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