diff --git a/docs/source/building-maps.rst b/docs/source/building-maps.rst index c3eeacec91..bd61783d3d 100644 --- a/docs/source/building-maps.rst +++ b/docs/source/building-maps.rst @@ -6,12 +6,16 @@ Tutorial: build a map This tutorial describes the steps for building metric maps using MOLA. +____________________________________________ .. contents:: :depth: 1 :local: :backlinks: none +____________________________________________ + +| 1. Prepare the input data --------------------------------- @@ -184,6 +188,7 @@ To verify that the generated simple-map is correct, you can use :ref:`sm-cli ` package. + +The concept of using simple-maps as intermediary map format together with the layered metric map format (see :cite:`blanco2024mola_lo`) +enables embedding georeferenced coordinates to any kind of map typically used in robotics: grid maps, voxel maps, point clouds, etc. + +.. image:: https://mrpt.github.io/imgs/kaist01_georef_sample.png + +| + +.. contents:: Table of Contents + :depth: 1 + :local: + :backlinks: none + +| + +1. How to build a georeferenced map +-------------------------------------------- +First, build a simple-map from a dataset or a live robot as described in :ref:`building-maps`. +Make sure of having a GPS (GNSS) sensor source emitting observations, and that they were captured +by MOLA-LO (see :ref:`the corresponding variable ` in the LO pipeline). + +Then, build the corresponding metric map by applying a metric map generation pipeline (see :cite:`blanco2024mola_lo` +or :ref:`this step ` in the tutorial: + +.. code-block:: bash + + # Build metric map (mm) from simplemap (sm): + sm2mm -i datasetWithGPS.simplemap -o myMap.mm -p sm2mm_pipeline.yaml + +Now, to find out the optimized map-to-ENU transformation and write it into the +map file, use: + +.. code-block:: bash + + # georeference it: + mola-sm-georeferencing -i datasetWithGPS.simplemap --write-into myMap.mm + + +.. dropdown:: Full CLI reference + :icon: code-review + + .. code-block:: bash + + USAGE: + + mola-sm-georeferencing [-v ] [-l ] [--write-into + ] -i [--] + [--version] [-h] + + + Where: + + -v , --verbosity + Verbosity level: ERROR|WARN|INFO|DEBUG (Default: INFO) + + -l , --load-plugins + One or more (comma separated) *.so files to load as plugins, e.g. + defining new CMetricMap classes + + --write-into + An existing .mm file in which to write the georeferencing metadata + + -i , --input + (required) Input .simplemap file + + --, --ignore_rest + Ignores the rest of the labeled arguments following this flag. + + --version + Displays version information and exits. + + -h, --help + Displays usage information and exits. + +| + +2. Georeferenced trajectories +-------------------------------------- +Once you already have a **trajectory** file in the **local map frame of reference**, +for example, as generated by MOLA-LO in TUM format, +and after georeferencing the generated map as shown above, +you can use the CLI tool ``mola-trajectory-georef`` to convert it into geodetic coordinates, +for example in KML format suitable for visualization in Google Earth. + +.. dropdown:: Full CLI reference + :icon: code-review + + .. code-block:: bash + + USAGE: + + mola-trajectory-georef -o -t -m [--] + [--version] [-h] + + Where: + + -o , --output + (required) The name of the google earth kml file to write to + + -t , --trajectory + (required) Input .tum trajectory, in map local coordinates + + -m , --map + (required) Input .mm map with georef info + + --, --ignore_rest + Ignores the rest of the labeled arguments following this flag. + + --version + Displays version information and exits. + + -h, --help + Displays usage information