ros-rolling-mola-state-estimation-simple (3.1.0-1resolute) resolute; urgency=high



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

ros-rolling-mola-state-estimation-simple (3.0.4-1resolute) resolute; urgency=high



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

ros-rolling-mola-state-estimation-simple (3.0.3-1resolute) resolute; urgency=high

  * Simple estimator: dimensionally consistent constant-velocity prediction covariance
  * Fix deprecated CPose3D::getYawPitchRoll() and unchecked nodiscard load results
  * Contributors: Jose Luis Blanco-Claraco

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

ros-rolling-mola-state-estimation-simple (3.0.2-1resolute) resolute; urgency=high



 -- "Jose-Luis Blanco-Claraco" <joseluisblancoc@gmail.com>  Wed, 30 Sep 2026 22:00:00 -0000

ros-rolling-mola-state-estimation-simple (3.0.1-1resolute) resolute; urgency=high



 -- "Jose-Luis Blanco-Claraco" <joseluisblancoc@gmail.com>  Sun, 27 Sep 2026 22:00:00 -0000

ros-rolling-mola-state-estimation-simple (3.0.0-1resolute) resolute; urgency=high

  * StateEstimationSimple: optional inertial propagation between pose updates
  * Port to MRPT 3.x
  * Never fuse a dataset's ground truth; add relative-pose factors to fuse_pose()
  * Apply a planar odometry increment in the yaw-only frame
  * Fuse odometry in timestamp order, not on arrival
  * Don't let the twist seed get clobbered on first fuse
  * Apply params.initial_twist (MOLA_INITIAL_VX)
  * Make wheel-odometry motion-model sigmas tunable; fix pre-anchor odometry baseline bug
  * StateEstimationSimple: implement transform_frame()
  * Keep buffered IMU readings across reset()
  * Fuse IMU readings by timestamp, not on arrival
  * Declare mola_yaml as an explicit dependency
  * Optional georeferencing ENU custom origin; tunable GNSS Huber kernel threshold
  * Contributors: Jose Luis Blanco-Claraco

 -- "Jose-Luis Blanco-Claraco" <joseluisblancoc@gmail.com>  Sun, 27 Sep 2026 22:00:00 -0000

ros-rolling-mola-state-estimation-simple (2.4.2-1resolute) resolute; urgency=high

  * feat(#33 <https://github.com/MOLAorg/mola_state_estimation/issues/33>): velocity filter now handles multi-rate interleaved sources via per-component clocks, fixing linear velocity starvation when LiDAR pose stamps lag IMU stamps
  * feat: velocity filter enabled by default (set ``velocity_filter_enabled: false`` to restore legacy behavior)
  * feat: opt-in CSV instrumentation via ``MOLA_VEL_FILTER_DUMP`` and ``MOLA_NAVSTATE_DUMP`` env vars
  * fix: missing ``vel_filter_P`` reset
  * test: multi-rate interleaved velocity regression test
  * Contributors: Jose Luis Blanco-Claraco

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

ros-rolling-mola-state-estimation-simple (2.4.1-1resolute) resolute; urgency=high

  * Merge pull request #32 <https://github.com/MOLAorg/mola_state_estimation/issues/32> from MOLAorg/feat/1d-kalman-velocities
    feat: new 1D kalman velocity filter
  * feat: new 1D kalman velocity filter
  * Contributors: Jose Luis Blanco-Claraco

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

ros-rolling-mola-state-estimation-simple (2.4.0-1resolute) resolute; urgency=high

