ros-rolling-mola-imu-preintegration (3.0.1-1resolute) resolute; urgency=high

  * Add ImuAverager: decimate a high-rate IMU stream by averaging each period (#17 <https://github.com/MOLAorg/mola_imu_preintegration/issues/17>)
  * ImuTransformer: use the real dt for IMUs faster than 1 kHz (#16 <https://github.com/MOLAorg/mola_imu_preintegration/issues/16>)
  * Test: tolerate timestamp rounding of older MRPT releases in the high-rate transformer test
  * ci: add GitHub release workflow on version tags
  * ci: make scripts/release.py identical across repos; set fail-fast: false in the matrix
  * Update CLA: define Project Owners, Spanish law, fix patent and employer clauses
  * Fix .gitignore: anchor build-* to directories only
  * Contributors: Jose Luis Blanco-Claraco

 -- "Jose-Luis Blanco-Claraco" <joseluisblancoc@gmail.com>  Sun, 18 Oct 2026 22:00:00 -0000

ros-rolling-mola-imu-preintegration (3.0.0-1resolute) resolute; urgency=high

  * Port to MRPT 3.x (underscored find_package/targets, explicit Eigen3 dependency)
  * Declare all directly-used MRPT packages in CMake and package.xml
  * Contributors: Jose Luis Blanco-Claraco

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

ros-rolling-mola-imu-preintegration (2.0.0-1resolute) resolute; urgency=high

  * Add on-manifold IMU preintegration (``ImuPreintegrator``) and sliding-window
    gravity-in-map estimation (``MapGravityEstimator``), with realistic default
    MEMS noise densities for ``ImuIntegrationParams`` (#12 <https://github.com/MOLAorg/mola_imu_preintegration/issues/12>)
  * ``MapGravityEstimator``: report gravity-estimate accuracy via
    pitch/roll sigma instead of gating convergence on a fixed threshold
  * Fix O(size) pruning scan in ``LocalVelocityBuffer``, making it amortized
    O(deleted) so long-retention, high-rate buffers no longer stall the
    consumer thread (#13 <https://github.com/MOLAorg/mola_imu_preintegration/issues/13>)
  * ``ImuInitialCalibrator``: readiness is now based on a configurable time
    window plus an optional accelerometer-direction dispersion gate, instead
    of a plain sample count that made readiness rate-dependent; both are
    opt-in and preserve prior behavior by default (#14 <https://github.com/MOLAorg/mola_imu_preintegration/issues/14>)
  * Drop degenerate (all-zero or NaN) orientation quaternions in
    ``ImuInitialCalibrator``, falling back to gravity-based accelerometer
    leveling instead of aborting (#11 <https://github.com/MOLAorg/mola_imu_preintegration/issues/11>)
  * fix lyrical badges
  * Contributors: Jose Luis Blanco-Claraco

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

ros-rolling-mola-imu-preintegration (1.17.1-1resolute) resolute; urgency=high

  * Merge pull request #10 <https://github.com/MOLAorg/mola_imu_preintegration/issues/10> from MOLAorg/fix/imu-transformer-near-duplicate-timestamp-dt
    fix: guard against near-zero dt in ImuTransformer angular-accel finite difference
  * style: clang-format fix
  * fix: guard against near-zero dt in ImuTransformer angular-accel finite difference
    Some IMU drivers (e.g. the Hesai built-in IMU) emit consecutive messages with
    near-duplicate timestamps a few microseconds apart. Dividing the finite-
    difference angular-acceleration term by such a near-zero dt amplified an
    otherwise negligible angular-velocity delta into a huge spurious lever-arm
    correction, corrupting the transformed acceleration for that sample.
    Reproduced end-to-end: ImuInitialCalibrator's pitch/roll came out ~33 deg off
    on a dataset where the true tilt (per the bag's own static transforms) is
    ~2 deg, with about a third of samples in the calibration window affected.
    Widen the existing fallback-rate guard to treat any dt at or below 1 ms the
    same as the dt<=0 case. Add a regression test.
  * Contributors: Jose Luis Blanco-Claraco

