ros-kilted-mola-metric-maps (2.8.0-1noble) noble; urgency=high

  * Merge pull request #139 <https://github.com/MOLAorg/mola/issues/139> from MOLAorg/fix/monothonic-kf-ids
    Fix: ensure monothonic KF ids
  * Fix: ensure monothonic KF ids
  * Merge pull request #138 <https://github.com/MOLAorg/mola/issues/138> from MOLAorg/fix/kf-map
    fix: robustify edge cases from last API changes
  * fix: robustify edge cases from last API changes
  * Merge pull request #137 <https://github.com/MOLAorg/mola/issues/137> from MOLAorg/feat/metric-map-changes-for-lo-grav-align
    mola_metric_maps: per-KF pose plumbing for online gravity rebake
  * feat(mola_metric_maps): per-KF pose plumbing for online gravity rebake
    Add the KeyframePointCloudMap APIs needed by mola_lidar_odometry's
    online gravity-rebake feature:
    - cloneKFPoses: snapshot of all KF poses keyed by id
    - setKeyframePose: per-KF pose overwrite with cache invalidation
    - lastInsertedKeyFrameID / nextFreeKeyFrameID_public: id introspection
    - drainEvictedKeyFrameIDs: pull-then-clear list of KFs dropped during
    remove_frames_farther_than-driven evictions inside insertObservation
    Also exports the MOLA_METRIC_MAPS_HAS_KFM_POSE_PLUMBING feature macro
    so downstream packages in separate repos (mola_lidar_odometry) can
    guard usage with __has_include + this macro and stay buildable
    against older mola_metric_maps checkouts.
    Adds unit-test coverage for the new APIs in
    test-mola_metric_maps_keyframemap.
    Co-Authored-By: Claude Opus 4.7 <mailto:noreply@anthropic.com>
  * Merge pull request #134 <https://github.com/MOLAorg/mola/issues/134> from Zeal-Robotics/perf/keyframe-prewarm-global-submap
    perf(mola_metric_maps): pre-warm global-frame submap data in icp_get_prepared_as_global
  * perf(mola_metric_maps): pre-warm global-frame submap data in icp_get_prepared_as_global
    icp_get_prepared_as_global() was building, on the search submap, only the
    local-frame KD-tree and per-point covariances (via KeyFrame::buildCache):
    - bbox
    - kdTreeEnsureIndexBuilt3D() on pointcloud_     (local frame)
    - computeCovariancesAndDensity()                 (local frame)
    The very first call to nn_search_cov2cov() then lazily materialized the
    global-frame counterparts on the caller thread:
    - pointcloud_global()      (deep copy of pointcloud_ rotated by pose())
    - kdTreeEnsureIndexBuilt3D() on the global cloud
    - covariancesGlobal()      (rotated covariances)
    For a non-trivial preloaded local map this stalled the first ICP align()
    by several seconds (e.g. ~6 s on a typical localization map), defeating
    the purpose of having a separate "prepare global" hook. Front-ends that
    explicitly pre-warm via icp_get_prepared_as_global() at startup were
    hit hardest, since the remaining lazy work then showed up on the very
    first scan instead of being amortized across startup.
    Pre-trigger the same three calls at the end of
    icp_get_prepared_as_global() so the search submap is fully ready by the
    time ICP::align() / nn_search_cov2cov() runs.
  * Contributors: Jose Luis Blanco-Claraco, Robin Van Cauwenbergh

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

ros-kilted-mola-metric-maps (2.7.0-1noble) noble; urgency=high

  * Reorganize website
  * 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

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

ros-kilted-mola-metric-maps (2.6.1-1noble) noble; urgency=high

  * Merge pull request #119 <https://github.com/MOLAorg/mola/issues/119> from MOLAorg/fix/thread-safety
    Fix/thread safety
  * mola_metric_maps: FIX potential race conditions
    They didn't happen in practice but to be safe
    code clean up
    wip
  * Fix potential race in KeyframePointCloudMap::icp_get_prepared_as_global()
  * Fix MRPT version required for updated insertAnotherMap() API
  * Contributors: Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco

