ros-rolling-mola-bridge-ros2 (3.3.2-1resolute) resolute; urgency=high

  * Set input observation timestamps explicitly (IMU, LaserScan, NavSatFix, GPSFix, odometry from /tf).
  * Contributors: Jose Luis Blanco-Claraco

 -- "Jose-Luis Blanco-Claraco" <joseluisblancoc@gmail.com>  Thu, 08 Oct 2026 22:00:00 -0000

ros-rolling-mola-bridge-ros2 (3.3.1-1resolute) resolute; urgency=high



 -- "Jose-Luis Blanco-Claraco" <joseluisblancoc@gmail.com>  Sun, 04 Oct 2026 22:00:00 -0000

ros-rolling-mola-bridge-ros2 (3.3.0-1resolute) resolute; urgency=high

  * Port to MRPT 3.x (#220 <https://github.com/MOLAorg/mola/issues/220>)
  * Fix map layer publishing against the MRPT 3 points-map API
  * Contributors: Jose Luis Blanco-Claraco

 -- "Jose-Luis Blanco-Claraco" <joseluisblancoc@gmail.com>  Tue, 22 Sep 2026 22:00:00 -0000

ros-rolling-mola-bridge-ros2 (3.2.1-1resolute) resolute; urgency=high

  * Merge pull request #214 <https://github.com/MOLAorg/mola/issues/214> from MOLAorg/fix/reloc-request-race-with-module-discovery
    FIX: relocalization requests raced with MOLA module discovery
  * Throttle and coalesce the on-demand MOLA module scan
  * Contributors: Jose Luis Blanco-Claraco

 -- "Jose-Luis Blanco-Claraco" <joseluisblancoc@gmail.com>  Mon, 14 Sep 2026 22:00:00 -0000

ros-rolling-mola-bridge-ros2 (3.2.0-1resolute) resolute; urgency=high

  * Merge pull request #198 <https://github.com/MOLAorg/mola/issues/198> from Zeal-Robotics/fix/bridge_ros2-tf-buffer-staleness
    fix(bridge_ros2): keep the TF buffer current under bridge executor load
  * fix(bridge_ros2): give the TF listener its own spin thread
    The listener was constructed with spin_thread=false, against tf2's own default,
    on the grounds that the bridge already spins rosNode_ and a second spinner would
    be redundant. That holds only while the bridge executor keeps up with /tf, and
    makes buffer freshness a function of everything else the node is handling --
    sensor callbacks, timers, map publishing. When it does not keep up, the failure
    is silent: lookups still succeed, they just answer from a buffer that is behind,
    and the resulting poses look plausible.
    With spin_thread=true the /tf and /tf_static subscriptions move to a callback
    group and executor the listener owns, so ingestion is independent of the bridge
    executor's load.
    No new sharing is introduced. The buffer is already read from other threads --
    publishLocalizationTf() from the localization source's thread, transform_tree()
    from whichever module calls it -- and tf2::BufferCore serialises readers and
    writers on a single mutex. The listener's group is created with
    automatically_add_to_executor_with_node=false, so add_node() does not adopt it
    and no second executor can dispatch those subscriptions. Its destructor cancels
    and joins its thread, and it is declared after tf_buffer_ and rosNode_, so that
    happens while both are still alive.
  * fix(bridge_ros2): drain the ROS queues instead of one message per topic
    The ROS thread polls spin_some() on a 10 ms sleep. That loop replaced a
    blocking rclcpp::spin() so the destructor could stop the thread via
    shouldExit_, and the sleep was only ever there to keep the flag poll from
    busy-waiting. But spin_some() collects the ready set once and executes each
    ready entity at most once per call, so the pair caps every subscription at
    roughly one message per 10 ms and puts a 10 ms floor under handling anything.
    Any topic arriving faster than ~100 Hz therefore keeps its subscription queue
    permanently full, and every message the node sees is stale by the whole queue
    depth. /tf is the worst case: it aggregates every broadcaster on the graph,
    so on a robot publishing a few hundred transforms/s the listener's
    KeepLast(100) queue leaves the TF buffer several hundred ms behind. The visible
    symptom is REP-105 composition falling back to the stale odom transform with
    "extrapolation into the future" while the odom broadcaster is publishing on
    time and a normally-spun listener on the same graph reads it as current. A
    200 Hz IMU on the same node loses half its samples the same way.
    spin_once(timeout) blocks until there is work while still bounding how long
    shouldExit_ goes unchecked, and spin_all() then drains whatever else is
    ready. Both are needed: spin_some() and spin_all() each call
    wait_for_work(0ms), so spin_all() alone returns immediately when idle and
    would busy-wait. With work pending spin_once() returns at once, so no
    iteration sleeps while a queue is non-empty.
    Cost is that the two bounds stack: worst case for observing shouldExit_ goes
    from 10 ms to 20 ms.
    Measured with two TF listeners on the same /tf, one per spin strategy:
    draining fully leaves the buffer 12.6 ms behind the broadcaster, taking one
    message per 10 ms tick leaves it 358 ms behind.
    A blocking spin() cancelled via executor.cancel() would remove the poll
    loop altogether and is the better end state, but cancel() racing the
    spinning.exchange(true) in spin() means the destructor has to retry until
    the thread joins. That is left as a separate change.
  * Merge remote-tracking branch 'origin/feat/map-frame-gauge-change' into feat/map-frame-gauge-change
  * Merge branch 'develop' into feat/map-frame-gauge-change
  * Contributors: Jose Luis Blanco-Claraco, Robin Van Cauwenbergh

