cmake: clean warnings

• Contributors: Jose Luis Blanco-Claraco

1.0.7 (2024-07-24)

1.0.6 (2024-06-21)

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

• Twist in local frame

• Contributors: Jose Luis Blanco-Claraco

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)

• Fix package.xml website URL

• Contributors: Jose Luis Blanco-Claraco

1.0.2 (2024-04-04)

1.0.1 (2024-03-28)

1.0.0 (2024-03-19)

• use odometry

• add new package mola_state_estimation_simple

• Contributors: Jose Luis Blanco-Claraco

0.2.2 (2023-09-08)

mola_state_estimation_smoother

Changelog for package mola_state_estimation_smoother

2.4.0 (2026-05-11)

• FIX: reset() should reinitialize gtsam

• FIX: don’t let gtsam exceptions to crash the node

• fix: support building in ROS2 humble with newer cmake

• Merge pull request #30 from MOLAorg/bump-cmake-version bump min req cmake version to 3.22

• bump min req cmake version to 3.22

• Contributors: Jose Luis Blanco-Claraco

2.3.1 (2026-05-04)

• Merge pull request #27 from MOLAorg/feature/ros2-integration-tests Add ROS 2 launch-testing integration tests for StateEstimationSmoother

• fix missing test dep

• workaround for older mola_yaml

• Fix frames of reference for the test checker

• Progress fixing integration test

• mock test code clean up

• More debug traces in python mock integration test

• Add ROS 2 launch-testing integration tests for StateEstimationSmoother Two end-to-end test scenarios driven by a Python sensor mock node.

• Merge pull request #26 from MOLAorg/fix/smoother-issues Fix misc smoother issues

• Clarify docs and fix test noise thresholds

• Remove copies of RegexCache.h and use the shared version in mola_kernel

• fix: make RegexCache move-assignable after adding std::mutex

• fix: guard IMU quaternion path against NaN components in fuse_imu

• fix: make RegexCache::get_regex thread-safe

• fix: replace ASSERT_ with descriptive exception in get_latest_state_and_covariance

• fix: use monotonic counter for odometry frame IDs

• fix: check both link sets before inserting in add_kinematic_factor_between

• fix: make GNSS Huber threshold a configurable parameter

• fix: skip BetweenFactor on first fuse_odometry call

• feat: Print number of active factors in DEBUG log level

• Contributors: Jose Luis Blanco-Claraco

2.3.0 (2026-04-29)

• Merge pull request #23 from MOLAorg/feat/fuse-ros2-demos Add ros2 launch demo files to fuse 2 odometries

• mola cli launch file: made generic for multiple odometry sources

• harden frame name usage

• Odometry sources: use CObservationRobotPose::sensorLabel as ‘tf’ frame name

• Add ros2 launch demo files to fuse 2 odometries

• Merge pull request #22 from MOLAorg/feat/refactor-mutexes Feat/refactor mutexes

• Refactor to use regular mutex instead of recursive_mutex

• Merge pull request #21 from MOLAorg/fix-misc Fixes for 2D motion

• FIX: Planar constraints didn’t constraint roll / pitch, only tz

• FIX: 2D probabilistic model used wrong XY uncertainty

• Contributors: Jose Luis Blanco-Claraco

2.2.0 (2026-03-03)

• Merge pull request #14 from MOLAorg/feature/use-imu-for-georef-hint Feature/use-imu-for-georef-hint

• clang-format

• Contributors: Jose Luis Blanco-Claraco

2.1.0 (2026-02-14)

• Merge pull request #13 from MOLAorg/feat/publish-georef-on-converge Publish geo-ref on convergence

• get onObservation() and has_converged_localization() method tested too

• Refactor publish georef and sensor label regex fix filtering observations by sensor label regex refactor to publish georef on converged automatically fix build against older mola_kernel Fix wrong logic in GNSS fuse

• remove old mola version guards

• unit test: relax threshold to avoid spurious failures

• Publish geo-ref on convergence add new params to yaml file

• Contributors: Jose Luis Blanco-Claraco

2.0.1 (2026-01-15)

• test: less strict limits to avoid random failures

• cmake: Remove non-used find_package() for ament_lint_auto

• Merge pull request #11 from MOLAorg/feat/improve-docs Improve docs for mola_gtsam_factors

• Contributors: Jose Luis Blanco-Claraco

2.0.0 (2026-01-14)

• Merge pull request #7 from MOLAorg/feature/tricycle-kinematic Add tricycle kinematics

• Use bad initial pose for unit test

• unit test: same conditions for different kinematic models

• Copyright year bump

• Add FactorTricycleKinematic

• Implement twist fusion

• Add twist unit test

• Unit test: include tricycle tests too

• Enable connection to MolaViz for console messages

• converted into ament_cmake; update template yaml params file

• Add templates to launch the estimator as a standalone ROS 2 node

• Merge pull request #5 from MOLAorg/feature/fuse-gnss-imu-odom Refactor: new packages mola_georeferencing, mola_gtsam_factors, functional smoother state estimator

• More realistic drift case: IMU helps LO

• fix test: correct IMU acc simulation

• Default params: more common case of starting near static

• fixed imu acc gravity alignment

• Add two-odometry unit test

• fix error, and add support for azimuth offset

• add IMU+GPS based azimuth estimation

• Refactor: symbolic factor classes moved as internal smoother classes

• Make mola_gtsam_factors non headers-only and rename GNSS2ENU as GnssEnu for consistency

• fixed missing extrapolation steps

• implement basic pose extrapolation

• honor initial twist

• Fixed odom+gnss fusion

• implement correct auto geo-referenciation

• Support fusing poses wrt map frame too

• marginals for uncertainty

• refactor to use Pose3 instead of P+R

• initialize georef gtsam variables

• Make important parameters mandatory in yaml config files

• New unit test for fusing GPS+odometry

• process CObservationRobotPose

• One further fix for cmake

• integrate code coverage in cmake

• Update .h docs to match the new design

• Enable code coverage

• Update parameters to hold new geo-ref fields

• Refactor to expose all gtsam factors into a new library ‘mola_gtsam_factors’