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

ros-rolling-mola-imu-preintegration (1.17.0-1resolute) resolute; urgency=high

  * Merge pull request #9 <https://github.com/MOLAorg/mola_imu_preintegration/issues/9> from MOLAorg/fix/trajectory-empty-on-insufficient-data
  * Merge pull request #8 <https://github.com/MOLAorg/mola_imu_preintegration/issues/8> from MOLAorg/fix/imu-initial-calibrator-rotated-mount-orientation
  * fix: apply IMU extrinsics to orientation in ImuInitialCalibrator
  * Merge pull request #7 <https://github.com/MOLAorg/mola_imu_preintegration/issues/7> from MOLAorg/improve/imu-review-fixes
  * ci: update and fix CI jobs
  * fix: prune relative to true latest timestamp, not just-inserted time
  * fix: clear() preserves parameters; documents what is reset
  * docs: add agents.md with key insights for the package
  * test: add unit tests for ImuTransformer
  * feat: lossless timestamp encoding in LocalVelocityBuffer YAML
  * refactor: remove unused tolerance_search_stamp parameter
  * docs: fix incorrect doxygen comments
  * fix: guard against empty IMU samples in trajectory_from_buffer
  * docs: add ROS 2 Lyrical badge row, update Rolling to Ubuntu 26.04 (resolute)
  * ci: fix Jazzy Jalisco EOL date in CI workflow comment (May 2024 - May 2029)
  * Contributors: Jose Luis Blanco-Claraco

 -- "Jose-Luis Blanco-Claraco" <joseluisblancoc@gmail.com>  Fri, 03 Jul 2026 22:00:00 -0000

ros-rolling-mola-imu-preintegration (1.16.1-1resolute) resolute; urgency=high

  * Merge pull request #6 <https://github.com/MOLAorg/mola_imu_preintegration/issues/6> from MOLAorg/simplify-ci
    CI: simplify clang-format helpers and use ros: docker images for stable builds
  * CI: simplify clang-format helpers and use ros: docker images for stable builds
    - Replace complex Python-based clang_git_format with a simple scripts/formatter.sh supporting --check
    - Standardize formatter to scripts/formatter.sh (renamed from clang-formatter.sh)
    - Simplify check-clang-format.yml to just apt-install clang-format-14 and run the script
    - Use ros:humble / ros:jazzy pre-built images for stable CI builds (faster, no setup-ros needed)
    Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
  * Merge pull request #5 <https://github.com/MOLAorg/mola_imu_preintegration/issues/5> from MOLAorg/bump-cmake-version
    bump min req cmake version to 3.22
  * CI: sensible job names
  * bump min req cmake version to 3.22
  * Merge pull request #4 <https://github.com/MOLAorg/mola_imu_preintegration/issues/4> from MOLAorg/feat/window_since2
    feat(mola_imu_preintegration): MOLA_IMU_PREINTEGRATION_HAS_WINDOW_SINCE macro + tests
  * feat(mola_imu_preintegration): MOLA_IMU_PREINTEGRATION_HAS_WINDOW_SINCE macro + tests
    Expose MOLA_IMU_PREINTEGRATION_HAS_WINDOW_SINCE at the end of the
    LocalVelocityBuffer header so downstream packages in separate repos
    (mola_lidar_odometry's online gravity rebake) can guard usage with
    __has_include + this macro and stay buildable against older
    mola_imu_preintegration checkouts.
    Add unit tests for window_since covering open-ended and bounded
    windows, the (from, to] boundary semantics, and the empty-result
    case.
    Co-Authored-By: Claude Opus 4.7 <mailto:noreply@anthropic.com>
  * Merge pull request #3 <https://github.com/MOLAorg/mola_imu_preintegration/issues/3> from MOLAorg/feat/window_since
    feat: Add API entry window_since()
  * feat: Add API entry window_since()
  * Contributors: Jose Luis Blanco-Claraco