  * Merge pull request #30 <https://github.com/MOLAorg/mola_state_estimation/issues/30> from MOLAorg/bump-cmake-version
    bump min req cmake version to 3.22
  * bump min req cmake version to 3.22
  * Merge pull request #29 <https://github.com/MOLAorg/mola_state_estimation/issues/29> from MOLAorg/fix/odometry-fuse-pose-twist-corruption
    fix(state_estimation_simple): correct twist and initial-guess corruption when wheel odometry is active
  * Add more unit test cases
  * fix: odom twist does not overwrite IMU wx/wy
  * fix(state_estimation_simple): correct twist and initial-guess corruption when wheel odometry is active
    Three inter-related bugs caused the LiDAR adaptive threshold sigma to grow
    toward maximum_sigma whenever wheel odometry was fused:
    1. Wrong twist from fuse_pose() when odometry is active.
    fuse_pose() computed incrPose = new_ICP - last_pose, but last_pose had
    been modified by fuse_odometry() / fuse_odometry_3d_pose() between scans.
    The result was the odometry residual / dt instead of the true robot velocity,
    corrupting de-skewing and the rot_error term in the adaptive threshold.
    Fix: per-source SourceState in State tracks each source's own last absolute
    pose and timestamp. fuse_pose() now computes incrPose = new_ICP - src.last_pose,
    which is always the true ICP-to-ICP motion regardless of intervening odom updates.
    2. CObservationRobotPose (3D odom path) overwrote last_pose_obs_tim.
    When BridgeROS2 forwards wheel odometry as CObservationRobotPose
    (odometry_as_robot_pose_observation=true), onNewObservation() routed it
    to fuse_pose(), which updated last_pose_obs_tim to the odom timestamp.
    If the next LiDAR ICP fuse_pose() arrived with a slightly earlier timestamp,
    dt < 0 and the call was silently rejected. last_pose was then the absolute
    wheel odometry pose (in the odom frame), producing ~90-degree initial-guess
    errors for ICP (confirmed by debug traces showing motionModelError with
    yaw ~ -1.56 rad and pitch ~ 0.51 rad on a stationary ground robot).
    Fix: route CObservationRobotPose matching do_process_odometry_labels_re to a
    new fuse_odometry_3d_pose() method that applies an incremental delta to
    last_pose (keeping it in the SLAM frame) and never touches last_pose_obs_tim.
    3. fuse_odometry() ignored the velocity carried in CObservationOdometry.
    BridgeROS2 always populates hasVelocities / velocityLocal from the ROS
    /odom twist. Those values were discarded, leaving last_twist stale.
    Fix: when hasVelocities is true, update last_twist from velocityLocal.
    IMU angular rates (fuse_imu) still override wx/wy/wz when available.
    Co-Authored-By: Claude Sonnet 4.6 <mailto:noreply@anthropic.com>
  * chore: reduce fuse_pose() backwards in time warning rate
  * Contributors: Jose Luis Blanco-Claraco

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

ros-rolling-mola-state-estimation-simple (2.3.1-1resolute) resolute; urgency=high

  * Merge pull request #28 <https://github.com/MOLAorg/mola_state_estimation/issues/28> from Zeal-Robotics/fix/simple-fuse-imu-preserve-linear-twist
    fix(state_estimation_simple): preserve linear twist across fuse_imu()
    Regression introduced in 15a1fce ("Add tests for simple estimator").
  * Merge pull request #26 <https://github.com/MOLAorg/mola_state_estimation/issues/26> from MOLAorg/fix/smoother-issues
    Fix misc smoother issues
  * Remove copies of RegexCache.h and use the shared version in mola_kernel
  * Merge pull request #25 <https://github.com/MOLAorg/mola_state_estimation/issues/25> from MOLAorg/feat/simple-also-process-robot-pose-obs
    feat: Simple estimator now also processes CObservationsRobotPose
  * add regex filtering
  * feat: Simple estimator now also processes CObservationsRobotPose
  * Contributors: Jose Luis Blanco-Claraco, Robin Van Cauwenbergh

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

ros-rolling-mola-state-estimation-simple (2.3.0-1resolute) resolute; urgency=high

  * Merge pull request #24 <https://github.com/MOLAorg/mola_state_estimation/issues/24> from MOLAorg/fix/bugs-in-simple-estimator-cov
    Fix: Avoid double covariance increment
  * fix: don't use twist cov in propagating pose uncertainty in this simple mode
  * Fix: Avoid double covariance increment
  * Contributors: Jose Luis Blanco-Claraco

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

ros-rolling-mola-state-estimation-simple (2.2.0-1resolute) resolute; urgency=high



 -- "Jose-Luis Blanco-Claraco" <joseluisblancoc@gmail.com>  Mon, 02 Mar 2026 23:00:00 -0000

ros-rolling-mola-state-estimation-simple (2.1.0-1resolute) resolute; urgency=high

  * Merge pull request #13 <https://github.com/MOLAorg/mola_state_estimation/issues/13> from MOLAorg/feat/publish-georef-on-converge
    Publish geo-ref on convergence
  * Include the RDC API in the tests
  * Refactor publish georef and sensor label regex
    fix filtering observations by sensor label regex
    refactor to publish georef on converged automatically
    fix build against older mola_kernel
    Fix wrong logic in GNSS fuse
  * remove old mola version guards
  * Contributors: Jose Luis Blanco-Claraco

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

ros-rolling-mola-state-estimation-simple (2.0.1-1resolute) resolute; urgency=high



 -- "Jose-Luis Blanco-Claraco" <joseluisblancoc@gmail.com>  Wed, 14 Jan 2026 23:00:00 -0000

ros-rolling-mola-state-estimation-simple (2.0.0-1resolute) resolute; urgency=high

  * Merge pull request #7 <https://github.com/MOLAorg/mola_state_estimation/issues/7> from MOLAorg/feature/tricycle-kinematic
    Add tricycle kinematics
  * lint clean ups
  * Copyright year bump
  * Merge pull request #8 <https://github.com/MOLAorg/mola_state_estimation/issues/8> from MOLAorg/fix/add-simple-estimator-unit-tests
    Add tests for simple estimator
  * Add tests for simple estimator
  * Merge pull request #5 <https://github.com/MOLAorg/mola_state_estimation/issues/5> from MOLAorg/feature/fuse-gnss-imu-odom
    Refactor: new packages mola_georeferencing, mola_gtsam_factors, functional smoother state estimator
  * One further fix for cmake
  * integrate code coverage in cmake
  * Refactor to expose all gtsam factors into a new library 'mola_gtsam_factors'
  * Contributors: Jose Luis Blanco-Claraco