• Contributors: Jose Luis Blanco-Claraco

1.11.1 (2025-10-20)

• Update to build against MOLA>=2.1.0 with ConstPtr API

• Contributors: Jose Luis Blanco-Claraco

1.11.0 (2025-10-05)

• Move LocalVelocityBuffer class here from mp2p_icp repository

• Contributors: Jose Luis Blanco-Claraco

1.10.0 (2025-09-07)

• Fix build against gtsam>=4.3

• Update copyright notice

• Make unhandled sensor input topic message less verbose

• Contributors: Jose Luis Blanco-Claraco

1.9.0 (2025-06-06)

• State estimation interface is now raw data consumer too

• FIX: Error if sensor labels were provided in config yaml file

• Contributors: Jose Luis Blanco-Claraco

1.8.1 (2025-05-25)

• Update copyright year

• fixes for clang-tidy

• Contributors: Jose Luis Blanco-Claraco

1.8.0 (2025-03-15)

• const correctness

• State estimation modules now are proper MOLA raw inputs, so they automatically subscribe and consume input sensors (IMU, GPS, wheels odometry)

• Contributors: Jose Luis Blanco-Claraco

1.7.0 (2025-02-22)

• Use more generic localization source name

• make it thread safe; fix replaying extrapolated poses using past timestamps

• Documentation: explain the different types of factors and kinematic models

• Smoother: observe the enforce_planar_motion parameter

• FIX: use last guess as initial values to improve optimization stability; expose more parameters

• StateEstimationSmoother: Publish pose updates in a timely manner

• Add parameter enforce_planar_motion

• Fix gtsam must be a runtime depend too

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

1.6.1 (2025-01-10)

• Shorter logger name

• Contributors: Jose Luis Blanco-Claraco

1.6.0 (2025-01-03)

1.5.0 (2024-12-26)

1.4.1 (2024-12-20)

1.4.0 (2024-12-18)

1.3.0 (2024-12-11)

• Start integrating GNSS observation. Added a new CLI program mola-navstate-cli for testing state fusion

• Contributors: Jose Luis Blanco-Claraco

1.2.1 (2024-09-29)

1.2.0 (2024-09-16)

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)

• Update test-navstate-basic.cpp: less noisy test data for more predictable results

• 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)

• 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)

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

• Contributors: Jose Luis Blanco-Claraco

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)

• Fix package.xml website URL

• Contributors: Jose Luis Blanco-Claraco

1.0.2 (2024-04-04)

1.0.1 (2024-03-28)

1.0.0 (2024-03-19)

• use odometry

• add new package mola_state_estimation_simple

• Contributors: Jose Luis Blanco-Claraco

0.2.2 (2023-09-08)

mola_viz

Changelog for package mola_viz

2.9.0 (2026-05-11)

• Merge pull request #112 from MOLAorg/feat/dear-imgui-viz Introduce Dear ImGui alternative viz module

• chore: misc improvements

• Introduce Dear ImGui alternative viz module

• 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

• Contributors: Jose Luis Blanco-Claraco

2.8.0 (2026-04-29)

2.7.0 (2026-04-22)

2.6.1 (2026-04-02)

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

• Add missing nanogui layout

• 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

• Use safer livestring registry

• minor fixes

• Add support for menu bars

• MolaViz implements the new backend agnostic API

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

• Refactor decay-clouds so they are invariant to wallclock incoming speed

• Update coyright notes

• fix clang-tidy warnings

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

2.5.0 (2026-02-14)

• Fix: mola_viz lidar preview didn’t filter Inf ranges in stats

• 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)

• Fix build against upcoming mrpt 2.15.4

• Prepare for deprecated mrpt::maps classes towards mrpt 3.0.0

• viz pointclouds preview: fix missing uint8_t fields

• Contributors: Jose Luis Blanco-Claraco

2.3.0 (2025-12-15)

• Fix: missing uint fields stats in PCD preview GUI in mola_viz

• mola-viz: fix NaNs in range of each point channel preview window

• Viz: Fix handling multi-line messages in the UI terminal

• Contributors: Jose Luis Blanco-Claraco

2.2.1 (2025-11-08)

2.2.0 (2025-10-28)

• format

• Upgrade to use the upcoming MRPT 2.15 API for CGenericsPointsMap

• Contributors: Jose Luis Blanco-Claraco

2.1.0 (2025-10-20)

• FIX: Show correct sensor rate in Hz when visualizing with a decimation

• Fix clang-tidy warnings

• Contributors: Jose Luis Blanco-Claraco

2.0.0 (2025-10-13)

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

• Fix warnings

• fix build against old mrpt versions

• Implement removal of decayed clouds

• MolaViz: Add method clear_all_point_clouds_with_decay()

• MolaViz: Add support for inserting clouds with decay_time

• fix clang-format

• Allow extra parameters in mola_viz per-sensor preview windows

• MolaViz: show min/max intensity in input sensor point clouds

• 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)

1.8.1 (2025-05-28)

1.8.0 (2025-05-25)

• Implement new virtual Viz methods

• Update copyright year

• Contributors: Jose Luis Blanco-Claraco

1.7.0 (2025-05-06)

• Metric maps can now be rendered as semitransparent pointclouds

• Contributors: Jose Luis Blanco-Claraco

1.6.4 (2025-04-23)

• modernize clang-format

• Contributors: Jose Luis Blanco-Claraco

1.6.3 (2025-03-15)

1.6.2 (2025-02-22)

1.6.1 (2025-02-13)

1.6.0 (2025-01-21)

1.5.1 (2024-12-29)

1.5.0 (2024-12-26)

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

• MolaViz: show package name in GUI windows

• Contributors: Jose Luis Blanco-Claraco

1.4.1 (2024-12-20)

1.4.0 (2024-12-18)

1.3.0 (2024-12-11)

• mola_viz: Show IMU data in the GUI too

• Contributors: Jose Luis Blanco-Claraco

1.2.1 (2024-09-29)

1.2.0 (2024-09-16)

• mola_viz: do not add a XY ground grid by default to all GUIs

• 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)

• 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)

• 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)

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

• MolaViz: BUGFIX: shared_ptr were captured by lambdas, delaying proper dtors. Replaced by weak_ptr’s

• 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)

1.0.0 (2024-03-19)

• ROS2 launch demos

• use new mrpt GPS covariance field

• visualize sensor pose

• mola_kernel: new UI interface for datasets

• mola-viz: show image channel of RGBD observations

• Fix sensorPose on lidar preview

• Viz: show GPS data

• mola_viz: add custom icon

• viz: more options to visualize RGBD camera observations

• viz API: add enqueue_custom_nanogui_code()

• viz console: add fading effect

• 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()

• reorganize as monorepo

• Contributors: Jose Luis Blanco-Claraco

0.2.2 (2023-09-08)

• Initial public release.