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

ros-kilted-mola-metric-maps (2.6.0-1noble) noble; urgency=high

  * Merge pull request #113 <https://github.com/MOLAorg/mola/issues/113> from MOLAorg/feat/kf-map-view-vectors
    Feat:kf map view vectors filter for NN search
  * Honor the documented disable semantics for max_view_angle_deg
  * NDT tests: fix clang-tidy warnings
  * view-direction NN filter; add KF map unit tests
  * Fix: possible invalid deref
  * Better criterion to select active frames
  * KeyFramePointCloudMap: Add two debug env vars to control visualization
  * Merge pull request #107 <https://github.com/MOLAorg/mola/issues/107> from MOLAorg/fix/viz-decay-clouds
    Fix/viz-decay-clouds
  * BUG FIX: creationOptions were not loaded from ini file in KeyframePointCloudMap
  * fix clang-tidy warning: avoid std::endl
  * Update coyright notes
  * Contributors: Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco

 -- Jose-Luis Blanco-Claraco <joseluisblancoc@gmail.com>  Wed, 11 Mar 2026 23:00:00 -0000

ros-kilted-mola-metric-maps (2.5.0-1noble) noble; urgency=high

  * Merge pull request #100 <https://github.com/MOLAorg/mola/issues/100> from MOLAorg/fix/remove-mrpt-deprecated-maps
    Remove use of mrpt deprecated maps
  * Avoid use of deprecated mrpt::maps classes
  * 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
  * Contributors: Jose Luis Blanco-Claraco

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

ros-kilted-mola-metric-maps (2.4.0-1noble) noble; urgency=high

  * KeyframePointCloudMap: viz now reuses mrpt function for better generalized per-field coloring and avoid code duplication
  * Contributors: Jose Luis Blanco-Claraco

 -- Jose-Luis Blanco-Claraco <joseluisblancoc@gmail.com>  Sat, 27 Dec 2025 23:00:00 -0000

ros-kilted-mola-metric-maps (2.3.0-1noble) noble; urgency=high

  * KF metric map: change heuristic to select nearby KFs for NN matching taking into account the orientation
  * KeyFramePointCloudMap: new rendering option to show XYZ axes
  * Contributors: Jose Luis Blanco-Claraco

 -- Jose-Luis Blanco-Claraco <joseluisblancoc@gmail.com>  Sun, 14 Dec 2025 23:00:00 -0000

ros-kilted-mola-metric-maps (2.2.1-1noble) noble; urgency=high

  * Metric maps: implement missing loading 'color.A' from config files
  * Contributors: Jose Luis Blanco-Claraco

 -- Jose-Luis Blanco-Claraco <joseluisblancoc@gmail.com>  Fri, 07 Nov 2025 23:00:00 -0000

ros-kilted-mola-metric-maps (2.2.0-1noble) noble; urgency=high

  * format
  * Upgrade to use the upcoming MRPT 2.15 API for CGenericsPointsMap
  * KeyFrames metric map: new option to visualize (via ROS publish) with a maximum number of points, downsampling for better performance
  * Contributors: Jose Luis Blanco-Claraco

 -- Jose-Luis Blanco-Claraco <joseluisblancoc@gmail.com>  Mon, 27 Oct 2025 23:00:00 -0000

ros-kilted-mola-metric-maps (2.1.0-1noble) noble; urgency=high

  * Fix formatting
  * Implement getAsSimplePointsMap()
  * KeyframePointCloudMap: Fix class must be copy-constructible
  * Contributors: Jose Luis Blanco-Claraco

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

ros-kilted-mola-metric-maps (2.0.0-1noble) noble; urgency=high

  * Merge pull request #93 <https://github.com/MOLAorg/mola/issues/93> from MOLAorg/feature/better-lio
    Changes for new LIO
  * add optional debug viz files; fix race conditions
  * cov2cov pairings now saves the sqrt(cov_inv)
  * Move to new mp2p_icp cov2cov matcher API
  * Update missing copyright notices
  * New KeyframePointCloudMap map
  * Fix typos and clang-tidy hints
  * Fix clang-tidy formatting tips
  * Contributors: Jose Luis Blanco-Claraco

 -- Jose-Luis Blanco-Claraco <joseluisblancoc@gmail.com>  Sun, 12 Oct 2025 22:00:00 -0000

ros-kilted-mola-metric-maps (1.9.1-1noble) noble; urgency=high



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

ros-kilted-mola-metric-maps (1.9.0-1noble) noble; urgency=high



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

ros-kilted-mola-metric-maps (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-kilted-mola-metric-maps (1.8.0-1noble) noble; urgency=high

