Release of v2.0.0-beta

Check out the complete changelog here.

Release of MRPT 1.5.8

This is a maintenance release for the MRPT 1.5.x series.

BUG FIXES:

• made sin-cos table cache thread safe
• FIX BUG: in x/y indices of unprojected 3D range images
• FIX BUG: max/min filter=0 should mean ignore filter
• reactive navigation:
  • fix wrong classification as is_slowdown motion
  • safer nav score evaluation
  • add optional detailed time logger to rnav
  • OBSTACLE_SLOW_DOWN_DISTANCE is in normalized distance

Release of v2.0.0-alpha

Version 2.0.0-alpha: 2019-Jul-14

Most important changes:

• MRPT now requires C++17 to build and use. See this page for a guide to port existing code to MRPT 2.0
• Support for old namespaces mrpt-scanmatching, mrpt-reactivenav is over.
• Backwards compatible headers for "maps" and "observations" in mrpt::slam are removed. They moved to their own namespaces in MRPT v1.3.0 (Jan 2015).
• All pointer typedefs are now in their respective classes: FooPtr -> Foo::Ptr
• Add support for serialization with std::variant

Detailed list of changes:

• Too many to list here. See a partial list here and checkout the updated API doxygen docs.

BUG FIXES:

• Fix reactive navigator inconsistent state if navigation API is called from within rnav callbacks.
• Fix incorrect evaluation of "ASSERT" formulas in mrpt::nav::CMultiObjectiveMotionOptimizerBase
• Fix aborting reading from LMS111 scanner on first error.
• Fix == operator on CPose3D: it now uses an epsilon for comparing the rotation matrices.
• Fix accessing unaligned POD variables deserializing CObservationGPS (via the new MRPT_READ_POD() macro).
• Fix segfault in CMetricMap::loadFromSimpleMap() if the provided CMetricMap has empty smart pointers.
• Fix crash in CGPSInterface when not setting an external mutex.

Release of MRPT 1.5.7

Release of MRPT 1.5.7

(Update 19-May-2019: Binary package for Windows has been updated to solve #917 ).

This is probably (hopefully) the last release of the mrpt-1.5 series.

• Detailed list of changes:
  • mrpt_base_grp
    • The following features have been finally ported to C++11. User code now requires, at least, C++11 enabled:
      • stlplus-based smart pointers replaced by std::shared_ptr. Backwards compatibility API is maintained.
      • mrpt::system::TThreadHandle now is a wrapper around std::thread.
      • Atomic counters now based on std::atomic. Custom implementation has been removed.
      • stlplus source code has been removed.
    • mrpt::utils::COutputLogger: change log str format from "[name|type|time]" to "[time|type|name]".
  • mrpt_graphslam_grp
    • levenberg-Marquardt graphslam modified to use more stable SE(2) Jacobians.
    • CNetworkOfPoses: read/write format made compatible with G2O EDGE_SE2 types.
  • mrpt_nav_grp
    • Add virtual method CAbstractPTGBasedReactive::getHoloMethod()
    • New method CAbstractPTGBasedReactive::enableRethrowNavExceptions() to rethrow exceptions during navigation.
    • Waypoints now have a field speed_ratio which is directly forwarded to the low-level reactive navigator.
  • BUG FIXES:
    • Fix missing "-ldl" linker flag.
    • Fix building against wxWidgets 3.1.1 in Windows (zlib link error).
    • Fix potential segfault in 3D reactive navigator.

Release of MRPT 1.5.6

Version 1.5.6: Released 24/APR/2018

• Applications:
  • pf-localization:
    • Odometry is now used also for observation-only rawlogs.
• mrpt_hwdrivers_grp
  • mrpt::hwdrivers::COpenNI2Generic: added mutexes for safer multi-threading
    operation.
  • mrpt::hwdrivers::CHokuyoURG: Added a new parameter to skip scans. Driver
    clean up to be safer and perform less memory allocs.
• mrpt_maps_grp
  • COccupancyGridMap2D: New LIDAR insertion parameters: maxFreenessUpdateCertainty, maxFreenessInvalidRanges.
• mrpt_reactivenav_grp
  • CAbstractPTGBasedReactive: Added new score holo_stage_eval.
• BUG FIXES:
  • circular_buffer: exception made state preserving