 -- "Jose-Luis Blanco-Claraco" <joseluisblancoc@gmail.com>  Thu, 20 Aug 2026 22:00:00 -0000

ros-rolling-mola-bridge-ros2 (3.1.1-1resolute) resolute; urgency=high

  * fix build in ros rolling (newer gcc)
  * fix format
  * mola_bridge_ros2: use tf2_ros .hpp headers instead of deprecated .h
    Avoids #warning deprecation spam on newer ROS2 distros while
    building unchanged from Humble to Rolling.
  * Contributors: Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco

 -- "Jose-Luis Blanco-Claraco" <joseluisblancoc@gmail.com>  Sun, 09 Aug 2026 22:00:00 -0000

ros-rolling-mola-bridge-ros2 (3.1.0-1resolute) resolute; urgency=high

  * Add mola::TransformTreeSource: expose the /tf tree to other MOLA modules (#188 <https://github.com/MOLAorg/mola/issues/188>)
    * Add mola::TransformTreeSource: expose the /tf tree to other modules
    New mola_kernel interface letting a data source publish its tree of
    coordinate frames, so consumers (e.g. a LiDAR-odometry viewer) can draw a
    robot's joints as it moves. transform_tree(root) returns the subtree below
    'root' with poses already resolved against it.
    The filtering is done in the source, which is what owns the transform
    buffer, so a consumer never receives nor walks unrelated subtrees. The
    interface carries no ROS/tf2 type, keeping mola_kernel ROS-independent.
    Implemented by Rosbag1Dataset (separate repo), Rosbag2Dataset and BridgeROS2.
    No locking is added around the subtree walk: tf2::BufferCore guards its own
    internals, which is also what lets BridgeROS2's TransformListener feed the
    buffer from its own thread.
    * Address review: depth-first comment, cycle guard in the tf walk
    * No need for include guards inside this same git repo
  * Merge pull request #187 <https://github.com/MOLAorg/mola/issues/187> from MOLAorg/feat/incremental-point-cloud-kdtree-bake
    Bake IncrementalPointCloud's k-d tree index (mm-ipc-bake-kdtree)
  * changelog
  * fix: ros rolling changed arguments of tf2_ros tf listeners
  * fix: GCC error in Rolling due to missing direct rclcpp/Node.hpp include
  * totally drop mrpt2 point cloud classes
  * Merge pull request #177 <https://github.com/MOLAorg/mola/issues/177> from MOLAorg/feat/rep105-loud-stale-odom-warning
    Make the REP-105 stale-odom fallback loud on first occurrence
  * fix(bridge): make the REP-105 stale-odom fallback loud on first occurrence
    When publish_localization_following_rep105 is on and the exact sensor-stamp
    odom->base_link transform is unavailable, the bridge composes map->odom against
    the latest (stale) odom transform. That biases the published TF by the robot's
    motion over the stamp gap (motion-correlated jitter, worst mid-turn), and it is
    the normal path whenever the localizer publishes an estimate extrapolated to
    "now" while odom only exists in the past. The warning was throttled to 60 s,
    which hid this persistent timing violation.
    Emit a loud, explanatory warning the first time the fallback fires, naming the
    consequence and the recommended fix (have the state estimator publish map->odom
    directly via StateEstimationSmoother's publish_map_to_odom_tf, and route the
    bridge TF source filter to that /map_odom method), then continue with the
    throttled steady-state warning so logs are not flooded. No behavior change to
    the published transform itself.
  * Contributors: Jose Luis Blanco-Claraco
  * fix: ros rolling changed arguments of tf2_ros tf listeners; fixed GCC error in
    Rolling due to missing direct rclcpp/Node.hpp include; dropped MRPT2 point
    cloud classes.
  * fix(bridge): REP-105 stale-odom TF fallback now logs a loud, explanatory
    warning the first time it fires (with the recommended fix), instead of only
    a throttled one.
  * Contributors: Jose Luis Blanco-Claraco

