CHANGELOG

Changelog for package mrpt_pf_localization

2.4.0 (2026-04-19)

  • Merge pull request #158 from mrpt-ros-pkg/feat/parallel-planner Implement parallel A* planner; misc bug and style fixes

  • fix(pf_localization): guard OnProcessExit handler with UnlessCondition(use_composable) When use_composable:=true, pf_localization_node is never launched (it has UnlessCondition), so the OnProcessExit handler was targeting a process that never exists. While this did not crash at launch time, it left a dangling handler and silently skipped the managed shutdown in composable mode. Guard the RegisterEventHandler with the same condition so it is only registered when the standalone node is actually running. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

  • fix(pf_localization): declare use_composable launch arg with default ‘false’ localization.launch.py consumed LaunchConfiguration(‘use_composable’) without ever declaring it. Launching the file directly (not via a parent that supplies the argument) caused InvalidConditionExpressionError at runtime because IfCondition/UnlessCondition received an unresolved empty string. Also added a description to container_name arg clarifying it is required when use_composable:=true. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

  • clang-format

  • Contributors: Jose Luis Blanco-Claraco

2.3.1 (2026-04-02)

  • Add missing <test_depend> on ament_cmake_gtest

  • Contributors: Jose Luis Blanco-Claraco

2.3.0 (2025-10-26)

2.2.4 (2025-07-24)

2.2.3 (2025-07-22)

2.2.2 (2025-05-28)

  • FIX: remove usage of obsolete ament_target_dependencies()

  • Merge pull request #153 from dppp415/ros2 Composable Nodes

  • Shared libraries

  • Some fixes and demo

  • Copyright

  • Deleted duplicated code

  • Nodes mrpt_pointcloud_pipeline y mrpt_pf_localization are now composables

  • Contributors: Jose Luis Blanco-Claraco, dppp415

2.2.1 (2024-10-12)

2.2.0 (2024-09-25)

  • less strict unit test failure limit (fixes potential spurious failure)

  • Update URL entries in package.xml to each package proper documentation

  • ament linters: manually enable just cmake and xml linters

  • reformat clang-format with 100 column width

  • mrpt_pf_localization is now robust against temporary failures of /tf resolutions for sensor poses

  • New optional param ‘metric_map_use_only_these_layers’ to use only a subset of the .mm map layers

  • Contributors: Jose Luis Blanco-Claraco

2.1.1 (2024-09-02)

  • Remove temporary workaround in <depends> for buggy mrpt_libros_bridge package.xml

  • update dependencies

  • Depend on new mrpt_lib packages (deprecate mrpt2)

  • Contributors: Jose Luis Blanco-Claraco

  • Remove temporary workaround in <depends> for buggy mrpt_libros_bridge package.xml

  • update dependencies

  • Depend on new mrpt_lib packages (deprecate mrpt2)

  • Contributors: Jose Luis Blanco-Claraco

2.1.0 (2024-08-08)

  • Fix GNSS name typo

  • Merge branch ‘ros2’ into wip/port-tps-astar

  • Merge branch ‘ros2’ into wip/port-tps-astar

  • Contributors: Jose Luis Blanco-Claraco

2.0.1 (2024-05-28)

2.0.0 (2024-05-28)

  • unit test executable now accepts many env var arguments for use in batch tests

  • More relocalization parameters

  • pf-test: fix static not POD warnings, and support env var-based config file too

  • Fix for latest mp2p_icp api

  • Implement relocalization based on ICP

  • fix relocalization with reference pointmaps

  • code clean up; check convergence in unit test

  • Do not update the PF if there are no usable observations

  • use pf/m² to initialize; estimate twist

  • Expose gnss topic in the launch file

  • GNSS-based initialization

  • Comply with ROS2 REP-2003

  • use namespaces for launch files

  • allow overriding map likelihood options

  • Show more debug info on metric map likelihood options

  • New param for core-only debug level

  • enable running the test from an MM file

  • Receive gridmap from ROS topic

  • Clearer warn messages

  • Reorganize launch and demo files

  • Prepare demo launch files

  • Port mrpt localization to ROS 2 and whole refactor

  • Renamed: mrpt_localization: mrpt_pf_localization

  • Contributors: Jose Luis Blanco-Claraco

1.0.3 (2022-06-25)

1.0.2 (2022-06-25)

1.0.1 (2022-06-24)

