ros-lyrical-mola-bridge-ros2 (2.7.0-3resolute) resolute; 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>  Wed, 22 Apr 2026 00:00:00 -0000

ros-lyrical-mola-bridge-ros2 (2.6.1-3resolute) resolute; urgency=high



 -- Jose-Luis Blanco-Claraco <joseluisblancoc@gmail.com>  Thu, 02 Apr 2026 00:00:00 -0000

ros-lyrical-mola-bridge-ros2 (2.6.0-3resolute) resolute; 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>  Thu, 12 Mar 2026 00:00:00 -0000

ros-lyrical-mola-bridge-ros2 (2.5.0-3resolute) resolute; 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>  Sat, 14 Feb 2026 00:00:00 -0000

ros-lyrical-mola-bridge-ros2 (2.4.0-3resolute) resolute; 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>  Sun, 28 Dec 2025 00:00:00 -0000

ros-lyrical-mola-bridge-ros2 (2.3.0-3resolute) resolute; urgency=high

  * Import all pcd fields from ros2 messages using CGenericPointsMap
  * Contributors: Jose Luis Blanco-Claraco

 -- Jose-Luis Blanco-Claraco <joseluisblancoc@gmail.com>  Mon, 15 Dec 2025 00:00:00 -0000

ros-lyrical-mola-bridge-ros2 (2.2.1-3resolute) resolute; urgency=high

  * BridgeROS2: more debug traces in map publishing
  * Contributors: Jose Luis Blanco-Claraco

 -- Jose-Luis Blanco-Claraco <joseluisblancoc@gmail.com>  Sat, 08 Nov 2025 00:00:00 -0000

ros-lyrical-mola-bridge-ros2 (2.2.0-3resolute) resolute; urgency=high

  * format
  * Fix build against upcoming mrpt v2.15.0
  * Contributors: Jose Luis Blanco-Claraco

 -- Jose-Luis Blanco-Claraco <joseluisblancoc@gmail.com>  Tue, 28 Oct 2025 00:00:00 -0000

ros-lyrical-mola-bridge-ros2 (2.1.0-3resolute) resolute; 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>  Mon, 20 Oct 2025 00:00:00 -0000

ros-lyrical-mola-bridge-ros2 (2.0.0-3resolute) resolute; urgency=high

  * fix clang-format
  * Modernize copyright notice
  * Contributors: Jose Luis Blanco-Claraco

 -- Jose-Luis Blanco-Claraco <joseluisblancoc@gmail.com>  Mon, 13 Oct 2025 00:00:00 -0000

ros-lyrical-mola-bridge-ros2 (1.9.1-3resolute) resolute; urgency=high



 -- Jose-Luis Blanco-Claraco <joseluisblancoc@gmail.com>  Mon, 07 Jul 2025 00:00:00 -0000

ros-lyrical-mola-bridge-ros2 (1.9.0-3resolute) resolute; 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>  Fri, 06 Jun 2025 00:00:00 -0000

ros-lyrical-mola-bridge-ros2 (1.8.1-3resolute) resolute; urgency=high

  * Fix: Do not use the deprecated ament_target_dependencies()
  * Contributors: Jose Luis Blanco-Claraco

 -- Jose-Luis Blanco-Claraco <joseluisblancoc@gmail.com>  Wed, 28 May 2025 00:00:00 -0000

ros-lyrical-mola-bridge-ros2 (1.8.0-3resolute) resolute; urgency=high

  * Update license tag to "BSD-3-Clause"
  * Update copyright year
  * Contributors: Jose Luis Blanco-Claraco

 -- Jose-Luis Blanco-Claraco <joseluisblancoc@gmail.com>  Sun, 25 May 2025 00:00:00 -0000

ros-lyrical-mola-bridge-ros2 (1.7.0-3resolute) resolute; urgency=high



 -- Jose-Luis Blanco-Claraco <joseluisblancoc@gmail.com>  Tue, 06 May 2025 00:00:00 -0000

ros-lyrical-mola-bridge-ros2 (1.6.4-3resolute) resolute; 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>  Wed, 23 Apr 2025 00:00:00 -0000

ros-lyrical-mola-bridge-ros2 (1.6.3-3resolute) resolute; 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>  Sat, 15 Mar 2025 00:00:00 -0000

ros-lyrical-mola-bridge-ros2 (1.6.2-3resolute) resolute; 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>  Sat, 22 Feb 2025 00:00:00 -0000

ros-lyrical-mola-bridge-ros2 (1.6.1-3resolute) resolute; 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>  Thu, 13 Feb 2025 00:00:00 -0000

ros-lyrical-mola-bridge-ros2 (1.6.0-3resolute) resolute; 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>  Tue, 21 Jan 2025 00:00:00 -0000

ros-lyrical-mola-bridge-ros2 (1.5.1-3resolute) resolute; urgency=high



 -- Jose-Luis Blanco-Claraco <joseluisblancoc@gmail.com>  Sun, 29 Dec 2024 00:00:00 -0000

ros-lyrical-mola-bridge-ros2 (1.5.0-3resolute) resolute; urgency=high



 -- Jose-Luis Blanco-Claraco <joseluisblancoc@gmail.com>  Thu, 26 Dec 2024 00:00:00 -0000

ros-lyrical-mola-bridge-ros2 (1.4.1-3resolute) resolute; 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>  Fri, 20 Dec 2024 00:00:00 -0000

ros-lyrical-mola-bridge-ros2 (1.4.0-3resolute) resolute; 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>  Wed, 18 Dec 2024 00:00:00 -0000

ros-lyrical-mola-bridge-ros2 (1.3.0-3resolute) resolute; urgency=high

  * Support publishing IMU readings MOLA -> ROS2
  * Contributors: Jose Luis Blanco-Claraco