 -- "Jose-Luis Blanco-Claraco" <joseluisblancoc@gmail.com>  Wed, 05 Aug 2026 22:00:00 -0000

ros-rolling-mola-bridge-ros2 (3.0.0-1resolute) resolute; urgency=high

  * chore: less verbose warning
  * fix: rep105 mode made robust against lagging odom frame
  * fix: replace rclcpp deprecated spin_some()
  * Merge pull request #153 <https://github.com/MOLAorg/mola/issues/153> from Zeal-Robotics/fix/bridge_ros2-relocalize-frame
    fix(bridge_ros2): transform relocalization pose into reference frame
  * fix(bridge_ros2): transform relocalization pose into reference frame
    The relocalization topic callback and the relocalize_near_pose service fed
    the incoming PoseWithCovarianceStamped straight to relocalize_near_pose_pdf(),
    ignoring its header.frame_id. The pose was therefore interpreted in the
    localization reference_frame regardless of the frame it was actually
    expressed in. When a tool publishes it in a different frame (e.g. RViz's
    "2D Pose Estimate" in the fixed frame) that differs from reference_frame,
    the relocalization lands in the wrong place.
    Compose reference_frame <- header.frame_id via the tf buffer before
    relocalizing, in both the topic callback and the service. The covariance is
    propagated through the rotation by CPose3DPDFGaussian::changeCoordinatesReference().
    Requests are skipped (topic) or rejected (service) when the transform is
    unavailable, instead of silently relocalizing to a wrong pose.
  * fix: safer owned_rclcpp flag
  * Merge pull request #150 <https://github.com/MOLAorg/mola/issues/150> from MOLAorg/fix/bridge-ros2-rclcpp-shutdown-ownership
    feat: bridge ros2 now autodetects rclpp shutdown ownership
  * feat: bridge ros2 now autodetects rclpp shutdown ownership
  * Merge pull request #149 <https://github.com/MOLAorg/mola/issues/149> from MOLAorg/fix/tf-listener-share-ros-node
    fix(mola_bridge_ros2): share rosNode_ with TF listener for consistent clock/use_sim_time
  * fix(mola_bridge_ros2): share rosNode_ with TF listener for consistent clock/use_sim_time handling
    Pass rosNode_ to TransformListener so its /tf and /tf_static subscriptions
    share the bridge's DDS participant, clock, and use_sim_time setting.
    Without this, the default constructor creates an anonymous node that
    ignores use_sim_time -- causing subtle inconsistencies when playing bags
    with --clock. spin_thread=false avoids a redundant second spinner since
    rosNode_ is already spun by the bridge's main loop.
  * Contributors: Jose Luis Blanco-Claraco, Robin Van Cauwenbergh

 -- "Jose-Luis Blanco-Claraco" <joseluisblancoc@gmail.com>  Thu, 16 Jul 2026 22:00:00 -0000

ros-rolling-mola-bridge-ros2 (2.9.0-1resolute) resolute; urgency=high

  * Merge pull request #143 <https://github.com/MOLAorg/mola/issues/143> from MOLAorg/bump-cmake-version
    bump min req cmake version to 3.22
  * bump min req cmake version to 3.22
  * Less verbose output: don't print covariance matrix for each geo-referenced solution
  * Contributors: Jose Luis Blanco-Claraco

 -- "Jose-Luis Blanco-Claraco" <joseluisblancoc@gmail.com>  Sun, 10 May 2026 22:00:00 -0000

