Changelog for package mcl_3dl

0.6.1 (2023-01-04)

Update assets to v0.4.1 (#400)
Support PCL 1.11 and later (#397)
Update assets to v0.4.0 (#395)
Update assets to v0.3.4 (#392)
Remove old workarounds for PCL<1.8 (#389)
Update assets to v0.3.3 (#388)
Update assets to v0.3.2 (#387)
Update code format (#386)
Contributors: Atsushi Watanabe

0.6.0 (2021-05-12)

Add option to load cloud through "load_pcd" service (#381)
Update assets to v0.3.1 (#382)
Update assets to v0.3.0 (#380)
Update assets to v0.2.0 (#379)
Contributors: Atsushi Watanabe, Remco

0.5.4 (2021-03-07)

Add odom/imu/cloud_queue_size params (#375)
Fix flaky tests (#376)
Contributors: Atsushi Watanabe

0.5.3 (2021-02-26)

Fix cloud accum reset on map update (#371)
Contributors: Atsushi Watanabe

0.5.2 (2021-01-15)

Fix potential "Time is out of dual 32-bit range" error (#367)
Update assets to v0.1.4 (#365)
Improve test stability (#363)
Update assets to v0.1.3 (#362)
Update assets to v0.1.2 (#361)
Migrate to GitHub Actions (#357)
Update assets to v0.0.10 (#356)
Contributors: Atsushi Watanabe

0.5.1 (2020-10-26)

Make hit_range independent from grid size and fix DDA hit/miss state (#350)
Fix crushing when lidar poses are out of map (#351)
Contributors: Atsushi Watanabe, Naotaka Hatao

0.5.0 (2020-10-15)

Fix crushing when new map is received (#347)
Ease condition for test of PointCloudSamplerWithNormal (#344)
Add faster raycast algorithm using DDA (#343)
Contributors: Naotaka Hatao

0.4.0 (2020-10-07)

Fix typos of license (#340)
Add PointCloudSamplerWithNormal (#339)
Contributors: Naotaka Hatao

0.3.0 (2020-09-07)

Switch beam model by map label field (#334)
Update test script for latest catkin (#333)
Remove references to sensor_msgs::PointCloud (#332)
Update assets to v0.0.9 (#331)
Improve expansion resetting/global localization test stability (#330)
Fix global localization test parameter (#328)
Avoid rate limit when fetching gh-ph-comment (#329)
Update gh-pr-comment (#327)
Retry codecov script download (#326)
Improve test coverage (#325)
Merge rostest coverage profiles (#324)
Contributors: Atsushi Watanabe, f-fl0

0.2.5 (2020-05-27)

Add validation for orientation of initial pose (#317)
Update CI scripts (#318)
Contributors: Atsushi Watanabe, Yuta Koga

0.2.4 (2020-05-08)

Fix resampling failure of last particle (#313)
Retry gpg keyserver on prerelease test (#312)
Add filter class for Vec3 (#311)
Refactor math functions (#310)
Fix deprecation warning (#309)
Split parameter loader code (#307)
Contributors: Atsushi Watanabe, Naotaka Hatao

0.2.3 (2020-04-07)

Update assets to v0.0.8 (#303)
Fix flaky rostest nodes (#302)
Update E2E test parameters (#301)
Refactor CI scripts (#300)
Add Noetic CI job (#296)
Fix initialization of accumulated cloud header (#299)
Support Noetic (#297)
Contributors: Atsushi Watanabe

0.2.2 (2020-03-30)

Make average number of accumulated clouds accurate (#293)
Fix latching flag in demo bag (#294)
Fix cloud accumulation logic (#290)
Contributors: Atsushi Watanabe

0.2.1 (2020-02-03)

Set DiagnosticStatus::OK as default (#283)
Update assets to v0.0.7 (#282)
Contributors: Atsushi Watanabe, Daiki Maekawa

