ros-jazzy-mola-bridge-ros2 (2.8.0-1noble) noble; 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-jazzy-mola-bridge-ros2 (2.7.0-1noble) noble; 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-jazzy-mola-bridge-ros2 (2.6.1-1noble) noble; urgency=high



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

ros-jazzy-mola-bridge-ros2 (2.6.0-1noble) noble; 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-jazzy-mola-bridge-ros2 (2.5.0-1noble) noble; 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-jazzy-mola-bridge-ros2 (2.4.0-1noble) noble; 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-jazzy-mola-bridge-ros2 (2.3.0-1noble) noble; 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-jazzy-mola-bridge-ros2 (2.2.1-1noble) noble; 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-jazzy-mola-bridge-ros2 (2.2.0-1noble) noble; 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-jazzy-mola-bridge-ros2 (2.1.0-1noble) noble; 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-jazzy-mola-bridge-ros2 (2.0.0-1noble) noble; 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-jazzy-mola-bridge-ros2 (1.9.1-1noble) noble; urgency=high



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

ros-jazzy-mola-bridge-ros2 (1.9.0-1noble) noble; 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-jazzy-mola-bridge-ros2 (1.8.1-1noble) noble; 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-jazzy-mola-bridge-ros2 (1.8.0-1noble) noble; 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-jazzy-mola-bridge-ros2 (1.7.0-1noble) noble; urgency=high



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

ros-jazzy-mola-bridge-ros2 (1.6.4-1noble) noble; 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-jazzy-mola-bridge-ros2 (1.6.3-1noble) noble; 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-jazzy-mola-bridge-ros2 (1.6.2-1noble) noble; 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-jazzy-mola-bridge-ros2 (1.6.1-1noble) noble; 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-jazzy-mola-bridge-ros2 (1.6.0-1noble) noble; 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-jazzy-mola-bridge-ros2 (1.5.1-1noble) noble; urgency=high



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

ros-jazzy-mola-bridge-ros2 (1.5.0-1noble) noble; urgency=high



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

ros-jazzy-mola-bridge-ros2 (1.4.1-1noble) noble; 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-jazzy-mola-bridge-ros2 (1.4.0-1noble) noble; 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-jazzy-mola-bridge-ros2 (1.3.0-1noble) noble; 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-jazzy-mola-bridge-ros2 (1.2.1-1noble) noble; 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-jazzy-mola-bridge-ros2 (1.2.0-1noble) noble; 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-jazzy-mola-bridge-ros2 (1.1.3-1noble) noble; 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-jazzy-mola-bridge-ros2 (1.1.2-1noble) noble; urgency=high



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

ros-jazzy-mola-bridge-ros2 (1.1.1-1noble) noble; urgency=high



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

ros-jazzy-mola-bridge-ros2 (1.1.0-1noble) noble; 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-jazzy-mola-bridge-ros2 (1.0.8-1noble) noble; 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-jazzy-mola-bridge-ros2 (1.0.7-1noble) noble; 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-jazzy-mola-bridge-ros2 (1.0.6-1noble) noble; urgency=high



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

ros-jazzy-mola-bridge-ros2 (1.0.5-1noble) noble; urgency=high



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

ros-jazzy-mola-bridge-ros2 (1.0.4-1noble) noble; 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-jazzy-mola-bridge-ros2 (1.0.3-1noble) noble; 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-jazzy-mola-bridge-ros2 (1.0.2-1noble) noble; 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-jazzy-mola-bridge-ros2 (1.0.1-1noble) noble; 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-jazzy-mola-bridge-ros2 (1.0.0-1noble) noble; 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-jazzy-mola-bridge-ros2 (0.2.2-1noble) noble; urgency=high



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


