^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ Changelog for package robot_localization ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 3.9.3 (2025-05-19) ------------------ * Fixing deprecated tf2 headers (`#926 `_) * Contributors: Tom Moore 3.9.2 (2025-03-21) ------------------ * Same change on rolling (`#918 `_) Co-authored-by: Ferry Schoenmakers * Fixing bug with diagonal covariance loading (`#909 `_) * Switching stamped control to default true for rolling/future distributions to align with Nav2 and ROS 2 Control (`#910 `_) * Added subscription to stamped topic (`#898 `_) * Added subscription to stamped topic * Fixing IMU differential test (`#897 `_) * Contributors: Ferry Schoenmakers, Pablo, Steve Macenski, Tom Moore 3.9.1 (2024-08-29) ------------------ * Switch robot_localization to modern CMake idioms. (`#895 `_) * Fix warnings when building against Rolling. (`#896 `_) * Resolve mixing of UTM and local transforms in local cartesian mode (`#886 `_) * Spam the logs a little bit less (`#880 `_) * Contributors: Chris Lalancette, JayHerpin, Tim Clephas 3.9.0 (2024-04-24) ------------------ 3.8.0 (2024-04-21) ------------------ * Fixing yaml linking in rolling (`#878 `_) * Contributors: Chris Lalancette 3.6.1 (2024-04-16) ------------------ * TF Prefix Bug (`#876 `_) * Update ukf.yaml to match ekf.yaml (`#867 `_) Add missing *_pose_use_child_frame parameter. * Fix throttle duration (`#866 `_) * Migrate static tfs to ros2 format. (`#864 `_) * Update issue templates * Feature/set utm service (`#856 `_) * fix: modify dual_ekf_navsat_example.launch file to remap the correct imu topic (`#857 `_) * fix header timestamp (`#852 `_) Co-authored-by: Luke Chang * Wait for odometry message before setting manual datum so that the base and world frame names can be set. (`#836 `_) * wait for odom msg before setting manual datum * Test navsat transform functionality (`#838 `_) * Utm using geographiclib ros2 branch (`#833 `_) * Add single test for navsat_conversions * Add a southern point to the navsat_transform test * LLtoUTM using GeographicLib * Use GeographicLib for UTMtoLL conversions * Linting * Forgot include * Fix compilation * Calculate gamma because it's a function output and was supplied before * Also test for gamma conversion * Align naming and install * bugfix (`#809 `_): check if covariance values are specified or not (`#810 `_) * Contributors: Daisuke Sato, Luke Chang, Mukunda Bharatheesha, Tim Clephas, Tom Greier, Tom Moore, joeldushouyu, rafal-gorecki, thandal 3.3.2 (2022-12-11) ------------------ * Port PR `#753 `_ and `#728 `_ to ROS2 version (`#765 `_) * compiling version of commit `#753 `_ and `#728 `_ ported to ros2 rolling * format fixes * fix time source disagreement by converting to seconds beforehand, append parameter usage, fix linting * fix linting and uncrustify * Adding support for setting diagonals for covariance matrices (`#755 `_) * Fixing and cleaning up interface tests (`#754 `_) * Fixing and cleaning up interface tests * Linting and header cleanup, part 1 (`#752 `_) * Header cleanup and logging fixes * UKF update (`#751 `_) * Pulling UKF changes from Noetic * Adding a reset service to make tests more deterministic * Fix angles dependency (`#747 `_) * Add angles to CMakeLists.txt * Using angles library to normalize angles (`#739 `_) * Using angles library for innovation angle normalization * Read predict_to_current_time from ROS parameters (`#737 `_) Co-authored-by: Zygfryd Wieszok * Fixed state history reversion (`#736 `_) Co-authored-by: Zygfryd Wieszok * Fixing code style divergence for ament_uncrustify in main ROS2 branch (`#743 `_) * This fixes `#732 `_ (broadcast_cartesian_transform) (`#733 `_) * Contributors: Anish, Haoguang Yang, Marek Piechula, RoboTech Vision, Tom Moore, Tony Najjar, Zygfryd Wieszok 3.3.1 (2022-02-25) ------------------ * Moving to C++17 support (`#725 `_) * SHARED linking for Geographiclib (`#624 `_) (`#712 `_) * remove GeographicLib specific linking option Co-authored-by: Achmad Fathoni * Contributors: Stephan Sundermann, Tom Moore 2.4.0 (2017-06-12) ------------------ * Updated documentation * Added reset_on_time_jump option * Added feature to optionally publish utm frame as parent in navsat_transform_node * Moved global callback queue reset * Added initial_state parameter and documentation * Fixed ac/deceleration gains default logic * Added gravity parameter * Added delay and throttle if tf lookup fails * Fixed UKF IMUTwistBasicIO test * Added transform_timeout parameter * Set gps_odom timestamp before tf2 lookuptransform * Removed non-portable sincos calls * Simplified logic to account for correlated error * Added dynamic process noise covariance calculation * Fixed catkin_package Eigen warning * Added optional publication of acceleration state * Contributors: Brian Gerkey, Enrique Fernandez, Jochen Sprickerhof, Rein Appeldoorn, Simon Gene Gottlieb, Tom Moore 2.3.1 (2016-10-27) ------------------ * Adding gitignore * Adding remaining wiki pages * Adding config and prep pages * Adding navsat_transform_node documentation * use_odometry_yaw fix for n_t_n * Fixing issue with manual pose reset when history is not empty * Getting inverse transform when looking up robot's pose. * Sphinx documentation * Removing forward slashes from navsat_transform input topics for template launch file * Adding example launch and parameter files for a two-level EKF setup with navsat_transform_node * Adding yaml file for navsat_transform_node, and moving parameter documentation to it. * Updating EKF and UKF parameter templates with usage comments * Contributors: Tom Moore, asimay 2.3.0 (2016-07-28) ------------------ * Fixed issues with datum usage and frame_ids * Fixed comment for wait_for_datum * Fixing issue with non-zero navsat sensor orientation offsets * Fixing issue with base_link->gps transform wrecking the 'true' UTM position computation * Using correct covariance for filtered GPS * Fixed unitialized odometry covariance bug * Added filter history and measurement queue behavior * Changing output timestamp to more accurately use the time stamp of the most recently-processed measurement * Added TcpNoDelay() * Added parameter to make transform publishing optional * Fixed differential handling for pose data so that it doesn't care about the message's frame_id * Updated UKF config and launch * Added a test case for the timestamp diagnostics * Added reporting of bad timestamps via diagnostics * Updated tests to match new method signatures * Added control term * Added smoothing capability for delayed measurements * Making variables in navsat_transform conform to ROS coding standards * Contributors: Adel Fakih, Ivor Wanders, Marc Essinger, Tobias Tueylue, Tom Moore 2.2.3 (2016-04-24) ------------------ * Cleaning up callback data structure and callbacks and updating doxygen comments in headers * Removing MessageFilters * Removing deprecated parameters * Adding the ability to handle GPS offsets from the vehicle's origin * Cleaning up navsat_transform.h * Making variables in navsat_transform conform to ROS coding standards 2.2.2 (2016-02-04) ------------------ * Updating trig functions to use sincos for efficiency * Updating licensing information and adding Eigen MPL-only flag * Added state to imu frame transformation * Using state orientation if imu orientation is missing * Manually adding second spin for odometry and IMU data that is passed to message filters * Reducing delay between measurement reception and filter output * Zero altitute in intital transform too, when zero altitude param is set * Fixing regression with conversion back to GPS coordinates * Switched cropping of orientation data in inovationSubset with mahalanobis check to prevent excluding measurements with orientations bigger/smaller than ± PI * Fix Jacobian for EKF. * Removing warning about orientation variables when only their velocities are measured * Checking for -1 in IMU covariances and ignoring relevant message data * roslint and catkin_lint applied * Adding base_link to datum specification, and fixing bug with order of measurement handling when a datum is specified. Also added check to make sure IMU data is transformable before using it. * Contributors: Adnan Ademovic, Jit Ray Chowdhury, Philipp Tscholl, Tom Moore, ayrton04, kphil 2.2.1 (2015-05-27) ------------------ * Fixed handling of IMU data w.r.t. differential mode and relative mode 2.2.0 (2015-05-22) ------------------ * Added tf2-friendly tf_prefix appending * Corrected for IMU orientation in navsat_transform * Fixed issue with out-of-order measurements and pose resets * Nodes now assume ENU standard for yaw data * Removed gps_common dependency * Adding option to navsat_transform_node that enables the use of the heading from the odometry message instead of an IMU. * Changed frame_id used in setPoseCallback to be the world_frame * Optimized Eigen arithmetic for signficiant performance boost * Migrated to tf2 * Code refactoring and reorganization * Removed roll and pitch from navsat_transform calculations * Fixed transform for IMU data to better support mounting IMUs in non-standard orientations * Added feature to navsat_transform_node whereby filtered odometry data can be coverted back into navsat data * Added a parameter to allow future dating the world_frame->base_link_frame transform. * Removed deprecated differential setting handler * Added relative mode * Updated and improved tests * Fixing source frame_id in pose data handling * Added initial covariance parameter * Fixed bug in covariance copyinh * Added parameters for topic queue sizes * Improved motion model's handling of angular velocities when robot has non-zero roll and pitch * Changed the way differential measurements are handled * Added diagnostics 2.1.7 (2015-01-05) ------------------ * Added some checks to eliminate unnecessary callbacks * Updated launch file templates * Added measurement outlier rejection * Added failure callbacks for tf message filters * Added optional broadcast of world_frame->utm transform for navsat_transform_node * Bug fixes for differential mode and handling of Z acceleration in 2D mode 2.1.6 (2014-11-06) ------------------ * Added unscented Kalman filter (UKF) localization node * Fixed map->odom tf calculation * Acceleration data from IMUs is now used in computing the state estimate * Added 2D mode 2.1.5 (2014-10-07) ------------------ * Changed initial estimate error covariance to be much smaller * Fixed some debug output * Added test suite * Better compliance with REP-105 * Fixed differential measurement handling * Implemented message filters * Added navsat_transform_node 2.1.4 (2014-08-22) ------------------ * Adding utm_transform_node to install targets 2.1.3 (2014-06-22) ------------------ * Some changes to ease GPS integration * Addition of differential integration of pose data * Some documentation cleanup * Added UTM transform node and launch file * Bug fixes 2.1.2 (2014-04-11) ------------------ * Updated covariance correction formulation to "Joseph form" to improve filter stability. * Implemented new versioning scheme. 2.1.1 (2014-04-11) ------------------ * Added cmake_modules dependency for Eigen support, and added include to silence boost::signals warning from tf include