mola_navstate_smoother

Sliding window Factor-graph data fusion for odometry, IMU, GNSS, and SE(3) pose/twist estimations.

This repository provides:

• NavStateFuse: C++ class to integrate odometry, IMU, and pose/twist estimations.

See package documentation.

Build and install

Refer to the root MOLA repository.

License

This package is released under the GNU GPL v3 license. Other options available upon request.

Changelog for package mola_state_estimation_smoother

2.4.0 (2026-05-11)

• FIX: reset() should reinitialize gtsam
• FIX: don't let gtsam exceptions to crash the node
• fix: support building in ROS2 humble with newer cmake
• Merge pull request #30 from MOLAorg/bump-cmake-version bump min req cmake version to 3.22
• bump min req cmake version to 3.22
• Contributors: Jose Luis Blanco-Claraco

2.3.1 (2026-05-04)

• Merge pull request #27 from MOLAorg/feature/ros2-integration-tests Add ROS 2 launch-testing integration tests for StateEstimationSmoother
• fix missing test dep
• workaround for older mola_yaml
• Fix frames of reference for the test checker
• Progress fixing integration test
• mock test code clean up
• More debug traces in python mock integration test
• Add ROS 2 launch-testing integration tests for StateEstimationSmoother Two end-to-end test scenarios driven by a Python sensor mock node.
• Merge pull request #26 from MOLAorg/fix/smoother-issues Fix misc smoother issues
• Clarify docs and fix test noise thresholds
• Remove copies of RegexCache.h and use the shared version in mola_kernel
• fix: make RegexCache move-assignable after adding std::mutex
• fix: guard IMU quaternion path against NaN components in fuse_imu
• fix: make RegexCache::get_regex thread-safe
• fix: replace ASSERT_ with descriptive exception in get_latest_state_and_covariance
• fix: use monotonic counter for odometry frame IDs
• fix: check both link sets before inserting in add_kinematic_factor_between
• fix: make GNSS Huber threshold a configurable parameter
• fix: skip BetweenFactor on first fuse_odometry call
• feat: Print number of active factors in DEBUG log level
• Contributors: Jose Luis Blanco-Claraco

2.3.0 (2026-04-29)

• Merge pull request #23 from MOLAorg/feat/fuse-ros2-demos Add ros2 launch demo files to fuse 2 odometries
• mola cli launch file: made generic for multiple odometry sources
• harden frame name usage
• Odometry sources: use CObservationRobotPose::sensorLabel as 'tf' frame name
• Add ros2 launch demo files to fuse 2 odometries
• Merge pull request #22 from MOLAorg/feat/refactor-mutexes Feat/refactor mutexes
• Refactor to use regular mutex instead of recursive_mutex
• Merge pull request #21 from MOLAorg/fix-misc Fixes for 2D motion
• FIX: Planar constraints didn't constraint roll / pitch, only tz
• FIX: 2D probabilistic model used wrong XY uncertainty
• Contributors: Jose Luis Blanco-Claraco

2.2.0 (2026-03-03)

• Merge pull request #14 from MOLAorg/feature/use-imu-for-georef-hint Feature/use-imu-for-georef-hint
• clang-format
• Contributors: Jose Luis Blanco-Claraco

2.1.0 (2026-02-14)

• Merge pull request #13 from MOLAorg/feat/publish-georef-on-converge Publish geo-ref on convergence
• get onObservation() and has_converged_localization() method tested too
• Refactor publish georef and sensor label regex fix filtering observations by sensor label regex refactor to publish georef on converged automatically fix build against older mola_kernel Fix wrong logic in GNSS fuse
• remove old mola version guards
• unit test: relax threshold to avoid spurious failures
• Publish geo-ref on convergence add new params to yaml file
• Contributors: Jose Luis Blanco-Claraco

2.0.1 (2026-01-15)

• test: less strict limits to avoid random failures
• cmake: Remove non-used find_package() for ament_lint_auto
• Merge pull request

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