ros-humble-autoware-map-height-fitter (1.9.0-1jammy) jammy; urgency=high

  * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
  * perf(autoware_map_height_fitter): extract testable ground-height kernel and use a cached KdTree (#1107 <https://github.com/autowarefoundation/autoware_core/issues/1107>)
    * perf(autoware_map_height_fitter): extract testable ground-height kernel and use a cached KdTree
    Extract the pure ground-height search out of the Node/TF-bound pimpl Impl into
    free functions in a new internal header so the core algorithm becomes unit-testable
    without ROS:
    - get_ground_height_from_pointcloud(cloud[, kdtree], x, y, fallback_z)
    - get_ground_height_from_vector_map(map, x, y, fallback_z)
    - build_pointcloud_xy_kdtree(cloud)
    Impl::get_ground_height now delegates to these. The two full O(N) linear passes
    over the point cloud per fit() request are replaced with a pcl::KdTreeFLANN built
    once when the cloud is set (on_pcd_map / get_partial_point_cloud_map) and reused:
    nearestKSearch finds the closest point and radiusSearch restricts the lowest-z scan
    to a local candidate set, dropping per-call cost from O(N) to ~O(log N + k).
    Behavior is preserved: the KdTree indexes the horizontal (z = 0) projection so the
    2D distance metric is unchanged, and the membership test is recomputed in double
    precision with the original strict '< (sqrt(min_dist2) + 1.0)^2' comparison over the
    candidate set, so the selected point set (and thus the returned height) is identical
    to the original two-pass scan. The vector-map nearest-point lookup and all
    non-finite / empty / missing-map fallbacks are unchanged.
    Also fold in two cheap, behavior-preserving micro-optimizations flagged in the audit:
    radius2 is computed as r*r instead of std::pow(..., 2.0), and the partial-map merge
    loop reserves the total data size before concatenating grids.
    Add a gtest suite (test/test_map_height_fitter_kernel.cpp) covering the empty-cloud
    and single-point fallbacks, lowest-z-within-radius selection, the horizontal-only
    distance metric, the prebuilt-vs-convenience overload equivalence, the vector-map
    nearest height and its non-finite/empty fallbacks, and a 300-trial randomized
    characterization test asserting the new kernel matches the original two-pass scan
    exactly. The package previously had zero tests.
    Refs: autowarefoundation/autoware_core#1096 <https://github.com/autowarefoundation/autoware_core/issues/1096>
    * perf(autoware_map_height_fitter): preserve double-precision nearest search
    The KdTree path searched entirely in float: both the query and the indexed
    coordinates were rounded to float, and min_dist2 was taken from the single
    index returned by nearestKSearch. At large map coordinates (MGRS/UTM-derived)
    or for near-tied points the float nearest can differ from the true
    double-precision nearest, changing the radius and the selected height, so the
    documented bit-for-bit behavior preservation did not hold (demonstrably ~1 in
    2000 at coordinates up to 2e6).
    Recompute min_dist2 in double precision over a margin-enlarged candidate set
    that is a guaranteed superset of the double-nearest point, and size both the
    nearest and the height radiusSearch margins from the coordinate magnitude
    (2 * coord_max * 2^-23 + 1e-3) instead of a fixed 1e-3, so every point the
    strict double-precision test accepts is in the candidate set regardless of
    coordinate scale. The double-precision filter then reproduces the original
    membership exactly.
    Add a large-coordinate / near-tie characterization test (5000 trials, centers
    up to 2e6) that asserts bit-equality against the original two-pass scan; it
    fails on the previous float-only logic and passes now.
    Refs: autowarefoundation/autoware_core#1096 <https://github.com/autowarefoundation/autoware_core/issues/1096>
    * test(autoware_map_height_fitter): pin non-finite kernel inputs and guard NaN query (#67 <https://github.com/autowarefoundation/autoware_core/issues/67>)
    Add edge-case kernel tests for non-finite cloud coords, query, and z against the in-test double-precision oracle; guard a non-finite query so the KdTree path returns fallback_z instead of tripping a FLANN assert, preserving the pre-PR scan behavior.
    Refs: autowarefoundation/autoware_core#1096 <https://github.com/autowarefoundation/autoware_core/issues/1096>
    * ci(autoware_map_height_fitter): add cspell:ignore for distance var names
    * refactor(autoware_map_height_fitter): move internal kernel header to src/
    Address review: map_height_fitter_kernel.hpp is only used within this package
    (nothing outside includes it), so move it out of the public include/ tree into
    src/ as a non-installed internal header. Switch its include guard to the
    bare-filename form required for src/ headers, point the three includers at the
    relative path, and let the gtest reach it via target_include_directories(PRIVATE src).
    ---------
  * Contributors: Yutaka Kondo, github-actions