  • fix all build errors; removed now obsolete tf_prefix

  • Ported to tf2 and mrpt::ros1bridge

  • modernize cmake

  • Contributors: Jose Luis Blanco-Claraco

1.0.0 (2022-04-30)

  • Update URLs to https

  • Update build dep to mrpt2

  • Merge pull request #118 from mx-robotics/ag-remove_laser_tf_cache continuous laser pose update from tf tree fag added

  • added ROS parameter continuous sensor pose update

  • Fix incorrect publication of estimated pose (Closes: #117)

  • Contributors: Jose Luis Blanco Claraco, Markus Bader

0.1.26 (2019-10-05)

0.1.25 (2019-10-04)

  • fix build against mrpt2

  • Contributors: Jose Luis Blanco-Claraco

0.1.24 (2019-04-12)

  • Fix build against MRPT 1.9.9

  • Contributors: Inounx, Jose Luis Blanco-Claraco, Julian Lopez Velasquez, Markus Bader

0.1.23 (2018-06-14)

0.1.22 (2018-05-22)

  • fix all catkin_lint errors

  • remove exec +x flag to cfg files

  • Contributors: Jose Luis Blanco-Claraco

0.1.21 (2018-04-27)

  • Upgrade version 0.1.20 (#99)

  • fix build against mrpt 2.0

  • partial fix build w mrpt 2.0

  • fix build in mrpt 2.0

  • optimized build (-O3)

  • Fix travis (#94) * add dep stereo_msgs * add dep stereo_msgs * fix minor warnigngs and errors

  • fix use c++14

  • Merge branch ‘master’ of github.com:tuw-robotics/mrpt_navigation

  • Merge branch ‘master’ into master

  • CMake finds MRPT >=1.5 in ROS master branch

  • Merge branch ‘master’ into compat-mrpt-1.5

  • CMake finds MRPT >=1.9

  • avoid Eigen warnings with GCC-7

  • Removed unnecessry MRPT_VERSION checks

  • Fixes for clang format

  • Removed c++11 declarations in cmake

  • Adapted CMakeLists to new mrpt

  • Ported to a new version of MRPT

  • Merge pull request #74 from bergercookie/devel Use C++11 in mrpt_bridge, mrpt_pf_localization

  • Merge pull request #77 from corot/master Allow using maps from topic

  • Allow using maps from topic

  • Use C++11 in mrpt_bridge, mrpt_pf_localization

  • Merge pull request #72 from bergercookie/devel Add more conversion methods for CNetworkOfPoses classes

  • Correct include guard

  • Fix debug messages: (#65) * replace printf with log_info * read and use debug param * dumping to console only once Also publish pose even if not updating the filter (sorry for mixing commits)

  • Fix debug messages: * replace printf with log_info * read and use debug param * dumping to console only once Also publish pose even if not updating the filter (sorry for mixing commits)

  • put right the covariance matrix initialization (#63)

  • Merge pull request #61 from corot/master Prevent extrapolation into the past when publishing the tf

  • Fix a bug in the way I handle filter state

  • Prevent extrapolation into the past when publishing the tf and handle update/not update more nicelly. Also, ROS-format variables

  • Contributors: Ashish Raste, Borys Tymchenko, Hunter Laux, Jorge Santos, Jorge Santos Simón, Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco, Markus Bader, Nikos Koukis, corot

0.1.20 (2018-04-26)

  • fix build against mrpt 2.0

  • partial fix build w mrpt 2.0

  • fix build in mrpt 2.0

  • optimized build (-O3)

  • Fix travis (#94) * add dep stereo_msgs * add dep stereo_msgs * fix minor warnigngs and errors

  • fix use c++14

  • Merge branch ‘master’ of github.com:tuw-robotics/mrpt_navigation

  • Merge branch ‘master’ into master

  • CMake finds MRPT >=1.5 in ROS master branch

  • Merge branch ‘master’ into compat-mrpt-1.5

  • CMake finds MRPT >=1.9

  • avoid Eigen warnings with GCC-7

  • Removed unnecessry MRPT_VERSION checks

  • Fixes for clang format

  • Removed c++11 declarations in cmake

  • Adapted CMakeLists to new mrpt

  • Ported to a new version of MRPT

  • Merge pull request #74 from bergercookie/devel Use C++11 in mrpt_bridge, mrpt_pf_localization

  • Merge pull request #77 from corot/master Allow using maps from topic

  • Allow using maps from topic

  • Use C++11 in mrpt_bridge, mrpt_pf_localization

  • Merge pull request #72 from bergercookie/devel Add more conversion methods for CNetworkOfPoses classes