  * Update copyright year
  * Contributors: Jose Luis Blanco-Claraco

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

ros-kilted-mola-metric-maps (1.7.0-1noble) noble; urgency=high

  * fix clang-format
  * Metric maps can now be rendered as semitransparent pointclouds
  * Contributors: Jose Luis Blanco-Claraco

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

ros-kilted-mola-metric-maps (1.6.4-1noble) noble; urgency=high

  * robin-map: Update to v1.4.0
  * modernize clang-format
  * Contributors: Jose Luis Blanco-Claraco

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

ros-kilted-mola-metric-maps (1.6.3-1noble) noble; urgency=high



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

ros-kilted-mola-metric-maps (1.6.2-1noble) noble; urgency=high



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

ros-kilted-mola-metric-maps (1.6.1-1noble) noble; urgency=high



 -- Jose-Luis Blanco-Claraco <joseluisblancoc@gmail.com>  Wed, 12 Feb 2025 23:00:00 -0000

ros-kilted-mola-metric-maps (1.6.0-1noble) noble; urgency=high



 -- Jose-Luis Blanco-Claraco <joseluisblancoc@gmail.com>  Mon, 20 Jan 2025 23:00:00 -0000

ros-kilted-mola-metric-maps (1.5.1-1noble) noble; urgency=high



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

ros-kilted-mola-metric-maps (1.5.0-1noble) noble; urgency=high



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

ros-kilted-mola-metric-maps (1.4.1-1noble) noble; urgency=high



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

ros-kilted-mola-metric-maps (1.4.0-1noble) noble; urgency=high



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

ros-kilted-mola-metric-maps (1.3.0-1noble) noble; urgency=high

  * NDT maps: more render options (enable colormaps,etc.)
  * mola_metric_maps: robin-maps upgraded to latest version
  * Contributors: Jose Luis Blanco-Claraco

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

ros-kilted-mola-metric-maps (1.2.1-1noble) noble; urgency=high



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

ros-kilted-mola-metric-maps (1.2.0-1noble) noble; urgency=high

  * gcc warning fix
  * Avoid gcc warning
  * Merge pull request #69 <https://github.com/MOLAorg/mola/issues/69> from MOLAorg/new-map-ndt
    New NDT-3D metric map
  * Add NDT-3D map class
  * Remove leftover dead .cpp file from MOLA package template
  * FIX BUG: missing cmake dependency on robin_map in exported targets
  * Contributors: Jose Luis Blanco-Claraco

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

ros-kilted-mola-metric-maps (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-kilted-mola-metric-maps (1.1.2-1noble) noble; urgency=high



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

ros-kilted-mola-metric-maps (1.1.1-1noble) noble; urgency=high



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

ros-kilted-mola-metric-maps (1.1.0-1noble) noble; 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-kilted-mola-metric-maps (1.0.8-1noble) noble; urgency=high

  * Update robin-map to latest version (Fix cmake < 3.5 compatibility warning)
  * 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-kilted-mola-metric-maps (1.0.7-1noble) noble; urgency=high



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

ros-kilted-mola-metric-maps (1.0.6-1noble) noble; urgency=high



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

ros-kilted-mola-metric-maps (1.0.5-1noble) noble; urgency=high



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

ros-kilted-mola-metric-maps (1.0.4-1noble) noble; urgency=high

  * Metric maps: load insertion options from field 'insertOpts' instead of 'insertionOptions' for compatibility with all other MRPT maps
  * disable clang-format in 3rdparty submodules
  * Fix usage of const_cast<> with proper value() method
  * 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-kilted-mola-metric-maps (1.0.3-1noble) noble; urgency=high

  * Add macro HASHED_VOXEL_POINT_CLOUD_WITH_CACHED_ACCESS
  * 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-kilted-mola-metric-maps (1.0.2-1noble) noble; urgency=high



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

ros-kilted-mola-metric-maps (1.0.1-1noble) noble; urgency=high



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

ros-kilted-mola-metric-maps (1.0.0-1noble) noble; urgency=high

  * implement cached conversion to pointcloud
  * make cfg file section optional
  * FIX: error on rendering empty voxel maps
  * HashedVoxelPointCloud: add missing reserve()
  * copyright update
  * Contributors: Jose Luis Blanco-Claraco

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

ros-kilted-mola-metric-maps (0.2.2-1noble) noble; urgency=high



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


