Changelog for package robot_localization
2.3.4 (2018-04-11)
- Fixing issue with potential seg fault
- Contributors: Tom Moore
2.3.3 (2017-12-15)
- Zero out rotation in GPS to base_link transform
- Fix typo in reading Mahalanobis thresholds.
- Fixing state history reversion
- Some trivial changes to lessen the differences to lunar
- Fixing critical bug with dynamic process noise covariance
- Fixing datum precision
- Contributors: Jacob Seibert, Pavlo Kolomiiets, Tom Moore
2.3.2 (2017-06-06)
- 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