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

ros-rolling-mola-state-estimation-simple (1.11.1-1resolute) resolute; urgency=high

  * Update to build against MOLA>=2.1.0 with ConstPtr API
  * Contributors: Jose Luis Blanco-Claraco

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

ros-rolling-mola-state-estimation-simple (1.11.0-1resolute) resolute; urgency=high

  * Move mola_imu_preintegration out of this repo
    The new repository is: https://github.com/MOLAorg/mola_imu_preintegration
  * Merge pull request #4 <https://github.com/MOLAorg/mola_state_estimation/issues/4> from MOLAorg/feature/imu
    Refactor IMU library
  * Fix using new IMU integration API
  * Move LocalVelocityBuffer class here from mp2p_icp repository
  * Contributors: Jose Luis Blanco-Claraco

 -- "Jose-Luis Blanco-Claraco" <joseluisblancoc@gmail.com>  Sat, 04 Oct 2025 22:00:00 -0000

ros-rolling-mola-state-estimation-simple (1.10.0-1resolute) resolute; urgency=high

  * Update copyright notice
  * Make unhandled sensor input topic message less verbose
  * Contributors: Jose Luis Blanco-Claraco

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

ros-rolling-mola-state-estimation-simple (1.9.0-1resolute) resolute; urgency=high

  * State estimation interface is now raw data consumer too
  * FIX: Error if sensor labels were provided in config yaml file
  * Contributors: Jose Luis Blanco-Claraco

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

ros-rolling-mola-state-estimation-simple (1.8.1-1resolute) resolute; urgency=high

  * Feature: Implement basic twist covariance handling in the SimpleEstimator
  * 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-state-estimation-simple (1.8.0-1resolute) resolute; urgency=high

  * const correctness
  * State estimation modules now are proper MOLA raw inputs, so they automatically subscribe and consume input sensors (IMU, GPS, wheels odometry)
  * Contributors: Jose Luis Blanco-Claraco

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

ros-rolling-mola-state-estimation-simple (1.7.0-1resolute) resolute; urgency=high

  * Add parameter enforce_planar_motion
  * Contributors: Jose Luis Blanco-Claraco

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

ros-rolling-mola-state-estimation-simple (1.6.1-1resolute) resolute; urgency=high

  * Merge pull request #1 <https://github.com/MOLAorg/mola_state_estimation/issues/1> from MOLAorg/9-need-help-on-integrating-imu-for-lidar-odometry
    More stable integration of IMU twist information
  * Shorter logger name
  * Fix package.xml URLs
  * tolerate unsorted sensor inputs without throwing
  * Contributors: Jose Luis Blanco-Claraco

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

ros-rolling-mola-state-estimation-simple (1.6.0-1resolute) resolute; urgency=high

  * Simple estimator: Integrate IMU angular velocity readings
  * Contributors: Jose Luis Blanco-Claraco

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

ros-rolling-mola-state-estimation-simple (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-state-estimation-simple (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-state-estimation-simple (1.4.0-1resolute) resolute; urgency=high

  * Allow zero variances for some pose components
  * Contributors: Jose Luis Blanco-Claraco

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

ros-rolling-mola-state-estimation-simple (1.3.0-1resolute) resolute; urgency=high

  * Start integrating GNSS observation. Added a new CLI program mola-navstate-cli for testing state fusion
  * Contributors: Jose Luis Blanco-Claraco

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

ros-rolling-mola-state-estimation-simple (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-state-estimation-simple (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-state-estimation-simple (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-state-estimation-simple (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-state-estimation-simple (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-state-estimation-simple (1.1.0-1resolute) resolute; urgency=high

  * 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-state-estimation-simple (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-state-estimation-simple (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-state-estimation-simple (1.0.6-1resolute) resolute; urgency=high

  * Create new NavStateFilter interface and separate the simple fuser and the factor-graph approach in two packages
  * Twist in local frame
  * Contributors: Jose Luis Blanco-Claraco

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

ros-rolling-mola-state-estimation-simple (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-state-estimation-simple (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-state-estimation-simple (1.0.3-1resolute) resolute; urgency=high

  * 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-state-estimation-simple (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-state-estimation-simple (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-state-estimation-simple (1.0.0-1resolute) resolute; urgency=high

  * use odometry
  * add new package mola_state_estimation_simple
  * Contributors: Jose Luis Blanco-Claraco

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

ros-rolling-mola-state-estimation-simple (0.2.2-1resolute) resolute; urgency=high



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