0.2.0 (2020-01-18)

Install consistent version of ros_buildfarm (#281)
Run prerelease test with latest msgs package (#278)
Expose internal errors and convergence status (#265)
Document motion prediction model parameters (#277)
Contributors: Atsushi Watanabe, Daiki Maekawa

0.1.7 (2020-01-06)

Update assets to v0.0.6 (#273)
Update assets to v0.0.5 (#272)
Add catkin/bloom release actions (#269)
Fix codecov setting (#270)
Fix codecov config (#268)
Migrate C math functions to C++ (#267)
Enable particle initialization using covariances (#259)
Contributors: Atsushi Watanabe, Naotaka Hatao

0.1.6 (2019-10-21)

Clear odometry integration error on global localization (#257)
Accelerate CI and prerelease test (#254)
Contributors: Atsushi Watanabe

0.1.5 (2019-08-15)

Split prerelease test job to avoid CI time-limit (#251)
Speed-up covariance calculation during global localization (#248)
Run prerelease test on release preparation PR (#246)
Add a test for landmark measurement (#242)
Add test case for expansion resetting service (#241)
Test matched/unmatched debug outputs (#240)
Add basic tests for State6DOF class (#239)
Fix demo configuration and update README (#238)
Add no-imu and no-odometry modes (#234)
Add test case for obsolated compatibility mode (#237)
Fix document file permission (#236)
Add test for compatibility level check (#235)
Fix ParticleFilter::resample() (#233)
Drop ROS Indigo and Ubuntu Trusty support (#230)
Disable CI build for indigo (#229)
Refactor motion prediction models (#227)
Refactor IMU measurement models (#226)
Fix include directory priority (#225)
Custom point type (#206)
Fix transform object constness (#224)
Add LICENSE file (#220)
Add post-release test script (#218)
Reduce memcpy in point cloud transform (#216)
Contributors: Atsushi Watanabe, Naotaka Hatao

0.1.4 (2018-12-20)

Fix IO figure (#212)
Fix tf timestamp (#214)
Add pf::ParticleFilter::appendParticle (#207)
Fix pointer alignment style (#210)
Migrate tf to tf2 (#208)
Fix class member naming style (#205)
Make lidar measurement model class (#195)
Add I/O diagram to the document (#199)
Update Algorithms.md (#198)
Add apt-get upgrade to test Dockerfiles (#197)
Add document for expansion resetting (#193)
Add test for expansion resetting (#192)
Add test for global localization (#188)
Refactor likelihood calculation (#189)
Add a comment to test_transform_failure (#184)
Build mcl_3dl_msgs from source on CI (#185)
Fix resampling (#183)
Fix test failure on ROS buildfarm (#181)
Fix catkin package definitions (#180)
Add tf exception handling and change message level (#177)
Relax codecov patch threshold (#179)
Allow small coverage drop (#178)
Fix test names (#176)
Add build id to CI bot comment (#174)
Fold CI bot comment (#173)
Decrease bag playback rate in integration test (#172)
Add test for NormalLikelihoodNd (#171)
Report coverage only after successful test (#170)
Add CI badges (#169)
Add codecov covarage test (#168)
Fix bot comment target slug (#167)
Contributors: Atsushi Watanabe, So Jomura

0.1.3 (2018-06-23)

Fix install of demo launch and config (#164)
Update CI and add test on ROS Melodic (#155)
Ignore gh-pr-comment failure (#162)
Compile with PCL_NO_PRECOMPILE (#161)
Fix rostest dependency (#160)
Fix roslint dependency (#159)
Update install instructions in README (#158)
Update manifest format and fix CMakeLists (#157)
Use mcl_3dl_msgs package (#152)
Test with shadow-fixed repository (#154)
Update CI bot environments (#150)
Add encrypted token for image caching (#149)
Fix migration instruction message (#147)
Fix match ratio min/max check (#146)
Add interfaces to ChunkedKdtree for external usages (#145)
Install headers (#143)
Contributors: Atsushi Watanabe