and exits. + + +| + +3. Georeferenced maps in mm-viewer +---------------------------------------- +Write me! + diff --git a/docs/source/index.rst b/docs/source/index.rst index 9e2bc8bb39..f19d89855f 100644 --- a/docs/source/index.rst +++ b/docs/source/index.rst @@ -12,9 +12,11 @@ MOLA :caption: Quickstart Home - solutions building-maps + localization + geo-referencing use-cases + solutions .. toctree:: :maxdepth: 2 @@ -157,11 +159,9 @@ How to install all MOLA modules: .. code-block:: bash # Install core MOLA modules and 3D LiDAR odometry: - sudo apt install ros-$ROS_DISTRO-mola ros-$ROS_DISTRO-mola-lidar-odometry - - # As of Aug 2024, lidar_odometry is not available for all ROS distros yet! - # If the apt command above fails, please remove the "mola-lidar-odometry" part - # and see instructions below to clone and build the missing module from sources + sudo apt install \ + ros-$ROS_DISTRO-mola \ + ros-$ROS_DISTRO-mola-lidar-odometry # (OPTIONAL) Install example small datasets to run demos/unit tests: sudo apt install ros-$ROS_DISTRO-mola-test-datasets diff --git a/docs/source/localization.rst b/docs/source/localization.rst new file mode 100644 index 0000000000..1a151f7013 --- /dev/null +++ b/docs/source/localization.rst @@ -0,0 +1,56 @@ +.. _localization-only: + +====================== +Localization +====================== +Localization differs from SLAM in that the map or world model is **not updated** while +it is being used to keep a robot or vehicle accurately localized within a pre-mapped environment :cite:`blanco2024mola_lo`. + +Once :ref:`a map is built `, the result is a simple-map and/or a metric map (``*.mm``), optionally :ref:`georeferenced `. +This map can then be used to enable autonomous navigation ("Go from A to B"), for which localization is a fundamental +requirement ("Where is B?"). + +At present, this framework provides two fundamentally different algorithms for **localization**: + +* **Based on optimization**, by using the :ref:`LiDAR odometry module `, without map updates. +* **Based on particle filtering**, by using any combination of metric maps (grid maps, point clouds, etc.) and wheels odometry. + +____________________________________________ + +.. contents:: Table of Contents + :depth: 1 + :local: + :backlinks: none + +____________________________________________ + +| + +1. Common aspects +-------------------------------------- +Independently of the localization algorithm, the problem of finding the *rough* localization +of the vehicle at start up is quite special due to the large **initial uncertainty**. + +MOLA provides a specific module for this task (:ref:`doxid-group__mola__relocalization__grp`) +which can be used by all position tracking algorithms to solve the initial relocalization problem. + +Also, implementations below offer two ways to specify the **initial guess** about the robot +pose in the environment: + +* From **a pose with a covariance**, which needs to be given manually either from a ROS topic, RViz/FoxGlove, or a parameter; and +* From **GNSS readings** ("Automatic re-localization via GPS"). This version requires :ref:`georeferenced metric maps `, naturally. + +| + + +2. Localization with LiDAR odometry +-------------------------------------- +Write me! + + +| + + +3. Localization with particle filtering +---------------------------------------- +Write me! diff --git a/docs/source/solutions.rst b/docs/source/solutions.rst index bcbe045ed4..ed73383e5a 100644 --- a/docs/source/solutions.rst +++ b/docs/source/solutions.rst @@ -20,14 +20,13 @@ Check out the tutorial: :ref:`building-maps`. 