CHANGELOG

Changelog for package mola_state_estimation_smoother

2.0.1 (2026-01-15)

  • test: less strict limits to avoid random failures

  • cmake: Remove non-used find_package() for ament_lint_auto

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

  • Contributors: Jose Luis Blanco-Claraco

2.0.0 (2026-01-14)

  • Merge pull request #7 from MOLAorg/feature/tricycle-kinematic Add tricycle kinematics

  • Use bad initial pose for unit test

  • unit test: same conditions for different kinematic models

  • Copyright year bump

  • Add FactorTricycleKinematic

  • Implement twist fusion

  • Add twist unit test

  • Unit test: include tricycle tests too

  • Enable connection to MolaViz for console messages

  • converted into ament_cmake; update template yaml params file

  • Add templates to launch the estimator as a standalone ROS 2 node

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

  • More realistic drift case: IMU helps LO

  • fix test: correct IMU acc simulation

  • Default params: more common case of starting near static

  • fixed imu acc gravity alignment

  • Add two-odometry unit test

  • fix error, and add support for azimuth offset

  • add IMU+GPS based azimuth estimation

  • Refactor: symbolic factor classes moved as internal smoother classes

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

  • fixed missing extrapolation steps

  • implement basic pose extrapolation

  • honor initial twist

  • Fixed odom+gnss fusion

  • implement correct auto geo-referenciation

  • Support fusing poses wrt map frame too

  • marginals for uncertainty

  • refactor to use Pose3 instead of P+R

  • initialize georef gtsam variables

  • Make important parameters mandatory in yaml config files

  • New unit test for fusing GPS+odometry

  • process CObservationRobotPose

  • One further fix for cmake

  • integrate code coverage in cmake

  • Update .h docs to match the new design

  • Enable code coverage

  • Update parameters to hold new geo-ref fields

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

  • Contributors: Jose Luis Blanco-Claraco

1.11.1 (2025-10-20)

  • Update to build against MOLA>=2.1.0 with ConstPtr API

  • Contributors: Jose Luis Blanco-Claraco

1.11.0 (2025-10-05)

  • Move LocalVelocityBuffer class here from mp2p_icp repository

  • Contributors: Jose Luis Blanco-Claraco

1.10.0 (2025-09-07)

  • Fix build against gtsam>=4.3

  • Update copyright notice

  • Make unhandled sensor input topic message less verbose

  • Contributors: Jose Luis Blanco-Claraco

1.9.0 (2025-06-06)

  • State estimation interface is now raw data consumer too

  • FIX: Error if sensor labels were provided in config yaml file

  • Contributors: Jose Luis Blanco-Claraco

1.8.1 (2025-05-25)

  • Update copyright year

  • fixes for clang-tidy

  • Contributors: Jose Luis Blanco-Claraco

1.8.0 (2025-03-15)

  • const correctness

  • State estimation modules now are proper MOLA raw inputs, so they automatically subscribe and consume input sensors (IMU, GPS, wheels odometry)

  • Contributors: Jose Luis Blanco-Claraco

1.7.0 (2025-02-22)

  • Use more generic localization source name

  • make it thread safe; fix replaying extrapolated poses using past timestamps

  • Documentation: explain the different types of factors and kinematic models

  • Smoother: observe the enforce_planar_motion parameter

  • FIX: use last guess as initial values to improve optimization stability; expose more parameters

  • StateEstimationSmoother: Publish pose updates in a timely manner

  • Add parameter enforce_planar_motion

  • Fix gtsam must be a runtime depend too

  • Contributors: Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco

1.6.1 (2025-01-10)

  • Shorter logger name

  • Contributors: Jose Luis Blanco-Claraco

1.6.0 (2025-01-03)

1.5.0 (2024-12-26)

1.4.1 (2024-12-20)

1.4.0 (2024-12-18)

1.3.0 (2024-12-11)

  • Start integrating GNSS observation. Added a new CLI program mola-navstate-cli for testing state fusion

  • Contributors: Jose Luis Blanco-Claraco

1.2.1 (2024-09-29)

1.2.0 (2024-09-16)

1.1.3 (2024-08-28)

  • Depend on new mrpt_lib packages (deprecate mrpt2)

  • Contributors: Jose Luis Blanco-Claraco

1.1.2 (2024-08-26)

1.1.1 (2024-08-23)

1.1.0 (2024-08-18)

  • Update test-navstate-basic.cpp: less noisy test data for more predictable results

  • Merge pull request #62 from MOLAorg/docs-fixes Docs fixes

  • Fix ament_xmllint warnings in package.xml

  • Contributors: Jose Luis Blanco-Claraco

1.0.8 (2024-07-29)

  • ament_lint_cmake: clean warnings

  • Contributors: Jose Luis Blanco-Claraco

1.0.7 (2024-07-24)

  • Fix GNSS typo

  • Contributors: Jose Luis Blanco-Claraco

1.0.6 (2024-06-21)

  • Create new NavStateFilter interface and separate the simple fuser and the factor-graph approach in two packages

  • Contributors: Jose Luis Blanco-Claraco

1.0.5 (2024-05-28)

1.0.4 (2024-05-14)

  • bump cmake_minimum_required to 3.5

  • Contributors: Jose Luis Blanco-Claraco

1.0.3 (2024-04-22)

  • Fix package.xml website URL

  • Contributors: Jose Luis Blanco-Claraco

1.0.2 (2024-04-04)

1.0.1 (2024-03-28)

1.0.0 (2024-03-19)

  • use odometry

  • add new package mola_state_estimation_simple

  • Contributors: Jose Luis Blanco-Claraco

0.2.2 (2023-09-08)