312 lines
15 KiB
ReStructuredText
312 lines
15 KiB
ReStructuredText
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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Changelog for package robot_localization
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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2.7.4 (2022-07-27)
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------------------
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* Fix odometry and acceleration processing pipeline (`#753 <https://github.com/cra-ros-pkg/robot_localization/issues/753>`_)
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* Use default CXX, need to specify boost::placeholders::_1 instead of just _1 (`#750 <https://github.com/cra-ros-pkg/robot_localization/issues/750>`_)
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* Fix odometry msgs with child frame other than baseLink (`#728 <https://github.com/cra-ros-pkg/robot_localization/issues/728>`_)
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* update documentation (`#723 <https://github.com/cra-ros-pkg/robot_localization/issues/723>`_)
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* Fix unused-parameter warning (`#721 <https://github.com/cra-ros-pkg/robot_localization/issues/721>`_)
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* Fix tf lookup timestamp during map->odom publication (`#719 <https://github.com/cra-ros-pkg/robot_localization/issues/719>`_)
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* UKF cleanup (`#671 <https://github.com/cra-ros-pkg/robot_localization/issues/671>`_)
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* Added geographiclib to catkin exported depends (`#709 <https://github.com/cra-ros-pkg/robot_localization/issues/709>`_)
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* Make the navsat tf frame name parametric (`#699 <https://github.com/cra-ros-pkg/robot_localization/issues/699>`_)
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* Propagate the suppression of tf warnings (`#705 <https://github.com/cra-ros-pkg/robot_localization/issues/705>`_)
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* Fix typo in base_link_frame_output name. (`#701 <https://github.com/cra-ros-pkg/robot_localization/issues/701>`_)
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* Contributors: AR Dabbour, Carlos Agüero, Haoguang Yang, J.P.S, Joshua Owen, Leonardo Hemerly, Lucas Walter, Marcus Scheunemann, Stephen Williams, Tom Moore
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2.7.3 (2021-07-23)
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------------------
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* Prevent node from crashing on invalid UTM zone, but throw ROS_ERROR to notify user (`#682 <https://github.com/cra-ros-pkg/robot_localization/issues/682>`_)
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* changed geographiclib to <depend> tag (`#684 <https://github.com/cra-ros-pkg/robot_localization/issues/684>`_)
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* Small formatting and content change (`#677 <https://github.com/cra-ros-pkg/robot_localization/issues/677>`_)
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* Fixed state transition for sigma points. The state transition function for each sigma point now uses its sigma point's posteriori state instead of always the posteriori state. (`#628 <https://github.com/cra-ros-pkg/robot_localization/issues/628>`_)
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Co-authored-by: jola6897 <jola6897@users.noreply.github.com>
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* Contributors: John Stechschulte, Jonas, MCFurry, Vivek Mhatre
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2.7.2 (2021-06-03)
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------------------
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* Also test for gamma conversion (`#647 <https://github.com/cra-ros-pkg/robot_localization/issues/647>`_)
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* fix: Transform gravitation vector to IMU frame before removing acceleration (`#639 <https://github.com/cra-ros-pkg/robot_localization/issues/639>`_)
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* Fixed a typo in validate filter output error message. (`#646 <https://github.com/cra-ros-pkg/robot_localization/issues/646>`_)
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* Stick to the global utm_zone\_ when transforming gps to UTM (`#627 <https://github.com/cra-ros-pkg/robot_localization/issues/627>`_)
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* Stick to the global utm_zone\_ when transforming gps to UTM
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* UTM conversions using geographiclib (`#626 <https://github.com/cra-ros-pkg/robot_localization/issues/626>`_)
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* Use GeographicLib for UTMtoLL conversions
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* SHARED linking for Geographiclib (`#624 <https://github.com/cra-ros-pkg/robot_localization/issues/624>`_)
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* remove GeographicLib specific linking option
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* Fixing lat-long to UTM conversion (`#620 <https://github.com/cra-ros-pkg/robot_localization/issues/620>`_)
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Thanks again for the report. I'll get this into `noetic-devel` and the relevant ROS2 branches.