• Contributors: Jose Luis Blanco-Claraco

mp2p_icp

Changelog for package mp2p_icp

2.10.2 (2026-05-11)

• Merge pull request #65 from MOLAorg/simplify-ci CI: simplify CI scripts and docker install

• chore: don’t use anymore map classes deprecated and to be removed in mrpt 3.0.0

• fix: maps creating multiple CPointsCloud won’t have all with pointSize honored

• Merge pull request #64 from MOLAorg/bump-cmake bump min req cmake version to 3.22

• CI: Use sensible names for jobs matrix

• bump min req cmake version to 3.22

• Contributors: Jose Luis Blanco-Claraco

2.10.1 (2026-05-04)

• FIX: sm2mm pipeline for keyframe maps need valid KF poses

• FIX: copy/paste error in guard against missing layer

• mm-viewer: UI now has an easier near/far clipping plane tool

• chore: map contents as string made less verbose (hide full covariance)

• Merge pull request #63 from MOLAorg/feat/optional-final-run-quality-matchers feat: optional last run of matchers with final ICP_ITERATION for adaptive thresholds to see final thresholds

• feat: optional last run of matchers with final ICP_ITERATION for adaptive thresholds to see final thresholds

• fix: wrong decimation applied in sm2mm filters

• Merge pull request #62 from MOLAorg/feat/prior-weight-mitigations feat: Implement Birge-ratio auto-balance for cov2cov and prior weighting

• feat: Implement Birge-ratio auto-balance for cov2cov and prior weighting

• fix: icp-log-viewer didn’t show the prior covariance at its correct location

• Contributors: Jose Luis Blanco-Claraco

2.10.0 (2026-05-02)

• CI: Update actions for new ROS rolling

• icp-log-viewer: better formatting of uncertainties

• demo sm2mm file: store as independent keyframes

• Merge pull request #60 from MOLAorg/feat/censi3d-covariance Feat: Censi3D covariance method

• feat: Add new covariance method (Censi, 3D version)

• demo sm2mm files: add Keyframe map variant

• Contributors: Jose Luis Blanco-Claraco

2.9.1 (2026-04-29)

• Merge pull request #59 from MOLAorg/fix/cov2cov-covariance-whitening Fix cov2cov whitening and add residual-variance scaling in covariance()

• Fix cov2cov whitening and add residual-variance scaling in covariance() The cov2cov branch in covariance.cpp whitened residuals with the full information matrix (cov_inv * e), so the assembled Hessian became J^T * cov_inv^2 * J instead of J^T * cov_inv * J. Combined with hundreds of pairings this drove |cov| down to ~1e-20 and made the estimate unusable. - Use the Cholesky factor L^T (with L L^T = cov_inv) to whiten the cov2cov residual, matching what optimal_tf_gauss_newton accumulates. - Multiply the inverse-Hessian by chi^2 / (m - 6), the standard a-posteriori unit-weight variance, to rescale the (otherwise optimistic) result by the empirical residual level.

• Merge pull request #58 from MOLAorg/feat/icp-viewer-show-prior feat: icp-logs now store the prior SE(3) PDF

• feat: icp-logs now store the prior SE(3) PDF

• icp-log-viewer: safer against exceptions in gui thread

• demo sm2mm files: ignore_accelerometer=true in all deskew stages by default (prevent noisy maps from low-quality IMUs)

• Contributors: Jose Luis Blanco-Claraco

2.9.0 (2026-04-22)

• Merge pull request #57 from MOLAorg/feat/deskew-filter-ignore-acc FilterDeskew: add new option “ignore_accelerometer”

• Merge pull request #55 from MOLAorg/feat/mm-viewer-read-bin-files mm-viewer: can be also open .bin files with serialized CGenericPointsMap

• Merge pull request #54 from MOLAorg/feat/mm-apps-plugins mm-info, mm2grid, mm2las, mm2ply, mm2txt now have a –load-plugins flag

• Optimization in PointCloudToVoxelGridSingle

• Add <stdexcept> to all required files (don’t depend on transitive includes)

• mm-info, mm2grid, mm2las, mm2ply, mm2txt now have a –load-plugins flag

• Merge branch ‘generator-generic-cloud’ into develop

• cloud rendering: Implement observing the autoBoundingBoxOutliersPercentile

• Merge pull request #53 from MOLAorg/generator-generic-cloud Generator: creates CGenericPointsMap by default; add sanity checks in most filters

• remove more old mrpt version guards

• New sanity check function: warn_on_field_padding_mismatch()

• FilterDeskew: guard against new MRPT behavior to keep all field lengths in sync

• Add sanity checks in filters

• Bump minimum MRPT version to 2.15.4 (and remove now old dead code)

• Generator new param ‘filterOutPointsAtZero’, set to true in demo pipelines

• Generator: now has a param ‘default_pointcloud_class’ which defaults to ‘CGenericPointsMap’

• Code clean up (remove now dead code; mrpt backwards compatibility)

• Merge pull request #52 from MOLAorg/icp-log-viewer-quality-filter icp-log-viewer: add –min-quality filter CLI flag

• Contributors: Jose Luis Blanco-Claraco

2.8.1 (2026-04-06)

• Merge pull request #51 from MOLAorg/fix/new-mrpt-api Update to build against mrpt >=2.15.13

• Update to build against mrpt >=2.15.13 (pointcloud field names as std::string instead of string_view)

• Contributors: Jose Luis Blanco-Claraco

2.8.0 (2026-04-01)

