• Travis CI:
• ROS build farm:
  • git master:
    • ROS Kinetic @ u16.04 Xenial
    • ROS Melodic @ u8.04 Bionic
  • Last released version:
    • ROS Kinetic @ u16.04 Xenial
    • ROS Melodic @ u18.04 Bionic:

mrpt_bridge

C++ libraries to convert between ROS and MRPT classes and messages.

• ROS wiki: http://wiki.ros.org/mrpt_navigation
• Compiling instructions: http://wiki.ros.org/mrpt_navigation/Tutorials/Installing
• Usage examples and tutorials: http://wiki.ros.org/mrpt_navigation/Tutorials
• Branches:
  • master: Intended for use with latest MRPT versions (>=1.5.5, >=2.0.x).

Changelog for package mrpt_bridge

0.1.25 (2018-07-11)

• Merge pull request #3 from tuw-robotics/master TPose2D to geometry_msgs::Pose
• Update pose.h
• TPose2D Conversion to geometry_msgs::Pose added
• Merge pull request #2 from clalancette/fix-deb-stretch Fix deb stretch
• Fix build warnings for signed/unsigned comparison. The width and height of the OccupancyGrid metadata are both uint32, so make the loop iterator type match. Signed-off-by: Chris Lalancette <<clalancette@openrobotics.org>>
• Workaround Debian stretch not properly setting up Qt dependencies. libpcl-dev really has a dependency on Qt5Widgets, but that is not expressed by the Debian Stretch packages. We workaround it here by forcing the dependency in both the package.xml and the CMakeLists.txt Signed-off-by: Chris Lalancette <<clalancette@openrobotics.org>>
• Contributors: Chris Lalancette, Jose Luis Blanco-Claraco, Markus Bader

0.1.24 (2018-06-14)

• fix missing namespace
• Reorganize build farm icons
• Update README.md
• Contributors: Jose Luis Blanco-Claraco

0.1.23 (2018-06-08)

• make catkin_lint clean
• ROS build farm badges and links
• Contributors: Jose Luis Blanco-Claraco

0.1.22 (2018-05-18)

• Release as an independent repository outside of "mrpt_navigation"

0.1.20 (2018-04-26)

• fix warnings
• fix build against mrpt 2.0
• partial fix build w mrpt 2.0
• optimized build (-O3)
• Fix travis (#94)
  • add dep stereo_msgs
  • add dep stereo_msgs
  • fix minor warnigngs and errors
• Use docker to run modern ROS distros in travis (#93)
• fix build errors against mrpt master. Closes #92
• Fix install .h files in mrpt-bridge Closes #91
• Fix CMake error (Closes #90)
• marker messages are also logged as beacons if needed
• marker msgs added
• Merge branch 'master' of github.com:tuw-robotics/mrpt_navigation
• Merge pull request #83 from raghavendersahdev/master Extending ros_bridge to playback MRPT datasets
• Merge branch 'master' into master
• Work done upto August 25 : added CObservationRange
• CMake finds MRPT >=1.5 in ROS master branch
• Merge branch 'master' into compat-mrpt-1.5
• CMake finds MRPT >=1.9
• Work done upto August 21: added stereo image support to mrpt bridge
• small change moved beacon.h to its correct place
• Work done from August 17 to August 18 : added Tester function test the mrpt-ros bridge and publishing ros message after conversion
• changed test_Bridge file, testing the bridge in a different way
• Work done from August 17 to August 18 : added a tester function of the bridge, error while compiling currently
• avoid Eigen warnings with GCC-7
• Removed unnecessry MRPT_VERSION checks
• Fixes for clang format
• Removed c++11 declarations in cmake
• Adapted CMakeLists to new mrpt
• Work done from August 13 to August 14 : added image mrpt-ros bridge and comments
• Work done upto August 13: added mrpt_bridge conversions for range, GPS, IMU under construction; pending: mrpt_bridge for images and comments
• Merge pull request #74 from bergercookie/devel Use C++11 in mrpt_bridge, mrpt_localization
• Use C++11 in mrpt_bridge, mrpt_localization
• Merge pull request #72 from bergercookie/devel Add more conversion methods for CNetworkOfPoses classes
• Comply to clang warnings
• Fix compilation issue with forgotten git-related text
• Correct typo
• Work towards mr-slam
• Implement converion method for CNetworkOfPoses2DInf_NA specialization class
• Add more msgs for use in mrpt_graphslam_2d
• fix build with MRPT 1.5.0
• Fix debug messages: (#65)
  • replace printf with log_info
  • read and use debug param