ros-rolling-mola-bridge-ros2 (2.8.0-1resolute) resolute; urgency=high

  * Merge pull request #140 <https://github.com/MOLAorg/mola/issues/140> from MOLAorg/feat/bridge-ros2-qos
    feat: BridgeROS2 now have configurable QoS
  * fix: harden parameter parsing
  * feat: BridgeROS2 now have configurable QoS
  * Merge pull request #135 <https://github.com/MOLAorg/mola/issues/135> from MOLAorg/pr-132
    feat(bridge_ros2): align REP-105 TF with Nav2 conventions without regressing direct-publish mode
  * feat(bridge_ros2): align REP-105 TF publishing with Nav2 conventions
    This brings the localization /tf publisher in line with the convention
    used by AMCL, slam_toolbox, RTAB-Map and Cartographer, addressing three
    issues observed when MOLA is consumed by Nav2-style downstream nodes:
    1. REP-105 composition bug (fix). The inner factor of
    map -> odom = (map -> base)(t_scan) * (base -> odom)(t)
    was sampled at "latest" via waitForTransform(), which only supports
    tf2::TimePoint{}. The two factors must be sampled at the same
    instant or the published correction is biased by the odom-frame
    motion accumulated during the localizer's processing latency. Switch
    to tf_buffer_->lookupTransform(..., scan_tp). On lookup failure the
    publish is skipped (an empty default-constructed TransformStamped
    would inject TF_NO_FRAME_ID into every consumer's tf2 buffer).
    2. transform_tolerance (new param, default 0.1s). The published stamp
    is now node->now() + transform_tolerance so consumers can do
    lookupTransform(map, base_link, now()) without
    ExtrapolationException. Mirrors AMCL's transform_tolerance and
    RTAB-Map's tf_tolerance. Uses the ROS clock so use_sim_time is
    honored automatically.
    3. transform_publish_period (new param, default 0.05s = 20 Hz). A
    wall timer re-broadcasts the cached map -> odom independent of
    localization update rate, keeping the TF buffer continuously fresh
    even when the localizer runs slower than the consumer query rate.
    Set to 0 to disable. Mirrors slam_toolbox's transform_publish_period
    and RTAB-Map's tf_delay.
    Backwards compat: to exactly preserve the prior (post-bugfix) stamping
    behavior set transform_tolerance: 0 and transform_publish_period: 0.
    publish_in_sim_time retains its meaning for all other publishers
    (sensor TFs, odom messages, etc.); only the localization /tf stamp
    source changed.
  * Merge branch 'develop' into perf/keyframe-prewarm-global-submap
  * Merge pull request #133 <https://github.com/MOLAorg/mola/issues/133> from Zeal-Robotics/fix/bridge-ros2-throttle-tf-lookup-errors
    fix(bridge_ros2): throttle TF lookup error logging
  * fix(bridge_ros2): throttle TF lookup error logging
    Failed sensor TF lookups (e.g. missing static URDF transforms during
    bring-up) flooded the console with two unthrottled ERROR lines per
    observation. With a Livox IMU at ~100 Hz this produced ~200 lines/s
    per affected topic, drowning out other diagnostics.
    - Throttle (5 s) every per-observation "Could not forward ROS2
    observation to MOLA due to timeout..." in the PointCloud2,
    LaserScan, Imu, NavSatFix and gps_msgs paths, plus the
    "Could not get /tf" path that uses lookupSensorPose, and the
    REP-105 odom->base_link recompute warning in publishLocalizationTf.
    - Drop the redundant printErrors plumbing from waitForTransform: the
    inner MRPT_LOG_ERROR(ex.what()) duplicated what callers already
    print with more context (frames + timestamp). The raw tf2 reason
    is still emitted at DEBUG for deep diagnostics.
    Per-callsite throttle state means independent sensors still surface
    "this stream stopped" promptly; we just stop spamming the same one.
  * Contributors: Jose Luis Blanco-Claraco, Robin Van Cauwenbergh

 -- "Jose-Luis Blanco-Claraco" <joseluisblancoc@gmail.com>  Tue, 28 Apr 2026 22:00:00 -0000

ros-rolling-mola-bridge-ros2 (2.7.0-1resolute) resolute; urgency=high

  * Merge pull request #131 <https://github.com/MOLAorg/mola/issues/131> from MOLAorg/feat/actions-custom-runner
    CI actions: build for arm64 too
  * Merge branch 'Zeal-Robotics-fix/bridge-ros2-skip-empty-tf-on-rep105-failure' into develop
  * Fix formatting and clarify function arguments
  * fix(bridge_ros2): skip TF publish when REP-105 odom lookup fails
    In publishLocalizationTf, when publish_localization_following_rep105
    is enabled, the bridge needs to look up odom_frame -> base_link_frame
    to compose map -> odom. If that lookup fails (e.g. wheel odometry
    hasn't started publishing yet during system startup), the previous code
    logged the error but still fell through to tf_bc_->sendTransform(tf)
    with a default-constructed TransformStamped (empty frame_id and
    child_frame_id).
    This poisoned every subscriber's tf2 buffer at the localization rate,
    producing a continuous stream of TF_NO_FRAME_ID,
    TF_NO_CHILD_FRAME_ID, and TF_SELF_TRANSFORM errors across every
    node in the system until the odom TF became available.
    Fix: return early on lookup failure so no broadcast happens. While
    here, restructure the function with an early-return guard for
    publish_tf_from_slam to flatten the nesting, and include the actual
    frame names in the error message.
    Behavior unchanged in the success path.
  * Merge pull request #129 <https://github.com/MOLAorg/mola/issues/129> from MOLAorg/feat/ros2-diagnostics
    Feature: ROS2 diagnostics
  * feat(bridge_ros2): publish REP-107 /diagnostics DiagnosticArray
    Collect structured diagnostics from modules implementing the new
    mola::DiagnosticsProvider interface and publish them on the standard
    ROS 2 /diagnostics topic alongside the existing ad-hoc mola_diagnostics/
    topics. Adds the diagnostic_msgs dependency.
    Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>
  * Merge pull request #122 <https://github.com/MOLAorg/mola/issues/122> from MOLAorg/feat/ros2-bridge-multiple-odometries
    Add param 'odometry_as_robot_pose_observation' to switch OdometryMsg …
  * Skip entries with empty topic name
  * Add param 'odometry_as_robot_pose_observation' to switch OdometryMsg mapping to MRPT types
  * Merge pull request #121 <https://github.com/MOLAorg/mola/issues/121> from MOLAorg/fix/clean-up-old-mrpt-version-checks
    Clean up: remove old mrpt version fallback code sections
  * Contributors: Jose Luis Blanco-Claraco, Robin Van Cauwenbergh