• BUGFIX: Fix potential crash (regression in former voxel parallelization)

• Merge pull request #50 from MOLAorg/fix/ram-usage Fix/ram usage

• Process points by chunks to limit RAM usage

• reduce memory allocations in voxel views

• Smarter usage of reserve() in tsl maps

• Add agents.md

• Merge pull request #49 from MOLAorg/mm2las/georef mm2las: export flag ‘–frame geodetic’ for georeferenced clouds

• Use geodetic coords cache

• Correctly honor exportGeodetic

• mm2las: Add sanity checks

• Fix: X=lon, Y=lat coord order for WKT2

• mm2las: export flag ‘–frame geodetic’ for georeferenced clouds

• Contributors: Jose Luis Blanco-Claraco

2.7.1 (2026-03-08)

• Merge pull request #48 from MOLAorg/fix/filter-adaptive-avoid-fpe FIX: Avoid potential division by zero in FilterDecimateAdaptive

• Update minimum required MRPT version 2.15.0

• FIX: Avoid potential division by zero in FilterDecimateAdaptive

• Merge pull request #47 from MOLAorg/fix/georef-yaml-missing-fields FIX: georeferencing yaml serialization missed orientation fields

• FIX: georeferencing yaml serialization missed orientation fields

• Merge pull request #46 from MOLAorg/feat/sm2mm-in-enu-frame sm2mm: new feature to directly use georef as input and produce maps (and apply filters!) in ENU frame

• sm2mm: new feature to directly use georef as input and produce maps in ENU frame

• Contributors: Jose Luis Blanco-Claraco

2.7.0 (2026-03-03)

• Merge pull request #45 from MOLAorg/feat/mm2grid Add new cli app: mm2grid

• Add new cli app: mm2grid

• Merge pull request #44 from MOLAorg/feat/view-vector Generators now optionally generate a ‘view’ direction vector per point

• FilterMLS: now uses the view-direction vectors to ensure normals point outwards

• Generator: add safety consistency check

• Generators are now also included into sm2mm profiler

• Generators now optionally generate a ‘view’ direction vector per point

• mm-viewer: FIX: show/hide all buttons did not apply to extra viz layers

• mm-georef: Fix creation of empty output map if input didn’t exist

• mm2txt: Fix wrong console message saying mm-info instead of mm2txt

• mm-viewer UI: show XY grid plane at the root frame of reference (ENU or map)

• Merge pull request #43 from MOLAorg/feat/export-enu-frame Export tools now accept “–frame enu” to generate XYZ data in ENU frame

• Export tools now accept “–frame enu” to generate XYZ data in ENU frame

• Contributors: Jose Luis Blanco-Claraco

2.6.0 (2026-02-16)

• Merge pull request #42 from MOLAorg/feat/filter-remove-several-point-fields FilterRemovePointCloudField now accepts multiple fields

• FilterRemovePointCloudField now accepts multiple fields

• Merge pull request #41 from MOLAorg/feat/functor-save-log-file Add functor_should_generate_debug_file to override the decision of whether to write .icplog files

• Add functor_should_generate_debug_file to override the decision of whether to write .icplog files

• Merge pull request #40 from MOLAorg/feat/new-clear-remove-field-filters Add new filters: FilterClear and FilterRemovePointCloudField

• Add new filters: FilterClear and FilterRemovePointCloudField

• docs: refer to the online pipeline editor

• docs: add missing docs for FilterRenameLayer

• Contributors: Jose Luis Blanco-Claraco

2.5.0 (2026-02-04)

• Merge pull request #39 from MOLAorg/feat/permit-missing-externals sm2mm: Add optional flag –permit-missing-externals

• sm2mm: Add optional flag –permit-missing-externals

• Merge pull request #38 from MOLAorg/feat/mls-optimizations FilterMLS performance optimizations

• Merge pull request #37 from MOLAorg/feat/use-zstd Use ZStd compression by default (for MRPT>=2.15.7)

• docs: sm2mm add “–compression-method”

• Explicitly include mrpt/core/Clock.h where used

• Use ZStd compression by default (for MRPT>=2.15.7)

• Merge pull request #36 from MOLAorg/feat/mm2txt-missing-fields-dont-emit mm2txt, mm2ply: don’t emit columns of zeros for missing user-given fields

• Merge pull request #35 from MOLAorg/feat/mm2txt-ignore-fields mm2txt and mm2ply: Add new option –ignore-missing-fields

• Merge pull request #34 from MOLAorg/feat/mm2txt-mm2ply-more-precision Exploit the maximum float32/float64 precision in exported txt formats

• Merge pull request #33 from MOLAorg/feat/sm2mm-new-options Feat/sm2mm-new-options

• sm2mm cli app: add new flags for downsampling options

• sm2mm: add new downsample options and refactor into update_velocity_buffer_from_obs()

• Contributors: Jose Luis Blanco-Claraco

2.4.1 (2026-01-27)

• Add more unit tests

• Update README to keep it in sync with the provided apps and libraries

• Merge pull request #29 from MOLAorg/fix/cov Fix bugs in covariance estimation for some cases

• fix covariance estimation bugs; add unit tests for cov2cov

• Update commit for mola_common

• Merge pull request #28 from MOLAorg/feat/mm-viewer-3d-layers mm-viewer: add CLI flags to load overlaid 3D scenes for visualization

• mm-viewer: add CLI flags to load overlaid 3D scenes for visualization

• Contributors: Jose Luis Blanco-Claraco

2.4.0 (2026-01-21)

• Merge pull request #27 from MOLAorg/feat/new-filter-voxel-sor

• Add new unit test for class factory

• Add new FilterVoxelSOR filter

• Merge pull request #26 from MOLAorg/feat/mm2las

• Add mm2las CLI tool

• Contributors: Jose Luis Blanco-Claraco

2.3.1 (2026-01-14)

• Merge pull request #25 from MOLAorg/feat/naive-decimate Add trivial FilterDecimate for fast downsampling without spatial awareness

• lint fixes

• Add trivial FilterDecimate for fast downsampling without spatial awareness

• Parameterizable: add virtual base dtor

• Remove the NormalizeIntensity stage in the demo pipelines; visualization does that already

• docs: fill missing manpages

• docs: add sm2mm pipelines page

• Clarify map layers and simple maps descriptions Updated references to CMetricMap and CGenericPointsMap in the documentation for clarity and accuracy.