 -- Jose-Luis Blanco-Claraco <joseluisblancoc@gmail.com>  Wed, 11 Dec 2024 00:00:00 -0000

ros-lyrical-mola-bridge-ros2 (1.2.1-3resolute) resolute; urgency=high

  * BUGFIX: Prevent potential race condition
  * Contributors: Jose Luis Blanco-Claraco

 -- Jose-Luis Blanco-Claraco <joseluisblancoc@gmail.com>  Sun, 29 Sep 2024 00:00:00 -0000

ros-lyrical-mola-bridge-ros2 (1.2.0-3resolute) resolute; urgency=high

  * sort <depend> entries
  * Contributors: Jose Luis Blanco-Claraco

 -- Jose-Luis Blanco-Claraco <joseluisblancoc@gmail.com>  Mon, 16 Sep 2024 00:00:00 -0000

ros-lyrical-mola-bridge-ros2 (1.1.3-3resolute) resolute; urgency=high

  * Depend on new mrpt_lib packages (deprecate mrpt2)
  * Contributors: Jose Luis Blanco-Claraco

 -- Jose-Luis Blanco-Claraco <joseluisblancoc@gmail.com>  Wed, 28 Aug 2024 00:00:00 -0000

ros-lyrical-mola-bridge-ros2 (1.1.2-3resolute) resolute; urgency=high



 -- Jose-Luis Blanco-Claraco <joseluisblancoc@gmail.com>  Mon, 26 Aug 2024 00:00:00 -0000

ros-lyrical-mola-bridge-ros2 (1.1.1-3resolute) resolute; urgency=high



 -- Jose-Luis Blanco-Claraco <joseluisblancoc@gmail.com>  Fri, 23 Aug 2024 00:00:00 -0000

ros-lyrical-mola-bridge-ros2 (1.1.0-3resolute) resolute; 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>  Sun, 18 Aug 2024 00:00:00 -0000

ros-lyrical-mola-bridge-ros2 (1.0.8-3resolute) resolute; urgency=high

  * ament_lint_cmake: clean warnings
  * Contributors: Jose Luis Blanco-Claraco

 -- Jose-Luis Blanco-Claraco <joseluisblancoc@gmail.com>  Mon, 29 Jul 2024 00:00:00 -0000

ros-lyrical-mola-bridge-ros2 (1.0.7-3resolute) resolute; urgency=high

  * Fix GNSS typo
  * Contributors: Jose Luis Blanco-Claraco

 -- Jose-Luis Blanco-Claraco <joseluisblancoc@gmail.com>  Wed, 24 Jul 2024 00:00:00 -0000

ros-lyrical-mola-bridge-ros2 (1.0.6-3resolute) resolute; urgency=high



 -- Jose-Luis Blanco-Claraco <joseluisblancoc@gmail.com>  Fri, 21 Jun 2024 00:00:00 -0000

ros-lyrical-mola-bridge-ros2 (1.0.5-3resolute) resolute; urgency=high



 -- Jose-Luis Blanco-Claraco <joseluisblancoc@gmail.com>  Tue, 28 May 2024 00:00:00 -0000

ros-lyrical-mola-bridge-ros2 (1.0.4-3resolute) resolute; urgency=high

  * bump cmake_minimum_required to 3.5
  * Contributors: Jose Luis Blanco-Claraco

 -- Jose-Luis Blanco-Claraco <joseluisblancoc@gmail.com>  Tue, 14 May 2024 00:00:00 -0000

ros-lyrical-mola-bridge-ros2 (1.0.3-3resolute) resolute; 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>  Mon, 22 Apr 2024 00:00:00 -0000

ros-lyrical-mola-bridge-ros2 (1.0.2-3resolute) resolute; urgency=high

  * update docs
  * Contributors: Jose Luis Blanco-Claraco

 -- Jose-Luis Blanco-Claraco <joseluisblancoc@gmail.com>  Thu, 04 Apr 2024 00:00:00 -0000

ros-lyrical-mola-bridge-ros2 (1.0.1-3resolute) resolute; 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>  Thu, 28 Mar 2024 00:00:00 -0000

ros-lyrical-mola-bridge-ros2 (1.0.0-3resolute) resolute; 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>  Tue, 19 Mar 2024 00:00:00 -0000

ros-lyrical-mola-bridge-ros2 (0.2.2-3resolute) resolute; urgency=high



 -- Jose-Luis Blanco-Claraco <joseluisblancoc@gmail.com>  Fri, 08 Sep 2023 00:00:00 -0000


