Changelog for package robot_localization
3.5.3 (2024-04-16)
3.5.2 (2023-12-20)
fix header timestamp (#852) Co-authored-by: Luke Chang <luke@boxfish.nz>
Wait for odometry message before setting manual datum so that the base and world frame names can be set. (#835) * wait for odom msg before setting manual datum
Utm using geographiclib humble branch (#834) * Add single test for navsat_conversions * Add a southern point to the navsat_transform test * LLtoUTM using GeographicLib * Use GeographicLib for UTMtoLL conversions * Linting * Forgot include * Fix compilation * Calculate gamma because it’s a function output and was supplied before * Also test for gamma conversion * Align naming and install
Contributors: Luke Chang, Tim Clephas, Tom Greier
3.4.0 (2022-05-05)
Fix angles dependency (#747) * Add angles to CMakeLists.txt
Using angles library to normalize angles (#739) * Using angles library for innovation angle normalization
Read predict_to_current_time from ROS parameters (#737) Co-authored-by: Zygfryd Wieszok <zwieszok@autonomous-systems.pl>
Fixed state history reversion (#736) Co-authored-by: Zygfryd Wieszok <zwieszok@autonomous-systems.pl>
Fixing code style divergence for ament_uncrustify in main ROS2 branch (#743)
Contributors: Anish, Marek Piechula, RoboTech Vision, Tony Najjar, Zygfryd Wieszok
3.3.1 (2022-02-25)
Moving to C++17 support (#725)
SHARED linking for Geographiclib (#624) (#712) * remove GeographicLib specific linking option Co-authored-by: Achmad Fathoni <fathoni.id@gmail.com>
Contributors: Stephan Sundermann, Tom Moore
2.4.0 (2017-06-12)
Updated documentation
Added reset_on_time_jump option
Added feature to optionally publish utm frame as parent in navsat_transform_node
Moved global callback queue reset
Added initial_state parameter and documentation
Fixed ac/deceleration gains default logic
Added gravity parameter
Added delay and throttle if tf lookup fails
Fixed UKF IMUTwistBasicIO test
Added transform_timeout parameter
Set gps_odom timestamp before tf2 lookuptransform
Removed non-portable sincos calls
Simplified logic to account for correlated error
Added dynamic process noise covariance calculation
Fixed catkin_package Eigen warning
Added optional publication of acceleration state
Contributors: Brian Gerkey, Enrique Fernandez, Jochen Sprickerhof, Rein Appeldoorn, Simon Gene Gottlieb, Tom Moore
2.3.1 (2016-10-27)
Adding gitignore
Adding remaining wiki pages
Adding config and prep pages
Adding navsat_transform_node documentation
use_odometry_yaw fix for n_t_n
Fixing issue with manual pose reset when history is not empty
Getting inverse transform when looking up robot’s pose.
Sphinx documentation
Removing forward slashes from navsat_transform input topics for template launch file
Adding example launch and parameter files for a two-level EKF setup with navsat_transform_node
Adding yaml file for navsat_transform_node, and moving parameter documentation to it.