• Contributors: Jose Luis Blanco-Claraco

2.3.0 (2026-01-08)

• Merge pull request #24 from MOLAorg/feat/mm2txt-select-fields mm2txt and mm2ply now have a –export-fields flag

• mm2txt and mm2ply now have a –export-fields flag

• Merge pull request #23 from MOLAorg/fix/some-deprecations Fix usage of deprecated cloud types

• Provide shortcut names for common cloud field names

• More deprecated cloud usage

• FIX bug: FilterDecimateVoxel, if using flatten, did not propagate all input cloud fields

• Fix usage of some deprecated cloud types

• FilterSOR: create output layers even if input is empty

• FilterDeskew: propagate input fields even if the cloud is empty

• FilterByExpression: show debug-level stats

• FilterNormalizeIntensity: do not throw on empty clouds

• Merge pull request #22 from MOLAorg/feat/new-filters Add new filter FilterRenameLayer

• Added filter FilterRenameLayer

• mm2txt: prepare for deprecated classes in 3.0.0

• FilterAdjustTimestamps: new method ‘None’ to bypass filter

• Fix: sm2mm did not attach to ParameterSource the final_filter elements

• sm2mm: did not observe the optional profiler parameter for the final_filter stage

• Fix: FilterMLS did not properly copy all point fields when using upsampling

• Fix: FilterAbsoluteTimestamp now also works for accumulated points in one layer

• Contributors: Jose Luis Blanco-Claraco

2.2.1 (2026-01-06)

• Merge pull request #21 from MOLAorg/feat/abs-stamp-filter Added new filter: FilterAbsoluteTimestamp

• Fix the logic of the FilterEdgePlane filter parameters

• Added new filter: FilterAbsoluteTimestamp

• mm2txt: also export uint8 fields (missing in last release)

• Merge pull request #20 from MOLAorg/feat/more-unit-tests More unit tests

• Add generators unit tests

• More unit tests

• Contributors: Jose Luis Blanco-Claraco

2.2.0 (2025-12-28)

• docs: explain FilterSOR

• Merge pull request #19 from MOLAorg/feat/mm2ply Add mm2ply CLI tool

• Merge pull request #18 from MOLAorg/feat/new-sor-filter Add FilterSOR: Statistical Outlier Rejection

• More unit tests: cover MLS

• Merge pull request #17 from MOLAorg/feat/filter-by-expr Add new filter: FilterByExpression

• More code coverage; fix protected-level initialize methods

• Add new filter: FilterByExpression

• FIX: missing uint8 fields in Deskew

• sanityCheck: also check all double/uint8 fields

• ui: fix case without geo-ref

• mm-viewer: show lat/lon coordinates for mouse selected points

• mm-viewer: GUI now shows the ENU & map miniviews for orientation hints

• mm-viewer: handle special coloring channel groups ‘rgb’ and ‘rgbf’

• clean non used code in deskew test

• map viz: use new mrpt 2.15.3 coloring modes

• sm2mm: auto-guess lazy-load externals directory for .simplemap files

• mm-viewer: implement colorize clouds by any field

• MLS filter: add ‘output_layer_class’ parameter

• mm2txt: export all fields of CGenericPointsMap layers

• Merge pull request #16 from MOLAorg/fix/generic-cloud-deskew-fields Add test for missing fields in generic cloud deskew

• FIX: correctly register arbitrary pointcloud fields into output clouds

• Add test for missing fields in generic cloud deskew

• sm2mm: FIx console message on “FinalFilters” did not obey verbosity level

• Fix clang-tidy warnings

• Contributors: Jose Luis Blanco-Claraco

2.1.2 (2025-11-28)

• mm-viewer: Automatic retry to load maps if missing plugins, trying to reload with libmola_metric_maps.so

• Enable coverage run for noble docker image

• Add new unit tests

• docs: fix broken formatting of filters page

• Merge pull request #14 deskew filter: refactoring to handle arbitrary point fields

• get code ready for API update in MRPT 2.15.3

• Fix build w/o imu library

• mm-viewer: add keystrokes shift+cursor arrows to move up/down

• Add Codecov badge to README

• MLS filter: add progress report logging

• Contributors: Jose Luis Blanco-Claraco

2.1.1 (2025-11-08)

• FIX: SanityCheck was triggering as errors optional pointcloud fields in XYZIRT clouds

• FIX: Throw exception instead of crashing if FilterDeskew is invoked with an empty local velocity buffer

• Fix yaml file for not using mola_yaml extensions

• Add more sm2mm demo pipelines

• Contributors: Jose Luis Blanco-Claraco

2.1.0 (2025-10-28)

• Merge pull request #13 from MOLAorg/fix/filterdecimate-bug

• Add unit test for FilterDecimateVoxel

• mm-viewer: ensure proper order of opengl object destruction

• Add more debug traces for Filters

• Generator: Add more info on layer contents in debug traces

• FIX: Avoid crash in FilterVoxelSlice if there are no points in the ROI

• Merge pull request #12 from MOLAorg/feat/mls Implemented MLS filter

• Merge pull request #11 from MOLAorg/feat/use-faster-insertion Use the faster insertion-with-context in MRPT 2.15.0

• Update to build using CGenericPointsMap in upcoming MRPT >=2.15

• Merge pull request #10 from MOLAorg/fix/ci

• Upgrade CircleCI images to u24.04

• Fix build out of ROS and w/o IMU preintegration

• Update mola_common version

• Fix: Warning message missing new line

• FilterDecimateVoxels: add new parameter ‘minimum_points_per_voxel’

• Fix docs typo

• Update docs for Deskew filter

• Update README.md badges

• Contributors: Jose Luis Blanco-Claraco

2.0.0 (2025-10-13)

