mola_bridge_ros2

RawDataSource acting as a bidirectional bridge between ROS2 and MOLA modules.

Can be used to:

• ROS2->MOLA: Interface a real sensor using a ROS driver node and run SLAM with it. See mola_lidar_odometry demos.
• MOLA->ROS2: Expose a dataset as ROS2 topics, from any of the datasets supported by MOLA. Example: kitti
• ROS2<->MOLA: Run SLAM on a live sensor stream, then send back the reconstructed map and trajectory to ROS for further processing or visualization in RViz. See mola_lidar_odometry demos.

If you want to run SLAM on a rosbag, the module mola_input_rosbag2 provides a more convenient interface, e.g. allows fast-forwarding or skipping parts of a bag.

Building this module requires ROS 2 to be installed, and its setup.bash activation script being sourced before invoking CMake to configure and build MOLA.

See package docs for instructions and options to install ROS prerequisites.

Provided MOLA modules:

• BridgeROS2, type RawDataSourceBase.

Build and install

Refer to the root MOLA repository.

Docs and examples

See this package page in the documentation.

License

This package is released under the BSD 3-clause license.

Changelog for package mola_bridge_ros2

1.8.0 (2025-05-25)

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

1.7.0 (2025-05-06)

1.6.4 (2025-04-23)

• 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 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

1.6.3 (2025-03-15)

• clang-tidy: const correctness
• Service renamed: RelocalizeFromGNSS -> RelocalizeFromStateEstimator
• FIX: Potential deadlock in initialization
• Contributors: Jose Luis Blanco-Claraco

1.6.2 (2025-02-22)

• 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

1.6.1 (2025-02-13)

• 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 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

1.6.0 (2025-01-21)

• 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

1.5.1 (2024-12-29)

1.5.0 (2024-12-26)

1.4.1 (2024-12-20)

• 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

1.4.0 (2024-12-18)

• 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

1.3.0 (2024-12-11)

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

1.2.1 (2024-09-29)

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

1.2.0 (2024-09-16)

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

1.1.3 (2024-08-28)

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

1.1.2 (2024-08-26)

1.1.1 (2024-08-23)

1.1.0 (2024-08-18)

• Merge pull request #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 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

1.0.8 (2024-07-29)

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

1.0.7 (2024-07-24)

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

1.0.6 (2024-06-21)

1.0.5 (2024-05-28)

1.0.4 (2024-05-14)

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

1.0.3 (2024-04-22)

• 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

1.0.2 (2024-04-04)

• update docs
• Contributors: Jose Luis Blanco-Claraco

1.0.1 (2024-03-28)

• 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

1.0.0 (2024-03-19)

• Comply with ROS2 REP-2003
• Merge ROS2 input and output in one module
• Contributors: Jose Luis Blanco-Claraco

0.2.2 (2023-09-08)