Changelog for package humanoid_localization

0.4.1 (2016-09-05)

• catkinize the stack
• get code to compile under Hydro
• removes some trailing blanks and semicolon
• added localization Service to HumanoidLocalization (untested)
• Localization updates are now done based on the distance to the last localized pose (not summed distance)
• Homogeneous subsampling of laser points (PCL voxel grid) instead of angular
• Uniform sampling for depth camera data
• Motion model and noise can now be calibrated with a variance matrix. Some parameters are no longer used, please adjust accordingly: motion_noise/x, motion_noise/y, motion_noise/yaw, num_sensor_beams
• Preventing TF_OLD_DATA Warning when init from RVIZ
• refactoring/cleanup
• Added Timer to Localization and timerCallback now republishes latest tf transform
• added parameterization for odometry calibration in MotionModel
• Proper floor offset if z is constrained to supporting surface by kinematics / odometry
• More loops parallelized (motion model)
• fixes:
  • Fixed invalid conversion from 'octomap::AbstractOcTree*' to 'octomap::OcTree*'
  • Add dependency to cmake_modules for FindEigen.cmake
  • Fixed duplicate library export
  • Fixed linking endpointmodel to humanoidlocalization in case dynamicEDT3D is available
  • Fix missing OpenMP compilation flags (from catkinization)
  • Fixing error with constrainMotion flags and optimized-away assertion
  • Fixed point cloud callback crashing when ground filtering and no ground visible
  • Bugfix for OctoMap in Groovy
  • Height lookup for endpoint model fixed
  • Fixed raycasting height integration on non-zero ground and raycast max_range
  • bug fix: removed (unnecessary) feature in HumanoidLocalization
  • Fixed compilation with ROS groovy (tf types)
  • fixed localization for point clouds
• Contributors: Armin Hornung, Daniel Maier, Pramuditha Aravinda, Stefan Osswald, Vincent Rabaud, enriquefernandez

0.4.0 (2013-01-10)

• indentation / code style
• added point cloud support (with ground filter) to humanoid_localization
• Added option to constrain motion according to odometry (don't estimate z / RP)
• cleanup, init localization from ground truth via tf lookup
• Fixed odometry lookup error (wrong frame) and missing odom data
• restructuring of humanoid_localization started
• Parameter cleanup / renaming
• Better height measurement in raycasting model
• humanoid_localization now uses sensor_msgs::Imu instead of nao_msgs
• EndpointModel is now optional, depends on dynamicEDT3D
• humanoid_localization added to humanoid_navigation, currently supports 6D localization from laser, odometry and IMU
• Contributors: Armin Hornung, Daniel Maier