^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ Changelog for package robot_localization ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 2.7.6 (2024-04-16) ------------------ * Updating issue templates * Fixing angle clamping in Noetic (`#855 `_) * Contributors: Tom Moore 2.7.5 (2023-12-12) ------------------ * Fix/set utm map frame change (`#830 `_) * Fix utm service properly resetting transforms and fix test for this --------- Co-authored-by: Ferry Schoenmakers * Add flag to invert published transform (`#827 `_) * fix bracket missing bug ekf nodelet template noetic (`#823 `_) * Noetic devel (`#775 `_) * fixed missing silent flag * removed debug statement * replace tabs with blanks * Contributors: Carlos Mendes, ChenHehe, CyberNet, Ferry Schoenmakers 2.7.4 (2022-07-27) ------------------ * Fix odometry and acceleration processing pipeline (`#753 `_) * Use default CXX, need to specify boost::placeholders::_1 instead of just _1 (`#750 `_) * Fix odometry msgs with child frame other than baseLink (`#728 `_) * update documentation (`#723 `_) * Fix unused-parameter warning (`#721 `_) * Fix tf lookup timestamp during map->odom publication (`#719 `_) * UKF cleanup (`#671 `_) * Added geographiclib to catkin exported depends (`#709 `_) * Make the navsat tf frame name parametric (`#699 `_) * Propagate the suppression of tf warnings (`#705 `_) * Fix typo in base_link_frame_output name. (`#701 `_) * Contributors: AR Dabbour, Carlos Agüero, Haoguang Yang, J.P.S, Joshua Owen, Leonardo Hemerly, Lucas Walter, Marcus Scheunemann, Stephen Williams, Tom Moore 2.7.3 (2021-07-23) ------------------ * Prevent node from crashing on invalid UTM zone, but throw ROS_ERROR to notify user (`#682 `_) * changed geographiclib to tag (`#684 `_) * Small formatting and content change (`#677 `_) * Fixed state transition for sigma points. The state transition function for each sigma point now uses its sigma point's posteriori state instead of always the posteriori state. (`#628 `_) Co-authored-by: jola6897 * Contributors: John Stechschulte, Jonas, MCFurry, Vivek Mhatre 2.7.2 (2021-06-03) ------------------ * Also test for gamma conversion (`#647 `_) * fix: Transform gravitation vector to IMU frame before removing acceleration (`#639 `_) * Fixed a typo in validate filter output error message. (`#646 `_) * Stick to the global utm_zone\_ when transforming gps to UTM (`#627 `_) * Stick to the global utm_zone\_ when transforming gps to UTM * UTM conversions using geographiclib (`#626 `_) * Use GeographicLib for UTMtoLL conversions * SHARED linking for Geographiclib (`#624 `_) * remove GeographicLib specific linking option * Fixing lat-long to UTM conversion (`#620 `_) Thanks again for the report. I'll get this into `noetic-devel` and the relevant ROS2 branches. * Removing xmlrpcpp dependency * yaml-cpp using find_package as backup (`#618 `_) * Add ${GeographicLib_LIBRARIES} to navsat_transform (`#617 `_) * Contributors: Achmad Fathoni, Leonardo Hemerly, Paul Verhoeckx, Tim Clephas, Tobias Fischer, Tom Moore 2.7.0 (2020-12-17) ------------------ * Making repeated state publication optional (`#595 `_) * Fix sign error in dFY_dP part of transferFunctionJacobian\_ (`#592 `_) * Fix typo in navsat_transform_node.rst (`#588 `_) * Fix issue caused by starting on uneven terrain (`#582 `_) * Local Cartesian Option (`#575 `_) * Fix frame id of imu in differential mode, closes `#482 `_. (`#522 `_) * navsat_transform diagram to address `#550 `_ (`#570 `_) * Increasing the minimum CMake version (`#573 `_) * Contributors: Aleksander Bojda, David Jensen, James Baxter, Jeffrey Kane Johnson, Mabel Zhang, Ronald Ensing, Tom Moore 2.6.8 (2020-06-03) ------------------ * Adding conditional build dependencies (`#572 `_) * Contributors: Tom Moore 2.6.7 (2020-06-01) ------------------ * Parameterizing transform failure warnings * [melodic] Fix Windows build break. (`#557 `_) * Contributors: Sean Yen, Tom Moore, florianspy 2.6.5 (2019-08-08) ------------------ * fix: wall time used when `use_sim_time` is true * Created service for converting to / from lat long * Fix bug with tf_prefix * Adding new contribution to doc * Add missing undocumented params * Update wiki location * Contributors: Andrew Grindstaff, Axel Mousset, Charles Brian Quinn, Oswin So, Tom Moore 2.6.4 (2019-02-15) ------------------ * Meridian convergence adjustment added to navsat_transform. * Documentation changes * Add broadcast_utm_transform_as_parent_frame * Enable build optimisations if no build type configured. * Contributors: G.A. vd. Hoorn, Pavlo Kolomiiets, diasdm 2.6.3 (2019-01-14) ------------------ * Rename odomBaseLinkTrans to baseLinkOdomTrans Adhere to the naming convention Trans used for worldBaseLinkTrans and mapOdomTrans. * Add const& to catch values to prevent the error: catching polymorphic type ‘class tf2::TransformException’ by value And ZoneNumber by 0x3fU to prevent error: directive output may be truncated writing between 1 and 11 bytes into a region of size 4 * Enabling the user to override the output child_frame_id * Fixing Euler body-to-world transformations * Whitespace * fixing no datum service in melodic * Contributors: Alexis schad, Matthew Jones, Tom Moore, thallerod 2.6.2 (2018-10-25) ------------------ * Fixing tests * Contributors: Tom Moore 2.6.1 (2018-10-25) ------------------ * Adding more output for measurement history failures * Adding filter processing toggle service * Waiting for valid ROS time before starting navsat_transform_node * Contributors: Tom Moore, stevemacenski 2.6.0 (2018-07-27) ------------------ * Moving to C++14, adding error flags, and fixing all warnings * Contributors: Tom Moore 2.5.2 (2018-04-11) ------------------ * Add published accel topic to documentation * adding log statements for nans in the invertable matrix * Fixing issue with potential seg fault * Contributors: Oleg Kalachev, Tom Moore, stevemacenski 2.5.1 (2018-01-03) ------------------ * Fixing CMakeLists * Contributors: Tom Moore 2.5.0 (2017-12-15) ------------------ * Fixing datum precision * Fixing timing variable * Fixing state history reversion * Fixing critical bug with dynamic process noise covariance * Fix typo in reading Mahalanobis thresholds. * Zero out rotation in GPS to base_link transform * Update xmlrpcpp includes for Indigo support * Removing lastUpdateTime * Fixing timestamps in map->odom transform * Simplify enabledAtStartup logic * Add std_srvs dependency * Add enabling service * Ensure all raw sensor input orientations are normalized even if messages are not * Install params directory. * Add robot localization estimator * Adding nodelet support * Contributors: Jacob Perron, Jacob Seibert, Jiri Hubacek, Mike Purvis, Miquel Massot, Pavlo Kolomiiets, Rein Appeldoorn, Rokus Ottervanger, Simon Gene Gottlieb, Tom Moore, stevemacenski 2.4.0 (2017-06-12) ------------------ * 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