• Merge pull request #9 from MOLAorg/feature/better-lio Better LIO

• sm2mm cli app: add –profiler flag

• demo sm2mm pipelines: add deskew method entry

• CI: Add another pipeline without TBB

• FIX: bug in non-TBB serial implementation of GN optimizer

• CI: add running unit tests

• FIX: potential crash in FilterDeskew

• Add deskew unit tests

• Add unit test for cov2cov optimizer

• Add ‘name’ property to all generators and filters for disaggregated stats

• Allow building without the IMU library

• Update mola_common to 0.5.1

• clang-tidy fixes

• Remove dead code

• Refactor errorTerm for pt2pt for better reusability

• mm-viewer: add combo box to select intensity colormap

• Add docs for filters

• BUGFIX: FilterMerge would lost all point fields except XYZ

• Remove external libpointmatcher

• Update formatter script

• icp log viewer: more options for cov2cov visualization

• Define virtual API MetricMapMergeCapable

• fix bug in FilterByIntensity params parser

• Render cov2cov pairings

• FilterByRange new parameter: metric_l_infinity

• FilterDecimateAdaptive now exploits parallelization

• Progress visualizing cov2cov pairings

• New cov2cov ICP optimizer

• Implement a new Cov2Cov matcher

• Make Matcher_Points_Base::transform_local_to_global() to use TBB, and remove unused parameters

• Add [[nodiscard]] to estimate_points_eigen()

• BBox filter: fix target layer must be same type than input

• Use fractional integers for faster sampling

• New FPS filter

• Remove FilterDecimateVoxelsQuadratic

• Style: public ‘params_’ rename as ‘params’

• New interface ‘IcpPrepareCapable’

• Add new virtual interface NearestPointWithCovCapable

• Refactor mp2p_icp_map into mp2p_icp_common for IMU-related parts

• Finished integration of new IMU API package

• Depend on imu external library

• Move code out to the imu preintegration package

• Move LocalVelocityBuffer to the IMU repository

• Add [[nodiscard]] to icp_pipeline_from_yaml()

• deskew filter: new option ‘in_place’ to avoid allocating a new cloud whenever possible

• Finish implementation of higher-order IMU interpolator

• Implement trajectory reconstruction for deskew

• cmake files: prefer spaces indentation

• Add imu preintegration package as dependency

• FilterNormalizeIntensity can now use a fixed min/max range given by hand

• Docs: update mp2p_icp_basics for better searchability of simplemaps

• New option to set pointcloud alpha channel

• Contributors: Jose Luis Blanco-Claraco

1.8.0 (2025-08-26)

• Modernize and unify license notes in all files

• Merge pull request #8 from MOLAorg/feat/precise-deskew Precise scan deskew: - Implement LocalVelocityBuffer inside ParameterSource’s - Update LocalVelocityBuffer from IMU data from Generators. - Export / Import LocalVelocityBuffer to/from YAML - Implement precise cloud undistortion in FilterDeskew - Use precise cloud undistortion in the context of sm2mm.

• sm2mm: Use local velocity buffer if available

• add serialization to velocity buffer

• Generators now handle IMU readings and forward them to the velocity buffer

• Update to latest mola_common for embedded builds

• linter: clang-tidy fixes

• fix param name for better consistency

• feature: Option to use std::map instead of tsl robin_map in voxelization filters

• docs: fill txt2mm man page

• Feature: txt2mm new import format ‘xyzrgb_normalized’

• remove code to support older MRPT versions; code style clean ups

• Fix: FilterAdjustTimestamps may trigger exception if input cloud is empty

• Contributors: Jose Luis Blanco-Claraco

1.7.1 (2025-06-20)

• docs: Populate sm2mm app page

• New feature: all pipeline modules now has an optional “plugin” YAML field to load them from user-provided plugins.

• Update REAME ROS badges

• Contributors: Jose Luis Blanco-Claraco

1.7.0 (2025-06-02)

• metric map data type: add new metadata YAML field

• Update broken link to ROS Index

• docs: change references to default branch master->develop

• Default generator: more details in debug traces when ignoring an observation

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

• Integrate vscode with colcon custom settings and clang-tidy

• Fix build unit tests with older gcc versions

• Drop apparently useless build dep

• Contributors: Jose Luis Blanco-Claraco

1.6.7 (2025-04-03)

• mm-georef cli app: support reading/writing georef info in YAML format

• georeferencing metadata now can be read/writen as YAML files

• clang-format: switch to column limit=100

• Update to robin-map v1.4.0

• Contributors: Jose Luis Blanco-Claraco

1.6.6 (2025-02-26)

• Docs: add page for mm-georef

• docs: Update 2025 paper citation

• print metric_map_t as string: show lat/lon coordinates in a format directly compatible with Google Map searches.

• New cli tool: mm-georef, to manipulate the geo-referencing metadata of metric map files

• Contributors: Jose Luis Blanco-Claraco

1.6.5 (2025-01-28)

• Add GitHub actions

• Add pole-detector filter

• mm-filter app: add –load-plugins flag too

• Add sanity check assert in FilterDeskew

• Contributors: Jose Luis Blanco-Claraco

1.6.4 (2024-12-18)

• merge two docs pages in one to shorten the docs TOC

• Update README.md: Mark ROS2 Iron as EOL

• Also use TBB for parallel solving point-to-plane pairings

• Contributors: Jose Luis Blanco-Claraco

1.6.3 (2024-11-11)

• icp-log-viewer: also reduce GUI refresh rate

• mm-viewer: avoid useless GUI refresh (CPU usage reduction)

• txt2mm: Add input filter xyzrgb

• mm-viewer: add a ‘fit view to map’ button

• New cli app rawlog-filter

• FilterCurvature: better handling scans with <=3 points in some rings

• new subcommand ‘sm-cli tf’

• Contributors: Jose Luis Blanco-Claraco

1.6.2 (2024-09-14)

• Expose << and >> operators for geo-reference data structures

• Fix missing build_dep

• Contributors: Jose Luis Blanco-Claraco

1.6.1 (2024-09-11)

• Fix missing catkin buildtoo_depend for ROS1 builds

• Update RTTI macros for upcoming MRPT 2.14.0

• Contributors: Jose Luis Blanco-Claraco

1.6.0 (2024-09-08)