  * dumping to console only once Also publish pose even if not updating the filter (sorry for mixing commits)

• Fix debug messages:
  • replace printf with log_info
  • read and use debug param

  * dumping to console only once Also publish pose even if not updating the filter (sorry for mixing commits)

• documentation patch in mrpt_bridge beacon header (#62)
• Fix #60
• Contributors: Ashish Raste, Borys Tymchenko, Jorge Santos, Jorge Santos Simón, Jose Luis Blanco, Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco, Jose-Luis Blanco-Claraco, Markus Bader, Nikos Koukis, Raghavender Sahdev

0.1.19 (2017-08-25)

• Added mrpt_ros bridge for the following messages
• mrpt::obs::CObservationImage <--> sensor_msgs/Image
• mrpt::obs::CObservationIMU <--> sensor_msgs/IMU
• mrpt::obs::CObservationGPS <--> sensor_msgs/NavSatFix
• mrpt::obs::CObservationRange <--> sensor_msgs/Range
• mrpt::obs::CObservationStereoImages <--> 3xsensor_Image for left, right and disparity
• also added the file test_Bridge to test the above conversions and publishing on respective ROS topics
• Contributors: Raghavender Sahdev

0.1.21 (2018-04-27)

• Upgrade version 0.1.20 (#99)
• fix warnings
• fix build against mrpt 2.0
• partial fix build w mrpt 2.0
• optimized build (-O3)
• Fix travis (#94)
  • add dep stereo_msgs
  • add dep stereo_msgs
  • fix minor warnigngs and errors
• Use docker to run modern ROS distros in travis (#93)
• fix build errors against mrpt master. Closes #92
• Fix install .h files in mrpt-bridge Closes #91
• Fix CMake error (Closes #90)
• marker messages are also logged as beacons if needed
• marker msgs added
• Merge branch 'master' of github.com:tuw-robotics/mrpt_navigation
• Merge pull request #83 from raghavendersahdev/master Extending ros_bridge to playback MRPT datasets
• Merge branch 'master' into master
• Work done upto August 25 : added CObservationRange
• CMake finds MRPT >=1.5 in ROS master branch
• Merge branch 'master' into compat-mrpt-1.5
• CMake finds MRPT >=1.9
• Work done upto August 21: added stereo image support to mrpt bridge
• small change moved beacon.h to its correct place
• Work done from August 17 to August 18 : added Tester function test the mrpt-ros bridge and publishing ros message after conversion
• changed test_Bridge file, testing the bridge in a different way
• Work done from August 17 to August 18 : added a tester function of the bridge, error while compiling currently
• avoid Eigen warnings with GCC-7
• Removed unnecessry MRPT_VERSION checks
• Fixes for clang format
• Removed c++11 declarations in cmake
• Adapted CMakeLists to new mrpt
• Work done from August 13 to August 14 : added image mrpt-ros bridge and comments
• Work done upto August 13: added mrpt_bridge conversions for range, GPS, IMU under construction; pending: mrpt_bridge for images and comments
• Merge pull request #74 from bergercookie/devel Use C++11 in mrpt_bridge, mrpt_localization
• Use C++11 in mrpt_bridge, mrpt_localization
• Merge pull request #72 from bergercookie/devel Add more conversion methods for CNetworkOfPoses classes
• Comply to clang warnings
• Fix compilation issue with forgotten git-related text
• Correct typo
• Work towards mr-slam
• Implement converion method for CNetworkOfPoses2DInf_NA specialization class
• Add more msgs for use in mrpt_graphslam_2d
• fix build with MRPT 1.5.0
• Fix debug messages: (#65)
  • replace printf with log_info
  • read and use debug param

  * dumping to console only once Also publish pose even if not updating the filter (sorry for mixing commits)