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

ros-rolling-mola-imu-preintegration (1.16.0-1resolute) resolute; urgency=high

  * Merge pull request #2 <https://github.com/MOLAorg/mola_imu_preintegration/issues/2> from MOLAorg/feat/implement-low-pass-filters
    Implement low-pass filtering for acc/omega (more stable transformed IMU vectors)
  * Add formal CLA
  * Contributors: Jose Luis Blanco-Claraco

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

ros-rolling-mola-imu-preintegration (1.15.0-1resolute) resolute; urgency=high

  * Merge pull request #1 <https://github.com/MOLAorg/mola_imu_preintegration/issues/1> from MOLAorg/feat/transform-without-w
    ImuTransformer: work on acceleration even without omega
  * BUG FIX: Wrong copy-paste sign error in centripetal acceleration
  * ImuTransformer: work on acceleration even without omega
  * Contributors: Jose Luis Blanco-Claraco

 -- "Jose-Luis Blanco-Claraco" <joseluisblancoc@gmail.com>  Sun, 22 Feb 2026 23:00:00 -0000

ros-rolling-mola-imu-preintegration (1.14.1-1resolute) resolute; urgency=high

  * Add option 'use_imu_orientation' to disable using IMU orientation for initialization
  * CI: Use standard checkout action
  * Contributors: Jose Luis Blanco-Claraco

 -- "Jose-Luis Blanco-Claraco" <joseluisblancoc@gmail.com>  Thu, 25 Dec 2025 23:00:00 -0000

ros-rolling-mola-imu-preintegration (1.14.0-1resolute) resolute; urgency=high

  * BUGFIX: Estimated acc. bias and initial roll had a bug in their formulas.
  * Add unit tests for initial calibrator
  * Update project website URL in package.xml
  * Contributors: Jose Luis Blanco-Claraco

 -- "Jose-Luis Blanco-Claraco" <joseluisblancoc@gmail.com>  Mon, 10 Nov 2025 23:00:00 -0000

ros-rolling-mola-imu-preintegration (1.13.2-1resolute) resolute; urgency=high

  * Make use of ConstPtr in API
  * Contributors: Jose Luis Blanco-Claraco

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

ros-rolling-mola-imu-preintegration (1.13.1-1resolute) resolute; urgency=high

  * ImuCalibrator: Robust against invalid orientation data in Imu msgs
  * Fix random failures in unit test
  * CI: add running unit tests
  * Contributors: Jose Luis Blanco-Claraco

 -- "Jose-Luis Blanco-Claraco" <joseluisblancoc@gmail.com>  Tue, 14 Oct 2025 22:00:00 -0000

ros-rolling-mola-imu-preintegration (1.13.0-1resolute) resolute; urgency=high

  * FIX: Picked wrong reference stamp for integrating trajectories
  * Add asString() debugging methods to sample structs
  * Contributors: Jose Luis Blanco-Claraco

 -- "Jose-Luis Blanco-Claraco" <joseluisblancoc@gmail.com>  Fri, 10 Oct 2025 22:00:00 -0000

ros-rolling-mola-imu-preintegration (1.12.0-1resolute) resolute; urgency=high

  * FIX: May leave trajectory poses without populating raw IMU data
  * ImuInitialCalibrator: Use IMU orientation, if available
  * LocalVelocityBuffer: reduce default max_time_window to 0.5 s
  * ImuIntegrationParams: Add save_to() method, and finish missing load_from() fields
  * Fix comment typos
  * Readme: Add missing ROS build farm badges for bin packages
  * Contributors: Jose Luis Blanco-Claraco

 -- "Jose-Luis Blanco-Claraco" <joseluisblancoc@gmail.com>  Wed, 08 Oct 2025 22:00:00 -0000

ros-rolling-mola-imu-preintegration (1.11.0-1resolute) resolute; urgency=high

  * New unit tests for IMU integration
  * Move everything into namespace mola::imu to avoid ns pollution
  * Move LocalVelocityBuffer class here from mp2p_icp repository
  * Contributors: Jose Luis Blanco-Claraco