• Port Point2Plane matcher to use the new NN-for-planes API

• mp2p_icp_map library: add NearestPlaneCapable virtual API

• cmake: move from glob expressions to explicit lists of source files

• clarify eigenvalues order in headers

• Contributors: Jose Luis Blanco-Claraco

1.5.6 (2024-09-07)

• sm2mm cli: show map contents before writing to disk

• add another demo sm2mm file for the mola tutorials

• Add another sm2mm demo file w/o deskew for the mola mapping tutorial

• Matcher_Point2Plane: fix build error in armhf

• Fix build with embedded mola_common

• README: Add ROS badges for all architectures

• Contributors: Jose Luis Blanco-Claraco

1.5.5 (2024-08-27)

• Explicitly add tbb as dependency in package.xml

• Depend on new mrpt_lib packages (deprecate mrpt2)

• FIX: build errors in armhf arch

• Contributors: Jose Luis Blanco-Claraco

1.5.4 (2024-08-20)

• Do not use Eigen::Vector for compatibility with Eigen3 <3.4 in ROS Noetic

• Contributors: Jose Luis Blanco-Claraco

1.5.3 (2024-08-20)

• Re-add ROS1 Noetic as supported distribution

• Generator sanity check asserts: more informative error messages

• sm-cli: new command ‘join’ to merge simplemaps

• icp-log-viewer UI: new keybind ‘I’ to switch initial/final pose

• icp-log-viewer UI: add option to visualize voxelmaps empty space

• Contributors: Jose Luis Blanco-Claraco

1.5.2 (2024-07-24)

• Add sm2mm yaml example for dynamic/static obstacles

• Update sample sm2mm pipelines to use de-skew

• docs: add mm-filter example

• Fix pointcloud ptr typo

• More safety sanity checks added in mm-viewer and sm2mm

• BUGFIX: Generator should not create empty maps for GPS observations

• Contributors: Jose Luis Blanco-Claraco, Raúl Aguilera López

1.5.1 (2024-07-03)

• Update docs

• ICP: Add optional functors for before-logging maps

• icp-log-viewer UI: fix potential out-of-range exception when autoplay is on

• FilterAdjustTimestamps: add new param ‘time_offset’ useful for multiple LiDARs setups

• Contributors: Jose Luis Blanco-Claraco

1.5.0 (2024-06-21)

• ICP: Add optional user-provided per-iteration hooks

• Add new filter: FilterByRing

• Add new filter: FilterAdjustTimestamps

• Add sanity checks for point cloud fields.

• Fix typo in default class for FilterDeskew

• generators API: add bool return type to detect if observation was actually processed

• generic Generator: handle velodyne observations so timestamps are generated

• Contributors: Jose Luis Blanco-Claraco

1.4.3 (2024-06-11)

• Add pointcloud_sanity_check() auxiliary function

• Generator: more DEBUG level traces

• BUGFIX: FilterDeskew generated buggy output points if the input does not contain timestamps

• Add sanity checks for point cloud fields

• ICP log records now also store the dynamic variables. icp-log-viewer displays them.

• ICP log files: automatically create output directory if it does not exist

• Update ros2 badges (added Jazzy)

• Contributors: Jose Luis Blanco-Claraco

1.4.2 (2024-05-28)

• mm-viewer: add check-all, check-none to layer filters

• Add new filter: FilterRemoveByVoxelOccupancy

• mm-viewer: camera travelling keyframes-based animations

• mm-viewer: navigate the map with keyboard arrows; add a load button

• mm-viewer: can now also draws a TUM trajectory overlaid with the map

• UI apps: smoother rendering

• icp-log-viewer and mm-viewer: the UI now has a XYZ corner overlay

• sm-cli: command “export-kfs” now has an optional flag ‘–output-twist’

• FilterDeskew: ignore empty input maps

• More debug-level traces

• deskew filter: Fix case of variable names in docs

• sm-cli app: Add new command ‘trim’ to cut simplemaps by bounding box

• mm-viewer: show mouse pointing coordinates

• Contributors: Jose Luis Blanco-Claraco

1.4.1 (2024-05-19)

• Fix build for older mrpt versions

• ICP pipelines: Implement loading quality_checkpoints parameter from YAML config file

• Quality evaluators: add the option for ‘hard discard’

• Update QualityEvaluator_Voxels to use prebuilt voxel layers from input maps. Add unit tests.

• BUGFIX: Fix deserializing georeferenced .mm files stored in <1.4.0 format

• ICP: quality evaluators can now have formulas in their parameters too

• mm-viewer and icp-log-viewer: extend zoom range so maps of tens of kms can be viewed at once

• Contributors: Jose Luis Blanco-Claraco

1.4.0 (2024-05-06)

• Update commit for robin-map to latest version (patch contributed upstream)

• icp-log-viewer: UI now has a slider for each map point size

• ICP: Add a new quality_checkpoint parameter to early abort ICP attempts

• georeferenced maps: T_enu_to_map now has a covariance field

• mm-viewer: display ENU frame too

• Contributors: Jose Luis Blanco-Claraco

1.3.3 (2024-04-30)

• Add minimum_input_points_to_filter option to FilterDecimateVoxels

• FIX: QualityEvaluator_PairedRatio throws when one of the reference maps is empty

• FIX BUG: Won’t try to match 2D pointclouds if their height is different

• Clarify comments in metricmap.h about geodetic references

• Fix printing metric_map_t contents when it only has a gridmap

• Fix potential dangling references (g++ 13 warning)

• Fix potential use of uninitialized point index

• Bump cmake_minimum_required to 3.5

• Contributors: Jose Luis Blanco-Claraco

1.3.2 (2024-04-22)

• tsl::robin_map library is no longer exposed neither in the public API nor as public headers (PIMPL pattern) This is to prevent Debian-level collisions with other packages also exposing it.