0.1.2 (2018-04-27)

Workaround for debian stretch build (#140)
Contributors: Atsushi Watanabe

0.1.1 (2018-04-25)

Update CI settings (#136)
Remove CMake warning message (#134)
Contributors: Atsushi Watanabe

0.1.0 (2018-04-23)

Migrate to ROS recommended namespace model (#130)
Minor CI setting updates (#129)
Fix package deps (#127)
Fix dockerfile style (#125)
Load CI cache from docker hub registry (#124)
- also add build matrix
Add raycast performance benchmark (#123)
Fix GLOBAL_LOCALIZATION status (#122)
Add localization status output (#120)
Fix nodehandle usage (#121)
Update demo without odometry (#119)
- Update demo without odometry
- Update README
- Add document of the demo without odometry
Move sample parameters in launch into yamls (#72)
Fix time jump back (#117)
- Fix time jump back
- Add warning of time jump
- Fix tf error check
Add unit tests for Raycast (#116)
- Add unit tests for Raycast
- Fix raycast grid handling
Chunked kd-tree (#113)
- Add chunked kd-tree to remove map truncation
- Remove unused params
- Remove unused debug output
- Add unit test for ChunkedKdtree
Update test reference checksum (#114)
Fix raycast collision tolerance (#112)
- Tolerance of the end of the raycast was too small in 1a758c0 because of the increase of the search range.
Add integral angular odometry error constraint (#111)
Fix raycast (#110)
- Hit was checked by using range search with (grid/2.0) which make a lot of miss detection. (sqrt(2.0) * grid / 2.0) should be good approximation.
Add rule based expansion resetting (#109)
Fix integral odom error debug output (#108)
Add landmark measurement input (#107)
Fix map update timer (#105)
Fix CI bot (#104)
- Fix repository url
- Use pip version of the bot
Remove spinOnce polling and waitForTransform (#102)
- Use ros::Timer instead of ros::spinOnce polling
- Remove waitForTransform for static transforms
- Remove waitForTransform for buffered (delayed) objects
Fix particle initialization (#101)
Reset integral odometry error if jumped (#100)
Add constraint on the integral of odometry error (#99)
- odom_err_integ_tc: time constant to hold the integral of the odometry error
- odom_err_integ_sigma: acceptable range of the integral of the odometry error
Visualize sampled points and raycasting result (#97)
- Visualize sampled points and raycasting result
- Remove duplicated code around raycasting
Fix raycasting accuracy (#96)
Fix odometry noise function in prediction (#95)
Add global localization (#91)
Fix particle resize (#92)
- same fix as #90
Fix resampling for huge particle size (#90)
- All-zero particles have appeared on resampling if the particle size is very large.
- Also, add iterator.
Add test for pf::ParticleFilter. (#89)
Build test with -Wall -Werror. (#88)
- Build test with -Wall -Werror.
- Workaround for invalid macro name bug in PCL(<1.8.1).
Fix odometry noise function. (#87)
- wrong: nd(mean = 1.0, sigma = sigma_trans_trans) * nd(mean = 1.0, sigma = sigma_rot_trans)
- corrected: nd(mean = 0.0, sigma = sigma_trans_trans) + nd(mean = 0.0, sigma = sigma_rot_trans)
Skip random points sampling if all points are filtered out. (#86)
Fix build on indigo. (#84)
Add map_clip_far param. (#85)
Support variable particle size. (#78)
- Support variable particle size.
- Add service to change particle size.
- Add test for resizeParticle.
Check input cloud size. (#82)
- Check for empty cloud to avoid failure on kdtree build.
- Fix usage of point size of pcl::PointCloud.
Remove debug outputs. (#81)
Use online version of test result comment bot. (#80)
Fix const function attributes. (#77)
Remove dummy dep to system_lib. (#76)
Add unit tests for mathematical classes. (#74)
- Add unit tests for Vec3, Quat, NormalLikelihood, Filter classes.
- Fix scaling of the NormalLikelihood distribution.
- Fix Filter::set in angle mode.
Fix naming styles. (#73)
