Changelog for package robot_localization

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