• add first icp-log-viewer docs

• Contributors: Jose Luis Blanco-Claraco

1.3.1 (2024-04-16)

• mm-viewer and icp-log-viewer: saves UI state in persistent user config file

• FIX: missing UI refresh when clicking showPairings checkbox

• renamed apps for less verbose names: icp-run, icp-log-viewer

• ICP core now defines a variable ICP_ITERATION for use in programmable formulas in pipelines

• icp-log-viewer: much faster rendering of ICP iteration details

• mm-viewer: fix bug in calculation of bounding box

• Merge docs with main MOLA repo

• Contributors: Jose Luis Blanco-Claraco

1.3.0 (2024-03-10)

• mm-viewer: new options to visualize georeferenced maps

• New sm-cli commands: –cut, –export-keyframes, –export-rawlog

• propagate cmake deps downstream

• metric_map_t: add georeferencing optional field

• mm-filter: add –rename operation

• GetOrCreatePointLayer() moved to its own header and uses shared ptrs

• FilterMerge: add param input_layer_in_local_coordinates

• Contributors: Jose Luis Blanco-Claraco

1.2.0 (2024-02-16)

• Add new apps: sm-cli, mm-info, txt2mm, mm2txt, mm-filter

• Improved documentation.

• new filter FilterByIntensity

• FilterNormalizeIntensity: add option for intensity range memory

• FilterByRange: renamed params to simplify them (removed param ‘keep_between’)

• FIX: missing intensity channel in decimate voxel when using some decimation methods

• sm-cli: new subcommand ‘level’ to maximize the ‘horizontality’ of built maps

• add optional profiler to filter pipelines

• Contributors: Jose Luis Blanco-Claraco

1.1.1 (2024-02-07)

• MergeFilter: now also handles CVoxelMap as inputs

• more memory efficient defaults

• FilterCurvature: now based on ring_id channel

• Use hash map min_factor to speed up clear()s

• add missing hash reserve

• PointCloudToVoxelGridSingle: Fix wrong initialization of point count

• Contributors: Jose Luis Blanco-Claraco

1.1.0 (2024-01-25)

• FilterDecimateVoxels: Replace 3 bool parameters with an enum

• Fix clang warnings

• Save and visualize ICP step partial solutions

• QualityEvaluator_PairedRatio: now does not require parameters

• Add filter: Bonxai VoxelMap -> 2D gridmap. Bayesian filtering of voxel columns

• Generator: allow defining custom metric maps directly in the YAML configuration

• Contributors: Jose Luis Blanco-Claraco

1.0.0 (2024-01-20)

• Gauss-Newton solver: Add optional prior term

• Added FilterMerge and modifications to allow sm2mm to build any type maps

• sm2mm: add option for lazy-load external directory

• Decimate filter: add flatten_to option to efficiently convert 3D->2D point clouds

• FilterBoundingBox: parameter name changed for clearer split of inside / outside bbox

• Deskew: add option to bypass de-skew operation

• bump minimum required mrpt version

• Better coloring; add option to export mm layers

• Use new mrpt api to propagate point properties; add final_filter stage to sm2mm

• sm2mm: add verbosity flag

• bbox filter: allow processing variables too

• Introduce robot_{x,y,z} variables

• Better mm-viewer; update sm2mm demo file

• Progress with RST docs

• Add missing robotPose argument to generators; progress with mm-viewer

• Add sm2mm app

• Add FILE attribute to license tag

• More dynamic parameters

• fix print format

• Add Deskew filter

• update CI to u22.04

• Introduce Parameterizable interface

• New layers: create of the same input cloud type

• Add FilterCurvature

• filter: optional additional layer for deleted points

• FIX: important error in robust gradient

• expose GN params as public

• new generators and filters

• Filters: use tsl robin_map, faster than std::unordered_map

• prefer nn_radius_search() to exploit nanoflann rknn

• Minor UI updates

• gui: autoplay

• estimate_points_eigen.h moved to the mp2p_icp_map library

• Solvers: add option to select by correction magnitude

• add [[nodiscard]] to generator API

• Add specialized implementation of voxelize for 1 pt/vx

• add Cauchy robust kernel

• Add support for TBB for parallelization

• add angularThresholdFactor; add max plane-to-pt distance

• viewer UI: show number of points per layer

• Prefer Teschner’s spatial hash

• Use nn_single_search() when possible

• viewer: add follow local checkbox

• Add new filter: FilterDecimateVoxelsQuadratic

• FilterDecimateVoxels: new option use_closest_to_voxel_average

• FilterDecimateVoxels: new param use_random_point_within_voxel

• less unnecesary mem allocs

• generator: create map layers first, then filter by observation name/class filter

• port to NN radius search

• add “enabled” property to base Matcher class

• Solvers: add property ‘enabled’

• Add robust kernels to GN solver

• Add optional profiler to ICP

• New parameter decimationDebugFiles

• Add plugin option to viewer

• VoxelFilter: is now ~7 times faster and does not need a bounding box parameter, thanks to using an associative container.

• viewer: add new flag -f to load one single log file

• viewer: increase slider range for max far plane

• Options to recolorize maps in icp log viewer

• Fix regression in rendering options for point clouds

• Matcher: new parameter bounding_box_intersection_check_epsilon

• New env var MP2P_ICP_GENERATE_DEBUG_FILES can be use to override generation of icp log files

• BUGFIX: Ignored sensorPose for Generator::filterPointCloud()

• Allow ICP matching against voxel metric map types

• mp2p_icp_filters::Generator now can create a map from a generic INI file (e.g. voxelmaps)

• fix references to old pointcloud_t -> metric_map_t

• Remove support for MRPT<2.4.0

• Contributors: Jose Luis Blanco-Claraco

0.2.2 (2023-09-08)

• Fix missing cmake dependencies between libraries

• Update mola_common

• Refactor into a new small library mp2p_icp_map with just the metric_map_t class

• sync mola_common submodule

• Update submodule mola_common

• Remove redundant section

• Update ROS badges

• Contributors: Jose Luis Blanco-Claraco

0.2.1 (2023-09-02)

• Update copyright date

• Update to new name of mola_common

• update ros badges

• Contributors: Jose Luis Blanco-Claraco

0.2.0 (2023-08-24)

• First release as MOLA submodule.

0.1.0 (2023-06-14)

• First official release of the mp2p_icp libraries

• Contributors: FranciscoJManasAlvarez, Jose Luis Blanco-Claraco