 -- "Jose-Luis Blanco-Claraco" <joseluisblancoc@gmail.com>  Tue, 21 Apr 2026 22:00:00 -0000

ros-rolling-mola-bridge-ros2 (2.6.1-1resolute) resolute; urgency=high



 -- "Jose-Luis Blanco-Claraco" <joseluisblancoc@gmail.com>  Wed, 01 Apr 2026 22:00:00 -0000

ros-rolling-mola-bridge-ros2 (2.6.0-1resolute) resolute; urgency=high

  * Remove now obsolete version check macro
  * Merge pull request #108 <https://github.com/MOLAorg/mola/issues/108> from MOLAorg/feat/use-gps-msgs
    Support gps_msgs data types too for ROS2
  * Support gps_msgs as alternative to NavSatFix
  * Merge pull request #107 <https://github.com/MOLAorg/mola/issues/107> from MOLAorg/fix/viz-decay-clouds
    Fix/viz-decay-clouds
  * Update coyright notes
  * Contributors: Jose Luis Blanco-Claraco

 -- "Jose-Luis Blanco-Claraco" <joseluisblancoc@gmail.com>  Wed, 11 Mar 2026 23:00:00 -0000

ros-rolling-mola-bridge-ros2 (2.5.0-1resolute) resolute; urgency=high

  * Merge pull request #105 <https://github.com/MOLAorg/mola/issues/105> from MOLAorg/feat/refactor-ros2-bridges
    Refactor to use external rosbag2 conversion in mrpt_ros_bridge
  * Use refactored ros2mrpt bridge in live node too
  * Fix: potential access to the ROS2 node before it's ready
  * Merge pull request #101 <https://github.com/MOLAorg/mola/issues/101> from MOLAorg/fix/mola-bridge-no-pub-queue
    Fix: mola bridge no pub queue
  * BridgeRos2: publish localization updates immediately, do not buffer them
  * Add debug traces
  * Merge pull request #99 <https://github.com/MOLAorg/mola/issues/99> from MOLAorg/feat/ros2-bridge-pub-geographic
    ROS2 bridge: publish geographic poses too
  * ros2 bridge: use geographic_msgs, store the last georeference info internally, and publish georef poses
    merge of these commits:
    - Enable many more clang-tidy checks
    - lint clean
    - implement publishing georeferenced poses
    - mola-viz: fix potential crash on edge case with all points having NaN value
    - FIX: potential crash if no MapServer is present and map services are called
  * fix clang-format
  * FIX: potential deadlock in BridgeROS2 dtor due to early errors before ros2 is initialized
  * Contributors: Jose Luis Blanco-Claraco

 -- "Jose-Luis Blanco-Claraco" <joseluisblancoc@gmail.com>  Fri, 13 Feb 2026 23:00:00 -0000

ros-rolling-mola-bridge-ros2 (2.4.0-1resolute) resolute; urgency=high

  * Prepare for not using deprecated mrpt_maps types starting for mrpt >=3.0.0
  * FIX: Potential segfault if observations come before ROS2 /tf broadcasters are initialized
  * Contributors: Jose Luis Blanco-Claraco

 -- "Jose-Luis Blanco-Claraco" <joseluisblancoc@gmail.com>  Sat, 27 Dec 2025 23:00:00 -0000

ros-rolling-mola-bridge-ros2 (2.3.0-1resolute) resolute; urgency=high

  * Import all pcd fields from ros2 messages using CGenericPointsMap
  * Contributors: Jose Luis Blanco-Claraco

 -- "Jose-Luis Blanco-Claraco" <joseluisblancoc@gmail.com>  Sun, 14 Dec 2025 23:00:00 -0000

ros-rolling-mola-bridge-ros2 (2.2.1-1resolute) resolute; urgency=high

  * BridgeROS2: more debug traces in map publishing
  * Contributors: Jose Luis Blanco-Claraco

 -- "Jose-Luis Blanco-Claraco" <joseluisblancoc@gmail.com>  Fri, 07 Nov 2025 23:00:00 -0000

ros-rolling-mola-bridge-ros2 (2.2.0-1resolute) resolute; urgency=high

  * format
  * Fix build against upcoming mrpt v2.15.0
  * Contributors: Jose Luis Blanco-Claraco

