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

  * Smoother: IMU label filter settable with MOLA_NAVSTATE_IMU_SENSOR_NAME.
  * Smoother: pin the orientation while only positions observe the map (GNSS without IMU), with a feature macro for dependent packages.
  * Relocalize mode: not converged while {map} is only pinned by its gauge anchor.
  * Contributors: Jose Luis Blanco-Claraco

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

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

  * Merge pull request #83 <https://github.com/MOLAorg/mola_state_estimation/issues/83> from MOLAorg/fix/imu-attitude-and-georef-cov
    Smoother: allow ignoring IMU attitude, warn on placeholder orientation; fix zero-covariance geo-reference
  * smoother: allow ignoring IMU attitude, warn if it contradicts gravity
    - imu_attitude_sigma_deg: 0 now disables IMU attitude factors, like the
    other IMU sigmas already do.
    - Warn when the attitude reported by an IMU disagrees with its own
    accelerometer by more than 30 deg. Some drivers publish a constant
    placeholder orientation without flagging it as unavailable, which
    makes the attitude and gravity factors fight each other.
    - New unit test, also covering a zero-covariance geo-reference.
  * smoother: floor zero variances of a fixed geo-reference
    A geo-reference given with an all-zero covariance (the default for an
    "exactly known" T_enu_to_map, e.g. as loaded from a map file) produced
    a singular prior and GTSAM failures. Floor its variances to the same
    tiny value already used for YAML-defined geo-references.
  * Contributors: Jose Luis Blanco-Claraco

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

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

  * Smoother: fuse every non-map odometry frame as relative increments (remove relative_factors_frame_ids_re; relative_pose_increment_sigma_lin/_ang now required)
  * Add simulated-sensors + RViz demo launch and a 'try it yourself' docs section
  * Fix launch files: env vars not reaching mola-cli, empty navstate args defer to YAML, consistent imu/gnss topic argument names
  * 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-smoother (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-smoother (3.0.1-1resolute) resolute; urgency=high

  * Smoother: work with GTSAM 4.3 (Kilted, Lyrical, Rolling)
  * Anchor gauge freedoms ({map} origin and T_enu_to_map azimuth) instead of relying on weak priors
  * test-gauge-anchors: require estimates in the late-map window; document anchor helpers
  * test-two-odometries: fix covariance indices of the simulated sources
  * 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-smoother (3.0.0-1resolute) resolute; urgency=high

  * Average IMU readings when decimating instead of keeping one raw sample
  * Random-walk increment sigma growth and a Huber kernel on pose factors; make a drifting pose source usable through fuse_pose()
  * Always fuse wheel odometry as relative increments
  * Implement estimated_trajectory(): read back the optimized keyframe poses
  * Port to MRPT 3.x
  * Never fuse a dataset's ground truth; add relative-pose factors to fuse_pose()
  * Expose additional_isam2_update_steps as an environment knob
  * Add a covariance floor on the pose reported to a front end
  * Don't throw when writing back a keyframe the fixed-lag smoother marginalized
  * Optional relative BetweenFactors for wheel odometry
  * Wheel odometry's absolute covariance must accumulate
  * MOLA_NAVSTATE_DUMP instrumentation and tunable integrator sigmas
  * Never take a time difference through Clock::toDouble()
  * Make wheel-odometry motion-model sigmas tunable
  * Fix deprecation warning for fixed lag smoother, moved to stable
  * Fuse raw IMU gyro readings as angular-velocity observations
  * Covariance-aware short-term extrapolation
  * Test coverage for the predict-twist low-pass filter
  * Preserve predict-twist EMA history on same-stamp solves
  * Smooth the predicted motion prior (predict-twist low-pass) and moderate default accel sigmas
  * Default the shipped config to the real-time path
  * Decouple the map->odom /tf child frame from the odometry source frame
  * Publish map->odom from the estimator's own graph variable, plus optional base_link_fused
  * Sub-ms estimated_navstate() via async backend and high-rate keyframe decimation
  * Add nested profiler entries in the estimated_navstate path
  * Don't let a late measurement drag the published stamp backwards
  * Don't double-count the motion model when splicing a keyframe
  * Actually rebuild the smoother on GTSAM failure
  * Fix relocalize mode (GNSS+IMU init against a known map) crashing or never converging
  * Fuse IMU absolute attitude into georeferencing and state estimation
  * Default viz module to MolaVizImGui with a per-app imgui_app_name
  * Serve the {odom_i} prediction frame-local, not via {map}
  * Don't crash on estimated_navstate() for an unregistered odometry frame
  * 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-smoother (2.4.2-1resolute) resolute; urgency=high



