mola_kernel

MOLA kernel library, providing the definition of essential virtual interfaces and data types.

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_kernel

2.8.0 (2026-04-29)

• Merge branch 'Zeal-Robotics-fix/map-source-latched-replay' into develop
• chore: transient callbacks done with a copy of last updates
• fix(mola_kernel): replay latched MapUpdates to late subscribers [MapSourceBase::subscribeToMapUpdates()]{.title-ref} now caches the most recent [MapUpdate]{.title-ref} per [map_name]{.title-ref} whenever it was advertised with [keep_last_one_only=true]{.title-ref}, and replays it once into any callback registered later. This mirrors ROS' [transient_local]{.title-ref} durability at the MOLA-callback layer. Without this, a producer that advertises its initial map before a consumer has had a chance to subscribe (e.g. [mola_lidar_odometry]{.title-ref} publishing the loaded [.mm]{.title-ref} on its first scan, before [mola_bridge_ros2::doLookForNewMolaSubs()]{.title-ref} has run for the first time) would silently lose that update. The race is more likely with small maps, where odometry initialization is fast enough to beat the bridge's first sub-discovery poll. With this change the late subscriber receives the cached update on registration, and the ROS publisher created by the bridge then carries the map onward via its existing [transient_local]{.title-ref} QoS. Updates flagged with [keep_last_one_only=false]{.title-ref} (e.g. deskewed scans) are intentionally not cached, matching their fire-and-forget semantics.
• Contributors: Jose Luis Blanco-Claraco, Robin Van Cauwenbergh

2.7.0 (2026-04-22)

• Merge pull request #129 from MOLAorg/feat/ros2-diagnostics Feature: ROS2 diagnostics
• feat(kernel): add DiagnosticsProvider interface for REP-107 diagnostics Introduce an opt-in mix-in interface for modules to publish structured, severity-tagged diagnostics, to be bridged to ROS 2 /diagnostics by mola_bridge_ros2 in a follow-up. Co-Authored-By: Claude Opus 4.7 <<noreply@anthropic.com>>
• Merge pull request #121 from MOLAorg/fix/clean-up-old-mrpt-version-checks Clean up: remove old mrpt version fallback code sections
• Bump minimum required MRPT version to 2.15.0
• Clean up: remove old mrpt version fallback code sections
• Contributors: Jose Luis Blanco-Claraco

2.6.1 (2026-04-02)

• Merge pull request #116 from MOLAorg/update-rds-gui Update RDS gui creation to new backend agnostic API
• RDS: Fix parsing initial window pos and width
• Update RDS gui creation to new backend agnostic API
• Contributors: Jose Luis Blanco-Claraco

2.6.0 (2026-03-12)

• Merge pull request #113 from MOLAorg/feat/kf-map-view-vectors Feat:kf map view vectors filter for NN search
• comments formatting
• Merge pull request #109 from MOLAorg/feat/support-imgui Feature: GUI backend agnostic API in mola_kernel (Step towards supporting imgui)
• safer multithread
• Several visual and safety fixes in the new GUI interface
• Add support for menu bars
• VizInterface made backend agnostic (ImGUI and Nanogui)
• Merge pull request #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 from MOLAorg/fix/viz-decay-clouds Fix/viz-decay-clouds
• fix typo in comments
• Update coyright notes
• fix clang-tidy warnings
• Contributors: Jose Luis Blanco-Claraco

2.5.0 (2026-02-14)

• Merge pull request #104 from MOLAorg/feat/better-regex Explain error on bad regex
• Explain error on bad regex
• Merge pull request #103 from MOLAorg/feat/RegexCache Add utility RegexCache
• Add utility RegexCache
• Add has_converged_localization() method for state estimation
• Merge pull request #100 from MOLAorg/fix/remove-mrpt-deprecated-maps Remove use of mrpt deprecated maps
• Avoid use of deprecated mrpt::maps classes

File truncated at 100 lines see the full file