Changelog for package mrpt_sensorlib

0.4.1 (2026-10-27)

• Merge pull request #20 from mrpt-ros-pkg/fix/shorter-sensor-error-logs mrpt_sensorlib: log full sensor errors once, one line while they persist

• short_error_message(): never return an empty message An empty message means no error to the callers, so it would skip the error handling and the retry delay.

• mrpt_sensorlib: log full sensor errors once, one line while they persist A sensor that keeps failing (e.g. an unplugged serial port) was logging the whole MRPT exception, with its backtrace, on every retry. Now the full text is logged when an error first appears or changes, and a single line on each retry while the same error persists.

• Merge pull request #19 from mrpt-ros-pkg/fix/novatel-ntrip-robustness Novatel: robust NTRIP corrections, per-sensor retries and NTRIP diagnostics

• Accept integer NTRIP time parameters; better one-line error messages

  - ntrip_stream_timeout and ntrip_reconnect_delay accept both integer and floating point values.

  - short_error_message(): without a 'Message:' tag, use the first line other than the MRPT exception banner.

• mrpt_sensorlib: retry each failing sensor on its own

  - A sensor whose initialize() fails (e.g. device not plugged in yet) no longer aborts the initialization of the following sensors: run() retries it every retry_on_error_delay seconds.

  - An error in one sensor no longer blocks the processing of the others during the retry delay.

  • Diagnostics report the failing sensor label and a one-line error.
  • Expose the diagnostics updater, for sensor-specific tasks.

• Merge pull request #16 from mrpt-ros-pkg/fix/novatel-base-station-id-nulls Novatel: fix crash publishing BESTPOS/MARKPOS without a base station

• Novatel: fix crash publishing BESTPOS/MARKPOS without a base station The 4-char base_station_id was copied including its NUL padding, and Fast-CDR refuses to serialize strings with embedded NULs: publish() threw, the exception escaped run() and the node died (SIGSEGV while unwinding).

  • Novatel: keep only up to the first NUL of fixed-size char fields.

  - Novatel: build the header with create_header(), which falls back to the current time for invalid GNSS stamps (as the NMEA node already does).

  - sensorlib: an exception while processing one observation is logged instead of killing the node.

  - sensorlib: stop the loop when the ROS context is shut down, so CTRL+C does not end with 'context is not valid' errors.

• Contributors: Jose Luis Blanco-Claraco

0.4.0 (2026-10-01)

• Merge pull request #14 from mjcarroll/fix-tf2-node-interfaces
• Use NodeInterfaces for tf2_ros constructors
• Merge pull request #13 from mrpt-ros-pkg/mrpt3
• package.xml: rename mrpt_libhwdrivers dep to mrpt_hwdrivers
• Port to mrpt3: fix cmake targets, yaml API, and mrpt3 API changes
• Contributors: Jose Luis Blanco-Claraco, Michael Carroll

0.3.0 (2026-05-20)

• feat(mrpt_sensorlib): retry on sensor exception instead of crashing When doProcess() throws (e.g. serial port unavailable at startup), catch the exception, report ERROR via /diagnostics, and retry after retry_on_error_delay seconds (default 5 s, tunable via ROS 2 param).

• feat(mrpt_sensorlib): add /diagnostics support to all sensor nodes Centralised in GenericSensorNode so every sensor package inherits it automatically without any per-package changes. State machine:

  • WARN "initialising" for the first [diag_startup_timeout]{.title-ref} seconds (default 30 s)
  • ERROR if no observation received after that timeout
  • ERROR if time since last observation exceeds 3× the expected

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