CHANGELOG

Changelog for package mrpt_sensorlib

0.3.0 (2026-05-20)

  • feat(mrpt_sensorlib): retry on sensor exception instead of crashing When doProcess() throws (e.g. serial port unavailable at startup), catch the exception, report ERROR via /diagnostics, and retry after retry_on_error_delay seconds (default 5 s, tunable via ROS 2 param).

  • feat(mrpt_sensorlib): add /diagnostics support to all sensor nodes Centralised in GenericSensorNode so every sensor package inherits it automatically without any per-package changes. State machine: - WARN “initialising” for the first diag_startup_timeout seconds (default 30 s) - ERROR if no observation received after that timeout - ERROR if time since last observation exceeds 3× the expected period (stale) - WARN if smoothed rate < 50% of expected rate - OK otherwise New ROS 2 parameters (both in mrpt_sensorlib): diag_startup_timeout [s] (default 30.0) diag_expected_rate [Hz] (default 1.0)

  • Novatel SPAN node can now subscribe to an IMU and use its orientation to initialize the INS azimuth

  • FIX: Don’t throw if an invalid stamp arrives from the sensor

  • Contributors: Jose Luis Blanco-Claraco

0.2.4 (2025-10-27)

  • Replace deprecated ament_target_dependencies() with standard cmake

  • package.xml: update license tag to BSD-3-Clause

  • Contributors: Jose Luis Blanco-Claraco

0.2.3 (2024-09-01)

  • Update copyright comment blocks to try to make ament linter happy

  • Depend on new mrpt_lib packages (deprecate mrpt2)

  • Update to package XML format 3

  • Contributors: Jose Luis Blanco-Claraco

0.2.2 (2024-08-09)

  • Merge pull request #10 from mrpt-ros-pkg/use-gnss-base-topic-name Use gnss base topic name

  • Reuse base class publish topic name add missing getter

  • Contributors: Jose Luis Blanco-Claraco

0.2.1 (2024-07-03)

  • Publish NMEA ROS2 native msgs: GGA, GSA, RMC

  • Contributors: Jose Luis Blanco-Claraco

0.2.0 (2024-05-20)

  • FIX: Implement the missing “saveToRawlog” feature

  • Add parameter to set the sensorLabel of generated observations

  • Limit publication of /tf sensor poses to a maximum configurable rate

  • BUGFIX: tf error if sensor_frame_id==robot_frame_id

  • Contributors: Jose Luis Blanco-Claraco

0.1.0 (2024-03-28)

  • publish sensor pose to /tf

  • fix missing namespace

  • Reformat with clang-format to fix ament_linters

  • Comply with ROS2 REP-2003

  • Fix usage of obsolete mrpt methods

  • delegate conversion to mrpt::ros2bridge

  • Port to ROS2

  • Contributors: Jose Luis Blanco-Claraco