2. Full 3D SLAM solution (GNSS, submapping, loop closures) ------------------------------------------------------------ -Build **geo-referenced** consistent global maps, even mixing indoor and outdoor scenarios. +Build **georeferenced** consistent global maps, even mixing indoor and outdoor scenarios. This functionality is provided by: -- ``mola_sm_loop_closure``: TO-DO: add docs. - At present, this package is not open-sourced, see: :ref:`mola_licenses`. +- ``mola_sm_loop_closure``: At present, this package is not open-sourced, see: :ref:`mola_licenses`. - - **Geo-referencing** metric maps with consumer-grade GNSS sensors. - - Off-line **loop closure** for consistent global maps. + - **Geo-referencing** metric maps with consumer-grade GNSS sensors. See: :ref:`geo-referencing`. + - Off-line **loop closure** for consistent global maps. (TO-DO: Write docs!) - ``mola_3d_lidar_slam``: (Coming soon!) @@ -40,7 +39,7 @@ This functionality is provided by: 3. Full 2D SLAM solution ---------------------------- -Build **geo-referenced** consistent global 2D maps from 2D LiDARs. +Build **georeferenced** consistent global 2D maps from 2D LiDARs. This functionality is provided by: - ``mola_2d_lidar_slam``: (Coming soon!) @@ -69,6 +68,7 @@ The complete framework comprises these software repositories: .. _mola_lidar_odometry: https://github.com/MOLAorg/mola_lidar_odometry/ .. |mola_lidar_odometry| replace:: **mola_lidar_odometry** + .. list-table:: Software repositories and modules :widths: 75 25 :header-rows: 1 @@ -77,17 +77,23 @@ The complete framework comprises these software repositories: - License * - |MRPT|_ - + + | + Underlying C++ data structures, algorithms, serialization, RawLog datasets, etc. - BSD-3 * - |mp2p_icp|_ - + + | + Generic ICP algorithm, metric map pipelines. - BSD-3 * - |mrpt_navigation|_ - + + | + ROS 2 nodes: ``*.mm`` `metric map server `_, `AMCL-like localization `_, `point cloud pipeline `_, @@ -95,17 +101,23 @@ The complete framework comprises these software repositories: - BSD-3 * - |MOLA|_ - + + | + MOLA modules: kernel, mola_viz, kinematic state estimator, relocalization, etc. - GNU-GPLv3 * - |mola_lidar_odometry|_ - + + | + :ref:`LiDAR odometry ` for mapping and optimization-based localization. - GNU-GPLv3 * - **mola_sm_loop_closure** - + + | + Map geo-referencing, SLAM with loop-closure for consistent large maps. - Upon licensing only diff --git a/docs/source/use-cases.rst b/docs/source/use-cases.rst index 668295c6ad..875a183186 100644 --- a/docs/source/use-cases.rst +++ b/docs/source/use-cases.rst @@ -8,6 +8,9 @@ This page shows some examples of applications of MOLA SLAM solutions with :ref:` .. contents:: Table of Contents :depth: 2 +| + + Automotive SLAM ----------------- An example of urban SLAM from the KITTI dataset: @@ -17,6 +20,9 @@ An example of urban SLAM from the KITTI dataset: See how to launch this demo yourself. +| + + Forest inventory (3D mapping) -------------------------------- See paper :cite:t:`aguilar2024lidar`. @@ -27,6 +33,9 @@ See paper :cite:t:`aguilar2024lidar`. +| + + Backpack 3D mapping indoors -------------------------------- @@ -37,6 +46,9 @@ Backpack 3D mapping indoors +| + + 3D LiDAR mapping plus georeferencing (GNSS) -------------------------------------------- @@ -45,6 +57,9 @@ Demo from the Mulran dataset, which contains both 3D LiDAR and consumer-grade GN (TO-DO: add videos) +| + + Mapping from a drone ---------------------- Using the HILTI 2021 dataset: @@ -55,6 +70,9 @@ Using the HILTI 2021 dataset: +| + + Greenhouse mapping -------------------------------- See paper :cite:t:`greenbot2024canadas`. @@ -65,3 +83,6 @@ See paper :cite:t:`greenbot2024canadas`. + +| + diff --git