 -- "Yamato Ando" <yamato.ando@tier4.jp>  Tue, 23 Jun 2026 15:00:00 -0000

ros-humble-autoware-map-height-fitter (1.8.0-1jammy) jammy; urgency=high

  * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
  * refactor(autoware_core): add USE_SCOPED_HEADER_INSTALL_DIR to map packages (#976 <https://github.com/mitsudome-r/autoware_core/issues/976>)
    Co-authored-by: github-actions <mailto:github-actions@github.com>
    Co-authored-by: Junya Sasaki <mailto:j2sasaki1990@gmail.com>
  * chore(common, map): remove unused lanelet2_extension header (#903 <https://github.com/mitsudome-r/autoware_core/issues/903>)
    * remove unused lanelet2_extension in map component
    * remove unused lanelet2_extension in common component
    ---------
  * Contributors: Sarun MUKDAPITAK, Vishal Chauhan, github-actions

 -- "Yamato Ando" <yamato.ando@tier4.jp>  Thu, 30 Apr 2026 15:00:00 -0000

ros-humble-autoware-map-height-fitter (1.7.0-1jammy) jammy; urgency=high



 -- "Yamato Ando" <yamato.ando@tier4.jp>  Fri, 13 Feb 2026 15:00:00 -0000

ros-humble-autoware-map-height-fitter (1.6.0-1jammy) jammy; urgency=high

  * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
  * feat(autoware_lanelet2_utils): replace from/toBinMsg (#737 <https://github.com/autowarefoundation/autoware_core/issues/737>)
    Co-authored-by: Junya Sasaki <mailto:j2sasaki1990@gmail.com>
    Co-authored-by: Mamoru Sobue <mailto:hilo.soblin@gmail.com>
  * chore: tf2_ros to hpp headers (#616 <https://github.com/autowarefoundation/autoware_core/issues/616>)
  * Contributors: Sarun MUKDAPITAK, Tim Clephas, github-actions

 -- "Yamato Ando" <yamato.ando@tier4.jp>  Mon, 29 Dec 2025 15:00:00 -0000

ros-humble-autoware-map-height-fitter (1.5.0-1jammy) jammy; urgency=high

  * Merge remote-tracking branch 'origin/main' into humble
  * feat: replace ament_auto_package to autoware_ament_auto_package (#700 <https://github.com/autowarefoundation/autoware_core/issues/700>)
    * replace ament_auto_package to autoware_ament_auto_package
    * style(pre-commit): autofix
    ---------
    Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
  * chore: update maintainer (#701 <https://github.com/autowarefoundation/autoware_core/issues/701>)
  * chore: jazzy-porting:fix qos profile issue (#634 <https://github.com/autowarefoundation/autoware_core/issues/634>)
  * chore: update maintainer (#637 <https://github.com/autowarefoundation/autoware_core/issues/637>)
    * chore: update maintainer
    remove Takeshi Ishita
    * chore: update maintainer
    remove Kento Yabuuchi
    * chore: update maintainer
    remove Shintaro Sakoda
    * chore: update maintainer
    remove Ryu Yamamoto
    ---------
  * chore: bump version (1.4.0) and update changelog (#608 <https://github.com/autowarefoundation/autoware_core/issues/608>)
  * Contributors: Mete Fatih Cırıt, Motz, Takagi, Isamu, Yutaka Kondo, mitsudome-r, 心刚

 -- "Yamato Ando" <yamato.ando@tier4.jp>  Sat, 15 Nov 2025 15:00:00 -0000

ros-humble-autoware-map-height-fitter (1.4.0-1jammy) jammy; urgency=high

  * chore: bump version to 1.3.0 (#554 <https://github.com/autowarefoundation/autoware_core/issues/554>)
  * Contributors: Ryohsuke Mitsudome

 -- "Takagi, Isamu" <isamu.takagi@tier4.jp>  Sun, 10 Aug 2025 15:00:00 -0000

ros-humble-autoware-map-height-fitter (1.3.0-1jammy) jammy; urgency=high

  * fix: to be consistent version in all package.xml(s)
  * feat(localization): add autoware_pose_initializer and autoware_map_height_fitter to autoware core (#493 <https://github.com/autowarefoundation/autoware_core/issues/493>)
  * Contributors: github-actions, 心刚
  * fix: to be consistent version in all package.xml(s)
  * feat(localization): add autoware_pose_initializer and autoware_map_height_fitter to autoware core (#493 <https://github.com/autowarefoundation/autoware_core/issues/493>)
  * Contributors: github-actions, 心刚

 -- "Takagi, Isamu" <isamu.takagi@tier4.jp>  Sun, 22 Jun 2025 15:00:00 -0000

ros-humble-autoware-map-height-fitter (1.0.0-1jammy) jammy; urgency=high



 -- "Takagi, Isamu" <isamu.takagi@tier4.jp>  Sun, 30 Mar 2025 15:00:00 -0000

ros-humble-autoware-map-height-fitter (0.3.0-1jammy) jammy; urgency=high



 -- "Takagi, Isamu" <isamu.takagi@tier4.jp>  Fri, 21 Mar 2025 15:00:00 -0000

ros-humble-autoware-map-height-fitter (0.2.0-1jammy) jammy; urgency=high



 -- "Takagi, Isamu" <isamu.takagi@tier4.jp>  Thu, 06 Feb 2025 15:00:00 -0000

ros-humble-autoware-map-height-fitter (0.0.0-1jammy) jammy; urgency=high



 -- "Takagi, Isamu" <isamu.takagi@tier4.jp>  Sun, 01 Dec 2024 15:00:00 -0000