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* Removing xmlrpcpp dependency
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* yaml-cpp using find_package as backup (`#618 <https://github.com/cra-ros-pkg/robot_localization/issues/618>`_)
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* Add ${GeographicLib_LIBRARIES} to navsat_transform (`#617 <https://github.com/cra-ros-pkg/robot_localization/issues/617>`_)
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* Contributors: Achmad Fathoni, Leonardo Hemerly, Paul Verhoeckx, Tim Clephas, Tobias Fischer, Tom Moore
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2.7.0 (2020-12-17)
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------------------
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* Making repeated state publication optional (`#595 <https://github.com/cra-ros-pkg/robot_localization/issues/595>`_)
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* Fix sign error in dFY_dP part of transferFunctionJacobian\_ (`#592 <https://github.com/cra-ros-pkg/robot_localization/issues/592>`_)
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* Fix typo in navsat_transform_node.rst (`#588 <https://github.com/cra-ros-pkg/robot_localization/issues/588>`_)
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* Fix issue caused by starting on uneven terrain (`#582 <https://github.com/cra-ros-pkg/robot_localization/issues/582>`_)
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* Local Cartesian Option (`#575 <https://github.com/cra-ros-pkg/robot_localization/issues/575>`_)
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* Fix frame id of imu in differential mode, closes `#482 <https://github.com/cra-ros-pkg/robot_localization/issues/482>`_. (`#522 <https://github.com/cra-ros-pkg/robot_localization/issues/522>`_)
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* navsat_transform diagram to address `#550 <https://github.com/cra-ros-pkg/robot_localization/issues/550>`_ (`#570 <https://github.com/cra-ros-pkg/robot_localization/issues/570>`_)
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* Increasing the minimum CMake version (`#573 <https://github.com/cra-ros-pkg/robot_localization/issues/573>`_)
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* Contributors: Aleksander Bojda, David Jensen, James Baxter, Jeffrey Kane Johnson, Mabel Zhang, Ronald Ensing, Tom Moore
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2.6.8 (2020-06-03)
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------------------
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* Adding conditional build dependencies (`#572 <https://github.com/cra-ros-pkg/robot_localization/issues/572>`_)
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* Contributors: Tom Moore
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2.6.7 (2020-06-01)
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------------------
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* Parameterizing transform failure warnings
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* [melodic] Fix Windows build break. (`#557 <https://github.com/cra-ros-pkg/robot_localization/issues/557>`_)
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* Contributors: Sean Yen, Tom Moore, florianspy
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2.6.5 (2019-08-08)
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------------------
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* fix: wall time used when `use_sim_time` is true
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* Created service for converting to / from lat long
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* Fix bug with tf_prefix
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* Adding new contribution to doc
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* Add missing undocumented params
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* Update wiki location
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* Contributors: Andrew Grindstaff, Axel Mousset, Charles Brian Quinn, Oswin So, Tom Moore
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2.6.4 (2019-02-15)
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------------------
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* Meridian convergence adjustment added to navsat_transform.
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* Documentation changes
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* Add broadcast_utm_transform_as_parent_frame
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* Enable build optimisations if no build type configured.
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* Contributors: G.A. vd. Hoorn, Pavlo Kolomiiets, diasdm
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2.6.3 (2019-01-14)
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------------------
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* Rename odomBaseLinkTrans to baseLinkOdomTrans
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Adhere to the naming convention <fromFrame><toFrame>Trans used for worldBaseLinkTrans and mapOdomTrans.
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* Add const& to catch values to prevent the error: catching polymorphic type ‘class tf2::TransformException’ by value
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And ZoneNumber by 0x3fU to prevent error: directive output may be truncated writing between 1 and 11 bytes into a region of size 4
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* Enabling the user to override the output child_frame_id
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* Fixing Euler body-to-world transformations
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* Whitespace
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* fixing no datum service in melodic
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* Contributors: Alexis schad, Matthew Jones, Tom Moore, thallerod
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2.6.2 (2018-10-25)
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------------------
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* Fixing tests
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* Contributors: Tom Moore
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2.6.1 (2018-10-25)
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------------------
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* Adding more output for measurement history failures
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* Adding filter processing toggle service
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* Waiting for valid ROS time before starting navsat_transform_node
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* Contributors: Tom Moore, stevemacenski
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2.6.0 (2018-07-27)
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------------------
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* Moving to C++14, adding error flags, and fixing all warnings
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* Contributors: Tom Moore
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2.5.2 (2018-04-11)
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------------------
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* Add published accel topic to documentation
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* adding log statements for nans in the invertable matrix
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* Fixing issue with potential seg fault
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* Contributors: Oleg Kalachev, Tom Moore, stevemacenski
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2.5.1 (2018-01-03)
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------------------
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* Fixing CMakeLists
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* Contributors: Tom Moore
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2.5.0 (2017-12-15)
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------------------
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* Fixing datum precision
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* Fixing timing variable
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* Fixing state history reversion
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* Fixing critical bug with dynamic process noise covariance
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* Fix typo in reading Mahalanobis thresholds.