a/kitti_metrics_eval/CHANGELOG.rst b/kitti_metrics_eval/CHANGELOG.rst index 83a3536619..fcd2325496 100644 --- a/kitti_metrics_eval/CHANGELOG.rst +++ b/kitti_metrics_eval/CHANGELOG.rst @@ -3,6 +3,11 @@ Changelog for package kitti_metrics_eval ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +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) ------------------ diff --git a/kitti_metrics_eval/package.xml b/kitti_metrics_eval/package.xml index 1a8fbf4245..b75c816cba 100644 --- a/kitti_metrics_eval/package.xml +++ b/kitti_metrics_eval/package.xml @@ -5,7 +5,7 @@ --> kitti_metrics_eval - 1.1.2 + 1.1.3 CLI tool to evaluate the KITTI odometry bechmark metrics to trajectory files Jose-Luis Blanco-Claraco @@ -15,7 +15,9 @@ mola_common - mrpt2 + mrpt_libmath + mrpt_libposes + mrpt_libtclap doxygen diff --git a/mola/CHANGELOG.rst b/mola/CHANGELOG.rst index c8097ca4c3..c7b94e7492 100644 --- a/mola/CHANGELOG.rst +++ b/mola/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package mola ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +1.1.3 (2024-08-28) +------------------ + 1.1.2 (2024-08-26) ------------------ diff --git a/mola/package.xml b/mola/package.xml index c71b1be422..2d68518825 100644 --- a/mola/package.xml +++ b/mola/package.xml @@ -2,7 +2,7 @@ mola - 1.1.2 + 1.1.3 Metapackage with all core open-sourced MOLA packages. Jose-Luis Blanco-Claraco diff --git a/mola_bridge_ros2/CHANGELOG.rst b/mola_bridge_ros2/CHANGELOG.rst index 552c28137d..7c7ad1242e 100644 --- a/mola_bridge_ros2/CHANGELOG.rst +++ b/mola_bridge_ros2/CHANGELOG.rst @@ -3,6 +3,11 @@ Changelog for package mola_bridge_ros2 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +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) ------------------ diff --git a/mola_bridge_ros2/package.xml b/mola_bridge_ros2/package.xml index 605c3667a6..7fffe7897d 100644 --- a/mola_bridge_ros2/package.xml +++ b/mola_bridge_ros2/package.xml @@ -5,7 +5,7 @@ --> mola_bridge_ros2 - 1.1.2 + 1.1.3 Bidirectional bridge ROS2-MOLA Jose-Luis Blanco-Claraco @@ -29,7 +29,8 @@ mola_kernel mola_msgs - mrpt2 + mrpt_libmaps + mrpt_libros_bridge geometry_msgs nav_msgs diff --git a/mola_demos/CHANGELOG.rst b/mola_demos/CHANGELOG.rst index b91c8e8275..5cdfe7d8f7 100644 --- a/mola_demos/CHANGELOG.rst +++ b/mola_demos/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package mola_demos ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +1.1.3 (2024-08-28) +------------------ + 1.1.2 (2024-08-26) ------------------ diff --git a/mola_demos/package.xml b/mola_demos/package.xml index b76d4a0f8d..9ef8453db8 100644 --- a/mola_demos/package.xml +++ b/mola_demos/package.xml @@ -5,7 +5,7 @@ --> mola_demos - 1.1.2 + 1.1.3 Demo and example launch files for MOLA Jose-Luis Blanco-Claraco diff --git a/mola_imu_preintegration/CHANGELOG.rst b/mola_imu_preintegration/CHANGELOG.rst index a6acf34ef4..f71cca610f 100644 --- a/mola_imu_preintegration/CHANGELOG.rst +++ b/mola_imu_preintegration/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package mola_imu_preintegration ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +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) ------------------ diff --git a/mola_imu_preintegration/package.xml b/mola_imu_preintegration/package.xml index b794bd81c5..29b2c62e72 100644 --- a/mola_imu_preintegration/package.xml +++ b/mola_imu_preintegration/package.xml @@ -5,7 +5,7 @@ --> mola_imu_preintegration - 1.1.2 + 1.1.3 Integrator of IMU angular velocity readings Jose-Luis Blanco-Claraco @@ -15,7 +15,7 @@ mola_common - mrpt2 + mrpt_libobs doxygen diff --git a/mola_input_euroc_dataset/CHANGELOG.rst b/mola_input_euroc_dataset/CHANGELOG.rst