robot_localization

robot_localization is a package of nonlinear state estimation nodes. The package was developed by Charles River Analytics, Inc.

Please see documentation here: http://docs.ros.org/noetic/api/robot_localization/html/index.html

Changelog for package robot_localization

2.7.7 (2024-08-29)

• Remove the diagnostic warning about multiple pose sources (#888)
• Contributors: Stephen Williams

2.7.6 (2024-04-16)

• Updating issue templates
• Fixing angle clamping in Noetic (#855)
• Contributors: Tom Moore

2.7.5 (2023-12-12)

• Fix/set utm map frame change (#830) * Fix utm service properly resetting transforms and fix test for this ---------Co-authored-by: Ferry Schoenmakers <<ferry.schoenmakers@nobleo.nl>>

• Add flag to invert published transform (#827)
• fix bracket missing bug ekf nodelet template noetic (#823)
• Noetic devel (#775)
  • fixed missing silent flag
  • removed debug statement
  • replace tabs with blanks
• Contributors: Carlos Mendes, ChenHehe, CyberNet, Ferry Schoenmakers

2.7.4 (2022-07-27)

• Fix odometry and acceleration processing pipeline (#753)
• Use default CXX, need to specify boost::placeholders::_1 instead of just _1 (#750)
• Fix odometry msgs with child frame other than baseLink (#728)
• update documentation (#723)
• Fix unused-parameter warning (#721)
• Fix tf lookup timestamp during map->odom publication (#719)
• UKF cleanup (#671)
• Added geographiclib to catkin exported depends (#709)
• Make the navsat tf frame name parametric (#699)
• Propagate the suppression of tf warnings (#705)
• Fix typo in base_link_frame_output name. (#701)
• Contributors: AR Dabbour, Carlos Agüero, Haoguang Yang, J.P.S, Joshua Owen, Leonardo Hemerly, Lucas Walter, Marcus Scheunemann, Stephen Williams, Tom Moore

2.7.3 (2021-07-23)

• Prevent node from crashing on invalid UTM zone, but throw ROS_ERROR to notify user (#682)
• changed geographiclib to <depend> tag (#684)
• Small formatting and content change (#677)
• 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) Co-authored-by: jola6897 <<jola6897@users.noreply.github.com>>
• Contributors: John Stechschulte, Jonas, MCFurry, Vivek Mhatre

2.7.2 (2021-06-03)

• Also test for gamma conversion (#647)
• fix: Transform gravitation vector to IMU frame before removing acceleration (#639)
• Fixed a typo in validate filter output error message. (#646)
• Stick to the global utm_zone_ when transforming gps to UTM (#627)
  • Stick to the global utm_zone_ when transforming gps to UTM
• UTM conversions using geographiclib (#626)
  • Use GeographicLib for UTMtoLL conversions
• SHARED linking for Geographiclib (#624)
  • remove GeographicLib specific linking option
• Fixing lat-long to UTM conversion (#620) Thanks again for the report. I'll get this into [noetic-devel]{.title-ref} and the relevant ROS2 branches.
• Removing xmlrpcpp dependency
• yaml-cpp using find_package as backup (#618)
• Add ${GeographicLib_LIBRARIES} to navsat_transform (#617)
• Contributors: Achmad Fathoni, Leonardo Hemerly, Paul Verhoeckx, Tim Clephas, Tobias Fischer, Tom Moore

2.7.0 (2020-12-17)

• Making repeated state publication optional (#595)
• Fix sign error in dFY_dP part of transferFunctionJacobian_ (#592)
• Fix typo in navsat_transform_node.rst (#588)
• Fix issue caused by starting on uneven terrain (#582)
• Local Cartesian Option (#575)
• Fix frame id of imu in differential mode, closes #482. (#522)
• navsat_transform diagram to address #550 (#570)
• Increasing the minimum CMake version (#573)
• Contributors: Aleksander Bojda, David Jensen, James Baxter, Jeffrey Kane Johnson, Mabel Zhang, Ronald Ensing, Tom Moore

2.6.8 (2020-06-03)

• Adding conditional build dependencies (#572)
• Contributors: Tom Moore

2.6.7 (2020-06-01)

• Parameterizing transform failure warnings
• [melodic] Fix Windows build break. (#557)
• Contributors: Sean Yen, Tom Moore, florianspy

2.6.5 (2019-08-08)

• fix: wall time used when [use_sim_time]{.title-ref} is true
• Created service for converting to / from lat long
• Fix bug with tf_prefix
• Adding new contribution to doc
• Add missing undocumented params
• Update wiki location
• Contributors: Andrew Grindstaff, Axel Mousset, Charles Brian Quinn, Oswin So, Tom Moore

2.6.4 (2019-02-15)

• Meridian convergence adjustment added to navsat_transform.
• Documentation changes
• Add broadcast_utm_transform_as_parent_frame
• Enable build optimisations if no build type configured.
• Contributors: G.A. vd. Hoorn, Pavlo Kolomiiets, diasdm

2.6.3 (2019-01-14)

• Rename odomBaseLinkTrans to baseLinkOdomTrans Adhere to the naming convention <fromFrame><toFrame>Trans used for worldBaseLinkTrans and mapOdomTrans.
• Add const& to catch values to prevent the error: catching polymorphic type ‘class tf2::TransformException’ by value And ZoneNumber by 0x3fU to prevent error: directive output may be truncated writing between 1 and 11 bytes into a region of size 4
• Enabling the user to override the output child_frame_id
• Fixing Euler body-to-world transformations
• Whitespace
• fixing no datum service in melodic
• Contributors: Alexis schad, Matthew Jones, Tom Moore, thallerod

2.6.2 (2018-10-25)

• Fixing tests
• Contributors: Tom Moore

2.6.1 (2018-10-25)

• Adding more output for measurement history failures
• Adding filter processing toggle service
• Waiting for valid ROS time before starting navsat_transform_node
• Contributors: Tom Moore, stevemacenski

2.6.0 (2018-07-27)

• Moving to C++14, adding error flags, and fixing all warnings
• Contributors: Tom Moore

2.5.2 (2018-04-11)

• Add published accel topic to documentation
• adding log statements for nans in the invertable matrix
• Fixing issue with potential seg fault
• Contributors: Oleg Kalachev, Tom Moore, stevemacenski

2.5.1 (2018-01-03)

• Fixing CMakeLists
• Contributors: Tom Moore

2.5.0 (2017-12-15)

• Fixing datum precision
• Fixing timing variable
• Fixing state history reversion
• Fixing critical bug with dynamic process noise covariance
• Fix typo in reading Mahalanobis thresholds.
• Zero out rotation in GPS to base_link transform
• Update xmlrpcpp includes for Indigo support
• Removing lastUpdateTime
• Fixing timestamps in map->odom transform
• Simplify enabledAtStartup logic
• Add std_srvs dependency
• Add enabling service
• Ensure all raw sensor input orientations are normalized even if messages are not
• Install params directory.
• Add robot localization estimator
• Adding nodelet support
• Contributors: Jacob Perron, Jacob Seibert, Jiri Hubacek, Mike Purvis, Miquel Massot, Pavlo Kolomiiets, Rein Appeldoorn, Rokus Ottervanger, Simon Gene Gottlieb, Tom Moore, stevemacenski

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