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

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



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

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

  * FIX: reset() should reinitialize gtsam
  * FIX: don't let gtsam exceptions to crash the node
  * fix: support building in ROS2 humble with newer cmake
  * 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
  * 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-smoother (2.3.1-1resolute) resolute; urgency=high

  * Merge pull request #27 <https://github.com/MOLAorg/mola_state_estimation/issues/27> from MOLAorg/feature/ros2-integration-tests
    Add ROS 2 launch-testing integration tests for StateEstimationSmoother
  * fix missing test dep
  * workaround for older mola_yaml
  * Fix frames of reference for the test checker
  * Progress fixing integration test
  * mock test code clean up
  * More debug traces in python mock integration test
  * Add ROS 2 launch-testing integration tests for StateEstimationSmoother
    Two end-to-end test scenarios driven by a Python sensor mock node.
  * Merge pull request #26 <https://github.com/MOLAorg/mola_state_estimation/issues/26> from MOLAorg/fix/smoother-issues
    Fix misc smoother issues
  * Clarify docs and fix test noise thresholds
  * Remove copies of RegexCache.h and use the shared version in mola_kernel
  * fix: make RegexCache move-assignable after adding std::mutex
  * fix: guard IMU quaternion path against NaN components in fuse_imu
  * fix: make RegexCache::get_regex thread-safe
  * fix: replace ASSERT_ with descriptive exception in get_latest_state_and_covariance
  * fix: use monotonic counter for odometry frame IDs
  * fix: check both link sets before inserting in add_kinematic_factor_between
  * fix: make GNSS Huber threshold a configurable parameter
  * fix: skip BetweenFactor on first fuse_odometry call
  * feat: Print number of active factors in DEBUG log level
  * Contributors: Jose Luis Blanco-Claraco

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

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

  * Merge pull request #23 <https://github.com/MOLAorg/mola_state_estimation/issues/23> from MOLAorg/feat/fuse-ros2-demos
    Add ros2 launch demo files to fuse 2 odometries
  * mola cli launch file: made generic for multiple odometry sources
  * harden frame name usage
  * Odometry sources: use CObservationRobotPose::sensorLabel as 'tf' frame name
  * Add ros2 launch demo files to fuse 2 odometries
  * Merge pull request #22 <https://github.com/MOLAorg/mola_state_estimation/issues/22> from MOLAorg/feat/refactor-mutexes
    Feat/refactor mutexes
  * Refactor to use regular mutex instead of recursive_mutex
  * Merge pull request #21 <https://github.com/MOLAorg/mola_state_estimation/issues/21> from MOLAorg/fix-misc
    Fixes for 2D motion
  * FIX: Planar constraints didn't constraint roll / pitch, only tz
  * FIX: 2D probabilistic model used wrong XY uncertainty
  * 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-smoother (2.2.0-1resolute) resolute; urgency=high

  * Merge pull request #14 <https://github.com/MOLAorg/mola_state_estimation/issues/14> from MOLAorg/feature/use-imu-for-georef-hint
    Feature/use-imu-for-georef-hint
  * clang-format
  * Contributors: Jose Luis Blanco-Claraco

