mola_input_rawlog

Offline RawDataSource from MRPT rawlog datasets

Provided MOLA modules:

• RawlogDataset, 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 GNU GPL v3 license. Other options available upon request.

Changelog for package mola_input_rosbag2

3.2.0 (2026-08-21)

• Merge remote-tracking branch 'origin/feat/map-frame-gauge-change' into feat/map-frame-gauge-change
• Merge branch 'develop' into feat/map-frame-gauge-change
• Contributors: Jose Luis Blanco-Claraco

3.1.1 (2026-08-10)

• fix build in ros rolling (newer gcc)
• Contributors: Jose Luis Blanco Claraco

3.1.0 (2026-08-06)

• Add mola::TransformTreeSource: expose the /tf tree to other MOLA modules (#188)

  * Add mola::TransformTreeSource: expose the /tf tree to other modules New mola_kernel interface letting a data source publish its tree of coordinate frames, so consumers (e.g. a LiDAR-odometry viewer) can draw a robot's joints as it moves. transform_tree(root) returns the subtree below 'root' with poses already resolved against it. The filtering is done in the source, which is what owns the transform buffer, so a consumer never receives nor walks unrelated subtrees. The interface carries no ROS/tf2 type, keeping mola_kernel ROS-independent. Implemented by Rosbag1Dataset (separate repo), Rosbag2Dataset and BridgeROS2. No locking is added around the subtree walk: tf2::BufferCore guards its own internals, which is also what lets BridgeROS2's TransformListener feed the buffer from its own thread.

  • Address review: depth-first comment, cycle guard in the tf walk
  • No need for include guards inside this same git repo

• Merge pull request #187 from MOLAorg/feat/incremental-point-cloud-kdtree-bake Bake IncrementalPointCloud's k-d tree index (mm-ipc-bake-kdtree)

• changelog

• Merge pull request #178 from MOLAorg/feat/rosbag2-compressed-image feat: decode sensor_msgs/msg/CompressedImage topics in Rosbag2Dataset

• perf: avoid a redundant image-buffer copy and heap alloc per frame Two per-frame savings in toCompressedImage():

  - The temporary sensor_msgs::msg::CompressedImage only needs to live for the duration of this call; a stack-local avoids a heap allocation cv_bridge::toCvCopy() doesn't require (it takes the message by const reference, unlike the raw-Image path's toCvShare(), which needs a shared_ptr).

  - cv_ptr (and the cv::Mat it owns) is likewise local to this call, so copying it into the CObservationImage with mrpt::img::SHALLOW_COPY (ref-counted) instead of DEEP_COPY avoids duplicating the decoded pixel buffer a second time. Re-verified end-to-end against the Oxford Spires dataset: no errors. (CodeRabbit finding on PR #178)

• feat: decode sensor_msgs/msg/CompressedImage topics in Rosbag2Dataset mrpt_ros_bridge's rosbag2ToImage() only understands the raw, uncompressed sensor_msgs/msg/Image wire format, so a 'sensors' entry of type CObservationImage pointed at a compressed-image topic (e.g. an "image/compressed" republished stream) previously fell through as unhandled. Added a local decoder (cv_bridge-based, dispatched on the topic's actual wire type) and registered the ROS type for auto-detection, so compressed camera streams can be read the same way as raw ones.

• Contributors: Jose Luis Blanco-Claraco

• feat: decode sensor_msgs/msg/CompressedImage topics in Rosbag2Dataset.

• perf: avoid a redundant image-buffer copy and heap allocation per frame in toCompressedImage().

• Contributors: Jose Luis Blanco-Claraco

3.0.0 (2026-07-17)

• Merge pull request #176 from MOLAorg/fix/multi-ros-distro-build fix: time header field in different ros distros

• fix: time header field in different ros distros

• fix: extend optional wall-clock time source to odometry observations too

• Merge pull request #175 from MOLAorg/feature/rosbag2-imu-bag-recv-timestamp mola_input_rosbag2: opt-in per-sensor bag-recv-time timestamp override

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