CHANGELOG

Changelog for package mola_kernel

2.0.0 (2025-10-13)

Merge pull request #93 from MOLAorg/feature/better-lio Changes for new LIO
MolaViz: Add method clear_all_point_clouds_with_decay()
MolaViz: Add support for inserting clouds with decay_time
Large clean up of unused code from older MOLA versions. In particular, all abstract definitions of factors, entities, and WorldModel have been removed. It seems more natural and efficient to keep them in the specific SLAM modules.
Allow extra parameters in mola_viz per-sensor preview windows
fix clang-format
Modernize copyright notice
Remove old code that was needed to support very old MRPT versions
Contributors: Jose Luis Blanco-Claraco

1.9.1 (2025-07-07)

1.9.0 (2025-06-06)

MapSourceBase: add a new optional field “metadata”
NavStateFilter interface: Now is a RawDataConsumer too
Contributors: Jose Luis Blanco-Claraco

1.8.1 (2025-05-28)

1.8.0 (2025-05-25)

Update Viz interface: add methods to run arbitrary Scene manipulation and camera orthographic mode
Update copyright year
fix reversed logic
clang-format fix
Add mola::Synchronizer for grouping observations
Contributors: Jose Luis Blanco-Claraco

1.7.0 (2025-05-06)

code clean up: remove useless dtors, and mark the required copy ctors as deleted
Contributors: Jose Luis Blanco-Claraco

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
Contributors: Jose Luis Blanco-Claraco

1.6.3 (2025-03-15)

1.6.2 (2025-02-22)

ExecutableBase inteface: added diagnostics API
Contributors: Jose Luis Blanco Claraco

1.6.1 (2025-02-13)

mola_kernel: Add Georeferencing structure and add it to map updates
Contributors: Jose Luis Blanco-Claraco

1.6.0 (2025-01-21)

Fix published /tf’s: those from LocalizationSources now can explicitly define their parent and child frames
LocalizationSources now can explicitly define both, their reference and child frames for each estimated pose
docs: add state estimation images
Contributors: Jose Luis Blanco-Claraco

1.5.1 (2024-12-29)

NavStateFilter API: add estimated_trajectory()
Contributors: Jose Luis Blanco-Claraco

1.5.0 (2024-12-26)

NavStateFilter Interface now also inherits from ExecutableBase for convenience
MinimalModuleContainer ctor should not be explicit
Add mola::MinimalModuleContainer
Drop dependency on mrpt-gui in kernel by abstracting MolaViz subwindow layout operations
Contributors: Jose Luis Blanco-Claraco

1.4.1 (2024-12-20)

1.4.0 (2024-12-18)

MOLA system yaml files: added “enabled” optional property for modules and rds visualizers
Add field for localization quality
cmake: remove duplicated info message
ExecutableBase: Add support for runtime-configurable parameter API
mola-kernel Doxygen docs: add groups
Contributors: Jose Luis Blanco-Claraco

1.3.0 (2024-12-11)

NavStateFilter interface: add API for merging GNSS observations
Contributors: Jose Luis Blanco-Claraco

1.2.1 (2024-09-29)

1.2.0 (2024-09-16)

Update RTTI macros for upcoming MRPT 2.14.0
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)

add <mola_kernel/version.h> with a version-checking macro
Merge pull request #65 from MOLAorg/add-more-srvs Add more Services
Avoid cmake file glob expressions
mola_kernel: add MapServer interface
mola_kernel: add public symbols MOLA_{MAJOR,MINOR,PATCH}_VERSION
Update clang-format style; add reformat bash script
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)

mola_kernel: add C++ virtual interface for relocalization methods
ament_lint_cmake: clean warnings
Contributors: Jose Luis Blanco-Claraco

1.0.7 (2024-07-24)

Viz interface: add API for rotate camera
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
mola_kernel: renamed factor FactorConstVelKinematics
Contributors: Jose Luis Blanco-Claraco

1.0.5 (2024-05-28)

viz: fix mismatched free/delete inside nanogui layout
Contributors: Jose Luis Blanco-Claraco

1.0.4 (2024-05-14)

bump cmake_minimum_required to 3.5
Avoid global static objects
remove useless #include’s
Define Dataset_UI dtor/ctor in a separate translation unit
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)

Remove now-useless build dependencies and includes for mola-kernel
Contributors: Jose Luis Blanco-Claraco

1.0.0 (2024-03-19)

add methods to query for subscribers
New interfaces
Refactor initialize()
mola_kernel: new UI interface for datasets
New option to shutdown automatically mola-cli after dataset ends
viz API: add enqueue_custom_nanogui_code()
mola_viz: show console messages
Correct usage of mola:: namespace in cmake targets
copyright update
mola_viz: support visualizing velodyne observations
Add look_at() viz interface
Fewer mutex locking()
dont force by default load() lazy-load observations
FrontEndBase: attach to VizInterface too
Fix loss of yaml key/values when using import-from-file feature
kitti eval cli moves to its own package
port to mrpt::lockHelper()
reorganize as monorepo
Contributors: Jose Luis Blanco-Claraco

0.2.2 (2023-09-08)

Correct references to the license.
viz interface: new service update_3d_object()
Fix const-correctness of observations
FIX missing dependency on mrpt::gui for public header
Contributors: Jose Luis Blanco-Claraco

0.2.1 (2023-09-02)

Add virtual interface for dataset groundtruth
Update copyright date
Update to new colcon ROS2 build system
Contributors: Jose Luis Blanco-Claraco