• Fix debug messages:
  • replace printf with log_info
  • read and use debug param

  * dumping to console only once Also publish pose even if not updating the filter (sorry for mixing commits)

• documentation patch in mrpt_bridge beacon header (#62)
• Fix #60
• Contributors: Ashish Raste, Borys Tymchenko, Hunter Laux, Jorge Santos, Jorge Santos Simón, Jose Luis Blanco, Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco, Jose-Luis Blanco-Claraco, Markus Bader, Nikos Koukis, Raghavender Sahdev

0.1.18 (2017-01-22)

• Remove types_simple.h header to fix compilation
• Contributors: Jose Luis Blanco, Nikos Koukis

0.1.17 (2017-01-22)

• remove debug ::pause()
• make catkin_lint clean
• mrpt_bridge: Move includes in implementation file
• mrpt_bridge: Add conversion definition in NetworkOfPoses
• Fix indentation, formatting in pose conversion files Abide general code style according to Google C++ code guidelines and [MRPT coding style](https://github.com/MRPT/mrpt/blob/master/doc/MRPT_Coding_Style.md)
• mrpt_bridge: Fix bug in MRPT->ROS pose conversion When transorfming from MRPT 3x3 form to PoseWithCovariance 6x6 form the yaw components were overwritten, thus resulting yaw components would always be 0.
• Correct minor typo
• mrpt_bridge: Add conversion methods for NetworkOfPoses Commit adds conversion methods between mrpt_msgs::NetworkOfPoses and mrpt::graphs::CNetworkOfPoses2DInf class instances
• mrpt_bridge: Add conversion methods for Information-related Pose classes
• Remove all errors generated by catkin_lint and cleanup unused templates from CMakeLists.txt files
• Contributors: Jorge Santos, Jose Luis Blanco, Nikos Koukis

0.1.16 (2016-12-13)

0.1.15 (2016-11-06)

• mrpt_bridge: Fix bug in laserScans conversion
• Fix new scanRange API in MRPT 1.5.0
• Contributors: Jose-Luis Blanco-Claraco, Nikos Koukis

0.1.14 (2016-09-12)

• fix build against mrpt < 1.5.0
• Contributors: Jose-Luis Blanco-Claraco

0.1.13 (2016-09-03)

0.1.12 (2016-09-03)

• Put the ROS log setting withing if MRPT_VERSION>=0x150 so it doesn't break the compilation agains .deb mrpt libs
• Add a check for an empty string.
• Strip trailing n in logs if present.
• Add a callback function to stream MRPT logs to ROS.
• Contributors: Jorge Santos, Logrus

0.1.11 (2016-08-21)

• fix unit test error due to uninitialized tf::Pose
• fix deprecated PCL header
• Add landmark to bridge.
• Contributors: Jose-Luis Blanco-Claraco, Logrus

0.1.10 (2016-08-05)

0.1.9 (2016-08-05)

0.1.8 (2016-06-29)

0.1.7 (2016-06-20)

0.1.6 (2016-03-20)

• New ObservationRangeBeacon message.
• More descriptive error msgs
• Contributors: Jose Luis Blanco, Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco, Logrus, Raphael Zack

0.1.5 (2015-04-29)

• mrpt_bridge: BUGFIX in convert() for 360deg scans
• Cleaner build against mrpt 1.3.0
• Fix build against mrpt 1.3.0
• Contributors: Jose Luis Blanco

0.1.4 (2014-12-27)

• Solved some old 'TODO' comments
• Removed 'mrpt' dep from catkin_package(). I think this is giving problems to dependant pkgs and is not needed...
• Start new pkg mrpt_local_obstacles. Fixes in package.xml's
• Better doxygen docs
• localization: New param to configure sensor sources in a flexible way
• Contributors: Jose Luis Blanco

0.1.3 (2014-12-18)

0.1.2 (2014-12-18)

• Fix missing build dependency (nav_msgs)

0.1.1 (2014-12-17)

• First public binary release.

0.1.0 (2014-12-17)

• consistent version numbers
• Fixes broken dependencies
• Removed obsolete rawlog_play & fix build of other nodes.
• Fix build with mrpt 1.2.x
• localization uses tf odom
• localization working like amcl