 -- "Jose-Luis Blanco-Claraco" <joseluisblancoc@gmail.com>  Mon, 27 Oct 2025 23:00:00 -0000

ros-rolling-mola-bridge-ros2 (2.1.0-1resolute) resolute; urgency=high

  * Publish to ROS all map types implementing getAsSimplePointsMap()
  * format
  * FIX: ROS2 bridge must use timestamps for map updates to publish maps and deskewed clouds
  * Support publishing several maps from the same source per iteration to ROS
  * clang-format
  * Make use of ConstPtr across API
  * Contributors: Jose Luis Blanco-Claraco

 -- "Jose-Luis Blanco-Claraco" <joseluisblancoc@gmail.com>  Sun, 19 Oct 2025 22:00:00 -0000

ros-rolling-mola-bridge-ros2 (2.0.0-1resolute) resolute; urgency=high

  * fix clang-format
  * Modernize copyright notice
  * Contributors: Jose Luis Blanco-Claraco

 -- "Jose-Luis Blanco-Claraco" <joseluisblancoc@gmail.com>  Sun, 12 Oct 2025 22:00:00 -0000

ros-rolling-mola-bridge-ros2 (1.9.1-1resolute) resolute; urgency=high



 -- "Jose-Luis Blanco-Claraco" <joseluisblancoc@gmail.com>  Sun, 06 Jul 2025 22:00:00 -0000

ros-rolling-mola-bridge-ros2 (1.9.0-1resolute) resolute; urgency=high

  * fix clang-format
  * Implement publishing of optional "metadata" map field too
  * Contributors: Jose Luis Blanco-Claraco

 -- "Jose-Luis Blanco-Claraco" <joseluisblancoc@gmail.com>  Thu, 05 Jun 2025 22:00:00 -0000

ros-rolling-mola-bridge-ros2 (1.8.1-1resolute) resolute; urgency=high

  * Fix: Do not use the deprecated ament_target_dependencies()
  * Contributors: Jose Luis Blanco-Claraco

 -- "Jose-Luis Blanco-Claraco" <joseluisblancoc@gmail.com>  Tue, 27 May 2025 22:00:00 -0000

ros-rolling-mola-bridge-ros2 (1.8.0-1resolute) resolute; urgency=high

  * Update license tag to "BSD-3-Clause"
  * Update copyright year
  * Contributors: Jose Luis Blanco-Claraco

 -- "Jose-Luis Blanco-Claraco" <joseluisblancoc@gmail.com>  Sat, 24 May 2025 22:00:00 -0000

ros-rolling-mola-bridge-ros2 (1.7.0-1resolute) resolute; urgency=high



 -- "Jose-Luis Blanco-Claraco" <joseluisblancoc@gmail.com>  Mon, 05 May 2025 22:00:00 -0000

ros-rolling-mola-bridge-ros2 (1.6.4-1resolute) resolute; urgency=high

  * fix: Correctly handling Livox cloud timestamps ("double"s, but in nanoseconds) in BridgeROS2 and bag2 data sources. They are automatically detected, no need to change any parameter.
  * modernize clang-format
  * Merge pull request #82 <https://github.com/MOLAorg/mola/issues/82> from ahpinder/develop
    Add Support for Voxel Map ROS2 Publishing Via Point Map Conversion
  * fixed Clang formatting
  * Clean up voxel map publishing code
  * Added voxel map point cloud publishing
    Added code to timerPubMap to publish the occupied voxels of a mrpt::maps::CVoxelMap as a point cloud to ROS2, allowing for real-time ROS2 visualization of 2D map capture
  * Contributors: Jose Luis Blanco-Claraco, ahpinder

 -- "Jose-Luis Blanco-Claraco" <joseluisblancoc@gmail.com>  Tue, 22 Apr 2025 22:00:00 -0000

ros-rolling-mola-bridge-ros2 (1.6.3-1resolute) resolute; urgency=high

  * clang-tidy: const correctness
  * Service renamed: RelocalizeFromGNSS -> RelocalizeFromStateEstimator
  * FIX: Potential deadlock in initialization
  * Contributors: Jose Luis Blanco-Claraco

 -- "Jose-Luis Blanco-Claraco" <joseluisblancoc@gmail.com>  Fri, 14 Mar 2025 23:00:00 -0000

ros-rolling-mola-bridge-ros2 (1.6.2-1resolute) resolute; urgency=high

  * Implement publish Diagnostics per mola module & ROS2 publishers refactored (code clean up)
  * BridgeROS2: add source filter for forwarding localization updates to ROS2
  * ROS2: base_footprint_frame /tf is broadcasted now as base_link -> base_footprint to avoid /tf warnings (better as a child than as a second parent in the tf tree)
  * FIX: In parsing base_footprint_to_base_link_tf
  * Contributors: Jose Luis Blanco-Claraco

