CHANGELOG
Changelog for package mola_bridge_ros2
2.7.0 (2026-04-22)
Merge pull request #131 from MOLAorg/feat/actions-custom-runner CI actions: build for arm64 too
Merge branch ‘Zeal-Robotics-fix/bridge-ros2-skip-empty-tf-on-rep105-failure’ into develop
Fix formatting and clarify function arguments
fix(bridge_ros2): skip TF publish when REP-105 odom lookup fails In publishLocalizationTf, when publish_localization_following_rep105 is enabled, the bridge needs to look up odom_frame -> base_link_frame to compose map -> odom. If that lookup fails (e.g. wheel odometry hasn’t started publishing yet during system startup), the previous code logged the error but still fell through to tf_bc_->sendTransform(tf) with a default-constructed TransformStamped (empty frame_id and child_frame_id). This poisoned every subscriber’s tf2 buffer at the localization rate, producing a continuous stream of TF_NO_FRAME_ID, TF_NO_CHILD_FRAME_ID, and TF_SELF_TRANSFORM errors across every node in the system until the odom TF became available. Fix: return early on lookup failure so no broadcast happens. While here, restructure the function with an early-return guard for publish_tf_from_slam to flatten the nesting, and include the actual frame names in the error message. Behavior unchanged in the success path.
Merge pull request #129 from MOLAorg/feat/ros2-diagnostics Feature: ROS2 diagnostics
feat(bridge_ros2): publish REP-107 /diagnostics DiagnosticArray Collect structured diagnostics from modules implementing the new mola::DiagnosticsProvider interface and publish them on the standard ROS 2 /diagnostics topic alongside the existing ad-hoc mola_diagnostics/ topics. Adds the diagnostic_msgs dependency. Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>
Merge pull request #122 from MOLAorg/feat/ros2-bridge-multiple-odometries Add param ‘odometry_as_robot_pose_observation’ to switch OdometryMsg …
Skip entries with empty topic name
Add param ‘odometry_as_robot_pose_observation’ to switch OdometryMsg mapping to MRPT types
Merge pull request #121 from MOLAorg/fix/clean-up-old-mrpt-version-checks Clean up: remove old mrpt version fallback code sections
Contributors: Jose Luis Blanco-Claraco, Robin Van Cauwenbergh
2.6.1 (2026-04-02)
2.6.0 (2026-03-12)
Remove now obsolete version check macro
Merge pull request #108 from MOLAorg/feat/use-gps-msgs Support gps_msgs data types too for ROS2
Support gps_msgs as alternative to NavSatFix
Merge pull request #107 from MOLAorg/fix/viz-decay-clouds Fix/viz-decay-clouds
Update coyright notes
Contributors: Jose Luis Blanco-Claraco
2.5.0 (2026-02-14)
Merge pull request #105 from MOLAorg/feat/refactor-ros2-bridges Refactor to use external rosbag2 conversion in mrpt_ros_bridge
Use refactored ros2mrpt bridge in live node too
Fix: potential access to the ROS2 node before it’s ready
Merge pull request #101 from MOLAorg/fix/mola-bridge-no-pub-queue Fix: mola bridge no pub queue
BridgeRos2: publish localization updates immediately, do not buffer them
Add debug traces
Merge pull request #99 from MOLAorg/feat/ros2-bridge-pub-geographic ROS2 bridge: publish geographic poses too
ros2 bridge: use geographic_msgs, store the last georeference info internally, and publish georef poses merge of these commits: - Enable many more clang-tidy checks - lint clean - implement publishing georeferenced poses - mola-viz: fix potential crash on edge case with all points having NaN value - FIX: potential crash if no MapServer is present and map services are called
fix clang-format
FIX: potential deadlock in BridgeROS2 dtor due to early errors before ros2 is initialized
Contributors: Jose Luis Blanco-Claraco
2.4.0 (2025-12-28)
Prepare for not using deprecated mrpt_maps types starting for mrpt >=3.0.0
FIX: Potential segfault if observations come before ROS2 /tf broadcasters are initialized
Contributors: Jose Luis Blanco-Claraco
2.3.0 (2025-12-15)
Import all pcd fields from ros2 messages using CGenericPointsMap
Contributors: Jose Luis Blanco-Claraco
2.2.1 (2025-11-08)
BridgeROS2: more debug traces in map publishing
Contributors: Jose Luis Blanco-Claraco
2.2.0 (2025-10-28)
format
Fix build against upcoming mrpt v2.15.0
Contributors: Jose Luis Blanco-Claraco
2.1.0 (2025-10-20)
Publish to ROS all map types implementing getAsSimplePointsMap()
format
FIX: ROS2 bridge must use timestamps for map updates to publish maps and deskewed clouds
Support publishing several maps from the same source per iteration to ROS
clang-format
Make use of ConstPtr across API
Contributors: Jose Luis Blanco-Claraco
2.0.0 (2025-10-13)
fix clang-format
Modernize copyright notice
Contributors: Jose Luis Blanco-Claraco
1.9.1 (2025-07-07)
1.9.0 (2025-06-06)
fix clang-format
Implement publishing of optional “metadata” map field too
Contributors: Jose Luis Blanco-Claraco
1.8.1 (2025-05-28)
Fix: Do not use the deprecated ament_target_dependencies()
Contributors: Jose Luis Blanco-Claraco
1.8.0 (2025-05-25)
Update license tag to “BSD-3-Clause”
Update copyright year
Contributors: Jose Luis Blanco-Claraco
1.7.0 (2025-05-06)
1.6.4 (2025-04-23)
fix: Correctly handling Livox cloud timestamps (“double”s, but in nanoseconds) in BridgeROS2 and bag2 data sources. They are automatically detected, no need to change any parameter.