index f8e4bc903f..fef805d2c9 100644 --- a/mola_input_euroc_dataset/CHANGELOG.rst +++ b/mola_input_euroc_dataset/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package mola_input_euroc_dataset ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +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) ------------------ diff --git a/mola_input_euroc_dataset/package.xml b/mola_input_euroc_dataset/package.xml index 7207bc7f22..94c421226d 100644 --- a/mola_input_euroc_dataset/package.xml +++ b/mola_input_euroc_dataset/package.xml @@ -5,7 +5,7 @@ --> mola_input_euroc_dataset - 1.1.2 + 1.1.3 Offline RawDataSource from EUROC SLAM datasets Jose-Luis Blanco-Claraco @@ -16,7 +16,9 @@ mola_common mola_kernel - mrpt2 + + mrpt_libobs + mrpt_libmath doxygen diff --git a/mola_input_kitti360_dataset/CHANGELOG.rst b/mola_input_kitti360_dataset/CHANGELOG.rst index ba3e58f582..5809249b9a 100644 --- a/mola_input_kitti360_dataset/CHANGELOG.rst +++ b/mola_input_kitti360_dataset/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package mola_input_kitti_dataset ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +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) ------------------ diff --git a/mola_input_kitti360_dataset/package.xml b/mola_input_kitti360_dataset/package.xml index 536bcab401..470b3cc6c5 100644 --- a/mola_input_kitti360_dataset/package.xml +++ b/mola_input_kitti360_dataset/package.xml @@ -5,7 +5,7 @@ --> mola_input_kitti360_dataset - 1.1.2 + 1.1.3 Offline RawDataSource from Kitti-360 datasets Jose-Luis Blanco-Claraco @@ -16,7 +16,8 @@ mola_common mola_kernel - mrpt2 + + mrpt_libmaps doxygen diff --git a/mola_input_kitti_dataset/CHANGELOG.rst b/mola_input_kitti_dataset/CHANGELOG.rst index 2dcc55ddb2..78186faad3 100644 --- a/mola_input_kitti_dataset/CHANGELOG.rst +++ b/mola_input_kitti_dataset/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package mola_input_kitti_dataset ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +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) ------------------ diff --git a/mola_input_kitti_dataset/package.xml b/mola_input_kitti_dataset/package.xml index 1c72f8329b..65a878e28b 100644 --- a/mola_input_kitti_dataset/package.xml +++ b/mola_input_kitti_dataset/package.xml @@ -5,7 +5,7 @@ --> mola_input_kitti_dataset - 1.1.2 + 1.1.3 Offline RawDataSource from Kitti odometry/SLAM datasets Jose-Luis Blanco-Claraco @@ -16,7 +16,8 @@ mola_common mola_kernel - mrpt2 + + mrpt_libmaps doxygen diff --git a/mola_input_mulran_dataset/CHANGELOG.rst b/mola_input_mulran_dataset/CHANGELOG.rst index 6f4e4856c6..49f250e2ca 100644 --- a/mola_input_mulran_dataset/CHANGELOG.rst +++ b/mola_input_mulran_dataset/CHANGELOG.rst @@ -3,6 +3,11 @@ Changelog for package mola_input_mulran_dataset ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +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) ------------------ diff --git a/mola_input_mulran_dataset/CMakeLists.txt b/mola_input_mulran_dataset/CMakeLists.txt index 34ca5a6869..12bcf7f6cb 100644 --- a/mola_input_mulran_dataset/CMakeLists.txt +++ b/mola_input_mulran_dataset/CMakeLists.txt @@ -20,7 +20,6 @@ find_package(mola_common REQUIRED) find_package(mrpt-math) # for MRPT Eigen utilities find_package(mrpt-maps) find_package(mrpt-poses) -find_package(mrpt-tclap) find_mola_package(mola_kernel) diff --git a/mola_input_mulran_dataset/package.xml b/mola_input_mulran_dataset/package.xml index bfb40a0dc1..d7802846ee 100644 --- a/mola_input_mulran_dataset/package.xml +++ b/mola_input_mulran_dataset/package.xml @@ -5,7 +5,7 @@ --> mola_input_mulran_dataset - 1.1.2 + 1.1.3 Offline RawDataSource from MulRan datasets Jose-Luis