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* Zero out rotation in GPS to base_link transform
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* Update xmlrpcpp includes for Indigo support
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* Removing lastUpdateTime
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* Fixing timestamps in map->odom transform
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* Simplify enabledAtStartup logic
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* Add std_srvs dependency
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* Add enabling service
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* Ensure all raw sensor input orientations are normalized even if messages are not
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* Install params directory.
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* Add robot localization estimator
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* Adding nodelet support
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* Contributors: Jacob Perron, Jacob Seibert, Jiri Hubacek, Mike Purvis, Miquel Massot, Pavlo Kolomiiets, Rein Appeldoorn, Rokus Ottervanger, Simon Gene Gottlieb, Tom Moore, stevemacenski
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2.4.0 (2017-06-12)
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------------------
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* Updated documentation
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* Added reset_on_time_jump option
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* Added feature to optionally publish utm frame as parent in navsat_transform_node
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* Moved global callback queue reset
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* Added initial_state parameter and documentation
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* Fixed ac/deceleration gains default logic
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* Added gravity parameter
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* Added delay and throttle if tf lookup fails
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* Fixed UKF IMUTwistBasicIO test
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* Added transform_timeout parameter
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* Set gps_odom timestamp before tf2 lookuptransform
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* Removed non-portable sincos calls
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* Simplified logic to account for correlated error
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* Added dynamic process noise covariance calculation
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* Fixed catkin_package Eigen warning
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* Added optional publication of acceleration state
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* Contributors: Brian Gerkey, Enrique Fernandez, Jochen Sprickerhof, Rein Appeldoorn, Simon Gene Gottlieb, Tom Moore
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2.3.1 (2016-10-27)
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------------------
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* Adding gitignore
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* Adding remaining wiki pages
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* Adding config and prep pages
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* Adding navsat_transform_node documentation
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* use_odometry_yaw fix for n_t_n
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* Fixing issue with manual pose reset when history is not empty
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* Getting inverse transform when looking up robot's pose.
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* Sphinx documentation
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* Removing forward slashes from navsat_transform input topics for template launch file
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* Adding example launch and parameter files for a two-level EKF setup with navsat_transform_node
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* Adding yaml file for navsat_transform_node, and moving parameter documentation to it.
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* Updating EKF and UKF parameter templates with usage comments
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* Contributors: Tom Moore, asimay
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2.3.0 (2016-07-28)
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------------------
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* Fixed issues with datum usage and frame_ids
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* Fixed comment for wait_for_datum
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* Fixing issue with non-zero navsat sensor orientation offsets
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* Fixing issue with base_link->gps transform wrecking the 'true' UTM position computation
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* Using correct covariance for filtered GPS
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* Fixed unitialized odometry covariance bug
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* Added filter history and measurement queue behavior
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* Changing output timestamp to more accurately use the time stamp of the most recently-processed measurement
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* Added TcpNoDelay()
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* Added parameter to make transform publishing optional
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* Fixed differential handling for pose data so that it doesn't care about the message's frame_id
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* Updated UKF config and launch
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* Added a test case for the timestamp diagnostics
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* Added reporting of bad timestamps via diagnostics
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* Updated tests to match new method signatures
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* Added control term
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* Added smoothing capability for delayed measurements
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* Making variables in navsat_transform conform to ROS coding standards
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* Contributors: Adel Fakih, Ivor Wanders, Marc Essinger, Tobias Tueylue, Tom Moore
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2.2.3 (2016-04-24)
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------------------
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* Cleaning up callback data structure and callbacks and updating doxygen comments in headers
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* Removing MessageFilters
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* Removing deprecated parameters
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* Adding the ability to handle GPS offsets from the vehicle's origin
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* Cleaning up navsat_transform.h
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* Making variables in navsat_transform conform to ROS coding standards
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2.2.2 (2016-02-04)
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------------------
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* Updating trig functions to use sincos for efficiency
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* Updating licensing information and adding Eigen MPL-only flag
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* Added state to imu frame transformation
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* Using state orientation if imu orientation is missing
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* Manually adding second spin for odometry and IMU data that is passed to message filters
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* Reducing delay between measurement reception and filter output
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* Zero altitute in intital transform too, when zero altitude param is set
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* Fixing regression with conversion back to GPS coordinates
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* Switched cropping of orientation data in inovationSubset with mahalanobis check to prevent excluding measurements with orientations bigger/smaller than ± PI
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* Fix Jacobian for EKF.
