Changelog for package amcl

1.17.3 (2023-01-10)

• [AMCL] Add option to force nomotion update after initialpose (#1226)
  • Adds a new boolean parameter force_update_after_initialpose. When set to true, an update is forced on the next laser scan callback, such as when the /request_nomotion_update service is called. This often results in an improved robot pose after a manual (not very precise) re-localization - without a need for the robot to move.
  • Fixes a bunch of compiler warnings (unused variable now, catching exceptions by value), normalizes how tf exceptions are caught

• [ROS-O] various patches (#1225) * do not specify obsolete c++11 standard this breaks with current versions of log4cxx. * update pluginlib include paths the non-hpp headers have been deprecated since kinetic * use lambdas in favor of boost::bind Using boost's _1 as a global system is deprecated since C++11. The ROS packages in Debian removed the implicit support for the global symbols, so this code fails to compile there without the patch.

• Contributors: Michael Görner, Stephan

1.17.2 (2022-06-20)

• Update pf.c (#1161) #1160 AMCL miscalculates orientation covariance for clusters
• Improved Overall readablity (#1177)
• fix crashes in AMCL (#1152)
  • fix: catch runtime_error from roscore
  • ignore malformed message from laser, otherwise it will crash
• Fixes #1117 (#1118)
• Fixed the risk of divide by zero. (#1099)
• (AMCL) add missing test dep on tf2_py (#1091)
• (AMCL)(Noetic) use robot pose in tests (#1087)
• (amcl) fix missing '#if NEW_UNIFORM_SAMPLING' (#1079)
• Contributors: David V. Lu!!, Matthijs van der Burgh, Noriaki Ando, Supernovae, christofschroeter, easylyou

1.17.1 (2020-08-27)

• (AMCL) add resample limit cache [Noetic] (#1014)
• Contributors: Matthijs van der Burgh

1.17.0 (2020-04-02)

• Merge pull request #982 from ros-planning/noetic_prep Noetic Migration
• map is not subscriptable in python3
• fix python3 errors in basic_localization.py
• use upstream pykdl
• Contributors: Michael Ferguson

1.16.6 (2020-03-18)

1.16.5 (2020-03-15)

• [melodic] updated install for better portability. (#973)
• Contributors: Sean Yen

1.16.4 (2020-03-04)

• Implement selective resampling (#921) (#971) Co-authored-by: Adi Vardi <<adidasv111@gmail.com>>
• Add CLI option to trigger global localization before processing a bagfile (#816) (#970) Co-authored-by: alain-m <<alain@savioke.com>>
• Fix some reconfigure parameters not being applied [amcl]. (#952)
• amcl: include missing CMake functions to fix build (#946)
• Set proper limits for the z-weights [amcl]. (#953)
• Merge pull request #965 from nlimpert/nlimpert/fix_missing_cmake_include Add missing CMake include(CheckSymbolExists) for CMake >= 3.15
• amcl: add missing CMake include(CheckSymbolExists) Starting with CMake 3.15 an explicit include(CheckSymbolExists) is required to use the check_symbol_exists macro.
• Contributors: Ben Wolsieffer, Michael Ferguson, Nicolas Limpert, Patrick Chin

1.16.3 (2019-11-15)

• Merge branch 'melodic-devel' into layer_clear_area-melodic
• Fix typo in amcl_laser model header (#918)
• Merge pull request #849 from seanyen/amcl_windows_fix [Windows][melodic] AMCL Windows build bring up.
• revert unrelated changes.
• AMCL windows build bring up.
  • Add HAVE_UNISTD and HAVE_DRAND48 and portable_utils.hpp for better cross compiling.
  • Variable length array is not supported in MSVC, conditionally disable it.
  • Fix install location for shared lib and executables on Windows.
  • Use isfinite for better cross compiling.
• feat: AMCL Diagnostics (#807) Diagnostic task that monitors the estimated standard deviation of the filter. By: reinzor <<reinzor@gmail.com>>
• fix typo for parameter beam_skip_error_threshold but bandaged for other users in AMCL (#790)
  • fix typo but bandage for other users
• Merge pull request #785 from mintar/amcl_c++11 amcl: Add compile option C++11
• amcl: Set C++ standard 11 if not set This is required to build the melodic-devel branch of the navigation stack on kinetic. Melodic sets CMAKE_CXX_STANDARD=14, but kinetic doesn't set that variable at all.
• Contributors: Hadi Tabatabaee, Martin Günther, Michael Ferguson, Rein Appeldoorn, Sean Yen, Steven Macenski

1.16.2 (2018-07-31)

• Merge pull request #773 from ros-planning/packaging_fixes packaging fixes
• update amcl to have proper depends
  • add geometry_msgs
  • add tf2_msgs
  • fix alphabetical order
• Contributors: Michael Ferguson

1.16.1 (2018-07-28)

• Merge pull request #770 from ros-planning/fix_debians Fix debian builds (closes #769)
• make AMCL depend on sensor_msgs previously, amcl depended on TF, which depended on sensor_msgs.
• Contributors: Michael Ferguson

1.16.0 (2018-07-25)