Blanco-Claraco @@ -16,7 +16,9 @@ mola_common mola_kernel - mrpt2 + + mrpt_libmaps + mrpt_libposes doxygen diff --git a/mola_input_paris_luco_dataset/CHANGELOG.rst b/mola_input_paris_luco_dataset/CHANGELOG.rst index 1bc09d1fdb..3c9c7b76b9 100644 --- a/mola_input_paris_luco_dataset/CHANGELOG.rst +++ b/mola_input_paris_luco_dataset/CHANGELOG.rst @@ -3,6 +3,11 @@ Changelog for package mola_input_paris_luco_dataset ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +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) ------------------ diff --git a/mola_input_paris_luco_dataset/package.xml b/mola_input_paris_luco_dataset/package.xml index 273fff85aa..a47bd0824b 100644 --- a/mola_input_paris_luco_dataset/package.xml +++ b/mola_input_paris_luco_dataset/package.xml @@ -5,7 +5,7 @@ --> mola_input_paris_luco_dataset - 1.1.2 + 1.1.3 Offline RawDataSource from Paris LUCO (CT-ICP) odometry/SLAM datasets Jose-Luis Blanco-Claraco @@ -16,7 +16,8 @@ mola_common mola_kernel - mrpt2 + + mrpt_libmaps doxygen diff --git a/mola_input_rawlog/CHANGELOG.rst b/mola_input_rawlog/CHANGELOG.rst index da68bf490b..cd4a57c5f8 100644 --- a/mola_input_rawlog/CHANGELOG.rst +++ b/mola_input_rawlog/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package mola_input_rawlog ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +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) ------------------ diff --git a/mola_input_rawlog/package.xml b/mola_input_rawlog/package.xml index 1f6f361442..99b6af7c69 100644 --- a/mola_input_rawlog/package.xml +++ b/mola_input_rawlog/package.xml @@ -5,7 +5,7 @@ --> mola_input_rawlog - 1.1.2 + 1.1.3 Offline RawDataSource from MRPT rawlog datasets Jose-Luis Blanco-Claraco @@ -15,7 +15,8 @@ mola_kernel - mrpt2 + + mrpt_libobs doxygen diff --git a/mola_input_rosbag2/CHANGELOG.rst b/mola_input_rosbag2/CHANGELOG.rst index 805422e36f..f33c6b1c46 100644 --- a/mola_input_rosbag2/CHANGELOG.rst +++ b/mola_input_rosbag2/CHANGELOG.rst @@ -3,6 +3,11 @@ Changelog for package mola_input_rosbag2 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +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) ------------------ * rosbag2 input: support for input directories for split bag datasets diff --git a/mola_input_rosbag2/package.xml b/mola_input_rosbag2/package.xml index 4182b92bc9..8a79025755 100644 --- a/mola_input_rosbag2/package.xml +++ b/mola_input_rosbag2/package.xml @@ -5,7 +5,7 @@ --> mola_input_rosbag2 - 1.1.2 + 1.1.3 Offline RawDataSource from rosbag2 datasets Jose-Luis Blanco-Claraco @@ -15,7 +15,6 @@ mola_kernel - mrpt2 tf2_ros rosbag2_cpp tf2_msgs @@ -23,6 +22,9 @@ tf2_geometry_msgs sensor_msgs + mrpt_libobs + mrpt_libros_bridge + doxygen diff --git a/mola_kernel/CHANGELOG.rst b/mola_kernel/CHANGELOG.rst index efe2f83d84..17447ed654 100644 --- a/mola_kernel/CHANGELOG.rst +++ b/mola_kernel/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package mola_kernel ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +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) ------------------ diff --git a/mola_kernel/package.xml b/mola_kernel/package.xml index 00e2149302..c513528d76 100644 --- a/mola_kernel/package.xml +++ b/mola_kernel/package.xml @@ -5,7 +5,7 @@ --> mola_kernel - 1.1.2 + 1.1.3 Fundamental C++ virtual interfaces and data types for the rest of MOLA modules Jose-Luis Blanco-Claraco @@ -16,7 +16,10 @@ mola_common mola_yaml - mrpt2 + + mrpt_libobs + mrpt_libmaps + mrpt_libgui doxygen diff --git a/mola_launcher/CHANGELOG.rst b/mola_launcher/CHANGELOG.rst index de48ecf7fa..766bb5ae1b 100644 --- a/mola_launcher/CHANGELOG.rst +++ b/mola_launcher/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package