Changelog for package mrpt_sensorlib

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 period (stale)
  • WARN if smoothed rate < 50% of expected rate

  - OK otherwise New ROS 2 parameters (both in mrpt_sensorlib): diag_startup_timeout [s] (default 30.0) diag_expected_rate [Hz] (default 1.0)

• Novatel SPAN node can now subscribe to an IMU and use its orientation to initialize the INS azimuth

• FIX: Don't throw if an invalid stamp arrives from the sensor

• Contributors: Jose Luis Blanco-Claraco

0.2.4 (2025-10-27)

• Replace deprecated ament_target_dependencies() with standard cmake
• package.xml: update license tag to BSD-3-Clause
• Contributors: Jose Luis Blanco-Claraco

0.2.3 (2024-09-01)

• Update copyright comment blocks to try to make ament linter happy
• Depend on new mrpt_lib packages (deprecate mrpt2)
• Update to package XML format 3
• Contributors: Jose Luis Blanco-Claraco

0.2.2 (2024-08-09)

• Merge pull request #10 from mrpt-ros-pkg/use-gnss-base-topic-name Use gnss base topic name
• Reuse base class publish topic name add missing getter
• Contributors: Jose Luis Blanco-Claraco

0.2.1 (2024-07-03)

• Publish NMEA ROS2 native msgs: GGA, GSA, RMC
• Contributors: Jose Luis Blanco-Claraco

0.2.0 (2024-05-20)

• FIX: Implement the missing "saveToRawlog" feature
• Add parameter to set the sensorLabel of generated observations
• Limit publication of /tf sensor poses to a maximum configurable rate
• BUGFIX: tf error if sensor_frame_id==robot_frame_id
• Contributors: Jose Luis Blanco-Claraco

0.1.0 (2024-03-28)

• publish sensor pose to /tf
• fix missing namespace
• Reformat with clang-format to fix ament_linters
• Comply with ROS2 REP-2003
• Fix usage of obsolete mrpt methods
• delegate conversion to mrpt::ros2bridge
• Port to ROS2
• Contributors: Jose Luis Blanco-Claraco