 -- "Jose-Luis Blanco-Claraco" <joseluisblancoc@gmail.com>  Fri, 21 Feb 2025 23:00:00 -0000

ros-rolling-mola-bridge-ros2 (1.6.1-1resolute) resolute; urgency=high

  * Add new option: publish_tf_from_slam; add better docs on the meaning of all parameters
  * Publish georef /tf as /tf_static
  * ROS2 bridge now publishes georeferenced map metadata as /tf's and as mrpt_nav_interfaces/GeoreferencingMetadata
  * Revert "Feature: all MOLA modules got its MRPT logger to ROS console for easier debugging"
    This reverts commit 8a84611d85022f37b80d8bdcb7acaa1910669fc1.
  * FIX: wrong variable in former commit
  * Merge pull request #75 <https://github.com/MOLAorg/mola/issues/75> from MOLAorg/feature/mrpt-to-ros-console
    Feature: all MOLA modules got its MRPT logger to ROS console for easier debugging
  * Feature: all MOLA modules got its MRPT logger to ROS console for easier debugging
  * Contributors: Jose Luis Blanco-Claraco

 -- "Jose-Luis Blanco-Claraco" <joseluisblancoc@gmail.com>  Wed, 12 Feb 2025 23:00:00 -0000

ros-rolling-mola-bridge-ros2 (1.6.0-1resolute) resolute; urgency=high

  * Publish gridmaps too
  * ros2 bridge: rep105 only for map->base_link tfs
  * BridgeROS2: support forwarding more than one localization message per timer call
  * Fix published /tf's: those from LocalizationSources now can explicitly define their parent and child frames
  * Contributors: Jose Luis Blanco-Claraco

 -- "Jose-Luis Blanco-Claraco" <joseluisblancoc@gmail.com>  Mon, 20 Jan 2025 23:00:00 -0000

ros-rolling-mola-bridge-ros2 (1.5.1-1resolute) resolute; urgency=high



 -- "Jose-Luis Blanco-Claraco" <joseluisblancoc@gmail.com>  Sat, 28 Dec 2024 23:00:00 -0000

ros-rolling-mola-bridge-ros2 (1.5.0-1resolute) resolute; urgency=high



 -- "Jose-Luis Blanco-Claraco" <joseluisblancoc@gmail.com>  Wed, 25 Dec 2024 23:00:00 -0000

ros-rolling-mola-bridge-ros2 (1.4.1-1resolute) resolute; urgency=high

  * BridgeROS2: add option (now enabled by default) to publish /tfs following REP105 order
  * BUG FIX: Published odometry msg lacked target frame_id
  * Rename method for better reflecting its goal
  * Contributors: Jose Luis Blanco-Claraco

 -- "Jose-Luis Blanco-Claraco" <joseluisblancoc@gmail.com>  Thu, 19 Dec 2024 23:00:00 -0000

ros-rolling-mola-bridge-ros2 (1.4.0-1resolute) resolute; urgency=high

  * Publish localization quality topic
  * Forward --ros-args to BridgeROS2
  * expose services for runtime parameters
  * Load relocalize_from_topic from yaml file
  * ros2bridge: handle /initialpose topic -> relocalize service
  * Contributors: Jose Luis Blanco-Claraco

 -- "Jose-Luis Blanco-Claraco" <joseluisblancoc@gmail.com>  Tue, 17 Dec 2024 23:00:00 -0000

ros-rolling-mola-bridge-ros2 (1.3.0-1resolute) resolute; urgency=high

  * Support publishing IMU readings MOLA -> ROS2
  * Contributors: Jose Luis Blanco-Claraco

 -- "Jose-Luis Blanco-Claraco" <joseluisblancoc@gmail.com>  Tue, 10 Dec 2024 23:00:00 -0000

ros-rolling-mola-bridge-ros2 (1.2.1-1resolute) resolute; urgency=high

  * BUGFIX: Prevent potential race condition
  * Contributors: Jose Luis Blanco-Claraco

 -- "Jose-Luis Blanco-Claraco" <joseluisblancoc@gmail.com>  Sat, 28 Sep 2024 22:00:00 -0000

ros-rolling-mola-bridge-ros2 (1.2.0-1resolute) resolute; urgency=high

  * sort <depend> entries
  * Contributors: Jose Luis Blanco-Claraco

 -- "Jose-Luis Blanco-Claraco" <joseluisblancoc@gmail.com>  Sun, 15 Sep 2024 22:00:00 -0000

ros-rolling-mola-bridge-ros2 (1.1.3-1resolute) resolute; urgency=high

  * Depend on new mrpt_lib packages (deprecate mrpt2)
  * Contributors: Jose Luis Blanco-Claraco