mola_launcher ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +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) ------------------ diff --git a/mola_launcher/package.xml b/mola_launcher/package.xml index eab65ccaea..74b9706af7 100644 --- a/mola_launcher/package.xml +++ b/mola_launcher/package.xml @@ -5,7 +5,7 @@ --> mola_launcher - 1.1.2 + 1.1.3 Launcher app for MOLA systems Jose-Luis Blanco-Claraco @@ -15,7 +15,9 @@ mola_kernel - mrpt2 + + mrpt_libbase + mrpt_libtclap doxygen diff --git a/mola_metric_maps/CHANGELOG.rst b/mola_metric_maps/CHANGELOG.rst index b885e53918..3e51a5d1ed 100644 --- a/mola_metric_maps/CHANGELOG.rst +++ b/mola_metric_maps/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package mola_metric_maps ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +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) ------------------ diff --git a/mola_metric_maps/package.xml b/mola_metric_maps/package.xml index e299b33188..a395bea6ea 100644 --- a/mola_metric_maps/package.xml +++ b/mola_metric_maps/package.xml @@ -5,7 +5,7 @@ --> mola_metric_maps - 1.1.2 + 1.1.3 Advanced metric map classes, using the generic `mrpt::maps::CMetricMap` interface, for use in other MOLA odometry and SLAM modules. Jose-Luis Blanco-Claraco @@ -15,7 +15,8 @@ mola_common - mrpt2 + + mrpt_libmaps doxygen diff --git a/mola_msgs/CHANGELOG.rst b/mola_msgs/CHANGELOG.rst index 8d11bdb5fb..625a22c2b3 100644 --- a/mola_msgs/CHANGELOG.rst +++ b/mola_msgs/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package mola_msgs ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +1.1.3 (2024-08-28) +------------------ + 1.1.2 (2024-08-26) ------------------ diff --git a/mola_msgs/package.xml b/mola_msgs/package.xml index 54f168cd1e..ac3a818d99 100644 --- a/mola_msgs/package.xml +++ b/mola_msgs/package.xml @@ -2,7 +2,7 @@ mola_msgs - 1.1.2 + 1.1.3 ROS message, services, and actions used in other MOLA packages. Jose Luis Blanco-Claraco diff --git a/mola_navstate_fg/CHANGELOG.rst b/mola_navstate_fg/CHANGELOG.rst index cd95490417..96c445b394 100644 --- a/mola_navstate_fg/CHANGELOG.rst +++ b/mola_navstate_fg/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package mola_navstate_fg ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +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) ------------------ diff --git a/mola_navstate_fg/package.xml b/mola_navstate_fg/package.xml index e1ae1b3e09..ac1795c83d 100644 --- a/mola_navstate_fg/package.xml +++ b/mola_navstate_fg/package.xml @@ -5,7 +5,7 @@ --> mola_navstate_fg - 1.1.2 + 1.1.3 SE(3) pose and twist path data fusion estimator Jose-Luis Blanco-Claraco @@ -17,7 +17,8 @@ mola_common mola_kernel mola_imu_preintegration - mrpt2 + + mrpt_libobs gtsam diff --git a/mola_navstate_fuse/CHANGELOG.rst b/mola_navstate_fuse/CHANGELOG.rst index ab943860a6..675c854fa0 100644 --- a/mola_navstate_fuse/CHANGELOG.rst +++ b/mola_navstate_fuse/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package mola_navstate_fuse ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +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) ------------------ diff --git a/mola_navstate_fuse/package.xml b/mola_navstate_fuse/package.xml index 98269e0822..ffd622d849 100644 --- a/mola_navstate_fuse/package.xml +++ b/mola_navstate_fuse/package.xml @@ -5,7 +5,7 @@ --> mola_navstate_fuse - 1.1.2 + 1.1.3 SE(3) pose and twist path data fusion estimator Jose-Luis Blanco-Claraco @@ -17,7 +17,7 @@ mola_common mola_kernel mola_imu_preintegration - mrpt2 + mrpt_libobs doxygen diff --git a/mola_pose_list/CHANGELOG.rst b/mola_pose_list/CHANGELOG.rst index 752c0d3bc5..d2efed51dd 