• Switch to TF2 #755
• Merge pull request #734 from ros-planning/melodic_731 AMCL dynamic reconfigure: Extend parameter range (Forward port #731)
• Merge pull request #728 from ros-planning/melodic_tf2_conversion switch AMCL to use TF2
• fix swapped odom1/4 in omni model, fixes #499
• Merge pull request #730 from Glowcloud/melodic-devel Fix for Potential Memory Leak in AmclNode::reconfigureCB #729
• Fix for Potential Memory Leak in AmclNode::reconfigureCB
• switch AMCL to use TF2
• Merge pull request #727 from ros-planning/melodic_668 Update laser_model_type enum on AMCL.cfg (Melodic port of #668)
• Update laser_model_type enum on AMCL.cfg Adding likelihood_field_prob laser model option on AMCL.cfg to be able to control dynamic parameters with this laser sensor model.
• Merge pull request #723 from moriarty/melodic-buildfarm-errors Melodic buildfarm errors
• include <memory> for std::shared_ptr
• Merge pull request #718 from moriarty/tf2-buffer-ptr [melodic] tf2_buffer_ -> tf2_buffer_ptr_
• [melodic] tf2_buffer_ -> tf2_buffer_ptr_ Change required due to changes in upstream dependencies: ros/geometry#163: "Maintain & expose tf2 Buffer in shared_ptr for tf" fixes ros-planning/navigation#717 (for compile errors at least.)
• Contributors: Alexander Moriarty, Glowcloud, Martin Ganeff, Michael Ferguson, Miguel Cordero, Vincent Rabaud, maracuya-robotics

1.15.2 (2018-03-22)

• Fix minor typo (#682) This typo caused some confusion because we were searching for a semicolon in our configuration.
• Merge pull request #677 from ros-planning/lunar_634 removing recomputation of cluster stats causing assertion error (#634)
• Merge pull request #673 from ros-planning/email_update_lunar update maintainer email (lunar)
• Remove Dead Code [Lunar] (#646)
  • Clean up navfn
  • Cleanup amcl
• Merge pull request #649 from aaronhoy/lunar_add_ahoy Add myself as a maintainer.
• Contributors: Aaron Hoy, David V. Lu!!, Michael Ferguson, stevemacenski

1.15.1 (2017-08-14)

1.15.0 (2017-08-07)

• Reference Issue #592 Added warning to AMCL when map is published on ... (#604)
• rebase fixups
• convert packages to format2
• recompute cluster stat when force_publication
• Fix CMakeLists + package.xmls (#548)
• amcl: fix compilation with gcc v7
• Added deps to amcl costmap_2d move_base (#512)
• fix order of parameters (closes #553)
• Fix potential string overflow and resource leak
• Contributors: Dmitry Rozhkov, Laurent GEORGE, Martin Günther, Michael Ferguson, Mikael Arguedas, Peter Harliman Liem, mryellow, vik748

1.14.0 (2016-05-20)

• Allow AMCL to run from bag file to allow very fast testing.
• Fixes interpretation of a delayed initialpose message (see #424). The tf lookup as it was before this change was very likely to fail as ros::Time::now() was used to look up a tf without waiting on the tf's availability. Additionally, the computation of the "new pose" by multiplying the delta that the robot moved from the initialpose's timestamp to ros::Time::now() was wrong. That delta has to by multiplied from the right to the "old pose". This commit also changes the reference frame to look up this delta to be the odom frame as this one is supposed to be smooth and therefore the best reference to get relative robot motion in the robot (base link) frame.
• New unit test for proper interpretation of a delayed initialpose message. Modifies the set_pose.py script to be able to send an initial pose with a user defined time stamp at a user defined time. Adds a rostest to exercise this new option. This reveals the issues mentioned in #424 (the new test fails).
• Contributors: Derek King, Stephan Wirth

1.13.1 (2015-10-29)

• adds the set_map service to amcl
• fix pthread_mutex_lock on shutdown
• Contributors: Michael Ferguson, Stephan Wirth

1.13.0 (2015-03-17)

• amcl_node will now save latest pose on shutdown
• Contributors: Ian Danforth

1.12.0 (2015-02-04)

• update maintainer email
• Contributors: Michael Ferguson

1.11.15 (2015-02-03)

1.11.14 (2014-12-05)

1.11.13 (2014-10-02)

1.11.12 (2014-10-01)

• Bug fix to remove particle weights being reset when motion model is updated
• Integrated new sensor model which calculates the observation likelihood in a probabilistic manner Also includes the option to do beam-skipping (to better handle observations from dynamic obstacles)
• Pose pulled from parameter server when new map received
• Contributors: Steven Kordell, hes3pal

1.11.11 (2014-07-23)

1.11.10 (2014-06-25)

1.11.9 (2014-06-10)

1.11.8 (2014-05-21)

1.11.7 (2014-05-21)

• removes useless this->z_max = z_max assignment
• Fix warning string.
• Contributors: Jeremiah Via, enriquefernandez

1.11.5 (2014-01-30)

• Fix for #160
• Download test data from download.ros.org instead of willow
• Change maintainer from Hersh to Lu

1.11.4 (2013-09-27)

• Package URL Updates
• amcl_pose and particle cloud are now published latched
• Fixed or commented out failing amcl tests.