CHANGELOG

Changelog for package mola_georeferencing

2.2.0 (2026-03-03)

  • Merge pull request #18 from MOLAorg/fix/should-fail-on-missing-mm Add guards against failures for missing input .mm files

  • Add guards against failures for missing input .mm files

  • Merge pull request #17 from MOLAorg/feat/mm-add-geodetic-handle-null-geodetics mola-mm-add-geodetic: Don’t create output map if input geodetics are …

  • mola-mm-add-geodetic: Don’t create output map if input geodetics are missing. We may still have a valid input .georef, obtained from IMU only, but without geodetics coordinates

  • Merge pull request #16 from MOLAorg/feat/imu-align-without-gps Use IMU even without GPS data

  • improved unit tests

  • fix potential UB

  • Use IMU even without GPS data

  • IMU frames: use averaged gravity measurements per key-frame

  • Merge pull request #15 from MOLAorg/fix/use-lvb georeferencing: correctly use IMU data in the LocalVelocityBuffer too…

  • georeferencing: correctly use IMU data in the LocalVelocityBuffer too for gravity alignment

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

  • Fix potential errors

  • georeferencing now optionally uses IMU acceleration measurements to help with gravity-alignment

  • Contributors: Jose Luis Blanco-Claraco

2.1.0 (2026-02-14)

  • simplemap_georeference(): returns std::optional to reflect lack of GNSS data enough

  • Merge pull request #12 from MOLAorg/feat/mm-geodetic Feat/mm-geodetic

  • Add mola-mm-add-geodetic-cli app

  • Contributors: Jose Luis Blanco-Claraco

2.0.1 (2026-01-15)

  • Fix potential bug in sm_georeferencing

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

  • Add missing #include for gtsam

  • Contributors: Jose Luis Blanco-Claraco

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 #10 from MOLAorg/feature/add-georef-tests Add georeference unit tests

  • Add georef unit test

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

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

  • process CObservationRobotPose

  • integrate code coverage in cmake

  • package.xml: add FILE to license tags

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

  • new package mola_georeferencing, imported and refactored from mola_sm_loop_closure

  • Contributors: Jose Luis Blanco-Claraco