100644 --- a/mola_pose_list/CHANGELOG.rst +++ b/mola_pose_list/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package mola_pose_list ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +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) ------------------ diff --git a/mola_pose_list/package.xml b/mola_pose_list/package.xml index 66c5988cba..5aff953f41 100644 --- a/mola_pose_list/package.xml +++ b/mola_pose_list/package.xml @@ -5,7 +5,7 @@ --> mola_pose_list - 1.1.2 + 1.1.3 C++ library for searchable pose lists Jose-Luis Blanco-Claraco @@ -15,7 +15,9 @@ mola_common - mrpt2 + + mrpt_libmaps + mrpt_libposes doxygen diff --git a/mola_relocalization/CHANGELOG.rst b/mola_relocalization/CHANGELOG.rst index 8b58b5967c..edc41eec38 100644 --- a/mola_relocalization/CHANGELOG.rst +++ b/mola_relocalization/CHANGELOG.rst @@ -3,6 +3,11 @@ Changelog for package mola_relocalization ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +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) ------------------ diff --git a/mola_relocalization/package.xml b/mola_relocalization/package.xml index 8f6df90e8d..02376bd5e1 100644 --- a/mola_relocalization/package.xml +++ b/mola_relocalization/package.xml @@ -5,7 +5,7 @@ --> mola_relocalization - 1.1.2 + 1.1.3 C++ library with algorithms for relocalization, global localization, or pose estimation given a large initial uncertainty Jose-Luis Blanco-Claraco @@ -15,10 +15,13 @@ mola_common - mrpt2 mp2p_icp mola_pose_list + mrpt_libobs + mrpt_libslam + mrpt_libmaps + mola_test_datasets doxygen diff --git a/mola_traj_tools/CHANGELOG.rst b/mola_traj_tools/CHANGELOG.rst index efbd168832..56fa50f7c1 100644 --- a/mola_traj_tools/CHANGELOG.rst +++ b/mola_traj_tools/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package mola_traj_tools ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +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) ------------------ diff --git a/mola_traj_tools/package.xml b/mola_traj_tools/package.xml index 62612a2f87..130817bbd2 100644 --- a/mola_traj_tools/package.xml +++ b/mola_traj_tools/package.xml @@ -5,7 +5,7 @@ --> mola_traj_tools - 1.1.2 + 1.1.3 CLI tools to manipulate trajectory files as a complement to the evo package Jose-Luis Blanco-Claraco @@ -15,7 +15,8 @@ mola_common - mrpt2 + + mrpt_libposes doxygen diff --git a/mola_viz/CHANGELOG.rst b/mola_viz/CHANGELOG.rst index 956ff6d785..60447e842b 100644 --- a/mola_viz/CHANGELOG.rst +++ b/mola_viz/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package mola_viz ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +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) ------------------ diff --git a/mola_viz/package.xml b/mola_viz/package.xml index cb50165ba3..75001e7772 100644 --- a/mola_viz/package.xml +++ b/mola_viz/package.xml @@ -5,7 +5,7 @@ --> mola_viz - 1.1.2 + 1.1.3 GUI for MOLA Jose-Luis Blanco-Claraco @@ -15,7 +15,10 @@ mola_kernel - mrpt2 + + mrpt_libmaps + mrpt_libgui + mrpt_libopengl doxygen diff --git a/mola_yaml/CHANGELOG.rst b/mola_yaml/CHANGELOG.rst index 87a1afc1e8..ac2f617132 100644 --- a/mola_yaml/CHANGELOG.rst +++ b/mola_yaml/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package mola_yaml ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +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) ------------------ diff --git a/mola_yaml/package.xml b/mola_yaml/package.xml index 3f4ae27b1a..abfd74175d 100644 --- a/mola_yaml/package.xml +++ b/mola_yaml/package.xml @@ -5,7 +5,7 @@ --> mola_yaml - 1.1.2 + 1.1.3 YAML helper library common to MOLA modules Jose-Luis Blanco-Claraco @@ -15,7 +15,8 @@ mola_common - mrpt2 + + mrpt_libbase doxygen