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* Removing warning about orientation variables when only their velocities are measured
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* Checking for -1 in IMU covariances and ignoring relevant message data
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* roslint and catkin_lint applied
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* 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.
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* Contributors: Adnan Ademovic, Jit Ray Chowdhury, Philipp Tscholl, Tom Moore, ayrton04, kphil
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2.2.1 (2015-05-27)
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------------------
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* Fixed handling of IMU data w.r.t. differential mode and relative mode
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2.2.0 (2015-05-22)
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------------------
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* Added tf2-friendly tf_prefix appending
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* Corrected for IMU orientation in navsat_transform
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* Fixed issue with out-of-order measurements and pose resets
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* Nodes now assume ENU standard for yaw data
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* Removed gps_common dependency
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* Adding option to navsat_transform_node that enables the use of the heading from the odometry message instead of an IMU.
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* Changed frame_id used in setPoseCallback to be the world_frame
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* Optimized Eigen arithmetic for signficiant performance boost
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* Migrated to tf2
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* Code refactoring and reorganization
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* Removed roll and pitch from navsat_transform calculations
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* Fixed transform for IMU data to better support mounting IMUs in non-standard orientations
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* Added feature to navsat_transform_node whereby filtered odometry data can be coverted back into navsat data
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* Added a parameter to allow future dating the world_frame->base_link_frame transform.
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* Removed deprecated differential setting handler
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* Added relative mode
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* Updated and improved tests
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* Fixing source frame_id in pose data handling
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* Added initial covariance parameter
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* Fixed bug in covariance copyinh
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* Added parameters for topic queue sizes
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* Improved motion model's handling of angular velocities when robot has non-zero roll and pitch
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* Changed the way differential measurements are handled
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* Added diagnostics
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2.1.7 (2015-01-05)
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------------------
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* Added some checks to eliminate unnecessary callbacks
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* Updated launch file templates
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* Added measurement outlier rejection
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* Added failure callbacks for tf message filters
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* Added optional broadcast of world_frame->utm transform for navsat_transform_node
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* Bug fixes for differential mode and handling of Z acceleration in 2D mode
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2.1.6 (2014-11-06)
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------------------
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* Added unscented Kalman filter (UKF) localization node
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* Fixed map->odom tf calculation
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* Acceleration data from IMUs is now used in computing the state estimate
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* Added 2D mode
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2.1.5 (2014-10-07)
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------------------
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* Changed initial estimate error covariance to be much smaller
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* Fixed some debug output
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* Added test suite
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* Better compliance with REP-105
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* Fixed differential measurement handling
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* Implemented message filters
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* Added navsat_transform_node
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2.1.4 (2014-08-22)
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------------------
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* Adding utm_transform_node to install targets
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2.1.3 (2014-06-22)
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------------------
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* Some changes to ease GPS integration
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* Addition of differential integration of pose data
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* Some documentation cleanup
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* Added UTM transform node and launch file
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* Bug fixes
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2.1.2 (2014-04-11)
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------------------
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* Updated covariance correction formulation to "Joseph form" to improve filter stability.
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* Implemented new versioning scheme.
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2.1.1 (2014-04-11)
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------------------
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* Added cmake_modules dependency for Eigen support, and added include to silence boost::signals warning from tf include
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