 -- "Jose-Luis Blanco-Claraco" <joseluisblancoc@gmail.com>  Tue, 23 Sep 2025 22:00:00 -0000

ros-rolling-mola-imu-preintegration (1.10.0-1resolute) resolute; urgency=high

  * Add class ImuTransformer
  * Update copyright notice
  * Import IMU initialization class ImuInitialCalibrator, refactored from the mola LO package
  * Contributors: Jose Luis Blanco-Claraco

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

ros-rolling-mola-imu-preintegration (1.9.0-1resolute) resolute; urgency=high



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

ros-rolling-mola-imu-preintegration (1.8.1-1resolute) resolute; urgency=high

  * fixes for clang-tidy
  * Contributors: Jose Luis Blanco-Claraco

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

ros-rolling-mola-imu-preintegration (1.8.0-1resolute) resolute; urgency=high



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

ros-rolling-mola-imu-preintegration (1.7.0-1resolute) resolute; urgency=high



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

ros-rolling-mola-imu-preintegration (1.6.1-1resolute) resolute; urgency=high

  * Fix package.xml URLs
  * Contributors: Jose Luis Blanco-Claraco

 -- "Jose-Luis Blanco-Claraco" <joseluisblancoc@gmail.com>  Thu, 09 Jan 2025 23:00:00 -0000

ros-rolling-mola-imu-preintegration (1.6.0-1resolute) resolute; urgency=high



 -- "Jose-Luis Blanco-Claraco" <joseluisblancoc@gmail.com>  Thu, 02 Jan 2025 23:00:00 -0000

ros-rolling-mola-imu-preintegration (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-imu-preintegration (1.4.1-1resolute) resolute; urgency=high



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

ros-rolling-mola-imu-preintegration (1.4.0-1resolute) resolute; urgency=high



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

ros-rolling-mola-imu-preintegration (1.3.0-1resolute) resolute; urgency=high



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

ros-rolling-mola-imu-preintegration (1.2.1-1resolute) resolute; urgency=high



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

ros-rolling-mola-imu-preintegration (1.2.0-1resolute) resolute; urgency=high



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

ros-rolling-mola-imu-preintegration (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-imu-preintegration (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-imu-preintegration (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-imu-preintegration (1.1.0-1resolute) resolute; urgency=high

  * Update clang-format style; add reformat bash script
  * Merge pull request #62 <https://github.com/MOLAorg/mola/issues/62> from MOLAorg/docs-fixes
    Docs fixes
  * Fix ament_xmllint warnings in package.xml
  * Contributors: Jose Luis Blanco-Claraco

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

ros-rolling-mola-imu-preintegration (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-imu-preintegration (1.0.7-1resolute) resolute; urgency=high



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

ros-rolling-mola-imu-preintegration (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-imu-preintegration (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-imu-preintegration (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-imu-preintegration (1.0.3-1resolute) resolute; urgency=high

  * Update docs
  * 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-imu-preintegration (1.0.2-1resolute) resolute; urgency=high



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

ros-rolling-mola-imu-preintegration (1.0.1-1resolute) resolute; urgency=high



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

ros-rolling-mola-imu-preintegration (1.0.0-1resolute) resolute; urgency=high

  * API changes for new package mola_navstate_fuse
  * Contributors: Jose Luis Blanco-Claraco

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

ros-rolling-mola-imu-preintegration (0.2.2-1resolute) resolute; urgency=high

  * Update copyright year
  * Correct references to license
  * Ported to ROS2 colcon build system
  * Delete WIP files.
  * first unit tests
  * progress, unit tests
  * Contributors: Jose Luis Blanco-Claraco

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

ros-rolling-mola-imu-preintegration (0.2.1-1resolute) resolute; urgency=high

  * Initial commit
  * Contributors: Jose Luis Blanco-Claraco

 -- "Jose-Luis Blanco-Claraco" <joseluisblancoc@gmail.com>  Fri, 17 Sep 2021 22:00:00 -0000