  • Correct include guard

  • Fix debug messages: (#65) * replace printf with log_info * read and use debug param * dumping to console only once Also publish pose even if not updating the filter (sorry for mixing commits)

  • Fix debug messages: * replace printf with log_info * read and use debug param * dumping to console only once Also publish pose even if not updating the filter (sorry for mixing commits)

  • put right the covariance matrix initialization (#63)

  • Merge pull request #61 from corot/master Prevent extrapolation into the past when publishing the tf

  • Fix a bug in the way I handle filter state

  • Prevent extrapolation into the past when publishing the tf and handle update/not update more nicelly. Also, ROS-format variables

  • Contributors: Ashish Raste, Borys Tymchenko, Jorge Santos, Jorge Santos Simón, Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco, Markus Bader, Nikos Koukis, corot

0.1.18 (2017-01-22)

0.1.17 (2017-01-22)

  • Do not consider epsilon velocities (<1e-3) as robot moving

  • make catkin_lint clean

  • Remove all errors generated by catkin_lint and cleanup unused templates from CMakeLists.txt files

  • Issue #53: add a parameter to disable updating when robot not moving

  • Contributors: Jorge Santos, Jose Luis Blanco

0.1.16 (2016-12-13)

  • Fix for issue #50

  • Tabs to spaces

  • Fix for issue #48

  • Remove unneeded include

  • Allow robot poses from external algorithms to be integrated into mrpt particles filter

  • fix typo

  • Contributors: Jorge Santos, Jorge Santos Simón, Jose-Luis Blanco-Claraco

0.1.15 (2016-11-06)

  • Fix build against MRPT 1.5.0

  • Use ros::Time::now() to time stamp first 10 poses If not, they contain wall time, what when working on simulation prevents robot_localization fusion to work. Other than that, the change is innocuous

  • PR #33 prevented pose initialization with the robot stopped; fix it!

  • Stop mrpt_pf_localization updating when robot is not moving (odom twist is zero)

  • Contributors: Jorge Santos, Jorge Santos Simón, Jose-Luis Blanco-Claraco

0.1.14 (2016-09-12)

0.1.13 (2016-09-03)

0.1.12 (2016-09-03)

  • Put the ROS log setting withing if MRPT_VERSION>=0x150 so it doesn’t break the compilation agains .deb mrpt libs

  • Restamp pose on first iteration with ROS time because filter time is still not initialized and can create problems when integrating on robot_localization

  • Set ROS log level also on MRPT internal log system. Prevents spamming of [FIXED_SAMPLING] and [ADAPTIVE SAMPLE SIZE] messages

  • Modify so we can use in conjuntion with robot_localization package: provide a PoseWithCovarianceStamped, allow disabling tf publishing and make transform_tolerance a parameter

  • Contributors: Jorge Santos

0.1.11 (2016-08-21)

0.1.10 (2016-08-05)

0.1.9 (2016-08-05)

0.1.8 (2016-06-29)

0.1.7 (2016-06-20)

  • Fix laser scan stamp problem. TODO: something is still broken since nothing pops up for mrpt_pose

  • fix almost everything to add a pose publisher

  • Contributors: Megacephalo

0.1.6 (2016-03-20)

  • New support for range-only (RO) localization

  • fix build against mrpt <1.3.0

  • Contributors: Jose Luis Blanco, Jose Luis Blanco-Claraco, Raphael Zack

0.1.5 (2015-04-29)

  • fix to strange pf-localization bug

  • Cleaner build against mrpt 1.3.0

  • Fix build against mrpt 1.3.0

  • Contributors: Jose Luis Blanco

0.1.4 (2014-12-27)

  • dont publish if numSubscribers()==0

  • fixes for mrpt 1.3.0

  • Removed ‘mrpt’ dep from catkin_package(). I think this is giving problems to dependant pkgs and is not needed…

  • pose_cov_ops removed from mrpt_navigation metapkg

  • localization: New param to configure sensor sources in a flexible way

  • Contributors: Jose Luis Blanco

0.1.3 (2014-12-18)

  • Fix many missing install files

  • Contributors: Jose Luis Blanco

0.1.2 (2014-12-18)

0.1.1 (2014-12-17)

  • First public binary release.

0.1.0 (2014-12-17)

  • consistent version numbers

  • fix build error without WX

  • Fixes broken dependencies

  • config and demos tested

  • localization working like amcl