Release of MRPT 1.5.5

Version 1.5.5: Released 2/DEC/2017

• Detailed list of changes:
  • mrpt_base_grp
    • Added methods mrpt::utils::CFileStream::clearError() and mrpt::utils::CFileInputStream::clearError()
  • mrpt_nav_grp
    • mrpt::nav::CHolonomicFullEval now uses an internal sin/cos LUT cache for improved performance.
  • Build system:
    • octomap is no longer exposed in public headers, avoiding the dependency propagation.
  • BUG FIXES:
    • Fix likelihood computation in mrpt::maps::CReflectivityGridMap2D (which led to crash)
    • Fixed regression in particle resampling affecting RBPF-SLAM methods. Introduced in Dec. 2016 with this commit.
    • Wrong argument type: CStream::Seek() must allow signed offsets.

Release of MRPT 1.5.4

Version 1.5.4: Released 31/OCT/2017

Detailed list of changes:

• [mrpt-base]
  • Fix potential uninitialized value in CRobot2DPoseEstimator::getLatestRobotPose()
    MRPT_getCompilationDate() returns time as well
• [mrpt-gui]
  • mrpt::gui::mrptEventMouseMove: Added new mrpt::gui windows event type.
• Smart pointers:
  • All mrpt::utils::CObject derived classes:
    • In MRPT <=1.5.3, there was a typedef Foo::SmartPtr => FooPtr.
    • In MRPT >=1.5.4 is has been replaced by Foo::Ptr => FooPtr for compatibility with MRPT >=2.0.
      stlplus smart pointers in MRPT 1.5.4 now have C++11 shared_ptr-compatible methods, to ease the transition towards MRPT 2.0 in user code (in particular, for MRPT ROS packages). Also, a new template mrpt::prt_cast<TARGET_PTR>::from(ptr) is provided to write user code compatible with both MRPT >=1.5.4 & >=2.0.0.
• Build system:
  • Fix MRPTConfig.cmake for system octomap libraries.
  • Fix package-contains-vcs-control-file (.gitingore) Lintian error.
  • Fix compiling without liboctomap-dev in Ubuntu PPA.
• BUG FIXES:
  • Fix waypoint reactive navigator edge case in which "end event" won't be issued.
  • Fix waypoint reactive navigator error while doing final aligning (missing and dupplicated nav-end events).
  • Fix aborting reading from LMS111 scanner on first error.
  • Fix corrupted pointers in CNetworkOfPoses after copy or move operations.
  • Fix invalid TP-targets generated during reactive navigation.
  • Fix memory leak in reactivenav engine.
  • Fix potential out-of-range access in CObservation3DRangeScan::convertTo2DScan()
  • Fix potential SIGBUS in armhf (patch by Steve Langasek) inside mrpt::utils::CTicTac

Release of MRPT 1.5.3

Version 1.5.3: Released 14/AUG/2017

• Detailed list of changes:
  • CMake >=3.1 is now required for use of ExternalProjects.
  • Scripts scripts/prepare_{debian,release}.sh have been refactored and simplified.
  • Removed embedded source code versions of Eigen, assimp and octomap. Downloaded and built as ExternalProjects if not present in the system.
  • Releases will be signed with PGP from now on and posted as binary attachments to GitHub releases.

Release of MRPT 1.5.2

Changelog:

• Changes in libraries:
  • mrpt_base
    • Added methods:
      • mrpt::synch::CCriticalSection::try_enter()
      • mrpt::synch::CCriticalSectionRecursive::try_enter()
  • mrpt_nav
    • mrpt::nav::CAbstractNavigator: callbacks in mrpt::nav::CRobot2NavInterface are now invoked after navigationStep() to avoid problems if user code invokes the navigator API to change its state.
    • Added methods to load/save mrpt::nav::TWaypointSequence to configuration files.
  • mrpt_slam
    • rbpf-slam: Add support for simplemap continuation.
• BUG FIXES:
  • Fix reactive navigator inconsistent state if navigation API is called from within rnav callbacks.
  • Fix incorrect evaluation of "ASSERT" formulas in mrpt::nav::CMultiObjectiveMotionOptimizerBase

MRPT 1.5.1

Relevant changes in reactivenav:

• fix const-correctness: 7e79003
• More flexible callback behavior: 5b05433