Updating EKF and UKF parameter templates with usage comments
Contributors: Tom Moore, asimay
2.3.0 (2016-07-28)
Fixed issues with datum usage and frame_ids
Fixed comment for wait_for_datum
Fixing issue with non-zero navsat sensor orientation offsets
Fixing issue with base_link->gps transform wrecking the ‘true’ UTM position computation
Using correct covariance for filtered GPS
Fixed unitialized odometry covariance bug
Added filter history and measurement queue behavior
Changing output timestamp to more accurately use the time stamp of the most recently-processed measurement
Added TcpNoDelay()
Added parameter to make transform publishing optional
Fixed differential handling for pose data so that it doesn’t care about the message’s frame_id
Updated UKF config and launch
Added a test case for the timestamp diagnostics
Added reporting of bad timestamps via diagnostics
Updated tests to match new method signatures
Added control term
Added smoothing capability for delayed measurements
Making variables in navsat_transform conform to ROS coding standards
Contributors: Adel Fakih, Ivor Wanders, Marc Essinger, Tobias Tueylue, Tom Moore
2.2.3 (2016-04-24)
Cleaning up callback data structure and callbacks and updating doxygen comments in headers
Removing MessageFilters
Removing deprecated parameters
Adding the ability to handle GPS offsets from the vehicle’s origin
Cleaning up navsat_transform.h
Making variables in navsat_transform conform to ROS coding standards
2.2.2 (2016-02-04)
Updating trig functions to use sincos for efficiency
Updating licensing information and adding Eigen MPL-only flag
Added state to imu frame transformation
Using state orientation if imu orientation is missing
Manually adding second spin for odometry and IMU data that is passed to message filters
Reducing delay between measurement reception and filter output
Zero altitute in intital transform too, when zero altitude param is set
Fixing regression with conversion back to GPS coordinates
Switched cropping of orientation data in inovationSubset with mahalanobis check to prevent excluding measurements with orientations bigger/smaller than ± PI
Fix Jacobian for EKF.
Removing warning about orientation variables when only their velocities are measured
Checking for -1 in IMU covariances and ignoring relevant message data
roslint and catkin_lint applied
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.
Contributors: Adnan Ademovic, Jit Ray Chowdhury, Philipp Tscholl, Tom Moore, ayrton04, kphil
2.2.1 (2015-05-27)
Fixed handling of IMU data w.r.t. differential mode and relative mode
2.2.0 (2015-05-22)
Added tf2-friendly tf_prefix appending
Corrected for IMU orientation in navsat_transform
Fixed issue with out-of-order measurements and pose resets
Nodes now assume ENU standard for yaw data
Removed gps_common dependency
Adding option to navsat_transform_node that enables the use of the heading from the odometry message instead of an IMU.
Changed frame_id used in setPoseCallback to be the world_frame
Optimized Eigen arithmetic for signficiant performance boost
Migrated to tf2
Code refactoring and reorganization
Removed roll and pitch from navsat_transform calculations
Fixed transform for IMU data to better support mounting IMUs in non-standard orientations
Added feature to navsat_transform_node whereby filtered odometry data can be coverted back into navsat data
Added a parameter to allow future dating the world_frame->base_link_frame transform.
Removed deprecated differential setting handler
Added relative mode
Updated and improved tests
Fixing source frame_id in pose data handling
Added initial covariance parameter
Fixed bug in covariance copyinh
Added parameters for topic queue sizes
Improved motion model’s handling of angular velocities when robot has non-zero roll and pitch
Changed the way differential measurements are handled
Added diagnostics
2.1.7 (2015-01-05)
Added some checks to eliminate unnecessary callbacks
Updated launch file templates
Added measurement outlier rejection
Added failure callbacks for tf message filters
Added optional broadcast of world_frame->utm transform for navsat_transform_node
Bug fixes for differential mode and handling of Z acceleration in 2D mode
2.1.6 (2014-11-06)
Added unscented Kalman filter (UKF) localization node
Fixed map->odom tf calculation
Acceleration data from IMUs is now used in computing the state estimate
Added 2D mode
2.1.5 (2014-10-07)
Changed initial estimate error covariance to be much smaller
Fixed some debug output
Added test suite
Better compliance with REP-105
Fixed differential measurement handling
Implemented message filters
Added navsat_transform_node
2.1.4 (2014-08-22)
Adding utm_transform_node to install targets
2.1.3 (2014-06-22)
Some changes to ease GPS integration
Addition of differential integration of pose data
Some documentation cleanup
Added UTM transform node and launch file
Bug fixes
2.1.2 (2014-04-11)
Updated covariance correction formulation to “Joseph form” to improve filter stability.
Implemented new versioning scheme.
2.1.1 (2014-04-11)
Added cmake_modules dependency for Eigen support, and added include to silence boost::signals warning from tf include