modernize clang-format
Merge pull request #82 from ahpinder/develop Add Support for Voxel Map ROS2 Publishing Via Point Map Conversion
fixed Clang formatting
Clean up voxel map publishing code
Added voxel map point cloud publishing Added code to timerPubMap to publish the occupied voxels of a mrpt::maps::CVoxelMap as a point cloud to ROS2, allowing for real-time ROS2 visualization of 2D map capture
Contributors: Jose Luis Blanco-Claraco, ahpinder
1.6.3 (2025-03-15)
clang-tidy: const correctness
Service renamed: RelocalizeFromGNSS -> RelocalizeFromStateEstimator
FIX: Potential deadlock in initialization
Contributors: Jose Luis Blanco-Claraco
1.6.2 (2025-02-22)
Implement publish Diagnostics per mola module & ROS2 publishers refactored (code clean up)
BridgeROS2: add source filter for forwarding localization updates to ROS2
ROS2: base_footprint_frame /tf is broadcasted now as base_link -> base_footprint to avoid /tf warnings (better as a child than as a second parent in the tf tree)
FIX: In parsing base_footprint_to_base_link_tf
Contributors: Jose Luis Blanco-Claraco
1.6.1 (2025-02-13)
Add new option: publish_tf_from_slam; add better docs on the meaning of all parameters
Publish georef /tf as /tf_static
ROS2 bridge now publishes georeferenced map metadata as /tf’s and as mrpt_nav_interfaces/GeoreferencingMetadata
Revert “Feature: all MOLA modules got its MRPT logger to ROS console for easier debugging” This reverts commit 8a84611d85022f37b80d8bdcb7acaa1910669fc1.
FIX: wrong variable in former commit
Merge pull request #75 from MOLAorg/feature/mrpt-to-ros-console Feature: all MOLA modules got its MRPT logger to ROS console for easier debugging
Feature: all MOLA modules got its MRPT logger to ROS console for easier debugging
Contributors: Jose Luis Blanco-Claraco
1.6.0 (2025-01-21)
Publish gridmaps too
ros2 bridge: rep105 only for map->base_link tfs
BridgeROS2: support forwarding more than one localization message per timer call
Fix published /tf’s: those from LocalizationSources now can explicitly define their parent and child frames
Contributors: Jose Luis Blanco-Claraco
1.5.1 (2024-12-29)
1.5.0 (2024-12-26)
1.4.1 (2024-12-20)
BridgeROS2: add option (now enabled by default) to publish /tfs following REP105 order
BUG FIX: Published odometry msg lacked target frame_id
Rename method for better reflecting its goal
Contributors: Jose Luis Blanco-Claraco
1.4.0 (2024-12-18)
Publish localization quality topic
Forward –ros-args to BridgeROS2
expose services for runtime parameters
Load relocalize_from_topic from yaml file
ros2bridge: handle /initialpose topic -> relocalize service
Contributors: Jose Luis Blanco-Claraco
1.3.0 (2024-12-11)
Support publishing IMU readings MOLA -> ROS2
Contributors: Jose Luis Blanco-Claraco
1.2.1 (2024-09-29)
BUGFIX: Prevent potential race condition
Contributors: Jose Luis Blanco-Claraco
1.2.0 (2024-09-16)
sort <depend> entries
Contributors: Jose Luis Blanco-Claraco
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)
Merge pull request #65 from MOLAorg/add-more-srvs Add more Services
Offer ROS2 services for the new MOLA MapServer interface
clang-format: switch to 100 columns
ros2bridge: offer ROS2 services for relocalization
Merge pull request #62 from MOLAorg/docs-fixes Docs fixes
Fix ament_xmllint warnings in package.xml
change ament linters to apply in test builds
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)
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)
BridgeROS2: more robust /tf find_transform by using tf2::BufferCore
FIXBUG: inverse sensor poses in rosbag2 reader. Also: unify notation in C++ calls to lookupTransform()
Fix package.xml website URL
Contributors: Jose Luis Blanco-Claraco
1.0.2 (2024-04-04)
update docs
Contributors: Jose Luis Blanco-Claraco
1.0.1 (2024-03-28)
BridgeROS2: do not quit on temporary /tf timeout
mola_bridge_ros2: option to publish /tf_static for base_footprint
mola_bridge_ros2: implement missing MOLA->ROS2 conversion for GNSS observations
BUGFIX: Inverted value of “use_fixed_sensor_pose” was used
Contributors: Jose Luis Blanco-Claraco
1.0.0 (2024-03-19)
Comply with ROS2 REP-2003
Merge ROS2 input and output in one module
Contributors: Jose Luis Blanco-Claraco