 -- "Jose-Luis Blanco-Claraco" <joseluisblancoc@gmail.com>  Tue, 27 Aug 2024 22:00:00 -0000

ros-rolling-mola-bridge-ros2 (1.1.2-1resolute) resolute; urgency=high



 -- "Jose-Luis Blanco-Claraco" <joseluisblancoc@gmail.com>  Sun, 25 Aug 2024 22:00:00 -0000

ros-rolling-mola-bridge-ros2 (1.1.1-1resolute) resolute; urgency=high



 -- "Jose-Luis Blanco-Claraco" <joseluisblancoc@gmail.com>  Thu, 22 Aug 2024 22:00:00 -0000

ros-rolling-mola-bridge-ros2 (1.1.0-1resolute) resolute; urgency=high

  * Merge pull request #65 <https://github.com/MOLAorg/mola/issues/65> from MOLAorg/add-more-srvs
    Add more Services
  * Offer ROS2 services for the new MOLA MapServer interface
  * clang-format: switch to 100 columns
  * ros2bridge: offer ROS2 services for relocalization
  * Merge pull request #62 <https://github.com/MOLAorg/mola/issues/62> from MOLAorg/docs-fixes
    Docs fixes
  * Fix ament_xmllint warnings in package.xml
  * change ament linters to apply in test builds
  * Contributors: Jose Luis Blanco-Claraco

 -- "Jose-Luis Blanco-Claraco" <joseluisblancoc@gmail.com>  Sat, 17 Aug 2024 22:00:00 -0000

ros-rolling-mola-bridge-ros2 (1.0.8-1resolute) resolute; urgency=high

  * ament_lint_cmake: clean warnings
  * Contributors: Jose Luis Blanco-Claraco

 -- "Jose-Luis Blanco-Claraco" <joseluisblancoc@gmail.com>  Sun, 28 Jul 2024 22:00:00 -0000

ros-rolling-mola-bridge-ros2 (1.0.7-1resolute) resolute; urgency=high

  * Fix GNSS typo
  * Contributors: Jose Luis Blanco-Claraco

 -- "Jose-Luis Blanco-Claraco" <joseluisblancoc@gmail.com>  Tue, 23 Jul 2024 22:00:00 -0000

ros-rolling-mola-bridge-ros2 (1.0.6-1resolute) resolute; urgency=high



 -- "Jose-Luis Blanco-Claraco" <joseluisblancoc@gmail.com>  Thu, 20 Jun 2024 22:00:00 -0000

ros-rolling-mola-bridge-ros2 (1.0.5-1resolute) resolute; urgency=high



 -- "Jose-Luis Blanco-Claraco" <joseluisblancoc@gmail.com>  Mon, 27 May 2024 22:00:00 -0000

ros-rolling-mola-bridge-ros2 (1.0.4-1resolute) resolute; urgency=high

  * bump cmake_minimum_required to 3.5
  * Contributors: Jose Luis Blanco-Claraco

 -- "Jose-Luis Blanco-Claraco" <joseluisblancoc@gmail.com>  Mon, 13 May 2024 22:00:00 -0000

ros-rolling-mola-bridge-ros2 (1.0.3-1resolute) resolute; urgency=high

  * BridgeROS2: more robust /tf find_transform by using tf2::BufferCore
  * FIXBUG: inverse sensor poses in rosbag2 reader.
    Also: unify notation in C++ calls to lookupTransform()
  * Fix package.xml website URL
  * Contributors: Jose Luis Blanco-Claraco

 -- "Jose-Luis Blanco-Claraco" <joseluisblancoc@gmail.com>  Sun, 21 Apr 2024 22:00:00 -0000

ros-rolling-mola-bridge-ros2 (1.0.2-1resolute) resolute; urgency=high

  * update docs
  * Contributors: Jose Luis Blanco-Claraco

 -- "Jose-Luis Blanco-Claraco" <joseluisblancoc@gmail.com>  Wed, 03 Apr 2024 22:00:00 -0000

ros-rolling-mola-bridge-ros2 (1.0.1-1resolute) resolute; urgency=high

  * BridgeROS2: do not quit on temporary /tf timeout
  * mola_bridge_ros2: option to publish /tf_static for base_footprint
  * mola_bridge_ros2: implement missing MOLA->ROS2 conversion for GNSS observations
  * BUGFIX: Inverted value of "use_fixed_sensor_pose" was used
  * Contributors: Jose Luis Blanco-Claraco

 -- "Jose-Luis Blanco-Claraco" <joseluisblancoc@gmail.com>  Wed, 27 Mar 2024 23:00:00 -0000

ros-rolling-mola-bridge-ros2 (1.0.0-1resolute) resolute; urgency=high

  * Comply with ROS2 REP-2003
  * Merge ROS2 input and output in one module
  * Contributors: Jose Luis Blanco-Claraco

 -- "Jose-Luis Blanco-Claraco" <joseluisblancoc@gmail.com>  Mon, 18 Mar 2024 23:00:00 -0000

ros-rolling-mola-bridge-ros2 (0.2.2-1resolute) resolute; urgency=high



 -- "Jose-Luis Blanco-Claraco" <joseluisblancoc@gmail.com>  Thu, 07 Sep 2023 22:00:00 -0000