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

ros-rolling-mola-state-estimation-smoother (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
  * get onObservation() and has_converged_localization() method tested too
  * 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
  * unit test: relax threshold to avoid spurious failures
  * Publish geo-ref on convergence
    add new params to yaml file
  * 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-smoother (2.0.1-1resolute) resolute; urgency=high

  * test: less strict limits to avoid random failures
  * cmake: Remove non-used find_package() for ament_lint_auto
  * Merge pull request #11 <https://github.com/MOLAorg/mola_state_estimation/issues/11> from MOLAorg/feat/improve-docs
    Improve docs for mola_gtsam_factors
  * Contributors: Jose Luis Blanco-Claraco

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

ros-rolling-mola-state-estimation-smoother (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
  * Use bad initial pose for unit test
  * unit test: same conditions for different kinematic models
  * Copyright year bump
  * Add FactorTricycleKinematic
  * Implement twist fusion
  * Add twist unit test
  * Unit test: include tricycle tests too
  * Enable connection to MolaViz for console messages
  * converted into ament_cmake; update template yaml params file
  * Add templates to launch the estimator as a standalone ROS 2 node
  * 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
  * More realistic drift case: IMU helps LO
  * fix test: correct IMU acc simulation
  * Default params: more common case of starting near static
  * fixed imu acc gravity alignment
  * Add two-odometry unit test
  * fix error, and add support for azimuth offset
  * add IMU+GPS  based azimuth estimation
  * Refactor: symbolic factor classes moved as internal smoother classes
  * Make mola_gtsam_factors non headers-only and rename GNSS2ENU as GnssEnu for consistency
  * fixed missing extrapolation steps
  * implement basic pose extrapolation
  * honor initial twist
  * Fixed odom+gnss fusion
  * implement correct auto geo-referenciation
  * Support fusing poses wrt map frame too
  * marginals for uncertainty
  * refactor to use Pose3 instead of P+R
  * initialize georef gtsam variables
  * Make important parameters mandatory in yaml config files
  * New unit test for fusing GPS+odometry
  * process CObservationRobotPose
  * One further fix for cmake
  * integrate code coverage in cmake
  * Update .h docs to match the new design
  * Enable code coverage
  * Update parameters to hold new geo-ref fields
  * 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-smoother (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-smoother (1.11.0-1resolute) resolute; urgency=high

  * 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-smoother (1.10.0-1resolute) resolute; urgency=high

  * Fix build against gtsam>=4.3
  * 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-smoother (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-smoother (1.8.1-1resolute) resolute; urgency=high

  * Update copyright year
  * 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-smoother (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-smoother (1.7.0-1resolute) resolute; urgency=high

  * Use more generic localization source name
  * make it thread safe; fix replaying extrapolated poses using past timestamps
  * Documentation: explain the different types of factors and kinematic models
  * Smoother: observe the enforce_planar_motion parameter
  * FIX: use last guess as initial values to improve optimization stability; expose more parameters
  * StateEstimationSmoother: Publish pose updates in a timely manner
  * Add parameter enforce_planar_motion
  * Fix gtsam must be a runtime depend too
  * Contributors: Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco

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

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

  * Shorter logger name
  * 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-smoother (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-state-estimation-smoother (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-smoother (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-smoother (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-state-estimation-smoother (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-smoother (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-smoother (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-smoother (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-smoother (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-smoother (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-smoother (1.1.0-1resolute) resolute; urgency=high

  * Update test-navstate-basic.cpp: less noisy test data for more predictable results
  * 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-smoother (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-smoother (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-state-estimation-smoother (1.0.6-1resolute) resolute; urgency=high

  * Create new NavStateFilter interface and separate the simple fuser and the factor-graph approach in two packages
  * 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-smoother (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-smoother (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-smoother (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-smoother (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-smoother (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-smoother (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-smoother (0.2.2-1resolute) resolute; urgency=high



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