- Names of the classes and their members now get compatible with ROS recommended coding styles.
- Public member variables are kept without underscore postfix.
Fix package install. (#71)
Fix assert of sampled point amount check. (#70)
Fix quaternion average and use expectation as estimation result. (#67)
Fix bot's test result posting on fail. (#68)
Include test result on bot post. (#66)
Fix a bug where all particle probabilities get zero. (#65)
- fix number of selected points for likelihood calculation
- add error recovering / asserts
fixes coding styles (#64)
adds parameter to accumulate input clouds (#60)
syncs tf timestamp with last odometry (#61)
adds example without odometry (#57)
updates default params and demo (#55)
adds option to disable tf publish and test for tf output (#46)
adds test result notifier bot (#53)
fixes possibly invalid memory access (#52)
changes docker storage driver to overlay2 (#51)
adds pcd file output of all pointcloud (#50)
limits minimum beam_model likelihood (#49)
separates point ranges of beam model and fixes total ref reduction (#48)
makes acc measurement variance configurable (#47)
fixes published tf timestamps to have a future date (#45)
fixes docker caching on travis (#43)
updates default parameters (#42)
adds debug visualization output of casted ray (#41)
fixes total reflection reduction (#40)
rejects total reflection points in beam_model (#37)
fixes test result handling and playback rate (#38)
ignores travis run on non-master branch (#36)
caches test dataset outside of docker (#34)
- caches test dataset outside docker
- changes script path
adds travis settings for a test in docker container (#33)
adds localization accuracy test (#32)
makes beam_model likelihood configurable (#30)
removes ad-hoc map filter (#27)
updates sample launch file (#28)
- The commit enables:
  - IMU measurement
  - loading map from pcd file
adds imu measurement (#26)
adds hysteresis on final estimation (#24)
updates parameters in sample launch file (#23)
- removes map offset parameters
- specifies jump detection distance
fixes axis-angle value range (#22)
updates parameters in sample launch file (#19)
fixes odometry error parameter handling (#18)
fixes beam_model raycast origin (#17)
adds parameter to specify odometry error
adds sample launch file (#14)
- This fixes #3.
- A dataset for testing will be supplied in future.
adds documentation (#10)
fixes init_yaw/pitch/roll setting (#12)
ad hoc fix to a bug on PCL-1.7 with C++11
- fixes #9
adds matched/unmatched pointclouds output (#7)
fixes filter resetting in angular mode
- This commit fixes #2.
makes map clipping parameters configurable
fixes roll and pitch motion in prediction phase
adds /amcl_pose output
- This commit fixes #1.
applies LPF on debugging output pointcloud coordinate
changes default map frame to 'map' instead of 'map_ground'
outsources map update
adds beam model
makes z clipping parameters configurable
adds parameter to skip measurement
reduces almost invisible points in map
checks localization covariance on map update
detects pose jump and reset LPF
makes some parameters configurable
adds covariance calculation
uses rpy variance instead of quat
supports jump back
fixes PointRepresentation dimension
speed up by using radiusSearch instead of nearestKSearch
improves prediction phase
adds flexible particle operators
removes garbage semicolons
makes matching related parameters configurable
makes several parameters configurable
adds output filter
adds weight in matching
adds some parameters
reduces number of points of updated map cloud
adds particleBase::operator+
clips and updates maps
adds vec3::operator*
adds arg to specify sigma to resampling
avoids memory access error in max()
supports tf and initialpose
supports quat::inverse
supports vec3::operator-
updates test parameters
update map cloud
accumulates clouds
fixes resampling
first test version
Contributors: Atsushi Watanabe